Overhead line work robot

Abstract

The utility model discloses an overhead line operation robot, its advantage is in the equal potential system's drainage guide pole and set up in the bottom of foot support in near first go and connect with overhead line, and the tension reset mechanism keeps drainage guide pole and overhead line contact, ensures that operation robot is in the landing with overhead line always in the equal potential state, forms stable equipotential after walking wheel rides to overhead line, and drainage guide pole is driven to separate from overhead line by drive mechanism, and is positioned with limiting device, avoids the arc that appears to the long -time friction of drainage guide pole and overhead line in operation movement, removes the limit after operation, and drainage guide pole rotates and restores the connection with overhead line and is kept by the tension reset mechanism, ensures that the operation robot and overhead line also always in the equal potential state in the flight, and the equal potential system is closed or hibernate after separating from overhead line, thereby avoids appearing the electric arc discharge phenomenon, effectively protects the component on the fuselage from the damage of electric arc discharge, and ensures the safety and reliability of operation process.

Description

Technical Field

[0001] This utility model relates to the field of aerial work robots, specifically an overhead line work robot. Background Technology

[0002] Aerial work robots typically need to perform live-line work in complex environments such as high-voltage power lines. In such environments, a potential difference exists between the robot and the power line, which can easily trigger arcing, damaging equipment and potentially endangering the safety of personnel. Therefore, an equipotential bonding system is crucial for aerial work robots. It avoids dangerous situations caused by potential differences by aligning the robot's potential with that of the target equipment (such as overhead lines). During equipotential work by live-line robots, ensuring that the robot maintains good contact and is at the same potential with the power line at all times is essential.

[0003] However, as the robot approaches the overhead power line, the electric field strength between them gradually increases as the distance decreases. In this situation, arcing may occur, which could not only severely damage the robot's components but also pose other safety hazards.

[0004] To effectively prevent damage to robots from high-intensity electric fields during equipotential operations, the equipotential system of overhead line operation robots needs to be improved. Utility Model Content

[0005] One of the technical problems to be solved by this application is to overcome the defects of the above-mentioned related technologies and provide an overhead line operation robot whose equipotential system can keep the operation robot and the overhead line in an equipotential state at all times during the process of the operation robot gradually descending or flying away from the overhead line.

[0006] The technical solution adopted by this utility model to solve the technical problem is as follows: an overhead line operation robot, including a control module, a detection module, a flight mechanism, a footrest, and an equipotential system. The equipotential system includes a connecting frame, a flow guide rod, a tensioning and resetting mechanism, a drive mechanism, and a limiting device. The drive mechanism and the limiting device are electrically connected to the control module. The connecting frame is installed at the bottom of the footrest, the flow guide rod is pivotally connected to the connecting frame, and the tensioning and resetting mechanism, the drive mechanism, and the limiting device are installed on the connecting frame.

[0007] The guide rod is horizontally positioned and is used to make contact with the overhead line before the robot approaches it, so that the robot and the overhead line are at the same potential.

[0008] The tensioning and resetting mechanism is connected to the guide rod and is used to provide tension to the guide rod, so as to keep the guide rod in contact with the overhead line during the landing or flying away of the robot.

[0009] The drive mechanism is connected to the guide rod for transmission, and is used to drive the guide rod to rotate and detach from the overhead line after the robot's walking wheels ride on the overhead line before operation.

[0010] The limiting device is used to limit the guide rod that has detached from the overhead line, and to release the limiting device on the guide rod after the operation.

[0011] The detection module is communicatively connected to the control module. The detection module is used to detect the positional relationship between the working robot and the overhead line and the positional information of the guide rod, and then feed it back to the control module.

[0012] Compared with related technologies, this utility model has the following advantages: the equipotential system of this overhead line operation robot is equipped with a guide rod, a tensioning and resetting mechanism, a drive mechanism, and a limiting device. The guide rod is horizontally positioned at the bottom of the footrest via a connecting frame to pre-connect with the overhead line when the robot approaches, ensuring equipotential between the robot and the line. The tensioning and resetting mechanism maintains contact between the guide rod and the overhead line during robot descent, ensuring good contact and equipotential between the robot and the line before the robot's wheels reach the line, preventing arc discharge and damage to robot components. After the wheels reach the line, a stable equipotential is achieved between the wheels and the line, and the drive mechanism... The mechanism is used to drive the guide rod away from the overhead line after the robot's wheels have ridden on it before operation. A limiting device restricts the guide rod during operation to prevent prolonged friction between the guide rod and the overhead line, which could generate an electric arc and damage the robot's components. After operation, the limiting device releases the guide rod, allowing it to reconnect to the overhead line under the action of a tensioning and resetting mechanism before takeoff. This connection remains until the robot leaves the overhead line, maintaining an equipotential relationship between the robot and the overhead line during takeoff to prevent damage to the robot's components. After the robot leaves the overhead line, the equipotential system is shut down or put into a dormant state. This effectively protects the components of the aerial robot from arc discharge damage, ensuring the safety and reliability of the operation.

[0013] Preferably, the connecting frame includes a frame body and a pipe clamp. The upper end of the frame body is a pipe clamp seat, and the pipe clamp and the pipe clamp seat are fixed to form a pipe clamp hole. The pipe section of the leg is fixed in the pipe clamp hole. This facilitates the connection and fixation of the connecting frame and the leg.

[0014] Preferably, the pivot end of the drainage guide rod is pivotally connected to the frame of the connecting bracket via a rod shaft connector and a rotating shaft. The rod shaft connector is sleeved on the rotating shaft and fixed together. This facilitates the installation of the drainage guide rod. After other components of the equipotential system are installed, the drainage guide rod can be inserted into the rod shaft connector and fixed with bolts, making the operation simple.

[0015] Preferably, the tensioning and resetting mechanism includes a torsion spring, which is sleeved on the rotating shaft. One end of the torsion spring is connected to the rod shaft connector or the rotating shaft, and the other end is connected to the frame. The torsion spring provides damping, reducing shock during the robot's descent, and effectively maintains a stable equipotential state between the guide rod and the overhead line.

[0016] Furthermore, the rotating shaft is provided with a convex ring, and the torsion spring and the rod shaft connector are respectively located on both sides of the convex ring, with one end of the torsion spring connected to the convex ring. During the tensioning or untensioning process, the torsion spring will generate axial displacement. The convex ring separates the torsion spring and the rod shaft connector, which can prevent interference between the torsion spring and the rod shaft connector.

[0017] Preferably, the drive mechanism includes a drive motor, a motor mounting plate, a wheel, a lever, and a limiting plate. The drive motor is fixed to the side of the frame via the motor mounting plate. The wheel is fixed to the main shaft of the drive motor. The lever is mounted on the edge of the wheel and inserted into the center of the arc hole in the limiting plate. The limiting plate is connected to the rotating shaft for transmission. During the initialization phase, one end of the lever abuts against the arc hole to keep the guide rod horizontal. During descent, the lever separates from the arc hole, preventing the rotation of the guide rod from driving the drive motor via the rod shaft connector, rotating shaft, and limiting plate.

[0018] Preferably, the limiting device is an electromagnet, which is used to limit the flow guide rod when it is engaged with the limiting plate, and to release the flow guide rod when it is disengaged from the limiting plate.

[0019] As an improvement, the frame is hollowed out, and the electromagnet is installed at the bottom of the frame body. The iron core of the electromagnet passes through the frame body and cooperates with the limiting plate. The hollowed-out frame body reduces weight.

[0020] As an improvement, a microswitch is also included. This microswitch is installed between the motor mounting plate and the frame. The microswitch is communicatively connected to the control module and sends a signal to the control module when touched by the limiting plate. Based on the feedback signal, the control module controls the electromagnet to cooperate with the limiting plate to limit the rotation angle of the flow guide rod. By controlling the microswitch, the rotation angle of the limiting plate is limited, thereby limiting the rotation angle of the flow guide rod and preventing excessive rotation.

[0021] As an improvement, the outer periphery of the limiting disk is provided with two protrusions. When the electromagnet cooperates with the limiting disk to limit the flow guide rod, the iron core of the electromagnet is inserted between the two protrusions. The iron core inserted between the two protrusions can prevent the limiting disk from rotating, that is, prevent the shaft from rotating, thereby maintaining the limiting stability of the flow guide rod. Attached Figure Description

[0022] Figure 1 This is a three-dimensional view of the work robot of this utility model.

[0023] Figure 2 This is a perspective view of the robot and overhead power line during landing or takeoff of this utility model.

[0024] Figure 3 This is a three-dimensional view of the robot and the overhead power line when the robot is riding the line or preparing to fly away.

[0025] Figure 4 This is a three-dimensional view of the robot and overhead power line in the operation of this utility model.

[0026] Figure 5 This is a three-dimensional view of the equipotential system of this utility model.

[0027] Figure 6 This is an enlarged perspective view of the equipotential system of this utility model (the guide rod part is omitted).

[0028] Figure 7 This is a perspective view of the drive mechanism of this utility model (excluding the limit plate and motor mounting plate).

[0029] Figure 8 This is a perspective view of the equipotential system of this utility model (partial driving mechanism omitted).

[0030] Figure 9 This is another perspective view of the equipotential system of this utility model (partial driving mechanism omitted). Detailed Implementation

[0031] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the embodiments of this application and are not intended to limit the scope of protection of the embodiments of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0032] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0033] This embodiment is as follows: Figures 1 to 4The overhead power line operation robot shown includes a drone fuselage 1, a flight mechanism 2, a landing gear 3, a walking and clamping system 4, a counterweight, a power supply system, an avionics system, a communication system, a perception and obstacle avoidance system, an end effector, and an equipotential bonding system 5. The avionics system includes a control module, and the perception and obstacle avoidance system includes a detection module. The detection module is communicatively connected to the control module and includes multiple vision sensors. The detection module detects the positional relationship between the robot and the overhead power line 100 and the positional information of the guide rod 52, and feeds this information back to the control module. The control module controls the flight mechanism 2, the walking and clamping system 4, the end effector, and the equipotential bonding system 5 to perform relevant actions based on the feedback information. The equipotential bonding system 5 includes, for example,... Figures 5 to 9 As shown, the system includes a connecting frame 51, a guide rod 52, a tensioning and resetting mechanism, a drive mechanism 56, and a limiting device 58. The drive mechanism 56 and the limiting device 58 are electrically connected to the control module. The connecting frame 51 is installed at the bottom of the stand, and the guide rod 52 is pivotally connected to the connecting frame 51. The tensioning and resetting mechanism, the drive mechanism 56, and the limiting device 58 are also installed on the connecting frame 51. The guide rod 52 is horizontally positioned to allow the robot to make contact with the overhead line 100 before it approaches, thus establishing equipotential between the robot and the overhead line 100. The tensioning and resetting mechanism and the guide rod 52 are connected to the control module. 2. Transmission connection: The tensioning and resetting mechanism provides tension to keep the guide rod 52 in contact with the overhead line 100 during the robot's descent and to restore the connection between the guide rod 52 and the overhead line 100 before the robot leaves the overhead line 100 after operation, maintaining this connection until the robot leaves the overhead line 100; The drive mechanism 56 is transmission-connected to the guide rod 52 and drives the guide rod 52 to rotate and detach from the overhead line 100 after the robot's wheels have ridden on the overhead line 100 before operation; The limiting device 58 limits and fixes the guide rod 52 after it has detached from the overhead line 100 during operation and releases the limit on the guide rod 52 after operation.

[0034] In some embodiments, the connecting frame 51 includes a frame body 511 and a pipe clamp 512. The upper end of the frame body 511 is a pipe clamp seat. The pipe clamp 512 and the pipe clamp seat are fixed together by four lugs on both sides and bolts to form a pipe clamp hole 513. The pipe section of the leg 3 is fixed in the pipe clamp hole 513. As an improvement, the pipe clamp 512 and the pipe clamp seat are provided with screw holes, and the connecting frame 51 and the pipe section of the leg 3 are circumferentially and axially limited by screws.

[0035] In some embodiments, the pivot end of the drainage guide rod 52 is pivotally connected to the frame 511 of the connecting frame 51 via a rod shaft connector 54 and a rotating shaft 53. The rod shaft connector 54 is sleeved on the rotating shaft 53 and fixedly connected by bolts. The tensioning and resetting mechanism includes a torsion spring 55, which is sleeved on the rotating shaft 53. One end of the torsion spring 55 is connected to the rod shaft connector 54 or the rotating shaft 53, and the other end of the torsion spring 55 is connected to the frame 511. A convex ring 531 is provided on the rotating shaft 53. The torsion spring 55 and the rod shaft connector 54 are respectively located on both sides of the convex ring 531, and one end of the torsion spring 55 is connected to the convex ring 531. The drainage guide rod 52 is inserted into the rod shaft connector 54 and fixed by bolts, such that the drainage guide rod 52 is perpendicular to the axis of the rotating shaft 53.

[0036] In some embodiments, the drive mechanism 56 includes a drive motor 561, a wheel 562, a lever 563, a limiting plate 564, and a motor mounting plate. The top of the motor mounting plate is fixed to the pipe clamp seat by bolts. The drive motor 561 is fixed to the side of the frame 511 by the motor mounting plate. The wheel 562 is fixed to the main shaft of the drive motor 561. The lever 563 is installed on the edge of the wheel 562 and inserted into the middle of the arc hole 5641 of the limiting plate 564. The limiting plate 564 is connected to the rotating shaft 53 for transmission.

[0037] In some embodiments, the limiting device 58 is an electromagnet, which is used to limit the flow guide rod 52 when it is engaged with the limiting disk 564, and to release the flow guide rod 52 when it is disengaged from the limiting disk 564.

[0038] In some embodiments, the frame 511 is hollowed out, the electromagnet is installed at the bottom inside the frame 511, and the iron core of the electromagnet passes through the frame 511 and cooperates with the limiting plate 564.

[0039] In some embodiments, the system further includes a micro switch 57 and a micro-motion fixing plate. The micro switch 57 is mounted between the motor mounting plate and the frame 511 via the micro-motion fixing plate. The micro switch 57 is communicatively connected to the control module. The micro switch 57 is used to send a feedback signal to the control module when it is touched by the limiting plate 564. The control module controls the electromagnet to cooperate with the limiting plate 564 to limit the flow guide rod 52 according to the feedback signal. The limiting plate 564 has two protrusions 5642 on its outer periphery. After the outer side of the protrusions 5642 contacts the micro switch 57, the iron core of the electromagnet is inserted between the two protrusions 5642.

[0040] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An overhead line operation robot, comprising a control module, a detection module, a flight mechanism, a landing gear, and an equipotential system, characterized in that, The equipotential system includes a connecting frame, a draining guide rod, a tensioning and resetting mechanism, a driving mechanism, and a limiting device. The driving mechanism and the limiting device are electrically connected to the control module. The connecting frame is installed at the bottom of the stand, the draining guide rod is pivotally connected to the connecting frame, and the tensioning and resetting mechanism, the driving mechanism, and the limiting device are installed on the connecting frame. The guide rod is horizontally positioned and is used to make contact with the overhead line before the robot approaches it, so that the robot and the overhead line are at the same potential. The tensioning and resetting mechanism is connected to the guide rod and is used to provide tension to the guide rod, so as to keep the guide rod in contact with the overhead line during the landing or flying away of the robot. The drive mechanism is connected to the guide rod for transmission, and is used to drive the guide rod to rotate and detach from the overhead line after the robot's walking wheels ride on the overhead line before operation. The limiting device is used to limit the guide rod that has detached from the overhead line, and to release the limiting device on the guide rod after the operation. The detection module is communicatively connected to the control module. The detection module is used to detect the positional relationship between the working robot and the overhead line and the positional information of the guide rod, and then feed it back to the control module.

2. The overhead line operation robot according to claim 1, characterized in that: The connecting frame includes a frame body and a pipe clamp. The upper end of the frame body is a pipe clamp seat. The pipe clamp and the pipe clamp seat are fixed to form a pipe clamp hole. The pipe section of the leg is fixed in the pipe clamp hole.

3. The overhead line operation robot according to claim 1 or 2, characterized in that: The pivot end of the drainage guide rod is pivotally connected to the frame of the connecting frame through a rod shaft connector and a rotating shaft. The rod shaft connector is sleeved on the rotating shaft and fixed to each other.

4. The overhead line operation robot according to claim 3, characterized in that: The tensioning and resetting mechanism includes a torsion spring, which is sleeved on a rotating shaft. One end of the torsion spring is connected to a rod shaft connector or the rotating shaft, and the other end of the torsion spring is connected to the frame.

5. The overhead line operation robot according to claim 4, characterized in that: The rotating shaft is provided with a convex ring, and the torsion spring and the rod shaft connector are respectively located on both sides of the convex ring. One end of the torsion spring is connected to the convex ring.

6. The overhead line operation robot according to claim 3, characterized in that: The drive mechanism includes a drive motor, a motor mounting plate, a wheel, a lever, and a limiting plate. The drive motor is fixed to the side of the frame via the motor mounting plate. The wheel is fixed to the main shaft of the drive motor. The lever is installed on the edge of the wheel and inserted into the middle of the arc hole of the limiting plate. The limiting plate is connected to the rotating shaft for transmission.

7. The overhead line operation robot according to claim 6, characterized in that: The limiting device is an electromagnet, which is used to limit the flow guide rod when it is engaged with the limiting plate, and to release the flow guide rod when it is disengaged from the limiting plate.

8. The overhead line operation robot according to claim 7, characterized in that: The frame is hollowed out, and the electromagnet is installed at the bottom of the frame. The iron core of the electromagnet passes through the frame and cooperates with the limiting plate.

9. The overhead line operation robot according to claim 8, characterized in that: It also includes a micro switch, which is installed between the motor mounting plate and the frame. The micro switch is communicatively connected to the control module. The micro switch is used to send a feedback signal to the control module when it is touched by the limit plate. The control module controls the electromagnet to cooperate with the limit plate to limit the flow guide rod according to the feedback signal.

10. The overhead line operation robot according to claim 9, characterized in that: The limiting disk has two protrusions on its outer periphery. When the electromagnet cooperates with the limiting disk to limit the flow guide rod, the iron core of the electromagnet is inserted between the two protrusions.

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