Electric power inspection robot capable of avoiding obstacles at high altitude

Abstract

The invention relates to the field of electric power inspection robots, in particular to an electric power inspection robot capable of high-altitude obstacle avoidance, which comprises a detection box and mounting frames arranged on two sides of the detection box, rollers are rotatably connected to the mounting frames on two sides, and driving motors connected with the rollers are mounted on the mounting frames. Electric telescopic rods are installed on the two sides of the detection box, and swing pieces are installed between the electric telescopic rods and the detection box. According to the high-altitude electric power inspection robot, the rollers are pushed to be separated from each other through the separation piece and continue to get close to each other to clamp an insulator after moving by a specified distance, and the electric telescopic rod retracts to pull the detection box to move to get close to the front roller, so that the high-altitude electric power inspection robot can move along the whole high-voltage line; the inspection robot does not need to be provided with a specific track or manually to cross an iron tower for continuous inspection, so that the use cost of the inspection robot is greatly reduced, and the high-altitude electric power inspection robot can be popularized on a large scale.

Description

Technical Field

[0001] The present invention relates to the field of power inspection robots, and specifically to a power inspection robot capable of avoiding obstacles at high altitudes. Background Art

[0002] An inspection robot is an automated robot integrated with multiple sensors. It usually perceives the surrounding environment by carrying devices such as cameras, infrared sensors, and sound sensors, and processes and analyzes the data through technologies such as computer vision and image processing.

[0003] A high-altitude power inspection robot is an intelligent device that can replace humans to conduct inspections and maintenance of high-altitude power equipment. The inspection robot uses lidar for graphic modeling and combines a high-precision fiber optic gyroscope to obtain position and attitude information in real time. The robot aims a high-definition camera at the high-voltage cable part to be detected, automatically focuses and takes pictures, and obtains reading information by calculating the angle between the pointer feature and the range feature, such as the state of cable insulators and the condition of compression joints. The machine vision system can also be used to detect whether the cable outer skin is damaged or there is an oil leakage phenomenon. The common high-altitude power inspection robot moves on high-voltage cables through rollers. However, once it encounters foreign objects such as kites and garbage bags, if the inspection robot continues to operate, it will cause the foreign objects to enter the rollers of the inspection robot, resulting in the inspection robot being unable to continue moving for inspection. Therefore, the patent application with the patent publication number CN221727800U provides a high-voltage power line inspection robot, which realizes timely cutting and cleaning of foreign objects such as kites and garbage bags hanging on the high-voltage power line by setting a driving rotary cutting system and connecting it to the lower ends of the front leg rod and the rear leg rod respectively, ensuring that the inspection robot can move and inspect normally on the cable. However, for the iron towers and insulators used to support and connect the cables, the inspection robot cannot cross a long string of connected insulators and steel frames, and a specific track needs to be installed or the inspection robot needs to be manually adjusted to cross the iron tower to continue the inspection. Whether installing a specific track or using manual adjustment will increase the use cost of the inspection robot, which is not conducive to the large-scale promotion of high-altitude power inspection robots.

[0004] Therefore, a power inspection robot capable of avoiding obstacles at high altitudes is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a power inspection robot capable of avoiding obstacles at high altitudes, so as to solve the problem that the inspection robot cannot cross a long string of connected insulators and steel frames, and a specific track needs to be installed or the inspection robot needs to be manually adjusted to cross the iron tower to continue the inspection. Whether installing a specific track or using manual adjustment will increase the use cost of the inspection robot, which is not conducive to the large-scale promotion of high-altitude power inspection robots.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A power inspection robot capable of avoiding obstacles at high altitude, comprising a detection box and mounting frames arranged on both sides of the detection box. Rollers are rotatably connected to both mounting frames. The rollers on both sides are in rolling connection with a high-voltage line. A drive motor connected to the rollers is installed on the mounting frame. Electric telescopic rods are installed on both sides of the detection box. A swinging member is installed between the electric telescopic rod and the detection box. The movable end of the electric telescopic rod is connected to the mounting frame through a separating member. When the inspection robot encounters small interfering objects such as insulators, when one side of the electric telescopic rod pushes one side roller to move through the separating member, the rollers will first separate from each other and then continue to approach each other after moving a specified distance. When the inspection robot encounters the support steel bars on the iron tower, the separating member causes the electric telescopic rod and the connected separating member to swing to one side to cross over the support steel bars and reset after crossing over the support steel bars.

[0008] When the power inspection robot encounters small interfering objects such as insulators, the movable end of the electric telescopic rod on one side moves forward. When pushing one side roller to move through the separating member, the rollers will first separate from each other and then continue to approach each other to clamp the insulator. After clamping firmly, when the electric telescopic rod contracts at this time, it will pull the detection box to move closer to the front roller. When the inspection robot encounters the support steel bars on the iron tower, the separating member causes the electric telescopic rod and the connected separating member to swing to one side to cross over the support steel bars. When the rollers swing to one side to cross over the support steel bars, the upper and lower rollers will still roll on the cable or steel bar on one side. Through the separating member and the swinging member, the high-altitude power inspection robot can continuously move on the insulator and can also cross over the support steel bars on the iron tower to continue the inspection. This enables the high-altitude power inspection robot to move along the entire high-voltage line without installing a specific track or manually making the inspection robot cross over the iron tower to continue the inspection, greatly reducing the use cost when the inspection robot is in use and enabling the high-altitude power inspection robot to be widely promoted.

[0009] Preferably, the separating member includes a telescopic rod, a pushing block, a first compression spring, a moving strip, a limiting frame, a guiding column, a rolling column, and a guiding plate. The telescopic rod is fixedly installed on the mounting frame. The fixed end of the telescopic rod is fixedly installed with the pushing block. The telescopic rod is sleeved with the first compression spring. The two ends of the first compression spring are respectively abutted against the mounting frame and the pushing block. One side of the pushing block is fixedly installed with the moving strip. The movable end of the electric telescopic rod is fixedly installed with the limiting frame. A limiting groove is formed in the limiting frame. The moving strip is slidably connected in the limiting groove. The guiding column is fixedly installed in the limiting groove. A round hole for the guiding column to pass through is formed in the moving strip. A rolling column is rotatably connected to one side of the moving strip. The fixed end of the electric telescopic rod is fixedly installed with the guiding plate. A guiding groove is formed in the guiding plate. The rolling column is arranged in the guiding groove, so that when the rolling column moves, the rolling columns first separate from each other and then approach each other.

[0010] Since the telescopic rod is fixedly installed on the mounting frame and the first compression spring is sleeved on the telescopic rod, when the roller is lifted, the first compression spring will be squeezed, causing the first compression spring and the telescopic rod to contract. After passing over the obstacle, the roller will be pushed by the elastic force of the first compression spring to continue to abut against the cable, enabling the inspection robot to still operate. When the high-altitude power inspection robot moves along the line and encounters the connected insulator, the movable end of the electric telescopic rod extends forward. Since the guiding plate is fixedly installed on the fixed end of the electric telescopic rod, the guiding plate cannot move. When the electric telescopic rod drives the limiting frame fixed on it to move forward, the limiting frame drives the moving strip sliding on it to move. The moving moving strip drives the pushing block to move, causing the pushing block to drive the connected telescopic rod and the roller to move upward. By setting the guiding groove, the two rollers on both sides can be separated and closed mechanically when moving, without the need to use an additional power source for driving, reducing the overall weight of the high-altitude inspection robot and avoiding damage to the cable caused by excessive weight. At the same time, using a mechanical method for separation and closing also ensures the stability of the high-altitude inspection robot during use.

[0011] Preferably, there are three guiding grooves, and the three guiding grooves are connected together to form a triangular structure. The three guiding grooves are respectively a separation groove, a pressing groove, and a retracting groove. A first swing plate is arranged between the separation groove and the retracting groove. The first swing plate is rotatably connected to the guiding plate. The first swing plate swings upward. The separation groove is inclined upward as a whole. The pressing groove is inclined downward as a whole. The retracting groove is parallel to the telescopic direction of the electric telescopic rod.

[0012] The rolling columns slide on the separation groove. Since the separation groove is upwardly inclined, the upper rolling columns will continuously rise, while the lower rolling columns will continuously descend. When the rolling columns continue to move, they will enter the pressing groove. The pressing groove is downwardly inclined, causing the rolling columns on both sides to continuously approach each other. Of course, when the electric telescopic rod moves to its end, it will retract backward. Since the bottom of the pressing groove is above the retracting groove, when the electric telescopic rod drives the rolling columns to move backward, the rolling columns cannot move upward into the pressing groove. Therefore, the rolling columns can only be pulled by the electric telescopic rod to enter the pressing groove for movement. Since the pressing groove is straight, the specific up and down positions of the rolling columns remain unchanged, and the pressing on the insulator continues. After the electric telescopic rod is completely retracted, the rolling columns will move to the origin position. At the same time, before the rolling columns move to the origin, they will first push the first swing plate to swing to one side, so that when the rolling columns are pushed by the electric telescopic rod to continue moving, they can continue to enter the separation groove, enabling the rolling columns to continuously roll along the guiding groove under the action of the electric telescopic rod. By setting the guiding groove, the rollers can be separated and brought together mechanically, enabling the high-altitude power inspection robot to maintain long-term inspection in harsh environments, indirectly ensuring the stability of the high-altitude inspection robot during use and ensuring that the high-altitude inspection robot can operate stably for a long time.

[0013] Preferably, the swinging member includes a tilting plate and a baffle. The tilting plate is fixedly installed on the guiding plate, and the baffle is fixedly installed on the guiding plate. The distance between the bottom of the tilting plate and the cable is A, and the distance between the roller after lifting to the apex and the cable is B. A = B, and the top of the tilting plate is flush with the top of the guiding plate. The maximum distance between the tilting plate and the guiding plate is greater than the distance between the other side of the roller and the guiding plate. A rectangular window is opened on the detection box, and a swinging block is rotatably connected in the rectangular window. The electric telescopic rod is fixedly installed on the swinging block, and a torsion spring connected to the swinging block is installed in the rectangular window.

[0014] The distance between the bottom of the tilting plate 13 and the cable is A, and the distance between the roller after lifting to the apex and the cable is B. A = B. Because when the length of the supporting steel bar is less than B, since the distance between the roller after lifting to the apex and the cable is B, the roller can directly cross the supporting steel bar. At the same time, because it is less than B, the supporting steel bar cannot contact the tilting plate 13. Of course, when the length of the supporting steel bar is greater than B, the distance between the roller after lifting to the apex and the cable is B, making the roller unable to cross the supporting steel bar. Therefore, it can only push the tilting plate 13 to swing. Through the deflection of the tilting plate 13, the roller can cross some large obstacles such as the supporting steel bar.

[0015] Preferably, an annular guide rail is provided inside the inspection box. The center of the annular guide rail coincides with the rotation center of the swing block. A counterweight block is slidably connected to the annular guide rail, and a connecting rod is fixedly installed between the counterweight block and the swing block.

[0016] Because when the separating member on one side causes the roller to tilt to one side and is about to cross the support steel frame, since the roller and the pushing structure that pushes it to move have a certain weight, the roller and the pushing structure that pushes it to move will cause the inspection box to deflect. And the cross-section of the cable is a circular structure. Therefore, once the inspection box deflects, the roller swinging back may not be able to swing onto the support steel frame or the cable. So it is necessary to ensure that the inspection box does not deflect when the roller swings. Therefore, when the swing block swings to one side under the action of the thrust, the connecting rod drives the counterweight block on the other side to deviate to the other side, changing the counterweight inside the inspection box, ensuring that the inspection box does not deflect due to the center of gravity problem when bypassing the support steel frame, thereby ensuring that the power inspection robot does not shake or topple due to unstable center of gravity during obstacle avoidance and improving the stability of the power inspection robot during obstacle avoidance.

[0017] Preferably, a fixed plate is fixedly installed on the inspection box. A lower pressing plate is slidably connected to the fixed plate. A through-channel is opened in the fixed plate, and a steel wire rope is placed in the through-channel. One end of the steel wire rope is fixedly installed with the lower pressing plate through a spring, and the other end of the steel wire rope is fixedly installed with the movable end of the electric telescopic rod.

[0018] When the roller on one side of the inspection box separates from the cable, its gravity will be applied to the roller on the other side, clamping the cable in the middle through the upper and lower rollers to prevent the inspection box from falling due to only one side being supported. Specifically, when the roller drives the swing block to swing to one side through the electric telescopic rod, one side of the swing block is connected to the steel wire rope, so that the swing of the swing block will pull the steel wire rope to move. The moving steel wire rope pulls the lower pressing plate to move downward, and the moving lower pressing plate presses against the cable, insulator or support steel frame below, making the inspection box more stable during movement.

[0019] Preferably, a plurality of transverse grooves are opened on the guide plate. The transverse grooves connect the separation grooves and the pressing grooves on both sides. A second swing plate is provided on one side of the transverse groove close to the separation groove, and a third swing plate is provided on one side of the transverse groove close to the pressing groove. Both the second swing plate and the third swing plate are rotatably connected to the guide plate.

[0020] Because the sizes of the insulators at different positions are different, and the pressing groove is inclined downward, the rolling columns on both sides will continuously approach each other, getting closer and closer to the cable in the middle, enabling the rollers connected to the rolling columns to approach each other and squeeze the insulator in the middle. However, since the rolling columns need to retract, they can only slide to the end where the pressing groove is connected to the retracting groove, causing the rollers to exert a strong force to squeeze the insulator, and even making it impossible to continue pushing the insulator downward. Therefore, it is necessary to adjust the downward movement position of the rollers to ensure that the downward movement position is suitable for cable routes at different positions, enabling the power inspection robot to conduct inspections on lines with insulators of different specifications installed, thereby improving the applicable range of the power inspection robot.

[0021] Preferably, the contact surface between the roller and the cable is provided with an arc-shaped depression. At the same time, a plurality of uniformly arranged right-angle grooves are formed on the roller, and the right-angle grooves are arranged in a ring on the roller. Because in a specific environment, the roller needs to move on the support steel frame, and in order to adapt to the overall shape of the cable and prevent the roller from shifting when moving on the cable, it is necessary to make the contact position between the roller and the cable form an inward depression. Of course, the roller will also move onto the steel frame, but at this time the surface of the roller is arc-shaped, so it is necessary to form right-angle grooves on the roller to ensure that the roller can stay stably on the support steel frame, enabling the power inspection robot to move stably when moving on the support steel frame, and enabling the power inspection robot to move on objects other than cables, indirectly improving the applicable range of the power inspection robot.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] 1. When the power inspection robot encounters small interfering objects such as insulators, when one side of the electric telescopic rod pushes one side of the roller to move through the separating member, the rollers will first separate from each other. After moving a specified distance, they will continue to approach each other and clamp the insulator. When the electric telescopic rod contracts, it will pull the detection box to move closer to the roller in front, enabling the high-altitude power inspection robot to move along the entire high-voltage line, eliminating the need to install a specific track or manually make the inspection robot cross the iron tower to continue the inspection, significantly reducing the usage cost when using the inspection robot, and enabling the large-scale popularization of the high-altitude power inspection robot.

[0024] 2. When the power inspection robot encounters the support steel bar on an electric tower, the swinging block pushes the torsion spring installed in the rectangular window to twist. When the roller crosses the support steel bar, the torsion spring will continue to push the roller to swing onto the cable or the support steel bar to continue the inspection, enabling the high-altitude power inspection robot to move along the entire high-voltage line, eliminating the need to install a specific track or manually make the inspection robot cross the iron tower to continue the inspection, significantly reducing the usage cost when using the inspection robot.

[0025] 3. Since the sizes of the insulators at different positions are different, the rollers on the rolling columns can approach each other to squeeze the insulator in the middle. However, since the rolling columns need to retract, the rolling columns can only slide to one end where the pressing groove is connected to the retracting groove, causing the rollers to exert a strong force to squeeze the insulator, and even making it impossible to continue pushing the insulator down. Therefore, it is necessary to adjust the downward movement position of the rollers to ensure that the force inspection robot can be applied to cable routes at different positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic three-dimensional structure diagram of the present invention;

[0027] Figure 2 is a schematic structural diagram of the guiding groove in the present invention;

[0028] Figure 3 is a schematic operating structure diagram of the rolling column in the present invention;

[0029] Figure 4 is a schematic moving structure diagram of the limiting frame in the present invention;

[0030] Figure 5 is a schematic three-dimensional structure diagram of the guiding plate in the present invention;

[0031] Figure 6 is a schematic structural diagram of the roller in the present invention;

[0032] Figure 7 is a schematic internal structure diagram of the detection box in the present invention;

[0033] Figure 8 is a schematic swinging structure diagram of the swinging block in the present invention.

[0034] In the figure: 1. Detection box; 2. Electric telescopic rod; 3. Rectangular window; 4. Swinging block; 5. Limiting frame; 6. Guiding plate; 7. Fixed plate; 8. Lower pressing plate; 9. Guiding groove; 901. Separation groove; 902. Pressing groove; 903. Retracting groove; 904. Transverse groove; 10. Third swinging plate; 11. Second swinging plate; 12. First swinging plate; 13. Tilting plate; 14. Roller; 15. Mounting frame; 16. Baffle; 17. Right-angle groove; 18. Telescopic rod; 19. First compression spring; 20. Pushing block; 21. Moving strip; 22. Rolling column; 23. Limiting groove; 24. Guiding column; 25. Ring-shaped guide rail; 26. Counterweight; 27. Connecting rod; 28. Through-channel; 29. Steel wire rope. DETAILED DESCRIPTION OF THE INVENTION

[0035] Please refer to Figures 1 to 8 , the present invention provides a power inspection robot capable of avoiding obstacles at high altitude, and the technical solution is as follows:

[0036] An electric power inspection robot capable of avoiding obstacles at high altitude, comprising a detection box 1 and mounting frames 15 arranged on both sides of the detection box 1. Rolling wheels 14 are rotatably connected to both mounting frames 15. The two rolling wheels 14 are in rolling connection with a high-voltage line. A driving motor connected to the rolling wheels 14 is mounted on the mounting frame 15. Electric telescopic rods 2 are mounted on both sides of the detection box 1. A swinging member is mounted between the electric telescopic rod 2 and the detection box 1. The movable end of the electric telescopic rod 2 is connected to the mounting frame 15 through a separating member.

[0037] During inspection, the driving motor drives the rolling wheels 14 to rotate. Since the rolling wheels 14 will clamp the middle cable, the rotation of the rolling wheels 14 can drive the connected inspection box to move, so as to inspect the cables along the way. When the electric power inspection robot encounters small obstacles such as insulators, the movable end of one side of the electric telescopic rod 2 moves forward. When the separating member pushes one side of the rolling wheels 14 to move, the rolling wheels 14 will first separate from each other. After moving a specified distance, they will continue to move closer to clamp the insulator. After clamping firmly, when the electric telescopic rod 2 contracts at this time, it will pull the detection box 1 to move closer to the front rolling wheels 14. At the same time, the electric telescopic rod 2 at the rear will also extend, so that the detection box 1 can move forward stably. Of course, the electric telescopic rod 2 at the rear will move after the electric telescopic rod 2 at the front moves. The rear rolling wheels 14 will also separate and open to both sides when the electric telescopic rod 2 retracts, so that the rear rolling wheels 14 can still clamp on the insulator after the electric telescopic rod 2 at the rear contracts, enabling the electric telescopic rod 2 at the front to continue to extend. When the inspection robot encounters the support steel bars on the iron tower, the separating member causes the electric telescopic rod 2 and the connected separating member to swing to one side to cross over the support steel bars. At the same time, because the electric telescopic rod 2 moves forward, the rolling wheels 14 will also separate to one side, so that when the rolling wheels 14 swing to one side to cross over the support steel bars, the upper and lower rolling wheels 14 will still roll on the cable or steel bar on one side. Through the separating member and the swinging member, the high-altitude electric power inspection robot can continuously move on the insulator and can also cross over the support steel bars on the iron tower to continue the inspection, enabling the high-altitude electric power inspection robot to move along the entire high-voltage line without installing a specific track or manually making the inspection robot cross over the iron tower to continue the inspection, greatly reducing the use cost when the inspection robot is used, and enabling the high-altitude electric power inspection robot to be widely promoted.

[0038] The separating member includes a telescopic rod 18, a pushing block 20, a first compression spring 19, a moving strip 21, a limiting frame 5, a guiding column 24, a rolling column 22, and a guiding plate 6. The telescopic rod 18 is fixedly installed on the mounting frame 15. The fixed end of the telescopic rod 18 is fixedly installed with the pushing block 20. The first compression spring 19 is sleeved on the telescopic rod 18. The two ends of the first compression spring 19 are respectively abutted against the mounting frame 15 and the pushing block 20. One side of the pushing block 20 is fixedly installed with the moving strip 21. The movable end of the electric telescopic rod 2 is fixedly installed with the limiting frame 5. A limiting groove 23 is opened on the limiting frame 5. The moving strip 21 is slidably connected in the limiting groove 23. The guiding column 24 is fixedly installed in the limiting groove 23. A round hole for the guiding column 24 to penetrate is opened on the moving strip 21. One side of the moving strip 21 is rotatably connected with the rolling column 22. The fixed end of the electric telescopic rod 2 is fixedly installed with the guiding plate 6. A guiding groove 9 is opened on the guiding plate 6. The rolling column 22 is arranged in the guiding groove 9, so that when the rolling column 22 moves, they first separate from each other and then approach each other.

[0039] When the high-altitude power inspection robot encounters some small obstacles during line movement, the driving motor still continues to push the detection box 1 to move. When the rolling rollers 14 encounter an obstacle, the smaller obstacle will push the rollers 14 to separate in the upper and lower directions, so that the obstacle can pass through the two rollers 14. Of course, because the telescopic rod 18 is fixedly installed on the mounting frame 15 and the first compression spring 19 is sleeved on the telescopic rod 18, after the roller 14 is lifted, it will squeeze the first compression spring 19, causing the first compression spring 19 and the telescopic rod 18 to contract. After crossing the obstacle, the roller 14 will be pushed by the elastic force of the first compression spring 19 to continue to abut against the cable, so that the inspection robot can still operate. When the high-altitude power inspection robot encounters a connected insulator during line movement, the movable end of the electric telescopic rod 2 extends forward. Because the guiding plate 6 is fixedly installed on the fixed end of the electric telescopic rod 2, the guiding plate 6 cannot move. When the electric telescopic rod 2 drives the fixed limiting frame 5 on it to move forward, the limiting frame 5 drives the moving strip 21 sliding on it to move. The moving moving strip 21 drives the pushing block 20 to move, so that the pushing block 20 drives the connected telescopic rod 18 and the roller 14 to move upward. When the pushing roller 14 moves and separates continuously in the guiding groove 9 to a certain height, the guiding groove 9 causes the roller 14 to continuously approach the middle. Through the continuous separation and closing of the first compression spring 19 and the roller 14, the detection box can cross a large number of insulators strung together, ensuring that the high-altitude power inspection robot can move and monitor along the entire cable line, avoiding installing a specific track or manually making the inspection robot cross the iron tower to continue the inspection, and greatly reducing the use cost when the inspection robot is used.

[0040] There are three guiding grooves 9, and the three guiding grooves 9 are connected together to form a triangular structure. The three guiding grooves 9 are respectively a separating groove 901, a pressing groove 902, and a retracting groove 903. A first swing plate 12 is provided between the separating groove 901 and the retracting groove 903. The first swing plate 12 is rotatably connected to the guiding plate 6. When the first swing plate 12 swings upward, the separating groove 901 is inclined upward as a whole, the pressing groove 902 is inclined downward as a whole, and the retracting groove 903 is parallel to the telescopic direction of the electric telescopic rod 2.

[0041] The structure for pushing the rolling column 22 to move up and down includes but is not limited to an electric push rod. However, because the high-altitude power inspection robot needs to operate in some harsh environments such as high voltage for a long time, it is necessary to minimize the electronic control unit to avoid the magnetic field affecting the circuit, so that the high-altitude power inspection robot can conduct inspections for a long time. Therefore, when the electric telescopic rod 2 pushes the rolling column 22 to move through the mounting bracket 15 and the pushing block 20, the rolling column 22 moves within the entire guiding groove 9. When the movable end of the electric telescopic rod 2 extends, the rolling column 22 slides on the separating groove 901. Because the separating groove 901 is inclined upward, the upper rolling column 22 will continuously rise, while the lower rolling column 22 will continuously fall, so that the rolling columns 22 on both sides will also continuously separate from the cable in the middle. The rollers 14 connected to the rolling column 22 can be separated from each other. When the continuously moving rolling column 22 moves to the top of the separating groove 901, the rollers 14 separated on the upper and lower sides will be separated to the maximum distance. When the rolling column 22 continues to move, the rolling column 22 will enter the pressing groove 902. And the pressing groove 902 is inclined downward, so that the rolling columns 22 on both sides will continuously approach each other, continuously approach the cable in the middle, and make the rollers 14 connected to the rolling column 22 approach each other to squeeze the insulator in the middle. Of course, when the telescopic rod 18 moves to its end, it will retract backward. Because the bottom of the pressing groove 902 is above the retracting groove 903, when the electric telescopic rod 2 drives the rolling column 22 to move backward, the rolling column 22 cannot move upward into the pressing groove 902. Therefore, the rolling column 22 can only be pulled by the electric telescopic rod 2 to enter the pressing groove 902 for movement. And because the pressing groove 902 is in a straight shape, the specific up and down positions of the rolling column 22 remain unchanged, and the pressing of the insulator continues. After the electric telescopic rod 2 is completely retracted, the rolling column 22 will move to the origin position. At the same time, before the rolling column 22 moves to the origin, it will first push the first swing plate to swing to one side, so that when the rolling column 22 is pushed by the electric telescopic rod 2 to continue moving, it can continue to enter the separating groove 901, so that the rolling column 22 continuously rolls along the guiding groove 9 under the action of the electric telescopic rod 2. By setting the guiding groove 9, the rollers 14 can be separated and joined together mechanically, so that the high-altitude power inspection robot can maintain long-term inspections in harsh environments, indirectly ensuring the service life of the high-altitude power inspection robot.

[0042] The swing member includes a tilting plate 13 and a baffle 16. The tilting plate 13 is fixedly installed on the guide plate 6, and the baffle 16 is fixedly installed on the guide plate 6. The distance between the bottom of the tilting plate 13 and the cable is 10 cm, and the distance between the roller 14 and the cable after being lifted to the apex is 10 cm. Moreover, the top of the tilting plate 13 is flush with the top of the guide plate 6. The maximum distance between the tilting plate 13 and the guide plate 6 is greater than the distance between the other side of the roller 14 and the guide plate 6. A rectangular window 3 is provided on the detection box 1, and a swing block 4 is rotatably connected inside the rectangular window 3. The electric telescopic rod 2 is fixedly installed on the swing block 4, and a torsion spring connected to the swing block 4 is installed inside the rectangular window 3.

[0043] The power inspection robot can cross some small obstacles or a long string of connected insulators through the separating member. However, when the power inspection robot encounters a support steel bar on an electric tower, the swing member needs to be used to enable the power inspection robot to cross the support steel bar. Specifically, when the tilting plate 13 abuts against the support steel bar, the electric telescopic rod 2 will push the tilting plate 13 to move to one side and abut against the support steel bar. The support steel bar will push the tilting plate 13 to swing to one side, causing the swing block 4 inside the rectangular window 3 to be driven to swing to one side, and twist the torsion spring installed inside the rectangular window 3. When the roller 14 crosses the support steel bar, the torsion spring will continue to push the roller 14 to swing to the cable or the support steel bar to continue the inspection. Of course, the distance between the bottom of the tilting plate 13 and the cable is A, and the distance between the roller 14 and the cable after being lifted to the apex is B, and A = B. Because when the length of the support steel bar is less than B, since the distance between the roller 14 and the cable after being lifted to the apex is B, the roller 14 can directly cross the support steel bar. At the same time, because it is less than B, the support steel bar cannot contact the tilting plate 13. Of course, when the length of the support steel bar is greater than B, the distance between the roller 14 and the cable after being lifted to the apex is B, making it impossible for the roller 14 to cross the support steel bar. Therefore, only the tilting plate 13 can be pushed to swing. Through the deflection of the tilting plate 13, the roller 14 can cross some large obstacles such as the support steel bar, making the applicable range of the high-altitude power inspection robot wider.

[0044] An annular guide rail 25 is provided inside the inspection box. The center of the annular guide rail 25 coincides with the rotation center of the swing block 4. A counterweight 26 is slidably connected to the annular guide rail 25, and a connecting rod 27 is fixedly installed between the counterweight 26 and the swing block 4.

[0045] Because when the separating member on one side causes the roller 14 to tilt to one side in preparation for crossing the support steel frame, due to the fact that the roller 14 and the pushing structure that moves it have a certain weight, it causes the inspection box to skew. Since the cross-section of the cable is a circular structure, once the inspection box skews, the roller 14 that swings back may not be able to swing onto the support steel frame or the cable. Therefore, it is necessary to ensure that the inspection box does not skew when the roller 14 swings. So when the swing block 4 swings to one side under the action of the thrust, the connecting connecting rod 27 drives the counterweight block 26 on the other side to deviate to the other side, causing a change in the counterweight block 26 inside the inspection box and changing the position of the counterweight block 26 inside the inspection box, ensuring that no matter where the roller 14 is located, the center of gravity of the inspection box will never skew, ensuring that the inspection box will not skew due to the center of gravity problem when bypassing the support steel frame.

[0046] A fixing plate 7 is fixedly installed on the detection box 1. A lower pressing plate 8 is slidably connected to the fixing plate 7. A through-channel 28 is opened in the fixing plate 7. A steel wire rope 29 is placed in the through-channel 28. One end of the steel wire rope 29 is fixedly installed with the lower pressing plate 8 through a spring, and the other end of the steel wire rope 29 is fixedly installed with the movable end of the electric telescopic rod 2.

[0047] When the roller 14 on one side of the detection box 1 disengages from the cable, its gravity will be applied to the roller 14 on the other side, clamping the cable in the middle through the upper and lower rollers 14 to prevent the detection box 1 from falling due to only one side being supported. Specifically, when the roller 14 drives the swing block 4 to swing to one side through the electric telescopic rod 2, one side of the swing block 4 is connected to a steel wire rope, so that the swing of the swing block 4 will pull the steel wire rope to move. The moving steel wire rope pulls the lower pressing plate 8 to move downward, and the moving lower pressing plate 8 presses against the cable, insulator or support steel frame below, making the detection box 1 more stable during the moving process.

[0048] A plurality of transverse grooves 904 are opened on the guide plate 6. The transverse grooves 904 connect the separating grooves 901 and the pressing grooves 902 on both sides. A second swing plate 11 is provided on one side of the transverse groove 904 close to the separating groove 901, and a third swing plate 10 is provided on one side of the transverse groove 904 close to the pressing groove 902. Both the second swing plate 11 and the third swing plate 10 are rotatably connected to the guide plate 6.

[0049] Because the sizes of the insulators at different positions are different, and the pressing groove 902 is inclined downward, the rolling columns 22 on both sides will continuously approach each other and get closer to the cable in the middle, enabling the rollers 14 connected to the rolling columns 22 to approach each other and squeeze the insulator in the middle. However, since the rolling columns 22 need to retract, the rolling columns 22 can only slide to the end where the pressing groove 902 is connected to the retracting groove 903, causing the rollers 14 to exert a strong force to squeeze the insulator and even unable to continue pushing the insulator downward. Therefore, it is necessary to adjust the downward movement position of the rollers 14 to ensure that the downward movement position is suitable for the cable routes at different positions.

[0050] The contact surface between the roller 14 and the cable is provided with an arc-shaped depression. At the same time, a plurality of uniformly arranged right-angle grooves 17 are formed on the roller 14, and the right-angle grooves 17 are arranged in a ring on the roller 14.

[0051] Because the roller 14 needs to move on the support steel frame in a specific environment, and in order to adapt to the overall shape of the cable and prevent the roller 14 from shifting when moving on the cable, it is necessary to make the contact position between the roller 14 and the cable form an inner depression, so that the cable is always located in the middle of the roller 14 during the movement of the roller 14. Of course, the roller 14 will also move onto the steel frame, but at this time the surface of the roller 14 is arc-shaped, so it is necessary to form right-angle grooves 17 on the roller 14 to ensure that the roller 14 can stay stably on the support steel frame.

[0052] When in use, the power inspection robot is placed on the cable. When conducting inspections, the driving motor drives the roller 14 to rotate. Since the roller 14 will clamp the cable in the middle, the roller 14 can drive the connected inspection box to move when rotating, so as to inspect the cables along the way.

[0053] When the power inspection robot encounters small interfering objects, the driving motor still continues to push the detection box 1 at this time. When the rolling roller 14 hits an obstacle, the smaller obstacle will push the roller 14 to separate in the upper and lower directions, enabling the obstacle to pass through the two rollers 14. Of course, since the telescopic rod 18 is fixedly installed on the mounting frame 15, and the first compression spring 19 is sleeved on the telescopic rod 18, the roller 14 will squeeze the first compression spring 19 after being lifted, causing the first compression spring 19 and the telescopic rod 18 to contract. After passing over the obstacle, the roller 14 will push the roller 14 to continue to abut against the cable under the elastic force of the first compression spring 19, enabling the inspection robot to still operate.

[0054] When the power inspection robot encounters an insulator, the movable end of the electric telescopic rod 2 on one side moves forward. When the electric telescopic rod 2 pushes the rolling column 22 to move through the mounting bracket 15 and the pushing block 20, the rolling column 22 moves within the entire guiding groove 9. When the movable end of the electric telescopic rod 2 extends, the rolling column 22 slides on the separation groove 901. Since the separation groove 901 is inclined upward, the upper rolling column 22 will continuously rise, while the lower rolling column 22 will continuously descend, causing the rolling columns 22 on both sides to continuously separate from the cable in the middle. The rollers 14 connected to the rolling columns 22 can separate from each other. When the continuously moving rolling column 22 moves to the top of the separation groove 901, the rollers 14 separated on the upper and lower sides will separate to the maximum distance. Since the electric telescopic rod 2 has also moved a certain distance, the separated rollers 14 can move to a position far from the detection box 1.

[0055] Of course, when the electric telescopic rod 2 continues to push the rolling column 22 to move, the rolling column 22 will enter the pressing groove 902. Since the pressing groove 902 is inclined downward, the rolling columns 22 on both sides will continuously approach each other, getting closer to the cable in the middle, enabling the rollers 14 connected to the rolling columns 22 to approach each other and squeeze the insulator in the middle.

[0056] The electric telescopic rod 2 retracts backward. Of course, when the telescopic rod 18 moves to its end point, it will retract backward. Since the bottom of the pressing groove 902 is above the retraction groove 903, when the electric telescopic rod 2 drives the rolling column 22 to move backward, the rolling column 22 cannot move upward into the pressing groove 902. Therefore, the rolling column 22 can only be pulled by the electric telescopic rod 2 to move into the pressing groove 902. Since the pressing groove 902 is straight, the specific upper and lower positions of the rolling column 22 remain unchanged, and it continues to press the insulator. After the electric telescopic rod 2 is completely retracted, the rolling column 22 will move to the origin position. At the same time, before the rolling column 22 moves to the origin, it will first push the first swing plate to swing to one side, so that when the rolling column 22 is pushed by the electric telescopic rod 2 to continue moving, it can continue to enter the separation groove 901.

[0057] Of course, because the sizes of insulators in different positions are different, when encountering a larger-diameter insulator, the electric telescopic rod 2 does not need to extend to the end. When the rolling column 22 moves into the pressing groove 902, the extended telescopic rod 18 can contract, enabling the rolling column 22 to directly retreat through the transverse groove 904.

[0058] When the inspection robot encounters the support steel bar on the iron tower, when the roller 14 drives the swing block 4 to swing to one side through the electric telescopic rod 2, a steel wire rope is connected to one side of the swing block 4, so that the swing of the swing block 4 will pull the steel wire rope to move. The moving steel wire rope pulls the lower pressing plate 8 to move downward, and the moving lower pressing plate 8 presses against the cable, insulator or support steel frame below. The electric telescopic rod 2 will push the tilting plate 13 to move to one side and press against the support steel bar. The support steel bar pushes the tilting plate 13 to swing to one side. Of course, the swinging tilting plate 13 will press against the baffle 16, so that the tilting plate 13 cannot continue to swing, and the swing block 4 in the rectangular window 3 will be driven to swing to one side, and the torsion spring installed in the rectangular window 3 will be twisted. When the roller 14 crosses the support steel bar, the torsion spring will continue to push the roller 14 to swing to the cable or support steel bar for continuous inspection. At the same time, when the swing block 4 swings to one side under the action of the thrust, the counterweight block 26 on the other side is driven to deviate to the other side through the connected connecting rod 27, so that the counterweight block 26 in the inspection box changes, and the position of the counterweight block 26 in the inspection box is changed to ensure that the center of gravity of the inspection box will not deviate no matter where the roller 14 is located.

[0059] The above has described in detail a specific embodiment of the present invention in conjunction with the accompanying drawings, but the present invention is not limited to the described embodiment. For those skilled in the art, without departing from the principles and ideas of the present invention, various changes, modifications, substitutions and variations made to these embodiments should still fall within the protection scope of the present invention.

Claims

1. An electric power inspection robot capable of avoiding obstacles at high altitudes, characterized in that, It includes a detection box (1) and mounting brackets (15) arranged on both sides of the detection box (1). Rollers (14) are rotatably connected to both sides of the mounting brackets (15), and the rollers (14) on both sides are in rolling connection with the high-voltage line. A drive motor connected to the roller (14) is installed on the mounting bracket (15). Electric telescopic rods (2) are installed on both sides of the detection box (1), and a swing member is installed between the electric telescopic rod (2) and the detection box (1). The movable end of the electric telescopic rod (2) is connected to the mounting bracket (15) through a separating member. When the inspection robot encounters small interfering objects such as insulators, when one side of the electric telescopic rod (2) pushes one side of the roller (14) to move through the separating member, the rollers (14) will first separate from each other and then continue to approach each other after moving a specified distance. When the inspection robot encounters the support steel bars on the iron tower, the separating member causes the electric telescopic rod (2) and the connected separating member to swing to one side and cross over the support steel bar, and reset after crossing over the support steel bar.

2. The power inspection robot capable of avoiding obstacles at high altitude according to claim 1, wherein , The separating member includes a telescopic rod (18), a pushing block (20), a first compression spring (19), a moving strip (21), a limiting frame (5), a guiding column (24), a rolling column (22), and a guiding plate (6). The telescopic rod (18) is fixedly installed on the mounting bracket (15), the fixed end of the telescopic rod (18) is fixedly installed with the pushing block (20), the first compression spring (19) is sleeved on the telescopic rod (18), and both ends of the first compression spring (19) are in contact with the mounting bracket (15) and the pushing block (20) respectively. A moving strip (21) is fixedly installed on one side of the pushing block (20), the movable end of the electric telescopic rod (2) is fixedly installed with a limiting frame (5), a limiting groove (23) is opened on the limiting frame (5), the moving strip (21) is slidably connected in the limiting groove (23), a guiding column (24) is fixedly installed in the limiting groove (23), a circular hole for the guiding column (24) to pass through is opened on the moving strip (21), a rolling column (22) is rotatably connected to one side of the moving strip (21), the fixed end of the electric telescopic rod (2) is fixedly installed with a guiding plate (6), a guiding groove (9) is opened on the guiding plate (6), and the rolling column (22) is arranged in the guiding groove (9) so that the rolling columns (22) first separate from each other and then approach each other when moving.

3. The power inspection robot capable of avoiding obstacles at high altitude according to claim 2, wherein , There are three guiding grooves (9), and the three guiding grooves (9) are connected together to form a triangular structure. The three guiding grooves (9) are respectively a separating groove (901), a pressing groove (902), and a retracting groove (903). A first swing plate (12) is arranged between the separating groove (901) and the retracting groove (903), the first swing plate (12) is rotatably connected to the guiding plate (6), the first swing plate (12) swings upward, the separating groove (901) is inclined upward as a whole, the pressing groove (902) is inclined downward as a whole, and the retracting groove (903) is parallel to the telescopic direction of the electric telescopic rod (2).

4. The power inspection robot capable of avoiding obstacles at high altitude according to claim 3, characterized in that , The swing member includes a tilting plate (13) and a baffle (16). The tilting plate (13) is fixedly installed on the guiding plate (6), and the baffle (16) is fixedly installed on the guiding plate (6). The distance between the bottom of the tilting plate (13) and the cable is A, and the distance between the roller (14) and the cable after it is lifted to the apex is B. A = B, and the top of the tilting plate (13) is flush with the top of the guiding plate (6). The maximum distance between the tilting plate (13) and the guiding plate (6) is greater than the distance between the other side of the roller (14) and the guiding plate (6). A rectangular window (3) is provided on the detection box (1), and a swing block (4) is rotatably connected inside the rectangular window (3). The electric telescopic rod (2) is fixedly installed on the swing block (4), and a torsion spring connected to the swing block (4) is installed inside the rectangular window (3).

5. The power inspection robot capable of avoiding obstacles at high altitude according to claim 4, wherein , An annular guide rail (25) is provided inside the inspection box. The center of the annular guide rail (25) coincides with the rotation center of the swing block (4). A counterweight (26) is slidably connected to the annular guide rail (25), and a connecting rod (27) is fixedly installed between the counterweight (26) and the swing block (4).

6. The power inspection robot capable of avoiding obstacles at high altitude according to claim 4, wherein , A fixing plate (7) is fixedly installed on the detection box (1). A lower pressing plate (8) is slidably connected to the fixing plate (7). A through-channel (28) is provided inside the fixing plate (7), and a steel wire rope (29) is placed inside the through-channel (28). One end of the steel wire rope (29) is fixedly installed on the lower pressing plate (8) through a spring, and the other end of the steel wire rope (29) is fixedly installed on the movable end of the electric telescopic rod (2).

7. The power inspection robot capable of avoiding obstacles at high altitude according to claim 3, wherein , A plurality of transverse grooves (904) are provided on the guiding plate (6). The transverse grooves (904) connect the separation grooves (901) and the pressing grooves (902) on both sides. A second swing plate (11) is provided on one side of the transverse groove (904) close to the separation groove (901), and a third swing plate (10) is provided on one side of the transverse groove (904) close to the pressing groove (902). Both the second swing plate (11) and the third swing plate (10) are rotatably connected to the guiding plate (6).

8. The power inspection robot capable of avoiding obstacles at high altitude according to claim 1, wherein , The contact surface between the roller (14) and the cable is provided with an arc-shaped depression. At the same time, a plurality of uniformly arranged right-angle grooves (17) are provided on the roller (14), and the right-angle grooves (17) are arranged in a ring on the roller (14).

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