Power line detection robot

Abstract

The utility model discloses an electric power circuit detection robot, which belongs to the technical field of detection robots, solves the problem that the existing detection robot is instably connected with an electric power circuit when crossing obstacles, and comprises a detection equipment main body which moves along the direction of the electric power circuit, and a plurality of cameras are fixedly arranged on the detection equipment main body. A plurality of movable mechanical arms are slidably arranged on the upper surface of the detection equipment main body, obstacle crossing moving blocks are slidably arranged on the movable mechanical arms, the movable mechanical arms and the obstacle crossing moving blocks clamp the power line, and by installing a driving mechanism, in the obstacle crossing process of the detection robot, a second two-way lead screw controls two pulley seats to be away from each other; the first bidirectional screw rod controls the two pulley seats to be close to each other, it is guaranteed that the movable mechanical arm is stably connected with the electric power circuit during obstacle crossing, the off-line phenomenon is prevented from occurring in the obstacle crossing process, and the obstacle crossing stability of the electric power circuit detection robot is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of inspection robots, and particularly relates to a power line inspection robot. Background Art

[0002] When inspecting power lines, inspection robots are generally used to check whether there are damages on the surface of power lines. There are many types of inspection robots. Some inspection robots can perform simple maintenance on damaged power lines. The inspection robot mainly has an inspection body, on which a camera and a robotic arm are installed. The camera is used to observe whether there are damages on the surface of the power line. At the same time, the positions of the shock-absorbing hammers and spacer dampers on the surface of the power line are observed, and then the robotic arm is used to cross obstacles.

[0003] Existing inspection robots have certain defects in the use process. The inspection robot clamps the power line through the pulleys on the robotic arm and the moving block pulleys located on the robotic arm. The motor inside the robotic arm drives the pulleys to rotate to control the inspection robot to move along the power line. When it is necessary to cross an obstacle, the moving block pulley moves away from the robotic arm pulley. After crossing the obstacle, they fit together again. When crossing an obstacle, only the robotic arm pulley contacts the power line, which easily leads to the disengagement of the robotic arm of the inspection robot from the power line. In the existing utility model patent CN221353695U, a line inspection robot lacks a structure to stabilize the robotic arm when crossing an obstacle, and it is also easy to cause the line inspection robot to get off the line when crossing an obstacle. To solve the above problems, the utility model proposes a power line inspection robot with improved obstacle-crossing stability. Summary of the Invention

[0004] The purpose of this part is to outline some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part, as well as in the abstract and the title of the utility model of this application, to avoid obscuring the purpose of this part, the abstract, and the title of the utility model. However, such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] To solve the above problems, the utility model adopts the following technical solutions.

[0006] A power line detection robot includes: a detection device main body that moves along the power line direction, multiple cameras fixedly installed on the detection device main body, multiple moving robotic arms slidably arranged on the upper surface of the detection device main body, an obstacle-crossing moving block slidably arranged on the moving robotic arm, the moving robotic arm and the obstacle-crossing moving block clamping the power line, a shock absorber and a spacer installed on the power line, a first adjustment shell and a second adjustment shell symmetrically and fixedly installed on the moving robotic arm, adjustment rods symmetrically and slidably connected inside the first adjustment shell and the second adjustment shell respectively, a pulley seat fixedly arranged on the other side of the adjustment rod, multiple pulleys rotatably connected inside the pulley seat, the two pulley seats clamping the power line, and a driving mechanism rotatably arranged inside the first adjustment shell and the second adjustment shell for stably crossing the shock absorber and the spacer.

[0007] As a preferred technical solution of the power line detection robot of the present invention, the driving mechanism includes a first bidirectional lead screw rotatably installed inside the first adjustment shell, a second bidirectional lead screw rotatably installed inside the second adjustment shell, and the first bidirectional lead screw and the second bidirectional lead screw are meshed and connected to one side of the adjustment rod.

[0008] As a preferred technical solution of the power line detection robot of the present invention, the two adjustment rods arranged on the first bidirectional lead screw are initially far away from each other, and the two adjustment rods arranged on the second bidirectional lead screw are initially close to each other.

[0009] As a preferred technical solution of the power line detection robot of the present invention, a driving motor is fixedly arranged on the top of the moving robotic arm, a first transmission rod and a second transmission rod are symmetrically and rotatably connected to the top of the moving robotic arm, the output shaft of the driving motor is respectively meshed and connected to one side of the first transmission rod and the second transmission rod through bevel gears, and the other sides of the first transmission rod and the second transmission rod are respectively meshed and connected to the tops of the first bidirectional lead screw and the second bidirectional lead screw through bevel gears.

[0010] As a preferred technical solution of the power line detection robot of the present invention, assembly seats are symmetrically and fixedly connected to the adjustment rod, assembly blocks are symmetrically and fixedly connected to the surface of the pulley seat, the assembly blocks are snap-connected to the assembly seats, sliding blocks are symmetrically and slidably connected inside the assembly blocks, springs are symmetrically arranged inside the assembly blocks, when the sliding blocks enter the inside of the assembly blocks, the springs inside the assembly blocks are in a contracted state, and when the sliding blocks move out of the inside of the assembly blocks, the springs inside the assembly blocks are in a released state.

[0011] As a preferred technical solution of the power line detection robot of the present invention, pressing plates are symmetrically and slidably arranged on the adjustment rod, springs are symmetrically and fixedly connected to the pressing plates, the other sides of the springs on the pressing plates are fixedly connected to the inside of the adjustment rod, and the pressing plates squeeze the sliding blocks, so that the springs on the pressing plates are in a contracted state.

[0012] As a preferred technical solution of the power line detection robot of the present utility model, a spur gear is rotatably connected inside the adjusting rod, racks are fixedly connected to the two pressing plates respectively, and the spur gear is meshed with the racks of the two pressing plates.

[0013] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0014] (1) In the present utility model, by installing a driving mechanism, during the obstacle-crossing process of the detection robot, the second bidirectional lead screw controls the two pulley seats to move away from each other, and the first bidirectional lead screw controls the two pulley seats to move closer to each other, ensuring that during obstacle crossing, the moving robotic arm is stably connected to the power line, preventing the occurrence of wire detachment during the obstacle-crossing process, and improving the obstacle-crossing stability of the power line detection robot.

[0015] (2) In the present utility model, by squeezing the pressing plate, the pressing plate squeezes the sliding block and sends the sliding block into the assembly block. The spring on the pressing plate contracts, separating the adjusting rod and the pulley seat. When the pressing plate is released, the spring on the pressing plate resets and expands, driving the pressing plate to reset, facilitating the separation of the assembly block and the assembly seat and the removal and replacement of the pulley seat.

[0016] (3) In the present utility model, by sending the pressing plate into the adjusting rod, the rack on the pressing plate contacts the spur gear. By squeezing any one of the pressing plates, the two pressing plates are driven to squeeze the sliding block at the same time, facilitating the quick separation of the adjusting rod and the pulley seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is the overall structural schematic diagram provided by the present utility model;

[0018] Figure 2 is one of the structural schematic diagrams of the driving mechanism provided by the present utility model;

[0019] Figure 3 is the other structural schematic diagram of the driving mechanism provided by the present utility model;

[0020] Figure 4 is the sectional view schematic diagram of the first adjusting shell and the second adjusting shell provided by the present utility model;

[0021] Figure 5 is the enlarged schematic diagram of the driving motor provided by the present utility model;

[0022] Figure 6 is the sectional view schematic diagram of the pulley seat provided by the present utility model;

[0023] Figure 7 is the enlarged schematic diagram of the adjusting rod provided by the present utility model;

[0024] Figure 8 is the sectional view schematic diagram of the assembly seat provided by the present utility model;

[0025] Figure 9 A schematic cross-sectional view of the adjusting rod provided by the present utility model.

[0026] The corresponding relationship between the reference numerals and component names in the figure is as follows:

[0027] 1. Detection device main body; 2. Mobile robotic arm; 3. Obstacle-crossing moving block; 4. First adjustment shell; 5. Second adjustment shell; 6. Adjusting rod; 7. Pulley seat; 8. First bidirectional lead screw; 9. Second bidirectional lead screw; 10. Driving motor; 11. First transmission rod; 12. Second transmission rod; 13. Assembly seat; 14. Assembly block; 15. Sliding clamping block; 16. Pressing plate; 17. Spur gear. Specific embodiments

[0028] In order to make the above objects, features and advantages of the present utility model more obvious and understandable, the specific embodiments of the present utility model will be described in detail below with reference to the accompanying drawings of the specification.

[0029] In the following description, many specific details are set forth in order to fully understand the present utility model. However, the present utility model can also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0030] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure or characteristic that can be included in at least one implementation manner of the present utility model. The "in one embodiment" that appears in different places in this specification does not all refer to the same embodiment, nor is it a separate or alternative embodiment that excludes other embodiments. The present utility model provides the following embodiments.

[0031] As shown in the attached Figure 1 figure, which is a schematic structural diagram of the power line inspection robot in this embodiment. The power line inspection robot in this embodiment includes: a detection device main body 1 that moves along the power line direction, a plurality of cameras are fixedly installed on the detection device main body 1, a plurality of mobile robotic arms 2 are slidably arranged on the upper surface of the detection device main body 1, an obstacle-crossing moving block 3 is slidably arranged on the mobile robotic arm 2, the mobile robotic arm 2 and the obstacle-crossing moving block 3 clamp the power line, shock-absorbing hammers and spacer dampers are installed on the power line, a first adjustment shell 4 and a second adjustment shell 5 are symmetrically and fixedly installed on the mobile robotic arm 2, adjusting rods 6 are symmetrically and slidably connected inside the first adjustment shell 4 and the second adjustment shell 5 respectively, a pulley seat 7 is fixedly arranged on the other side of the adjusting rod 6, a plurality of pulleys are rotatably connected inside the pulley seat 7, and the two pulley seats 7 clamp the power line, and a driving mechanism for stably crossing the shock-absorbing hammers and spacer dampers is rotatably arranged inside the first adjustment shell 4 and the second adjustment shell 5.

[0032] In this embodiment, the power line detection robot in this embodiment is placed on the power line. The moving robotic arm 2 cooperates with the obstacle-crossing moving block 3 to clamp the power line, driving the detection device main body 1 to move along the power line direction. The camera on the detection device main body 1 detects the surface of the power line. At the same time, the positions of the shock-absorbing hammers and spacer dampers are observed. When the detection device main body 1 moves to the shock-absorbing hammers and spacer dampers, the adjusting rod 6 slides inside the first adjusting housing 4 and the second adjusting housing 5. The adjusting rod 6 drives the pulley seats 7 to move away from or close to each other. The driving mechanism can drive the detection device main body 1 to stably cross the shock-absorbing hammers and spacer dampers.

[0033] As shown in the attached Figure 2 , attached Figure 3 , attached Figure 4 , attached Figure 5 and attached Figure 6 As shown in the attached drawings, it is a schematic structural diagram of the driving mechanism in this embodiment. The driving mechanism includes a first bidirectional lead screw 8 rotatably installed inside the first adjusting housing 4, and a second bidirectional lead screw 9 rotatably installed inside the second adjusting housing 5. The first bidirectional lead screw 8 and the second bidirectional lead screw 9 are meshed and connected to one side of the adjusting rod 6. The driving mechanism is composed of the first bidirectional lead screw 8 and the second bidirectional lead screw 9.

[0034] In this embodiment, before encountering the shock-absorbing hammers and spacer dampers, the second bidirectional lead screw 9 inside the second adjusting housing 5 rotates, causing the adjusting rods 6 to move away from each other. The adjusting rods 6 drive the pulley seats 7 away from the power line. At the same time, the first bidirectional lead screw 8 inside the first adjusting housing 4 rotates, and the adjusting rods 6 drive the pulley seats 7 to clamp the power line. When crossing the obstacle, the moving robotic arm 2 can still clamp the power line firmly, preventing the connection between the moving robotic arm 2 and the power line from being unstable during the obstacle-crossing process. After crossing the obstacle, the adjusting rods 6 on the surface of the second bidirectional lead screw 9 approach each other, and the adjusting rods 6 on the surface of the first bidirectional lead screw 8 move away from each other. At the same time, during the movement along the power line, it prevents the moving robotic arm 2 from colliding with the shock-absorbing hammers and spacer dampers, increasing the protection of the moving robotic arm 2.

[0035] As shown in the attached Figure 4 drawings, the two adjusting rods 6 provided on the first bidirectional lead screw 8 are initially in a state of moving away from each other, and the two adjusting rods 6 provided on the second bidirectional lead screw 9 are initially in a state of approaching each other.

[0036] In this embodiment, while rotating the second bidirectional lead screw 9, the first bidirectional lead screw 8 rotates in the opposite direction, which can control the adjusting rods 6 on the second bidirectional lead screw 9 to move away from each other, and the adjusting rods 6 on the first bidirectional lead screw 8 to approach each other, enabling the pulley seats 7 to alternately clamp the power line and maintaining the stability of the moving robotic arm 2 during the obstacle-crossing process to prevent the occurrence of wire-off phenomenon.

[0037] As shown in the attached Figure 5As shown in the figure, a driving motor 10 is fixedly provided at the top of the mobile robotic arm 2. The first transmission rod 11 and the second transmission rod 12 are symmetrically and rotatably connected to the top of the mobile robotic arm 2. The output shaft of the driving motor 10 is respectively connected to one side of the first transmission rod 11 and the second transmission rod 12 through bevel gears in meshing connection. The other sides of the first transmission rod 11 and the second transmission rod 12 are respectively connected to the tops of the first double lead screw 8 and the second double lead screw 9 through bevel gears in meshing connection.

[0038] In this embodiment, when the driving motor 10 is started, the bevel gear on the output shaft of the driving motor 10 rotates and contacts the bevel gears on one side of the first transmission rod 11 and the second transmission rod 12. The bevel gears on the other sides of the first transmission rod 11 and the second transmission rod 12 rotate and contact the bevel gears at the tops of the first double lead screw 8 and the second double lead screw 9, making the rotation directions of the first double lead screw 8 and the second double lead screw 9 opposite. When encountering an obstacle, it is convenient to control the pulley seats 7 to approach or move away from each other.

[0039] As shown in the attached Figure 7 and attached Figure 8 figure, assembly seats 13 are symmetrically and fixedly connected to the adjusting rod 6. Assembly blocks 14 are symmetrically and fixedly connected to the surface of the pulley seat 7. The assembly blocks 14 are snap-connected to the assembly seats 13. Sliding blocks 15 are symmetrically and slidably connected inside the assembly blocks 14. Springs are symmetrically arranged inside the assembly blocks 14. When the sliding blocks 15 enter the inside of the assembly blocks 14, the springs inside the assembly blocks 14 are in a contracted state. When the sliding blocks 15 move out of the inside of the assembly blocks 14, the springs inside the assembly blocks 14 are in a released state.

[0040] In this embodiment, when the pulley seat 7 is moved closer to the other side of the adjusting rod 6, the assembly block 14 passes through the assembly seat 13. The sliding block 15 is squeezed by the assembly seat 13 and enters the inside of the assembly block 14. The sliding block 15 squeezes the spring inside the assembly block 14 to contract. When the assembly block 14 reaches the designated position, the spring inside the assembly block 14 is released and expands, moving the sliding block 15 out of the inside of the assembly block 14, quickly connecting the adjusting rod 6 and the pulley seat 7.

[0041] As shown in the attached Figure 9 figure, pressing plates 16 are symmetrically and slidably arranged on the adjusting rod 6. Springs are symmetrically and fixedly connected to the pressing plates 16. The other sides of the springs on the pressing plates 16 are fixedly connected to the inside of the adjusting rod 6. The pressing plates 16 squeeze the sliding blocks 15, making the springs on the pressing plates 16 in a contracted state.

[0042] In this embodiment, when the pressing plate 16 is squeezed, the pressing plate 16 squeezes the sliding block 15 into the inside of the assembly block 14, separating the adjusting rod 6 and the pulley seat 7. The spring on the pressing plate 16 contracts. When the pressing plate 16 is released, the spring expands and drives the pressing plate 16 to automatically reset, facilitating the removal and replacement of the pulley seat 7 after the separation of the assembly block 14 and the assembly seat 13.

[0043] As shown in the attachedFigure 9 As shown, a spur gear 17 is rotatably connected inside an adjusting rod 6, racks are fixedly connected to two pressing plates 16 respectively, and the spur gear 17 is meshed with the racks of the two pressing plates 16.

[0044] In this embodiment, when the pressing plate 16 is squeezed into the adjusting rod 6, the rack on the pressing plate 16 contacts the spur gear 17, and the spur gear 17 controls the other pressing plate 16 to enter the inside of the adjusting rod 6. Squeezing any one of the pressing plates 16 can drive the two pressing plates 16 to squeeze the sliding block 15, which is convenient for quickly separating the adjusting rod 6 and the pulley seat 7.

[0045] The above content further elaborates on the present utility model in combination with specific embodiments. It cannot be determined that the specific implementation of the present utility model is only limited to these descriptions. For those of ordinary skill in the technical field to which the present utility model belongs, without departing from the concept of the present utility model, several simple deductions or substitutions can still be made, and all should be regarded as belonging to the protection scope determined by the claims submitted for the present utility model.

Claims

1. A power line detection robot, comprising a detection device main body (1) that moves along the power line direction, and a plurality of cameras are fixedly installed on the detection device main body (1), and is characterized in that: On the upper surface of the main body (1) of the detection device, a plurality of moving robotic arms (2) are slidably arranged. An obstacle-crossing moving block (3) is slidably arranged on the moving robotic arm (2). The moving robotic arm (2) and the obstacle-crossing moving block (3) clamp the power line. A vibration damper and a spacer are installed on the power line. First adjustment shells (4) and second adjustment shells (5) are symmetrically and fixedly installed on the moving robotic arm (2). Adjustment rods (6) are symmetrically and slidably connected inside the first adjustment shell (4) and the second adjustment shell (5) respectively. On the other side of the adjustment rod (6), a pulley seat (7) is fixedly arranged. A plurality of pulleys are rotatably connected inside the pulley seat (7). The two pulley seats (7) clamp the power line. A driving mechanism for stably crossing the vibration damper and the spacer is rotatably arranged inside the first adjustment shell (4) and the second adjustment shell (5).

2. The power line detection robot according to claim 1, characterized in that, The driving mechanism includes a first bidirectional lead screw (8) rotatably installed inside the first adjustment shell (4), and a second bidirectional lead screw (9) rotatably installed inside the second adjustment shell (5). The first bidirectional lead screw (8) and the second bidirectional lead screw (9) are meshed and connected to one side of the adjustment rod (6).

3. The power line detection robot according to claim 2, characterized in that, The two adjustment rods (6) arranged on the first bidirectional lead screw (8) are in a state of moving away from each other in the initial state, and the two adjustment rods (6) arranged on the second bidirectional lead screw (9) are in a state of approaching each other in the initial state.

4. The power line detection robot according to claim 2, characterized in that, A driving motor (10) is fixedly arranged on the top of the moving robotic arm (2). A first transmission rod (11) and a second transmission rod (12) are symmetrically and rotatably connected to the top of the moving robotic arm (2). The output shaft of the driving motor (10) is meshed and connected to one side of the first transmission rod (11) and the second transmission rod (12) respectively through bevel gears. The other sides of the first transmission rod (11) and the second transmission rod (12) are meshed and connected to the tops of the first bidirectional lead screw (8) and the second bidirectional lead screw (9) respectively through bevel gears.

5. A power line detection robot according to claim 1, characterized in that, Assembly seats (13) are symmetrically and fixedly connected to the adjustment rod (6). Assembly blocks (14) are symmetrically and fixedly connected to the surface of the pulley seat (7). The assembly block (14) is snap-connected to the assembly seat (13). Sliding blocks (15) are symmetrically and slidably connected inside the assembly block (14). Springs are symmetrically arranged inside the assembly block (14). When the sliding block (15) enters the inside of the assembly block (14), the spring inside the assembly block (14) is in a contracted state. When the sliding block (15) moves out of the inside of the assembly block (14), the spring inside the assembly block (14) is in a released state.

6. The power line detection robot according to claim 5, wherein, Pressing plates (16) are symmetrically and slidably arranged on the adjustment rod (6). Springs are symmetrically and fixedly connected to the pressing plates (16). The other sides of the springs on the pressing plates (16) are fixedly connected to the inside of the adjustment rod (6). The pressing plate (16) presses the sliding block (15), so that the spring on the pressing plate (16) is in a contracted state.

7. The power line detection robot according to claim 6, characterized in that, A spur gear (17) is rotatably connected inside the adjustment rod (6). Rack bars are respectively and fixedly connected to the two pressing plates (16). The spur gear (17) is meshed and connected to the rack bars of the two pressing plates (16).

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