Detection robot for high-voltage line

Abstract

The detection robot comprises a main frame, a plurality of walking wheels and a clamping mechanism are arranged on the lower surface of the main frame, the walking wheels are placed above the high-voltage line, any two walking wheels are connected with the power output end of a driving motor, the clamping mechanism is located on the inner sides of the walking wheels, and the clamping mechanism is located on the lower surface of the main frame. A clamping wheel on the clamping mechanism is located below the high-voltage line, an imaging mechanism is arranged on one side of the main frame, and a flaw detection mechanism is arranged on the other side of the main frame. The beneficial effects of the utility model are that the walking wheel is firstly placed on the high-voltage line, and then the clamping wheel is controlled by the clamping mechanism for clamping, so that the robot is clamped on the high-voltage line, the driving motor is started to drive the walking wheel to move on the high-voltage line, and the imaging mechanism is located at the rear end of the high-voltage line to be detected after the walking wheel reaches a designated area; and the flaw detection mechanism is started to detect the to-be-detected high-voltage line, so that manual detection is replaced, and meanwhile, the device can work under the condition that the high-voltage line is not powered off.

Description

Technical Field

[0001] The utility model relates to the technical field of high-voltage line detection, in particular to a detection robot used for high-voltage lines. Background Art

[0002] High-voltage lines and their tension clamps are vital components of the power system, responsible for transmitting and fixing high-voltage currents. Since high-voltage lines and tension clamps are exposed to harsh natural environments for a long time, they are at risk of corrosion, wear and damage, which may lead to power transmission interruptions and even safety accidents. Therefore, regular inspection of the health status of high-voltage lines and their tension clamps is essential to ensure the stable operation of the power system.

[0003] Traditionally, high-voltage line inspections are done manually, which means that work must be done without power, and the time window needs to be applied for half a year in advance. This is not only time-consuming and labor-intensive, but also poses a great threat to the safety of workers in complex or difficult-to-reach areas due to the dangers of working at heights. In addition, the accuracy and efficiency of manual inspections are difficult to guarantee. Utility Model Content

[0004] The utility model aims to overcome the shortcomings of the prior art and provide a detection robot for high-voltage lines.

[0005] The purpose of the utility model is achieved through the following technical solutions: a detection robot for high-voltage lines, including a main frame, a lower surface of the main frame is provided with a plurality of running wheels and a clamping mechanism, the running wheels are placed above the high-voltage lines, and any two running wheels are connected to the power output end of the driving motor, the clamping mechanism is located on the inner side of the running wheels, the clamping wheels on the clamping mechanism are located below the high-voltage lines, an imaging mechanism is provided on one side of the main frame, and a flaw detection mechanism is provided on the other side of the main frame.

[0006] Preferably, there are four running wheels, and the running wheels are distributed in a rectangular shape on the main frame.

[0007] Preferably, the clamping mechanism includes a vertical rod and an electric push rod, one end of the vertical rod is welded to the main frame, the other end of the vertical rod is hingedly mounted with a cross rod, the end of the cross rod is provided with a clamping wheel, and the two ends of the electric push rod are respectively mounted on the vertical rod and the cross rod.

[0008] Preferably, reinforcing rods are provided between the vertical rods.

[0009] Preferably, the imaging mechanism includes an imaging plate, two slide rails are vertically arranged at one end of the main frame, a mounting plate a is arranged on the main frame, a motor a is installed on the mounting plate a, a power output end of the motor a is connected to a rope winding wheel, an end of the rope on the rope winding wheel is connected to a rope hole on the imaging plate, and the rope is located between the two slide rails, a slider is arranged on the back of the imaging plate, and the slider is slidably installed on the slide rail.

[0010] Preferably, a reinforcing rod b is provided between the slide rail and the main frame, and the reinforcing rod b, the slide rail and the main frame together form a triangle.

[0011] Preferably, the flaw detection mechanism includes a X-ray machine, a vertical rod b is installed on the main frame, a fixed frame is installed at the end of the vertical rod b, a motor b is installed on the fixed frame, the power output end of the motor b is connected to the gear a, a mounting plate b is installed on the upper end of the X-ray machine, a connecting plate is provided on the outer side of the mounting plate b, a connecting shaft is provided on the end of the connecting plate, the connecting shaft is rotatably mounted on the fixed frame, and a mounting rod is fixedly installed between the two inner sides of the mounting plate b, a gear b is installed on the mounting rod, and the gear b is meshed with the gear a.

[0012] Preferably, a reinforcing rod c is provided between the vertical rod b and the main frame, and the reinforcing rod c, the vertical rod b and the main frame together form a triangle.

[0013] The utility model has the following advantages: the utility model first places the walking wheel on the high-voltage line, and then controls the clamping wheel to clamp through the clamping mechanism, so that the robot is clamped on the high-voltage line, and starts the driving motor to drive the walking wheel to move on the high-voltage line. After reaching the designated area, the imaging mechanism is located at the rear end of the high-voltage line to be detected, and the flaw detection mechanism is started to detect the high-voltage line to be detected, thereby replacing manual detection, and at the same time, it can work without power failure on the high-voltage line. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the detection robot;

[0015] Figure 2 It is a structural diagram of the flaw detection mechanism;

[0016] Figure 3 is a structural schematic diagram of an imaging mechanism;

[0017] Figure 4 is a structural schematic diagram of the clamping mechanism;

[0018] In the figure, 1-high voltage line, 2-main frame, 3-reinforcement rod b, 4-imaging plate, 5-imaging mechanism, 6-motor a, 7-vertical rod b, 8-flaw detection mechanism, 9-clamping mechanism, 10-fixed frame, 11-motor b, 12-gear a, 13-connecting plate, 14-mounting plate b, 15-mounting rod, 16-gear b, 17-connecting shaft, 18-ray machine, 19-rope winding wheel, 20-mounting plate a, 21-slide rail, 22-rope winding, 23-rope hole, 24-electric push rod, 25-travel wheel, 26-drive motor, 27-clamping wheel, 28-cross bar, 29-reinforcement rod, 30-vertical rod. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0021] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0022] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0023] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the utility model product is usually placed when in use, or the positions or positional relationships commonly understood by those skilled in the art, which are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] In this embodiment, if Figure 1As shown, a detection robot for high-voltage lines includes a main frame 2, and a plurality of running wheels 25 and a clamping mechanism 9 are arranged on the lower surface of the main frame 2. The running wheels 25 are placed above the high-voltage line 1, and any two running wheels 25 are connected to the power output end of the driving motor 26. Preferably, there are four running wheels 25, and the running wheels 25 are distributed in a rectangular shape on the main frame 2. Specifically, the main function of the running wheels 25 distributed in a rectangular shape on the main frame 2 is to ensure the stability of the robot's movement on the high-voltage line 1. The clamping mechanism 9 is located on the inner side of the running wheels 25, and the clamping wheel 27 on the clamping mechanism 9 is located below the high-voltage line 1. An imaging mechanism 5 is arranged on one side of the main frame 2, and a flaw detection mechanism 8 is arranged on the other side of the main frame 2. First, the running wheel 25 is placed on the high-voltage line 1, and then the clamping wheel 27 is controlled to clamp by the clamping mechanism 9, so that the robot is clamped on the high-voltage line 1, and the driving motor 26 is started to drive the running wheel 25 to move on the high-voltage line 1. After reaching the designated area, the imaging mechanism 5 is located at the rear end of the high-voltage line 1 to be detected, and the flaw detection mechanism 8 is started to detect the high-voltage line 1 to be detected, thereby replacing manual detection, and it can also work without power failure of the high-voltage line 1. In this embodiment, the running wheel 25 and the clamping wheel 27 are both made of insulating materials, and the middle of the running wheel 25 and the clamping wheel 27 are provided with a running groove corresponding to the high-voltage line 1, so as to limit the movement trajectory of the robot.

[0026] Further, such as Figure 4 As shown, the clamping mechanism 9 includes a vertical rod 30 and an electric push rod 24, one end of the vertical rod 30 is welded on the main frame 2, and the other end of the vertical rod 30 is hingedly installed with a cross bar 28, and the end of the cross bar 28 is provided with a clamping wheel 27, and the two ends of the electric push rod 24 are respectively installed on the vertical rod 30 and the cross bar 28. Further, a reinforcing rod 29 is provided between the vertical rods 30. Specifically, when the robot needs to move on the high-voltage line 1, the staff controls the push rod on the electric push rod 24 to retract, thereby driving the cross bar 28 to rotate upward, and then driving the clamping wheel 27 to rotate upward, so that the main frame 2 of the robot is clamped on the high-voltage line 1 by the clamping wheel 27 and the running wheel 25, and then the running wheel 25 is driven by the driving motor 26 to move on the high-voltage line 1; when the robot needs to be removed, the push rod on the electric push rod 24 is pushed out, and the clamping wheel 27 rotates downward, so that the robot is removed. In this embodiment, the electric push rod 24 is an existing product, which is not improved here and can be purchased from the market. Preferably, the two ends of the electric push rod 24 and the vertical rod 30 and the horizontal rod 28 form a revolute pair.

[0027] In this embodiment, if Figure 3As shown, the imaging mechanism 5 includes an imaging board 4, two slide rails 21 are vertically arranged at one end of the main frame 2, a mounting plate a20 is arranged on the main frame 2, a motor a6 is installed on the mounting plate a20, the power output end of the motor a6 is connected to the rope wheel 19, the end of the rope 22 on the rope wheel 19 is connected to the rope hole 23 on the imaging board 4, and the rope 22 is located between the two slide rails 21, and a slider is arranged on the back of the imaging board 4, and the slider is slidably installed on the slide rail 21. Further, a reinforcing rod b3 is arranged between the slide rail 21 and the main frame 2, and the reinforcing rod b3, the slide rail 21 and the main frame 2 together form a triangle, and the main function of the reinforcing rod b3 is to strengthen the connection strength between the slide rail 21 and the main frame 2. Specifically, when the robot moves to the detection position, the motor a6 is started, and the motor a6 drives the rope wheel 19 to rotate, thereby controlling the rope 22 to retract, and then drives the imaging board 4 to slide up and down on the surface of the slide rail 21, so that the imaging board 4 is located at the rear end of the high-voltage line 1 to be detected. In this embodiment, the imaging plate 4 is an existing product and can be purchased from the market, so it will not be described in detail here.

[0028] In this embodiment, if Figure 2 As shown, the flaw detection mechanism 8 includes a X-ray machine 18, a vertical rod b7 is installed on the main frame 2, a fixed frame 10 is installed at the end of the vertical rod b7, a motor b11 is installed on the fixed frame 10, and the power output end of the motor b11 is connected to the gear a12. A mounting plate b14 is installed on the upper end of the X-ray machine 18, a connecting plate 13 is provided on the outer side of the mounting plate b14, and a connecting shaft 17 is provided at the end of the connecting plate 13. The connecting shaft 17 is rotatably mounted on the fixed frame 10, and a mounting rod 15 is fixedly installed between the two inner sides of the mounting plate b14, and a gear b16 is installed on the mounting rod 15, and the gear b16 is meshed with the gear a12. Further, a reinforcing rod c is provided between the vertical rod b7 and the main frame 2, and the reinforcing rod c, the vertical rod b7 and the main frame 2 together form a triangle, and the main function of the reinforcing rod c is to strengthen the connection strength between the vertical rod b7 and the main frame 2. Specifically, when the imaging board 4 is located at the rear end of the high-voltage line 1 to be detected, the motor b11 is started, and the motor b11 drives the gear a12 to rotate. Since the gear a12 is meshed with the gear b16, the gear a12 will drive the gear b16 to rotate during the rotation, thereby driving the connecting shaft 17 on the connecting plate 13 outside the mounting plate b14 to rotate, thereby adjusting the angle of the X-ray machine 18 so that the X-ray machine 18 is aligned with the high-voltage line 1 to be detected. Finally, the X-ray machine 18 is started, and the radiation penetrates the high-voltage line 1. Since the high-voltage line 1 has different absorption and scattering effects on the radiation, the film sensitivity is different, thereby forming images with different blackness on the imaging board 4. The internal circuit of the high-voltage line and whether the tension clamp is pressed into place are detected through the image, thereby replacing manual detection. At the same time, it can also work when the high-voltage line 1 is not powered off.

[0029] Although the present invention has been 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 make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A detection robot for high-voltage lines, characterized in that: The invention comprises a main frame (2), wherein a plurality of running wheels (25) and a clamping mechanism (9) are arranged on the lower surface of the main frame (2), wherein the running wheels (25) are placed above the high-voltage wire (1), and any two of the running wheels (25) are connected to the power output end of a driving motor (26), wherein the clamping mechanism (9) is located on the inner side of the running wheels (25), and the clamping wheel (27) on the clamping mechanism (9) is located below the high-voltage wire (1), wherein an imaging mechanism (5) is arranged on one side of the main frame (2), and a flaw detection mechanism (8) is arranged on the other side of the main frame (2).

2. The high voltage line detection robot according to claim 1, characterized in that: There are four running wheels (25), and the running wheels (25) are distributed in a rectangular shape on the main frame (2).

3. The high voltage line detection robot according to claim 1, characterized in that: The clamping mechanism (9) comprises a vertical rod (30) and an electric push rod (24); one end of the vertical rod (30) is welded to the main frame (2); the other end of the vertical rod (30) is hingedly mounted with a cross rod (28); the end of the cross rod (28) is provided with the clamping wheel (27); and the two ends of the electric push rod (24) are respectively mounted on the vertical rod (30) and the cross rod (28).

4. The high-voltage line detection robot according to claim 3, characterized in that: Reinforcement rods (29) are arranged between the vertical rods (30).

5. The high-voltage line detection robot according to claim 4, characterized in that: The imaging mechanism (5) comprises an imaging plate (4), two slide rails (21) are vertically arranged at one end of the main frame (2), a mounting plate a (20) is arranged on the main frame (2), a motor a (6) is mounted on the mounting plate a (20), a power output end of the motor a (6) is connected to a rope reel (19), an end of a rope reel (22) on the rope reel (19) is connected to a rope hole (23) on the imaging plate (4), and the rope reel (22) is located between the two slide rails (21), and a slider is arranged on the back of the imaging plate (4), and the slider is slidably mounted on the slide rail (21).

6. The high-voltage line detection robot according to claim 5, characterized in that: A reinforcing rod b (3) is provided between the slide rail (21) and the main frame (2); the reinforcing rod b (3), the slide rail (21) and the main frame (2) together form a triangle.

7. The high-voltage line detection robot according to claim 6, characterized in that: The flaw detection mechanism (8) comprises a X-ray machine (18), a vertical rod b (7) is mounted on the main frame (2), a fixed frame (10) is mounted on the end of the vertical rod b (7), a motor b (11) is mounted on the fixed frame (10), a power output end of the motor b (11) is connected to a gear a (12), a mounting plate b (14) is mounted on the upper end of the X-ray machine (18), a connecting plate (13) is arranged on the outer side surface of the mounting plate b (14), a connecting shaft (17) is arranged on the end of the connecting plate (13), the connecting shaft (17) is rotatably mounted on the fixed frame (10), and a mounting rod (15) is fixedly mounted between two inner side surfaces of the mounting plate b (14), a gear b (16) is mounted on the mounting rod (15), and the gear b (16) is meshed with the gear a (12).

8. The high-voltage line detection robot according to claim 7, characterized in that: A reinforcing rod c is provided between the vertical rod b (7) and the main frame (2), and the reinforcing rod c, the vertical rod b (7) and the main frame (2) together form a triangle.

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