A flying wing robot for overhead cable operations

Abstract

This utility model relates to the field of power equipment technology, and in particular to a flying wing robot for overhead cable operations. The flying component is used to drive the robot body to fly. The flying component is covered by the robot body and locked to it. There are outwardly extending mounting brackets on the four corners of the flying shell, and each mounting bracket is equipped with wings. Multi-dimensional motion adjustment components are installed at both ends of the robot body. The multi-dimensional motion adjustment components extend from the flying shell and are hung on the overhead cable. The two multi-dimensional motion adjustment components are independently controlled. The robot body is carried to the work point that is inaccessible to personnel by the flying component, forming a hole-cable cooperative system. Through the coordinated action of the ranging sensor and the two independent multi-dimensional motion adjustment components, while maintaining synchronous lifting and lowering, the tilt angle between the robot and the suspended cable is adjusted, thereby ensuring that the robot is horizontally positioned with respect to the overhead cable during operation.

Description

Technical Field

[0001] This utility model relates to the field of power equipment technology, and in particular to an overhead cable flying wing robot. Background Technology

[0002] Overhead high-voltage power lines are the primary means of long-distance power transmission and distribution. They are generally widely distributed, covering a vast area, with crisscrossing lines stretching for hundreds of kilometers. Newly built ultra-high-voltage lines can even reach thousands of kilometers, with some sections located in mountainous areas with complex terrain and extremely harsh natural environments. Power lines and their towers are exposed to the elements for extended periods, and are susceptible to damage from polluted environments, lightning strikes, and material aging, resulting in defects such as broken strands, wear, corrosion, insulator breakage, and missing bolts and pins. If not repaired or replaced promptly, even minor damage and defects can escalate, eventually leading to serious accidents, widespread power outages, and significant economic losses. Therefore, power companies must regularly inspect power line facilities to promptly identify and maintain them.

[0003] The current lifting and lowering process of overhead power line operation robots (such as packaged robots) faces significant bottlenecks, primarily because: manual labor or auxiliary drones are required to pre-attach the traction cable to the overhead cable, and then ground equipment is used to pull it down to achieve lifting and lowering. This method has three main limitations:

[0004] 1) Safety risks: Manual cable hanging requires climbing towers or operating insulated bucket trucks, exposing personnel to the risk of electric shock from high voltage and falling from heights; cable hanging by drones is subject to weather conditions (failure due to wind speed > level 5) and electromagnetic interference, with a cable hanging failure rate exceeding 30% (cited from the "White Paper on the Application of Electric Power Drones 2023").

[0005] 2) Inefficient: A single deployment takes an average of more than 45 minutes (including equipment scheduling, cable installation, and debugging), which cannot meet the needs of rapid processing;

[0006] 3) High cost: Reliance on special vehicles (such as insulated boom trucks with high daily costs) and professional drone pilot teams results in high costs per operation.

[0007] Meanwhile, existing robot operations require strict alignment with the cable axis. Tilting the robot during operation will cause contact stress distortion. When the tilt angle exceeds 5°, the contact stress on one side of the wheel increases by 300%, accelerating the peeling of the overhead cable's sheath. At the same time, the robot's gripper fails, causing the robot's gripper mechanism to retract and detach from the cable.

[0008] Therefore, current robots lack autonomous lifting capabilities (relying on high-risk external intervention) and, due to the absence of a real-time dynamic leveling system, will inevitably exhibit tilting behavior under conditions such as sloping cables and crossing insulators, which can lead to motion instability, functional failure, and equipment damage, severely restricting their practical application in complex power grids. Utility Model Content

[0009] The technical problem to be solved by this utility model is to provide an overhead cable flying wing robot in order to solve the problems existing in the prior art in the background art.

[0010] The technical solution adopted by this utility model to solve its technical problem is: an overhead cable flying wing robot, comprising...

[0011] The robot itself,

[0012] A flight component is used to propel the robot body into flight. The flight component is enclosed on the robot body and locked to it. The flight component includes a flight shell, and each of the four corners of the flight shell is provided with an outwardly extending mounting frame, on which wings are mounted.

[0013] The multi-dimensional motion adjustment components are used to keep the robot body and the overhead cable horizontal. The multi-dimensional motion adjustment components are installed at both ends of the robot body, extend from the flight shell and hang on the overhead cable. The two multi-dimensional motion adjustment components are independently controlled.

[0014] Furthermore, both ends of the robot's control box are equipped with distance sensors, with the working ends of the distance sensors facing upwards, to measure the distance between the hook and the overhead cable in the multi-dimensional motion adjustment component.

[0015] Furthermore, the multi-dimensional motion adjustment component includes a fixed plate and a hook. A rotating component is mounted on the fixed plate, a lifting component is mounted on the rotating component, and the hook is mounted on the lifting component.

[0016] Furthermore, the rotating assembly includes a rotating screw motor and a hook rotating plate mounted on a fixed plate, the fixed plate and the hook rotating plate being connected by a connector;

[0017] The output end of the rotary screw motor passes through the fixed plate, and a rotary drive gear is mounted on it;

[0018] One side edge of the hook rotating plate is provided with an arc-shaped rotating tooth that cooperates with the rotating drive gear, which is used to drive the hook rotating plate to rotate and adjust the angle between the hook rotating plate and the horizontal plane.

[0019] Furthermore, a pressure bearing is fitted onto the shaft of the connector, with one end of the pressure bearing abutting against the fixed plate and the other end of the pressure bearing abutting against the hook rotating plate.

[0020] Furthermore, the lifting assembly includes a lifting screw motor mounted on the hook rotating plate in the rotating assembly, the lifting screw motor passing through the hook rotating plate and having a lifting drive gear mounted on its output end;

[0021] A lifting slide rail assembly is installed on the surface of the hook rotating plate, and the hook is installed on the lifting slide rail assembly in a vertical direction;

[0022] One side of the hook has a straight toothed section along its length. The lifting drive gear meshes with the straight toothed section to drive the hook to lift and lower.

[0023] Furthermore, the mounting bracket is a rectangular frame structure, with the wing secured to the suspended end of the mounting bracket.

[0024] Furthermore, the length of the wing is less than the length of the mounting frame.

[0025] Furthermore, the flight shell is an open-bottom, wider at the top and narrower at the bottom flight shell, with a long slot running through the flight shell along its length on the top surface of the flight shell to make way for the multi-dimensional motion adjustment components.

[0026] Furthermore, it also includes a control unit, which provides signal connections between the control unit and the robot body and flight components.

[0027] The beneficial effects of this utility model are as follows: The robot body is covered with a flight component. The robot body is carried to the work point that is inaccessible to personnel through the flight component, forming a hole-cable collaborative system. At the same time, the flight component has functions such as hovering, release, and descent, thereby reducing the difficulty of operation, realizing highly reliable integration between the flight component and the robot body, providing a new paradigm for unmanned operation and maintenance of power grids, improving safety and work efficiency, and further reducing operating costs.

[0028] Meanwhile, multi-dimensional motion adjustment components are installed on both sides of the robot. Through the coordinated action of the ranging sensor and the two independent multi-dimensional motion adjustment components, the rotation speed between the two multi-dimensional motion adjustment components is controlled, thereby creating a differential speed between the two multi-dimensional motion adjustment components. While maintaining synchronous lifting, the tilt angle between the robot and the overhead cable is adjusted, thus ensuring that the robot is horizontally positioned with the overhead cable during operation. The robot operates according to requirements, thus preventing problems such as operational instability, functional failure, and equipment damage, and improving the practical application of the power grid. Attached Figure Description

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0030] Figure 1 This is a schematic diagram of the structure of this utility model;

[0031] Figure 2 This is an exploded view of this utility model;

[0032] Figure 3 This is a schematic diagram of the structure of the multi-dimensional motion adjustment component of this utility model;

[0033] Figure 4 This is a utility model Figure 3 Exploded view;

[0034] Figure 5 This is a structural schematic diagram of the flight component of this utility model;

[0035] In the image: 1. The robot itself.

[0036] 2. Flight components; 21. Mounting bracket; 22. Wing; 23. Flight shell; 24. Long opening.

[0037] 3. Multi-dimensional motion adjustment components, 31. Fixing plate, 32. Hooks,

[0038] 33. Rotating assembly; 331. Rotating screw motor; 332. Rotating drive gear; 333. Hook rotating plate; 334. Arc-shaped rotating teeth.

[0039] 34. Lifting assembly; 341. Lifting screw motor; 342. Lifting drive gear; 343. Lifting slide rail assembly; 344. Straight gear section.

[0040] 35. Connecting parts; 36. Pressure bearings;

[0041] 4. Distance sensor. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0043] like Figures 1-5 The above-display aerial cable flying wing robot includes

[0044] Robot body 1, which can be a wrap-around robot, an ice-clearing robot, or an obstacle-clearing robot, etc., as long as it is a robot that can work on suspended cables.

[0045] Flight component 2 is used to propel the robot body 1 into flight, providing aerial maneuver management, enabling the robot to autonomously attach / remove overhead cables, breaking through the traditional limitations of manual / drone-assisted ascent and descent, achieving seamless "air-cable" switching, eliminating manual / drone-assisted links, and reducing operation preparation time. Flight component 2 is encased outside the robot body 1 and locked to the robot body 1. Flight component 2 includes a flight shell 23, and each of the four corners of the flight shell 23 is provided with an outwardly extending mounting bracket 21, and each mounting bracket 21 is equipped with an organic wing 22.

[0046] The multi-dimensional motion adjustment component 3 is used to keep the robot body 1 and the overhead cable horizontally. The multi-dimensional motion adjustment component 3 is installed at both ends of the robot body 1. The multi-dimensional motion adjustment component 3 extends from the flight shell 23 and is hung on the overhead cable. The two multi-dimensional motion adjustment components 3 independently control the attitude of the two ends, ensuring that the robot is horizontally hung on the suspended cable, effectively solving the instability problem caused by cable tilt.

[0047] It also includes a control unit, which is connected to the robot body 1 and the flight component 2 via signal. It is a central processing unit that integrates data from the ranging sensor 4 and coordinates the actions of the flight component 2 and the multi-dimensional motion adjustment component 3.

[0048] like Figure 2 As shown, both ends of the control box of the robot body 1 are equipped with distance measuring sensors 4. The working end of the distance measuring sensor 4 is set upward to measure the distance between the hook 32 in the multi-dimensional motion adjustment component 3 and the overhead cable, and feed it back to the control unit to realize closed-loop control, dynamically adjust the lifting / rotation amount, and ensure that the hook 32 accurately captures the overhead cable.

[0049] like Figure 3 As shown, the multidimensional motion adjustment component 3 includes a fixed plate 31 and a hook 32. The fixed plate 31 is used to connect the robot body 1 and the rotating component 33 and bear mechanical stress. The rotating component 33 is installed on the fixed plate 31, and the lifting component 34 is installed on the rotating component 33. The hook 32 is installed on the lifting component 34, and the hooks 32 on the two multidimensional motion adjustment components 3 are oriented in opposite directions.

[0050] like Figure 4 As shown, the rotating assembly 33 includes a rotating screw motor 331 and a hook rotating plate 333 mounted on a fixed plate 31, and the fixed plate 31 and the hook rotating plate 333 are connected by a connector 35.

[0051] The output end of the rotary screw motor 331 passes through the fixed plate 31, and a rotary drive gear 332 is mounted on it;

[0052] One side edge of the hook rotating plate 333 is provided with an arc-shaped rotating tooth 334 that cooperates with the rotating drive gear 332. This tooth is used to drive the hook rotating plate 333 to rotate within a range of ±180°, thereby achieving precise height control and adjusting the angle between the hook rotating plate 333 and the horizontal plane, which is to compensate for the horizontal deflection angle of the overhead cable.

[0053] like Figure 4 As shown, a pressure bearing 36 is mounted on the shaft of the connector 35 to bear the axial load when the hook 32 rotates and reduce frictional resistance. One end of the pressure bearing 36 abuts against the fixed plate 31, and the other end of the pressure bearing 36 abuts against the hook rotating plate 333.

[0054] like Figure 4 As shown, the lifting assembly 34 includes a lifting screw motor 341 mounted on the hook rotating plate 333 in the rotating assembly 33. The lifting screw motor 341 passes through the hook rotating plate 333 and has a lifting drive gear 342 mounted on its output end.

[0055] A lifting slide rail assembly 343 is installed on the surface of the hook rotating plate 333, and the hook 32 is installed on the lifting slide rail assembly 343 in a vertical direction;

[0056] The hook 32 has a straight toothed part 344 along its length on one side. The lifting drive gear 342 meshes with the straight toothed part 344 to control the vertical movement of the hook 32, adapt to the sag of the overhead cable, and maintain a constant contact pressure between the hook 32 and the overhead cable.

[0057] like Figure 5 As shown, the mounting frame 21 is a rectangular frame structure with rectangular frames extending at the four corners to expand the mounting positions of the wing 22, thereby improving the crosswind resistance. The wing 22 is clipped onto the suspended end of the mounting frame 21, fixing the wing 22 and transmitting lift.

[0058] The wing 22 generates lift, and the length of the wing 22 is less than the length of the mounting frame 21.

[0059] like Figure 5 As shown, the flight shell 23 is a flight shell with an open bottom and a wider top and narrower bottom. The streamlined anti-slip design reduces aerodynamic drag, protects the internal structure, and optimizes flight stability. At the same time, it serves as the mounting base for the robot body 1. A long slot 24 is provided on the top surface of the flight shell 23 along the length direction to make way for the multi-dimensional motion adjustment component 3, avoid mechanical motion interference, and maintain the integrity of the aerodynamic shape.

[0060] Work process:

[0061] Step 1: Drive the entire device to take off via the control unit. When it approaches the cable, the flight component 2 hovers and positions itself.

[0062] Step 2: Two multi-dimensional motion adjustment components 3 extend from the elongated opening 24. The multi-dimensional motion adjustment components 3 actively capture the overhead cable and complete the robot's active mounting through the hook 32.

[0063] Step 3: The robot body 1 walks on the overhead cable and completes the work (obstacle removal, ice removal, inspection, etc.). When the two distance sensors 4 detect that the distance between the bottom of the hook 32 and the overhead cable is inconsistent (that is, when there is a certain tilt angle between the overhead cable and the robot body 1), one multi-dimensional motion adjustment component 3 slowly rises / falls, and the other multi-dimensional motion adjustment component 3 quickly rises / falls, forming a differential speed between the two.

[0064] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An aerial cable flying wing work machine robot, characterized by: include Robot body (1), Flight component (2) is used to drive the robot body (1) to fly. The flight component (2) is covered outside the robot body (1) and locked to the robot body (1). The flight component (2) includes a flight shell (23). Each of the four corners of the flight shell (23) is provided with an outwardly extending mounting bracket (21). Each mounting bracket (21) is equipped with an organic wing (22). The multi-dimensional motion adjustment component (3) is used to keep the robot body (1) and the overhead cable horizontally. The multi-dimensional motion adjustment component (3) is installed at both ends of the robot body (1). The multi-dimensional motion adjustment component (3) extends out from the flight shell (23) and is hung on the overhead cable. The two multi-dimensional motion adjustment components (3) are independently controlled.

2. The overhead cable flying wing work machine robot of claim 1, wherein: The robot body (1) has distance sensors (4) at both ends of its control box. The working end of the distance sensor (4) is set upward to measure the distance between the hook (32) in the multi-dimensional motion adjustment component (3) and the overhead cable.

3. The overhead cable flying wing work machine robot of claim 1, wherein: The multidimensional motion adjustment component (3) includes a fixed plate (31) and a hook (32). A rotating component (33) is installed on the fixed plate (31), and a lifting component (34) is installed on the rotating component (33). The hook (32) is installed on the lifting component (34).

4. An aerial cable flying wing work robot according to claim 3, characterized in that: The rotating assembly (33) includes a rotating screw motor (331) and a hook rotating plate (333) mounted on a fixed plate (31), and the fixed plate (31) and the hook rotating plate (333) are connected by a connector (35); The output end of the rotary screw motor (331) passes through the fixed plate (31) and a rotary drive gear (332) is mounted on it; One side edge of the hook rotating plate (333) is provided with an arc-shaped rotating tooth (334) that cooperates with the rotating drive gear (332) to drive the hook rotating plate (333) to rotate and adjust the angle between the hook rotating plate (333) and the horizontal plane.

5. An aerial cable flying wing work machine robot according to claim 4, characterized in that: The connecting member (35) has a pressure bearing (36) mounted on its shaft. One end of the pressure bearing (36) abuts against the fixing plate (31), and the other end of the pressure bearing (36) abuts against the hook rotating plate (333).

6. An aerial cable flying wing work machine robot according to claim 3, characterized in that: The lifting assembly (34) includes a lifting screw motor (341) mounted on the hook rotating plate (333) in the rotating assembly (33), the lifting screw motor (341) passing through the hook rotating plate (333) and having a lifting drive gear (342) mounted on its output end; A lifting slide rail assembly (343) is installed on the surface of the hook rotating plate (333), and the hook (32) is installed on the lifting slide rail assembly (343) in a vertical direction; The hook (32) has a straight toothed part (344) along its length on one side. The lifting drive gear (342) meshes with the straight toothed part (344) to drive the hook (32) to lift.

7. The overhead cable flying wing work machine robot of claim 1, wherein: The mounting bracket (21) is a rectangular frame structure, and the wing (22) is attached to the suspended end of the mounting bracket (21).

8. The overhead cable flying wing work machine robot of claim 1, wherein: The length of the wing (22) is less than the length of the mounting frame (21).

9. The overhead cable flying wing work machine robot of claim 1, wherein: The flight shell (23) is an open-bottomed, wide-at-the-top and narrow-at-the-bottom flight shell. A long slot (24) is provided on the top surface of the flight shell (23) along the length direction to make way for the multi-dimensional motion adjustment component (3).

10. The overhead cable flying wing work machine robot of claim 1, wherein: It also includes a control unit, which is connected to the robot body (1) and the flight component (2) via signal connection.

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