Overhead transmission line acceptance robot on-line mechanism

Abstract

The invention belongs to the technical field of power transmission line fault diagnosis, and particularly relates to an on-line mechanism of an overhead power transmission line acceptance robot. Comprising a main support, the main support is formed by crossing a plurality of support plates, the end of each support plate of the main support is slidably connected with an outward extending plate, a supporting vertical rod is fixedly arranged on each outward extending plate, and a driving rotor wing is arranged at the top end of each supporting vertical rod; an upper transverse supporting plate is connected to the main support, adjusting stand columns are connected to the middle of the main support and the end of the upper transverse supporting plate, the number of the adjusting stand columns is three, the adjusting stand columns are linearly arranged, the upper ends of the adjusting stand columns are connected with upper connecting bases, the upper connecting bases are connected with hanging parts, and hanging rolling wheels are rotationally arranged on the hanging parts. The device can assist workers in online operation of the inspection robot for the overhead transmission line, and meanwhile, assists the inspection robot in moving and roadblock operation on the transmission line, so that the operation efficiency is improved, the operation safety is ensured, and the manual operation cost is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of transmission line fault diagnosis, and particularly relates to a launching mechanism for an overhead transmission line inspection robot. Background Art

[0002] Overhead transmission lines mainly refer to transmission lines erected above the ground, where the transmission conductors are fixed to the poles standing upright on the ground by insulators to transmit electric energy. Among them, the conductors are used to conduct current and transmit electric energy, and the lightning conductors are used to reduce the chance of lightning striking the conductors, improve the lightning withstand level, reduce the number of lightning trips, and ensure the safe power transmission of the line; the poles are the general term for electric poles and iron towers, which are used to support the conductors and lightning conductors to keep a certain safe distance between the conductors, between the conductors and the lightning conductors, between the conductors and the ground, and between the conductors and the crossing objects. The function of the insulators is to insulate between the conductors and between the conductors and the ground, ensure that the line has a reliable electrical insulation strength, and is used to fix the conductors and bear the vertical and horizontal loads of the conductors. The fittings in the overhead power line are mainly used to support, fix and connect the conductors and insulators in series, and are also used to protect the conductors and insulators. The pole foundation is the underground device of the overhead power line pole, which is used to stabilize the pole so that the pole will not be uprooted, sink or fall due to the vertical load, horizontal load, accidental breakage tension and external force. The guy wire is used to balance the lateral load and conductor tension acting on the pole, which can reduce the consumption of pole materials and lower the line cost. The overhead ground wire is above the conductor, and it is connected to the ground through the grounding wire or grounding body of each pole. When the ground wire is struck by lightning, the lightning current can be quickly diffused into the ground. The overhead transmission line inspection robot is a new type of equipment that has been gradually applied to the power inspection field in recent years with the development of robot technology. The overhead transmission line inspection robot can replace manual labor to perform inspection work in high-altitude, dangerous or inaccessible areas, improve the inspection efficiency and safety. Therefore, it is very necessary to provide a launching mechanism for an overhead transmission line inspection robot. Summary of the Invention

[0003] The purpose of the invention is to overcome the deficiencies of the prior art, and provide a launching mechanism for an overhead transmission line inspection robot to assist the staff in the launching operation of the overhead transmission line inspection robot, and at the same time assist the inspection robot in moving on the transmission line and performing obstacle clearance operations, improve the operation efficiency, ensure the operation safety, and reduce the manual operation cost.

[0004] The purpose of the invention is realized as follows: A launching mechanism for an overhead transmission line inspection robot, including a main bracket, the main bracket is composed of multiple crossed support plates, the ends of each support plate of the main bracket are slidably connected with extension plates, a support vertical rod is fixedly arranged on the extension plates, and a driving rotor is arranged at the top of the support vertical rod, and the driving rotor is used to drive the entire launching mechanism of the overhead transmission line inspection robot to move in the air; An upper horizontal support plate is connected to the main support. Adjusting columns are connected to the middle of the main support and the end of the upper horizontal support plate. Three adjusting columns are provided and arranged in a straight line. The upper ends of the adjusting columns are connected to an upper connecting seat, and the upper connecting seat is connected to a hanging part. A hanging roller is rotatably arranged on the hanging part. The hanging part is used to hang the power transmission line through the hanging roller thereon under the drive of each drive rotor.

[0005] Further, the support vertical rod includes a support outer tube fixedly arranged on the extension plate. An adjusting inner rod is slidably connected inside the support outer tube, and the top end of the adjusting inner rod is connected to the drive rotor.

[0006] Further, the drive rotor includes a rotor motor fixedly arranged at the top end of the adjusting inner rod, and a plurality of unmanned aerial vehicle rotors are connected to the output shaft of the rotor motor.

[0007] Further, the main support is a cross-shaped structure composed of two support plates, the extension plate is slidably connected to the end of the support plate, and each drive rotor is located on the same circle.

[0008] Further, the adjusting column includes a connecting outer tube, an adjusting inner tube is slidably connected inside the connecting outer tube, and the upper end of the adjusting inner tube is connected to the upper connecting seat.

[0009] Further, a lower horizontal support plate is connected to the lower end of the connecting outer tube. An adjusting drive motor is arranged inside the connecting outer tube, and the adjusting drive motor is arranged on the lower horizontal support plate. The adjusting drive motor is connected to an adjusting screw. The lower end of the adjusting inner tube is fixedly connected with an inner connecting sleeve. The adjusting screw passes through the inner connecting sleeve and extends into the adjusting inner tube and is threadedly connected with the inner connecting sleeve. The length of the adjusting inner tube extending out of the connecting outer tube can be adjusted and controlled by the operation of the adjusting drive motor, so as to realize the automatic adjustment and control of the height of the hanging part, which is convenient, fast, stable and efficient.

[0010] Further, an outward convex guide plate is arranged on the outer side surface of the connecting outer tube, and an inner guide plate is arranged on the outer side surface of the adjusting inner tube. The inner guide plate is embedded inside the outward convex guide plate and is slidably connected therewith; through the sliding cooperation between the inner guide plate and the outward convex guide plate.

[0011] Further, the upper connecting seat includes a top connecting plate, a top connecting seat is connected to the top connecting plate, a sliding connecting plate is slidably connected to the top connecting seat, and the lower end of the hanging part is connected to the sliding connecting plate; the upper end of the adjusting inner tube is connected to the top connecting plate in a plug-in manner, outer hanging plates are arranged on both sides of the top connecting seat, and inner hanging plates slidably matched with the outer hanging plates are arranged on both sides of the sliding connecting plate.

[0012] Further, the hanging part includes a hanging vertical plate, the hanging roller is rotatably arranged on the hanging vertical plate, a moving driving motor is arranged on the hanging part, and an output shaft of the moving driving motor is connected to the hanging roller.

[0013] Further, a limiting driving motor and a screw support plate are arranged on the hanging vertical plate. The limiting driving motor is connected with a driving screw, an end of the driving screw is rotatably connected to the screw support plate, a limiting driving plate is threadedly connected to the driving screw, limiting side plates are connected to both sides of the limiting driving plate, and limiting rollers are rotatably arranged on the limiting side plates; a guiding strip plate is arranged on the hanging vertical plate, and the guiding strip plate is slidably and cooperatively connected with the limiting driving plate, so as to ensure the stability of the limiting driving plate during the moving process.

[0014] The beneficial effects of the present invention: For an online mechanism of an overhead transmission line inspection robot of the present invention, the main bracket is composed of multiple crossed support plates, outer extension plates are slidably connected to ends of each support plate, a support vertical rod is arranged on the outer extension plate, a driving rotor is arranged at the top of the support vertical rod, and the entire online mechanism of the overhead transmission line inspection robot can be driven to move in the air through the driving rotor, so as to move the hanging part to the height position of the transmission line and hang the transmission line through the hanging rollers thereon, realizing the online connection of the overhead transmission line inspection robot; adjusting columns are connected to the middle of the main bracket and the ends of the upper cross support plate, three adjusting columns are arranged and are arranged in a straight line, and the adjusting columns are connected to the hanging part through upper connecting seats at their upper ends, and the height of the hanging part can be adjusted through the adjusting columns to realize various operations such as adjusting the center of gravity and crossing obstacles; the online mechanism of the overhead transmission line inspection robot of the present invention has a reasonable structure, is convenient to operate and use, can assist workers in the online operation of the overhead transmission line inspection robot, and at the same time assist the inspection robot in moving on the transmission line and obstacle operation, improve the operation efficiency, ensure the operation safety, and reduce the manual operation cost. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0016] Figure 1 It is a three-dimensional structural schematic diagram of an online mechanism of an overhead transmission line inspection robot.

[0017] Figure 2It is a front view structural schematic diagram of a launching mechanism for an overhead transmission line inspection robot.

[0018] Figure 3 It is a top view structural schematic diagram of a launching mechanism for an overhead transmission line inspection robot.

[0019] Figure 4 It is a structural schematic diagram of the hanging part of a launching mechanism for an overhead transmission line inspection robot.

[0020] Figure 5 It is a structural schematic diagram of the connection of the driving rotor of a launching mechanism for an overhead transmission line inspection robot.

[0021] Figure 6 It is a sectional view structural schematic diagram of the connection between the adjusting column and the hanging part of a launching mechanism for an overhead transmission line inspection robot.

[0022] Figure 7 It is a structural schematic diagram of the connection of the connecting outer tube of a launching mechanism for an overhead transmission line inspection robot. Detailed implementation manners

[0023] The following further describes the present invention with reference to the accompanying drawings.

[0024] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] It should be noted that all the directional indications (such as up - down - left - right - front - back...) in the embodiments of the present invention are only used to explain the relative position relationship - movement conditions, etc. between components in a certain specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly. The described connection can be a direct connection or an indirect connection.

[0027] As Figure 1-7 shown, a launching mechanism for an overhead transmission line inspection robot of the present invention includes a main bracket 6. The main bracket 6 is composed of multiple crossed support plates. The ends of each support plate of the main bracket 6 are all slidably connected with an outstretched plate 7. A support vertical rod 8 is fixedly arranged on the outstretched plate 7. A driving rotor 9 is arranged at the top of the support vertical rod 8. The driving rotor 9 is used to drive the entire launching mechanism for the overhead transmission line inspection robot to move in the air; An upper cross plate 3 is connected to the main bracket 6. Adjusting columns 2 are connected to the middle of the main bracket 6 and the end of the upper cross plate 3. Three adjusting columns 2 are provided and arranged in a straight line. The upper ends of the adjusting columns 2 are connected to an upper connecting seat 4. The upper connecting seat 4 is connected to a hanging part 5. A hanging roller 18 is rotatably arranged on the hanging part 5. The hanging part 5 is used to hang the power transmission line through the hanging roller 18 thereon under the drive of each driving rotor 9.

[0028] Further, in one embodiment, the support vertical rod 8 includes a support outer tube 26 fixedly arranged on the extension plate 7. An adjusting inner rod 27 is slidably connected inside the support outer tube 26. The top end of the adjusting inner rod 27 is connected to the driving rotor 9. The distance between each driving rotor 9 and the main bracket 6 can be adjusted by adjusting the length of the adjusting inner rod 27 extending out of the support outer tube 26 according to the operation needs, so as to adapt to different operation requirements and complex operation environments, and stably transport the on-line mechanism of the overhead power transmission line inspection robot to the aerial power transmission line.

[0029] Further, in one embodiment, the driving rotor 9 includes a rotor motor 28 fixedly arranged at the top end of the adjusting inner rod 27. A plurality of unmanned aerial vehicle rotors 29 are connected to the output shaft of the rotor motor 28. The rotor motor 28 drives the unmanned aerial vehicle rotors 29 to rotate to realize the aerial movement drive and control of the on-line mechanism of the overhead power transmission line inspection robot, and ensure its stable lifting and movement.

[0030] Further, in one embodiment, the main bracket 6 is a cross-shaped structure composed of two bracket plates. The extension plate 7 is slidably connected to the end of the bracket plate. Each driving rotor 9 is located on the same circle. The size of the circle where each driving rotor 9 is located can be adjusted by adjusting the length of the extension plate 7 extending out of the corresponding bracket plate according to the operation needs, so as to stably lift and drive the on-line mechanism of the overhead power transmission line inspection robot.

[0031] Further, in one embodiment, the adjusting column 2 includes a connecting outer tube 10. An adjusting inner tube 11 is slidably connected inside the connecting outer tube 10. The upper end of the adjusting inner tube 11 is connected to the upper connecting seat 4. The height of the hanging part 5 can be adjusted by adjusting the length of the adjusting inner tube 11 extending out of the connecting outer tube 10. Not only can the center of gravity of the whole mechanism be adjusted to ensure the stability of its aerial movement, but also when it encounters obstacles during the threading and on-line hanging on the power transmission line, the obstacle-crossing operation can be completed.

[0032] Further, in one embodiment, a lower cross support plate 1 is connected to the lower end of the connecting outer tube 10. An adjusting driving motor 30 is arranged inside the connecting outer tube 10. The adjusting driving motor 30 is arranged on the lower cross support plate 1. The adjusting driving motor 30 is connected with an adjusting screw rod 31. The lower end of the adjusting inner tube 11 is fixedly connected with an inner connecting sleeve 32. The adjusting screw rod 31 passes through the inner connecting sleeve 32 and extends into the adjusting inner tube 11 and is in threaded connection with the inner connecting sleeve 32. The length of the adjusting inner tube 11 extending out of the connecting outer tube 10 can be adjusted and controlled by the operation of the adjusting driving motor 30, so as to realize the automatic adjustment and control of the height of the hanging part 5, which is convenient, fast, stable and efficient. Specifically, when the adjusting driving motor 30 works, it drives the adjusting screw rod 31 to rotate. The adjusting screw rod 31 drives the adjusting inner tube 11 to move along the connecting outer tube 10 through the inner connecting sleeve 32 to complete the adjustment of its extending length.

[0033] Further, in one embodiment, an outward convex guide plate 33 is arranged on the outer side surface of the connecting outer tube 10. An inner guide plate 34 is arranged on the outer side surface of the adjusting inner tube 11. The inner guide plate 34 is embedded inside the outward convex guide plate 33 and is in sliding fit connection with it. Through the sliding fit between the inner guide plate 34 and the outward convex guide plate 33, the moving process of the adjusting inner tube 11 is guided and limited to ensure its moving stability.

[0034] Further, in one embodiment, the upper connecting seat 4 includes a top connecting plate 12. A top connecting seat 13 is connected to the top connecting plate 12. A sliding connecting plate 14 is slidably connected to the top connecting seat 13. The lower end of the hanging part 5 is connected to the sliding connecting plate 14. The upper end of the adjusting inner tube 11 is connected to the top connecting plate 12 in a plug-in manner. Outer hanging plates 20 are arranged on both sides of the top connecting seat 13. Inner hanging plates that are in sliding fit with the outer hanging plates 20 are arranged on both sides of the sliding connecting plate 14. The positions of the hanging parts 5 on the corresponding upper connecting seats 4 can be adjusted as needed to adjust and control the center of gravity of the whole device to ensure its stability during the ascending and moving process and the online hanging process.

[0035] Further, in one embodiment, the hanging part 5 includes a hanging vertical plate 19. A hanging roller 18 is rotatably arranged on the hanging vertical plate 19. A moving driving motor 17 is arranged on the hanging part 5. The output shaft of the moving driving motor 17 is connected to the hanging roller 18. The hanging roller 18 can be driven to rotate by the moving driving motor 17, so as to drive the device to move along the transmission line.

[0036] Furthermore, in one embodiment, a limit drive motor 15 and a screw support plate 25 are provided on the hanging vertical plate 19, the limit drive motor 15 is connected with a drive screw 16, the end of the drive screw 16 is rotatably connected to the screw support plate 25, the drive screw 16 is threadedly connected to the limit drive plate 22, the two sides of the limit drive plate 22 are connected to the limit side plates 23, and the limit side plates 23 are rotatably provided with a limit roller 24; the hanging vertical plate 19 is provided with a guide strip 21, and the guide strip 21 is slidably connected with the limit drive plate 22, so as to ensure the stability of the limit drive plate 22 during the movement; the height position of the limit roller 24 can be adjusted and controlled by the limit drive motor 15, so as to cooperate with the corresponding hanging roller 18 to limit the transmission line to avoid it Disengage from the hanging roller 18 to ensure the stability and safety of the entire online mechanism during operation; when the entire mechanism encounters an obstacle on the leftmost hanging part 5 during the movement to the left, the limit drive motor 15 can first drive the limit roller 24 to move downward to release the restriction on the power transmission line, and then the overall height of the leftmost hanging part 5 can be raised by the adjusting column 2, so that the hanging roller 18 on it is a certain distance away from the power transmission line, and then the other two hanging parts 5 are used to drive the entire mechanism to move forward until the leftmost hanging part 5 crosses the obstacle, and then restore its height so that the hanging roller 18 and the limit roller 24 on it return to their initial working positions, and repeat the previous operation on the other two hanging parts 5 to realize the obstacle-crossing operation of the entire mechanism. The whole process is automatically controlled by the motor, which is convenient, fast, stable and efficient.

[0037] In summary, for the online mechanism of an overhead transmission line inspection robot of the present invention, the main bracket 6 is composed of multiple intersecting support plates. The end of each support plate is slidably connected with an extended plate 7. A support vertical rod 8 is arranged on the extended plate 7. A driving rotor 9 is arranged at the top of the support vertical rod 8. The entire online mechanism of the overhead transmission line inspection robot can be driven to move in the air through the driving rotor 9, so as to move the hanging part 5 to the height position of the transmission line and hang the transmission line through the hanging rollers 18 thereon, realizing the online connection of the overhead transmission line inspection robot. At the middle of the main bracket 6 and the end of the upper horizontal support plate 3, three adjusting columns 2 are connected. The three adjusting columns 2 are arranged in a straight line. The adjusting columns 2 are connected with the hanging part 5 through the upper connecting seats 4 at their upper ends. The height of the hanging part 5 can be adjusted through the adjusting columns 2 to realize various operations such as adjusting the center of gravity and crossing obstacles. The online mechanism of the overhead transmission line inspection robot of the present invention has a reasonable structure, is convenient to operate and use, can assist the staff in the online operation of the overhead transmission line inspection robot, and at the same time assist the inspection robot in moving on the transmission line and dealing with roadblocks, improving the operation efficiency, ensuring the operation safety, and reducing the manual operation cost.

[0038] In the description of this specification, the descriptions referring to the terms "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0039] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. An online mechanism for an overhead transmission line inspection robot, characterized in that It includes a main support (6), which is composed of multiple support plates crossing each other. The ends of each support plate of the main support (6) are slidably connected with extension plates (7). A support vertical rod (8) is fixedly arranged on the extension plate (7). A driving rotor (9) is arranged at the top of the support vertical rod (8), and the driving rotor (9) is used to drive the online mechanism of the overhead transmission line inspection robot to move in the air. An upper cross support plate (3) is connected to the main support (6). Adjusting columns (2) are connected to the middle of the main support (6) and the ends of the upper cross support plate (3). There are three adjusting columns (2) arranged in a straight line. The upper ends of the adjusting columns (2) are connected with an upper connecting seat (4). The upper connecting seat (4) is connected with a hanging part (5). A hanging roller (18) is rotatably arranged on the hanging part (5), and the hanging part (5) is used to hang on the transmission line through the hanging roller (18) thereon under the drive of each driving rotor (9).

2. The on-line mechanism of an overhead transmission line acceptance robot according to claim 1, characterized in that, The support vertical rod (8) includes a support outer tube (26) fixedly arranged on the extension plate (7). An adjusting inner rod (27) is slidably connected inside the support outer tube (26). The top of the adjusting inner rod (27) is connected with the driving rotor (9).

3. The online mechanism of an overhead transmission line acceptance robot according to claim 2, characterized in that, The driving rotor (9) includes a rotor motor (28) fixedly arranged at the top of the adjusting inner rod (27). A plurality of unmanned aerial vehicle rotors (29) are connected to the output shaft of the rotor motor (28).

4. The on-line mechanism of an overhead transmission line acceptance robot according to claim 1, characterized in that, The main support (6) is a cross-shaped structure composed of two support plates crossing each other. The extension plate (7) is slidably connected to the end of the support plate, and each driving rotor (9) is located on the same circle.

5. The online mechanism of an overhead transmission line acceptance robot according to claim 1, characterized in that, The adjusting column (2) includes a connecting outer tube (10). An adjusting inner tube (11) is slidably connected inside the connecting outer tube (10). The upper end of the adjusting inner tube (11) is connected with the upper connecting seat (4).

6. The online mechanism of an overhead transmission line inspection robot according to claim 5, characterized in that, The lower end of the connecting outer tube (10) is connected with a lower cross support plate (1). An adjusting driving motor (30) is arranged inside the connecting outer tube (10). The adjusting driving motor (30) is arranged on the lower cross support plate (1). The adjusting driving motor (30) is connected with an adjusting screw rod (31). The lower end of the adjusting inner tube (11) is fixedly connected with an inner connecting sleeve (32). The adjusting screw rod (31) passes through the inner connecting sleeve (32) and extends into the adjusting inner tube (11) and is threadedly connected with the inner connecting sleeve (32).

7. The online mechanism of an overhead transmission line inspection robot according to claim 6, characterized in that, An outer convex guide plate (33) is arranged on the outer side surface of the connecting outer tube (10). An inner guide plate (34) is arranged on the outer side surface of the adjusting inner tube (11). The inner guide plate (34) is embedded inside the outer convex guide plate (33) and is slidably connected therewith.

8. The online mechanism of an overhead transmission line acceptance robot as claimed in claim 1, characterized in that The upper connecting seat (4) includes a top connecting plate (12). A top connecting seat (13) is connected to the top connecting plate (12). A sliding connecting plate (14) is slidably connected to the top connecting seat (13). The lower end of the hanging part (5) is connected with the sliding connecting plate (14).

9. The online mechanism of an overhead transmission line acceptance robot according to claim 1, characterized in that The hanging part (5) includes a hanging vertical plate (19). The hanging roller (18) is rotatably arranged on the hanging vertical plate (19). A moving drive motor (17) is arranged on the hanging part (5), and the output shaft of the moving drive motor (17) is connected to the hanging roller (18).

10. The online mechanism of an overhead transmission line inspection robot according to claim 9, characterized in that, A limit drive motor (15) and a screw support plate (25) are arranged on the hanging vertical plate (19). The limit drive motor (15) is connected with a drive screw (16). The end of the drive screw (16) is rotatably connected to the screw support plate (25). A limit drive plate (22) is threadedly connected to the drive screw (16). Limit side plates (23) are connected to both sides of the limit drive plate (22). Limit rollers (24) are rotatably arranged on the limit side plates (23).

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