GB2625447A - Real-time adjustable clamping walking device for flying-walking inspection robot for transmission line - Google Patents
Real-time adjustable clamping walking device for flying-walking inspection robot for transmission line Download PDFInfo
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- GB2625447A GB2625447A GB2318149.8A GB202318149A GB2625447A GB 2625447 A GB2625447 A GB 2625447A GB 202318149 A GB202318149 A GB 202318149A GB 2625447 A GB2625447 A GB 2625447A
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- 238000007689 inspection Methods 0.000 title claims abstract description 63
- 230000005540 biological transmission Effects 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 229910052751 metal Inorganic materials 0.000 claims description 11
- 239000002184 metal Substances 0.000 claims description 11
- 229910000838 Al alloy Inorganic materials 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000007667 floating Methods 0.000 claims description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 2
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 2
- 229910052802 copper Inorganic materials 0.000 claims description 2
- 239000010949 copper Substances 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims description 2
- PYLLWONICXJARP-UHFFFAOYSA-N manganese silicon Chemical compound [Si].[Mn] PYLLWONICXJARP-UHFFFAOYSA-N 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 10
- 230000006872 improvement Effects 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920006324 polyoxymethylene Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035939 shock 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Combustion & Propulsion (AREA)
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- Manipulator (AREA)
Abstract
A real-time adjustable clamping walking device is provided for a flying-walking inspection robot for an overhead transmission line. The device has a first clamping wheel stand 1, a second clamping wheel stand 2, a side connecting rod assembly 3, a main push rod assembly 4, a slide rail push rod assembly 5, a support slide rail 6, and an anti-falling mechanism 7. First wheel stand 1 is fixedly installed on the robot, second clamping wheel stand 2 is connected to side connecting rod 3 and the main push rod 4, and side connecting rod 3 and main push rod 4 can be driven by slide rail push rod 5 to move in support slide rail 7. Anti-falling mechanism 7 ensures that the robot, when travelling on a transmission line, does not fall or crash when disturbed by wind.
Description
REAL-TIME ADJUSTABLE CLAMPING WALKING DEVICE FOR
FLYING-WALKING INSPECTION ROBOT FOR TRANSMISSION LINE
TECHNICAL FIELD
100011 The present disclosure relates to the technical field of high-voltage transmission line inspection devices, and in particular to a real-time adjustable clamping walking device for a flying-walking inspection robot for an overhead transmission line.
BACKGROUND
100021 With the development of modern power system, the mileage of high-voltage transmission lines in China is increasing rapidly, and the traditional manual inspection can no longer meet the growing demand for transmission line inspection. Therefore, a series of transmission line inspection devices have been developed and designed in China, among which representative new transmission line inspection devices include inspection robots and inspection aircraft.
100031 However, the existing inspection robots mainly focus on a double-arm line-hanging inspection robot, which needs manpower or needs to install special lifting equipment on the electric tower line for the robot to cross the electric tower, and the robot is heavy in size and complicated in the design and control system, that is, the inspection robot has the shortcomings of great difficulty in designing the whole machine, inflexible in crossing the line and avoiding obstacles. In some schemes, unmanned aerial vehicles (UAVs) are used for power line inspection, and the unmanned aerial vehicle inspection can also be divided into three types of inspection aircraft carriers: a helicopter, a large UAV and a rotary-wing UAV. The Helicopter and large UAVs can carry sensing equipment for large-area joint operation at the same time, but it is difficult to carry out fine inspection close to the transmission lines, and the collection cost and technical threshold are too high. Moreover, the helicopter is also restricted by weather and environment. The rotary-wing UAV is small in size and high in inspection line, but has disadvantages of limited load and short battery life, that is, the UAV inspection cannot achieve long-term inspection.
100041 In order to solve the above technical problems, a novel inspection robot for a transmission line is proposed by the latest research in China. The robot can combine the functions of flying and line-hanging inspection and achieve the automatic switching of functions in the air. The appearance of the flying-walking inspection robot for a transmission line, which integrates the functions of line-hanging inspection and flying obstacle crossing, provides a technical solution for the field of power line inspection with both flexible obstacle crossing and long-distance fine inspection ability. Aiming at such as flying-walking multi-rotor automatic inspection device for an overhead transmission line, that is, a flying-walking inspection robot, when an original clamping walking device of the inspection robot is on a curved power line and walks by hanging on the line, one end of the clamping walking device will be slightly tilted due to its own rigid structure, resulting in uneven stress on the clamping walking wheel, which makes the clamping walking wheel cannot well adapt to various line types. When the clamping mechanism is on a large slope, the inspection robot is prone to slip. In a case of slipping in the process of hanging on the line, the inspection robot may tilt as a whole, especially when inspecting on the power line that is dancing due to wind interference, and the inspection robot may be accidently detached, resulting in unnecessary economic losses.
[0005] Therefore, for the problems in the prior art of a flying-walking multi-rotor automatic inspection device for the overhead transmission line, there is an urgent need for a clamping walking device for a flying-walking inspection robot which is suitable for a variety of line shapes and ensures that there is no crash.
SUMMARY
[0006] The present disclosure aims at solving the technical problem that in view of the extreme, complicated and changeable working environment of transmission line inspection, the pose of the flying-walking inspection robot can be adjusted through structural adjustment, so as to ensure that the flying inspection robot does not fall after being accidentally detached, and a positional relationship of the clamping walking wheel can be changed to improve a phenomenon that one end is tilted and the other end is excessively pressed.
100071 To achieve the objective above, the present disclosure provides the following technical solution: a real-time adjustable clamping walking device for a flying-walking inspection robot for a transmission line includes a first clamping wheel stand (1), a second clamping wheel stand (2), a slide connecting rod assembly (3), a push main rod assembly (4), a slide rail push rod assembly (5), a support slide rail (6), and an anti-falling mechanism (7). The first clamping wheel stand includes a support beam (19), an upper wheel placing platform (20), an upper unfolded rod (21), an auxiliary guiding top wheel (22), an upper pressure spring (23), an upper spring (24), a top wheel (25), and a top wheel spring-placing plate (26). The support beam is fixedly installed on the "flying-walking inspection robot for a transmission line", the upper wheel placing platform is fixedly installed on the support beam, the upper spring is welded and arranged on the upper wheel placing platform, the top wheel is installed on the top wheel spring-placing plate, and the upper wheel placing platform and the top wheel spring-placing plate are connected by the upper spring. The upper unfolded rod is hinged to the upper wheel placing platform, and the auxiliary guiding top wheel is installed at a top end of the upper unfolded rod. One end of the upper pressure spring is fixed to the upper wheel placing platform, and the other end of the upper pressure spring is connected to a middle part of the upper unfolded rod, and the upper unfolded rod can swing slightly. The second clamping wheel stand includes a lower wheel placing platform (30), a lower spring (31), a bottom wheel spring-placing plate (32), a bottom wheel (33), a wheel rotating motor (34), a lower unfolded rod (35), a main guiding bottom wheel (36), and lower pressure spring (37). The lower spring is arranged on and welded to the lower wheel placing platform, the bottom wheel and the wheel rotating motor are installed on the bottom wheel spring-placing plate, and the bottom wheel is driven by the wheel rotating motor to rotate. The lower wheel placing platform and the bottom wheel spring-placing plate are connected by the lower spring, the lower unfolded rod is hinged to the lower wheel placing platform, and the main guiding bottom wheel is installed at a top end of the lower unfolded rod. One end of the lower pressure spring is fixed to the lower wheel placing platform, the other end of the lower pressure spring is connected to a middle part of the lower unfolded rod, and the lower unfolded rod can swing slightly. The side connecting rod assembly includes a side rod platform (40), a swinging rod motor (41), a metal motor (42), an adjustable driven swinging rod (43), a driving swinging rod (44), a transmission connecting rod (45), and slide body (46). The swinging rod motor and the metal motor are installed above the side rod platform, an "I-shaped" boss is welded to a bottom of the side rod platform, the metal motor and the adjustable driven swinging rod are connected into a whole, and the metal motor can drive the adjustable driven swinging rod to extend and retract in a stroke. One end of the driving swinging rod is connected to the swinging rod motor, the swinging rod motor can drive the driving swinging rod to rotate, and the other end of the driving swinging rod is hinged to the slide body. The slide body can slide in a sliding cavity of the adjustable driven swinging rod, the adjustable driven swinging rod is hinged with the transmission connecting rod, and the transmission connecting rod is hinged to the lower wheel placing platform. A main push rod assembly includes an adjustable main rod (50), and a worm rotating motor (51). A worm is installed in the adjustable main rod, and a worm gear is installed on a side surface of the worm rotating motor, and the worm gear is in fit with the worm. A top of the adjustable main rod is hinged to the lower wheel placing platform (30), and an "I-shaped" boss is welded to a bottom of the adjustable main rod. A slide rail push rod assembly (5) includes an adjustable push rod (60), and a push rod motor (61). The push rod motor and the adjustable push rod can be connected into a whole, and the push rod motor can drive the adjustable push rod to extend and retract in a stroke. One end of the push rod motor is fixedly installed on a side surface of the side rod platform (40), and the other end of the push rod motor is fixedly installed on a side surface of the adjustable main rod (50). The slide rail (65) is installed above "the flying-walking inspection robot for a transmission line", is internally provided with a "I-shaped" slide chute, and is in fit with the "1-shaped" bosses below the slide connecting rod assembly (3) and the main push rod assembly (4). The anti-falling mechanism includes a load-bearing lock body (70), a nested rod (71), a push rod lock cylinder (72), and a lock rotating motor. A bottom of the push rod lock cylinder is connected to the nested rod. The nested rod is formed by nesting multi-stage rods, and a space is reserved in the nested rod to accommodate the lock rotating motor, and the lock rotating motor can drive the push rod lock cylinder to rotate. The load-bearing lock body is installed below the upper wheel placing platform (20), the push rod lock cylinder is inserted into the load-bearing lock body and is circumferentially fixed by the load-bearing lock body. A certain space is reserved in the load-bearing lock body for the push rod lock cylinder to move up and down, and left and right. 100081 As a further improvement of the present disclosure: the upper wheel placing platform (20) of the first clamping wheel stable (1) is a convex arc, the lower wheel placing platform (30) of the second clamping wheel stand (2) is a concave arc, and the first clamping wheel stand (1) and the second clamping wheel stand (2) are in fit with each other. The upper wheel placing platform and the lower wheel placing platform are both made of polyformaldehyde. The lower pressure spring (37) of the second clamping wheel stand (2) can be replaced with a side inclined spring platform (80). In an alternative solution, the lower unfolded rod is connected to the side inclined spring platform, and the side inclined spring platform is connected to the lower wheel placing platform. The side inclined spring platform is composed of a spring body (81), spring connecting plates (82), and a spring arrangement inclined platform (83). The spring body is welded between two layers of spring connecting plates, the spring arrangement inclined platform is connected to one layer of spring connecting plates by a bolt, and a side surface of the spring arrangement inclined platform is provided with a hinge hole.
100091 As a further improvement of the present disclosure: the upper unfolded rod (21) and the lower unfolded rod (35) are semi-arch-shaped aluminum alloy rods and symmetrically provided, and the middle parts of the upper unfolded rod and the lower unfolded rod are provided with snap spring joints to fix one end of the upper pressure spring (23) and one end of the lower pressure spring (37).
100101 As a further improvement of the present disclosure: each of the upper wheel placing platform (20) and the lower wheel placing platform (30) is provided with bosses on both sides of each pressure spring. Each boss is provided with a main wheel-attracting magnet, which is magnetic when energized and non-magnetic when de-energized; one side of each of the top wheel spring-placing plate (26) and the bottom wheel spring-placing plate (32) is provided with an auxiliary wheel-attracting magnet, and the main wheel-attracting magnet is matched with the auxiliary wheel-attracting magnet.
100111 As a further improvement of the present disclosure: a slide rail groove of the slide rail (65) is internally provided with a guide groove, and both ends of the slide rail groove are provided with stop plates. A surface of the slide rail is provided with an auxiliary rail-attracting magnet, a bottom of the boss of each of the side rod platform (40) and the adjustable main rod (50) is provided with a main rail-attracting magnet, which is magnetic when energized and non-magnetic when de-energized, and the main rail-attracting magnet is matched with the auxiliary rail-attracting magnet.
100121 As a further improvement of the present disclosure: the slide rail push rod assembly (5) is used to connect the side rod platform on a left side to a left end surface at the bottom of the adjustable main rod (50) and connect the side rod platform on a right side to a right end surface of the adjustable main rod. When the main rail-attracting magnet is energized and attracts the auxiliary rail-attracting magnet, the side connecting rod assembly and the main push rod assembly are controlled to be fixed or floating. The slide rail push rod assembly drives the side connecting rod assembly (3) and the main push rod assembly (4) to move along the slide chute in the support slide rail through self-extension or retraction.
[0013] As a further improvement of the present disclosure: the push rod lock cylinder (72) is composed of an aluminum alloy rod and a rectangular lock cylinder, and the lock cylinder is made of pure copper, and is welded to an end face of the aluminum alloy rod. The aluminum alloy rod is connected to the nested rod (71), and a thinner rod in the nested rod can retract into a thicker rod. The load-bearing lock body is provided with a rectangular lock cylinder cavity, and a locking groove is arranged in the lock cylinder cavity. The lock body can achieve relative movement except a circumferential motion in a space reserved in the lock cylinder cavity, and the push rod lock cylinder is in fit with the load-bearing lock body.
[0014] Alternatively, an anti-falling mechanism is also used, including a lock head rod (90), a lock cylinder push rod motor (91), spring buckles (92), and a lock plate (93). The spring buckles are arranged on the lock head rod in a radial direction, a spring is arranged in each spring buckle, the spring is welded to a latch, a side surface of the latch is an inclined plane, and the latch can fully retract into the lock head rod (90) after being pressed. The lock head rod is connected to the lock cylinder push rod motor, and the lock head rod is made of manganese-silicon steel. The lock cylinder push rod motor is fixedly installed above "the flying-walking inspection robot for a transmission line" to drive the lock head rod to feed. The lock plate is fixedly installed on the support beam, and the lock head rod can enter the lock plate and maintain a locking state. The lock plate (93) is composed of a locking motor (100), a crank slider mechanism (101), and a load-bearing plate (102). The locking motor can drive the crank slider mechanism to move, and the crank slider mechanism is symmetrically provided along an opening-closing surface, and can drive the load-bearing plate to open and close. A lower end of the load-bearing plate is provided with a guide-in slide chute, which is able to guide the lock head rod (90) with the spring buckles (92) to enter. An upper end of the load-bearing plate is provided with a "star-shaped" lock groove, which is in fit with the spring buckles to achieve gravity self-locking and circumferential limit of the spring buckles.
[0015] The present disclosure has the beneficial effects that: 100161 As the arch unfolded rod and the spring assembly are used in this design, a stress direction of the pressure wheel can be improved, the pressure wheel is more attached to the line, and shock absorption and damping functions are provided.
[0017] As the anti-falling mechanism is used in this design, it is guaranteed that the flying-walking inspection robot cannot crash after accidentally detached. The anti-falling mechanism is integrated into the clamping walking device, so there is no need to provide an additional driving motor, and the weight and energy consumption of the device are reduced. [0018] As concave and convex wheel stands are used in this design, the clamping walking device is more suitable for an actual bending line type.
[0019] As a combined structure in which multiple clamping wheels are arranged is used in this design, the flying-walking inspection robot can still keep normal walk after a walking wheel is accidentally damaged.
100201 As the electromagnetic iron absorption device and the telescopic push rod assembly are adopted in this design, the relationship between a hinge state, the position and the wheel set can be adjusted at any time, and the flying-walking inspection robot can be kept at a reasonable pose under various slopes, thereby achieving a better line attachment effect and more efficient movement.
BRIEF DESCRIPTION OF THE DRAWINGS
[0021] FIG. 1 is a structural distribution diagram of a whole machine according to the present disclosure; [0022] FIG. 2 is a structural schematic diagram of the whole machine according to the present disclosure; 100231 FIG. 3 is a top view of the present disclosure; [0024] FIG. 4 is a schematic diagram of a connection relationship between devices according to the present disclosure; [0025] FIG. 5 is a structural schematic diagram of a side connecting rod assembly according to the present disclosure; [0026] FIG 6 is a structural schematic diagram of a slide rail assembly according to the present disclosure; [0027] FIG 7 is a pose diagram of the present disclosure when walking in a flat section; [0028] FIG. 8 is a pose diagram of the present disclosure when walking in a rising section or a descending section; [0029] FIG. 9 is a structural schematic diagram of an anti-falling mechanism according to the present disclosure; [0030] FIG. 10 is a structural schematic diagram of another anti-falling mechanism according to the present disclosure; [0031] FIG. 11 is a structural schematic diagram of a side inclined spring platform according to the present disclosure.
[0032] In the drawing: 1-first clamping wheel stand; 2-second clamping wheel stand; 3-side connecting rod assembly; 4-main push rod assembly; 5-slide rail push rod assembly; 6-support slide rail; 7-anti-falling mechanism; 19-support beam; 20-upper wheel placing platform; 21-upper unfolded rod; 22-auxiliary guiding top wheel; 23-upper pressure spring; 24-upper spring; 25-top wheel; 26-top wheel spring-placing plate; 30-lower wheel placing platform; 31-lower spring, 32-bottom wheel spring-placing plate; 33-bottom wheel; 34-wheel rotating motor; 35-lower unfolded rod; 36-main guiding bottom wheel; 37-lower pressuring spring; 40-side rod platform; 41-swinging rod motor; 42-metal motor; 43-adjustable driven swinging rod; 44-driving swinging rod; 45-transmission connecting rod; 46-slide body; 50-adjustable main rod; 51-worm rotating motor; 60-adjustable push rod; 61-push rod motor; 65-slide rail; 70-load-bearing lock body; 71-nested rod, 72-push rod lock cylinder; 80-side inclined spring platform; 81-spring body; 82-spring connecting plate; 83-spring arrangement inclined platform; 90-lock head rod; 91-lock cylinder push rod motor; 92-spring buckle; 93-lock plate; 100-locking motor; 101-crank slider mechanism; 102-load-bearing plate.
DETAILED DESCRIPTION OF THE EMBODIMENTS
100331 To make the objectives, technical solutions and advantages of the present disclosure more clearly, the following clearly and completely describes the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are merely a part rather than all of the embodiments of the present disclosure. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.
100341 As shown in FIG. 1 through FIG. 4, this embodiment provides the following technical solution: a real-time adjustable clamping walking device for a flying-walking inspection robot for a transmission line includes a first clamping wheel stand (1), a second clamping wheel stand (2), a slide connecting rod assembly (3), a main push rod assembly (4), a slide rail push rod assembly (5), a support slide rail (6), and an anti-falling mechanism (7). A support beam (19) of the first clamping wheel stand is fixed to the flying-walking inspection robot, the second clamping wheel stand is connected to the side connecting rod assembly arid the main push rod assembly, and a bottom of each of the side connecting rod assembly and the main push rod assembly is provided with a boss capable of being installed and sliding on an inner groove of the support slide rail. The support slide rail is also fixedly installed on the flying-walking inspection. The slide rail push rod assembly is installed between the side connecting rod assembly and the main push rod assembly. The anti-falling mechanism is located between the first clamping wheel stand and the second clamping wheel stand. The second clamping wheel stand is attached to the first clamping wheel stand by means of the extension of a main push rod, thus achieving the clamping between the wheel stands. Wheels on the first clamping wheel stand and the second clamping wheel stand cooperate with each other to clamp a cable, and the wheels rotate in the same direction to drive the flying-walking robot to walk along the line.
100351 Specifically, as shown in FIG. 5, the side connecting rod assembly includes a side rod platform (40), a swinging rod motor (41), a metal motor (42), an adjustable driven swinging rod (43), a driving swinging rod (44), a transmission connecting rod (45), and a slide body (46). An "I-shaped" boss is welded to the bottom of the side rod platform to be in fit with the slide rail, so as to achieve position change. An electromagnet is installed at the bottom of the boss, which is magnetic when energized and non-magnetic when de-energized, so as to control a floating or a fixing state of the boss. The adjustable driven swinging rod and the metal motor are connected into a whole, which is essentially a small electric push rod to achieve the movement relationship change of a connecting rod mechanism through the own length change. One end of the driving swinging rod is connected to the swinging rod motor, the swinging rod motor can drive the driving swinging rod to rotate, and the other end of the driving swinging rod is hinged to the slide body. The slide body can slide in a sliding cavity of the adjustable driven swinging rod, the adjustable driven swinging rod is hinged with the transmission connecting rod, and the transmission connecting rod is hinged to the lower wheel placing platform (30).
[0036] Specifically, as shown in FIG. 6, the support slide rail is internally provided with a slide chute having the same shape as the boss, a slide rail groove of the support slide rail is internally provided with a guide groove for guiding the boss to move. A magnet is installed on the support slide rail. When the electromagnet at the bottom of a boss is energized, the magnets attract each other to relatively fix the boss and the slide rail. Both ends of the slide rail are provided with stop plates to prevent the boss from slipping out. The slide rail push rod assembly (5) is used to connect the side rod platform on a left side to a left end surface at the bottom of the adjustable main rod (50) and connect the side rod platform on a right side to a right end surface of the adjustable main rod. When the main rail-attracting magnet is electrified and attracts the auxiliary rail-attracting magnet, the side connecting rod assembly and the main push rod assembly are controlled to be fixed or floating, and the slide rail push rod assembly drives the side connecting rod assembly (3) and the main push rod assembly (4) to move along the slide chute in the support slide rail (6) through self-extension or retraction.
[0037] Specifically, as shown in FIG. 7 and FIG. 8, according to a walking direction and slope of the flying-walking inspection robot along the line, the power line type is divided into a flat section and an inclined section. The flat section is within a slope ranging from 0°to 100, and the inclined section is with a slope ranging from 10°to 25°. When the inspection robot walks on the flat section, the main push rod extends to an extreme position, and the entire clamping walking device is as shown in FIG. 8 at this time. When the inspection robot walks on the inclined section, the main push rod retracts, and the pose change of the clamping walking device can be achieved through the length change of the adjustable driven swinging rod and the swinging of the driving swinging rod of the side connecting rod assembly. By changing the length of the main push rod, the positional relationship between the side connecting rod assembly and the main push rod is controlled, and the geometric relationship of rod sets of the clamping walking device is changed. At this time, the entire clamping walking device is shown in FIG. 9. In addition, the lower wheel placing platform (30) is provided with bosses on both sides of each pressure spring, each boss is provided with a main wheel-attracting magnet, which is magnetic when energized and non-magnetic when de-energized. Each wheel in the second clamping wheel platform can be controlled by an electromagnet to lift and drop, so as to improve the phenomenon that one end is tilted and the other end is not clamped, that is, the "middle wheel fulcrum". Further, the number of wheel sets arranged in the first clamping wheel stand and the second clamping wheel stand can be increased or decreased according to the actual situation.
100381 Specifically, as shown in FIG. 9, the lock body is installed on the first clamping wheel stand, the nested rod is installed on the second clamping wheel stand, and a bottom of the push rod lock cylinder is connected to the nested rod. The nested rod is composed of multi-stage rods by nesting, and a space is reserved in the nested rod for installing a lock rotating motor. The lock rotating motor can drive the push rod lock cylinder to rotate. When the push rod lock cylinder is inserted into a load-bearing lock body and reaches an internal hollow position, the lock rotating motor can rotate to drive the lock cylinder to rotate, and the lock cylinder is aligned with a locking groove at this time. If the lock rotating motor does not rotate, the lock cylinder is always connected into the lock body. When the lock is ready to be unlocked, the lock cylinder is clamped by the wheel stands and then is jacked to the internal hollow position of the lock body, the lock rotating motor rotates, and then the lock cylinder can be pulled out of the lock body along the shape of a lock opening.
100391 In some embodiments, as shown in FIG. 10, an anti-falling mechanism includes a lock head rod (90), a lock cylinder push rod motor (90), spring buckles (92), and a lock plate (93). The lock head rod is connected to the lock cylinder push rod motor, the lock cylinder push rod motor is fixedly installed above "the flying-walking inspection robot for a transmission line" and can drive the lock head rod to feed. The lock plate is fixedly installed on the support beam (19), the spring buckles are arranged on the lock head rod in a radial direction. When ready to lock, the load-bearing plate is closed, the lock head rod is driven to achieve upward feed, and the spring buckles automatically retract into the lock head rod due to a stress along an inclined plane, and the spring buckles re-extend after the lock head rod enters the lock plate and are kept at a locking state. The locking plate (93) is composed of a locking motor (100), a crank slider mechanism (101) and a load-bearing plate (102). The locking motor can drive the crank slider mechanism to move, thus achieving the opening and closing of the load-bearing plate. When the load-bearing plate is opened, the self-locking is released.
100401 In some embodiments, as shown in FIG. 11, the lower pressure spring (37) of the second clamping wheel stand is replaced with a side inclined spring platform (80). In an alternative scheme, the lower unfolded rod is connected to the side inclined spring platform, and the side inclined spring platform is connected to the lower wheel placing platform.
Claims (8)
- WHAT IS CLAIMED IS: 1. A real-time adjustable clamping walking device for a flying-walking inspection robot for a transmission line, comprising a first clamping wheel stand (1), a second clamping wheel stand (2), a slide connecting rod assembly (3), a push main rod assembly (4), a slide rail push rod assembly (5), a support slide rail (6), and an anti-falling mechanism (7), wherein the first clamping wheel stand (1) comprises a support beam (19), an upper wheel placing platform (20), an upper unfolded rod (21), an auxiliary guiding top wheel (22), an upper pressure spring (23), an upper spring (24), a top wheel (25), and a top wheel spring-placing plate (26), wherein the support beam (19) is fixedly installed on the "flying-walking inspection robot for a transmission line", the upper wheel placing platform (20) is fixedly installed on the support beam (19), the upper spring (24) is arranged on the upper wheel placing platform (20), the top wheel (25) is installed on the top wheel spring-placing plate (26), the upper wheel placing platform (20) and the top wheel spring-placing plate (26) are connected by the upper spring (24); the upper unfolded rod (21) is hinged to the upper wheel placing platform (20), the auxiliary guiding top wheel (22) is installed at a top end of the upper unfolded rod (21), one end of the upper pressure spring (23) is fixed to the upper wheel placing platform (20), and the other end of the upper pressure spring (23) is connected to a middle part of the upper unfolded rod (21), and the upper unfolded rod (21) is able to swing slightly; the second clamping wheel stand (2) comprises a lower wheel placing platform (30), a lower spring (31), a bottom wheel spring-placing plate (32), a bottom wheel (33), a wheel rotating motor (34), a lower unfolded rod (35), a main guiding bottom wheel (36), and lower pressure spring (37), wherein the lower spring (31) is arranged on the lower wheel placing platform (30), the bottom wheel (33) and the wheel rotating motor (34) are installed on the bottom wheel spring-placing plate (32), and the bottom wheel (33) is driven by the wheel rotating motor (34) to rotate; the lower wheel placing platform (30) and the bottom wheel spring-placing plate (32) are connected by the lower spring (31), the lower unfolded rod (35) is hinged to the lower wheel placing platform (30), the main guiding bottom wheel (36) is installed at a top end of the lower unfolded rod (35), one end of the lower pressure spring (37) is fixed to the lower wheel placing platform (30), the other end of the lower pressure spring (37) is connected to a middle part of the lower unfolded rod (35), and the lower unfolded rod (35) is able to swing slightly, the side connecting rod assembly (3) comprises a side rod platform (40), a swinging rod motor (41), a metal motor (42), an adjustable driven swinging rod (43), a driving swinging rod (44), a transmission connecting rod (45), and slide body (46); the swinging rod motor (41) and the metal motor (42) are installed above the side rod platform (40), an "1-shaped" boss is welded to a bottom of the side rod platform (40), the metal motor (42) and the adjustable driven swinging rod (43) are connected into a whole, and the metal motor (42) is able to drive the adjustable driven swinging rod (43) to extend and retract in a stroke; one end of the driving swinging rod (44) is connected to the swinging rod motor (41), the swinging rod motor (41) is able to drive the driving swinging rod (44) to rotate, and the other end of the driving swinging rod (44) is hinged to the slide body (46), the slide body (46) is able to slide in a sliding cavity of the adjustable driven swinging rod (43), the adjustable driven swinging rod (43) is hinged with the transmission connecting rod (45), and the transmission connecting rod (45) is hinged to the lower wheel placing platform (30); a main push rod assembly (4) comprises an adjustable main rod (50), a worm rotating motor (51), wherein a worm gear-worm mechanism is arranged in the adjustable main rod (50), and the worm rotating motor (51) is able to drive a worm gear to change a length of the adjustable main rod (50); a top of the adjustable main rod (50) is hinged to the lower wheel placing platform (30), and an "I-shaped" boss is welded to a bottom of the adjustable main rod (50); a slide rail push rod assembly (5) comprises an adjustable push rod (60), and a push rod motor (61); the push rod motor (61) is connected to a top end of the adjustable push rod (60), and the push rod motor (61) is able to drive the adjustable push rod (60) to extend and retract in a stroke, one end of the push rod motor (61) is fixedly installed on a side surface of the side rod platform (40), and the other end of the push rod motor (61) is fixedly installed on a side surface of the adjustable main rod (50); the support slide rail (6) is formed by connecting a plurality of slide rails (65) and installed above "the flying-walking inspection robot for a transmission line", is internally provided with a "I-shaped" slide chute, and is in fit with the ''I-shaped" bosses below the slide connecting rod assembly (3) and the main push rod assembly (4), and the anti-falling mechanism (7) comprises a load-bearing lock body (70), a nested rod (71), a push rod lock cylinder (72) and a lock rotating motor (73), wherein a bottom of the push rod lock cylinder (72) is connected to the nested rod (71); the nested rod (71) is formed by nesting multi-stage rods, and a space is reserved in the nested rod to accommodate the lock rotating motor (73), and the lock rotating motor (73) is able to drive the push rod lock cylinder (72) to rotate; the load-bearing lock body (70) is installed below the upper wheel placing platform (20), the push rod lock cylinder (72) is inserted into the load-bearing lock body (70) and is circumferentially fixed by the load-bearing lock body (70); a certain space is reserved in the load-bearing lock body (70) for the push rod lock cylinder (72) to move up and down, and left and right.
- 2. The real-time adjustable clamping walking device for a flying-walking inspection robot for a transmission line according to claim 1, wherein the upper wheel placing platform (20) of the first clamping wheel stable (1) is a convex arc, the lower wheel placing platform (30) of the second clamping wheel stand (2) is a concave arc, and the first clamping wheel stand (I) and the second clamping wheel stand (2) are in fit with each other; the upper wheel placing platform and the lower wheel placing platfonn are both made of polyfonnaldehyde; the lower pressure spring (37) of the second clamping wheel stand (2) is able to be replaced with a side inclined spring platform (80); in an alternative solution, the lower unfolded rod (35) is connected to the side inclined spring platform (80), and the side inclined spring platform (80) is connected to the lower wheel placing platform (30); the side inclined spring platform (80) is composed of a spring body (81), spring connecting plates (82), and a spring arrangement inclined platform (83), wherein the spring body (81) is welded between two layers of spring connecting plates, the spring arrangement inclined platform (83) is connected to one layer of spring connecting plates by a bolt, and a side surface of the spring arrangement inclined platform is provided with a hinge hole.
- 3. The real-time adjustable clamping walking device for a flying-walking inspection robot for a transmission line according to claim I, wherein the upper unfolded rod (21) and the lower unfolded rod (35) are semi-arch-shaped aluminum alloy rods and symmetrically provided, and the middle parts of the upper unfolded rod (21) and the lower unfolded rod (35) are provided with snap spring joints to fix one end of the upper pressure spring (23) and one end of the lower pressure spring (37).
- 4. The real-time adjustable clamping walking device for a flying-walking inspection robot for a transmission line according to claim 1, wherein each of the upper wheel placing platform (20) and the lower wheel placing platform (30) is provided with bosses on both sides of each pressure spring (37), each boss is provided with a main wheel-attracting magnet, which is magnetic when energized and non-magnetic when de-energized; one side of each of the top wheel spring-placing plate (26) and the bottom wheel spring-placing plate (32) is provided with an auxiliary wheel-attracting magnet, and the main wheel-attracting magnet is matched with the auxiliary wheel-attracting magnet.
- 5. The real-time adjustable clamping walking device for a flying-walking inspection robot for a transmission line according to claim 1, wherein a slide rail groove of the slide rail (65) is internally provided with a guide groove, and both ends of the slide rail groove are provided with stop plates; a surface of the slide rail (65) is provided with an auxiliary rail-attracting magnet, a bottom of the boss of each of the side rod platform (40) and the adjustable main rod (50) is provided with a main rail-attracting magnet, which is magnetic when energized and non-magnetic when de-energized, and the main rail-attracting magnet is matched with the auxiliary rail-attracting magnet.
- 6. The real-time adjustable clamping walking device for a flying-walking inspection robot for a transmission line according to claim 1, wherein the slide rail push rod assembly (5) is used to connect the side rod platform (40) on a left side to a left end surface at the bottom of the adjustable main rod (50) and connect the side rod platform (40) on a right side to a right end surface of the adjustable main rod (50), when the main rail-attracting magnet is energized and attracts the auxiliary rail-attracting magnet, the side connecting rod assembly (3) and the main push rod assembly (4) are controlled to be fixed or floating, and the slide rail push rod assembly (5) drives the side connecting rod assembly (3) and the main push rod assembly (4) to move along the slide chute in the support slide rail (6) through self-extension or retraction.
- 7 The real-time adjustable clamping walking device for a flying-walking inspection robot for a transmission line according to claim 1, wherein the push rod lock cylinder (72) is composed of an aluminum alloy rod and a rectangular lock cylinder, and the lock cylinder is made of pure copper, and is welded to an end face of the aluminum alloy rod; the aluminum alloy rod is connected to the nested rod (71), and a thinner rod in the nested rod (71) is able to retract into a thicker rod; the load-bearing lock body (70) is provided with a rectangular lock cylinder cavity, and a locking groove is arranged in the lock cylinder cavity; the lock body is able to achieve relative movement except a circumferential motion in a space reserved in the lock cylinder cavity, and the push rod lock cylinder (72) is in fit with the load-bearing lock body (70).
- 8. The real-time adjustable clamping walking device for a flying-walking inspection robot for a transmission line according to claim 1, wherein an anti-falling mechanism is also used, comprising a lock head rod (90), a lock cylinder push rod motor (91), spring buckles (92), and a lock plate (93); the spring buckles (92) are arranged on the lock head rod (90) in a radial direction, a spring is arranged in each spring buckle (92), the spring is welded to a latch, a side surface of the latch is an inclined plane, and the latch (92) is able to fully retract into the lock head rod (90) after being pressed, the lock head rod (90) is connected to the lock cylinder push rod motor (1), and the lock head rod (90) is made of manganese-silicon steel; the lock cylinder push rod motor (91) is fixedly installed above "the flying-walking inspection robot for a transmission line" to drive the lock head rod (91) to feed, the lock plate (93) is fixedly installed on the support beam (19), and the lock head rod (90) is able to enter the lock plate (93) and maintain a locking state; the lock plate (93) is composed of a locking motor (100), a crank slider mechanism (101), and a load-bearing plate (102); the locking motor (100) is able to drive the crank slider mechanism (101) to move, and the crank slider mechanism (101) is symmetrically provided along an opening-closing surface, and is able to drive the load-bearing plate (102) to open and close; a lower end of the load-bearing plate (102) is provided with a guide-in slide chute, which is able to guide the lock head rod (90) with the spring buckles (92) to enter; and an upper end of the load-bearing plate is provided with a "star-shaped" lock groove, which is in fit with the spring buckles to achieve gravity self-locking and circumferential limit of the spring buckles (92)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310377945.4A CN116613669A (en) | 2023-04-11 | 2023-04-11 | Real-time adjustable clamping running device of power transmission line flying inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB202318149D0 GB202318149D0 (en) | 2024-01-10 |
| GB2625447A true GB2625447A (en) | 2024-06-19 |
Family
ID=87682505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB2318149.8A Pending GB2625447A (en) | 2023-04-11 | 2023-11-28 | Real-time adjustable clamping walking device for flying-walking inspection robot for transmission line |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN116613669A (en) |
| GB (1) | GB2625447A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204304317U (en) * | 2015-01-07 | 2015-04-29 | 贵州电网公司输电运行检修分公司 | Transmission line polling robot falling proof device |
| CN111845990A (en) * | 2020-07-27 | 2020-10-30 | 杭州佧斯家居设计有限公司 | Robot for high-voltage cable maintenance |
-
2023
- 2023-04-11 CN CN202310377945.4A patent/CN116613669A/en not_active Withdrawn
- 2023-11-28 GB GB2318149.8A patent/GB2625447A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204304317U (en) * | 2015-01-07 | 2015-04-29 | 贵州电网公司输电运行检修分公司 | Transmission line polling robot falling proof device |
| CN111845990A (en) * | 2020-07-27 | 2020-10-30 | 杭州佧斯家居设计有限公司 | Robot for high-voltage cable maintenance |
Also Published As
| Publication number | Publication date |
|---|---|
| GB202318149D0 (en) | 2024-01-10 |
| CN116613669A (en) | 2023-08-18 |
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