A line following robot with adaptive line diameter

Abstract

This utility model relates to the field of cable-walking robot technology, and particularly to a cable-walking robot with adaptive wire diameter. It includes an adjustment component, a cable detection device, and a walking component. The adjustment component includes an external frame, on the bottom surface of which is fitted with the cable detection device, which is bolted to the external frame. X-axis sliding frames are horizontally fixed on both vertical ends of the external frame, and a Y-axis sliding frame is horizontally arranged below the X-axis sliding frame along the Y-axis. An X-axis screw-hole slider is fixed to the center of the top surface of the Y-axis sliding frame. In this utility model, the guide ring slides on the walking column and presses the cable, suitable for different cable outer diameters. The pressure roller adjusts its position up and down under the action of spring deformation force, together ensuring effective cable clamping.

Description

Technical Field

[0001] This utility model relates to the field of line walking robot technology, and in particular to a line walking robot that adapts to the wire diameter. Background Technology

[0002] Line walking robots, also known as overhead transmission line inspection robots or power line inspection robots, are intelligent robots that can autonomously walk on high-voltage transmission lines, cross obstacles, and perform inspection tasks. Most existing transmission line inspection robot mechanisms adopt a composite movement mechanism composed of wheeled movement and a compound linkage mechanism. The composite movement mechanism must be able to achieve stable and reliable movement of the transmission line inspection robot, ensure the passage performance of fittings such as pressure pipes and vibration dampers, and ensure the safety of the line and the inspection robot itself.

[0003] However, the aforementioned power transmission line inspection robots typically employ a composite mobility mechanism combining wheeled movement and a linkage system, enabling autonomous walking and obstacle crossing. These devices ensure safety during the maintenance and inspection of high-voltage transmission lines and can detect and record various line conditions. However, a major problem with these robots is that the dimensions of their wheels are usually fixed, only adapting to cables of specific sizes. This means that when inspecting transmission lines with different outer diameters, the robot cannot flexibly adjust the wheel size, resulting in limited adaptability and restricting its application in various environments and line conditions. Utility Model Content

[0004] This invention solves the problems in related technologies and proposes a line-walking robot with adaptive wire diameter.

[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution: an adaptive wire diameter line walking robot, including an adjustment component, a line detection device, and a walking component. The adjustment component includes an external frame, on which the line detection device for detecting cables is adapted and inserted. The line detection device is fixedly assembled on the external frame by bolts. X-axis sliding frames are horizontally fixed on both vertical end faces of the external frame, and a Y-axis sliding frame is horizontally arranged below the X-axis sliding frame along the Y-axis direction. An X-axis screw hole slider is fixed in the center of the top surface of the Y-axis sliding frame, and the X-axis screw hole slider is slidably assembled on the X-axis sliding frame. In the Y-axis slide frame, Y-axis screw hole sliders are horizontally slidably assembled on both sides of the Y-axis slide frame, and a Z-axis slide frame is vertically fixed on the bottom surface of the Y-axis screw hole slider. A traveling component is provided on the Z-axis slide frame, including a Z-axis slide block. The Z-axis slide block is vertically slidably assembled in the Z-axis slide frame, and a traveling column is horizontally rotatably connected to the Z-axis slide block. A guide ring is horizontally slidably sleeved on one end of the traveling column, and a compression spring is horizontally sleeved on the end of the traveling column. The other end of the compression spring is fixed to the end of the guide ring. A compression roller is horizontally arranged on the lower side of the traveling column, and the compression roller is used to compress the cable clamped on the traveling column.

[0006] As a preferred embodiment, the X-axis sliding frame is internally connected to an X-axis adjusting screw, and the X-axis adjusting screw is threaded through the X-axis screw hole slider.

[0007] As a preferred embodiment, a bidirectional screw rod in the Y-axis direction is horizontally rotatably connected to the slide frame in the Y-axis direction, and the bidirectional screw rod in the Y-axis direction is threadedly connected to the slider in the X-axis direction.

[0008] As a preferred embodiment, a first damping rod is vertically fixed on the top surface of the Z-axis slide block, and the top end of the first damping rod is fixed on the top surface of the Z-axis slide frame. A first spring is vertically sleeved on the outside of the first damping rod, and the two ends of the first spring are respectively fixed on the top surface of the Z-axis slide frame and the top surface of the Z-axis slide block.

[0009] As a preferred option, a travel motor is horizontally fixed on the bottom surface of the Z-axis slide, and the output end of the travel motor is fixed at the end of the travel column.

[0010] As a preferred embodiment, a rod seat is vertically fixed on the bottom surface of the slide block in the Z-axis direction, and a rotating hole seat plate is vertically slidably assembled on the rod seat, and the rotating hole seat plate is rotatably connected to the pressure roller.

[0011] As a preferred embodiment, a second damping rod is vertically fixed on the bottom surface of the rod holder, and the top end of the second damping rod is fixed on the bottom surface of the rotating hole plate. A second spring is vertically sleeved on the outside of the second damping rod, and the two ends of the second spring are respectively fixed on the bottom surface of the rod holder and the bottom surface of the rotating hole plate.

[0012] Compared with existing technologies, the advantages of this utility model are as follows: The external frame of this utility model is used to fix the line detection equipment and is connected to the equipment by bolts; the traveling component is responsible for moving on the line to be traveled, adapting to the needs of lines with different spacing. The X-axis and Y-axis sliding frames are driven by screws to move the slider, realizing precise adjustment of the position of the traveling component; the guide ring slides on the traveling column and presses the cable, which is suitable for different cable outer diameters; the pressure roller adjusts its position up and down under the action of spring deformation force, together ensuring effective clamping of the cable. The vibration generated by the traveling column and the pressure roller during the movement is transmitted to the spring through the Z-axis sliding block and damping rod. The spring deformation absorbs the vibration, ensuring the stability of the equipment during movement and the accuracy of cable detection. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0014] Figure 2 This is an exploded structural diagram of the present invention;

[0015] Figure 3 This is a schematic diagram of the structure of the adjusting component in the disassembled state in an embodiment of this utility model;

[0016] Figure 4 This is a schematic diagram of the Y-axis sliding frame in an exploded state in an embodiment of this utility model;

[0017] Figure 5 This is a schematic diagram of the walking component in the disassembled state in an embodiment of this utility model.

[0018] In the diagram: 1. Adjusting component; 11. External frame; 12. X-axis slide frame; 13. X-axis adjusting screw; 14. Y-axis slide frame; 141. Y-axis screw hole slider; 142. Y-axis bidirectional screw; 143. X-axis screw hole slider; 144. Z-axis slide frame; 2. Circuit testing equipment; 3. Traveling component; 31. Z-axis slide block; 32. Traveling column; 33. Guide ring; 34. Compression spring; 35. First damping rod; 36. First spring; 37. Traveling motor; 38. Rod seat; 381. Second damping rod; 382. Second spring; 39. Rotary hole seat plate; 391. Compression roller. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present utility model or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0020] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0021] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0022] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0023] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0024] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0025] like Figures 1 to 5As shown, an adaptive wire diameter line walking robot includes an adjustment component 1, a line detection device 2, and a walking component 3. The adjustment component 1 includes an external frame 11. The line detection device 2 for detecting cables is fitted and inserted into the bottom surface of the external frame 11 and is fixedly assembled on the external frame 11 by bolts. X-axis sliding frames 12 are horizontally fixed on the vertical end faces of both sides of the external frame 11. Below the X-axis sliding frames 12, a Y-axis sliding frame 14 is horizontally arranged along the Y-axis direction. An X-axis screw hole slider 143 is fixed in the middle of the top surface of the Y-axis sliding frame 14 and is slidably assembled in the X-axis sliding frame 12. Y-axis screw hole sliders 141 are horizontally slidably assembled on both sides of the Y-axis sliding frame 14. A Z-axis sliding frame 144 is vertically fixed on the bottom surface of the slider 141. A traveling component 3 is mounted on the Z-axis sliding frame 144. The traveling component 3 includes a Z-axis sliding seat 31, which is vertically slidably assembled in the Z-axis sliding frame 144. A traveling column 32 is horizontally rotatably connected to the Z-axis sliding seat 31. A guide ring 33 is horizontally slidably sleeved at one end of the traveling column 32, and a pressure spring 34 is horizontally sleeved at the other end of the traveling column 32. The other end of the pressure spring 34 is fixed to the end of the guide ring 33. A pressure roller 391 is horizontally mounted on the lower side of the traveling column 32. The pressure roller 391 is used to press the cable onto the traveling column 32. In the line walking robot, the external frame 11 is mainly used to support and install various components, providing a stable basic platform for the entire machine. The line detection device 2 is used to detect the position and status of the cable in real time to adapt to the needs of different wire diameters. The X-axis slide 12 and Y-axis slide 14 achieve precise movement through their sliders and screw holes, enabling adjustment of the machine's position and accuracy along the X and Y axes. The Z-axis slide 31 can move up and down along the Z-axis, achieving movement and positioning on the cable through the horizontally rotating traveling column 32 and the pressure roller 391. The pressure spring 34 ensures reliable contact between the traveling column 32 and the cable while allowing the traveling column 32 to flexibly adhere to or detach from the cable. This adaptive wire diameter adjustment mechanism allows the robot to adapt to cables of different diameters, achieving efficient and stable movement and inspection. The external frame 11 provides stable support for the machine, the cable inspection equipment monitors the cable status in real time, the X-axis and Y-axis slides ensure accurate machine positioning, the Z-axis slide controls the machine's vertical movement, and the traveling column 32 and the pressure roller 391 adhere to the cable under the action of the spring, thus achieving stable movement and inspection on the cable.

[0026] In one embodiment, such as Figure 2 , Figure 3 and Figure 4As shown, an X-axis adjusting screw 13 is horizontally rotatably connected inside the X-axis sliding frame 12, and the X-axis adjusting screw 13 is threaded through and assembled in the X-axis threaded hole slider 143. The X-axis adjusting screw 13 is horizontally installed inside the X-axis sliding frame 12 for fine adjustment of the Y-axis sliding frame 14 in the X-axis direction. The X-axis threaded hole slider 143 on the top surface of the Y-axis sliding frame 14 is connected to the X-axis adjusting screw 13 by threads, allowing the sliding frame 12 to move horizontally along the X-axis direction. By rotating the X-axis adjusting screw 13, the threaded X-axis threaded hole slider 143 can be moved in the X-axis direction, thereby achieving precise displacement of the sliding frame 12 in the X-axis direction.

[0027] In one embodiment, such as Figure 4 As shown, a Y-axis bidirectional screw 142 is horizontally rotatably connected to the Y-axis sliding frame 14, and the Y-axis bidirectional screw 142 is threadedly connected to the X-axis threaded slider 143. The main function of the Y-axis sliding frame 14 is to provide a guide structure for the X-axis threaded slider 143 to move in the Y-axis direction. The function of the Y-axis bidirectional screw 142 is to rotate horizontally within this sliding frame. Its main task is to achieve threaded transmission by matching its threaded structure with the threaded hole of the X-axis threaded slider 143. The X-axis threaded slider 143, through its threaded connection with the Y-axis bidirectional screw 142, can move precisely in a straight line in the Y-axis direction, thereby achieving overall position control of the two traveling components 3 in the Y-axis direction.

[0028] In one embodiment, such as Figure 4 and Figure 5As shown, a first damping rod 35 is vertically fixed to the top surface of the Z-axis slide block 31, and the top end of the first damping rod 35 is fixed to the top surface of the Z-axis slide frame 144. A first spring 36 is vertically sleeved on the outside of the first damping rod 35, and the two ends of the first spring 36 are respectively fixed to the top surface of the Z-axis slide frame 144 and the top surface of the Z-axis slide block 31. A travel motor 37 is horizontally fixed to the bottom surface of the Z-axis slide block 31, and the output end of the travel motor 37 is fixed to the end of the travel column 32. The Z-axis slide block 31 is a key load-bearing component, providing sliding support so that the equipment can move linearly in the Z-axis direction. The first damping rod 35 is a shock absorption device that can absorb and reduce vertical impacts and vibrations, ensuring smooth movement. The first spring 36 provides elastic reaction force to help restore the original position and stabilize the slide block. The travel motor 37, as a driving force source, drives the travel column 32 to rotate through its output shaft, thereby realizing the horizontal movement of the equipment. The Z-axis slide block 31 moves linearly within the Z-axis slide frame 144. Through the cooperation of the first damping rod 35 and the first spring 36, it achieves smooth up-and-down movement. The walking motor 37 drives the walking column 32 to rotate, thereby moving the equipment in the horizontal direction.

[0029] In one embodiment, such as Figure 4 and Figure 5As shown, a rod seat 38 is vertically fixed to the bottom surface of the Z-axis slide block 31, and a rotating hole seat plate 39 is vertically slidably mounted on the rod seat 38, and the rotating hole seat plate 39 is rotatably connected to the pressure roller 391. A second damping rod 381 is vertically fixed to the bottom surface of the rod seat 38, and the top end of the second damping rod 381 is fixed to the bottom surface of the rotating hole seat plate 39. A second spring 382 is vertically sleeved on the outside of the second damping rod 381, and the two ends of the second spring 382 are respectively fixed to the bottom surface of the rod seat 38 and the bottom surface of the rotating hole seat plate 39. The Z-axis slide block 31 serves as a basic structure, providing a basis for the installation and movement of subsequent components. The rod seat 38 is fixed to the bottom surface of the Z-axis slide block 31 to support and position the rotating hole seat plate 39. The rotating hole seat plate 39 is connected to the rod seat 38 through the second damping rod 381 and can slide vertically on the rod seat 38, allowing the pressure roller 391 to move up and down within a specific range. The top end of the second damping rod 381 is fixedly connected to the bottom surface of the rotating hole seat plate 39. Simultaneously, the second spring 382 is sleeved on the outside of the second damping rod 381, with its two ends fixed to the bottom surfaces of the rod seat 38 and the rotating hole seat plate 39, respectively, providing shock absorption and reset buffering. During operation, the Z-axis slide 31 remains fixed and stable. The rod seat 38 and the second damping rod 381 ensure the vertical guidance of the rotating hole seat plate 39. Meanwhile, the second spring 382 acts as a buffer when the pressure roller 391 is compressed, reducing impact force and allowing the pressure roller 391 to automatically return to its original position after the pressure is released. This structural design ensures the smooth operation of the equipment and the pressure adjustment capability of the pressure roller 391, improving the accuracy of material processing and work efficiency.

[0030] The working principle of this utility model:

[0031] First, the adapter for the line testing equipment 2 is inserted into the peripheral frame 11 of the adjusting component 1, and then the peripheral frame 11 and the line testing equipment 2 are fixedly assembled by bolts.

[0032] Secondly, when adjusting the walking components 3 on both sides of the peripheral rack 11 according to the spacing of the line to be traveled, the X-axis adjustment screw 13 inside the X-axis sliding frame 12 on both sides of the peripheral rack 11 is rotated, and the screw drive of the X-axis screw hole slider 143 at the top of the Y-axis sliding frame 14 moves laterally inside the X-axis sliding frame 12, thereby adjusting the walking components 3 on both sides of the peripheral rack 11 to meet the spacing requirements of the line to be traveled. At the same time, according to the spacing of the walking components 3 of the traveling cable, the Y-axis bidirectional screw 142 in the Y-axis sliding frame 14 is rotated, and the screw drive of the Y-axis screw hole slider 141 moves laterally in the Y-axis sliding frame 14, driving the Z-axis sliding frame 144 with the walking components 3 installed to adjust the adjacent spacing, thereby adjusting the spacing requirements of the detection cable according to the spacing of the walking components 3 of the traveling cable.

[0033] Finally, the traveling column 32 and the pressure roller 391 in the traveling component 3 clamp the cable from top to bottom. Then, the guide ring 33, which is slidably inserted on the outside of the traveling column 32, is pushed to slide on the traveling column 32 under the deformation force of the pressure spring 34. The guide ring 33 is pushed to cooperate with the traveling column 32 to clamp the cable. When the traveling column 32 and the pressure roller 391 travel, the vibration causes the slide block 31 in the Z-axis direction to move vertically on the slide frame 144 in the Z-axis direction. This pulls the first damping rod 35 to extend and the first spring 36 to deform and filter and absorb the vibration. Similarly, when the pressure roller 391 travels, it generates vibration, causing the rotating hole seat plate 39 to slide vertically on the rod seat 38. This pulls the second damping rod 381 to extend and the second spring 382 to deform and filter and absorb the vibration, thus ensuring the stability of the traveling column 32 and the pressure roller 391.

[0034] The above are preferred embodiments of this utility model. Those skilled in the art can make changes and modifications to the above embodiments. Therefore, this utility model is not limited to the specific embodiments described above. Any obvious improvements, substitutions or modifications made by those skilled in the art based on this utility model shall fall within the protection scope of this utility model.

Claims

1. A line-walking robot with adaptive wire diameter, characterized in that, The system includes an adjustment component (1), a line testing device (2), and a traveling component (3). The adjustment component (1) includes an external frame (11). The line testing device (2) for testing cables is fitted and inserted into the bottom surface of the external frame (11). The line testing device (2) is fixedly assembled on the external frame (11) by bolts. X-axis sliding frames (12) are horizontally fixed on both vertical end faces of the external frame (11). Y-axis sliding frames (14) are horizontally arranged below the X-axis sliding frames (12) along the Y-axis direction. X-axis screw hole sliders (143) are fixed in the middle of the top surface of the Y-axis sliding frames (14). The X-axis screw hole sliders (143) are slidably assembled in the X-axis sliding frames (12). Y-axis screw hole sliders are horizontally slidably assembled on both sides of the Y-axis sliding frames (14). 141), and a Z-axis sliding frame (144) is vertically fixed on the bottom surface of the Y-axis screw hole slider (141). The Z-axis sliding frame (144) is provided with the traveling component (3). The traveling component (3) includes a Z-axis sliding seat (31). The Z-axis sliding seat (31) is vertically slidably assembled in the Z-axis sliding frame (144). A traveling column (32) is horizontally rotatably connected to the Z-axis sliding seat (31). A guide ring (33) is horizontally slidably sleeved at one end of the traveling column (32). A pressure spring (34) is horizontally sleeved at the end of the traveling column (32). The other end of the pressure spring (34) is fixed to the end of the guide ring (33). A pressure roller (391) is horizontally arranged on the lower side of the traveling column (32). The pressure roller (391) is used to press the cable to be clamped on the traveling column (32).

2. The adaptive wire diameter line-walking robot according to claim 1, characterized in that: The X-axis sliding frame (12) is internally connected to an X-axis adjusting screw (13) that rotates horizontally, and the X-axis adjusting screw (13) is threaded through and assembled in the X-axis screw hole slider (143).

3. The adaptive wire diameter line-walking robot according to claim 1, characterized in that: The Y-axis sliding frame (14) is horizontally rotatably connected to a Y-axis bidirectional screw (142), and the Y-axis bidirectional screw (142) is threaded through and assembled with the X-axis screw hole slider (143).

4. The adaptive wire diameter line-walking robot according to claim 1, characterized in that: A first damping rod (35) is vertically fixed on the top surface of the Z-axis slide block (31), and the top end of the first damping rod (35) is fixed on the top surface of the Z-axis slide frame (144). A first spring (36) is vertically sleeved on the outside of the first damping rod (35), and the two ends of the first spring (36) are respectively fixed on the top surface of the Z-axis slide frame (144) and the top surface of the Z-axis slide block (31).

5. The adaptive wire diameter line-walking robot according to claim 4, characterized in that: A walking motor (37) is horizontally fixed on the bottom surface of the Z-axis slide (31), and the output end of the walking motor (37) is fixed at the end of the walking column (32).

6. The adaptive wire diameter line-walking robot according to claim 1, characterized in that: A rod seat (38) is vertically fixed on the bottom surface of the Z-axis slide (31), and a rotating hole seat plate (39) is vertically slidably assembled on the rod seat (38), and the rotating hole seat plate (39) is rotatably connected to the pressure roller (391).

7. The adaptive wire diameter line-walking robot according to claim 6, characterized in that: A second damping rod (381) is vertically fixed on the bottom surface of the rod seat (38), and the top end of the second damping rod (381) is fixed on the bottom surface of the rotating hole seat plate (39). A second spring (382) is vertically sleeved on the outside of the second damping rod (381), and the two ends of the second spring (382) are respectively fixed on the bottom surface of the rod seat (38) and the bottom surface of the rotating hole seat plate (39).

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