Extra-high voltage line anti-falling track detection robot

Abstract

The anti-falling track detection robot for the extra-high voltage line is exquisite in overall design, compact in structure and convenient to carry to the site, the flexibility and efficiency of detection work are greatly improved, and detection personnel can more easily meet the detection requirements of various high-altitude operation places. The driving wheel is driven by the motor to rotate, and the robot can stably move along the anti-falling track to carry out efficient detection work. And meanwhile, the camera and the transmission antenna are arranged, so that detection data can be transmitted to a remote monitoring center in real time, and detection personnel can conveniently and timely find problems and process the problems. The detection robot can adapt to anti-falling rails with different lengths and shapes, and stable operation of the robot on the rails can be ensured by adjusting the positions of the driven rolling shaft and the driving wheel. The ultra-high voltage line anti-falling track detection robot has the advantages of being compact in structure, high in detection efficiency, high in safety, high in adaptability, high in intelligent degree and the like, the detection efficiency and safety of an anti-falling track can be greatly improved, and powerful guarantee is provided for high-altitude operation safety.

Description

Technical Field

[0001] The utility model relates to the technical field of anti-fall track detection equipment, in particular to an anti-fall track detection robot for a UHV line. Background Art

[0002] Anti-fall rails are an important part of the safety protection device for high-altitude operations, especially in high-altitude work sites such as transmission line towers, bridges, and tunnels. By fixing the connection device for falling objects, the anti-fall rails allow construction workers to remain stable and not fall, thereby avoiding the occurrence of high-altitude fall accidents. The anti-fall rails can ensure the safety of workers during climbing, moving, and working at heights.

[0003] With the increasing safety requirements for aerial work, regular inspections of anti-fall rails are essential. Only when anti-fall rails meet safety requirements can they, in conjunction with devices like anti-fall blocks, ensure the safety of aerial work. Existing anti-fall rail inspections for UHV lines typically require robots to replace manual inspections due to the high tower heights and long anti-fall rails. However, existing inspection robots are typically large and difficult to carry, and their installation on the anti-fall rails is complex, which reduces the efficiency of anti-fall rail inspections. Utility Model Content

[0004] The purpose of the utility model is to provide a UHV line anti-fall track detection robot with a simple and compact structure, which is easy to install and use on the anti-fall track, and solves the problems in the prior art.

[0005] The technical solution adopted by the utility model to solve its technical problems is: a UHV line anti-fall track detection robot includes an outer shell, a driving wheel seat and a driven wheel bracket are installed in the outer shell, wherein the bottom of the driving wheel seat is provided with a boss, a horizontally arranged driving wheel is installed in the boss, a groove matching the boss is provided on the driven wheel bracket, vertically arranged driven pulleys are installed on both sides of the driven wheel bracket, horizontally arranged passive rollers are installed on both sides of the bottom of the driven wheel bracket, and a plurality of vertically arranged guide columns are installed between the driving wheel seat and the driven wheel bracket, and the lower ends of the guide columns are fixed It is fixedly installed on the driven wheel bracket, and a through hole that cooperates with the guide column is provided on the driving wheel seat. A limit nut is installed on the upper end of the guide column, and a spring is sheathed on the outer periphery of the guide column between the limit nut and the driving wheel seat. The spring always has a tendency to push the driving wheel to move close to the passive roller. A battery compartment is connected to one side of the driving wheel seat, and a transmission antenna and a camera are installed on the battery compartment. An anti-fall block fixing plate is connected to the other side of the driving wheel seat, and an anti-fall block hook is installed on the anti-fall block fixing plate. A first avoidance groove that cooperates with the camera and a second avoidance groove that cooperates with the anti-fall block hook are provided on the outer shell. A vertically arranged motor fixing plate is installed on one side of the driving wheel seat, and an anti-fall block fixing plate is installed on the end of the motor fixing plate. A plurality of elongated mounting slots are provided on the motor fixing plate, and connecting bolts are provided in each elongated mounting slot. A threaded hole that cooperates with the connecting bolts is provided on the driving wheel seat. A horizontally arranged motor is installed on the motor fixing plate, and the motor is connected to the battery compartment via a power cord. A first synchronous wheel is installed on the output shaft of the motor, and a second synchronous wheel is installed on the rotating shaft of the driving wheel extending out of the driving wheel seat. A transmission belt is installed between the first synchronous wheel and the second synchronous wheel, and the motor can drive the driving wheel to rotate when it is started. A parts bracket plate is provided on the upper side of the driving wheel seat and the motor, and a through hole that cooperates with the guide column is provided on the parts bracket plate. The parts bracket plate also has a plurality of heat dissipation holes. One end of the passive roller is mounted on the driven wheel bracket via a bearing. The end of the passive roller that extends through the driven wheel bracket is provided with an annular groove, fitted with a retaining spring. A bearing retaining ring is also mounted on the driven wheel bracket, corresponding to the position of the bearing. The retaining spring is located within the bearing retaining ring, and the bearing retaining ring acts as a position limiter for the bearing and retaining spring. The bottom of the outer shell is provided with elongated cover plates on both sides, with N-shaped shields mounted at the longitudinal ends of each elongated cover plate. The driven wheel bracket is located between the two elongated cover plates and the N-shaped shield plates at both ends. The anti-fall track can enter the driven wheel bracket through the N-shaped shield plates. The elongated cover plates, N-shaped shield plates, and the driven wheel bracket cover the bottom space of the outer shell. The outer shell is provided with a charging port and a switch slot. The switch slot houses a power switch, and a reversible protective cover is mounted above the power switch. A snap-fitting battery cover is mounted on the outer shell, corresponding to the position of the battery compartment. A battery level display is also mounted on the outer shell, and a grab handle is mounted on the top of the outer shell.The battery compartment is mounted with a servo, a tilting frame mounted on the servo's output shaft, and a camera mounted on the tilting frame. Activating the servo can drive the camera to rotate vertically to adjust the pitch angle. The first avoidance groove is a vertically arranged elongated groove. Vertically arranged electric push rods are mounted on the front side of the battery compartment and the rear side of the anti-fall block fixing plate. Rollers are mounted on the ends of the piston rods of the electric push rods. A through hole is provided on the N-shaped shield plate to allow the electric push rods to pass through.

[0006] The positive effects of the present invention are as follows: the UHV line anti-fall track detection robot described in the present invention has an exquisite overall design and a compact structure. Compared with traditional large-scale detection robots, it is easier to carry to the site and can be quickly installed on the anti-fall track. This greatly improves the flexibility and efficiency of the detection work, allowing detection personnel to more easily cope with the detection needs of various high-altitude work sites. By driving the active wheel to rotate through a motor, the robot can move smoothly along the anti-fall track and perform efficient detection work. At the same time, the setting of the camera and the transmission antenna enables the detection data to be transmitted to the remote monitoring center in real time, making it easier for detection personnel to promptly discover problems and deal with them. The detection robot can adapt to anti-fall tracks of different lengths and shapes. By adjusting the position of the passive roller and the active wheel, the stable operation of the robot on the track can be ensured. The UHV line anti-fall track detection robot has the positive effects of compact structure, high detection efficiency, high safety, strong adaptability and high intelligence. It can greatly improve the detection efficiency and safety of the anti-fall track and provide a strong guarantee for the safety of high-altitude operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0008] Figure 2 It is the main view of the utility model;

[0009] Figure 3 yes Figure 2 Rear view;

[0010] Figure 4 yes Figure 2 Left view of;

[0011] Figure 5 yes Figure 2 Right view;

[0012] Figure 6 yes Figure 2 Bottom view of

[0013] Figure 7 This is a schematic structural diagram of the utility model without the outer shell;

[0014] Figure 8 yes Figure 7Top view of the structure;

[0015] Figure 9 It is a structural diagram of the driving wheel seat and the driven wheel bracket;

[0016] Figure 10 yes Figure 9 Side view of the mid-structure;

[0017] Figure 11 yes Figure 9 Enlarged view of the AA section view;

[0018] Figure 12 This is a schematic diagram of the utility model installed on the anti-fall track;

[0019] Figure 13 This is a schematic diagram of the structure of the utility model with electric push rods installed at the front and rear ends;

[0020] Figure 14-17 yes Figure 13 Schematic diagram of the middle structure passing through the connection position of the fall protection track with docking deviation. DETAILED DESCRIPTION

[0021] The utility model is a UHV line anti-fall track detection robot, such as Figure 1-8 As shown, it includes an outer shell 1, in which a driving wheel seat 2 and a driven wheel bracket 3 are installed. The outer shell 1 serves as an outer protective shell of the entire device, and the driving wheel seat 2 and the driven wheel bracket 3 can form a stable clamping for the anti-fall track and realize walking detection on the anti-fall track.

[0022] In order to improve the installation adaptability between the driving wheel seat 2 and the driven wheel bracket 3 and effectively reduce the volume of the structure, as shown in FIG. Figure 9 and Figure 10 As shown, the bottom of the driving wheel seat 2 is provided with a boss 4, and the driven wheel bracket 3 is provided with a groove 6 that matches the boss 4. In order to achieve the clamping installation of the anti-fall track, a horizontally arranged driving wheel 5 is installed in the boss 4, and vertically arranged driven pulleys 7 are installed on both sides of the driven wheel bracket 3. Horizontally arranged passive rollers 8 are installed on both sides of the bottom of the driven wheel bracket 3, as shown in FIG. Figure 12 As shown, the cross-section of the anti-fall track is T-shaped, the driving wheel 5 is located on the top surface of the anti-fall track, the driven pulley 7 is located on the side of the anti-fall track, and the passive roller 8 is located on the bottom surface of the anti-fall track. The anti-fall track is clamped and installed by the driving wheel 5, the driven pulley 7 and the passive roller 8.

[0023] In order to achieve a firm clamping of the driving wheel 5 and the passive roller 8 on anti-fall rails of different thicknesses, a number of vertically arranged guide columns 9 are also installed between the driving wheel seat 2 and the driven wheel bracket 3. The lower end of the guide column 9 is fixedly mounted on the driven wheel bracket 3. A through hole is provided on the driving wheel seat 2 to cooperate with the guide column 9. A limiting nut 10 is installed on the upper end of the guide column 9. A spring 11 is sheathed on the outer periphery of the guide column 9 between the limiting nut 10 and the driving wheel seat 2. The spring 11 always has a tendency to push the driving wheel 5 to move closer to the passive roller 8. After the detection robot is installed on the anti-fall rail, the driving wheel 5 is pressed against the upper surface of the anti-fall rail, and the anti-fall rail is firmly clamped by cooperating with the passive roller 8 at the bottom.

[0024] Furthermore, because the driving wheel 5 firmly grips the anti-fall track, when the driving wheel 5 rotates, the friction between the driving wheel and the anti-fall track allows the inspection robot to move along the anti-fall track. The provision of the spring 11 also allows the distance between the driving wheel seat 2 and the driven wheel bracket 3 to elastically deform within a set range when the robot moves along the anti-fall track, ensuring that the robot can pass over the bumps on the anti-fall track, thereby improving the inspection robot's ability to pass along the anti-fall track.

[0025] A battery compartment 12 is connected to one side of the active wheel seat 2. A power supply is provided in the battery compartment 12 to provide the necessary electrical energy for the various moving parts of the robot. A transmission antenna 13 and a camera 14 are installed on the battery compartment 12. The camera 14 can monitor the surface condition of the anti-fall track in real time during the robot's movement, and transmit the real-time condition to the remote monitoring center through the transmission antenna 13, allowing the staff to determine whether the surface of the anti-fall track is damaged. In order to avoid damage to the anti-fall track and causing the detection robot to detach from the anti-fall track, an anti-fall block fixing plate 15 is connected to the other side of the active wheel seat 2. An anti-fall block hook 16 is installed on the anti-fall block fixing plate 15. The anti-fall block hook 16 can be used to connect anti-fall blocks and other devices, allowing the detection robot to carry the anti-fall block while walking on the anti-fall track and simultaneously detect the condition of the track surface.

[0026] In order to allow the camera 14 and the anti-fall block hook 16 to extend out of the outer shell 1 and play corresponding roles, the outer shell 1 is provided with a first avoidance groove 17 that cooperates with the camera 14 and a second avoidance groove 18 that cooperates with the anti-fall block hook 16.

[0027] Furthermore, in order to realize the rotational drive of the driving wheel 5, a vertically arranged motor fixing plate 19 is installed on one side of the driving wheel seat 2, and the anti-fall block fixing plate 15 is installed at the end of the motor fixing plate 19. A plurality of long mounting grooves 20 are opened on the motor fixing plate 19, and each long mounting groove 20 is matched with a connecting bolt 21. A threaded hole matching the connecting bolt 21 is opened on the driving wheel seat 2. By adjusting the installation position of the connecting bolt 21 in the long mounting groove 20, the relative installation position between the motor fixing plate 19 and the driving wheel seat 2 can be adaptively adjusted.

[0028] A horizontally arranged motor 22 is mounted on the motor mounting plate 19 and connected to the battery compartment 12 via a power cord. A first synchronous pulley 23 is mounted on the output shaft of the motor 22, and a second synchronous pulley 24 is mounted on the rotating shaft of the driving pulley 5 extending from the driving pulley seat 2. A transmission belt 25 is interlocked between the first and second synchronous pulleys 23 and 24, rotating the driving pulley 5 when the motor 22 is activated. The provision of the elongated mounting slot 20 ensures that the transmission belt 25 is tensioned between the two synchronous pulleys during adjustment of the position of the motor mounting plate 19.

[0029] Furthermore, in order to provide an installation basis for the various components in the outer shell 1, a parts bracket plate 26 is provided on the upper side of the driving wheel seat 2 and the motor 22. A through hole that cooperates with the guide column 9 is opened on the parts bracket plate 26. In order to avoid heat accumulation near the motor 22, a number of heat dissipation holes 27 are also opened on the parts bracket plate 26.

[0030] Furthermore, in order to achieve a stable installation of the passive roller 8 on the driven wheel bracket 3, as shown in FIG. Figure 11 As shown, one end of the passive roller 8 is mounted on the driven wheel bracket 3 via a bearing 28. An annular groove 29 is formed at the end of the passive roller 8 that passes through the driven wheel bracket 3. A retaining spring 30 is mounted on the annular groove 29 to achieve installation and positioning between the passive roller 8 and the bearing 28. Corresponding to the position of the bearing 28, a bearing retaining ring 31 is also mounted on the driven wheel bracket 3. The bearing retaining ring 31 forms a position limit for the bearing 28 on the driven wheel bracket 3. At the same time, the retaining spring 30 is located within the bearing retaining ring 31, which also prevents the retaining spring 30 from falling out of the annular groove 29. The bearing retaining ring 31 can simultaneously limit the bearing 28 and the retaining spring 30, ensuring that the passive roller 8 is firmly mounted on the driven wheel bracket 3.

[0031] Furthermore, the bottom of the outer shell 1 is provided with long cover plates 32 on both sides, and n-shaped shield plates 33 are installed at the ends of the long cover plates 32 in the longitudinal direction. The driven wheel bracket 3 is located between the two long cover plates 32 and the two n-shaped shield plates 33. The anti-fall track can enter the driven wheel bracket 3 through the n-shaped shield plates 33. The long cover plates 32, n-shaped shield plates 33 and the driven wheel bracket 3 cover the bottom space of the outer shell 1, and through cooperation with the outer shell 1, form a full range of protection for the internal components.

[0032] Furthermore, a charging port 34 and a switch slot 35 are provided on the outer shell 1, a power switch 36 is installed in the switch slot 35, and a flip-up protective shell is installed on the power switch 36. The setting of the charging port 34 can meet the charging needs of the power supply in the battery compartment 12. After the power switch 36 is started, the driving wheel 5 starts to rotate, and the detection robot can walk on the anti-fall track.

[0033] A snap-fitting battery cover 37 is mounted on the outer shell 1, corresponding to the battery compartment 12. Opening this cover allows access to the internal power supply. A battery level indicator 38 is also mounted on the outer shell 1, which indicates whether the robot needs charging. A handle 39 is mounted on the top of the outer shell 1 to facilitate carrying and moving the inspection robot.

[0034] Furthermore, a servo 40 is mounted on the battery compartment 12, and a tilting frame 41 is mounted on the output shaft of the servo 40. The camera 14 is mounted on the tilting frame 41. When the servo 40 is activated, it can drive the camera 14 to rotate vertically to adjust the pitch angle, thereby adjusting the monitoring field of view of the detection robot when walking on the anti-fall track. To accommodate the adjustment of the camera 14, the first avoidance groove 17 is a vertically arranged long groove, thereby allowing the camera 14 to adjust the vertical pitch angle. The servo 40 can be an existing micro or small servo, which provides power while not occupying additional installation space.

[0035] The overall robot can be easily installed on the anti-fall track through the cooperation of the driving wheel seat 2 and the driven wheel bracket 3. After the motor 22 is started, it drives the driving wheel 5 to rotate, and the robot moves smoothly along the anti-fall track to perform efficient detection work. The camera 14 captures the detection picture and transmits it to the remote monitoring center in real time through the transmission antenna 13. During the detection process, the pitch angle of the camera 14 can be adjusted as needed, and a comprehensive detection of the anti-fall track can also be achieved. Through the above-mentioned specific implementation methods, the anti-fall track detection robot of this embodiment achieves positive effects such as simple and compact structure, easy to carry and install, high detection efficiency, high safety, strong adaptability and high degree of intelligence, providing a strong guarantee for the safety of high-altitude operations.

[0036] When there is a certain degree of deviation in the docking connection between the anti-fall rails, when the detection robot walks to the joint position, the passive roller 8 is easy to contact the end surface of the rail, thereby blocking the normal walking of the detection robot. In order to allow the detection robot to walk over the joint position, Figure 13 As shown, a vertically arranged electric push rod 42 is mounted on the front side of the battery compartment 12 and the rear side of the anti-fall block fixing plate 15. A roller 43 is mounted on the end of the piston rod of the electric push rod 42. The N-shaped shield 33 is provided with a through hole for the electric push rod 42 to pass through. When the piston rod of the electric push rod 42 is extended, the roller 43 contacts the upper end surface of the anti-fall track, driving the entire robot to tilt within a certain range of angles relative to the track, thereby allowing the passive roller 8 to move to the lower end surface of the track, achieving subsequent normal walking.

[0037] The process of using the above structure to pass through the joint position is as follows Figure 14-17 As described above, first, the electric push rods 42 at the front and rear ends are in a retracted state, allowing the robot to walk to the joint position. When it can no longer move, the electric push rod 42 at the rear end position extends, driving the robot to rotate a certain angle, so that the passive roller 8 and the active wheel 5 can clamp the next section of the anti-fall track. Maintain this state and walk until it can no longer move, the electric push rod 42 at the rear end position retracts, and the electric push rod 42 at the front end position extends, driving the detection robot to rotate a certain angle, so that the passive roller 8 at the rear end moves to the lower end of the anti-fall track to achieve clamping, and continues to walk until the robot is completely out of the joint position. The electric push rod 42 at the front end position retracts, and the detection robot can then perform subsequent normal walking.

[0038] The technical solution of the present invention is not limited to the scope of the embodiments described in the present invention. The technical contents not described in detail in the present invention are all well-known technologies.

Claims

1. A UHV line anti-fall track detection robot, characterized by: The invention comprises an outer shell (1), a driving wheel seat (2) and a driven wheel bracket (3) are installed in the outer shell (1), wherein a boss (4) is provided at the bottom of the driving wheel seat (2), a horizontally arranged driving wheel (5) is installed in the boss (4), a groove (6) matching with the boss (4) is provided on the driven wheel bracket (3), vertically arranged driven pulleys (7) are installed on both sides of the driven wheel bracket (3), and horizontally arranged passive rollers (8) are installed on both sides of the bottom of the driven wheel bracket (3), and a plurality of vertically arranged guide columns (9) are installed between the driving wheel seat (2) and the driven wheel bracket (3), the lower end of the guide column (9) is fixedly installed on the driven wheel bracket (3), and a through hole matching with the guide column (9) is provided on the driving wheel seat (2). A limit nut (10) is installed at the upper end of the guide column (9), and a spring (11) is provided on the outer periphery of the guide column (9) between the limit nut (10) and the active wheel seat (2). The spring (11) always has a tendency to push the active wheel (5) to move closer to the passive roller (8). A battery compartment (12) is connected to one side of the active wheel seat (2), and a transmission antenna (13) and a camera (14) are installed on the battery compartment (12). An anti-fall block fixing plate (15) is connected to the other side of the active wheel seat (2), and an anti-fall block hook (16) is installed on the anti-fall block fixing plate (15). A first avoidance groove (17) that cooperates with the camera (14) and a second avoidance groove (18) that cooperates with the anti-fall block hook (16) are provided on the outer shell (1).

2. The UHV line anti-fall track detection robot according to claim 1, characterized in that: A vertically arranged motor fixing plate (19) is installed on one side of the driving wheel seat (2), and the anti-fall block fixing plate (15) is installed at the end of the motor fixing plate (19). A plurality of long strip mounting grooves (20) are provided on the motor fixing plate (19), and a connecting bolt (21) is provided in each long strip mounting groove (20). A threaded hole matching the connecting bolt (21) is provided on the driving wheel seat (2). A horizontally arranged motor (22) is installed on the motor fixing plate (19), and the motor (22) is connected to the battery compartment (12) through a power line. A first synchronous wheel (23) is installed on the output shaft of the motor (22), and a second synchronous wheel (24) is installed on the rotating shaft of the driving wheel (5) extending out of the driving wheel seat (2). A transmission belt (25) is installed between the first synchronous wheel (23) and the second synchronous wheel (24). When the motor (22) is started, the driving wheel (5) can be driven to rotate.

3. The UHV line anti-fall track detection robot according to claim 2, characterized in that: A parts support plate (26) is provided on the upper side of the driving wheel seat (2) and the motor (22). The parts support plate (26) is provided with a through hole that matches the guide column (9). The parts support plate (26) is also provided with a plurality of heat dissipation holes (27).

4. The UHV line anti-fall track detection robot according to claim 1, characterized in that: One end of the passive roller (8) is mounted on the driven wheel bracket (3) through a bearing (28); an annular groove (29) is provided at one end of the passive roller (8) passing through the driven wheel bracket (3); a retaining spring (30) is mounted on the annular groove (29) in cooperation with the retaining spring (30); a bearing retaining ring (31) is further mounted on the driven wheel bracket (3) corresponding to the position of the bearing (28); the retaining spring (30) is located in the bearing retaining ring (31); and the bearing retaining ring (31) can limit the bearing (28) and the retaining spring (30).

5. The UHV line anti-fall track detection robot according to claim 1, characterized in that: Both sides of the bottom of the outer shell (1) are installed with long cover plates (32), and the ends of the long cover plates (32) on both sides in the length direction are installed with n-shaped shield plates (33). The driven wheel bracket (3) is located between the long cover plates (32) on both sides and the n-shaped shield plates (33) at both ends. The anti-fall track can enter the driven wheel bracket (3) through the n-shaped shield plates (33). The long cover plates (32), the n-shaped shield plates (33) and the driven wheel bracket (3) cover the bottom space of the outer shell (1).

6. The UHV line anti-fall track detection robot according to claim 1, characterized in that: The outer shell (1) is provided with a charging port (34) and a switch slot (35), a power switch (36) is installed in the switch slot (35), a flip-up protective shell is installed on the power switch (36), a snap-fitting battery cover (37) is installed on the outer shell (1) at a position corresponding to the battery compartment (12), a power display screen (38) is also installed on the outer shell (1), and a gripping handle (39) is installed at the top position of the outer shell (1).

7. The UHV line anti-fall track detection robot according to claim 1, characterized in that: A steering gear (40) is mounted on the battery compartment (12), a flip frame (41) is mounted on the output shaft of the steering gear (40), and the camera (14) is arranged on the flip frame (41). When the steering gear (40) is activated, the camera (14) can be driven to rotate vertically to adjust the pitch angle. The first avoidance groove (17) is a vertically arranged long groove.

8. The UHV line anti-fall track detection robot according to claim 5, characterized in that: A vertically arranged electric push rod (42) is installed on the front side of the battery compartment (12) and the rear side of the anti-fall block fixing plate (15), a roller (43) is installed at the end of the piston rod of the electric push rod (42), and a through hole is opened on the N-shaped shielding plate (33) to allow the electric push rod (42) to pass through.

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