CN116946275A - Wall climbing device for power system inspection - Google Patents
Wall climbing device for power system inspection Download PDFInfo
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- CN116946275A CN116946275A CN202311025381.4A CN202311025381A CN116946275A CN 116946275 A CN116946275 A CN 116946275A CN 202311025381 A CN202311025381 A CN 202311025381A CN 116946275 A CN116946275 A CN 116946275A
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- 238000007689 inspection Methods 0.000 title claims abstract description 51
- 230000009194 climbing Effects 0.000 title claims abstract description 50
- 210000001503 joint Anatomy 0.000 claims abstract description 36
- 239000000178 monomer Substances 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000001360 synchronised effect Effects 0.000 claims abstract description 15
- 230000006978 adaptation Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 31
- 230000007704 transition Effects 0.000 claims description 23
- 239000000523 sample Substances 0.000 claims description 17
- 210000000707 wrist Anatomy 0.000 claims description 14
- 210000004907 gland Anatomy 0.000 claims description 9
- 230000009193 crawling Effects 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 6
- 238000000926 separation method Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000003032 molecular docking Methods 0.000 description 18
- 238000012423 maintenance Methods 0.000 description 9
- 239000000203 mixture Substances 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 238000010248 power generation Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 238000005259 measurement Methods 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 238000003763 carbonization Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 238000006073 displacement reaction Methods 0.000 description 1
- 239000011152 fibreglass Substances 0.000 description 1
- 238000005187 foaming Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005297 material degradation process Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
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- 238000010298 pulverizing process Methods 0.000 description 1
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Classifications
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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
- 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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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Abstract
A wall climbing device for power system inspection relates to the technical field of power system inspection. The utility model solves the problems that the climbing units of the existing wall climbing robot cannot be automatically separated or combined, and the existing wall climbing robot has single function and poor universality. The utility model comprises a plurality of robot monomers, and the robot monomers can be automatically combined or separated. When the tower is subjected to inspection operation, a proper number of robot monomers are selected according to the diameter of the tower to be inspected, so that a circular ring structure is integrally formed when a female butt joint part and a sub butt joint part of the robot monomers are in an extending state, a curved surface adaptation adjusting motor is started to drive a female rotating shaft and a sub rotating shaft to synchronously rotate inwards through a rotating shaft synchronous transmission mechanism, the female butt joint part and the sub butt joint part are driven to synchronously deflect inwards, and the diameter of the circular ring structure is reduced. The utility model is used for realizing automatic disassembly or automatic assembly of the wall climbing device for power system inspection.
Description
Technical Field
The utility model relates to the technical field of power system inspection, in particular to a wall climbing device for power system inspection.
Background
Wind power generation refers to converting kinetic energy of wind into electrical energy. The wind power generation is very environment-friendly, and the wind energy is huge, so that the wind power generation device is increasingly valued in countries around the world. The devices required for wind power generation are called wind generating sets, and the wind generating sets comprise wind wheels, generators and towers. The wind wheel is an important part for converting the kinetic energy of wind into mechanical energy, and is composed of a plurality of blades, and is made of other composite materials such as glass fiber reinforced plastics or carbon fiber. The tower is an important part connected with the fan and bears the thrust, torque, bending moment, gyroscopic moment, vibration of the motor and swing of the motor when the stress changes on the impeller by wind force. In the wind turbine generator system, the tower cylinder mainly plays a supporting role and absorbs the vibration of the wind turbine generator system. The diameter and height of the wind tower will vary depending on the power of the wind turbine and the diameter of the impeller. Generally, most of the towers are cone-shaped and have a diameter of about 3500mm at the bottom end and about 2700-3000mm at the uppermost end. The height of the tower is between 60 and 90m, and the common height is between 65 and 80m.
However, the wind power station is more severe in environment, is easily influenced by self factors and external environment, and is subject to material degradation and structural failure. The corrosion phenomena such as local coating damage on the outer surface of the tower barrel can occur under the influence of natural disasters such as extra-large sand wind and the like, or the tower barrel is corroded due to pulverization, falling, foaming, loosening and the like of an old coating generated by the overrun of the service life of the coating. The wind turbine blade may have problems of surface wear, sand holes, blade cracks and cracks or carbonization of blade materials. Therefore, the outer surface of the wind power tower needs to be inspected regularly.
The tower and the blades are often accompanied with weak sound waves in the damage processes of deformation, cracking, crack expansion and the like, the system receives and analyzes the sound waves to obtain the information of the defect degree, defect position and the like of the tower, and the health states of the tower and the blades are estimated. Common inspection methods generally include unmanned aerial vehicle inspection and wall climbing robots. When severe weather such as thunderstorm and strong wind is encountered, the outdoor environment cannot meet the flight conditions of the unmanned aerial vehicle, and only the wall climbing robot can carry out the inspection operation of the electric power system. Wall climbing robots are widely used in a variety of extremely harsh work environments because of their ability to climb vertical walls and perform extreme operations.
The utility model discloses inspection equipment for a tower drum of a wind turbine, wherein the publication number of the inspection equipment is CN218376737U, and the publication date of the inspection equipment is 2023, 1 month and 24 days. Through the mutual cooperation of the climbing assembly and the clamping mechanism, the tower barrel inspection equipment can stably and gradually climb. And the motor drives the annular frame and the paint surface detector to detect the outer side of the tower in the radial direction. However, because the annular frame of the tower inspection equipment is of a fixed structure, the tower inspection equipment is difficult to adapt to the tower with the conical reducing shape, and the crawling speed of the tower inspection equipment is limited, so that the inspection efficiency is difficult to ensure. In addition, the tower barrel inspection equipment is of an integrated structure, so that automatic disassembly or automatic assembly cannot be realized, and the problems of single function and poor universality exist.
The utility model discloses a self-adaptive maintenance device for a tower of a multifunctional wind generating set, wherein the publication number of the self-adaptive maintenance device is CN114810518A, and the publication date of the self-adaptive maintenance device is 2022, 7 and 29. The tower self-adaptive maintenance device selects an annular clamping mode as a main body structure of wind power tower maintenance equipment, and can change the diameter according to the diameter change of the tower through the automatic clamping mechanism, and has certain buffering kinetic energy, so that related operations on the tower can be completed smoothly. However, the automatic clamping mechanism in the tower self-adaptive maintenance device only plays a role in connecting two adjacent climbing units, and the distance between the climbing units is automatically adjusted to ensure that a plurality of climbing units of the tower self-adaptive maintenance device of the multifunctional wind generating set are always in contact with the outer wall of the tower. However, the automatic clamping mechanism is hinged with the annular frame, and the automatic clamping mechanism adopts a screw-nut mechanism to carry out left-right displacement, so that the self-adaptive maintenance device for the tower can not realize automatic butt joint or automatic separation between climbing units. However, the self-adaptive maintenance device for the tower is of an integrated structure, so that automatic disassembly or automatic assembly cannot be realized, and the problems of single function and poor universality exist.
The utility model discloses an in-service blade damage detection robot, which has publication number of CN111398418A and publication date of 2020, 7 and 10. This in-service blade damage detection robot can make the detection robot can park and move on wind-powered electricity generation blade through sucking disc subassembly, detects through camera module and phased array ultrasonic module's cooperation jointly for the robot can detect wind-powered electricity generation blade's inside and outside damage accurately. However, since the in-service blade damage detection robot is a single robot, the single robot has poor adhesion effect in a severe environment and is easily separated from a surface to be detected to be damaged.
In summary, the climbing units of the existing wall climbing robot cannot be automatically separated or combined, and therefore the problems of single function and poor universality are solved.
Disclosure of Invention
The utility model aims to solve the problems that automatic separation or combination cannot be realized between climbing units of the existing wall climbing robot, the function is single, and the universality is poor, and further provides a wall climbing device for power system inspection.
The technical scheme of the utility model is as follows:
the utility model provides a power system is patrolled and examined and is used wall climbing device, it includes a plurality of robot monomers, can dismantle in order from left to right between a plurality of robot monomers and connect and form ring shape climbing structure or a style of calligraphy climbing structure, every climbing unit includes device support body 1, butt joint subassembly 2, crawling subassembly 3, detection subassembly 4, controller 5 and battery 6, crawling subassembly 3 includes four wheel leg executives 31, device support body 1 is I-shaped cubic structure, two wheel leg executives 31 have been arranged to the axial symmetry respectively in the anterior both sides of device support body 1, two wheel leg executives 31 have been arranged to the axial symmetry respectively in the posterior both sides of device support body 1, wheel leg executives 31 bottom is equipped with the electromagnetism foot that is used for adsorbing the area walking face, two rectangular notch that the axial symmetry was arranged are equipped with respectively in both sides of device support body 1, every rectangular notch do not have two coaxial and run through in the shaft hole of device support body 1, the front side of the top end of the device frame body 1 is provided with a detection component 4, the left side and the right side of the detection component 4 are respectively provided with a controller 5 and a storage battery 6, the docking component 2 comprises a female docking piece 21, a sub docking piece 22, a female rotating shaft 23, a sub rotating shaft 24, a curved surface adaptation adjustment motor 25 and a rotating shaft synchronous transmission mechanism 26, two ends of the female rotating shaft 23 are respectively inserted into two shaft holes on the right side of the device frame body 1, the female docking piece 21 is arranged at the part of the female rotating shaft 23, which is positioned at the right rectangular notch, two ends of the sub rotating shaft 24 are respectively inserted into two shaft holes on the left side of the device frame body 1, the sub rotating shaft 24 is arranged at the left rectangular notch, the sub rotating shaft 24 is provided with the sub docking piece 22, the female rotating shaft 23 and the sub rotating shaft 24 are connected with the curved surface adaptation adjustment motor 25 through the rotating shaft synchronous transmission mechanism 26, the curved surface adaptation adjustment motor 25 is arranged at the rear end of the device frame body 1, the robot single body and the robot single body are automatically separated or combined through the main butt joint piece 21 and the sub butt joint piece 22.
Further, female interfacing part 21 includes female axle sleeve 211, dock motor 212, female mounting bracket 213, female electric putter 214, female wrist every single move joint 215 and slot spare 216, female axle sleeve 211 suit is in female axis of rotation 23 middle part, female axle sleeve 211 passes through connecting piece and female axis of rotation 23 fixed connection, be fixed with the female connecting plate of taking convex recess on the female axle sleeve 211 lateral wall, female mounting bracket 213 is installed in the female connecting plate outside, dock motor 212 installs on female mounting bracket 213, dock motor 212's motor shaft stretches out the through-hole on the end plate of female mounting bracket 213, dock motor 212's motor shaft extension notification bearing and female electric putter's 214's base rotatable coupling, female wrist every single move joint 215 is installed to female electric putter's 214's piston rod tip, female wrist every single move joint 215 other end installs slot spare 216, slot spare 216 is hollow circular columnar structure, the through-hole with slot spare 216 internal intercommunication is seted up to the slot spare 216 terminal surface.
Further, sub-interfacing part 22 includes sub-axle sleeve 221, lock nut 222, sub-mounting bracket 223, sub-electric putter 224, sub-wrist every single move joint 225 and T type latch piece 226, sub-axle sleeve 221 suit is in sub-axis 24 middle part, sub-axle sleeve 221 passes through connecting piece and sub-axis 24 fixed connection, be fixed with the son connecting plate of taking convex recess on the sub-axle sleeve 221 lateral wall, sub-mounting bracket 223 is installed in the sub-connecting plate outside, sub-mounting bracket 223 tip passes through connecting piece and sub-electric putter 224's base fixed connection, sub-wrist every single move joint 225 is installed to sub-wrist every single move joint 225's piston rod tip, T type latch piece 226 is installed to sub-wrist every single move joint 225 other end, T type latch piece 226 includes reference column and connecting rod, connecting rod one end is connected with sub-wrist every single move joint 225, the connecting rod other end processing has the step, the external screw thread has been seted up at the reference column middle part, the reference column is installed at the connecting rod tip, reference column one side and shoulder contact, the reference column opposite side passes through lock nut 222 and connecting rod fixed connection.
Further, the female wrist pitching joint 215 includes a female U-shaped bracket 2151, a slot member connecting ear plate 2152, a slot member pitching rotating shaft 2153 and a slot member pitching motor 2154, a web plate of the female U-shaped bracket 2151 is fixedly connected with a piston rod end of the female electric push rod 214 through a connecting member, an opening of the female U-shaped bracket 2151 faces to the outer side, one end of the slot member connecting ear plate 2152 is inserted into the opening of the female U-shaped bracket 2151, the slot member connecting ear plate 2152 is fixedly connected with the slot member pitching rotating shaft 2153, two ends of the slot member pitching rotating shaft 2153 are respectively and rotatably connected with two side wing plates of the female U-shaped bracket 2151, one end of the slot member pitching rotating shaft 2153 penetrates through one of the wing plates and is connected with a motor shaft of the slot member pitching motor 2154, and a shell of the slot member pitching motor 2154 is mounted on the wing plate side wall of the female U-shaped bracket 2151;
the sub-wrist pitching joint 225 comprises a sub-U-shaped bracket 2251, a pin member connecting lug plate 2252, a pin member pitching rotating shaft 2253 and a pin member pitching motor 2254, wherein a web plate of the sub-U-shaped bracket 2251 is fixedly connected with a piston rod end part of the sub-electric push rod 224 through a connecting member, an opening of the sub-U-shaped bracket 2251 faces to the outer side, one end of the pin member connecting lug plate 2252 is inserted into the opening of the sub-U-shaped bracket 2251, the pin member connecting lug plate 2252 is fixedly connected with the pin member pitching rotating shaft 2253, two ends of the pin member pitching rotating shaft 2253 are respectively and rotatably connected with wing plates at two sides of the sub-U-shaped bracket 2251, one end of the pin member pitching rotating shaft 2253 penetrates through one of the wing plates and is connected with a motor shaft of the pin member pitching motor 2254, and a shell of the pin member pitching motor 2254 is mounted on the wing plate side wall of the sub-U-shaped bracket 2251.
Further, the female docking member 21 further includes a tapered guiding tube 217, the tapered guiding tube 217 is coaxially disposed on a side portion of the inserting piece 216, a small diameter end of the inserting piece 216 is fixedly connected with an end face of the inserting piece 216, and an inner wall of the tapered guiding tube 217 forms an arc curved surface gradually shrinking from a large diameter opening end to a strip-shaped through hole on the end face of the inserting piece 216.
Further, the sub-docks 22 further comprise a weight block 227, the weight block 227 being mounted on the sub-mount 223.
Further, the rotating shaft synchronous transmission mechanism 26 includes a driving gear 261, a first transition gear 262, a second transition gear 263, a female driven gear 264 and a secondary driven gear 265, the front ends of the female rotating shaft 23 and the secondary rotating shaft 24 extend out of the device frame body 1 to be respectively provided with the female driven gear 264 and the secondary driven gear 265, the female driven gear 264 is meshed with the secondary driven gear 265, the rear end of the female rotating shaft 23 extends out of the device frame body 1 to be provided with the first transition gear 262, the driving gear 261 is arranged on a motor shaft of the curved surface adaptive adjustment motor 25, a second transition gear 263 is arranged between the driving gear 261 and the first transition gear 262, the second transition gear 263 is arranged on a gear shaft, the gear shaft is arranged on a bearing seat through a bearing, and the bearing seat is arranged on the rear side of the top end of the device frame body 1 and is meshed with the driving gear 261 and the first transition gear 262.
Further, each wheel-leg actuator 31 includes a leg swing joint 311, a leg pitch joint 312, a leg member 313, a foot rotating motor 314, and an electromagnetic running wheel 315, one end of the leg swing joint 311 is connected to the side wall of the device frame body 1, the other end of the leg swing joint 311 is connected to one end of the leg pitch joint 312, the other end of the leg pitch joint 312 is connected to the top end of the leg member 313, the foot rotating motor 314 is mounted to the bottom end of the leg member 313, and the electromagnetic running wheel 315 is mounted to the motor shaft of the foot rotating motor 314.
Further, the leg swing joint 311 comprises a leg swing U-shaped bracket 3111, a leg swing connection lug plate 3112, a leg swing rotating shaft 3113 and a leg swing motor 3114, wherein a web of the leg swing U-shaped bracket 3111 is fixedly connected with the side wall of the device frame body 1, an opening of the leg swing U-shaped bracket 3111 faces outwards, one end of the leg swing connection lug plate 3112 is inserted into the opening of the leg swing U-shaped bracket 3111, a leg swing rotating shaft 3113 is fixedly inserted onto the leg swing connection lug plate 3112, two ends of the leg swing rotating shaft 3113 are respectively and rotatably connected with two wing plates of the leg swing U-shaped bracket 3111, one end of the leg swing rotating shaft 3113 penetrates through one of the wing plates and is connected with a motor shaft of the leg swing motor 3114, and a shell of the leg swing motor 3114 is installed on the outer wall of the wing plate on one side of the leg swing U-shaped bracket 3111;
the leg pitch joint 312 includes a leg pitch U-shaped bracket 3121, a leg pitch connection lug plate 3122, a leg pitch rotation shaft 3123 and a leg pitch motor 3124, wherein a web of the leg pitch U-shaped bracket 3121 is fixedly connected with the leg swing connection lug plate 3112, an opening direction of the leg pitch U-shaped bracket 3121 is vertically arranged with an opening direction of the leg swing U-shaped bracket 3111, one end of the leg pitch connection lug plate 3122 is inserted at the opening of the leg pitch U-shaped bracket 3121, a leg pitch rotation shaft 3123 is fixedly inserted on the leg pitch connection lug plate 3122, two ends of the leg pitch rotation shaft 3123 are respectively rotatably connected with two sides of the leg pitch U-shaped bracket 3121, one end of the leg pitch rotation shaft 3123 passes through one wing plate and is connected with a motor shaft of the leg pitch motor 3124, and a shell of the leg pitch motor 3124 is mounted on an outer wall of one side of the leg pitch U-shaped bracket 3121.
Further, detection component 4 includes camera 41, ultrasonic probe 42 and detection support 43, and detection support 43 is installed to device support 1 top front side, and detection support 43 is including detecting electric putter 431, connecting beam 432, crossbeam base 433 and crossbeam gland 434, detects electric putter 431 perpendicular to device support 1 upper surface and arranges, detects electric putter 431's piston rod tip and installs crossbeam base 433, rectangular groove has been seted up on crossbeam base 433 top, and connecting beam 432 one end is installed in crossbeam base 433's rectangular groove, and crossbeam gland 434 is detained and is established in crossbeam base 433 upper end, and crossbeam gland 434 bottom has been offered with connecting beam 432 assorted recess, and connecting beam 432 front end is equipped with the probe mounting bracket, and a plurality of ultrasonic probes 42 are installed to probe mounting bracket bottom equidistance in proper order along length direction from left to right, and camera 41 installs at probe mounting bracket middle part, camera 41 is the wide-angle camera.
Compared with the prior art, the utility model has the following effects:
the wall climbing device for the power system inspection comprises a plurality of robot monomers, and the robot monomers can be automatically combined or separated. When the tower is subjected to inspection operation, a proper number of robot monomers are selected according to the diameter of the tower to be inspected, a circular ring structure is integrally formed when the female butt joint piece 21 and the sub butt joint piece 22 of the robot monomers are in an extending state, and as the tower is in a conical reducing shape, the diameter of the bottom end of the tower is larger than the diameter of the uppermost end of the Yu Datong, the circular ring structure is adaptively adjusted at different heights along with the gradual upward movement of the wall climbing device, the curved surface adaptive adjustment motor 25 is started to drive the female rotating shaft 23 and the sub rotating shaft 24 to synchronously rotate inwards through the rotating shaft synchronous transmission mechanism 26, and then the female butt joint piece 21 and the sub butt joint piece 22 are driven to synchronously deflect inwards, so that the diameter of the circular ring structure is reduced. The controller controls the moving path in real time according to the pictures shot by the wide-angle camera, and then controls the adjustment angle of each curved surface adaptive adjustment motor 25 to be the same, and the electromagnetic running wheels 315 on two sides can always move along the same bus in the process, so that the stability of the detection area of the ultrasonic probe 42 is ensured, and further the measurement accuracy is ensured. When the inspection of the tower is completed, the inspection operation is performed on the blades, a proper number of robot monomers are selected according to the width of the blades to be inspected, and the fact that the female butt joint piece 21 and the sub butt joint piece 22 of the robot monomers are in an extending state integrally form a straight-line structure is guaranteed, and the working principle is the same as that of the inspection operation of the tower. After the inspection of the blade is completed, all robot monomers are combined and recombined into a circular structure, and then the circular structure returns to the ground through the tower. Compared with independent operation of a single robot, the robot combination with the circular ring structure or the straight-line structure has stronger stability and is more suitable for inspection operation of the tower and the blades in severe environments at wind power places.
Drawings
FIG. 1 is a front view of a robot cell of the wall climbing device for inspection of a power system of the present utility model;
FIG. 2 is a top view of a robot cell of the wall climbing device for inspection of the power system of the present utility model;
fig. 3 is a schematic structural view of a female docking member 21 of the robot cell of the present utility model;
FIG. 4 is a schematic view of the structure of the sub-docks 22 of the robot cell of the present utility model;
fig. 5 is a schematic structural view of the assembled device frame 1, the main rotating shaft 23, the sub rotating shaft 24, the curved surface adaptive adjusting motor 25 and the rotating shaft synchronous transmission mechanism 26;
fig. 6 is a front view of the detection assembly 4 of the present utility model;
FIG. 7 is a side view of the detection assembly 4 of the present utility model;
FIG. 8 is a diagram showing the working state of the climbing device for inspection of the power system when the climbing device is applied to inspection of the tower;
fig. 9 is a working state diagram of the wall climbing device for power system inspection in blade inspection.
Detailed Description
The first embodiment is as follows: referring to fig. 1 to 9, the wall climbing device for inspection of an electric power system in this embodiment includes a plurality of robot units, the plurality of robot units are sequentially and detachably connected from left to right to form a circular climbing structure or a straight climbing structure, each climbing unit includes a device frame 1, a docking assembly 2, a crawling assembly 3, a detecting assembly 4, a controller 5 and a battery 6, the crawling assembly 3 includes four wheel leg executing members 31, the device frame 1 is an i-shaped block structure, two wheel leg executing members 31 are respectively and axially symmetrically arranged on two sides of the front portion of the device frame 1, two wheel leg executing members 31 are respectively and axially symmetrically arranged on two sides of the rear portion of the device frame 1, electromagnetic feet for absorbing a walking surface are arranged at the bottom of the wheel leg executing members 31, two rectangular notches are respectively and axially symmetrically arranged on two sides of the device frame 1, each rectangular notch is respectively provided with a front shaft hole and a rear shaft hole which are coaxial and penetrate through the device frame body 1, a detection component 4 is arranged at the front side of the top end of the device frame body 1, a controller 5 and a storage battery 6 are respectively arranged at the left side and the right side of the detection component 4, the butting component 2 comprises a female butting piece 21, a male butting piece 22, a female rotating shaft 23, a male rotating shaft 24, a curved surface adaptation adjusting motor 25 and a rotating shaft synchronous transmission mechanism 26, two ends of the female rotating shaft 23 are respectively inserted into the two shaft holes at the right side of the device frame body 1, the female butting piece 21 is partially arranged at the right side rectangular notch of the female rotating shaft 23, two ends of the male rotating shaft 24 are respectively inserted into the two shaft holes at the left side of the device frame body 1, the male butting piece 22 is partially arranged at the left side rectangular notch of the male rotating shaft 24, and the female rotating shaft 23 and the male rotating shaft 24 are connected with the curved surface adaptation adjusting motor 25 through the rotating shaft synchronous transmission mechanism 26, the curved surface adaptation adjustment motor 25 is installed at the rear end of the device frame body 1, and automatic separation or combination is realized between the robot single bodies through the female butt joint piece 21 and the sub butt joint piece 22.
The second embodiment is as follows: referring to fig. 3, the female docking member 21 of this embodiment includes a female shaft sleeve 211, a docking motor 212, a female mounting frame 213, a female electric push rod 214, a female wrist pitching joint 215 and a slot member 216, the female shaft sleeve 211 is sleeved in the middle of the female rotating shaft 23, the female shaft sleeve 211 is fixedly connected with the female rotating shaft 23 through a connecting member, a female connecting plate with a circular arc groove is fixed on the outer side wall of the female shaft sleeve 211, the female mounting frame 213 is mounted on the outer side of the female connecting plate, the docking motor 212 is mounted on the docking frame 213, a motor shaft of the docking motor 212 extends out of a through hole on an end plate of the female mounting frame 213, a motor shaft extending part of the docking motor 212 informs that a bearing is rotatably connected with a base of the female electric push rod 214, a female wrist pitching joint 215 is mounted at the end of a piston rod of the female electric push rod 214, the other end of the female wrist pitching joint 215 is provided with the slot member 216, and the slot member 216 is in a hollow circular columnar structure, and a strip-shaped through hole communicated with the interior of the slot member 216 is formed at the end surface of the slot member 216. So set up, the position appearance sensor is set up to slot member 216 tip, and after the position appearance sensor detected T type latch piece 226 position, through female wrist every single move joint 215 with the bar through-hole of slot member 216 adjust to just to the female electric putter 214 of T type latch piece 226 start with slot member 216 propelling movement to suitable position. Other compositions and connection relationships are the same as those of the first embodiment.
And a third specific embodiment: referring to fig. 4, in this embodiment, the sub-docking member 22 includes a sub-bushing 221, a locking nut 222, a sub-mounting frame 223, a sub-electric push rod 224, a sub-wrist pitching joint 225 and a T-shaped latch member 226, the sub-bushing 221 is sleeved in the middle of the sub-rotating shaft 24, the sub-bushing 221 is fixedly connected with the sub-rotating shaft 24 through a connecting member, a sub-connecting plate with a circular arc groove is fixed on the outer side wall of the sub-bushing 221, the sub-mounting frame 223 is mounted on the outer side of the sub-connecting plate, the end of the sub-mounting frame 223 is fixedly connected with the base of the sub-electric push rod 224 through a connecting member, the piston rod end of the sub-electric push rod 224 is mounted with a sub-wrist pitching joint 225, the other end of the sub-wrist pitching joint 225 is mounted with a T-shaped latch member 226, the T-shaped latch member 226 includes a positioning column and a connecting rod, one end of the connecting rod is connected with the sub-wrist pitching joint 225, the other end of the connecting rod is processed with a step, the step is processed with an external thread, a connecting through hole is formed in the middle of the positioning column, the positioning column is mounted on the end of the connecting column, one side contacts with the shoulder, and the other side of the positioning column is fixedly connected with the connecting rod through the locking nut. So set up, the position sensor is set up to sub-interfacing part 22 tip, after the position sensor detects the position of slot spare 216, through sub-wrist every single move joint 225 with T type bolt spare 226 adjust to just the bar through-hole of slot spare 216, the electric putter 224 of promoter pushes away T type bolt spare 226 to suitable position, after T type bolt spare 226 passed the bar through-hole, start docking motor 212 and rotate 90 degrees with T type bolt spare 226, realize sub-interfacing part 22 and the merger of female interfacing part 21. The separation process and the combination process of the sub-butt joint 22 and the main butt joint 21 are opposite, and are not repeated. Other compositions and connection relationships are the same as those of the first or second embodiment.
The specific embodiment IV is as follows: referring to fig. 3 and 4, in this embodiment, the female wrist pitch joint 215 includes a female u-shaped bracket 2151, a slot member connection lug 2152, a slot member pitch rotation shaft 2153, and a slot member pitch motor 2154, where a web of the female u-shaped bracket 2151 is fixedly connected with an end portion of a piston rod of the female electric push rod 214 through a connection member, an opening of the female u-shaped bracket 2151 faces to the outside, one end of the slot member connection lug 2152 is inserted into the opening of the female u-shaped bracket 2151, the slot member connection lug 2152 is fixedly connected with a slot member pitch rotation shaft 2153, two ends of the slot member pitch rotation shaft 2153 are respectively rotatably connected with two side wing plates of the female u-shaped bracket 2151, one end of the slot member pitch rotation shaft 2153 passes through one of the wing plates and is connected with a motor shaft of the slot member pitch motor 2154, and a housing of the slot member pitch motor 2154 is mounted on a side wall of the wing plate of the female u-shaped bracket 2151;
the sub-wrist pitching joint 225 comprises a sub-U-shaped bracket 2251, a pin member connecting lug plate 2252, a pin member pitching rotating shaft 2253 and a pin member pitching motor 2254, wherein a web plate of the sub-U-shaped bracket 2251 is fixedly connected with a piston rod end part of the sub-electric push rod 224 through a connecting member, an opening of the sub-U-shaped bracket 2251 faces to the outer side, one end of the pin member connecting lug plate 2252 is inserted into the opening of the sub-U-shaped bracket 2251, the pin member connecting lug plate 2252 is fixedly connected with the pin member pitching rotating shaft 2253, two ends of the pin member pitching rotating shaft 2253 are respectively and rotatably connected with wing plates at two sides of the sub-U-shaped bracket 2251, one end of the pin member pitching rotating shaft 2253 penetrates through one of the wing plates and is connected with a motor shaft of the pin member pitching motor 2254, and a shell of the pin member pitching motor 2254 is mounted on the wing plate side wall of the sub-U-shaped bracket 2251. Other compositions and connection relationships are the same as those of the first, second or third embodiments.
Fifth embodiment: referring to fig. 3, the female docking member 21 of this embodiment further includes a tapered guiding tube 217, the tapered guiding tube 217 is coaxially disposed on a side portion of the inserting piece 216, a small diameter end of the inserting piece 216 is fixedly connected to an end face of the inserting piece 216, and an inner wall of the tapered guiding tube 217 forms an arc curved surface gradually shrinking from a large diameter opening end to a strip-shaped through hole on the end face of the inserting piece 216. By the arrangement, the surface of the inner hole of the conical guide cylinder 217 is designed with a smooth transitional curved surface, so that when the T-shaped latch piece 226 and the slot piece 216 are automatically docked, the docking precision cannot be affected due to the external environment, and the method is more suitable for inspection operation of the tower cylinder and the blades in severe environments of wind power places. Other compositions and connection relationships are the same as those of the first, second, third or fourth embodiments.
Specific embodiment six: the sub-docks 22 of the present embodiment further include a weight block 227, the weight block 227 being mounted on the sub-mount 223, as described in connection with fig. 4. Other compositions and connection relationships are the same as those of the first, second, third, fourth or fifth embodiments.
Seventh embodiment: referring to fig. 1, 2 and 5, the rotary shaft synchronous transmission mechanism 26 of the present embodiment includes a driving gear 261, a first transition gear 262, a second transition gear 263, a female driven gear 264 and a secondary driven gear 265, wherein the female driven gear 264 and the secondary driven gear 265 are respectively mounted on the front end portion of the female rotary shaft 23 and the secondary rotary shaft 24 extending from the device frame 1, the female driven gear 264 is meshed with the secondary driven gear 265, the first transition gear 262 is mounted on the rear end portion of the female rotary shaft 23 extending from the device frame 1, the driving gear 261 is mounted on a motor shaft of the curved surface adaptive adjustment motor 25, the second transition gear 263 is disposed between the driving gear 261 and the first transition gear 262, the second transition gear 263 is mounted on a gear shaft, the gear shaft is mounted on a bearing block through a bearing, the bearing block is mounted on the rear end portion of the top end of the device frame 1, and the second transition gear 263 is meshed with the driving gear 261 and the first transition gear 262. So set up, start curved surface adaptation adjustment motor 25 drives female axis of rotation 23 and the synchronous inward rotation of son axis of rotation 24 through pivot synchronous drive mechanism 26, and then drives female butt joint piece 21 and son butt joint piece 22 and inwards deflects simultaneously, and then reduces the diameter of ring structure. Other compositions and connection relationships are the same as those of the first, second, third, fourth, fifth or sixth embodiments.
Eighth embodiment: referring to fig. 1 and 2, each wheel-leg actuator 31 of the present embodiment includes a leg swing joint 311, a leg pitch joint 312, a leg member 313, a foot rotating motor 314, and an electromagnetic running wheel 315, one end of the leg swing joint 311 is connected to the side wall of the device frame 1, the other end of the leg swing joint 311 is connected to one end of the leg pitch joint 312, the other end of the leg pitch joint 312 is connected to the top end of the leg member 313, the foot rotating motor 314 is mounted to the bottom end of the leg member 313, and the electromagnetic running wheel 315 is mounted to the motor shaft of the foot rotating motor 314. Other compositions and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth or seventh embodiments.
Detailed description nine: referring to fig. 1 and 2, the leg swing joint 311 of the present embodiment includes a leg swing u-shaped bracket 3111, a leg swing connection lug 3112, a leg swing shaft 3113, and a leg swing motor 3114, wherein a web of the leg swing u-shaped bracket 3111 is fixedly connected to a side wall of the device frame 1, an opening of the leg swing u-shaped bracket 3111 faces outward, one end of the leg swing connection lug 3112 is inserted into the opening of the leg swing u-shaped bracket 3111, a leg swing shaft 3113 is fixedly inserted onto the leg swing connection lug 3112, two ends of the leg swing shaft 3113 are rotatably connected to two sides of the leg swing u-shaped bracket 3111, one end of the leg swing shaft 3113 passes through one of the wing plates and is connected to a motor shaft of the leg swing motor 3114, and a housing of the leg swing motor 3114 is mounted on an outer wall of the wing plate on one side of the leg swing u-shaped bracket 3111;
the leg pitch joint 312 includes a leg pitch U-shaped bracket 3121, a leg pitch connection lug plate 3122, a leg pitch rotation shaft 3123 and a leg pitch motor 3124, wherein a web of the leg pitch U-shaped bracket 3121 is fixedly connected with the leg swing connection lug plate 3112, an opening direction of the leg pitch U-shaped bracket 3121 is vertically arranged with an opening direction of the leg swing U-shaped bracket 3111, one end of the leg pitch connection lug plate 3122 is inserted at the opening of the leg pitch U-shaped bracket 3121, a leg pitch rotation shaft 3123 is fixedly inserted on the leg pitch connection lug plate 3122, two ends of the leg pitch rotation shaft 3123 are respectively rotatably connected with two sides of the leg pitch U-shaped bracket 3121, one end of the leg pitch rotation shaft 3123 passes through one wing plate and is connected with a motor shaft of the leg pitch motor 3124, and a shell of the leg pitch motor 3124 is mounted on an outer wall of one side of the leg pitch U-shaped bracket 3121. Other compositions and connection relationships are the same as those of the first, second, third, fourth, fifth, sixth, seventh or eighth embodiments.
Detailed description ten: referring to fig. 1, 6 and 7, the detection assembly 4 of this embodiment includes a camera 41, an ultrasonic probe 42 and a detection bracket 43, the detection bracket 43 is mounted on the front side of the top end of the device frame 1, the detection bracket 43 includes a detection electric push rod 431, a connection beam 432, a beam base 433 and a beam gland 434, the detection electric push rod 431 is perpendicular to the upper surface of the device frame 1, the beam base 433 is mounted on the end of a piston rod of the detection electric push rod 431, a rectangular groove is formed in the top end of the beam base 433, one end of the connection beam 432 is mounted in the rectangular groove of the beam base 433, the beam gland 434 is fastened on the upper end of the beam base 433, a groove matched with the connection beam 432 is formed in the bottom of the beam gland 434, a probe mounting frame is provided on the front end of the connection beam 432, a plurality of ultrasonic probes 42 are sequentially mounted on the bottom of the probe mounting frame in an equidistant manner from left to right along the length direction, and the camera 41 is mounted in the middle of the probe mounting frame. So set up, the controller is according to the picture real-time control travel path that wide-angle camera took, and then every curved surface adaptation adjustment motor 25's adjustment angle of control is the same, and this process can make the electromagnetism of both sides walk line wheel 315 and remove along same generating line all the time, and then makes the stability of ultrasonic probe 42's detection area, and then guarantees measurement accuracy. Other compositions and connection relationships are the same as those of the one, two, three, four, five, six, seven, eight or nine embodiments.
Principle of operation
The working principle of the wall climbing device for power system inspection according to the utility model is described with reference to fig. 1 to 9:
when the tower is subjected to inspection operation, a proper number of robot monomers are selected according to the diameter of the tower to be inspected, so that a circular ring structure is integrally formed when the female butt joint part 21 and the sub butt joint part 22 of the robot monomers are in an extending state, the starting curved surface adaptation adjusting motor 25 drives the female rotating shaft 23 and the sub rotating shaft 24 to synchronously rotate inwards through the rotating shaft synchronous transmission mechanism 26, and then the female butt joint part 21 and the sub butt joint part 22 are driven to synchronously deflect inwards, and the diameter of the circular ring structure is reduced.
When the inspection of the tower is completed, the inspection operation is performed on the blades, a proper number of robot monomers are selected according to the width of the blades to be inspected, and the fact that the female butt joint piece 21 and the sub butt joint piece 22 of the robot monomers are in an extending state integrally form a straight-line structure is guaranteed, and the working principle is the same as that of the inspection operation of the tower.
After the inspection of the blade is completed, all robot monomers are combined and recombined into a circular structure, and then the circular structure returns to the ground through the tower.
The above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.
Claims (10)
1. The utility model provides a power system patrols and examines with climbing wall device which characterized in that: the device comprises a plurality of robot monomers, wherein the plurality of robot monomers are sequentially and detachably connected from left to right to form a circular climbing structure or a straight climbing structure, each climbing unit comprises a device frame body (1), a butt joint assembly (2), a crawling assembly (3), a detection assembly (4), a controller (5) and a storage battery (6), the crawling assembly (3) comprises four wheel leg execution pieces (31), the device frame body (1) is of an I-shaped block structure, two wheel leg execution pieces (31) are respectively and axially symmetrically arranged on two sides of the front part of the device frame body (1), two wheel leg execution pieces (31) are respectively and axially symmetrically arranged on two sides of the rear part of the device frame body (1), an electromagnetic foot part for absorbing a walking surface is arranged at the bottom of the wheel leg execution piece (31), two rectangular notches which are axially and symmetrically arranged on two sides of the device frame body (1) are respectively, the front and rear part of each rectangular notch is provided with two coaxial axle holes penetrating through the device frame body (1), the detection assembly (4) is arranged on the front side of the top of the device frame body (1), the left and right part of the detection assembly (4) is respectively provided with the controller (5) and the controller (26), the controller (2) and the butt joint assembly (24) are respectively, the butt joint assembly (24) and the storage battery rotation shaft (23) are respectively, the butt joint assembly (24) and the butt joint assembly comprises a synchronous driving mechanism, the two ends of the female rotating shaft (23) are respectively inserted into two shaft holes on the right side of the device frame body (1), a female butt joint piece (21) is partially installed at a rectangular notch on the right side of the female rotating shaft (23), two ends of the child rotating shaft (24) are respectively inserted into two shaft holes on the left side of the device frame body (1), a child butt joint piece (22) is partially installed at a rectangular notch on the left side of the child rotating shaft (24), the female rotating shaft (23) and the child rotating shaft (24) are connected with a curved surface adaptation adjusting motor (25) through a rotating shaft synchronous transmission mechanism (26), the curved surface adaptation adjusting motor (25) is installed at the rear end of the device frame body (1), and automatic separation or combination is realized between a robot monomer and the robot monomer through the female butt joint piece (21) and the child butt joint piece (22).
2. The wall climbing device for power system inspection according to claim 1, wherein: female interfacing part (21) including female axle sleeve (211), dock motor (212), female mounting bracket (213), female electric putter (214), female wrist every single move joint (215) and slot spare (216), female axle sleeve (211) suit is in female axis of rotation (23) middle part, female axle sleeve (211) are through connecting piece and female axis of rotation (23) fixed connection, female connecting plate of taking convex recess is fixed with on female axle sleeve (211) lateral wall, female mounting bracket (213) are installed in female connecting plate outside, dock motor (212) are installed on female mounting bracket (213), the through-hole on female mounting bracket (213) end plate is stretched out to the motor shaft of dock motor (212), the motor shaft extension of dock motor (212) is notified the bearing and is rotationally connected with the base of female electric putter (214), female wrist every single move joint (215) are installed at the piston rod tip of female electric putter (214), slot spare (216) are installed to female wrist every single move joint (215) other end, slot spare (216) are hollow circular columnar structure, the through-hole with slot spare (216) internal intercommunication has been seted up to slot spare (216).
3. A wall climbing device for inspection of electric power system according to claim 1 or 2, characterized in that: sub-interfacing part (22) is including sub-axle sleeve (221), lock nut (222), sub-mounting bracket (223), sub-electric putter (224), sub-wrist every single move joint (225) and T type latch part (226), sub-axle sleeve (221) suit is at sub-axis of rotation (24) middle part, sub-axle sleeve (221) are through connecting piece and sub-axis of rotation (24) fixed connection, be fixed with the son connecting plate of taking convex recess on sub-axle sleeve (221) lateral wall, sub-mounting bracket (223) are installed in the sub-connecting plate outside, sub-mounting bracket (223) tip is through the base fixed connection of connecting piece with sub-electric putter (224), sub-wrist every single move joint (225) are installed at sub-electric putter's (224) piston rod tip, T type latch part (226) are installed to sub-wrist every single move joint (225) other end, T type latch part (226) are including reference column and connecting rod, connecting rod one end is connected with sub-wrist every single move joint (225), the processing of connecting rod other end has the step, the step part processing has the external screw thread, the connecting through-hole has been seted up at the reference column middle part, the reference column is installed at connecting rod tip, reference column one side and is contacted with connecting rod shoulder (222) end, and the reference column side is passed through connecting rod fixed connection (222).
4. A wall climbing device for inspection of an electrical power system according to claim 3, wherein: the female wrist pitching joint (215) comprises a female U-shaped bracket (2151), a slot piece connecting lug plate (2152), a slot piece pitching rotating shaft (2153) and a slot piece pitching motor (2154), wherein a web plate of the female U-shaped bracket (2151) is fixedly connected with the end part of a piston rod of the female electric push rod (214) through a connecting piece, an opening of the female U-shaped bracket (2151) faces to the outer side, one end of the slot piece connecting lug plate (2152) is inserted into the opening of the female U-shaped bracket (2151), the slot piece pitching rotating shaft (2153) is fixedly connected to the slot piece pitching rotating shaft (2152), two ends of the slot piece pitching rotating shaft (2153) are respectively connected with wing plates on two sides of the female U-shaped bracket (2151) in a rotatable mode, one end of the slot piece pitching rotating shaft (2153) penetrates through one wing plate and is connected with a motor shaft of the slot piece pitching motor (2154), and a shell of the slot piece pitching motor (2154) is arranged on the side wall of the female U-shaped bracket (2151);
the wrist pitching joint (225) comprises a U-shaped support (2251), a plug pin connecting lug plate (2252), a plug pin pitching rotating shaft (2253) and a plug pin pitching motor (2254), wherein a web plate of the U-shaped support (2251) is fixedly connected with a piston rod end part of a sub electric push rod (224) through a connecting piece, an opening of the U-shaped support (2251) faces to the outer side, one end of the plug pin connecting lug plate (2252) is inserted into the opening of the U-shaped support (2251), the plug pin pitching rotating shaft (2253) is fixedly connected to the plug pin pitching rotating shaft (2252), two ends of the plug pin pitching rotating shaft (2253) are respectively rotatably connected with two wing plates of the U-shaped support (2251), one end of the plug pin pitching rotating shaft (2253) penetrates through one wing plate and is connected with a motor shaft of the plug pin pitching motor (2254), and a shell of the plug pin pitching motor (2254) is installed on the side wall of the U-shaped support (2251).
5. The wall climbing device for power system inspection according to claim 4, wherein: the female butt joint part (21) further comprises a conical guide cylinder (217), the side part of the slot part (216) is coaxially arranged on the conical guide cylinder (217), the small-diameter end of the slot part (216) is fixedly connected with the end face of the slot part (216), and the inner wall of the conical guide cylinder (217) forms an arc curved surface which gradually closes up from the large-diameter opening end to the strip-shaped through hole on the end face of the slot part (216).
6. The wall climbing device for power system inspection according to claim 5, wherein: the sub-docks (22) further comprise a weight block (227), the weight block (227) being mounted on the sub-mount (223).
7. The wall climbing device for power system inspection according to claim 6, wherein: the rotating shaft synchronous transmission mechanism (26) comprises a driving gear (261), a first transition gear (262), a second transition gear (263), a female driven gear (264) and a secondary driven gear (265), the front ends of the female rotating shaft (23) and the secondary rotating shaft (24) extend out of the device frame body (1) to be respectively provided with the female driven gear (264) and the secondary driven gear (265), the female driven gear (264) is meshed with the secondary driven gear (265), the rear end of the female rotating shaft (23) extends out of the device frame body (1) to be respectively provided with the first transition gear (262), the driving gear (261) is arranged on a motor shaft of the curved surface adaptive adjustment motor (25), the second transition gear (263) is arranged between the driving gear (261) and the first transition gear (262), the second transition gear (263) is arranged on a gear shaft, the gear shaft is arranged on a bearing seat through a bearing, the bearing seat is arranged on the rear end of the top of the device frame body (1), and the second transition gear (263) is respectively meshed with the first transition gear (262).
8. The wall climbing device for power system inspection according to claim 7, wherein: each wheel leg executing piece (31) comprises a leg swinging joint (311), a leg pitching joint (312), a leg piece (313), a foot rotating motor (314) and an electromagnetic running wheel (315), one end of the leg swinging joint (311) is connected with the side wall of the device frame body (1), the other end of the leg swinging joint (311) is connected with one end of the leg pitching joint (312), the other end of the leg pitching joint (312) is connected with the top end of the leg piece (313), the foot rotating motor (314) is installed at the bottom end of the leg piece (313), and the electromagnetic running wheel (315) is installed on a motor shaft of the foot rotating motor (314).
9. The wall climbing device for power system inspection according to claim 8, wherein: the leg swing joint (311) comprises a leg swing U-shaped bracket (3111), a leg swing connecting lug plate (3112), a leg swing rotating shaft (3113) and a leg swing motor (3114), wherein a web plate of the leg swing U-shaped bracket (3111) is fixedly connected with the side wall of the device frame body (1), an opening of the leg swing U-shaped bracket (3111) faces to the outer side, one end of the leg swing connecting lug plate (3112) is inserted into the opening of the leg swing U-shaped bracket (3111), a leg swing rotating shaft (3113) is fixedly inserted onto the leg swing connecting lug plate (3112), two ends of the leg swing rotating shaft (3113) are respectively and rotatably connected with two wing plates of the leg swing U-shaped bracket (3111), one end of the leg swing rotating shaft (3113) penetrates through one of the web plates and is connected with a motor shaft of the leg swing motor (3114), and a shell of the leg swing motor (3114) is arranged on the outer wall of one side of the leg swing U-shaped bracket (3111);
the leg pitch joint (312) comprises a leg pitch U-shaped support (3121), a leg pitch connecting lug plate (3122), a leg pitch rotating shaft (3123) and a leg pitch motor (3124), wherein a web plate of the leg pitch U-shaped support (3121) is fixedly connected with the leg swing connecting lug plate (3112), the opening direction of the leg pitch U-shaped support (3121) is vertically arranged with the opening direction of the leg swing U-shaped support (3111), one end of the leg pitch connecting lug plate (3122) is inserted at the opening of the leg pitch U-shaped support (3121), the leg pitch rotating shaft (3123) is fixedly inserted on the leg pitch connecting lug plate (3122), two ends of the leg pitch rotating shaft (3123) are respectively rotatably connected with two wing plates of the leg pitch U-shaped support (3121), one end of the leg pitch rotating shaft (3123) penetrates through one wing plate and is connected with a motor shaft of the leg pitch motor (3124), and a shell of the leg pitch motor (3124) is installed on the wing plate on one side of the leg pitch U-shaped support (3121).
10. The wall climbing device for power system inspection according to claim 9, wherein: detection subassembly (4) including camera (41), ultrasonic probe (42) and detection support (43), detection support (43) are installed to device support body (1) top front side, detection support (43) are including detecting electric putter (431), connecting crossbeam (432), crossbeam base (433) and crossbeam gland (434), detect electric putter (431) perpendicular to device support body (1) upper surface and arrange, detect piston rod tip of electric putter (431) and install crossbeam base (433), rectangular groove has been seted up on crossbeam base (433) top, connect crossbeam (432) one end to be installed in the rectangular groove of crossbeam base (433), crossbeam gland (434) detain and set up in crossbeam base (433) upper end, crossbeam gland (434) bottom set up with connect crossbeam (432) assorted recess, connect crossbeam (432) front end to be equipped with the probe mounting bracket, a plurality of ultrasonic probes (42) are installed in proper order from left to right equidistance along length direction to the probe mounting bracket bottom, camera (41) are installed at the probe middle part, camera (41) is the wide angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311025381.4A CN116946275A (en) | 2023-08-15 | 2023-08-15 | Wall climbing device for power system inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311025381.4A CN116946275A (en) | 2023-08-15 | 2023-08-15 | Wall climbing device for power system inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116946275A true CN116946275A (en) | 2023-10-27 |
Family
ID=88454717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311025381.4A Withdrawn CN116946275A (en) | 2023-08-15 | 2023-08-15 | Wall climbing device for power system inspection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116946275A (en) |
-
2023
- 2023-08-15 CN CN202311025381.4A patent/CN116946275A/en not_active Withdrawn
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Application publication date: 20231027 |
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