Self-walking robot for detecting strain clamp of power grid

Abstract

The invention discloses a self-walking robot for detecting a strain clamp of a power grid, and relates to the technical field of power transmission engineering. The robot comprises a mounting frame, a detection device and a walking device which are arranged on the mounting frame, an unmanned aerial vehicle and an X-ray machine arranged on the unmanned aerial vehicle. Through cooperative work of the unmanned aerial vehicle and the detection device, the problems that in the prior art, power failure and manual high-altitude operation are needed, and the detection efficiency is low are effectively solved. The robot carries the X-ray imaging plate, the lifting control unit and the rotation control unit through the mounting frame, the height and angle of the X-ray imaging plate can be accurately adjusted, and accurate detection of the strain clamp is ensured. And the walking device comprises a first walking unit, a second walking unit and a distance adjusting unit capable of adjusting the distance between the two units, so that the robot can adapt to complex working environments with different cable distances, and the applicability and the stability of the robot are further improved.

Description

Technical Field

[0001] The present application relates to the technical field of power transmission engineering, and in particular to a self-propelled robot for detecting power grid tension clamps. Background Art

[0002] With the rapid development of the power industry and the continuous advancement of modernization, the safety and stability of power grid operation have become particularly important. As an important part of the overhead line of the power grid, the tension clamp is used to mechanically fix and electrically connect the transmission line, and bears the tension and current-carrying function of the high-voltage line. Once the tension clamp is damaged or aged, it will seriously affect the safe operation of the power grid. Therefore, relevant testing units need to regularly perform non-destructive testing on the tension clamp to ensure the normal operation of the equipment and the overall stability of the power grid.

[0003] In related technologies, the detection of tension clamps needs to be done manually in a power outage environment. The operator needs to climb to the overhead line, fix the X-ray imaging plate and the radiation equipment near the tension clamp, and then take pictures. There are many problems with this detection method: first, the line to be inspected needs to be shut down, which not only affects the efficiency of the power grid operation, but may also cause economic losses; second, the detection process is cumbersome and inefficient, relying on the operator to gradually adjust the position of the detection equipment; third, there are significant safety risks in the working environment, and the operator needs to work at high altitudes and is easily harmed by radiation.

[0004] Therefore, in the X-ray non-destructive testing of tension clamps, the traditional testing method requires power outage of the line, the high safety risk of high-altitude operations and the operators are susceptible to radiation, which has become an urgent problem that needs to be solved. Summary of the invention

[0005] To this end, an embodiment of the present invention provides a self-propelled robot for detecting power grid tension clamps to solve the problems that traditional detection methods require power outages, high safety risks in high-altitude operations, and operators are susceptible to radiation.

[0006] In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:

[0007] A self-propelled robot for detecting power grid tension clamps, comprising: a mounting frame, a detection device and a walking device arranged on the mounting frame, and a drone and an X-ray machine arranged on the drone;

[0008] The detection device includes an X-ray imaging plate, a lifting control unit and a rotation control unit arranged on the mounting frame;

[0009] The lifting control unit and the rotation control unit are respectively connected to the X-ray imaging plate, the lifting control unit is used to drive the X-ray imaging plate to move up and down, and the rotation control unit is used to drive the X-ray imaging plate to rotate;

[0010] The walking device comprises a first walking unit and a second walking unit symmetrically arranged on both sides of the mounting frame, and a spacing adjustment unit arranged on the mounting frame;

[0011] The spacing adjustment unit is connected to the first walking unit and the second walking unit respectively, and is used to adjust the spacing between the first walking unit and the second walking unit so that the spacing between the first walking unit and the second walking unit is consistent with the spacing between two adjacent cables;

[0012] The drone is used to drive the mounting frame and the X-ray machine to move.

[0013] Optionally, the lifting control unit comprises a lifting motor, a mounting shaft and at least two lifting belts arranged on the mounting frame;

[0014] The mounting shaft is fixedly connected to the output shaft of the lifting motor;

[0015] One end of the sling is fixedly connected to the mounting shaft, and the other end of the sling is fixedly connected to the top of the X-ray imaging plate;

[0016] Among them, the lifting motor is used to drive the mounting shaft to rotate along a first direction, so that the sling is wound around the mounting shaft, thereby driving the X-ray imaging plate to move upward; the lifting motor is also used to drive the mounting shaft to rotate along a second direction, so that the sling is loosened from the mounting shaft, thereby driving the X-ray imaging plate to move downward; the first direction is opposite to the second direction.

[0017] Optionally, the lifting control unit further includes at least two telescopic rods;

[0018] The telescopic rods are symmetrically arranged on both sides of the X-ray imaging plate, the X-ray imaging plate is fixedly connected to the inner rods of the telescopic rods, and the telescopic rods cooperate with the lifting motor to drive the X-ray imaging plate to move up and down.

[0019] Optionally, the lifting control unit further includes a reducer and a coupling;

[0020] The installation shaft is fixedly connected to the output shaft of the lifting motor through the coupling and the reducer.

[0021] Optionally, the rotation control unit comprises a steering gear arranged on the mounting frame;

[0022] The steering gear is used to clamp the X-ray imaging plate and control the rotation of the X-ray imaging plate.

[0023] Optionally, the spacing adjustment unit includes a linear guide rail, a first spacing adjustment leg and a second spacing adjustment leg which are arranged on the linear guide rail and are respectively located on both sides of the mounting frame, and a bidirectional screw rod installed on the linear guide rail;

[0024] The bidirectional screw is used to drive the first distance-adjusting leg and the second distance-adjusting leg to move inward or outward synchronously.

[0025] Optionally, the first walking unit includes a plurality of first V-shaped casters and a plurality of first walking motors, and the plurality of first V-shaped casters correspond to the plurality of first walking motors one by one;

[0026] The first V-shaped caster is mounted on the first travel motor corresponding thereto, and the first travel motor is arranged on the first adjustable distance leg;

[0027] The second walking unit comprises a plurality of second V-shaped casters and a plurality of second walking motors, and the plurality of second V-shaped casters correspond to the second walking motors one by one;

[0028] The second V-shaped caster is mounted on the second travel motor corresponding thereto, and the second travel motor is arranged on the second distance-adjusting leg.

[0029] Optionally, shock absorbers are also provided on the first distance-adjusting leg and the second distance-adjusting leg.

[0030] Optionally, the robot further comprises at least one guiding unit;

[0031] The guide unit comprises two guide legs, the two guide legs are arranged in a V shape, and the bottom of the guide legs is lower than the bottom of the walking device.

[0032] Optionally, a hook is further provided on the top of the mounting frame, and the UAV is connected to the mounting frame via the hook.

[0033] The present invention has at least the following beneficial effects:

[0034] The present invention provides a self-propelled robot for detecting power grid tension clamps. By combining the coordinated work of a drone and a detection device, the problems of power outage, manual high-altitude operation and low detection efficiency in the prior art are effectively solved. The robot is equipped with an X-ray imaging plate, a lifting control unit and a rotation control unit through a mounting frame, and can achieve precise adjustment of the height and angle of the X-ray imaging plate to ensure accurate detection of the tension clamp. The walking device includes a first walking unit and a second walking unit, and a spacing adjustment unit that can adjust the spacing between the two units, so that the robot can adapt to complex working environments with different cable spacings, further improving its applicability and stability. The drone is used to transport the robot to the detection area, without the need for manual cable climbing, which greatly reduces the safety risk of the operator's high-altitude operation, and at the same time ensures that the detection process is completed under power, avoiding the economic losses caused by power outages. In addition, the cooperation of the rotation control unit and the lifting control unit can achieve precise positioning of the imaging plate, ensure the clarity and reliability of the X-ray detection image, thereby improving the detection efficiency and reducing the cumbersomeness of manual operation. The overall design is compact and reasonable, which solves the technical problems of power outage operation, safety risks and inefficient detection in the existing detection technology, and has important practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly explain the prior art and the present invention, the following briefly introduces the drawings required for describing the prior art and the embodiments of the present invention. Obviously, the drawings described below are only exemplary, and for those of ordinary skill in the art, other drawings can be derived from the provided drawings without creative work.

[0036] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented. Any structural modification, change in proportion or adjustment of size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0037] Figure 1 A schematic diagram of the structure of a self-propelled robot for detecting power grid tension clamps provided by an embodiment of the present invention;

[0038] Figure 2 A schematic structural diagram of another self-propelled robot for detecting power grid tension clamps provided by an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the structure of a self-propelled robot and a cable provided in an embodiment of the present invention;

[0040] Figure 4A schematic diagram of the structure of another self-propelled robot and a cable provided in an embodiment of the present invention;

[0041] Figure 5 A schematic structural diagram of yet another self-propelled robot and cable provided in an embodiment of the present invention.

[0042] Description of reference numerals:

[0043] 1-hook; 2-mounting frame; 3-linear guide; 4-first adjustable leg; 5-bidirectional screw; 6-antenna; 7-power switch; 8-electricity meter; 9-shock absorber; 10-first V-type caster; 11-first travel motor; 12-guide leg; 13-servo; 14-X-ray imaging plate; 15-telescopic rod; 16-sling; 17-mounting shaft; 18-coupling; 19-reducer; 20-lifting motor; 21-battery. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0045] In the description of the present invention, unless otherwise specified, "plurality" means two or more. The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are intended to distinguish the objects referred to. For schemes with a sequential flow, this terminology does not have to be understood as describing a specific order or sequence. For schemes with device structures, this terminology does not distinguish between importance, positional relationships, etc.

[0046] In addition, the terms "comprises", "has" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that have been explicitly listed, but may also include other steps or units that are not explicitly listed but are inherent to these processes, methods, products or apparatuses, or steps or units that are added based on further optimization schemes conceived by the present invention.

[0047] like Figures 1 to 5 As shown, a self-propelled robot for detecting power grid tension clamps includes a mounting frame 2, a detection device and a walking device arranged on the mounting frame, a drone and an X-ray machine arranged on the drone.

[0048] The detection device includes an X-ray imaging plate 14 , a lifting control unit and a rotation control unit arranged on the mounting frame 2 .

[0049] The lifting control unit and the rotation control unit are respectively connected to the X-ray imaging plate 14 . The lifting control unit is used to drive the X-ray imaging plate 14 to move up and down, and the rotation control unit is used to drive the X-ray imaging plate 14 to rotate.

[0050] The walking device includes a first walking unit and a second walking unit symmetrically arranged on both sides of the mounting frame 2 , and a spacing adjustment unit arranged on the mounting frame 2 .

[0051] The spacing adjustment unit is connected to the first walking unit and the second walking unit respectively, and is used to adjust the spacing between the first walking unit and the second walking unit so that the spacing between the first walking unit and the second walking unit is consistent with the spacing between two adjacent cables.

[0052] The drone is used to drive the mounting frame 2 and the X-ray machine to move.

[0053] The mounting frame 2 is used to provide structural support for the robot and is the core mounting component of modules such as the detection device and the walking device.

[0054] It should be noted that the mounting frame 2 carries all key components, enables them to operate stably, and provides connection and positioning functions for the lifting control unit, the rotation control unit, the walking device, etc.

[0055] The detection device includes an X-ray imaging plate 14, a lifting control unit and a rotation control unit.

[0056] It should be noted that the X-ray imaging plate 14 is used to receive the X-rays emitted by the X-ray machine to form a clear detection image for internal state analysis of the tension clamp.

[0057] The lifting control unit is used to adjust the height of the X-ray imaging plate 14 so that it can be aligned with tension clamps of different heights.

[0058] The rotation control unit is used to adjust the angle of the X-ray imaging plate 14 so that it can cover the tension clamp at multiple angles to meet the needs of different detection positions.

[0059] Wherein, the walking device comprises: a first walking unit, a second walking unit and a spacing adjustment unit.

[0060] It should be noted that the first walking unit and the second walking unit are used to enable the robot to walk smoothly along the cable and cover the detection points of the tension clamp.

[0061] The spacing adjustment unit is used to adjust the spacing between the first walking unit and the second walking unit, ensuring that the robot adapts to different cable spacings and increasing versatility and stability.

[0062] Among them, the drone transports the robot to the inspection area by connecting the mounting frame 2, and provides flexible deployment and recovery capabilities. It can replace manual high-altitude operations and complete the precise placement and recovery of the robot on the high-altitude cable.

[0063] The X-ray machine is used to emit X-rays and perform non-destructive testing on the tension clamps through X-ray imaging plates, which facilitates the detection of internal defects of the tension clamps and ensures the safety of the power grid.

[0064] Specifically, the mounting frame 2 serves as the main structure, carrying all key components, including a detection device and a walking device. The detection device is composed of an X-ray imaging plate 14, a lifting control unit and a rotation control unit. The imaging plate is moved up and down by the motor drive of the lifting control unit, and the angle of the imaging plate is adjusted by the rotation control unit to ensure comprehensive detection of the tension clamp. The drone is used as a deployment tool, and the robot is transported above the cable by connecting to the hook on the top of the mounting frame. The walking device is close to the cable through the V-shaped casters of the first walking unit and the second walking unit, and cooperates with the walking motor to move the robot along the cable. The spacing adjustment unit adjusts the distance between the two walking units through a bidirectional screw to adapt to the dual cable design with different spacings.

[0065] In this embodiment, there is no need to shut down the power supply. The X-ray machine on the drone emits X-rays, and the X-ray imaging board 14 receives images to complete the internal structure inspection of the tension clamp. The up and down movement and angle adjustment of the imaging board ensure the inspection accuracy and can cover different positions and areas of the tension clamp.

[0066] In this embodiment, the lifting control unit and the rotation control unit are operated by the ground remote control device, and the height and angle of the X-ray imaging plate 14 are adjusted to achieve accurate coverage of the detection points. After the robot completes the detection task, it is recovered by the drone to ensure unmanned operation throughout the high-altitude operation.

[0067] The present invention can complete the detection of the tension clamp without power outage through live detection, effectively avoiding the impact of power outage on the operation efficiency and economic benefits of the power grid in the traditional detection method. The robot can automatically walk along the cable and cover multiple tension clamp detection points through the walking device. Compared with the method of manually climbing and arranging the equipment point by point, the detection efficiency is significantly improved. The lifting control unit and the rotation control unit in the detection device ensure that the imaging plate can accurately adjust the position and angle, so as to achieve full coverage and high-precision imaging of the tension clamp, avoiding the detection omission caused by position error in the traditional method. The robot is deployed and recovered by drones, without manual high-altitude operations, and completely avoiding the safety risks of operators falling, high-voltage electric shock and X-ray radiation. The spacing adjustment unit in the walking device adjusts the leg spacing to make the robot adapt to different cable spacings, thereby improving its versatility; the design of the V-shaped casters ensures that the robot walks smoothly on the cable, and can remain stable even if the cable shakes to a certain extent.

[0068] The present invention replaces manual inspection with drones and robots, significantly reducing labor costs. At the same time, the efficient inspection process shortens the operation time and reduces the overall inspection cost.

[0069] The present invention provides a self-propelled robot for detecting power grid tension clamps. By combining the coordinated work of a drone and a detection device, the problems of power outage, manual high-altitude operation and low detection efficiency in the prior art are effectively solved. The robot is equipped with an X-ray imaging plate, a lifting control unit and a rotation control unit through a mounting frame, and can achieve precise adjustment of the height and angle of the X-ray imaging plate to ensure accurate detection of the tension clamp. The walking device includes a first walking unit and a second walking unit, and a spacing adjustment unit that can adjust the spacing between the two units, so that the robot can adapt to complex working environments with different cable spacings, further improving its applicability and stability. The drone is used to transport the robot to the detection area, without the need for manual cable climbing, which greatly reduces the safety risk of the operator's high-altitude operation, and at the same time ensures that the detection process is completed under power, avoiding the economic losses caused by power outages. In addition, the cooperation of the rotation control unit and the lifting control unit can achieve precise positioning of the imaging plate, ensure the clarity and reliability of the X-ray detection image, thereby improving the detection efficiency and reducing the cumbersomeness of manual operation. The overall design is compact and reasonable, which solves the technical problems of power outage operation, safety risks and inefficient detection in the existing detection technology, and has important practical value.

[0070] In a possible implementation, the lifting control unit includes a lifting motor 20, a mounting shaft 17, and at least two slings 16 disposed on the mounting frame 2;

[0071] The mounting shaft 17 is fixedly connected to the output shaft of the lifting motor 20;

[0072] One end of the sling 16 is fixedly connected to the mounting shaft 17, and the other end of the sling 16 is fixedly connected to the top of the X-ray imaging plate 14;

[0073] Among them, the lifting motor 20 is used to drive the mounting shaft 17 to rotate along the first direction, so that the sling 16 is wound around the mounting shaft 17, thereby driving the X-ray imaging plate 14 to move upward; the lifting motor 20 is also used to drive the mounting shaft 17 to rotate along the second direction, so that the sling 16 is loosened from the mounting shaft 17, thereby driving the X-ray imaging plate 14 to move downward; the first direction is opposite to the second direction.

[0074] The lifting motor 20 is used to drive the installation shaft 17 to rotate and control the winding and releasing of the sling 16 to achieve the lifting movement of the X-ray imaging plate 14 in the vertical direction.

[0075] The mounting shaft 17 is used to fix one end of the sling 16 and wind or loosen the sling 16 by rotation, thereby providing stable mechanical support for the sling 16 .

[0076] The sling 16 is used to connect the mounting shaft 17 and the X-ray imaging plate 14, and completes the up and down movement of the X-ray imaging plate 14 by winding and releasing.

[0077] It should be noted that the lifting control unit realizes the height adjustment of the X-ray imaging plate 14 by mechanical transmission, and its specific implementation is as follows: the output shaft of the lifting motor 20 is fixedly connected to the mounting shaft 17, and the mounting shaft is used to wind the sling 16. One end of the sling 16 is fixed to the mounting shaft 17, and the other end is fixed to the top of the X-ray imaging plate 14, forming a simple and reliable lifting structure.

[0078] When the lifting motor 20 rotates in a first direction, the mounting shaft 17 winds up the sling 16, so that the X-ray imaging plate 14 gradually moves upward. When the lifting motor 20 rotates in a second direction opposite to the first direction, the mounting shaft 17 releases the sling 16, so that the X-ray imaging plate 14 gradually moves downward.

[0079] The rotation angle of the lifting motor 20 is controlled by a ground remote control device to ensure that the winding length of the sling 16 is controllable, thereby accurately adjusting the position of the X-ray imaging plate 14.

[0080] In this embodiment, the height adjustment of the X-ray imaging plate 14 in the vertical direction is achieved through the flexible connection of the sling 16 and the precise control of the lifting motor 20, and the tension clamps at different heights can be aligned to improve the detection coverage. In addition, the matching design of the sling 16 and the mounting shaft 17 is light, which reduces the weight and load of the moving parts and improves the operating stability of the system. The flexible characteristics of the sling 16 make it suitable for various complex cable environments, and it is not easily affected by cable vibration or shaking, which reduces the weight of the equipment and reduces the manufacturing cost.

[0081] like Figure 1 As shown, the self-propelled robot also includes an antenna 6, which is used for wireless communication between the robot and the ground control terminal.

[0082] Specifically, antenna 6 receives instructions from the ground remote control to control the operation of the robot's walking device, lifting control unit and rotation control unit; it transmits detection status, operating position and power information in real time to facilitate ground operators to monitor the operation of the robot; it provides strong anti-interference capabilities and can stably transmit data even in an environment with high-voltage electric field interference.

[0083] Antenna 6 is the core component for realizing remote operation and real-time data monitoring, ensuring that the robot can operate normally in a high-altitude environment.

[0084] The self-propelled robot further comprises a power switch 7 .

[0085] The power switch 7 is used to control the power switch of the robot and manage the power-on and power-off status of the entire machine.

[0086] Before starting the robot, ensure that all components can be powered on in the order required for operation. At the same time, an emergency power-off function is provided. When the robot encounters an abnormal situation, the power supply can be quickly cut off to protect the system safety.

[0087] The power switch 7 ensures the operational convenience of the entire system and at the same time improves the safety and reliability of the robot through the power-off protection function.

[0088] The self-propelled robot further comprises a power meter 8 .

[0089] The power meter 8 is used to monitor and display the remaining power of the robot battery in real time, and provide power usage status information for ground operators to determine whether replacement or charging is needed.

[0090] Combined with antenna 6, the power data is transmitted to the ground control terminal to ensure that the operator can grasp the energy status in real time. When the power is lower than the preset value, an alarm prompt is provided to remind the operator to arrange the robot recovery in time.

[0091] The power meter 8 is an important component of energy management, which ensures that the robot can operate continuously and stably while avoiding mission interruption or safety problems caused by power exhaustion.

[0092] The self-propelled robot further comprises a battery 21 .

[0093] The battery 21 provides energy for the robot and supports the operation of all components.

[0094] Specifically, the battery 21 supplies power to the lifting control unit, the rotation control unit, the walking device, the communication module and the detection device, etc., to ensure that the robot has the ability to complete the entire task.

[0095] The capacity design of the battery 21 can meet the long-term requirements of aerial work while providing a stable voltage output.

[0096] In a possible implementation, the lifting control unit further includes at least two telescopic rods 15;

[0097] The telescopic rods 15 are symmetrically arranged on both sides of the X-ray imaging plate 14 , the X-ray imaging plate 14 is fixedly connected to the inner rod of the telescopic rods 15 , and the telescopic rods 15 cooperate with the lifting motor 20 to drive the X-ray imaging plate 14 to move up and down.

[0098] Among them, the telescopic rods 15 are symmetrically arranged on both sides of the X-ray imaging plate 14, and cooperate with the lifting motor 20 to further assist the up and down movement of the X-ray imaging plate 14, provide additional support force for the X-ray imaging plate 14, and reduce the shaking of the sling 16 when it is raised and lowered.

[0099] It should be noted that each telescopic rod 15 is composed of an inner rod and an outer rod, and the telescopic movement of the inner rod is achieved through mechanical transmission. The bottom of the telescopic rod is fixed on the mounting frame, and the top is connected to both sides of the X-ray imaging plate 14.

[0100] The lifting motor 20 controls the initial movement of the X-ray imaging plate 14 by winding the sling 16, and the telescopic rod 15 adjusts its length synchronously according to the movement of the sling 16. The telescopic rod 15 provides a balanced support during the movement of the X-ray imaging plate 14 to ensure its smooth operation.

[0101] The extension and retraction of the telescopic rod 15 is completed by a control system synchronized with the lifting motor 20 to ensure the coordinated movement between the sling 16 and the telescopic rod 15.

[0102] In this embodiment, the telescopic rod 15 is used to provide additional support for the X-ray imaging plate 14, so as to prevent the X-ray imaging plate 14 from tilting due to the shaking of the sling 16 during the lifting process, thereby improving the detection accuracy. The combination of the telescopic rod 15 and the sling 16 further expands the height adjustment range of the X-ray imaging plate 14, and adapts to more types of cables and detection points. In addition, the lifting load of the sling 16 is shared, the wear of the sling 16 is reduced, and the durability of the entire system is improved.

[0103] In a possible implementation, the lifting control unit further includes a reducer 19 and a coupling 18;

[0104] The mounting shaft 17 is fixedly connected to the output shaft of the lifting motor 20 through a coupling 18 and a reducer 19 .

[0105] The reducer 19 is used to reduce the output speed of the lifting motor 20 and provide a greater torque.

[0106] The coupling 18 is used to connect the lifting motor and the mounting shaft to transmit power and absorb certain mechanical errors.

[0107] It should be noted that the output shaft of the lifting motor 20 is connected to the reducer 19 through a coupling 18 , and the reducer 19 is further connected to the mounting shaft 17 .

[0108] The elastic design of the coupling 18 absorbs slight deviations between the lifting motor 20 and the mounting shaft 17 to prevent mechanical damage.

[0109] The high-speed rotation output by the lifting motor 20 is reduced in speed by the speed reducer 19 to increase the torque, thereby more accurately controlling the rotation of the mounting shaft 17 .

[0110] In this embodiment, the high torque output of the reducer 19 can drive the sling 16 to lift heavy objects, thereby improving the lifting capacity of the X-ray imaging plate 14 under high load conditions; the elastic characteristics of the coupling 18 eliminate small mechanical errors, making the rotation of the mounting shaft 17 more stable, thereby ensuring accurate height adjustment of the X-ray imaging plate 14. In addition, the reducer 19 reduces the load of the lifting motor 20 and reduces the wear of the lifting motor 20.

[0111] In a possible implementation, the rotation control unit includes a steering gear 13 disposed on the mounting frame 2;

[0112] The steering gear 13 is used to clamp the X-ray imaging plate 14 and control the rotation of the X-ray imaging plate 14 .

[0113] The steering gear 13 is used to control the angle adjustment of the X-ray imaging plate 14, and can make the X-ray imaging plate 14 rotate in the horizontal or vertical direction during the detection process.

[0114] It should be noted that the steering gear 13 is mounted on the mounting frame 2, and its output shaft clamps the X-ray imaging plate 14 through a fixing device.

[0115] The steering engine 13 receives the remote control signal and drives the X-ray imaging plate 14 to rotate along the horizontal axis or the vertical axis to adjust to a desired angle.

[0116] In this embodiment, the rotation adjustment of the steering gear 13 enables the X-ray imaging plate 14 to cover all angles of the tension clamp, ensuring comprehensive detection and adapting to complex detection scenarios.

[0117] In a possible implementation, the spacing adjustment unit includes a linear guide rail 3, a first spacing adjustment leg 4 and a second spacing adjustment leg disposed on the linear guide rail 3 and respectively located on both sides of the mounting frame 2, and a bidirectional screw 5 installed on the linear guide rail 3;

[0118] The bidirectional screw 5 is used to drive the first distance-adjusting leg 4 and the second distance-adjusting leg to move inward or outward synchronously.

[0119] The linear guide rail 3 is used to provide a sliding path for the first spacing leg 4 and the second spacing leg, constrain the moving direction of the first spacing leg 4 and the second spacing leg, and ensure the stability and parallelism of the movement of the first spacing leg 4 and the second spacing leg.

[0120] The first distance-adjusting leg 4 and the second distance-adjusting leg are used to provide mechanical support and contact the cable to ensure that the robot stably fits the cable.

[0121] The positions of the first distance-adjusting leg 4 and the second distance-adjusting leg are adjusted by the bidirectional screw 5 to adapt to different cable spacings.

[0122] The bidirectional screw 5 is used to drive the first distance-adjusting leg 4 and the second distance-adjusting leg to move inward or outward synchronously, so as to adjust the distance between the first distance-adjusting leg 4 and the second distance-adjusting leg to adapt to the interval between two adjacent cables.

[0123] The linear guide rail 3 is fixed on the mounting frame 2 and arranged in parallel with the bidirectional screw 5. The first distance-adjusting leg 4 and the second distance-adjusting leg are connected to the linear guide rail through a slider and can slide smoothly on the guide rail.

[0124] The bidirectional screw 5 is arranged in the middle of the linear guide rail 3, and drives the sliders of the first distance-adjusting leg 4 and the second distance-adjusting leg to slide along the linear guide rail 3 through the screw thread.

[0125] Specifically, the operator controls the rotation direction of the bidirectional screw 5 through the ground remote control equipment. When the bidirectional screw 5 rotates clockwise, the first distance-adjusting leg 4 and the second distance-adjusting leg move inward at the same time, and the distance between the first distance-adjusting leg 4 and the second distance-adjusting leg decreases; when the bidirectional screw 5 rotates counterclockwise, the first distance-adjusting leg 4 and the second distance-adjusting leg move outward at the same time, and the distance between the first distance-adjusting leg 4 and the second distance-adjusting leg increases.

[0126] After the adjustment is completed, the first distance-adjusting leg 4 and the second distance-adjusting leg are fixed at designated positions on the linear guide rail 3 , so that the robot can stably clamp the dual cables with different distances.

[0127] After being adjusted to the target position, the first distance-adjusting leg 4 and the second distance-adjusting leg are fixed at the designated position by a mechanical locking mechanism or a self-locking characteristic of the thread to prevent loosening due to vibration during operation.

[0128] In this embodiment, the spacing adjustment capability of the first spacing leg 4 and the second spacing leg enables the robot to adapt to complex working conditions with different cable spacings, and has a wider range of applications. The linear guide 3 provides a constraint path for the movement of the first spacing leg 4 and the second spacing leg, and the bidirectional screw 5 realizes the synchronous adjustment of the first spacing leg 4 and the second spacing leg, ensuring the stability and symmetry of the adjustment process and avoiding unstable operation caused by position deviation.

[0129] In a possible implementation, the first travel unit includes a plurality of first V-shaped casters 10 and a plurality of first travel motors 11, and the plurality of first V-shaped casters 10 and the plurality of first travel motors 11 correspond one to one;

[0130] The first V-shaped caster 10 is mounted on a first travel motor 11 corresponding thereto, and the first travel motor 11 is arranged on the first adjustable distance leg 4;

[0131] The second walking unit includes a plurality of second V-shaped casters and a plurality of second walking motors, and the plurality of second V-shaped casters correspond to the second walking motors one by one;

[0132] The second V-shaped caster is installed on the second travel motor corresponding to it, and the second travel motor is arranged on the second distance-adjusting support leg.

[0133] The first V-shaped caster 10 and the second V-shaped caster are in contact with the cable. The V-shaped design of the first V-shaped caster 10 and the second V-shaped caster ensures that the first V-shaped caster 10 and the second V-shaped caster can cling to the surface of the cable to achieve stable support and movement.

[0134] The first travel motor 11 and the second travel motor are used to drive the first V-shaped caster 10 and the second V-shaped caster to rotate respectively, so that the robot can walk smoothly along the cable direction.

[0135] The wheel groove design of the V-type caster matches the cylindrical surface of the cable, ensuring that the wheel rolls smoothly on the cable.

[0136] The casters are installed at the end of the legs and connected to the travel motor through bearings to ensure rotation flexibility.

[0137] The first travel motor 11 and the second travel motor control their speed and direction through the ground remote control signal, so that the first V-shaped caster 10 and the second V-shaped caster can move forward, backward or stop. The first travel motor 11 and the second travel motor work together to keep the robot walking smoothly on the cable.

[0138] Independent control of the first travel motor 11 and the second travel motor allows the first V-shaped caster 10 and the second V-shaped caster to rotate at different speeds, thereby achieving steering of the robot on the cable.

[0139] In this embodiment, the design of the V-shaped caster can ensure that the robot can maintain stable contact even when the cable is shaking, thereby improving the reliability of the detection process. The first travel motor 11 and the second travel motor provide a strong driving force for the first V-shaped caster 10 and the second V-shaped caster, so that the robot can move quickly, reduce the switching time between detection points, and improve detection efficiency. The independent control of the first travel motor 11 and the second travel motor enables the robot to have a higher steering ability and can adapt to the changing paths of complex lines.

[0140] In a possible implementation manner, a shock absorber 9 is further provided on the first distance adjusting leg 4 and the second distance adjusting leg.

[0141] The shock absorber 9 is used to absorb the vibration of the robot during walking and reduce the influence of the cable vibration on the detection device.

[0142] The shock absorber 9 is installed between the adjustable distance leg and the V-type caster to absorb the vibration from the cable through a flexible connection.

[0143] When the robot walks, the cable may be displaced due to wind force, vibration or its own shaking, and the shock absorber 9 buffers these disturbances through an elastic telescopic structure.

[0144] The shock absorber 9 is made of highly elastic material such as rubber or spring, which provides good shock absorbing effect while bearing the load.

[0145] In this embodiment, the shock absorber 9 effectively reduces the impact of external vibration on the detection equipment and improves the imaging quality. After the shock absorber 9 absorbs the vibration, the mechanical impact of the vibration on the detection device and the walking device is reduced, and the life of the equipment is extended. Even in strong winds or unstable lines, the shock absorber 9 can maintain the stability of the robot operation.

[0146] In a possible embodiment, the robot further comprises at least one guiding unit;

[0147] The guide unit includes two guide legs 12 , which are arranged in a V-shape, and the bottom of the guide legs 12 is lower than the bottom of the walking device.

[0148] Among them, the guide unit is used to guide the robot to correctly dock with the cable and prevent deviation when the drone launches the robot.

[0149] The two guide legs 12 of the guide unit are arranged in a V shape, and the ends of the guide legs 12 are lower than the first V-shaped caster 10 and the second V-shaped caster, so that the robot can automatically align with the center of the cable when it approaches the cable.

[0150] It should be noted that the guide legs 12 are made of wear-resistant material to ensure that they are not damaged by friction during the docking process.

[0151] In this embodiment, the guide legs 12 can ensure that the robot can accurately dock with the cable, thereby improving the delivery efficiency, reducing the need for ground personnel to fine-tune the drone, and improving operational convenience.

[0152] In a possible implementation manner, a hook 1 is further provided on the top of the mounting frame 2 , and the UAV is connected to the mounting frame 2 via the hook 1 .

[0153] Among them, the hook 1 connects the mounting frame 2 and the drone, and is used for high-altitude transportation and recovery of the robot.

[0154] The hook 1 may adopt a locking design to ensure a firm connection with the drone.

[0155] The drone completes the robot transportation and recovery process by controlling the release or locking of the hook.

[0156] In this embodiment, the hook 1 is designed to bear the weight of the robot to ensure the safety of high-altitude transportation; at the same time, the drone improves the efficiency of robot deployment by quickly locking and releasing the hook 1.

[0157] The embodiment of the present application provides a self-propelled robot for detecting power grid tension clamps, which is operated at a ground control terminal. There is no need for a power outage in the power grid, no risk of radiation exposure for operators, no need for high-altitude operations, high detection efficiency, low operating costs, and safety.

[0158] like Figure 3 As shown, when using a self-propelled robot for power grid tension clamp detection provided by an embodiment of the present application to perform power grid tension clamp detection, the following steps are mainly included:

[0159] Step 1: According to the spacing of the cables, adjust the spacing between the first spacing-adjusting leg 4 and the second spacing-adjusting leg of the robot on the ground through the bidirectional screw 5; wherein the spacing between the first spacing-adjusting leg 4 and the second spacing-adjusting leg is equal to the spacing of the cables.

[0160] Step 2: Use the drone to carry the robot directly above the cable to be inspected.

[0161] Among them, the drone can be a DJI drone.

[0162] Step 3: Control the drone to land slowly, align the robot through the guide legs 12, and make all the wheels of the robot fall on the line.

[0163] Step 4: Use the remote control to control the robot to move to the tension clamp to be tested.

[0164] Step 5: Adjust the X-ray imaging plate 14 to the No. 1 tension clamp through the lifting control unit.

[0165] Step 6: After imaging of the No. 1 tension clamp, the X-ray imaging plate 14 is rotated by the lifting motor 20 to release the sling 16, and the X-ray imaging plate 14 descends to the No. 2 tension clamp by gravity.

[0166] Step 7: After imaging of the No. 2 tension clamp, the X-ray imaging plate 14 continues to descend until the highest point of the X-ray imaging plate 14 is lower than the bottom of the No. 2 tension clamp.

[0167] Step 8: Rotate the X-ray imaging plate 14 180° via the steering gear 13.

[0168] Step 9: Rotate and tighten the sling 16 by the lifting motor 20 to lift the X-ray imaging plate 14 to the position of the No. 4 tension clamp.

[0169] Step 10: After imaging the No. 4 tension clamp, lift the X-ray imaging plate 14 to the No. 3 tension clamp.

[0170] Step 11: After all four tension clamps are inspected, the drone retrieves the robot.

[0171] The above specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0172] The technical features of the above embodiments can be combined arbitrarily as long as there is no contradiction in the combination of these technical features. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described; these embodiments that are not explicitly written should also be considered to be within the scope of this specification.

[0173] The present invention is described in more detail through general description and specific embodiments. It should be noted that, without departing from the concept of the present invention, it is obvious that several variations and improvements can be made to these specific embodiments, which all belong to the protection scope of this application. Therefore, the protection scope of the patent of this application shall be subject to the attached claims.

Claims

1. A self-propelled robot for detecting power grid tension clamps, characterized in that: The robot comprises: a mounting frame (2), a detection device and a walking device arranged on the mounting frame (2), a drone and an X-ray machine arranged on the drone; The detection device comprises an X-ray imaging plate (14), a lifting control unit and a rotation control unit arranged on the mounting frame (2); The lifting control unit and the rotation control unit are respectively connected to the X-ray imaging plate (14), the lifting control unit is used to drive the X-ray imaging plate (14) to move up and down, and the rotation control unit is used to drive the X-ray imaging plate (14) to rotate; The walking device comprises a first walking unit and a second walking unit symmetrically arranged on both sides of the mounting frame (2), and a spacing adjustment unit arranged on the mounting frame (2); The spacing adjustment unit is connected to the first walking unit and the second walking unit respectively, and is used to adjust the spacing between the first walking unit and the second walking unit so that the spacing between the first walking unit and the second walking unit is consistent with the spacing between two adjacent cables; The drone is used to drive the mounting frame (2) and the X-ray machine to move.

2. The self-propelled robot according to claim 1, characterized in that: The lifting control unit comprises a lifting motor (20), a mounting shaft (17) and at least two lifting belts (16) arranged on the mounting frame (2); The installation shaft (17) is fixedly connected to the output shaft of the lifting motor (20); One end of the sling (16) is fixedly connected to the mounting shaft (17), and the other end of the sling (16) is fixedly connected to the top of the X-ray imaging plate (14); The lifting motor (20) is used to drive the mounting shaft (17) to rotate in a first direction so that the sling (16) is wound around the mounting shaft (17), thereby driving the X-ray imaging plate (14) to move upward; the lifting motor (20) is also used to drive the mounting shaft (17) to rotate in a second direction so that the sling (16) is loosened from the mounting shaft (17), thereby driving the X-ray imaging plate (14) to move downward; the first direction is opposite to the second direction.

3. The self-propelled robot according to claim 2, characterized in that: The lifting control unit further comprises at least two telescopic rods (15); The telescopic rod (15) is symmetrically arranged on both sides of the X-ray imaging plate (14); the X-ray imaging plate (14) is fixedly connected to the inner rod of the telescopic rod (15); the telescopic rod (15) cooperates with the lifting motor (20) to drive the X-ray imaging plate (14) to move up and down.

4. The self-propelled robot according to claim 2, characterized in that: The lifting control unit also includes a reducer (19) and a coupling (18); The installation shaft (17) is fixedly connected to the output shaft of the lifting motor (20) via the coupling (18) and the reducer (19).

5. The self-propelled robot according to claim 1, characterized in that: The rotation control unit comprises a steering gear (13) arranged on the mounting frame (2); The steering gear (13) is used to clamp the X-ray imaging plate (14) and control the rotation of the X-ray imaging plate (14).

6. The self-propelled robot according to claim 1, characterized in that: The spacing adjustment unit comprises a linear guide rail (3), a first spacing adjustment leg (4) and a second spacing adjustment leg arranged on the linear guide rail (3) and respectively located on both sides of the mounting frame (2), and a bidirectional screw (5) installed on the linear guide rail (3); The bidirectional screw (5) is used to drive the first distance-adjusting leg (4) and the second distance-adjusting leg to move inward or outward synchronously.

7. The self-propelled robot according to claim 6, characterized in that: The first walking unit comprises a plurality of first V-shaped casters (10) and a plurality of first walking motors (11), and the plurality of first V-shaped casters (10) and the plurality of first walking motors (11) correspond one to one; The first V-shaped caster (10) is mounted on the first travel motor (11) corresponding thereto, and the first travel motor (11) is arranged on the first adjustable distance support leg (4); The second walking unit comprises a plurality of second V-shaped casters and a plurality of second walking motors, and the plurality of second V-shaped casters correspond to the second walking motors one by one; The second V-shaped caster is mounted on the second travel motor corresponding thereto, and the second travel motor is arranged on the second distance-adjusting leg.

8. The self-propelled robot according to claim 6, characterized in that: Shock absorbers (9) are also provided on the first distance-adjusting leg (4) and the second distance-adjusting leg.

9. The self-propelled robot according to claim 1, characterized in that: The robot further comprises at least one guiding unit; The guide unit comprises two guide legs (12), the two guide legs (12) are arranged in a V-shape, and the bottom of the guide legs (12) is lower than the bottom of the walking device.

10. The self-propelled robot according to claim 1, characterized in that: A hook (1) is also provided on the top of the mounting frame (2), and the drone is connected to the mounting frame (2) via the hook (1).

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