CN115026853A - Line patrol robot for electric power system - Google Patents

Abstract

The application provides a line patrol robot for an electric power system, which comprises a base, a graduated scale, a positioning mechanism, an image acquisition mechanism and a detection frame, wherein a plurality of wheels are arranged on the lower side of the base; the detection frame is arranged in the middle of the upper side of the base through bolts; the two image acquisition mechanisms are respectively fixed at two ends of the detection frame by bolts, and the position and the inclination angle of the image acquisition mechanisms are adjusted so as to conveniently acquire image information of lines from a plurality of directions; the two positioning mechanisms are respectively fixed at two ends of the upper side of the base by bolts, and the detected circuit passes through the upper parts of the positioning mechanisms; the graduated scale slides on the upper side of the base; and measuring the transverse and longitudinal positions of the line passing through the upper part of the positioning mechanism by using a graduated scale, and adjusting the position and the angle of the image acquisition mechanism according to the measured transverse and longitudinal positions of the line to realize accurate detection of the line.

Description

Line patrol robot for electric power system

Technical Field

The invention relates to the technical field of inspection robots for power systems, in particular to an inspection robot for a power system.

Background

In order to ensure the normal use of the power transmission line of the power grid, the power transmission line needs to be detected regularly, and the damaged position of the line is found timely, so that the power transmission line is maintained timely, and the larger loss is avoided. When the information of the circuit is collected, because the radial dimension of the electric wire is smaller, the camera is difficult to accurately align to the electric wire, the camera is inconvenient to collect the image data of the circuit, and the detection of the circuit is influenced. The electric wire is circular, when the peripheral side of the electric wire is damaged, if only the image data of one side of the electric wire is collected, the comprehensive detection of the electric wire cannot be realized. These factors all result in an inability to fully and accurately detect the wire.

Disclosure of Invention

The invention aims to provide a line patrol robot for an electric power system, which can be aligned with a detected electric wire and can detect the electric wire comprehensively and accurately.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a line patrol robot for an electric power system comprises a base, a graduated scale, a positioning mechanism, an image acquisition mechanism and a detection frame, wherein a plurality of wheels are arranged on the lower side of the base;

the detection frame is installed in the middle of the upper side of the base through bolts. The two image acquisition mechanisms are respectively fixed at two ends of the detection frame by bolts, and the position and the inclination angle of the image acquisition mechanisms are adjusted so as to conveniently acquire the image information of the line from a plurality of directions.

The two positioning mechanisms are respectively fixed at two ends of the upper side of the base through bolts, and the detected circuit penetrates through the upper parts of the positioning mechanisms. The graduated scale slides on the upper side of the base.

The scale is used for measuring the transverse and longitudinal positions of the electric wire passing through the upper part of the positioning mechanism, and the position and the angle of the image acquisition mechanism are adjusted according to the measured transverse and longitudinal positions of the electric wire line, so that the line can be accurately detected.

Through the technical scheme, the power system inspection robot is moved to the power line to be detected by rotating the wheels. The wire to be tested is passed through the upper part of the positioning mechanisms, and the two positioning mechanisms and the wire are aligned in the axial direction. And measuring the longitudinal distance from the wire to the top surface of the base and the transverse distance from the wire to the edge of the base by using the graduated scale, and determining the target position of the wire according to the detected longitudinal distance and transverse distance.

And adjusting the transverse and longitudinal positions of the image acquisition mechanism according to the transverse distance and the longitudinal distance to align the image acquisition mechanism with the line to be detected, so that the line to be detected is accurately aligned and detected. The angle of the camera on the adjustment image acquisition mechanism to detect the electric wire at different angles, realize the omnidirectional detection to the week side of electric wire, avoid detecting the omission.

Preferably, the positioning mechanism comprises a mounting seat, a positioning piece is arranged at the upper end of the mounting seat in a sliding manner, and the positioning piece is arranged along a direction perpendicular to the mounting seat.

Through above-mentioned technical scheme, need wear to establish the electric wire in the setting element when detecting the circuit of electric wire. When the locating piece has a certain distance with the electric wire in the longitudinal direction, the longitudinal position of the locating piece needs to be adjusted in the vertical direction, so that the electric wire passes through the locating piece along the axial direction of the locating piece, and the adjusted locating piece is aligned with the electric wire in the axial direction.

And measuring the longitudinal distance between the positioning piece and the top surface of the base by using a first ruler to obtain the longitudinal position of the positioning piece. And measuring the transverse distance from the positioning piece to the edges of the two sides of the base by using a second ruler to obtain the transverse position of the positioning piece. The transverse position and the longitudinal position of the positioning piece are measured to determine the position of the detected electric wire, so that the image acquisition mechanism can accurately detect the electric wire.

Preferably, the mounting seat comprises a supporting column, a supporting piece, a supporting seat, a first spring and a second guide rod.

The upper portion of supporting seat is seted up along the mounting groove of direction of height extension, and the top of mounting groove is opened. The second guide rod is a circular rod, the second guide rod is vertically installed in the installation groove, and the lower end of the second guide rod is connected to the supporting seat through threads. The supporting piece is sleeved on the second guide rod, and the supporting piece slides in the vertical direction along the second guide rod. The supporting column is connected above the supporting piece through a bolt. The first spring jacks up the supporting piece from the lower side to play a supporting role.

Through the technical scheme, the second guide rod is rotated along the vertical direction to adjust the value of the longitudinal length of the second guide rod extending out. The lower part of the supporting column is provided with a positioning hole, and the top end of the second guide rod penetrates through the positioning hole. Along with the ascending or descending of second guide bar in vertical direction, the support column is also along with ascending or descending, and the setting element is along with the ascending or descending of support column along vertical direction, realizes the adjustment of the longitudinal position of setting element, makes setting element and the electric wire that is detected align in the axial.

Preferably, the mounting seat further comprises a first screw and a rectangular support block. The two supporting blocks are respectively vertically arranged on two sides of the supporting column by bolts. Along the vertical direction, two first screws are connected to the upper part of the supporting seat through threads, and the supporting block is connected to the first screws through threads. The longitudinal position of the support column is adjusted through the first screw and the support block.

Through above-mentioned technical scheme, regarding the longitudinal position of mount pad, adjust the second guide bar in longitudinal direction, the second guide bar is with the support column jack-up that makes progress, and the second guide bar plays supporting role to the intermediate position of support column. The lower end of the supporting column is provided with a rectangular block which is convex downwards and is close to the edge. The supporting piece is in an arch shape and is horizontally placed. The bulge at the edge of the lower end of the supporting column is pressed in the notches of the arch shapes at the two ends of the supporting piece, so that the lower ends of the supporting piece and the supporting column are matched, the lower end of the supporting column is firmly fixed by the supporting piece, and the supporting column is prevented from being shifted in the transverse direction.

The support column moves along the vertical direction and drives the support block to move in the longitudinal direction. The supporting block slides along the side wall of the mounting groove when moving. After the supporting block moves to the target position, the position of the supporting block is fixed by the first screw rod, the two sides of the supporting column are fixed, and the supporting of the supporting column in the longitudinal direction is strengthened.

The supporting groove is concavely arranged on the bottom surface of the horizontally placed arched supporting piece, and the upper end of the first spring is tightly propped in the supporting groove, so that the supporting piece is upwards pressed onto the lower end face of the supporting column, the supporting piece is prevented from being separated from the supporting column, and the mounting stability is improved. When vertically shaking, the supporting piece downwards extrudes the first spring, and the first spring plays a role in buffering through deformation.

Preferably, the positioning part comprises a rubber layer, a clamping plate, a positioning seat, an extrusion seat and an adjusting part.

The lower ends of the two arc-shaped clamping plates are pivoted at the top of the positioning seat, and the upper ends of the two arc-shaped clamping plates are separated from each other. The clamping plates are rotated, the upper ends of the two clamping plates are aligned along the circumferential direction, and the two clamping plates form a circular ring after being butted. The clamping plates are rotated to separate the two clamping plates, and the electric wire is arranged in the space enclosed by the two clamping plates along with the upward movement of the positioning piece along the vertical direction.

The rubber layer is bound on the inner side wall of the clamping plate to play an insulating role. The two adjusting pieces are respectively fixed on two sides of the outside of the positioning seat by bolts. The extrusion seats slide on the inner side of the positioning seat, and the two extrusion seats are respectively installed on one end of the adjusting piece extending into the positioning seat through threads in a one-to-one correspondence mode. The adjusting piece is transversely adjusted to change the transverse position of the extrusion seat so as to clamp the clamping plate.

Through above-mentioned technical scheme, adjust the regulating part on horizontal, when the regulating part transversely outwards removed along the positioning seat, extrusion seat along with the horizontal outwards removal of regulating part, the extrusion seat reduces the crushing force of splint, and splint rotate towards the direction that deviates from another splint, the upper end separation of two splint. When the positioning member is lifted in the vertical direction, the electric wire is placed in the space surrounded by the two clamping plates. After that the regulating part pushes the extrusion seat when moving inwards along the positioning seat, the extrusion seat pushes the clamping plates to rotate, the two clamping plates are close to each other, and the upper ends of the two clamping plates are butted, so that the electric wire is limited in the circular structure enclosed by the two clamping plates. The side face of one end, deviating from the adjusting piece, of the extrusion seat is an inwards-concave arc curved surface, and the curved surface of the end part of the extrusion seat is tightly attached to the arc side wall of the clamping plate, so that the clamping plate is effectively pushed. The rubber layer is made of rubber materials, and after the electric wire is arranged in an annular space surrounded by the rubber layer, the electric wire is prevented from being in contact with the metal piece to cause short circuit, and the detection safety is improved.

Preferably, the adjusting member includes a second screw, a sleeve, a second spring, a housing, and a steel plate. The second screw rod vertically penetrates through the shell and is connected with the shell through threads. The steel plate is circular, the sleeve is cylindrical, and the steel plate is fixed at one end of the sleeve by bolts. The sleeve and the steel plate are both connected to the second screw rod through threads, and the steel plate is located at the outlet of the shell. The second spring is worn to establish in the shell along the axial of shell, and the one end of second spring is bound on the one end lateral wall of shell, and the other end of second spring is bound on the terminal surface of steel sheet, and the second spring is right the edge of steel sheet plays the supporting role.

Through the technical scheme, the second screw rotates in the positioning seat and drives the extrusion seat, the extrusion seat is subjected to reverse acting force when extruding the clamping plate, the extrusion seat pushes the second screw along the transverse direction,

the second screw rod drives sleeve and steel sheet in horizontal, and the steel sheet is along the axial of shell slides in the inner chamber of shell to extrude the second spring, the second spring receives to produce the supporting role in the opposite direction to the steel sheet after the extrusion, ensures the horizontal position stability of steel sheet, further improves the stability of second screw rod and extrusion seat, ensures the stable in structure after splint installation.

Preferably, the image acquisition mechanism comprises a telescopic frame, a camera and an installation frame. One end of the telescopic frame is connected to the back of the mounting frame, and the other end of the telescopic frame is fixed to the end portion of the detection frame through bolts. The plurality of cameras are connected to the mounting frame through threads and are distributed at intervals along the length direction of the mounting frame.

Through above-mentioned technical scheme, the length of adjustment expansion bracket is horizontal, and the tip position of expansion bracket is along with changing, and corresponding drive camera and installing frame move on horizontal, move near being close to the electric wire that is detected with the camera to the information of accurate collection electric wire is convenient for.

Preferably, the telescopic frame comprises a screw, a telescopic plate, a first adjusting rod, a supporting seat, a second adjusting rod and a steering seat. A rectangular guide cavity extending along the length direction is formed in the telescopic plate. The top surface of the telescopic plate is provided with a circular positioning hole, the positioning hole is communicated with the guide cavity, and the positioning holes are distributed along the length direction of the telescopic plate.

The upper end of the first adjusting rod is a rectangular block, and the lower end of the rectangular block is welded with a rectangular supporting rod. The rectangular block slides in the guide cavity. The screw passes through the locating hole, and the lower extreme of screw is connected to the upper end of first regulation pole with the screw thread. One end of the supporting seat is fixed on the first adjusting rod through a bolt, and the other end of the supporting seat is connected to the steering seat through a bolt. The steering seat is cylindrical and rotates in a circular groove in the back of the mounting frame. Two ends of the second adjusting rod are respectively connected to the lower ends of the mounting frame and the first adjusting rod through bolts.

Through the technical scheme, the rectangular block at the upper end of the first adjusting rod slides in the guide cavity, so that the rectangular block is aligned with one of the positioning holes in the vertical direction, and then the telescopic plate and the rectangular block at the upper end of the first adjusting rod are fixed together through screws. The first regulation pole is whole along with lateral shifting, drives supporting seat lateral shifting simultaneously, and further drive camera and installing frame realize the adjustment to the lateral position of camera along lateral shifting, and the head of being convenient for is close to the electric wire that is detected.

Preferably, the second adjustment lever has a plurality of bolt holes formed along a longitudinal direction thereof.

Through the technical scheme, the electric wire is circular, and the position of the camera needs to be adjusted, so that the camera is aligned to the detected position of the electric wire, and the comprehensive detection of the peripheral side of the electric wire is realized. In this application, the mounted position of regulation pole at the lower extreme of first regulation pole is adjusted to the adjustment second, then the second adjusts the lower part of pole pulling installing frame, and the installing frame rotates along its contact surface with turning to the seat to the inclination of adjustment installing frame and camera makes the camera aim at the position department that waits to detect of electric wire.

Through the inclination angle of two image acquisition mechanisms of adjustment installation at the both ends of detection frame, realize the omnidirectional information acquisition to each position of week side of the electric wire that is detected to the realization is omitted to the comprehensive detection of electric wire, avoids the certain position of week side of electric wire.

Preferably, the scale comprises a first ruler placed vertically and a second ruler placed horizontally.

Through the technical scheme, the first ruler can be used for measuring the longitudinal distance from the center of the positioning mechanism to the top surface of the base, and the second ruler can be used for measuring the transverse distance from the center of the positioning mechanism to the edge of the base, so that the center position of the positioning mechanism is determined. The detected electric wire penetrates through the two position mechanisms along the axial direction of the position mechanisms, and the position of the electric wire penetrating through the position mechanisms can be determined through the position mechanisms, namely the longitudinal distance from the electric wire to the top surface of the base and the transverse distance from the electric wire to the edge of the base. The position of the image acquisition mechanism is adjusted according to the transverse distance and the longitudinal distance, so that the image acquisition mechanism can accurately acquire the information of the detected line, the adjustment efficiency of equipment is improved, and the detection efficiency and accuracy of the electric wire are improved.

The technical scheme of the invention has the beneficial effects that:

(1) and rotating the wheels to move the inspection robot for the power system to the power line to be detected. The wire to be tested is passed through the upper part of the positioning mechanisms, and the two positioning mechanisms and the wire are aligned in the axial direction. And measuring the longitudinal distance from the wire to the top surface of the base and the transverse distance from the wire to the edge of the base by using the graduated scale, and determining the target position of the wire according to the detected longitudinal distance and transverse distance.

And adjusting the transverse and longitudinal positions of the image acquisition mechanism according to the transverse distance and the longitudinal distance to align the image acquisition mechanism with the line to be detected, so that the line to be detected is accurately aligned and detected. The angle of the camera on the image acquisition mechanism is adjusted to realize the all-round detection to the week side of electric wire in the detection of angle to the electric wire of difference, avoid detecting the omission.

Drawings

Fig. 1 is a schematic diagram of a power system inspection robot according to the present invention.

Fig. 2 is a schematic view of the positioning mechanism of the present invention.

Fig. 3 is a schematic view of the mount of the present invention.

FIG. 4 is a schematic view of a positioning member of the present invention.

Fig. 5 is a schematic view of an adjustment member of the present invention.

Fig. 6 is an image acquisition mechanism of the present invention.

Fig. 7 is a schematic view of the telescoping mast of the present invention.

Figure 8 is a schematic view of a scale of the present invention.

1-a wheel;

2-a base;

3-a graduated scale; 31-a first ruler; 32-a second ruler;

4-a positioning mechanism; 41-a positioning piece; 411-a rubber layer; 412-clamping plate; 413-positioning seat; 414-a press shoe; 415-an adjustment member; 4151-second screw; 4152-a sleeve; 4153-a second spring; 4154-a housing; 4155-steel plate; 42-a mounting seat; 421-support column; 422-first guide bar; 423-a slide block; 424-a lifting member; 425-a support base; 426-a first spring; 427-a second guide bar;

5-an image acquisition mechanism; 51-a telescopic frame; 511-screw; 512-positioning holes; 513-a retractable plate; 514-a guide cavity; 515-a first adjustment bar; 516-a support base; 517-a second adjusting rod; 518-a steering seat; 52-a camera; 53-mounting the frame; 54-a poker bar;

6-detecting frame.

Detailed Description

In order to ensure the normal use of the power transmission line of the power grid, the power transmission line needs to be detected regularly, and the damaged position of the line needs to be found timely, so that the power transmission line can be maintained timely, and the larger loss is avoided. But the radial dimension of the wire is small and the wire is round.

In order to realize carrying out comprehensive accurate detection to the electric wire, this embodiment provides a line patrol robot for electric power system, refer to fig. 1, six wheels 1 are installed to the downside that includes base 2 for electric power system, and line patrol robot for electric power system still includes scale 3, positioning mechanism 4, image acquisition mechanism 5 and detection frame 6.

The two positioning mechanisms 4 are respectively fixed on the upper side of the base 2 by bolts and are close to the two ends of the base 2. The position of the upper end of the positioning mechanism 4 is adjusted according to the longitudinal position of the detected wire line so that the detected wire line passes through the upper part of the positioning mechanism 4 along the axial direction of the positioning mechanism 4. The position of the detected electric wire is determined by two positioning mechanisms 4 provided at both ends of the base 2. The scale 3 slides on the upper side of the base 2. The longitudinal position of the positioning mechanism 4 relative to the top surface of the base 2, and the lateral position of the positioning mechanism 4 relative to the edge of the base 2 are measured with the scale 3 to determine the lateral and longitudinal positions of the positioning mechanism 4.

When the electric wire coaxially passes through the positioning mechanism 4, the transverse position and the longitudinal position of the detected electric wire are determined according to the transverse position and the longitudinal position of the positioning mechanism 4, and the position and the angle of the image acquisition mechanism 5 are adjusted according to the determined transverse position and the determined longitudinal position of the electric wire, so that the accurate detection of the line is realized.

The detection frame 6 is connected to the middle of the upper side of the base 2 through bolts, and the two image acquisition mechanisms 5 are respectively and telescopically connected to two ends of the detection frame 6. The position of the image pickup mechanism 5 is adjusted in the width direction along the base 2 so that the image pickup mechanism 5 is close to the electric wire line to be detected, so as to accurately pick up the image information of the line. Rotate image acquisition mechanism 5 to suitable angle so that gather the image of the circuit that is detected from corresponding direction and position to the realization is to the comprehensive detection of the circuit week side that is detected, avoids omitting, improves the accuracy and the integrality that the circuit detected.

With reference to fig. 2, the positioning mechanism 4 includes a mounting base 42, and a positioning member 41 is installed on an upper end of the mounting base 42 in a direction perpendicular to the mounting base 42.

Referring to fig. 3, the mount 42 includes a support column 421, a lifter 424, a support base 425, a first spring 426, and a second guide bar 427. A rectangular mounting groove is formed at the upper portion of the support base 425, and a second guide bar 427 in the shape of a round bar is vertically mounted in the mounting groove. The lifting member 424 is slidably fitted over the second guide bar 427. The support column 421 is disposed above the liftoff 424. The second guide bar 427 is rotated, and the second guide bar 427 drives the supporting column 421 to ascend or descend, so as to adjust the longitudinal position of the supporting column 421. At the same time, the positioning member 41 is raised or lowered along with the supporting column 421 so as to place the electric wires at different height positions therein.

The first spring 426 lifts the lifter 424 upward from the lower side. In the presence of a longitudinal vibration, the force is transmitted to the first spring 426, and the first spring 426 deforms to relieve the pressing force, thereby providing a good buffer effect.

The mounting seat 42 further includes a first screw 422 and two support blocks 423, and the two support blocks 423 are respectively vertically mounted on two sides of the support column 421 by bolts. Two first screws 422 are screwed to the upper portion of the supporting base 425 in the vertical direction, and the supporting block 423 is screwed to the first screws 422.

The first screw 422 is moved upward by a distance in the vertical direction while moving the supporting block 423 upward along with the first screw 422. The supporting post 421 is driven to move in a vertical direction when the supporting block 423 moves upward. The two first screws 422 fix the two supporting blocks 423 respectively, and the supporting blocks 423 fix both sides of the supporting column 421 to enhance the support and fixation of both sides of the supporting column 421.

Referring to fig. 4, the positioning member 41 includes a rubber layer 411, a clamping plate 412, a positioning seat 413, a pressing seat 414, and an adjusting member 415. Two arc-shaped clamping plates 412 are pivoted at the top of the positioning seat 413 and are symmetrically arranged, the arc-shaped rubber layer 411 is bound on the inner side wall of the clamping plate 412, and the rubber layer 411 is made of rubber materials and can play a good insulating role. The two adjusting members 415 are respectively fixed to both sides of the outside of the positioning seat 413 by bolts. The pressing base 414 is slidably disposed inside the positioning base 413 in a width direction along the positioning base 413.

The two pressing bases 414 are respectively screwed to one end of the adjusting element 415, which extends into the positioning base 413. By laterally adjusting the adjustment member 415 to change the lateral position of the pressing base 414, the clamping plates 412 are pushed by the pressing base 414, the clamping plates 412 rotate, and the upper ends of the two clamping plates 412 are aligned to thereby restrain the wires therein.

The adjusting member 415 supports the clamping plate 412 during the wire restraining process. With respect to the adjustment member 415, referring to fig. 5, the adjustment member 415 includes a second screw 4151, a sleeve 4152, a second spring 4153, a housing 4154, and a steel plate 4155.

The second screw 4151 vertically penetrates the housing 4154, and a buffer chamber is formed in the housing 4154. The steel plate 4155 is circular, and the steel plate 4155 is fixed to one end of the sleeve 4152 with a bolt. The sleeve and the steel plate are both connected to the second screw rod through threads, and the steel plate is located at the outlet of the shell. The second spring 4153 is disposed in the buffer cavity of the housing 4154, and one end of the second spring 4153 is bound to the edge of the steel plate 4155, thereby supporting and limiting the position of the edge of the steel plate 4155.

The clamp plate 412 pushes the pressing seat 414 outward, the pressing seat 414 pushes the second screw 4151 laterally, the second screw 4151 drives the steel plate 4155 to press the second spring 4153 inward, the second spring 4153 is deformed to relieve the pressing force, and simultaneously pushes the steel plate 4155 reversely, so that the lateral position of the steel plate 4155 is stabilized, and the lateral position of the second screw 4151 and the pressing seat 414 is ensured to be stabilized.

Referring to fig. 6, the image capturing mechanism 5 includes a telescopic frame 51, a camera 52, and a mounting frame 53. One end of the telescopic bracket 51 is connected to the back surface of the mounting frame 53, and the other end of the telescopic bracket 51 is fixed to the end of the inspection 6 by bolts. The plurality of cameras 52 are screwed to the mounting frame 53 and are spaced apart along the length of the mounting frame 53. Through setting up a plurality of cameras 52 can carry out image acquisition to a plurality of positions of electric wire simultaneously, improve the efficiency that the electric wire detected.

Referring to fig. 7, the telescopic bracket 51 includes a screw 511, a telescopic plate 513, a first adjusting lever 515, a supporting seat 516, a second adjusting lever 517, and a steering seat 518. A guide cavity 514 extending along the length direction is formed in the telescopic plate 513, a plurality of circular positioning holes 512 are formed in the upper portion of the telescopic plate 513, and the positioning holes 512 are communicated with the guide cavity 514.

The upper end of the first adjusting lever 515 is slid in the guide chamber 514, the screw 511 passes through the positioning hole 512, and the lower end of the screw 511 is screw-coupled to the upper end of the first adjusting lever 515. One end of the support base 516 is bolted to the first adjustment lever 515, and the other end of the support base 516 is bolted to the steering base 518. The turning seat 518 is turned in a circular groove in the back of the mounting frame 53. Both ends of the second adjusting lever 517 are respectively bolted to the lower ends of the mounting frame 53 and the first adjusting lever 515. A plurality of bolt holes are formed in the second adjustment lever 517 along the length direction.

The position of the second adjusting lever 517 on the first adjusting lever 515 is adjusted, and the inclination angle of the mounting frame 53 is changed along with the change of the distance between the lower end of the first adjusting lever 515 and the mounting frame 53, so that the inclination angles of the mounting frame 53 and the camera 52 are adjusted, and the detected electric wire can be detected in different directions.

Referring to fig. 8, the scale 3 includes a first ruler 31 placed vertically and a second ruler 32 placed horizontally. The first ruler 31 is used for measuring the lateral position of the positioning member 41, and the second ruler 32 is used for measuring the longitudinal position of the positioning member 41. After the transverse position and the longitudinal position of the positioning part 41 are laterally measured by the scale 3, the transverse position and the longitudinal position of the image acquisition mechanism 5 are adjusted according to the transverse position and the longitudinal position obtained by measurement, so that the camera 52 can accurately align the wire to be detected from the side surface, the image information of the wire is conveniently and accurately acquired, and the wire detection efficiency and accuracy are improved.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims (10)

1. A line patrol robot for an electric power system comprises a base, wherein a plurality of wheels are arranged on the lower side of the base, and the line patrol robot is characterized by further comprising a graduated scale, a positioning mechanism, an image acquisition mechanism and a detection frame;

the detection frame is arranged in the middle of the upper side of the base; the two image acquisition mechanisms are respectively arranged at two ends of the detection frame, and the position and the inclination angle of the image acquisition mechanisms are adjusted so as to conveniently acquire the image information of the line from a plurality of directions;

the two positioning mechanisms are respectively arranged at two ends of the upper side of the base, and the detected circuit passes through the upper parts of the positioning mechanisms; the graduated scale slides on the upper side of the base;

and measuring the transverse and longitudinal positions of the line passing through the upper part of the positioning mechanism by using a graduated scale, and adjusting the position and the angle of the image acquisition mechanism according to the measured transverse and longitudinal positions of the line to realize accurate detection of the line.

2. The inspection robot for the power system according to claim 1, wherein the positioning mechanism includes a mounting base, and a positioning member is mounted on an upper end of the mounting base.

3. The line patrol robot for the power system according to claim 2, wherein the mounting base includes a support column, a lifting member, a support base, a first spring, and a second guide rod;

an installation groove is formed in the upper part of the support seat; the second guide rod is vertically arranged in the mounting groove; the supporting piece is sleeved on the second guide rod and slides along the vertical direction; the supporting column is arranged above the supporting piece; the first spring jacks up the supporting piece from the lower side to play a supporting role.

4. The inspection robot for the power system according to claim 3, wherein the mounting base further includes a first screw and a support block; the two supporting blocks are respectively and vertically arranged on two sides of the supporting column; the two first screw rods are vertically arranged at the upper part of the supporting seat, and the supporting block is connected to the first screw rods through threads; the longitudinal position of the support column is adjusted through the first screw and the support block.

5. The line patrol robot for the power system according to claim 2, wherein the positioning member comprises a rubber layer, a clamping plate, a positioning seat, a pressing seat and an adjusting member;

the two arc-shaped clamping plates are pivoted at the top of the positioning seat and are symmetrically arranged; the rubber layer is bound on the inner side wall of the clamping plate, so that the electric wire is prevented from contacting with the clamping plate to play an insulating role; the two adjusting pieces are respectively arranged at two sides of the outer part of the positioning seat; the two extrusion seats are respectively arranged at one end of the adjusting piece extending into the positioning seat in a one-to-one correspondence manner; the adjusting piece is transversely adjusted to change the transverse position of the extrusion seat, and the extrusion seat moves to clamp the clamping plate.

6. The patrol robot for the power system according to claim 5, wherein the adjustment member includes a second screw, a sleeve, a second spring, a housing, and a steel plate;

the second screw rod vertically penetrates through the shell; the steel plate is fixed on one end of the sleeve; the sleeve and the steel plate are both connected to the second screw through threads, and the steel plate is positioned at the outlet of the shell; the second spring supports the edge of the steel plate.

7. The line patrol robot for the power system according to claim 1, wherein the image acquisition mechanism comprises a telescopic frame, a camera and a mounting frame; one end of the telescopic frame is connected to the back of the mounting frame, and the other end of the telescopic frame is mounted at the end part for detection; the cameras are fixedly arranged on the mounting frame and distributed at intervals along the length direction of the mounting frame.

8. The line patrol robot for the power system according to claim 7, wherein the telescopic frame comprises a screw, a telescopic plate, a first adjusting rod, a supporting seat, a second adjusting rod and a steering seat;

a guide cavity extending along the length direction is formed in the telescopic plate, a plurality of positioning holes are formed in the telescopic plate, and the positioning holes are perpendicular to and communicated with the guide cavity; the first adjusting rod vertically slides in the guide cavity, and the screw penetrates through the positioning hole to be connected to the upper end of the first adjusting rod;

one end of the supporting seat is fixed on the first adjusting rod through a bolt, and the other end of the supporting seat is connected to the steering seat; the steering seat rotates in a groove on the back of the mounting frame; two ends of the second adjusting rod are respectively connected to the mounting frame and the lower end of the first adjusting rod through bolts.

9. The inspection robot according to claim 8, wherein the second adjustment lever has a plurality of bolt holes formed along a longitudinal direction thereof.

10. The patrol robot for the power system according to any one of claims 1 to 9, wherein the scale comprises a first ruler placed vertically and a second ruler placed horizontally.

Images