Anti-unhooking device of overhead line inspection robot

Abstract

The utility model discloses an anti -unhooking device of overhead line inspection robot, including hook claw, locking device, drive motor and control system, hook claw, locking device and drive motor are installed on the inspection robot respectively, locking device includes the blocking lever, drive motor is connected with the blocking lever drive and is used for driving the oscillation of blocking lever, when locking device is in the locking state, the end of blocking lever and hook claw contact is used for locking the hanging rope on unmanned aerial vehicle in the closed loop formed by hook claw and blocking lever, control system is connected with drive motor electrically and is used for controlling drive motor. The end of blocking lever and hook claw contact is used for locking the hanging rope on unmanned aerial vehicle in the closed loop formed by hook claw and blocking lever, prevents in the process of the inspection robot by unmanned aerial vehicle transportation, and the inspection robot is unhooked from unmanned aerial vehicle hanging rope.

Description

Technical Field

[0001] This utility model relates to the technical field of overhead line inspection equipment, specifically an anti-disengagement device for an overhead line inspection 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. Simultaneously, manual inspections are highly dangerous; inspectors face the risk of electric shock when approaching or touching high-voltage energized overhead lines, and there is a risk of falls due to equipment failure or operational errors while working at heights. Furthermore, 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 hidden dangers 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. Currently, these robots are typically transported to the overhead lines by drones, and then retrieved by drones after inspection. Existing technologies include hooks on the inspection robots to grip the drone's transport cable, allowing the drone to detach the robot after transporting it to the overhead line. This creates a risk of the inspection robot detaching from the drone's cable during transport. Utility Model Content

[0004] To overcome the shortcomings of the above-mentioned related technologies, an anti-disengagement device for an overhead line inspection robot is provided to prevent the inspection robot from detaching from the drone's sling during the drone's transport process.

[0005] This utility model provides an anti-disengagement device for an overhead power line inspection robot, including a hook, a locking device, a drive motor, and a control system. The hook, locking device, and drive motor are respectively mounted on the inspection robot. The locking device includes a stop bar, and the drive motor is kinetically connected to the stop bar to drive the stop bar to swing. When the locking device is in the locked state, the stop bar contacts the end of the hook to lock the sling on the drone within the closed loop formed by the hook and the stop bar. The control system is electrically connected to the drive motor to control the drive motor. Before the inspection robot goes online, the locking device is unlocked by the drive motor, putting the stop bar in the open state. After the inspection robot hooks the transport sling of the drone, it is locked by the drive motor, putting the stop bar in the closed state. When the drone carrying the inspection robot reaches the designated location, the locking device is unlocked by the drive motor, putting the stop bar in the open state, the drone sling detaches from the hook, and the drone flies back. After the inspection robot completes its inspection, a drone is launched to its corresponding position. The grappling hook engages with the drone's sling, and the locking device, driven by the motor, locks in place. The drone then carries the inspection robot back. The locking device remains locked throughout the drone's operation to prevent the grappling hook from detaching from the sling.

[0006] Preferably, the locking device further includes a ring buckle, which is installed at the end of the hook claw. A hook is provided on the stop bar, and when the locking device is in the locked state, the hook is inserted into the ring buckle. This makes the connection between the stop bar and the end of the hook claw more stable when the locking device is in the locked state.

[0007] Preferably, the ring buckle is equipped with a sensor for detecting the connection status between the hook and the ring buckle, and the sensor is electrically connected to the control system. The drive motor is shut off promptly when the hook and ring buckle are engaged.

[0008] Preferably, the hook includes a first connector, a second connector, and a third connector. The first connector and the second connector are respectively connected to the inspection robot, and the third connector is respectively connected to the first connector and the second connector. The first connector and the second connector are located on a first plane, and the third connector has an included angle with the first plane.

[0009] Preferably, the angle between the third connector and the first plane is 30°-60°.

[0010] Preferably, the third connector is V-shaped or U-shaped, with its two ends connected to the ends of the first and second connectors, respectively. A ring is installed at the bend of the third connector, and a hook is provided on the stop bar. When the locking device is in the locked state, the hook is inserted into the ring. When the pawl is attached to the lanyard, there are two contact points between the lanyard and the pawl, located at both ends of the third connector. The two contact points are spaced apart, which makes the inspection robot's mounting on the drone more stable and reduces the robot's swaying during transport.

[0011] Preferably, the first connector, the second connector, and the third connector are manufactured as a single unit. This improves the structural strength of the hook and simplifies the processing of the hook.

[0012] Preferably, the control system includes a wireless transceiver module, which is connected to the remote controller via a wireless signal. This facilitates remote control of the locking device by the inspection robot when it is on overhead power lines.

[0013] Compared with related technologies, this utility model has the following advantages: the high-precision control characteristics of the drive motor can ensure that the opening and closing action of the locking device is accurate and stable, which significantly improves the success rate and reliability of online operation.

[0014] The end of the hook is equipped with a loop that engages with the hook on the stop bar, making the connection between the stop bar and the end of the hook more stable. A sensor is also installed on the loop, which is connected to the control system, which in turn is connected to the drive motor, allowing the drive motor to be stopped promptly after the hook is inserted into the loop. The hook is manufactured as a single piece by the first connector, the second connector, and the third connector. Specifically, the hook is formed by bending a steel bar, which gives the hook excellent mechanical strength while simplifying the hook manufacturing process. It can withstand the weight of the robot itself as well as various tensile and frictional forces that may be encountered during transportation, ensuring that it is not prone to deformation or damage during long-term use. This extends the service life of the anti-disengagement system and reduces maintenance costs and replacement frequency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the inspection robot in Example 1; Figure 2 This is a schematic diagram of the anti-unhooking device in Example 1.

[0016] In the diagram: hook 1, first connector 11, second connector 12, third connector 13, stop bar 21, ring buckle 22, hook 23, drive motor 3, inspection robot 4. 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 Figures 1-2 As shown, an anti-disengagement device for an overhead line inspection robot includes a hook 1, a locking device, a drive motor 3, and a control system. The hook 1, locking device, and drive motor 3 are respectively mounted on the inspection robot 4. The locking device includes a stop bar 21 and a ring buckle 22. The ring buckle 22 is mounted on the end of the hook 1. A hook 23 is provided on the stop bar 21. When the locking device is in the locked state, the hook 23 is inserted into the ring buckle 22. A sensor is mounted on the ring buckle 22. The drive motor 3 is driven by the stop bar 21 to drive the stop bar 21 to swing. When locking is required, the drive motor rotates under the control of the control system, driving the stop bar 21 to swing towards the end of the hook 1 through the transmission structure until the hook 23 on the stop bar 21 is inserted into the ring buckle 22 on the hook 1. At this time, the sensor on the ring buckle 22 detects the position information of the stop bar 21 and transmits it to the control system through an electrical signal. The control system then controls the drive motor to stop driving. When opening is required, the control system reverses the drive motor, moving the stop lever 21 away from the end of the hook 1. The stop lever 21 is rotated to a preset position, at which point the control system stops the drive motor. The control system includes a wireless transceiver module connected to the remote control via wireless signal. The drive motor can be controlled remotely to remotely open and close the locking device.

[0020] The hook includes a first connector 11, a second connector 12, and a V-shaped third connector 13 (in another embodiment, it can also be U-shaped, with the two ends separated by a certain distance). One end of the first connector 11 is connected to the inspection robot, and the other end is connected to one end of the third connector 13; one end of the second connector 12 is connected to the inspection robot, and the other end is connected to the other end of the third connector 13. The first connector 11 and the second connector 12 are located on a first plane, and the third connector has an angle with the first plane, which is 30°-60°, preferably 45°. The first connector 11, the second connector 12, and the third connector 13 are formed by bending the same steel bar. The connection between the first connector 11 and the third connector 13 is arc-shaped, and the connection between the second connector 12 and the third connector 13 is also arc-shaped. A ring buckle 22 is installed at the bend of the third connector 13.

[0021] The control system controls the drive motor to unlock the locking device, allowing the pawl to attach to the drone's sling. Then, the control motor locks the locking device. After the drone transports the inspection robot to the designated location on the overhead line, the locking device unlocks under the drive motor's influence, opening the lever and detaching the drone's sling from the pawl, allowing the drone to fly back. Once the inspection robot completes its inspection, the drone is launched to the robot's designated location. The pawl attaches to the drone's sling, and the locking device locks under the drive motor's influence. The drone then carries the inspection robot back. The locking device remains locked throughout the drone's operation, preventing the pawl from detaching from the sling.

[0022] 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 anti-disengagement device for an overhead line inspection robot, characterized in that, The system includes a grappling hook, a locking device, a drive motor, and a control system. The grappling hook, locking device, and drive motor are respectively mounted on the inspection robot. The locking device includes a stop bar. The drive motor is driven by the stop bar to drive the stop bar to swing. When the locking device is in the locked state, the stop bar contacts the end of the grappling hook to lock the sling on the drone within the closed loop formed by the grappling hook and the stop bar. The control system is electrically connected to the drive motor to control the drive motor.

2. The anti-disengagement device for an overhead line inspection robot according to claim 1, characterized in that, The locking device also includes a ring buckle, which is installed at the end of the hook claw. The stop bar is provided with a hook, which is inserted into the ring buckle when the locking device is in the locked state.

3. The anti-disengagement device for an overhead line inspection robot according to claim 2, characterized in that, The buckle is equipped with a sensor to detect the connection status between the hook and the buckle, and the sensor is electrically connected to the control system.

4. The anti-disengagement device for an overhead line inspection robot according to claim 1, characterized in that, The hook includes a first connector, a second connector, and a third connector. The first connector and the second connector are respectively connected to the inspection robot. The third connector is respectively connected to the first connector and the second connector. The first connector and the second connector are located on a first plane. The third connector has an angle with the first plane.

5. The anti-disengagement device for an overhead line inspection robot according to claim 4, characterized in that, The angle between the third connector and the first plane is 30°-60°.

6. The anti-disengagement device for an overhead line inspection robot according to claim 4, characterized in that, The third connector is V-shaped or U-shaped, and its two ends are respectively connected to the ends of the first connector and the second connector. A ring is installed at the bend of the third connector, and a hook is provided on the stop bar. When the locking device is in the locked state, the hook is inserted into the ring.

7. The anti-disengagement device for an overhead line inspection robot according to claim 6, characterized in that, The first connector, the second connector, and the third connector are manufactured as a single unit.

8. The anti-disengagement device for an overhead line inspection robot according to claim 1, characterized in that, The control system includes a wireless transceiver module, which is connected to the remote controller via a wireless signal.

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