Dual-power self-powered transmission line patrol robot

Abstract

The application discloses a double-power self-holding power supply transmission line patrol robot, and belongs to the field of transmission line patrol robot devices. The double-power self-holding power supply transmission line patrol robot comprises a shell, the upper end of the shell is provided with a support, the two sides of the support are both welded with a fixed frame, and a pair of second movable rails are transversely arranged in the fixed frame. The application solves the problem that the design core in the prior art is only directed to the specific layout of double-line parallel, and when facing single independent conductor or three parallel conductors, the fixed mode of the mechanical arm and the wheel group cannot form a stable and uniform clamping and walking posture by adjusting the layout of the robot, the fixed frame with the second movable rail, the slidable first movable arm and the extension block with the lead screw constitute a set of multi-degree-of-freedom adjustable upper roller structure, and the structure can not only transversely adjust the position of the upper roller to adapt to different numbers of single to four conductors.

Description

Technical Field

[0001] This invention relates to the field of power line inspection equipment, specifically a power line inspection robot with dual power supply and self-sustaining operation. Background Technology

[0002] Transmission line inspection robots are mechatronic devices used for automated inspection of high-voltage and ultra-high-voltage transmission lines. They typically move autonomously along overhead conductors in a suspended manner, replacing manual labor in high-risk and high-intensity line inspection tasks. Their core function is to use various onboard sensors to take close-up images and collect data on conductors, fittings, insulators, and the environment, thereby promptly detecting defects and potential hazards such as broken strands, damage, and overheating. They are key technical equipment for intelligent operation and maintenance and condition-based maintenance of power grids.

[0003] Chinese Patent Publication No. CN110048338A discloses a mechanical structure for a four-arm climbing line inspection robot, including a line inspection body, four robotic arms, and line rollers. The four robotic arms are arranged with an adjustable width adjustment mechanism to accommodate changes in the distance between two cables. Two of the four robotic arms are swayable, allowing for adjustment of their tension support on the cable, ensuring consistent force on each line roller. The controller can provide feedback adjustment of the spatial position of the four robotic arms based on the width and support detection mechanisms, ensuring operational stability.

[0004] In actual inspection operations, the structure of power transmission lines is not static. Line inspection robots often need to move multiple parallel lines and adapt to multiple independent conductors running in parallel. However, existing technologies, such as the width adjustment mechanism in the aforementioned patent, are designed only for the specific layout of two parallel lines. When facing a single independent conductor or three parallel conductors, the fixed-mode robotic arm and wheel assembly cannot adjust their own layout to form a stable and uniform gripping and walking posture. This makes it impossible for the robot to adapt directly and requires additional assistance to work, thus limiting its versatility and continuous operation capability in real complex lines. Summary of the Invention

[0005] The purpose of this invention is to provide a power line inspection robot with dual power supply and self-sustaining operation. It has a fixed frame with a second movable rail, a sliding first movable arm, and an extension block with a lead screw, which constitutes a multi-degree-of-freedom adjustable upper roller structure. This structure can not only adjust the position of the upper roller laterally to adapt to one to four different numbers of conductors, but also solves the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a power line inspection robot with dual power supply and self-sustaining operation, comprising a housing, a support at the upper end of the housing, fixed frames welded to both sides of the support, a pair of second movable rails arranged laterally inside the fixed frames, a first movable arm arranged inside the second movable rails, an extension block at one end of the first movable arm, an upper roller at the upper end of the extension block, the upper roller at the upper end of the extension block being mounted facing the middle of the housing, and four upper rollers being alternately distributed to avoid collision when the four upper rollers move to the middle of the upper end of the housing.

[0007] Preferably, one end of the first movable arm inside one of the fixed frames is provided with an extension block, and the other end of the first movable arm inside the other fixed frame is provided with an extension block, and the two extension blocks inside the fixed frames are mirror-distributed.

[0008] Preferably, the upper end of the second movable rail is provided with a second insertion hole, the second insertion hole extends through and to the upper end of the fixed frame, and a threaded upper fixing rod is provided through the interior of the second insertion hole.

[0009] Preferably, the upper end of the first movable arm is recessed and provided with a first movable rail.

[0010] Preferably, a fixing block is provided inside the first movable rail, and one end of the upper fixing rod is rotatably connected to the upper end of the fixing block.

[0011] Preferably, the fixed frame is provided with a connecting groove inside, the connecting groove passes through the fixed frame and extends into the fixed block, and the first insertion holes are evenly distributed laterally inside the first movable arm.

[0012] Preferably, a lower fixing rod is provided at the lower end of the outside of the connecting groove, and the outside of the lower fixing rod is threaded into the inside of the connecting groove.

[0013] Preferably, a photovoltaic panel is provided in the middle of the upper end of the bracket.

[0014] Preferably, a battery is disposed inside the housing.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. The present invention comprises a fixed frame for a second movable rail, a slidable first movable arm, and an extension block with a lead screw, forming a multi-degree-of-freedom adjustable upper roller structure. This structure can not only adjust the position of the upper roller laterally to adapt to one to four different numbers of wires, but also, through the mirror-distributed extension block design, make the four upper rollers alternately distributed in space, fundamentally avoiding structural interference and collision between the upper rollers when adjusting or focusing on a single wire, greatly improving the robot's adaptability to complex lines and deployment flexibility.

[0017] 2. This invention integrates a photovoltaic panel on the upper end of the support frame and integrates a battery and a charging controller inside the housing to form a highly efficient dual-power self-sufficient power supply structure. This structure can convert solar energy into electrical energy and charge the battery in real time as the robot moves along the guide wire, which significantly improves the equipment's endurance and energy self-sufficiency rate, and effectively solves the power supply problem for long-term operation in tower sections without dedicated charging facilities. Attached Figure Description

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

[0019] Figure 2 This is a schematic diagram of the movement trajectory of the upper roller in this invention;

[0020] Figure 3 This is a schematic diagram showing the positional relationship of the lower rollers in this invention;

[0021] Figure 4 This is a cross-sectional view of the upper fixed rod transmission structure of the present invention;

[0022] Figure 5 For the present invention Figure 4 Enlarged view of a portion of region A in the middle.

[0023] In the diagram: 1. Housing; 2. Bracket; 3. Fixed frame; 4. First movable arm; 5. Extension block; 6. Second movable arm; 7. Upper roller; 8. Lead screw; 9. Lower roller; 10. Fixed block; 11. Upper fixed rod; 12. First movable rail; 13. First insertion hole; 14. Second movable rail; 15. Connecting groove; 16. Lower fixed rod; 17. Second insertion hole; 18. Bracket. Detailed Implementation

[0024] The present invention will be further described below with reference to specific embodiments.

[0025] like Figure 1 As shown, a power line inspection robot with dual power supply and self-sufficiency in this embodiment includes a shell 1, a support 2 at the upper end of the shell 1, a photovoltaic panel at the middle of the upper end of the support 2, and a battery inside the shell 1.

[0026] When sunlight shines on a photovoltaic panel, the semiconductor material inside the panel absorbs photon energy, generating electrons. Under the influence of a built-in electric field, this generates DC voltage and current. The generated DC current is immediately sent to the charging controller inside the housing 1, which adjusts the unstable voltage output by the photovoltaic panel to a stable voltage and current suitable for battery charging. It also strictly prevents current from flowing back into the photovoltaic panel. Under the action of the charging current, a reversible electrochemical reaction occurs inside the battery, converting electrical energy into chemical energy for storage. The battery voltage gradually increases until it is fully charged. As the device moves laterally along the conductor, the battery inside the housing 1 can be continuously charged, providing continuous power to the entire device. This increases the distance the device can move and can address situations where there are no charging stations on the pole.

[0027] To accommodate different wires, a fixed frame 3 is provided on both sides of the bracket 2, and the fixed frame 3 is welded to the bracket 2. A pair of second movable rails 14 are arranged horizontally inside the fixed frame 3. A first movable arm 4 is arranged inside the second movable rail 14. The first movable arm 4 can slide inside the second movable rail 14 to adjust the horizontal position of the upper roller 7. By adjusting the position of the upper roller 7, it can accommodate single, two, three and four wires.

[0028] To avoid collisions between the four upper rollers 7, one end of the first movable arm 4 inside one of the fixed frames 3 is provided with an extension block 5, and the other end of the first movable arm 4 inside the other fixed frame 3 is provided with an extension block 5. The two extension blocks 5 inside the fixed frame 3 are mirror-distributed. The mirror-distributed extension blocks 5 allow the upper rollers 7 to be distributed alternately, which can accommodate single, two, three and four wires, and avoid collisions between the two upper rollers 7 when adjusting the upper rollers 7.

[0029] Further adaptation to different wire shapes, such as Figure 3 As shown, a lead screw 8 is vertically arranged inside the extension block 5, and a second movable arm 6 is arranged at the upper end of the lead screw 8. An upper roller 7 is arranged at the upper end of the extension block 5. The upper roller 7 is located at the upper end of the second movable arm 6. The height of the upper roller 7 can be adjusted longitudinally by rotating the lead screw 8.

[0030] In this embodiment, as Figure 2 As shown, the upper roller 7 at the upper end of the extension block 5 is installed facing the middle side of the housing 1. The orientation of the upper roller 7 can adapt to subsequent changes in the lateral position of the upper roller 7, as well as to the number of wires.

[0031] The second movable arm 6 is provided with a bracket 18 on its side, and a lower roller 9 is provided at the lower end of the upper roller 7. The lower roller 9 can be flipped inside the bracket 18 to clamp the wire, and can make stable subsequent lateral movement after the wire is adapted.

[0032] When the upper roller 7 avoids foreign objects on the conductor and makes continuous lateral movement, the second movable arm 6 can rotate to complete the temporary movement of the upper roller 7. This structure has been described in Chinese Patent No. CN102938544A. The position of the roller 7 is changed by the drive of the lead screw 8 and the drive of the rotary joint. This application does not improve this structure, so there is no further description of these structures.

[0033] In this embodiment, as Figure 4 and Figure 5 As shown, in order to fix the first movable arm 4 inside the second movable rail 14, a second insertion hole 17 is provided at the upper end of the second movable rail 14. The second insertion hole 17 passes through and extends to the upper end of the fixing frame 3. An upper fixing rod 11 is provided through the second insertion hole 17, and the outside of the upper fixing rod 11 is threaded with the inside of the second insertion hole 17. After the upper fixing rod 11 is rotated, it can be embedded inside the second movable rail 14, thereby fixing the first movable arm 4.

[0034] To improve the fixing effect, a first movable rail 12 is recessed at the upper end of the first movable arm 4. A fixing block 10 is provided inside the first movable rail 12. One end of the upper fixing rod 11 is rotatably connected to the upper end of the fixing block 10. After the upper fixing rod 11 rotates and is continuously embedded in the second movable rail 14, it can push the fixing block 10 to fit tightly against the first movable arm 4.

[0035] Based on the fixing block 10 fitting the first movable arm 4, in order to further fix the first movable arm 4 and the fixing block 10, a connecting groove 15 is provided inside the fixing frame 3. The connecting groove 15 passes through the fixing frame 3 and extends into the fixing block 10. The first movable arm 4 has first insertion holes 13 evenly distributed laterally inside. After adjusting the position of the first movable arm 4 laterally, one of the first insertion holes 13 inside the first movable arm 4 overlaps with the center of the connecting groove 15, which facilitates subsequent fixing.

[0036] A lower fixing rod 16 is provided at the lower end of the outside of the connecting groove 15, and the outside of the lower fixing rod 16 is threaded with the inside of the connecting groove 15. After the first movable arm 4 moves laterally, the lower fixing rod 16 can rotate and be embedded in the fixing frame 3, the first movable arm 4 and the fixing block 10, so as to finally fix the first movable arm 4 after the position adjustment.

[0037] The four upper rollers 7 move along the second movable rail 14 respectively. The four upper rollers 7 are distributed alternately to avoid collision when the four upper rollers 7 move to the middle of the upper end of the housing 1, and to avoid collision when the four upper rollers 7 are hung on a wire.

[0038] Working principle: When using the power line inspection robot to adapt the conductor, the first movable arm 4 slides laterally at the position of the second movable rail 14 within the fixed frame 3, directly adjusting the lateral position of the upper roller 7 at one end of the first movable arm 4. The rotation of the lead screw 8 inside the extension block 5 can longitudinally adjust the position of the second movable arm 6. The longitudinal adjustment of the second movable arm 6 can further adjust the height of the upper roller 7. Twisting the position of the upper fixed rod 11 creates relative movement with the fixed frame 3, allowing the fixed block 10 to slide into the interior of the first movable rail 12. The lower fixed rod 16 passes through the first insertion hole 13 and the connecting groove 15 in sequence, finally completing the first movable arm 4. The four upper rollers 7 are adjusted one by one to adapt the position of the conductor. After the conductor is hung on the lower end of the upper roller 7, the lower roller 9 rotates within the bracket 18 driven by a motor. The lower roller 9 and the upper roller 7 clamp the contacting and adapted conductor.

[0039] 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 process, method, article, or apparatus.

[0040] 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.

Claims

1. A power line inspection robot with dual power supply and self-sustaining operation, comprising a shell (1), characterized in that, The upper end of the housing (1) is provided with a bracket (2), and fixed frames (3) are welded on both sides of the bracket (2). A pair of second movable rails (14) are arranged horizontally inside the fixed frame (3). A first movable arm (4) is arranged inside the second movable rail (14). An extension block (5) is provided at one end of the first movable arm (4). An upper roller (7) is provided at the upper end of the extension block (5). The upper roller (7) at the upper end of the extension block (5) is installed facing the middle side of the housing (1). The four upper rollers (7) are alternately distributed to avoid collision when the four upper rollers (7) move to the middle of the upper end of the housing (1).

2. The power line inspection robot with dual power supply and self-sustaining operation according to claim 1, characterized in that, An extension block (5) is provided at one end of the first movable arm (4) inside one of the fixed frames (3), and an extension block (5) is provided at the other end of the first movable arm (4) inside the other fixed frame (3). The two extension blocks (5) inside the fixed frame (3) are distributed in a mirror image.

3. The power line inspection robot with dual power supply and self-sustaining operation according to claim 2, characterized in that, The upper end of the second movable rail (14) is provided with a second insertion hole (17), which extends through and to the upper end of the fixed frame (3). The interior of the second insertion hole (17) is provided with a threaded upper fixing rod (11).

4. A power line inspection robot with dual power supply and self-sustaining operation according to claim 3, characterized in that, The upper end of the first movable arm (4) is recessed and provided with a first movable rail (12).

5. A power line inspection robot with dual power supply and self-sustaining operation according to claim 4, characterized in that, The first movable rail (12) has a fixed block (10) inside, and one end of the upper fixed rod (11) is rotatably connected to the upper end of the fixed block (10).

6. A power line inspection robot with dual power supply and self-sustaining operation according to claim 5, characterized in that, The fixed frame (3) is provided with a connecting groove (15), which passes through the fixed frame (3) and extends into the fixed block (10). The first movable arm (4) has first insertion holes (13) evenly distributed laterally inside.

7. A power line inspection robot with dual power supply and self-sustaining operation according to claim 6, characterized in that, The lower end of the connecting groove (15) is provided with a lower fixing rod (16), and the outside of the lower fixing rod (16) is threadedly engaged with the inside of the connecting groove (15).

8. A power line inspection robot with dual power supply and self-sustaining operation according to claim 7, characterized in that, A photovoltaic panel is provided in the middle of the upper end of the bracket (2).

9. A power line inspection robot with dual power supply and self-sustaining operation according to claim 8, characterized in that, A battery is installed inside the housing (1).

Images