A power transmission overhead line maintenance robot

Abstract

The present application relates to the technical field of overhead line maintenance, and discloses a power transmission overhead line maintenance robot, which comprises a frame type main rack, which provides a stable and symmetrical support base for the robot and an unobstructed passing channel for the wire; a driving assembly, which is responsible for providing power for the robot to walk along the wire and is integrated with an obstacle avoidance sensing function; a pressing mechanism, which is used for clamping the wire in cooperation with the driving assembly during work, providing sufficient normal pressure to overcome the work reaction torque, increasing the driving friction, and preventing the robot from slipping or overturning when walking; a mechanical arm assembly, which is used for carrying an end effector and can move within a certain space range to align the bolt to be worked on, and perform bolt tightening / detaching work; and a main control box, which is used for controlling various electrical elements of the robot as the "brain" and "heart" of the robot. The robot has the ability of autonomous walking along the wire, accurate positioning and bolt tightening / detaching work.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of overhead line maintenance, in particular to a power transmission overhead line maintenance robot. BACKGROUND

[0002] As the main artery of the national power grid, the safe and stable operation of high-voltage power transmission overhead lines is of great importance. Various fittings on the line (such as strain clamps, suspension clamps, connecting bolts, etc.) are exposed to harsh natural environments for a long time. Frequent bolt loosening or rusting failures caused by wind vibration, temperature changes, material creep, etc. are potential hazards that can lead to equipment overheating, sparking, and even wire breakage, etc. Major safety accidents. The traditional manual maintenance method has two major pain points: first, the economic cost of power outage operation is huge, which will have a significant impact on social production and people's life; second, live-line operation is an extreme test of the skills, psychological quality and physical fitness of high-altitude workers, with high safety risks. Although there are some line inspection robots at present, for example, the "overhead line inspection robot" disclosed in application number "2024211768786", but its function is focused on inspection and detection, and it lacks the ability of fine operation for the core maintenance task of bolt tightening and disassembly. Therefore, the development of a special maintenance robot that can replace manual work and realize automatic fine operation under non-power-off state has extremely important practical significance and urgent market demand for ensuring the essential safety of the power grid, improving the technological and intelligent level of operation and maintenance, liberating labor, and reducing the overall economic cost of society. SUMMARY

[0003] In view of the above technical problems in the related art, the present application provides a power transmission overhead line maintenance robot, which can solve the above problems.

[0004] To achieve the above technical purpose, the technical scheme of the present application is as follows:

[0005] A power transmission overhead line maintenance robot, comprising:

[0006] A main body frame, the main body frame comprising two symmetrical and vertically arranged support columns, a support plate one and a support plate two being connected between the two support columns, and an L-shaped wheel carrier being arranged at the top of the support column;

[0007] A drive assembly, the drive assembly comprising a drive wheel connected between the wheel carrier and the support column, and a drive motor one for driving the drive wheel;

[0008] A pressing mechanism, the pressing mechanism comprising a drive assembly connected between the support plate one and the support plate two, a transmission assembly connected to the support column, and a pressing wheel set connected to the transmission assembly through a pressing wheel seat, the drive assembly being drivingly connected to the pressing wheel set through the transmission assembly;

[0009] The mechanical arm assembly comprises a main mechanical arm and a secondary mechanical arm, a ball screw mechanism is connected between the main mechanical arm and the secondary mechanical arm, an end effector and an anti-rotation chuck are oppositely arranged at the top of the main mechanical arm and the secondary mechanical arm, a torque power unit is arranged at the bottom of the main mechanical arm, a transmission unit is arranged inside the shell of the main mechanical arm, the torque power unit is drivingly connected to the end effector through the transmission unit, an electric push rod one is connected between the middle part of the main mechanical arm and the support column, and the end of the torque power unit is connected to the main body frame through a universal hinge joint.

[0010] A main control box for controlling electrical elements is connected between the two support columns and located at the bottom of the main body frame.

[0011] A vision unit is connected to the upper left and right sides of the main body frame, and the vision unit is electrically connected to the main control box.

[0012] Further, the support column is in a C-shaped structure, the support plate one and the support plate two are both connected perpendicularly to the support column, the support plate one is connected to the top of the support column, and the support plate two is located directly below the support plate one.

[0013] Further, a reinforcing truss is arranged between the lower surface of the support plate one and the inner side surfaces of the two support columns and between the upper surface of the support plate two and the inner side surfaces of the two support columns.

[0014] Further, a hanger is arranged at the top end of the main body frame, and the vision unit is a high-definition anti-shake camera.

[0015] Further, the hub of the driving wheel is provided with a V-shaped groove matched with a wire, the outer side of the hub of the driving wheel is wrapped with a rubber layer, the driving motor one is located in the C-shaped groove of the support column, one photoelectric proximity sensor is arranged on the front and rear sides of each driving wheel, and the driving motor one and the photoelectric proximity sensor are both electrically connected to the main control box.

[0016] Further, the driving assembly comprises an L-shaped pull rod one, the bending part of the pull rod one is hinged to the middle part of the support plate one, the two ends of the pull rod one are respectively hinged to a pull rod two and an electric push rod two, the base of the electric push rod two is hinged to the middle part of the support plate two, the output shaft of the electric push rod two is hinged to the pull rod one, one end of the pull rod two is hinged to the pull rod one, and the other end of the pull rod two is hinged to the transmission assembly, and the electric push rod two is electrically connected to the main control box.

[0017] Further, the transmission assembly comprises long connecting rods and short connecting rods connected to the middle part of the support column through hinge pins, the front ends of the long connecting rods and the short connecting rods are connected with wheel seat supports through hinge pins, the long connecting rods, the short connecting rods, the wheel seat supports and the support column constitute a parallel four-bar linkage mechanism, the rear ends of the two groups of long connecting rods are connected with a transmission rod one, one end of the transmission rod two is hinged to the middle part of the transmission rod one, and the upper end of the wheel seat support is connected with a pressing wheel seat.

[0018] Further, the ball screw mechanism comprises a driving motor two, the driving motor two is connected with screw seats one and two through screw transmission, the two ends of the screw seats one and two are connected with the main mechanical arm and the auxiliary mechanical arm through a transmission rod two, the two ends of the transmission rod two are connected with the screw seats and the mechanical arms in a hinged manner, a guide rod is further arranged between the main mechanical arm and the auxiliary mechanical arm, and the driving motor two is electrically connected with the main control box.

[0019] Further, the torque power unit comprises a worm motor with a speed reduction gear, the worm motor and the electric push rod one are electrically connected with the main control box, the transmission unit is a chain transmission member or a synchronous belt transmission member, the anti-rotation chuck is a bolt head sleeve, and the end effector is a set of quick-change sleeve groups.

[0020] A robot operation method comprises the following steps:

[0021] S1, ground system self-checking;

[0022] S2, whether the self-checking is passed? If not, alarm and troubleshoot, if yes, enter the next step;

[0023] S3, the unmanned aerial vehicle hangs the robot and flies to the target wire;

[0024] S4, the unmanned aerial vehicle hovers to place the wire in the driving wheel groove;

[0025] S5, the ground operator sends an instruction, and the pressing mechanism acts;

[0026] S6, the clamping wheel goes up to clamp the wire;

[0027] S7, the unmanned aerial vehicle unhooking and evacuating;

[0028] S8, the operator remotely controls the robot to walk to the operation point;

[0029] S9, whether the front photoelectric sensor detects an obstacle? If yes, automatically stop for emergency and wait for the operator's instruction, if not, enter the next step;

[0030] S10, reaching the vicinity of the target operation point;

[0031] S11, starting the vision unit;

[0032] S12, automatically identifying the bolt and guiding the mechanical arm to accurately align;

[0033] S13, checking whether the visual alignment fails, if yes, attempting to reposition or notifying the operator, recalibrating the parameters and returning to S11, if no, going to the next step;

[0034] S14, the anti-rotation chuck advances to clamp the bolt head;

[0035] S15, the torque power unit performs the tightening / detaching operation;

[0036] S16, checking whether the torque is abnormal, if yes, going to the next step, if no, jumping to S19;

[0037] S17, emergency stop and reporting the fault;

[0038] S18, the work completion mechanism resets;

[0039] S19, checking whether there is a next work point, if yes, returning to S8, if no, going to the next step;

[0040] S20, the robot autonomously returns to the hoisting point;

[0041] S21, the unmanned aerial vehicle flies to the hoisting robot;

[0042] S22, the pressing mechanism releases, and the unmanned aerial vehicle hoists and returns.

[0043] The robot of the application adopts a modular design, including a main body frame, a driving assembly, a pressing mechanism, a mechanical arm assembly and a main control box, and has the abilities of autonomously walking along a guide wire, accurately positioning and tightening / detaching a bolt. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0045] The present application will be further described in detail below according to the drawings.

[0046] Figure 1 is a structural schematic diagram of a power transmission overhead line maintenance robot according to an embodiment of the present application.

[0047] In the drawings:

[0048] 110, support column; 120, support plate one; 130, support plate two; 140, wheel carrier; 150, reinforcing truss; 160, hanging rack; 170, vision unit; 210, drive wheel; 220, drive motor one; 310, compression wheel seat; 320, compression wheel set; 330, pull rod one; 340, pull rod two; 350, electric push rod two; 360, long connecting rod; 370, short connecting rod; 380, wheel seat support; 390, transmission rod one; 410, main mechanical arm; 420, auxiliary mechanical arm; 430, end effector; 440, anti-rotation chuck; 451, drive motor two; 452, screw seat one; 453, screw seat two; 454, guide rod; 460, torque power unit; 500, main control box. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art belong to the scope of protection of the present application.

[0050] As shown in Figure 1 According to the present application, a power transmission overhead line maintenance robot is disclosed, which comprises: a frame type main body frame, which provides a stable and symmetrical support base for the robot and an unobstructed passage for the wire; a drive assembly, which is responsible for providing power for the robot to walk along the wire and is integrated with an obstacle avoidance sensing function; a compression mechanism, which is used to clamp the wire in cooperation with the drive assembly during work, to provide sufficient normal pressure to overcome the work reaction torque, and to increase the driving friction to prevent the robot from slipping or overturning when walking; a mechanical arm assembly, which is used to carry an end effector and can move it within a certain space range to align the bolt to be worked on, to perform bolt tightening / detaching work; a vision unit, which adopts a high-definition anti-shake camera as the eyes of the robot, to collect wire surrounding environment images and mechanical arm assembly working images; and a main control box, which is used as the "brain" and "heart" of the robot to control various electrical elements of the robot.

[0051] In one specific embodiment of the present application, the main body frame includes the support posts 110, the support plate one 120, the support plate two 130 and the wheel frame 140, which are made of aviation-grade high-strength aluminum alloy (such as 7075-T6) and carbon fiber CNC processing, taking into account the structural strength and lightweight requirements. In order to enhance the rigidity and stability of the frame and prevent torsional deformation under load, a reinforcing truss 150 is arranged between the lower surface of the support plate one 120 and the inner side surface of the two support posts 110, and between the upper surface of the support plate two 130 and the inner side surface of the two support posts 110. The reinforcing truss 150 is connected with the main body frame by bolt fastening to form an integral rigid structure. A hanger 160 is provided at the top end of the main body frame for hanging on the unmanned aerial vehicle, which can carry the robot to the target power line through the unmanned aerial vehicle.

[0052] In one specific embodiment of the present application, the number of drive wheels 210 is two, which are symmetrically arranged on the left and right sides of the top of the main body frame, and the drive wheels 210 are connected between the wheel frame 140 and the support post 110. The hub of the drive wheel 210 is made of aluminum alloy CNC processing, and the core is a V-shaped groove structure. This structure is highly matched with the cylindrical shape of the power transmission wire, can automatically center the wire, and avoid derailment caused by wire deviation when the robot is walking. At the same time, the inclined surface of the V-shaped groove can convert the clamping force applied by the pressing mechanism into friction force along the direction of the wire, providing basic power support for walking. The outside of the hub is wrapped with modified nitrile rubber, which has two core functions: first, the high friction coefficient (friction coefficient ≥ 0.8) of the rubber material can maximize the static friction force between the drive wheel and the wire, avoid slipping of the robot under the action of climbing or work torque, and ensure effective transmission of driving force; second, the flexible nature of rubber can buffer the vibration when walking, at the same time protect the surface insulation layer of the wire from being scratched by the metal hub, which meets the requirements of uninterrupted operation for wire protection. The drive wheel 210 is driven by the drive motor one 220 installed in the C-shaped groove of the support post, and the drive motor one 220 adopts high-precision closed-loop stepping motor or direct-current servo motor (for example, 57-step motor, power 100W), which has torque control function. Each motor directly drives one drive wheel, realizing independent driving of double wheels, which is helpful to deal with slight horizontal curves.

[0053] The drive assembly integrates 4 photoelectric proximity sensors, which are respectively installed on the front and rear sides of each drive wheel, forming omnidirectional path monitoring. Its obstacle avoidance logic is as follows:

[0054] Obstacle detection: the sensor emits infrared light in real time, and when it detects that there is an obstacle such as a shock absorber or a wire clamp in front, the light is reflected and triggers a signal.

[0055] Emergency response: the sensor signal is transmitted to the on-board main controller in real time, and the controller immediately interrupts the walking instruction, and the drive motor stops rotating, realizing "stop when encountering obstacles".

[0056] Human-computer collaborative decision: After parking, the controller returns the obstacle position information to the ground terminal, and the operator judges whether to adjust the path or manually control the obstacle crossing to ensure the safety of walking.

[0057] In one specific embodiment of the present application, the pressing mechanism includes two sets of pressing wheel groups 320, each set of pressing wheel groups 320 including two pressing wheels connected to the transmission assembly through the pressing wheel seat 310, the transmission assembly including a long connecting rod 360, a short connecting rod 370, a wheel seat support 380, and a transmission rod one 390, wherein the long connecting rod 360, the short connecting rod 370, the wheel seat support 380, and the support column 110 constitute a parallel four-bar linkage mechanism, which can realize linkage. The transmission rod one 390 is connected to the driving assembly, which includes a pull rod one 330, a pull rod two 340, and an electric push rod two 350, and the electric push rod two 350 drives the transmission assembly through the pull rod one 330 and the pull rod two 340. Due to the "parallel motion characteristics" of the parallel four-bar linkage mechanism, when the four pressing wheels move upward along the fixed track synchronously, they will always maintain consistent contact area with the wire, avoiding local pressure damage to the wire. At this time, the pressing wheels and the driving wheels form an "up-down clamping" of the wire, generating stable positive pressure (which can be accurately controlled by the push rod stroke), providing sufficient friction force for the driving wheels, while offsetting the reaction torque during bolt operation, preventing the robot from overturning.

[0058] The specific working principle of the pressing mechanism is as follows:

[0059] Mounting state: The output shaft of the electric push rod two 350 is retracted, pulling the transmission rod one 390 upward through the pull rod one 330 and the pull rod two 340, thereby causing the end of the long connecting rod 360 installed with the wheel seat support 380 to move downward, in turn driving all the pressing wheels to move downward away from the driving wheel 210, forming an open mounting space, facilitating the rapid entry of the wire into the driving wheel V-shaped groove, and improving the deployment efficiency.

[0060] Working state: The output shaft of the electric push rod two 350 is extended, pushing the transmission rod one 390 downward through the pull rod one 330 and the pull rod two 340, thereby causing the end of the long connecting rod 360 installed with the wheel seat support 380 to move upward, in turn driving all the pressing wheels to move upward to approach the driving wheel 210, firmly clamping the wire between the driving wheel and the pressing wheel, and providing stable clamping force.

[0061] In a specific embodiment of the present application, the mechanical arm assembly includes a main mechanical arm 410, a secondary mechanical arm 420, an electric push rod one, a transmission unit, and a torque power unit 460. The top of the main mechanical arm 410 and the secondary mechanical arm 420 are oppositely provided with an end effector 430 and an anti-rotation chuck 440. The anti-rotation chuck 440 is a bolt head sleeve, and the end effector 430 is a set of quick-change sleeve groups. The anti-rotation chuck 440 corresponds to a bolt group, and the end effector 430 corresponds to a nut of the bolt group. The anti-rotation chuck 440 is used to fix the bolt head and is a key device for preventing the bolt head from rotating. The end effector 430 is used to connect the nut of the bolt group. The nut is tightened or loosened by the torque power unit and the transmission unit. The transmission unit is a chain transmission member or a synchronous belt transmission member arranged in the housing of the main mechanical arm 410. One end of the transmission unit is connected to the output shaft of the torque power unit through an internal spline coupling or a quick-change interface. The other end of the transmission unit is fixed to the end effector through a flange. The torque power unit adopts a compact, high-torque worm motor with a reduction gear (the torque output range is 50-200 N·m). The motor has high torque output, low return backlash, and precise forward and reverse rotation control capability. When the mechanical arm assembly operates on the bolt group, the position of the mechanical arm needs to be adjusted. The main mechanical arm can be pivoted around a universal hinge as a fulcrum and can make a pitching motion in a certain sector under the drive of the electric push rod one output shaft retraction or extension.

[0062] The main mechanical arm and the secondary mechanical arm are connected through a precision ball screw mechanism. The core functions of the ball screw mechanism are as follows:

[0063] (1) Anti-rotation fixation: offset the following torque of the bolt

[0064] The ball screw mechanism is driven by a drive motor two. During operation, the process is as follows: the anti-rotation chuck at the end of the secondary mechanical arm first clamps the bolt head; the end effector at the end of the main mechanical arm is sleeved into the nut; during tightening and loosening operation, the screw motor rotates forward, the distance between the top of the main mechanical arm and the secondary mechanical arm increases, the anti-rotation chuck applies a reverse pressure to the bolt head, and the following torque of the nut when rotating is offset; during tightening operation, the screw motor reverses, the distance between the main mechanical arm and the secondary mechanical arm decreases, the sleeve is stably supported, and the accurate transmission of torque is ensured.

[0065] (2) Distance adjustment: adapt to different bolt specifications

[0066] The transmission accuracy of the ball screw mechanism is 0.05 mm / turn. The distance between the main mechanical arm and the secondary mechanical arm can be accurately adjusted according to the length of the bolt, and the anti-rotation chuck and the sleeve are always in the best operating position (the main mechanical arm 410 and the secondary mechanical arm 420 can be guided by the guide rod 454 during movement, and the movement can be stabilized and the mechanical arm structure can be enhanced).

[0067] A visual unit 170 is installed on the upper part of the main frame. Combined with an AI vision algorithm (position-based visual servoing (PBVS) or image-based visual servoing (IBVS) algorithm), automatic identification and millimeter-level alignment of the bolt can be achieved, and the following process is adopted:

[0068] Camera calibration: The internal parameters of the high-definition anti-shake camera are calibrated in advance to obtain parameters such as focal length, principal point, and distortion coefficient.

[0069] Hand-eye calibration: The coordinate transformation relationship between the optical center of the high-definition anti-shake camera and the end effector is determined.

[0070] Pose estimation: Combined with the known physical size (such as the opposite side distance) of the bolt group, the pixel position of the bolt group in the image, and the calibration parameters of the high-definition anti-shake camera, the three-dimensional space position (X, Y, Z) of the center of the bolt group relative to the camera coordinate system is estimated.

[0071] Motion control: The calculated position deviation is converted into motion instructions for each joint of the robot arm to form a closed-loop control, gradually guiding the anti-rotation chuck and the end effector to accurately align and fit into the bolt group. This process can greatly reduce the workload of manual fine-tuning by the operator.

[0072] In a specific embodiment of the present application, the main control box 500 is connected between the two support columns 110 and located at the bottom of the main frame, and the shell is an aluminum alloy box body that is waterproof, dustproof, and shielded from electromagnetic interference. It provides mechanical mounting interfaces and cable interfaces for all motors, push rods, sensors, and cameras. The box body is built-in with a main controller, a walking motor driver, a torque motor driver, a push rod and screw motor driver set, a sensor interface module, a power management unit, a communication and video transmission module.

[0073] The main controller, as the core processing unit, adopts a high-performance microcontroller (MCU) or single-board computer (SBC) based on ARM Cortex-M7 core. It has rich I / O interfaces, powerful floating-point operation capability, and sufficient processing bandwidth to meet the real-time control requirements of multiple tasks. Its main responsibilities include: running the main control algorithm, processing all sensor data, generating control instructions for each execution motor, and managing the communication protocol with the ground end.

[0074] The walking motor driver is a driver for driving two drive motors 220, which receives pulse / direction or CANopen instructions from the main controller, drives the two drive motors 220, realizes precise speed and position control, and has overcurrent and overvoltage protection functions.

[0075] The torque motor driver is a driver of the torque power unit 460, a worm motor with a speed reduction gear of the torque power unit, has a torque control mode, and can provide constant torque output during tightening operation, so as to ensure that the bolt fastening force meets the preset standard.

[0076] The push rod and screw motor driver set group includes three drivers respectively driving the motor two 451, the electric push rod one, and the electric push rod two 350. The drivers are integrated with a position detection function, and control the accurate extension and positioning of the push rod and the screw.

[0077] The sensor interface module integrates a digital input interface for collecting signals of photoelectric proximity sensors. The main controller scans the states of the sensors in real time, and once an obstacle signal is detected, the walking instruction is interrupted immediately to realize emergency stop. The ADC interface is integrated for future expansion of various analog sensors (such as inclination sensors, current sensors, etc.).

[0078] The power management unit is inputted with a high-energy-density lithium polymer (LiPo) or lithium-ion (Li-ion) battery pack. A multi-channel DC-DC conversion module is included to provide stable and isolated power supplies with different voltage levels (such as 5V, 12V, and 24V) for the controller, the driver, the motor, and the communication equipment. The voltage and current monitoring function is provided to monitor the system power consumption in real time, and an alarm is sent to the ground terminal when the battery voltage is low.

[0079] The communication and video transmission module includes a wireless transmission submodule and a video encoding and image transmission submodule. The wireless transmission submodule adopts an industrial-grade long-distance radio. It is responsible for establishing a bidirectional data transmission link with the ground terminal and transmitting all control instructions and state data (such as sensor states, motor currents, and battery voltages). Its high anti-interference performance ensures the communication reliability in a complex electromagnetic environment. The video encoding and image transmission submodule receives video signals from two high-definition cameras, encodes them in H.264 / H.265, and then sends them to the ground terminal through an independent low-delay digital image transmission system, ensuring that the operator obtains clear and real-time operation pictures.

[0080] In a specific embodiment of the present application, the robot performs the operation by the following steps:

[0081] S0, starting the operation task;

[0082] S1, ground system self-checking (including remote control terminal, unmanned aerial vehicle, and robot);

[0083] S2, whether the self-checking is passed? If not, an alarm is given and the fault is checked, and if yes, the next step is entered;

[0084] S3, the unmanned aerial vehicle hangs the robot and flies to the target wire;

[0085] S4, the unmanned aerial vehicle hovers to place the wire into the drive wheel groove;

[0086] S5, the ground operator sends instructions, and the pressing mechanism acts;

[0087] S6, the clamping wheel ascends to clamp the wire;

[0088] S7, the unmanned aerial vehicle unhooking and evacuating;

[0089] S8, the operator remotely controls the robot to walk to the work point;

[0090] S9, whether the front photoelectric sensor detects an obstacle? If yes, automatically stop for emergency and wait for the operator's instruction (the operator decides to overcome the obstacle, bypass or change the position and hang the device), if not, go to the next step;

[0091] S10, reaching the vicinity of the target work point;

[0092] S11, starting the AI vision system (high-definition anti-shake camera);

[0093] S12, automatically identifying the bolt and guiding the precise alignment of the mechanical arm;

[0094] S13, whether the visual alignment fails? If yes, try to reposition or notify the operator, recalibrate the parameters and return to S11, if not, go to the next step;

[0095] S14, the anti-rotation mechanism (anti-rotation chuck) advances to block the bolt head;

[0096] S15, the torque power unit performs the tightening / detaching work;

[0097] S16, whether the torque is abnormal? If yes, go to the next step, if not, jump to S19;

[0098] S17, emergency stop and report the fault;

[0099] S18, the work completion mechanism resets;

[0100] S19, whether there is a next work point? If yes, return to S8, if not, go to the next step;

[0101] S20, the robot returns to the hoisting point autonomously;

[0102] S21, the unmanned aerial vehicle flies to the hoisting robot;

[0103] S22, the pressing mechanism loosens, and the unmanned aerial vehicle hoists and returns;

[0104] S23, the task ends.

[0105] In a specific embodiment of the present application, the walking speed test, the bolt tightening torque precision test, and the visual recognition accuracy test are performed by the following methods.

[0106] (1) Walking speed test method: Select two typical line scenes, ① straight line segment (horizontal, length 50 m), ② mild climbing segment (slope 5°, length 30 m); send the "uniform speed walking" instruction through the ground control terminal, use the laser speed meter to record the robot walking trajectory and time in real time, and calculate the average speed; repeat the test 5 times for each segment of the scene, and take the average value as the final result.

[0107] The test results are shown in the following table:

[0108] ;

[0109] (2) Bolt tightening torque precision test method: select the following bolt specifications (corresponding to common types of line fittings): ① M16 bolt (set torque 50 N m), ② M16 bolt (set torque 100 N m), ③ M20 bolt (set torque 200 N m); use the torque calibrator to pre-calibrate the robot torque power unit (worm motor with reduction gear), to ensure the initial accuracy; repeat tightening 10 times for each type of bolt, record the actual output torque value of the robot each time, and calculate the "deviation rate of actual value and set value" and "repetition accuracy" (the difference between the maximum deviation and the minimum deviation under the same specification).

[0110] The test results are shown in the following table:

[0111] ;

[0112] (3) Visual recognition accuracy test method: simulate three actual lighting conditions, ① sunny noon (light intensity, 80000 lux), ② overcast day (light intensity, 20000 lux), ③ evening (light intensity, 5000 lux); under each lighting condition, visually recognize 40 bolts on the line (including 10 slightly rusted bolts, 10 non-rusted bolts, 10 slightly oily bolts, and 10 slightly obstructed bolts by leaves); count the "number of successful bolt pose recognition times / total recognition times", and define the "successful recognition" standard: accurately output the three-dimensional coordinates (X, Y, Z) of the bolt center, with a deviation of ≤0.5 mm.

[0113] The test results are shown in the following table:

[0114] ;

[0115] The above merely provides the preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A maintenance robot for power transmission overhead lines, characterized in that it comprises: The utility model relates to a kind of automatic welding machine, including: Main body frame, the main body frame includes two symmetrical and vertical support posts (110), two the support plate one (120) and support plate two (130) are connected between the support post (110), the top of the support post (110) is provided with L-shaped wheel carrier (140); Driving assembly, the driving assembly includes driving wheel (210) connected between the wheel carrier (140) and the support post (110), driving motor one (220) for driving the driving wheel (210); Compression mechanism, the compression mechanism includes drive assembly connected between the support plate one (120) and the support plate two (130), transmission assembly connected on the support post (110), compression wheel group (320) connected on the transmission assembly by compression wheel base (310), the drive assembly is drivenly connected the compression wheel group (320) by transmission assembly; Mechanical arm assembly, including main mechanical arm (410) and auxiliary mechanical arm (420), the main mechanical arm (410) and the auxiliary mechanical arm (420) are connected with ball screw mechanism, the top of the main mechanical arm (410) and the auxiliary mechanical arm (420) is oppositely provided with end effector (430), anti-rotation chuck (440), the bottom of the main mechanical arm (410) is provided with torque power unit (460), the shell inside the main mechanical arm (410) is provided with transmission unit, the torque power unit (460) is drivenly connected the end effector (430) by transmission unit, the middle part of the main mechanical arm (410) is connected with electric push rod one between the support post (110), the end of the torque power unit is connected the main body frame by universal hinge joint; Main control box (500) for controlling each electrical element, the main control box (500) is connected between two the support post (110) and located at the bottom of the main body frame; Visual unit (170) connected to the upper left and right sides of the main body frame, the visual unit (170) is electrically connected the main control box (500); The drive assembly includes L-shaped pull rod one (330), the bend of the pull rod one (330) is hinged to the middle part of the support plate one (120), the two ends of the pull rod one (330) are respectively hinged with pull rod two (340) and electric push rod two (350), the base of the electric push rod two (350) is hinged to the middle part of the support plate two (130), the output shaft of the electric push rod two (350) is hinged the pull rod one (330), one end of the pull rod two (340) is hinged the pull rod one (330), the other end is hinged the transmission assembly, the electric push rod two (350) is electrically connected the main control box (500); The transmission assembly comprises a long connecting rod (360) and a short connecting rod (370) connected to the middle part of the support column (110) through a hinge pin shaft, the front ends of the long connecting rod (360) and the short connecting rod (370) are connected with a wheel seat support (380) through a hinge pin shaft, the long connecting rod (360), the short connecting rod (370), the wheel seat support (380) and the support column (110) constitute a parallel four-bar linkage mechanism, the rear ends of two groups of long connecting rods (360) are connected with a transmission rod one (390), one end of the transmission rod two (340) is hinged to the middle part of the transmission rod one (390), the upper end of the wheel seat support (380) is connected with a pressing wheel seat (310); The ball screw mechanism comprises a driving motor two (451), the driving motor two (451) is connected with a screw seat one (452) and a screw seat two (453) through a screw transmission, the two ends of the screw seat one (452) and the screw seat two (453) are connected with the main mechanical arm (410) and the auxiliary mechanical arm (420) through a transmission rod two, the two ends of the transmission rod two are connected with the screw seat and the mechanical arm in a hinged manner, a guide rod (454) is further arranged between the main mechanical arm (410) and the auxiliary mechanical arm (420), the driving motor two (451) is electrically connected with the main control box (500); The torque power unit (460) comprises a worm motor with a speed reduction gear, the worm motor and the electric push rod one are electrically connected with the main control box (500), the transmission unit is a chain transmission member or a synchronous belt transmission member, the anti-rotation chuck (440) is a bolt head sleeve, and the end effector (430) is a set of quick-change sleeve groups.

2. A maintenance robot for electric transmission overhead lines according to claim 1, characterized in that, The support column (110) has a C-shaped structure, the support plate one (120) and the support plate two (130) are both connected with the support column (110) perpendicularly, the support plate one (120) is connected to the top of the support column (110), and the support plate two (130) is located directly below the support plate one (120).

3. A maintenance robot for electric transmission overhead lines according to claim 2, characterized in that, The inner side surfaces of the two support columns (110) are provided with a reinforcing truss (150) between the lower surface of the support plate one (120) and the upper surface of the support plate two (130).

4. The power transmission overhead line maintenance robot according to claim 1, characterized in that, The top end of the main body rack is provided with a hanging rack (160), and the visual unit (170) is a high-definition anti-shake camera.

5. A maintenance robot for electric transmission overhead lines according to claim 1, characterized in that, The hub of the driving wheel (210) is provided with a V-shaped groove matched with a guide wire, the outer side of the hub of the driving wheel (210) is wrapped with a rubber layer, the driving motor one (220) is located in the C-shaped groove of the support column (110), each driving wheel (210) is provided with an optical proximity sensor on the front and rear sides, and the driving motor one (220) and the optical proximity sensor are both electrically connected with the main control box (500).

6. A work method of the robot as claimed in any one of claims 1 to 5, characterized in that, Comprise the following steps: S1, ground system self-check; S2, whether the self-check is passed? If not, alarm and troubleshoot, if yes, enter the next step; S3, unmanned aerial vehicle hanging robot flies to the target wire; S4, unmanned aerial vehicle hovers and places the wire in the drive wheel groove; S5, ground operator sends instructions, and the compression mechanism acts; S6, the clamping wheel goes up and clamps the wire; S7, unmanned aerial vehicle unhooking and evacuation; S8, operator remotely controls the robot to walk to the work point; S9, whether the front photoelectric sensor detects obstacles? If yes, automatically stop for emergency and wait for operator's instruction, if not, enter the next step; S10, arrive near the target work point; S11, start the vision unit; S12, automatically identify the bolt and guide the mechanical arm to accurately align; S13, whether the visual alignment fails, if yes, try to reposition or notify the operator, recalibrate the parameters and return to S11, if not, enter the next step; S14, anti-rotation chuck advances and clamps the bolt head; S15, torque power unit performs tightening / detaching work; S16, whether the torque is abnormal, if yes, enter the next step, if not, jump to S19; S17, emergency stop and report fault; S18, work completion mechanism resets; S19, whether there is a next work point, if yes, return to S8, if not, enter the next step; S20, the robot returns to the hoisting point automatically; S21, unmanned aerial vehicle flies to the hanging robot; S22, the compression mechanism loosens, and the unmanned aerial vehicle hoists and returns.

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