CN-121989268-A - Robot walking on arc-shaped anti-falling guide rail of power transmission line

CN121989268ACN 121989268 ACN121989268 ACN 121989268ACN-121989268-A

Abstract

The invention discloses a robot walking on an arc-shaped anti-falling guide rail of a power transmission line, and belongs to the technical field of power transmission line maintenance equipment. The robot comprises a frame, a driving wheel assembly and a plurality of groups of driven wheel assemblies. The driving wheel assembly is provided with a driving wheel body with drum-shaped gear teeth, is connected with a power source through a flexible transmission shaft, and realizes self-adaptive floating relative to the vertical direction of the frame through a floating bearing and a floating connecting mechanism. The driven wheel assemblies are symmetrically distributed on two sides of the anti-falling guide rail, and each driven wheel assembly comprises a driven wheel body and a transverse self-adaptive mechanism, so that the driven wheel body elastically compresses the side face of the anti-falling guide rail. The invention effectively solves the technical problems of poor engagement, abnormal abrasion, easy clamping stagnation and large derailment risk caused by the difficulty in adapting to a single continuous composite arc-shaped bending anti-falling guide rail of the robot, and remarkably improves the trafficability, running stability and operation safety of the robot on a complex space path.

Inventors

NI HONGYU
ZHOU YAHUI
CHU JIE
SHI JIAKAI
JIANG YUNTU
DENG ZHIPENG
WANG WEI
WANG WENYUAN
HUANG XIAOGUANG
GAO RUN

Assignees

国网浙江省电力有限公司绍兴供电公司

Dates

Publication Date: 20260508
Application Date: 20251230

Claims (10)

1. The robot walking on the arc-shaped anti-falling guide rail of the power transmission line is characterized by comprising a frame, a driving wheel assembly and a plurality of groups of driven wheel assemblies, wherein the cross section of the anti-falling guide rail is I-shaped, and a tooth slot is formed in the top surface of the anti-falling guide rail; the driving wheel assembly comprises a driving wheel frame, a power source, a flexible transmission shaft and a driving wheel body, wherein the power source, the flexible transmission shaft and the driving wheel body are arranged on the driving wheel frame; The outer peripheral surface of the driving wheel body is provided with drum-shaped gear teeth which are meshed with the tooth grooves; the driving wheel body is in transmission connection with the output end of the power source through a flexible transmission shaft and is arranged on the driving wheel frame through a floating bearing; a floating connection mechanism is arranged between the driving wheel frame and the frame so as to limit the driving wheel frame to perform floating adjustment along the vertical direction relative to the frame; The driven wheel assemblies are symmetrically arranged on two sides of the anti-falling guide rail, each driven wheel assembly comprises a driven wheel body and a transverse self-adaptive mechanism, and the transverse self-adaptive mechanism is connected between the driven wheel body and the frame and is used for enabling the driven wheel body to be transversely and elastically pressed on the side face of the anti-falling guide rail.
2. The robot walking on an arc-shaped anti-falling rail of a power transmission line according to claim 1, wherein the floating connection mechanism comprises a vertical guide assembly and an elastic support; the vertical guide assembly is arranged between the frame and the driving wheel frame and used for limiting the driving wheel frame to move relative to the frame along the vertical direction; The elastic support piece is arranged between the frame and the driving wheel frame and is used for providing elastic support in the vertical direction.
3. The robot walking on the arc-shaped anti-falling guide rail of the power transmission line according to claim 2, wherein the vertical guide assembly comprises a third sliding rail and a third sliding block in sliding fit with the third sliding rail, one of the third sliding rail and the third sliding block is arranged on the frame, and the other of the third sliding rail and the third sliding block is arranged on the driving wheel frame.
4. The robot walking on an arc-shaped anti-falling rail of a power transmission line according to claim 2, wherein the elastic support member is a second spring.
5. The robot walking on the arc-shaped anti-falling guide rail of the power transmission line according to claim 1, wherein the transverse self-adaptive mechanism comprises a driven wheel frame, a sliding piece and an elastic piece, wherein the driven wheel frame is arranged on the frame, the sliding piece is arranged on the driven wheel frame in a sliding manner along the transverse direction, and the driven wheel body is rotatably arranged on the sliding piece; the elastic piece is arranged between the sliding piece and the driven wheel frame and is used for providing elastic force for enabling the driven wheel body to press the side face of the anti-falling guide rail.
6. The robot walking on the arc-shaped anti-falling guide rail of the power transmission line according to claim 5, wherein a first sliding guide assembly is arranged between the sliding piece and the driven wheel frame; the first sliding guide assembly comprises a first sliding block and a first sliding rail which are matched with each other, one of the first sliding block and the first sliding rail is arranged on the sliding piece, and the other is arranged on the driven wheel carrier.
7. The robot walking on the arc-shaped anti-falling guide rail of the power transmission line according to claim 5, wherein the sliding part is provided with an abutting part; the elastic piece is a first spring and is arranged between the abutting part and the driven wheel frame, and the elastic direction of the elastic piece is consistent with the sliding direction of the sliding piece.
8. The robot walking on the arc-shaped anti-falling guide rail of the power transmission line according to claim 5, wherein the frame is provided with a screw, and the axis of the screw is transversely arranged; the screw is provided with two sections of threads with opposite rotation directions, and is in transmission connection with a driven wheel carrier in the driven wheel assemblies with two components positioned at two sides of the anti-falling guide rail; And the two groups of driven wheel assemblies are driven to move in opposite directions or in opposite directions by rotating the screw rod so as to adapt to the anti-falling guide rails with different widths.
9. The robot walking on the arc-shaped anti-falling guide rail of the power transmission line according to claim 8, wherein a second sliding guide assembly is further arranged between the frame and the two groups of driven wheel assemblies connected to the same screw; The second sliding guide assembly comprises a second sliding rail and two second sliding blocks, the second sliding rail is fixed on the frame and is arranged in parallel with the screw rod, and each driven wheel frame of the driven wheel assembly is provided with one second sliding block which is in sliding fit with the second sliding rail.
10. The robot walking on an arc-shaped anti-falling guide rail of a power transmission line according to claim 1, wherein a locking mechanism is arranged at the front end and/or the rear end of the frame, and the locking mechanism comprises: The locking seat is fixed on the frame; The locking piece is rotationally arranged on the locking seat and is provided with a locking end matched with the tooth slot; An elastic restoring member connected between the locking member and the locking seat or the frame for providing elastic restoring force for the locking member to disengage from the tooth slot, and The locking driving piece is used for driving the locking piece to overcome the elastic restoring force of the elastic restoring piece to rotate, so that the locking end is propped into the tooth slot to realize locking.

Description

Robot walking on arc-shaped anti-falling guide rail of power transmission line Technical Field The invention relates to the technical field of power transmission line maintenance equipment, in particular to a robot walking on an arc-shaped anti-falling guide rail of a power transmission line. Background Transmission line towers (particularly important towers of extra-high voltage and cross-region networking) are usually provided with continuous anti-falling guide rails penetrating through the tower body, so that safety guarantee is provided for high-altitude operators, and a path foundation is provided for carrying automatic inspection equipment. The fall arrest rail generally has a continuous, complex space curve configuration to accommodate structural changes in the pylon itself and air route planning. In particular, on a single fall arrest rail, there are generally continuous curved segments that may contain both a curvature in the vertical plane (e.g., to accommodate gradual narrowing or expansion of the tower section) and a curvature in the horizontal plane (e.g., to effect a helical ascent or direction change about the tower), so-called "compound curved curvature". The cross section of the anti-falling guide rail is mostly I-shaped with double-side flanges, and a continuous rack-shaped tooth slot is processed on the top surface of the anti-falling guide rail along the length direction, so as to provide meshing transmission force for a driving wheel of the climbing robot. At present, the track walking robot applied to the scene is mostly designed based on the principle that rigid connection is meshed with straight teeth. The common technical proposal generally adopts a driving wheel (standard cylindrical spur gear) with a fixed axis and a rigidly mounted driven wheel group, and is fixed on two sides of the anti-falling guide rail through a clamping mechanism. Such designs work well with straight or very low curvature fall arrest rail sections, but when faced with the aforementioned single continuous composite arcuate curved section, expose a series of serious and unique technical problems that arise from the fundamental contradiction between rigid mechanisms and space curves: The dynamic adapting capability to the continuous space curve is lacking, namely, when the robot enters the continuous arc section of the single anti-falling guide rail, the curvature of the anti-falling guide rail continuously changes in the three-dimensional space. The rigid connection of the running wheel sets does not allow for dynamic attitude adjustment. The fixed axis of the driving wheel and the local bending tangential direction of the anti-falling guide rail inevitably generate an included angle which changes in real time, so that the meshing state of the cylindrical spur gear and the tooth slot is rapidly deteriorated, unbalanced load occurs, the meshing area is rapidly reduced, power interruption is easily caused by 'tooth jump', and meanwhile, the rigid driven wheel cannot be attached to the side profile of the continuously-changing anti-falling guide rail, interference, clamping stagnation or forced sliding friction is generated, energy consumption is rapidly increased, and shutdown is possibly caused. The meshing transmission efficiency of the arc section is low and abnormal abrasion is that in the continuous arc section, the meshing of the traditional cylindrical spur gear and the anti-falling guide rail tooth socket is degraded from ideal 'line contact' to harmful 'point contact' or extremely short 'unbalanced load line contact'. The contact stress is highly concentrated, resulting in an exponentially increasing tooth wear rate, much higher than for straight rail sections. The service life of the driving core component is greatly shortened, and vibration and impact caused by the driving core component also seriously affect the precision of carrying the detection equipment and the smoothness of running of the robot. The guiding and rollover stability during continuous curves is insufficient, and the centrifugal force generated by the gravity center of the robot forms continuous lateral moment during continuous curves, especially in the horizontal direction. In the traditional scheme, a unidirectional or fixed-angle guide wheel cannot be adaptively attached to the side surface normal direction of a continuously-changing anti-falling guide rail, so that continuous, stable and correctly-oriented lateral constraint cannot be provided. This results in a significant tendency for lateral sliding and risk of derailment of the robot in the arcuate segment, severely threatening the safety and continuity of the overhead operation. It follows that the bottleneck of the prior art focuses on the adaptability to the dynamic three-dimensional path of a single continuous arc-shaped fall arrest rail. The rigid nature of its structure does not solve the contradiction of maintaining stable engagement, low-resistance rolling, and relia