Full-view inspection robot for high-voltage transmission tower

Abstract

The utility model discloses a high-voltage power transmission tower full-view inspection robot which comprises two shape-following walking mechanisms installed on a guide rail in a spaced mode in the guiding direction of the guide rail, the ends, close to each other, of the two shape-following walking mechanisms are connected through a shape-following driving mechanism, a mechanical arm is installed on one shape-following walking mechanism, and the other shape-following walking mechanism is connected with the mechanical arm. And an image collector is mounted on the mechanical arm. According to the utility model, in the inspection process of the high-voltage transmission tower, the workload can be reduced, the efficiency can be improved, and maintenance parts can be smoothly and easily conveyed to a part to be maintained. The device is suitable for the technical field of inspection and maintenance of high-voltage transmission towers.

Description

Technical Field

[0001] The utility model belongs to the technical field of high-voltage transmission iron tower inspection equipment, and specifically relates to a high-voltage transmission iron tower full-viewing angle inspection robot. Background Art

[0002] At present, when inspecting a high-voltage transmission tower, the general method is to set inclined upward tracks on multiple sides of the high-voltage transmission tower, assemble the inspection vehicle on the corresponding tracks, and then control the inspection vehicle to move upward along the tracks, thereby achieving the purpose of inspecting the side of the high-voltage transmission tower. After inspecting the side, the inspection vehicle is transferred to another track, and the above actions are repeated to achieve the purpose of inspecting the next side. In this way, the high-voltage transmission tower is inspected, the workload is large, and the efficiency is low. When it is necessary to transport maintenance parts such as ropes upward, the existing inspection vehicle is insufficiently powered and cannot complete the transportation task. Therefore, there is an urgent need for a high-voltage transmission tower full-view inspection robot, which can reduce the workload and improve efficiency when inspecting the high-voltage transmission tower, and can smoothly and easily transport maintenance parts to the part to be repaired. Utility Model Content

[0003] The utility model provides a high-voltage transmission iron tower full-view inspection robot, which is used to reduce workload and improve efficiency during the inspection process of the high-voltage transmission iron tower, and can smoothly and easily transport maintenance components to the location to be repaired.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0005] A full-view inspection robot for a high-voltage transmission tower comprises two follow-up walking mechanisms installed on a guide rail at intervals along the guide direction thereof, the two follow-up walking mechanisms are connected at their mutually close ends via a follow-up driving mechanism, a mechanical arm is installed on one of the follow-up walking mechanisms, and an image collector is installed on the mechanical arm.

[0006] Furthermore, the contoured walking mechanism comprises a plurality of walking components hinged in sequence along the extension direction of the guide rail, and one of the walking components is equipped with a power motor for driving the walking component to walk on the guide rail.

[0007] Furthermore, the walking assembly includes a mounting seat with a first hinged ear and a second hinged ear constructed at both ends along the guiding direction of the guide rail, the corresponding first hinged ear and the second hinged ear on two adjacent mounting seats are hinged to each other, and two lateral walking wheels are rotatably connected to the mounting seat. The cross-section of the guide rail is an I-shaped structure, and the two lateral walking wheels roll on two opposite sides of the guide rail.

[0008] Furthermore, two shaft tubes are rotatably connected to the mounting seat, and the two lateral walking wheels are respectively mounted on the two shaft tubes; there are two power motors, and the two power motors are respectively installed on the upper ends of the two shaft tubes of the same walking component, and the output shaft of each power motor is coaxially connected to the corresponding shaft tube.

[0009] Furthermore, a plurality of air guide holes are provided at the position where each of the shaft tubes is rotatably connected to the mounting seat, a conducting cavity is provided in the mounting seat and located at each shaft tube, each of the air guide holes is communicated with the conducting cavity, a conducting channel communicated with the conducting cavity is also provided in the mounting seat, the conducting channel is communicated with a pneumatic joint constructed at the upper end of the mounting seat, a limiting bag is connected to one end of the shaft tube close to the end face of the guide rail, and the limiting bag is communicated with the shaft tube.

[0010] Furthermore, a connecting frame is constructed on each of the mounting seats, and a third hinged ear and a fourth hinged ear are respectively constructed at both ends of the connecting frame along the extension direction of the guide rail, the corresponding third hinged ear and fourth hinged ear on two adjacent connecting frames are hinged to each other, and the gap between adjacent connecting frames is connected by a telescopic rubber wall.

[0011] Furthermore, the conformable driving mechanism comprises a driving cylinder, a cylinder body of the driving cylinder is detachably connected to one of the conformable walking mechanisms, and a cylinder rod of the driving cylinder is connected to the other conformable walking mechanism via a conformable driving rod.

[0012] Furthermore, the conformable driving rod comprises a plurality of snake-bone-shaped connecting joints hinged in sequence, and a connecting joint far away from the cylinder body among the connecting joints is connected to a fixing seat, and the fixing seat is detachably connected to the corresponding conformable walking mechanism.

[0013] Furthermore, the number of the conformal driving mechanisms is at least two, and these conformal driving mechanisms are installed side by side between the two conformal walking mechanisms.

[0014] Furthermore, a connecting seat is connected to one of the accompanying walking mechanisms, and the mechanical arm is installed on the connecting seat.

[0015] Due to the adoption of the above structure, the utility model has a technical progress compared with the prior art in that: the utility model installs the guide rail in a curved shape outside the high-voltage transmission tower, and the curved guide rail can fully cover all the parts to be inspected that the high-voltage transmission tower needs to inspect. Two accompanying walking mechanisms are both installed on the guide rail. In the case of no load, the two accompanying walking mechanisms walk upward on the guide rail, and the image collector on the mechanical arm can conduct a comprehensive inspection of the high-voltage transmission tower from bottom to top, and the mechanical arm can check the tightness of the connecting nut on the high-voltage transmission tower and tighten the connecting nut. When it is necessary to load, the two accompanying walking mechanisms are controlled to walk in a creeping manner, that is, the two accompanying walking mechanisms are controlled to be alternately fixed with the guide rail, and at the same time, the accompanying driving mechanism is controlled to drive the accompanying walking mechanism that is not fixed with the guide rail to move, so that the accompanying walking mechanism that is not fixed with the guide rail moves along the guide direction of the guide rail, and then the two accompanying walking mechanisms move in a creeping direction, so as to realize the transportation of the target object to the corresponding position of the high-voltage transmission tower in a stable manner. In summary, the utility model can reduce workload and improve efficiency during the inspection of high-voltage transmission towers, and can smoothly and easily transport maintenance components to the location to be repaired. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0017] In the attached picture:

[0018] Figure 1 It is a schematic diagram of the structure of an embodiment of the utility model;

[0019] Figure 2 It is a structural side view of an embodiment of the utility model;

[0020] Figure 3 This is a structural schematic diagram of the contour-following walking mechanism of the utility model embodiment walking on the guide rail;

[0021] Figure 4 This is a schematic structural diagram of an embodiment of the utility model in which adjacent connecting frames are connected via a telescopic rubber wall;

[0022] Figure 5 This is a schematic diagram of the structure of the contour-following walking mechanism of the utility model embodiment after removing the telescopic rubber wall;

[0023] Figure 6 This is a structural schematic diagram of a walking assembly connected to two power motors in a contour-following walking mechanism according to an embodiment of the utility model;

[0024] Figure 7 for Figure 6 A schematic diagram of another angle of the structure shown;

[0025] Figure 8 This is a structural schematic diagram of a walking component in a contour-following walking mechanism according to an embodiment of the utility model;

[0026] Fig. 9 This is an axial structural cross-sectional view of a traveling assembly in a contour-following traveling mechanism according to an embodiment of the utility model;

[0027] Fig.10 It is a structural schematic diagram of a driving mechanism according to an embodiment of the utility model.

[0028] Labeled parts: 100-guide rail, 200-contact walking mechanism, 201-mounting seat, 202-axle tube, 203-lateral walking wheel, 204-limiting bag, 205-conducting channel, 206-air guide hole, 207-pneumatic joint, 208-first articulated ear, 209-second articulated ear, 210-power motor, 211-connecting frame, 212-third articulated ear, 213-fourth articulated ear, 214-telescopic rubber wall, 215-conducting cavity, 300-contact driving mechanism, 301-cylinder body, 302-cylinder rod, 303-connecting joint, 304-fixed seat, 400-connecting seat, 500-mechanical arm. DETAILED DESCRIPTION

[0029] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0030] The utility model discloses a high-voltage transmission tower full-view inspection robot, such as Figure 1-2As shown, it includes a conformable driving mechanism 300, a mechanical arm 500 and two conformable walking mechanisms 200. Among them, the guide direction of the guide rail 100 of the two conformable walking mechanisms 200 is installed on the guide rail 100 at intervals, and the two conformable walking mechanisms 200 are connected together by the conformable driving mechanism 300 at the ends close to each other. The mechanical arm 500 is installed on one of the conformable walking mechanisms 200, and an image collector is installed on the mechanical arm 500. The image collector is generally a camera. Moreover, the connection method of the mechanical arm 500 is that a connecting seat 400 is connected to one of the conformable walking mechanisms 200, and the mechanical arm 500 is installed on the connecting seat 400. The working principle and advantage of the utility model are: the utility model installs the guide rail 100 in a curved shape outside the high-voltage transmission tower, and the curved guide rail 100 can fully cover all the parts to be inspected that need to be inspected on the high-voltage transmission tower. The two accompanying walking mechanisms 200 are both installed on the guide rail 100. In the case of no load, the two accompanying walking mechanisms 200 walk upward on the guide rail 100, and the image collector on the mechanical arm 500 can perform a comprehensive inspection of the high-voltage transmission tower from bottom to top, and the mechanical arm 500 can check the tightness of the connecting nuts on the high-voltage transmission tower and tighten the connecting nuts. When it is necessary to load, the two accompanying walking mechanisms 200 are controlled to walk in a creeping manner, that is, the two accompanying walking mechanisms 200 are controlled to be alternately fixed to the guide rail 100, and at the same time, the accompanying driving mechanism 300 is controlled to drive the accompanying walking mechanism 200 that is not fixed to the guide rail 100 to move, so that the accompanying walking mechanism 200 that is not fixed to the guide rail 100 moves along the guide direction of the guide rail 100, and then the two accompanying walking mechanisms 200 move in a creeping direction, so as to realize the transportation of the target object to the corresponding position of the high-voltage transmission tower in a stable manner. In summary, the utility model can reduce workload and improve efficiency during the inspection of high-voltage transmission towers, and can smoothly and easily transport maintenance components to the location to be repaired.

[0031] As a preferred embodiment of the present invention, Figure 3-5 As shown, the shape-matching walking mechanism 200 includes a plurality of walking components, which are hinged together in sequence along the extension direction of the guide rail 100 to form a serpentine structure. Moreover, one of these walking components is equipped with a power motor 210, which is used to drive the walking component to walk on the guide rail 100, thereby causing the walking component to drive other walking components to move along the guide direction of the guide rail 100. The specific structure of the walking component in this embodiment is as follows: Figure 8As shown, the walking assembly includes a mounting seat 201, and a first hinged ear 208 and a second hinged ear 209 are constructed on the connecting seat 400. The first hinged ear 208 and the second hinged ear 209 are respectively constructed at the two end portions of the connecting seat 400 along the guide direction of the guide rail 100, and the corresponding first hinged ears 208 and second hinged ears 209 on two adjacent mounting seats 201 are hinged together. In this embodiment, two lateral walking wheels 203 are rotatably connected to the mounting seat 201. The cross section of the guide rail 100 is an I-shaped structure, and the two lateral walking wheels 203 roll on two opposite sides of the guide rail 100. In this embodiment, two shaft tubes 202 are rotatably connected to the mounting seat 201, and the two lateral walking wheels 203 are respectively assembled on the two shaft tubes 202, that is, each lateral walking wheel 203 is coaxially assembled on the corresponding shaft tube 202. The number of power motors 210 in this embodiment is two, and the two power motors 210 are respectively installed at the upper ends of the two shaft tubes 202 of the same walking component, and the output shaft of each power motor 210 is coaxially connected with the corresponding shaft tube 202. The working principle and advantage of this embodiment are: this embodiment drives the corresponding two shaft tubes 202 to rotate through two power motors 210, so that the corresponding two lateral walking wheels 203 walk on the guide rail 100, so as to achieve the purpose of the shape-matching walking mechanism 200 walking on the guide rail 100, and because the walking components are hinged to each other, when the shape-matching walking mechanism 200 moves in a curve on the guide rail 100, the shape-matching walking mechanism 200 undergoes corresponding deformation. The power supply equipment of the power motor 210, the mechanical arm 500 and the image collector in this embodiment is a battery, and the battery is installed on one of the shape-matching walking mechanisms 200.

[0032] As a preferred embodiment of the present invention, Fig. 9As shown, a plurality of air guide holes 206 are provided at the position where each shaft tube 202 is rotatably connected to the mounting seat 201, and a conduction cavity 215 is provided in the mounting seat 201 and located at each shaft tube 202, and each air guide hole 206 is communicated with the conduction cavity 215. In this embodiment, a conduction channel 205 is also provided in the mounting seat 201, and the conduction channel 205 is communicated with the conduction cavity 215, and a pneumatic joint 207 is constructed at the upper end of the mounting seat 201, and the pneumatic joint 207 is communicated with the conduction channel 205. In this embodiment, a limiting capsule 204 is connected to one end of the shaft tube 202 close to the end face of the guide rail 100, and the limiting capsule 204 is communicated with the shaft tube 202. The working principle and advantage of this embodiment are as follows: when performing peristaltic motion, this embodiment introduces high-pressure gas into all the pneumatic joints 207 in one of the shape-matching walking mechanisms 200, and the high-pressure gas enters the limiting bag 204, and drives the limiting bag 204 to gradually expand, so that the limiting bag 204 is expanded and tightened on the end wall of the guide rail 100, thereby achieving the purpose of fixing the shape-matching walking mechanism 200 and the guide rail 100, and then controlling the shape-matching driving mechanism 300 to move, so that the shape-matching driving mechanism 300 drives the other shape-matching walking mechanism 200 to move along the guide rail 100, thereby achieving the purpose of peristaltic motion.

[0033] As a preferred embodiment of the present invention, Figure 4-7 As shown, a connecting frame 211 is constructed on each mounting seat 201, and a third hinged ear 212 and a fourth hinged ear 213 are constructed on the connecting frame 211, wherein the third hinged ear 212 and the fourth hinged ear 213 are constructed at both ends of the connecting frame 211 along the extension direction of the guide rail 100, and the corresponding third hinged ears 212 and fourth hinged ears 213 on two adjacent connecting frames 211 are hinged to each other, and the gap between adjacent connecting frames 211 is connected by a telescopic rubber wall 214, so that the connecting frame 211 can move in a curve on the curved guide rail 100 together with the mounting seat 201.

[0034] As a preferred embodiment of the present invention, Figure 1 , 10As shown, the conformable driving mechanism 300 includes a driving cylinder, the cylinder body 301 of the driving cylinder is detachably connected to one of the conformable walking mechanisms 200, and the cylinder rod 302 of the driving cylinder is connected to the other conformable walking mechanism 200 through the conformable driving rod. The specific structure of the conformable driving rod of this embodiment is that the conformable driving rod includes a plurality of snake-shaped connecting joints 303 hinged in sequence, and a connecting joint 303 of these connecting joints 303 away from the cylinder body 301 is connected to a fixing seat 304, and the fixing seat 304 is detachably connected to the corresponding conformable walking mechanism 200. The conformable driving rod of this embodiment can be guided along the curved guide rail 100, and the conformable driving rod undergoes corresponding changes in the process of the conformable driving rod to the conformable walking mechanism 200. In order to improve the driving stability of this embodiment, the number of the conformable driving mechanisms 300 is at least two, and these conformable driving mechanisms 300 are installed side by side between the two conformable walking mechanisms 200.

[0035] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the scope of protection of the claims of the utility model.

Claims

1. A high-voltage transmission tower full-view inspection robot, characterized in that: It comprises two shape-matching walking mechanisms installed on the guide rail at intervals along the guide direction. The two shape-matching walking mechanisms are connected at their close ends via a shape-matching driving mechanism. A mechanical arm is installed on one of the shape-matching walking mechanisms, and an image collector is installed on the mechanical arm.

2. The high-voltage transmission tower full-view inspection robot according to claim 1, characterized in that: The contoured walking mechanism comprises a plurality of walking components which are hinged in sequence along the extending direction of the guide rail, and one of the walking components is equipped with a power motor for driving the walking component to walk on the guide rail.

3. The high-voltage transmission tower full-view inspection robot according to claim 2, characterized in that: The walking assembly includes a mounting seat with a first hinged ear and a second hinged ear constructed at both ends along the guiding direction of the guide rail, the corresponding first hinged ear and the second hinged ear on two adjacent mounting seats are hinged to each other, and two lateral walking wheels are rotatably connected to the mounting seat, the cross-section of the guide rail is an I-shaped structure, and the two lateral walking wheels roll on two opposite sides of the guide rail.

4. The high-voltage transmission tower full-view inspection robot according to claim 3, characterized in that: Two shaft tubes are rotatably connected to the mounting seat, and the two lateral walking wheels are respectively mounted on the two shaft tubes; there are two power motors, which are respectively mounted on the upper ends of the two shaft tubes of the same walking component, and the output shaft of each power motor is coaxially connected to the corresponding shaft tube.

5. The high-voltage transmission tower full-view inspection robot according to claim 4, characterized in that: A plurality of air guide holes are provided at the position where each of the shaft tubes is rotatably connected to the mounting seat, a conducting cavity is provided in the mounting seat and located at each shaft tube, each of the air guide holes is communicated with the conducting cavity, a conducting channel connected with the conducting cavity is also provided in the mounting seat, the conducting channel is communicated with a pneumatic joint constructed at the upper end of the mounting seat, a limiting bag is connected to one end of the shaft tube close to the end face of the guide rail, and the limiting bag is communicated with the shaft tube.

6. The high-voltage transmission tower full-view inspection robot according to claim 3, characterized in that: A connecting frame is constructed on each of the mounting seats, and a third hinged ear and a fourth hinged ear are respectively constructed at both ends of the connecting frame along the extension direction of the guide rail. The corresponding third hinged ears and fourth hinged ears on two adjacent connecting frames are hinged to each other, and the gap between adjacent connecting frames is connected by a telescopic rubber wall.

7. The high-voltage transmission tower full-view inspection robot according to claim 1, characterized in that: The conformable driving mechanism comprises a driving cylinder, a cylinder body of the driving cylinder is detachably connected to one of the conformable walking mechanisms, and a cylinder rod of the driving cylinder is connected to the other conformable walking mechanism via a conformable driving rod.

8. The high-voltage transmission tower full-view inspection robot according to claim 7, characterized in that: The conformable driving rod comprises a plurality of snake-bone-shaped connecting joints hinged in sequence, and a connecting joint far away from the cylinder body among the connecting joints is connected with a fixing seat, and the fixing seat is detachably connected to the corresponding conformable walking mechanism.

9. The high-voltage transmission tower full-view inspection robot according to claim 7, characterized in that: The number of the conformal driving mechanisms is at least two, and these conformal driving mechanisms are installed side by side between the two conformal walking mechanisms.

10. The high-voltage transmission tower full-view inspection robot according to claim 1, characterized in that: A connecting seat is connected to one of the accompanying walking mechanisms, and the mechanical arm is installed on the connecting seat.

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