A line inspection structure for a high-voltage power grid line inspection robot

Abstract

The utility model discloses a kind of line inspection structure for high-voltage power grid line detection robot, including several line inspection rings of coaxial and interval arrangement, the line inspection ring center is passed through for line to be detected, it is connected between the edge of line inspection ring by several connecting columns, adjacent line inspection ring is provided with friction wheel assembly, auxiliary positioning wheel assembly, the outer wall of the line to be detected that friction wheel assembly, auxiliary positioning wheel assembly and line inspection ring inside pass through contact and rotate, wherein the two sides of two line inspection rings are outwardly provided with connecting bracket, and the connecting bracket is rotatably connected with additional mechanical arm by rotating mechanism;The utility model adopts multiple sets of coaxial line inspection ring and connecting column to form rigid frame, and symmetrically arranged limit wheel is formed into rigid limit, effectively resist wind power, line sway and other external interference, reduce the risk of lateral tilting, off-line.

Description

Technical Field

[0001] This utility model relates to power line inspection, specifically a line inspection structure for a robot used for high-voltage power grid line inspection. Background Technology

[0002] As power systems develop towards ultra-high voltage and long-distance power transmission, the safe and stable operation of high-voltage power grid lines has become a core requirement for ensuring energy supply. Traditional high-voltage line inspections mainly rely on manual climbing operations, which are not only labor-intensive and inefficient, but also pose safety risks such as falls from heights and electric shocks, and are difficult to adapt to complex terrain and harsh weather conditions.

[0003] To address the limitations of manual inspections, various power line inspection robots have emerged. However, existing equipment still suffers from several technical bottlenecks: First, it is susceptible to wind and line swaying during inspections, leading to safety hazards such as tilting and line detachment, and its stability is insufficient. Second, it has poor adaptability to curved lines, easily experiencing misalignment and deviation, and struggling to move stably along the line's central axis. Third, its detection coverage is limited, making it difficult to achieve 360° circumferential inspection without blind spots. To address these shortcomings of existing technologies, there is an urgent need to develop a stable, adaptable, and flexible high-voltage power grid line inspection robot structure to improve the safety, efficiency, and comprehensiveness of high-voltage line inspections. Utility Model Content

[0004] To solve the above-mentioned technical problems, the technical solution provided by this utility model is as follows: a line inspection structure for a high-voltage power grid line inspection robot, comprising several line inspection rings arranged coaxially and at intervals, wherein the center of the line inspection ring is through which the line to be inspected passes, and the edges of the line inspection rings are connected by several connecting posts. Friction wheel assemblies and auxiliary positioning wheel assemblies are arranged between adjacent line inspection rings. The friction wheel assemblies and auxiliary positioning wheel assemblies contact and rotate with the outer wall of the line to be inspected passing through the inside of the line inspection ring. Connecting brackets are respectively arranged outward on both sides of two line inspection rings, and the connecting brackets are rotatably connected to the added robotic arm through a rotating mechanism.

[0005] Furthermore, the friction wheel assembly consists of two sets of friction wheel assemblies symmetrically arranged on the line inspection ring. The friction wheel assembly includes a friction wheel body that contacts the outer wall of the line to be inspected. The two ends of the friction wheel body are rotatably connected between friction wheel brackets, and the friction wheel brackets are inserted and fixed between adjacent line inspection rings.

[0006] Furthermore, the friction wheel body is a soft, insulating, rubber-coated friction wheel.

[0007] Furthermore, the auxiliary positioning wheel assembly comprises multiple sets of auxiliary positioning wheel assemblies circumferentially spaced on the line-following ring. Each auxiliary positioning wheel assembly includes a limiting wheel and an adaptive wheel. The limiting wheel assembly is rotatably connected between limiting wheel mounting plates. The limiting wheel mounting plates are fixed to both sides of the limiting wheel connecting column by bolts. Both ends of the limiting wheel connecting column are inserted into the limiting wheel support feet. The limiting wheel support feet are fixed to the side wall of the line-following ring by bolts. The adaptive wheel is rotatably connected between adaptive wheel mounting plates. The end of the adaptive wheel mounting plate away from the center of the line-following ring is rotatably connected to the adaptive wheel mounting seat via a spring hinge. The adaptive wheel mounting seat is fixed to the side of the line-following ring closest to its center.

[0008] Furthermore, the adaptive wheel mounting plate is an arc-shaped plate that bends toward the center of the line-following ring.

[0009] Furthermore, the rotating mechanism includes a rotating plate inserted between the connecting brackets and a support plate spaced apart from the rotating plate. The rotating plate is connected to a rotating shaft, which is driven by a rotating motor mounted on the support plate. The support plate is located on the top of the robotic arm.

[0010] Furthermore, the added robotic arm includes two single robotic arms disposed on both sides of the support plate, and the bottom of the single robotic arm is provided with connecting legs.

[0011] Furthermore, the added robotic arm is tilted.

[0012] Furthermore, the connecting leg is a triangular leg.

[0013] Compared with the prior art, the advantages of this utility model are: (1) This utility model adopts multiple sets of coaxial line-following rings and connecting columns to form a rigid frame, and is matched with symmetrically arranged limit wheels to form a rigid limit, which effectively resists external interference such as wind force and line sway, and reduces the risk of tilting and derailment; the adaptive wheel can fit tightly against the outer wall of the line through the design of spring hinge and arc mounting plate, and can adaptively adjust even at the curved line, thereby improving the stability of the overall structure.

[0014] (2) The friction wheel is made of soft insulating rubber material, which not only ensures sufficient friction with the line and provides bidirectional power to achieve flexible forward and backward movement, but also has insulation performance to meet the safety requirements of high voltage environment; the adaptive wheel has an adaptive rotation function that can match the curvature of the line and achieve smooth movement in complex line environment without manual intervention correction.

[0015] (3) The rotating mechanism drives the added robotic arm to rotate around the line in a circumferential direction to achieve 360° coverage detection without blind spots; the robotic arm can be flexibly equipped with high-definition cameras, infrared thermometers, ultrasonic flaw detectors and other equipment to provide reliable data support for subsequent maintenance.

[0016] (4) The robotic arm supports the replacement of various instruments. In addition to inspection, it can also be adapted to clamping instruments to complete maintenance operations such as cleaning foreign objects from the line, meeting the needs of high-voltage line inspection, maintenance and other scenarios. The overall structure is modularly designed, which facilitates the later equipment upgrade and function expansion, and reduces the equipment iteration cost. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the line inspection structure of a high-voltage power grid line inspection robot according to this utility model.

[0018] Figure 2 This is a schematic diagram of the rear structure of a line inspection structure for a high-voltage power grid line inspection robot according to this utility model.

[0019] Figure 3 This is a front view of the inspection structure of a high-voltage power grid line inspection robot according to the present invention.

[0020] Figure 4 This is a schematic diagram of the auxiliary positioning wheel assembly in the line inspection structure of a high-voltage power grid line inspection robot according to this utility model. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] In the description of the embodiments of this utility model, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," or "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use, they are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model. Furthermore, terms such as "first," "second," and "third" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] Furthermore, the use of terms such as "horizontal," "vertical," and "sag" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0024] In the description of the embodiments of this utility model, "a plurality of" means at least two.

[0025] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] Example:

[0027] A line inspection structure for a high-voltage power grid line inspection robot includes several line inspection rings 1 arranged coaxially and at intervals. The center of each line inspection ring 1 is through which the line to be inspected passes. The edges of the line inspection rings 1 are connected by several connecting posts 2. Friction wheel assemblies 3 and auxiliary positioning wheel assemblies 4 are arranged between adjacent line inspection rings 1. The friction wheel assemblies 3 and auxiliary positioning wheel assemblies 4 contact and rotate with the outer wall of the line to be inspected passing through the inside of the line inspection ring 1. Connecting brackets 5 are respectively arranged outward on both sides of two line inspection rings 1. The connecting brackets 5 are rotatably connected to the attached robotic arm 7 through a rotating mechanism 6.

[0028] The friction wheel assembly 3 consists of two sets of friction wheel assemblies symmetrically arranged on the line inspection ring 1. Each friction wheel assembly 3 includes a friction wheel body 301 that contacts the outer wall of the line to be inspected. The two ends of the friction wheel body 301 are rotatably connected between friction wheel brackets 302. The friction wheel brackets 302 are inserted and fixed between adjacent line inspection rings 1. The friction wheel body 301 is a soft, insulating, rubber-coated friction wheel, and the friction wheel body 301 passes through the friction wheel brackets 302 and is connected to a drive device.

[0029] The auxiliary positioning wheel assembly 4 consists of multiple sets of auxiliary positioning wheel assemblies 4 spaced circumferentially on the line-following ring 1. Each auxiliary positioning wheel assembly 4 includes a limiting wheel 401 and an adaptive wheel 402. The limiting wheel 401 is rotatably connected between limiting wheel mounting plates 403, which are bolted to both sides of the limiting wheel 401 connecting post 2. Both ends of the limiting wheel 401 connecting post 2 are inserted into limiting wheel support feet 404, which are bolted to the side wall of the line-following ring 1. The adaptive wheel 402 is rotatably connected between adaptive wheel mounting plates 405. One end of the adaptive wheel mounting plate 405, away from the center of the line-following ring 1, is rotatably connected to an adaptive wheel mounting base 406 via a spring hinge. The adaptive wheel mounting base 406 is fixed to the side of the line-following ring 1 closest to its center. The adaptive wheel mounting plate 405 is an arc-shaped plate bent towards the center of the line-following ring 1.

[0030] The rotating mechanism 6 includes a rotating plate 601 inserted between the connecting brackets 5 and a bearing plate 602 spaced apart from the rotating plate 601. The rotating plate 601 is connected to a rotating shaft 603, and the rotating shaft 603 is connected to a rotating motor 604 mounted on the bearing plate 602. The bearing plate 602 is mounted on the top of the robotic arm 7.

[0031] The added robotic arm 7 includes two single robotic arms 701 disposed on both sides of the support plate 602, and each single robotic arm 701 has a connecting leg 702 at its bottom. The added robotic arm 7 is inclined. The connecting leg 702 is a triangular leg.

[0032] In use, the spring hinge elasticity of the adaptive wheel mounting plate is used to push the adaptive wheel outward, allowing the line to pass smoothly through the center of the coaxial line-following ring. At this time, the limit wheel first contacts the two sides of the line, initially limiting the horizontal displacement of the structure. The adaptive wheel fits against the outer wall of the line and works with the limit wheel to complete the initial positioning, ensuring that the line is in the center area of ​​the line-following ring, laying a stable foundation for subsequent movement and detection.

[0033] After the drive unit of the friction wheel assembly is activated, the soft-insulated rubber-coated friction wheel provides bidirectional power for forward or backward movement by friction with the overhead power line, driving the entire line inspection structure to move along the line axis. During the movement, the four limiting wheels on the side of the friction wheel closely fit the two sides of the line, forming a rigid limit, effectively preventing the machine from tilting on the high-voltage power line due to wind, line swaying, and other factors, thus avoiding the risk of derailment at the source. When encountering a curved power line, the adaptive wheel will rotate adaptively with the curvature of the line. For example, when the line bends to the left, the force on the right auxiliary positioning wheel increases, pushing the structure to shift to the left to fit the line direction, avoiding machine misalignment and ensuring stable movement along the line's central axis.

[0034] When the inspection structure moves to the target inspection area, the friction wheel drive stops, and the robotic arm begins its circumferential movement via a rotating mechanism: the outermost motor drives the rotating shaft, causing the robotic arm to rotate circumferentially around the line, achieving 360° coverage without blind spots. Depending on the actual working environment and task requirements, the robotic arm can be equipped with high-definition cameras (to capture details of the line surface), infrared thermometers (to detect joint temperature), ultrasonic flaw detectors (to detect internal damage), and other instruments. For example, when inspecting line corrosion, the installed high-definition camera can capture images of the line surface from different angles during the robotic arm's circumference, and, combined with the position feedback from the positioning wheels, accurately record the location and extent of corrosion. If it is necessary to remove foreign objects from the line, a clamping device can be installed, and the operation can be completed through the rotation and extension of the robotic arm.

[0035] After completing the inspection of the current area, the friction wheel assembly is restarted, and the line-following structure continues to move along the line (forward or backward), repeating the "movement-positioning-correction-inspection" process. Throughout the process, the line-following rings connected by several connecting columns form a rigid frame. With the coordinated action of the limit wheels and adaptive wheels, the structure remains stable in complex environments such as high voltage and high altitude. The flexible mounting capability of the robotic arm allows the equipment to adapt to diverse tasks such as inspection and maintenance, ultimately achieving comprehensive inspection coverage of the entire transmission line.

[0036] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A line inspection structure for a high-voltage power grid line inspection robot, characterized in that, The device includes several coaxial and spaced-apart line-following rings, with the center of each ring allowing the line to be inspected to pass through. The edges of the line-following rings are connected by several connecting posts. Friction wheel assemblies and auxiliary positioning wheel assemblies are provided between adjacent line-following rings. The friction wheel assemblies and auxiliary positioning wheel assemblies contact and rotate with the outer wall of the line to be inspected passing through the inside of the line-following ring. Connecting brackets are provided on both sides of two line-following rings, and the connecting brackets are rotatably connected to an added robotic arm through a rotating mechanism.

2. The line inspection structure for a high-voltage power grid line inspection robot according to claim 1, characterized in that, The friction wheel assembly consists of two sets of friction wheel assemblies symmetrically arranged on the line inspection ring. Each friction wheel assembly includes a friction wheel body that contacts the outer wall of the line to be inspected. The two ends of the friction wheel body are rotatably connected between friction wheel brackets, and the friction wheel brackets are inserted and fixed between adjacent line inspection rings.

3. The line inspection structure for a high-voltage power grid line inspection robot according to claim 2, characterized in that, The friction wheel body is a soft, insulating, rubber-coated friction wheel.

4. The line inspection structure for a high-voltage power grid line inspection robot according to claim 1, characterized in that, The auxiliary positioning wheel assembly consists of multiple sets of auxiliary positioning wheel assemblies circumferentially spaced on the line-following ring. Each auxiliary positioning wheel assembly includes a limiting wheel and an adaptive wheel. The limiting wheel assembly is rotatably connected between limiting wheel mounting plates. The limiting wheel mounting plates are fixed to both sides of the limiting wheel connecting column by bolts. Both ends of the limiting wheel connecting column are inserted into the limiting wheel support feet. The limiting wheel support feet are fixed to the side wall of the line-following ring by bolts. The adaptive wheel is rotatably connected between adaptive wheel mounting plates. The end of the adaptive wheel mounting plate away from the center of the line-following ring is rotatably connected to the adaptive wheel mounting seat via a spring hinge. The adaptive wheel mounting seat is fixed to the side of the line-following ring closest to its center.

5. The line inspection structure for a high-voltage power grid line inspection robot according to claim 4, characterized in that, The adaptive wheel mounting plate is an arc-shaped plate that bends toward the center of the line-following ring.

6. The line inspection structure for a high-voltage power grid line inspection robot according to claim 1, characterized in that, The rotating mechanism includes a rotating plate inserted between connecting brackets and a support plate spaced apart from the rotating plate. The rotating plate is connected to a rotating shaft, which is driven by a rotating motor mounted on the support plate. The support plate is located on the top of the robotic arm.

7. The line inspection structure for a high-voltage power grid line inspection robot according to claim 6, characterized in that, The added robotic arm includes two single robotic arms located on both sides of the support plate, and the bottom of each single robotic arm is provided with connecting legs.

8. The line inspection structure for a high-voltage power grid line inspection robot according to claim 7, characterized in that, The added robotic arm is tilted.

9. The line inspection structure for a high-voltage power grid line inspection robot according to claim 7, characterized in that, The connecting legs are triangular.

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