An inspection device for an electric power transmission line

Abstract

The utility model discloses a kind of power transmission line's inspection devices, the utility model is related to power transmission line inspection technical field. Including fixed plate, the top middle of fixed plate is equipped with square groove, the number of square groove is two, two square groove are arranged at the two side edges of fixed plate, screw rod is rotatably connected in the inside of square groove, the inner wall of square groove is slidably connected with sliding rod, the outside of sliding rod is rotatably connected with fixed rod, the end away from sliding rod of fixed rod is fixedly connected with rotating rod, the outside of rotating rod is rotatably connected with gyro wheel. The inspection device of the power transmission line, the reverse torque generated by staggered gyro wheel can offset part of shaking, and when the equipment travels on the surface of wire, left and right staggered gyro wheel can simultaneously apply pressure from different axial angles, even if wire exists local uneven, also can be kept gyro wheel and wire closely adhere by staggered layout, improve wet and slippery environment friction, reduce the risk of skidding.

Description

Technical Field

[0001] This invention relates to the field of power transmission line inspection technology, specifically to a power transmission line inspection device. Background Technology

[0002] Power transmission lines are a crucial component of the power system, responsible for delivering electricity from power plants to various consumer areas. Ensuring the safe and stable operation of transmission lines is essential for guaranteeing the reliability and stability of power supply. Transmission lines are typically widely distributed, traversing diverse and complex geographical environments such as mountains, plains, rivers, and cities. Constantly exposed to the natural environment, they are susceptible to various factors, including severe weather (lightning strikes, heavy rain, strong winds, icing, etc.), equipment aging, and external damage (construction, theft, tree growth, etc.), which can lead to line failures and disrupt power supply. Therefore, regular inspections are necessary to promptly identify potential problems and hazards, enabling appropriate repair and maintenance measures to ensure the safe operation of transmission lines.

[0003] Existing inspection robots are supported by rollers on power transmission lines. When the power transmission lines are tilted, the inspection robots are very prone to slipping, making it impossible to ensure smooth and stable movement. Furthermore, when the inspection robot is moving and working on the power transmission lines, if it needs to switch to another set of power transmission lines for monitoring, it needs to pass through a bracket connected between the two sets of power transmission lines. During this process, the power transmission line inspection robot may fall off. Summary of the Invention

[0004] To achieve the above objectives, the present invention is implemented through the following technical solution: an inspection device for power transmission lines, comprising a main body, a camera fixedly installed at the front end of the main body, and a motor fixedly connected to the outer side of the main body.

[0005] The housing is fixedly installed on the outside of the main body, and there are two housings in total;

[0006] Ice-breaking assembly, which is fixedly installed at the front end of the housing;

[0007] Limiting components are located at the top of the main body. There are two limiting components, which are symmetrically arranged at both ends of the main body.

[0008] The main body includes a fixed plate with two square slots at the top center. These slots are located on both sides of the fixed plate. The motor's output extends through the fixed plate into the square slots. There are four rollers arranged in two groups on either side of the fixed plate near the extension block. Each group has two rollers symmetrically positioned around a screw. The four rollers are staggered along the conductor axis, forming a Z-shaped asymmetrical layout. When the device is placed close to the power line, the conductor is positioned between the rollers. The motor, powered by an external power source, rotates the screw, causing it to move a sliding rod towards the conductor. This, in turn, moves the fixed rod and the rollers... When the roller contacts the conductor, the horizontal misalignment creates an asymmetrical frictional force distribution between the roller and the conductor. When the equipment is subjected to lateral wind or conductor vibration, the reverse torque generated by the misaligned roller can offset some of the shaking. Furthermore, when the equipment travels on the conductor surface, the left and right misaligned rollers can simultaneously apply pressure from different axial angles. Even if there are local unevenness in the conductor, the misaligned layout can maintain a tight fit between the roller and the conductor, improving friction in wet and slippery environments and reducing the risk of slippage. The inside of the square groove is rotatably connected to a screw, and the inner wall of the square groove is slidably connected to a sliding rod. The sliding rod is perpendicular to the fixed plate, and the outer side of the sliding rod is rotatably connected to a fixed rod. The end of the fixed rod away from the sliding rod is fixedly connected to a rotating rod, and the outer side of the rotating rod is rotatably connected to a roller.

[0009] Preferably, there are four fixing rods, with two fixing rods forming a group. The two groups of fixing rods are respectively set on sliding rods within two square slots. The fixing rods within a group are symmetrically arranged around the screw, and the two groups are alternately arranged. A V-shaped plate is provided at the interval between the two fixing rods in a group. The V-shaped plate is elastic. Due to factors such as sag, icing, and temperature changes, the transmission line may experience local bending or diameter fluctuations. The two rollers on one side are arranged in a V-shape, forming a three-point clamp with the elastic V-shaped plate. When the equipment is running, the elastic deformation of the V-shaped plate causes the rollers to fit tightly against the surface of the conductor. The elasticity of the V-shaped plate allows the rollers to adaptively conform to the surface contour, thus maintaining effective contact and improving the fixing effect. High stability prevents rollers from slipping or getting stuck due to ice, thus ensuring normal inspection work and preventing inspection from being affected. The two sides of the V-shaped plate are fixedly connected to the inner walls of two fixed rods respectively. Extension blocks are fixedly connected to the outer side of the fixed plate. The extension blocks are located on both sides of the fixed plate near the square groove. There are two extension blocks, which are symmetrically arranged with the fixed plate as the center. The top of the body has four square holes, which are divided into two groups. The two groups of square holes are symmetrically arranged on the top near the front and rear ends of the fixed plate. The two square holes in one group are symmetrically arranged on both sides of the fixed plate. The square holes are parallel to the square groove. The inside of the square holes is rotatably connected to a threaded rod. There are two motors, and the output end of the motor is fixedly connected to the threaded rod.

[0010] Preferably, the limiting component includes two fixing blocks, each located inside the square hole. A threaded rod is threadedly connected to the fixing block, passing through it. An extension plate is fixedly connected to the side of the fixing block away from the square groove, and a drive motor is fixedly connected to the end of the extension plate away from the fixing block. Rollers on both sides in the horizontal direction are in close contact with the central guide wire. Simultaneously, the motor is powered by an external power source, causing the threaded rod to rotate. This causes the threaded rod to move the fixing block along the inner wall of the square groove, thereby causing the fixing block to move the extension plate. At this point, the two fixing blocks within one limiting component move towards the central guide wire, causing the central rods on both sides to move the round rods and guide wheels. The two guide wheels contact and compress, compressing the spring. As the movement continues... The movement causes the cross block to be positioned inside the cross groove. At this point, the two guide wheels form a guide wheel, and the wire is located in the gap between the two guide wheels at both ends of the middle rod. Subsequently, the drive motor, powered by an external power source, operates, causing the rotating shaft to rotate. This rotating shaft then rotates the middle rod, causing the guide wheels at both ends to rotate and contact the wire. By vertically setting the two guide wheels, a three-dimensional clamp structure is formed in the vertical direction. Rigid contact counteracts the equipment's own weight and vertical external forces. Stable movement is achieved through the two limiting components at both ends and the roller in the middle, allowing for obstacle crossing and crossing of power transmission lines. The output end of the drive motor passes through the extension plate, and a rotating shaft is rotatably connected to the outer side of the extension plate near the drive motor. The output end of the drive motor is connected to the rotating shaft. A fixed connection is made, with a central rod fixedly connected to the end of the rotating shaft away from the drive motor. The middle of the central rod is connected to the rotating shaft, and four round rods are rotatably connected to the side of the central rod away from the rotating shaft. Two round rods are grouped together, and the two groups of round rods are respectively set on two central rods. The two round rods in a group are symmetrically arranged at both ends of a central rod with the rotating shaft as the center. The round rods pass through the central rod, and guide wheels are slidably connected to the outer side of the round rod away from the rotating shaft. The end of the guide wheel away from the spring is set with a trapezoidal annular groove. The two guide wheels on both sides form a guide wheel. When crossing an obstacle, the guide wheels on the front limiting component need to alternately detach from the cable to cross the obstacle. The roller in the middle and the limiting component at the rear end contact the cable. At this time, the guide wheel and roller hanging on the cable... This design supports the cable, increasing the support points between the obstacle-crossing inspection robot and the cable. This prevents the robot from easily swaying and deviating from the cable due to insufficient support points when crossing obstacles, ensuring the stability of the robot's obstacle-crossing posture. Vertical clamping effectively counteracts the gravitational force generated during climbing, preventing the robot from swaying or falling vertically, thus providing a stable foundation for obstacle crossing. Furthermore, the cooperation of vertical and horizontal rollers makes the robot's movement smoother, preventing component loosening or damage due to violent shaking, extending the robot's lifespan, and ensuring reliability and stability during frequent obstacle-crossing operations. A spring is fitted on the outer side of the round rod, with both ends of the spring fixedly connected to the middle rod and the guide wheel, respectively.Two round rods in one group have cross blocks fixedly connected to their ends, with the cross blocks located at the ends of the round rods near the spring. Two round rods in another group have cross grooves at their ends, which are slidably connected to the cross blocks. The cross blocks are located at the gap between the two intermediate rods. An extension plate has a ring fixedly connected to its side near the rotating shaft. The ring has a groove on its side near the intermediate rod, and a cylinder is slidably connected to the center of the groove. The cylinder is magnetic, and the slider is magnetic, with opposite magnetic properties to the cylinder. The rotating shaft drives the intermediate rod to rotate, and the slider on the intermediate rod slides inside the ring. When the slider… As the slider approaches the cylinder, the mutual attraction between the cylinder and the slider increases, causing the cylinders on either side of the slider to slide closer to the slider. At this point, the cylinders on both sides limit the position of the slider, preventing the central rod from rotating when the drive motor is not working. The slider's limiting function ensures that the equipment remains in its original position during standby, preventing positional shifts caused by wire swaying and ensuring the accuracy of subsequent inspection data. There are multiple cylinders evenly distributed inside the annular groove. A slider is fixedly connected to the side of the central rod closest to the annular groove, and the slider is slidably connected to the annular groove.

[0011] Preferably, the ice-breaking assembly includes a connecting plate, which is fixedly connected to an extension plate. The connecting plate has an L-shaped design, and a conical plate is fixedly connected to the end of the connecting plate away from the extension plate. There are two conical plates. A through hole is opened on the outer side of the connecting plate. The motor is connected to an external power source and operates. The motor drives the threaded rod to rotate, causing the threaded rod to move the fixed block along the inner wall of the square groove. This causes the fixed block to move the extension plate, and the extension plate to move the connecting plate along the direction of the positioning rod. This causes the connecting plate to move the conical plate towards the wire, so that the conical block on the conical plate contacts the wire. The design of the tip of the conical cylinder creates concentrated stress when it comes into contact with the ice, allowing the conical cylinder to quickly cut the ice layer into small pieces, improving the ice-breaking efficiency. The system improves ice efficiency, shortens line de-icing time, and ensures safe power transmission. Simultaneously, the brushes on the inner wall of the conical plate remove accumulated dirt, bird droppings, and other debris from the conductor surface, ensuring cleanliness and providing a more accurate foundation for subsequent testing. There are two connecting plates: one conical plate has a semi-circular arc design, with multiple protrusions fixedly connected to its side end, symmetrically arranged around the connecting plate. The other conical plate has multiple grooves on its side end, symmetrically arranged around the connecting plate, with protrusions located inside the grooves. A conical block is fixedly connected to the axial end of the conical plate away from the connecting plate, and brushes are fixedly connected to the inner wall of the conical plate.

[0012] Preferably, the housing includes two outer shells, symmetrically arranged around a fixed plate. Each outer shell has a through slot on its outer side, symmetrically arranged at both ends. The fixed plate passes through the outer shell via the through slot. A partition is fixedly connected to the inner wall of the outer shell, with a limiting hole in the middle of the partition. An extension block is located inside the limiting hole. A sliding hole is provided on the side of the outer shell near the through slot, with a positioning rod fixedly connected to the inner wall of the sliding hole, located inside the through hole. Two fixing rings are fixedly connected to the outer side of the outer shell, symmetrically arranged around the through slot. A buffer block is provided at the interval between the fixing rings. The buffer block, gasket, L-shaped plate, and intermediate plate constitute a buffer layer. When the equipment accidentally collides with a pole, fittings, or other obstacle, the buffer block, under force, causes the gasket, L-shaped plate, and intermediate plate to... Moving in the direction of the outer shell, the buffer layer absorbs impact energy through deformation, preventing the impact from being directly transmitted to the robot's drive system and other core components. This reduces the probability of equipment damage caused by collisions, extends equipment lifespan, and reduces the impact of collisions on robot operation. Even in the event of a minor collision, the robot can maintain normal operation, ensuring complete collection of inspection data, avoiding repeated inspections due to equipment failure, improving inspection efficiency, and reducing maintenance costs. The buffer block has an L-shaped design, with multiple buffer blocks evenly distributed at the corners of the outer shell. The inner wall of the buffer block is equipped with a gasket, and inside the gasket is an L-shaped plate. A middle plate is fixedly connected to the middle plate at the middle part away from the gasket. A positioning plate is fixedly connected to the middle plate at the end away from the L-shaped plate. The inner walls of the positioning plate on both sides away from the middle plate are fixedly connected to the corners of the outer shell.

[0013] This invention provides an inspection device for power transmission lines. It has the following advantages:

[0014] 1. The inspection device for this power transmission line can offset some of the shaking by using the reverse torque generated by the staggered rollers. When the equipment travels on the surface of the conductor, the left and right staggered rollers can apply pressure from different axial angles at the same time. Even if there are local unevenness in the conductor, the staggered layout can keep the rollers in close contact with the conductor, improve the friction in wet and slippery environments, and reduce the risk of slippage.

[0015] Second, the inspection device for this power transmission line uses the elastic deformation of a V-shaped plate to make the rollers fit tightly against the surface of the conductor. At this time, the elasticity of the V-shaped plate can be used to make the rollers adapt to the surface contour, thereby maintaining effective contact between the rollers and the conductors. This improves the fixing effect, enhances stability, and prevents the rollers from slipping or getting stuck due to ice, thus ensuring normal inspection work and preventing the inspection from being affected.

[0016] Third, the inspection device for this power transmission line forms a three-dimensional clamp structure in the vertical direction by vertically setting two guide wheels. It offsets the equipment's own weight and vertical external force through rigid contact, and achieves stable movement through two limit components at both ends and rollers in the middle. It can also cross obstacles and power transmission lines.

[0017] Fourth, the inspection device for this power transmission line uses a conical cylinder with a pointed tip design to create concentrated stress when it comes into contact with ice. This allows the conical cylinder to quickly break the ice layer into small pieces, improving ice-breaking efficiency, shortening line de-icing time, and ensuring the safety of power transmission. At the same time, the brushes on the inner wall of the conical plate can remove dirt, bird droppings, and other debris from the surface of the conductor, ensuring the surface of the conductor is clean and providing a more accurate basis for subsequent inspections. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a partial structural schematic diagram of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of the main body of the present invention;

[0021] Figure 4 This is a schematic diagram of the structure of the limiting component of the present invention;

[0022] Figure 5 This is a partial structural schematic diagram of the limiting component of the present invention;

[0023] Figure 6 This is a schematic diagram of the disassembled limiting component of the present invention;

[0024] Figure 7 This is a schematic diagram of the structure of the ice-breaking component of the present invention;

[0025] Figure 8 This is a schematic diagram of the structure of the housing of the present invention;

[0026] Figure 9 This is a partial structural diagram of the housing of the present invention.

[0027] In the diagram: 1. Main body; 11. Fixing plate; 12. Extension block; 13. Fixing rod; 14. Square hole; 15. Threaded rod; 16. Square groove; 17. Screw; 18. Roller; 19. Rotating rod; 110. V-shaped plate; 111. Sliding rod; 2. Camera; 3. Housing; 31. Outer shell; 32. Partition plate; 33. Limiting hole; 34. Through groove; 35. Sliding hole; 36. Positioning rod; 37. Buffer block; 38. Gasket; 39. L-shaped plate; 310. Positioning plate; 311. Fixing ring; 312 4. Ice-breaking assembly; 41. Connecting plate; 42. Through hole; 43. Conical plate; 44. Protrusion; 45. Groove; 46. Conical block; 47. Brush; 5. Limiting assembly; 51. Fixing block; 52. Extension plate; 53. Drive motor; 54. Shaft; 55. Ring; 56. Ring groove; 57. Intermediate rod; 58. Round rod; 59. Spring; 510. Guide wheel; 511. Cross groove; 512. Cross block; 513. Cylinder; 514. Slider; 6. Motor; 7. Electric motor. Detailed Implementation

[0028] 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.

[0029] First embodiment, such as Figures 1 to 3 As shown, the present invention provides a technical solution: an inspection device for power transmission lines, including a body 1, a camera 2 fixedly installed at the front end of the body 1, a motor 7 fixedly connected to the outer side of the body 1, and a motor 6 fixedly connected to the outer side of the body 1.

[0030] The housing 3 is fixedly installed on the outside of the main body 1, and there are two housings 3;

[0031] Ice-breaking component 4 is fixedly installed at the front end of housing 3;

[0032] Limiting component 5 is located on the top of the main body 1. There are two limiting components 5, which are symmetrically arranged at both ends of the main body 1.

[0033] The main body 1 includes a fixing plate 11. A square groove 16 is formed in the center of the top of the fixing plate 11. There are two square grooves 16, located on the two side edges of the fixing plate 11. The output end of the motor 7 passes through the fixing plate 11 and extends into the interior of the square groove 16. There are four rollers 18, divided into two groups. The two groups of rollers 18 are located on both sides of the fixing plate 11 near the extension block 12. The two rollers 18 in each group are symmetrically arranged around the screw 17. The four rollers 18 are staggered along the conductor axis, forming a Z-shaped asymmetrical layout. The device is placed close to the power transmission line, so that the conductor is located between the two rollers 18. The motor 7 is powered by an external power source. The motor 7 drives the screw 17 to rotate, causing the screw 17 to move the sliding rod 111 towards the conductor, thereby fixing the rod... 13 drives the roller 18 to contact the conductor. At this time, the horizontal misalignment causes the roller 18 and the conductor to form an asymmetrical friction force distribution. When the equipment is subjected to lateral wind force or conductor vibration, the reverse torque generated by the misaligned roller 18 can offset part of the shaking. When the equipment travels on the surface of the conductor, the left and right misaligned rollers 18 can apply pressure from different axial angles at the same time. Even if there is local unevenness in the conductor, the misaligned layout can keep the roller and the conductor in close contact, improve the friction in wet and slippery environments, and reduce the risk of slippage. The inside of the square groove 16 is rotatably connected to the screw 17, and the inner wall of the square groove 16 is slidably connected to the sliding rod 111. The sliding rod 111 is set perpendicular to the fixed plate 11. The outside of the sliding rod 111 is rotatably connected to the fixed rod 13. The end of the fixed rod 13 away from the sliding rod 111 is fixedly connected to the rotating rod 19. The outside of the rotating rod 19 is rotatably connected to the roller 18.

[0034] There are four fixing rods 13, arranged in groups of two. The two groups of fixing rods 13 are respectively mounted on sliding rods 111 within two square slots 16. Within each group, the fixing rods 13 are symmetrically arranged around the screw 17. The two groups of fixing rods 13 are alternately arranged. A V-shaped plate 110 is provided at the interval between the two fixing rods 13 within a group. The V-shaped plate 110 is elastic. Due to factors such as sag, icing, and temperature changes, the transmission conductor may experience localized bending or diameter fluctuations. Two rollers 18 on one side are arranged in a V-shape, forming a three-point clamp with the elastic V-shaped plate 110. When the equipment is running, the elastic deformation of the V-shaped plate 110 causes the rollers 18 to fit tightly against the conductor surface. The elasticity of the V-shaped plate 110 allows the rollers 18 to adaptively conform to the surface contour, thus maintaining effective contact and improving the fixing effect and stability. To prevent the rollers 18 from slipping or getting stuck due to ice, thus ensuring normal inspection work and preventing the inspection from being affected, the two sides of the V-shaped plate 110 are fixedly connected to the inner walls of the two fixed rods 13 respectively. An extension block 12 is fixedly connected to the outer side of the fixed plate 11. The extension block 12 is located on both sides of the fixed plate 11 near the square groove 16. There are two extension blocks 12, which are symmetrically arranged with the fixed plate 11 as the center. The top of the body 1 has a square hole 14. There are four square holes 14. The four square holes 14 are divided into two groups. The two groups of square holes 14 are symmetrically arranged on the top near the front and rear ends of the fixed plate 11. The two square holes 14 in one group are symmetrically arranged on the two sides of the fixed plate 11. The square holes 14 are parallel to the square groove 16. A threaded rod 15 is rotatably connected inside the square hole 14. There are two motors 6. The output end of the motor 6 is fixedly connected to the threaded rod 15.

[0035] The second embodiment is based on the first embodiment; please refer to [link / reference]. Figures 4 to 6As shown, the limiting component 5 includes two fixing blocks 51. The fixing blocks 51 are located inside the square hole 14. A threaded rod 15 is threadedly connected to the fixing blocks 51, passing through them. An extension plate 52 is fixedly connected to the side of the fixing block 51 away from the square groove 16. A drive motor 53 is fixedly connected to the end of the extension plate 52 away from the fixing block 51. Rollers 18 on both sides in the horizontal direction are in close contact with the central guide wire. Simultaneously, the motor 6 is powered by an external power source. The motor 6 drives the threaded rod 15 to rotate, causing the threaded rod 15 to move the fixing blocks 51 along the inner wall of the square groove 16. This causes the fixing blocks 51 to move the extension plate 52. At this time, the two fixing blocks 51 within one limiting component 5 move towards the central guide wire. The line moves, causing the two intermediate rods 57 to move, which in turn move the round rods 58 and guide wheels 510. The two guide wheels 510 contact and compress, compressing the spring 59. As the line continues to move, the cross block 512 is positioned inside the cross groove 511. At this point, the two guide wheels 510 form a guide wheel, and the wire is located at the interval between the two guide wheels at both ends of the intermediate rod 57. Subsequently, the drive motor 53, powered by an external power source, operates, driving the rotating shaft 54 ​​to rotate. This causes the rotating shaft 54 ​​to rotate the intermediate rod 57, which in turn causes the guide wheels at both ends to rotate and contact the wire. By vertically setting the two guide wheels, a three-dimensional clamp structure is formed in the vertical direction. The rigid contact counteracts the equipment's own weight and vertical external forces, and the two ends... The two limiting components 5 and the central roller 18 enable stable movement and allow for obstacle crossing and crossing of power transmission lines. The output end of the drive motor 53 passes through the extension plate 52. A rotating shaft 54 ​​is rotatably connected to the outer side of the extension plate 52 near the drive motor 53. The output end of the drive motor 53 is fixedly connected to the rotating shaft 54. A middle rod 57 is fixedly connected to the end of the rotating shaft 54 ​​away from the drive motor 53. The middle part of the middle rod 57 is connected to the rotating shaft 54. A round rod 58 is rotatably connected to the side of the middle rod 57 away from the rotating shaft 54. There are four round rods 58. Two round rods 58 are grouped together. The two groups of round rods 58 are respectively set on two middle rods 57. The two round rods 58 in a group are symmetrically arranged on one middle rod 57 with the rotating shaft 54 ​​as the center. At both ends, a round rod 58 passes through a middle rod 57. A guide wheel 510 is slidably connected to the outer side of the round rod 58 away from the pivot 54. The end of the guide wheel 510 away from the spring 59 has a trapezoidal annular groove. The two guide wheels 510 on both sides form a guide wheel. When crossing an obstacle, the guide wheel on the front limiting component 5 needs to alternately detach from the cable to cross the obstacle. The roller 18 in the middle and the limiting component 5 at the rear contact the cable. At this time, the guide wheel and roller 18 hanging on the cable can support the cable, increasing the support points between the obstacle-crossing inspection robot and the cable. This prevents the device from easily swinging and deviating from the cable due to insufficient support points when crossing obstacles, ensuring the stability of the obstacle-crossing inspection robot's obstacle-crossing posture during the obstacle-crossing process, thereby ensuring the stability of the obstacle-crossing process.Furthermore, the vertical clamping effectively counteracts the gravitational force generated by the equipment during climbing, preventing the equipment from swaying or falling in the vertical direction, thus laying a stable foundation for the obstacle-crossing process. The cooperation of the vertical and horizontal rollers 18 further smooths the equipment's movement, preventing loosening or damage to components due to violent shaking, extending the equipment's service life, and ensuring its reliability and stability during frequent obstacle-crossing operations. A spring 59 is fitted around the outer side of the round rod 58, with both ends of the spring 59 fixedly connected to the intermediate rod 57 and the guide wheel 510, respectively. A cross block 512 is fixedly connected to the ends of two round rods 58 in one group, located near the spring 59. A cross groove 511 is formed at the ends of two round rods 58 in another group, slidably connected to the cross block 512. The cross block 512 is located at the interval between the two intermediate rods 57. A ring 55 is fixedly connected to the side of the extension plate 52 near the rotating shaft 54. A ring groove 56 is formed on the side of the ring 55 near the intermediate rod 57, with the inner center of the ring groove 56... A cylinder 513 with magnetic properties is slidably connected to the slider 514. The magnetic properties of the slider 514 and the cylinder 513 are opposite. The rotating shaft 54 ​​drives the intermediate rod 57 to rotate. The slider 514 on the intermediate rod 57 slides inside the ring 55. When the slider 514 approaches the cylinder 513, the mutual attraction between the cylinder 513 and the slider 514 increases, causing the cylinders 513 on both sides of the slider 514 to slide towards the slider 514. At this time, the cylinders 513 on both sides exert force on the slider. The position of 514 is limited to prevent the intermediate rod 57 from rotating when the drive motor 53 is not working. The slider limit ensures that the equipment remains in its original position during standby, avoiding positional deviation caused by wire swaying and ensuring the accuracy of subsequent inspection data. There are multiple cylinders 513, which are evenly distributed inside the annular groove 56. The slider 514 is fixedly connected to the side of the intermediate rod 57 near the annular ring 55. The slider 514 is located inside the annular groove 56 and is slidably connected to the annular groove 56.

[0036] The third embodiment is based on embodiments one and two; please refer to [link / reference]. Figures 7 to 9As shown, the ice-breaking component 4 includes a connecting plate 41, which is fixedly connected to an extension plate 52. The connecting plate 41 has an L-shaped design, and a conical plate 43 is fixedly connected to the end of the connecting plate 41 away from the extension plate 52. There are two conical plates 43. A through hole 42 is opened on the outer side of the connecting plate 41. The motor 6 is connected to an external power source and operates. The operation of the motor 6 drives the threaded rod 15 to rotate, causing the threaded rod 15 to drive the fixed block 51 to move along the inner wall of the square groove 16. This causes the fixed block 51 to drive the extension plate 52 to move, and the extension plate 52 to drive the connecting plate 41 to move along the direction of the positioning rod 36. This causes the connecting plate 41 to drive the conical plate 43 to move towards the wire, so that the conical block 46 on the conical plate 43 contacts the wire. The design of the tip of the conical cylinder creates concentrated stress when it contacts the ice, allowing the conical cylinder to quickly cut the ice layer into small pieces, improving efficiency. To improve ice-breaking efficiency, shorten line de-icing time, and ensure power transmission safety, the brush 47 on the inner wall of the conical plate 43 can remove dirt, bird droppings, and other debris from the conductor surface, ensuring the conductor surface is clean and providing a more accurate foundation for subsequent testing. There are two connecting plates 41. One conical plate 43 has a semi-circular arc design, and a protrusion 44 is fixedly connected to the side end of the other conical plate 43. There are multiple protrusions 44, which are symmetrically arranged around the connecting plate 41. The other conical plate 43 has a groove 45 on the side end. There are multiple grooves 45, which are symmetrically arranged around the connecting plate 41. The protrusion 44 is located inside the groove 45. A conical block 46 is fixedly connected to the axial end of the conical plate 43 away from the connecting plate 41. A brush 47 is fixedly connected to the inner wall of the conical plate 43.

[0037] The housing 3 includes an outer shell 31, and there are two outer shells 31. The two outer shells 31 are symmetrically arranged around the fixing plate 11. The outer shells 31 have through slots 34 on their outer sides. There are two through slots 34, and the two through slots 34 are symmetrically arranged at both ends of the outer shells 31. The fixing plate 11 passes through the outer shells 31 through the through slots 34. A partition plate 32 is fixedly connected to the inner wall of the outer shell 31. A limit hole 33 is opened in the middle of the partition plate 32. The extension block 12 is located inside the limit hole 33. The outer shell 31 has an opening on the side near the through slot 34. A sliding hole 35 is provided, and a positioning rod 36 is fixedly connected to the inner wall of the sliding hole 35. The positioning rod 36 is located inside the through hole 42. A fixing ring 311 is fixedly connected to the outer side of the outer shell 31. There are two fixing rings 311, which are symmetrically arranged with the through groove 34 as the center. A buffer block 37 is provided at the interval between the fixing rings 311. The buffer block 37, the gasket 38, the L-shaped plate 39 and the intermediate plate 312 constitute a buffer layer. When the equipment accidentally collides with the pole, hardware or other obstacles, the buffer block 37 will... The force causes the pad 38, L-shaped plate 39, and intermediate plate 312 to move towards the outer shell 31. The buffer layer absorbs the impact energy through deformation, preventing the impact from being directly transmitted to the core components such as the robot's drive system, reducing the probability of equipment damage caused by collisions, extending the service life of the equipment, and reducing the impact of collisions on the robot's operation. Even in the event of a minor collision, the robot can maintain normal operation, ensuring complete collection of inspection data, avoiding repeated inspections due to equipment failure, improving inspection efficiency, and reducing maintenance costs. The buffer block 37 has an L-shaped design, and there are multiple buffer blocks 37. The multiple buffer blocks 37 are evenly arranged at the corners of the outer shell 31. The inner wall of the buffer block 37 is provided with a pad 38. Inside the pad 38, an L-shaped plate 39 is provided. The middle part of the side away from the pad 38 is fixedly connected to the intermediate plate 312. The end of the intermediate plate 312 away from the L-shaped plate 39 is fixedly connected to the positioning plate 310. The inner walls of the positioning plate 310 on both sides away from the intermediate plate 312 are fixedly connected to the corners of the outer shell 31.

[0038] When in use, place the device close to the power transmission line so that the conductor is located in the gap between the two rollers 18. The motor 7 is connected to an external power source and works. The motor 7 drives the screw 17 to rotate, which causes the screw 17 to drive the sliding rod 111 to move in the direction of the conductor. Thus, the fixed rod 13 drives the roller 18 to contact the conductor. At this time, the horizontal misalignment causes the roller 18 and the conductor to form an asymmetrical friction force distribution.

[0039] The rollers 18 on both sides in the horizontal direction are in close contact with the wire in the middle. At the same time, the motor 6 is powered by an external power source. The motor 6 drives the threaded rod 15 to rotate, which causes the threaded rod 15 to move the fixed block 51 along the inner wall of the square groove 16. This causes the fixed block 51 to move the extension plate 52. At this time, the two fixed blocks 51 in a limiting component 5 move towards the wire in the middle, causing the middle rods 57 on both sides to move the round rod 58 and the guide wheel 510. The two guide wheels 510 contact and squeeze each other, and the spring 59 is compressed. As the movement continues, the cross block 512 is located inside the cross groove 511. At this time, the two guide wheels 510 form a guide wheel, and the wire is located at the interval between the two guide wheels at both ends of the middle rod 57. Then, the drive motor 53 is powered by an external power source. The drive motor 53 drives the rotating shaft 54 ​​to rotate, which causes the rotating shaft 54 ​​to rotate the middle rod 57. This causes the middle rod 57 to rotate and contact the guide wheels at both ends.

[0040] When crossing obstacles, the guide wheels on the front limiting component 5 need to alternately detach from the cable to cross the obstacle. The middle roller 18 and the rear limiting component 5 contact the cable. At this time, the guide wheels and rollers 18 hanging on the cable can support the cable to increase the support points between the obstacle-crossing inspection robot and the cable.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An inspection device for power transmission lines, characterized in that, include: The main body (1) has a camera (2) fixedly installed at its front end, a motor (7) fixedly connected to the outer side of the main body (1), and a motor (6) fixedly connected to the outer side of the main body (1). A housing (3) is fixedly installed on the outside of the body (1), and there are two housings (3); An ice-breaking component (4) is fixedly installed at the front end of the housing (3); Limiting component (5), the limiting component (5) is disposed on the top of the body (1), and there are two limiting components (5), the two limiting components (5) are symmetrically disposed at both ends of the body (1); The main body (1) includes a fixing plate (11). A square groove (16) is provided at the top center of the fixing plate (11). There are two square grooves (16). The two square grooves (16) are located at the two side edges of the fixing plate (11). The output end of the motor (7) passes through the fixing plate (11) and extends into the inside of the square groove (16). A screw (17) is rotatably connected inside the square groove (16). A sliding rod (111) is slidably connected to the inner wall of the square groove (16). The sliding rod (111) is perpendicular to the fixing plate (11). A fixing rod (13) is rotatably connected to the outer side of the sliding rod (111). A rotating rod (19) is fixedly connected to the end of the fixing rod (13) away from the sliding rod (111). A roller (18) is rotatably connected to the outer side of the rotating rod (19). There are four fixing rods (13). Two fixing rods (13) are divided into a group. The two groups of fixing rods (13) are respectively set on the sliding rods (111) in the two square grooves (16). The fixing rods (13) in one group are symmetrically arranged with the screw (17) as the center. The two groups of fixing rods (13) are alternately arranged. A V-shaped plate (110) is provided at the interval between the two fixing rods (13) in one group. The V-shaped plate (110) is elastic. The two sides of the V-shaped plate (110) are fixedly connected to the inner walls of the two fixing rods (13). An extension block (12) is fixedly connected to the outer side of the fixing plate (11). The extension block (12) is located on both sides of the fixing plate (11) near the square groove (16). There are two extension blocks (12). The two extension blocks (12) are symmetrically arranged with the fixing plate (11) as the center. A square hole (14) is opened at the top of the body (1).

2. The inspection device for power transmission lines according to claim 1, characterized in that: There are four square holes (14). The four square holes (14) are divided into two groups. The two groups of square holes (14) are symmetrically arranged on the top of the front and rear ends of the fixing plate (11). The two square holes (14) in one group are symmetrically arranged on the two sides of the fixing plate (11). The square holes (14) are parallel to the square grooves (16). The inside of the square holes (14) is rotatably connected to a threaded rod (15). There are two motors (6). The output end of the motors (6) is fixedly connected to the threaded rods (15).

3. The inspection device for power transmission lines according to claim 2, characterized in that: The limiting component (5) includes a fixing block (51), there are two fixing blocks (51), the fixing blocks (51) are located inside the square hole (14), the threaded rod (15) is threadedly connected to the fixing block (51), the threaded rod (15) passes through the fixing block (51), an extension plate (52) is fixedly connected to the side of the fixing block (51) away from the square groove (16), a drive motor (53) is fixedly connected to the end of the extension plate (52) away from the fixing block (51), the output end of the drive motor (53) passes through the extension plate (52), a rotating shaft (54) is rotatably connected to the outer side of the extension plate (52) near the end of the drive motor (53), and the output end of the drive motor (53) is fixedly connected to the rotating shaft (54).

4. The inspection device for power transmission lines according to claim 3, characterized in that: A middle rod (57) is fixedly connected to one end of the rotating shaft (54) away from the drive motor (53). The middle part of the middle rod (57) is connected to the rotating shaft (54). A round rod (58) is rotatably connected to the side of the middle rod (57) away from the rotating shaft (54). There are four round rods (58). Two round rods (58) are grouped together. The two groups of round rods (58) are respectively set on two middle rods (57). The two round rods (58) in a group are symmetrically arranged at both ends of a middle rod (57) with the rotating shaft (54) as the center. 58) Through the intermediate rod (57), the outer side of the round rod (58) away from the rotating shaft (54) is slidably connected to the guide wheel (510), the outer side of the round rod (58) is fitted with a spring (59), the two ends of the spring (59) are fixedly connected to the intermediate rod (57) and the guide wheel (510) respectively, the ends of the two round rods (58) in one group are fixedly connected to a cross block (512), the cross block (512) is located at the end of the round rod (58) near the spring (59), and the ends of the two round rods (58) in another group are provided with a cross groove (511).

5. The inspection device for power transmission lines according to claim 4, characterized in that: The cross groove (511) is slidably connected to the cross block (512). The cross block (512) is located at the interval between the two intermediate rods (57). The extension plate (52) is fixedly connected to a ring (55) on the side near the rotating shaft (54). The ring (55) is provided with an annular groove (56) on the side near the intermediate rod (57). A cylinder (513) is slidably connected in the middle of the annular groove (56). There are multiple cylinders (513), which are evenly distributed inside the annular groove (56). A slider (514) is fixedly connected to the side of the intermediate rod (57) near the ring (55). The slider (514) is located inside the annular groove (56), and the slider (514) is slidably connected to the annular groove (56).

6. The inspection device for power transmission lines according to claim 1, characterized in that: The ice-breaking component (4) includes a connecting plate (41), which is fixedly connected to an extension plate (52). The connecting plate (41) is L-shaped. A conical plate (43) is fixedly connected to one end of the connecting plate (41) away from the extension plate (52). There are two conical plates (43). A through hole (42) is provided on the outer side of the connecting plate (41). There are two connecting plates (41). One of the conical plates (43) is semi-circular. A protrusion (44) is fixedly connected to the side end of the other conical plate (43). There are multiple protrusions (44), and the multiple protrusions (44) are symmetrically arranged with the connecting plate (41) as the center. The side end of the other conical plate (43) is provided with a groove (45), and there are multiple grooves (45), and the multiple grooves (45) are symmetrically arranged with the connecting plate (41) as the center. The protrusions (44) are located inside the grooves (45). The axial end of the conical plate (43) away from the connecting plate (41) is fixedly connected to a conical block (46), and the inner wall of the conical plate (43) is fixedly connected to a brush (47).

7. The inspection device for power transmission lines according to claim 1, characterized in that: The housing (3) includes an outer shell (31), and there are two outer shells (31). The two outer shells (31) are symmetrically arranged with the fixing plate (11) as the center. The outer shells (31) and the outer side are provided with through grooves (34). There are two through grooves (34). The two through grooves (34) are symmetrically arranged at both ends of the outer shells (31). The fixing plate (11) passes through the outer shells (31) through the through grooves (34). The inner wall of the outer shells (31) is fixedly connected with a partition (32).

8. The inspection device for power transmission lines according to claim 7, characterized in that: The partition (32) has a limiting hole (33) in the middle. The extension block (12) is located inside the limiting hole (33). The outer shell (31) has a sliding hole (35) on the side near the through groove (34). A positioning rod (36) is fixedly connected to the inner wall of the sliding hole (35). The positioning rod (36) is located inside the through hole (42). A fixing ring (311) is fixedly connected to the outer side of the outer shell (31). There are two fixing rings (311). The two fixing rings (311) are symmetrically arranged with the through groove (34) as the center. A buffer block (37) is provided at the interval between the fixing rings (311). The buffer block (37) is L-shaped.

9. The inspection device for power transmission lines according to claim 8, characterized in that: There are multiple buffer blocks (37), and the multiple buffer blocks (37) are evenly arranged at the corners of the outer shell (31). The inner wall of the buffer block (37) is provided with a gasket (38). An L-shaped plate (39) is provided inside the gasket (38). A middle plate (312) is fixedly connected to the middle of the side away from the gasket (38). A positioning plate (310) is fixedly connected to the end of the middle plate (312) away from the L-shaped plate (39). The inner walls of the positioning plate (310) on both sides away from the middle plate (312) are fixedly connected to the corners of the outer shell (31).

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