CN116534304A - Power line inspection device based on Beidou satellite positioning - Google Patents
Power line inspection device based on Beidou satellite positioning Download PDFInfo
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- CN116534304A CN116534304A CN202310607428.1A CN202310607428A CN116534304A CN 116534304 A CN116534304 A CN 116534304A CN 202310607428 A CN202310607428 A CN 202310607428A CN 116534304 A CN116534304 A CN 116534304A
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- 238000007689 inspection Methods 0.000 title claims abstract description 39
- 238000001514 detection method Methods 0.000 claims abstract description 78
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 238000012806 monitoring device Methods 0.000 claims abstract description 32
- 238000009434 installation Methods 0.000 claims abstract description 18
- 230000000712 assembly Effects 0.000 claims abstract description 9
- 238000000429 assembly Methods 0.000 claims abstract description 9
- 230000007306 turnover Effects 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 31
- 239000003381 stabilizer Substances 0.000 claims description 6
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims 1
- 239000012212 insulator Substances 0.000 abstract description 88
- 238000000034 method Methods 0.000 abstract description 6
- 238000012546 transfer Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
- B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Testing Relating To Insulation (AREA)
Abstract
The invention provides a Beidou satellite positioning-based power line inspection device, which relates to the technical field of power inspection and comprises an unmanned aerial vehicle, wherein two support legs are arranged at the bottom of the unmanned aerial vehicle, and the device further comprises: the mounting mechanism comprises a mounting bracket, a telescopic piece, an L-shaped sliding frame, two locking assemblies and a turnover assembly; controlling an electric box; a first monitoring device; a detection mechanism; a travel mechanism is mounted on the mounting bracket, and the L-shaped carriage is positioned within the range of rotation of the L-shaped connecting frame. This scheme is finally realized being convenient for unmanned aerial vehicle carries the whole lift of installation mechanism shifts to behind the horizontal duplex insulator, the extensible member control locking component expandes the in-process, the upset subassembly can drive detection mechanism overturns in step, thereby conveniently for the detection of horizontal duplex insulator provides stable support, reduces artificial operation, improves the convenience of horizontal duplex insulator installation detection.
Description
Technical Field
The invention relates to the technical field of electric power inspection, in particular to an electric power line inspection device based on Beidou satellite positioning.
Background
With the continuous updating of a power system, the safety and stable operation of a power grid are more and more emphasized, the safety inspection of a power line becomes necessary working content in the process of power operation and maintenance so as to meet the normal power supply requirement of residents, and in the power line inspection system, an insulator detection robot is required to inspect the horizontal duplex insulators so as to judge whether the resistance value between each insulator is normal or not and whether cracks exist.
The prior patent discloses a charged detection robot for a horizontal duplex insulator string, and the authorized bulletin number is as follows: CN 102621429B, including guide bar mechanism, rotary driving device, controlling means, insulator detection device and auxiliary stay mechanism, guide bar mechanism centre gripping is on horizontal duplex insulator, rotary driving device is used for driving equipment wholly walks on horizontal duplex insulator, the built-in control system of controlling means provides support for the control of equipment, insulator detection device is used for detecting between every piece insulator of horizontal duplex insulator.
When the existing horizontal duplex insulator chain electrified detection robot is used for detecting the horizontal duplex insulator in the power line inspection system, a clamping installation mode is adopted, when equipment is installed on the horizontal duplex insulator, the equipment needs to be manually climbed to the height of the horizontal duplex insulator, and then the equipment is manually clamped on the horizontal duplex insulator, so that constructors can finish the transfer, installation and use of the detection equipment under the high-altitude environment, and how to conveniently and safely transfer and install the detection equipment from the ground to be further studied.
Therefore, it is necessary to provide a power line inspection device based on Beidou satellite positioning to solve the above technical problems.
Disclosure of Invention
The invention provides a Beidou satellite positioning-based power line inspection device, which solves the problem of how to conveniently and safely transfer detection equipment from the ground and install the detection equipment on a horizontal duplex insulator to be further researched in the related technology.
In order to solve the technical problem, the power line inspection device based on Beidou satellite positioning provided by the invention comprises an unmanned aerial vehicle, wherein two support legs are arranged at the bottom of the unmanned aerial vehicle, and the power line inspection device further comprises:
the mounting mechanism comprises a mounting bracket, a telescopic piece, an L-shaped sliding frame, two locking assemblies and a turnover assembly;
the mounting bracket is provided with a lifting chute structure, the telescopic piece is fixedly arranged in the lifting chute structure, and one end of the L-shaped sliding frame extends into the lifting chute structure and is fixed with the shaft end of the telescopic piece;
the locking assembly comprises a first transmission shaft and a locking plate, one end of the first transmission shaft is fixedly connected with the L-shaped sliding frame, a transmission hole is formed in the locking plate, and the other end of the first transmission shaft is inserted into the transmission hole and is in transmission connection with the locking plate;
the overturning assembly comprises a first toothed plate, a first gear, a first rotating shaft and an L-shaped connecting frame, wherein the first toothed plate is mounted on the L-shaped sliding frame in an inlaid mode, the first gear is meshed with the first toothed plate, the first gear is mounted in the lifting chute structure in a rotating mode through the first rotating shaft, and one end of the first rotating shaft penetrates through the mounting frame and is fixedly connected with one end of the L-shaped connecting frame;
the control electric box is fixedly arranged on the mounting bracket;
the first monitoring device is fixedly arranged on the control electric box;
the detection mechanism is arranged at the other end of the L-shaped connecting frame;
wherein, a travelling mechanism is installed on the installing support, L shape balladeur train is located L shape link's rotation scope is internal, one locking component corresponds one the stabilizer blade, the stabilizer blade is installed the rotation scope of locking plate.
Preferably, the power line inspection device based on Beidou satellite positioning further comprises a second monitoring device, and the second monitoring device is fixedly arranged at the bottom of the unmanned aerial vehicle.
Preferably, the running mechanism comprises a first motor, a driving roller and a running belt, wherein the first motor is fixedly arranged on the mounting bracket, the driving roller is connected to the shaft end of the first motor, and the driving roller is used for driving the running belt to roll.
Preferably, the diameter of the two ends of the driving roller is larger than the diameter of the middle part, the section is of an arc-shaped structure, and the section of the walking belt is of an arc-shaped structure and is attached to the surface of the driving roller.
Preferably, the driving roller is provided with a limit groove structure, the traveling belt is internally and fixedly provided with a convex strip, and the convex strip is inserted into the limit groove structure.
Preferably, the detection mechanism comprises a second motor, a U-shaped frame and two detection needles, wherein the second motor is fixedly arranged at the other end of the L-shaped connecting frame, the U-shaped frame is rotatably arranged on the L-shaped connecting frame, the shaft end of the second motor penetrates through the L-shaped connecting frame and is fixedly connected with the U-shaped frame, and the detection needles are fixedly arranged on the U-shaped frame;
the two detection needles are respectively and fixedly arranged at two sides of the U-shaped frame and are distributed in parallel.
Preferably, a connecting hole structure is formed in the mounting bracket, and a lifting hole structure is formed in the control electric box;
the installation mechanism further comprises a lifting assembly, the lifting assembly comprises a second rotating shaft, a second transmission shaft, a third rotating shaft and a connecting sliding frame, one end of the second rotating shaft penetrates through the connecting hole structure and is connected with the L-shaped sliding frame, the other end of the second rotating shaft is hinged with one end of the second transmission shaft, the other end of the second transmission shaft is hinged with one end of the third rotating shaft, the other end of the third rotating shaft penetrates through the lifting hole structure and is fixed with the connecting sliding frame, the connecting sliding frame is slidably installed in the control electric box, and the electric power line inspection device based on Beidou satellite positioning further comprises two groups of supporting assemblies which penetrate through the control electric box and are fixedly connected with the connecting sliding frame;
wherein, two groups of support components are distributed in parallel.
Preferably, the support assembly comprises an elastic telescopic piece and an arc-shaped sliding rod, and the bottom of the arc-shaped sliding rod is connected with the connecting sliding frame through the elastic telescopic piece.
Preferably, an elastic piece is elastically connected with the L-shaped sliding frame and the shaft end of the telescopic piece, and the shaft end of the telescopic piece is inserted into the L-shaped sliding frame and is in sliding connection;
the L-shaped sliding frame is provided with a through hole, and the second rotating shaft sequentially penetrates through the connecting hole structure and the through hole and is fixed with the shaft end of the telescopic piece;
a movable opening structure is arranged at the top of the control electric box;
the lifting assembly further comprises a second toothed plate, a second gear and a fourth rotating shaft, the bottom of the second toothed plate is fixed with the connecting sliding frame, the first monitoring device is rotatably installed in the movable port structure through the fourth rotating shaft, and the second gear is fixedly arranged on the fourth rotating shaft;
the connecting part of the fourth rotating shaft and the movable opening structure is connected through a torsion spring, the first monitoring device is maintained to be in a horizontal state, and the second gear is aligned to the lifting range of the second toothed plate.
Compared with the related art, the Beidou satellite positioning-based power line inspection device provided by the invention has the following beneficial effects:
when detection mechanism installs and uses, the installing support passes through locking component and conveniently connects unmanned aerial vehicle on the stabilizer blade, so that unmanned aerial vehicle carries installation mechanism wholly goes up and down to shift, shift to behind the horizontal duplex insulator, the extensible member control locking component expandes the in-process, the upset subassembly can drive detection mechanism overturns in step, thereby conveniently does the detection of horizontal duplex insulator provides stable support, reduces artificial operation, improves the convenience of horizontal duplex insulator installation detection.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a first embodiment of a power line inspection device based on Beidou satellite positioning provided by the invention;
FIG. 2 is a cross-sectional view of the mounting bracket of FIG. 1;
FIG. 3 is a three-dimensional view of the running belt of FIG. 2;
FIG. 4 is a side view of the detection mechanism shown in FIG. 1;
fig. 5 is a schematic diagram of detection of a first embodiment of the power line inspection device based on the beidou satellite positioning, wherein (a 1) is a front view of a detection needle detecting a state of a horizontal duplex insulator, and (a 2) is a front view of a detection needle detecting a state of another horizontal duplex insulator;
fig. 6 is a schematic diagram of the unmanned aerial vehicle driving installation mechanism to withdraw the horizontal duplex insulator shown in fig. 1, wherein (b 1) is a front view of the state that the support legs are locked on the installation support, (b 2) is a front view of the state that the detection needles are unfolded anticlockwise, and (b 3) is a front view of the state that the unmanned aerial vehicle driving installation support is withdrawn from the horizontal duplex insulator;
FIG. 7 is a schematic diagram of the locking assembly of FIG. 6, wherein (c 1) is a front view of the locking assembly in the state of FIG. 2, and (c 2) is a front view of the locking assembly in the state of (b 1);
fig. 8 is a schematic structural diagram of a second embodiment of a power line inspection device based on Beidou satellite positioning provided by the invention;
FIG. 9 is a cross-sectional view of the mounting bracket of FIG. 8;
FIG. 10 is an enlarged schematic view of portion A shown in FIG. 9;
fig. 11 is a schematic diagram of a third embodiment of the power line inspection device based on beidou satellite positioning according to the present invention, where (d 1) is a front view of the arc slide bar in the state (b 1) in fig. 6, (d 2) is a front view of the arc slide bar in the state of fig. 2, and (d 3) is a front view of the arc slide bar in a state that the second rotating shaft moves up relative to the L-shaped connecting frame.
Reference numerals illustrate:
10. a horizontal duplex insulator;
1. unmanned plane; 11. a support leg;
3. a mounting mechanism; 31. a mounting bracket; 310. a lifting chute structure; 32. a telescoping member; 33. an L-shaped carriage; 34. a locking assembly; 341. a first drive shaft; 342. a locking plate; 343. a transmission hole; 35. a flip assembly; 351. a first toothed plate; 352. a first gear; 353. a first rotating shaft; 354. an L-shaped connecting frame;
4. controlling an electric box;
5. a first monitoring device;
6. a walking mechanism;
7. a detection mechanism;
2. a second monitoring device;
61. a first motor; 62. driving the roller; 63. a running belt;
621. a limit groove structure; 631. a convex strip;
71. a second motor; 72. a U-shaped frame; 73. a detection needle;
311. a connecting hole structure;
401. a lifting hole structure;
37. a lifting assembly; 371. a second rotating shaft; 372. a second drive shaft; 373. a third rotating shaft; 374. connecting the sliding frame;
8. a support assembly; 81. an elastic expansion piece; 82. an arc slide bar;
36. an elastic member;
330. a through hole;
402. a movable opening;
375. a second toothed plate; 376. a second gear; 377. and a fourth rotating shaft.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
First embodiment:
the invention provides a Beidou satellite positioning-based power line inspection device.
Referring to fig. 1 to 2 in combination, in a first embodiment of the present invention, a power line inspection device based on beidou satellite positioning includes an unmanned aerial vehicle 1, wherein two supporting legs 11 are provided at the bottom of the unmanned aerial vehicle 1, and the device further includes:
a mounting mechanism 3, the mounting mechanism 3 comprising a mounting bracket 31, a telescopic member 32, an L-shaped carriage 33, two locking assemblies 34 and a flipping assembly 35;
the mounting bracket 31 is provided with a lifting chute structure 310, the telescopic piece 32 is fixedly arranged in the lifting chute structure 310, and one end of the L-shaped sliding frame 33 extends into the lifting chute structure 310 and is fixed with the shaft end of the telescopic piece 32;
the locking assembly 34 comprises a first transmission shaft 341 and a locking plate 342, wherein one end of the first transmission shaft 341 is fixedly connected with the L-shaped carriage 33, a transmission hole 343 is formed in the locking plate 342, and the other end of the first transmission shaft 341 is inserted into the transmission hole 343 and is in transmission connection with the locking plate 342;
the turnover assembly 35 comprises a first toothed plate 351, a first gear 352, a first rotating shaft 353 and an L-shaped connecting frame 354, wherein the first toothed plate 351 is mounted on the L-shaped sliding frame 33 in a inlaid manner, the first gear 352 is meshed with the first toothed plate 351, the first gear 352 is rotatably mounted in the lifting chute structure 310 through the first rotating shaft 353, and one end of the first rotating shaft 353 penetrates through the mounting bracket 31 and is fixedly connected with one end of the L-shaped connecting frame 354;
the control electric box 4 is fixedly arranged on the mounting bracket 31;
the first monitoring device 5 is fixedly arranged on the control electric box 4;
a detection mechanism 7, wherein the detection mechanism 7 is arranged at the other end of the L-shaped connecting frame 354;
wherein a travel mechanism 6 is mounted on the mounting bracket 31, the L-shaped carriage 33 is positioned within the range of rotation of the L-shaped link 354, one of the locking assemblies 34 corresponds to one of the legs 11, and the leg 11 is mounted within the range of rotation of the locking plate 342.
In this embodiment, two horizontal duplex insulators 10 are provided, which are installed in parallel and adjacently on the same horizontal plane.
The unmanned aerial vehicle 1 is used for carrying the whole installation mechanism 3 to be transferred to the installation height position of the horizontal duplex insulator 10 from the ground.
In this embodiment, the telescopic member 32 is an electric telescopic rod, which provides a power source for the lifting adjustment of the L-shaped carriage 33.
In this embodiment, the control electric box 4 is internally provided with a power module, a plc control module, a Beidou satellite positioning module and a wireless signal transceiver module, wherein the power module provides a telescopic power source for the telescopic part 32 through the plc control module, provides energy support for the first monitoring device 5, provides support for detection of the detection mechanism 7, the Beidou satellite positioning module is used for updating detection points of the detection equipment in real time (adopting the existing Beidou satellite positioning technology and used for generating a walking track during detection in a map), and the wireless signal transceiver module is used for receiving and transmitting wireless data.
In this embodiment, the first monitoring device 5 may be a high-definition camera, and is configured to monitor whether a defect exists on the surface from the bottom of the horizontal duplex insulator 10.
The travelling mechanism 6 is used for driving the whole mounting bracket 31 to travel on the horizontal duplex insulator 10.
When the detection mechanism 7 is installed and used, the mounting bracket 31 is conveniently connected to the supporting leg 11 of the unmanned aerial vehicle 1 through the locking component 34, so that the unmanned aerial vehicle 1 carries the whole transfer of the installation mechanism 3 from the ground to the high-altitude operation area, the transfer is carried out to the back of the horizontal duplex insulator 10, the telescopic piece 32 controls the unfolding process of the locking component 34, the overturning component 35 can drive the detection mechanism 7 to synchronously overturn, the automatic clamping of the whole installation mechanism 3 and the horizontal duplex insulator 10 is realized, the detection stability can be kept, the manual operation is reduced, and the convenience and safety of the transfer and the installation detection of the detection equipment from the ground to the horizontal duplex insulator 10 are improved.
The present application may be run on a horizontal duplex insulator string.
In an alternative embodiment, one of the unmanned aerial vehicle 1 may be used with a plurality of the mounting mechanisms 3, and after the horizontal duplex insulator 10 for transferring one of the mounting mechanisms 3 to an area is detected, another one of the mounting mechanisms 3 may be transferred and mounted.
Referring to fig. 1 and fig. 2 in combination, the power line inspection device based on the Beidou satellite positioning further comprises a second monitoring device 2, and the second monitoring device 2 is fixedly arranged at the bottom of the unmanned aerial vehicle 1.
When the installation mechanism 3 is in the ascending and detection of the horizontal duplex insulator 10, the unmanned aerial vehicle 1 drives the second monitoring device 2 to perform picture detection on the top of the horizontal duplex insulator 10, and is used for matching with the first monitoring device 5 to complete more comprehensive monitoring of the surface defects of the horizontal duplex insulator 10.
In a preferred manner, the second monitoring device 2 may be a high-definition camera, and is directed towards the horizontal duplex insulator 10, for monitoring whether a defect exists on the surface from the top of the horizontal duplex insulator 10.
In another preferred mode, the second monitoring device 2 may be a combination of a high-definition camera and an infrared camera, and is used for monitoring the picture and the temperature distribution.
Referring to fig. 2 and 3 in combination, the travelling mechanism 6 includes a first motor 61, a driving roller 62 and a travelling belt 63, the first motor 61 is fixedly disposed on the mounting bracket 31, the driving roller 62 is connected to a shaft end of the first motor 61, and the driving roller 62 is used for driving the travelling belt 63 to roll.
The first motor 61 is used for conveniently driving the driving roller 62 to rotate, the driving roller 62 drives the walking belt 63 to walk, and the walking belt 63 can walk stably at the top of the horizontal duplex insulator 10.
In this embodiment, at least three driving rollers 62 are disposed in parallel, two parallel support plates (not numbered) are disposed at the bottom of the mounting bracket 31, the driving rollers 62 are rotatably mounted between the two support plates, and the first motor 61 is located outside the support plates.
The driving roller 62 adopts an insulating structure, and the travelling belt 63 adopts an insulating structure.
In a preferred mode of this embodiment, the diameters of the two ends of the driving roller 62 are greater than the diameter of the middle, the cross section is in an arc structure, and the cross section of the walking belt 63 is in an arc structure and is attached to the surface of the driving roller 62.
The arc-shaped traveling belt 63 can be stably attached to the horizontal duplex insulator 10, so that the stability of the mounting bracket 31 during traveling is improved.
Referring to fig. 3 again, the driving roller 62 is provided with a limiting groove structure 621, the traveling belt 63 is fixedly provided with a protruding strip 631, and the protruding strip 631 is inserted into the limiting groove structure 621.
The walking belt 63 is inserted into the limit groove structure 621 through the raised strips 631, so that the stability of connection between the walking belt 63 and the driving roller 62 is increased, and the walking belt 63 is prevented from sliding on the driving roller 62, thereby increasing the stability of walking.
In this embodiment, two sets of the limiting groove structures 621 are provided, the two sets of the limiting groove structures 621 are symmetrically disposed at two ends of the driving roller 62, the two sets of the protruding strips 631 are provided, and one set of the protruding strips 631 corresponds to one set of the limiting groove structures 621.
Referring to fig. 2 and 4 in combination, the detection mechanism 7 includes a second motor 71, a U-shaped frame 72 and two detection pins 73, the second motor 71 is fixedly arranged at the other end of the L-shaped connecting frame 354, the U-shaped frame 72 is rotatably mounted on the L-shaped connecting frame 354, the shaft end of the second motor 71 penetrates through the L-shaped connecting frame 354 and is fixedly connected with the U-shaped frame 72, and the detection pins 73 are fixedly arranged on the U-shaped frame 72;
the two detecting needles 73 are respectively fixed on two sides of the U-shaped frame 72 and are distributed in parallel.
In this embodiment, the detecting pin 73 is an elastic conductive metal rod, and an input end of the detecting pin 73 is connected to an output end of the control electric box 4, so as to provide support for resistance measurement after power is applied to the detecting pin 73.
The second motor 71 conveniently drives the U-shaped frame 72 to rotate forward or reversely, when the U-shaped frame 72 rotates forward, two groups of detection needles 73 can be driven to detect one horizontal duplex insulator 10, and when the U-shaped frame 72 rotates reversely, two groups of detection needles 73 can be driven to detect the other horizontal duplex insulator 10, so that the detection needles 73 can conveniently detect switching of stations.
When the L-shaped connecting frame 354 is in a lifted state, the second motor 71 may drive the detecting needle 73 to rotate anticlockwise, so as to provide a space for avoiding the separation of the mounting bracket 31 and the horizontal duplex insulator 10.
The control electric box 4 is internally provided with an insulator electrified detector (not shown in the figure), the detection needle 73 is connected with the insulator electrified detector through a wire, the insulator electrified detector is an existing product, and the structure is adopted in the patent of Chinese patent number ZL 200510063334.4.
The working principle of the power line inspection device based on Beidou satellite positioning provided by the embodiment is as follows:
when the horizontal duplex insulator 10 is inspected, two groups of parallel horizontal duplex insulators 10 need to be synchronously inspected, and the mounting bracket 31 is only required to be mounted on any horizontal duplex insulator 10;
as shown in (a 1) of fig. 5, when the detection state is defined, the unmanned aerial vehicle 1 and the mounting bracket 31 are separated, the locking assembly 34 is in an unlocked state, and the L-shaped connecting frame 354 is in an operating state;
when the mounting bracket 31 moves, the first motor 61 is started, the first motor 61 drives the driving roller 62 to rotate, the traveling belt 63 rolls on the top of the horizontal double insulator 10 and advances at a point position only needing detection, the first motor 61 is closed, and the detection needle 73 is aligned in the detection range of the horizontal double insulator 10;
when the horizontal duplex insulator 10 is detected, the second motor 71 is started, the U-shaped frame 72 rotates clockwise, the two detection needles 73 rotate clockwise and are abutted against the inner edge of one horizontal duplex insulator 10, the second motor 71 is closed, the detection needles 73 are in a first detection state, and the insulator live detector is started to perform fault detection on one horizontal duplex insulator 10;
in the detection process, the first monitoring device 5 collects the picture at the bottom of the horizontal duplex insulator 10, and the unmanned aerial vehicle 1 drives the second monitoring device 2 to collect the picture at the top of the horizontal duplex insulator 10, so that the defect detection of the horizontal duplex insulator 10 is facilitated;
as shown in fig. 5 (a 2), after the detection of one horizontal double insulator 10 is completed, the second motor 71 is started again, the U-shaped frame 72 rotates counterclockwise, the two detection pins 73 rotate counterclockwise to be separated from the inner edge of one horizontal double insulator 10 and to be abutted against the inner edge of the other horizontal double insulator 10, the second motor 71 is closed, the detection pins 73 are in a second detection state, and the insulator live detector is started to perform fault detection on the other horizontal double insulator 10;
as shown in fig. 1, after the detection of the horizontal duplex insulator 10 in a region is completed, the unmanned aerial vehicle 1 flies back and lands on the mounting bracket 31, the telescopic piece 32 is started to drive the L-shaped carriage 33 to move downwards after the stand bar 11 lands on the mounting bracket 31, the first transmission shaft 341 drives the locking plate 342 to rotate towards the stand bar 11 through the transmission hole 343, one locking plate 342 is locked on one stand bar 11, and the locking assembly 34 is switched from the unlocking state to the locking state;
in combination with (b 1) to (b 2) in fig. 6 and (c 1) to (c 2) in fig. 7, during the downward movement of the L-shaped carriage 33, the first toothed plate 351 moves downward, the first gear 352 rotates counterclockwise, the first rotating shaft 353 drives the L-shaped connecting frame 354 to rotate counterclockwise, the detecting mechanism 7 lifts up following the L-shaped connecting frame 354, and the L-shaped connecting frame 354 is in a lifted state, so as to provide a space for avoiding the rotation and retraction of the detecting needle 73;
after the detection needle 73 is lifted up completely along with the whole L-shaped connecting frame 354, the second motor 71 is started, the U-shaped frame 72 rotates anticlockwise, and the detection needle 73 rotates anticlockwise to a retracted state;
as shown in (b 3) of fig. 6, when the detecting needle 73 is in the retracted state, the unmanned aerial vehicle 1 is started, and the unmanned aerial vehicle 1 drives the whole of the mounting bracket 31 to move in a direction away from the horizontal double insulator 10, so that the mounting bracket 31 is separated from the horizontal double insulator 10;
after separation, the unmanned aerial vehicle 1 can drive the whole mounting bracket 31 to be separated from the horizontal duplex insulator 10 in the air, and after separation, the unmanned aerial vehicle can be continuously transferred to the horizontal duplex insulator 10 in another area for inspection;
similarly, after the unmanned aerial vehicle 1 drives the mounting bracket 31 to integrally dock with the horizontal duplex insulator 10 in another area, the second motor 71 is started in advance, the detecting needle 73 is switched from the retracted state to the standby state, the telescopic piece 32 is started, the locking assembly 34 is switched from the locking state to the unlocking state, the L-shaped connecting frame 354 is switched from the lifting state to the working state, and the steps are repeated, so that the horizontal duplex insulator 10 in another area is detected, the convenient switching of the working area is facilitated, the installation, the disassembly and the transfer of the mounting mechanism 3 are not required to be manually performed, and the manual overhead operation is reduced.
Second embodiment
Referring to fig. 8 to fig. 9 in combination, according to a first embodiment of the present invention, another power line inspection device based on the positioning of the beidou satellite is provided. The second embodiment is merely a preferred manner of the first embodiment, and implementation of the second embodiment does not affect the implementation of the first embodiment alone.
Specifically, the second embodiment of the present invention provides a power line inspection device based on beidou satellite positioning, which is different in that a connection hole structure 311 is formed on the mounting bracket 31, and a lifting hole structure 401 is formed on the control electric box 4;
the mounting mechanism 3 further comprises a lifting assembly 37, the lifting assembly 37 comprises a second rotating shaft 371, a second transmission shaft 372, a third rotating shaft 373 and a connecting sliding frame 374, one end of the second rotating shaft 371 penetrates through the connecting hole structure 311 and is connected with the L-shaped sliding frame 33, the other end of the second rotating shaft 371 is hinged with one end of the second transmission shaft 372, the other end of the second transmission shaft 372 is hinged with one end of the third rotating shaft 373, the other end of the third rotating shaft 373 penetrates through the lifting hole structure 401 and is fixed with the connecting sliding frame 374, the connecting sliding frame 374 is slidably mounted in the control electric box 4, the electric power line inspection device based on Beidou satellite positioning further comprises two groups of supporting assemblies 8, and the supporting assemblies 8 penetrate through the control electric box 4 and are fixedly connected with the connecting sliding frame 374;
wherein, the two groups of the supporting components 8 are distributed in parallel.
In this embodiment, the connection carriage 374 may be a U-shaped structure; the structure can also be I-shaped.
When L shape balladeur train 33 goes up and down to adjust, can drive second pivot 371 synchronous movement, second pivot 371 passes through second transmission shaft 372 with third pivot 373 drives connect balladeur train 374 goes up and down, connect balladeur train 374 to drive support assembly 8 goes up and down to adjust, make support assembly 8 can be stable support the bottom of horizontal duplex insulator 10 increases installing support 31 is in the stability of horizontal duplex insulator 10 ascending has the anti-drop's function.
Referring to fig. 8 and 9 in combination, the support assembly 8 includes an elastic telescopic member 81 and an arc-shaped slide bar 82, and the bottom of the arc-shaped slide bar 82 is connected to the connection carriage 374 through the elastic telescopic member 81.
In this embodiment, the elastic telescopic member 81 is a spring telescopic pipe member, and provides support for the elastic contact between the arc-shaped sliding rod 82 and the horizontal duplex insulator 10.
Providing resilient support for the arcuate slide bar 82 in contact with the horizontal duplex insulator 10.
The arc slide bar 82 is an insulating structure.
Referring to fig. 9 and 10 in combination, an elastic member 36 is elastically connected to the L-shaped carriage 33 and the shaft end of the telescopic member 32, and the shaft end of the telescopic member 32 is inserted into the L-shaped carriage 33 and slidably connected thereto;
the L-shaped carriage 33 is provided with a through hole 330, and the second rotating shaft 371 sequentially passes through the connecting hole structure 311 and the through hole 330 and is fixed with the shaft end of the expansion piece 32;
a movable port structure 402 is arranged at the top of the control electric box 4;
the lifting assembly 37 further comprises a second toothed plate 375, a second gear 376 and a fourth rotating shaft 377, wherein the bottom of the second toothed plate 375 is fixed with the connecting carriage 374, the first monitoring device 5 is rotatably installed in the movable opening structure 402 through the fourth rotating shaft 377, and the second gear 376 is fixedly arranged on the fourth rotating shaft 377;
the connection between the fourth rotating shaft 377 and the movable opening structure 402 is connected by a torsion spring (not shown), so as to maintain the first monitoring device 5 in a horizontal state, and the second gear 376 is aligned to the lifting range of the second toothed plate 375.
In the process of detecting the horizontal duplex insulator 10 by the detecting mechanism 7, the telescopic piece 32 can continuously drive the second toothed plate 375 to move upwards through the lifting assembly 37 under the buffer action of the elastic piece 36, and the second toothed plate 375 can drive the fourth rotating shaft 377 to rotate clockwise after being contacted with the second gear 376, so that the automatic switching of the detection angle of the first monitoring device 5 is realized, and the synchronous detection requirement of the two groups of horizontal duplex insulators 10 is facilitated.
In a state in which the second toothed plate 375 is separated from the second gear 376, the first monitoring device 5 is maintained in a horizontal state by a torsion spring with a monitoring range toward the bottom of one of the horizontal double insulators 10;
in the state that the second toothed plate 375 moves up and is meshed with the second gear 376, the fourth rotating shaft 377 can drive the first monitoring device 5 to rotate clockwise, so as to switch the orientation of the first monitoring device 5.
The working principle of the power line inspection device based on Beidou satellite positioning provided by the embodiment is as follows:
as shown in (d 1) of fig. 11, when the mounting mechanism 3 is aligned with the horizontal duplex insulator 10, the L-shaped carriage 33 is in a downward moving state, the elastic member 36 is in a first compressed state, the elastic expansion member 81 is in an extended state, and the arc-shaped slide bar 82 is in a stored state;
as shown in (d 1) to (d 2) of fig. 11, before the detection, the telescopic member 32 is started, the L-shaped carriage 33 moves upwards, the second rotating shaft 371 pulls the second driving shaft 372 to move upwards, the second driving shaft 372 pulls the connecting carriage 374 to move upwards through the third rotating shaft 373, the elastic telescopic member 81 pushes the arc sliding rod 82 to move upwards, the L-shaped carriage 33 is in a lifting state, the elastic member 36 is in a first compression state, the elastic telescopic member 81 is in an extension state, and the arc sliding rod 82 is in an extension state, so that stability of the whole mounting bracket 31 when moving or detecting on the horizontal duplex insulator 10 is improved, and contact and detection of the detecting needle 73 and one horizontal duplex insulator 10 are facilitated;
as shown in (d 2) to (d 3) in fig. 11, when the detecting needle 73 is in contact with another horizontal duplex insulator 10, the telescopic member 32 is started again, the shaft end of the telescopic member 32 drives the second rotating shaft 371 to move upwards relative to the L-shaped sliding frame 33, the second driving shaft 372 drives the third rotating shaft 373 to move upwards, the third rotating shaft 373 drives the connecting sliding frame 374 to move upwards continuously, and the elastic telescopic member 81 compresses and pushes the arc sliding rod 82 to be in stable contact with the horizontal duplex insulator 10;
the second toothed plate 375 is driven to move upwards while the connecting carriage 374 moves upwards, the second toothed plate 375 is contacted and meshed with the second gear 376, the second gear 376 drives the fourth rotating shaft 377 to rotate clockwise, and the first monitoring device 5 rotates clockwise and faces the bottom of the other horizontal duplex insulator 10, so that the two horizontal duplex insulators 10 can be stably inspected.
Similarly, when the detection of the other horizontal duplex insulator 10 is completed, the telescopic member 32 is started, so that the shaft end of the telescopic member 32 drives the second rotating shaft 371 to move downwards, the connecting sliding frame 374 drives the elastic telescopic member 81 to stretch, the arc sliding rod 82 keeps the unfolding state, the second toothed plate 375 moves downwards and drives the second gear 376 to rotate and reset, and the first monitoring device 5 rotates anticlockwise to a horizontal state so as to facilitate the reset of equipment.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the specification and drawings of the present invention or direct/indirect application in other related technical fields are included in the scope of the present invention.
Claims (9)
1. The utility model provides a power line inspection device based on big dipper satellite positioning, includes unmanned aerial vehicle, unmanned aerial vehicle's bottom is provided with two stabilizer blades, its characterized in that still includes:
the mounting mechanism comprises a mounting bracket, a telescopic piece, an L-shaped sliding frame, two locking assemblies and a turnover assembly;
the mounting bracket is provided with a lifting chute structure, the telescopic piece is fixedly arranged in the lifting chute structure, and one end of the L-shaped sliding frame extends into the lifting chute structure and is fixed with the shaft end of the telescopic piece;
the locking assembly comprises a first transmission shaft and a locking plate, one end of the first transmission shaft is fixedly connected with the L-shaped sliding frame, a transmission hole is formed in the locking plate, and the other end of the first transmission shaft is inserted into the transmission hole and is in transmission connection with the locking plate;
the overturning assembly comprises a first toothed plate, a first gear, a first rotating shaft and an L-shaped connecting frame, wherein the first toothed plate is mounted on the L-shaped sliding frame in an inlaid mode, the first gear is meshed with the first toothed plate, the first gear is mounted in the lifting chute structure in a rotating mode through the first rotating shaft, and one end of the first rotating shaft penetrates through the mounting frame and is fixedly connected with one end of the L-shaped connecting frame;
the control electric box is fixedly arranged on the mounting bracket;
the first monitoring device is fixedly arranged on the control electric box;
the detection mechanism is arranged at the other end of the L-shaped connecting frame;
wherein, a travelling mechanism is installed on the installing support, L shape balladeur train is located L shape link's rotation scope is internal, one locking component corresponds one the stabilizer blade, the stabilizer blade is installed the rotation scope of locking plate.
2. The Beidou satellite positioning-based power line inspection device of claim 1, further comprising a second monitoring device, wherein the second monitoring device is fixedly arranged at the bottom of the unmanned aerial vehicle.
3. The Beidou satellite positioning-based power line inspection device of claim 1, wherein the travelling mechanism comprises a first motor, a driving roller and a travelling belt, the first motor is fixedly arranged on the mounting bracket, the driving roller is connected to the shaft end of the first motor, and the driving roller is used for driving the travelling belt to roll.
4. The Beidou satellite positioning-based power line inspection device according to claim 3, wherein the diameters of the two ends of the driving roller are larger than the diameter of the middle part, the section is of an arc-shaped structure, and the section of the walking belt is of an arc-shaped structure and is attached to the surface of the driving roller.
5. The Beidou satellite positioning-based power line inspection device according to claim 4, wherein the driving roller is provided with a limiting groove structure, a raised strip is fixedly arranged in the walking belt, and the raised strip is inserted into the limiting groove structure.
6. The Beidou satellite positioning-based power line inspection device according to claim 5, wherein the detection mechanism comprises a second motor, a U-shaped frame and two detection needles, the second motor is fixedly arranged at the other end of the L-shaped connecting frame, the U-shaped frame is rotatably arranged on the L-shaped connecting frame, the shaft end of the second motor penetrates through the L-shaped connecting frame and is fixedly connected with the U-shaped frame, and the detection needles are fixedly arranged on the U-shaped frame;
the two detection needles are respectively and fixedly arranged at two sides of the U-shaped frame and are distributed in parallel.
7. The Beidou satellite positioning-based power line inspection device according to claim 6, wherein a connecting hole structure is formed in the mounting bracket, and a lifting hole structure is formed in the control electric box;
the installation mechanism further comprises a lifting assembly, the lifting assembly comprises a second rotating shaft, a second transmission shaft, a third rotating shaft and a connecting sliding frame, one end of the second rotating shaft penetrates through the connecting hole structure and is connected with the L-shaped sliding frame, the other end of the second rotating shaft is hinged with one end of the second transmission shaft, the other end of the second transmission shaft is hinged with one end of the third rotating shaft, the other end of the third rotating shaft penetrates through the lifting hole structure and is fixed with the connecting sliding frame, the connecting sliding frame is slidably installed in the control electric box, and the electric power line inspection device based on Beidou satellite positioning further comprises two groups of supporting assemblies which penetrate through the control electric box and are fixedly connected with the connecting sliding frame;
wherein, two groups of support components are distributed in parallel.
8. The Beidou satellite positioning-based power line inspection device according to claim 7, wherein the supporting assembly comprises an elastic telescopic piece and an arc-shaped sliding rod, and the bottom of the arc-shaped sliding rod is connected with the connecting sliding frame through the elastic telescopic piece.
9. The Beidou satellite positioning-based power line inspection device according to claim 8, wherein an elastic piece is elastically connected with the L-shaped sliding frame and the shaft ends of the telescopic pieces, and the shaft ends of the telescopic pieces are inserted into the L-shaped sliding frame and are in sliding connection;
the L-shaped sliding frame is provided with a through hole, and the second rotating shaft sequentially penetrates through the connecting hole structure and the through hole and is fixed with the shaft end of the telescopic piece;
a movable opening structure is arranged at the top of the control electric box;
the lifting assembly further comprises a second toothed plate, a second gear and a fourth rotating shaft, the bottom of the second toothed plate is fixed with the connecting sliding frame, the first monitoring device is rotatably installed in the movable port structure through the fourth rotating shaft, and the second gear is fixedly arranged on the fourth rotating shaft;
the connecting part of the fourth rotating shaft and the movable opening structure is connected through a torsion spring, the first monitoring device is maintained to be in a horizontal state, and the second gear is aligned to the lifting range of the second toothed plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310607428.1A CN116534304A (en) | 2023-05-26 | 2023-05-26 | Power line inspection device based on Beidou satellite positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310607428.1A CN116534304A (en) | 2023-05-26 | 2023-05-26 | Power line inspection device based on Beidou satellite positioning |
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| Publication Number | Publication Date |
|---|---|
| CN116534304A true CN116534304A (en) | 2023-08-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310607428.1A Pending CN116534304A (en) | 2023-05-26 | 2023-05-26 | Power line inspection device based on Beidou satellite positioning |
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| CN (1) | CN116534304A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116979421A (en) * | 2023-09-22 | 2023-10-31 | 国网甘肃省电力公司武威供电公司 | Electric power inspection equipment based on big dipper |
-
2023
- 2023-05-26 CN CN202310607428.1A patent/CN116534304A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116979421A (en) * | 2023-09-22 | 2023-10-31 | 国网甘肃省电力公司武威供电公司 | Electric power inspection equipment based on big dipper |
| CN116979421B (en) * | 2023-09-22 | 2023-12-05 | 国网甘肃省电力公司武威供电公司 | Electric power inspection equipment based on big dipper |
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