Power grid inspection robot

Abstract

The invention relates to the technical field of power grid maintenance, in particular to a power grid inspection robot which comprises a connecting rod, upper frames are fixedly connected to the two ends of the connecting rod, and fixed connecting rods are fixedly connected to the two sides of the upper frames; the other ends of the fixed connecting rods are rotationally connected with rotary connecting frames, and rotating mechanisms matched with the rotary connecting frames are arranged in the fixed connecting rods; the other end of each rotary connecting frame is rotationally connected with a lower frame; moving wheels are rotationally connected into the upper frame and the lower frame. Fixed functional blocks are arranged on the fixed connecting rod and the rotary connecting frame, each fixed functional block comprises a moving motor and a balancing weight, and the moving motors are coaxially and fixedly connected with the moving wheels; two pairs of rotary hoops are arranged below the upper frame and the lower frame; stabilizing mechanisms matched with the rotating hoops are arranged in the upper frame and the lower frame; the problem of limitation of manual inspection in the prior art is effectively solved, and meanwhile the problems that an inspection robot is single in function, insufficient in obstacle crossing ability and insufficient in cruising ability are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid maintenance, and specifically to a power grid inspection robot. Background Art

[0002] With the continuous expansion of the scale of the power system, the safe and stable operation of power grid equipment has put forward higher requirements for the inspection and maintenance of transmission lines; currently, power grid inspection mainly relies on manual operation and traditional automation equipment, and there are the following technical defects;

[0003] 1. Limitations of manual inspection. Traditional manual inspection requires high-altitude workers to climb poles or use insulated boom trucks for close-range detection, which has safety hazards such as falling from heights and electric shock. At the same time, manual detection efficiency is low, and it is prone to missed inspections due to personnel experience.

[0004] 2. Defects of single-function devices. Most existing inspection robots adopt a single-function design. For example, the track-type detection device disclosed in patent CN20XX123456A is only equipped with an infrared sensor and cannot perform equipment maintenance operations. The maintenance robot described in patent US9876543B1 lacks a real-time detection module, and repeated disassembly and assembly of tools result in a reduction in operation efficiency of more than 40%.

[0005] 3. Insufficient obstacle-crossing ability. Most existing track-type robots adopt a fixed wheel-rail structure. When crossing obstacles, additional transition tracks need to be installed, resulting in a single obstacle-crossing time exceeding 15 minutes; especially in complex terrains such as corner towers, existing equipment cannot achieve continuous three-dimensional movement, thus unable to achieve large-area operations.

[0006] Therefore, there is an urgent need for a power grid maintenance inspection robot to solve the above problems. Summary of the Invention

[0007] To achieve the above object, the present invention provides a power grid maintenance inspection robot, which effectively solves the problem of the limitations of manual inspection in the prior art, and also solves the problems of single function, insufficient obstacle-crossing ability and insufficient battery life of inspection robots; in addition, intelligent operation and maintenance support allows staff to view the power grid situation at any time.

[0008] To achieve the above object, the present invention proposes the following technical solution: A power grid inspection robot is installed on a transmission line, including a connecting rod. Both ends of the connecting rod are fixedly connected with upper frames, and both sides of the upper frames are fixedly connected with fixed connecting rods; the other ends of the fixed connecting rods are rotatably connected with rotary connecting frames, and a rotary mechanism cooperating with the rotary connecting frames is arranged in the fixed connecting rods; the other ends of the rotary connecting frames are rotatably connected with lower frames; moving wheels are rotatably connected in both the upper frames and the lower frames; fixed function blocks are arranged on both the fixed connecting rods and the rotary connecting frames, and the fixed function blocks include moving motors and counterweights, and the moving motors are coaxially fixedly connected with the moving wheels; two pairs of rotary clamps are arranged below both the upper frames and the lower frames; and a stabilizing mechanism cooperating with the rotary clamps is arranged in both the upper frames and the lower frames.

[0009] Furthermore: Cables cooperating with the moving wheels are arranged below the moving wheels, and the cross-section between the cables is triangular. Power grid supports are arranged on the ground, and a pair of power grid brackets are arranged on the side of the power grid supports, and the power grid brackets are symmetrically arranged on the side of the power grid supports; rubber clamps are arranged above both the power grid brackets and the power grid supports, and the cables cooperate with the corresponding rubber clamps.

[0010] Furthermore: The rotary mechanism includes an adjusting worm rotatably connected in the fixed connecting rod, an adjusting worm wheel rotatably connected in the fixed connecting rod and meshing with the adjusting worm, a coaxial small gear coaxially fixedly connected with the adjusting worm wheel, and an internal gear coaxially fixedly connected with the rotary connecting frame and meshing with the coaxial small gear.

[0011] Furthermore: The stabilizing mechanism includes a rotary stud rotatably connected in the upper frame, a sliding block slidably connected in the upper frame, rotary connecting rods rotatably connected at both ends of the sliding block, a pair of cooperating rotary clamps rotatably connected in the upper frame, and the rotary clamps are respectively rotatably connected with the corresponding rotary connecting rods; an adjusting motor is coaxially fixedly connected with the rotary stud.

[0012] Furthermore: An arc surface is arranged on the rotary clamp, the arc surface cooperates with the cable, and balls are arranged in the arc surface.

[0013] Furthermore: A power supply and a wireless information processor are arranged in the connecting rod, and a temperature detection module and a current detection module are arranged in the moving wheel; the wireless information processor can collect information from the temperature detection module, the current detection module, the rotary mechanism and the stabilizing mechanism and control them; the wireless information processor can perform remote information interaction with other mobile devices.

[0014] Furthermore: Cameras and laser guns are arranged on the outer sides of the upper frames; the wireless information processor can collect information from the cameras and the laser guns and control them.

[0015] Furthermore: The distance between the fixed connecting rods on both sides of the upper frame is greater than the diameter of the power grid support.

[0016] Furthermore, the fixed connecting rod and the rotating connecting frame are both made of insulating rubber material.

[0017] Furthermore, the control method is as follows:

[0018] When the power grid inspection robot operates in an obstacle-free position, at this time, the temperature detection module and the current detection module work to detect the power grid.

[0019] When the power grid inspection robot is about to run to an obstacle position, the wireless information processor will first open the stabilizing mechanism of the lower frame on the side of crossing the obstacle, and then control the rotating mechanism to raise the lower frame, so as to initially cross the obstacle position.

[0020] After one side of the lower frame crosses the obstacle position, the wireless information processor will reset its rotating mechanism and stabilizing mechanism, and then control to open the stabilizing mechanism under the upper frame. Subsequently, it controls all the rotating mechanisms to rotate. At this time, the rotating direction of the rotating mechanism is opposite to the turning direction when initially crossing the obstacle; at this time, the whole upper frame will be raised, so as to cross the upper frame over the obstacle.

[0021] After the upper frame completely crosses the obstacle, the wireless information processor will reset its rotating mechanism and stabilizing mechanism, and then control to open the stabilizing mechanism of the other side of the lower frame. Subsequently, it controls the rotating mechanism to raise the lower frame, so as to cross the obstacle position.

[0022] After the power grid inspection robot completely crosses the obstacle, the wireless information processor will reset all its rotating mechanisms and stabilizing mechanisms, so that the whole power grid robot crosses the obstacle position.

[0023] Compared with the prior art, the gain effect of the present invention is as follows:

[0024] 1. The multi-task collaborative operation efficiency is improved, with the mutual cooperation of the wireless information processor, camera, laser gun, temperature detection module and current detection module; at the same time, the setting that the wireless information processor can perform remote information interaction with other mobile devices realizes the staff's grasp of the operation status of the power grid, greatly improving the inspection efficiency and accuracy. The setting of the laser gun can effectively solve the problem of obstacles such as bird nests on the wires.

[0025] 2. When the robot crosses the power grid pillar, the stabilizing mechanism under the lower frame on the crossing side is opened first, and then the rotation drives the rotating connecting frame and the lower frame to rotate, "raising" their positions, so as to cross the rubber clamp above the power grid support. After the lower frame has crossed, the rotating mechanism and the stabilizing mechanism reset, and then the stabilizing mechanism under the upper frame is opened, and the rotating mechanism rotates in the reverse direction. At this time, the positions of the moving wheels, the upper frame and the connecting rod are raised, so as to enable the moving wheels, the upper frame and the connecting rod to cross the rubber clamp above the power grid pillar; when the moving wheels and the upper frame above the cable have completely crossed, the rotating connecting frame and the lower frame at the tail repeat the above operations, so as to enable the robot to cross the power grid pillar; this process can effectively ensure the stability of the robot when crossing the power grid pillar. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a perspective view of the present invention.

[0027] Figure 2 is a partially enlarged view of the present invention.

[0028] Figure 3 is a perspective view of the stabilizing mechanism of the present invention.

[0029] Figure 4 is a perspective view of the rotating mechanism of the present invention.

[0030] Figure 5 is a preliminary state diagram of the present invention when crossing an obstacle.

[0031] Figure 6 is an operation diagram of the present invention when crossing an obstacle.

[0032] In the figure: 1. Power grid pillar, 2. Power grid support, 3. Rubber clamp, 5. Moving wheel, 6. Upper frame, 7. Fixed connecting rod, 8. Fixed function block, 9. Rotating connecting frame, 10. Lower frame, 11. Connecting rod, 12. Rotating clamp, 13. Rotating connecting rod, 14. Sliding block, 15. Rotating stud, 16. Adjusting worm, 17. Adjusting worm gear, 18. Coaxial pinion, 19. Internal gear, 31. Cable. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The technical solutions of the present invention will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] Embodiment 1

[0035] Figure 1 is a structural schematic diagram of an embodiment of an inspection robot provided by the present application.

[0036] A power grid inspection robot is installed on the transmission line; it includes a connecting rod 11, with upper frames 6 fixedly connected to both ends of the connecting rod 11, and fixed connecting rods 7 fixedly connected to both sides of the upper frames 6; the other ends of the fixed connecting rods 7 are rotatably connected to rotating connecting frames 9, and a rotating mechanism that cooperates with the rotating connecting frames 9 is arranged inside the fixed connecting rods 7; the other ends of the rotating connecting frames 9 are rotatably connected to lower frames 10; moving wheels 5 are rotatably connected inside the upper frames 6 and the lower frames 10; fixed function blocks 8 are arranged on both the fixed connecting rods 7 and the rotating connecting frames 9, and the fixed function blocks 8 include a motion motor and a counterweight block, and the motion motor is coaxially fixedly connected to the moving wheel 5; two pairs of rotating clamps 12 are arranged below both the upper frames 6 and the lower frames 10; a stabilizing mechanism that cooperates with the rotating clamps 12 is arranged inside both the upper frames 6 and the lower frames 10.

[0037] Cables 31 that cooperate with the moving wheels 5 are arranged below the moving wheels 5, and the cross-section between the cables 31 is triangular. A power grid support column 1 is arranged on the ground, and a pair of power grid brackets 2 are arranged on the side of the power grid support column 1, and the power grid brackets 2 are symmetrically arranged on the side of the power grid support column 1; rubber clamps 3 are arranged above both the power grid brackets 2 and the power grid support column 1, and the cables 31 cooperate with the corresponding rubber clamps 3.

[0038] The rotating mechanism includes an adjusting worm 16 rotatably connected inside the fixed connecting rod 7, an adjusting worm gear 17 rotatably connected inside the fixed connecting rod 7 and meshing with the adjusting worm 16, a coaxial small gear 18 coaxially fixedly connected to the adjusting worm gear 17, and an internal gear 19 coaxially fixedly connected to the rotating connecting frame 9 and meshing with the coaxial small gear 18.

[0039] The stabilizing mechanism includes a rotating stud 15 rotatably connected inside the upper frame 6, a sliding block 14 slidably connected inside the upper frame 6, rotating connecting rods 13 rotatably connected to both ends of the sliding block 14, a pair of cooperating rotating clamps 12 rotatably connected inside the upper frame 6, and the rotating clamps 12 are respectively rotatably connected to the corresponding rotating connecting rods 13; an adjusting motor is coaxially fixedly connected to the rotating stud 15.

[0040] An arc surface is arranged on the rotating clamp 12, the arc surface cooperates with the cable 31, and balls are arranged inside the arc surface.

[0041] A power supply and a wireless information processor are arranged inside the connecting rod 11, and a temperature detection module and a current detection module are arranged inside the moving wheel 5; the wireless information processor can collect information from the temperature detection module, the current detection module, the rotating mechanism and the stabilizing mechanism and control them; the wireless information processor can perform remote information interaction with other mobile devices.

[0042] The power supply is a battery, and the battery powers the motor, the wireless information processor, the temperature detection module and the current detection module

[0043] Both the fixed connecting rod 7 and the rotary connecting frame 9 are made of insulating rubber material.

[0044] As Figure 1 , 2 , 3, 4, 5 and 6 show: As can be seen from the above technical solution, this embodiment provides a power grid inspection robot, specifically including that when the robot inspects the power grid, the motor on the fixed function block 8 can drive the moving wheel 5 to rotate, thereby driving the overall operation of the robot. The temperature detection module and current detection module in the connecting rod 11 can detect the temperature and current of the cable 31 during the operation of the robot, thus solving the problem of low inspection efficiency when manually inspecting the overhead transmission line.

[0045] In addition, the stabilizing mechanism in the inspection robot can lock the cable 31. After locking, the position between the robot and the cable 31 is fixed, so that the robot moves linearly in the obstacle-free area. When passing through the obstacle area, the stabilizing mechanism will unlock the robot and the cable 31, so that the robot moves locally under the action of the rotating mechanism.

[0046] In addition, the wireless information processor can be set to perform remote information interaction with other mobile devices, which realizes the staff's grasp of the operation status of the power grid and greatly improves the inspection efficiency and accuracy.

[0047] Embodiment 2:

[0048] This application provides an embodiment of a control method during the inspection of a power grid inspection robot.

[0049] The inspection control method of the power grid inspection robot is as follows:

[0050] When the power grid inspection robot is running in the obstacle-free position, at this time, the temperature detection module and the current detection module work to detect the power grid;

[0051] When the power grid inspection robot is about to run to the obstacle position, the wireless information processor will first open the stabilizing mechanism of the lower frame 10 on the side of crossing the obstacle, and then control the rotating mechanism to raise the lower frame 10. At this time, the robot is still in a moving state; thus initially crossing the obstacle position;

[0052] When one side of the lower frame 10 crosses the obstacle position, the wireless information processor will reset its rotating mechanism and stabilizing mechanism, then control to open the stabilizing mechanism below the upper frame 6, and then control all the rotating mechanisms to rotate. At this time, the rotation direction of the rotating mechanism is opposite to the rotation direction when initially crossing the obstacle; at this time, the entire upper frame 6 will be raised, so as to cross the upper frame 6 over the obstacle;

[0053] After the upper frame 6 completely crosses the obstacle, the wireless information processor resets its rotating mechanism and stabilizing mechanism, then controls the stabilizing mechanism of the lower frame 10 on the other side to open, and then controls the rotating mechanism to lift the lower frame 10 so that it crosses the obstacle position;

[0054] After the power grid inspection robot completely crosses the obstacle, the wireless information processor resets all its rotating mechanism and stabilizing mechanism, so that the whole power grid robot crosses the obstacle position.

[0055] In addition, the distance between the fixed connecting rods 7 on both sides of the upper frame 6 is greater than the diameter of the power grid support 1.

[0056] As Figure 1 、 2 shown in 3, 4, 5 and 6: When the robot is operating on the power grid, the motor on the fixed function block 8 can drive the moving wheel 5 to rotate, thereby driving the whole robot to run. During the running of the robot, the stabilizing mechanism cooperates with the cable 31 to ensure its running stability; when the robot crosses the power grid support 1, first the stabilizing mechanism under the lower frame 10 on the crossing side opens. During this process, when the rotating stud 15 rotates, the rotation of the rotating stud 15 will drive the sliding block 14 to slide, and the sliding of the sliding block 14 will drive the rotating clamp 12 to rotate through the rotating connecting rod 13, so as to realize the clamping and opening of the cable 31; the design of the arc surface and the ball not only ensures the running stability of the robot, but also ensures the smoothness of the running; then the rotation will drive the rotating connecting frame 9 and the lower frame 10 to rotate and "lift" their positions. At this time, the other moving wheels 5 cooperating with the cable 31 still continue to rotate, and the robot is still in a stable moving state, so that the lower frame 10 can cross the rubber clamp 3 above the power grid support 2. After the lower frame 10 crosses, the rotating mechanism and the stabilizing mechanism are reset.

[0057] Then, the stabilizing mechanism below the upper frame 6 is opened, and the rotating mechanism rotates in the reverse direction. At this time, the positions of the moving wheels 5, the upper frame 6, and the connecting rod 11 are raised. At this time, the robot is still in a stable moving state; thus, the moving wheels 5, the upper frame 6, and the connecting rod 11 cross over the rubber clamp 3 above the power grid pole 1; when the moving wheels 5 and the upper frame 6 above the cable 31 have completely crossed over, the distance between the fixed connecting rods 7 on both sides of the upper frame 6 being greater than the diameter of the power grid pole 1 ensures the safe passage of the fixed connecting rods 7; the rotating connection frame 9 and the lower frame 10 at the tail repeat the above operations. During the crossing process, the inspection robot is always in a stable state, so that the robot crosses over the power grid pole 1; during this process, adjusting the rotation of the worm 16 can drive the internal gear 19 and the rotating connection frame 9 to rotate by adjusting the worm gear 17 and the coaxial pinion 18, thereby realizing the adjustment of the position of the lower frame 10; this process can effectively ensure the stability of the robot when crossing the power grid pole 1; effectively solving the problem of insufficient obstacle-crossing ability of the power grid robot.

[0058] Embodiment 3:

[0059] On the outer sides of the upper frame 6, cameras and laser guns are provided; the wireless information processor can collect information from the cameras and laser guns and control them.

[0060] As Figure 1 shown: On the basis of Embodiment 1 or 2, the wireless information processor can control the cameras and laser guns; it can achieve "visual observation" during the inspection process, and the setting of the laser gun can effectively solve problems such as bird nests on the wires; the laser bird nest removal technology mainly uses high-energy laser beams to precisely cut or damage the bird nests. By adjusting the power and focal length of the laser, rapid cutting of the bird nest materials (such as branches, dry grass, etc.) can be achieved. Since the laser cutting has a relatively small power, it will not cause damage to the wires; thus achieving the purpose of removal.

[0061] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0062] In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components; for those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. A power grid inspection robot is installed on a transmission line, and is characterized in that: It includes a connecting rod (11). Upper frames (6) are fixedly connected to both ends of the connecting rod (11). Fixed connecting rods (7) are fixedly connected to both sides of the upper frames (6). Rotating connecting frames (9) are rotatably connected to the other ends of the fixed connecting rods (7). A rotating mechanism matching with the rotating connecting frames (9) is arranged in the fixed connecting rods (7). Lower frames (10) are rotatably connected to the other ends of the rotating connecting frames (9). Moving wheels (5) are rotatably connected in both the upper frames (6) and the lower frames (10). Fixed function blocks (8) are arranged on both the fixed connecting rods (7) and the rotating connecting frames (9). The fixed function block (8) includes a moving motor and a counterweight block. The moving motor is coaxially fixedly connected to the moving wheel (5). Two pairs of rotating clamps (12) are arranged below both the upper frames (6) and the lower frames (10). A stabilizing mechanism matching with the rotating clamps (12) is arranged in both the upper frames (6) and the lower frames (10).

2. The power grid inspection robot according to claim 1, characterized in that: Cables (31) matching with the moving wheels (5) are arranged below the moving wheels (5). The cross-section between the cables (31) is triangular. Grid supports (1) are arranged on the ground. A pair of grid brackets (2) are arranged on the side of the grid support (1). The grid brackets (2) are symmetrically arranged on the side of the grid support (1). Rubber clamps (3) are arranged above both the grid brackets (2) and the grid support (1). The cables (31) are matched with the corresponding rubber clamps (3).

3. The grid inspection robot according to claim 1, wherein: The rotating mechanism includes an adjusting worm (16) rotatably connected in the fixed connecting rod (7), an adjusting worm gear (17) rotatably connected in the fixed connecting rod (7) and meshing with the adjusting worm (16), a coaxial small gear (18) coaxially fixedly connected to the adjusting worm gear (17), and an internal gear (19) coaxially fixedly connected to the rotating connecting frame (9) and meshing with the coaxial small gear (18).

4. The power grid inspection robot according to claim 1, wherein: The stabilizing mechanism includes a rotating stud (15) rotatably connected in the upper frame (6), a sliding block (14) slidably connected in the upper frame (6). Rotating connecting rods (13) are rotatably connected to both ends of the sliding block (14). A pair of rotating clamps (12) matching with each other are rotatably connected in the upper frame (6). The rotating clamps (12) are respectively rotatably connected to the corresponding rotating connecting rods (13). An adjusting motor is coaxially fixedly connected to the rotating stud (15).

5. The grid inspection robot according to claim 3, characterized in that: An arc surface is arranged on the rotating clamp (12). The arc surface is matched with the cable (31). Ball bearings are arranged in the arc surface.

6. The grid inspection robot according to claim 1, characterized in that: A power supply and a wireless information processor are arranged in the connecting rod (11). A temperature detection module and a current detection module are arranged in the moving wheel (5). The wireless information processor can collect information from the temperature detection module, the current detection module, the rotating mechanism and the stabilizing mechanism and control them. The wireless information processor can perform remote information interaction with other mobile devices.

7. The grid inspection robot according to claim 2, wherein: Cameras and laser guns are arranged on the outer sides of the upper frames (6). The wireless information processor can collect information from the cameras and the laser guns and control them.

8. The grid inspection robot according to claim 1, characterized in that: The distance between the fixed connecting rods (7) on both sides of the upper frame (6) is greater than the diameter of the grid support (1).

9. The grid inspection robot according to claim 1, characterized in that: The materials of both the fixed connecting rod (7) and the rotating connecting frame (9) are insulating rubber materials.

10. A patrol control method for a power grid inspection robot as described in claims 1-9, characterized in that: The steps of the control method are as follows: When the grid inspection robot operates in an obstacle-free position, at this time, the temperature detection module and the current detection module work to detect the power grid; When the grid inspection robot is about to move to an obstacle position, the wireless information processor will first open the stabilizing mechanism of the lower frame (10) on the side of crossing the obstacle, and then control the rotating mechanism to raise the lower frame (10). At this time, the robot is still in a moving state, so as to initially cross the obstacle position; After one side of the lower frame (10) crosses the obstacle position, the wireless information processor will reset its rotating mechanism and stabilizing mechanism, and then control the opening of the stabilizing mechanism under the upper frame (6). Subsequently, it controls all the rotating mechanisms to rotate. At this time, the rotating direction of the rotating mechanism is opposite to the direction when initially crossing the obstacle; at this time, the whole upper frame (6) will be raised, so as to cross the upper frame (6) over the obstacle; After the upper frame (6) completely crosses the obstacle, the wireless information processor will reset its rotating mechanism and stabilizing mechanism, and then control the opening of the stabilizing mechanism of the other side of the lower frame (10). Subsequently, it controls the rotating mechanism to raise the lower frame (10), so as to make it cross the obstacle position; After the grid inspection robot completely crosses the obstacle, the wireless information processor will reset all its rotating mechanisms and stabilizing mechanisms, so that the whole grid robot crosses the obstacle position.

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