Overhead line robot combining wheel type walking and wriggling walking and line climbing method

Abstract

The invention discloses an overhead line robot combining wheel type walking and wriggling walking and a line climbing method. The overhead line robot mainly comprises a rack, and a walking device and a wriggling device are installed on the rack; the walking devices are arranged at the two ends of the machine frame respectively, each walking device comprises a supporting frame, and traveling wheels are installed in the supporting frames and are driven by a driving motor in a transmission mode. The peristaltic device comprises a first clamping mechanism and a second clamping mechanism, and the first clamping mechanism and the rack are relatively fixed; the second clamping mechanism is driven by a pushing driving mechanism to move in the length direction of the cable, and the pushing driving mechanism is fixed to the rack. According to the overhead line robot combining wheel type walking and wriggling walking and the line climbing method, the robot can walk between large-dip-angle overhead cables and cross obstacles such as damping lines and stockbridge dampers arranged between high-voltage lines.

Description

Technical Field

[0001] The present invention relates to the technical field of overhead line walking, climbing and obstacle-crossing line inspection, in particular to an overhead line robot combining wheeled walking and peristaltic walking and a wire climbing method. Background Art

[0002] Electricity in our country is transmitted to all parts of the country. The existing power grid has covered the whole country, and high-voltage cables are used for power transmission. The safety of the power grid has become an important issue for maintaining people's livelihood. Due to the large amount of cable erection and the influence of the geographical environment where the cables are located during use, in order to avoid the power transmission stability and safety hazards caused by cable damage, regular inspection and maintenance are very necessary. And with the continuous development of automation technology, power maintenance has greatly reduced manual participation and reduced the harm to the human body. Among them, manual regular line inspection and maintenance are not only time-consuming and laborious, but also very dangerous. The original line inspection method was for personnel to climb the wires for inspection. This operation method not only has a large workload, but also has great safety hazards. Also, due to the influence of the geographical environment where the high-voltage wires are located, for example, in mountainous areas, the cable inclination caused by the height difference between two high-voltage wire towers increases the maintenance difficulty. In addition, there are obstacles such as damping wires and shock-proof hammers between the cable lines, which affect the walking of the line inspection robot on the cable lines. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an overhead line robot combining wheeled walking and peristaltic walking and a wire climbing method, enabling it to walk stably between cable lines, adapt to climbing between high-voltage wires with extreme inclinations, and at the same time stably cross obstacles such as damping wires and shock-proof hammers set between high-voltage wires, solving the difficulties that the line inspection robot in the technical background cannot cross obstacles and is difficult to operate between large-inclination overhead cables.

[0004] To solve the above technical problems, the technical solution adopted by the present invention is: An overhead line robot combining wheeled walking and peristaltic walking, including a frame, on which a walking device and a peristaltic device are installed; The walking devices are respectively arranged at both ends of the frame. Each walking device includes a support frame, and a driving wheel is installed in the support frame. The driving wheel is driven by a driving motor for transmission; The peristaltic device includes a first clamping mechanism and a second clamping mechanism. Among them, the first clamping mechanism is relatively fixed to the frame; the second clamping mechanism is driven by a pushing driving mechanism to move along the length direction of the cable, and the pushing driving mechanism is fixed on the frame.

[0005] Both the first clamping mechanism and the second clamping mechanism include jaw mounting seats. An electric push rod is installed at the tail of the jaw mounting seat. The output end of the electric push rod is connected to a push rod. Connecting rods are respectively hinged at both ends of the push rod, and the other ends of the connecting rods are hinged to a swing rod. The middle part of the swing rod is rotatably connected to a central shaft on the jaw mounting seat; a jaw is provided at the end of the swing rod.

[0006] The inner sides of the jaws on both sides have teeth.

[0007] The pushing drive mechanism is an electric push rod or a lead screw mechanism.

[0008] Support arms are installed at both ends of the lower part of the frame, and an electric control box is installed between the two support arms.

[0009] The support arms are trapezoidal.

[0010] The traveling wheels are grooved wheels.

[0011] The frame includes cross beams, which are arranged in pairs at intervals. A first longitudinal beam is fixedly connected between the two cross beams. A vertical beam is installed at the lower end of each cross beam, and a second longitudinal beam is fixed between the two vertical beams.

[0012] The swing rod is V-shaped.

[0013] A method for a wheeled walking and peristaltic walking combined overhead line robot to climb a wire includes the following steps: Step 1: Under normal working conditions, drive the traveling wheels to rotate through a drive motor, so that the whole device walks on the cable line; by controlling the power output of the power supply, when the power increases, the rotation speed of the traveling wheels can be adjusted. The traveling wheels and the peristaltic device are above the cable line, and obstacles such as damping wires and shock absorbers can be avoided. Step 2: Under extreme working conditions, when the inclination angle of the cable line is large, the peristaltic walking function is carried out through the cooperation of the first clamping mechanism and the second clamping mechanism; that is, first, the first clamping mechanism clamps the cable line. At the same time, the second clamping mechanism is driven to extend through an electric push rod; when reaching a predetermined position, the second clamping mechanism clamps the cable line, and at the same time, the first clamping mechanism releases the jaws; then, through the contraction of the electric push rod, the whole device walks forward; repeat the above process to complete peristaltic walking.

[0014] The present invention provides an overhead line robot and a wire climbing method combining wheeled walking and peristaltic walking, having the following technical effects: 1) By setting a walking device with grooved wheels, the device can stably walk between cable lines and can stably cross obstacles such as damping wires and shock absorbers set between high-voltage lines.

[0015] 2) By setting the first clamping mechanism and the second clamping mechanism, the peristalsis between high-voltage lines with extreme inclination angles can be adapted.

[0016] 3) Compared with "CN202311732594-A transmission line walking device and walking method capable of stable climbing", the differences and advantages of this application are: 1. Structural design. (1) This application adopts a modular design of the walking device and the peristaltic device, and realizes modular assembly through standardized interfaces. This design structure is relatively simple, pays more attention to the versatility of a single device, and is convenient for the replacement or upgrading of local components. (2) The lower part of the frame adopts a trapezoidal support arm, and the support arm connection adopts an arc connection. Compared with the linear hinge, it avoids excessive overall rigidity and further suppresses the vibration and swing of the robot when walking. (3) The driving wheel adopts a groove wheel design, and its groove is highly adapted to the cable cross-section. By increasing the contact area and friction, the robot can ensure stable walking along the cable axis. The toothed texture on the inner side of the clamp can adapt to cables of different diameters, further enhancing the adhesion between the wheel and the cable, and can still provide uniformly distributed clamping force at extreme inclination angles, avoiding damage to the cable surface and slipping or deviation of the robot. (4) The peristaltic walking part realizes step-by-step advancement through the coordinated action of the clamping mechanism and the driving mechanism, making it more suitable for high-slope climbing and complex line structures.

[0017] 2. Walking mode. (1) This application combines wheeled fast walking (conventional scenarios) with the creeping of the clamping mechanism (extreme inclination angles), and pushes the clamping mechanism to achieve displacement by pushing the drive mechanism (electric push rod / screw). The structure is simpler and the mode switching is flexible. (2) The driving wheel adopts a groove wheel design, and its groove is highly adapted to the cable cross-section. By increasing the contact area and friction, the robot can ensure stable walking along the cable axis. The anti-skid teeth on the inside of the groove wheel further enhance the adhesion between the wheel and the cable to avoid slipping or deviation. (3) The drive motor is directly transmitted to the driving wheel through a coupling, and the transmission chain is short and the energy loss is low. In the straight or low-angle cable scenario, the robot can rely on the wheel mode to move quickly, greatly shortening the inspection cycle and reducing the operation energy consumption.

[0018] 3. Adaptability. (1) Adapt to different slopes: adopt a combination of wheeled walking and creeping walking, use wheeled walking on low-slope lines, and switch to creeping walking on high-slope or complex lines, which can effectively improve the line's passing capacity. It solves the problem of traditional wheeled walking equipment slipping and failing on high-slope lines. (2) Adapt to line obstacles: When there are obstacles such as insulators, wire clamps, and hardware on the line, it can switch to creeping walking mode and gradually advance through the clamping mechanism to avoid obstruction of travel caused by obstacles. This application is suitable for more complex line environments and can travel on transmission lines with different slopes, large curvature changes, and more obstacles, and has stronger adaptability.

[0019] 4. Control complexity. This application uses wheel-type combined with clamping creeping walking. Conventional wheel-type walking is simple to control, with faster speed and lower energy consumption on straight roads. The creeping mode is only activated under extreme working conditions to provide stable climbing capabilities for extreme inclination angles. The combination of the two significantly improves operating efficiency, and the control module has a clear division of labor, which is more efficient overall.

[0020] 5. Easy maintenance. Modular design, wheeled walking components and creeping walking components are separated, easy to maintain and replace. The robot body has a compact structure and can run stably on high-voltage transmission lines without causing additional burden on the lines. During maintenance, faulty parts can be replaced separately, reducing maintenance costs and extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a working schematic diagram of the present invention.

[0022] Figure 2 It is the front view of the walking device in the present invention.

[0023] Figure 3 It is a front view of the second clamping mechanism in the present invention.

[0024] In the figure: walking device 1, motor fixing seat 11, driving motor 12, coupling 13, supporting frame 14, shaft 15, traveling wheel 16, end cover 17, first clamping mechanism 2, electric push rod 21, clamping claw mounting seat 22, push rod 23, connecting rod 24, rocker arm 25, clamping claw 26, connecting piece 27, second clamping mechanism 3, electric push rod 4, frame 5, cable 6, anti-vibration hammer 7, support arm 8, electric control box 9. DETAILED DESCRIPTION

[0025] like Figures 1-3 As shown, an overhead line robot combining wheeled walking and creeping walking is used for climbing cables 6 and crossing obstacles for damping wires and anti-vibration hammers 7. The overhead line robot comprises a frame 5, on which a walking device 1 and a creeping device are mounted.

[0026] The walking device 1 is installed at both ends of the frame 5, and each walking device 1 includes a support frame 14, a travel wheel 16 is installed in the support frame 14, a drive motor 12 is installed outside the support frame 14, and the output end of the drive motor 12 is connected to the travel wheel 16 through a coupling 13. The outside of the drive motor 12 is fixed to the frame 5 through a motor fixing seat 11.

[0027] The peristaltic device includes a first clamping mechanism 2 and a second clamping mechanism 3. Among them, the first clamping mechanism 2 is fixedly connected to the support frame 14 on the traveling device 1 at one end, and is used to clamp or loosen the cable 6. The second clamping mechanism 3 is fixedly connected to the pushing drive 4, and the pushing drive 4 is fixedly connected to the machine frame 5. The pushing drive 4 drives the second clamping mechanism 3 to perform a linear motion along the length direction of the cable 6. The second clamping mechanism 3 is used to clamp or loosen the cable 6.

[0028] The pushing drive 4 here is not limited to electric push rods, lead screw mechanisms, etc. Other drive mechanisms that can move linearly can also be applied to this device.

[0029] The first clamping mechanism 2 and the second clamping mechanism 3 have the same structure, and both include a jaw mounting seat 22. The jaw mounting seat 22 is fixed into one body by front and rear plate bodies through a connecting piece 27, and the front and rear plate bodies are kept at intervals. The connecting piece 27 can be a screw rod. An electric push rod 21 is installed at the tail of the jaw mounting seat 22, and the output end of the electric push rod 21 is connected to a push rod 23; both ends of the push rod 23 are respectively hinged to a connecting rod 24, and the other end of each connecting rod 24 is hinged to a swing rod 25. The swing rod 25 is V-shaped. The middle inflection point of the swing rod 25 is rotatably connected to the central axis on the jaw mounting seat 22. A jaw 26 is provided at the end of the swing rod 25, and when the jaw 26 is closed, it can cooperate with the cable 6.

[0030] Both ends of the lower part of the machine frame 5 are connected to the support arm 8, and the support arm 8 is annular. The electric control box 9 is fixed to the support arm 8.

[0031] Working principle and process: 1. Under normal working conditions, the driving motor 12 drives the driving wheels 16 to rotate, so that the whole device travels on the cable 6; by controlling the output power of the power supply, when the power increases, the rotation speed of the driving wheels 16 can be adjusted. The driving wheels 16 and the peristaltic device are above the cable 6, and obstacles such as damping wires and shock-proof hammers 70 can be avoided.

[0032] 2. Under extreme working conditions, when the inclination angle of the cable 6 is large, the peristaltic walking function is carried out through the cooperation of the first clamping mechanism 2 and the second clamping mechanism 3.

[0033] Specifically: First, the first clamping mechanism 2 clamps the cable, and at the same time, the second clamping mechanism 3 is driven to extend by the electric push rod 21; when reaching the predetermined position, the second clamping mechanism 3 clamps the cable 6, and at the same time, the first clamping mechanism 20 releases the jaws; then, the whole device moves forward by the contraction of the electric push rod 21.

[0034] Repeat the above process to complete peristaltic walking.

Claims

1. An overhead line robot combining wheeled walking and peristaltic walking, characterized in that: It includes a frame (5), on which a traveling device (1) and a peristaltic device are installed. The traveling devices (1) are respectively arranged at both ends of the frame (5). Each traveling device (1) includes a support frame (14), and a traveling wheel (16) is installed inside the support frame (14). The traveling wheel (16) is driven by a driving motor (12) for transmission. The peristaltic device includes a first clamping mechanism (2) and a second clamping mechanism (3). Among them, the first clamping mechanism (2) is relatively fixed to the frame (5); the second clamping mechanism (3) is driven by a pushing driving mechanism (4) to move along the length direction of the cable (6), and the pushing driving mechanism (4) is fixed on the frame (5).

2. The overhead line robot combining wheeled walking and peristaltic walking according to claim 1, wherein: Both the first clamping mechanism (2) and the second clamping mechanism (3) include a jaw mounting seat (22). An electric push rod (21) is installed at the tail of the jaw mounting seat (22). The output end of the electric push rod (21) is connected to a push rod (23). Both ends of the push rod (23) are respectively hinged with a connecting rod (24), and the other end of the connecting rod (24) is hinged with a swing rod (25). The middle part of the swing rod (25) is rotatably connected to the central axis on the jaw mounting seat (22); a jaw (26) is arranged at the end of the swing rod (25).

3. The overhead line robot combining wheeled walking and peristaltic walking according to claim 2, characterized in that: The inner sides of the jaws (26) on both left and right have teeth.

4. The overhead line robot combining wheeled walking and peristaltic walking according to claim 3, characterized in that: The pushing driving mechanism (4) is an electric push rod or a lead screw mechanism.

5. The overhead line robot combining wheeled walking and peristaltic walking according to claim 4, characterized in that: Support arms (8) are installed at both lower ends of the frame (5), and an electric control box (9) is installed between the two support arms (8).

6. The overhead line robot combining wheeled walking and peristaltic walking according to claim 5, wherein: The support arms (8) are trapezoidal.

7. The overhead line robot combining wheeled walking and peristaltic walking according to claim 6, characterized in that: The traveling wheels (16) are grooved wheels.

8. The overhead line robot combining wheeled walking and peristaltic walking according to claim 7, characterized in that: The frame (5) includes cross beams, which are arranged in pairs at intervals. A first longitudinal beam is fixedly connected between the two cross beams. A vertical beam is installed at the lower end of each cross beam, and a second longitudinal beam is fixed between the two vertical beams.

9. The overhead line robot combining wheeled walking and peristaltic walking according to claim 8, wherein: The swing rod (25) is V-shaped.

10. A method for a wire climbing of an overhead line robot combining wheeled walking and peristaltic walking according to claim 9, comprising the following steps: Step 1: Under normal working conditions, drive the traveling wheels (16) to rotate through the driving motor (12) to make the whole device walk on the cable (6); by controlling the power output of the power supply, when the power increases, the rotation speed of the traveling wheels (16) can be adjusted. The traveling wheels (16) and the peristaltic device are above the cable (6), and obstacles such as damping wires and shock-proof hammers (7) can be avoided. Step 2: Under extreme working conditions, when the inclination angle of the cable (6) is large, the peristaltic walking function is carried out through the cooperation of the first clamping mechanism (2) and the second clamping mechanism (3); that is, first, the first clamping mechanism (2) clamps the cable, and at the same time, the second clamping mechanism (3) is driven to extend through the electric push rod (21); when reaching the predetermined position, the second clamping mechanism (3) clamps the cable (6), and at the same time, the first clamping mechanism (2) releases the jaws; then, the whole device moves forward through the contraction of the electric push rod (21); repeat the above process to complete the peristaltic walking.

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