Lightweight overhead line walking robot
By using lightweight design and optimizing the transmission structure, the problems of heavy weight and insufficient rigidity of the overhead line walking robot have been solved, enabling stable operation on low-voltage and old lines.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- LINFEN POWER SUPPLY COMPANY OF STATE GRID SHANXI ELECTRIC POWER
- Filing Date
- 2026-05-29
- Publication Date
- 2026-07-21
AI Technical Summary
Existing overhead line walking robots have a large number of parts, a large overall weight, and insufficient structural rigidity, resulting in unstable walking and inability to adapt to low-voltage and old lines, affecting operational reliability.
The design is lightweight, using T800 grade carbon fiber/PEEK composite material and PA6 reinforced engineering plastic to make the fuselage frame and clamping mechanism. Combined with high-frequency ultrasonic welding technology, redundant parts are reduced, the transmission structure is optimized, and rigidity and stability are enhanced.
It achieves robot weight adaptation to low voltage and old line load thresholds, avoids resonance, and improves walking stability and operational reliability.
Smart Images
Figure CN122292214B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of overhead line robot technology, and more specifically, to a lightweight overhead line walking robot. Background Technology
[0002] Overhead transmission lines, as the core of long-distance power transmission, determine the reliability of power supply in the power system. Routine inspection of overhead lines is a crucial link in preventing line faults and ensuring line safety. Traditional overhead line inspections usually rely on manual operation. When working in complex areas such as crossing highways and railways, manual operation is inefficient, and workers have to work in high-altitude environments for extended periods, facing safety risks such as electric shock. Manual inspection cannot meet the needs of modern power operation and maintenance. Currently, existing overhead line walking robots still have technical bottlenecks. They typically use a dual-drive architecture to drive the upper and lower walking wheel sets separately, along with an independent lifting drive mechanism. This structure results in a large number of robot parts and a large overall weight. The weight of overhead line walking robots even exceeds the load-bearing threshold of low-voltage lines and old lines, making them unsuitable for the operation and maintenance of such lines, thus limiting the application scenarios of the robots. Moreover, when the robot walks along the overhead line, it may experience resonance problems due to insufficient structural rigidity, affecting walking stability and operational reliability, further restricting the application of overhead line walking robots in power operation and maintenance.
[0003] Therefore, it is necessary to design a lightweight overhead line walking robot to solve the problems existing in the current technology. Summary of the Invention
[0004] In view of this, the present invention proposes a lightweight overhead line walking robot, which aims to solve the problems of the large number of robot parts, large overall weight, and resonance caused by insufficient structural rigidity when walking along overhead lines, thereby affecting walking stability and operational reliability.
[0005] This invention proposes a lightweight overhead line walking robot, comprising: Fuselage frame; A plurality of fuselage wheels are disposed inside the fuselage frame; A clamping mechanism is fixedly connected to the machine frame. The clamping mechanism includes a clamping module, a clamping plate, a clamping guide rail, a guide rail connecting plate, a guide rail connecting block, and a balance arm. The clamping plate is fixedly connected to the clamping guide rail. The balance arm passes through the gap formed by the connection between the clamping plate and the clamping guide rail. The guide rail connecting block is sleeved on the clamping guide rail. The guide rail connecting plate is sleeved on the guide rail connecting block. The clamping plate is fixedly connected to the clamping module. The clamping module includes a clamping arm, a transmission rod, and a clamping column. The clamping column is fixedly connected to the transmission rod. One end of the transmission rod is connected to the clamping arm, and the transmission rod and the clamping arm cooperate with each other. A third through hole is provided at the end of the transmission rod away from the clamping arm, and a first through hole is provided at the clamping arm. The clamping plate includes a clamping back plate and a transmission plate. The clamping back plate is sleeved on the transmission plate. The clamping back plate is provided with a plurality of positioning blocks, which limit the movement of the transmission plate. The transmission plate is provided with a first transmission block and a second transmission block, and is provided with a plurality of positioning holes. The second transmission block is provided with a transmission hole that mates with one of the positioning holes. The first transmission block and the second transmission block mate with the balance arm.
[0006] Furthermore, the fuselage frame includes a first fuselage side plate, a second fuselage side plate, and a top fuselage plate. The first fuselage side plate is fixedly connected to the second fuselage side plate, and the top fuselage plate is fixedly connected to both the first fuselage side plate and the second fuselage side plate.
[0007] Furthermore, the fuselage frame also includes a mounting bay, which is fixedly connected to the first side panel of the fuselage, and the mounting bay is symmetrical about the center of the second side panel of the fuselage.
[0008] Furthermore, the fuselage wheels are staggered inside the fuselage frame. Each fuselage wheel includes a V-shaped wheel, a drive motor, and a wheel axle. One end of the V-shaped wheel is fixedly connected to the drive motor, and the other end of the V-shaped wheel is fitted with the wheel axle. The end of the wheel axle away from the V-shaped wheel is fixedly connected to the first side plate of the fuselage.
[0009] Furthermore, the lightweight overhead line walking robot also includes a monitoring mechanism, which is fixedly connected to the top of the body frame. The monitoring mechanism includes a camera, a first rotating module, and a second rotating module. The second rotating module is fixedly connected to the first rotating module, and the first rotating module is fixedly connected to the camera.
[0010] Furthermore, the monitoring mechanism also includes a base, one end of which is fixedly connected to the top of the top plate of the device body, and the other end of which is fixedly connected to the second rotating module. The second rotating module is used to rotate the camera horizontally, and the first rotating module is used to rotate the camera vertically.
[0011] Furthermore, the lightweight overhead line walking robot also includes a clamping motor, which is fixedly connected to the second side plate of the body and is used to drive the clamping mechanism.
[0012] Furthermore, the clamping back plate is provided with a plurality of second through holes, which are axially symmetrical about the center of the clamping back plate.
[0013] Furthermore, the transmission plate is provided with a drive hole that cooperates with the clamping motor.
[0014] Furthermore, the balance arm is provided with balance holes that cooperate with the first transmission block and the second transmission block.
[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: by the layout of several body wheels built into the body frame, and in conjunction with the overall structure of the body frame fixed connection clamping mechanism, the overall assembly structure is simplified, redundant parts are reduced, and the overall weight of the robot is controlled so that its weight can be adapted to the load-bearing threshold of low-voltage lines and old lines. The balance arm passes through the gap formed by the clamping plate and the clamping guide rail. The guide rail connecting block is fitted with the clamping guide rail, and the guide rail connecting plate is fitted with the guide rail connecting block. This nested structure simplifies the transmission architecture and reduces the number of parts. While ensuring structural strength and rigidity, it further reduces the weight and avoids resonance problems during robot movement, thus improving walking stability and operational reliability. One end of the transmission rod of the clamping module is connected to the clamping arm. The transmission rod has a third through hole, and the clamping arm has a first through hole. This structure optimizes the transmission fit accuracy and further reduces the overall weight of the robot. The clamping back plate limits the transmission plate through several positioning blocks, preventing the transmission plate from shifting and ensuring transmission accuracy. The first and second transmission blocks cooperate with the balance arm to balance the force distribution of the clamping mechanism, further improving the overall structural stability of the robot, thereby balancing weight control and operational reliability. Attached Figure Description
[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 This is a structural schematic diagram of a lightweight overhead line walking robot provided in an embodiment of the present invention; Figure 2 A schematic diagram of the fuselage wheel structure provided in an embodiment of the present invention. Figure 1 ; Figure 3 A schematic diagram of the fuselage wheel structure provided in an embodiment of the present invention. Figure 2 ; Figure 4 This is a schematic diagram of the monitoring mechanism provided in an embodiment of the present invention; Figure 5 A schematic diagram of the clamping mechanism provided in an embodiment of the present invention. Figure 1 ; Figure 6 A schematic diagram of the clamping mechanism provided in an embodiment of the present invention. Figure 2 ; Figure 7 for Figure 5 A structural diagram showing the removal of the clamping module and guide rail connecting plate; Figure 8 This is a schematic diagram of the clamping plate provided in an embodiment of the present invention.
[0018] The components include: 1. fuselage frame; 10. first side panel of fuselage; 11. top panel of fuselage; 12. second side panel of fuselage; 13. hanging compartment; 2. fuselage wheel; 20. V-shaped wheel; 21. drive motor; 22. wheel axle; 3. monitoring mechanism; 30. camera; 31. first rotating module; 32. second rotating module; 33. base; 4. clamping mechanism; 40. clamping module; 400. clamping arm; 401. transmission rod; 402. clamping column; 403. First through hole; 404. Third through hole; 41. Clamping plate; 410. Clamping back plate; 411. Second through hole; 412. Drive hole; 413. Positioning block; 414. Transmission plate; 415. First transmission block; 416. Second transmission block; 417. Positioning hole; 418. Transmission hole; 42. Clamping guide rail; 43. Guide rail connecting plate; 44. Guide rail connecting block; 45. Balance arm; 450. Balance hole; 5. Clamping motor. Detailed Implementation
[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0021] See Figure 1-8 As shown in some embodiments of this application, a lightweight overhead line walking robot includes: Fuselage frame 1; Several fuselage wheels 2 are arranged inside the fuselage frame 1; The clamping mechanism 4 is fixedly connected to the machine frame 1. The clamping mechanism 4 includes a clamping module 40, a clamping plate 41, a clamping guide rail 42, a guide rail connecting plate 43, a guide rail connecting block 44, and a balance arm 45. The clamping plate 41 is fixedly connected to the clamping guide rail 42. The balance arm 45 passes through the gap formed by the connection between the clamping plate 41 and the clamping guide rail 42. The guide rail connecting block 44 is sleeved on the clamping guide rail 42. The guide rail connecting plate 43 is sleeved on the guide rail connecting block 44. The clamping plate 41 is fixedly connected to the clamping module 40. The clamping module 40 includes a clamping arm 400, a transmission rod 401, and a clamping column 402. The clamping column 402 is fixedly connected to the transmission rod 401. One end of the transmission rod 401 is connected to the clamping arm 400, and the transmission rod 401 and the clamping arm 400 cooperate with each other. A third through hole 404 is provided at the end of the transmission rod 401 away from the clamping arm 400, and a first through hole 403 is provided on the clamping arm 400. The clamping plate 41 includes a clamping back plate 410 and a transmission plate 414. The clamping back plate 410 is fitted with the transmission plate 414. The clamping back plate 410 is provided with a plurality of positioning blocks 413, which limit the movement of the transmission plate 414. The transmission plate 414 is provided with a first transmission block 415 and a second transmission block 416. The transmission plate 414 is provided with a plurality of positioning holes 417. The second transmission block 416 is provided with a transmission hole 418 that mates with a positioning hole 417. The first transmission block 415 and the second transmission block 416 mate with the balance arm 45.
[0022] Specifically, the lightweight overhead line walking robot consists of a body frame 1, several body wheels 2, and a clamping mechanism 4. The body frame 1 serves as the main load-bearing structure, providing stable support for all other components. The body frame 1 has a hollow structure with a hollow ratio of 30%-40%, achieving weight reduction without compromising rigidity. The load-bearing components of the body frame 1 and clamping mechanism 4 are made of T800 grade carbon fiber / PEEK composite material, with a density of 1.6 g / cm³ and a tensile strength of 3500 MPa, resulting in a weight reduction of over 40% compared to traditional aluminum alloy. Non-load-bearing components are made of PA6 reinforced engineering plastic with a density of 1.15 g / cm³, balancing lightweight design with protective performance. The connections between the composite material components employ 20kHz high-frequency ultrasonic welding technology to enhance the shear strength of the carbon fiber joints and avoid the weight redundancy and connection risks associated with adhesive bonding. This ensures sufficient structural strength and rigidity, preventing deformation and resonance during movement and improving the robot's operational reliability. Preferably, there are two body wheels 2, both located inside the body frame 1. These wheels ensure stable contact between the robot and the overhead power line, reducing swaying during movement. Combined with the clamping mechanism 4, this further enhances the robot's stability as it moves along the overhead power line. The robot has two clamping mechanisms 4, one located inside the body frame 1 and the other outside. The clamping mechanism 4 includes a clamping module 40, a clamping plate 41, a clamping guide rail 42, a guide rail connecting plate 43, a guide rail connecting block 44, and a balance arm 45. The clamping plate 41 is fixedly connected to the clamping guide rail 42 to ensure structural rigidity. The balance arm 45 passes through the gap formed by the connection between the clamping plate 41 and the clamping guide rail 42. The gap can limit the movement of the balance arm 45. Relying on the balance arm 45, the robot's walking state can be balanced, avoiding uneven force during robot walking, which can cause tilting and jamming, thereby improving walking stability. The guide rail connecting block 44 is sleeved on the clamping guide rail 42, and the guide rail connecting plate 43 is sleeved on the guide rail connecting block 44. The sleeved connection reduces part redundancy and weight, while facilitating component installation and maintenance, and providing a guarantee for the execution of clamping actions. The clamping plate 41 is fixedly connected to the clamping module 40 to ensure that the clamping module 40 can be stably placed on the clamping plate 41, thereby ensuring the synchronicity and reliability of the clamping action and adapting to the load-bearing requirements of low-voltage lines and old lines. A guide rail connecting block 44 is sleeved on the inner wall of the guide rail connecting plate 43. The guide rail connecting block 44 is coaxially sleeved on the outer wall of the clamping guide rail 42, forming a three-layer nested structure of clamping guide rail → guide rail connecting block → guide rail connecting plate. The clamping guide rail 42 is fixedly installed on the clamping plate 41, providing a directional sliding track for the guide rail connecting plate.The outer end of the guide rail connecting plate 43 is fixedly connected to the clamping arm 400 of the clamping module 40. The guide rail connecting plate 43 can slide linearly along the clamping guide rail 42 with the guide rail connecting block 44. The sliding trajectory is doubly limited by the clamping guide rail 42 and the clamping plate 41, ensuring that the clamping arm 400 moves only along the set trajectory, thus preventing deviation and shaking. The guide rail connecting plate 43 is linked with the balance arm 45 and the transmission plate 414. The balancing action of the balance arm 45 can be synchronously transmitted to the clamping module through the guide rail connecting plate, ensuring the coordination of clamping and balancing actions.
[0023] It is understood that the clamping module 40 is the actuating component of the clamping mechanism 4. The clamping module 40 consists of a clamping arm 400, a transmission rod 401, and a clamping column 402. The three components work together to clamp the overhead line. The clamping column 402 is fixedly connected to the transmission rod 401, providing a fixed base for the transmission rod 401. One end of the transmission rod 401 is connected to the clamping arm 400, and the transmission rod 401 and the clamping arm 400 cooperate with each other. Through their synergistic action, the clamping force of the robot can be controlled, ensuring the reliability of the robot's movement along the overhead line and preventing damage to the overhead line due to excessive clamping force. A third through hole 404 is provided at the end of the transmission rod 401 away from the clamping arm 400, and a first through hole 403 is provided on the clamping arm 400. The first through hole 403 and the third through hole 404 further reduce the weight. The clamping plate 41 consists of a clamping back plate 410 and a transmission plate 414. The clamping back plate 410 sleeves the transmission plate 414, and the sleeve structure allows the transmission plate 414 to rotate at a certain angle. Preferably, there are two positioning blocks 413. The two positioning blocks 413 on the clamping back plate 410 limit the movement of the transmission plate 414, preventing it from shifting or wobbling during movement, ensuring the movement accuracy of the transmission plate 414, and thus guaranteeing the execution of the clamping action. The transmission plate 414 is provided with a first transmission block 415 and a second transmission block 416, and six positioning holes 417 are opened on the transmission plate 414. The first transmission block 415 is fixed in place... On the transmission plate 414, the second transmission block 416 is provided with a transmission hole 418 that cooperates with one of the positioning holes 417. The cooperation between the positioning hole 417 and the transmission hole 418 enables the precise positioning and fixation of the second transmission block 416. The second transmission block 416 can adjust the transmission hole 418 to the position that matches the positioning hole 417 according to the robot's sensitivity to the overhead line balance to improve balance. Both the first transmission block 415 and the second transmission block 416 cooperate with the balance arm 45 to ensure that the robot is subjected to uniform force when walking along the overhead line, avoiding problems such as resonance caused by insufficient structural rigidity, while taking into account both weight control and operational reliability.
[0024] In some embodiments of this application, the fuselage frame 1 includes a first fuselage side plate 10, a second fuselage side plate 12, and a top fuselage plate 11. The first fuselage side plate 10 is fixedly connected to the second fuselage side plate 12, and the top fuselage plate 11 is fixedly connected to the first fuselage side plate 10 and the second fuselage side plate 12 respectively.
[0025] In some embodiments of this application, the fuselage frame 1 further includes a mounting compartment 13, which is fixedly connected to the first side panel 10 of the fuselage, and the mounting compartment 13 is symmetrical about the center of the second side panel 12 of the fuselage.
[0026] Specifically, the fuselage frame 1 is composed of a first side panel 10, a second side panel 12, and a top panel 11. The first side panel 10 and the second side panel 12 form the main side structure of the fuselage frame 1. The fixed connection enables the first side panel 10 and the second side panel 12 to form a stable overall structure, ensuring the overall structural rigidity of the fuselage frame 1. The top panel 11 is fixedly connected to the first side panel 10 and the second side panel 12 respectively. The top of the first side panel 10 and the second side panel 12 are rigidly connected through the top panel 11, which further enhances the structural stability of the fuselage frame 1. At the same time, it provides protection for components such as the fuselage wheels 2, preventing external foreign objects from intruding and affecting the operation of the components. The fuselage frame 1 is provided with a mounting compartment 13, which can carry electronic components and tools such as batteries and sensors to facilitate the operation of overhead lines. The mounting compartment 13 is fixedly connected to the first side plate 10 of the body to ensure the sturdiness of the mounting compartment 13. The mounting compartment 13 is arranged symmetrically about the center of the second side plate 12 of the body, thereby balancing the overall center of gravity of the body frame 1 and avoiding the robot's center of gravity shift due to the setting of the mounting compartment 13, thereby reducing the side tilting and swaying phenomena that occur when the robot walks along the overhead line.
[0027] In some embodiments of this application, the fuselage wheels 2 are staggered inside the fuselage frame 1. The fuselage wheels 2 include V-shaped wheels 20, drive motors 21 and axles 22. One end of the V-shaped wheel 20 is fixedly connected to the drive motor 21, and the other end of the V-shaped wheel 20 is fitted with axles 22. The end of the axles 22 away from the V-shaped wheel 20 is fixedly connected to the first side plate 10 of the fuselage.
[0028] Specifically, the body wheels 2 are located inside the body frame 1 and arranged in a staggered manner. That is, with the direction of robot travel as the positive direction, the rear body wheels 2 are 180 degrees rotated from the front body wheels 2. The body wheels 2 consist of V-shaped wheels 20, drive motors 21, and axles 22. The V-shaped wheels 20 are made of polyurethane wheel bodies, with a wheel diameter of 120mm and a wheel width of 50mm, adaptable to the common overhead line diameter range. One end of the V-shaped wheels 20 is fixedly connected to the drive motor 21, which is a lightweight servo motor of model MS1H1-04030. The servo motor has a rated power of 400W and a weight of 1.2kg. An axle 22 is fitted onto the other end of the V-shaped wheel 20. A bearing is located at the mating point between the V-shaped wheel 20 and the axle 22. The end of the axle 22 furthest from the V-shaped wheel 20 is fixedly connected to the first side plate 10 of the robot body. This fitted connection provides support and radial limit for the rotation of the V-shaped wheel 20, simplifies the connection structure between components, helps control the weight of the robot body wheel 2 assembly, thus achieving lightweighting. It also prevents loosening or skewness during the rotation of the V-shaped wheel 20, thereby ensuring the reliability of the V-shaped wheel 20's movement. The structure of the V-shaped wheel 20 itself can better conform to the shape of the overhead line, improving its gripping ability during movement and further enhancing the robot's operational stability.
[0029] In some embodiments of this application, the lightweight overhead line walking robot also includes a monitoring mechanism 3, which is fixedly connected to the top of the body frame 1. The monitoring mechanism 3 includes a camera 30, a first rotating module 31 and a second rotating module 32, with the second rotating module 32 fixedly connected to the first rotating module 31 and the first rotating module 31 fixedly connected to the camera 30.
[0030] In some embodiments of this application, the monitoring mechanism 3 further includes a base 33, one end of which is fixedly connected to the top of the top plate 11 of the body, and the other end of which is fixedly connected to a second rotating module 32. The second rotating module 32 is used to rotate the camera 30 horizontally, and the first rotating module 31 is used to rotate the camera 30 vertically.
[0031] Specifically, the lightweight overhead line walking robot is also equipped with a monitoring mechanism 3, which is fixedly connected to the top of the robot frame 1. This ensures that the monitoring mechanism 3 will not shake, shift, or even fall off during the robot's movement along the overhead line. The monitoring mechanism 3 includes a camera 30, a first rotating module 31, a second rotating module 32, and a base 33. One end of the base 33 is fixedly connected to the top of the robot's top plate 11, avoiding uneven stress and structural wear caused by directly mounting the second rotating module 32 on the top plate 11. The other end of the base 33 is fixedly connected to the second rotating module 32, further improving the second rotating module's stability. The stability of the rotating module 32 is ensured by its fixed connection to the first rotating module 31, which in turn is fixedly connected to the camera 30. The second rotating module 32 enables the horizontal rotation of the camera 30, expanding its horizontal monitoring field of view. This allows for horizontal overhead line inspection without requiring the entire robot to move, thus improving inspection efficiency. The first rotating module 31 enables the vertical rotation of the camera 30, flexibly adjusting its vertical pitch angle to clearly capture details and potential defects at different heights and orientations of the overhead line. Through the cooperation of the first and second rotating modules 31, the camera 30 can achieve omnidirectional, multi-angle monitoring, improving the comprehensiveness and accuracy of overhead line inspection. This balances monitoring performance with lightweight structural requirements, enhancing the robot's operational reliability and scene adaptability.
[0032] In some embodiments of this application, the lightweight overhead line walking robot also includes a clamping motor 5, which is fixedly connected to the second side plate 12 of the robot body and is used to drive the clamping mechanism 4.
[0033] In some embodiments of this application, the clamping back plate 410 is provided with a plurality of second through holes 411, and the plurality of second through holes 411 are axially symmetrical about the center of the clamping back plate 410.
[0034] In some embodiments of this application, the transmission plate 414 is provided with a drive hole 412 that cooperates with the clamping motor 5.
[0035] In some embodiments of this application, the balance arm 45 is provided with a balance hole 450 that cooperates with the first transmission block 415 and the second transmission block 416.
[0036] Specifically, the overhead line walking robot is also equipped with a clamping motor 5, which is fixedly connected to the second side plate 12 of the robot body. This ensures that the clamping motor 5 will not loosen or shift during operation, thus ensuring the stability of power output. Simultaneously, the clamping motor 5 directly drives the clamping mechanism 4. The transmission plate 414 is provided with a drive hole 412 that mates with the clamping motor 5. The drive hole 412 achieves precise alignment with the clamping motor 5, ensuring that the driving force output by the clamping motor 5 can be transmitted to the transmission plate 414. This further ensures the reliability of the clamping, releasing, and balancing actions of the clamping mechanism 4, avoiding risks such as transmission slippage, and improving the reliability of clamping overhead lines. This allows it to adapt to low-voltage lines and older lines. To meet the load-bearing requirements, two second through holes 411 are preferably provided on the clamping back plate 410. The two second through holes 411 are symmetrically distributed around the center of the clamping back plate 410. The symmetrical arrangement of the second through holes 411 can not only remove excess material and reduce the weight of the clamping back plate 410 without affecting the structural strength and rigidity of the clamping back plate 410, thus further optimizing the lightweight effect of the robot, but also make the stress distribution of the clamping back plate 410 more uniform when under force, avoiding the risk of deformation and cracking caused by local stress concentration. At the same time, the symmetrical through hole layout can also balance the center of gravity of the clamping back plate 410, so as to reduce the shaking and resonance phenomenon when the robot walks and improve the overall stability of operation. The balance arm 45 is provided with balance holes 450 that cooperate with the first transmission block 415 and the second transmission block 416. The precise cooperation between the balance holes 450 and the first transmission block 415 and the second transmission block 416 enables stable assembly and coordinated action between the balance arm 45 and the two transmission blocks. This allows the first transmission block 415 and the second transmission block 416 to synchronously drive the balance arm 45 to adjust the force state during movement, thereby balancing the overall force of the clamping mechanism 4. This avoids tilting or jamming caused by uneven force when the robot walks along the overhead line, ensuring both motion coordination and reducing structural weight. This further balances the requirements of structural stability and lightweight design of the robot. The balance arm 45 passes through the closed gap enclosed by the clamping plate 41 and the clamping guide rail 42. The gap provides radial limit and axial guidance for the balance arm 45, allowing only small-amplitude swinging. The balance holes 450 on the balance arm 45 form a precise shaft-hole cooperation with the first transmission block 415 and the second transmission block 416 of the transmission plate 414. The clamping motor 5 drives the transmission plate 414 to rotate. The first transmission block 415 and the second transmission block 416 on the transmission plate synchronously drive the balance arm 45 to move. The balance arm 45 swings synchronously with the two transmission blocks to achieve active balance adjustment. That is to say, when the robot walks on the overhead line, it will experience excessive force on one side, tilting and swaying due to the shift of the center of gravity, uneven wire diameter, and wind load. The balance arm 45 disperses the stress on one side in real time through the movement of the two transmission blocks, so that the robot is evenly stressed and walks in close contact with the overhead line, thereby ensuring the balance of walking.
[0037] In summary, the beneficial effects of the present invention are as follows: by incorporating several body wheels within the body frame and combining them with the overall structure of the body frame fixed connection clamping mechanism, the overall assembly structure is simplified, redundant components are reduced, and the overall weight of the robot is controlled, making its weight suitable for the load-bearing threshold of low-voltage lines and old lines. The balance arm passes through the gap formed by the clamping plate and the clamping guide rail. The guide rail connecting block is fitted with the clamping guide rail, and the guide rail connecting plate is fitted with the guide rail connecting block. This nested structure simplifies the transmission architecture and reduces the number of parts. While ensuring structural strength and rigidity, it further reduces the weight and avoids resonance problems during robot movement, thus improving walking stability and operational reliability. One end of the transmission rod of the clamping module is connected to the clamping arm. The transmission rod has a third through hole, and the clamping arm has a first through hole. This structure optimizes the transmission fit accuracy and further reduces the overall weight of the robot. The clamping back plate limits the transmission plate through several positioning blocks, preventing the transmission plate from shifting and ensuring transmission accuracy. The first and second transmission blocks cooperate with the balance arm to balance the force distribution of the clamping mechanism, further improving the overall structural stability of the robot, thereby balancing weight control and operational reliability.
[0038] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.
Claims
1. A lightweight overhead line walking robot, characterized in that, include: Fuselage frame; A plurality of fuselage wheels are disposed inside the fuselage frame; A clamping mechanism is fixedly connected to the machine frame. The clamping mechanism includes a clamping module, a clamping plate, a clamping guide rail, a guide rail connecting plate, a guide rail connecting block, and a balance arm. The clamping plate is fixedly connected to the clamping guide rail. The balance arm passes through the gap formed by the connection between the clamping plate and the clamping guide rail. The guide rail connecting block is sleeved on the clamping guide rail. The guide rail connecting plate is sleeved on the guide rail connecting block. The clamping plate is fixedly connected to the clamping module. The clamping module includes a clamping arm, a transmission rod, and a clamping column. The clamping column is fixedly connected to the transmission rod. One end of the transmission rod is connected to the clamping arm, and the transmission rod and the clamping arm cooperate with each other. A third through hole is provided at the end of the transmission rod away from the clamping arm, and a first through hole is provided at the clamping arm. The clamping plate includes a clamping back plate and a transmission plate. The clamping back plate is sleeved on the transmission plate. The clamping back plate is provided with a plurality of positioning blocks, which limit the movement of the transmission plate. The transmission plate is provided with a first transmission block and a second transmission block, and is provided with a plurality of positioning holes. The second transmission block is provided with a transmission hole that mates with one of the positioning holes. The first transmission block and the second transmission block mate with the balance arm.
2. The lightweight overhead line walking robot according to claim 1, characterized in that, The fuselage frame includes a first fuselage side plate, a second fuselage side plate, and a top fuselage plate. The first fuselage side plate is fixedly connected to the second fuselage side plate, and the top fuselage plate is fixedly connected to both the first fuselage side plate and the second fuselage side plate.
3. The lightweight overhead line walking robot according to claim 2, characterized in that, The fuselage frame also includes a mounting bay, which is fixedly connected to the first side panel of the fuselage, and the mounting bay is symmetrical about the center of the second side panel of the fuselage.
4. The lightweight overhead line walking robot according to claim 3, characterized in that, The fuselage wheels are staggered inside the fuselage frame. Each fuselage wheel includes a V-shaped wheel, a drive motor, and a wheel axle. One end of the V-shaped wheel is fixedly connected to the drive motor, and the other end of the V-shaped wheel is fitted with the wheel axle. The end of the wheel axle away from the V-shaped wheel is fixedly connected to the first side plate of the fuselage.
5. The lightweight overhead line walking robot according to claim 4, characterized in that, It also includes a monitoring mechanism, which is fixedly connected to the top of the body frame. The monitoring mechanism includes a camera, a first rotating module and a second rotating module. The second rotating module is fixedly connected to the first rotating module, and the first rotating module is fixedly connected to the camera.
6. The lightweight overhead line walking robot according to claim 5, characterized in that, The monitoring mechanism also includes a base, one end of which is fixedly connected to the top of the top plate of the device body, and the other end of which is fixedly connected to the second rotating module. The second rotating module is used to rotate the camera horizontally, and the first rotating module is used to rotate the camera vertically.
7. The lightweight overhead line walking robot according to claim 6, characterized in that, It also includes a clamping motor, which is fixedly connected to the second side plate of the machine body, and the clamping motor is used to drive the clamping mechanism.
8. The lightweight overhead line walking robot according to claim 7, characterized in that, The clamping back plate is provided with a plurality of second through holes, which are axially symmetrical about the center of the clamping back plate.
9. The lightweight overhead line walking robot according to claim 8, characterized in that, The transmission plate is provided with a drive hole that cooperates with the clamping motor.
10. The lightweight overhead line walking robot according to claim 9, characterized in that, The balance arm is provided with balance holes that cooperate with the first transmission block and the second transmission block.