Robot for detecting anti-falling guide rail of power transmission line

Abstract

The invention discloses a robot for detecting an anti-falling guide rail of a power transmission line, and belongs to the technical field of power equipment maintenance. The robot comprises a frame, a load bearing platform arranged on the frame, a driving wheel assembly, a driven wheel assembly, a damping-adjustable floating mechanism connected with the driving wheel assembly and the frame, a detection assembly and data processing equipment. The floating mechanism has a low damping value in a detection mode and a high damping value in a transportation mode so as to adapt to flexibility required by high-precision detection and rigidity required by load-bearing transportation; the detection assembly integrates a visual probe, a laser displacement sensor and a magnetic encoder, and real-time and accurate recognition and positioning of defects of the guide rail are achieved. The data processing device can cut off power according to a detection result. According to the invention, integration of detection and transportation functions is realized, the problems of low efficiency and poor safety of traditional staged operation are solved, and the intelligent level and comprehensive benefits of high-altitude operation and maintenance operation are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of power equipment maintenance technology, and specifically to a robot for inspecting anti-fall guide rails of power transmission lines. Background Technology

[0002] High-voltage and ultra-high-voltage transmission lines are often erected along complex terrains such as mountains, rivers, and lakes. To ensure the safety of line maintenance personnel working at heights, a dedicated "fall-proof guide rail" system is usually installed between the towers. This guide rail has an I-shaped cross-section, with continuous toothed grooves at the top and grooves on the sides, forming a continuous safety track that runs through the line.

[0003] For high-altitude operations using this guide rail (such as transmission line tower maintenance and wind turbine tower repair), there are two rigid requirements: first, "guide rail safety prediction," which requires accurately identifying defects such as damage, deformation, and misalignment of the guide rail itself before operation to eliminate potential safety hazards; second, "operation execution," which requires carrying tools or materials along the guide rail and completing specific operations. Currently, the industry generally adopts a "single-function robot phased operation" model: first, a dedicated "guide rail inspection robot" is deployed to check for defects, and after confirming safety, another "load-bearing climbing robot" is deployed to perform transportation or operation tasks.

[0004] Specifically, existing technical solutions mainly fall into two categories of independent single-function robots: Traditional guide rail inspection robots prioritize lightweight design and mobility. They typically only carry a monocular vision sensor or a simple displacement gauge, moving along the guide rail to collect images or basic distance data, which is then transmitted back to the ground for manual interpretation. These devices have limited inspection accuracy (usually at the decimeter level), unable to pinpoint defects at the centimeter or even millimeter level, and the data exhibits a time lag. More importantly, their design completely neglects load-bearing capacity and lacks operational capability.

[0005] General-purpose high-altitude load-bearing robots: These emphasize structural rigidity and load-bearing capacity. They achieve a certain load (e.g., 20kg) through a reinforced body and walking mechanism. However, these devices typically lack integrated high-precision online inspection modules, and their operational safety relies entirely on preliminary inspections by manual personnel or inspection robots. In long-distance, multi-tower continuous operations, this "blind operation" mode carries the risk of jamming or even falling due to unknown guide rail defects.

[0006] The existing technology has the following prominent drawbacks: Low operational efficiency: The two types of robots need to be deployed and operate independently in separate batches, and repeated preparation work such as guide rail docking and power supply is required, which increases the cycle of a single complete operation by more than 60%, and requires additional coordination, making the process complicated.

[0007] Insufficient detection accuracy and operational safety: The single-sensor solution of traditional inspection robots cannot meet the requirements of high-precision detection. If minute deformations (such as 5mm misalignment) are missed, it will pose a direct threat to the safe operation of the subsequent load-bearing robot.

[0008] The functional attributes conflict: the inspection task requires the robot to maintain a flexible fit with the guide rail to reduce vibration and ensure data stability; while load-bearing transportation requires a rigid connection to ensure travel stability. If a detection module is simply added to a load-bearing robot, the vibration during operation will cause the detection data to drift severely (the error can reach more than 15mm), and the detection module will also take up limited load space and load-bearing capacity.

[0009] Poor system integration and economic efficiency: Two independent robot systems mean double the R&D, purchase and maintenance costs, and because their walking, locking and other mechanisms are incompatible, they cannot form a synergistic effect, resulting in low equipment utilization.

[0010] Therefore, there is an urgent need in this field for an innovative device that can deeply integrate detection and transportation functions to fundamentally solve the drawbacks of the "phased operation" mode, so as to realize the integrated operation of in-service, real-time, high-precision safety monitoring of fall arrestor rails and stable and efficient material transportation, thereby improving the intelligence, safety and comprehensive economic benefits of the operation and maintenance of high-altitude facilities such as power transmission lines. Summary of the Invention

[0011] The purpose of this invention is to provide a robot for inspecting anti-fall guide rails of power transmission lines, so as to solve the problems of existing robots having limited functions and being unable to balance inspection accuracy and transportation stability.

[0012] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: A robot for inspecting fall-prevention guide rails in power transmission lines, wherein the fall-prevention guide rail has an I-shaped cross-section and a toothed groove on its top surface, and the robot comprises: Frame; A load-bearing platform is mounted on the vehicle frame; The drive wheel assembly includes a drive wheel frame and a drive wheel rotatably mounted on the drive wheel frame. The surface of the drive wheel is provided with teeth that cooperate with the tooth grooves of the anti-fall guide rail. The driven wheel assembly is mounted on the frame and includes four driven wheels arranged on both sides of the fall arrestor rail. The driven wheels are in rolling engagement with the grooves on the side of the fall arrestor rail. A floating mechanism connects the drive wheel frame to the vehicle frame. The damping resistance of the floating mechanism is adjustable, and it has a first damping value in detection mode and a second damping value in transportation mode. The second damping value is greater than the first damping value. The detection assembly, mounted on the vehicle frame, includes a visual probe for acquiring guide rail misalignment data, a laser displacement sensor for acquiring guide rail side distance data, and a magnetic encoder for providing feedback on the travel distance; and A data processing device, electrically connected to the detection component, is used to receive, process, and transmit sensor data, and can cut off the power to the drive wheel assembly when a preset defect is detected.

[0013] In the aforementioned robot for detecting fall-prevention guide rails in power transmission lines, the floating mechanism includes multiple sets of adjustable sliding damping components, each set of which includes: The slide rail is fixed on the drive wheel frame; An electronically controlled damper, fixed to the frame and slidingly engaged with the slide rail, is used to provide adjustable sliding damping.

[0014] In the robot described above for detecting anti-fall guide rails of power transmission lines, the floating mechanism further includes multiple damping springs, which are installed between the frame and the drive wheel frame.

[0015] In the robot described above for detecting fall-prevention guide rails of power transmission lines, the drive wheel is rotatably connected to the drive wheel frame via a drive wheel axle, and the magnetic encoder is disposed at the end of the drive wheel axle.

[0016] In the robot described above for detecting fall-prevention guide rails of power transmission lines, the active wheel assembly further includes a drive motor, the output shaft of which is connected to one end of the active wheel shaft; the other end of the active wheel shaft is provided with the magnetic encoder; and the active wheel shaft is also provided with a torque sensor for monitoring the power output status.

[0017] In the robot described above for detecting anti-fall guide rails of power transmission lines, the load-bearing platform is equipped with a load-bearing locking buckle.

[0018] In the robot described above for detecting fall-prevention guide rails on power transmission lines, the front and / or rear ends of the chassis are provided with locking mechanisms, the locking mechanisms including: A locking seat, fixed to the vehicle frame; A locking element is rotatably mounted on the locking seat and has a locking end that matches the toothed groove of the anti-fall guide rail; A resilient reset element, connected between the locking member and the locking seat or the frame, is used to provide the locking member with a resilient restoring force to disengage from the tooth groove; and A locking drive is used to drive the locking member to rotate against the elastic restoring force of the elastic reset member, so that the locking end abuts against the tooth groove to achieve locking.

[0019] In the robot described above for detecting fall-prevention guide rails of power transmission lines, the locking drive component is a traction cable, which drives the locking end to lock with the tooth groove of the fall-prevention guide rail.

[0020] In the robot described above for detecting anti-fall guide rails of power transmission lines, the locking drive component includes a fixedly installed electromagnet and a magnetic part that is linked to the locking component.

[0021] In the robot described above for detecting fall-prevention guide rails of power transmission lines, the vision probe is located above the locking mechanism.

[0022] Compared with the prior art, the advantages of the present invention are: By integrating a load-bearing platform and detection components onto a single robot, a single device can simultaneously perform two tasks: guide rail safety prediction and material transportation operation. This avoids the redundant process of two deployments and two preparations, significantly shortening the original phased operation cycle. It eliminates the need to develop, purchase, and maintain two independent robot systems, improving equipment utilization and resulting in better economic efficiency.

[0023] Furthermore, the addition of a flow-floating mechanism allows for moderate floating of the drive wheel assembly relative to the frame when damping is low, absorbing vibration and ensuring the stability and high accuracy of data collected by the detection components. When damping is increased, the connection rigidity between the drive wheel assembly and the frame is enhanced, ensuring overall stability and safety during loaded movement. This enables a robot to dynamically adjust its mechanical characteristics at different task stages, fundamentally preventing severe drift in detection data caused by operational vibrations, while also ensuring reliability during transportation.

[0024] In addition, the robot is equipped with data processing equipment, which makes the detection no longer an independent, offline post-event analysis, but a real-time linkage with the robot's motion control. Once a defect that endangers safety is detected, operation can be stopped immediately to prevent accidents.

[0025] Furthermore, the floating mechanism includes multiple sets of adjustable sliding damping components. Each set of adjustable sliding damping components includes: a slide rail, fixed to the drive wheel frame; and an electronically controlled damper, fixed to the frame and slidingly engaged with the slide rail, for providing adjustable sliding damping. The slide rail ensures that the drive wheel frame can only make precise linear movements relative to the frame along the direction perpendicular to the guide rail, eliminating swaying or wobbling in other directions. The damping force of the electronically controlled damper can be quickly, accurately, continuously, or in high-resolution graded adjustments via electrical signals, enabling the robot to smoothly and rapidly switch between detection mode and transportation mode.

[0026] Furthermore, the floating mechanism also includes multiple damping springs, which are installed between the frame and the drive wheel frame. These damping springs effectively support most of the static weight of the frame and load-bearing platform, allowing the electronically controlled damper to focus on dynamic damping adjustment rather than counteracting constant gravity, thus improving the efficiency and lifespan of the electronically controlled damper.

[0027] Furthermore, the drive wheel is rotatably connected to the drive wheel frame via a drive wheel axle, and the magnetic encoder is disposed at the end of the drive wheel axle. By directly placing the magnetic encoder at the end of the drive wheel axle, it rotates coaxially and synchronously with the drive shaft, eliminating any loss or lag in intermediate links, thus achieving the most direct and accurate measurement of the robot's displacement along the guide rail.

[0028] Furthermore, the drive wheel assembly also includes a drive motor, the output shaft of which is connected to one end of the drive wheel shaft; the other end of the drive wheel shaft is equipped with the magnetic encoder; and the drive wheel shaft is also equipped with a torque sensor for monitoring the power output status. The torque sensor is directly mounted on the drive shaft, enabling it to measure the actual torque output by the motor and transmitted to the wheel without delay or distortion. By monitoring the torque value in real time, the control system can accurately determine the actual load weight of the load-bearing platform. When the torque value abnormally increases while the position remains unchanged, it can be immediately determined that an obstacle has been encountered or the guide rail is severely deformed, causing jamming. When the torque value fluctuates abnormally, it may indicate poor meshing or slippage between the wheel teeth and the guide rail teeth. This provides the data processing equipment with earlier and more intelligent early warning and response basis beyond simply cutting off power.

[0029] Furthermore, the load-bearing platform is equipped with a load-bearing locking buckle. The load-bearing locking buckle provides positive mechanical restraint, which can effectively prevent the load from moving accidentally on the robot, fixing the load and the robot as a whole, and greatly reducing the risk of items falling.

[0030] Furthermore, the front and / or rear ends of the frame are provided with a locking mechanism, which includes: a locking seat fixed to the frame; a locking member rotatably disposed on the locking seat, having a locking end adapted to the toothed groove of the fall arrestor rail; an elastic reset member connected between the locking member and the locking seat or the frame, for providing the locking member with an elastic restoring force to disengage from the toothed groove; and a locking drive member for driving the locking member to rotate against the elastic restoring force of the elastic reset member, so that the locking end abuts against the toothed groove to achieve locking. The locking end of the locking mechanism is directly embedded in the toothed groove of the fall arrestor rail, forming a purely mechanical, non-self-retracting rigid connection. Even if the robot is completely powered off or the control system crashes, the locking mechanism can be designed to lock upon power failure, preventing any accidental movement.

[0031] Furthermore, the locking drive component is a traction cable, which drives the locking end to lock with the toothed groove of the fall arrestor rail. Using a traction cable as the transmission medium allows the locking drive component to remotely control the movement of the locking component via the traction cable.

[0032] Furthermore, the locking actuator includes a fixedly mounted electromagnet and a magnetic part that is linked to the locking actuator. The response time of electromagnetic drive is typically in the millisecond range, enabling near-instantaneous locking and releasing. This provides the fastest active protection for the robot when facing the risk of falling, compressing the safety protection time window to the extreme.

[0033] Furthermore, the vision probe is located above the locking mechanism. By placing the observation point of the vision probe directly above the working point of the locking mechanism, a top-down overview perspective is formed. During the robot's movement, the vision probe can simultaneously perform a pre-inspection of the tooth groove that will be used for locking. Once a defect is found in the tooth groove, the data processing equipment can immediately decide to skip this locking point or issue an early warning, thus realizing forward-looking safety prediction. Attached Figure Description

[0034] Figure 1 This invention provides a three-dimensional view of a robot used for inspecting fall-prevention guide rails on power transmission lines as it runs on the fall-prevention guide rail. Figure 1 ; Figure 2 This invention provides a three-dimensional view of a robot used for inspecting fall-prevention guide rails on power transmission lines as it runs on the fall-prevention guide rail. Figure 2 ; Figure 3 This invention relates to a three-dimensional robot for detecting fall-prevention guide rails in power transmission lines. Figure 1 ; Figure 4 This invention relates to a three-dimensional robot for detecting fall-prevention guide rails in power transmission lines. Figure 2 Figure 5 The three-dimensional representation of the present invention after removing the load-bearing platform Figure 1 ; Figure 6 The three-dimensional representation of the present invention after removing the load-bearing platform Figure 2 .

[0035] The attached figures are labeled as follows: Frame 100; Load-bearing platform 200, load-bearing locking buckle 210; Drive wheel assembly 300, drive wheel frame 310, drive wheel 320, drive wheel shaft 330, drive motor 340; Driven wheel assembly 400, driven wheel 410; Locking mechanism 500, locking seat 510, locking component 520, elastic reset component 530, locking drive component 540; Floating mechanism 600, slide rail 610, electronically controlled damper 620, vibration damping spring 630; Vision probe 710, laser displacement sensor 720, magnetic encoder 730, torque sensor 740; Fall protection guide rail 800. Detailed Implementation

[0036] A robot for inspecting fall arrestor rails 800 on power transmission lines, wherein the fall arrestor rail 800 has an I-shaped cross-section and a toothed groove on its top surface, and the robot comprises: Frame 100; A load-bearing platform 200 is mounted on the vehicle frame 100; The drive wheel assembly 300 includes a drive wheel frame 310 and a drive wheel 320 rotatably mounted on the drive wheel frame 310. The surface of the drive wheel 320 is provided with teeth that cooperate with the tooth grooves of the anti-fall guide rail 800. The driven wheel 410 assembly 400 is disposed on the frame 100 and includes four driven wheels 410 arranged on both sides of the fall arrest guide rail 800. The driven wheels 410 are in rolling engagement with the grooves on the side of the fall arrest guide rail 800. A floating mechanism 600 connects the active wheel frame 310 and the vehicle frame 100. The damping resistance of the floating mechanism 600 is adjustable, and it has a first damping value in the detection mode and a second damping value in the transportation mode. The second damping value is greater than the first damping value. The detection assembly, mounted on the frame 100, includes a visual probe 710 for acquiring guide rail misalignment data, a laser displacement sensor 720 for acquiring guide rail side distance data, and a magnetic encoder 730 for providing feedback on the travel distance; and The data processing device is electrically connected to the detection component and is used to receive, process and send sensor data, and can cut off the power of the drive wheel assembly 300 when a preset defect is detected.

[0037] By integrating the load-bearing platform 200 and detection components onto a single robot, a single device can simultaneously undertake two tasks: guide rail safety prediction and material transportation operation. This avoids the redundant process of two deployments and two preparations, significantly shortening the original phased operation cycle. It eliminates the need to develop, purchase, and maintain two independent robot systems, improving equipment utilization and resulting in better economic efficiency.

[0038] Furthermore, the addition of the flow-floating mechanism 600 allows for moderate floating of the drive wheel assembly 300 relative to the frame 100 when damping is low, absorbing vibration and ensuring the stability and high accuracy of the data collected by the detection components. When damping is increased, it enhances the connection rigidity between the drive wheel assembly 300 and the frame 100, ensuring overall stability and safety during loaded movement. This enables a robot to dynamically adjust its mechanical characteristics at different task stages, fundamentally preventing severe drift in detection data caused by operational vibrations, while also ensuring reliability during transportation.

[0039] In addition, the robot is equipped with data processing equipment, which makes the detection no longer an independent, offline post-event analysis, but a real-time linkage with the robot's motion control. Once a defect that endangers safety is detected, operation can be stopped immediately to prevent accidents.

[0040] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0041] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0043] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] See Figures 1 to 6 This is an embodiment of a robot for inspecting fall arrestor rails 800 on power transmission lines according to the present invention. The fall arrestor rail 800 has an I-shaped cross-section and its top surface is provided with toothed grooves. The robot for inspecting fall arrestor rails 800 on power transmission lines includes a frame 100, a load-bearing platform 200, a drive wheel assembly 300, a driven wheel assembly 410 400, a floating mechanism 600, inspection components, and data processing equipment.

[0045] The frame 100 provides the framework for the entire robot. In this embodiment, the frame 100 is rectangular. The load-bearing platform 200 is fixed on the frame 100. Generally, the load-bearing platform 200 is located on top of the robot for easy placement of goods.

[0046] The drive wheel assembly 300 mainly provides the power for the entire robot to move along the fall arrest guide rail 800. Generally, the drive wheel assembly 300 is located in the middle of the entire frame 100. The drive wheel assembly 300 includes a drive wheel frame 310 and a drive wheel 320 rotatably mounted on the drive wheel frame 310. The circumferential surface of the drive wheel 320 is provided with gear teeth that cooperate with the tooth grooves of the fall arrest guide rail 800.

[0047] The driven wheel 410 assembly 400 mainly serves to stabilize the robot on the fall arrestor rail 800. The driven wheel 410 assembly 400 is fixed to the frame 100 and includes four driven wheels 410. The four driven wheels 410 are arranged on both sides of the fall arrestor rail 800. The driven wheels 410 on the same side are located in front of and behind the drive wheel assembly 300 along the length of the fall arrestor rail 800. The driven wheels 410 roll into the grooves on the side of the fall arrestor rail 800, thereby stabilizing the robot and preventing it from tipping over to the left or right sides of the fall arrestor rail 800.

[0048] A floating mechanism 600 connects the drive wheel assembly 310 and the frame 100. The damping resistance of the floating mechanism 600 is adjustable, featuring a first damping value in detection mode and a second damping value in transport mode, with the second damping value being greater than the first. In detection mode, the damping is lower, allowing the drive wheel assembly 300 to float moderately relative to the frame 100, absorbing vibration and ensuring the stability and high accuracy of data collected by the detection components (especially vision and laser sensors). In transport mode (second damping value), the damping increases, enhancing the connection rigidity between the drive wheel assembly 300 and the frame 100, ensuring overall stability and safety during loaded movement. The floating mechanism 600 resolves the fundamental conflict between the requirements for robot connection rigidity in detection and load-bearing scenarios, enabling a robot to dynamically adjust its mechanical characteristics at different task stages, balancing the "flexibility" required for high-precision detection with the "rigidity" required for stable load-bearing.

[0049] To achieve the purpose of detection, the main reliance is on the detection components, which are set on the frame 100. These components include a vision probe 710 for collecting guide rail misalignment data, a laser displacement sensor 720 for collecting guide rail side distance data, and a magnetic encoder 730 for feeding back the travel distance, so as to realize multi-dimensional and high-precision data acquisition.

[0050] The data processing equipment is electrically connected to the detection components to receive, process, and send sensor data. It can also cut off the power to the drive wheel assembly 300 when a preset defect is detected. This makes the detection no longer an independent, offline post-event analysis, but a real-time linkage with the robot's motion control. Once a defect that endangers safety (such as serious misalignment or damage) is detected, operation can be stopped immediately to prevent accidents.

[0051] Furthermore, the floating mechanism 600 can be a magnetorheological damper or an electrorheological damper. In this embodiment, the floating mechanism 600 is a sliding damping adjustable component, and four sets are provided to ensure the linear controllability of the connection between the drive wheel assembly 300 and the frame 100. Specifically, each set of sliding damping adjustable components includes a slide rail 610 and an electronically controlled damper 620. One slide rail 610 and the other electronically controlled damper 620 are fixed on the drive wheel frame 310 and the other is fixed on the frame 100. In this embodiment, the slide rail 610 is fixed on the drive wheel frame 310 to reduce the weight of the entire drive wheel assembly 300, while the electronically controlled damper 620 is fixed on the frame 100. The electronically controlled damper 620 slides in cooperation with the slide rail 610 to provide adjustable sliding damping.

[0052] The slide rail 610 ensures that the drive wheel frame 310 can only move in a precise linear motion along the vertical direction relative to the frame 100, eliminating swaying or wobbling in other directions and establishing a stable benchmark for high-precision detection. The electronically controlled damper 620 means that the damping force can be quickly, accurately, continuously, or in high-resolution stages adjusted via electrical signals, enabling the robot to smoothly and rapidly switch between detection and transportation modes, and even dynamically fine-tune according to real-time road conditions, which is difficult to achieve with purely mechanical adjustment mechanisms.

[0053] The multiple sets of adjustable sliding damping components can evenly distribute the load and impact force, maintain the horizontal stability of the frame 100 and the load platform 200, ensure the detection accuracy of the vision probe 710 and the laser displacement sensor 720, and the distributed damping system can more effectively suppress vibrations of multiple frequencies and directions, creating a better low-disturbance working environment for the precision detection sensors.

[0054] Furthermore, the floating mechanism 600 also includes multiple damping springs 630, which are installed between the frame 100 and the drive wheel frame 310, with the spring force directed vertically. The damping springs 630 are included because the pure slide rail 610 and the electronically controlled damper 620 system form a combination of guidance and controllable resistance, but they do not provide continuous support force. Without the springs, the drive wheel frame 310 and the frame 100 might be in a loose state under static conditions, or require continuous energy dissipation from the damper to maintain their position. This is neither energy-efficient nor conducive to the mechanism quickly reaching a defined working position.

[0055] By utilizing a component spring-damping system, impact energy from unevenness in the guide rails can be absorbed and dissipated most effectively, thus smoothing the acceleration peaks transmitted to the frame 100 and sensors. This is the physical basis for achieving high-precision detection (preventing data jumps) and stable transportation (avoiding cargo jolting). In detection mode, the spring dominates, and the system exhibits a soft and responsive suspension, maximizing isolation of high-frequency vibrations. In transportation mode, the damper locking effect is enhanced, working in conjunction with the spring to make the system exhibit a rigid suspension with rapid self-centering, ensuring load stability.

[0056] Based on the above embodiment, the drive wheel 320 is rotatably connected to the drive wheel frame 310 via the drive wheel shaft 330, and the magnetic encoder 730 is disposed at the end of the drive wheel shaft 330. The magnetic encoder 730 is used to provide feedback on the walking distance. If the encoder is not directly mounted on the drive shaft, but is indirectly measured through intermediate transmission mechanisms such as gears and synchronous belts, errors caused by backlash, elastic deformation, and wear will be introduced, and these errors will increase over time. This is fatal for detection tasks requiring millimeter-level positioning. By directly mounting the magnetic encoder 730 at the end of the drive wheel shaft 330, coaxial and synchronously rotating with the drive shaft, the encoder measures the most fundamental rotation angle of the drive shaft without any intermediate losses or lags, achieving the most direct and accurate measurement of the robot's displacement along the guide rail.

[0057] Furthermore, the drive wheel assembly 300 also includes a drive motor 340, the output shaft of which is connected to one end of the drive wheel shaft 330; a magnetic encoder 730 is installed at the other end of the drive wheel shaft 330; and a torque sensor 740 for monitoring the power output status is also installed on the drive wheel shaft 330. When the torque value increases abnormally while the position remains unchanged, it can be immediately determined that an obstacle has been encountered or the guide rail has been severely deformed, causing jamming; when the torque value fluctuates abnormally, it may indicate poor meshing or slippage between the wheel teeth and the guide rail teeth. This provides the data processing equipment with an earlier and more intelligent warning and handling basis beyond cutting off the power.

[0058] To facilitate securing goods during transport, the load-bearing platform 200 is equipped with load-bearing locking buckles 210. High-altitude, windy environments, vibrations and bumps generated by robot movement can easily cause tools and materials placed on simple flat surfaces to slip, tip over, or even fall, posing serious safety hazards. Relying solely on friction or temporary binding is neither reliable nor standardized. The load-bearing locking buckles 210 provide positive mechanical constraints, fixing the load to the robot as a single unit, greatly reducing the risk of items falling.

[0059] In high-altitude operations, the robot's power system (motor, driver, power supply) may malfunction. Relying solely on motor braking or friction braking is considered active safety; however, if this fails, the robot faces the risk of slipping and falling. Therefore, based on the above embodiment, a locking mechanism 500 is provided at the front and / or rear end of the frame 100. The locking mechanism 500 includes a locking seat 510, a locking member 520, an elastic reset member 530, and a locking drive member 540. The locking seat 510 is fixed to the frame 100 and serves as the foundation for the other components of the entire locking mechanism 500. The locking member 520 is rotatably mounted on the locking seat 510 and has a locking end that engages with the toothed groove of the fall arrestor guide rail 800. The elastic reset member 530 connects the locking member 520 and the locking seat 510 or the frame 100, providing an elastic restoring force for the locking member 520 to disengage from the toothed groove. Even if the robot is completely powered off and the control system crashes, the locking mechanism 500 can still use the locking drive 540 to control the locking member 520 to engage with the tooth groove, preventing the robot from moving accidentally.

[0060] The specific locking drive unit 540 includes, but is not limited to, the following structural forms: One method involves using a traction cable as the locking drive component 540. This cable drives the locking section to lock against the toothed grooves of the fall arrestor rail 800. For example, the middle of the locking component 520 connects to the locking seat 510, with the locking end located at one end of the locking component 520 and the traction cable at the other end of the locking seat 510. Pulling the traction cable drives the locking component 520 to rotate, thus engaging the locking end with the toothed grooves. This traction cable-based, circuit-independent safety feature ensures the robot can be safely locked in the event of any electronic malfunction, completely avoiding the risk of the robot slipping and falling due to a single point of failure in the electrical control system.

[0061] Another type is the locking drive component 540, which includes a fixedly mounted electromagnet and a magnetic part linked to the locking component 520. The electromagnet can be mounted on the frame 100 or the locking seat 510. By energizing the electromagnet, magnetism is generated, attracting the magnetic part on the locking component 520, causing the locking component 520 to rotate and engage with the locking end. In case of sudden high-altitude situations (such as strong wind impacts or detection of a break in front), the locking mechanism 500 must act in the shortest possible time. Mechanical transmission has inertia, backlash, and transmission time, resulting in potential response delays. Non-contact actuation is achieved using the magnetic force between the electromagnet and the magnetic part. The magnetic force is generated instantaneously upon energization, directly driving the linked locking component 520 to rotate, with an extremely short stroke. The response time of electromagnetic drive is typically in the millisecond range, enabling near-instantaneous locking and releasing. This provides the fastest active protection for the robot when facing fall risks, compressing the safety protection time window to the extreme.

[0062] Furthermore, since vision probes 710 are located at the front and / or rear of the frame 100, and a locking mechanism 500 is also installed, the vision probes 710 are positioned above the locking mechanism 500, creating a top-down overview view. During robot movement, the vision probes 710 can simultaneously pre-inspect the tooth grooves that will be used for locking. If a defect is detected in the tooth groove, the data processing equipment can immediately decide to skip this locking point or issue an early warning, thus achieving proactive safety prediction. Moreover, when the locking drive 540 actuates and the locking end engages with the tooth groove, the vision probes 710 above can capture and analyze the engagement image in real time, directly determining whether the locking is in place. This provides the control system with the most intuitive secondary confirmation signal, greatly improving the reliability of the locking action.

[0063] The robot's operation is as follows: When detection mode is required, a command is sent from the ground, the electronically controlled damper 620 of the floating mechanism 600 adjusts to a low-damping first damping value, the detection components are activated, the laser displacement sensor 720 collects data from the side of the fall arrestor rail 800, the vision probe 710 collects an image of the top surface of the fall arrestor rail 800, and the magnetic encoder 730 provides feedback on the travel distance. In transport mode, the electronically controlled damper 620 adjusts to a high-damping second damping value, the transported item is placed on the load-bearing platform 200 and secured by the load-bearing locking buckle 210, and the drive wheel assembly 300 drives the robot to move on the fall arrestor rail 800 to transport the item.

[0064] This solution creatively proposes a fall-proof guide rail 800 operation robot that integrates high-precision detection and stable load-bearing transportation. Through the adjustable damping floating mechanism 600, it intelligently switches between the flexibility of detection and the rigidity of transportation, and integrates multiple sensors to achieve online real-time positioning of millimeter-level defects in the guide rail. Its locking mechanism 500 provides safe parking guarantee, and the integrated design allows the entire process of "detection-transportation-fixed-point operation" to be completed in a single deployment. It fundamentally overcomes the shortcomings of traditional phased operations, such as low efficiency, functional conflicts, and poor safety, and achieves a qualitative leap in the safety, intelligence, and comprehensive economic benefits of high-altitude operation and maintenance.

[0065] The above description is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present invention are covered by the patent scope of the present invention.

Claims

1. A robot for inspecting anti-fall guide rails in power transmission lines, wherein the anti-fall guide rail has an I-shaped cross-section and a toothed groove on its top surface, characterized in that, The robot includes: Frame; A load-bearing platform is mounted on the vehicle frame; The drive wheel assembly includes a drive wheel frame and a drive wheel rotatably mounted on the drive wheel frame. The surface of the drive wheel is provided with teeth that cooperate with the tooth grooves of the anti-fall guide rail. The driven wheel assembly is mounted on the frame and includes four driven wheels arranged on both sides of the fall arrestor rail. The driven wheels are in rolling engagement with the grooves on the side of the fall arrestor rail. A floating mechanism connects the drive wheel frame to the vehicle frame. The damping resistance of the floating mechanism is adjustable, and it has a first damping value in detection mode and a second damping value in transportation mode. The second damping value is greater than the first damping value. The detection assembly, mounted on the vehicle frame, includes a visual probe for acquiring guide rail misalignment data, a laser displacement sensor for acquiring guide rail side distance data, and a magnetic encoder for providing feedback on the travel distance; and A data processing device, electrically connected to the detection component, is used to receive, process, and transmit sensor data, and can cut off the power to the drive wheel assembly when a preset defect is detected.

2. The robot for detecting fall-prevention guide rails in power transmission lines according to claim 1, characterized in that, The floating mechanism includes multiple sets of adjustable sliding damping components, each set of which includes: The slide rail is fixed on the drive wheel frame; An electronically controlled damper, fixed to the frame and slidingly engaged with the slide rail, is used to provide adjustable sliding damping.

3. The robot for detecting fall-prevention guide rails in power transmission lines according to claim 2, characterized in that, The floating mechanism also includes multiple damping springs, which are installed between the vehicle frame and the drive wheel frame.

4. The robot for detecting fall-prevention guide rails in power transmission lines according to claim 1, characterized in that, The drive wheel is rotatably connected to the drive wheel frame via a drive wheel shaft, and the magnetic encoder is disposed at the end of the drive wheel shaft.

5. The robot for detecting fall-prevention guide rails in power transmission lines according to claim 4, characterized in that, The drive wheel assembly also includes a drive motor, the output shaft of which is connected to one end of the drive wheel shaft; the other end of the drive wheel shaft is provided with the magnetic encoder; and the drive wheel shaft is also provided with a torque sensor for monitoring the power output status.

6. The robot for detecting fall-prevention guide rails in power transmission lines according to claim 1, characterized in that, The load-bearing platform is equipped with a load-bearing locking buckle.

7. A robot for detecting fall-prevention guide rails in power transmission lines according to any one of claims 1 to 6, characterized in that, The front and / or rear ends of the vehicle frame are provided with locking mechanisms, the locking mechanisms including: A locking seat, fixed to the vehicle frame; A locking element is rotatably mounted on the locking seat and has a locking end that matches the toothed groove of the anti-fall guide rail; A resilient reset element, connected between the locking member and the locking seat or the frame, is used to provide the locking member with a resilient restoring force to disengage from the tooth groove; and A locking drive is used to drive the locking member to rotate against the elastic restoring force of the elastic reset member, so that the locking end abuts against the tooth groove to achieve locking.

8. The robot for detecting fall-prevention guide rails in power transmission lines according to claim 7, characterized in that, The locking drive component is a traction cable, which drives the locking end to lock with the toothed groove of the anti-fall guide rail.

9. The robot for detecting fall-prevention guide rails in power transmission lines according to claim 7, characterized in that, The locking drive component includes a fixedly mounted electromagnet and a magnetic part that is linked with the locking component.

10. The robot for detecting fall-prevention guide rails in power transmission lines according to claim 7, characterized in that, The vision probe is located above the locking mechanism.

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