CN117833097A - Line inspection robot - Google Patents
Line inspection robot Download PDFInfo
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- CN117833097A CN117833097A CN202311688101.8A CN202311688101A CN117833097A CN 117833097 A CN117833097 A CN 117833097A CN 202311688101 A CN202311688101 A CN 202311688101A CN 117833097 A CN117833097 A CN 117833097A
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- inspection robot
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- shaped grooved
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- 238000007689 inspection Methods 0.000 title claims abstract description 91
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000003014 reinforcing effect Effects 0.000 claims abstract description 16
- 230000008859 change Effects 0.000 claims description 12
- 239000011159 matrix material Substances 0.000 claims description 12
- 230000002787 reinforcement Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 22
- 239000004020 conductor Substances 0.000 abstract description 6
- 230000004888 barrier function Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 16
- 230000008569 process Effects 0.000 description 13
- 230000006870 function Effects 0.000 description 10
- 239000003795 chemical substances by application Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000036561 sun exposure Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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- Manipulator (AREA)
Abstract
The invention provides a line inspection robot, comprising: the cable conductor, alternately and the interval sets up two sets of running gear on the cable conductor is in set up on the cable conductor and be located two sets of interlock reinforcing part between the running gear, connect two sets of running gear with the base member plate of interlock reinforcing part below, install at the rear on the running gear and hug closely in the broken ice mechanism of cable is in the balancing mechanism of base member plate bottom sets up the directional shooting mechanism in base member plate the place ahead, and this inspection robot has obtained effectively promotion in the aspect such as barrier, cable adaptability, fixed effect and windproof effect have increased deicing function in addition, make the function richer to the effect of patrolling has been improved comprehensively, and then powerful guarantee is provided for transmission line's normal work.
Description
Technical Field
The invention relates to the technical field of wire inspection robots, in particular to a wire inspection robot.
Background
The most important task of the power system is to provide high-quality and high-reliability power, and the high-voltage power transmission line is a main mode of long-distance power transmission, however, the power transmission line is exposed in the field for a long time, and is often damaged by continuous mechanical tension, wind and sun exposure, ageing of materials, such as strand breakage, abrasion, corrosion and the like, if the power transmission line is not repaired and replaced in time, the original tiny damage and defect can be enlarged, and finally serious accidents are caused, large-area power failure is caused, so that great economic loss and serious social influence are brought, and therefore, the inspection of the power transmission line is a necessary measure for ensuring the normal work of the high-voltage power transmission line.
The traditional line inspection method adopts manual visual inspection and aircraft cruising. However, manual visual inspection is time-consuming and labor-consuming, and is subject to experience and personal quality of operators, so that personal safety is not guaranteed; the aircraft cruises, and only detects the upper half part of the transmission line; the robot is utilized to carry out live inspection and maintenance on the ultra-high voltage power transmission network, so that the labor intensity of workers in the thousand-line inspection and live operation can be reduced, the method has important significance in improving the automation level of the power grid and guaranteeing the safe operation of the power grid, and therefore the application of the power line inspection robot is more and more extensive, but the existing line inspection robot has some problems in the actual use:
1. in order to realize the functions of fixing and protecting the wire and avoiding vibration, the shockproof hammer, the strain clamp, the suspension clamp and the like become indispensable devices on the wire, and the indispensable devices become typical barriers on the power transmission line, but the existing inspection robot is poor in barrier crossing function and cannot well cross the barriers by itself, so that inspection efficiency is affected;
2. in a high-voltage transmission line, because the requirements of the bearing electric performance of different positions are different, the requirements of conveying different voltages and currents are required to be met, and therefore, the thicknesses of the cables at different positions are different, but the existing inspection robot is only suitable for walking on the cable with the consistent thickness, and when the thickness of the cable changes, the enclasping operation with the cable cannot be well completed, so that the normal inspection work is influenced;
3. the high-voltage transmission line is generally more than ten meters in height, wind power is often very large, and the existing line inspection robot is simple in connection mode and poor in fixing effect with a cable line, so that weak transverse wind resistance and poor stability are prevented, the condition that the line inspection robot is shaken greatly or even falls due to wind blowing is easily caused, interruption and data errors in the inspection process are easily caused, and potential safety hazards exist.
Disclosure of Invention
The invention aims to provide a line inspection robot so as to solve the problems.
In order to achieve the above object, the present invention provides a line inspection robot including: the cable wires are crossed and are arranged at intervals on the two groups of travelling mechanisms on the cable wires, the meshing reinforcing parts are arranged on the cable wires and positioned between the two groups of travelling mechanisms, the matrix plates are connected below the two groups of travelling mechanisms and the meshing reinforcing parts, the ice breaking mechanism is arranged on the travelling mechanisms positioned at the rear and clung to the cable wires, the balance mechanism is arranged at the bottom of the matrix plates, and the directional shooting mechanism is arranged in front of the matrix plates, wherein the ice breaking mechanism is arranged on the travelling mechanisms positioned at the rear and clung to the cable wires
Driving the two groups of travelling mechanisms to synchronously roll forward on the cable wire so as to drive the engagement reinforcing part, the ice breaking mechanism and the matrix plate to move forward along the cable wire;
the two groups of running mechanisms are suitable for sequentially executing actions of lifting and separating from the cable so as to cross over the obstacle;
the occlusion reinforcing part is suitable for flexibly bouncing along with the thickness change of the cable to realize outward expansion and inward closing so as to tightly hold the cable in real time;
the ice breaking mechanism is suitable for being tightly attached to a front shovel on the surface of the cable so as to break the ice layer.
Further, the travelling mechanism comprises a first U-shaped grooved pulley and a second U-shaped grooved pulley which are placed on the cable line in front and behind, a rectangular frame which encloses the first U-shaped grooved pulley and the second U-shaped grooved pulley, the first U-shaped grooved pulley and the second U-shaped grooved pulley are rotatably installed in the rectangular frame, an L-shaped plate which is connected with the rectangular frame, a baffle positioning vertical plate which is installed on the L-shaped plate, two servo motors which are installed on the baffle positioning vertical plate, two couplers which are connected with output shafts of the two servo motors and are positioned on the other side of the baffle positioning vertical plate, and a lifting base which is installed at the bottom of the L-shaped plate;
the first U-shaped grooved pulley and the second U-shaped grooved pulley are respectively connected with the two couplers.
Further, the lifting base comprises connecting plates arranged at two ends of the bottom of the L-shaped plate, an outer slide column arranged between the two connecting plates, an inner box body with one end being slidably inserted into the outer slide column and the other end being arranged on the base plate, a first micro motor arranged on the inner bottom surface of the inner box body, a ball screw arranged on the output end of the first micro motor, and two transmission plates with one end being arranged at two sides of a nut of the ball screw and the other end being connected with the inner side wall of the outer slide column.
Further, the occlusion reinforcement part comprises two supporting plates vertically installed on the substrate plate, a platform installed at the tops of the two supporting plates, a second micro motor installed on the platform, a swinging wheel installed on an output shaft of the second micro motor, a swinging rod connected with the swinging wheel, a central vertical plate installed at the tail end of the swinging rod, two arc side plates installed at the two sides of the central vertical plate and occluded on the cable wire, and two groups of a plurality of springs installed at the two sides of the central vertical plate and respectively connected with the backs of the two arc side plates.
Further, the ice breaking mechanism comprises an overhanging cornice plate arranged on the rectangular frame, a third micro motor inversely arranged on the overhanging cornice plate, a driving gear arranged on the output shaft of the third micro motor penetrates through the overhanging cornice plate, a mandrel arranged at the bottom of the overhanging cornice plate in a rotating mode, a driven gear arranged on the mandrel and meshed with the driving gear, two semi-rings attached to the cable, two rocker arms respectively connected with the driving gear and the driven gear, and two shovels attached to the front ends of the two semi-rings.
Further, the balancing mechanism comprises first bearing seats arranged at two ends of the bottom of the matrix plate, a threaded rod arranged between the two first bearing seats, and a balancing weight spirally arranged on the threaded rod.
Further, the directional shooting mechanism comprises a second bearing installed in front of the matrix plate, a round rod installed on the second bearing, a camera installed at the tail end of the round rod, a circular ring installed on the round rod and positioned behind the camera, and a counterweight ball connected to the circular ring;
the camera is positioned right below the cable.
Further, the first U-shaped grooved pulley is hollow, and an open-close type sealing plate is arranged on the side surface of the first U-shaped grooved pulley;
and a plurality of leakage holes are formed in the circumference of the middle of the first U-shaped grooved pulley.
Further, the engagement reinforcement part further comprises an outer expansion short sheet connected below the two arc side plates;
the lifting base further comprises key grooves which are formed in the two sides of the inner box body in a penetrating mode.
Further, the inspection robot further comprises a containing box body detachably installed in the base body plate, and a storage battery and a PLC controller installed in the containing box body.
Compared with the prior art, the invention has the following beneficial effects:
1. the line inspection robot can continuously generate sufficient power through the two groups of travelling mechanisms, so that the line inspection robot can walk normally along a cable line, normal inspection work can be completed, meanwhile, the two groups of travelling mechanisms can be lifted alternately and simultaneously continuously move forward when encountering obstacles such as a damper, a strain clamp and a suspension clamp, thereby effectively improving the obstacle crossing function, ensuring that the obstacle can be crossed automatically and quickly, and further avoiding the influence on inspection efficiency;
2. the inspection robot can hold the cable tightly in the inspection process through the occlusion reinforcing part, and simultaneously can perform outward expansion and folding movement in real time along with the change of the cable diameter of the cable, so that the cable can be held tightly all the time in the inspection process, the thickness change of the cable can be well adapted, and the normal inspection work is further ensured so as to prevent the inspection from being influenced; meanwhile, the line inspection robot is always in close contact with the cable through the occlusion reinforcing part, so that the fixing effect is improved, and the stability is enhanced;
3. the inspection robot can cling to the front surface shovel of the cable line in the inspection process through the ice breaking mechanism, so that the ice layer on the surface of the cable line is broken and shoveled off to finish deicing, and meanwhile, the ice layer on the cable line can be melted before and after the ice breaking mechanism through the two groups of travelling mechanisms, so that the deicing effect is enhanced, and the ice breaking mechanism is ensured to process the ice layer cleanly;
4. the inspection robot can synchronously move along with the change of the wind direction through the balance mechanism, so that the inspection robot can change the gravity center in real time according to the wind direction, the stability is further improved, the inspection effect is prevented from being influenced by the condition of large shaking or even falling, meanwhile, potential safety hazards are avoided, and the stability of images and data transmission during inspection is ensured; in addition, the real-time state of the cable can be always shot by the directional shooting mechanism, so that the optimal shooting angle is kept in the process of inspection, and the inspection effect is further ensured;
5. the inspection robot has the advantages that the obstacle surmounting, the cable adaptability, the fixing effect, the windproof effect and the like are effectively improved, in addition, the deicing function is increased, the functions are richer, the inspection effect is comprehensively improved, and powerful guarantee is provided for normal work of a power transmission line.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 shows a perspective view of the present invention;
FIG. 2 shows a perspective view of another aspect of the present invention;
FIG. 3 shows a perspective view of the invention at another angle;
FIG. 4 shows a partial front view of the present invention;
FIG. 5 shows a partial right side cross-sectional view of the present invention;
FIG. 6 shows a partial right side view of the invention at another angle;
FIG. 7 shows a bottom perspective view of the present invention;
FIG. 8 shows an enlarged view of the invention at A of FIG. 1;
FIG. 9 shows an enlarged view of the invention at B of FIG. 2;
FIG. 10 shows an enlarged view of FIG. 3 at C in accordance with the present invention;
FIG. 11 shows an enlarged view of FIG. 3D of the present invention;
fig. 12 shows an enlarged view of fig. 3 at E in accordance with the present invention.
In the drawings, like reference numerals designate like structural elements, wherein:
1. a cable; 2. a walking mechanism; 21. a first U-shaped sheave; 211. an open-close type sealing plate; 212. a leak hole; 22. a second U-shaped sheave; 23. a rectangular frame; 24. an L-shaped plate; 25. a baffle positioning vertical plate; 26. a servo motor; 27. a coupling; 28. lifting a base; 281. joining the plates; 282. an outer strut; 283. an inner case; 284. a first micro motor; 285. a ball screw; 286. a drive plate; 287. a key slot; 3. a bite reinforcement; 31. a supporting plate; 32. a platform; 33. a second micro motor; 34. a swinging wheel; 35. swing rod; 36. a central vertical plate; 37. an arc side plate; 38. a spring; 39. externally expanding short sheets; 4. a matrix plate; 5. an ice breaking mechanism; 51. overhanging cornice; 52. a third micro motor; 53. a drive gear; 54. a mandrel; 55. a driven gear; 56. a half ring; 57. a rocker arm; 58. a shovel blade; 6. a balancing mechanism; 61. a first bearing seat; 62. a threaded rod; 63. balancing weight; 7. a directional shooting mechanism; 71. a second bearing seat; 72. a round bar; 73. a camera; 74. a circular ring; 75. a weight ball; 8. a housing case; 9. a storage battery; 10. and a PLC controller.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
A line inspection robot comprising: the cable 1, two sets of running gear 2 that cross and the interval is located on the cable 1 are located the cable 1 is located on the cable 1 and is located two sets of interlock reinforcing portion 3 between the running gear 2, connect two sets of running gear 2 with the base member plate 4 of interlock reinforcing portion 3 below, install in the rear running gear 2 is located and hug closely in the icebreaking mechanism 5 of cable 1, install in the balance mechanism 6 of base member plate 4 bottom, set up the directional shooting mechanism 7 in base member plate 4 the place ahead, wherein
Driving the two groups of travelling mechanisms 2 to synchronously roll forward on the cable 1 so as to drive the engagement reinforcing part 3, the ice breaking mechanism 5 and the matrix plate 4 to advance along the cable 1;
the two groups of travelling mechanisms 2 are suitable for sequentially executing the actions of lifting and separating the cable wires 1 so as to cross obstacles;
the occlusion reinforcement part 3 is suitable for flexibly bouncing along with the thickness change of the cable 1 to realize outward expansion and inward occlusion so as to tightly hold the cable 1 in real time;
the ice breaking mechanism 5 is suitable for being tightly attached to a front shovel on the surface of the cable 1 so as to break ice layers, the inspection robot can continuously generate sufficient power through the two groups of travelling mechanisms 2, so that the inspection robot can normally walk along the cable 1, normal inspection work can be guaranteed, meanwhile, the two groups of travelling mechanisms 2 can be lifted alternately and simultaneously continuously move forward when encountering obstacles such as a damper, a strain clamp and a suspension clamp, so that the obstacle crossing function is effectively improved, the cable 1 can be ensured to automatically and quickly cross the obstacles, the inspection efficiency is prevented from being influenced, the cable 1 can be well held tightly in the inspection process through the occlusion reinforcing part 3, and simultaneously the outward expansion and folding movement can be carried out in real time along with the change of the cable 1, so that the cable 1 can be always held tightly in the inspection process, the thickness change of the cable 1 can be well adapted, the normal inspection work is guaranteed, and the inspection is prevented from being influenced; meanwhile, the line inspection robot is enabled to be in close contact with the cable 1 all the time through the occlusion reinforcing part 3, so that the fixing effect is improved, the stability is enhanced, the ice layer on the surface of the cable 1 is broken and shoveled off through the ice breaking mechanism 5 in the inspection process, the deicing work is completed, meanwhile, the ice layer on the cable 1 can be melted before and after the ice breaking mechanism 5 through the two groups of travelling mechanisms 2, the deicing effect is enhanced, the ice breaking mechanism 5 can process the ice layer cleanly, the balance mechanism 6 can synchronously move along with the change of the wind direction, the center of gravity of the line inspection robot can be changed in real time according to the wind direction, the stability is further improved, the inspection effect is prevented from being influenced by the conditions of large shaking and even falling, meanwhile, the potential safety hazards are avoided, and the stability of images and data transmission in the inspection is ensured; in addition, the real-time state of the cable 1 can be always shot by the directional shooting mechanism 7, so that the optimal shooting angle is kept at all times in the inspection process, the inspection effect is further ensured, the inspection robot is effectively improved in the aspects of obstacle surmounting, adaptability of the cable 1, fixing effect, windproof effect and the like, in addition, the deicing function is increased, the functions are richer, the inspection effect is comprehensively improved, and powerful guarantee is provided for normal work of a power transmission line.
Optionally, the travelling mechanism 2 includes a first U-shaped grooved pulley 21 and a second U-shaped grooved pulley 22 placed on the cable 1 in tandem, a rectangular frame 23 enclosing the first U-shaped grooved pulley 21 and the second U-shaped grooved pulley 22, the first U-shaped grooved pulley 21 and the second U-shaped grooved pulley 22 are rotatably installed in the rectangular frame 23, an L-shaped plate 24 connected to the rectangular frame 23, a baffle positioning vertical plate 25 installed on the L-shaped plate 24, two servo motors 26 installed on the baffle positioning vertical plate 25, two coupling plates 27 connected with output shafts of the two servo motors 26 and located on the other side of the baffle positioning vertical plate 25, and a lifting base 28 installed at the bottom of the L24;
the first U-shaped grooved pulley 21 and the second U-shaped grooved pulley 22 are respectively connected with the two couplers 27, the first U-shaped grooved pulley 21 and the second U-shaped grooved pulley 22 of the two groups of travelling mechanisms 2 are placed on a cable 1 to be inspected when inspection starts, and then the servo motor 26 is driven to drive the first U-shaped grooved pulley 21 and the second U-shaped grooved pulley 22 to rotate through the couplers 27, so that the first U-shaped grooved pulley 21 and the second U-shaped grooved pulley 22 of the two groups of travelling mechanisms 2 roll on the cable 1, a continuous stable power source is formed to realize travelling on the cable 1 so as to perform normal inspection work, and the rotating speed of the servo motor 26 is adjustable, so that the inspection speed can be changed according to specific weather and the line condition of the cable 1.
Optionally, the lifting base 28 includes a coupling plate 281 installed at both ends of the bottom of the L-shaped plate 24, an outer slide post 282 installed between the two coupling plate 281, an inner case 283 having one end slidably inserted into the outer slide post 282 and the other end installed on the base plate 4, a first micro motor 284 installed on the inner bottom surface of the inner case 283, the micro motor being a type of motor having a small volume and a small capacity and having an output power of generally hundreds watts or less, a ball screw 285 installed at the output end of the first micro motor 284, two transmission plates 286 having one end installed at both sides of a nut of the ball screw 285 and the other end connected to the inner side wall of the outer slide post 282, and stopping driving the four servo motors 26 when encountering an obstacle, and drives the first micro motor 284 in front to rotate the ball screw 285, so that the nut of the ball screw 285 moves upwards, and the force is transmitted to the outer slide post 282 through the two transmission plates 286, so that the first U-shaped grooved pulley 21 and the second U-shaped grooved pulley 22 move upwards on the inner box 283, so that the first U-shaped grooved pulley 21 and the second U-shaped grooved pulley 22 leave the cable 1 until the heights of the first U-shaped grooved pulley and the second U-shaped grooved pulley exceed the height of the obstacle, then the two servo motors 26 in rear are driven again to walk forwards, until the first U-shaped grooved pulley 21 and the second U-shaped grooved pulley 22 in front drop down after the first U-shaped grooved pulley 21 and the second U-shaped grooved pulley pass the obstacle, so that the first U-shaped grooved pulley and the second U-shaped grooved pulley 22 return to the cable 1 again, and then the second U-shaped grooved pulley are pushed by the second U-shaped grooved pulley and the second U-shaped grooved pulley drive mechanism 2 in front, so that the rear travelling mechanism 2 passes the obstacle, and the first U-shaped grooved pulley can automatically and quickly pass the obstacle, the obstacle can greatly improve the obstacle passing function, and the inspection efficiency.
Optionally, the engagement reinforcement part 3 includes two supporting plates 31 vertically installed on the base plate 4, a platform 32 installed on the top of the two supporting plates 31, a second micro motor 33 installed on the platform 32, a swinging wheel 34 installed on an output shaft of the second micro motor 33, a swinging rod 35 connected with the swinging wheel 34, a central vertical plate 36 installed at the tail end of the swinging rod 35, two arc side plates 37 installed at two sides of the central vertical plate 36 and engaged on the cable wires 1, two groups of springs 38 installed at two sides of the central vertical plate 36 and respectively connected with the backs of the two arc side plates 37, and the cable wires 1 are firmly held tightly by the central vertical plate 36 and the two arc side plates 37 together, so that the connection between the inspection robot and the cable wires 1 is tighter, the fixing effect is effectively improved, the inspection robot is more stable, the inspection robot has stronger capacity of resisting transverse wind, and ensures excellent inspection effect, and simultaneously, when the cable wires 1 are inspected, the two arc side plates 37 are changed, the two arc side plates are tightly held tightly, and the inspection robot is enabled to be well adapted to the cable wires 1; when the obstacle is needed to be crossed, the second micro motor 33 is driven to drive the swinging wheel 34 to rotate, so that the swinging rod 35 swings upwards, and further the central vertical plate 36 and the two arc side plates 37 are driven to synchronously upwards and separate from the cable 1, so that the central vertical plate 36 and the two arc side plates 37 can be prevented from affecting the obstacle crossing, and after the obstacle is completely crossed, the second micro motor 33 is driven in the reverse direction again, so that the two arc side plates 37 are in hugging with the cable 1 again.
Alternatively, the ice breaking mechanism 5 comprises an overhanging cornice plate 51 installed on the rectangular frame 23, a third micro motor 52 inversely installed on the overhanging cornice plate 51, a driving gear 53 installed on the output shaft of the third micro motor 52 and penetrating through the overhanging cornice plate 51, a mandrel 54 rotatably installed at the bottom of the overhanging cornice plate 51, a driven gear 55 installed on the mandrel 54 and meshed with the driving gear 53, two semi-rings 56 closely attached to the cable 1, two rocker arms 57 respectively connecting the driving gear 53 and the driven gear 55 with the two semi-rings 56, two cutters 58 closely attached to the front ends of the two semi-rings 56, the ice layer attached to the surface of the cable 1 is broken and shoveled away from the cable 1 in the running process by utilizing the two blades 58 attached to the surface of the cable 1, so that a deicing function is realized while the inspection work is carried out in winter, manual high-altitude work deicing is avoided, personnel safety is protected, meanwhile, the working efficiency of deicing and disaster relief is improved, when a user needs to cross an obstacle, the third micro motor 52 is driven to drive the driving gear 53 to rotate, the driven gear 55 is driven to synchronously rotate through meshing transmission, and therefore the two rocker arms 57 are opened, the two semi-rings 56 and the two blades 58 are further separated from the cable 1, a channel is vacated, and the influence on the crossing obstacle is avoided.
Optionally, the balancing mechanism 6 includes the first bearing frame 61 of installing base member plate 4 bottom both ends, installs two threaded rod 62 between the first bearing frame 61, the spiral is installed balancing weight 63 on the threaded rod 62 ensures when the wind-force is too big to lead to this inspection robot to appear crooked, balancing weight 63 can change the position through the spiral rotation on threaded rod 62 to change the focus of this inspection robot in real time according to the wind direction, further improve stability, guarantee the safe operation of this inspection robot, effectively improve simultaneously and resist the ability of crosswind, prevent to appear rocking by a wide margin even the condition of falling, ensure the stable transmission of inspection picture and data.
Alternatively, the orientation shooting mechanism 7 includes a second bearing seat 71 installed in front of the base plate 4, a round bar 72 installed on the second bearing seat 71, a camera 73 installed at the end of the round bar 72, a circular ring 74 installed on the round bar 72 and located behind the camera 73, and a weight ball 75 connected to the circular ring 74;
the camera 73 is located right below the cable 1, and ensures that the center of gravity of the round rod 72 is always downward under the action of the second bearing 71 and the counterweight ball 75, so that the camera 73 can still shoot against the cable 1 even when the inspection robot is blown by wind and has angle deviation, and the inspection is always performed at the optimal shooting angle in the inspection process, so that the inspection effect is ensured.
Optionally, the first U-shaped sheave 21 is hollow, and an open-close sealing plate 211 is arranged on the side surface of the first U-shaped sheave 21;
the middle circumference of first U type sheave 21 has seted up a plurality of weeping holes 212, and the intussuseption of first U type sheave 21 has chemical deicing agent, guarantees to walk and patrol the in-process of examining, and the chemical deicing agent that is located in the first U type sheave 21 of place ahead leaks to the ice layer of cable conductor 1 through a plurality of weeping holes 212 and makes the ice layer obtain certain degree melt soft to make broken ice layer removal that mechanism 5 can relax more, after broken ice mechanism 5 passes through, the chemical deicing agent that is located in the first U type sheave 21 of rear leaks to the cable conductor 1 through a plurality of weeping holes 212 and carries out the continuous melting once more to remaining ice sediment, thereby ensures to get rid of the ice layer clean on the cable conductor 1, powerful assurance deicing effect.
Optionally, the engaging reinforcement portion 3 further includes an external expansion tab 39 connected below the two arc side plates 37, so that the edges of the two arc side plates 37 become smooth curves, and the cable 1 can be smoothly re-held when the two arc side plates 37 are reset after passing over an obstacle, so that the phenomenon of jamming is effectively prevented, and the failure of the engaging reinforcement portion 3 is avoided;
the lifting base 28 further includes keyways 287 penetrating through two sides of the inner case 283, so as to ensure that the two first micro motors 284 can dissipate heat well.
Optionally, the inspection robot further includes a containing box body 8 detachably installed in the matrix plate 4, a storage battery 9 and a PLC controller 10 installed in the containing box body 8, and the storage battery 9 and the PLC controller 10 are connected with each power element, so that the storage battery 9 can be used for providing power required by operation for each power element, the inspection robot can be ensured to continuously inspect on the cable 1, and meanwhile, each part of the inspection robot can be ensured to operate according to a given sequence under the logic control of the PLC controller 10.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a line robot, its characterized in that includes: the cable (1), alternately and the interval is set up two sets of running gear (2) on the cable (1), set up on the cable (1) and be located two sets of interlock reinforcing part (3) between running gear (2), connect two sets of running gear (2) with base member plate (4) of interlock reinforcing part (3) below, install in the rear on running gear (2) and hug closely in icebreaking mechanism (5) of cable (1), install balance mechanism (6) of base member plate (4) bottom, set up directional shooting mechanism (7) in base member plate (4) the place ahead, wherein
Driving the two groups of travelling mechanisms (2) to synchronously roll forward on the cable (1) so as to drive the engagement reinforcing part (3), the ice breaking mechanism (5) and the matrix plate (4) to move forward along the cable (1);
the two groups of travelling mechanisms (2) are suitable for sequentially executing the actions of lifting and separating from the cable (1) so as to span obstacles;
the occlusion reinforcement part (3) is suitable for flexibly bouncing along with the thickness change of the cable wire (1) to realize outward expansion and inward closing so as to tightly hold the cable wire (1) in real time;
the ice breaking mechanism (5) is suitable for being tightly attached to a front shovel on the surface of the cable line (1) so as to break the ice layer.
2. A line inspection robot as set forth in claim 1, wherein,
the travelling mechanism (2) comprises a first U-shaped grooved pulley (21) and a second U-shaped grooved pulley (22) which are placed on the cable (1) in sequence, a rectangular frame (23) which surrounds the first U-shaped grooved pulley (21) and the second U-shaped grooved pulley (22), the first U-shaped grooved pulley (21) and the second U-shaped grooved pulley (22) are rotatably arranged in the rectangular frame (23), an L-shaped plate (24) connected with the rectangular frame (23), a baffle positioning vertical plate (25) arranged on the L-shaped plate (24), two servo motors (26) arranged on the baffle positioning vertical plate (25), two shaft couplings (27) which are connected with output shafts of the two servo motors (26) and are positioned on the other side of the baffle positioning vertical plate (25), and a lifting base (28) arranged at the bottom of the L-shaped plate (24);
the first U-shaped grooved pulley (21) and the second U-shaped grooved pulley (22) are respectively connected with the two couplings (27).
3. A line inspection robot as set forth in claim 2, wherein,
the lifting base (28) comprises connecting plates (281) arranged at two ends of the bottom of the L-shaped plate (24), an outer slide column (282) arranged between the two connecting plates (281), an inner box body (283) with one end slidably inserted into the outer slide column (282) and the other end arranged on the base body plate (4), a first micro motor (284) arranged on the inner bottom surface of the inner box body (283), a ball screw (285) arranged on the output end of the first micro motor (284), and two transmission plates (286) with one end arranged at two sides of a nut of the ball screw (285) and the other end connected with the inner side wall of the outer slide column (282).
4. A line inspection robot as set forth in claim 3, wherein,
the meshing reinforcement part (3) comprises two supporting plates (31) vertically installed on the matrix plate (4), a platform (32) installed at the tops of the two supporting plates (31), a second micro motor (33) installed on the platform (32), a swinging wheel (34) installed on an output shaft of the second micro motor (33), a swinging rod (35) connected with the swinging wheel (34), a central vertical plate (36) installed at the tail end of the swinging rod (35), two arc side plates (37) installed at the two sides of the central vertical plate (36) and meshed with the cable wires (1), and two groups of springs (38) installed at the two sides of the central vertical plate (36) and respectively connected with the backs of the two arc side plates (37).
5. A line inspection robot as set forth in claim 4, wherein,
the ice breaking mechanism (5) comprises an overhanging cornice plate (51) arranged on the rectangular frame (23), a third micro motor (52) arranged on the overhanging cornice plate (51) in an inverted mode, an output shaft of the third micro motor (52) penetrates through the overhanging cornice plate (51), a driving gear (53) arranged on the output shaft of the third micro motor (52), a mandrel (54) arranged at the bottom of the overhanging cornice plate (51) in a rotating mode, a driven gear (55) arranged on the mandrel (54) and meshed with the driving gear (53), two semi-rings (56) clung to the cable wires (1), and two rocker arms (57) connecting the driving gear (53) and the driven gear (55) with the two semi-rings (56) respectively, and two shovel blades (58) arranged at the front ends of the two semi-rings (56) in a binding mode.
6. A line inspection robot as set forth in claim 5, wherein,
the balancing mechanism (6) comprises first bearing seats (61) arranged at two ends of the bottom of the matrix plate (4), a threaded rod (62) arranged between the two first bearing seats (61), and a balancing weight (63) spirally arranged on the threaded rod (62).
7. A line inspection robot as set forth in claim 6, wherein,
the directional shooting mechanism (7) comprises a second bearing (71) arranged in front of the base plate (4), a round rod (72) arranged on the second bearing (71), a camera (73) arranged at the tail end of the round rod (72), a circular ring (74) arranged on the round rod (72) and positioned behind the camera (73), and a counterweight ball (75) connected to the circular ring (74);
the camera (73) is located right below the cable (1).
8. A line inspection robot as set forth in claim 7, wherein,
the first U-shaped grooved pulley (21) is hollow, and an opening and closing type sealing plate (211) is arranged on the side surface of the first U-shaped grooved pulley (21);
a plurality of leakage holes (212) are formed in the circumference of the middle of the first U-shaped grooved wheel (21).
9. A line inspection robot as set forth in claim 8, wherein,
the occlusion reinforcement part (3) further comprises an external expansion short sheet (39) connected below the two arc side plates (37);
the lifting base (28) further comprises key grooves (287) penetrating through two sides of the inner box body (283).
10. A line inspection robot as set forth in claim 9, wherein,
the inspection robot further comprises a containing box body (8) detachably arranged in the base body plate (4), a storage battery (9) arranged in the containing box body (8) and a PLC (programmable logic controller) 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311688101.8A CN117833097A (en) | 2023-12-11 | 2023-12-11 | Line inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311688101.8A CN117833097A (en) | 2023-12-11 | 2023-12-11 | Line inspection robot |
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| CN202311688101.8A Pending CN117833097A (en) | 2023-12-11 | 2023-12-11 | Line inspection robot |
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