A power facility maintenance robot

Abstract

The utility model discloses a kind of electric power facility maintenance robots, belong to electric power maintenance robot field, including robot main body, the robot main body is provided with multiple sets of mechanical arm, the both sides of the robot main body are fixedly installed with support seat, and support seat is fixedly installed with support column on, the top of the support column is rotatably installed with sliding card wheel, and the inside of support column is provided with telescopic mechanism, sliding seat is set on the telescopic mechanism, and sliding seat top is connected with connecting seat by elastic buffer component, and driving wheel is rotatably installed on connecting seat;Telescopic mechanism is driven by screw rod transmission by servo motor, the automation of the height of driving wheel can be realized, accurately regulated, different diameter cable can be quickly adapted without manual intervention, effectively solve the problem that fixed wheel pitch robot is narrow in application range, manually regulated robot is low in efficiency, reduce artificial intervention cost and safety risk, meet the maintenance demand of modern electric power network multi-specification cable.

Description

Technical Field

[0001] This utility model relates to the field of power maintenance robot technology, specifically a power facility maintenance robot. Background Technology

[0002] As power systems develop towards intelligence and automation, the inspection and maintenance of power facilities are gradually moving away from traditional manual high-altitude operations and relying on various power maintenance robots to improve operational safety, reduce labor costs, and increase maintenance efficiency. Among these, maintenance robots for overhead cables need to perform a series of operations such as walking, inspection, and fault handling on the cables, making cable adaptability one of the core performance indicators determining their operational capabilities.

[0003] In actual power networks, the specifications of overhead cables vary significantly. Not only do different voltage levels correspond to different cable thicknesses, but even at the same voltage level, the outer diameter of the cable can fluctuate by 5-15mm due to factors such as the laying environment and current carrying capacity requirements. In addition, some old and new cables are mixed in some old line renovation areas, which further exacerbates the diversity of cable diameters.

[0004] However, existing power facility maintenance robots have significant limitations in the design of their cable walking mechanisms, making it difficult to achieve adaptive adjustment for cables of different thicknesses. Currently, most mainstream walking mechanisms adopt a fixed wheelbase or manually adjustable wheelbase structure: fixed wheelbase robots can only adapt to a single specification of cable. When faced with cables of significantly different diameters, either the wheelbase is too wide, resulting in unstable clamping and a risk of swaying or even cable derailment during movement; or the wheelbase is too narrow, making it impossible to engage the cable and thus unable to complete the walking action. While manually adjustable wheelbase robots can adapt to various types of cables, the adjustment process requires manual operation on the ground or at height, which is not only time-consuming and labor-intensive, but also cannot be adjusted in real time during the robot's movement. When encountering a cable with a sudden change in diameter in the line, work still needs to be paused for manual intervention, which seriously affects maintenance efficiency.

[0005] Therefore, this utility model provides a power facility maintenance robot to solve the above problems. Utility Model Content

[0006] (a) Technical problems to be solved

[0007] This utility model provides a power facility maintenance robot, which aims to solve the problems mentioned in the background art.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, this utility model provides the following technical solution: a power facility maintenance robot, comprising a robot body, the robot body being equipped with multiple sets of robotic arms, support seats being fixedly installed on both sides of the robot body, and support columns being fixedly installed on the support seats, a sliding chuck being rotatably installed at the top of the support column, and a telescopic mechanism being provided inside the support column, a sliding seat being provided on the telescopic mechanism, and a connecting seat being connected to the top of the sliding seat through an elastic buffer component, and a drive wheel being rotatably installed on the connecting seat, and a drive mechanism being provided on the inner wall of the connecting seat for driving the drive wheel to rotate, so as to enable the robot to walk along the cable.

[0010] As a preferred technical solution of this application, a limiting groove is provided on one side of the support column, and the telescopic mechanism includes two sets of bearing seats fixedly installed in the support column. A lead screw is rotatably installed between the two sets of bearing seats, and a first gear is fixedly installed at the bottom end of the lead screw. A sliding block is slidably sleeved on the outer surface of the lead screw, and the side of the sliding block away from the lead screw extends out from the limiting groove. The side wall of the sliding block extending out of the limiting groove is fixedly connected to one end of the sliding seat.

[0011] As a preferred technical solution of this application, a top plate is fixedly installed on one side of the support column, and a servo motor is fixedly installed on the top plate. The output shaft of the servo motor passes through the top plate, and a second gear is fixedly installed on the output shaft of the servo motor. The second gear meshes with the first gear.

[0012] As a preferred technical solution of this application, the elastic buffer assembly includes multiple sets of dampers fixedly installed on the top of the sliding seat. The multiple sets of dampers are distributed in a rectangular array, and a connecting seat is fixedly installed on the top of the multiple sets of dampers. A spring is sleeved on the outer surface of each set of dampers, and the two ends of the spring abut against the top of the sliding seat and the bottom of the connecting seat, respectively.

[0013] As a preferred technical solution of this application, the drive mechanism includes a first motor fixedly installed inside the first motor and a second grooved wheel fixedly connected to the drive wheel. The first grooved wheel is fixedly installed on the output shaft of the first motor, and a synchronous belt is sleeved on the first grooved wheel and the second grooved wheel.

[0014] As a preferred technical solution of this application, a connecting plate is fixedly installed on the outer side of the connecting seat. The connecting plate is used to protect the first motor, and a second protective shell is fixedly installed on one side of the connecting seat. The second protective shell is used to protect the first grooved wheel and the second grooved wheel.

[0015] As a preferred technical solution of this application, a first protective shell is fixedly installed on the connecting seat, and the first protective shell is used to protect the servo motor.

[0016] (III) Beneficial Effects

[0017] The telescopic mechanism driven by a servo motor and screw transmission enables automated and precise adjustment of the drive wheel height. It can quickly adapt to cables of different diameters without manual intervention, effectively solving the problems of narrow applicability of fixed wheel gauge robots and low efficiency of manually adjustable robots. It reduces the cost and safety risks of manual intervention and meets the maintenance needs of multi-specification cables in modern power networks. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the first overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the second overall structure of the present invention;

[0020] Figure 3 This is a schematic diagram of the first integral structure of the support column of this utility model;

[0021] Figure 4 This is a schematic diagram of the second integral structure of the support column of this utility model;

[0022] Figure 5 for Figure 3 Enlarged structural diagram at point A in the middle;

[0023] Figure 6 for Figure 4 Enlarged structural diagram at point B.

[0024] In the diagram: 1. Robot body; 11. Robotic arm; 2. Support base; 3. Support column; 31. Sliding roller; 32. Top plate; 33. First protective shell; 34. Limiting groove; 4. Sliding seat; 5. Drive wheel; 51. Second protective shell; 52. Connecting seat; 6. Lead screw; 61. Sliding block; 62. Bearing seat; 63. First gear; 7. Servo motor; 71. Second gear; 8. Damper; 81. Spring; 9. First motor; 91. First grooved wheel; 92. Synchronous belt; 93. Second grooved wheel; 94. Connecting plate. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] This utility model provides a power facility maintenance robot, such as Figure 1 — Figure 6As shown, the robot includes a main body 1, which is equipped with multiple sets of robotic arms 11. Support seats 2 are fixedly installed on both sides of the main body 1, and support columns 3 are fixedly installed on the support seats 2. The support seats 2 provide a stable installation position for the support columns 3, enhancing the balance and stability of the entire robot structure. A sliding wheel 31 is rotatably installed on the top of the support column 3. The design of the sliding wheel 31 allows the robot to easily engage with the cable and slide smoothly on the cable. The support column 3 has a telescopic mechanism inside, and a sliding seat 4 is installed on the telescopic mechanism. The top of the sliding seat 4 is connected to a connecting seat 52 through an elastic buffer component. A drive wheel 5 is rotatably installed on the connecting seat 52. A drive mechanism is provided on the inner wall of the connecting seat 52 to drive the drive wheel 5 to rotate, so that the robot can walk along the cable.

[0027] The support column 3 has a limiting groove 34 on one side, which precisely guides and restricts the movement of the sliding block 61, ensuring that the sliding block 61 can only move in a straight line in a specific direction. The telescopic mechanism includes two sets of bearing seats 62 fixedly installed in the support column 3. A lead screw 6 is rotatably installed between the two sets of bearing seats 62, and a first gear 63 is fixedly installed at the bottom end of the lead screw 6. A sliding block 61 is slidably sleeved on the outer surface of the lead screw 6. The cooperation between the lead screw 6 and the sliding block 61 converts the rotational motion of the lead screw 6 into the linear motion of the sliding block 61. The side of the sliding block 61 away from the lead screw 6 extends out from the limiting groove 34, and the side wall of the sliding block 61 extending out of the limiting groove 34 is fixedly connected to one end of the sliding seat 4.

[0028] A top plate 32 is fixedly installed on one side of the support column 3, and a servo motor 7 is fixedly installed on the top plate 32. The output shaft of the servo motor 7 passes through the top plate 32, and a second gear 71 is fixedly installed on the output shaft of the servo motor 7. The second gear 71 meshes with the first gear 63. By controlling the operation of the servo motor 7, the rotation speed and direction of the lead screw 6 can be precisely controlled, thereby precisely adjusting the position of the sliding block 61 and the drive wheel 5. This enables the robot to quickly and accurately adapt to different cables, improving work efficiency and operational precision.

[0029] The elastic buffer assembly includes multiple sets of dampers 8 fixedly installed on the top of the sliding seat 4. The multiple sets of dampers 8 are arranged in a rectangular array, and a connecting seat 52 is fixedly installed on the top of the multiple sets of dampers 8. Springs 81 are sleeved on the outer surface of each set of dampers 8. The two ends of the springs 81 abut against the top of the sliding seat 4 and the bottom of the connecting seat 52, respectively. The rectangular array of multiple sets of dampers 8 can evenly disperse and absorb the impact force and vibration energy received by the robot during walking, providing a stable buffering effect. The springs 81 and dampers 8 work together. When the springs 81 are subjected to external force, they undergo elastic deformation to absorb and store energy. When the external force disappears, the springs 81 return to their original shape and release energy. The dampers 8 consume the energy of the springs 81 during vibration through their internal damping medium, suppressing the repeated vibration of the springs 81, so that the connecting seat 52 and the drive wheel 5 can quickly return to a stable state.

[0030] The drive mechanism includes a first motor 9 fixedly installed inside the first motor 9 and a second grooved wheel 93 fixedly connected to the drive wheel 5. The first grooved wheel 91 is fixedly installed on the output shaft of the first motor 9, and a synchronous belt 92 is sleeved on the first grooved wheel 91 and the second grooved wheel 93.

[0031] A connecting plate 94 is fixedly installed on the outer side of the connecting seat 52 to protect the first motor 9. A second protective shell 51 is fixedly installed on one side of the connecting seat 52 to protect the first grooved wheel 91 and the second grooved wheel 93. The first motor 9 serves as the power source for the rotation of the drive wheel 5, providing power for the robot to move along the cable. The first grooved wheel 91 and the second grooved wheel 93 are connected by a synchronous belt 92, forming a smooth and accurate transmission method. The synchronous belt 92 transmission has the advantages of accurate transmission ratio, no slippage, and high transmission efficiency, which can ensure that the power of the first motor 9 is accurately transmitted to the drive wheel 5, so that the drive wheel 5 rotates at a predetermined speed and direction, thereby enabling the robot to move stably and reliably along the cable.

[0032] The first protective shell 33 is fixedly installed on the connecting seat 52, and the first protective shell 33 is used to protect the servo motor 7. The second protective shell 51 effectively protects the first grooved wheel 91, the second grooved wheel 93, and the synchronous belt 92, avoiding problems such as jamming and wear caused by foreign objects entering between the transmission components, and ensuring the stability and reliability of the drive mechanism transmission.

[0033] Working principle: First, carefully engage the sliding rollers 31 at the top of the support columns 3 on both sides of the robot body 1 with the cable. The sliding rollers 31 ensure a stable initial connection with the cable, providing basic support for the subsequent movement and operation of the robot.

[0034] Because the diameter and specifications of cables for different power facilities vary, in order for the robot to adapt to various cables and walk stably, the height of the drive wheel 5 needs to be adjusted. By controlling the start of the servo motor 7, the output shaft of the servo motor 7 drives the second gear 71 to rotate. Since the second gear 71 meshes with the first gear 63, the rotation of the second gear 71 will drive the first gear 63 to rotate synchronously. The first gear 63 is fixedly installed at the bottom of the lead screw 6, so the lead screw 6 will rotate between the two sets of bearing seats 62 as the first gear 63 rotates.

[0035] During the rotation of the lead screw 6, the sliding block 61 is limited by the thread action of the lead screw 6 and the limiting groove 34, and can only move up and down along the axial direction of the lead screw 6. The movement of the sliding block 61 drives the sliding seat 4 to move up and down synchronously, which in turn drives the connecting seat 52 and the drive wheel 5 mounted on the connecting seat 52 to move up and down through the elastic buffer component. Through this adjustment method, the distance between the drive wheel 5 and the sliding chuck 31 can be adapted to cables of different diameters, ensuring that the drive wheel 5 and the sliding chuck 31 can fit tightly against the cable, thus ensuring the stable movement of the robot.

[0036] When the robot encounters undulations or swaying of the cable during its movement, the connecting seat 52 will be displaced vertically by external force. At this time, the spring 81 will undergo elastic deformation, absorbing and releasing energy, thus acting as a buffer and reducing the impact of external force on the robot body. At the same time, the damper 8 can dissipate the energy during the vibration of the spring 81, suppress the repeated vibration of the spring 81, and allow the connecting seat 52 to return to a stable state as soon as possible. This ensures that the drive wheel 5 and the cable always maintain stable contact, improving the smoothness and reliability of the robot's movement.

[0037] Once the height of the drive wheel 5 is adjusted and the robot is in a stable state, the walking drive mechanism can be activated to move the robot along the cable, driving the first motor 9. Its output shaft drives the first grooved wheel 91 to rotate. The rotation of the first grooved wheel 91 is transmitted to the second grooved wheel 93 through the synchronous belt 92, causing the second grooved wheel 93 to rotate synchronously. The second grooved wheel 93 is fixedly connected to the drive wheel 5, so the rotation of the second grooved wheel 93 will drive the drive wheel 5 to rotate. Since the sliding chuck 31 is already engaged on the cable, the friction generated by the rotation of the drive wheel 5 will push the robot body 1 forward or backward along the cable, thereby realizing the robot's walking on the power facility cable.

[0038] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A power facility maintenance robot, comprising a robot body (1), wherein the robot body (1) is provided with multiple sets of robotic arms (11), characterized in that: The robot body (1) is fixedly installed with support bases (2) on both sides, and support columns (3) are fixedly installed on the support bases (2). A sliding chuck (31) is rotatably installed on the top of the support column (3), and a telescopic mechanism is provided inside the support column (3). A sliding seat (4) is provided on the telescopic mechanism, and a connecting seat (52) is connected to the top of the sliding seat (4) through an elastic buffer component. A drive wheel (5) is rotatably installed on the connecting seat (52). The inner wall of the connecting seat (52) is provided with a driving mechanism for driving the drive wheel (5) to rotate so that the robot can walk along the cable.

2. The power facility maintenance robot according to claim 1, characterized in that: A limiting groove (34) is provided on one side of the support column (3). The telescopic mechanism includes two sets of bearing seats (62) fixedly installed in the support column (3). A lead screw (6) is rotatably installed between the two sets of bearing seats (62). A first gear (63) is fixedly installed at the bottom end of the lead screw (6). A sliding block (61) is slidably sleeved on the outer surface of the lead screw (6). The side of the sliding block (61) away from the lead screw (6) extends out from the limiting groove (34). The side wall of the sliding block (61) extending out of the limiting groove (34) is fixedly connected to one end of the sliding seat (4).

3. The power facility maintenance robot according to claim 2, characterized in that: A top plate (32) is fixedly installed on one side of the support column (3), and a servo motor (7) is fixedly installed on the top plate (32). The output shaft of the servo motor (7) passes through the top plate (32), and a second gear (71) is fixedly installed on the output shaft of the servo motor (7). The second gear (71) meshes with the first gear (63).

4. The power facility maintenance robot according to claim 1, characterized in that: The elastic buffer assembly includes multiple sets of dampers (8) fixedly installed on the top of the sliding seat (4). The multiple sets of dampers (8) are arranged in a rectangular array, and the top of the multiple sets of dampers (8) are fixedly installed with a connecting seat (52). The outer surface of the multiple sets of dampers (8) is fitted with a spring (81), and the two ends of the spring (81) abut against the top of the sliding seat (4) and the bottom of the connecting seat (52) respectively.

5. The power facility maintenance robot according to claim 1, characterized in that: The drive mechanism includes a first motor (9) fixedly installed inside the first motor (9) and a second grooved wheel (93) fixedly connected to the drive wheel (5). The first grooved wheel (91) is fixedly installed on the output shaft of the first motor (9), and a synchronous belt (92) is sleeved on the first grooved wheel (91) and the second grooved wheel (93).

6. The power facility maintenance robot according to claim 1, characterized in that: A connecting plate (94) is fixedly installed on the outside of the connecting seat (52). The connecting plate (94) is used to protect the first motor (9). A second protective shell (51) is fixedly installed on one side of the connecting seat (52). The second protective shell (51) is used to protect the first grooved wheel (91) and the second grooved wheel (93).

7. A power facility maintenance robot according to claim 3, characterized in that: The first protective shell (33) is fixedly installed on the connecting seat (52), and the first protective shell (33) is used to protect the servo motor (7).

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