A smart robotic arm for line inspection

Abstract

This invention relates to the field of robotic arm technology, specifically to an intelligent robotic arm for power line inspection, comprising: an end effector assembly including two hinged, opening and closing grippers that, when closed, are fitted onto a high-voltage power line and slide along it; an opening and closing drive assembly for driving the two grippers to perform opening and closing actions along the hinged rotation axis; split current transformers, each installed in one of the grippers, forming a closed magnetic core ring when the grippers are closed, thereby inducing electrical energy from the high-voltage power line; a circuit system module integrated on one of the grippers and electrically connected to the split current transformer for processing the electrical energy obtained by the split current transformer; and an extension arm connecting the robot and the grippers for delivering the end effector assembly to the installation position on the high-voltage power line. This intelligent robotic arm for power line inspection enables dynamic charging of the inspection robot, eliminating limitations imposed by the charging method and improving the robot's working efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to an intelligent robotic arm for line inspection. Background Technology

[0002] With the continuous development of automation and intelligent technologies, mobile inspection robots have been widely used in various fields, replacing manual labor in performing repetitive, dangerous, and tedious inspection tasks, greatly improving the efficiency and safety of inspection work.

[0003] In the field of power line inspection, due to the natural environment in which power lines are laid, traditional manual inspections are inefficient and dangerous for inspectors. Mobile inspection robots have effectively solved these problems, leading to the development of various inspection robots, including ground inspection, line-walking inspection, and aerial drone inspection. However, the stable operation of inspection robots in current technology depends on a continuous and stable power supply. The natural environment of power line inspection severely limits the power supply system. Traditional fixed wired power supply, although using drag cables or sliding contacts for continuous power supply, is prone to wear at the contact points and cable tangling in inclement weather. Battery power supply is currently a common solution, relying on internal batteries, but this power supply method is limited by battery capacity and cannot perform tasks continuously for long periods. Battery swapping platforms require the deployment of battery swapping machinery and backup batteries along the line, resulting in high costs and higher requirements for robot intelligence, thus limiting their widespread adoption.

[0004] The aforementioned power supply mode for the inspection robot severely restricts its freedom of movement and long-term operational capability, thus significantly limiting its range of motion and flexibility. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the problem that the charging mode in the prior art greatly limits the robot's range of movement and flexibility.

[0006] To solve the above-mentioned technical problems, the present invention provides an intelligent robotic arm for line inspection, comprising: an end effector assembly, including two hinged opening and closing claws, the two claws being arranged in a mirror symmetrical manner, and when the two claws are closed along the hinge rotation axis, they are sleeved on the high-voltage transmission line and slide along the high-voltage transmission line;

[0007] An opening and closing drive assembly is used to drive two pawls to perform opening and closing actions along the hinge rotation axis;

[0008] The split current transformer is installed in two sleeves. When the two sleeves are closed, they can form a closed magnetic core ring that surrounds the high-voltage transmission line and obtain the electrical energy of the high-voltage transmission line through induction.

[0009] The circuit system module, integrated on one of the sleeves, is electrically connected to the split current transformer and is used to process the electrical energy obtained by the split current transformer.

[0010] Extend the extension arm to connect the robot and the gripper, and use it to deliver the end effector assembly to the high-voltage power line installation location;

[0011] The extension arm delivers the end effector assembly to the installation position, where the opening and closing drive assembly drives the two claws to close and fit onto the high-voltage power line. When the robot is working, it slides along the high-voltage power line. The split current transformer obtains the electrical energy from the high-voltage power line, which is then processed by the circuit system module to power the robot.

[0012] In one embodiment of the present invention, the claw includes:

[0013] The outer shell is a semi-cylindrical structure with a transition.

[0014] The rotating locking structure is installed on the outer shell body and locks in place when the outer shell body is closed;

[0015] A set of end shells, each in a semi-circular ring shape, are flanged to both ends of the outer shell body, and the end shells at the same end of the two sleeves are hinged.

[0016] Each end housing is equipped with a first limiting component and a second limiting component, with the angle between the first limiting component and the second limiting component being 90 degrees.

[0017] When the two claws are closed, the first limiting component installed at the same end forms a mirror-symmetrical combination of upper and lower limits for the high-voltage transmission line, and the second limiting component installed at the same end forms a mirror-symmetrical combination of left and right limits for the high-voltage transmission line. The upper and lower limit combinations at different ends are adjusted according to the sag of the high-voltage transmission line.

[0018] In one embodiment of the present invention, the outer shell body is integrally formed and comprises:

[0019] The main section is used to install split-type current transformers;

[0020] The transition section is symmetrically connected to both ends of the main body section. It smoothly transitions outward from the main body section and is tapered in shape. It has heat dissipation grooves evenly distributed on it for air circulation and heat dissipation.

[0021] The connecting section is symmetrically connected to the end of the transition section and is used to install the rotating locking structure. The end housing flange is connected to the end of the connecting section.

[0022] The outer diameter of the end shell is the same as that of the main body section.

[0023] In one embodiment of the present invention, a vibration damping assembly is installed on the connecting section, the vibration damping assembly comprising:

[0024] The outer flexible sleeve is made of a flexible, insulating, and highly abrasion-resistant material;

[0025] The internal high-viscosity fluid is filled in the external flexible sleeve and constrained by the external flexible sleeve;

[0026] A connecting support plate is installed around the outer flexible sleeve to maintain its shape.

[0027] When the two claws are closed, the outer flexible sleeve wraps around the high-voltage transmission line to eliminate small-amplitude high-frequency vibrations of the high-voltage transmission line.

[0028] In one embodiment of the present invention, the transition section is semi-conical and tapers from the main body section to the connecting section with a taper of 15-30 degrees. When the two sleeves are closed, the diameter of the connecting section at the same end is smaller than the diameter of the main body section when closed.

[0029] In one embodiment of the present invention, a fine-tuning structure is provided between the split current transformer and the inner sidewall of the main body section, the fine-tuning structure comprising:

[0030] Three or more micro-motion elements are installed separately and hinged on the inner side wall of the main body section. The three micro-motion elements are supported at three points and are used to adjust the position of the split current transformer.

[0031] Heat dissipation bracket, used to install split current transformers and dissipate the heat generated during their operation for rapid heat dissipation;

[0032] Each micro-motion element's output terminal is hinged to a heat sink bracket. When the two claws are closed, the action of different micro-motion elements is adjusted to adjust the closed magnetic core ring of the split current transformer to be coaxial with the high-voltage transmission line.

[0033] In one embodiment of the present invention, the rotating locking structure includes:

[0034] The tile-type latch is semi-cylindrical and fits against the inner wall of the connecting section. The inner wall of the connecting section is provided with a set of support grooves. The two ends of the tile-type latch are slidably installed in the support grooves, and the two ends of the support grooves are open.

[0035] When the two sets of claws are closed, one end of the tile-type latch slides out along the support groove and enters the support groove of the other outer shell body;

[0036] The connecting base is installed and fixed on the outer arc surface of the tile-type lock. The connecting section has a limit slot. The connecting base moves from one end of the limit slot to the other end to complete the locking action of the tile-type lock.

[0037] The driving device is used to drive the connecting base to slide within the limiting slot.

[0038] In one embodiment of the present invention, the driving device includes:

[0039] The transmission unit is fixedly installed on the connecting base. It is a transmission gearbox structure with a worm gear structure. The power input end is the worm, and the power output end is the gear.

[0040] The drive unit is fixedly mounted on the transmission unit and connected to the worm gear transmission at the power input end of the transmission unit.

[0041] The rack is an arc-shaped structure that is fixedly installed against the outer wall of the connecting section, and its teeth mesh with the gear at the power output end of the transmission unit.

[0042] In one embodiment of the present invention, it further includes:

[0043] Multiple image acquisition units are used to acquire images of the relative position of high-voltage transmission lines with respect to split current transformers;

[0044] The image processing unit is used to analyze the relative position image and calculate the offset between the high-voltage transmission line and the closed circle of the split current transformer.

[0045] The control processor outputs a control signal based on the offset to adjust the spatial position of the split current transformer.

[0046] In one embodiment of the present invention, the image acquisition unit, the image processing unit, the control processor, the first limit component, and the micro-motion element together constitute a real-time feedback closed-loop control system, and the control method of the real-time feedback closed-loop control system is as follows:

[0047] Multiple image acquisition units acquire the relative positions of the high-voltage transmission line and the current inductor coil from multiple angles to obtain relative position images;

[0048] The image processing unit analyzes the relative position image and calculates the offset between the high-voltage transmission line and the closed circle of the split current transformer.

[0049] The control processor outputs a control signal based on the offset to control the upper and lower limit combinations composed of the first limit components to adjust, ensuring that it slides on the high-voltage transmission line.

[0050] Control the micro-motion element to adjust the closed magnetic core ring of the split current transformer to make it coaxial with the high-voltage transmission line.

[0051] Compared with the prior art, the above-mentioned technical solution of the present invention has the following advantages: a set of opening and closing mechanical structures is closed and sleeved on the high-voltage transmission line, so that it can generate electricity by induction using the magnetic field of the high-voltage line without affecting its sliding along the conductor. The induced electricity obtained is rectified and regulated to power the robot. That is, after the two sleeves are closed and slidably installed on the high-voltage transmission line, the split current transformer installed in the sleeves closes with the sleeves. The magnetic core in the split current transformer forms a complete magnetic core ring. The electric energy of the high-voltage transmission line is obtained by induction. This method does not directly contact the high-voltage transmission line, reducing wear. At the same time, since it can slide along the high-voltage transmission line with the end effector group, dynamic charging is achieved, and it is not limited by the charging method, thus improving the working efficiency of the robot. Attached Figure Description

[0052] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein...

[0053] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0054] Figure 2 This is a schematic diagram of the end effector assembly structure of the present invention;

[0055] Figure 3 This is a schematic diagram of the internal structure of one of the claws of the present invention;

[0056] Figure 4 This is a schematic cross-sectional view of the end effector assembly in the unlocked state of the present invention;

[0057] Figure 5 This is a schematic cross-sectional view of the end effector assembly in the locked state of the present invention.

[0058] Figure 6 This is an enlarged schematic diagram of the driving device of the present invention;

[0059] Figure 7 yes Figure 3 Enlarged schematic diagram of structure A in the middle;

[0060] Figure 8 This is the control flowchart of the present invention.

[0061] Explanation of reference numerals in the accompanying drawings: 1. End effector assembly; 11. Jaw; 111. Main housing; 1111. Main body section; 1112. Transition section; 1113. Connecting section; 1114. Heat dissipation groove; 1115. Support slide; 1116. Limiting slot; 112. Rotary locking structure; 1121. Tile-type locking; 1122. Connecting base; 1123. Drive unit; 11231. Transmission unit; 11232. Drive... 1. Moving unit; 11233. Rack; 113. End housing; 114. First limiting assembly; 115. Second limiting assembly; 2. Opening and closing drive assembly; 3. Split current transformer; 4. Circuit system module; 5. Extension arm; 6. Vibration damping assembly; 61. External flexible sleeve; 62. Internal high-viscosity fluid; 63. Connecting support plate; 7. Fine-tuning structure; 71. Micro-motion element; 72. Heat dissipation bracket; 8. Image acquisition unit. Detailed Implementation

[0062] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0063] Reference Figure 1 , 3 As shown, an intelligent robotic arm for line inspection according to the present invention includes: an end effector group 1, including two hinged opening and closing claws 11, and the two claws 11 are arranged in mirror symmetry. When the two claws 11 are closed along the hinge rotation axis, they are sleeved on the high voltage transmission line and slide along the high voltage transmission line.

[0064] The opening and closing drive assembly 2 is used to drive the two sleeves 11 to perform opening and closing actions along the hinge rotation axis;

[0065] The split current transformer 3 is installed in two sleeves 11 respectively. When the two sleeves 11 are closed, they can form a closed magnetic core ring around the high-voltage transmission line and obtain the electrical energy of the high-voltage transmission line through induction.

[0066] The circuit system module 4 is integrated on one of the grippers 11 and is electrically connected to the robot and the split current transformer 3 respectively. It is used to process the electrical energy obtained by the split current transformer 3 and send the electrical energy to the robot to store energy or directly charge the robot after processing.

[0067] Extend the extension arm 5 to connect the robot and the gripper 11 to deliver the end effector assembly 1 to the high-voltage power line installation location;

[0068] Among them, after the extension arm 5 delivers the end effector group 1 to the installation position, the opening and closing drive assembly 2 drives the two sleeves 11 to rotate relative to each other and close and be sleeved onto the high voltage transmission line. When the robot is working, it slides along the high voltage transmission line. The split current transformer 3 obtains the electrical energy of the high voltage transmission line, which is then processed by the circuit system module 4 to power the robot.

[0069] The core of this invention lies in the fact that a set of opening and closing mechanical structures are closed and sleeved on the high-voltage transmission line, so that it can generate electricity by inducing the magnetic field of the high-voltage line without affecting its sliding along the conductor. The induced electricity is rectified and regulated to power the robot, realizing dynamic charging and improving the robot's working efficiency. The device is sleeved on the high-voltage transmission line by a set of hinged opening and closing claws 11, and can slide along the high-voltage transmission line.

[0070] The opening and closing drive assembly 2 provides power for the opening and closing of the two sleeves 11. It consists of an electric telescopic push rod hinged to one of the sleeves 11 and a connecting rod fixedly mounted on the other sleeve 11. Both are installed near the hinged side of the two sleeves 11. The power output end of the telescopic push rod is hinged to the connecting rod. The cooperation between the connecting rod and the telescopic push rod enables the two sleeves 11 to open at an angle, ensuring sufficient space when installing and removing the high-voltage transmission line.

[0071] The split current transformer 3 rotates with the two sleeves 11. When the two sleeves 11 are closed, the magnetic core of the split current transformer 3 forms a closed magnetic core ring, which is the basis for induced electricity generation. The magnetic core ring surrounds the high-voltage transmission line and uses the principle of electromagnetic induction to convert the large current on the primary side of the high-voltage transmission line into a small current on the secondary side. Since the magnetic core ring does not contact the high-voltage transmission line to draw power, and the sleeves 11 move on the high-voltage transmission line, the closing and following process does not have the problems of the traditional power supply mode. It solves the wear and distance limitations in the traditional power supply mode. Compared with the integrated current transformer, which requires the bus (high-voltage transmission line) to be disconnected during use, the split current transformer 3 is more convenient to operate and does not affect the continuity of power supply.

[0072] Furthermore, the obtained induced current is converted by the circuit system module 4 to obtain electrical energy that can be used by the robot. Specifically, it is converted to high-voltage transmission line to split current transformer 3 (AC-AC), split current transformer 3 to circuit system module 4 for processing (AC-DC), and internal conversion within circuit system module 4 (DC-DC). The circuit system module 4 also integrates protection circuits to prevent current surges from damaging subsequent circuits.

[0073] The extension arm 5 is a bridge connecting the robot and the end effector group 1. Its position and angle are adjusted according to the distance between the high-voltage power line and the robot to achieve a suitable installation position to deliver the high-voltage power line between the two claws 11.

[0074] In summary, this invention provides a movable inductive charging mode. By closing the two claws 11, the magnetic core of the split current transformer 3 forms a complete magnetic core ring that surrounds the high-voltage transmission line and moves with it. This solves the problem that the existing robot charging mode greatly limits the robot's movement range. Its advantages are that it can charge the robot along the line, improve the robot's working endurance, and simplify the operation process for operators.

[0075] like Figure 3 , 4 As shown, in one embodiment of the present invention, the claw 11 includes: a shell body 111, which is a semi-cylindrical structure with a transition;

[0076] The rotating locking structure 112 is installed on the outer shell body 111 and locks when the outer shell body 111 is closed;

[0077] A set of end housings 113, each in the shape of a semi-circular ring, are respectively flanged to both ends of the outer shell body 111, and the end housings 113 at the same end of the two sleeves 11 are hinged.

[0078] Each end housing 113 is equipped with a first limiting component 114 and a second limiting component 115, with the angle between the first limiting component 114 and the second limiting component 115 being 90 degrees.

[0079] When the two claws 11 are closed, the first limiting component 114 installed at the same end forms a mirror-symmetrical combination of upper and lower limits for the high-voltage transmission line, and the second limiting component 115 installed at the same end forms a mirror-symmetrical combination of left and right limits for the high-voltage transmission line. The upper and lower limit combinations at different ends are adjusted according to the sag of the high-voltage transmission line.

[0080] The core of this invention lies in the mechanical design of a power harvesting structure that can move along high-voltage transmission lines with minimal wear. In practical applications, traditional straight-cylinder power harvesters (power harvesting structures composed of current transformers) that are sleeved on high-voltage transmission lines are usually fixed to the high-voltage transmission lines to maintain a stable connection between the high-voltage transmission lines and the power harvester, ensuring power harvesting efficiency. If they are movably sleeved on the high-voltage transmission lines, it cannot be guaranteed that the high-voltage transmission lines will always be in the optimal position of the power harvester. In addition, most power harvesters usually leave a very small gap between the inner cylinder and the high-voltage transmission lines in order to maintain the best power harvesting efficiency. If they are movably installed and moved along the high-voltage transmission lines, the high-voltage transmission lines have a certain sag, which causes great wear to the inner cylinder of the power harvester during the movement.

[0081] This solution uses the outer shell 111 as the main installation part of the structure, and the built-in rotating locking structure 112 locks the outer shell 111 to ensure that the outer shell 111 of the two claws is tightly engaged during the movement along the high voltage transmission line. Even if the robot's walking part is separated from the high voltage transmission line, the robot's safety can be guaranteed and the situation of falling from a height can be avoided.

[0082] The end housing 113, connected to the flange on the outer shell 111, is crucial for its ability to travel along the high-voltage transmission line via the first limiting assembly 114 and the second limiting assembly 115 installed thereon. The first limiting assembly 114 specifically consists of a telescopic structure and a traveling roller structure. The telescopic structure is electrically driven and connected to the control processor. The traveling roller structure has V-shaped rollers with an insulating outer ring material (such as rubber) that also increases friction and provides shock absorption. The second limiting assembly 115 has rollers in the shape of roller shafts. When the two outer shells 111 are closed and locked, the second limiting assembly on the two outer shells 111... Component 115 extends out in a mirror symmetrical manner to center the high-voltage transmission line. Furthermore, the first limiting component 114 extends out in a mirror symmetrical manner, and the telescopic structure pushes the walking roller structure to fit against the high-voltage transmission line to limit the high-voltage transmission line. During the movement, due to the sag of the high-voltage transmission line, if the two ends are not fixed, the robot needs to consume more energy to counteract the sag of the high-voltage transmission line in order to walk on the high-voltage transmission line. Therefore, in practical applications, of the two first limiting components 114 at the lower end of the high-voltage transmission line, the lower first limiting component 114 retracts and separates from the high-voltage transmission line by a certain distance to reduce the loss when the robot moves.

[0083] In summary, the advantage of this solution lies in the ability to adjust the device's state to adapt to the sag of high-voltage transmission lines. When the robot is moving on high-voltage transmission lines with sag, its state can be controlled by adjusting the extension and retraction of the first limiting component 114, ensuring smooth robot movement while avoiding excessive energy consumption during the robot's movement.

[0084] like Figure 2 , 3 As shown in Figure 4, in one embodiment of the present invention, the outer shell body 111 is integrally formed and is divided into: a main body segment 1111, which is used to install the split current transformer 3. The two halves of the split current transformer 3 are respectively installed on the main body segments 1111 of the two outer shell bodies 111. When the outer shell body 111 is closed, the split current transformer 3 can form a complete circuit for obtaining the electrical energy of the high voltage transmission line.

[0085] The transition section 1112 is symmetrically connected to both ends of the main body section 1111. It smoothly transitions outward from the main body section 1111 and is in a contracted shape. Heat dissipation grooves 1114 are evenly provided on it for air circulation and heat dissipation. In actual application, even if low-loss and high-permeability materials are used, the split current transformer 3 will inevitably generate heat. Overheating can easily lead to a decrease in conversion efficiency or even damage to the equipment. The heat dissipation grooves 1114 on the transition section 1112 can effectively exchange the generated heat with the external air.

[0086] The connecting section 1113 is symmetrically connected to the end of the transition section 1112 and is used to install the rotating locking structure 112. The end housing 113 is flanged and connected to the end of the connecting section 1113.

[0087] The outer diameter of the end housing 113 is the same as the outer diameter of the main body segment 1111, and the opening and closing drive assembly 2 is installed on the outer wall of the main body segment 1111. This makes the hinge axis of the end housing 113 and the main body segment 1111 consistent, thereby ensuring that the opening and closing drive assembly 2 can rotate smoothly along the hinge axis to complete the opening and closing action.

[0088] like Figure 3 , 4 As shown in Figure 5, in one embodiment of the present invention, the connecting section 1113 is equipped with a vibration damping component 6, which includes an outer flexible sleeve 61 made of a flexible insulating high wear-resistant material.

[0089] The internal high-viscosity fluid 62 is filled in the external flexible sleeve 61 and constrained by the external flexible sleeve 61;

[0090] The connecting support plate 63 is installed around the outer flexible sleeve 61 to maintain the shape of the outer flexible sleeve 61;

[0091] When the two claws 11 are closed, the outer flexible sleeve 61 wraps around the high-voltage transmission line to eliminate small-amplitude high-frequency vibrations of the high-voltage transmission line.

[0092] The core of this solution is to introduce flexible vibration damping to eliminate the vibration of high-voltage transmission lines. Compared with the existing technology where the energy harvester is fixed to the robot and moves with it, this invention eliminates the vibration of high-voltage transmission lines during the robot's movement and maintains the stability of the high-voltage transmission lines inside the device to ensure the efficiency of power conversion.

[0093] In practical applications, the outer flexible sleeve 61 is installed on the connecting section 1113. When the two outer shells 111 are closed, the outer flexible sleeve 61 is filled with an internal high-viscosity fluid 62. Therefore, when it wraps around the high-voltage transmission line, the internal high-viscosity fluid 62 surrounds the high-voltage transmission line. As a result, when the robot walks on the high-voltage transmission line, the vibration caused by it passes through the connecting section 1113, the vibration is absorbed and converted by the internal high-viscosity fluid 62 through the outer flexible sleeve 61. This allows the high-voltage transmission line between the two connecting sections 1113 to be stabilized in the relative position of the split current transformer 3.

[0094] like Figure 1 , 2 As shown in Figure 3, in one embodiment of the present invention, the transition section 1112 is in the shape of a semi-conical cylinder, which shrinks from the main body section 1111 to the connecting section 1113, with a taper of 15-30 degrees. When the two sleeves 11 are closed, the diameter of the cylinder when the connecting section 1113 at the same end is closed is smaller than the diameter of the cylinder when the main body section 1111 is closed.

[0095] Compared to the straight cylindrical structure, the tapered section 1112 with a taper of 15-30 degrees provides better ventilation. The closed cylinder diameter of the connecting section 1113 at the same end is smaller than that of the closed cylinder diameter of the main section 1111. This is to reduce the volume of the high-viscosity fluid 62 filled by the external flexible sleeve 61, thereby reducing the weight of the high-viscosity fluid and further reducing the deformation caused by its own weight.

[0096] like Figure 3 As shown, in one embodiment of the present invention, a fine-tuning structure 7 is provided between the split current transformer 3 and the inner wall of the main body section 1111. The fine-tuning structure 7 includes:

[0097] Three or more micro-motion elements 71 are installed in a dispersed and hinged manner on the inner side wall of the main body section 1111. The three micro-motion elements 71 are supported at three points to adjust the position of the split current transformer 3.

[0098] The heat dissipation bracket 72 is used to install the split current transformer 3 and conduct the heat generated during its operation to dissipate heat quickly. Specifically, high-efficiency heat dissipation fins can be designed to accelerate heat dissipation.

[0099] Each micro-motion element 71 output terminal is hinged to the heat dissipation bracket 72. When the two sleeves 11 are closed, the closed magnetic core ring of the split current transformer 3 is adjusted to be coaxial with the high voltage transmission line by adjusting the action of different micro-motion elements 71.

[0100] The core of this solution lies in fine-tuning the position of the split current transformer 3 through a mechanical structure, adjusting the center of the split current transformer 3 to the axis of the high-voltage transmission line, thereby further improving the energy conversion efficiency. Its micro-motion element 71 has a certain preload in the initial state. The three micro-motion elements 71 are hinged and distributed on the inner wall of the main body section 1111, forming a three-point support plane relative to the split current transformer 3 installed on this side. Thus, the position of the split current transformer 3 can be fine-tuned under different operating states of the micro-motion elements 71. It should be noted that the operation of the micro-motion element 71 on this side of the outer shell 111 is synchronized with the operation of the micro-motion element 71 installed on the other side of the outer shell 111 to maintain the magnetic core ring shape of the split current transformer 3.

[0101] like Figure 4 , 6 As shown in Figure 7, in one embodiment of the present invention, the rotating locking structure 112 includes: a tile-type locking buckle 1121, which is semi-cylindrical and fits against the inner sidewall of the connecting section 1113. The inner sidewall of the connecting section 1113 is provided with a set of supporting grooves 1115. The two ends of the tile-type locking buckle 1121 are slidably installed in the supporting grooves 1115, and the two ends of the supporting grooves 1115 are open.

[0102] When the two claws 11 are closed, one end of the tile-type latch 1121 slides out along the support groove 1115 and enters the support groove 1115 of the other outer shell body 111;

[0103] The connecting base 1122 is installed and fixed on the outer arc surface of the tile-type latch 1121. The connecting section 1113 is provided with a limiting slot 1116. The length of the limiting slot 1116 must ensure that when the connecting base 1122 moves from one end of the limiting slot 1116 to the other end, it can complete the locking action of the tile-type latch 1121. That is, the tile-type latch 1121 extends out of the support slide 1115 at least halfway into the support slide 1115 on the other outer shell body 111.

[0104] The drive device 1123 is used to drive the connecting base 1122 to slide within the limiting slot;

[0105] The core of this solution lies in locking the two outer shell bodies 111 together through a snap-fit ​​structure. This structure drives the connecting base 1122 to slide via a drive device 1123. This sliding is based on the sliding of the tile-type latch 1121 within the support groove 1115. That is, when the connecting base 1122 slides from one end of the support groove 1115 to the other end, at least half of the tile-type latch 1121 enters the support groove 1115 within the other outer shell body 111. This makes the intersection line of the two tile-type latches 1121 perpendicular to the intersection line of the two outer shell bodies 111, forming a latch that locks the outer shell body 111 and prevents it from opening.

[0106] like Figure 5 , 6 As shown, in one embodiment of the present invention, the driving device 1123 includes: a transmission unit 11231, which is fixedly installed on the connecting base 1122 and is a transmission gearbox structure with a worm gear structure, the power input end is a worm and the power output end is a gear;

[0107] The drive unit 11232 is fixedly mounted on the transmission unit 11231 and is connected to the worm gear transmission at the power input end of the transmission unit 11231.

[0108] The rack 11233 has an arc-shaped structure and is fixedly installed against the outer wall of the connecting section 1113. Its teeth mesh with the gear at the power output end of the transmission unit 11231.

[0109] The transmission gearbox uses the cooperation of worm gear and worm to complete the locking action, and the rotating shaft of the worm gear is equipped with a gear that rotates with it. Under the drive of the drive unit 11232, the power output is transmitted from the worm to the worm gear and drives the gear to rotate. The gear meshes with the rack 11233, which further allows the connecting base 1122 to move relative to the rack 11233, that is, the tile-type lock 1121 slides in the support groove 1115.

[0110] Preferably, the outer flexible sleeve 61 of the vibration damping component 6 can be installed on the inner arc surface of the tile-type buckle 1121 structure through the connecting support plate 63 and rotate with it. When the two outer shell bodies 111 are locked, one of the vibration damping components 6 evenly supports the high-voltage transmission line.

[0111] The core of this solution lies in the two vibration damping components 6 wrapping the high-voltage transmission line from two directions. The vibration generated when the robot walks on the high-voltage transmission line is mostly up and down. The two vibration damping components 6 are fixedly installed on the two outer shells 111. When walking on the high-voltage transmission line, the first limiting component is in the up and down directions. There is an angle between the contact surface between the two outer shells and the first limiting component 114. This causes the vibration damping components 6 to wrap around the high-voltage transmission line with relative deflection. Due to the positional deflection, the force is uneven. The high-viscosity fluid 62 inside the shorter side is squeezed upward. Although the external flexible sleeve 61 provides restraint, the high-voltage transmission line will gradually sink over time and eventually contact the connecting support plate 63, which greatly reduces the vibration damping effect.

[0112] In practical applications, the vibration damping component 6 rotates with the tile-type buckle 1121, causing one of the two vibration damping components 6 to be uniformly stressed and wrap around the high-voltage transmission line. One vibration damping component 6 provides uniform support for the high-voltage transmission line. In combination with the restraint of the external flexible sleeve 61, the external flexible sleeve 61 is subjected to uniform force, which greatly extends the sinking cycle of the high-voltage transmission line during use. Even if there is some deformation, it will not come into contact with the connecting support plate 63, thus improving the vibration damping effect.

[0113] like Figure 8 As shown, it also includes: multiple image acquisition units for acquiring images of the relative position of the high-voltage transmission line relative to the split current transformer 3;

[0114] The image processing unit is used to analyze the relative position image and calculate the offset between the high-voltage transmission line and the closed circle of the split current transformer 3.

[0115] The control processor adjusts the spatial position of the split current transformer 3 according to the offset. The image acquisition unit, image processing unit, control processor, first limit component 114, and micro-motion element 71 together constitute a real-time feedback closed-loop control system. The core of this scheme lies in using the real-time feedback closed-loop control system to regulate the position of the split current transformer 3. The specific method is as follows:

[0116] Multiple image acquisition units acquire the relative positions of the high-voltage transmission line and the current inductor coil from multiple angles to obtain relative position images;

[0117] The image processing unit analyzes the relative position image and calculates the offset between the high-voltage transmission line and the closed circle of the split current transformer 3.

[0118] The control processor outputs a control signal based on the offset to control the upper and lower limit combination composed of the first limit component 114 to adjust, so as to ensure sliding on the high voltage transmission line.

[0119] Control the micro-motion element 71 to adjust the closed magnetic core ring of the split current transformer 3 so that it is coaxial with the high-voltage transmission line;

[0120] In practical applications, since high-voltage transmission lines have a certain sag, when the equipment moves on them, although the first limiting components 114 at both ends form a limit, the high-voltage transmission line will inevitably have a relative offset from the center of the magnetic core ring at the center of the equipment. This causes the center of the magnetic core ring of the split current transformer 3 to have a deviation distance from the high-voltage transmission line, which can easily lead to a reduction in the efficiency of induced current generation.

[0121] The core of this solution is that when the equipment moves on the high-voltage transmission line, multiple image acquisition units acquire images of the relative positions of the high-voltage transmission line and the split current transformer 3. The image acquisition units should have supplementary lighting sources to highlight the target features and improve the accuracy of the acquired information. Furthermore, the image processing unit compares and analyzes the acquired relative position images with preset images to obtain the relative offset. Further, the control processor outputs control signals based on the offset to control the first limit component 114 and the micro-motion element 71 to move, and adjusts them in real time during the movement to maintain the relative position of the high-voltage transmission line and the split current transformer 3 in the preset image state.

[0122] Specifically, in one state of the movement process, the two first limiting components 114 at one end of the movement direction clamp the high-voltage transmission line from top to bottom. Driven by the robot's drive wheels, the robot moves along the high-voltage transmission line. During the movement, the robot collects the relative position based on the sag of the high-voltage transmission line and outputs a control signal based on the relative offset. This adjusts the two first limiting components 114 at the opposite end of the movement direction. The upper first limiting component 114 on this side contacts the high-voltage transmission line under the influence of the device's own weight, while the lower first limiting component 114 retracts according to the control signal, leaving some space with the high-voltage transmission line to ensure smooth movement along the high-voltage transmission line. At the same time, the micro-motion element 71 operates according to the control signal. Through the pushing and pulling actions of different micro-motion elements 71, the magnetic core ring is maintained while the center of the magnetic core ring of the split current transformer 3 is adjusted to the same position as the preset image state.

[0123] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. An intelligent mechanical arm for line inspection, characterized in that, The utility model relates to a kind of high-voltage transmission line robot, including: End effector group, including two articulated open-close sleeve jaws, and two The sleeve jaws are mirror-symmetrically arranged, when two The sleeve jaws are closed along the axis of rotation of articulation, sleeve is set on high-voltage transmission line and slides along high-voltage transmission line; Opening and closing drive assembly, to drive two The sleeve jaws along the axis of rotation of articulation perform open-close action; Split current transformer, respectively installed in two The sleeve jaws, when two The sleeve jaws are closed, can form closed magnetic core ring around high-voltage transmission line, and the electric energy of high-voltage transmission line is obtained by induction; Circuit system module, integrated in one of The sleeve jaws, electrically connected with the split current transformer, for processing the electric energy obtained by the split current transformer; Extension extension arm, connecting robot and The sleeve jaw, to send The end effector group to high-voltage transmission line installation position; Wherein, after The extension extension arm sends end effector group to installation position, two The sleeve jaws are closed and set to high-voltage transmission line by the opening and closing drive assembly, slide along high-voltage transmission line when robot works, the electric energy of high-voltage transmission line obtained by the split current transformer is processed by the circuit system module and supplies power for robot; The sleeve jaw includes: shell main body, for half-cylindrical structure with transition; Rotary lock structure, installed in The shell main body, when The shell main body is closed, lock is dead; A group of end housings, all in semicircular ring shape, are flange-connected to both ends of The shell main body, and the end housings of two The sleeve jaws at the same end are articulated; First limiting assembly and second limiting assembly are installed on each The end housing; The shell main body is integrally formed and divided into: main body section, for installing the split current transformer; Transition section, symmetrically connected to both ends of The main body section, gradually transitions outward from The main body section, in shrinkage, and uniformly provided with heat dissipation grooves thereon for air circulation and heat dissipation; Connection section, symmetrically connected to the end of The transition section, for installing The rotary lock structure, and The end housing is flange-connected to the end of The connection section; Wherein the outer diameter of The end housing is the same as the outer diameter of The main body section; Fine adjustment structure is provided between the split current transformer and the inner side wall of The main body section, and the fine adjustment structure includes: three or more than three micro-motion elements, dispersedly articulatedly installed on the inner side wall of The main body section, three The micro-motion elements are supported by three points, to adjust the position of The split current transformer; Heat dissipation bracket, for installing The split current transformer and guiding heat generated by its work to quickly dissipate heat; The output end of each The micro-motion element is articulated with The heat dissipation bracket, to adjust the coaxiality of the closed magnetic core ring of The split current transformer and high-voltage transmission line by adjusting the action of different The micro-motion elements when two The sleeve jaws are closed.

2. The intelligent mechanical arm for line inspection according to claim 1, characterized in that: The included angle of the first limiting assembly and the second limiting assembly is 90 degrees. Wherein, when the two said sleeve jaws are closed, the said first limiting components installed on the same end are mirror-symmetrical to form the upper and lower limiting combinations of the high-voltage transmission line, and the second limiting components installed on the same end are mirror-symmetrical to form the left and right limiting combinations of the high-voltage transmission line, and the upper and lower limiting combinations of different ends are adjusted according to the sag of the high-voltage transmission line. 3.The intelligent mechanical arm for line inspection according to claim 1, characterized in that: The said connecting section is provided with a damping component, which comprises: An outer flexible sleeve made of flexible and insulating high wear-resistant material; An inner high-viscosity fluid filled in the said outer flexible sleeve and constrained by the said outer flexible sleeve; A connecting support plate installed on the periphery of the said outer flexible sleeve to maintain the shape of the said outer flexible sleeve; When the two said sleeve jaws are closed, the outer flexible sleeve wraps the high-voltage transmission line to eliminate small and high-frequency vibrations of the high-voltage transmission line.

4. The intelligent mechanical arm for line inspection according to claim 3, characterized in that: The said transition section is in the shape of a half-conical cylinder, which is tapered from the said main section to the said connecting section, and the taper is 15-30 degrees, and when the two said sleeve jaws are closed, the diameter of the cylinder closed by the connecting section on the same end is smaller than that of the cylinder closed by the main section.

5. The intelligent mechanical arm for line inspection according to claim 1, characterized in that: The said rotating lock structure comprises: A tile-type lock in the shape of a half-cylinder, which is in contact with the inner side wall of the said connecting section, and the inner side wall of the said connecting section is provided with a set of support sliding grooves, and the tile-type lock is slidingly installed in the said support sliding grooves at both ends, and the support sliding grooves are open at both ends; When the two said sleeve jaws are closed, one end of the said tile-type lock slides out of the said support sliding groove and enters the support sliding groove of the other said housing main body; A connecting base fixedly installed on the outer arc surface of the said tile-type lock, and the said connecting section is provided with a limiting slot, and the said connecting base moves from one end of the limiting slot to the other end to complete the locking action of the said tile-type lock; A driving device used to drive the said connecting base to slide in the said limiting slot.

6. The intelligent mechanical arm for line inspection according to claim 5, characterized in that: The said driving device comprises: A transmission unit fixedly installed on the said connecting base, which is a transmission gear box structure with worm and gear structure, the power input end is a worm, and the power output end is a gear; A driving unit fixedly installed on the said transmission unit and in transmission connection with the worm of the power input end of the said transmission unit; A rack in the shape of an arc, which is fixedly installed in contact with the outer side wall of the said connecting section, and the teeth of the rack are in mesh with the gear of the power output end of the said transmission unit.

7. The intelligent mechanical arm for line inspection according to any one of claims 1-6, characterized in that: Further comprising: A plurality of image acquisition units used to acquire the relative position images of the high-voltage transmission line relative to the split current transformer; An image processing unit used to analyze the relative position images and calculate the offset of the high-voltage transmission line from the center of the closed circle of the split current transformer; A control processor used to output control signals to adjust the spatial position of the split current transformer according to the offset.

8. The intelligent mechanical arm for line inspection according to claim 7, characterized in that: Wherein, the said image acquisition unit, the said image processing unit, the said control processor, the said first limiting component, and the said micro-motion element jointly constitute a real-time feedback closed-loop control system, and the control method of the said real-time feedback closed-loop control system is as follows: The plurality of image acquisition units collect the relative positions of the high-voltage transmission line and the current transformer coil at multiple angles to acquire the relative position images; The image processing unit analyzes the relative position images and calculates the offset of the high-voltage transmission line from the center of the closed circle of the split current transformer; The control processor outputs a control signal according to the offset, controls the upper and lower limiting assemblies to adjust, and ensures sliding on the high-voltage transmission line; The control micro-motion element moves, adjusts the closed magnetic core ring of the split current transformer, and is coaxial with the high-voltage transmission line.

Images