Anti-falling device for power transmission line inspection robot
By designing secondary protection, telescopic, reset and fixing mechanisms in transmission line patrol robots, and using pressure sensors and springs to detect falls, automatic reset and cable fixing are achieved, which solves the difficulty of self-rescue falls in the existing technology and the difficulty of self-rescue of inspection robots in the existing technology The problem of off-line detection improves practicality and convenience.
Patent Information
- Application Number
- CN202421054732.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-15
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2034-05-15
AI Technical Summary
Existing transmission line inspection robots are difficult to save themselves when falling, require low manual maintenance efficiency, and difficult to automatically detect disconnection, resulting in low practicality.
A fall prevention device including a secondary protection mechanism, a telescopic mechanism, a reset mechanism and a fixing mechanism is designed. The fall is detected by a pressure sensor and a spring, and the reset mechanism and the fixing mechanism are automatically reset and the inspection robot and the cable are fixed.
It improves the secondary protection and automatic reset capability of the patrol robot when it falls, improves practicality and convenience, and reduces the need for manual maintenance.
Smart Images
Figure CN222301264U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of power transmission line inspection robots, in particular to a falling prevention device for power transmission line inspection robots. Background Art
[0002] A line inspection robot refers to a robot that uses a mobile robot as a carrier, a visible light camera, an infrared thermal imager, and other detection instruments as a load system, and a multi-field information fusion of machine vision-electromagnetic field-GPS-GIS as a navigation system for autonomous movement and autonomous inspection of the robot. It uses an embedded computer as the software and hardware development platform of the control system. It has the functions of obstacle detection, identification and positioning, autonomous operation planning, autonomous obstacle crossing, autonomous inspection of transmission lines and their corridors, automatic storage and remote wireless transmission of inspection images and data by the robot body, remote wireless monitoring and remote control on the ground, real-time online power supply, background inspection operation management and analysis and diagnosis. The robot inspection method generally uses the ground wire as the robot's travel track. The transmission wire has a certain curvature and will dance under the action of the wind. The inspection robot moves on the dancing wire, which can easily cause the clamping mechanism on the transmission line inspection robot to detach from the wire, causing the transmission line inspection robot to fall rapidly. The distance between the wire and the ground of the high-voltage overhead transmission line is generally tens of meters, and the environment of the transmission line corridor is harsh and complex. The transmission line inspection robot will cause serious damage after falling.
[0003] Existing power transmission line inspection robots, such as the prior art with application number CN202020935680.7, include a device box, a robot body, a robot arm, cables, a protective net, a fixed bracket, a support column, a support inner ring and a shock absorber, etc. The protective net is used to protect the robot body to prevent damage to the robot body from objects thrown from high altitudes from above. The fixed bracket is used to fix the device box. The triangular fixed bracket is stable, firm and pressure-resistant. The shock absorber is used to reduce shock to the robot body, reduce the impact of external impact on the robot body, prevent the inspection robot from falling, and increase work safety.
[0004] However, when the inspection robot falls, the existing technology is not convenient for the robot to self-rescue, and manual repair is required, which is inefficient. In addition, the existing technology is not convenient for detecting disconnection, which makes it less practical. Utility Model Content
[0005] In order to solve the above technical problems, the utility model provides a transmission line inspection robot anti-falling device which is convenient for secondary protection against falling and automatic resetting of the inspection robot when it falls, thereby improving practicality and convenience.
[0006] The utility model discloses a power transmission line inspection robot anti-falling device, comprising a main body mechanism; further comprising a secondary protection mechanism, a telescopic mechanism, a reset mechanism and a fixing mechanism, wherein the secondary protection mechanism is mounted on the main body mechanism, the telescopic mechanism is mounted on the secondary protection mechanism, the reset mechanism is mounted on the telescopic mechanism, and the fixing mechanism is mounted on the bottom end of the reset mechanism, the secondary protection mechanism is used to detect and perform secondary protection on the fall, the telescopic mechanism controls the reset mechanism to extend, the fixing mechanism fixes the cable, and the reset mechanism supports the line inspection robot to reset again; when the inspection robot falls, the secondary protection mechanism is used to detect and perform secondary protection on the fall, thereby improving practicability, the telescopic mechanism controls the reset mechanism to extend, the reset mechanism controls the fixed mechanism to fix the cable, and the reset mechanism supports the line inspection robot to reset again, thereby improving practicability and convenience.
[0007] Preferably, the main body structure includes an inspection robot, a connecting frame and a cable, and the inspection robot is hung on the cable through the connecting frame; the connecting frame facilitates the installation of the inspection robot on the cable, and the inspection robot is used to inspect the cable.
[0008] Preferably, the secondary protection mechanism includes a guide plate, a detection box, a pressure sensor, a sliding block and a spring. The guide plate is installed on the side wall of the inspection robot, the detection box is installed on the top of the guide plate, the pressure sensor is installed on the inner wall of the detection box, the sliding block is slidably installed in the pressure sensor, one end of the spring is installed on the sliding block, and the other end of the spring is installed on the pressure sensor; when the inspection robot falls off, the cable contacts the sliding block and squeezes the sliding block to make the sliding block slide in the detection box, thereby causing the spring to contract, and the pressure sensor is squeezed by the elasticity of the spring, and the pressure is detected by the pressure sensor. When the pressure sensor detects abnormal pressure, the telescopic mechanism, the reset mechanism and the fixing mechanism are controlled to reset the inspection robot, thereby improving practicality.
[0009] Preferably, the telescopic mechanism includes a sliding sleeve, two sliding plates, a slider, two connecting rods and a cylinder, the sliding sleeve is installed on the top of the detection box, the two sliding plates are slidably installed in the sliding sleeve, the slider is slidably installed in the sliding sleeve, one end of the two connecting rods is rotatably installed on the slider, the other ends of the two connecting rods are respectively rotatably installed on the two sliding plates, the cylinder is installed on the side wall of the sliding sleeve, and the movable end of the cylinder is connected to the slider; when the inspection robot falls off, the cable contacts the sliding block and squeezes the sliding block to make the sliding block slide in the detection box, thereby causing the spring to contract, and the pressure sensor is squeezed by the elasticity of the spring, and the pressure is detected by the pressure sensor. When the pressure sensor detects abnormal pressure, the control cylinder pushes the slider to slide in the sliding sleeve, and then pushes the sliding plate to slide in the sliding sleeve through the connecting rod, so that the reset mechanism and the fixing mechanism can reset the inspection robot.
[0010] Preferably, the reset mechanism includes a sliding sleeve, a sliding rod, a lead screw and a motor, the sliding sleeve is installed at the top of the sliding plate, the sliding rod is slidably installed in the sliding sleeve, the lead screw is rotatably installed in the sliding sleeve, the lead screw and the sliding rod are threadedly matched, the motor is installed at the top of the sliding sleeve, and the output end of the motor is connected to the lead screw; the lead screw is driven to rotate by turning on the motor, and then the sliding rod is driven to slide in the sliding sleeve through the threaded relationship, thereby facilitating the fixing mechanism to fix and support the cable.
[0011] Preferably, the fixing mechanism includes a mounting plate, two rotating fixing frames and two trigger plates, the mounting plate is mounted on the bottom end of the sliding rod, the two rotating fixing frames are rotatably mounted on the bottom end of the mounting plate, and the two trigger plates are mounted on the rotating fixing frames; the lead screw is driven to rotate by turning on the motor, and then the sliding rod is driven to slide in the sliding sleeve through the threaded relationship, thereby driving the rotating fixing frame to descend, and the rotating fixing frame is controlled to rotate around the rotating fixing frame through the contact between the trigger plate and the cable, thereby controlling the motor to continue to drive the lead screw to rotate, and the sliding rod is driven to slide in the sliding sleeve through the threaded relationship, thereby supporting the inspection robot, thereby facilitating the resetting of the inspection robot.
[0012] Preferably, bird-repelling spikes are provided on the side walls of the inspection robot; the above arrangement facilitates the repelling of birds and improves practicality.
[0013] Compared with the prior art, the beneficial effects of the utility model are as follows: when the inspection robot falls, the fall is detected and protected by the secondary protection mechanism, thereby improving practicality; the telescopic mechanism controls the resetting mechanism to extend, and the resetting mechanism controls the fixing mechanism to fix the cable, and the resetting mechanism supports the line inspection robot to reset again, thereby improving practicality and convenience. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a first axonometric structural schematic diagram of the utility model;
[0015] Figure 2 It is a second axonometric structural schematic diagram of the utility model;
[0016] Figure 3 It is a third axonometric structural schematic diagram of the utility model;
[0017] Figure 4 It is a fourth axonometric structural schematic diagram of the utility model;
[0018] Figure 5 It is a schematic diagram of the cross-sectional structure of the utility model in a top view;
[0019] Figure 6 It is a front cross-sectional structural schematic diagram of the utility model;
[0020] Figure 7 It is a first side cross-sectional structural schematic diagram of the utility model;
[0021] Figure 8 It is a second side cross-sectional structural schematic diagram of the utility model;
[0022] Markings in the attached drawings: 01, main body; 11, inspection robot; 12, connecting frame; 13, cable; 02, secondary protection mechanism; 21, guide plate; 22, detection box; 23, pressure sensor; 24, sliding block; 25, spring; 03, telescopic mechanism; 31, sliding sleeve; 32, sliding plate; 33, slider; 34, connecting rod; 35, cylinder; 04, reset mechanism; 41, sliding sleeve; 42, sliding rod; 43, screw; 44, motor; 05, fixing mechanism; 51, mounting plate; 52, rotating fixing frame; 53, trigger plate. DETAILED DESCRIPTION
[0023] In order to facilitate the understanding of the utility model, the utility model will be described more comprehensively below with reference to the relevant drawings. The utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive.
[0024] Example 1
[0025] like Figure 3 , Figure 6 and Figure 8 As shown, it includes a main body mechanism 01, a secondary protection mechanism 02, a telescopic mechanism 03, a reset mechanism 04 and a fixing mechanism 05. The secondary protection mechanism 02 is mounted on the main body mechanism 01, the telescopic mechanism 03 is mounted on the secondary protection mechanism 02, the reset mechanism 04 is mounted on the telescopic mechanism 03, and the fixing mechanism 05 is mounted on the bottom end of the reset mechanism 04;
[0026] The secondary protection mechanism 02 detects and performs secondary protection on the fall, the telescopic mechanism 03 controls the resetting mechanism 04 to extend, the fixing mechanism 05 fixes the cable, and the resetting mechanism 04 supports the line patrol robot to reset again;
[0027] The main body 01 includes an inspection robot 11, a connecting frame 12 and a cable 13, and the inspection robot 11 is hung on the cable 13 through the connecting frame 12;
[0028] The secondary protection mechanism 02 includes a guide plate 21, a detection box 22, a pressure sensor 23, a sliding block 24 and a spring 25. The guide plate 21 is mounted on the side wall of the inspection robot 11, the detection box 22 is mounted on the top of the guide plate 21, the pressure sensor 23 is mounted on the inner wall of the detection box 22, the sliding block 24 is slidably mounted in the pressure sensor 23, one end of the spring 25 is mounted on the sliding block 24, and the other end of the spring 25 is mounted on the pressure sensor 23;
[0029] The connecting frame 12 is used to facilitate the installation of the inspection robot 11 on the cable 13, and the inspection robot 11 is used to inspect the cable 13. When the inspection robot 11 falls off, the cable 13 contacts the sliding block 24 and squeezes the sliding block 24 so that the sliding block 24 slides in the detection box 22, thereby contracting the spring 25, squeezing the pressure sensor 23 through the elasticity of the spring 25, detecting the pressure through the pressure sensor 23, and controlling the resetting mechanism 03 to extend the resetting mechanism 04, and controlling the fixing mechanism 05 to fix the cable through the resetting mechanism 04, and supporting the line inspection robot to reset again through the resetting mechanism 04, thereby improving practicality and convenience.
[0030] Example 2
[0031] like Figures 1 to 8 As shown, it includes a main body mechanism 01, a secondary protection mechanism 02, a telescopic mechanism 03, a reset mechanism 04 and a fixing mechanism 05. The secondary protection mechanism 02 is mounted on the main body mechanism 01, the telescopic mechanism 03 is mounted on the secondary protection mechanism 02, the reset mechanism 04 is mounted on the telescopic mechanism 03, and the fixing mechanism 05 is mounted on the bottom end of the reset mechanism 04;
[0032] The secondary protection mechanism 02 detects and performs secondary protection on the fall, the telescopic mechanism 03 controls the resetting mechanism 04 to extend, the fixing mechanism 05 fixes the cable, and the resetting mechanism 04 supports the line patrol robot to reset again;
[0033] The telescopic mechanism 03 includes a sliding sleeve 31, two sliding plates 32, a slider 33, two connecting rods 34 and a cylinder 35. The sliding sleeve 31 is installed at the top of the detection box 22. The two sliding plates 32 are slidably installed in the sliding sleeve 31. The slider 33 is slidably installed in the sliding sleeve 31. One end of the two connecting rods 34 is rotatably installed on the slider 33. The other ends of the two connecting rods 34 are rotatably installed on the two sliding plates 32 respectively. The cylinder 35 is installed on the side wall of the sliding sleeve 31, and the movable end of the cylinder 35 is connected to the slider 33.
[0034] The reset mechanism 04 includes a sliding sleeve 41, a sliding rod 42, a lead screw 43 and a motor 44. The sliding sleeve 41 is installed at the top of the sliding plate 32. The sliding rod 42 is slidably installed in the sliding sleeve 41. The lead screw 43 is rotatably installed in the sliding sleeve 41. The lead screw 43 and the sliding rod 42 are threadedly matched. The motor 44 is installed at the top of the sliding sleeve 41, and the output end of the motor 44 is connected to the lead screw 43.
[0035] The fixing mechanism 05 includes a mounting plate 51, two rotating fixing frames 52 and two triggering plates 53. The mounting plate 51 is mounted on the bottom end of the sliding rod 42. The two rotating fixing frames 52 are rotatably mounted on the bottom end of the mounting plate 51. The two triggering plates 53 are mounted on the rotating fixing frames 52.
[0036] The side wall of the inspection robot 11 is provided with bird-repelling spikes;
[0037] When the inspection robot falls, the fall is detected and protected by the secondary protection mechanism 02 to improve practicality. When the pressure sensor 23 detects abnormal pressure, the control cylinder 35 pushes the slider 33 to slide in the sliding sleeve 31, and then pushes the sliding plate 32 to slide in the sliding sleeve 31 through the connecting rod 34, so that the reset mechanism 04 and the fixing mechanism 05 can reset the inspection robot 11. The lead screw 43 is driven to rotate by turning on the motor 44, and then the sliding rod 42 is driven to slide in the sliding sleeve 41 through the threaded relationship, and then the rotating fixed frame 52 is driven to descend. The rotating fixed frame 52 is controlled to rotate around the rotating fixed frame 52 by the contact between the trigger plate 53 and the cable 13, and then the motor 44 is controlled to continue to drive the lead screw 43 to rotate, and the sliding rod 42 is driven to slide in the sliding sleeve 41 through the threaded relationship, so as to support the inspection robot 11, so as to facilitate the resetting of the inspection robot 11.
[0038] like Figures 1 to 8As shown, the utility model is a transmission line inspection robot anti-fall device. When it is working, the inspection robot 11 is conveniently installed on the cable 13 through the connecting frame 12, and the cable 13 is inspected by the inspection robot 11. When the inspection robot 11 falls off, the cable 13 contacts the sliding block 24 and squeezes the sliding block 24 so that the sliding block 24 slides in the detection box 22, thereby causing the spring 25 to contract, and the pressure sensor 23 is squeezed by the elasticity of the spring 25. The pressure is detected by the pressure sensor 23. When the pressure sensor 23 detects abnormal pressure, the control cylinder 35 pushes the slider 33 to slide in the sliding sleeve 31. The sliding plate 32 is pushed to slide in the sliding sleeve 31 through the connecting rod 34, so that the resetting mechanism 04 and the fixing mechanism 05 can reset the inspection robot 11. The lead screw 43 is driven to rotate by turning on the motor 44, and then the sliding rod 42 is driven to slide in the sliding sleeve 41 through the threaded relationship, thereby driving the rotating fixed frame 52 to descend. The rotating fixed frame 52 is controlled to rotate around the rotating fixed frame 52 through the contact between the trigger plate 53 and the cable 13, and then the motor 44 is controlled to continue to drive the lead screw 43 to rotate, and the sliding rod 42 is driven to slide in the sliding sleeve 41 through the threaded relationship, thereby supporting the inspection robot 11, so as to facilitate the resetting of the inspection robot 11.
[0039] The connecting frame 12, pressure sensor 23, cylinder 35 and motor 44 of the utility model are purchased on the market, and technicians in the industry only need to install and operate them according to the accompanying instruction manual, without the need for technicians in this field to make creative efforts.
[0040] The main functions achieved by the utility model are: during the operation of the power transmission line inspection robot, it is convenient to provide secondary protection against falling, and it is convenient to automatically reset the inspection robot 11 when it falls, thereby improving practicality and convenience.
[0041] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.
Claims
1. A power transmission line inspection robot anti-fall device, comprising a main body mechanism (01); characterized in that: It also includes a secondary protection mechanism (02), a telescopic mechanism (03), a reset mechanism (04) and a fixing mechanism (05), wherein the secondary protection mechanism (02) is mounted on the main mechanism (01), the telescopic mechanism (03) is mounted on the secondary protection mechanism (02), the reset mechanism (04) is mounted on the telescopic mechanism (03), and the fixing mechanism (05) is mounted at the bottom end of the reset mechanism (04); The secondary protection mechanism (02) detects and performs secondary protection on falling, the telescopic mechanism (03) controls the resetting mechanism (04) to extend, the fixing mechanism (05) fixes the cable, and the resetting mechanism (04) supports the line patrol robot to reset again.
2. The anti-falling device for a power transmission line inspection robot according to claim 1, characterized in that: The main body (01) comprises an inspection robot (11), a connecting frame (12) and a cable (13), and the inspection robot (11) is hung on the cable (13) via the connecting frame (12).
3. The anti-falling device for a power transmission line inspection robot according to claim 2, characterized in that: The secondary protection mechanism (02) includes a guide plate (21), a detection box (22), a pressure sensor (23), a sliding block (24) and a spring (25), wherein the guide plate (21) is mounted on the side wall of the inspection robot (11), the detection box (22) is mounted on the top of the guide plate (21), the pressure sensor (23) is mounted on the inner wall of the detection box (22), the sliding block (24) is slidably mounted in the pressure sensor (23), one end of the spring (25) is mounted on the sliding block (24), and the other end of the spring (25) is mounted on the pressure sensor (23).
4. A power transmission line inspection robot anti-falling device as claimed in claim 3, characterized in that: The telescopic mechanism (03) comprises a sliding sleeve (31), two sliding plates (32), a slider (33), two connecting rods (34) and a cylinder (35). The sliding sleeve (31) is mounted on the top of the detection box (22). The two sliding plates (32) are slidably mounted in the sliding sleeve (31). The slider (33) is slidably mounted in the sliding sleeve (31). One end of the two connecting rods (34) is rotatably mounted on the slider (33). The other ends of the two connecting rods (34) are respectively rotatably mounted on the two sliding plates (32). The cylinder (35) is mounted on the side wall of the sliding sleeve (31). The movable end of the cylinder (35) is connected to the slider (33).
5. The anti-falling device for a power transmission line inspection robot according to claim 4, characterized in that: The reset mechanism (04) comprises a sliding sleeve (41), a sliding rod (42), a lead screw (43) and a motor (44); the sliding sleeve (41) is mounted on the top of the sliding plate (32); the sliding rod (42) is slidably mounted in the sliding sleeve (41); the lead screw (43) is rotatably mounted in the sliding sleeve (41); the lead screw (43) and the sliding rod (42) are threadedly matched; the motor (44) is mounted on the top of the sliding sleeve (41); and the output end of the motor (44) is connected to the lead screw (43).
6. The anti-falling device for a power transmission line inspection robot according to claim 5, characterized in that: The fixing mechanism (05) comprises a mounting plate (51), two rotating fixing frames (52) and two triggering plates (53), wherein the mounting plate (51) is mounted on the bottom end of the sliding rod (42), the two rotating fixing frames (52) are rotatably mounted on the bottom end of the mounting plate (51), and the two triggering plates (53) are mounted on the rotating fixing frames (52).
7. The anti-falling device for a power transmission line inspection robot according to claim 2, characterized in that: Bird-repelling spikes are arranged on the side walls of the inspection robot (11).