Overhead line patrol robot

Abstract

The invention discloses an overhead line patrol robot, belongs to the technical field of line patrol robots, and aims to solve the problem that an existing line patrol robot cannot shoot dead zone cable images when crossing a spacer in an overturning manner. The robot comprises a robot body, containing cavities symmetrically assembled on the two sides of the robot body, and extension mechanisms, wire lapping mechanisms and driving mechanisms which are arranged in the containing cavities. According to the technical scheme, the pushing mechanism is controlled through the driving mechanism, so that the extension mechanism can drive the wire lapping mechanism to retract into or extend out of the accommodating cavity; when the robot passes through the spacer, the wire lapping mechanism close to one side of the spacer is firstly stored in the accommodating cavity, the wire lapping mechanism on the other side drives the robot body to pass through the through hole in the middle of the spacer, the wire lapping mechanism on the side extends out and is locked on the cable again after passing, the process is repeated on the other side, and the gravity center is adjusted in real time under the assistance of the counterweight mechanism. And the detection position is always kept in the crossing process, so that a detection blind area is effectively eliminated.

Description

Technical Field

[0001] This invention relates to an overhead power line inspection robot, belonging to the technical field of power line inspection robots. Background Technology

[0002] The overhead line inspection robot is a robot specifically designed for inspection and maintenance of high-voltage overhead transmission lines. It can crawl smoothly on the overhead transmission lines and transmit real-time video images and data to the ground base station through a camera, freeing workers from dangerous and harsh environments and improving inspection efficiency.

[0003] Spacer bars are hardware installed on split conductors, mainly used to fix the spacing between the split conductors. When the line system vibrates (mainly caused by wind, icing, and short-circuit electromagnetic impact), the spacer bars bear the force to prevent conductors from whipping each other, suppressing aerodynamic vibrations and span oscillations. Spacer bars are generally installed in the middle of the span, one every 50-60m, which is the most suitable method for anti-galling and horizontal arrangement of multi-circuit lines on the same tower with vertically arranged phase conductors.

[0004] Existing overhead line inspection robots have the ability to climb over vibration dampers, clamps, and cross tension towers. However, most of them use a flipping method to complete the action, which is complex and bulky. When overhead line inspection robots are needed to inspect and maintain compact lines with spacers installed, the rotation axis needs to be established first during the flipping process, and then rotate along the axis to the other side until it connects with the cable. At this time, the reconnection point and the rotation axis are a detection blind zone, and it is impossible to capture real-time video images of the cable in the blind zone. Summary of the Invention

[0005] The purpose of this invention is to address the problem in existing technologies where a blind spot is created when crossing spacers by flipping over, resulting in the inability to capture images of the cable in the blind spot. The invention proposes a line inspection robot that can directly pass through the through-hole in the middle of the spacer and avoid the blind spot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: An overhead line inspection robot includes an overhead cable, a spacer bar, and a robot body. Multiple cameras are mounted around the outer surface of the robot body, and each camera corresponds to an overhead cable. A spacer bar is fitted on the surface of the multiple overhead cables, and a through hole is opened in the middle of the spacer bar for the robot body to pass through. The robot body also includes two accommodating chambers symmetrically assembled on both sides of the robot body, which can pass through the through hole in the middle of the spacer bar along with the robot body. The accommodating cavity is equipped with an extension mechanism, which includes an extension groove installed inside the accommodating cavity. A slidable movable rod is embedded inside the extension groove. A rotatable rotating rod is installed on the movable rod, and a wire-connecting mechanism for connecting with an overhead cable is installed on the rotating rod. The wire-connecting mechanism drives the robot body to move on the overhead cable. The cable-connecting mechanism includes a limiting ring connected to the movable rod and a rotating ring rotatably connected to the limiting ring. The limiting ring and the rotating ring are respectively equipped with an active roller group and a driven roller group that fit against the outer wall of the overhead cable. The driven roller group rotates around the overhead cable as the axis and cooperates with the active roller group to be sleeved on the overhead cable. Both of the aforementioned accommodating cavities are equipped with a drive mechanism, which includes a drive shaft capable of rotating in both directions. The surfaces of the two drive shafts are respectively fitted with a push mechanism, which includes a rotating wheel fitted on the surface of the drive shaft and a push rod connected to the movable rod. When the rotating wheel rotates, the push rod moves horizontally and drives the extension mechanism to move, so as to control the extension mechanism and the wire-connecting mechanism to extend out of and retract into the accommodating cavity.

[0007] This technical solution utilizes a "direct crossing" method, rather than a "flipping" method, to traverse the spacer bar, thereby completely solving the detection blind spot problem present in existing technologies while ensuring robot movement stability and motion reliability. By allowing the cable-laying mechanism to retract into the receiving chamber, the robot body can directly pass through the through-hole in the middle of the spacer bar, instead of the traditional overall flipping. This ensures that the robot and its camera remain facing the cable throughout the crossing process, maintaining a continuous detection posture and fundamentally avoiding visual detection blind spots caused by flipping actions, greatly improving the completeness and accuracy of inspection data. Through the extension mechanism, pushing mechanism, and drive mechanism located inside the receiving chamber, the core components performing the crossing action are integrated into a compact space. The forward and reverse rotation of the drive shaft is converted into the horizontal linear motion of the movable rod through the rotating wheel and push rod, thereby controlling the extension and retraction of the cable-laying mechanism, resulting in high reliability. Employing two sets of symmetrical accommodating chambers and cable-laying mechanisms, at least one cable-laying mechanism is always firmly attached to the overhead cable and provides driving force during the crossing process. This "single-sided suspension, single-sided drive" mode ensures that the robot does not lose power or attachment during the crossing action, allowing it to be stably pushed through the spacers and avoiding the risk of jamming or falling. The cable-laying mechanism uses a combination of limiting rings and rotating rings, along with active and driven rollers, to form an openable and closable ring structure, allowing the robot to firmly "hold" the cable and walk stably. When crossing is required, this structure can release the lock to the cable by rotating the ring, ensuring reliable operation and strong adaptability to different cables.

[0008] As a preferred technical means: The extension mechanism includes a mounting base fixedly installed inside the accommodating cavity, and the mounting base has a through hole in the middle for the drive shaft to pass through. At one end of the mounting base, there are at least two extension grooves equidistantly arranged around it, and a movable rod is embedded inside the extension groove. A first rotating shaft and a second rotating shaft are respectively arranged on both sides of the outer wall of the movable rod, and a first transmission wheel is sleeved on the surface of the first rotating shaft and the second rotating shaft. A first transmission belt for transmission is sleeved on the surface of the two first transmission wheels. The first transmission wheel is also fitted with a first gear, and a number of locking teeth are arranged at equal intervals inside the extension groove. The locking teeth mesh with the first gear. When the movable rod moves in the extension groove, the locking teeth drive the second rotating shaft to rotate through the first gear. The second rotating shaft surface is connected to the rotating rod, and the rotating rod is equipped with a wire-connecting mechanism.

[0009] As a preferred technical means: The wiring mechanism includes a connector mounted on a rotating rod, and a limiting ring is fixedly installed on the connector. The surface of the limiting ring is embedded with a rotating ring that can be rotated and combined with the limiting ring to form a complete circle. The limiting ring is equipped with a first connecting rod, and the first connecting rod is equipped with an active roller assembly. A drive motor is installed on one side of the active roller assembly. The rotating ring is equipped with a second connecting rod, and the second connecting rod is equipped with a driven roller assembly. Both the second connecting rod and the driven roller assembly can fit against the outer wall of the overhead cable.

[0010] As a preferred technical means: A groove is provided on one side of the inner wall of the rotating ring, and a rack is fitted on one side of the inner wall of the groove. A servo motor is mounted on the outer wall of the limiting ring. The output end of the servo motor passes through the limiting ring and is inserted into the groove. A second gear that meshes with the rack is sleeved on the output end. When the second gear rotates, it drives the rotating ring to rotate through the rack.

[0011] As a preferred technical means: A drive motor is mounted on one side of the outer wall of the active roller assembly. A conical transmission wheel assembly connected to the active roller assembly is mounted on the output end of the drive motor. The drive motor drives the active roller assembly to move on the overhead cable through the conical transmission wheel assembly.

[0012] As a preferred technical means: The pushing mechanism includes a bushing fitted onto the surface of the drive shaft, and a rotating wheel fitted onto the bushing. The rotating wheel has slots equidistantly arranged around its surface, the same number as the movable rods. Each slot contains a movable push rod, and each push rod is connected to a movable rod at a corresponding position.

[0013] As a preferred technical means: The outer wall of the accommodating chamber is provided with a rotating shaft connected to the end of the drive shaft. A counterweight mechanism is provided below each of the two accommodating chambers. The counterweight mechanism includes a counterweight block connected to the rotating shaft. After the connection between the wiring mechanism and the overhead cable is released, the drive shaft rotates and drives the wiring mechanism to be retracted into the accommodating chamber. At the same time, the drive shaft drives the counterweight block to move to the other accommodating chamber through the rotating shaft.

[0014] As a preferred technical means: The counterweight mechanism includes a main housing assembled on the accommodating chamber, and an extension housing extending outward is integrally formed on one side of the main housing. The main housing is equipped with a driving wheel and a driven wheel that are rotatably arranged inside. The driving wheel and the driven wheel are fitted with a second transmission belt for transmission. The driving wheel is connected to the rotating shaft in the middle, and the driven wheel is connected to the lead screw in the middle. Two guide rods are fixedly installed inside the extended housing. The lead screw is fitted with a counterweight, and the counterweight has two through holes for the guide rods to pass through. When the rotating shaft rotates, the lead screw drives the counterweight to move under the restriction of the two guide rods.

[0015] As a preferred technical means: Both of the aforementioned accommodating chambers are equipped with a drive mechanism, which includes a geared motor installed in the accommodating chamber, a drive shaft connected to the output end of the geared motor, and a rotating shaft connected to the end of the drive shaft.

[0016] The beneficial effects of this invention are: By incorporating extension mechanisms, wire-connecting mechanisms, and pushing mechanisms, the robot body, when preparing to pass through the spacer bar, first controls the wire-connecting mechanism near the spacer bar to stop moving and release the lock from the overhead cable. Subsequently, the drive mechanism inside the accommodating chamber near the spacer bar is activated, causing the pushing mechanism to rotate in the opposite direction under the drive shaft. The pushing mechanism pulls the extension mechanism to move and rotate, enabling the extension mechanism to drive the wire-laying mechanism into the accommodating chamber. At this time, the wire-laying mechanism on the side away from the spacer bar continues to drive and push the accommodating chamber and robot body near the spacer bar through the spacer bar. After passing through, the rotating wheel rotates in the forward direction and pushes the extension mechanism and wire-laying mechanism out of the accommodating chamber, so that the wire-laying mechanism fits against the surface of the overhead cable and is re-set and limited on the surface of the overhead cable. The wire-laying mechanism starts to drive again until the other accommodating chamber approaches the robot body. The other accommodating chamber repeats the above operation to pass through the spacer bar and then uses the wire-laying mechanism on that side to re-limit. The robot body can pass through the spacer bar by utilizing the hollow in the middle of the spacer bar and always stay in the inspection position during the passage, reducing the generation of detection blind spots, improving the accuracy of detection, and avoiding the problem that when using the flipping method, due to the large detection blind spot, it is impossible to capture real-time video images of the overhead cable in the blind spot. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the active state of the present invention when passing through the spacer bar; Figure 3 yes Figure 2 Enlarged structural diagram at point A; Figure 4 This is a front cross-sectional structural diagram of the accommodating chamber of the present invention; Figure 5 This is a three-dimensional structural diagram of the wire-laying mechanism of the present invention in its stowed state; Figure 6 This is a three-dimensional structural diagram of the wire-laying mechanism of the present invention during its unfolding process; Figure 7 This is a three-dimensional structural diagram of the fully unfolded wiring mechanism of the present invention; Figure 8 This is a three-dimensional structural schematic diagram of the extension groove of the present invention; Figure 9 This is a three-dimensional structural diagram of the movable rod of the present invention; Figure 10 This is a three-dimensional structural diagram of the wire-connecting mechanism of the present invention in an unlocked state; Figure 11 This is a three-dimensional structural diagram of the wire-connecting mechanism in the locked state of the present invention; Figure 12This is a three-dimensional cross-sectional structural diagram of the rotating mechanism on the wiring mechanism of the present invention; Figure 13 yes Figure 12 Enlarged structural diagram at point B; Figure 14 This is a three-dimensional structural diagram of the counterweight mechanism.

[0018] Legend: 10. Overhead cable; 20. Spacer bar; 30. Robot body; 40. Receptacle chamber; 50. Drive mechanism; 51. Gear motor; 52. Drive shaft; 53. Rotating shaft; 60. Extension mechanism; 61. Mounting base; 62. Extension groove; 621. Clamping tooth; 63. Movable rod; 631. First rotating shaft; 632. First transmission wheel; 633. First transmission belt; 634. Second rotating shaft; 635. First gear; 64. Rotating rod; 70. Wire-connecting mechanism; 71. Connector; 72. Limiting ring; 73. Rotating ring; 731. Groove; 732. Rack; 74. First connecting rod; 75. Active roller assembly; 76. Drive motor; 761. Conical transmission wheel assembly; 77. Second connecting rod; 78. Driven roller assembly; 79. Servo motor; 791. Second gear; 80. Pushing mechanism; 81. Bushing; 82. Rotary wheel; 83. Slot; 84. Push rod; 90. Counterweight mechanism; 91. Main housing; 92. Extension housing; 93. Drive wheel; 94. Second transmission belt; 95. Driven wheel; 96. Lead screw; 97. Counterweight block; 98. Guide rod. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] To address the problem of blind spots in the detection of cables during the flipping and crossing of spacers, which prevents the capture of real-time video images of the cables in these blind spots, this invention proposes an overhead line inspection robot, such as... Figure 1 - Figure 14As shown, the robot includes an overhead cable 10, a spacer bar 20, and a robot body 30. Multiple cameras are mounted around the outer surface of the robot body 30, and each camera corresponds to an overhead cable 10. A spacer bar 20 is sleeved on the surface of the multiple overhead cables 10, and a through hole is opened in the middle of the spacer bar 20 for the robot body 30 to pass through. Two accommodating chambers 40 are symmetrically assembled on both sides of the robot body 30. The accommodating chambers 40 can pass through the through hole in the middle of the spacer bar 20 along with the robot body 30.

[0021] like Figure 4 As shown, each of the two accommodating chambers 40 is equipped with a drive mechanism 50. The drive mechanism 50 includes a geared motor 51 installed in the accommodating chamber 40, and a drive shaft 52 is connected to the output end of the geared motor 51. The geared motor 51 can convert the high-speed rotation of the motor into a low-speed, high-torque power output device through the reduction mechanism. By converting the voltage signal into torque and speed, it drives the controlled object, thereby driving the drive shaft 52 to rotate in both directions. When the signal voltage is zero, the drive shaft 52 can be locked.

[0022] like Figure 3 - Figure 8 As shown, the accommodating chamber 40 is equipped with an extension mechanism 60. The extension mechanism 60 includes a mounting base 61 fixedly installed inside the accommodating chamber 40. The mounting base 61 has a through hole in the middle for the drive shaft 52 to pass through. The drive shaft 52 does not contact the mounting base 61 when it rotates.

[0023] At one end of the mounting base 61, there are at least two extension grooves 62 arranged at equal intervals around it, and a movable rod 63 is embedded inside the extension groove 62. When the drive shaft 52 rotates, the movable rod 63 can move inside the extension groove 62.

[0024] The movable rod 63 has a rotatable first shaft 631 and a second shaft 634 on its outer walls, respectively. A first transmission wheel 632 is fitted onto the surface of both the first shaft 631 and the second shaft 634, and a first transmission belt 633 for transmission is fitted onto the surface of each first transmission wheel 632. A first gear 635 is also fitted onto the surface of each first transmission wheel 632. Several teeth 621 are arranged equidistantly inside the extension groove 62, and these teeth mesh with the first gear 635. When the movable rod 63 moves within the extension groove 62, the movable rod 63 drives the first gear 635 to move synchronously via the first shaft 631, and the gear 635 contacts the teeth 621 in sequence. Driven by the teeth 621, the first gear 635 drives the first transmission wheel 632 to rotate via the first shaft 631. The torque generated by the rotation of the first transmission wheel 632 is transmitted to the second shaft 634 via the first transmission belt 633. The surface of the second rotating shaft 634 is connected to the rotating rod 64, and the rotating rod 64 is equipped with a wire-attaching mechanism 70. When the second rotating shaft 634 drives the rotating rod 64 to rotate, the wire-attaching mechanism 70 can move accordingly and fit against the surface of the overhead cable 10.

[0025] To drive the movable rod 63 to move inside the extension groove 62, such as Figure 5 - Figure 7 As shown, a pushing mechanism 80 is respectively fitted onto the surfaces of the two drive shafts 52. The pushing mechanism 80 includes a bushing 81 fitted onto the surface of the drive shaft 52, and a rotating wheel 82 is fitted onto the bushing 81. The bushing 81 fixes the position of the rotating wheel 82, preventing it from shifting due to vibration when the drive shaft 52 drives the rotating wheel 82 to rotate. The surface of the rotating wheel 82 has equidistant grooves 83, the same number as the movable rod 63, and each groove 83 contains a movable push rod 84, which is connected to the movable rod 63 at a corresponding position. When the drive shaft 52 drives the rotating wheel 82 to rotate via the bushing 81, the grooves 83 rotate with the rotating wheel 82. Since the grooves 83 are arc-shaped, the rotational force is converted into a thrust that pushes the push rod 84 horizontally. The push rod 84 can move horizontally and push or pull the movable rod 63 within the extension groove 62.

[0026] like Figure 10 and Figure 11 As shown, a wire-connecting mechanism 70 is mounted on the rotating rod 64. The wire-connecting mechanism 70 includes a connector 71 mounted on the rotating rod 64, and a limiting ring 72 is fixedly mounted on the connector 71. A rotating ring 73 is embedded on the surface of the limiting ring 72, which can rotate and combine with the limiting ring 72 to form a complete circle.

[0027] like Figure 12 and Figure 13 As shown, a groove 731 is provided on one side of the inner wall of the rotating ring 73, and a rack 732 is assembled on one side of the inner wall of the groove 731.

[0028] A servo motor 79 is mounted on the outer wall of the limiting ring 72. The servo motor 79 is remotely controlled via a wireless communication device. The output end of the servo motor 79 passes through the limiting ring 72 and is inserted into the groove 731. A second gear 791, which meshes with the rack 732, is fitted onto the output end. When the second gear 791 rotates, it drives the rotating ring 73 to rotate via the rack 732.

[0029] After the limiting ring 72 and rotating ring 73 move and adhere to the surface of the overhead cable 10 under the drive of the rotating rod 64, the ground staff remotely start the servo motor 79 via wireless communication equipment. The servo motor 79 drives the second gear 791 to rotate inside the groove 731 and pushes the rack 732 to move. The rack 732 drives the rotating ring 73 to rotate under the constraint of the limiting ring 72. As the rotating ring 73 rotates, it can cooperate with the limiting ring 72 to form a closed loop, thus completing the fitting and limiting of the overhead cable 10. When it is necessary to release the fitting and limiting of the limiting ring 72 and rotating ring 73 with the overhead cable 10, the servo motor 79 is started in reverse.

[0030] A first connecting rod 74 is mounted on the limiting ring 72, and an active roller assembly 75 is mounted on the first connecting rod 74. A drive motor 76 is mounted on one side of the active roller assembly 75. The drive motor 76 is remotely controlled via a wireless communication device. A conical transmission wheel assembly 761 connected to the active roller assembly 75 is mounted on the output end of the drive motor 76. When it is necessary to drive the robot body 30 to move on the overhead cable 10, the ground operator remotely starts the drive motor 76 via the wireless communication device. The torque generated by the drive motor 76 is transmitted to the axle of the active roller assembly 75 through the conical transmission wheel assembly 761, enabling the active roller assembly 75 to move on the overhead cable 10 and pull the robot body 30 to move.

[0031] The rotating ring 73 is equipped with a second connecting rod 77, and the second connecting rod 77 is equipped with a driven roller assembly 78. Both the second connecting rod 77 and the driven roller assembly 78 can fit against the outer wall of the overhead cable 10. When the servo motor 79 drives the rotating ring 73 to rotate under the restriction of the limiting ring 72 and makes the rotating ring 73 cooperate with the limiting ring 72 to form a closed ring, the rotating ring 73 drives the driven roller assembly 78 to rotate around the overhead cable 10 as the axis through the second connecting rod 77. The driven roller assembly 78 and the active roller assembly 75 are sleeved on the overhead cable 10 to further improve the stability of movement on the overhead cable 10.

[0032] like Figure 4 and Figure 14As shown, a rotating shaft 53 is connected to the end of the drive shaft 52, and a counterweight mechanism 90 is mounted on the rotating shaft 53. The counterweight mechanism 90 includes a main housing 91 mounted on the accommodating chamber 40, and an extension housing 92 extending outward is integrally formed on one side of the main housing 91.

[0033] The main housing 91 has a driving wheel 93 and a driven wheel 95 rotatably mounted inside, and the surfaces of the driving wheel 93 and the driven wheel 95 are fitted with a second transmission belt 94 for transmission. The middle part of the driving wheel 93 is connected to the rotating shaft 53, and the middle part of the driven wheel 95 is connected to a lead screw 96. Two guide rods 98 are fixedly installed inside the extension housing 92.

[0034] A counterweight 97 is fitted onto the surface of the lead screw 96, and two through holes are provided on the counterweight 97 for the guide rod 98 to pass through. When the geared motor 51 in one side of the accommodating chamber 40 starts and drives the extension mechanism 60 and the wiring mechanism 70 to retract into the accommodating chamber 40, since that side of the accommodating chamber 40 is no longer connected to the overhead cable 10 through the wiring mechanism 70, the robot is only connected to the overhead cable 10 through the wiring mechanism 70 on the other side. To avoid excessive shift of the center of gravity that could cause the robot to tilt or even fall, when the geared motor 51 starts, the drive shaft 52 drives the rotating shaft 53 to rotate, and the rotating shaft 53 drives the driven wheel 95 to rotate through the driving wheel 93 and the second transmission belt 94. Since the diameter of the driving wheel 93 is much larger than that of the driven wheel 95, the driven wheel 95 can rotate multiple times and drive the lead screw 96 to rotate. Under the constraint of the guide rods 98 on both sides, the lead screw 96 can drive the counterweight 97 to move downwards to the other side of the accommodating chamber 40 to adjust the center of gravity of the robot, ensure its stability when suspended on one side, and ensure that the wiring mechanism on the other side can drive the robot to move normally to pass through the spacer bar 20.

[0035] The working principle of this invention is as follows: When the robot body 30 needs to pass through the spacer bar 20, the wiring mechanism 70 on the side closest to the spacer bar 20 is first stopped and released from its lock with the overhead cable 10. Then, the drive mechanism 50 inside the accommodating chamber 40 on that side is activated, driving the drive shaft 52 to rotate, causing the push mechanism 80 to rotate in the opposite direction. This pulls the movable rod 63 via the push rod 84, causing the extension mechanism 60 to retract the wiring mechanism 70 into the accommodating chamber 40. Simultaneously, the drive shaft 52 drives the counterweight mechanism 90 via the rotating shaft 53, moving the counterweight block 97 to the underside of the accommodating chamber 40 on the other side to balance the robot's center of gravity.

[0036] At this time, the wiring mechanism 70 on the side away from the spacer 20 continues to drive, pushing the accommodating chamber 40 on the stored side and the robot body 30 through the through hole in the middle of the spacer 20.

[0037] After passing through, the drive mechanism 50 on the retracted side reverses, pushing the extension mechanism 60 and the bonding mechanism 70 out of the receiving chamber 40 via the push mechanism 80, causing the bonding mechanism 70 to reattach to the surface of the overhead cable 10 and relock. The bonding mechanism 70 on this side restarts its drive until the robot moves to bring the receiving chamber 40 on the other side closer to the spacer bar 20.

[0038] The other accommodating chamber 40 repeats the above operation after passing through the spacer bar 20, and then uses the wiring mechanism 70 on that side to re-limit and drive.

[0039] Through the above process, the robot body can directly pass through the spacer bar using the hollow structure in the middle of the spacer bar. During the passage, the robot body 30 is always in the inspection position, thereby reducing the generation of detection blind spots, improving the accuracy of detection, and avoiding the problem that when using the flipping method, due to the large detection blind spot, it is impossible to capture real-time video images of the overhead cable 10 in the blind spot.

[0040] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An overhead power line inspection robot, comprising an overhead cable (10), a spacer bar (20), and a robot body (30), wherein multiple cameras are mounted around the outer surface of the robot body (30), and each camera corresponds to an overhead cable (10); a spacer bar (20) is sleeved on the surface of the multiple overhead cables (10), and a through hole is provided in the middle of the spacer bar (20) for the robot body (30) to pass through; characterized in that, Also includes: Two accommodating chambers (40) are symmetrically assembled on both sides of the robot body (30). The accommodating chambers (40) can pass through the through hole in the middle of the spacer bar (20) together with the robot body (30). The accommodating chamber (40) is equipped with an extension mechanism (60), which includes an extension groove (62) installed inside the accommodating chamber (40). A slidable movable rod (63) is embedded inside the extension groove (62). A rotatable rotating rod (64) is installed on the movable rod (63), and a wire-connecting mechanism (70) for connecting with the overhead cable (10) is installed on the rotating rod (64). The wire-connecting mechanism (70) drives the robot body (30) to move on the overhead cable (10). The wiring mechanism (70) includes a limiting ring (72) connected to the movable rod (63) and a rotating ring (73) rotatably connected to the limiting ring (72). The limiting ring (72) and the rotating ring (73) are respectively equipped with an active roller group (75) and a driven roller group (78) that are in contact with the outer wall of the overhead cable (10). The driven roller group (78) rotates around the overhead cable (10) as the axis and is fitted onto the overhead cable (10) in cooperation with the active roller group (75). Both of the accommodating chambers (40) are equipped with a drive mechanism (50). The drive mechanism (50) includes a drive shaft (52) capable of rotating in both directions. The surfaces of the two drive shafts (52) are respectively fitted with a push mechanism (80). The push mechanism (80) includes a rotating wheel (82) fitted on the surface of the drive shaft (52) and a push rod (84) connected to the movable rod (63). When the rotating wheel (82) rotates, the push rod (84) moves horizontally and drives the extension mechanism (60) to move, so as to control the extension mechanism (60) and the wire-connecting mechanism (70) to extend out of and retract into the accommodating chamber (40).

2. The overhead power line inspection robot according to claim 1, characterized in that, The extension mechanism (60) includes a mounting base (61) fixedly installed inside the accommodating chamber (40), and the mounting base (61) has a through hole in the middle for the drive shaft (52) to pass through; At one end of the mounting base (61), there are at least two extension grooves (62) arranged at equal intervals. A movable rod (63) is embedded inside the extension groove (62). A first rotating shaft (631) and a second rotating shaft (634) are respectively arranged on both sides of the outer wall of the movable rod (63). A first transmission wheel (632) is sleeved on the surface of the first rotating shaft (631) and the second rotating shaft (634). A first transmission belt (633) for transmission is sleeved on the surface of the two first transmission wheels (632). The first transmission wheel (632) is also fitted with a first gear (635), and a number of locking teeth (621) are arranged equidistantly inside the extension groove (62). The locking teeth (621) mesh with the first gear (635). When the movable rod (63) moves in the extension groove (62), the locking teeth (621) drive the second rotating shaft (634) to rotate through the first gear (635). The surface of the second rotating shaft (634) is connected to the rotating rod (64), and the rotating rod (64) is equipped with a wire-connecting mechanism (70).

3. The overhead power line inspection robot according to claim 1 or 2, characterized in that, The wiring mechanism (70) includes a connector (71) mounted on a rotating rod (64), and a limiting ring (72) is fixedly installed on the connector (71). The surface of the limiting ring (72) is embedded with a rotating ring (73) that can rotate and combine with the limiting ring (72) to form a complete circle. The limiting ring (72) is equipped with a first connecting rod (74), and the first connecting rod (74) is equipped with an active roller assembly (75). A drive motor (76) is installed on one side of the active roller assembly (75). The rotating ring (73) is equipped with a second connecting rod (77), and the second connecting rod (77) is equipped with a driven roller assembly (78). Both the second connecting rod (77) and the driven roller assembly (78) can fit against the outer wall of the overhead cable (10).

4. The overhead power line inspection robot according to claim 3, characterized in that, The rotating ring (73) has a groove (731) on one side of its inner wall, and a rack (732) is fitted on one side of the inner wall of the groove (731). A servo motor (79) is mounted on the outer wall of the limiting ring (72). The output end of the servo motor (79) passes through the limiting ring (72) and is inserted into the groove (731). A second gear (791) that meshes with the rack (732) is sleeved on the output end. When the second gear (791) rotates, it drives the rotating ring (73) to rotate through the rack (732).

5. The overhead power line inspection robot according to claim 3, characterized in that, A drive motor (76) is mounted on one side of the outer wall of the active roller assembly (75). A conical transmission wheel assembly (761) connected to the active roller assembly (75) is mounted on the output end of the drive motor (76). The drive motor (76) drives the active roller assembly (75) to move on the overhead cable (10) through the conical transmission wheel assembly (761).

6. The overhead power line inspection robot according to claim 1, characterized in that, The pushing mechanism (80) includes a bushing (81) sleeved and mounted on the surface of the drive shaft (52), and a rotating wheel (82) is sleeved and mounted on the bushing (81). The rotating wheel (82) has slots (83) of the same number as the movable rods (63) equidistantly arranged around its surface. Each slot (83) is provided with a movable push rod (84), and each push rod (84) is connected to the movable rod (63) at the corresponding position.

7. The overhead power line inspection robot according to claim 2, characterized in that, The outer wall of the accommodating chamber (40) is provided with a rotating shaft (53) connected to the end of the drive shaft (52). A counterweight mechanism (90) is provided below each of the two accommodating chambers (40). The counterweight mechanism (90) includes a counterweight block (97) connected to the rotating shaft (53). After the connection between the wire-connecting mechanism (70) and the overhead cable (10) is released, the drive shaft (52) rotates and drives the wire-connecting mechanism (70) to be retracted into the accommodating chamber (40). At the same time, the drive shaft (52) drives the counterweight block (97) to move to the other accommodating chamber (40) through the rotating shaft (53).

8. The overhead power line inspection robot according to claim 7, characterized in that, The counterweight mechanism (90) includes a main housing (91) mounted on the accommodating chamber (40), and an extension housing (92) extending outward is integrally formed on one side of the main housing (91). The main housing (91) is rotatably equipped with a drive wheel (93) and a driven wheel (95), and the surfaces of the drive wheel (93) and the driven wheel (95) are fitted with a second transmission belt (94) for transmission. The middle part of the drive wheel (93) is connected to the rotating shaft (53), and the middle part of the driven wheel (95) is connected to a lead screw (96). Two guide rods (98) are fixedly installed inside the extended housing (92); The lead screw (96) is fitted with a counterweight (97) on its surface, and the counterweight (97) has two through holes for the guide rods (98) to pass through. When the rotating shaft (53) rotates, the lead screw (96) drives the counterweight (97) to move under the restriction of the two guide rods (98).

9. The overhead power line inspection robot according to claim 1, characterized in that, Both of the accommodating chambers (40) are equipped with a drive mechanism (50). The drive mechanism (50) includes a geared motor (51) installed in the accommodating chamber (40). A drive shaft (52) is connected to the output end of the geared motor (51), and a rotating shaft (53) is connected to the end of the drive shaft (52).

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