Inspection robot for power line

Abstract

The utility model relates to the technical field of power line inspection, and discloses an inspection robot for power lines, which comprises a robot body mounted on a power transmission line, one side of the robot body is fixedly connected with a marking bin, and a plurality of marking components are arranged in the marking bin. The side, away from the robot body, of the marking bin is connected with a pushing mechanism, sliding grooves are formed in the upper side and the lower side of the end, close to the robot body, of the marking bin in a penetrating mode, marking mechanisms are connected into the sliding grooves, and the marking bin is located below the power transmission line. According to the inspection robot for the power line, a marking assembly in a marking bin can be pushed to the position of a sliding groove through the pushing mechanism, and the marking assembly at the position of the sliding groove is upwards moved to a power transmission line through the marking mechanism, so that the damaged part of the power transmission line is marked through the marking assembly; and then, the inspection robot can continue to perform inspection operation, and subsequent maintenance personnel can quickly find the damaged position for maintenance, so that the inspection efficiency and the maintenance efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of power line inspection, in particular to an inspection robot for power lines. Background Technique

[0002] The power line inspection robot is an automated device specifically designed to inspect and maintain transmission lines, which can reduce the workload of manual inspection, improve the inspection frequency and accuracy, and thus ensure the safe and stable operation of the power grid.

[0003] During the inspection of power lines by the power line inspection robot, if cracks, damages and other fault positions are found in the power lines, the fault positions are usually recorded through a remote control system, and then the inspection operation continues. Subsequently, the maintenance staff of the power line go to the positions recorded by the system to find the fault points for repair and maintenance.

[0004] However, the fault positions recorded by the system are usually roughly located through a positioning system, and the positioning points are usually within a certain range. The fault points of power lines are usually small. When the maintenance staff go to the fault points through system positioning, it usually takes a certain amount of time to search, delaying the maintenance work efficiency. Content of the Utility Model

[0005] Aiming at the deficiencies of the prior art, the utility model provides an inspection robot for power lines. For example, when the inspection robot detects a fault point, it can mark the fault position, which is convenient for the maintenance staff to arrive at the fault point, quickly implement the repair operation, reduce the time for searching the fault point, and improve the maintenance efficiency.

[0006] To achieve the above object, the utility model provides the following technical solution: An inspection robot for power lines, including a robot body installed on the transmission line. One side of the robot body is fixedly connected with a marking bin, and a number of marking components are arranged in the marking bin. One side of the marking bin far away from the robot body is connected with a pushing mechanism. Both the upper and lower sides of the end of the marking bin close to the robot body are penetrated and provided with sliding grooves, and an upper marking mechanism is connected in the sliding grooves. The marking bin is located below the transmission line.

[0007] Further, the marking assembly includes a U-shaped clamping plate, a clamping rod, a torsion spring, and a support rod. Both the U-shaped clamping plate and the clamping rod are arc-shaped structures. A rotating hole is formed through one end of the clamping rod close to the U-shaped clamping plate. Inner sides of both ends of the U-shaped clamping plate are fixedly connected with rotating shafts, and the rotating shafts are rotatably connected with the rotating holes. The torsion spring is sleeved at the middle position of the rotating shaft, and both ends of the torsion spring are fixedly connected with the rotating shaft and the rotating hole respectively. A support block is fixedly connected to the middle position of the inner wall of the U-shaped clamping plate. One end of the support rod is fixedly connected to the middle position of one side of the clamping rod close to the U-shaped clamping plate, and the other end abuts against the support block. The connection opening between the U-shaped clamping plate and the clamping rod faces the direction of the power transmission line.

[0008] Further, both sides of the end of the clamping rod away from the U-shaped clamping plate are recessed inward and are in a conical structure.

[0009] Further, the pushing mechanism includes a pushing electric push rod and a push plate. The push plate is slidably connected to the inner wall of the marking bin. The pushing electric push rod is fixedly connected to the side of the marking bin away from the robot body. The telescopic end of the pushing electric push rod penetrates through the marking bin and is fixedly connected to the push plate.

[0010] Further, the upper marking mechanism includes an upper push rod and two upper marking electric push rods. The two upper marking electric push rods are respectively fixedly connected to both sides of the end of the marking bin close to the robot body. Output ends of the two upper marking electric push rods both face away from the power transmission line and are simultaneously fixedly connected with a cross bar. The cross bar is fixedly connected to the bottom of the upper push rod. The upper push rod is slidably connected to the two chutes. One end of the upper push rod close to the power transmission line abuts against the U-shaped clamping plate and the clamping rod.

[0011] Further, an arc-shaped groove is formed at one end of the upper push rod close to the power transmission line, and the arc-shaped groove abuts against the adjacent U-shaped clamping plate and clamping rod.

[0012] Further, an electromagnetic groove is formed in the inner wall of the arc-shaped groove, and an electromagnetic block is fixedly connected in the electromagnetic groove. The electromagnetic block is magnetically attracted to the U-shaped clamping plate.

[0013] Compared with the prior art, the present utility model has the following beneficial effects:

[0014] For the inspection robot for power lines, through the pushing mechanism, the marking assembly in the marking bin can be pushed to the chute position, and through the upper marking mechanism, the marking assembly at the chute position can be lifted onto the power transmission line, so as to mark the damaged part of the power transmission line through the marking assembly. Subsequently, the inspection robot can continue the inspection operation, and the maintenance personnel coming later can quickly find the damaged position for maintenance operation, improving the inspection efficiency and at the same time improving the maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall external connection structure of the present utility model;

[0016] Figure 2Schematic diagram of the overall appearance connection structure of another form of the utility model;

[0017] Figure 3 Schematic cross-sectional view of the connection structure of the marking bin of the utility model;

[0018] Figure 4 Based on Figure 3 Schematic diagram of the connection structure of another form;

[0019] Figure 5 Schematic diagram of the connection structure between the superscript mechanism and the marking component of the utility model;

[0020] Figure 6 Explosion diagram of the connection structure between the upper push rod and the marking component of the utility model;

[0021] Figure 7 Schematic diagram of the connection structure of another form of the marking component of the utility model;

[0022] Figure 8 Explosion diagram of the connection structure between the U-shaped clamping plate and the clamping rod of the utility model.

[0023] In the figure: 1, power transmission line; 2, robot body; 3, marking bin; 4, pushing electric push rod; 5, push plate; 6, upper push rod; 7, superscript electric push rod; 8, cross bar; 9, U-shaped clamping plate; 10, clamping rod; 11, torsion spring; 12, support rod; 13, rotating shaft; 14, support block; 15, electromagnetic block; 101, rotating hole; 301, sliding groove; 601, arc groove; 602, electromagnetic groove. Detailed implementation manners

[0024] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0025] Please refer to Figure 1 - Figure 8 , an inspection robot for power lines, including a robot body 2 installed on the power transmission line 1. One side of the robot body 2 is fixedly connected with a marking bin 3. A number of marking components are arranged in the marking bin 3. A pushing mechanism is connected to the side of the marking bin 3 away from the robot body 2. Sliding grooves 301 are respectively penetrated and opened on the upper and lower sides of one end of the marking bin 3 close to the robot body 2. A superscript mechanism is connected in the sliding grooves 301. The marking bin 3 is located below the power transmission line 1.

[0026] As Figure 1 - Figure 8As shown in the figure, a patrol robot for power lines in the present utility model is similar in structure to the existing patrol robots for power lines. The main improvement of the present utility model lies in that it can mark the damaged positions of the power transmission line 1 detected in real time, facilitating the subsequent maintenance personnel to quickly locate and repair. For example, Figures 1 to 8 As shown in the figure, when the patrol robot for power lines in the present utility model is in use, when the patrol robot body 2 walks on the power transmission line 1 and detects a damaged position on the power transmission line 1, it can push a plurality of marking components inside the marking bin 3 towards the chute 301 through the pushing mechanism, and make one of the marking components at the end move to the position of the chute 301. At this time, the marking component in the chute 301 is located on top of the upper marking mechanism. Subsequently, the upper marking mechanism is started to push the marking component in the chute 301 upwards, so as to connect the marking component with the power transmission line 1 above, thereby marking the damaged position of the power transmission line 1. Subsequently, the patrol robot body 2 can continue the patrol operation of the power transmission line 1, and the subsequent maintenance personnel can quickly find the damaged position of the power transmission line 1 through the marking component and repair and maintain it, thereby improving the patrol efficiency of the robot body 2 and at the same time improving the maintenance efficiency of the power transmission line 1.

[0027] For example Figure 2 - Figure 8As shown, the marking component includes a U-shaped clamping plate 9, a clamping rod 10, a torsion spring 11 and a support rod 12. Both the U-shaped clamping plate 9 and the clamping rod 10 are arc-shaped structures. A rotating hole 101 is formed through one end of the clamping rod 10 close to the U-shaped clamping plate 9. The inner sides of both ends of the U-shaped clamping plate 9 are fixedly connected with a rotating shaft 13, and the rotating shaft 13 is rotatably connected with the rotating hole 101. The torsion spring 11 is sleeved at the middle position of the rotating shaft 13, and both ends of the torsion spring 11 are fixedly connected with the rotating shaft 13 and the rotating hole 101 respectively. A support block 14 is fixedly connected at the middle position of the inner wall of the U-shaped clamping plate 9. One end of the support rod 12 is fixedly connected with the middle position of the side of the clamping rod 10 close to the U-shaped clamping plate 9, and the other end abuts against the support block 14. The connection opening between the U-shaped clamping plate 9 and the clamping rod 10 faces the direction of the power transmission line 1. The end of the support rod 12 abuts against the support block 14, which can prevent the U-shaped clamping plate 9 and the clamping rod 10 from approaching each other. When the upper marking mechanism moves the marking component upward and close to the power transmission line 1, as the support rod 12 abuts against the power transmission line 1, the upper marking mechanism continues to apply an upward force to the U-shaped clamping plate 9 and the clamping rod 10, so that the power transmission line 1 squeezes the support rod 12 downward to cause deformation, and the support rod 12 gradually disengages from the support block 14 downward. Subsequently, between the U-shaped clamping plate 9 and the clamping rod 10, through the action of the torsion spring 11, they rotate and approach each other through the rotating shaft 13, so as to clamp on the outside of the power transmission line 1. Subsequently, the upper marking mechanism retracts. At this time, the U-shaped clamping plate 9 and the clamping rod 10 are clamped and fixed beside the damaged position of the power transmission line 1, and the inspection robot 2 continues to perform the inspection operation. Then, the maintenance personnel who arrive later can quickly find the damaged position of the power transmission line 1 by looking for the positions of the U-shaped clamping plate 9 and the clamping rod 10, and maintain and repair the damaged position. It should be particularly noted that when the support rod 12 abuts against the support block 14, there is a certain frictional force between the support rod 12 and the support block 14, which can prevent the connection between the support rod 12 and the support block 14 from falling off when the robot body 1 walks for inspection. At the same time, the U-shaped clamping plate 9 and the clamping rod 10 can be sprayed with eye-catching paint to facilitate the maintenance personnel to quickly find them from a long distance.

[0028] As Figure 2 - Figure 8 shown, both sides of the end of the clamping rod 10 far from the U-shaped clamping plate 9 are recessed inward and are in a conical structure. The clamping rod 10 is designed to be conical, which is convenient for the clamping rod 10 to be clamped inside the U-shaped clamping plate 9 when the power transmission line 1 is relatively thin when the clamping rod 10 and the U-shaped clamping plate 9 approach each other, so as to be clamped and fixed on the power transmission line 1.

[0029] As Figure 1 - Figure 4As shown, the pushing mechanism includes a pushing electric push rod 4 and a push plate 5. The push plate 5 is slidably connected to the inner wall of the marking bin 3. The pushing electric push rod 4 is fixedly connected to the side of the marking bin 3 away from the robot body 2. The telescopic end of the pushing electric push rod 4 penetrates through the marking bin 3 and is fixedly connected to the push plate 5. The pushing electric push rod 4 slides the push plate 5 back and forth inside the marking bin 3, so as to push multiple marking components towards the chute 301 at one time. When the marking components in the chute 301 move upward and are marked on the power transmission line 1, and after the upper marking mechanism returns to its original position, the pushing electric push rod 4 pushes multiple marking components towards the chute 301 through the push plate 5 by a distance equal to the distance of one marking component, so as to push the new marking components back into the chute 301, facilitating the marking and upper marking at the next marking position.

[0030] As Figure 1 - Figure 6 shown, the upper marking mechanism includes an upper push rod 6 and two upper marking electric push rods 7. The two upper marking electric push rods 7 are respectively fixedly connected to both sides of the end of the marking bin 3 close to the robot body 2. The output ends of the two upper marking electric push rods 7 both face away from the power transmission line 1 and are fixedly connected to a cross bar 8 at the same time. The cross bar 8 is fixedly connected to the bottom of the upper push rod 6. The upper push rod 6 is slidably connected to the two chutes 301. One end of the upper push rod 6 close to the power transmission line 1 abuts against the U-shaped clamping plate 9 and the clamping rod 10. When marking on the power transmission line 1, the two upper marking electric push rods 7 drive the cross bar 8 to move upward at the same time, so as to drive the upper push rod 6 to move towards the power transmission line 1, and then drive the marking components at the top of the upper push rod 6 to move upward, and make the marking components abut against the power transmission line 1, and complete the marking of the power transmission line 1. The two upper marking electric push rods 7 can make the up and down movement of the upper push rod 6 more stable, not easy to shake or deviate.

[0031] As Figure 4 - Figure 6 shown, an arc-shaped groove 601 is formed at one end of the upper push rod 6 close to the power transmission line 1. The arc-shaped groove 601 abuts against the adjacent U-shaped clamping plate 9 and the clamping rod 10. By arranging the arc-shaped groove 601 at the top of the upper push rod 6, the connection between the upper push rod 6 and the U-shaped clamping plate 9 and the clamping rod 10 is more fitting, avoiding the U-shaped clamping plate 9 and the clamping rod 10 falling off from the top of the upper push rod 6 during the upper marking process, and improving the stability of the upper marking operation.

[0032] As Figure 6As shown, an electromagnetic groove 602 is formed in the inner wall of the arc groove 601, and an electromagnetic block 15 is fixedly connected in the electromagnetic groove 602. The electromagnetic block 15 is magnetically attracted to the U-shaped clamping plate 9. By arranging the electromagnetic groove 602 in the arc groove 601 and installing the electromagnetic block 15 in the electromagnetic groove 602, during superscripting, by energizing the electromagnetic block 15, the electromagnetic block 15 generates electromagnetic force, thereby generating a magnetic attraction effect on the U-shaped clamping plate 9 or the clamping rod 10, so as to prevent the marking assembly from slipping off the arc groove 601 when the upper push rod 6 and the power transmission line 1 are not in a vertical state, making the superscripting operation proceed more stably. Among them, the electromagnetic block 15 is connected to the internal control system of the robot body 2 through a wire, and is energized and magnetized at the initial stage of superscripting, and de-energized and demagnetized when the superscripting is completed.

[0033] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. A patrol robot for power lines, comprising a robot body (2) mounted on a power line (1), characterized in that: A marking bin (3) is fixedly connected to one side of the robot body (2), a plurality of marking components are arranged in the marking bin (3), a pushing mechanism is connected to the side of the marking bin (3) away from the robot body (2), a slide groove (301) is provided on both upper and lower sides of the end of the marking bin (3) close to the robot body (2), a marking mechanism is connected in the slide groove (301), and the marking bin (3) is located below the power transmission line (1).

2. The inspection robot for power lines according to claim 1, characterized in that: The marking assembly comprises a U-shaped clamping plate (9), a clamping rod (10), a torsion spring (11) and a support rod (12); the U-shaped clamping plate (9) and the clamping rod (10) are both arc-shaped structures; a rotating hole (101) is penetrated through one end of the clamping rod (10) close to the U-shaped clamping plate (9); a rotating shaft (13) is fixedly connected to the inner side of both ends of the U-shaped clamping plate (9); the rotating shaft (13) is rotatably connected to the rotating hole (101); the torsion spring (11) is sleeved on the rotating shaft (101) 3), and the two ends of the torsion spring (11) are fixedly connected to the rotating shaft (13) and the rotating hole (101) respectively; a support block (14) is fixedly connected to the middle position of the inner wall of the U-shaped clamping plate (9); one end of the support rod (12) is fixedly connected to the middle position of the clamping rod (10) close to one side of the U-shaped clamping plate (9), and the other end is against the support block (14); the connection opening of the U-shaped clamping plate (9) and the clamping rod (10) faces the direction of the power transmission line (1).

3. The inspection robot for power lines according to claim 2, characterized in that: Both sides of the clamping rod (10) away from one end of the U-shaped clamping plate (9) are recessed inwards and present a conical structure.

4. A patrol robot for power lines according to claim 1, 2 or 3, characterized in that: The pushing mechanism comprises a pushing electric push rod (4) and a pushing plate (5); the pushing plate (5) is slidably connected to the inner wall of the marking bin (3); the pushing electric push rod (4) is fixedly connected to the side of the marking bin (3) away from the robot body (2); and the telescopic end of the pushing electric push rod (4) penetrates the marking bin (3) and is fixedly connected to the pushing plate (5).

5. A patrol robot for power lines according to claim 2 or 3, characterized in that: The marking mechanism comprises an upper push rod (6) and two upper marking electric push rods (7), the two upper marking electric push rods (7) are respectively fixedly connected to the two sides of the marking bin (3) close to one end of the robot body (2), the output ends of the two upper marking electric push rods (7) are both oriented in a direction away from the power transmission line (1), and are fixedly connected with a cross bar (8), the cross bar (8) is fixedly connected to the bottom of the upper push rod (6), the upper push rod (6) is slidably connected to the two slide grooves (301), and the end of the upper push rod (6) close to the power transmission line (1) is against the U-shaped clamping plate (9) and the clamping rod (10).

6. The inspection robot for power lines according to claim 5, characterized in that: An arc-shaped groove (601) is formed at one end of the upper push rod (6) close to the power transmission line (1), and the arc-shaped groove (601) abuts against the adjacent U-shaped clamping plate (9) and the clamping rod (10).

7. The inspection robot for power lines according to claim 6, characterized in that: An electromagnetic groove (602) is provided on the inner wall of the arc-shaped groove (601), an electromagnetic block (15) is fixedly connected inside the electromagnetic groove (602), and the electromagnetic block (15) is magnetically attracted to the U-shaped clamping plate (9).

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