Wire hanging robot and wire hanging robot mounting system

Abstract

The utility model provides a wire hanging robot and a wire hanging robot mounting system, and belongs to the technical field of wire hanging robots. The wire hanging robot is used for being hung on a power transmission line and comprises a robot body and at least one hanging piece. An avoiding area is arranged on the robot body; the hooking piece is arranged in the avoiding area, the hooking piece is connected with the robot body, the hooking piece is provided with a containing groove matched with part of the peripheral side of the power transmission line, and the containing groove is used for containing the power transmission line; the robot body is provided with a limiting part, and the projection, facing the avoiding area, of the limiting part covers the hanging piece; the limiting part is used for being located on the side of the power transmission line when the power transmission line is placed on the placing groove to limit displacement of the power transmission line. According to the wire hanging robot provided by the invention, the hanging efficiency and the hanging stability of the wire hanging robot can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wire hanging robots, and particularly relates to a wire hanging robot and a wire hanging robot installation system. BACKGROUND

[0002] As an important part of a power grid, a power transmission line can be inspected by a wire hanging robot to ensure the safety of the power transmission line and avoid damage to the power transmission line.

[0003] In the related art, the wire hanging robot has a placing groove. Since the power transmission line is suspended in the air, the wire hanging robot is usually lifted and moved by means of a drone, so that the power transmission line enters the placing groove, and the wire hanging robot is hung on the power transmission line.

[0004] However, in some application scenarios, the power transmission line is skewed and displaced, which affects the hanging efficiency and stability of the wire hanging robot. INVENTION CONTENTS

[0005] The present application provides a wire hanging robot and a wire hanging robot installation system to solve the problems in the related art.

[0006] In a first aspect, the present application provides a wire hanging robot for being hung on a power transmission line. The wire hanging robot comprises a robot body and at least one hanging piece. The robot body is provided with an avoidance area. The hanging piece is arranged in the avoidance area and is connected to the robot body. The hanging piece is provided with a placing groove matched with a part of a side of the power transmission line. The placing groove is used for placing the power transmission line. The robot body is provided with a limiting part. A projection of the limiting part towards the avoidance area covers the hanging piece. When the power transmission line is placed in the placing groove, the limiting part is located on a side of the power transmission line to limit the displacement of the power transmission line.

[0007] In a possible implementation manner, the wire hanging robot provided by the present application has a spacing between the limiting part and a groove center of the placing groove, and the spacing is greater than or equal to a radius of the power transmission line.

[0008] In a possible implementation manner, the wire hanging robot provided by the present application further comprises a guide piece. The guide piece is located on one side of the avoidance area. One end of the guide piece is connected to the robot body, and the other end extends away from the robot body. The guide piece is used for sliding contact with the power transmission line to guide the power transmission line to enter the avoidance area and the placing groove in sequence.

[0009] In a possible implementation manner, the wire hanging robot provided by the present application is provided with a first guide surface on the robot body. Part of the guide piece abuts against the first guide surface. The side of the guide piece away from the first guide surface is provided with a second guide surface matched with the first guide surface. The second guide surface is used for sliding contact with the power transmission line to guide the power transmission line to enter the avoidance area and the placing groove in sequence.

[0010] In one possible implementation, the wire-hanging robot provided in this application has a first dimension in the extension direction of the first guide surface and a second dimension in the extension direction of the second guide surface; the first dimension is smaller than the second dimension, and the second dimension is greater than 160 mm.

[0011] In one possible implementation, the wire-hanging robot provided in this application has two guide members, which are located on opposite sides of the avoidance zone and have an included angle between them, which is greater than or equal to 90° and less than 180°.

[0012] In one possible implementation, the wire-hanging robot provided in this application includes two main body parts; both main body parts are connected to a limiting part, the two main body parts are located on the same side of the limiting part, and the two main body parts are spaced apart along the extension direction of the limiting part to form a clearance area; the hanging member is connected to one of the two main body parts.

[0013] In one possible implementation, the wire-hanging robot provided in this application further includes a crimping member; the crimping member is connected to the other of the two main bodies, and the crimping member has a crimping groove that matches a portion of the periphery of the power transmission line, the opening of the crimping groove being opposite to one of the two main bodies, and the crimping groove being used to place the power transmission line.

[0014] In one possible implementation, the wire-hanging robot provided in this application further includes a lifting member; the crimping member is connected to the other of the two main bodies through the lifting member, and the lifting member is used to drive the crimping member to rise and fall relative to the other of the two main bodies after the power transmission line is placed in the placement slot, so that the crimping slot moves toward or away from the power transmission line to place or detach the power transmission line.

[0015] In one possible implementation, the wire-attaching robot provided in this application has at least one of its two main bodies having a receiving cavity with an opening on one side facing the other; a portion of the attaching member is placed in the receiving cavity through a corresponding opening; and / or the lifting member and the pressing member are placed in the receiving cavity through corresponding openings.

[0016] In one possible implementation, the wire-hanging robot provided in this application has at least one of the hanging component and the crimping component as a roller.

[0017] On the other hand, this application provides a wire-hanging robot installation system, including a control component and any of the wire-hanging robots as described above; the control component includes a flying component, a monitoring component, and a control component, both of which are electrically connected to the control component; the monitoring component is used to monitor the peripheral information of the power transmission line; the flying component is used to connect with the wire-hanging robot to drive the wire-hanging robot to move toward the power transmission line; the control component is used to control the flight attitude of the flying component according to the peripheral information to guide the power transmission line into the placement slot of the wire-hanging robot.

[0018] In one possible implementation, the wire-attaching robot installation system provided in this application further includes a connector, which is disposed on the robot body of the wire-attaching robot, and the flying component is connected to the robot body through the connector.

[0019] The present application provides a wire-hanging robot and a wire-hanging robot installation system. The wire-hanging robot is used to hang on power transmission lines. The wire-hanging robot consists of a robot body and at least one hook. The robot body has a clearance area to provide installation space for the hook. The hook is placed in the clearance area and connected to the robot body. In use, the hook has a placement groove that matches part of the periphery of the power transmission line to place the power transmission line. The robot body has a limiting part. By setting the projection of the limiting part toward the clearance area, it covers the hook. Thus, when the power transmission line is placed in the placement groove, the limiting part is located to the side of the power transmission line. This reduces the space for the power transmission line to tilt or shift. Therefore, during the wire-hanging robot installation process or after the wire-hanging robot is installed and put into use, the limiting part forms a blocking effect to restrict the displacement of the power transmission line, so that the power transmission line is stably placed on the placement groove, which helps to improve the installation efficiency and stability of the wire-hanging robot. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0021] Figure 1 This is a schematic diagram of the structure of the wire-hanging robot provided in the embodiments of this application;

[0022] Figure 2 A schematic diagram of a wire-hanging robot mounted on a power transmission line, as provided in an embodiment of this application.

[0023] Figure 3 for Figure 2 Another perspective illustration;

[0024] Figure 4 for Figure 1 A structural diagram of the mounting hardware;

[0025] Figure 5 for Figure 1 A schematic diagram of the robot's body structure;

[0026] Figure 6 for Figure 1 Connection diagram of the lifting component and the pressing component in the middle;

[0027] Figure 7 Electrical connection diagram of the control components in the wire-hanging robot installation system provided in the embodiments of this application;

[0028] Figure 8 A connection diagram of the wire-hanging robot and connector in the wire-hanging robot installation system provided in this application embodiment.

[0029] Explanation of reference numerals in the attached figures:

[0030] 100-Hanging-wire robot;

[0031] 110 - Robot body; 111 - Avoidance zone; 112 - First guide surface; 101 - Limiting part; 102 - Main body; 1021 - Receiving cavity; 1022 - Opening;

[0032] 120 - Hanging component; 121 - Placement slot; 122 - Connecting bracket; 123 - Motor body;

[0033] 130 - Guide component; 131 - Second guide surface; 132 - Straight rod;

[0034] 140 - Crimping element; 141 - Crimping groove;

[0035] 150 - Lifting component; 151 - Push rod; 160 - Spring;

[0036] 200 - Control components; 210 - Flight components; 220 - Monitoring components; 230 - Control components;

[0037] 300 - Connector; 310 - Rod;

[0038] 400-Transmission line. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0040] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0041] In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0042] The terms "first," "second," "third," "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in a sequence other than those illustrated or described herein.

[0043] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0044] As an important component of the power grid, power transmission lines can be inspected using line-hanging robots to ensure their safety and prevent damage.

[0045] In related technologies, the wire-hanging robot has a placement slot. Since the power transmission line is suspended at a high altitude, it is usually necessary to use drones or other means to lift and move the wire-hanging robot so that the power transmission line enters the placement slot, thereby completing the installation of the wire-hanging robot on the power transmission line.

[0046] However, in some application scenarios, such as when using a drone to lift and move a wire-hanging robot to guide the power line into the placement trough, if the drone is not properly controlled and the power line collides with the trough wall, the power line will tilt and shift off the trough due to uneven force and its flexibility. This requires the drone to adjust the position of the wire-hanging robot multiple times, affecting the robot's installation efficiency. Alternatively, during the use of the wire-hanging robot on the power line, external factors such as wind can easily cause the power line to tilt and shift off the placement trough, affecting the robot's installation stability.

[0047] In view of this, this application provides a wire-hanging robot and a wire-hanging robot installation system. The wire-hanging robot is used to hang on power transmission lines. The wire-hanging robot consists of a robot body and at least one hook. The robot body has a clearance area to provide installation space for the hook. The hook is placed in the clearance area and connected to the robot body. In use, the hook has a placement groove that matches part of the periphery of the power transmission line to place the power transmission line. The robot body has a limiting part. By setting the projection of the limiting part toward the clearance area, it covers the hook. Thus, when the power transmission line is placed in the placement groove, the limiting part is located to the side of the power transmission line. This reduces the space for the power transmission line to tilt or shift. Therefore, during the wire-hanging robot installation process or when the wire-hanging robot is installed and in use, the limiting part acts as a barrier to restrict the displacement of the power transmission line, so that the power transmission line is stably placed on the placement groove, which is beneficial to improving the installation efficiency and stability of the wire-hanging robot.

[0048] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0049] See Figures 1 to 4 The wire-hanging robot 100 provided in this application embodiment is used to hang on a power transmission line 400. The wire-hanging robot 100 includes a robot body 110 and at least one hook member 120. The robot body 110 is provided with a clearance area 111. The hook member 120 is placed in the clearance area 111 and is connected to the robot body 110. The hook member 120 has a placement groove 121 that matches a portion of the periphery of the power transmission line 400. The placement groove 121 is used to place the power transmission line 400. The robot body 110 has a limiting part 101. The projection of the limiting part 101 toward the clearance area 111 covers the hook member 120. The limiting part 101 is used to be located to the side of the power transmission line 400 when the power transmission line 400 is placed on the placement groove 121, so as to limit the displacement of the power transmission line 400.

[0050] Specifically, the robot body 110 serves as the supporting structure for the entire wire-hanging robot 100, supporting the connector 120 and functional components for monitoring line operation. By providing an obstacle avoidance zone 111 on the robot body 110, the installation space for the connector 120 is ensured, maintaining the compactness and rationality of the overall structure. The obstacle avoidance zone 111 accommodates the connector 120, preventing interference between the connector 120 and other components. The placement groove 121 on the connector 120 matches a portion of the periphery of the power transmission line 400. When the robot body 110 is mounted on the power transmission line 400 via the connector 120, the power transmission line 400 is positioned on the placement groove 121, preventing it from slipping or shifting. The projection of the limiting part 101 on the robot body 110 towards the obstacle avoidance zone 111 covers the connector 120, preventing the power transmission line 400 from tilting or shifting, effectively restricting the power transmission line 400, and improving the overall stability of the wire-hanging robot 100.

[0051] For example, such as Figure 2 As shown, the X direction represents the extension direction of the power transmission line 400, i.e., the length direction; the Z direction represents the direction of gravity; and the Y direction represents the direction perpendicular to both the X and Z directions. It can be understood that when the wire-hanging robot 100 is mounted on the power transmission line 400, the clearance area 111 is connected along the X direction, and the side of the clearance area 111 opposite to the power transmission line 400 along the Y direction is an opening 1022, while the other side is blocked by the limiting part 101 of the robot body 110. Furthermore, the robot body 110 has two inner walls spaced along the Z direction within the clearance area 111. These two inner walls are located above and below the power transmission line 400 along the Z direction, respectively. The mounting member 120 is connected to the robot body 110, i.e., the mounting member 120 is connected to the inner wall located above the power transmission line 400. Thus, the power transmission line 400 is placed on the placement slot 121, and the wire-hanging robot 100 is mounted on the power transmission line 400 via the mounting member 120.

[0052] In practical implementation, the number of mounting pieces 120 can be set to one, allowing the wire-hanging robot 100 to be mounted on the power transmission line 400 through a single mounting piece 120; alternatively, the number of mounting pieces 120 can be set to two or more, for example, as shown below. Figure 1 As shown, there are two hangers 120, both of which are connected to the inner wall on the upper side of the power transmission line 400, and the two hangers 120 are spaced apart along the X direction to ensure the balance and stability of the hanging robot 100 after it is mounted. Of course, the hangers 120 can also be set to three or four according to actual needs. The installation can be carried out with reference to the setting method of two hangers 120. This embodiment of the application will not be described in detail here.

[0053] It should be noted that the wire-hanging robot 100 in this embodiment of the application can be mounted on the power transmission line 400 and remain stationary to check the condition of the power transmission line 400 and the surrounding environment, or it can be mounted on the power transmission line 400 and move along the extension direction of the power transmission line 400 to check the condition of the power transmission line 400 and the surrounding environment.

[0054] In summary, the wire-hanging robot 100 of this application embodiment has a limiting part 101 on the robot body 110. By setting the projection of the limiting part 101 toward the avoidance area 111, it covers the hanging member 120. Thus, when the power transmission line 400 is placed on the placement slot 121, the limiting part 101 is located to the side of the power transmission line 400. This reduces the space for the power transmission line 400 to tilt or shift. Therefore, during the process of hanging the wire-hanging robot 100 or when the wire-hanging robot 100 is used after hanging, the limiting part 101 forms a blocking effect to restrict the displacement of the power transmission line 400, so that the power transmission line 400 is stably placed on the placement slot 121, which is beneficial to improving the hanging efficiency and hanging stability of the wire-hanging robot 100.

[0055] In some embodiments, there is a gap between the limiting part 101 and the center of the placement groove 121, and the gap is greater than or equal to the radius of the transmission line 400.

[0056] In this way, by reasonably setting the distance between the limiting part 101 and the placement slot 121, it is ensured that the limiting part 101 can effectively limit the power transmission line 400 without excessive constraint, thus achieving an optimized balance in the overall structure of the attaching robot.

[0057] The distance between the limiting part 101 and the center of the placement groove 121 can be set to be equal to the radius of the power transmission line 400. In this way, when the power transmission line 400 enters the avoidance area 111 and contacts the limiting plate during the process of hanging the wire robot 100 on the power transmission line 400, it indicates that the power transmission line 400 is correctly located on the placement groove 121 and has not deviated from the placement groove 121, thus improving the hanging efficiency.

[0058] The distance between the limiting part 101 and the center of the placement groove 121 can also be set to be greater than the radius of the transmission line 400. The difference between the distance and the radius can be set according to the actual situation, as long as it ensures that the limiting part 101 can still provide an effective blocking effect when the transmission line 400 is tilted and displaced. For example, the difference can be 1-3 mm. It can be understood that by setting the distance between the limiting part 101 and the center of the placement groove 121 to be greater than the radius of the transmission line 400, the contact between the transmission line 400 and the limiting part 101 can be reduced, and the wear of the transmission line 400 caused by friction can be reduced.

[0059] Continue reading Figures 1 to 4In some examples, the wire-hanging robot 100 also includes a guide 130; the guide 130 is located on one side of the avoidance area 111, one end of the guide 130 is connected to the robot body 110, and the other end extends in a direction away from the robot body 110; the guide 130 is used to slide into contact with the power transmission line 400 to guide the power transmission line 400 into the avoidance area 111 and the placement slot 121 in sequence.

[0060] Thus, by connecting one end of the guide 130 to the robot body 110 and extending the other end away from the robot body 110, a natural guide channel can be formed. When the wire-hanging robot 100 is mounted, the guide 130 slides into contact with the power transmission line 400, which facilitates the smooth entry of the power transmission line 400 into the placement slot 121, reducing the mounting difficulty and technical requirements.

[0061] For example, such as Figure 2 As shown, the guide 130 can be located on the upper side of the opening 1022 of the avoidance area 111 along the Z direction, or it can be located on the lower side of the opening 1022 of the avoidance area 111 along the Z direction. In this way, when the wire-hanging robot 100 is mounted, the guide 130 can slide in contact with the power transmission line 400. This application embodiment does not limit this.

[0062] See Figure 2 and Figure 5 In a specific example, the robot body 110 has a first guide surface 112, and a portion of the guide member 130 abuts against the first guide surface 112. The side of the guide member 130 facing away from the first guide surface 112 has a second guide surface 131 that matches the first guide surface 112. The second guide surface 131 is used to slide in contact with the power transmission line 400 to guide the power transmission line 400 into the avoidance area 111 and the placement slot 121 in sequence.

[0063] With this configuration, the relative angle between the guide member 130 and the robot body 110 can be optimized and adjusted according to actual needs through the design of the first guide surface 112, so that the guide member 130 can guide the power transmission line 400 into the placement slot 121 more accurately through the second guide surface 131.

[0064] For example, such as Figure 5 As shown, the first guide surface 112 can be configured as an inclined surface. After a portion of the guide member 130 abuts against the first guide surface 112, the second guide surface 131 of the guide member 130 matches the first guide surface 112, and the guide member 130 is inclined in a manner consistent with the inclined surface. The second guide surface 131 is also an inclined surface. Figure 2As shown, when the guide member 130 is located on the upper side of the opening 1022 of the clearance area 111 along the Z direction, the side of the inclined surface closer to the clearance area 111 is lower than the side of the inclined surface farther from the clearance area 111; when the guide member 130 is located on the lower side of the opening 1022 of the clearance area 111 along the Z direction, the side of the inclined surface closer to the clearance area 111 is higher than the side of the inclined surface farther from the clearance area 111. Thus, before the transmission line 400 enters the clearance area 111, it is only necessary to maintain sliding contact between the guide member 130 and the transmission line 400 through the second guide surface 131 to guide the transmission line 400 smoothly into the clearance area 111.

[0065] It is understood that the specific tilt angle of the tilted surface relative to the robot body 110 can be set according to the actual situation, and the embodiments of this application do not limit this.

[0066] In practical implementation, when the first guide surface 112 is an inclined surface, the inclined surface can be a plane. In this case, the guide component 130 can be designed as a solid straight plate structure, or it can be as follows: Figure 1 The three straight rods 132 shown are connected to form a hollow structure, thus ensuring that the second guide surface 131 is also a plane; the inclined surface can also be a curved surface with a certain curvature. In this case, the guide 130 can be designed as a curved plate structure with the same curvature as the curved surface, so that the second guide surface 131 is also a flat curved surface; the specific curvature of the curved surface can be set according to the actual situation, as long as it is ensured that the guide 130 can guide the installation of the power transmission line 400.

[0067] In a specific example, the first guide surface 112 has a first dimension in its extension direction, and the second guide surface 131 has a second dimension in its extension direction; the first dimension is smaller than the second dimension, and the second dimension is greater than 160 mm.

[0068] In this way, by setting the first dimension to be smaller than the second dimension and the second dimension to be greater than 160 mm, the layout of each component of the wire-hanging robot 100 is ensured to be reasonable. In addition, a wider guiding area can be provided for the power transmission line 400, which is conducive to enabling the wire-hanging robot 100 to better adapt to power transmission lines 400 of different diameters and positions, so that the power transmission line 400 can smoothly enter the placement slot 121.

[0069] It can be understood that when the first guide surface 112 is an inclined surface, the extension direction of the first guide surface 112 is the inclined direction.

[0070] See Figure 2 In some embodiments, there are two guide members 130, which are located on opposite sides of the avoidance area 111 and have an included angle α between them, which is greater than or equal to 90° and less than 180°.

[0071] Thus, by setting two guide members 130 to form an included angle α greater than or equal to 90° and less than 180°, on the one hand, a more precise guiding path can be provided to ensure the smooth progress of the guiding process; on the other hand, when one guide member 130 needs to be replaced due to wear or other reasons, the other guide member 130 can still continue to provide guidance for the hanging robot 100, increasing redundancy and improving the reliability of the hanging robot 100.

[0072] For example, the included angle α can be set to 90°, 110°, and 120°, etc.

[0073] In practice, when the included angle α between the two guide members 130 is less than 90°, the effective guiding range for the power transmission line 400 is reduced. For some power transmission lines 400 with larger diameters or larger positional deviations, it may be difficult to enter the placement slot 121, increasing the difficulty of installation. When the included angle α between the two guide members 130 is greater than 180°, it will cause interference between the guide members 130 and the robot body 110, affecting normal operation and making it impossible to effectively guide the power transmission line 400 into the placement slot 121.

[0074] In some examples, the robot body 110 includes two main body parts 102; both main body parts 102 are connected to the limiting part 101, the two main body parts 102 are located on the same side of the limiting part 101, and the two main body parts 102 are spaced apart along the extending direction of the limiting part 101 to form a clearance area 111; the hook 120 is connected to one of the two main body parts 102.

[0075] Thus, the design of connecting the two main body parts 102 and the limiting part 101 allows them to jointly bear the weight of the wire-hanging robot 100 and the externally applied forces, ensuring the overall rigidity and stability of the wire-hanging robot 100. By arranging the two main body parts 102 at intervals along the extension direction of the limiting part 101 to form a clearance zone 111, the two main body parts 102 and the limiting part 101 are reasonably arranged, reducing mutual interference and simplifying the structure of the wire-hanging robot 100.

[0076] For example, the limiting part 101 can be configured as follows: Figure 3 The plate-like structure shown has one of the two main body parts 102 connected to the hanger 120, and the other of the two main body parts 102 can be used to carry the detection module, power supply, etc. of the hanging robot 100.

[0077] See Figure 1 , Figure 2 and Figure 6In some embodiments, the wire-hanging robot 100 further includes a crimping member 140; the crimping member 140 is connected to the other of the two main body parts 102, and the crimping member 140 has a crimping groove 141 that matches a portion of the periphery of the power transmission line 400, the opening of the crimping groove 141 being opposite to one of the two main body parts 102, and the crimping groove 141 being used to place the power transmission line 400.

[0078] Thus, through the coordinated cooperation of the crimping member 140 and the hanging member 120, when the power transmission line 400 is placed in the placement groove 121 of the hanging member 120 and the crimping groove 141 of the crimping member 140, the hanging robot 100 is in a state of hugging the circumference of the power transmission line 400, forming a more reliable constraint on the power transmission line 400, and preventing the power transmission line 400 from shifting or falling off due to external factors such as wind force and mechanical vibration.

[0079] For example, such as Figure 2 As shown, when the wire-hanging robot 100 is mounted on the power transmission line 400, the mounting part 120 and the crimping part 140 are located above and below the power transmission line 400 along the Z direction, respectively. The placement groove 121 contacts the upper half of the power transmission line 400, and the crimping groove 141 contacts the lower half of the power transmission line 400.

[0080] In a specific example, at least one of the hook 120 and the crimp 140 is a roller.

[0081] In this way, the rollers can make rolling contact with the power transmission line 400, so that the wire-hanging robot 100 can move along the extension direction of the power transmission line 400, which can reduce frictional damage to the power transmission line 400 and achieve more comprehensive monitoring of the power transmission line 400.

[0082] For example, such as Figure 2 and Figure 4 As shown, both the mounting bracket 120 and the pressing bracket 140 are configured as rollers. The mounting bracket 120 is also equipped with a drive unit, which can be a motor. The motor includes a connecting frame 122 and a motor body 123 disposed on the connecting frame 122. The connecting member 300 is connected to one of the two main body parts 102. The output shaft of the motor is coaxially connected to the roller so that the roller can roll relative to one of the two main body parts 102.

[0083] It should be noted that, in specific implementations, a driver unit can also be configured for the crimping component 140, which will not be elaborated upon in this application.

[0084] See Figure 1 and Figure 6In some embodiments, the wire-hanging robot 100 further includes a lifting member 150; the crimping member 140 is connected to the other of the two main bodies 102 via the lifting member 150. The lifting member 150 is used to drive the crimping member 140 to rise or fall relative to the other of the two main bodies 102 after the power transmission line 400 is placed in the placement slot 121, so that the crimping slot 141 moves toward or away from the power transmission line 400 to place or detach the power transmission line 400.

[0085] Thus, by setting up the lifting component 150, the size of the clearance area 111 can be adjusted to accommodate the space required by the power transmission line 400 of the hanging robot under the conditions of disassembly and assembly and use, which is conducive to improving the disassembly and assembly efficiency of the hanging robot 100 and enhancing the user experience.

[0086] Specifically, when the wire-hanging robot 100 is being installed or when it needs to be disassembled, the lifting component 150 drives the crimping component 140 to descend relative to the other of the two main bodies 102, causing the crimping groove 141 to move away from the power transmission line 400, thereby increasing the space of the avoidance area 111, thus reducing the interference of the wire-hanging robot 100 on the power transmission line 400, and facilitating the placement or removal of the wire-hanging robot 100.

[0087] After the wire-hanging robot 100 is installed, the lifting component 150 drives the crimping component 140 to rise relative to the other of the two main body parts 102, so that the crimping groove 141 moves toward the power transmission line 400 to place the power transmission line 400, thereby reducing the space of the clearance area 111 and ensuring that the wire-hanging robot 100 forms a reliable constraint on the power transmission line 400 during use.

[0088] For example, the lifting member 150 can be configured as follows: Figure 6 The motor push rod shown has its end connected to the pressing member 140. A spring 160 is fitted onto the push rod 151 of the motor push rod. One end of the spring 160 is connected to the push rod 151, and the other end is connected to the pressing member 140. In this way, the buffering effect of the spring 160 helps to make the lifting and lowering process of the pressing member 140 more stable.

[0089] In a specific implementation, at least one of the two main body parts 102 has a receiving cavity 1021 with an opening 1022 on one side, the opening 1022 facing the other; a portion of the hook 120 is placed in the receiving cavity 1021 through the corresponding opening 1022; and / or the lifting member 150 and the pressing member 140 are placed in the receiving cavity 1021 through the corresponding opening 1022.

[0090] This allows the overall structure of the hanging robot 100 to be more compact, reducing space occupation and making it easier to store and operate.

[0091] In a specific implementation, one of the two main body parts 102 can be provided with a receiving cavity 1021 having an opening 1022 on one side, with only part of the hook member 120 placed in the receiving cavity 1021 through the opening 1022; or the lifting member 150 and the pressing member 140 can be placed in the receiving cavity 1021 through the opening 1022; or as follows Figure 5 As shown, both main body parts 102 have a receiving cavity 1021 with an opening 1022 on one side. The two openings 1022 are arranged opposite to each other, so that a part of the hook 120 is placed in the receiving cavity 1021 through the opening 1022 of one hook 120; and the lifting member 150 and the pressing member 140 are placed in the receiving cavity 1021 through the opening 1022 of the other hook 120; this application does not limit this.

[0092] See Figures 1 to 7 This application also provides a wire-hanging robot installation system, including a control component 200 and a wire-hanging robot 100 as described in any of the above embodiments; the control component 200 includes a flying component 210, a monitoring component 220, and a control component 230, with the flying component 210 and the monitoring component 220 both electrically connected to the control component 230; the monitoring component 220 is used to monitor the peripheral information of the power transmission line 400; the flying component 210 is used to connect to the wire-hanging robot 100 to drive the wire-hanging robot 100 to move toward the power transmission line 400; the control component 230 is used to control the flight attitude of the flying component 210 according to the peripheral information to guide the power transmission line 400 into the placement slot 121 of the wire-hanging robot 100.

[0093] This reduces errors during the installation of the wire-hanging robot 100 and improves its installation efficiency.

[0094] Among them, the flight component 210 can be a drone, the detection component can be a lidar, and the control component 230 can be a programmable logic controller or a remote controller for user operation.

[0095] The wire-hanging robot installation system of this application embodiment has a limiting part 101 on the robot body 110 of the wire-hanging robot 100. By setting the projection of the limiting part 101 toward the avoidance area 111, it covers the hanging member 120. In this way, when the power transmission line 400 is placed on the placement slot 121, the limiting part 101 is located to the side of the power transmission line 400. Thus, the limiting part 101 reduces the space for the power transmission line 400 to tilt and shift. Therefore, during the process of hanging the wire-hanging robot 100 or when the wire-hanging robot 100 is used after hanging, the limiting part 101 forms a blocking effect to restrict the displacement of the power transmission line 400, so that the power transmission line 400 is stably placed on the placement slot 121, which is beneficial to improving the hanging efficiency and hanging stability of the wire-hanging robot 100.

[0096] See Figure 8In a specific example, the wire-hanging robot installation system also includes a connector 300, which is disposed on the robot body 110 of the wire-hanging robot 100, and the flying component 210 is connected to the robot body 110 through the connector 300.

[0097] The connector 300 provides a reliable connection point between the flying component 210 and the wire-hanging robot 100, reducing the possibility of the wire-hanging robot 100 accidentally detaching or loosening during movement.

[0098] For example, connector 300 may include, Figure 8 The three rods 310 arranged in sequence shown together form a hook. The flying component 210 engages with the hook to move the hook and the wire-hanging robot 100 toward the power transmission line 400.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A wire-hanging robot (100) for mounting on a power transmission line (400), characterized in that, include: Robot body (110), wherein an avoidance zone (111) is provided on the robot body (110). At least one hook (120) is placed within the avoidance area (111) and connected to the robot body (110). The hook (120) has a placement groove (121) that matches a portion of the periphery of the power transmission line (400) for placing the power transmission line (400). The robot body (110) has a limiting part (101) which covers the hook (120) with its projection toward the avoidance area (111); the limiting part (101) is located to the side of the power transmission line (400) when the power transmission line (400) is placed on the placement slot (121) to limit the displacement of the power transmission line (400).

2. The wire-hanging robot (100) according to claim 1, characterized in that, There is a gap between the limiting part (101) and the center of the placement groove (121), and the gap is greater than or equal to the radius of the transmission line (400).

3. The wire-hanging robot (100) according to claim 1, characterized in that, It also includes a guide (130); The guide (130) is located on one side of the avoidance area (111). One end of the guide (130) is connected to the robot body (110), and the other end extends in a direction away from the robot body (110). The guide (130) is used to slide in contact with the power transmission line (400) to guide the power transmission line (400) into the avoidance area (111) and the placement slot (121) in sequence.

4. The wire-hanging robot (100) according to claim 3, characterized in that, The robot body (110) has a first guide surface (112), and a portion of the guide member (130) abuts against the first guide surface (112). The guide member (130) has a second guide surface (131) on the side opposite to the first guide surface (112) that matches the first guide surface (112). The second guide surface (131) is used to slide in contact with the power transmission line (400) to guide the power transmission line (400) to enter the avoidance area (111) and the placement slot (121) in sequence.

5. The wire-hanging robot (100) according to claim 4, characterized in that, The first guide surface (112) has a first dimension in its extension direction, and the second guide surface (131) has a second dimension in its extension direction; The first dimension is smaller than the second dimension, and the second dimension is greater than 160 mm.

6. The wire-hanging robot (100) according to any one of claims 3 to 5, characterized in that, The number of guide members (130) is two, and the two guide members (130) are located on opposite sides of the avoidance area (111). The two guide members (130) have an included angle between them, which is greater than or equal to 90° and less than 180°.

7. The wire-hanging robot (100) according to any one of claims 1 to 5, characterized in that, The robot body (110) includes two main body parts (102). Both main body parts (102) are connected to the limiting part (101), the two main body parts (102) are located on the same side of the limiting part (101), and the two main body parts (102) are spaced apart along the extending direction of the limiting part (101) to form the avoidance area (111); the hook (120) is connected to one of the two main body parts (102).

8. The wire-hanging robot (100) according to claim 7, characterized in that, It also includes a crimping component (140); The crimping member (140) is connected to the other of the two main bodies (102), and the crimping member (140) has a crimping groove (141) that matches a portion of the periphery of the power transmission line (400). The opening of the crimping groove (141) is opposite to one of the two main bodies (102), and the crimping groove (141) is used to place the power transmission line (400).

9. The wire-hanging robot (100) according to claim 8, characterized in that, It also includes a lifting component (150); The crimping member (140) is connected to the other of the two main bodies (102) via the lifting member (150). The lifting member (150) is used to drive the crimping member (140) to rise or fall relative to the other of the two main bodies (102) after the power transmission line (400) is placed in the placement slot (121), so that the crimping slot (141) moves toward or away from the power transmission line (400) to place or detach the power transmission line (400).

10. The wire-hanging robot (100) according to claim 9, characterized in that, At least one of the two main body portions (102) has a receiving cavity (1021) with an opening (1022) on one side, the opening (1022) being disposed facing the other; Part of the hook (120) is placed within the receiving cavity (1021) via the corresponding opening (1022); and / or The lifting member (150) and the pressing member (140) are placed in the receiving cavity (1021) through the corresponding opening (1022).

11. The wire-hanging robot (100) according to any one of claims 8 to 10, characterized in that, At least one of the hook (120) and the crimp (140) is a roller.

12. A wire-hanging robot installation system, characterized in that, Includes a control component (200) and a wire-hanging robot (100) as described in any one of claims 1 to 11. The control component (200) includes a flight component (210), a monitoring component (220), and a control component (230). The flight component (210) and the monitoring component (220) are both electrically connected to the control component (230). The monitoring component (220) is used to monitor the peripheral information of the power transmission line (400). The flight component (210) is used to connect with the wire-hanging robot (100) to drive the wire-hanging robot (100) to move toward the power transmission line (400). The control component (230) is used to control the flight attitude of the flight component (210) according to the peripheral information to guide the power transmission line (400) into the placement slot (121) of the wire-hanging robot (100).

13. The wire-hanging robot installation system according to claim 12, characterized in that, It also includes a connector (300) which is disposed on the robot body (110) of the wire-hanging robot (100), and the flying component (210) is connected to the robot body (110) through the connector (300).

Images