High-voltage line operation robot integrating flying and mounting walking

Abstract

The invention discloses a high-voltage line operation robot integrating flying and mounting walking, relates to the technical field of mechanical automation, and solves the problems that the high-voltage line operation robot is poor in stability, low in operation precision, high in hoisting / recycling difficulty, poor in wind interference resistance and the like. The rotors, the control system board and the power source are all installed on the robot body, the multiple rotors are arranged in a left-right symmetry mode, and the front end and the rear end of the bottom face of the robot body are each provided with an embedded rolling wheel. The robot main body walks on the high-voltage line through the two embedded rollers; the power supply is used for supplying energy to the rotor wings and the control system board; according to the invention, the integrated structural design of the multiple rotors and the embedded roller mounting structure is adopted, so that the high-voltage line operation robot simultaneously realizes the flying-mounting walking capability, and the structural complexity and the operation process are reduced. By means of the design, flexible switching of the flight mode and the mounting walking mode of a single machine can be achieved, and higher maneuverability, longer endurance time and the like are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical automation, and in particular to a high-voltage line operation robot capable of integrating flight and mounting and walking. Background Art

[0002] The research on high-voltage transmission line operation robots stems from the urgent need for safe and efficient operation and maintenance in power systems. Traditional manual inspections are labor-intensive, dangerous, and inefficient, especially in complex terrain, extreme weather, or when operating ultra-high voltage lines. Manual operations are not only time-consuming and labor-intensive, but can also lead to missed inspections due to limited viewing angles. With the advancement of national strategies such as smart grid construction, the scale of high-voltage lines continues to expand (by 2025, the total length of China's ultra-high voltage lines will exceed 40,000 kilometers). Power outages caused by line faults can cause huge economic losses. Against this backdrop, comprehensive solutions combining drone lifting technology and intelligent operation robots have become a research hotspot. Their core goal is to achieve unmanned and precise high-risk operations such as line inspection, defect repair, and de-icing through automation and intelligent technologies.

[0003] Research on robots for high-voltage line operations has been ongoing for over 30 years. Before 2010, the focus was primarily on human-assisted robotic operations. After 2010, with breakthroughs in drone technology, research shifted to collaborative operations between drones and ground robots. In 2019, Zhao Xiaoguang's team at the Institute of Automation, Chinese Academy of Sciences, launched a hybrid aerial inspection robot system. This system consists of a six-rotor drone equipped with a self-propelled robot, which uses an intelligent sensing system to autonomously attach and navigate high-voltage lines. Its innovation lies in its ability to deploy multiple robots simultaneously, weighing less than 10 kg. This solves the installation challenge in mountainous areas and has been successfully applied in complex scenarios such as spanning valleys and bridges. In 2023, State Grid Hebei Electric Power Company developed a "drone + robot" live-line operation system. Using a DJI T-50 drone, it hoisted an intelligent pinning robot onto a 500 kV line. Pin defect repair can be completed in just 30 minutes, increasing efficiency by 60% compared to manual labor and eliminating the risk of falls and electric shock.

[0004] In terms of technology, the collaborative model of lifting drones and working robots has become mainstream. For example, the Hangzhou Power Supply Company deployed a large FC30 drone in 2024 to carry de-icing rods to impact ice-covered conductors. This can remove 10 mm of ice in a single operation, replacing manual climbing. In 2025, Wuhan pioneered a "drone + coating robot" joint operation, using drones to spray insulating paint, with a daily processing capacity of 1 km, a seven-fold increase in efficiency compared to traditional boom trucks. In an ultra-high voltage project, the Chongqing Jinshang-Hubei ±800 kV line deployed the line across the Yangtze River using an 85 kg drone, laying four guide ropes in a single operation and increasing construction efficiency by 30%. These technologies not only overcome the time and space limitations of traditional operations but also enable automated defect identification through algorithms. For example, State Grid Jibei Power's substation drone intelligent inspection system combines 3D point cloud modeling with multi-machine collaboration, achieving over 90% accuracy in identifying 25 types of defects.

[0005] Despite the increasing maturity of technology, challenges still exist. For example, the "single drone" operation mode has a short flight time, poor motion stability due to interference from high-altitude winds, and low operating accuracy; the "single operation robot mode" requires manual transportation to the vicinity of high-voltage lines, which brings great trouble in hoisting and recovery, and the robot may be difficult to recover when it fails at high altitude, resulting in abandonment problems; the "drone + robot" operation mode requires the drone to hoist the robot to the vicinity of the high-voltage line multiple times, which is cumbersome and involves certain operational risks. When the high-voltage line needs to be switched and mounted, multiple hoisting operations are also required, which is cumbersome. In addition, the robot has no active stabilization capability and is prone to swinging in harsh environments such as strong winds, and has low operating accuracy. Summary of the Invention

[0006] In response to the above-mentioned problems of poor stability, low operating accuracy, high difficulty in lifting / recovery, and poor ability to resist wind interference of high-voltage line operating robots, the purpose of the present invention is to provide a high-voltage line operating robot that integrates flying and mounting and walking.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] A high-voltage line operation robot capable of both flight and mounting and walking, comprising: rotors 6, a control system board 2, a power supply 8, a robot body, and embedded rollers 4. The rotors 6, control system board 2, and power supply 8 are all mounted on the robot body, with multiple rotors 6 symmetrically arranged on the left and right sides. An embedded roller 4 is mounted on the front and rear ends of the bottom surface of the robot body, respectively. The robot body travels on the high-voltage line via the two embedded rollers 4. The power supply 8 is used to supply energy to the rotors 6 and the control system board 2.

[0009] The high-voltage line is a single-split high-voltage line 19, a double-split high-voltage line 20, a triple-split high-voltage line 21 or a quadruple-split high-voltage line 22;

[0010] The robot body comprises: a long horizontal plate 1, an inverted V-shaped vertical plate 3 and a first connecting block 16;

[0011] When there is only one long horizontal board 1, the front and rear ends of the long horizontal board 1 are respectively connected to an inverted V-shaped vertical board 3 through two first connecting blocks 16 symmetrically arranged on the left and right; the two inverted V-shaped vertical boards 3 are perpendicular to the long horizontal board 1; the two inverted V-shaped vertical boards 3 are both opened downward and have the same opening angle; the two ends of each embedded roller 4 are respectively rotatably connected to the two first connecting blocks 16 symmetrically arranged on the left and right;

[0012] When the number of long horizontal boards 1 is greater than one, the front and rear ends of each long horizontal board 1 are respectively connected to an inverted V-shaped vertical board 3 through two first connecting blocks 16 symmetrically arranged on the left and right; an inverted V-shaped vertical board 3 is provided between any two adjacent long horizontal boards 1; the multiple long horizontal boards 1 are located in the same plane; the multiple inverted V-shaped vertical boards 3 are perpendicular to the multiple long horizontal boards 1; the multiple inverted V-shaped vertical boards 3 are all opened downward and have the same opening angle; by replacing the inverted V-shaped vertical boards 3 with different opening angles and the embedded rollers 4 with different lengths, it is adapted to high-voltage lines of different specifications;

[0013] The robot body also includes: a second connecting block 15, a short connecting shaft 14 and a rotor base 17. A second connecting block 15 is installed at the two lower ends of each inverted V-shaped vertical plate 3. Multiple short connecting shafts 14 are symmetrically arranged on the left and right. One end of each short connecting shaft 14 is connected to a second connecting block 15. The multiple short connecting shafts 14 located on the left / right side are parallel to each other and parallel to the multiple long horizontal plates 1. A rotor base 17 is installed at the other end of each short connecting shaft 14. The upper surface and lower surface of each rotor base 17 are used to install the rotor 6.

[0014] The above-mentioned high-voltage line operation robot with integrated flying and mounting and walking, among others, also includes: a mounting device, which is installed at the front end of the robot body, and the mounting device includes: a mounting block 9, a mounting shaft 10 and a mounting plate 7. The front end of the long horizontal plate 1 located at the front end is equipped with two mounting blocks 9 that are symmetrical on the left and right. The mounting shaft 10 is installed in the two mounting blocks 9. The two mounting plates 7 are respectively installed at the two ends of the mounting shaft 10 and are symmetrical on the left and right. Each mounting plate 7 is provided with a plurality of mounting holes at equal intervals along its length direction.

[0015] The above-mentioned high-voltage line operation robot with integrated flight and mounting and walking function also includes: a flaw detector 18, and each mounting plate 7 is detachably mounted with a flaw detector 18 through any mounting hole located thereon, and both flaw detectors 18 are used to detect high-voltage lines.

[0016] The above-mentioned high-voltage line operation robot with integrated flying and mounting walking also includes: a charging coil 5, a control system board 2 is installed on the upper surface of any long horizontal board 1, and the charging coil 5 is installed at the rear end of the control system board 2. The charging coil 5 is detachably mounted on the high-voltage line, and the charging coil 5 is used to charge the power supply 8.

[0017] The above-mentioned high-voltage line operation robot with integrated flight and mounting walking, wherein the robot body also includes: a long connecting shaft 13, two long connecting shafts 13 are symmetrically arranged on the left and right, and the long connecting shafts 13 located on the left / right side pass through the lower ends of the same side of multiple inverted V-shaped vertical plates 3 in sequence.

[0018] In the above-mentioned high-voltage line operation robot with integrated flight and mounting and walking, the second connecting block 15 located on the left side of any inverted V-shaped vertical plate 3 is connected to the long connecting shaft 13 on the left; the second connecting block 15 located on the right side of any inverted V-shaped vertical plate 3 is connected to the long connecting shaft 13 on the right.

[0019] The above-mentioned high-voltage line operation robot with integrated flying and mounting walking, wherein the robot body also includes: a lateral mounting plate 11 and a long axis mounting seat 12, the two lateral mounting plates 11 are symmetrically arranged on the left and right, and the upper side of each lateral mounting plate 11 is inserted into the left side or right side of any long horizontal plate 1, and the lower side of each lateral mounting plate 11 and the long connecting axis 13 on the same side are connected through two long axis mounting seats 12.

[0020] In the above-mentioned high-voltage line operation robot integrated with flight and mounting and walking, a power supply 8 is installed on each lateral mounting plate 11 .

[0021] The above-mentioned high-voltage line operation robot with integrated flight and mounting walking also includes: a radar module, a positioning system, a forward navigation camera and a downward-looking binocular camera. The radar module, positioning system, forward navigation camera and downward-looking binocular camera are all installed on the robot body and are connected to the control system board 2 through electrical signals.

[0022] In the above-mentioned high-voltage line operation robot with integrated flight and mounting and walking, each rotor 6 includes: a rotor motor and a rotating blade. The rotor motor is installed on the upper surface or lower surface of any rotor base 17, and the rotating blade is installed at the output end of the rotor motor.

[0023] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0024] (1) This invention utilizes an integrated multi-rotor design with an embedded roller mounting structure, enabling the high-voltage line operation robot to simultaneously achieve flight and payload-carrying capabilities, reducing structural complexity and operational processes. This design allows a single robot to flexibly switch between flight and payload-carrying modes, resulting in greater maneuverability and flight time.

[0025] (2) The present invention can flexibly switch between flight and mounted walking modes while maintaining its own structure. In a further embodiment of the present invention, a mounting structure design is adopted, and the robot's mounting structure adopts an inverted V-shaped structure, which can better adapt to single-split, double-split, triple-split, and quadruple-split high-voltage lines, making it easier to mount and more fault-tolerant.

[0026] (3) In the present invention, the support connection design and hollow design of the fuselage and frame structures ensure the structural strength to the greatest extent. At the same time, the overall structure of the robot is made of high-strength lightweight composite materials, which effectively reduces the structural mass and meets the lightweight design requirements.

[0027] (4) The present invention supports a variety of mounting devices that require force and precision, including ice-breaking hammers, operating robotic arms (for repairing and installing R pins, bolts, etc.), and flaw detection instruments (X-ray instruments, infrared-high-definition imaging instruments) and other equipment.

[0028] (5) The present invention supports multiple mounting positions, and the mounting equipment can be installed on the top, middle and bottom of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of a high-voltage line operation robot of the present invention that integrates flight and mounting and walking with a four-rotor structure.

[0030] Figure 2 yes Figure 1 Schematic diagram of a high-voltage line operation robot with a quad-rotor structure that integrates flight and mounting and walking, mounted and walking on a single split high-voltage line.

[0031] Figure 3 yes Figure 1 Schematic diagram of the charging coil and built-in roller structure of the high-voltage line operation robot with integrated flight and mounting walking using a quad-rotor structure.

[0032] Figure 4 This is a schematic diagram of the high-voltage line operation robot of the present invention that integrates flight and mounting and walking with a six-rotor structure, mounted and walking on a single split high-voltage line.

[0033] Figure 5 This is a schematic diagram of the high-voltage line operation robot of the present invention, which integrates flight and mounting and walking with an octorotor structure, mounted and walking on a single split high-voltage line.

[0034] Figure 6 This is a schematic diagram of the high-voltage line operation robot of the present invention that integrates flight and mounting and walking with a four-rotor structure and is mounted and walked on a double-split high-voltage line.

[0035] Figure 7 This is a schematic diagram of the high-voltage line operation robot of the present invention that integrates flight and mounting and walking with a four-rotor structure and is mounted and walked on a three-split high-voltage line.

[0036] Figure 8 This is a schematic diagram of the high-voltage line operation robot of the present invention that integrates flight and mounting and walking with a four-rotor structure and is mounted and walked on a four-split high-voltage line.

[0037] Figure 9 This is a top view of an embodiment of the high-voltage line operation robot of the present invention that integrates flight and mounting and walking with a four-rotor structure.

[0038] Figure 10 This is a bottom-up view of an embodiment of the high-voltage line operation robot of the present invention that integrates flight and mounting and walking with a four-rotor structure.

[0039] Figure 11 This is the first mechanical simulation analysis diagram of the high-voltage line operation robot with integrated flight and mounting and walking using a four-rotor structure of the present invention.

[0040] Figure 12 This is the second mechanical simulation analysis diagram of the high-voltage line operation robot with integrated flight and mounting and walking using a four-rotor structure of the present invention.

[0041] In the attached figure: 1. Long horizontal board; 2. Control system board; 3. Inverted V-shaped vertical board; 4. Embedded roller; 5. Charging coil; 6. Rotor; 7. Mounting plate; 8. Power supply; 9. Mounting block; 10. Mounting shaft; 11. Lateral mounting plate; 12. Long axis mounting seat; 13. Long connecting shaft; 14. Short connecting shaft; 15. Second connecting block; 16. First connecting block; 17. Rotor base; 18. Flaw detection instrument; 19. Single-split high-voltage line; 20. Double-split high-voltage line; 21. Triple-split high-voltage line; 22. Quadruple-split high-voltage line. DETAILED DESCRIPTION

[0042] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0043] Please refer to Figures 1 to 12FIG. 1 shows a high-voltage line operation robot that integrates flight and mounting and walking, including: rotors 6, a control system board 2, a power supply 8, a robot body, and embedded rollers 4. The rotors 6, the control system board 2, and the power supply 8 are all mounted on the robot body, with multiple rotors 6 symmetrically arranged on the left and right sides. An embedded roller 4 is respectively mounted on the front and rear ends of the bottom surface of the robot body. The robot body walks on the high-voltage line via the two embedded rollers 4. The power supply 8 is used to supply energy to the rotors 6 and the control system board 2.

[0044] The high-voltage line is a single-split high-voltage line 19, a double-split high-voltage line 20, a triple-split high-voltage line 21 or a quadruple-split high-voltage line 22;

[0045] The robot body includes: a long horizontal plate 1, an inverted V-shaped vertical plate 3 and a first connecting block 16;

[0046] When there is only one long horizontal board 1, the front and rear ends of the long horizontal board 1 are respectively connected to an inverted V-shaped vertical board 3 through two first connecting blocks 16 symmetrically arranged on the left and right; the two inverted V-shaped vertical boards 3 are perpendicular to the long horizontal board 1; the two inverted V-shaped vertical boards 3 are both opened downward and have the same opening angle; the two ends of each embedded roller 4 are respectively rotatably connected to the two first connecting blocks 16 symmetrically arranged on the left and right;

[0047] When the number of long horizontal boards 1 is greater than one, the front and rear ends of each long horizontal board 1 are respectively connected to an inverted V-shaped vertical board 3 through two first connecting blocks 16 symmetrically arranged on the left and right; an inverted V-shaped vertical board 3 is provided between any two adjacent long horizontal boards 1; the multiple long horizontal boards 1 are located in the same plane; the multiple inverted V-shaped vertical boards 3 are perpendicular to the multiple long horizontal boards 1; the multiple inverted V-shaped vertical boards 3 are all opened downward and have the same opening angle; by replacing the inverted V-shaped vertical boards 3 with different opening angles and the embedded rollers 4 with different lengths, it is adapted to high-voltage lines of different specifications;

[0048] The robot body also includes: a second connecting block 15, a short connecting shaft 14 and a rotor base 17. A second connecting block 15 is installed at the two lower ends of each inverted V-shaped vertical plate 3, and multiple short connecting shafts 14 are symmetrically arranged on the left and right. One end of each short connecting shaft 14 is connected to a second connecting block 15. The multiple short connecting shafts 14 located on the left / right side are parallel to each other and parallel to the multiple long horizontal plates 1. A rotor base 17 is installed at the other end of each short connecting shaft 14. The upper surface and lower surface of each rotor base 17 are used to install the rotor 6.

[0049] Furthermore, in a preferred embodiment, it also includes: a mounting device, which is installed at the front end of the robot body, and the mounting device includes: a mounting block 9, a mounting shaft 10 and a mounting plate 7. The front end of the long horizontal plate 1 located at the front end is equipped with two mounting blocks 9 that are symmetrical on the left and right. The mounting shaft 10 is installed in the two mounting blocks 9. The two mounting plates 7 are respectively installed at the two ends of the mounting shaft 10 and are symmetrical on the left and right. Each mounting plate 7 is provided with multiple mounting holes at equal intervals along its length.

[0050] Furthermore, in a preferred embodiment, it also includes: a flaw detector 18, each mounting plate 7 is detachably mounted with a flaw detector 18 through any mounting hole located thereon, and both flaw detectors 18 are used to detect high-voltage lines.

[0051] Furthermore, in a preferred embodiment, it also includes: a charging coil 5, the control system board 2 is installed on the upper surface of any long horizontal board 1, the charging coil 5 is installed at the rear end of the control system board 2, the charging coil 5 is detachably mounted on the high-voltage line, and the charging coil 5 is used to charge the power supply 8.

[0052] Furthermore, in a preferred embodiment, the robot body also includes: a long connecting shaft 13, two long connecting shafts 13 are symmetrically arranged on the left and right, and the long connecting shafts 13 located on the left / right side pass through the lower ends of the same side of multiple inverted V-shaped vertical plates 3 in sequence.

[0053] Furthermore, in a preferred embodiment, the second connecting block 15 on the left side of any inverted V-shaped vertical plate 3 is connected to the long connecting shaft 13 on the left side; the second connecting block 15 on the right side of any inverted V-shaped vertical plate 3 is connected to the long connecting shaft 13 on the right side.

[0054] Furthermore, in a preferred embodiment, the robot body also includes: a lateral mounting plate 11 and a long axis mounting seat 12, the two lateral mounting plates 11 are symmetrically arranged on the left and right, the upper side of each lateral mounting plate 11 is inserted into the left side or right side of any long horizontal plate 1, and the lower side of each lateral mounting plate 11 and the long connecting axis 13 on the same side are connected through two long axis mounting seats 12.

[0055] Furthermore, in a preferred embodiment, a power supply 8 is installed on each lateral mounting plate 11 .

[0056] Furthermore, in a preferred embodiment, it also includes: a radar module, a positioning system, a forward navigation camera and a downward-looking binocular camera. The radar module, the positioning system, the forward navigation camera and the downward-looking binocular camera are all installed on the robot body and are connected to the control system board 2 through electrical signals.

[0057] Furthermore, in a preferred embodiment, each rotor 6 includes: a rotor motor and a rotating blade. The rotor motor is installed on the upper surface or the lower surface of any rotor base 17, and the rotating blade is installed at the output end of the rotor motor.

[0058] The above are only preferred embodiments of the present invention and are not intended to limit the implementation and protection scope of the present invention.

[0059] The present invention further has the following embodiments based on the above:

[0060] In a further embodiment of the present invention, the high-voltage line working robot includes: an integrated multi-rotor structure, an inverted V-shaped mounting structure, an embedded roller structure, a mounting point structure, a mounting device, a charging coil assembly, a power assembly, a power supply assembly, an overall fixed assembly and a control unit; the integrated multi-rotor structure is composed of multiple rotors 6, the robot body is composed of an overall fixed assembly and an inverted V-shaped mounting structure, the embedded roller structure is an embedded roller 4, the charging coil assembly is a charging coil 5, and the power supply assembly is a power supply 8; the overall fixed assembly structure includes an inverted V-shaped mounting structure and multiple machine arms, the inverted V-shaped mounting structure is composed of a long horizontal plate 1, an inverted V-shaped vertical plate 3, a lateral mounting plate 11 and a first connecting block 16; the machine arm is a mechanism formed by connecting a short connecting shaft 14, a second connecting block 15 and a rotor base 17;

[0061] In a further embodiment of the present invention, the integrated multi-rotor structure can be a quad-rotor 6, a hexagonal rotor 6, a coaxial octagonal rotor 6, etc., which are connected to the fuselage through an arm. When the rotor 6 rotates, it can provide force and torque for the robot to stabilize the angle. In a strong wind interference environment, the multi-rotor structure can provide the robot with an anti-wind swing torque, provide active power, stabilize the posture, and ensure the robot's operating accuracy. When encountering obstacles or needing to cross the line, the multi-rotor structure can provide lift for the high-voltage line operating robot to fly over obstacles / cross the line. The multi-rotor motor can reverse thrust to increase the contact force between the robot and the high-voltage line and the friction force of the walking device, providing stronger force and torque during strong wind interference and operation, enhancing stability, and improving climbing ability.

[0062] In a further embodiment of the present invention, an inverted V-shaped mounting structure is embedded with a roller walking structure. The inverted V-shaped structure can provide higher fault tolerance during mounting and mooring, and has the characteristics of easy mounting and high stability. The inverted V-shaped structure is composed of an inverted V-shaped vertical plate 3, a long horizontal plate 1 and a first connecting block 16.

[0063] In a further embodiment of the present invention, the embedded roller structure has various forms, which can be selected according to the mounting requirements. By adjusting the spacing and shape of the embedded roller structure, it can be adapted to mount single-split, double-split, triple-split and quadruple-split high-voltage wire structures respectively.

[0064] In a further embodiment of the present invention, a high-voltage line inspection method that flexibly switches between flight and mounted walking can be designed based on the designed high-voltage line operation robot. This method uses the multi-rotor structure for rapid inspection, fault identification and location, obstacle encountering, or when there is a need to cross the line. This method utilizes high maneuverability and high speed in flight. When performing long-duration, long-distance, and delicate line operations, a mounted walking method is used, offering high stability, strong force / torque output capabilities, long battery life, and simultaneous charging. When performing high-torque operations such as bolt repair and installation, the multi-rotor structure is activated to reverse, increasing contact force with the high-voltage line and improving stability. Several operating modes can be flexibly switched based on the working conditions.

[0065] In a further embodiment of the present invention, based on the above structure and design, the high-voltage line operation robot designed by the present invention has the ability to resist strong wind disturbances and strong torque, and can support a variety of mounting devices that require force and precision, including ice breaking hammers, operating robotic arms (repair and installation of R pins, bolts, etc.) and flaw detection instruments (X-ray instruments, infrared-high-definition imaging instruments) and other equipment.

[0066] In a further embodiment of the present invention, the mounting point structure can provide mounting options on the upper, middle, and bottom of the fuselage to meet the operational requirements of the upper, middle, and bottom positions during missions. The upper, middle, and bottom mounting positions can all be single-point or dual-point mounting.

[0067] In a further embodiment of the present invention, the charging coil assembly can be buckled onto the high-voltage line when the robot is mounted. During the mounted walking and standby periods, it draws power through the charging coil 5 to provide sustainable energy for the robot to fly, walk, and overcome obstacles.

[0068] In a further embodiment of the present invention, the power assembly includes multiple rotor motors and roller motors. The rotor motors are used to drive the rotating blades to rotate, and each rotating blade is driven separately by a rotor motor, wherein the rotor motor provides power for flight and stable posture, and the roller motor is used to drive the embedded roller 4 to roll to achieve walking along the high-voltage line, and each embedded roller 4 is driven separately by a roller motor, and the roller motor provides power for the robot when it is mounted and walking.

[0069] In a further embodiment of the present invention, a power supply assembly provides energy for the robot. To balance the center of gravity, the power supply assembly comprises two batteries located on either side of the robot. The power supply assembly includes a power management module that can directly discharge power externally and receive inductive energy from a charging coil assembly.

[0070] In a further embodiment of the present invention, the integrated fixed assembly structure comprises an inverted V-shaped structure and multiple arms. The arms are formed by connecting the short connecting shaft 14, the second connecting block 15, and the rotor base 17. The inverted V-shaped structure houses the power supply assembly, the embedded roller structure, the mounting device, and various sensors. The arms connect the inverted V-shaped structure and the rotor motors, and through this fixed connection, they control the robot's overall posture and the force and torque output.

[0071] In a further embodiment of the present invention, the control unit includes a control system board 2, which is supported by a silicone ball and fixed to the top of the inverted V-shaped mounting structure. The control system board 2 is protected by a housing, providing waterproof, dustproof, and anti-static features. The control system board is used to detect the robot's motion posture, receive control signals from the remote control, accept task instructions from the host computer, and send control signals to the power assembly.

[0072] In a further embodiment of the present invention, an integrated multi-rotor design with an embedded roller mounting structure enables the high-voltage line-working robot to simultaneously achieve both flight and payload-carrying capabilities, reducing structural complexity and operational workflow. This design allows a single robot to flexibly switch between flight and payload-carrying modes, resulting in greater maneuverability and flight time.

[0073] In a further embodiment of the present invention, the present invention can flexibly switch between flight and mounted walking modes while maintaining its own structure. In a further embodiment of the present invention, a mounting structure design is adopted, wherein the robot's mounting structure adopts an inverted V-shaped structure, which can better adapt to single-split, double-split, triple-split, and quadruple-split high-voltage power lines, making it easier to mount and more fault-tolerant.

[0074] In further embodiments of the present invention, the support connection design and hollow design of the fuselage and frame structures maximize structural strength. Furthermore, the entire robot structure is constructed from high-strength, lightweight composite materials, effectively reducing structural mass and meeting lightweight design requirements.

[0075] In a further embodiment of the present invention, the present invention supports a variety of mounting devices that require force and precision, including ice-breaking hammers, operating robotic arms (for repairing and installing R pins, bolts, etc.), and flaw detection instruments (X-ray instruments, infrared-high-definition imaging instruments) and other equipment.

[0076] In a further embodiment of the present invention, the present invention supports multiple mounting positions, and the mounting device can be installed on the upper part, middle part and bottom part of the robot.

[0077] In further embodiments of the present invention, as described above, the present invention optimizes structure while also considering functional design. This significantly improves the operating accuracy, obstacle avoidance, and endurance of high-voltage line operation robots, while simplifying the operational process and mounting difficulty. Furthermore, the invented structure offers certain advantages in reducing the cost and complexity of robot production, offering high engineering application value and promising prospects.

[0078] In a further embodiment of the present invention, Figure 2 、 Figure 4 and Figure 5 The design configuration diagrams of high-voltage line operation robots are four-rotor 6, six-rotor 6 and coaxial eight-rotor 6. Figure 2 、 Figures 6 to 8 They are schematic diagrams of the high-voltage line operation robot mounted and walking on single-split to quad-split conductors. In order to realize the mounting and walking of the high-voltage line operation robot on single-split to quad-split conductors, long horizontal boards 1, inverted V-shaped vertical boards 3 and embedded rollers 4 of different specifications can be replaced. By increasing the number of rotors 6, the load and walking stability of the high-voltage line operation robot can be effectively improved.

[0079] In a further embodiment of the present invention, Figure 1 The quadrotor structure adopts a rectangular symmetrical layout, with each rotor motor rigidly connected to the robot body and symmetrically mounted around the robot. Control system board 2 is mounted in the center of the robot's top plate, facilitating sensor data collection and improving data accuracy. Control system board 2 includes a computing platform and a motion control unit. The computing platform supports the robot's visual recognition, path planning, and autonomous installation and maintenance decisions. The motion control unit consists of an inertial navigation system, a micro-computing unit CPU, a GPS positioning module, and other components, with internal shock-absorbing silicone pads. The power supply utilizes a dual power supply configuration, symmetrically mounted on either side of the main frame. It is equipped with a charging management module and integrated intelligent fuse protection.

[0080] In a further embodiment of the present invention, the inverted V-shaped mounting structure is assembled with glass fiber reinforced nylon, carbon fiber plates, and carbon fiber rods; its opening angle can be adaptively adjusted by replacing relevant structures as needed, and can be adapted to the mounting of single-split, double-split, triple-split and quadruple-split high-voltage wires; the larger opening angle facilitates the robot to be directly mounted on the high-voltage line, reducing the complexity of the operation.

[0081] In a further embodiment of the present invention, the embedded roller 4 is detachable and replaceable to adapt to high-voltage wires of different forms. Figure 4 The built-in roller can adapt to single split wire, Figure 6 The built-in roller 4 can be adapted to the double-split high-voltage line 20. Figure 7 The built-in roller 4 can be adapted to the three-split high-voltage wire 21. Figure 8The embedded roller 4 can be adapted to the four-split high-voltage wire 22 .

[0082] In a further embodiment of the present invention, the robot body is provided with upper, middle, and bottom mounting locations, supporting the mounting of single / dual robotic arms, icebreakers, flaw detection instruments, and other equipment. The upper mounting location can be used to operate / probe wires at the top of the robot; the middle mounting location can be used to operate / probe wires in the middle of the robot; and the bottom mounting location can be used to operate / probe wires at the bottom of the robot. Specifically, the upper mounting location is the top of the inverted V-shaped vertical plate 3, the middle mounting location is the mounting plate 7, and the bottom mounting location is the long connecting shaft 13.

[0083] In a further embodiment of the present invention, the mounting plate 7 of the mounting device is a single-degree-of-freedom double-arm, and an X-ray flaw detection instrument can be installed at the end of the robotic arm to detect the condition of the wire connection by swinging up and down. The mounting device can also be replaced with a multi-degree-of-freedom robotic arm, infrared-high-definition detection instrument, etc.

[0084] In a further embodiment of the present invention, the entire structure of the connection assembly is connected by carbon rods and pipe clamps, ensuring the requirements of strength and lightness.

[0085] In a further embodiment of the present invention, Figure 4 The high-voltage line operation robot utilizes a hexarotor structure, symmetrically mounted around the robot, providing enhanced power and stability. Furthermore, hexarotors offer significant advantages over quadrotors in stability, load capacity, and redundancy, enabling greater precision in mounted equipment operation and flaw detection. Figure 4 The high-voltage line operation robot walks on a single-split high-voltage line, demonstrating its mounting and movement. A flaw detector 18, mounted at a mounting point in the middle of the robot platform, can detect damage or breaks at the high-voltage conductor connections.

[0086] In a further embodiment of the present invention, Figure 5 The high-voltage line operation robot utilizes a coaxial octarotor structure, symmetrically mounted around the robot. Compared to quadrotors and hexacopters, it offers significant advantages in power redundancy, payload capacity, and environmental adaptability. Its coaxial layout of upper and lower rotors offsets counter-rotational torque, significantly increasing power redundancy while maintaining a compact structure.

[0087] In a further embodiment of the present invention, Figure 3As shown, the charging coil 5 is installed in the center of the robot and can automatically open and close the lock on the high-voltage wire to charge the robot; the embedded roller structure can be flexibly disassembled and replaced. The inverted V shape of the embedded roller 4 in the figure is directly tangent to the wire, which is suitable for the mounting and movement of a single split wire 19.

[0088] In a further embodiment of the present invention, Figure 6 As shown, the inverted V shape of the embedded roller 4 is directly tangent to the double-split conductor, which is suitable for mounting and walking on the double-split conductor, and can demonstrate the mounting and walking method of the robot on the double-split high-voltage line 20.

[0089] In a further embodiment of the present invention, Figure 7 As shown, the inverted V shape of the embedded roller 4 is directly tangent to the three-split conductor, which is suitable for the mounting and walking of the three-split conductor, and can demonstrate the mounting and walking method of the robot on the three-split high-voltage line 21.

[0090] In a further embodiment of the present invention, Figure 8 As shown, the inverted V shape of the embedded roller 4 is directly tangent to the four-split conductor, which is suitable for the mounting and walking of the four-split conductor, and can demonstrate the mounting and walking method of the robot on the four-split high-voltage line 22.

[0091] In a further embodiment of the present invention, the radar module has a 360&90 hemispherical detection range, supporting the robot to avoid obstacles in all directions; the control system adopts the STM32H7+STM32H1 dual-core redundant design to provide safety for the robot's motion control, equipped with a strong computing platform that can process multiple cameras + radar sensor data; the dual RTK positioning system can provide accurate heading angle information and position positioning information, solving the problem of disk failure caused by electromagnetic interference near high-voltage lines; the forward navigation camera provides the robot with a forward perspective to assist the robot in obstacle avoidance and cable mounting; the downward binocular camera provides the robot with a downward perspective to assist the robot in cable mounting. See the installation location for details. Figure 9 and Figure 10 shown.

[0092] In a further embodiment of the present invention, the power supply 8 adopts a 14S dual power supply to achieve a combined flight-walking endurance of ≥30min;

[0093] In a further embodiment of the present invention, the flaw detection instrument 18 simulates X-ray flaw detection equipment and supports internal flaw detection of the tension clamp of the transmission cable;

[0094] In a further embodiment of the present invention, the robot body adopts an inverted V-shaped structure, which is easy to mount a variety of split wires and improves the mounting success rate;

[0095] In a further embodiment of the present invention, the charging coil 5 adopts a locking structure, which is locked to the high-voltage line during operation after being mounted to provide safety protection.

[0096] In a further embodiment of the present invention, Figure 11 and Figure 12 The figure shows a schematic diagram of the mechanical simulation analysis of the robot body of a high-voltage line operation robot using a quad-rotor 6. In the figure, a lift of 100N is applied to the positions of the four rotors 6 respectively, and the resulting deformation simulation diagram of the fuselage is shown in FIG. Figure 11 and Figure 12 As shown. The redder the color, the greater the deformation, and the bluer the color, the smaller the deformation. As can be seen from the figure, the inverted V-shaped structure that is mainly subjected to force has basically no deformation. At this time, the opening angle of the inverted V-shaped structure is 47.2 degrees. Figure 11 and Figure 12 It can be seen from the deformation simulation diagram that the structure designed based on this mechanical simulation has stronger stability.

[0097] The above are only preferred embodiments of the present invention and do not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-voltage line operation robot that integrates flight and mounting and walking, characterized in that: include: A rotor (6), a control system board (2), a power supply (8), a robot body and an embedded roller (4), wherein the rotor (6), the control system board (2) and the power supply (8) are all mounted on the robot body, a plurality of rotors (6) are symmetrically arranged on the left and right sides, and an embedded roller (4) is respectively mounted on the front and rear ends of the bottom surface of the robot body; the robot body walks on the high-voltage line via the two embedded rollers (4); the power supply (8) is used to supply energy to the rotor (6) and the control system board (2); The high-voltage line is a single-split high-voltage line (19), a double-split high-voltage line (20), a triple-split high-voltage line (21), or a quadruple-split high-voltage line (22); The robot body comprises: a long horizontal plate (1), an inverted V-shaped vertical plate (3) and a first connecting block (16); When the number of the long horizontal board (1) is one, the front and rear ends of the long horizontal board (1) are respectively connected to an inverted V-shaped vertical board (3) through two first connecting blocks (16) symmetrically arranged on the left and right; the two inverted V-shaped vertical boards (3) are both perpendicular to the long horizontal board (1); the two inverted V-shaped vertical boards (3) are both opened downward and have the same opening angle; the two ends of each embedded roller (4) are respectively rotatably connected to the two first connecting blocks (16) symmetrically arranged on the left and right; When the number of the long horizontal plates (1) is greater than one, the front and rear ends of each long horizontal plate (1) are respectively connected to an inverted V-shaped vertical plate (3) through two first connecting blocks (16) symmetrically arranged on the left and right; an inverted V-shaped vertical plate (3) is arranged between any two adjacent long horizontal plates (1); the plurality of long horizontal plates (1) are located in the same plane; the plurality of inverted V-shaped vertical plates (3) and the plurality of long horizontal plates (1) are perpendicular to each other; the plurality of inverted V-shaped vertical plates (3) are all opened downward and have the same opening angle; by replacing the inverted V-shaped vertical plates (3) with different opening angles and the embedded rollers (4) with different lengths, the inverted V-shaped vertical plates (3) can be adapted to high-voltage lines of different specifications; The robot body also includes: a second connecting block (15), a short connecting shaft (14) and a rotor base (17), wherein the two lower ends of each inverted V-shaped vertical plate (3) are respectively installed with a second connecting block (15), and multiple short connecting shafts (14) are symmetrically arranged on the left and right sides, and one end of each short connecting shaft (14) is connected to a second connecting block (15), and the multiple short connecting shafts (14) located on the left / right side are parallel to each other and parallel to the multiple long horizontal plates (1), and the other end of each short connecting shaft (14) is installed with a rotor base (17), and the upper surface and lower surface of each rotor base (17) are used to install the rotor (6).

2. The high-voltage line operation robot integrated with flight and mounting and walking according to claim 1, characterized in that: Also includes: A mounting device is installed at the front end of the robot body, and the mounting device includes: a mounting block (9), a mounting shaft (10) and a mounting plate (7). The front end of the long horizontal plate (1) located at the front end is equipped with two mounting blocks (9) symmetrical on the left and right. The mounting shaft (10) is installed in the two mounting blocks (9). The two mounting plates (7) are respectively installed at the two ends of the mounting shaft (10) and are arranged symmetrically on the left and right. Each mounting plate (7) is provided with a plurality of mounting holes at equal intervals along its length direction.

3. The high-voltage line operation robot integrated with flight and mounting and walking according to claim 2, characterized in that: Also includes: A flaw detector (18) is detachably mounted on each mounting plate (7) through any mounting hole thereon. Both flaw detectors (18) are used for detecting high-voltage lines.

4. The high-voltage line operation robot integrated with flight and mounting and walking according to claim 1, characterized in that: Also includes: A charging coil (5) and a control system board (2) are mounted on the upper surface of any long horizontal board (1), the charging coil (5) being mounted at the rear end of the control system board (2), the charging coil (5) being detachably mounted on the high-voltage line, and the charging coil (5) being used to charge the power source (8).

5. The high-voltage line operation robot integrated with flight and mounting and walking according to claim 1, characterized in that: The robot body further comprises: a long connecting shaft (13), wherein two long connecting shafts (13) are symmetrically arranged on the left and right sides, and the long connecting shafts (13) on the left and right sides sequentially pass through the lower ends of the same side of the multiple inverted V-shaped vertical plates (3).

6. The high-voltage line working robot integrated with flight and mounting and walking according to claim 5, characterized in that: The second connecting block (15) on the left side of any inverted V-shaped vertical plate (3) is connected to the long connecting shaft (13) on the left side; the second connecting block (15) on the right side of any inverted V-shaped vertical plate (3) is connected to the long connecting shaft (13) on the right side.

7. The high-voltage line operation robot integrated with flight and mounting and walking according to claim 6, characterized in that: The robot body also includes: a lateral mounting plate (11) and a long axis mounting seat (12), the two lateral mounting plates (11) are symmetrically arranged on the left and right sides, the upper side of each lateral mounting plate (11) is plugged into the left side or right side of any long horizontal plate (1), and the lower side of each lateral mounting plate (11) is connected to the long connecting shaft (13) on the same side through the two long axis mounting seats (12).

8. The high-voltage line working robot integrated with flight and mounting and walking according to claim 7, characterized in that: A power source (8) is installed on each lateral mounting plate (11).

9. The high-voltage line operation robot integrated with flight and mounting and walking according to claim 1, characterized in that: Also includes: The radar module, the positioning system, the forward navigation camera and the downward-looking binocular camera are all installed on the robot body and are connected to the control system board (2) through electrical signals.

10. The high-voltage line working robot integrated with flight and mounting and walking according to claim 1, characterized in that: Each rotor (6) comprises a rotor motor and a rotating blade. The rotor motor is mounted on the upper surface or the lower surface of any rotor base (17), and the rotating blade is mounted on the output end of the rotor motor.

Images