Wheel clamp type high-voltage line inspection robot capable of rotating and crossing obstacles and obstacle crossing method thereof

Abstract

The invention discloses a wheel clamp type high-voltage line inspection robot capable of rotating and crossing obstacles and an obstacle crossing method thereof, and belongs to the technical field of high-voltage line inspection. The robot is composed of four cantilever assemblies and a detection unit, a composite guide structure of a lead screw and an L-shaped notch is adopted, rapid and synchronous rotation and accurate angle control of cantilevers in the obstacle crossing process are achieved, and clamping stagnation and deviation when the robot crosses a shockproof hammer and a suspension insulator are effectively avoided. According to the inspection robot, continuous and stable power transmission is kept in the walking and obstacle crossing process, the four cantilever assemblies cooperate consistently, reliable adhesive force and propulsive force are kept, the structure is simple, assembling is convenient, cost is low, and the obstacle crossing success rate and operation reliability of the inspection robot can be remarkably improved.

Description

A wheel-clamp-type rotatable obstacle-crossing high-voltage line inspection robot and its obstacle-crossing method Technical Field

[0001] This invention relates to the field of intelligent inspection equipment technology for power transmission lines, specifically to a high-voltage line inspection robot capable of rotating and overcoming obstacles, and its obstacle-crossing method. Background Technology

[0002] With the rapid development of power systems, the length and complexity of high-voltage transmission lines are constantly increasing. Traditional manual inspection methods are labor-intensive, inefficient, and dangerous, making it difficult to meet the safety and real-time requirements of modern power grids.

[0003] To address this, various high-voltage line inspection robots have been developed both domestically and internationally. These robots typically possess functions such as automatic walking, obstacle avoidance, and image acquisition, enabling them to replace manual labor in performing routine inspection tasks for high-voltage lines. However, existing robots often suffer from problems such as complex structures, inflexible drive control, and poor obstacle-crossing stability when traversing typical obstacles like vibration dampers and suspension insulators, failing to simultaneously achieve efficient obstacle crossing and stable line clamping.

[0004] Therefore, designing a high-voltage line inspection robot that is compact, stable in motion, and capable of flexibly overcoming obstacles through rotation has become the key to solving the above problems. Summary of the Invention

[0005] The technical problem to be solved by this invention is to design a high-voltage line inspection robot with a compact structure, stable movement, and the ability to flexibly overcome obstacles through rotation.

[0006] To solve the above-mentioned technical problems, the inventors, through practice and summarization, derived the technical solution of this invention, which adopts the following technical solution:

[0007] A wheel-clamp type rotatable obstacle-crossing high-voltage power line inspection robot includes a detection unit and two sets of cantilever assemblies distributed front and rear. The two sets of cantilever assemblies are distributed left and right on both sides of the high-voltage power line. Each set of cantilever assemblies has two parallel cantilever assemblies arranged front and rear. Each cantilever assembly includes:

[0008] The clamping unit includes drive wheels and guide wheels distributed on the upper and lower sides of the high-voltage line, as well as a drive component for driving the guide wheels to move closer to or away from the high-voltage line.

[0009] The drive unit includes a drive structure for driving the drive wheel to run on the high-voltage line;

[0010] The obstacle-crossing unit includes a rotating lifting component, a connecting component, and a flexible side connector. The output end of the rotating lifting component is connected to the connecting component. The rotating lifting component and the flexible side connector are distributed on both sides of the high-voltage line. The output end of the rotating lifting component drives the drive wheel to first detach from the high-voltage line and then rotate away from the high-voltage line via the connecting component. After crossing the obstacle, it first rotates in the opposite direction to approach the high-voltage line and then presses against the high-voltage line.

[0011] In a preferred embodiment, the connecting component includes a rotating shaft, which is a stepped shaft. The shaft body has an internal thread that mates with the lead screw thread, and a pin is installed on the side of the shaft body.

[0012] The rotating lifting component includes:

[0013] A rotary motor, with a lead screw connected to its output end via a coupling;

[0014] The hollow shaft has an L-shaped slot on its body and is fitted onto the outside of the rotating shaft. The L-shaped slot and the pin position correspond and fit together.

[0015] In a preferred embodiment, the elastic side connector includes a sleeve, a groove shaft, and a spring. The upper half of the sleeve is a hollow shaft, and the bottom is a thin cylinder with external threads.

[0016] The upper end of the slot shaft is provided with a slot, and the upper end of the slot is an inclined plane;

[0017] The spring is placed inside the sleeve, and the slot shaft can move up and down in the sleeve.

[0018] In a preferred embodiment, the lead screw is provided with a central boss, the portion above the central boss is provided with an upper thread, and the portion below the central boss is provided with a lower thread;

[0019] The upper outer side of the hollow shaft is provided with an upper boss, which is fixedly connected to the top of the F-type support frame.

[0020] The obstacle-crossing unit also includes:

[0021] Hollow square base

[0022] F-type support frame and L-type support plate are distributed on both sides of hollow square base. The sleeve is installed on L-type support plate through the external thread at the bottom. There are two bearing seat holes at the bottom of F-type support frame. Bearing 1 and bearing 2 are respectively installed in the upper and lower bearing seat holes at the bottom of F-type support frame.

[0023] The lock nut is connected to the lower thread of the lead screw, and is placed below the second bearing to lock axially with the central boss;

[0024] The rotary motor is fixed to the bottom of the F-type support frame;

[0025] The external thread at the bottom of the sleeve is fixedly connected to the threaded hole in the L-shaped support plate;

[0026] The rotary motor starts and drives the lead screw to rotate, which in turn drives the rotary shaft to move. Because the hollow shaft is fixed, the rotary shaft can move up and down along the L-shaped groove of the hollow shaft under the action of the pin, and then rotate left and right. The drive wheel rotates 90° to one side to complete the unwinding.

[0027] In a preferred embodiment, the clamping unit further includes a U-shaped frame, and the guide wheel is mounted inside the U-shaped frame via a guide wheel shaft and a support assembly I;

[0028] The drive unit includes an electric push rod fixed to the bottom of the U-shaped frame, which is used to control the up and down movement of the guide wheel to achieve the clamping and release of the high-voltage line.

[0029] In a preferred embodiment, the driving structure includes:

[0030] The drive wheel of the bracket is mounted in the mounting hole 2 of the bracket via the drive wheel shaft and the support assembly 1.

[0031] The drive motor is mounted on several types of brackets;

[0032] Two synchronous pulleys are respectively mounted on the drive motor and the drive wheel shaft, and are connected by a synchronous belt to realize the power transmission between the drive motor and the drive wheel;

[0033] The drive side of the bracket has a mounting hole 1, and the top of the rotating shaft is fixedly connected to the mounting hole 1. The non-drive side of the bracket has a U-shaped groove, and the slot can be locked in the U-shaped groove.

[0034] Preferred embodiment: The detection unit includes:

[0035] The control box is fixed below the four cantilever assemblies;

[0036] The camera is mounted on the front of the hollow square base;

[0037] The GPS positioning device, data processor, PLC, controller, and battery are installed inside the control box.

[0038] Preferred embodiment: The control box is a rectangular box with four rectangular holes on the upper surface. Four sets of hollow square bases for cantilever arms are installed at the rectangular holes and fixedly connected to the upper surface of the control box.

[0039] The electric actuator passes vertically through the hollow square base and is installed at the bottom inside the control box.

[0040] A method for obstacle-crossing a wheel-clamp-type rotatable obstacle-crossing robot for high-voltage line inspection. When the robot faces a vibration damper obstacle, the obstacle-crossing process is as follows:

[0041] When the first set of cantilever components approaches the vibration damper, the electric push rod drives the U-shaped frame to move down, so that a gap is formed between the guide wheel and the high-voltage line, and the gap is such that the top of the guide wheel is lower than the bottom of the vibration damper.

[0042] The drive motor starts and drives the drive wheel forward. After the first set of cantilever assemblies completes the obstacle crossing, the electric push rod rises to make the guide wheel clamp the high-voltage line again. The remaining three sets of cantilever assemblies repeat the above actions in sequence until all obstacles are crossed.

[0043] A method for obstacle-crossing a wheel-clamp-type rotatable obstacle-crossing robot for high-voltage line inspection. When the robot faces a suspended insulator obstacle, the obstacle-crossing process is as follows:

[0044] When the first set of cantilever assemblies approaches the suspension insulator, the rotary motors of the first set of cantilever assemblies and the third set of cantilever assemblies start simultaneously. The lead screw drives the rotating shaft and the pin to move together. The pin moves along the L-shaped slot, driving the entire bracket to rise a certain distance first, and then rotate 90° backward to release the space above the high voltage line.

[0045] To maintain balance, the third cantilever assembly rotates 90° backward simultaneously with the first cantilever assembly; the drive motor starts, propelling the robot forward to overcome the obstacle.

[0046] After overcoming the obstacle, the rotary motors of the first and third cantilever assemblies rotate in opposite directions simultaneously, and the brackets reset and clamp the high-voltage line back to the guide wheel.

[0047] As the second set of cantilever arms clears the obstacle, the fourth set of cantilever arms moves simultaneously and in coordination, repeating the above actions.

[0048] The last four cantilever components performed the same action in sequence until the obstacle crossing was completed.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] (1) The wheel clamp type obstacle-crossing high-voltage line inspection robot proposed in this invention is composed of four sets of cantilever components. Two sets are arranged in the front and back directions and installed alternately in the left and right directions. Each set has two cantilever modules. Each cantilever module includes a clamping unit, a driving unit and an obstacle-crossing unit. The clamping unit and the obstacle-crossing unit are integrated into one unit with a unified structural design, which can realize rapid assembly and replacement, significantly improve the assembly efficiency and later maintenance convenience of the equipment, and reduce manufacturing and maintenance costs.

[0051] (2) The wheel clamp type high-voltage line inspection robot proposed in this invention has a cantilever part that, through the coordinated cooperation of the lead screw and the L-shaped slot, and under the action of the pin, realizes the upward movement of the cantilever to detach from the high-voltage line and the rapid rotation guidance control during the obstacle crossing process. It can accurately limit the movement trajectory and rotation angle, thereby avoiding unstable phenomena such as jamming and deviation during the obstacle crossing process, and improving the reliability and smoothness of the obstacle crossing action.

[0052] (3) The wheel clamp type obstacle-crossing high-voltage line inspection robot proposed in this invention has an elastic side connecting structure in the obstacle-crossing mechanism, which provides buffering and shock absorption during the rotation of the cantilever and the lifting of the guide wheel. It can effectively absorb instantaneous impact force and prevent the wire from derailing or being damaged due to the vibration of the mechanism, thereby ensuring the stable operation of the robot under complex working conditions.

[0053] (4) The wheel clamp type high-voltage line inspection robot proposed in this invention has an inclined plane at the top of the robot slot shaft, which is used to smoothly slide out of the bracket slot when rotating to overcome obstacles, thus avoiding the problem of being unable to rotate due to excessive clamping force and friction during obstacle crossing.

[0054] (5) The high-voltage line inspection robot with wheel clamp type that can cross obstacles proposed in this invention controls the lifting position of the guide wheel by electric push rod, so that the robot can quickly switch between walking and obstacle crossing working states. In the walking state, the guide wheel is close to the surface of the high-voltage line to provide support and guidance. In the obstacle crossing state, the guide wheel sinks to avoid obstacles, realizing continuous action without interruption, improving the obstacle crossing efficiency and inspection continuity of the whole machine. Attached Figure Description

[0055] The invention will now be further described with reference to the accompanying drawings.

[0056] Figure 1 is a schematic diagram of the overall structure of the robot of the present invention;

[0057] Figure 2 is a schematic diagram of several types of support structures of the present invention;

[0058] Figure 3 is a schematic diagram of a single cantilever structure of the robot of the present invention;

[0059] Figure 4 is a schematic diagram of the clamping structure of the robot of the present invention;

[0060] Figure 5 is a schematic diagram of the rotating shaft structure of the robot of the present invention;

[0061] Figure 6 is a schematic diagram of the hollow shaft structure of the robot of the present invention;

[0062] Figure 7 is a schematic diagram of the lead screw structure of the robot of the present invention;

[0063] Figure 8 is a cross-sectional view of the obstacle-crossing structure of the robot of the present invention;

[0064] Figure 9 is a schematic diagram of the elastic side connector structure of the robot of the present invention;

[0065] Figure 10 is a schematic diagram of the process of the robot of the present invention passing through the anti-vibration hammer;

[0066] Figure 11 is a schematic diagram of the process of the robot of the present invention passing through the suspended insulator;

[0067] Figure 12 is a schematic diagram of the elastic side connector structure of the robot of the present invention (II).

[0068] Figure 13 is a structural relationship diagram of the wedge block and wedge constraint body of the robot of the present invention.

[0069] The components include: 1. Drive motor; 2. Type-A bracket; 201. Mounting hole one; 202. U-shaped groove; 203. Mounting hole two; 3. Drive wheel; 4. Elastic side connector; 401. Sleeve; 402. Slotted shaft; 40201. Slot; 40202. Shaft body; 40203. Wedge block; 40204. Wedge constraint body; 40205. Elastic body; 40206. Bushing; 403. Spring; 5. Camera; 6. Camera mounting base; 7. Control box; 8. Drive motor mounting base; 9. High-voltage line; 10. Guide wheel; 11. F-type support frame; 12. Hollow square base; 13. Electric push rod; 14. Electric push rod mounting base; 15. L-shaped support plate; 16. Data processor; 17. 18. PLC; 19. Controller; 20. Battery; 21. GPS positioning device; 22. Bearing 1; 23. Bearing 2; 24. Locking nut; 25. Coupling; 26. Rotary motor mounting base; 27. Rotary motor; 28. Synchronous pulley; 29. ​​Synchronous belt; 30. Support assembly 1; 31. Drive wheel shaft; 32. Support assembly 2; 33. Guide wheel shaft; 34. U-shaped frame; 35. Rotary shaft; 36. Internal thread; 37. Mounting hole 2; 38. Hollow shaft; 39. Upper boss; 30. L-shaped slot; 30. Pin; 31. Lead screw; 32. Upper thread; 33. Middle boss; 34. Lower thread; 35. Vibration damper; 36. Suspension insulator. Detailed Implementation

[0070] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0071] Example 1

[0072] As shown in Figures 1 to 9, a wheel-clamp type rotatable obstacle-crossing high-voltage line inspection robot includes a detection unit and two sets of cantilever assemblies distributed front and rear. The two sets of cantilever assemblies are distributed left and right on both sides of the high-voltage line 9. Each set of cantilever assemblies has two parallel cantilever assemblies arranged front and rear. Each cantilever assembly includes:

[0073] The clamping unit includes drive wheels 3 and guide wheels 10 distributed on the upper and lower sides of the high-voltage line 9, as well as a drive component for driving the guide wheels 10 to move closer to or away from the high-voltage line 9.

[0074] The drive unit includes a drive structure for driving the drive wheel 3 to run on the high-voltage line 9;

[0075] The obstacle-crossing unit includes a rotating lifting component, a connecting component, and an elastic side connector 4. The output end of the rotating lifting component is connected to the connecting component. The rotating lifting component and the elastic side connector 4 are distributed on both sides of the high-voltage line 9. The output end of the rotating lifting component drives the drive wheel 3 to first detach from the high-voltage line 9 and then rotate away from the high-voltage line 9 via the connecting component. After crossing the obstacle, it first rotates in the opposite direction to approach the high-voltage line and then presses against the high-voltage line 9.

[0076] The drive mechanism moves the guide wheel 10 upwards, pressing the high-voltage line 9 against the drive wheel 3. The drive structure then propels the robot along the high-voltage line for inspection. When encountering obstacles, such as the anti-vibration hammer 38, the drive mechanism sequentially moves from front to back along the running direction, disengaging the guide wheel 10 and the high-voltage line 9 to a distance sufficient for the anti-vibration hammer 38 to pass. When encountering a suspended insulator 39, the rotating lifting mechanism first drives the drive wheel 3 away from the high-voltage line 9 via the connecting component, then rotates away from the line. After overcoming the obstacle, it rotates in the opposite direction to approach the high-voltage line and then presses against it. It is important to note that in this obstacle-crossing scenario, the four cantilever assemblies are numbered one to four from front to back. Units one and three operate synchronously, as do units two and four. Units one and three rotate in opposite directions, as do units two and four, to maintain the robot's operational balance.

[0077] The connecting component includes a rotating shaft 34, which is a stepped shaft. The shaft body has an internal thread 3401 that is threaded with the lead screw 37. A pin 36 is installed in the mounting hole 3402 on the side of the shaft body.

[0078] The rotating lifting component includes:

[0079] A rotary motor 26 has a lead screw 37 connected to its output end via a coupling 24.

[0080] The hollow shaft 35 has an L-shaped slot 3502 on its body and is fitted onto the outside of the rotating shaft 34. The L-shaped slot 3502 and the pin 36 are in corresponding and compatible positions.

[0081] When encountering the suspension insulator 39, the rotary motor 26 drives the lead screw 37 to rotate. Since the hollow shaft 35 and the rotating shaft 34 are connected by the pin 36 and the L-shaped slot 3502, when the rotary motor 26 rotates, the rotating shaft 34 is constrained and can only move axially until the top of the L-shaped slot 3502. Then, because the pin 36 is constrained by the top of the L-shaped slot 3502, it can only rotate horizontally at a certain angle, and finally avoids the suspension insulator 39. After passing through completely, it runs in the opposite direction until the drive wheel 3 reconnects with the high-voltage line 9.

[0082] The elastic side connector 4 includes a sleeve 401, a slot shaft 402 and a spring 403. The upper part of the sleeve 401 is a hollow shaft, and the bottom is a thin cylinder with external threads.

[0083] The upper end of the slot shaft 402 is provided with a slot 40201, and the upper end of the slot 40201 is an inclined plane;

[0084] The spring 403 is placed inside the sleeve 401, and the slot shaft 402 can move up and down in the sleeve 401.

[0085] When the rotating lifting component is running, the elastic side connector 4 can constrain the other end of the bracket 2. When the pin 36 is at the top of the L-shaped slot 3502, the spring 403 and the slot shaft 402 are in a stable balance state. Even if the bracket 2 and the slot shaft 402 separate later, the position of the slot shaft 402 will not change. When the drive wheel 3 is pressed against the high-voltage line 9, the spring 403 is in a compressed state, and the bracket 2 will not undergo structural deformation.

[0086] The lead screw 37 is provided with a central boss 3702, and the part above the central boss 3702 is provided with an upper thread 3701 and the part below it is provided with a lower thread 3703.

[0087] The upper outer side of the hollow shaft 35 is provided with an upper boss 3501, which is fixedly connected to the top of the F-type support frame 11.

[0088] The obstacle-crossing unit also includes:

[0089] Hollow square base 12,

[0090] F-type support frame 11 and L-type support plate 15 are distributed on both sides of hollow square base 12. Sleeve 401 is installed on L-type support plate 15 through the external thread at the bottom. F-type support frame 11 has two bearing seat holes at the bottom. Bearing 1 21 and bearing 2 22 are respectively installed in the upper and lower bearing seat holes at the bottom of F-type support frame 11.

[0091] The locking nut 23 is connected to the lower thread 3703 of the lead screw 37, and is placed below the bearing 22, and is axially locked to the central boss 3702;

[0092] The rotary motor 26 is fixed to the bottom of the F-type support frame 11 by the rotary motor mounting base 25;

[0093] Among them, the external thread at the bottom of sleeve 401 is fixedly connected to the threaded hole in L-shaped support plate 15;

[0094] The rotary motor 26 starts and drives the lead screw 37 to rotate, which in turn drives the rotary shaft 34 to move. Because the hollow shaft 35 is fixed, under the action of the pin 36, the rotary shaft 34 can first move up and down along the L-shaped groove 3502 of the hollow shaft 35, and then rotate left and right. The drive wheel 3 rotates 90° to one side to complete the unwinding.

[0095] The clamping unit also includes a U-shaped frame 33, and the guide wheel 10 is installed inside the U-shaped frame 33 through the guide wheel shaft 32 and the support assembly 31 (bearing);

[0096] The driving component includes an electric push rod 13 fixed to the bottom of the U-shaped frame 33, which is used to control the up and down movement of the guide wheel 10 to achieve the clamping and release of the high-voltage line 9.

[0097] The driving structure includes:

[0098] The type bracket 2 and the drive wheel 3 are mounted in the mounting hole 203 of the type bracket 2 via the drive wheel shaft 30 and the support assembly 29 (bearing);

[0099] The drive motor 1 is mounted on the bracket 2 via the drive motor mounting base 8;

[0100] Two synchronous pulleys 27 are respectively mounted on the drive motor 1 and the drive wheel shaft 30, and are connected by a synchronous belt 28 to realize the power transmission between the drive motor 1 and the drive wheel 3, so that the drive wheel 3 can run along the high voltage line;

[0101] The drive side horizontal surface of the bracket 2 is provided with a mounting hole 201, and the top of the rotating shaft 34 is fixedly connected to the mounting hole 201. The non-drive side horizontal surface of the bracket 2 is provided with a U-shaped groove 202, and the slot 40201 can be locked in the U-shaped groove 202. Both ends of the bracket 2 are connected to the rotating shaft 34 and the slot shaft 402 respectively. One side of the slot shaft 402 is engaged by the slot 40201 and the U-shaped groove 202, so that it can disengage during rotation.

[0102] Wherein: the detection unit includes:

[0103] Control box 7 is fixed below the four cantilever assemblies;

[0104] Camera 5 is mounted on the front of hollow square base 12 via camera mounting bracket 6;

[0105] The GPS positioning device 20, data processor 16, PLC 17, controller 18 and battery 19 are installed in the control box 7.

[0106] The control box 7 is a rectangular box with four rectangular holes on its upper surface. Four sets of hollow square bases 12 with cantilever arms are installed at the rectangular holes and fixedly connected to the upper surface of the control box 7.

[0107] The electric actuator 13 passes vertically through the interior of the hollow square base 12 and is mounted on the bottom inside the control box 7 via the electric actuator mounting seat 14.

[0108] Example 2

[0109] In the inspection robot, the slot shaft 402 is structurally optimized, as shown in Figures 12 and 13. The slot shaft 402 includes a shaft body 40202, a wedge block 40203 is installed at the bottom of the shaft body 40202, and wedge constraint bodies 40204 are slidably fitted on both sides of the wedge block 40203. The inner wall of the sleeve 401 is provided with constraint grooves that correspond to and are adapted to the wedge constraint bodies 40204. An elastic body 40205 (spring) is fitted on the outer side of the shaft body 40202. A bushing 40206 is fitted on the outer side of the elastic body 40205 and the wedge block 40203. A constraint plate is installed on the top of the bushing 40206 to constrain the top of the elastic body 40205. The bottom of the bushing 40206 is a closed structure and an opening is provided on the side for the wedge block 40203 to enter and exit. The opening corresponds to the position of the constraint groove. The wedge block 40203 has notches on both sides of its bottom and T-shaped strips are installed thereon. The wedge constraint body 40204 has a T-shaped groove on the side facing the T-shaped strip for sliding cooperation with the T-shaped strip. The bottom of the wedge block 40203 has a constraint plate to prevent the wedge constraint body 40204 from falling down.

[0110] When the bracket 2 moves downward, the constraint plate will cause the entire slot shaft 402 to move downward. When the position of the constraint groove and the wedge-shaped constraint body 40204 corresponds, the elastic body 40205 will cause the wedge block 40203 to move downward, thereby moving the wedge-shaped constraint body 40204 outward into the constraint groove, and the slot shaft 402 will be constrained. When the bracket 2 moves upward on the rotating lifting component, the shaft 40202 will move upward, and at the same time, the wedge block 40203 will move upward, compressing the internal elastic body 40205. The wedge-shaped constraint body 40204 will be retracted and disengaged from the constraint groove. At this time, the spring 403 will cause the bushing 40206 to move upward, and the wedge-shaped constraint body 40204 will move upward to offset the constraint groove. At this time, the bushing 40206 and the shaft 40202 will move upward together until the bracket 2 reaches the highest point.

[0111] As shown in Figure 10, a method for a wheel-clamp type rotatable obstacle-crossing high-voltage line inspection robot is described. When the robot faces the anti-vibration hammer 38 obstacle, the obstacle-crossing process is as follows:

[0112] When the first set of cantilever components approaches the vibration damper 38, the electric push rod 13 drives the U-shaped frame 33 to move down, so that a gap is formed between the guide wheel 10 and the high voltage line 9, and the gap is such that the top of the guide wheel 10 is lower than the bottom of the vibration damper 38.

[0113] The drive motor 1 starts and drives the drive wheel 3 forward. After the first set of cantilever assemblies completes the obstacle crossing, the electric push rod 13 rises and causes the guide wheel 10 to clamp the high voltage line 9 again. The remaining three sets of cantilever assemblies repeat the above actions in sequence until all obstacles are crossed.

[0114] As shown in Figure 11, a method for a wheel-clamp type rotatable obstacle-crossing high-voltage line inspection robot is described. When the robot faces the obstacle of a suspended insulator 39, the obstacle-crossing process is as follows:

[0115] When the first set of cantilever assemblies approaches the suspension insulator 39, the rotary motors 26 of the first set of cantilever assemblies and the third set of cantilever assemblies start simultaneously. The lead screw 37 drives the rotating shaft 34 and the pin 36 to move together. The pin 36 will move along the L-shaped slot 3502, driving the entire L-shaped bracket 2 to rise a certain distance first, and then rotate 90° backward to release the space above the high voltage line 9.

[0116] To maintain balance, the third cantilever assembly rotates 90° backward simultaneously with the first cantilever assembly; drive motor 1 starts, propelling the robot forward to overcome the obstacle.

[0117] After overcoming the obstacle, the rotary motors 26 of the first and third cantilever assemblies rotate in opposite directions at the same time, and the brackets 2 reset and clamp the high-voltage line 9 with the guide wheel 10 again.

[0118] As the second set of cantilever arms clears the obstacle, the fourth set of cantilever arms moves simultaneously and in coordination, repeating the above actions.

[0119] The last four cantilever components performed the same action in sequence until the obstacle crossing was completed.

[0120] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. The substitutions may be replacements of some structures, devices, or method steps, or they may be complete technical solutions. Equivalent substitutions or modifications made to the technical solutions and inventive concepts of the present invention should all be covered within the scope of protection of the present invention.

Claims

1. A wheel-clamp type rotating obstacle-crossing high-voltage line inspection robot, characterized in that, The device includes a detection unit and two sets of cantilever assemblies distributed front and rear. The two sets of cantilever assemblies are distributed on both sides of the high-voltage line (9). Each set of cantilever assemblies has two parallel cantilever assemblies. Each cantilever assembly includes: a clamping unit, including a drive wheel (3) and a guide wheel (10) distributed on the upper and lower sides of the high-voltage line (9) and a drive component for driving the guide wheel (10) to move closer to or away from the high-voltage line (9); a drive unit, including a drive structure for driving the drive wheel (3) to run on the high-voltage line (9); and an obstacle crossing unit, including a rotating lifting component, a connecting component and an elastic side connecting component (4). The output end of the rotating lifting component is connected to the connecting component. The rotating lifting component and the elastic side connecting component (4) are distributed on both sides of the high-voltage line (9). The output end of the rotating lifting component drives the drive wheel (3) to first detach from the high-voltage line (9) and then rotate away from the high-voltage line (9) via the connecting component. After crossing the obstacle, it first rotates in the opposite direction to approach the high-voltage line (9) and then presses against the high-voltage line (9).

2. The high-voltage line inspection robot with wheel clamp type rotatable obstacle crossing as described in claim 1, characterized in that, The connecting component includes a rotating shaft (34), which is a stepped shaft with an internal thread (3401) that mates with the lead screw (37) inside the shaft body, and a pin (36) installed on the side of the shaft body; the rotating lifting component includes a rotating motor (26), the output end of which is connected to the lead screw (37) via a coupling (24); and a hollow shaft (35), which has an L-shaped slot (3502) on its body and is fitted on the outside of the rotating shaft (34), with the L-shaped slot (3502) and the pin (36) corresponding and compatible.

3. The high-voltage line inspection robot with wheel clamp type rotatable obstacle crossing as described in claim 2, characterized in that, The elastic side connector (4) includes a sleeve (401), a slot shaft (402), and a spring (403). The upper part of the sleeve (401) is a hollow shaft, and the bottom is a thin cylinder with external threads. The upper end of the slot shaft (402) is provided with a slot (40201), and the upper end of the slot (40201) is an inclined plane. The spring (403) is placed inside the sleeve (401), and the slot shaft (402) can move up and down in the sleeve (401).

4. The high-voltage line inspection robot with wheel clamp type rotatable obstacle crossing as described in claim 3, characterized in that, The lead screw (37) is provided with a central boss (3702), the part above the central boss (3702) is provided with an upper thread (3701), and the part below is provided with a lower thread (3703); the upper outer side of the hollow shaft (35) is provided with an upper boss (3501), and the upper boss (3501) is fixedly connected to the top of the F-type support frame (11); the obstacle crossing unit also includes: a hollow square base (12), an F-type support frame (11) and an L-type support plate (15), distributed on both sides of the hollow square base (12), the sleeve (401) is installed on the L-type support plate (15) through the external thread at the bottom, the F-type support frame (11) has two bearing seat holes at the bottom, and bearing one (21) and bearing two (22) are respectively installed on the F-type support frame (11) The bottom of the upper and lower bearing seats is in the holes; the locking nut (23) is connected to the lower thread (3703) of the screw (37) and placed below the bearing (22) and axially locked with the middle boss (3702); the rotary motor (26) is fixed at the bottom of the F-type support frame (11); the bottom external thread of the sleeve (401) is fixed to the screw hole in the L-type support plate (15); the rotary motor (26) starts and drives the screw (37) to rotate, which drives the rotary shaft (34) to move. Because the hollow shaft (35) is fixed, under the action of the pin (36), the rotary shaft (34) can first move up and down along the L-shaped groove (3502) of the hollow shaft (35) and then rotate left and right. The drive wheel (3) rotates 90° to one side to complete the unwinding.

5. The high-voltage line inspection robot with wheel clamp type rotatable obstacle crossing as described in claim 1, characterized in that, The clamping unit also includes a U-shaped frame (33), and the guide wheel (10) is installed inside the U-shaped frame (33) through the guide wheel shaft (32) and the second support component (31); the driving component includes an electric push rod (13) fixed to the bottom of the U-shaped frame (33) for controlling the up and down movement of the guide wheel (10) to realize the clamping and release of the high voltage line (9).

6. A high-voltage line inspection robot with a wheel clamp type capable of rotating and overcoming obstacles according to claim 3, characterized in that, The drive structure includes: a bracket (2), a drive wheel (3) installed in the mounting hole (203) of the bracket (2) via a drive wheel shaft (30) and a support component (29); a drive motor (1) installed on the bracket (2); two synchronous pulleys (27) installed on the drive motor (1) and the drive wheel shaft (30) respectively, and connected by a synchronous belt (28) to realize the power transmission between the drive motor (1) and the drive wheel (3); the drive side horizontal surface of the bracket (2) is provided with a mounting hole (201), the top of the rotating shaft (34) is fixedly connected to the mounting hole (201), and the non-drive side horizontal surface of the bracket (2) is provided with a U-shaped slot (202), and the slot (40201) can be locked in the U-shaped slot (202).

7. The high-voltage line inspection robot with wheel clamp type rotatable obstacle crossing as described in claim 1, characterized in that: The detection unit includes: a control box (7) fixed below the four cantilever assemblies; a camera (5) installed in front of the hollow square base (12); a GPS positioning device (20), a data processor (16), a PLC (17), a controller (18) and a battery (19) installed inside the control box (7).

8. A high-voltage line inspection robot with a wheel clamp type capable of rotating and overcoming obstacles according to claim 7, characterized in that: The control box (7) is a rectangular box with four rectangular holes on the upper surface. Four sets of hollow square bases (12) with cantilever arms are installed at the rectangular holes and fixed to the upper surface of the control box (7). The electric push rod (13) passes vertically through the hollow square base (12) and is installed at the bottom inside the control box (7).

9. The obstacle-crossing method of a wheel-clamp type rotatable obstacle-crossing high-voltage line inspection robot according to any one of claims 1 to 8, characterized in that: When the robot faces the anti-vibration hammer (38) obstacle, the obstacle crossing process is as follows: When the first set of cantilever components approaches the anti-vibration hammer (38), the electric push rod (13) drives the U-shaped frame (33) to move down, so that a gap is formed between the guide wheel (10) and the high-voltage line (9). The gap satisfies that the top of the guide wheel (10) is lower than the bottom of the anti-vibration hammer (38); the drive motor (1) starts and drives the drive wheel (3) to move forward. After the first set of cantilever components completes the obstacle crossing, the electric push rod (13) rises and the guide wheel (10) clamps the high-voltage line (9) again. The remaining three sets of cantilever components repeat the above actions in sequence until all obstacles are crossed.

10. The obstacle-crossing method of a wheel-clamp type rotatable obstacle-crossing high-voltage line inspection robot according to any one of claims 1 to 8, characterized in that: When the robot faces the obstacle of the suspended insulator (39), its obstacle-crossing process is as follows: When the first set of cantilever components approaches the suspended insulator (39), the rotary motors (26) of the first set of cantilever components and the third set of cantilever components start simultaneously. The lead screw (37) drives the rotating shaft (34) and the pin (36) to move together. The pin (36) will move along the L-shaped slot (3502), driving the entire bracket (2) to rise a certain distance first, and then rotate 90° backward to release the space above the high-voltage line (9); To maintain balance, the third cantilever assembly rotates 90° backwards simultaneously with the first cantilever assembly; the drive motor (1) starts, driving the robot forward to complete the obstacle crossing; after the obstacle crossing is completed, the rotary motors (26) of the first and third cantilever assemblies rotate in opposite directions simultaneously, the brackets (2) reset and clamp the high-voltage line (9) again with the guide wheel (10); when the second cantilever crosses the obstacle, the fourth cantilever moves in coordination at the same time, repeating the above actions. Finally, the four cantilever assemblies perform the same actions in sequence until the obstacle crossing is completed.

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