Suture robot

Abstract

The application provides a wire hanging robot, which comprises a robot body, a hanging piece and a pressing structure. The hanging piece is arranged on the robot body and is used for being hung above a power transmission line. The pressing structure comprises a pressing execution assembly and a driving assembly. The pressing execution assembly is slidably connected to the robot body through the driving assembly. Part of the driving assembly is arranged adjacent to the power transmission line. The pressing execution assembly is located below the power transmission line and the part of the driving assembly. The part of the driving assembly is used for driving the pressing execution assembly to slide towards or away from the power transmission line, so that the pressing execution assembly abuts below the power transmission line or is separated from the abutment with the power transmission line. In this way, when the pressing execution assembly abuts below the power transmission line, the force arm between the pressing execution assembly and the part of the driving assembly is shortened, so that when the wind load or other disturbances act on the push rod, the torque for pushing the pressing execution assembly to rotate can be reduced, the pressing execution assembly is not prone to shaking, and the stability is good.

Description

Technical Field

[0001] This application relates to the field of wire-hanging robot technology, and more particularly to a wire-hanging robot. Background Technology

[0002] To ensure the stability and safety of power transmission lines, regular inspections are necessary.

[0003] In existing technologies, power transmission lines are typically inspected using a wire-hanging robot. The wire-hanging robot consists of opposing mounting and clamping components. These components abut against opposite sides of the power transmission line to clamp it. During installation, the mounting components are first placed against the power transmission line, allowing the wire-hanging robot to be attached to it. Then, an electric push rod is positioned below the clamping components. This push rod moves the clamping components toward the power transmission line, bringing them into contact with it.

[0004] However, during the inspection process, the clamping parts of the wire-hanging robot are prone to shaking, resulting in poor stability. Utility Model Content

[0005] This application provides a wire-hanging robot to solve the problem that the clamping parts of wire-hanging robots in the related technology are prone to shaking during the inspection process, resulting in poor stability.

[0006] On the one hand, this application provides a wire-hanging robot including:

[0007] The robot itself;

[0008] The mounting bracket is installed on the robot body and is used to hang above the power transmission line;

[0009] The clamping structure includes a clamping execution component and a drive component. The clamping execution component is slidably connected to the robot body through the drive component. Part of the drive component is used to be arranged adjacent to the power transmission line, and the clamping execution component is located below the power transmission line and part of the drive component. Part of the drive component is used to drive the clamping execution component to slide toward or away from the power transmission line, so that the clamping execution component abuts against the bottom of the power transmission line or disengages from the power transmission line.

[0010] In one possible implementation, the wire-hanging robot provided in this application includes a drive component comprising:

[0011] The power source is located on the robot body and is intended to be placed adjacent to the power transmission line.

[0012] The power source is connected to the clamping actuator via the transmission mechanism. The transmission mechanism is configured to convert the output motion of the power source into linear motion of the clamping actuator, causing the clamping actuator to move toward or away from the power transmission line.

[0013] In one possible implementation, the wire-hanging robot provided in this application has a transmission mechanism that is one of the following: a gear and rack pair, a lead screw and nut pair, a worm gear pair, or a cam and linkage mechanism.

[0014] In one possible implementation, the wire-hanging robot provided in this application is powered by a drive motor.

[0015] In one possible implementation, the wire-hanging robot provided in this application has a transmission mechanism including a gear connected to the output shaft of a power source and a rack meshing with the gear, the rack being connected to a clamping actuator.

[0016] In one possible implementation, the wire-hanging robot provided in this application has a receiving cavity inside the robot body, a power source located inside the receiving cavity, and a clearance opening on the robot body that communicates with the receiving cavity. The output shaft protrudes outside the receiving cavity through the clearance opening to connect with a gear.

[0017] In one possible implementation, the wire-hanging robot provided in this application has a guide groove on its body, which extends along the sliding direction of the clamping execution component. A rack is slidably disposed in the guide groove, and a notch communicating with the clearance opening is provided on the side wall of the guide groove. A gear is located on the notch, and the rack meshes with the gear through the notch.

[0018] In one possible implementation, the wire-hanging robot provided in this application includes a clamping execution component comprising:

[0019] Support member, which is connected to the drive assembly, is used to slide toward or away from the power line under the drive of part of the drive assembly;

[0020] At least one clamping element is disposed on the support element and is used to slide with the support element to abut against the underside of the power line or to disengage from the power line.

[0021] In one possible implementation, the wire-hanging robot provided in this application further includes an elastic element in the clamping execution component. The clamping element is rotatably connected to the support element, and the elastic element is connected between the clamping element and the support element. The elastic element is configured to deform when the clamping element abuts against the lower part of the power transmission line to provide a preset clamping force to the power transmission line through the clamping element.

[0022] In one possible implementation, the wire-hanging robot provided in this application has a support component including a first support portion and a second support portion connected to the first support portion. The first support portion is connected to a drive assembly, the second support portion is rotatably connected to a clamping member, and an elastic member is connected between the clamping member and the second support portion. The first support portion and the elastic member are located on both sides of the second support portion, respectively.

[0023] In one possible implementation, the wire-hanging robot provided in this application further includes a pressure detection component in its clamping structure. Both the pressure detection component and the drive assembly are electrically connected to the control component of the robot body. The pressure detection component is disposed between the first support part and the second support part to detect whether the preset clamping force is within a preset range when the elastic element deforms. The control component is used to control the sliding direction of the drive assembly to drive the clamping execution assembly according to the detection information of the pressure detection component, so that the preset clamping force is within the preset range.

[0024] In one possible implementation, the cable-hanging robot provided in this application includes two hanging parts, which are spaced apart on the robot body along the extension direction of the power transmission line and are hung above the power transmission line.

[0025] In one possible implementation, the wire-hanging robot provided in this application has two attachment parts that are rotatably connected to the robot body, and at least one of the two attachment parts is configured to rotate to drive the robot body and the clamping structure to move along the extension direction of the power transmission line.

[0026] In one possible implementation, the wire-attaching robot provided in this application has at least one of its two attachment parts as a drive wheel, the drive wheel comprising:

[0027] Wheel hub bracket;

[0028] The hub motor is mounted on the hub bracket and is connected to the robot body.

[0029] A rubber-coated wheel is fitted onto a hub bracket. The rubber-coated wheel has a placement groove, which is used to hang the wheel above the power transmission line. A hub motor is used to drive the hub bracket and the rubber-coated wheel to rotate relative to the robot body.

[0030] In one possible implementation, the wire-hanging robot provided in this application has a rolling part on the clamping member, the rolling part being used to contact the power transmission line, and the rolling part being used to roll along the extension direction of the power transmission line under the drive of the hanging part.

[0031] The power line hanging robot provided in this application comprises a robot body, a clamping component, and a clamping structure. The hanging component is mounted on the robot body and is used to hang above the power transmission line. The clamping structure includes a clamping execution component and a drive component. The clamping execution component is slidably connected to the robot body via the drive component. When the hanging component is hung above the power transmission line, a portion of the drive component is positioned adjacent to the power transmission line, and the clamping execution component is located below the power transmission line and the portion of the drive component. The portion of the drive component drives the clamping execution component to slide towards or away from the power transmission line, causing the clamping execution component to abut against or disengage from the power transmission line. Thus, as the clamping execution component slides towards the power transmission line, the distance between the clamping execution component and the portion of the drive component gradually decreases. When the clamping execution component abuts against the power transmission line, this shortens the lever arm between the clamping execution component and the portion of the drive component. Consequently, when disturbances such as wind loads act on the push rod, the torque required to rotate the clamping execution component is reduced, making the clamping execution component less prone to swaying and exhibiting good stability. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0033] Figure 1 This is the state of the wire-hanging robot provided in the embodiments of this application being attached to the power transmission line. Figure 1 ;

[0034] Figure 2 This is the state of the wire-hanging robot provided in the embodiments of this application being attached to the power transmission line. Figure 2 ;

[0035] Figure 3 for Figure 1 Another perspective on the internal structure;

[0036] Figure 4 for Figure 1 Enlarged view of point A in the middle;

[0037] Figure 5 for Figure 1 A schematic diagram of the structure of the clamping execution component in the middle;

[0038] Figure 6 for Figure 5 Enlarged view of point B in the middle;

[0039] Figure 7 Electrical connection diagram of the control unit, pressure detection unit, and power source provided in the embodiments of this application;

[0040] Figure 8 This is a schematic diagram of the drive wheel provided in an embodiment of this application.

[0041] Explanation of reference numerals in the attached figures:

[0042] 100 - Robot body; 111 - Receiving cavity; 1111 - Guide groove; 1112 - Notch; 120 - Control component;

[0043] 200-Hanging component; 210-Hanging part; 211-Placement slot; 220-Drive wheel; 221-Hub bracket; 222-Hub motor; 223-Rubber-coated wheel;

[0044] 300-Clamping structure; 310-Clamping actuation component; 311-Support member; 3111-First support part; 3112-Second support part; 3113-Connecting shaft; 3114-Limiting part; 312-Clamping component; 3121-Rolling part; 3122-Arc groove; 3123-L-shaped connecting arm; 313-Elastic element; 320-Drive assembly; 321-Power source; 322-Transmission mechanism; 3221-Gear; 3222-Rack; 330-Pressure detection component;

[0045] 400-Transmission line. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0047] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0048] In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0049] The terms "first," "second," "third," "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in a sequence other than those illustrated or described herein.

[0050] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0051] As mentioned in the background section, existing technologies typically employ wire-hanging robots for power transmission line inspection. These robots consist of opposing mounting and clamping components, which abut against opposite sides of the power transmission line to clamp it. During installation, the mounting components are first placed against the power transmission line, allowing the robot to be attached to it. Then, an electric push rod is positioned below the clamping components, which pushes the clamping components toward the power transmission line to bring them into contact with it.

[0052] During operation, the wire-attaching robot can either be mounted stationary on the power transmission line and inspect it by detecting the surrounding environment through cameras; or it can move along the length of the power transmission line, inspecting various parts of the line as it moves. After the electric push rod moves the clamping component towards the power transmission line to make contact, the relatively long transmission path of the push rod creates a large vertical lever arm.

[0053] Since the aforementioned wire-hanging robots operate outdoors on power lines at high altitudes, they are susceptible to wind disturbances. Furthermore, as they move along the power lines, they are also subject to vibrations from the conductors or impacts from crossing the mounting hardware. Additionally, the long lever arm between the electric actuator and the clamping component is prone to transient instability. Specifically, under these disturbances, the wire-hanging robot will experience a small displacement. When this displacement acts on the clamping component, it is transmitted to the actuator through the connection point between the clamping component and the electric actuator. The large lever arm amplifies these small forces, creating a significant torque. What would have been a small force insufficient to cause swaying becomes a torque propelling the clamping component to rotate around the connection point. This can cause the clamping component to sway, or even temporarily detach from the power line.

[0054] Therefore, during the inspection process, the clamping parts of the wire-hanging robot are prone to shaking and have poor stability.

[0055] In view of this, this application provides a wire-hanging robot. By setting a robot body, a clamping member, and a clamping structure, the hanging member is mounted on the robot body and used to hang above the power transmission line. The clamping structure includes a clamping execution component and a driving component. The clamping execution component is slidably connected to the robot body through the driving component. When the hanging member is hung above the power transmission line, a portion of the driving component is arranged adjacent to the power transmission line, and the clamping execution component is located below the power transmission line and the portion of the driving component. The portion of the driving component is used to drive the clamping execution component to slide towards or away from the power transmission line, so that the clamping execution component abuts against the lower part of the power transmission line or disengages from the power transmission line. Thus, during the process of the clamping execution component sliding towards the power transmission line, the distance between the clamping execution component and the portion of the driving component gradually decreases. When the clamping execution component abuts against the lower part of the power transmission line, it helps to shorten the lever arm between the clamping execution component and the portion of the driving component. Therefore, when disturbances such as wind loads act on the push rod, the torque required to rotate the clamping execution component can be reduced, making the clamping execution component less prone to swaying and providing good stability.

[0056] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0057] See Figures 1 to 3The wire-hanging robot provided in this application includes a robot body 100, a mounting member 200, and a clamping structure 300. The mounting member 200 is disposed on the robot body 100 and is used to hang above the power transmission line 400. The clamping structure 300 includes a clamping execution component 310 and a driving component 320. The clamping execution component 310 is slidably connected to the robot body 100 through the driving component 320. Part of the driving component 320 is arranged adjacent to the power transmission line 400, and the clamping execution component 310 is located below the power transmission line 400 and part of the driving component 320. Part of the driving component 320 is used to drive the clamping execution component 310 to slide toward or away from the power transmission line 400, so that the clamping execution component 310 abuts against the lower part of the power transmission line 400 or disengages from the power transmission line 400.

[0058] It should be noted that the wire-hanging robot in this application embodiment can be a robot that is mounted stationary on the power transmission line 400 and inspects the power transmission line 400 by detecting the surrounding environment through a camera; or it can be a robot that moves along the length of the power transmission line 400 and completes the inspection of the power transmission line 400 by detecting various parts of the power transmission line 400 during the movement. This application embodiment does not limit this.

[0059] The robot body 100 may include a housing component, which serves as the main support structure for the wire-attached robot. The interior of the housing component can be used to integrate the electrical system, control system, etc. of the robot body 100. The attachment component 200 and the clamping structure 300 are used to be mounted on the housing component.

[0060] When the wire-hanging robot is used for fixed inspection, the mounting bracket 200 and the housing can be fixedly connected, for example, by bolting, welding, or integral molding, to ensure a stable connection. The structure of the mounting bracket 200 is adapted to the shape of the power transmission line 400 so that it can be hung above the power transmission line 400. When the wire-hanging robot is used for mobile inspection, the mounting bracket 200 and the housing can be rotatably connected. The mounting bracket 200 can be a wheel-like structure, and the robot body 100 can be equipped with a power component to drive the mounting bracket 200 to rotate around its own axis, so that the rotation of the mounting bracket 200 moves the entire wire-hanging robot along the length of the power transmission line 400.

[0061] It is understandable that the axis of the connector 200 is perpendicular to the length of the power transmission line 400.

[0062] By placing the clamping actuator 310 and the hanger 200 on the same side of the housing, the forces acting on them when clamping the power transmission line 400 are opposite, which helps improve clamping stability. A portion of the drive assembly 320 is positioned adjacent to the power transmission line 400. For example, the drive assembly 320 can be an electric actuator, comprising a motor and a push rod. The motor is connected to the housing 110, and the push rod is connected to the clamping actuator 310. The push rod can drive the clamping actuator 310 to slide relative to the motor and housing 110, thus enabling the clamping actuator 310 to slide slidably with the housing via the electric push rod. In this way, when the hanger 200 is hung above the power transmission line 400, the motor can be positioned close to and adjacent to the power transmission line 400.

[0063] The motor is located above the power transmission line 400, and the push rod extends below the motor and connects to the clamping actuator 310. In this way, by driving the push rod to retract, the clamping actuator 310 located below the power transmission line 400 and the motor can slide towards the power transmission line 400, ensuring that the clamping actuator 310 can properly abut against the power transmission line 400 to achieve lower clamping; or, by driving the push rod to extend, the clamping actuator 310 can slide away from the power transmission line 400, causing the clamping actuator 310 to disengage from the power transmission line 400, facilitating the disassembly of the wire-hanging robot.

[0064] Understandably, during the clamping process, the relative distance between the clamping actuator 310 and the motor gradually decreases to shorten the length of the push rod, ultimately forming a compact force-bearing structure that significantly shortens the lever arm length under external disturbances. When the robot is subjected to wind loads, wire vibrations, or impacts from crossing hardware, the disturbance torque acting on the clamping actuator 310 is effectively reduced, thereby suppressing its rotation or swaying and improving overall clamping stability and operational safety.

[0065] See Figures 1 to 4 In some embodiments, the drive assembly 320 includes a power source 321 and a transmission mechanism 322. The power source 321 is disposed on the robot body 100 and is arranged adjacent to the power transmission line 400. The power source 321 is connected to the clamping execution assembly 310 through the transmission mechanism 322. The transmission mechanism 322 is configured to convert the output motion of the power source 321 into linear motion of the clamping execution assembly 310, so that the clamping execution assembly 310 is toward or away from the power transmission line 400.

[0066] Thus, the transmission structure consisting of power source 321 and transmission mechanism 322 makes the transmission path of driving force more compact. When the clamping execution component 310 approaches the power transmission line 400, the effective distance between power source 321 and clamping execution component 310 is further shortened, which significantly reduces the torque amplification effect caused by external disturbances and improves the clamping stability and operational safety of the wire hanging robot under complex working conditions.

[0067] For example, the transmission mechanism 322 is one of the following: a gear and rack pair, a lead screw and nut pair, a worm gear pair, and a cam and connecting rod mechanism.

[0068] In this way, the power source 321 can achieve more precise linear motion of the clamping actuator 310 through different types of transmission mechanisms 322.

[0069] When a lead screw and nut pair structure is used, the power source 321 drives the lead screw to rotate, and the nut that cooperates with it is connected to the clamping actuator 310. When the lead screw rotates, the nut moves axially, thereby driving the clamping actuator 310 to achieve linear motion.

[0070] When a worm gear pair is used, the worm is driven to rotate by the power source 321, and the meshing worm gear can be converted into linear motion output, or the clamping actuator 310 can be driven to move through an additional linkage mechanism. This structure has a self-locking characteristic, which is beneficial to maintaining a stable clamping state.

[0071] When a cam linkage mechanism is used, the power source 321 drives the cam to rotate, which in turn drives the driven linkage to move. The linkage mechanism converts the rotational motion of the cam into the linear stroke of the clamping actuator 310.

[0072] The following, in conjunction with the appendix Figure 1 To be continued Figure 4 The following explanation will be based on a gear and rack transmission mechanism.

[0073] In a specific example, the transmission mechanism 322 includes a gear 3221 connected to the output shaft of the power source 321 and a rack 3222 meshing with the gear 3221. The rack 3222 is connected to the clamping actuation assembly 310.

[0074] Thus, the rotational motion of the power source 321 can be converted into the reciprocating sliding of the rack 3222 along a straight line through the meshing relationship between the gear 3221 and the rack 3222. The rotation of the gear 3221 drives the rack 3222 to move up and down, thereby driving the clamping actuator 310 to move closer to or away from the power transmission line.

[0075] In some examples, power source 321 is a drive motor.

[0076] Among them, the drive motor has a faster response speed, higher control precision, and more stable operation.

[0077] For example, the robot body 100 has a receiving cavity 111, the power source 321 is located in the receiving cavity 111, and the robot body 100 has a clearance opening (not shown) that communicates with the receiving cavity 111. The output shaft is exposed to the outside of the receiving cavity 111 through the clearance opening so as to connect with the gear 3221.

[0078] Thus, by placing the power source 321 within the cavity 111 of the robot body 100, efficient use of space is achieved through a reasonable layout, which helps to make the overall structure of the wire-hanging robot more compact and aesthetically pleasing. At the same time, by improving the mechanical protection of the power source 321 through the robot body 100, damage to the power source 321 due to collisions or vibrations during inspection can be avoided, which helps to extend the service life of the power source 321.

[0079] The clearance opening is used to enable the operable connection between the power source 321 and the gear 3221 outside the receiving cavity 111. When the power source 321 is started, the power output by the power source 321 is transmitted through the output shaft via the clearance opening, driving the gear 3221 to move, thereby driving the rack 3222 and the clamping actuator 310 connected to it to slide.

[0080] The clamping actuator 310 is fixedly connected to the rack 3222, for example, by bolts, so that the clamping actuator 310 moves together with the rack 3222, enabling the clamping actuator 310 to clamp upwards towards the power line 400 or to release downwards away from the power line 400. Overall, the transmission structure of the gear 3221 and rack 3222 is relatively compact, has high transmission efficiency, and strong load-bearing capacity. During the clamping process, as the rack 3222 moves upwards, the distance between the rack 3222 and the drive motor gradually decreases, thereby shortening the lever arm length under disturbance, suppressing the swaying of the clamping actuator 310 under wind load or vibration, and improving the stability and reliability of clamping.

[0081] See Figures 1 to 4 In some embodiments, the robot body 100 is provided with a guide groove 1111, which extends along the sliding direction of the pressing execution component 310. The rack 3222 is slidably disposed in the guide groove 1111. The side wall of the guide groove 1111 is provided with a notch 1112 that communicates with the clearance opening. The gear 3221 is located on the notch 1112, and the rack 3222 meshes with the gear 3221 through the notch 1112.

[0082] Thus, the two side walls of the guide groove 1111 limit the rack 3222, preventing it from deflecting or tilting during movement, thereby ensuring the accuracy and reliability of the transmission, reducing wear or jamming caused by poor meshing, and allowing the rack 3222 to slide smoothly in the guide groove 1111.

[0083] A notch 1112 is provided on the side wall of the guide groove 1111. The notch 1112 communicates with the clearance opening on the robot body 100, forming a continuous assembly and transmission channel for the transmission mechanism 322. The clearance opening allows the drive shaft of the drive motor to pass through the receiving cavity 111, while the notch 1112 provides meshing space for the gear 3221 and the rack 3222. Specifically, the gear 3221 is installed in the area of ​​the notch 1112, with its axial direction coaxial with the drive shaft. It is located entirely at the lateral opening of the guide groove 1111 and partially embedded in the notch 1112, allowing its teeth to extend into the guide groove 1111. During sliding, the meshing section of the rack 3222 meshes with the gear 3221 through the area of ​​the notch 1112, realizing power transmission.

[0084] For example, the size and shape of the notch 1112 are designed to fit the outer contour of the gear 3221, ensuring that the gear 3221 can be stably installed and rotated freely, and allowing the rack 3222 to continuously mesh with it on its side.

[0085] See Figures 2 to 5 In some examples, the clamping actuator 310 includes a support 311 and at least one clamping member 312. The support 311 is connected to the drive assembly 320 and is used to slide toward or away from the power line 400 under the drive of a portion of the drive assembly 320. The clamping member 312 is disposed on the support 311 and is used to slide with the support 311 to abut against or disengage from the power line 400.

[0086] Specifically, the support member 311 serves as the load-bearing and transmission connection structure of the clamping actuator 310. It can connect the support member 311 to the rack 3222 to ensure that the power of the power source 321 can be effectively transmitted to the clamping actuator 310, so that the clamping actuator 310 can slide.

[0087] The clamping element 312 can be disposed on the upper part of the support 311, i.e., on the side facing the power transmission line 400. The number of clamping elements 312 can be one or more. For example, depending on the diameter of the power transmission line 400 and the clamping force requirements, the clamping elements 312 can be adaptively configured as follows: Figure 5As shown, the two clamping members 312 are symmetrically arranged. The clamping members 312 can be fixedly connected or detachably installed on the support member 311 and can slide synchronously with the support member 311. Thus, when the rack 3222 drives the support member 311 to move upward, the clamping member 312 approaches the power transmission line 400 and eventually abuts against its bottom arc-shaped surface, cooperating with the upper hanging member 200 to form an upper and lower clamp, achieving stable suspension of the robot body 100. Conversely, when the support member 311 retracts downward, the clamping member 312 gradually moves away from the power transmission line 400, releasing the clamp and facilitating the removal of the robot from the power transmission line 400.

[0088] See Figure 1 , Figure 5 and Figure 6 In some embodiments, the clamping actuation assembly 310 further includes an elastic element 313, wherein the clamping element 312 is rotatably connected to the support element 311, and the elastic element 313 is connected between the clamping element 312 and the support element 311; the elastic element 313 is configured to deform to provide a preset clamping force to the power transmission line 400 through the clamping element 312 when the clamping element 312 abuts against the underside of the power transmission line 400.

[0089] Thus, the rotating connection structure formed by the support member 311 and the elastic member 313 allows the clamping member 312 to automatically adjust its contact posture according to the outer circumferential curvature of the power transmission line 400 during the process of abutting against the power transmission line 400, thereby achieving surface contact and improving the fit and clamping stability.

[0090] For example, the clamping member 312 has two L-shaped connecting arms 3123, and the support member 311 has a connecting shaft 3113. One side of the two L-shaped connecting arms 3123 is rotatably sleeved on the connecting shaft 3113. The elastic member 313 can be set as a torsion spring. The torsion spring includes a helical elastic body and two working ends. The elastic body is sleeved on one side of the L-shaped connecting arm 3123. One working end forms a hook-like structure and hooks with the other side of the L-shaped connecting arm 3123. The other working end extends to directly abut against the support member 311 to form a stable force transmission fulcrum.

[0091] When the support member 311 moves upward under the drive assembly 320, the clamping member 312 is obstructed after contacting the power transmission line 400. As the support member 311 continues to move upward, it causes the L-shaped connecting arm 3123 to rotate around the connecting shaft 3113, thereby causing the torsion spring to undergo torsional deformation and store elastic potential energy. This elastic restoring force continuously acts on the power transmission line 400 through the clamping member 312, forming a preset clamping force. It is understood that the magnitude of the preset clamping force can be determined by the torsion spring stiffness, the installation preload, and the structural dimensions. The specific value of the preset clamping force is not limited in the embodiments of this application.

[0092] Furthermore, during the movement of the wire-attaching robot, when the diameter of the power transmission line 400 decreases, the torsion spring can release potential energy under the action of elastic restoring force, driving the L-shaped connecting arm 3123 to rotate in the opposite direction, so that the clamping member 312 remains in contact with the surface of the power transmission line 400. Here, two limiting parts 3114 can be provided on the support member 311, and the connecting shaft 3113 is located between the two limiting parts 3114. When the L-shaped connecting arm 3123 rotates, it can be limited by the limiting parts 3114. In this case, after the torsion spring releases potential energy and causes the L-shaped connecting arm 3123 to rotate in the opposite direction and abut against the limiting part 3114, the torsion spring still maintains a certain amount of deformation and stores some elastic potential energy, so that the clamping member 312 can always provide clamping force to the power transmission line 400.

[0093] It should be noted that the limiting part 3114 can be a rod-shaped structure or a block-shaped structure, etc., and the embodiments of this application do not limit it in this way. For example, such as Figure 5 As shown, the limiting part 3114 located above the connecting shaft 3113 is a limiting rod, and the limiting part 3114 located below the connecting shaft 3113 is a limiting boss.

[0094] In some examples, the support member 311 includes a first support portion 3111 and a second support portion 3112 connected to the first support portion 3111. The first support portion 3111 is connected to the drive assembly 320, the second support portion 3112 is rotatably connected to the clamping member 312, and the elastic member 313 is connected between the clamping member 312 and the second support portion 3112. The first support portion 3111 and the elastic member 313 are located on both sides of the second support portion 3112.

[0095] In this arrangement, the first support portion 3111 and the elastic element 313 are located on opposite sides of the second support portion 3112. Specifically, the first support portion 3111 is located on one side of the second support portion 3112 to transmit the driving force, while the elastic element 313 is located on the other side of the second support portion 3112 to generate a torque. This arrangement allows for a reasonable distribution of the driving force and the elastic restoring force on the second support portion 3112, which helps optimize the overall compactness of the layout and reduce interference. Simultaneously, it ensures that the clamping element 312 can rotate smoothly to adapt to curvature changes when in contact with the power transmission line 400, and that the elastic element 313 can effectively store energy and apply force, improving the stability and reliability of the clamping process.

[0096] It is understandable that the first support portion 3111 is connected to the drive assembly 320, that is, the first support portion 3111 is connected to the rack 3222.

[0097] The first support portion 3111 may have a U-shaped structure to provide assembly space for the clamping member 312, the connecting shaft 3113, and the limiting portion 3114. The second support portion 3112 may have a plate-like structure.

[0098] See Figure 6 and Figure 7 In a specific example, the clamping structure 300 also includes a pressure detection element 330. Both the pressure detection element 330 and the drive assembly 320 are electrically connected to the control element 120 of the robot body 100. The pressure detection element 330 is disposed between the first support portion 3111 and the second support portion 3112 to detect whether the preset clamping force is within the preset range when the elastic member 313 deforms. The control element 120 is used to control the drive assembly 320 to drive the sliding direction of the clamping execution assembly 310 according to the detection information of the pressure detection element 330, so that the preset clamping force is within the preset range.

[0099] Specifically, the pressure detection element 330 is disposed in the connection area between the first support part 3111 and the second support part 3112. The pressure detection element 330 can be a miniature pressure sensor or a strain gauge sensing element. The detection surface of the pressure detection element 330 is aligned with the force transmission path of the elastic element 313 to directly or indirectly sense the force generated by the elastic element 313 during deformation. When the clamping member 312 abuts against the power transmission line 400 and causes the elastic element 313 to deform, the pressure detection element 330 outputs a corresponding electrical signal to reflect the magnitude of the current actual clamping force.

[0100] The control unit 120 receives the detection signal from the pressure detection unit 330 and compares the detection signal with a preset clamping force range. The control unit 120 can be a programmable logic controller (PLC) and can be installed within the receiving cavity 111. When the inclination angle of the transmission line 400 changes or the weather conditions differ, the detection value may fall below the preset range, indicating insufficient clamping and a potential risk of loosening. In this case, the control unit 120 controls the power source 321 in the drive assembly 320 to continue driving the clamping execution assembly 310 upwards, increasing the deformation of the elastic element 313 until the clamping force returns to the preset range. Alternatively, if the detection value exceeds the preset range, it is determined that the clamping force is too large and may damage the transmission line 400 or its structure. In this case, the control unit 120 controls the power source 321 to drive the clamping execution assembly 310 downwards, releasing some elastic potential energy and reducing the clamping force.

[0101] For example, when the power transmission line 400 is horizontal and the weather is sunny, the hanging robot is installed on the power transmission line 400. The control unit 120 records and stores the clamping force f0 when the hanging robot can move and inspect normally and the clamping member 312 and the hanging member 200 can stably clamp the power transmission line 400.

[0102] Furthermore, when the wire-hanging robot is on the power transmission line 400 with the maximum tilt angle (which can be set according to the actual situation, such as 45°) and there is ice and snow covering it, the clamping force is increased to ensure that the wire-hanging robot can move without slipping in this scenario, and the clamping force is recorded and stored as fmax.

[0103] Store f0 and fmax and divide them into n levels, recorded as f0, f1, f2...fn. Here, fn is fmax. During the mobile inspection process of the wire-hanging robot, if there is rain, snow, or an angled conductor, the robot may slip. In this case, adjust the power source 321 to increase the clamping force by one level until it can operate normally. After the snow melts or the conductor angle becomes gentle, the pressure value can be reduced, thus enabling the wire-hanging robot to adapt to different angles and weather conditions.

[0104] As mentioned above, when the wire-hanging robot of this application embodiment is installed on the power transmission line 400, it can be used for fixed inspection. See also... Figure 1 and Figure 2 In some embodiments, the mounting member 200 includes two mounting portions 210, which are spaced apart on the robot body 100 along the extension direction of the power transmission line 400 and are mounted above the power transmission line 400.

[0105] In this way, the two attachment parts 210 are spaced apart along the extension direction of the power transmission line 400 to form a better support layout on the housing 110, which is beneficial to improving the structural stability of the hanging robot installed on the power transmission line 400.

[0106] For example, the mounting part 210 may have a placement groove 211, which may be arc-shaped. The groove wall of the placement groove 211 forms a support surface that directly contacts the power transmission line 400. When the mounting part 210 is hung above the power transmission line 400, the power transmission line 400 is partially embedded in the placement groove 211. Stable support is achieved through the contact between the groove wall and the outer surface of the power transmission line 400, which also helps to increase the contact area, reduce local pressure, and reduce the risk of damage to the surface of the power transmission line 400.

[0107] In a specific example, the clamping actuation component 310 is located between the two hook parts 210, and the distance between the two hook parts 210 and the clamping actuation component 310 is equal.

[0108] Thus, the symmetrical layout formed by the attachment part 210 and the clamping execution component 310 can maintain good structural symmetry of the wire-hanging robot, which is conducive to achieving force balance of the wire-hanging robot on the power transmission line 400. When subjected to wind load disturbance during the inspection process, it can reduce the risk of vibration transmission and attitude instability.

[0109] As previously stated, when the wire-hanging robot of this application embodiment is installed on the power transmission line 400, it can be used for mobile inspection. In other examples, both attachment parts 210 are rotatably connected to the robot body 100, and at least one of the two attachment parts 210 is configured to rotate to drive the robot body 100 and the clamping structure 300 to move along the extension direction of the power transmission line 400.

[0110] Thus, by rotatably connecting the mounting part 210 to the robot body 100, when at least one of the two mounting parts 210 rotates to drive the housing part 110 and the clamping structure 300 to move along the extension direction of the power transmission line 400, both mounting parts 210 roll into contact with the power transmission line 400, which can reduce contact friction and reduce the resistance during the movement of the mounting robot, thereby improving the efficiency of the mounting robot's mobile inspection.

[0111] Specifically, the two attachment parts 210 can be rotatably connected to the robot body 100 through a rotating shaft structure, so that the attachment parts 210 can rotate stably around the rotating shaft relative to the robot body 100.

[0112] Furthermore, the placement groove 211 is formed around the rotation axis of the hook portion 210 on the periphery of the hook portion 210.

[0113] In this way, during the rotation of the hanging part 210, the groove wall of the placement groove 211 can always form effective contact with the surface of the power transmission line 400, ensuring that the hanging robot's suspension state is more continuous and stable during the movement.

[0114] See Figure 8 In a specific example, at least one of the two attachment parts 210 is a drive wheel 220. The drive wheel 220 includes a hub bracket 221, a hub motor 222, and a rubber-coated wheel 223. The hub motor 222 is mounted on the hub bracket 221 and is connected to the robot body 100. The rubber-coated wheel 223 is sleeved on the hub bracket 221 and has a placement groove 211. The rubber-coated wheel 223 is used to hang above the power transmission line 400 through the placement groove 211. The hub motor 222 is used to drive the hub bracket 221 and the rubber-coated wheel 223 to rotate relative to the housing 110.

[0115] Thus, by mounting the hub motor 222 on the hub bracket 221 and using the hub bracket 221 to support the rubber-coated wheel 223, the overall structure of the drive wheel 220 can be made more compact, which is beneficial to reducing the volume and space occupied by the drive wheel 220, and can optimize the connection between the various components of the drive structure, thereby achieving a lightweight design of the drive structure.

[0116] For example, the hub motor 222 includes a stator and a rotor, the stator driving the rotor to rotate relative to the stator, thereby causing the hub bracket 221 and the rubber-coated wheel 223 to rotate relative to the stator and the housing portion.

[0117] It is understandable that when the two attachment parts 210 rotate synchronously to jointly drive the wire-hanging robot to move, both attachment parts 210 are drive wheels 220; when one of the two attachment parts 210 rotates to drive the wire-hanging robot to move, one of the two attachment parts 210 can be a drive wheel 220 and the other can be a rubber-coated wheel 223.

[0118] See Figure 2 and Figure 5 In a specific example, the clamping member 312 has a rolling part 3121, which is used to contact the power transmission line 400 and is also used to roll along the extension direction of the power transmission line 400 under the drive of the hook part 210.

[0119] In this way, by rolling the rolling part 3121 into rolling contact with the transmission line 400, the interference and friction of the clamping part 312 on the transmission line 400 can be reduced, thus avoiding damage to the transmission line 400.

[0120] For example, an arc-shaped groove 3122 may be provided on the periphery of the rolling part 3121, and the curvature of the arc-shaped groove 3122 matches the outer peripheral surface of the power transmission line 400. In this way, by forming a surface contact between the inner wall of the arc-shaped groove 3122 and the outer surface of the power transmission line 400, the contact area between the rolling part 3121 and the power transmission line 400 can be increased, and slippage can be prevented.

[0121] The rolling part 3121 can be connected to two L-shaped connecting arms 3123 via a rotating shaft, and the rotation axis of the rolling part 3121 coincides with the axis of the rotating shaft.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A wire-hanging robot, characterized in that, include: Robot body (100); A mounting bracket (200) is disposed on the robot body (100), and the mounting bracket (200) is used to hang above the power transmission line (400); The clamping structure (300) includes a clamping actuation component (310) and a drive component (320). The clamping actuation component (310) is slidably connected to the robot body (100) through the drive component (320). A portion of the drive component (320) is arranged adjacent to the power transmission line (400), and the clamping actuation component (310) is located below the power transmission line (400) and a portion of the drive component (320). A portion of the drive component (320) is used to drive the clamping actuation component (310) to slide toward or away from the power transmission line (400), so that the clamping actuation component (310) abuts against the lower part of the power transmission line (400) or disengages from the power transmission line (400).

2. The wire-hanging robot according to claim 1, characterized in that, The drive component (320) includes: A power source (321) is disposed on the robot body (100) and is disposed adjacent to the power transmission line (400); The transmission mechanism (322) is connected to the clamping actuator (310) via the power source (321). The transmission mechanism (322) is configured to convert the output motion of the power source (321) into linear motion of the clamping actuator (310), so that the clamping actuator (310) is directed toward or away from the power transmission line (400).

3. The wire-hanging robot according to claim 2, characterized in that, The transmission mechanism (322) is one of the following: a gear and rack pair, a lead screw and nut pair, a worm gear pair, or a cam and connecting rod mechanism.

4. The wire-hanging robot according to claim 2, characterized in that, The power source (321) is a drive motor.

5. The wire-hanging robot according to claim 3, characterized in that, The transmission mechanism (322) includes a gear (3221) connected to the output shaft of the power source (321) and a rack (3222) meshing with the gear (3221), the rack (3222) being connected to the clamping actuation assembly (310).

6. The wire-hanging robot according to claim 5, characterized in that, The robot body (100) has a cavity (111) inside, the power source (321) is located inside the cavity (111), the robot body (100) has a clearance opening that communicates with the cavity (111), and the output shaft is exposed outside the cavity (111) through the clearance opening to connect with the gear (3221).

7. The wire-hanging robot according to claim 6, characterized in that, The robot body (100) is provided with a guide groove (1111), which extends along the sliding direction of the clamping execution component (310). The rack is slidably disposed in the guide groove (1111). The side wall of the guide groove (1111) is provided with a notch (1112) that communicates with the clearance opening. The gear is located on the notch (1112), and the rack meshes with the gear through the notch (1112).

8. The wire-hanging robot according to any one of claims 1 to 7, characterized in that, The clamping actuation component (310) includes: A support member (311) is connected to the drive assembly (320) and is used to slide toward or away from the power transmission line (400) under the drive of a portion of the drive assembly (320). At least one clamping member (312) is disposed on the support member (311) and is used to slide with the support member (311) to abut against the underside of the power transmission line (400) or to disengage from the power transmission line (400).

9. The wire-hanging robot according to claim 8, characterized in that, The clamping actuator (310) further includes an elastic element (313), the clamping element (312) is rotatably connected to the support element (311), and the elastic element (313) is connected between the clamping element (312) and the support element (311); The elastic element (313) is configured to deform to provide a preset clamping force to the power transmission line (400) through the clamping element (312) when the clamping element (312) abuts against the lower part of the power transmission line (400).

10. The wire-hanging robot according to claim 9, characterized in that, The support member (311) includes a first support portion (3111) and a second support portion (3112) connected to the first support portion (3111). The first support portion (3111) is connected to the drive assembly (320), and the second support portion (3112) is rotatably connected to the clamping member (312). The elastic member (313) is connected between the clamping member (312) and the second support portion (3112). The first support portion (3111) and the elastic member (313) are located on both sides of the second support portion (3112).

11. The wire-hanging robot according to claim 10, characterized in that, The clamping structure (300) also includes a pressure detection element (330). The pressure detection element (330) and the drive assembly (320) are both electrically connected to the control element (120) of the robot body (100). The pressure detection element (330) is disposed between the first support part (3111) and the second support part (3112) to detect whether the preset clamping force is within a preset range when the elastic element (313) deforms. The control component (120) is used to control the sliding direction of the driving component (320) to drive the pressing execution component (310) according to the detection information of the pressure detection component (330), so that the preset pressing force is within the preset range.

12. The wire-hanging robot according to any one of claims 9 to 11, characterized in that, The mounting bracket (200) includes two mounting parts (210), which are spaced apart on the robot body (100) along the extension direction of the power transmission line (400) and are hung above the power transmission line (400).

13. The wire-hanging robot according to claim 12, characterized in that, Both of the attachments (210) are rotatably connected to the robot body (100), and at least one of the attachments (210) is configured to rotate to drive the robot body (100) and the clamping structure (300) to move along the extension direction of the power transmission line (400).

14. The wire-hanging robot according to claim 13, characterized in that, At least one of the two mounting portions (210) is a drive wheel (220), the drive wheel (220) comprising: Wheel hub bracket (221); A hub motor (222) is mounted on the hub bracket (221) and connected to the robot body (100); A rubber-coated wheel (223) is fitted onto the hub bracket (221). The rubber-coated wheel (223) has a placement groove (211) and is used to hang above the power transmission line (400) through the placement groove (211). The hub motor (222) is used to drive the hub bracket (221) and the rubber-coated wheel (223) to rotate relative to the robot body (100).

15. The wire-hanging robot according to claim 13 or 14, characterized in that, The clamping member (312) has a rolling part (3121) for contacting the power transmission line (400), and the rolling part (3121) is also used to roll along the extension direction of the power transmission line (400) under the drive of the hook part (210).

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