Power transmission line inspection robot

Abstract

The invention provides a power transmission line inspection robot, and belongs to the technical field of line detection, the power transmission line inspection robot comprises a main body, and is characterized in that the power transmission line inspection robot comprises an adjustable clamping moving mechanism, a winch wire feeding mechanism and a cable lifting mechanism, the adjustable clamping moving mechanism comprises a pair of coaxially arranged circular truncated cone discs, and the conical surfaces of the circular truncated cone discs face a power transmission line to form a self-adaptive clamping space; the driving wheel shaft is mounted at the top of the circular table disc and internally integrated with a driving motor; and the electric push rod is vertically arranged above the driving wheel shaft and is used for controlling the clamping force of the circular truncated cone discs on the two sides to the power transmission line. The adjustable clamping and moving mechanism has the advantages that the clamping force can be dynamically adjusted in real time according to the icing thickness and gradient parameters of the surface of the power transmission line through a tooth-shaped meshing structure of the coaxial circular truncated cone disc and the driving wheel shaft in combination with closed-loop control of the electric push rod, abrasion, caused by excessive pressing, of a lead shockproof layer is avoided, and the service life of the lead shockproof layer is prolonged. The stable adhesive force under different working conditions is ensured, and the inspection interruption risk is remarkably reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of line detection, and particularly relates to an inspection robot for transmission lines. Background Art

[0002] Most high-voltage transmission lines are erected in complex geographical environments such as mountains and canyons. Traditional manual inspection has problems such as high labor intensity, high safety risks, and limited operation in bad weather. The inspection robot for transmission lines significantly improves the efficiency of line defect detection through the integration of autonomous walking and intelligent detection technologies, reduces the risks of occupational hazards such as falling from heights and electric shock, and has become the core equipment for ensuring the safe operation of the power grid. This device can be equipped with a multi-sensor fusion detection system to achieve all-weather and accurate identification of hidden dangers such as broken wire strands, deteriorated insulators, and loose connection fittings. Especially in areas where extreme climates such as rain, snow, ice, and strong winds occur frequently, it can replace manual labor to complete continuous line condition monitoring, effectively reducing power outages and economic losses caused by delayed discovery of hidden dangers.

[0003] However, existing inspection robots that move by wheels expose certain defects under special working conditions of ice-covered and rain-wetted conductors. When ice forms on the surface of the conductor, the friction characteristics of the contact surface between the robot's moving mechanism and the conductor change suddenly, and the imbalance between the driving force and the adhesion force leads to frequent slipping or even stagnation. Especially on lines where the ice thickness exceeds the critical value or there is an inclination angle, the driving wheels are prone to idling and stalling, forcing maintenance personnel to implement rescue measures such as climbing towers or using drones for hoisting. Although current improvement schemes attempt to increase the adhesion force by increasing the pressing force or modifying the material of the driving wheels, the former will increase the energy consumption of the mechanism and accelerate the wear of the conductor shockproof layer, while the latter is limited by the low-temperature brittleness of the material and it is difficult to balance durability and grip performance. Actual application data shows that the average inspection interruption rate of the robot is relatively high during the winter ice-covered period, which restricts the construction process of the intelligent operation and maintenance system for power grids in alpine regions. Summary of the Invention

[0004] In view of this, the present invention aims at the deficiencies of the prior art and provides a transmission line inspection robot. To solve the above technical problems, the technical solution adopted by the present invention is: comprising a main body, the top of which is horizontally erected on the transmission line through a line bracket, and the interior of the main body and the line bracket are provided with inspection and detection components, characterized in that it comprises an adjustable clamping moving mechanism, a winch and a cable lifting mechanism, the adjustable clamping moving mechanism is arranged on the line bracket, and the winch and the cable lifting mechanism are arranged on the main body; the adjustable clamping moving mechanism comprises: a pair of coaxially arranged truncated cone disks, whose conical surfaces face the transmission line to form an adaptive clamping space; a driving wheel shaft, which is installed on the top of the truncated cone disk, and the driving motor is integrated inside, and the driving wheel shaft and the truncated cone disk realize power transmission through the toothed meshing structure on the edge; an electric push rod: vertically arranged above the driving wheel shaft, and the force of the driving wheel shaft on the truncated cone disk is changed by adjusting the downward stroke of the electric push rod to control the clamping force of the truncated cone disks on both sides on the transmission line.

[0005] Furthermore, the toothed meshing structure is composed of an annular tooth groove 1 on the circumferential surface of the driving wheel shaft and an annular tooth groove 2 on the surface of the frustum disk.

[0006] Furthermore, the electric push rod is connected to a closed-loop control system to adjust the downforce in real time according to ice thickness and slope parameters on the surface of the power transmission line.

[0007] Furthermore, a reduction motor is installed on one side of the main body, and the output end of the reduction motor is transmission-connected to one end of the line bracket. A bearing is installed on the other side of the main body, and the bearing is rotationally connected to the other end of the line bracket.

[0008] Furthermore, a crossbeam is provided on one side of the line bracket, a load-bearing rod is fixedly installed on one side of the crossbeam, two groups of balls are provided at one end of the load-bearing rod, limiting beads are coaxially provided between the two groups of balls, ball sleeves are provided at the axis of the two groups of frustum disks, and the ball sleeves are sleeved on the balls.

[0009] Furthermore, the hoisting line mechanism includes: The first winding reel and the second winding reel are arranged inside the main body, and the first winding reel and the second winding reel are provided with synchronous teeth, and mesh with the second winding reel through the synchronous teeth arranged thereon; Cable: Two opposite sides of the main body are provided with winding grooves, and a wire drum is rotatably provided at the inner bottom of one group of the sides, and the two ends of the cable are respectively used to be wound on the winding drum 1 and the winding drum 2, and the middle part of the cable is used to overlap the transmission line; The winding disk is provided with a driving assembly for driving the winding disk to rotate.

[0010] Further, the driving assembly includes: a motor for driving, a worm is installed at the output end of the motor, a winding disc is coaxially connected with a worm gear, and the worm gear is in transmission connection with the worm.

[0011] Further, one end of the cable passes through the winding wire groove on the side surface of the main body and the wire guide cylinder at the inner bottom into the interior of the main body, and is wound and fixed on the second winding disc; the other end extends to the first winding disc through the winding wire groove on the other side surface, and is locked and fixed with the first winding disc through a threaded block.

[0012] Further, the cable lifting mechanism includes: a lifting rod, a lifting frame is arranged inside the top surface of the main body, the lifting rod is slidably arranged inside the lifting frame, a spring is fixedly installed inside the lifting frame, one end of the spring is fixedly installed with the bottom of the lifting rod, the spring is a compression spring, a lifting ring is installed at the top end of the lifting rod, and the lifting ring is sleeved on the surface of the cable.

[0013] Further, the inspection and detection assembly includes: An infrared thermal imager integrated on the top of the robot main body frame, A visible light camera installed on the line support.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The adjustable clamping and moving mechanism of the present invention can dynamically adjust the clamping force in real time according to the ice thickness and slope parameters on the surface of the transmission line through the tooth-shaped meshing structure of the coaxial circular table disc and the driving wheel shaft, combined with the closed-loop control of the electric push rod. This design effectively solves the problems of insufficient driving force, slipping and stagnation of traditional robots caused by icing or inclination, not only avoids the wear of the wire shock-proof layer caused by excessive pressing, but also ensures stable adhesion under different working conditions, and reduces the risk of inspection interruption.

[0015] 2. The cable winding and feeding mechanism in the present invention realizes high-precision synchronous control during the cable winding and unwinding process through the coordinated cooperation of the double winding discs and the synchronous teeth meshing structure. The upper and lower parallel winding discs ensure the same winding speed at both ends of the cable under the driving of the synchronous teeth, effectively avoiding cable twisting or deviation caused by uneven unilateral traction force, and improving the operation stability; The cable is guided by the symmetrically arranged winding wire grooves and wire guide cylinders, combined with the self-locking characteristic of the worm and worm gear transmission system, and can be reliably fixed at any position to prevent the cable from accidentally slipping or rebounding. This design not only enhances the accuracy of cable guiding, but also adapts to the requirements of different cable spans and suspension angles by dynamically adjusting the rotation angle of the winding disc, and can control the extension and retraction of the cable lifting mechanism by winding and unwinding the cable.

[0016] 3. Through the linkage of the spring and the lifting rod, the cable lifting mechanism can adaptively adjust the contact state between the cable and the transmission line, avoiding equipment jamming and excessive cable wear caused by continuous contact between the cable and the transmission line.

[0017] 4. The infrared thermal imager and the visible light camera integrated in the robot body form a multi-modal detection system, which can accurately identify hidden dangers such as broken wire strands and insulator deterioration all-weather. It can still work stably especially in extreme climates such as rain, snow, and ice. The multi-sensor fusion technology provides reliable data support for the early warning of line defects, greatly reducing the risk of power outages caused by delayed discovery of hidden dangers, and providing technical guarantee for the construction of the intelligent operation and maintenance system of the power grid. Brief Description of the Drawings

[0018] The following further describes the present invention in detail with reference to the drawings.

[0019] Figure 1 : Schematic diagram of the three-dimensional structure in Embodiment 1 of the present invention; Figure 2 : The present invention Figure 1 Schematic diagram of the structure from another perspective; Figure 3 : Schematic diagram of the adjustable clamping and moving mechanism in Embodiment 1 of the present invention; Figure 4 : The present invention Figure 3 Schematic diagram of the disassembled structure; Figure 5 : Schematic diagram of the winding and lifting mechanism after the main body is sectioned in Embodiment 1 of the present invention; Figure 6 : Schematic diagram of the cable lifting mechanism after the main body is sectioned in Embodiment 1 of the present invention; Figure 7 : Schematic diagram of the cable lifting mechanism lifting the cable in Embodiment 1 of the present invention; Figure 8 : The present invention Figure 7 Schematic diagram of the structure from another perspective; Wherein, 1. Main body; 2. Line support; 3. Transmission line; 4. Disc table; 5. Driving wheel shaft; 6. Driving motor; 7. Tooth-shaped meshing structure; 7a. First annular tooth groove; 7b. Second annular tooth groove; 8. Electric push rod; 9. Reduction motor; 10. Bearing; 11. Cross beam; 12. Load-bearing rod; 13. Ball; 14. Limit bead; 15. Ball sleeve; 10. Bearing; 20a. First winding disc; 20b. Second winding disc; 21. Synchronous tooth; 22. Motor; 23. Worm; 24. Worm gear; 25. Thread block; 30. Cable; 31. Winding groove; 32. Wire drum; 40. Lifting rod; 41. Lifting frame; 42. Spring; 43. Lifting ring; 50. Infrared thermal imager; 51. Visible light camera. Detailed implementation mode

[0020] To better understand the present invention, the content of the present invention will be further clearly described below in conjunction with embodiments and the accompanying drawings. However, the protected content of the present invention is not limited to the following embodiments. In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details.

[0021] Embodiment 1: Refer to Figures 1-8 , an inspection robot for transmission lines in this embodiment, which includes a main body 1, the top of which is horizontally installed on the transmission line 3 through a line bracket 2. An inspection and detection component is arranged inside the main body 1 and on the line bracket 2. It is characterized in that it includes an adjustable clamping and moving mechanism, a hoisting and winding mechanism, and a cable lifting mechanism. The adjustable clamping and moving mechanism is arranged on the line bracket 2, and the hoisting and winding mechanism and the cable lifting mechanism are arranged on the main body 1; The adjustable clamping and moving mechanism includes: A pair of coaxial frustum disks 4, the conical surfaces of which face the transmission line 3 to form an adaptive clamping space; A driving wheel shaft 5, installed on the top of the frustum disk 4, with a driving motor 6 integrated inside. The driving wheel shaft 5 and the frustum disk 4 achieve power transmission through a toothed meshing structure at the edge; An electric push rod 8: vertically arranged above the driving wheel shaft 5, and the force exerted by the driving wheel shaft 5 on the frustum disk 4 is changed by adjusting the downward stroke of the electric push rod 8 to control the clamping force of the two frustum disks 4 on the transmission line 3; Working principle: When the adjustable clamping and moving mechanism is rotated and installed on the transmission line 3 through the line bracket 2, the frustum disk 4 wraps the wire through the adaptive clamping space formed by the conical surface. The electric push rod 8 presses down the driving wheel shaft 5 according to the preset initial pressure, and the driving wheel shaft 5 transmits the pressure to the frustum disk 4 through the toothed meshing structure, so that the two frustum disks 4 clamp the wire, The driving motor 6 drives the frustum disk 4 to rotate through the driving wheel shaft 5, and transmits the torque to the conical surface of the frustum disk 4 through the toothed meshing structure to drive the robot to move along the wire; The adjustable clamping and moving mechanism forms a flexible clamping of the transmission line 3 through the toothed meshing structure between the frustum disk 4 and the driving wheel shaft 5, combined with the dynamic adjustment of the electric push rod 8. While ensuring stable adhesion, this mechanism can adapt to complex working conditions such as ice coating, foreign object attachment or wire diameter change on the wire surface, and avoid the problem of local stress concentration caused by traditional rigid clamping.

[0022] Refer to Figures 3-4The toothed meshing structure is composed of an annular tooth groove 1 7a on the circumferential surface of the driving wheel shaft 5 and an annular tooth groove 2 7b on the surface of the truncated cone 4. The meshing form of the annular tooth groove 1 7a and the annular tooth groove 2 7b adopts an involute tooth design. The meshing depth of the tooth groove can be dynamically adjusted according to the relative displacement of the driving wheel shaft 5 and the truncated cone 4. The tooth surface of the annular tooth groove 2 7b is set as a multi-angle inclined structure, which can adaptively adjust the meshing angle according to the relative displacement of the driving wheel shaft 5 and the truncated cone 4. This design enables the annular tooth groove 2 7b to maintain tight meshing with the annular tooth groove 1 7a under different tilt conditions, avoiding transmission misalignment caused by changes in line slope or deformation of the conductor. The tooth top and tooth root of the annular tooth groove 2 7b adopt a chamfered transition design to further reduce stress concentration during the meshing process.

[0023] See also Figures 1-4 The electric push rod 8 is connected to a closed-loop control system to adjust the downforce in real time according to the ice thickness and slope parameters on the surface of the power transmission line 3. Working principle: The closed-loop control system integrates a displacement sensor and a pressure feedback module. The pressure feedback module is integrated on the electric push rod 8, and the displacement sensor is integrated in the main body. It monitors the actual displacement of the electric push rod 8 and the clamping pressure state of the transmission line 3 in real time, and dynamically optimizes the downward stroke of the electric push rod 8 based on the fuzzy control algorithm. The displacement sensor detects the relative displacement change between the driving wheel shaft 5 and the round table 4, and combines the real-time data of the pressure feedback module to accurately control the clamping force to ensure adaptive clamping under different ice thicknesses or line slopes. This design further optimizes the dynamic response capability of the clamping force. For example, in steep slopes, the clamping force and moving speed are adjusted synchronously through displacement feedback to avoid imbalance of the driving force caused by the gravity component, thereby ensuring the continuity and stability of the robot's climbing process.

[0024] See also Figures 6-7 A reduction motor 9 is installed on one side of the main body 1. The reduction motor 9 is a worm gear reduction motor with a self-locking function. The output end of the reduction motor 9 is connected to one end of the line bracket 2. A bearing 10 is installed on the other side of the main body 1. The bearing 10 is connected to the other end of the line bracket 2. The worm gear reduction motor is connected to the line bracket 2 through a high-precision gear pair, providing a low-speed, high-torque output characteristic to meet the power requirements of the robot during low-speed inspection. Its self-locking function can automatically lock the transmission shaft when it is shut down or powered off to prevent the robot from accidentally slipping due to gravity.

[0025] See also Figures 2-4, a crossbeam 11 is provided on one side of the line support 2. A load-bearing rod 12 is fixedly installed on one side of the crossbeam 11. Two groups of balls 13 are provided at one end of the load-bearing rod 12. A limiting bead 14 is coaxially arranged between the two groups of balls 13. A ball sleeve 15 is provided at the axis of the two frustum disks 4. The ball sleeve 15 is sleeved on the ball 13. The matching structure of the ball 13 and the ball sleeve 15 is designed by the spherical degree of freedom, enabling the frustum disk 4 to perform an opening and closing action around the axis of the ball 13, thereby dynamically adjusting the clamping force on the power transmission line 3. This design makes the clamping mechanism highly sensitive and structurally reliable when adjusting the clamping force, effectively coping with the dynamic load changes caused by the vibration or deformation of the wire.

[0026] Refer to Figures 5-6 , the hoisting and winding-up mechanism includes: A winding disk one 20a and a winding disk two 20b which are arranged parallel to each other up and down inside the main body 1. Synchronous teeth 21 are provided on the winding disk one 20a and the winding disk two 20b, and are meshed with the winding disk two 20b through the synchronous teeth 21 provided thereon; the synchronous teeth 21 meshing technology eliminates the transmission gap through the staggered tooth shape design, ensuring that the rotation phases of the double winding disks 20a and 20b are strictly synchronized, and avoiding the transmission lag caused by load fluctuations. Cable 30: Winding grooves 31 are provided on two opposite sides of the main body 1. A wire drum 32 is rotatably provided at the inner bottom of one group of sides. The two ends of the cable 30 are respectively used for winding on the winding disk one 20a and the winding disk two 20b, and the middle part of the cable 30 is used for lapping on the power transmission line 3; A driving component for driving the rotation of the winding disk is provided on the winding disk one 20a. The driving component includes: a motor 22 for driving. A worm 23 is installed at the output end of the motor 22. The winding disk one 20a is coaxially connected with a worm gear 24. The worm gear 24 is in transmission connection with the worm 23. The transmission system of the worm 23 and the worm gear 24 adopts a two-way self-locking design, enabling the cable 30 to be instantaneously locked at any winding position, preventing the cable 30 from rebounding or loosening due to external disturbances. The hoisting and winding-up mechanism in the present invention realizes high-precision synchronous control during the cable winding and unwinding process through the coordinated cooperation of the double winding disks and the synchronous teeth meshing structure.

[0027] Refer to Figures 5-6 , one end of the cable 30 passes through the winding groove 31 on the side of the main body 1 and the wire drum 32 at the inner bottom and penetrates into the interior of the main body 1, and is wound and fixed on the winding disk two 20b; the other end extends to the winding disk one 20a through the winding groove 32 on the other side and is locked and fixed to the winding disk one 20a through a threaded block 25. The two ends of the cable 30 are quickly disassembled and assembled through the cooperation of the threaded block 25 and the threaded holes opened on the inner wall of the winding disk one 20a.

[0028] Working principle: S1. One end of the cable 30 is towed by a drone, lifted above the transmission line 3 and bypassed around the conductor to ensure that the cable 30 crosses the transmission line 3 to form an operation path. The drone precisely locates and controls the sag arc of the cable 30 to avoid interference with the conductor or obstacles; S2. A counterweight is tied to the free end of the cable 30, and the gravity is used to make the cable 30 naturally droop to the ground to form an initial tension. The mass of the counterweight is comprehensively designed according to the material of the cable 30, the span and the ambient wind speed to ensure that the cable 30 maintains a stable drooping state during the subsequent winching process; S3. The end of the cable 30 is passed through the winding groove 31 on the side of the first take-up reel 20a and locked and fixed with the threaded hole on the first take-up reel 20a through the threaded block 25.

[0029] S4. The motor 22 is started, and the first take-up reel 20a is driven to rotate through the transmission of the worm 23 and the worm gear 24. The meshing design of the synchronous teeth 21 forces the second take-up reel 20b to rotate in the opposite direction to the first take-up reel 20a synchronously, ensuring that both ends of the cable 30 are wound at the same speed to complete the process of the robot going online.

[0030] Refer to Figures 7-8 The cable lifting mechanism includes: a lifting rod 40. Inside the top surface of the main body 1, a lifting frame 41 is provided. The lifting rod 40 is slidably arranged inside the lifting frame 41. Inside the lifting frame 41, a spring 42 is fixedly installed. One end of the spring 42 is fixedly installed with the bottom of the lifting rod 40. The spring 42 is a compression spring. The top end of the lifting rod 40 is installed with a lifting ring 43, and the lifting ring 43 is sleeved on the surface of the cable 30; The working principle of the cable lifting mechanism: During the winching process, the cable lifting mechanism composed of the spring 42 and the lifting rod 40 retracts the cable 30 as the robot rises. The cable 30 at the top of the main body gradually shortens. The lifting rod 40 is driven by the lifting ring 43 to move into the main body 1 and compress the spring 42. After the robot drives the line bracket 2 to rotate above the power transmission cable, the cable lifting mechanism is reversely driven, so that the adjustable clamping and moving mechanism is configured on the power transmission cable. At the same time, under the restoring force of the spring 42, the lifting rod 40 is driven to drive the cable 30 to move upward through the lifting ring 43 to separate from the transmission line.

[0031] Beneficial effects: 1. One end of the cable 30 is towed by a drone, lifted above the transmission line 3 and bypassed around the conductor to ensure that the cable 30 crosses the transmission line 3 to form an operation path. The drone precisely locates and controls the sag arc of the cable 30 to avoid interference with the conductor or obstacles; A counterweight is tied to the free end of the cable 30, and the gravity is used to make the cable 30 naturally droop to the ground to form an initial tension. The mass of the counterweight is comprehensively designed according to the material of the cable 30, the span and the ambient wind speed to ensure that the cable 30 maintains a stable drooping state during the subsequent winching process; Pass the end of the cable 30 through the wire winding groove 31 on the side of the first winding disc 20a, and lock and fix it with the threaded hole on the first winding disc 20a through the threaded block 25.

[0032] Start the motor 22, and drive the first winding disc 20a to rotate through the transmission of the worm 23 and the worm gear 24. The meshing design of the synchronous teeth 21 forces the second winding disc 20b to rotate in the opposite direction synchronously with the first winding disc 20a, ensuring that both ends of the cable 30 are wound at the same speed, and completing the process of the cable being wound onto the robot; In the cable winding and feeding mechanism of the present invention, through the coordinated cooperation of the double winding discs and the synchronous tooth meshing structure, high-precision synchronous control during the cable winding and unwinding process is achieved. The winding discs arranged parallel up and down ensure that the winding speeds of both ends of the cable are the same under the drive of the synchronous teeth, effectively avoiding cable twisting or deviation caused by uneven unilateral traction force, and improving the operation stability.

[0033] 2. During the cable winding process, the cable lifting mechanism composed of the spring (42) and the lifting rod (40) winds up the cable 30 as the robot rises. The cable 30 at the top of the main body gradually shortens, driving the lifting rod 40 to move into the main body 1 and compress the spring 42 through the lifting ring 43. After the robot drives the line support 2 to rotate to be located above the power transmission cable, the cable lifting mechanism is driven in the reverse direction, so that the adjustable clamping and moving mechanism is arranged on the power transmission cable. At the same time, under the restoring force of the spring 42, the lifting rod 40 is driven to drive the cable 30 to move upward through the lifting ring 43 to separate from the power transmission line; The cable lifting mechanism can adaptively adjust the contact state between the cable and the power transmission line through the linkage of the spring and the lifting rod, avoiding equipment jamming and excessive cable wear caused by continuous contact between the cable and the power transmission line. 3. When the adjustable clamping and moving mechanism is rotated and installed on the power transmission line (3) through the line support 2, the conical table disk (4) forms an adaptive clamping space through the conical surface to wrap the wire. The electric push rod (8) presses down the driving wheel shaft (5) according to the preset initial pressure, and the driving wheel shaft (5) transfers the pressure to the conical table disk (4) through the toothed meshing structure, so that the two conical table disks (4) clamp the wire; The driving motor (6) drives the conical table disk (4) to rotate through the driving wheel shaft (5), and transfers the torque to the conical surface of the conical table disk (4) through the toothed meshing structure, driving the robot to move along the wire; The adjustable clamping and moving mechanism of the present invention can adjust the clamping force in real time and dynamically according to the ice thickness and slope parameters on the surface of the power transmission line through the toothed meshing structure of the coaxial conical table disk and the driving wheel shaft, combined with the closed-loop control of the electric push rod. This design effectively solves problems such as insufficient driving force and slipping stagnation of traditional robots caused by icing or inclination, avoiding both the wear of the wire shock-proof layer caused by excessive pressing and ensuring stable adhesion under different working conditions, significantly reducing the risk of inspection interruption.

[0034] Embodiment 2: An inspection robot for transmission lines, which is improved on the basis of Embodiment 1: Refer to Figures 1-2 , and the inspection and detection component includes: An infrared thermal imager 50 integrated on the top of the robot main body frame 1, A visible light camera 51 installed on the line support 2.

[0035] Beneficial effects The infrared thermal imager integrated in the robot main body and the visible light camera form a multi-modal detection system, which can accurately identify potential hazards such as broken conductors and deteriorated insulators all-weather, and can still work stably especially in extreme climates such as rain, snow and ice. The multi-sensor fusion technology provides reliable data support for the early warning of line defects, greatly reduces the risk of power outages caused by the lag in the discovery of potential hazards, and provides technical guarantee for the construction of the intelligent operation and maintenance system of the power grid.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Any other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solutions of the present invention shall be covered by the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.

Claims

1. A transmission line inspection robot, comprising a main body (1), the top of the main body (1) is horizontally installed on a transmission line (3) through a line support (2), and inspection and detection components are arranged inside the main body (1) and on the line support (2), characterized in that, It also includes an adjustable clamping movable mechanism, a hoisting wire mechanism and a cable lifting mechanism, wherein the adjustable clamping movable mechanism is arranged on the line support (2), and the hoisting wire mechanism and the cable lifting mechanism are arranged on the main body (1); The adjustable clamping movement mechanism comprises: A pair of coaxially arranged frustum disks (4), whose conical surfaces face the power transmission line (3) to form an adaptive clamping space; A driving axle (5) is mounted on the top of the truncated cone (4) and has an integrated driving motor (6) therein, wherein the driving axle (5) and the truncated cone (4) achieve power transmission via a toothed meshing structure at the edge; An electric push rod (8) is vertically arranged above the driving wheel shaft (5). By adjusting the downward stroke of the electric push rod (8), the force acting on the driving wheel shaft (5) on the round table (4) is changed, thereby controlling the clamping force of the round table (4) on the power transmission line (3) on both sides.

2. The transmission line inspection robot according to claim 1, characterized in that, The toothed meshing structure is composed of an annular tooth groove 1 (7a) on the circumferential surface of the driving wheel shaft (5) and an annular tooth groove 2 (7b) on the surface of the truncated table plate (4).

3. The transmission line inspection robot according to claim 1, characterized in that, The electric push rod (8) is connected to a closed-loop control system and is used to adjust the downward force in real time according to ice thickness and slope parameters on the surface of the power transmission line (3).

4. The transmission line inspection robot according to claim 1, characterized in that, A reduction motor (9) is installed on one side of the main body (1), and the output end of the reduction motor (9) is drivingly connected to one end of the line bracket (2). A bearing (10) is installed on the other side of the main body (1), and the bearing (10) is rotatably connected to the other end of the line bracket (2).

5. The transmission line inspection robot according to claim 1, wherein A crossbeam (11) is provided on one side of the line support (2), a load-bearing rod (12) is fixedly mounted on one side of the crossbeam (11), two groups of balls (13) are provided at one end of the load-bearing rod (12), a limiting bead (14) is coaxially arranged between the two groups of balls (13), and ball sleeves (15) are provided at the axis of the two groups of truncated cones (4), and the ball sleeves (15) are sleeved on the balls (13).

6. The transmission line inspection robot according to claim 1, characterized in that, The hoisting wire mechanism comprises: a cable (30), a winding reel 1 (20a) and a winding reel 2 (20b) arranged inside the main body (1); The winding reel 1 (20a) and the winding reel 2 (20) are both provided with mutually meshing synchronous teeth (21); Two opposite sides of the main body (1) are each provided with a wire winding groove (31), and a wire drum (32) is rotatably provided on the inner bottom of one group of the sides, and the two ends of the cable (30) are respectively used to be wound on a winding reel 1 (20a) and a winding reel 2 (20b), and the middle part of the cable (30) is used to be overlapped on the power transmission line (3); The winding disk 1 (20a) is provided with a driving assembly for driving the winding disk to rotate.

7. The inspection robot for transmission lines according to claim 6, wherein, The driving assembly comprises: a motor (22) for driving; a worm (23) is installed at the output end of the motor (22); the winding reel 1 (20a) is coaxially connected with a worm wheel (24); and the worm wheel (24) is drivingly connected to the worm wheel (23).

8. The transmission line inspection robot according to any one of claims 6-7, characterized in that One end of the cable (30) penetrates into the interior of the main body (1) along the cable groove (31) on the side surface of the main body (1) and the wire cylinder (32) on the inner bottom, and is wound and fixed on the second winding disc (20b); the other end extends to the first winding disc (20a) through the cable groove (32) on the other side surface, and is locked and fixed to the first winding disc (20a) through the threaded block (25).

9. The transmission line inspection robot according to any one of claims 1-5, characterized in that The cable lifting mechanism includes: a lifting rod (40); a lifting frame (41) is arranged inside the top surface of the main body (1), the lifting rod (40) is slidably arranged inside the lifting frame (41), a spring (42) is fixedly installed inside the lifting frame (41), one end of the spring (42) is fixedly installed with the bottom of the lifting rod (40), the spring (42) is a compression spring, a lifting ring (43) is installed at the top end of the lifting rod (40), and the lifting ring (43) is sleeved on the surface of the cable (30).

10. The transmission line inspection robot according to claim 1, characterized in that, The inspection and detection assembly includes: an infrared thermal imager (50) integrated on the top of the robot main body frame (1), a visible light camera (51) installed on the line support (2).

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