Walking mechanism equipotential structure, walking mechanism and detection robot

Abstract

The utility model discloses a kind of walking mechanism equipotential structure and walking mechanism and detection robot, the walking mechanism equipotential structure includes the metal brush fixedly installed in walking mechanism front, metal brush includes wire, clamp and connecting frame, multiple wires are fixedly installed on clamp, clamp is installed with connecting frame, connecting frame is fixedly connected with walking mechanism, can make wire and overhead line contact, two walking mechanisms are fixedly installed in robot body front and rear respectively.The utility model is contacted by metal brush and overhead line, reduce potential difference risk, effectively prevent detection robot from arc discharge due to potential difference in walking process, avoid the damage or short-circuit fault of insulating layer caused by arc, protect the safety of detection equipment on detection robot, significantly improve patrol inspection safety and stability.

Description

Technical Field

[0001] This utility model relates to the technical field of overhead line detection equipment, specifically to an equipotential structure for a walking mechanism, a walking mechanism, and a detection robot. Background Technology

[0002] With the continuous development of power systems, the inspection and maintenance of overhead lines have become increasingly important. To ensure the safe and stable operation of power systems, overhead line inspections need to be conducted regularly. Traditional overhead line inspections mainly rely on manual inspections or observations using ground-based auxiliary equipment. Manual inspections are inefficient, requiring significant manpower, time, and resources. Inspectors must walk along the overhead lines, and due to terrain and environmental limitations, rapid and comprehensive inspections are difficult, especially in remote mountainous areas or in inclement weather, resulting in high workload and significantly reduced efficiency. Furthermore, manual inspections are highly dangerous; inspectors face the risk of electric shock when approaching or touching high-voltage live lines, and falls due to equipment malfunctions or operational errors are possible when working at heights. In addition, manual inspections and ground observations are conducted at considerable distances from the lines, limiting visibility and making it difficult to accurately identify minor damage, internal defects, and hidden faults. Insufficient inspection accuracy easily leads to missed detections and misjudgments, posing potential hazards to the safe operation of the power system. Therefore, overhead line inspection robots have emerged.

[0003] However, existing overhead line inspection robots still have shortcomings. The equipotential bonding structure used in current inspection robots is often designed separately from the walking wheel structure, which cannot effectively guarantee that the equipotential state is maintained continuously during the robot's movement. Especially when the overhead line has slopes or bends, the equipotential contact is more likely to fail, which needs to be improved. Utility Model Content

[0004] One technical problem this application aims to solve is to overcome the deficiencies of the above-mentioned related technologies and provide an equipotential structure for the walking mechanism, the walking mechanism itself, and an inspection robot. When the inspection robot walks on an overhead line, the metal brush is always in contact with the overhead line to achieve potential connection, effectively prevent arc discharge, and improve the safety and stability of the inspection.

[0005] The technical solution adopted by the equipotential structure of the front metal brush of this walking mechanism to solve the technical problem is as follows: An equipotential structure for a walking mechanism includes a metal brush, which is installed in front of the walking mechanism in the direction of travel. The metal brush includes metal wires, a clamp, and a connecting frame. Multiple metal wires are fixedly installed on the clamp, and the connecting frame is installed on the clamp. The connecting frame is fixedly connected to the walking mechanism. When the walking mechanism travels on an overhead line, the metal wires come into contact with the overhead line. The contact between multiple metal wires and the overhead line achieves the equipotential function of the robot, effectively reducing the risk of potential difference, preventing arc discharge caused by potential difference, and ensuring the safe operation of the robot in a high-voltage environment.

[0006] Preferably, the connecting frame is a U-shaped connecting frame, which is fixedly connected to the clamp, and the end of the U-shaped connecting frame is fixedly connected to the traveling mechanism. The U-shaped connecting frame fixes the metal wire on the clamp in front of the traveling wheel, ensuring that the metal wire can effectively contact the overhead line.

[0007] A traveling mechanism includes a fixed frame, traveling wheels, and an equipotential bonding mechanism. The traveling wheels are mounted on the fixed frame, and the equipotential bonding mechanism is installed in front of the traveling wheels in the direction of travel. The fixed frame provides stable support for the entire equipotential bonding structure, enabling the traveling wheels to travel stably on the overhead power line.

[0008] Preferably, the mounting frame includes a crossbar and contact feet. A contact foot is installed at each end of the crossbar, and a wheel is installed on the crossbar near each contact foot. The contact feet are used to make contact with the ground after the robot flies away from the overhead line, thereby enhancing the stability and support of the mounting frame. Furthermore, a wheel is installed on the end of the crossbar near each contact foot. The symmetrical arrangement of the wheels on the crossbar improves the stability of the walking mechanism.

[0009] Preferably, the walking mechanism further includes a guide pulley, which is fixedly installed inside the walking wheel. The guide pulley is mounted on a fixed frame and can slide along the fixed frame. The end of the U-shaped connecting frame is fixed to the guide pulley, and the end of the contact foot is fixedly connected to the guide pulley. The walking wheel can slide along the crossbar via the guide pulley, allowing the walking wheel to adjust its position on the crossbar to adapt to overhead lines of different spans, thus improving the robot's versatility and on-site adaptability. Simultaneously, the contact foot and the end of the U-shaped connecting frame are fixedly installed on the guide pulley, allowing the metal wire and the contact foot to move simultaneously as the guide pulley moves.

[0010] Preferably, the traveling mechanism further includes a traveling wheel bracket, the end of which is fixedly connected to a guide pulley and located between the two traveling wheels. The traveling wheel bracket provides additional support for the movement of the traveling wheels on the crossbar, enhancing the stability of the entire traveling mechanism. The end of the traveling wheel bracket is fixed to the guide pulley, allowing the guide pulley to simultaneously drive the end of the traveling wheel bracket to move.

[0011] Preferably, the traveling mechanism further includes an electric actuator, which is fixedly connected to the crossbar and located between the two traveling wheels. The output end of the electric actuator is fixedly connected to the end of the traveling wheel bracket. The electric actuator is the main driving device for moving the traveling wheels on the crossbar, and it can drive the traveling wheels to move along the trajectory set by the guide pulley. The span between the two traveling wheels can be adjusted by the telescopic rod in the electric actuator to adapt to overhead lines with different spans.

[0012] Preferably, the walking mechanism further includes a drive motor and gears. The drive motor is fixed to the end of the walking wheel bracket, and its output end is connected to the gears. A gear structure is provided on the outer side of the walking wheel, and the gear structure meshes with the gears. The gear on the drive motor meshes with the gear structure on the outer side of the walking wheel to form a transmission connection, which enables the walking wheel to move on the overhead line through the rotation of the gears.

[0013] An inspection robot includes a robot body and two aforementioned walking mechanisms, which are respectively installed at the front and rear of the robot body. When the inspection robot walks on an overhead power line, the equipotential structures at the front and rear of the walking mechanisms ensure that the robot and the overhead power line remain at the same potential, effectively preventing discharge caused by potential differences, and ensuring the normal operation of the non-destructive testing equipment and the safety of the overhead power line.

[0014] Compared with related technologies, this invention has the following advantages: When the robot walks on an overhead line, the metal brush can establish a potential connection between the robot and the overhead line in advance, further enhancing the equipotential function, reducing the safety risks caused by potential differences, and effectively preventing insulation damage or short circuit faults caused by arc discharge due to potential differences during robot movement. Furthermore, the metal brush has a simple structure, low production cost, and is easy to maintain during use. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the robot body of this utility model; Figure 2 This is a schematic diagram of the walking mechanism of this utility model; Figure 3 This is an exploded view of the walking mechanism of this utility model; Figure 4 This is a schematic diagram of the structure of the metal brush of this utility model; Figure 5 This is a schematic diagram of the structure of the walking wheel of this utility model.

[0016] Attached figures: 1. Metal wire; 2. Clamp; 3. U-shaped connecting frame; 4. Crossbar; 5. Contact foot; 6. Walking wheel; 601. Gear structure; 7. Guide pulley; 8. Walking wheel bracket; 9. Electric actuator; 10. Drive motor; 11. Gear; 12. Robot body. Detailed Implementation

[0017] 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.

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0019] like Figure 1 and Figure 4 As shown, an equipotential structure for a walking mechanism includes a metal brush fixedly installed in front of the walking mechanism. The metal brush includes metal wires 1, clamps 2, and connecting frames. Multiple metal wires 1 are fixedly installed on the clamps 2. The connecting frames are installed on the clamps 2 and are fixedly connected to the walking mechanism. When the walking mechanism travels on an overhead line, the metal wires 1 come into contact with the overhead line.

[0020] An equipotential bonding structure for a traveling mechanism is disclosed, primarily consisting of a metal brush fixedly mounted in front of the traveling mechanism in the direction of travel. Specifically, this metal brush comprises multiple metal wires 1, a clamp 2 for securing these metal wires 1, and a connecting frame. The metal wires 1, clamp 2, and connecting frame are all made of materials with good electrical conductivity, such as copper or copper alloys, and the metal wires 1 are flexible. The flexible metal wires 1 of the metal brush can adapt to the surface unevenness and shape changes of the overhead line, ensuring good contact with the overhead line under various operating conditions and stably achieving equipotential bonding.

[0021] During the testing process, when the walking mechanism moves along the overhead line, the metal brush at the front of the walking mechanism first contacts the overhead line. The metal wire 1 of the brush traverses the surface of the conductor, forming a good electrical contact. Through the contact between the metal wire 1 and the overhead line, the robot body 12 mounted on the walking mechanism forms a potential connection channel with the overhead line, ensuring that the potential of the robot body 12 is consistent with the potential of the overhead line, achieving equipotential bonding. Under these conditions, when the walking mechanism contacts the overhead line, because the metal brush has already established an equipotential connection, dangerous situations such as arc discharge caused by potential differences can be effectively avoided, ensuring the safe operation of the robot body 12 in a high-voltage environment.

[0022] Furthermore, the connecting frame is a U-shaped connecting frame 3, which is fixedly connected to the clamp 2, and the end of the U-shaped connecting frame 3 is fixedly connected to the walking mechanism.

[0023] In this embodiment, the connecting frame is designed as a U-shaped connecting frame 3, which has unique structural advantages. The U-shaped connecting frame 3 is firmly connected to the walking mechanism through a precise fixing method, ensuring the stability between the U-shaped connecting frame 3 and the walking mechanism. The main function of the U-shaped connecting frame 3 is to precisely fix the metal wire 1 on the clamp 2 at the front position of the walking mechanism. This design cleverly utilizes the geometric characteristics of the U-shaped structure, ensuring that the metal wire 1 maintains the correct posture during movement. In this way, it ensures that the metal wire 1 can achieve effective and stable contact with the overhead line, thereby greatly improving the operating efficiency and reliability of the entire system. Furthermore, the sides of the U-shaped connecting frame 3 use aerodynamic structures to reduce the airflow impact on the walking mechanism when the robot walks on the overhead line, reducing wind resistance. A fixing block is also designed at the part where the U-shaped connecting frame 3 is fixedly connected to the clamp 2, which greatly enhances the stability of the connection between the U-shaped connecting frame 3 and the clamp 2.

[0024] like Figures 1 to 5 The walking mechanism shown includes a fixed frame, walking wheels 6, and the aforementioned equipotential structure of the walking mechanism. A walking wheel 6 is installed on each side of the fixed frame. The equipotential structure of the walking mechanism is a metal brush, and the metal brush is located in front of the walking wheel 6 in the direction of travel.

[0025] In this embodiment, the fixed frame provides stable support for the entire equipotential structure, enabling the traveling wheels 6 to move stably on the overhead line. Installing a traveling wheel 6 on each side of the fixed frame significantly improves the balance of the traveling mechanism as it moves on the overhead line.

[0026] Furthermore, the fixing frame includes a crossbar 4 and contact feet 5. Contact feet 5 are respectively installed at both ends of the crossbar 4, and traveling wheels 6 are respectively installed at the ends of the crossbar 4 near the contact feet 5.

[0027] In this embodiment, two contact feet 5 are symmetrically mounted on the crossbar 4 to make contact with the ground after the robot flies away from the overhead line, thereby enhancing the stability and support of the mounting frame. Furthermore, a walking wheel 6 is mounted on the crossbar 4 near the end of each contact foot 5. The symmetrical arrangement of the walking wheels 6 on the crossbar 4 improves the stability of the walking mechanism.

[0028] Furthermore, the walking mechanism also includes a guide pulley 7, which is fixedly installed inside the walking wheel 6. The guide pulley 7 is mounted on a fixed frame and can slide along the fixed frame. The end of the U-shaped connecting frame 3 is fixed to the guide pulley 7, and the end of the contact foot 5 is fixedly connected to the guide pulley 7.

[0029] In this embodiment, a guide pulley 7 is fixedly installed inside the walking wheel 6. The guide pulley 7 is sleeved on the fixed frame. This design allows the walking wheel 6 to adjust its position on the crossbar 4 to adapt to overhead lines with different spans, improving the robot's versatility and on-site adaptability. Simultaneously, the U-shaped connecting plate and contact feet 5 are fixedly installed on the guide pulley 7. The metal brush and contact feet 5 can move synchronously with the movement of the guide pulley 7, ensuring that the metal wires 1 of the metal brush can contact the overhead line at different spans, achieving equipotentiality. Furthermore, the guide pulley 7 drives the contact feet 5 on both sides to move simultaneously, allowing the metal brush and contact feet 5 to perform their proper functions in different positions, further improving the coordination and working efficiency of the entire robot body 12. At the same time, the guide pulley 7 also provides guidance and limiting for the movement of the walking wheel support 8, ensuring the stability and accuracy of movement.

[0030] Furthermore, the walking mechanism also includes a walking wheel bracket 8, the end of which is fixedly connected to the guide pulley 7 and located between the two walking wheels 6. The walking wheel bracket 8 provides additional support for the movement of the walking wheels 6 on the crossbar 4, enhancing the stability of the entire walking mechanism. The end of the walking wheel bracket 8 is fixed to the guide pulley 7, allowing the guide pulley 7 to drive the end of the walking wheel bracket 8 to move simultaneously.

[0031] In this embodiment, the end of the walking wheel bracket 8 is securely fixed to the guide pulley 7 via a robust connection, enabling position adjustment of the walking wheels 6 and ensuring the stability and reliability of the overall structure. Furthermore, the installation position of the walking wheel bracket 8 has been carefully considered, cleverly positioned between the two walking wheels 6. This layout not only optimizes space utilization but also greatly enhances the balance and maneuverability of the device, making the robot's operation smoother and more stable. Similarly, the middle section of the walking wheel bracket 8 features a hinged structure, which gives the walking wheels 6 a certain degree of elasticity and adjustability, allowing them to adapt to the curves and unevenness of overhead lines and enhancing their adaptability.

[0032] Furthermore, the walking mechanism also includes an electric actuator 9, which is fixedly connected to the crossbar 4 and located between the two walking wheels 6. The output end of the electric actuator 9 is fixedly connected to the end of the walking wheel bracket 8. The electric actuator 9 is the main driving device for moving the walking wheels 6 on the crossbar 4, and it can drive the walking wheels 6 to move along the trajectory set by the guide pulley 7.

[0033] In this embodiment, the electric actuator 9 is the main driving device for moving the traveling wheel 6 on the crossbar 4. It can drive the traveling wheel 6 to move along the trajectory set by the guide pulley 7. Through the telescopic rod in the electric actuator 9, the span between the two traveling wheels 6 can be adjusted to adapt to overhead lines with different spans.

[0034] Furthermore, the walking mechanism also includes a drive motor 10 and a gear 11. The drive motor 10 is fixed to the end of the walking wheel bracket 8, and its output end is connected to the gear 11. A gear structure 601 is provided on the outer side of the walking wheel 6, and the gear structure 601 meshes with the gear 11.

[0035] In this embodiment, a mounting hole is provided at the end of the walking wheel bracket 8, and the drive motor 10 is fixedly mounted in the mounting hole, with its output end tightly connected to the gear 11. In this way, the power of the drive motor 10 can be effectively transmitted to the gear 11. In addition, a gear structure 601 is specially designed on the outer side of the walking wheel 6, which meshes tightly with the aforementioned gear 11. This design enables the walking wheel 6 to obtain power through the transmission system, thereby achieving smooth and efficient walking motion. With this structure, the walking mechanism can more stably and reliably complete its intended function.

[0036] like Figure 1 The invention relates to a detection robot, which includes a robot body and two walking mechanisms, the two walking mechanisms being respectively installed at the front and rear of the robot body.

[0037] When the inspection robot moves along the overhead power line, the equipotential structures at the front and rear of the walking mechanism ensure that the inspection robot and the overhead power line remain at the same potential, effectively preventing discharge caused by potential differences and ensuring the normal operation of the inspection equipment on the inspection robot and the safety of the overhead power line. The robot body 12 can adjust the walking speed and inspection parameters according to the inspection needs to achieve all-round non-destructive inspection of the overhead power line.

[0038] In practical use, when the robot body 12 needs to walk on the overhead line, the walking mechanism contacts the overhead line through the metal brush at its front, forming an equipotential structure. The electric actuator 9 can adjust the spacing of the walking wheels 6 according to the width of the overhead line, and the hinged structure allows the walking wheel bracket 8 to adapt to the bending changes of the overhead line. This design ensures that the robot body 12 maintains an equipotential state during its movement on the overhead line, effectively preventing discharge phenomena caused by potential differences and protecting the safety of the robot body 12 and the overhead line.

[0039] 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 equipotential mechanism for a walking mechanism, characterized in that, The device includes a metal brush, which is installed in front of the traveling mechanism in the direction of travel. The metal brush includes metal wires, a clamp, and a connecting frame. Multiple metal wires are fixedly installed on the clamp, and a connecting frame is installed on the clamp. The connecting frame is fixedly connected to the traveling mechanism. When the traveling mechanism travels on the overhead line, the metal wires come into contact with the overhead line.

2. The equipotential mechanism for a walking mechanism according to claim 1, characterized in that, The connecting frame is a U-shaped connecting frame, which is fixedly connected to the clamp, and the end of the U-shaped connecting frame is fixedly connected to the walking mechanism.

3. A walking mechanism, characterized in that, It includes a fixed frame, traveling wheels, and an equipotential mechanism for the traveling mechanism as described in any one of claims 1-2, wherein the traveling wheels are mounted on the fixed frame, and the equipotential mechanism for the traveling mechanism is mounted in front of the traveling wheels in the direction of travel.

4. A walking mechanism according to claim 3, characterized in that, The fixing frame includes a crossbar and contact feet. A contact foot is installed at each end of the crossbar, and a traveling wheel is installed on the crossbar near the contact feet.

5. A walking mechanism according to claim 4, characterized in that, The walking mechanism also includes a guide pulley, which is fixedly installed inside the walking wheel. The guide pulley is mounted on a fixed frame and can slide along the fixed frame. The end of the connecting frame is fixed to the guide pulley, and the end of the contact foot is fixedly connected to the guide pulley.

6. A walking mechanism according to claim 5, characterized in that, The walking mechanism also includes a walking wheel bracket, the end of which is fixedly connected to a guide pulley and located between two walking wheels.

7. A walking mechanism according to claim 6, characterized in that, The walking mechanism also includes an electric actuator, which is fixedly connected to the crossbar and located between the two walking wheels. The output end of the electric actuator is fixedly connected to the end of the walking wheel bracket.

8. A walking mechanism according to claim 6, characterized in that, The walking mechanism also includes a drive motor and a gear. The drive motor is fixed to the end of the walking wheel bracket, and its output end is connected to the gear. The outer side of the walking wheel is provided with a gear structure, which meshes with the gear.

9. An inspection robot, characterized in that, It includes a robot body and two walking mechanisms as described in any one of claims 3-8, wherein the two walking mechanisms are respectively installed in front of and behind the robot body.

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