An automated power line inspection robot

Abstract

This utility model relates to an automatic power line inspection robot. It solves the technical problem of power line damage caused by excessive weight of existing robots. It includes a base plate equipped with a camera, two vertically arranged guide rails horizontally movable at the upper end of the base plate, and horizontally parallel moving rollers on corresponding sides of each guide rail, with at least one moving roller vertically movably connected to its corresponding guide rail. A clamping mechanism is provided on the base plate to drive the two guide rails and the two moving rollers to move closer or further apart, and the moving rollers are connected to a movement drive mechanism. A weight-reducing shell is connected to the lower end of the base plate through an elastic damping shock absorption mechanism, and a multi-paddle lift-support weight-reducing mechanism is provided on the weight-reducing shell. The advantages are: the multi-paddle lift-support weight-reducing mechanism generates an upward airflow, reducing the pressure of the robot on the power line and reducing wear on the power line; the clamping mechanism ensures the stability of the robot when clamped on the power line.

Description

Technical Field

[0001] This utility model belongs to the technical field of circuit testing equipment, specifically relating to an automatic power line inspection robot. Background Technology

[0002] In modern power systems, transmission lines, as the core carriers of power transmission, play a crucial role in ensuring the power supply for social production and daily life through their safe and stable operation. With continuous technological advancements, power line inspection robots have emerged. These devices integrate high-precision sensors, high-definition imaging systems, and autonomous navigation modules, enabling remote, precise, and efficient monitoring of transmission lines. They can autonomously complete inspection tasks in complex environments, improving inspection efficiency and ensuring inspection effectiveness. However, existing power line inspection robots, due to their significant weight and design of suspending themselves on power lines, exert considerable pressure on the conductors. This continuous physical pressure can easily cause conductor wear, distortion, and even breakage, directly threatening the safety and stable operation of power lines. This necessitates more frequent maintenance and incurs corresponding costs, and may even trigger power outages or accidents, resulting in excessively high usage risks. Summary of the Invention

[0003] The purpose of this invention is to address the above-mentioned problems by providing an automatic power line inspection robot.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: An automatic power line inspection robot includes a base plate equipped with a camera. Two vertically arranged guide rails are horizontally movably mounted on the upper surface of the base plate. Horizontally and vertically parallel moving rollers are respectively mounted on opposite sides of the guide rails, with at least one moving roller vertically movably connected to the corresponding guide rail. A clamping mechanism is provided on the base plate to drive the two guide rails closer together or further apart, and to drive the two moving rollers closer together or further apart. The moving rollers are connected to a moving drive mechanism. A weight-reducing shell is connected to the lower end of the base plate via an elastic damping shock absorption mechanism. The weight-reducing shell is equipped with a multi-paddle lift mechanism. The robot features a weight-reducing mechanism with a control circuit board inside the base plate. This control circuit board is connected to the clamping mechanism, the moving drive mechanism, and the multi-propeller lifting and weight-reducing mechanism. The control circuit board also includes a signal receiving module for remote control. The clamping mechanism allows two guide rails to hold the power lines, facilitating the base plate's placement on the power lines. The moving drive mechanism enables the base plate to slide on the power lines, and a camera monitors the power lines. An elastic damping shock absorption mechanism reduces vibrations generated by the multi-propeller lifting and weight-reducing mechanism, improving detection accuracy. The weight-reducing outer shell provides protection for the multi-propeller lifting and weight-reducing mechanism.

[0005] In the aforementioned automatic power line inspection robot, the multi-propeller lift and weight reduction mechanism includes several propellers disposed at the bottom of the weight reduction shell. A first motor is disposed at the top of the weight reduction shell, and a rotating shaft is fixed to the output shaft of the first motor. The rotating shaft passes through a shaft hole at the top of the weight reduction shell and is connected to a first gear located inside the weight reduction shell. Several second gears are disposed on the outer circumference of the first gear and mesh with the first gear. Each second gear corresponds to one of the propellers and the two are connected by a magnetic coupling transmission assembly. The first motor can drive the first gear and the second gears to rotate, and the second gears can cause the propellers to rotate through the magnetic coupling transmission assembly, thereby generating an upward airflow to reduce the pressure of the robot on the power line and effectively reduce damage to the power line.

[0006] In the aforementioned automatic power line inspection robot, the magnetic coupling transmission assembly includes an outer magnetic rotor fixedly inserted into the center of the second gear. The bottom of the weight-reducing outer shell is provided with several protective shells that can cover the outside of the propeller. An inner magnetic rotor is connected to the propeller. The inner magnetic rotor passes through the protective shell and extends into the weight-reducing outer shell, and is magnetically connected to the outer magnetic rotor. The rotation of the outer magnetic rotor can drive the inner magnetic rotor to rotate synchronously through magnetic force, thereby driving the propeller to rotate. The protective shell can protect the propeller and ensure the stable operation of the propeller.

[0007] In the aforementioned automatic power line inspection robot, the clamping mechanism includes a horizontal clamping component disposed between two guide rails and a base plate, and a vertical clamping component disposed between at least one movable roller and a corresponding guide rail. The horizontal and vertical clamping components ensure the robot's clamping effect on the power line and guarantee the robot's clamping stability on the power line.

[0008] In the aforementioned automatic power line inspection robot, the horizontal clamping assembly includes a slide groove on the top of the base plate. The lower end of the guide rail is slidably disposed in the slide groove, and a bidirectional threaded rod is threaded through the slide groove and connected to the guide rail. One end of the bidirectional threaded rod extends to the outside of the base plate and is connected to a second motor. The bidirectional threaded rod enables the two guide rails to move closer and further apart under the drive of the second motor, ensuring the clamping effect of the guide rails on the power line. The slide groove facilitates the placement of the bidirectional threaded rod.

[0009] In the aforementioned automatic power line inspection robot, the lower end of the guide rail is provided with a sliding block that is slidably disposed in the slide groove. The bidirectional threaded rod has two threaded sections with opposite threads, and the sliding block is threadedly connected to the two threaded sections respectively. The sliding direction of the sliding block can be controlled by the different reverse threaded sections, which facilitates the control of the clamping direction of different guide rails and ensures the clamping effect.

[0010] In the aforementioned automatic power line inspection robot, the vertical clamping assembly includes a vertical groove vertically arranged on a guide rail. A slider is provided within each vertical groove, and two movable rollers are rotatably arranged on opposite sides of the sliders. The slider in one of the guide rails is fixed to the vertical groove, while the slider in the remaining guide rail is vertically slidably connected to the vertical groove. A cylinder is located at the upper end of one of the guide rails, and a piston rod is fixedly installed at the output end of the cylinder. The piston rod is connected to the slider sliding vertically within the vertical groove. The vertical groove guides and limits the slider, ensuring that the movable rollers can only move vertically within the vertical groove. The displacement of the slider can be controlled by the cylinder and piston rod, thereby controlling the movable rollers to perform displacement clamping.

[0011] In the aforementioned automatic power line inspection robot, the mobile drive mechanism includes a third motor fixedly mounted on one side of two sliders that are far apart from each other. The output end of the third motor passes through the sliders and is connected to one end of the moving roller. The third motor can drive the moving roller to rotate. When the robot is clamped and connected to the power line through the horizontal clamping assembly and the vertical clamping assembly, the rotation of the moving roller on the power line can drive the robot to perform displacement detection on the power line.

[0012] In the aforementioned automatic power line inspection robot, vertical grooves on two guide rails are arranged correspondingly to each other, and the width of the vertical grooves is greater than the diameter of the moving rollers. When the guide rails are clamped by the horizontal clamping assembly, the two moving rollers approach each other and pass through the vertical grooves respectively.

[0013] In the aforementioned automatic power line inspection robot, the elastic damping shock absorption mechanism includes several dampers disposed between the base plate and the weight-reducing shell. Each damper is fitted with a spring whose two ends are respectively connected to the base plate and the weight-reducing shell. The dampers and springs can reduce vibration and improve the robot's operational stability.

[0014] Compared with existing technologies, the advantages of this utility model are:

[0015] 1. The horizontal and vertical clamping components ensure the stability of the robot's clamping on the power line.

[0016] 2. The robot can be slidably positioned on the power line by the mobile drive mechanism, and the sliding detection of the power line can be performed by the camera, thus improving the detection efficiency.

[0017] 3. The multi-propeller lifting and weight reduction mechanism can generate an upward airflow, which reduces the pressure of the robot on the power lines and reduces the wear and tear on the power lines. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model.

[0019] Figure 2 This is an exploded view of the clamping mechanism in this utility model.

[0020] Figure 3 This is a structural cross-sectional view of the elastic damping shock absorption mechanism in this utility model.

[0021] Figure 4 This is a schematic diagram of the multi-blade lifting and weight reduction mechanism in this utility model.

[0022] Figure 5 This is a cross-sectional view of the magnetic coupling transmission component in this utility model.

[0023] In the diagram: Base plate 1, Camera 11, Guide rail 2, Sliding block 21, Moving roller 3, Clamping mechanism 4, Horizontal clamping assembly 41, Slide groove 411, Bidirectional threaded rod 412, Second motor 413, Threaded section 414, Vertical clamping assembly 42, Vertical groove 421, Slider 422, Cylinder 423, Piston rod 424, Moving drive mechanism 5, Third motor 51, Elastic damping shock absorption mechanism 6, Damper 61, Spring 62, Weight reduction shell 7, Shaft hole 71, Protective shell 72, Multi-propeller lift and weight reduction mechanism 8, Propeller 81, First motor 82, Rotating shaft 83, First gear 84, Second gear 85, Magnetic coupling transmission assembly 9, Outer magnetic rotor 91, Inner magnetic rotor 92. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0025] like Figure 1 , Figure 3 , Figure 4 , Figure 5As shown, this automatic power line inspection robot includes a base plate 1 equipped with a camera 11. Two vertically arranged guide rails 2 are horizontally movable on the upper end of the base plate 1. Horizontally and vertically parallel moving rollers 3 are respectively provided on opposite sides of the guide rails 2, and at least one moving roller 3 is vertically movably connected to the corresponding guide rail 2. A clamping mechanism 4 is provided on the base plate 1 to drive the two guide rails 2 closer together or further apart, and to drive the two moving rollers 3 closer together or further apart. The moving rollers 3 are connected to a moving drive mechanism 5. A weight-reducing shell 7 is connected to the lower end of the base plate 1 via an elastic damping shock absorption mechanism 6. A multi-propeller lifting weight-reducing mechanism 8 is provided on the weight-reducing shell 7. A control circuit board is located inside the base plate 1. The control circuit board is connected to the clamping mechanism 4, the moving drive mechanism 5, and the multi-propeller lifting and weight reduction mechanism 8. The control circuit board is equipped with a signal receiving module, which facilitates remote control of the robot by the user. The clamping mechanism 4 can clamp the power line with two guide rails 2, which makes it easy for the base plate 1 to be placed on the power line. The moving drive mechanism 5 can make the base plate 1 slide on the power line and detect the power line through the camera 11. The elastic damping shock absorption mechanism 6 can reduce the vibration generated by the multi-propeller lifting and weight reduction mechanism 8, improve the detection effect, and the weight reduction shell 7 can protect the multi-propeller lifting and weight reduction mechanism 8.

[0026] Specifically, the multi-propeller lift and weight reduction mechanism 8 includes several propellers 81 disposed at the bottom of the weight reduction housing 7. A first motor 82 is disposed at the top of the weight reduction housing 7. The output shaft of the first motor 82 is fixed with a rotating shaft 83. The rotating shaft 83 passes through the shaft hole 71 at the top of the weight reduction housing 7 and is connected to a first gear 84 located inside the weight reduction housing 7. Several second gears 85 are disposed on the outer circumference of the first gear 84 and mesh with the first gear 84. Each second gear 85 corresponds to one propeller 81 and the two are connected by a magnetic coupling transmission component 9. The first motor 82 can drive the first gear 84 and the second gears 85 to rotate. The second gears 85 can cause the propellers 81 to rotate through the magnetic coupling transmission component 9, thereby generating an upward airflow to reduce the pressure of the robot on the power line and effectively reduce the damage to the power line.

[0027] The magnetic coupling transmission assembly 9 includes an outer magnetic rotor 91 fixedly inserted into the center of the second gear 85. The bottom of the weight-reducing housing 7 is provided with several protective shells 72 that can cover the outside of the propeller 81. An inner magnetic rotor 92 is connected to the propeller 81. The inner magnetic rotor 92 passes through the protective shell 72 and extends into the weight-reducing housing 7 and is magnetically connected to the outer magnetic rotor 91. The rotation of the outer magnetic rotor 91 can drive the inner magnetic rotor 92 to rotate synchronously through magnetic force, thereby driving the propeller 81 to rotate. The protective shell 72 can protect the propeller 81 and ensure the stable operation of the propeller 81.

[0028] like Figure 1 , Figure 2 As shown, the clamping mechanism 4 includes a horizontal clamping component 41 disposed between two guide rails 2 and a base plate 1, and a vertical clamping component 42 disposed between at least one moving roller 3 and a corresponding guide rail 2. The horizontal clamping component 41 and the vertical clamping component 42 can ensure the clamping effect of the robot on the power line and ensure the clamping stability of the robot on the power line.

[0029] Furthermore, the horizontal clamping assembly 41 includes a slide groove 411 disposed on the top of the base plate 1. The lower end of the guide rail 2 is slidably disposed in the slide groove 411, and a bidirectional threaded rod 412 threadedly connected to the guide rail 2 is disposed in the slide groove 411. One end of the bidirectional threaded rod 412 extends to the outside of the base plate 1 and is connected to the second motor 413. The bidirectional threaded rod 412 enables the two guide rails 2 to move closer and further away from each other under the drive of the second motor 413, ensuring the clamping effect of the guide rails 2 on the power line. The slide groove 411 facilitates the placement of the bidirectional threaded rod 412.

[0030] The guide rail 2 has a sliding block 21 slidably disposed in the slide groove 411 at its lower end. The bidirectional threaded rod 412 has two threaded sections 414 with opposite threads, and the sliding block 21 is threadedly connected to the two threaded sections 414 respectively. The sliding direction of the sliding block 21 can be controlled by the different reversed threaded sections 414, which makes it easy to control the clamping direction of different guide rails 2 and ensure the clamping effect.

[0031] Combination Figure 1 , Figure 2 As shown, the vertical clamping assembly 42 includes a vertical groove 421 vertically arranged on the guide rail 2. A slider 422 is provided in each vertical groove 421. Two moving rollers 3 are rotatably arranged on opposite sides of the slider 422. The slider 422 in one of the guide rails 2 is fixed to the vertical groove 421, while the slider 422 in the remaining guide rail 2 is vertically slidably connected to the vertical groove 421. A cylinder 423 is provided at the upper end of one of the guide rails 2. A piston rod 424 is fixedly installed at the output end of the cylinder 423. The piston rod 424 is connected to the slider 422 sliding vertically in the vertical groove 421. The vertical groove 421 can guide and limit the slider 422, ensuring that the moving rollers 3 can only move vertically on the vertical groove 421. The displacement of the slider 422 can be controlled by the cylinder 423 and the piston rod 424, thereby controlling the displacement clamping of the moving rollers 3.

[0032] The mobile drive mechanism 5 includes a third motor 51 fixedly mounted on one side of the two sliders 422 that are far apart from each other. The output end of the third motor 51 passes through the slider 422 and is connected to one end of the moving roller 3. The third motor 51 can drive the moving roller 3 to rotate. When the robot is clamped and connected to the power line through the horizontal clamping assembly 41 and the vertical clamping assembly 42, the rotation of the moving roller 3 on the power line can drive the robot to perform displacement detection on the power line.

[0033] Specifically, the vertical grooves 421 on the two guide rails 2 are arranged correspondingly to each other, and the width of the vertical grooves 421 is greater than the diameter of the moving rollers 3. When the guide rails 2 are clamped by the horizontal clamping assembly 41, the two moving rollers 3 approach each other and pass through the vertical grooves 421 respectively.

[0034] Combination Figure 3 , Figure 4 As shown, the elastic damping shock absorption mechanism 6 includes several dampers 61 disposed between the base plate 1 and the weight-reducing shell 7. Springs 62 with their two ends connected to the base plate 1 and the weight-reducing shell 7 are sleeved on the dampers 61. Vibration can be reduced and the stability of robot operation can be improved through the dampers 61 and the springs 62.

[0035] The principle of this embodiment is as follows: the horizontal clamping component 411 and the vertical clamping component 412 can ensure that the base plate 1 is stably set on the power line, and the mobile drive mechanism 5 can enable the robot to slide on the power line. The camera on the base plate 1 can detect the power line during the sliding process, improving the detection efficiency. The multi-propeller lift and weight reduction mechanism 8 can reduce the pressure of the robot on the power line, effectively reducing damage to the power line. The elastic damping shock absorption mechanism 6 can effectively reduce the vibration generated by the multi-propeller lift and weight reduction mechanism 8, ensuring the operational stability of the robot.

[0036] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

[0037] Although this document frequently uses terms such as base plate 1, camera 11, guide rail 2, sliding block 21, moving roller 3, clamping mechanism 4, horizontal clamping assembly 41, slide groove 411, bidirectional threaded rod 412, second motor 413, threaded section 414, vertical clamping assembly 42, vertical groove 421, slider 422, cylinder 423, piston rod 424, moving drive mechanism 5, third motor 51, elastic damping shock absorption mechanism 6, damper 61, spring 62, weight reduction shell 7, shaft hole 71, protective shell 72, multi-propeller lift and weight reduction mechanism 8, propeller 81, first motor 82, rotating shaft 83, first gear 84, second gear 85, magnetic coupling transmission assembly 9, outer magnetic rotor 91, inner magnetic rotor 92, etc., the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any additional limitation would contradict the spirit of this utility model.

Claims

1. An automatic power line inspection robot, comprising a base plate (1) equipped with a camera (11), characterized in that, The upper end of the base plate (1) is horizontally movably provided with two vertically arranged guide rails (2). On the corresponding side of the guide rails (2), there are horizontally arranged and vertically parallel moving rollers (3), and at least one moving roller (3) is vertically movably connected to the corresponding guide rail (2). The base plate (1) is provided with a clamping mechanism (4) that can drive the two guide rails (2) to move closer or further away from each other and drive the two moving rollers (3) to move closer or further away from each other. The moving rollers (3) are connected to a moving drive mechanism (5). The lower end of the base plate (1) is connected to a weight-reducing shell (7) through an elastic damping shock absorption mechanism (6). The weight-reducing shell (7) is provided with a multi-paddle lift weight-reducing mechanism (8).

2. The automatic power line inspection robot according to claim 1, characterized in that, The multi-propeller lift and weight reduction mechanism (8) includes several propellers (81) disposed at the bottom of the weight reduction housing (7). The top of the weight reduction housing (7) is provided with a first motor (82). The output shaft of the first motor (82) is fixed with a rotating shaft (83). The rotating shaft (83) passes through the shaft hole (71) at the top of the weight reduction housing (7) and is connected to a first gear (84) located inside the weight reduction housing (7). The first gear (84) is provided with several second gears (85) that mesh with the first gear (84) on its outer circumference. The second gears (85) correspond one-to-one with each propeller (81) and are connected to each other through a magnetic coupling transmission assembly (9).

3. The automatic power line inspection robot according to claim 2, characterized in that, The magnetic coupling transmission assembly (9) includes an outer magnetic rotor (91) fixedly inserted into the center of the second gear (85). The bottom of the weight-reducing shell (7) is provided with several protective shells (72) that can cover the outside of the propeller (81). An inner magnetic rotor (92) is connected to the propeller (81). The inner magnetic rotor (92) passes through the protective shell (72) and extends into the weight-reducing shell (7) and is magnetically connected to the outer magnetic rotor (91).

4. An automatic power line inspection robot according to claim 1, 2, or 3, characterized in that, The clamping mechanism (4) includes a horizontal clamping assembly (41) disposed between two guide rails (2) and a base plate (1) and a vertical clamping assembly (42) disposed between at least one moving roller (3) and the corresponding guide rail (2).

5. The automatic power line inspection robot according to claim 4, characterized in that, The horizontal clamping assembly (41) includes a slide groove (411) on the top of the base plate (1), the lower end of the guide rail (2) is slidably disposed in the slide groove (411), and a bidirectional threaded rod (412) threadedly connected to the guide rail (2) is inserted in the slide groove (411), and one end of the bidirectional threaded rod (412) extends to the outside of the base plate (1) and is connected to the second motor (413).

6. The automatic power line inspection robot according to claim 5, characterized in that, The lower end of the guide rail (2) is provided with a sliding block (21) that is slidably disposed in the slide groove (411). The bidirectional threaded rod (412) has two threaded sections (414) with opposite threads, and the sliding block (21) is threadedly connected to the two threaded sections (414) respectively.

7. The automatic power line inspection robot according to claim 4, characterized in that, The vertical clamping assembly (42) includes a vertical groove (421) vertically arranged on the guide rail (2). A slider (422) is provided in the vertical groove (421). Two moving rollers (3) are rotatably arranged on the corresponding side of the slider (422). The slider (422) in one of the guide rails (2) is fixed to the vertical groove (421), and the slider (422) in the remaining guide rail (2) is vertically slidably connected to the vertical groove (421). A cylinder (423) is provided at the upper end of one of the guide rails (2). A piston rod (424) is fixedly installed at the output end of the cylinder (423). The piston rod (424) is connected to the slider (422) sliding vertically in the vertical groove (421).

8. The automatic power line inspection robot according to claim 7, characterized in that, The moving drive mechanism (5) includes a third motor (51) fixedly installed on one side of the two sliders (422) that are far apart from each other. The output end of the third motor (51) passes through the slider (422) and is connected to one end of the moving roller (3).

9. An automatic power line inspection robot according to claim 7, characterized in that, The vertical grooves (421) on the two guide rails (2) are arranged correspondingly to each other, and the width of the vertical grooves (421) is greater than the diameter of the moving roller (3).

10. The automatic power line inspection robot according to claim 1, characterized in that, The elastic damping shock absorption mechanism (6) includes several dampers (61) disposed between the base plate (1) and the weight-reducing shell (7), and springs (62) with their two ends connected to the base plate (1) and the weight-reducing shell (7) are sleeved on the dampers (61).

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