CN210939245U - Armless cable inspection robot - Google Patents

Abstract

The utility model discloses a armless cable inspection robot, which comprises a shell formed by splicing and fixing an upper shell and a lower shell, wherein the lower shell can rotate around the upper shell to open the shell; the travelling wheels are distributed in the upper shell, the fastening devices are distributed in the lower shell, and a pair of wire clamping wheels are arranged in the fastening devices; the upper shell is internally provided with a driving wheel, and the driving wheel is driven by a driving device; the front end of the outer portion of the upper shell is provided with a first camera, and data collected by the first camera are transmitted in a wireless transmission mode. The armless structure of the utility model simplifies the structure and the control algorithm of the robot, so that the robot is light and simple in structure, and the endurance time is effectively prolonged; the robot is controlled without setting a complex algorithm, the moving speed and the moving direction of the robot can be controlled only by controlling the motor to rotate and rotate, and the control mode is simple and reliable to debug and can be well applied to cable patrol.

Description

An armless cable patrol robot

technical field

The utility model relates to the field of cable maintenance, in particular to an armless cable line inspection robot.

Background technique

Because high-voltage cables have been erected in the field for a long time and are continuously affected by wind, sun, material loss, etc., high-voltage cables often need to be repaired.

However, the traditional methods of manual inspection and manual "sit on the line" have problems such as low efficiency, high labor intensity, and high risk. In some countries, the work of cable inspection is to conduct aerial inspection of transmission lines by helicopter. However, this inspection method is expensive and difficult to promote on a large scale.

In response to these problems, some line inspection robots are proposed in the prior art. The line inspection robot moves on the cable to collect cable images and transmit them wirelessly to achieve inspection purposes. The line inspection robot has the characteristics of low cost and safety. The line-following robot is a complex mechatronics system, and the applied technology involves many fields, including mechanical structure, automatic control, long-distance wireless communication, sensor and power technology. Among them, the mechanical structure has a great influence on the performance of the line-following robot. A good mechanical structure design can not only make the line-following robot lighter, have a longer battery life, but also facilitate control.

However, the structure of the existing line-following robot is generally an arm-type structure, and the arm is suspended and moved on the cable. This kind of line-following robot is not only complicated in structure and expensive, but also needs to design a relatively complex control algorithm.

SUMMARY OF THE INVENTION

The purpose of the utility model is to provide an armless line patrol robot, which adopts an armless design to simplify the structure and at the same time facilitate the manipulation.

In order to realize the above-mentioned tasks, the utility model adopts the following technical solutions:

An armless cable line inspection robot, comprising a casing formed by splicing and fixing an upper casing and a lower casing, wherein the lower casing can rotate around the upper casing to open the casing;

There are walking wheels distributed in the upper casing, and each walking wheel includes two sub-wheels arranged at intervals; a fastening device is distributed in the lower casing, and a pair of clamping pulleys are arranged in the fastening device;

The upper casing is provided with a driving wheel, and the driving wheel is driven by the driving device; a first camera is arranged at the front end outside the upper casing, and the data collected by the first camera is sent by means of wireless transmission;

After the armless cable tracking robot is installed on the cable, the two sub-wheels of the walking wheel and the driving wheel are clamped on the upper side of the cable, and a pair of clamping wires in the fastening device The wheel is clamped on the lower side of the cable, a spring is arranged in the fastening device, and the spring exerts an elastic force on the cable through the clamping wheel.

Further, the fastening device includes a connecting shaft, and the pair of wire clamping wheels are mounted on the connecting shaft; two ends of the connecting shaft are each provided with a mounting plate, and a fixing plate is provided below the mounting plate , the spring is located between the fixing plate and the mounting plate, and the fixing plate is fixed in the lower casing.

Further, an electrical box is fixed at the lower part of the front end of the lower casing, and a power module for supplying power to the driving device and the first camera is arranged in the electrical box.

Further, the drive device includes a motor and a reducer, a driving wheel is installed on the output shaft of the reducer, and the driving wheel is connected to the driven wheel through a toothed belt;

A mounting shaft is arranged on the side wall in the upper casing through a bearing, and the driving wheel and the driven wheel are connected by the mounting shaft.

Further, the electrical box is also provided with a control board and a motor drive board, a wireless transceiver module is integrated on the control board, the motor is connected to the motor drive board, and the first camera is connected to the control board.

Further, the external front end of the electrical box is provided with a second camera, and the second camera is connected to the control board.

Further, one side of the lower casing is connected with the upper casing through hinges, and the other side is symmetrically provided with a docking plate on the upper casing. The connection between the upper shell and the upper butt plate of the lower shell can make the upper shell and the lower shell spliced and fixed to form the outer shell.

Further, the front and rear ends of the casing are provided with through holes for passing the cables, wherein half of the through holes are located on the upper casing, and the other half is located on the lower casing.

The utility model has the following technical characteristics:

1. The line inspection robot of the present utility model adopts an armless structure, and a fastening device is designed inside, which can make the robot stably grasp the cable, so that the robot inspection process is stable.

2. The armless structure of the present utility model greatly simplifies the structure and manipulation algorithm of the robot, making the robot light and simple in structure, and effectively prolongs the battery life; Controlling the rotation and speed of the motor can control the speed and direction of the robot's movement. This control method is simple and reliable to debug, and can be well applied to cable inspection work.

Description of drawings

Fig. 1 is the front structure schematic diagram of the present utility model;

Fig. 2 is the back structure schematic diagram of the utility model;

Fig. 3 is the internal structure schematic diagram of the utility model;

Fig. 4 is the structural representation of the fastening device;

Figure 5 is a schematic diagram of the cooperation relationship of the toothed belt, the driven wheel and the driving wheel;

FIG. 6 is a schematic diagram of the structure of the traveling wheel.

In the figure: 1 shell, 2 upper shell, 3 lower shell, 4 cables, 5 first camera, 6 electrical box, 7 second camera, 8 hinges, 9 docking plates, 10 fastening bolts, 11 fastening Device, 12 traveling wheels, 13 motor chambers, 14 motors, 15 reducers, 16 driving wheels, 17 toothed belts, 18 driven wheels, 19 mounting shafts, 20 driving wheels, 21 bearings, 22 fixing plates, 23 mounting plates, 24 cards Reel, 25 connecting shaft, 26 spring, 27 sub-wheel.

Detailed ways

The utility model provides an armless cable line tracking robot, comprising a casing 1 formed by splicing and fixing an upper casing 2 and a lower casing 3, wherein the lower casing 3 can rotate around the upper casing 2 to Open the casing 1; as shown in Figures 1 to 3, the casing 1 is a hollow structure. After the upper casing 2 and the lower casing 3 are assembled and fixed, the interior of the casing 1 is sealed to avoid external rainwater. influences. The shape of the casing 1 can be, for example, a hollow rectangular body structure, and the hollow rectangular body is transversely cut into two parts along its length direction, that is, the upper casing 2 and the lower casing 3 are formed. . In this embodiment, the front end of the upper casing 2 protrudes upward to form a motor cavity 13, which is used to install the driving device part. As shown in FIG. 2 , one side of the lower casing 3 is connected with the upper casing 2 through hinges 8 , and the other side is symmetrically provided with a docking plate 9 on the upper casing 2 , and a docking plate 9 is provided with a docking plate. The upper shell 2 and the lower shell 3 are connected to the upper butt plates 9 by fastening bolts 10, so that the upper shell 2 and the lower shell 3 can be assembled and fixed to form the shell 1; and when the shell 1 needs to be opened At this time, remove the fastening bolts 10 and rotate the lower casing 3 relative to the upper casing 2 to open the casing 1 and remove the robot from the cable 4 .

The upper casing 2 is distributed with traveling wheels 12, and each traveling wheel 12 includes two sub-wheels 27 arranged at intervals; as shown in FIG. 6, the traveling wheel 12 includes a shaft and two sub-wheels 27 mounted on the shaft. , wherein the shaft is mounted on the inner wall of the upper casing 2 . The distance between the two sub-wheels 27 in the traveling wheel 12 does not exceed the outer diameter of the cable 4 , so that the two sub-wheels 27 can be clamped on the upper side of the cable 4 .

The upper casing 2 is provided with a driving wheel 20, and the driving wheel 20 is driven by a driving device; the driving device includes a motor 14 and a reducer 15 connected to the motor 14, and an output shaft of the reducer 15 is installed with an active wheel 16, the driving wheel 16 is connected to the driven wheel 18 through the toothed belt 17; the driving wheel 16 and the driven wheel 18 are both gears; the side wall in the upper casing 2 is provided with a mounting shaft 19 through a bearing 21, the said The driving wheel 20 and the driven wheel 18 are connected by the mounting shaft 19 . When the motor 14 rotates, the output shaft of the reducer 15 rotates through the driving wheel 16 and the driven wheel 18 to electrically install the shaft 19. When the installation shaft 19 rotates, it drives the driving wheel 20 to rotate, and the driving wheel 20 is stuck on the upper side of the cable 4 to drive The rotation of the wheel 20 drives the entire robot to move on the cable 4 . As shown in FIG. 5 , the driving wheel 20 and the traveling wheel 12 have the same structure, and are also formed by coaxially connecting two sub-wheels 27 arranged at intervals. The motor 14 can be controlled by remote control.

A first camera 5 is arranged at the front end outside the upper casing 2, and the data collected by the first camera 5 is sent by wireless transmission; the function of the first camera 5 is to collect the cable when the robot moves on the cable 4 4, the image information is sent to the receiving device on the ground, and the staff checks whether the cable 4 is damaged through the image information.

The lower casing 3 is provided with a fastening device 11 , and a pair of wire clamping wheels 24 are arranged in the fastening device 11 . Specifically, as shown in FIG. 4 , the fastening device 11 includes a connecting shaft 25, and the pair of wire clamping wheels 24 are installed on the connecting shaft 25 at intervals; both ends of the connecting shaft 25 are provided with A mounting plate 23 is provided with a fixing plate 22 below the mounting plate 23 , a spring 26 is arranged between the fixing plate 22 and the mounting plate 23 , and the fixing plate 22 is fixed in the lower casing 3 .

When the armless cable 4 line inspection robot is installed, first remove the fastening bolts 10, open the shell 1, make the cable 4 pass between the upper shell 2 and the lower shell 3, and make the walking wheels 12 The two sub-wheels 27 and the driving wheel 20 are clamped on the upper side of the cable 4 from top to bottom, and then the lower casing 3 is rotated to close. 4, after closing the lower case 3, the upper case 2 and the lower case 3 are fixed with the fastening bolts 10. Under the elastic force of the spring 26 , the wire clamping wheel 24 always maintains the elastic force on the cable 4 , so that the line-following robot can move on the cable 4 smoothly under the action of the up and down cooperation of the traveling wheel 12 and the wire clamping wheel 24 .

Further, the front and rear ends of the casing 1 are provided with through holes for passing the cables 4, wherein half of the through holes are located on the upper casing 2, and the other half is located on the lower casing 3; During the process of attaching the cable 4, take care to pass the cable 4 through the through hole in the housing 1.

As a further optimization of the above technical solution, in this embodiment:

An electrical box 6 is fixed to the lower part of the front end of the lower casing 3 , and a power module for supplying power to the driving device and the first camera 5 is arranged in the electrical box 6 . The electrical box 6 is arranged at the lower part of the front end of the lower casing 3, which helps to keep the center of gravity of the whole robot stable.

Preferably, the electrical box 6 is further provided with a control board and a motor drive board, the control board is integrated with a wireless transceiver module, the motor 14 is connected to the motor drive board, and the first camera 5 is connected to the control board.

The function of the motor drive board is to drive the motor 14, and the control board is used to forward the image information collected by the first camera 5 through the wireless transceiver module, and to receive the control signal sent by the ground controller through the control device, and to transmit the control signal. The motor 14 is controlled by the motor drive board.

Optionally, as shown in FIG. 1 and FIG. 2 , the external front end of the electrical box 6 is provided with a second camera 7 , which is connected to the control board; the second camera 7 is used to collect cables 4 . The image of the lower side is sent to the ground. Through the cooperation of the first camera 5 and the second camera 7, the upper and lower sides of the surface of the cable 4 can be carefully inspected.

Because the line inspection robot has been exposed to the wind, rain, sun and rain for a long time, the material of the outer shell 1 and the material of the electrical box 6 used by the robot must use anodized aluminum plates, and a colorless layer is formed on the surface of the aluminum plates. Oxide film, in addition to being non-conductive, this oxide film mainly improves the corrosion resistance of aluminum, and the surface hardness is also greatly improved, which can withstand general friction and is not easy to be polluted by stains.

As a preferred embodiment, the selection of each part is as follows:

Power module: Dingdong battery is selected, the voltage is 24V, the capacity is 6ah, the size is 15cm×10cm×10cm, and the working temperature is between -40°C and +70°C; since the weight of the battery is 3.8kg, so the electrical box No need to add extra weight.

Motor drive board: The high-power DC motor drive board produced by Aiscon is selected. This drive board can provide 5V power for Raspberry Pi 3B. Moreover, the effective range of PWM is adjusted from 0.1% to 100.0%.

Motor: The geared motor of Xcdq company is selected. The rated voltage of the motor is 24V, its rated power is 60W, and the speed is 30 revolutions per minute, so that the line inspection robot can move 2.46 meters on the cable in one minute.

Control board: choose Raspberry Pi 3B, Raspberry Pi 3B uses Broadcom's BCM2837 SoC, the highest frequency is 1.2GHz, 4 Cortex A57 cores, support 64-bit, Raspberry Pi 3B integrates a wireless transceiver module.

The first camera, the second camera: using a high-quality 8-megapixel Sony IMX219 sensor, with a fixed-focus lens, it can capture 3280x 2464 pixel still pictures and 30FPS 1080P video, and also supports 1080p30, 720p60 and 640x480p60/90 camera functions.

Ground receiving device: TP-Link router, the wireless transceiver module is connected to the TP-Link router for image data transmission.

Control equipment on the ground: a notebook computer, which can receive the image data sent by the receiving device, and can also send commands to control the motor.

Claims (8)

1. An armless cable line-following robot, characterized in that it comprises a casing (1) formed by splicing and fixing an upper casing (2) and a lower casing (3), wherein the lower casing (3) ) can be rotated around the upper casing (2) to open the casing (1); Walking wheels (12) are distributed in the upper casing (2), and each walking wheel (12) includes two sub-wheels (27) arranged at intervals; a device (11), a pair of wire clamping wheels (24) are arranged in the fastening device (11); The upper casing (2) is provided with a driving wheel (20), and the driving wheel (20) is driven by a driving device; a first camera (5) is arranged at the front end outside the upper casing (2), and the first camera is (5) The collected data is sent by means of wireless transmission; After the armless cable tracking robot is installed on the cable (4), the two sub-wheels (27) of the walking wheel (12) and the driving wheel (20) are stuck on the cable (4). On the upper side, a pair of wire clamping wheels (24) in the fastening device (11) is clamped on the lower side of the cable (4). The fastening device (11) is provided with a spring (26), the spring (26) ) exerts an elastic force on the cable (4) through the wire clamping wheel (24). 2. The armless cable line tracing robot according to claim 1, wherein the fastening device (11) comprises a connecting shaft (25), and the pair of wire clamping wheels (24) are installed On the connecting shaft (25); two ends of the connecting shaft (25) are provided with a mounting plate (23), and a fixing plate (22) is provided below the mounting plate (23), and the spring (26) ) is located between the fixing plate (22) and the mounting plate (23), and the fixing plate (22) is fixed in the lower casing (3). 3. The armless cable line inspection robot according to claim 1, characterized in that, an electrical box (6) is fixed at the lower part of the front end of the lower casing (3), and an electrical box (6) is provided with an electrical box (6). A power module for supplying power to the driving device and the first camera (5). 4. The armless cable line-following robot according to claim 3, wherein the driving device comprises a motor (14) and a reducer (15), and an output shaft of the reducer (15) is mounted with a a driving wheel (16), the driving wheel (16) is connected to the driven wheel (18) through a toothed belt (17); A mounting shaft (19) is provided on the inner side wall of the upper casing (2) through a bearing (21), and the driving wheel (20) and the driven wheel (18) are connected by the mounting shaft (19). 5. The armless cable line patrol robot according to claim 4, wherein the electrical box (6) is further provided with a control board and a motor drive board, and a wireless transceiver module is integrated on the control board, The motor (14) is connected to the motor drive board, and the first camera (5) is connected to the control board. 6. The armless cable line inspection robot according to claim 5, characterized in that, a second camera (7) is provided at the outer front end of the electrical box (6), and the second camera (7) is connected to the the control panel described above. 7. The armless cable line tracing robot according to claim 1, wherein one side of the lower casing (3) is connected with the upper casing (2) through a hinge (8), and the other A docking plate (9) is arranged symmetrically on one side of the upper shell (2), and a docking hole is formed on the docking plate (9), and the upper shell (2) and the lower shell (3) are connected by fastening bolts (10). ) The connection of the upper butt plate (9), so that the upper shell (2) and the lower shell (3) are assembled and fixed to form the outer shell (1). 8. The armless cable line tracking robot according to claim 1, characterized in that, the front and rear ends of the casing (1) are provided with through holes for passing through the cables (4), wherein the Half of the hole is located on the upper casing (2) and the other half is located on the lower casing (3).

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