An insulator inspection robot based on drone hoisting

Abstract

The utility model discloses an insulator inspection robot based on drone hoisting, including a drone hanger and an n-type robot suspended at the bottom of the drone hanger, the top of the n-type robot is provided with a walking track for movement, the top outer wall of the walking track is fixedly connected with a handle ring, one side of the n-type robot is fixedly connected with a control box, and the other side of the n-type robot is provided with a picture transmission box. When in use, the drone will lift the n-type robot through the drone hanger at the bottom, and then bring it to the insulator at a high place, and then the drone hanger will be unhooked from the n-type robot. Such a drone hoisting separation design can achieve the advantage of a more compact and compact overall structure, and then the n-type robot will walk on the insulating sheet, so as to perform quality inspection through a movable probe, and the n-type robot adopts a single-serial walking design, which is smaller in size and lighter in weight.

Description

Technical Field

[0001] The utility model belongs to the technical field of insulator detection robots, and in particular relates to an insulator detection robot based on unmanned aerial vehicle hoisting. Background Art

[0002] Insulators are important insulating support components of power grids. There are a large number of insulators in operation in power grids. Insulator degradation poses a serious threat to the safe and stable operation of the power system. Insulator maintenance work such as zero-value detection, cleaning and decontamination, and spraying of insulating materials needs to be carried out frequently, so inspection robots are usually used for inspection. Common inspection robots use manual tower climbing installation or flying insulator inspection machines for inspection.

[0003] However, there are certain risks for tower climbers during manual installation, and the installation and use are inconvenient. In addition, for example, the insulator zero value detection drone described in Patent ZL201711131993.6 climbs the tower for personnel and measures the zero value of the insulator to ensure personnel safety. After the drone detects the position of the insulator, it automatically aligns and falls on the insulator string. The tension insulator detection machine can automatically move along the double-string insulators and can adapt to changes in the distance between the double-string insulators. It can conduct autonomous quantitative detection of the resistance value of each string of insulators, automatically alarm for zero-value and low-value insulators, and can store the detected resistance value. However, the utility model drone is integrated with the insulator detection part, is too large in size, heavy in weight, and cannot adapt to non-parallel insulator strings and high-low strings, making it inconvenient to use. Utility Model Content

[0004] In view of the shortcomings of the prior art, the utility model aims to provide an insulator inspection robot based on drone hoisting, which has the advantage of facilitating the transportation of inspection equipment from a low place to an insulator at a high place.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an insulator detection robot based on drone hoisting, comprising a drone hanger and an N-type robot suspended at the bottom of the drone hanger, the top of the N-type robot is provided with a walking track for movement, the top outer wall of the walking track is fixedly connected with a handle ring, one side of the N-type robot is fixedly connected with a control box, the other side of the N-type robot is provided with an image transmission box, the top of the image transmission box is provided with a camera, and the N-type robot is provided with an active probe located on the top of the camera.

[0006] The above technical solution has the advantage of being easy to lift. When in use, the drone will lift the N-type robot through the drone hanger at the bottom, and then bring it to the insulator at a high place. After that, the drone hanger will be unhooked from the N-type robot. Such a drone lifting and separation design can achieve the advantage of a more compact and compact overall structure. Then the N-type robot will walk on the insulating sheet, so as to perform quality inspection through the movable probe. In addition, the N-type robot adopts a single-string walking design, which is smaller in size and lighter in weight, can meet the drone load requirements, and can be applied to two high and low strings with different heights and non-parallel strings with constantly changing spacing between the two strings.

[0007] Preferably, the n-type robot includes a semicircular bracket located at the top, the inner outer wall of the semicircular bracket is provided with two symmetrical guide rods, the two sides of the semicircular bracket are symmetrically provided with hanging rods, and the bottom outer wall of the hanging rod is fixedly connected to the landing gear.

[0008] Through the above technical solution, the advantage of being easy to place on the insulating sheet can be achieved. The semicircular bracket and the hanging rod form an n-type structure. Such an n-type structure makes the bottom opening large, so that the drone is easier to place during the hoisting installation process, and the installation method does not damage the insulator.

[0009] Preferably, the semicircular bracket is rotatably connected to the hanging rods on both sides, and a reamed hole for installing a fixing bolt is opened between the two.

[0010] The above technical solution has the advantage of reducing the volume, and the semicircular bracket and the hanging rod can rotate relative to each other, so that the device can be folded. The folding mode is adopted, which is easy to carry and transport.

[0011] Preferably, the walking track includes a track frame, the outer wall of the track frame is fixedly connected to a motor, a pulley shaft is arranged on the inner side of the track frame, and the outer wall of the pulley shaft is fixedly connected to the output end of the motor, and a traveling track is arranged on the outside of the pulley shaft.

[0012] Through the above technical solution, the advantages of walking can be achieved. The motor can control the pulley shaft to move, so that the pulley shaft can drive the traveling track to operate, so that the n-type robot can move forward through the traveling track.

[0013] Preferably, an isolation column is fixedly connected to the inner outer wall of the crawler frame, nuts for fastening are provided at both ends of the isolation column, the handle ring is located in the middle of the isolation column, and a bracket plug is provided between the crawler frame and the semicircular bracket.

[0014] Through the above technical solution, the handle ring can be installed. Through the setting of the isolation column, an installation medium can be provided for the installation of the handle ring, so that the drone hanger can be easily hoisted into the handle ring.

[0015] Preferably, the handle of the handle hanging ring adopts a thin rod, and the opening of the handle hanging ring is wider and higher.

[0016] Through the above technical solution, the hooking effect can be achieved. The handle ring is relatively slender, which can facilitate the hook to be hooked, and the larger opening can improve the hook to enter the handle ring, making it easier for the drone to lift the inspection robot.

[0017] Preferably, the camera head includes a camera housing, a first lens is fixedly connected to the outer wall of the camera housing, a second lens is fixedly connected to the outer wall of the camera housing, and a card connector for card connection to an image transmission box is fixedly connected to the bottom outer wall of the camera housing.

[0018] Through the above technical solution, the detection probe can be conveniently controlled, and the travel position of the n-type robot can be observed through the camera, so that the movable probe can be accurately controlled to perform detection on the insulating sheet.

[0019] Preferably, the shooting directions of the first lens and the second lens are opposite.

[0020] Through the above technical solution, an observation effect can be achieved. The shooting directions of the first lens and the second lens are opposite, so that two strings of insulators can be observed at the same time, making detection more convenient.

[0021] Preferably, the skeleton parts of the n-type robot and the walking tracks adopt a hollow design.

[0022] Through the above technical solution, the weight of the equipment can be reduced. The skeleton parts of the n-type robot and the walking tracks adopt a hollow design, which can reduce the material of the skeleton, thereby reducing the weight of the equipment, so that energy can be saved when the equipment is running.

[0023] Preferably, the control box and the image transmission box are respectively provided with counterweight blocks for balancing the two sides of the n-type robot.

[0024] The above technical solution can achieve a balancing effect. The control box and the image transmission box are arranged on both sides of the suspension and corresponding weight is applied to lower the working center of gravity. This makes climbing the slope of the insulator string more stable. The modular design reduces the cost of use and maintenance.

[0025] Compared with the prior art, the beneficial effects of the utility model are:

[0026] 1. When in use, the drone will lift the n-type robot through the drone hanger at the bottom, and then bring it to the insulator at a high place. After that, the drone hanger will be unhooked from the n-type robot. Such a drone lifting and separation design can achieve the advantage of a more compact and compact overall structure. Then the n-type robot will walk on the insulating sheet, so as to perform quality inspection through the active probe. The n-type robot adopts a single-string walking design, which is smaller in size and lighter in weight, which can meet the drone load requirements, and can be applied to two high and low strings with different heights and non-parallel strings with constantly changing spacing between the two strings.

[0027] 2. The semicircular bracket and the hanging rod form an n-type structure. This n-type structure makes the bottom opening larger, so that the drone is easier to place during hoisting and installation, and the installation method does not damage the insulator. The semicircular bracket and the hanging rod can rotate with each other, so that they can be folded. The folding mode is adopted, which is easy to carry and transport.

[0028] 3. The motor can be used to control the pulley shaft to move, so that the pulley shaft can drive the traveling track to operate, so that the n-type robot can move forward through the traveling track. Through the setting of the isolation column, an installation medium can be provided for the installation of the handle ring, so that the drone hanger can be easily hoisted into the handle ring.

[0029] 4. The handle ring is relatively slender, which can be easily hooked, and the larger opening can raise the hook to enter the handle ring, making it easier for the drone to lift the inspection robot. The camera can be used to observe the travel position of the n-type robot, so that the active probe can be accurately controlled to detect on the insulating sheet. The shooting directions of the first lens and the second lens are opposite, so that two strings of insulators can be observed at the same time, making the inspection more convenient. The skeleton of the n-type robot and the walking track adopts a hollow design, which can reduce the material of the skeleton and thus reduce the weight of the equipment. In this way, energy can be saved when the equipment is running. The control box and the image transmission box are arranged on both sides of the suspension and the corresponding weight is applied to lower the working center of gravity, so that it is more stable when climbing the slope of the insulator string. The modular design reduces the cost of use and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the main structure of the utility model;

[0031] Figure 2 It is a schematic diagram of the structure of the other side of the main body of the utility model;

[0032] Figure 3 For the utility model Figure 3 Schematic diagram of the local structure;

[0033] Figure 4 It is a schematic diagram of the front structure of the main body of the utility model;

[0034] Figure 5 This is a schematic diagram of the detection structure of the movable probe of the utility model;

[0035] Figure 6 This is a schematic diagram of the semicircular bracket structure of the utility model;

[0036] Figure 7 This is a schematic diagram of the hanging rod structure of the utility model;

[0037] Figure 8 This is a schematic diagram of the main folding structure of the utility model;

[0038] Fig. 9 It is a schematic diagram of the structure of the equipment used in the utility model.

[0039] In the figure: 1. UAV hanger; 2. N-type robot; 3. Walking track; 4. Handle ring; 5. Control box; 6. Image transmission box; 7. Camera; 8. Active probe; 200. Semicircular bracket; 201. Guide rod; 202. Hanging rod; 203. Landing gear; 300. Track frame; 301. Motor; 302. Traveling track; 303. Bracket plug; 304. Isolation column; 305. Nut; 306. Pulley shaft; 700. Camera housing; 701. First lens; 702. Second lens; 703. Card connector. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0041] Embodiment 1:

[0042] See also Figure 1-Figure 9 The utility model provides a technical solution: an insulator detection robot based on drone hoisting, comprising a drone hanger 1 and an N-type robot 2 suspended at the bottom of the drone hanger 1, a walking track 3 for movement is arranged on the top of the N-type robot 2, a handle ring 4 is fixedly connected to the top outer wall of the walking track 3, a control box 5 is fixedly connected to one side of the N-type robot 2, an image transmission box 6 is arranged on the other side of the N-type robot 2, a camera 7 is arranged on the top of the image transmission box 6, and an active probe 8 is arranged on the top of the camera 7 of the N-type robot 2.

[0043] In this embodiment, when in use, the drone will lift the N-type robot 2 through the drone hanger 1 at the bottom, and then bring it to the insulator at a high place. After that, the drone hanger 1 will be unhooked from the N-type robot 2. Such a drone lifting and separation design can achieve the advantage of a more compact and compact overall structure. Then the N-type robot 2 will walk on the insulating sheet, so as to perform quality inspection through the movable probe 8. In addition, the N-type robot 2 adopts a single-string walking design, which is smaller in size and lighter in weight, can meet the drone load requirements, and can be applied to two high and low strings with different heights and non-parallel strings with a constant changing spacing between the two strings.

[0044] Embodiment 2:

[0045] See also Figure 4-Figure 7 On the basis of the first embodiment, the utility model provides a technical solution: the n-type robot 2 includes a semicircular bracket 200 located at the top, the inner outer wall of the semicircular bracket 200 is provided with two symmetrical guide rods 201, the two sides of the semicircular bracket 200 are symmetrically provided with hanging rods 202, the bottom outer wall of the hanging rod 202 is fixedly connected with a landing gear 203, the semicircular bracket 200 is rotatably connected to the hanging rods 202 on both sides, and a reamed hole for installing a fixing bolt is opened between the two.

[0046] In this embodiment, the semicircular bracket 200 and the hanging rod 202 form an n-type structure. Such an n-type structure makes the bottom opening larger, so that the drone is easier to place during the hoisting installation process, and the installation method does not damage the insulator. The semicircular bracket 200 and the hanging rod 202 can rotate with each other, so that they can be folded. The folding mode is adopted, which is easy to carry and transport.

[0047] Embodiment three:

[0048] See also Figure 3 On the basis of the first and second embodiments, the utility model provides a technical solution: the walking track 3 includes a track frame 300, the outer wall of the track frame 300 is fixedly connected to the motor 301, a pulley shaft 306 is arranged on the inner side of the track frame 300, and the outer wall of the pulley shaft 306 is fixedly connected to the output end of the motor 301, a traveling track 302 is arranged on the outside of the pulley shaft 306, an isolation column 304 is fixedly connected to the inner outer wall of the track frame 300, nuts 305 for fastening are arranged at both ends of the isolation column 304, a handle ring 4 is located in the middle of the isolation column 304, and a bracket plug 303 is arranged between the track frame 300 and the semicircular bracket 200.

[0049] In this embodiment, the motor 301 can control the pulley shaft 306 to move, so that the pulley shaft 306 can drive the traveling track 302 to operate, so that the n-type robot 2 can move forward through the traveling track 302. Through the setting of the isolation column 304, an installation medium can be provided for the installation of the handle ring 4, so that the drone hanger 1 can be easily hoisted into the handle ring 4.

[0050] Embodiment 4:

[0051] See also Figure 7 On the basis of the first, second and third embodiments, the utility model provides a technical solution: a thin rod is used at the handle of the handle ring 4, and the opening of the handle ring 4 is wider and higher, the camera 7 includes a camera housing 700, the outer wall of the camera housing 700 is fixedly connected with a first lens 701, the outer wall of the camera housing 700 is fixedly connected with a second lens 702, the bottom outer wall of the camera housing 700 is fixedly connected with a card connector 703 for carding the image transmission box 6, the first lens 701 and the second lens 702 have opposite shooting directions, the skeleton parts of the n-type robot 2 and the walking crawler 3 adopt a hollow design, and the control box 5 and the image transmission box 6 are respectively provided with counterweights for balancing the two sides of the n-type robot 2.

[0052] In this embodiment, the handle ring 4 is relatively slender, which can be easily hooked, and the larger opening can increase the hook's entry into the handle ring 4, making it easier for the drone to lift the inspection robot. The camera 7 can be used to observe the travel position of the n-type robot 2, so that the active probe 8 can be accurately controlled to perform inspection on the insulating sheet. The shooting directions of the first lens 701 and the second lens 702 are opposite, so that two strings of insulators can be observed at the same time, making the inspection more convenient. The skeleton part of the n-type robot 2 and the walking track 3 adopts a hollow design, which can reduce the material of the skeleton, thereby reducing the weight of the equipment, so that energy can be saved when the equipment is running. The control box 5 and the image transmission box 6 are arranged on both sides of the suspension, and the corresponding weight is applied to lower the working center of gravity, so that it is more stable when climbing the slope of the insulator string. The modular design reduces the cost of use and maintenance.

[0053] The working principle and use process of the utility model are as follows: when in use, the drone will lift the n-type robot 2 through the drone hanger 1 at the bottom, and then bring it to the insulator at a high place. After that, the drone hanger 1 will be unhooked from the n-type robot 2. Such a drone lifting and separation design can achieve the advantage of a more compact and compact overall structure. Then the n-type robot 2 will walk on the insulating sheet, so that quality inspection can be performed through the movable probe 8. In addition, the n-type robot 2 adopts a single-string walking design, which is smaller in size and lighter in weight, can meet the load requirements of the drone, and can be applied to two high and low strings with different heights and non-parallel strings with constantly changing spacing between two strings. The semicircular bracket 200 and the hanging rod 202 form an n-type structure. Such an n-type structure makes the bottom opening large, so that the drone is easier to place during the lifting and installation process, and the installation method does not damage the insulator. The semicircular bracket 200 and the hanging rod 202 can rotate with each other, so that they can be folded. The folding mode is adopted, which is easy to carry and transport. The motor 301 can control the pulley shaft 306 to move, so that the pulley shaft 306 can drive the traveling crawler. 302 is in operation, so that the n-type robot 2 can move forward through the traveling crawler 302. Through the setting of the isolation column 304, an installation medium can be provided for the installation of the handle ring 4, so that the drone hanger 1 can be conveniently hoisted into the handle ring 4. The handle ring 4 is relatively slender, which can be convenient for the hook to hook on, and the larger opening can improve the hook to enter the handle ring 4, making it easier for the drone to lift and detect the robot. The traveling position of the n-type robot 2 can be observed through the camera 7, so that the active probe 8 can be accurately controlled to detect on the insulating sheet. The shooting directions of the first lens 701 and the second lens 702 are opposite, so that two strings of insulators can be observed at the same time, making the detection more convenient. The skeleton part of the n-type robot 2 and the walking crawler 3 adopts a hollow design, which can reduce the material of the skeleton, thereby reducing the weight of the equipment, so that energy can be saved when the equipment is running. The control box 5 and the image transmission box 6 are arranged on both sides of the suspension, and the corresponding weight is applied to reduce the working center of gravity, so that it is more stable when climbing the slope of the insulator string. The modular design is adopted to reduce the cost of use and maintenance.

[0054] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An insulator inspection robot based on drone hoisting, comprising a drone hanger (1) and an n-type robot (2) suspended at the bottom of the drone hanger (1), characterized in that: The top of the N-type robot (2) is provided with a walking track (3) for movement, the top outer wall of the walking track (3) is fixedly connected to a handle ring (4), one side of the N-type robot (2) is fixedly connected to a control box (5), the other side of the N-type robot (2) is provided with an image transmission box (6), the top of the image transmission box (6) is provided with a camera (7), and the N-type robot (2) is provided with a movable probe (8) located on the top of the camera (7).

2. The insulator inspection robot based on drone hoisting according to claim 1 is characterized by: The n-type robot (2) comprises a semicircular bracket (200) located at the top, the inner outer wall of the semicircular bracket (200) is provided with two symmetrical guide rods (201), the two sides of the semicircular bracket (200) are symmetrically provided with hanging rods (202), and the bottom outer wall of the hanging rod (202) is fixedly connected to a landing gear (203).

3. The insulator inspection robot based on drone hoisting according to claim 2 is characterized in that: The semicircular bracket (200) is rotatably connected to the hanging rods (202) on both sides, and a reamed hole for installing a fixing bolt is provided between the two.

4. The insulator inspection robot based on drone hoisting according to claim 1 is characterized in that: The walking crawler (3) comprises a crawler frame (300), the outer wall of the crawler frame (300) is fixedly connected to a motor (301), a pulley shaft (306) is arranged inside the crawler frame (300), and the outer wall of the pulley shaft (306) is fixedly connected to the output end of the motor (301), and a traveling crawler (302) is arranged outside the pulley shaft (306).

5. The insulator inspection robot based on drone hoisting according to claim 4 is characterized in that: An isolation column (304) is fixedly connected to the inner outer wall of the crawler frame (300), nuts (305) for tightening are arranged at both ends of the isolation column (304), the handle ring (4) is located in the middle of the isolation column (304), and a bracket plug (303) is arranged between the crawler frame (300) and the semicircular bracket (200).

6. The insulator inspection robot based on drone hoisting according to claim 4 is characterized in that: The handle of the handle hanging ring (4) is made of a thin rod, and the opening of the handle hanging ring (4) is wider and higher.

7. The insulator inspection robot based on drone hoisting according to claim 1 is characterized by: The camera head (7) comprises a camera housing (700), a first lens (701) being fixedly connected to the outer wall of the camera housing (700), a second lens (702) being fixedly connected to the outer wall of the camera housing (700), and a card connector (703) for card connection to an image transmission box (6) being fixedly connected to the bottom outer wall of the camera housing (700).

8. The insulator inspection robot based on drone hoisting according to claim 7 is characterized in that: The shooting directions of the first lens (701) and the second lens (702) are opposite.

9. The insulator inspection robot based on drone hoisting according to claim 1 is characterized in that: The skeleton parts of the N-type robot (2) and the walking track (3) adopt a hollow design.

10. The insulator inspection robot based on drone hoisting according to claim 1 is characterized in that: Counterweight blocks for balancing the two sides of the n-type robot (2) are respectively arranged inside the control box (5) and the image transmission box (6).

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