Coil spring driven mobile robot for power transmission line operation

Abstract

The invention discloses a coil spring driven mobile robot for power transmission line operation, relates to the technical field of line maintenance and repair, and solves the problems of high labor intensity, low efficiency and high safety risk of traditional manual inspection operation. The robot comprises a walking wheel module, a coil spring driving module, a locking mechanism, an auxiliary walking wheel module and a locking connecting mechanism. The coil spring driving module is located in the center of the mobile robot and serves as a power driving mechanism. The coil spring driving module controls the robot to move on the power transmission line, the walking wheel module and the auxiliary walking wheel module are matched with a pressing wheel of the locking mechanism to achieve pressing, fixing and obstacle crossing of the power transmission line, the robot can be used for patrol inspection, maintenance and other work of the power transmission line, and the efficiency and safety of line operation and maintenance are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of line maintenance and repair, and in particular to a coil spring driven mobile robot for power transmission line operations. Background Art

[0002] Line maintenance and repair is a crucial task in fields such as power and communications. Traditional inspections rely primarily on manual labor. However, with the continuous development of technology and increasing operational requirements, manual inspections have gradually revealed many limitations.

[0003] Manual inspections are labor-intensive and inefficient. Operators must perform complex operations at height, facing not only safety risks like falling from heights, but also significant impacts on work time and efficiency due to physical limitations. In some large-scale projects or emergency repair tasks, manual inspections often struggle to meet the demands of speed and efficiency. With the continuous expansion and upgrade of power and communications networks, the complexity and height of lines are also increasing. Traditional manual inspection methods face increased difficulty and risk when faced with complex line environments and high-altitude operations. For example, when inspecting lines across special areas such as highways, railways, and rivers, manual operations are extremely difficult and dangerous, and the slightest mistake can lead to serious safety accidents.

[0004] In order to overcome the pain points of traditional manual inspection work, such as high intensity, low efficiency and high safety risks, a spring-driven mobile robot for transmission line operations is needed. Summary of the Invention

[0005] In response to the existing problems of high intensity, low efficiency, and high safety risks in traditional manual inspection work, the present invention provides a coil spring-driven mobile robot for power transmission line operations, which can overcome the pain points of high intensity, low efficiency, and high safety risks in traditional manual inspection work. The specific technical solution is as follows:

[0006] A coil spring-driven mobile robot for power transmission line operations comprises: a travel wheel module, a coil spring drive module, a locking mechanism, an auxiliary travel wheel module, and a locking connection mechanism; the locking connection mechanism comprises a first, a second, a third, and a fourth side, wherein the first and fourth sides are opposite, and the second and third sides are opposite; the locking connection mechanism is divided into a front locking connection mechanism and a rear locking connection mechanism; the locking mechanism is divided into a front locking mechanism and a rear locking mechanism; the second and third sides of the rear locking connection mechanism are respectively mounted with a travel wheel module, the first side being connected to the fixed end of the coil spring drive module, and the fourth side being connected to the rear locking mechanism; the second and third sides of the front locking connection mechanism are respectively mounted with an auxiliary travel wheel module, the first side being connected to the telescopic end of the coil spring drive module, and the fourth side being connected to the front locking mechanism; compression wheels are respectively provided on both sides of the locking mechanism to cooperate with the travel wheel module or the auxiliary travel wheel module to compress and fix the power transmission line; the coil spring drive module is located at the center of the mobile robot and serves as a power drive mechanism, and propels the travel wheel module and the auxiliary travel wheel module forward by extending or contracting.

[0007] Furthermore, the coil spring drive module includes a ruler tape, a ruler tape conveying module and a ruler tape storage device; the end of the ruler tape storage device is fixedly connected to the first side of the rear locking connection mechanism; the ruler tape is located in the ruler tape storage device and the telescopic end passes through the exit of the ruler tape storage device and the ruler tape conveying module and is fixedly connected to the first side of the front locking connection mechanism, and the telescopic end of the ruler tape is controlled by the ruler tape conveying module to extend and retract, thereby controlling the robot to move on the power transmission line.

[0008] Furthermore, the tape conveying module includes a belt drive wheel, a belt drive wheel shaft, a belt drive gear, a transmission gear, a motor gear, and a tape drive motor; the output torque of the tape drive motor drives the motor gear, the transmission gear and two sets of belt drive gears to rotate in sequence, and the belt drive wheel shaft rotating coaxially with the belt drive gear drives the belt drive wheel to rotate to drive the tape to extend and retract.

[0009] Furthermore, the tape conveying module also includes a tape guide wheel and a tape guide wheel shaft; the tape guide wheel is installed on the tape guide wheel shaft; two sets of tape guide wheels are provided on the outside of the tape conveying module to guide the tape to prevent the tape from slipping.

[0010] Furthermore, the walking wheel module includes a main walking wheel bracket, a main walking wheel, a main obstacle-crossing parachute and an obstacle protection frame; one end of the main walking wheel bracket is fixedly connected to the second or third side of the rear locking connection mechanism; the other end of the main walking wheel bracket is rotatably connected to the main walking wheel; the main obstacle-crossing parachute and the obstacle protection frame are installed on the outside of the main walking wheel.

[0011] Furthermore, the auxiliary walking wheel module includes an auxiliary walking wheel bracket, an auxiliary walking wheel, an auxiliary obstacle-crossing umbrella leaf and an obstacle-crossing protection flange; one end of the auxiliary walking wheel bracket is fixedly connected to the second or third side of the front locking connection mechanism; the other end of the auxiliary walking wheel bracket is rotatably connected to the auxiliary walking wheel; the auxiliary obstacle-crossing umbrella leaf and the obstacle-crossing protection flange are installed on the outer side of the auxiliary walking wheel.

[0012] Furthermore, the locking mechanism also includes a fixing device; a pair of locking rotating arms and a pressure wheel seat rod are provided on both sides of the fixing device; a pair of rotating shafts are provided inside the fixing device; each rotating shaft is connected to one end of the adjacent locking rotating arm; one end of the pressure wheel seat rod is rotationally connected to the other end of the locking rotating arm, and the connection between the two is driven to rotate by a hydraulic mechanism or an electric mechanism; one end of the pressure wheel seat rod is rotationally connected to the pressure wheel, and the connection between the two is driven to rotate by a hydraulic mechanism or an electric mechanism; the fixing device is connected to the fourth side of the locking connection mechanism; the rotating shaft is provided with an opening and closing drive gear after extending out of the bottom of the fixing device; the opening and closing drive gears on the two rotating shafts are meshed with each other, and then the opening and closing of the locking mechanism can be controlled by driving the opening and closing drive gears by the servo to perform obstacle crossing of the transmission line.

[0013] Furthermore, the clamping wheel is located below the main running wheel or the auxiliary running wheel.

[0014] Furthermore, it also includes a support rod; the first end of the support rod is fixedly connected to the top of the rear locking connection mechanism, and the second end is slidably connected to the top of the front locking connection mechanism.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. To overcome the pain points of traditional manual inspections, which are labor-intensive, inefficient, and high safety risks, mobile robots for power transmission lines have emerged. Given the significant limitations of traditional manual inspections in terms of labor intensity, efficiency, and safety risks, mobile robots for power transmission lines have emerged as an innovative technology. They aim to effectively improve the overall effectiveness and safety of power transmission line inspections through automation and intelligent means. Their core design integrates multiple functional modules to enable intelligent inspection and efficient maintenance of transmission lines, significantly improving the efficiency and safety of line operations.

[0017] 2. The robot, equipped with a 4K ultra-high-definition wide-angle camera, conducts autonomous inspections, enabling real-time identification of defects such as broken conductor strands, damaged insulators, displaced anti-vibration hammers, and suspended foreign objects. The robot, linked to the Beidou positioning system, annotates the defect coordinates and uploads them to the cloud. An integrated infrared thermal imager dynamically scans key line nodes, pinpointing abnormal hotspots and providing early warning of potential faults such as insulation degradation and excessive contact resistance. The robot is also equipped with multifunctional tools: hydraulic shears for remotely cutting obstacles such as wires and kite strings; a high-pressure airless spray system precisely applies nano-anticorrosive coatings to protect metal line components; and a high-frequency impact hammer on the front of the running wheels provides vibration-breaking ice-breaking capabilities. Combined with a locking mechanism, the robot maintains operational stability to remove ice from conductors.

[0018] 3. By integrating intelligent detection, fault warning, emergency response, line protection and special de-icing capabilities, the transmission line mobile robot realizes the integrated and intelligent maintenance tasks of high-voltage transmission lines, effectively ensuring the safe and stable operation of the power grid.

[0019] 4. This coil spring-driven mobile robot for power transmission line operations achieves efficient and stable movement and maintenance operations on power transmission lines through the coordinated operation of its travel wheel module, coil spring drive module, locking mechanism, auxiliary travel wheel module, and locking connection mechanism. This device significantly reduces manual labor and safety risks, while significantly improving operational efficiency. Thanks to its lightweight overall structure, setup time and cycle times are significantly shortened compared to traditional methods. The robot can quickly and accurately reach its target location and begin work quickly, effectively improving overall operational efficiency. The tape conveyor module of the coil spring drive module is the core drive unit: the tape drive motor outputs power, driving the motor gear, transmission gear, and two sets of belt drive gears. The belt drive wheel shaft, coaxial with the belt drive gears, rotates accordingly, controlling the retraction and extension of the tape, providing the power foundation for the robot to perform its tasks. This structural design enables the robot to achieve efficient and stable traction in specific application scenarios, demonstrating its technical performance and practical value.

[0020] 5. It has achieved the goal of reducing the labor intensity and safety risks of manual inspection operations, allowing robots to replace humans in high-altitude operations, reducing the probability of safety accidents and alleviating physical burdens; improving the efficiency of inspection operations, robots can significantly shorten the operation time to meet the needs of large-scale projects and emergency repairs; adapting to different types of lines and complex operating environments, ensuring stable and safe operation in special areas and complex environments; improving the quality and accuracy of inspection operations, using the robot's precise operation and advanced control system to ensure work quality, and improving the reliability and stability of power and communication networks. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0022] Figure 1 This is a general schematic diagram of a coil spring driven mobile robot for power transmission line operations according to the present invention;

[0023] Figure 2 This is a schematic diagram of the travel wheel module of the present invention;

[0024] Figure 3 A top view of the coil spring drive module of the present invention;

[0025] Figure 4 This is a schematic diagram of the isometric structure of the coil spring drive module of the present invention;

[0026] Figure 5 This is a front view of the coil spring drive module of the present invention;

[0027] Figure 6 It is a partial view and a cross-sectional view of the coil spring drive module;

[0028] Figure 7 This is a schematic diagram of the axonometric structure of the locking mechanism of the present invention;

[0029] Figure 8 This is a front view of the locking mechanism in the present invention;

[0030] Figure 9 This is a schematic diagram of the axonometric structure of the auxiliary traveling wheel module in the present invention;

[0031] Figure 10 This is a schematic diagram of the axonometric structure of the locking connection mechanism;

[0032] Figure 11 This is a general schematic diagram of a coil spring driven mobile robot for power transmission line operations before overcoming obstacles;

[0033] Figure 12 This is a schematic diagram of a front wheel obstacle crossing of a coil spring-driven mobile robot for power transmission line operations according to the present invention;

[0034] Figure 13 This is a schematic diagram of the rear wheel obstacle crossing of a coil spring-driven mobile robot for power transmission line operations according to the present invention.

[0035] Figure markings: 1-walking wheel module, 101-main walking wheel bracket, 102-main walking wheel, 103-main obstacle-crossing umbrella leaf, 104-obstacle protection frame, 2-coil spring drive module, 201-ruler tape, 202-ruler tape conveying module, 203-ruler tape storage device, 204-ruler tape guide wheel, 205-ruler tape guide wheel shaft, 206-belt driving wheel, 207-belt driving wheel shaft, 208-belt driving gear, 209-transmission gear, 210-motor gear, 211-ruler tape driving motor, 3-locking mechanism, 301-fixing device, 302-locking rotating arm, 303-pressure wheel seat rod, 304-pressure wheel, 305-opening and closing drive gear, 4-auxiliary walking wheel module, 401-auxiliary walking wheel bracket, 402-auxiliary walking wheel, 403-auxiliary obstacle-crossing umbrella leaf, 404-obstacle protection flange, 5-locking connection mechanism. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0037] It should be understood that when used in this application, the terms "include" and "comprising" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0038] It should also be understood that the terms used in the present specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0039] It should be further understood that the term "and / or" used in this application refers to and includes any and all possible combinations of one or more of the associated listed items.

[0040] Example 1

[0041] like Figures 1 to 13As shown, a coil spring driven transmission line operation mobile robot comprises: a walking wheel module 1, a coil spring drive module 2, a locking mechanism 3, an auxiliary walking wheel module 4 and a locking connection mechanism 5; the locking connection mechanism 5 has a first, a second, a third and a fourth side, wherein the first and the fourth side are opposite, and the second and the third side are opposite; the locking connection mechanism 5 is divided into a front locking connection mechanism 5 and a rear locking connection mechanism 5; the locking mechanism 3 is divided into a front locking mechanism 3 and a rear locking mechanism 3; the second and third sides of the rear locking connection mechanism 5 are respectively installed with a walking wheel module 1, and the first side It is connected to the fixed end of the coil spring drive module 2, and the fourth side is connected to the rear locking mechanism 3; the second and third sides of the front locking connection mechanism 5 are respectively installed with a secondary walking wheel module 4, the first side is connected to the telescopic end of the coil spring drive module 2, and the fourth side is connected to the front locking mechanism 3; the two sides of the locking mechanism 3 are respectively provided with a clamping wheel 304 to cooperate with the walking wheel module 1 or the secondary walking wheel module 4 to press and fix the transmission line; the coil spring drive module 2 is located at the center of the mobile robot as a power drive mechanism, pushing the walking wheel module 1 and the secondary walking wheel module 4 forward by extending or contracting. Furthermore, the coil spring drive module 2 includes a tape ruler 201, a tape ruler conveying module 202 and a tape ruler storage device 203; the end of the tape ruler storage device 203 is fixedly connected to the first side of the rear locking connection mechanism 5; the tape ruler 201 is located in the tape ruler storage device 203 and the telescopic end passes through the outlet of the tape ruler storage device 203 and the tape ruler conveying module 202 and is fixedly connected to the first side of the front locking connection mechanism 5, and the telescopic end of the tape ruler 201 is controlled by the tape conveying module 202 to extend and retract, thereby controlling the robot to move on the power transmission line.

[0042] Furthermore, the tape conveying module 202 includes a belt drive wheel 206, a belt drive wheel shaft 207, a belt drive gear 208, a transmission gear 209, a motor gear 210, and a tape drive motor 211; the output torque of the tape drive motor 211 drives the motor gear 210, the transmission gear 209 and the two sets of belt drive gears 208 to rotate in turn, and the belt drive wheel shaft 207 rotating coaxially with the belt drive gear 208 drives the belt drive wheel 206 to rotate to drive the tape 201 to extend and retract.

[0043] Furthermore, the tape conveying module 202 also includes a tape guide wheel 204 and a tape guide wheel shaft 205; the tape guide wheel 204 is installed on the tape guide wheel shaft 205; two sets of tape guide wheels 204 are provided on the outside of the tape conveying module 202 to guide the tape 201, thereby preventing the tape 201 from slipping.

[0044] It can be understood that within the operating system of the coil spring drive module 2, the tape conveyor module 202 plays a core driving role. The tape drive motor 211 in this module outputs power, driving the motor gear 210, the meshing transmission gear 209, and the two sets of belt drive gears 208 to rotate. The belt drive shaft 207, which rotates coaxially with the belt drive gears 208, rotates the belt drive wheel 206 to control the extension and retraction of the tape 201, and then the robot can operate. This unique structural design enables the robot to achieve efficient and stable traction in specific application scenarios, demonstrating excellent technical performance and practical value.

[0045] Furthermore, the walking wheel module 1 includes a main walking wheel bracket 101, a main walking wheel 102, a main obstacle-crossing umbrella leaf 103 and an obstacle protection frame 104; one end of the main walking wheel bracket 101 is fixedly connected to the second or third side of the rear locking connection mechanism 5; the other end of the main walking wheel bracket 101 is rotatably connected to the main walking wheel 102; the main obstacle-crossing umbrella leaf 103 and the obstacle protection frame 104 are installed on the outside of the main walking wheel 102.

[0046] Furthermore, the auxiliary walking wheel module 4 includes an auxiliary walking wheel bracket 401, an auxiliary walking wheel 402, an auxiliary obstacle umbrella leaf 403 and an obstacle protection flange 404; one end of the auxiliary walking wheel bracket 401 is fixedly connected to the second or third side of the front locking connection mechanism 5; the other end of the auxiliary walking wheel bracket 401 is rotatably connected to the auxiliary walking wheel 402; the auxiliary obstacle umbrella leaf 403 and the obstacle protection flange 404 are installed on the outer side of the auxiliary walking wheel 402.

[0047] Furthermore, the locking mechanism 3 also includes a fixing device 301; a pair of locking rotating arms 302 and a pressure wheel seat rod 303 are provided on both sides of the fixing device 301; a pair of rotating shafts are provided inside the fixing device 301; each rotating shaft is connected to one end of the adjacent locking rotating arm 302; one end of the pressure wheel seat rod 303 is rotationally connected to the other end of the locking rotating arm 302, and the connection between the two is driven to rotate by a hydraulic mechanism or an electric mechanism; one end of the pressure wheel seat rod 303 is rotationally connected to the pressure wheel 304, and the connection between the two is driven to rotate by a hydraulic mechanism or an electric mechanism; the fixing device 301 is connected to the fourth side of the locking connection mechanism 5; the rotating shaft is extended from the bottom of the fixing device 301 and is provided with an opening and closing drive gear 305; the opening and closing drive gears 305 on the two rotating shafts are meshed with each other, and then the opening and closing of the locking mechanism 3 can be controlled by driving the opening and closing drive gear 305 by the servo to perform power transmission line obstacle crossing.

[0048] When the transmission line is overcoming obstacles, the pressure wheel seat rod 303 is rotationally connected to the locking rotating arm 302, and the pressure wheel 304 is rotationally connected to the pressure wheel seat rod 303, and can overcome obstacles by adjusting the angle.

[0049] Furthermore, the clamping wheel 304 is located below the main traveling wheel 102 or the auxiliary traveling wheel 402. The clamping wheel 304 cooperates with the main traveling wheel 102 or the auxiliary traveling wheel 402 to grasp the transmission line, so that the robot can firmly grasp the transmission line and is not afraid of harsh environments such as wind and rain. When encountering obstacles, the front and rear clamping wheels 304 can cooperate (for example, the first two clamping wheels 304 are released to overcome the obstacle first, and after crossing and re-grasping, the rear two clamping wheels 304 are released to overcome the obstacle), which not only allows the robot to overcome the obstacle but also maintains the grasping effect.

[0050] It's also worth noting that, in practical applications, the passive adjustment capabilities and high flexibility of locking mechanism 3 make the robot's inspection process smoother and more efficient. It can be precisely adjusted to suit different lines, effectively ensuring the accuracy and stability of the connection. This robust reliability makes the device less susceptible to loose connections or malfunctions during long-term operation, greatly improving the stability and reliability of the entire system.

[0051] Furthermore, it also includes a support rod; the first end of the support rod is fixedly connected to the top of the rear locking connection mechanism 5, and the second end is slidably connected to the top of the front locking connection mechanism 5. The support rod is used to strengthen the strength and rigidity of the entire robot body to adapt to the application environment that requires high-strength support. Compared with the usual screw drive method, this application adopts a ruler tape to cooperate with the movement of the support rod, which not only has the same strength effect, but also reduces the complexity of the mechanism, reduces the design and manufacturing costs, and keeps each module compactly integrated through the locking connection mechanism to form a lightweight whole that is symmetrical front and back. The central layout of the coil spring drive module optimizes the power transmission path and reduces redundant loads; the walking wheels and the auxiliary walking wheels are separated at the front and rear ends to enhance the grip on the power transmission line. The modular design significantly reduces the weight of the equipment and shortens the deployment time. It is suitable for complex scenarios such as high altitude and emergency repairs.

[0052] Furthermore, there are three groups of main obstacle-crossing parasol leaves 103, two in each group, which are evenly distributed and fixedly connected to the outer side of the main walking wheel 102 through nuts.

[0053] Furthermore, there are three groups of auxiliary obstacle-crossing parachute blades 403, with two in each group.

[0054] like Figure 11 , which is a schematic diagram of a coil spring driven transmission line operation mobile robot before preparing to cross an obstacle, and the front and rear locking mechanisms 3 are both in a locked and compressed state.

[0055] like Figure 12The figure shows a schematic diagram of a coil spring-driven power transmission line operation mobile robot preparing to cross an obstacle with its front wheels. The figure shows the state in which the front locking mechanism 3 is lifted. The working process is that the bottom servo rotates to drive the opening and closing drive gear 305, and the opening and closing drive gear 305 transmits the torque to the locking rotating arm 302, retracts the locking rotating arm 302, and lifts the pressure wheel seat rod 303 and the pressure wheel 304. Then the robot continues to move forward to cross the obstacle, and then performs a return operation to lock the front locking mechanism 3.

[0056] like Figure 13 The figure shows a schematic diagram of a coil spring driven transmission line operation mobile robot preparing to overcome obstacles with its rear wheels. The process is the same as that of overcoming obstacles with its front wheels.

[0057] In summary, the working principle of the present invention is:

[0058] like Figure 1-10 As shown, when the coil spring-driven transmission line operation mobile robot is not online, a hydraulic device or electric drive mechanism controls the angles between the pinch wheel 304, pinch wheel seat rod 303, and locking rotary arm 302 to facilitate the robot's online operation. When the robot is placed on a double-split line, the running wheels of the running wheel module 1 and the auxiliary running wheel module 4 are properly aligned with the transmission line. Then, a hydraulic device or electric drive mechanism controls the angles between the pinch wheel 304, pinch wheel seat rod 303, and locking rotary arm 302 to ensure a tight fit between the pinch wheel 304 and the transmission line, ensuring the robot's stability during operation. Online operation is now complete.

[0059] Subsequently, the tape drive motor 211 in the coil spring drive module 2 outputs torque to drive the motor gear 210, which drives the transmission gear 209 and two sets of belt drive gears 208 that are meshed with it to rotate. The belt drive wheel shaft 207 that rotates coaxially with the belt drive gear 208 rotates and drives the belt drive wheel 206 to control the extension and retraction of the tape 201, thereby performing inspection operations on the transmission line. Two sets of tape guide wheels 204 are provided on the outside of the tape to prevent the tape from slipping.

[0060] The gear meshing transmission design of the coil spring drive module, combined with the retractable and retractable tape, enables stable traction and precise positioning of the robot on power lines. The tape guide wheel effectively prevents tape slippage, ensuring reliable power transmission and significantly improving inspection efficiency and positioning accuracy.

[0061] The locking mechanism uses an opening and closing drive gear to lock the rotating arm and the pressure wheel seat rod. The servo dynamically adjusts the angle and opening and closing state of the pressure wheel. Combined with the three sets of obstacle-crossing blades on the running wheel module and auxiliary running wheel module, it achieves multi-angle obstacle crossing capabilities. This design can autonomously handle complex obstacles such as conductor anti-vibration hammers and insulators, ensuring the robot's safe and stable operation in challenging locations.

[0062] The various modules, including the travel wheels, tape drive, locking mechanism, and auxiliary travel wheels, are compactly integrated through locking connections, forming a lightweight, front-to-back symmetrical whole. The centrally positioned coil spring drive module optimizes the power transmission path and reduces redundant loads. The travel wheels and auxiliary travel wheels are positioned at the front and rear ends to enhance grip on the power transmission line. This modular design significantly reduces equipment weight and shortens deployment time, making it suitable for complex scenarios such as high-altitude and emergency repairs.

[0063] The present application discloses a coil spring-driven mobile robot for power transmission line operations, which relates to the field of line maintenance and overhaul technology and solves the problems of high labor intensity, low efficiency, and high safety risks in traditional manual inspection operations. The robot includes a running wheel module, a coil spring drive module, a locking mechanism, an auxiliary running wheel module, and a locking connection mechanism. The coil spring drive module is located at the center of the mobile robot as a power drive mechanism. The robot is controlled to move on the power transmission line through the coil spring drive module. The running wheel module and the auxiliary running wheel module cooperate with the clamping wheel of the locking mechanism to achieve the tightening, fixation, and obstacle crossing of the power transmission line. It can be used for inspection, maintenance, and other operations of the power transmission line, thereby improving the efficiency and safety of line operation and maintenance.

[0064] Those skilled in the art will appreciate that the units of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition of each example has been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0065] In the embodiments provided by the present invention, it should be understood that the division of units is merely a logical function division, and there may be other division methods in actual implementation, for example, multiple units can be combined into one unit, one unit can be split into multiple units, or some features can be ignored, etc.

[0066] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0067] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-0nly Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program code.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of this application.

Claims

1. A coil spring driven mobile robot for power transmission line operation, characterized in that: include: A walking wheel module (1), a coil spring drive module (2), a locking mechanism (3), an auxiliary walking wheel module (4) and a locking connection mechanism (5); the locking connection mechanism (5) has a first, a second, a third and a fourth side, wherein the first and the fourth side are opposite to each other, and the second and the third side are opposite to each other; the locking connection mechanism (5) is divided into a front locking connection mechanism (5) and a rear locking connection mechanism (5); the locking mechanism (3) is divided into a front locking mechanism (3) and a rear locking mechanism (3); a walking wheel module (1) is installed on the second and third side of the rear locking connection mechanism (5), respectively, and the first side is fixed to the coil spring drive module (2). The first and third sides of the front locking connection mechanism (5) are respectively provided with a secondary running wheel module (4), the first side is connected to the telescopic end of the coil spring drive module (2), and the fourth side is connected to the front locking mechanism (3); the two sides of the locking mechanism (3) are respectively provided with a pressing wheel (304) to cooperate with the running wheel module (1) or the secondary running wheel module (4) to press and fix the power transmission line; the coil spring drive module (2) is located at the center of the mobile robot as a power drive mechanism, and pushes the running wheel module (1) and the secondary running wheel module (4) forward by extending or contracting.

2. The coil spring driven transmission line operation mobile robot according to claim 1, characterized in that: The coil spring drive module (2) comprises a tape ruler (201), a tape ruler conveying module (202) and a tape ruler storage device (203); the end of the tape ruler storage device (203) is fixedly connected to the first side surface of the rear locking connection mechanism (5); the tape ruler (201) is located in the tape ruler storage device (203) and the telescopic end passes through the outlet of the tape ruler storage device (203) and the tape ruler conveying module (202) and is fixedly connected to the first side surface of the front locking connection mechanism (5); the telescopic end of the tape ruler (201) is controlled by the tape ruler conveying module (202) to extend and retract, thereby controlling the robot to move on the power transmission line.

3. The coil spring driven transmission line operation mobile robot according to claim 2, characterized in that: The tape conveying module (202) comprises a tape driving wheel (206), a tape driving wheel shaft (207), a tape driving gear (208), a transmission gear (209), a motor gear (210), and a tape driving motor (211); the tape driving motor (211) outputs torque to sequentially drive the motor gear (210), the transmission gear (209), and the two sets of tape driving gears (208) to rotate, and the tape driving wheel shaft (207) coaxially rotating with the tape driving gear (208) further drives the tape driving wheel (206) to rotate to drive the tape (201) to extend and retract.

4. The coil spring driven transmission line operation mobile robot according to claim 3, characterized in that: The tape conveying module (202) further comprises a tape guide wheel (204) and a tape guide wheel shaft (205); the tape guide wheel (204) is mounted on the tape guide wheel shaft (205); and two groups of tape guide wheels (204) are provided on the outer side of the tape conveying module (202) to guide the tape (201) and prevent the tape (201) from slipping.

5. The coil spring driven transmission line operation mobile robot according to claim 1, characterized in that: The walking wheel module (1) comprises a main walking wheel bracket (101), a main walking wheel (102), a main obstacle-crossing parachute (103) and an obstacle-crossing protection frame (104); one end of the main walking wheel bracket (101) is fixedly connected to the second or third side of the rear locking connection mechanism (5); the other end of the main walking wheel bracket (101) is rotationally connected to the main walking wheel (102); the main obstacle-crossing parachute (103) and the obstacle-crossing protection frame (104) are mounted on the outer side of the main walking wheel (102).

6. The coil spring driven transmission line operation mobile robot according to claim 5, characterized in that: The auxiliary running wheel module (4) comprises an auxiliary running wheel bracket (401), an auxiliary running wheel (402), an auxiliary obstacle-crossing umbrella leaf (403) and an obstacle-crossing protection flange (404); one end of the auxiliary running wheel bracket (401) is fixedly connected to the second or third side surface of the front locking connection mechanism (5); the other end of the auxiliary running wheel bracket (401) is rotationally connected to the auxiliary running wheel (402); the auxiliary obstacle-crossing umbrella leaf (403) and the obstacle-crossing protection flange (404) are mounted on the outer side of the auxiliary running wheel (402).

7. The coil spring driven transmission line operation mobile robot according to claim 6, characterized in that: The locking mechanism (3) further comprises a fixing device (301); a pair of locking rotating arms (302) and a pressure wheel seat rod (303) are respectively provided on both sides of the fixing device (301); a pair of rotating shafts are provided inside the fixing device (301); each rotating shaft is connected to one end adjacent to the locking rotating arm (302); one end of the pressure wheel seat rod (303) is rotationally connected to the other end of the locking rotating arm (302), and the connection between the two is driven to rotate by a hydraulic mechanism or an electric mechanism; the pressure wheel seat rod ( One end of the fixing device (303) is rotatably connected to the pressing wheel (304), and the connection between the two is driven to rotate by a hydraulic mechanism or an electric mechanism; the fixing device (301) is connected to the fourth side surface of the locking connection mechanism (5); the rotating shaft is extended from the bottom of the fixing device (301) and is provided with an opening and closing driving gear (305); the opening and closing driving gears (305) on the two rotating shafts are meshed with each other, and then the opening and closing driving gears (305) can be driven by the steering gear to control the opening and closing of the locking mechanism (3) to perform the power transmission line obstacle crossing.

8. The coil spring driven transmission line operation mobile robot according to claim 7, characterized in that: The pressing wheel (304) is located below the main running wheel (102) or the auxiliary running wheel (402).

9. The coil spring driven transmission line operation mobile robot according to claim 1, characterized in that: It also includes a support rod; the first end of the support rod is fixedly connected to the top of the rear locking connection mechanism (5), and the second end of the support rod is slidably connected to the top of the front locking connection mechanism (5).

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