Mobile robot for power transmission line blocking operation

Abstract

The invention discloses a mobile robot for power transmission line blocking operation. The mobile robot comprises an upper supporting piece; the side face supporting pieces are installed on the two sides of the upper supporting piece; the lower closed protection part is installed on the side face supporting part and can assist the robot in getting on and off the line; the walking wheel mechanism is installed on the upper supporting piece and the side face supporting piece and used for walking on the power transmission line wire; the driving mechanism is in transmission connection with the walking wheel mechanism and can drive the walking wheel mechanism; at least two pay-off mechanisms and a visual mechanism; according to the device, an operator does not need to climb up and down a tower, the safety protection performance is good in the walking process of a power transmission line wire, the problem that the robot falls due to accidents is solved, the danger coefficient caused by high-altitude operation is remarkably reduced, the overall safety of network blocking operation is enhanced, and the robot can climb up and down a line nearby at the position needing network blocking; and the blocking operation efficiency is effectively improved.

Description

Technical Field

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

[0002] With the significant acceleration of power grid construction, the scale of transmission line networks has seen explosive growth. Laying new lines frequently faces the challenges of crossing complex terrain and existing infrastructure (such as railways, highways, and high-voltage lines), dramatically increasing construction difficulty and safety risks. Especially when conducting line stringing operations in live lines, the risk of electric shock and potential line failures make it a high-risk operation, urgently requiring innovative solutions to ensure worker safety and reduce the risk of accidents.

[0003] Currently, the installation and removal of insulation mesh is primarily performed manually at high altitudes. This process is not only limited by complex environmental conditions such as nighttime operations and extreme temperatures, but also exposes workers to the dual threats of falling from heights and electric shock. Therefore, this project focuses on addressing the high risks and operational bottlenecks associated with manual mesh sealing operations on 35kV to 220kV transmission lines, aiming to develop an intelligent mesh sealing robot system. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is that the operation risk is high.

[0005] The above technical problem is solved by the following technical solution: The present invention provides a mobile robot for power transmission line sealing operations, which includes an upper support member;

[0006] Side support members, the side support members are installed on both sides of the upper support member;

[0007] A lower closing guard, which is mounted on the side support and can assist the robot in completing the up and down lines;

[0008] A running wheel mechanism, the running wheel mechanism being mounted on the upper support member and the side support member and being used for running on the transmission line conductor;

[0009] A driving mechanism, the driving mechanism being in transmission connection with the traveling wheel mechanism and capable of driving the traveling wheel mechanism;

[0010] At least two pay-off mechanisms and a visual mechanism;

[0011] The pay-off mechanism is installed on the side support to assist the robot in going online and offline; the visual mechanism is installed on the side support to collect and display videos during the operation.

[0012] In a preferred embodiment of the mobile robot for power transmission line sealing operations described in the present invention: the walking wheel mechanism includes at least four active walking wheels and at least three passive walking wheels; the passive walking wheels are installed in the vertical direction of the conductor and can passively rotate as the robot walks to increase friction.

[0013] In a preferred embodiment of the mobile robot for power transmission line sealing operations of the present invention: the driving mechanism includes a first motor, a second motor, a first synchronous pulley, a second synchronous pulley, a third synchronous pulley, a first synchronous belt, and a second synchronous belt;

[0014] The number of the active running wheels is four, namely a first running wheel, a second running wheel, a third running wheel, and a fourth running wheel;

[0015] The first synchronous pulley is installed on the output shaft of the first motor, and the second synchronous pulley and the third synchronous pulley are installed on the first traveling wheel and the second traveling wheel respectively;

[0016] The first synchronous pulley is connected to the second synchronous pulley through the first synchronous belt, and is connected to the third synchronous pulley through the second synchronous belt to drive the first and second walking wheels to rotate synchronously; the second motor uses the same transmission method to drive the third and fourth walking wheels to rotate synchronously.

[0017] In a preferred embodiment of the mobile robot for power transmission line sealing operations described in the present invention: it also includes a third motor, a gear and a rack; the rack is installed on the lower closed protective member, and the gear is installed on the output shaft of the third motor and engages with the rack; the third motor drives the gear to rotate, driving the rack to move, and can open and close the lower closed protective member.

[0018] In a preferred embodiment of the mobile robot for power transmission line sealing operations described in the present invention: the line-releasing mechanism includes a safety rope motor, a safety rope and a falling iron block; the safety rope is wound around the output shaft connector of the safety rope motor, and the falling iron block is tied to the end of the safety rope; the safety rope motor can release and retract the safety rope by rotating.

[0019] In a preferred embodiment of the mobile robot for power transmission line sealing operations according to the present invention, the upper support member is provided with a drone docking interface for connection with a drone.

[0020] In a preferred embodiment of the mobile robot for power transmission line sealing operations described in the present invention: it also includes a first docking member and a second docking member, the first docking member and the second docking member are installed on the side support member, and an electromagnet is provided inside for docking with the sealing operation tool.

[0021] In a preferred embodiment of the mobile robot for power transmission line sealing operations according to the present invention: the visual mechanism is installed on a side support member.

[0022] In a preferred embodiment of the mobile robot for power transmission line sealing operations of the present invention: the wire-releasing mechanism comprises at least a second wire-releasing member and a third wire-releasing member;

[0023] When the robot goes online, the safety rope motors of the second and third pay-off members release the safety rope. After the drone pulls the safety rope across the wire, it pulls the robot to the wire and closes the lower closing protective member.

[0024] In a preferred embodiment of the mobile robot for power transmission line sealing operations described in the present invention: the line-releasing mechanism also includes a first line-releasing member; when the robot goes offline, the safety rope motors of the first line-releasing member, the second line-releasing member and the third line-releasing member all release the safety ropes, and after opening the lower closed protective member, the safety rope of the first line-releasing member is pulled and the safety ropes of the second and third line-releasing members are released synchronously.

[0025] The beneficial effects of the present invention are that the device does not require operators to go up and down the pole tower, and has good safety protection during the movement of transmission line conductors, preventing the robot from falling due to accidents, thereby significantly reducing the risk factor brought by high-altitude operations and enhancing the overall safety of network sealing operations. The robot can go up and down the line near the location where the network needs to be sealed, effectively improving the efficiency of the network sealing operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings of the embodiments of the present invention. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Among them:

[0027] Figure 1 The overall structure of the mobile robot used for power transmission line sealing operations is shown;

[0028] Figure 2 A front view of a mobile robot used for power transmission line sealing operations is shown;

[0029] Figure 3 Shows a schematic structural diagram of the walking wheel mechanism;

[0030] Figure 4 shows a schematic structural diagram of the driving mechanism;

[0031] Figure 5 shows a schematic structural diagram of the lower closing guard;

[0032] Figure 6 The first state diagram of the robot's online process is shown;

[0033] Figure 7 The second state diagram of the robot's online process is shown;

[0034] Figure 8 The third state diagram of the robot's online process is shown;

[0035] Figure 9 The fourth state diagram of the robot's online process is shown;

[0036] Figure 10 A diagram showing a first state of the robot docking with a network sealing tool is shown;

[0037] Figure 11 A diagram showing the second state of the robot docking with the network sealing tool is shown. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below with reference to specific embodiments and the accompanying drawings.

[0039] The terms used in the present invention are those commonly used in the art in view of the functions of the present invention, but these terms may vary according to the intentions of those skilled in the art, precedents, or new technologies in the art. In addition, specific terms may be selected by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the present invention. Therefore, the terms used in the specification should not be understood as simple names, but rather as the meanings of the terms and the overall description of the present invention.

[0040] Reference Figure 1 , this embodiment provides a mobile robot for power transmission line sealing operations, including the mobile robot for power transmission line sealing operations, wherein the upper support member 100 serves as the main load-bearing basic structure of the robot and provides installation support for other components; the side support members 200 are symmetrically installed on both sides of the upper support member 100, which not only connects and fixes other components, but also provides lateral support for the overall structure of the robot, thereby enhancing overall stability; the lower closed protective member 300 is assembled on the side support member 200, which can achieve cooperation with the power transmission line through opening and closing actions. When the robot needs to go online or offline, the open state assists the robot to smoothly complete the docking or separation with the wire. During the robot's walking operation along the wire, the lower closed protective member 300 is in a closed state, which can form a surrounding protection for the robot, prevent the robot from falling from the wire in an accidental situation, and improve the safety of the operation.

[0041] The walking wheel mechanism 400 is installed on the upper support member 100 and the side support member 200. Its structure is adapted to the shape of the transmission line conductor. It can stably fit on the conductor and move along the extension direction of the conductor, providing a basis for the robot to move on the conductor; the driving mechanism 500 and the walking wheel mechanism 400 are powered by a transmission assembly, which can output power to drive the walking wheel mechanism 400 to operate, thereby driving the robot to complete forward, backward and other movement movements on the conductor.

[0042] At least two pay-off mechanisms 600 are mounted on the side support member 200. Each pay-off mechanism 600 includes components for releasing and retrieving the cable. Through the cable release and retrieving actions, the robot is pulled by external auxiliary equipment such as a drone to assist the robot in completing the online and offline operations.

[0043] The visual mechanism 700 is installed on the side support 200. It includes components for image acquisition and signal transmission components. It can collect video information of the surrounding environment and the working area in real time during the operation of the robot, and transmit the collected video signal to the external display terminal, providing the operator with visual operation status monitoring, so as to facilitate timely understanding of the operation status and make corresponding operational adjustments.

[0044] At least four active walking wheels 401 in the walking wheel mechanism 400 are used to provide active driving force for the robot to walk along the transmission line conductor. Their setting method is adapted to the structure of the transmission line, and is arranged laterally to fit the surface of the conductor. Through the transmission connection with the driving mechanism 500, they rotate synchronously when the driving mechanism 500 outputs power, driving the robot to move forward and backward along the conductor.

[0045] At least three passive walking wheels 402 are installed along the vertical direction of the wire, and their positions are coordinated with the active walking wheels 401. When the robot walks, the passive walking wheels 402 contact the surface of the wire and passively rotate as the robot moves. On the one hand, the contact with the wire increases the friction during walking, thereby improving the stability of the robot walking on the wire and preventing slipping. On the other hand, the setting of the passive walking wheels 402 can provide auxiliary support for the robot in a direction perpendicular to the wire, and work together with the active walking wheels 401 to enhance the fit between the robot and the wire, thereby improving safety during walking.

[0046] In the driving mechanism 500, the first motor 501 and the second motor 502 provide power sources for the robot to walk, and both are installed on the frame 102 fixedly connected to the upper support member 100; the first synchronous pulley 503 is fixedly installed on the output shaft of the first motor 501 and rotates synchronously with the rotation of the first motor 501; the second synchronous pulley 504 is installed on the first walking wheel 401a, and the third synchronous pulley 505 is installed on the second walking wheel 401b, and the first walking wheel 401a and the second walking wheel 401b are both set laterally to adapt to the active walking wheel 401 of the power transmission line; the first synchronous pulley 503 is fixedly installed on the output shaft of the first motor 501 and rotates synchronously with the rotation of the first motor 501; the second synchronous pulley 504 is installed on the first walking wheel 401a, and the third synchronous pulley 505 is installed on the second walking wheel 401b. The walking pulley 503 forms a transmission connection with the second synchronous pulley 504 through the first synchronous belt 506, and at the same time forms a transmission connection with the third synchronous pulley 505 through the second synchronous belt 507. When the first motor 501 starts and drives the first synchronous pulley 503 to rotate, the power is transmitted to the second synchronous pulley 504 through the first synchronous belt 506, driving the first walking wheel 401a to rotate, and at the same time is transmitted to the third synchronous pulley 505 through the second synchronous belt 507, driving the second walking wheel 401b to rotate, thereby realizing the synchronous rotation of the first walking wheel 401a and the second walking wheel 401b.

[0047] The second motor 502 adopts the same transmission method as the first motor 501, that is, through the cooperation of the corresponding synchronous pulley and the synchronous belt, the power is transmitted to the third walking wheel 401c and the fourth walking wheel 401d, driving the third walking wheel 401c and the fourth walking wheel 401d to rotate synchronously; through this synchronous belt transmission method, the stability of the robot is ensured when walking on the transmission line conductor, providing a stable driving force for the robot to move along the conductor.

[0048] The third motor 508 is mounted on the side support member 200 through a connecting member, and the gear 509 is fixedly mounted on the output shaft of the third motor 508 and rotates synchronously with the rotation of the third motor 508. The rack 510 is mounted on the lower closing guard member 300, and the gear 509 and the rack 510 are in a meshing state.

[0049] When the third motor 508 starts and rotates forward, its output shaft drives the gear 509 to rotate forward. Through the meshing transmission between the gear 509 and the rack 510, the rack 510 moves accordingly with the rotation of the gear 509, thereby driving the lower closing guard 300 to open, so as to cooperate with the robot to complete the online or offline operation.

[0050] When the third motor 508 is reversed, the gear 509 rotates in the opposite direction, and the rack 510 is driven to move in the opposite direction through the meshing transmission, so that the lower closed protective member 300 is closed. At this time, when the robot is walking along the power line conductor, the closed lower closed protective member 300 can form a surrounding protection for the robot to prevent the robot from falling from the conductor in an accident. The lower closed protective member 300 can be opened and closed by the third motor 508, the gear 509 and the rack 510.

[0051] The safety rope motor in the line-releasing mechanism 600 is installed on the side support 200 through a connector, and a connector for winding the safety rope is provided on its output shaft. The safety rope is arranged on the connector in a winding manner, and a falling iron block is tied to the end of the safety rope. The falling iron block can keep the safety rope in a drooping state with the help of its own gravity when the safety rope is released, so as to facilitate the cooperation between the safety rope and an external traction component such as the traction rope of a drone.

[0052] When the safety rope motor rotates forward, its output shaft drives the connecting part to rotate synchronously, so that the safety rope wrapped around the connecting part is gradually released, extending the external length of the safety rope, which can meet the safety rope length requirements during the robot's online or offline process.

[0053] When the safety rope motor rotates in the reverse direction, the output shaft drives the connector to rotate in the reverse direction, rewinding and recovering the extended safety rope, shortening the extended length of the safety rope, and realizing the storage of the safety rope; through the control of the safety rope motor on the release and recovery of the safety rope, combined with the gravity of the falling iron block, the line-releasing mechanism 600 can provide traction assistance for the robot's online and offline operations.

[0054] The drone docking port 101 provided on the upper support member 100 has a structure that is compatible with the corresponding interface designed on the drone; when the robot needs to use the drone to complete the online or offline operation, the drone is docked and fixed with the drone docking port 101 of the upper support member 100 through its own corresponding interface. The drone can then assist the robot to move to the position of the transmission line conductor through traction, positioning, etc. to complete the online process. During the offline process of the robot, the drone stabilizes the robot's posture through docking and helps the robot to break away from the conductor.

[0055] The first docking member 800 and the second docking member 900 are both installed on the side support member 200, and both are equipped with electromagnets inside. The electromagnets can generate magnetic force by turning on the power and eliminate the magnetic force by turning off the power. During the net sealing operation, when it is necessary to dock the net sealing operation tool, the electromagnets in the first docking member 800 or the second docking member 900 are energized to generate magnetic force, and the magnetic adsorption effect is used to achieve a stable docking with the net sealing operation tool to ensure that the operation tool does not fall off during the movement or operation of the robot.

[0056] When the corresponding operation is completed and separation is required, the electromagnet is powered off, the magnetic force disappears, and the first docking part 800 or the second docking part 900 is separated from the net sealing operation tool. Through this docking structure with electromagnets, the robot and the net sealing operation tool can be docked and separated in a controllable manner.

[0057] The visual mechanism 700 is installed on the side support 200, and its position is set to cover the main operating area of ​​the robot and the surrounding environment. During the robot's power line sealing operation, the visual mechanism 700 can collect video information of the operating area in real time, including the status of the power transmission line, the docking status of the sealing operation tools, and the relative position of the robot and the wire, and transmit the collected video information to the external display terminal, so that the operator can grasp the progress of the operation and adjust the robot's movements in time.

[0058] The line-releasing mechanism 600 includes at least a second line-releasing member 602 and a third line-releasing member 603. During the line-releasing operation, the safety rope motors of the second line-releasing member 602 and the third line-releasing member 603 rotate synchronously first, releasing the safety ropes wrapped around them outward, causing the safety ropes to gradually droop; then, the external traction rope is tied together with these two safety ropes, and the drone carries the traction rope across the power transmission line to be operated, and uses the tension of the traction rope to drive the safety ropes of the second line-releasing member 602 and the third line-releasing member 603 to cross the wire together.

[0059] Under the traction of the safety rope, the robot moves toward the conductor. When the robot passes the lower conductor of the double-split conductor and approaches the upper conductor, the lower closed protective piece 300 opens to adapt to the position of the conductor; the safety ropes of the second and third pay-off pieces 602 and 603 continue to apply tension to the robot, and after the robot is pulled to the appropriate position on the conductor, the lower closed protective piece 300 closes, thereby completing the docking of the robot and the conductor and realizing the online operation.

[0060] The wire-paying mechanism 600 further includes a first wire-paying member 601 , which cooperates with a second wire-paying member 602 and a third wire-paying member 603 to complete the robot's offline operation.

[0061] When the robot needs to go offline, the safety rope motor of the first pay-off member 601 rotates first to release its safety rope. At the same time, the safety rope motors of the second pay-off member 602 and the third pay-off member 603 also rotate synchronously to release their respective safety ropes, so that all three safety ropes are in an external state to provide sufficient length.

[0062] Subsequently, the lower closed protective member 300 is opened, and the operator pulls the safety rope of the first wire-releasing member 601 on one side of the wire, applying a pulling force toward the outside of the wire to the robot, and at the same time synchronously controls the safety rope motors of the second wire-releasing member 602 and the third wire-releasing member 603 to continue releasing the safety ropes, keeping the two safety ropes in a relaxed state that can move with the robot.

[0063] Through the pulling force of the safety rope of the first pay-off member 601 and the synchronous release of the safety ropes of the second and third pay-off members 603, the robot is guided to gradually separate from the power transmission line, and finally the robot is smoothly removed from the line.

[0064] Finally, it should be pointed out that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways without departing from the scope of the present invention.

Claims

1. A mobile robot for power transmission line sealing operations, characterized by: include, Upper support member (100); Side support members (200), the side support members (200) being installed on both sides of the upper support member (100); a lower closure guard (300), the lower closure guard (300) being mounted on the side support member (200); A walking wheel mechanism (400), the walking wheel mechanism (400) being mounted on the upper support member (100) and the side support member (200) and being used for walking on the transmission line conductor; a driving mechanism (500), the driving mechanism (500) being in transmission connection with the traveling wheel mechanism (400) and capable of driving the traveling wheel mechanism (400); At least two pay-off mechanisms (600) and a visual mechanism (700); The pay-off mechanism (600) is mounted on the side support member (200) and is used to assist the robot in getting on and off the line; the visual mechanism (700) is mounted on the side support member (200) and is used for video acquisition and display during the operation process.

2. The mobile robot for power transmission line sealing operations according to claim 1, characterized in that: The walking wheel mechanism (400) comprises at least four active walking wheels (401) and at least three passive walking wheels (402); the passive walking wheels (402) are installed in a direction perpendicular to the wire and can passively rotate as the robot walks to increase friction.

3. The mobile robot for power transmission line sealing operations according to claim 2, characterized in that: The driving mechanism (500) comprises a first motor (501), a second motor (502), a first synchronous pulley (503), a second synchronous pulley (504), a third synchronous pulley (505), a first synchronous belt (506), and a second synchronous belt (507); The number of the active running wheels (401) is four, namely a first running wheel (401a), a second running wheel (401b), a third running wheel (401c), and a fourth running wheel (401d); The first synchronous pulley (503) is mounted on the output shaft of the first motor (501), and the second synchronous pulley (504) and the third synchronous pulley (505) are mounted on the first running wheel (401a) and the second running wheel (401b) respectively; The first synchronous pulley (503) is connected to the second synchronous pulley (504) through a first synchronous belt (506), and is connected to the third synchronous pulley (505) through a second synchronous belt (507), so as to drive the first and second running wheels (401b) to rotate synchronously; the second motor (502) uses the same transmission method to drive the third and fourth running wheels (401d) to rotate synchronously.

4. The mobile robot for power transmission line sealing operations according to claim 1, characterized in that: The invention also includes a third motor (508), a gear (509) and a rack (510); the rack (510) is installed on the lower closed protective member (300), and the gear (509) is installed on the output shaft of the third motor (508) and meshes with the rack (510); the third motor (508) drives the gear (509) to rotate, thereby driving the rack (510) to move, thereby being able to open and close the lower closed protective member (300).

5. The mobile robot for power transmission line sealing operations according to claim 1, characterized in that: The line-releasing mechanism (600) comprises a safety rope motor, a safety rope and a falling iron block; The safety rope is wound around the safety rope motor output shaft connector, and the falling iron block is tied to the end of the safety rope; the safety rope motor can release and recycle the safety rope by rotating.

6. The mobile robot for power transmission line sealing operations according to claim 1, characterized in that: The upper support member (100) is provided with a drone docking port (101) for connecting with a drone.

7. The mobile robot for power transmission line sealing operations according to claim 1, characterized in that: It also includes a first docking member (800) and a second docking member (900), The first docking member (800) and the second docking member (900) are mounted on the side support member (200), and are provided with electromagnets therein for docking with the net sealing operation tool.

8. The mobile robot for power transmission line sealing operations according to claim 1, characterized in that: The visual mechanism (700) is mounted on the side support member (200).

9. The mobile robot for power transmission line sealing operations according to claim 5, characterized in that: The wire-releasing mechanism (600) comprises at least a second wire-releasing member (602) and a third wire-releasing member (603); When the robot goes online, the safety rope motors of the second pay-off member (602) and the third pay-off member (603) release the safety rope, and after the safety rope is pulled across the wire by the drone, the robot is pulled to the wire and the lower closing protective member (300) is closed.

10. The mobile robot for power transmission line sealing operations according to claim 5, characterized in that: The wire-releasing mechanism (600) further comprises a first wire-releasing member (601); when the robot is offline, the safety rope motors of the first wire-releasing member (601), the second wire-releasing member (602) and the third wire-releasing member (603) all release the safety ropes, and after the lower closed protective member (300) is opened, the safety rope of the first wire-releasing member (601) is pulled and the safety ropes of the second and third wire-releasing members (603) are released.

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