High-voltage line inspection robot with wheel mechanisms

Abstract

The invention discloses a high-voltage line inspection robot of wheel mechanisms. The high-voltage line inspection robot with the wheel mechanisms can grab positions of wires without accurate positioning, is wide in applicability and high in versatility performance, is not easily affected by external factors during barrier crossing, and is high in stability. The technical solution scheme employed by the invention is that the high-voltage line inspection robot with the wheel mechanisms comprises an industrial camera and a power supply system and is characterized by further comprising at least three independent inspection modules coaxially connected via shaft couplings, each inspection module is provided with two wheel mechanisms which can rotate and can be open and closed as a transmission shaft rotates, each inspection module is provided with a power system controlling the opening and closing of the wheel mechanisms, and at least one inspection module is provided with a power system controlling rotation of the wheel mechanisms.

Description

technical field [0001] The invention belongs to the technical field of high-voltage line inspection, in particular to a high-voltage line inspection robot with a wheel finger mechanism. Background technique [0002] With the rapid development of high-voltage line network construction, high-voltage line inspection robots have been widely used, and the obstacle-crossing inspection robot is the focus of research. and other conditions. [0003] For example, the patent with the publication number of CN104600628A discloses a high-voltage line automatic inspection device and inspection system, which includes two inspection columns, a mechanical arm, a mechanical arm, a U-shaped drum, a crushing knife, and the like. Problems with this system: (1) When the system swings the inspection pole to the front of the obstacle through the swing of the robot arm, it will be affected by the external environment (such as strong wind), causing the swing direction to not be directly below the hig...

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Problems solved by technology

Problems with this system: (1) When the system swings the inspection pole to the front of the obstacle through the swing of the robot arm, it will be affected by the external environment (such as strong wind), causing the swing direction to not be directly below the high-voltage line, resulting in failure to complete the obstacle crossing ; (2) When the system swings through the mechanical arm, the overall device will be unstable, and because the high-voltage line is not completely horizontal and straight, the swing angle is uncertain. If the swing angle is too large, the inspection column will hit the high-voltage line, causing equipment damage. If the swing angle is too small, the inspection column cannot touch the high-voltage line, so the inspection column cannot hold the high-voltage line; (3) The general performance of the system is poor, because the diameter of the high-voltage line is different, the design size of the inspection column needs to be constantly changed, resulting in high design costs

Problems with this mechanism: (1) During the process of overcoming obstacles, the guide wheel deviates from the high-voltage line. After crossing the obstacle, because the high-voltage line has an uncertain curvature and is soft, when the guide wheel wants to return to the top of the high-voltage line, there is no line-finding mechanism. It will lead to failure to overcome obstacles; (2) Poor versatility, the mechanism can only inspect specific high-voltage lines. If the guide wheel is replaced, the entire linkage mechanism needs to be recalculated and designed, resulting in high design costs

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