Power transmission line mobile operation robot

Abstract

The invention relates to the field of robot operation, and discloses a power transmission line mobile operation robot which comprises an unmanned aerial vehicle module, and the unmanned aerial vehicle module comprises an unmanned aerial vehicle, a suspension part and a first robot module, the first robot module comprises a support component, a moving component installed on the outer side of the support component and a buffering component installed on the outer side of the moving component, and the second robot module comprises a frame component and a lifting component installed in the frame component. The magnetic coupler is mounted on the outer side of the frame part; through mutual cooperation of all parts, the first robot module and the second robot module can be easily assembled and disassembled, and the robot can stably move on the power transmission line through the moving part and the buffering part so as to carry out stable and accurate inspection work.

Description

Technical Field

[0001] The present invention relates to the field of robot operations, and in particular to a power transmission line mobile operation robot. Background Art

[0002] The power system is a key infrastructure in modern society. Transmission lines, as its core component, undertake the key task of power transmission. Ensuring their safe operation is crucial to power supply.

[0003] Traditional inspection methods rely primarily on manual labor, which can be inefficient, costly, inaccurate, and require harsh working environments. As power grids expand and voltage levels rise, traditional methods are no longer sufficient. Robots are attracting significant attention for their efficiency, safety, precision, and adaptability.

[0004] Based on their mobility, robots are primarily categorized as wheeled, tracked, and flying. Wheeled robots have a simple structure and fast mobility, but they struggle to traverse obstacles like poles and towers, making them incapable of long-distance inspections. Tracked robots are complex and heavy, limiting their adaptability. Flying robots (drones) can be equipped with cameras or sensors, are not restricted by terrain, and are suitable for large-scale, long-distance inspections. However, they have short flight times and limited wind resistance.

[0005] Therefore, it is necessary to design a robot suitable for transmission line inspection operations. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is that the existing robots suitable for power transmission line inspection have multiple technical pain points.

[0007] The above technical problems are solved by the following technical solutions: The present invention proposes a transmission line mobile operation robot, which includes:

[0008] A drone module, the drone module comprising a drone and a suspension component mounted on the outside of the drone;

[0009] a first robot module, the first robot module comprising a support component, a moving component installed outside the support component, and a buffer component installed outside the moving component;

[0010] a second robot module comprising a frame member, a lifting member mounted inside the frame member, and a magnetic coupler mounted outside the frame member;

[0011] The drone may lift the first robot module to contact the power line via the suspension component;

[0012] The lifting component includes a lifting belt, which is used to connect the first robot module and the second robot module. The second robot module can be lifted by the lifting component to fit with the first robot module;

[0013] The first robot module moves along the transmission line through the moving component, the buffer component is used to buffer the moving component, and the magnetic coupler provides power for the moving component. After the first robot module and the second robot module are installed on the outside of the transmission line, accurate and stable inspection work can be performed.

[0014] In a preferred embodiment of the power transmission line mobile working robot of the present invention: the suspension component includes an extension ladder installed on the outside of the drone, and an electromagnet installed on the outside of the extension ladder, and the electromagnet can generate magnetic force when energized.

[0015] In a preferred embodiment of the power transmission line mobile working robot of the present invention: the bracket component includes a mounting frame, a fixed electromagnet installed on the outside of the mounting frame, a slope panel fixedly connected to the outside of the mounting frame, a through hole opened inside the mounting frame, and a bracket installed inside the mounting frame. The fixed electromagnet generates magnetic force when energized and can be magnetically connected to the electromagnet.

[0016] In a preferred embodiment of the power transmission line mobile working robot of the present invention: the moving component includes a long groove opened inside the mounting frame, a rotating shaft arranged inside the long groove, a driven wheel and a rubber wheel installed on the outside of the rotating shaft, a driving wheel rotatably connected to the outside of the slope panel, and a conveyor belt installed between the driving wheel and the driven wheel. The rotation of the rubber wheel can drive the first robot module to move along the power transmission line.

[0017] In a preferred embodiment of the power transmission line mobile operation robot of the present invention: the buffer component includes a sleeve rotatably connected to the outside of the rotating shaft, a support rod disposed outside the sleeve, and a spring sleeved outside the support rod;

[0018] One end of the support rod is fixedly connected to the sleeve, and the other end of the support rod is arranged inside the through hole. The buffer component enables the first robot module to maintain stable operation when encountering a knot or a sudden impact.

[0019] In a preferred embodiment of the power transmission line mobile operation robot of the present invention: the frame component includes a frame and a base plate fixedly connected to the outside of the frame, and electrical equipment used for inspection such as cameras and sensors can be installed on the outside of the frame.

[0020] In a preferred embodiment of the power transmission line mobile operation robot of the present invention: the lifting component further comprises a lifting motor mounted on the outer side of the base plate, and a hinge shaft mounted on the output shaft of the lifting motor;

[0021] The end of the lifting belt can be engaged with the hinge shaft, and the lifting component can drive the second robot module to move up and down.

[0022] In a preferred embodiment of the power transmission line mobile working robot of the present invention: the magnetic coupler includes a base fixedly connected to the outside of the frame, a magnetic coupler driving end installed inside the base, and a magnetic coupler driven end coaxially connected to the driving wheel. The magnetic coupler can be the driving force for the moving component.

[0023] The beneficial effects of the present invention are that: through the mutual cooperation of the drone module, the first robot module and the second robot module, the installation and disassembly of the first robot module and the second robot module can be easily completed, and the moving parts and buffer parts can be used to enable the robot to move stably on the power transmission line to perform stable and accurate inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings of the embodiments of the present invention. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Among them:

[0025] Figure 1 Shows a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 A schematic diagram of a drone module of the present invention is shown;

[0027] Figure 3 Shows a schematic front view of the present invention;

[0028] Figure 4 shows a schematic diagram of a first robot module of the present invention;

[0029] Figure 5 shows a schematic front view of a first robot module of the present invention;

[0030] Figure 6 shows a schematic cross-sectional view of a first robot module of the present invention;

[0031] Figure 7 shows a schematic diagram of a second robot module of the present invention;

[0032] Figure 8 Shows a schematic diagram of the lifting component of the present invention;

[0033] Figure 9 shows a schematic diagram of a magnetic coupler of the present invention;

[0034] Figure 10 A schematic diagram showing the cooperation between the lifting belt and the bracket of the present invention is shown;

[0035] Figure 11 A schematic diagram of the online process of the present invention is shown;

[0036] Figure 12 A schematic diagram of the offline process of the present invention is shown. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below with reference to specific embodiments and the accompanying drawings.

[0038] The terms used in the present invention are those commonly used in the art in view of the functions of the present invention, but these terms may vary according to the intentions of those skilled in the art, precedents, or new technologies in the art. In addition, specific terms may be selected by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the present invention. Therefore, the terms used in the specification should not be understood as simple names, but rather as the meanings of the terms and the overall description of the present invention.

[0039] Reference Figures 1 to 12 , this embodiment provides a power transmission line mobile operation robot, including,

[0040] The drone module 1 includes a drone 11 and a suspension component 12 mounted on the outside of the drone 11;

[0041] The first robot module 2 includes a support component 21, a moving component 22 installed outside the support component 21, and a buffer component 23 installed outside the moving component 22;

[0042] The second robot module 3 includes a frame member 31, a lifting member 32 installed inside the frame member 31, and a magnetic coupler 33 installed outside the frame member 31;

[0043] The drone 11 can lift the first robot module 2 through the suspension component 12 until it contacts the power line;

[0044] The lifting component 32 includes a lifting belt 323, which is used to connect the first robot module 2 and the second robot module 3. The second robot module 3 can be lifted by the lifting component 32 to fit with the first robot module 2;

[0045] The first robot module 2 moves along the power transmission line via the moving component 22 . The buffer component 23 is used to buffer the moving component 22 . The magnetic coupler 33 provides power for the moving component 22 .

[0046] When in use, the drone 11 is connected to the first robot module 2 through the suspension component 12. After the drone 11 rises, it lifts the first robot module 2 to contact the power transmission line. During this process, the lifting belt 323 is connected to the first robot module 2 and the second robot module 3, and the second robot module 3 is located on the ground.

[0047] The lifting component 32 controls the second robot module 3 to rise until it is in contact with the first robot module 2, and then drives the moving component 22 through the magnetic coupler 33, thereby driving the first robot module 2 and the second robot module 3 to move along the transmission line to complete the inspection work.

[0048] As an embodiment provided in this application, Figure 1 and Figure 2 The suspension component 12 includes an extension ladder 121 installed on the outside of the drone 11, and an electromagnet 122 installed on the outside of the extension ladder 121. The electromagnet 122 can generate magnetic force when energized.

[0049] When the electromagnet 122 is energized, it generates magnetic force, which connects the electromagnet 122 to the first robot module 2 , so that when the drone 11 moves, the first robot module 2 can be driven to move.

[0050] As an embodiment provided in this application, Figures 1 to 6 The bracket component 21 includes a mounting frame 211, a fixed electromagnet 212 installed on the outside of the mounting frame 211, a slope panel 213 fixedly connected to the outside of the mounting frame 211, a through hole 214 opened inside the mounting frame 211, and a bracket 215 installed inside the mounting frame 211. The fixed electromagnet 212 can generate magnetic force when energized.

[0051] The fixed electromagnet 212 generates magnetic force when energized, and generates magnetic force together with the electromagnet 122 when energized, so that the fixed electromagnet 212 and the electromagnet 122 attract each other, and then the extension ladder 121 is connected to the mounting bracket 211 through magnetic force.

[0052] As an embodiment provided in this application, Figures 1 to 6 The moving component 22 includes a long groove 221 opened inside the mounting frame 211, a rotating shaft 222 set inside the long groove 221, a driven wheel 223 and a rubber wheel 224 installed on the outside of the rotating shaft 222, a driving wheel 225 rotatably connected to the outside of the slope panel 213, and a conveyor belt 226 installed between the driving wheel 225 and the driven wheel 223. The surface friction coefficient of the rubber wheel 224 is large.

[0053] After the first robot module 2 is lifted by the drone 11 , the drone 11 controls the first robot module 2 to contact the power line, and the slope panel 213 can guide the power line to contact the rubber wheel 224 .

[0054] After the transmission line contacts the rubber wheel 224, if the driving wheel 225 rotates, the driven wheel 223 can be driven to rotate through the conveyor belt 226, and the driven wheel 223 drives the rubber wheel 224 to rotate through the rotating shaft 222. Since the surface friction coefficient of the rubber wheel 224 is large, the rotation of the rubber wheel 224 can control the first robot module 2 to move along the transmission line.

[0055] As an embodiment provided in this application, Figures 1 to 6 The buffer component 23 includes a sleeve 231 rotatably connected to the outside of the rotating shaft 222, a support rod 232 disposed on the outside of the sleeve 231, and a spring 233 sleeved on the outside of the support rod 232;

[0056] One end of the support rod 232 is fixedly connected to the sleeve 231 , and the other end of the support rod 232 is disposed inside the through hole 214 . One end of the spring 233 is connected to the sleeve 231 , and the other end is connected to the mounting bracket 211 .

[0057] During the movement of the first robot module 2 along the power transmission line, if it encounters a knot or a sudden impact, causing the first robot module 2 to be bumpy, the rubber wheel 224 will move up and down compared to the mounting frame 211, so that the rubber wheel 224 drives the sleeve 231 and the support rod 232 to move up and down through the rotating shaft 222. During this process, the rotating shaft 222 moves up and down inside the long groove 221, and one end of the support rod 232 is always located inside the through hole 214, which will squeeze the spring 233. The rebound force of the spring 233 can prevent the bumps from being too stiff and violent, so as to achieve the purpose of stable movement of the first robot module 2.

[0058] As an embodiment provided in this application, Figures 1 to 9 The frame component 31 includes a frame 311 and a bottom plate 312 fixedly connected to the outside of the frame 311. The frame 311 should be lightweight.

[0059] Electrical equipment used for inspection, such as cameras and sensors, can be installed on the outside of the frame 311.

[0060] After the second robot module 3 is fitted with the first robot module 2, the frame 311 and the mounting bracket 211 can frame the power transmission line, so that even if the first robot module 2 and the second robot module 3 are greatly deflected, the first robot module 2 and the second robot module 3 can always be connected to the outside of the power transmission line and will not fall to the ground, thereby protecting the safety of the first robot module 2 and the second robot module 3.

[0061] As an embodiment provided in this application, Figures 1 to 11 , the lifting component 32 further includes a lifting motor 321 mounted on the outside of the base plate 312 , and a hinge shaft 322 mounted on the output shaft of the lifting motor 321 ;

[0062] The end of the lifting belt 323 can be connected to the hinge shaft 322. One lifting belt 323 should be equipped with two lifting motors 321 and two hinge shafts 322.

[0063] Online process: Before the drone 11 lifts the first robot module 2, one end of the lifting belt 323 should be connected to the hinge shaft 322, and the other end should pass through the bracket 215, as shown in the attached figure. Figure 10 As shown, a block is provided at the end of the lifting belt 323. When the first robot module 2 is lifted, the bracket 215 cooperates with the block at the other end of the lifting belt 323 to drive the end of the lifting belt 323 to rise synchronously.

[0064] At this time, the second robot module 3 is located on the ground, and the hinge shaft 322 connected to the lifting belt 323 is driven by the lifting motor 321 to perform the line-releasing operation, so that the lifting belt 323 will not drive the second robot module 3 off the ground until the first robot module 2 is lifted and connected to the power transmission line. Figure 11 Schematic diagram on the left side.

[0065] When the first robot module 2 is lifted up to be connected to the power transmission line, the electromagnet 122 and the fixed electromagnet 212 are powered off, thereby separating the drone 11 from the first robot module 2 .

[0066] The lifting motor 321 continues to drive the hinge shaft 322 to perform the line-releasing operation. Under the action of the weight of the block at the end of the lifting belt 323, the end of the lifting belt 323 will gradually drop naturally until the block at the end of the lifting belt 323 can be connected with the other hinge shaft 322. The lifting motor 321 stops rotating, and the staff connects the block at the end of the lifting belt 323 with the other hinge shaft 322 on the ground. At this time, the device is located near Figure 11 The position shown in the middle.

[0067] Start the lifting motor 321 to make the hinge shaft 322 do the winding operation. At this time, the lifting belt 323 is gradually curled and shortened by the hinge shaft 322, and the second robot module 3 is gradually lifted until it is in contact with the first robot module 2. Then stop the lifting motor 321, and the installation of the first robot module 2 and the second robot module 3 is completed. Figure 11 Position shown on the right.

[0068] As an embodiment provided in this application, Figures 1 to 12The magnetic coupler 33 includes a base 331 fixedly connected to the outside of the frame 311, a magnetic coupler driving end 332 installed inside the base 331, and a magnetic coupler driven end 333 coaxially connected to the driving wheel 225. A motor is connected to the outside of the magnetic coupler driving end 332, and the motor is used to drive the magnetic coupler driving end 332 to rotate.

[0069] When the first robot module 2 and the second robot module 3 are fitted together, the magnetic coupling driving end 332 is aligned with the magnetic coupling driven end 333. At this time, the motor outside the magnetic coupling driving end 332 is started, so that the motor drives the magnetic coupling driving end 332 to rotate, and the magnetic coupling driving end 332 can drive the magnetic coupling driven end 333 to rotate synchronously. The magnetic coupling driven end 333 can drive the driving wheel 225 to rotate, and then the driving wheel 225 drives the rubber wheel 224 to rotate through the cooperation between the conveyor belt 226, the driven wheel 223 and the rotating shaft 222, so as to achieve the purpose of allowing the first robot module 2 and the second robot module 3 to move and inspect outside the transmission line.

[0070] Offline process: After the inspection is completed, the lifting motor 321 is driven to perform the line release operation, so that the second robot module 3 gradually descends to the ground. Figure 12 Position shown on the left.

[0071] The staff unties one end of the lifting belt 323 to separate the lifting belt 323 from one hinge shaft 322 and drives the other hinge shaft 322 to perform the wire-reeling operation, so that the block at the end of the lifting belt 323 contacts the bracket 215 and stops the wire-reeling.

[0072] Move the drone 11 to the top of the mounting bracket 211, align the electromagnet 122 with the fixed electromagnet 212, and energize the electromagnet 122 and the fixed electromagnet 212, so that the drone 11 can be magnetically connected to the first robot module 2. Figure 12 The position shown in the middle.

[0073] After the drone 11 drives the first robot module 2 away from the power transmission line and places it on the ground, the electromagnet 122 and the fixed electromagnet 212 are powered off, separating the drone 11 from the first robot module 2, thus completing the offline operation of the device.

[0074] In summary, through the mutual cooperation of the drone module 1, the first robot module 2 and the second robot module 3, the installation and disassembly of the first robot module 2 and the second robot module 3 can be easily completed, and the moving part 22 and the buffer part 23 can be used to enable the robot to move stably on the power line to perform stable and accurate inspection work.

[0075] Finally, it should be pointed out that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways without departing from the scope of the present invention.

Claims

1. A power line mobile operation robot, characterized by: include, A drone module (1), the drone module (1) comprising a drone (11) and a suspension component (12) mounted on the outside of the drone (11); A first robot module (2), comprising a support component (21), a moving component (22) installed outside the support component (21), and a buffer component (23) installed outside the moving component (22); A second robot module (3), the second robot module (3) comprising a frame component (31), a lifting component (32) installed inside the frame component (31), and a magnetic coupler (33) installed outside the frame component (31); The drone (11) can lift the first robot module (2) to contact the power transmission line via the suspension component (12); The lifting component (32) includes a lifting belt (323), and the lifting belt (323) is used to connect the first robot module (2) and the second robot module (3). The second robot module (3) can be lifted by the lifting component (32) to fit with the first robot module (2); The first robot module (2) moves along the power transmission line via the moving component (22), the buffer component (23) is used to buffer the moving component (22), and the magnetic coupler (33) provides power for the moving component (22).

2. The power line mobile working robot according to claim 1, characterized in that: The suspension component (12) includes an extension ladder (121) installed outside the drone (11), and an electromagnet (122) installed outside the extension ladder (121).

3. The power line mobile working robot according to claim 2, characterized in that: The bracket component (21) comprises a mounting frame (211), a fixed electromagnet (212) mounted on the outside of the mounting frame (211), a slope panel (213) fixedly connected to the outside of the mounting frame (211), a through hole (214) provided inside the mounting frame (211), and a bracket (215) mounted inside the mounting frame (211).

4. The power line mobile working robot according to claim 3, characterized in that: The moving component (22) includes a long slot (221) provided inside the mounting frame (211), a rotating shaft (222) arranged inside the long slot (221), a driven wheel (223) and a rubber wheel (224) installed outside the rotating shaft (222), a driving wheel (225) rotatably connected to the outside of the slope panel (213), and a conveyor belt (226) installed between the driving wheel (225) and the driven wheel (223).

5. The power line mobile working robot according to claim 4, characterized in that: The buffer component (23) includes a sleeve (231) rotatably connected to the outside of the rotating shaft (222), a support rod (232) arranged outside the sleeve (231), and a spring (233) sleeved on the outside of the support rod (232); One end of the support rod (232) is fixedly connected to the sleeve (231), and the other end of the support rod (232) is arranged inside the through hole (214).

6. The power line mobile working robot according to claim 5, characterized in that: The frame component (31) includes a frame (311) and a bottom plate (312) fixedly connected to the outside of the frame (311).

7. The power line mobile working robot according to claim 6, characterized in that: The lifting component (32) further includes a lifting motor (321) installed on the outside of the base plate (312), and a hinge shaft (322) installed on the output shaft of the lifting motor (321); The end of the lifting belt (323) can be clamped with the hinge shaft (322).

8. The power line mobile working robot according to any one of claims 4 to 7, characterized in that: The magnetic coupler (33) comprises a base (331) fixedly connected to the outside of the frame (311), a magnetic coupler driving end (332) installed inside the base (331), and a magnetic coupler driven end (333) coaxially connected to the driving wheel (225).

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