CN204089042U - The polling transmission line walking mechanism of rotary wind type leaping over obstacles - Google Patents

Abstract

The utility model provides a rotor-type transmission line inspection walking mechanism for crossing obstacles, which includes a bearing plate for carrying inspection equipment, and at least two rotors for crossing obstacles are arranged on the bearing plate. There are also at least two walking devices that can reciprocate on the power transmission line and a control device for controlling the action of the rotor and the running device, which can be installed on the power transmission line without workers climbing the pole tower, basically exempting the staff from Climbing operation; and can effectively cross obstacles including poles and towers without manual assistance to cross obstacles, and can accurately identify the distance between obstacles and the walking mechanism to ensure accurate travel across obstacles; Or the potential safety hazards that exist when assisting workers to climb over obstacles.

Description

Rotary Wing Crossing Obstacles Transmission Line Inspection Walking Mechanism

technical field

The utility model relates to the field of electric power inspection, in particular to a rotor-type power transmission line inspection walking mechanism for crossing obstacles.

Background technique

In the power grid, the inspection of transmission lines is extremely important. It can detect foreign objects in transmission lines in time and remove them in time, effectively prevent short-circuit faults caused by foreign objects in transmission lines, and can also detect faults in transmission lines themselves in time.

The traditional transmission line inspection is manual, that is, workers check along the transmission line one by one, but this method is prone to omission of faults in the transmission line, and for areas with harsh environments, it is easy to cause casualties. Therefore, the power grid The staff gradually gave up this transmission line inspection method, and proposed a transmission line inspection device, which greatly improved the inspection efficiency of the transmission line, and reduced the number of staff and casualty accidents, but However, the existing inspection device has the following problems: the existing inspection device still requires staff to climb up and place the inspection device on the transmission line, so that electric shock accidents are still prone to occur during operation; more importantly, The existing transmission line inspection device can only walk between the two towers when walking on the transmission line, and cannot cross the towers. It must be realized by the movement of the staff, even if there is an obstacle between the two towers, such as the anti-vibration hammer , the existing inspection walking mechanism can not be crossed, which has a great impact on the efficiency of inspection, and it cannot completely avoid the risks of staff climbing and electric shock.

Therefore, it is necessary to propose a new transmission line inspection walking mechanism, which can basically exempt staff from climbing operations, effectively avoid safety risks caused by operations such as climbing, and can effectively cross obstacles including poles and towers. Avoid manually crossing obstacles, further reducing the safety risks of workers.

Utility model content

In view of this, the purpose of this utility model is to provide a rotor-type power transmission line inspection walking mechanism that crosses obstacles, which can basically eliminate the need for staff to perform climbing operations, effectively avoid safety risks caused by operations such as climbing, and can effectively Overcoming obstacles including poles and towers, completely avoiding obstacles manually, further reducing the safety risks of workers.

The utility model provides a rotor-type transmission line inspection walking mechanism for crossing obstacles, which includes a bearing plate for carrying inspection equipment, and at least two rotors for crossing obstacles are arranged on the bearing plate. The board is also provided with at least two traveling devices that can reciprocate on the transmission line and a control device for controlling the action of the rotor and the traveling device;

The walking device includes a pulley with a trough structure, a support bar for installing the pulley, a mounting seat for installing the support bar, and a driver. The mounting seat is a plate structure and is perpendicular to the surface of the bearing plate fixedly installed on the bearing plate, the mounting seat is provided with a chute along the extension direction of its length center line, the upper end of the chute is offset to the right of the bearing plate to form an arc-shaped groove; the support rod passes through two A mounting shaft is embedded in the chute and reciprocates up and down under the drive of the driver. The pulley is installed on the upper end of the support rod through the wheel shaft, and a pulley driver drives the pulley to rotate around its own axis;

The rotor is provided with a rotor drive, and the drive, the pulley drive and the rotor drive are connected to the control device.

Further, the mounting base is provided with a locking assembly that locks when the running mechanism is running, and the locking assembly includes a U-shaped locking buckle, a locking shaft, a locking gear, a rack and a connecting plate; the connecting plate and the mounting base The left side of the connecting plate is fixedly connected, the front end of the connecting plate is bent to form a connecting ear perpendicular to the surface of the connecting plate, the locking shaft passes through the connecting ear and can rotate along its own axis, the bottom of the locking buckle It is fixedly connected with the front end of the locking shaft, the locking gear is coaxially fixed at the tail end of the locking shaft, the locking gear is engaged with the rack, the rack is arranged on the connecting plate in a manner perpendicular to the bearing plate and the rack It can reciprocate in the up and down direction, and the rack is driven by the driver to reciprocate in the up and down direction.

Further, the driver is a linear motor, the output end of the driver is provided with a push plate, the rack and the lower end of the support rod are fixedly connected to the push plate, and the driver drives the support rod and the rack to reciprocate up and down simultaneously.

Further, the side wall of the connecting plate is provided with a rack chute, the rack is embedded in the rack chute and can reciprocate in the rack chute, and the rack chute faces the bending of the connecting ear direction.

Further, the control device includes a position detection unit for detecting the corresponding position of the power transmission line and the pulley, an obstacle detection unit for detecting the obstacle in front of the traveling mechanism, and the position detection unit and the obstacle detection unit The output terminal is electrically connected to the control processing unit.

Further, the position detection unit includes at least one sensor group, each sensor group includes three distance sensors, one distance sensor is arranged on the bearing plate and is located on the longitudinal centerline, and the other two distance sensors are arranged on the bearing plate and They are arranged on both sides of the longitudinal centerline of the bearing plate, and the distances from the distance sensors on both sides of the longitudinal centerline to the distance sensors on the centerline are equal, and the three distance sensors are on the same straight line.

Further, the control processing unit includes a pre-processing circuit connected to the output terminals of the position detection unit and obstacle detection unit, a comparison circuit connected to the output terminal of the pre-processing circuit, and a pre-processing circuit connected to the output terminal of the pre-processing circuit. A central processing circuit connected to the output terminal and the output terminal of the comparison circuit, the central processing circuit outputs control instructions to the driver and the rotor driver.

Further, the obstacle detection unit includes an ultrasonic detector and an obstacle distance sensor for detecting obstacles in front of the traveling mechanism, and the output terminals of the ultrasonic detector and the obstacle distance sensor are connected to a central processing circuit.

Further, the control device also includes a remote control unit wirelessly connected to the control processing power supply, the remote control unit includes a remote processing circuit, a display connected to the remote processing circuit, and a keyboard connected to the remote processing circuit; The remote processing circuit is connected with the central processing circuit through a wireless transmission circuit and performs data interaction.

Further, the control device further includes an image detection unit, the image detection unit includes at least one camera and an image processing circuit connected to the camera, and the image processing circuit is connected to the central processing circuit.

Beneficial effects of the utility model: The utility model provides a rotor-type transmission line inspection walking mechanism for crossing obstacles, which can be installed on the transmission line without workers climbing poles and towers, basically eliminating the need for staff to perform climbing operations; and can Effectively cross obstacles including poles and towers without manual assistance to cross obstacles, and can accurately identify the distance between obstacles and walking mechanisms to ensure accurate movement across obstacles; There are potential safety hazards in climbing; the environment adaptability is strong.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the utility model is further described:

Fig. 1 is the structural representation of the utility model.

Fig. 2 is a top view of Fig. 1 .

Fig. 3 is a structural schematic diagram of the mounting seat of the present invention.

Fig. 4 is a control principle block diagram of the utility model.

Fig. 5 is a schematic diagram of distance testing between the distance sensor and the transmission line of the present invention.

Detailed ways

Fig. 1 is a structural schematic diagram of the present utility model, Fig. 2 is a top view in Fig. 1, Fig. 3 is a structural schematic diagram of the mounting seat of the present utility model, and Fig. 4 is a control principle block diagram of the present utility model; as shown in the figure, the utility model Provided is a rotor-type power transmission line inspection walking mechanism for crossing obstacles, including a bearing plate 1 for carrying inspection equipment, and the bearing plate 1 is provided with at least two rotors 15 for crossing obstacles. The board 1 is also provided with at least two walking devices capable of reciprocating movement on the power transmission line and a control device 18 for controlling the action of the rotor 15 and the running devices. In this embodiment, three running devices are used to facilitate stable crossing of obstacles. , and the three traveling devices are arranged at equal intervals and the projection of the circumferential centerline of the chute of the pulley coincides with the longitudinal centerline of the bearing plate, which is beneficial for the traveling mechanism to accurately stay on the target transmission line;

Described running device comprises the pulley 9 of trough structure, is used to install the support rod 8 of pulley 9, is used to install the mount 6 of described support rod 8 and driver 2, and described mount 6 is plate structure and vertical It is fixedly arranged on the bearing plate 1 in the way of the plate surface of the bearing plate 1, and the mounting seat 6 is provided with a chute 5 along the extension direction of its length center line, and the upper end of the chute 5 faces to the right of the bearing plate 6 (That is, the right side shown in Figure 1) is offset to form an arc-shaped groove. As shown in Figure 3, through this structure, the support rod can be deflected when it slides to the upper end of the mounting seat, so that the pulley is separated from the power transmission line, thereby completing the spanning The support rod 8 is embedded in the chute 5 through two installation shafts 4 and reciprocates up and down under the drive of the driver 2, the pulley 9 is installed on the upper end of the support rod 8 through the wheel shaft 16, and is driven by A pulley driver 7 drives the pulley 9 to rotate around its own axis, thereby completing the walking action. The pulley driver is an existing motor, and the up and down described in the present embodiment are the up and down shown in Fig. 1;

The rotor 15 is provided with a rotor driver 19, and the driver 2, the pulley driver 7 and the rotor driver 19 are connected to the control device 18. The utility model can be installed on the power transmission line without the need for workers to climb poles and towers. The staff perform climbing operations; and can effectively cross obstacles including poles and towers without manual assistance at all, and can accurately identify the distance between obstacles and the walking mechanism to ensure accurate travel across obstacles; effectively avoid Potential safety hazards in installing walking mechanisms or assisting workers to climb over obstacles; strong environmental adaptability.

In this embodiment, the mounting base 6 is provided with a locking assembly that locks when the traveling mechanism is running, and the locking assembly includes a U-shaped locking buckle 10, a locking shaft 11, a locking gear 13, a rack 14, and a connecting plate 12. The connecting plate 12 is fixedly connected to the left side of the mounting base 6, the front end of the connecting plate 12 is bent to form a connecting ear 121 perpendicular to the surface of the connecting plate 12, and the locking shaft 11 passes through The connecting ear 121 can rotate along its own axis. The bottom of the locking buckle 10 is fixedly connected to the front end of the locking shaft 11. The locking gear 13 is coaxially fixed at the tail end of the locking shaft 11. The locking gear 13 is connected with the tooth Rack engagement 14, the rack 14 is arranged on the connecting plate 12 in a manner perpendicular to the bearing plate 1 and the rack can reciprocate in the up and down direction, the rack 14 is driven by the driver 2 to reciprocate in the up and down direction, through this The structure can lock the transmission line between the groove of the pulley and the locking buckle of the U-shaped structure, which can effectively prevent the walking mechanism from falling off during the walking process, and has high safety. Moreover, through the above structure, the locking buckle and the support rod can be linked. , it is convenient to lock the traveling mechanism on the power transmission line and separate the locking buckle from the pulley when crossing obstacles, which is convenient for use.

In this embodiment, the driver 2 is a linear motor, the output end of the driver 2 is provided with a push plate 3, the lower end of the rack 14 and the support rod 8 are fixedly connected to the push plate 3 and the driver 2 drives The support rod and the rack reciprocate up and down at the same time. Through the action of the push plate, the locking buckle and the support rod are simultaneously linked, which is convenient to use. Of course, the driver can also use the cylinder, but the mechanism is more complicated when the cylinder is used, and the weight of the walking mechanism will be increased. .

In this embodiment, the side wall of the connecting plate 12 is provided with a rack chute 122, the rack 14 is embedded in the rack chute 122 and can reciprocate in the rack chute 122, the rack The chute 122 faces the bending direction of the connecting ear 121 , through this structure, the smoothness and stability of the rack during movement can be ensured, and the stable linkage between the locking buckle and the support rod can be ensured.

In this embodiment, the control device 18 includes a position detection unit for detecting the corresponding position of the transmission line and the pulley, an obstacle detection unit for detecting the obstacle in front of the traveling mechanism, and the position detection unit and The control processing unit electrically connected to the output end of the obstacle detection unit can reliably control the movement of the traveling mechanism through the function of the control processing unit, and detect the position of the traveling mechanism and the obstacle to ensure smooth crossing of the obstacle.

In this embodiment, the position detection unit includes at least one sensor group, and each sensor group includes three distance sensors, wherein one distance sensor is arranged on the bearing plate and is located on the longitudinal centerline, and the other two distance sensors are arranged on the The bearing plate is arranged on both sides of the longitudinal centerline of the bearing plate, and the distances from the distance sensors on both sides of the longitudinal centerline to the distance sensors on the centerline are equal and the three distance sensors are on the same straight line, wherein the bearing plate The longitudinal centerline of the vertical centerline refers to the centerline in the up-and-down direction shown in Figure 2. The sensor group adopts two groups, as shown in Figure 2. Only when the sensors located on both sides of the longitudinal centerline detect the When the distances between the two sensors are equal and the distance between the sensor on the center line and the transmission line is less than the preset distance, the running mechanism can be controlled to stay on the transmission line stably, as shown in Figure 5, when a=b, and When c<Y, the remote control unit controls the traveling mechanism to accurately and stably stop on the target transmission line, where a and b are the distances from the distance sensors located on both sides of the longitudinal centerline of the bearing plate to the target transmission line, and c is the The distance between the distance sensor on the longitudinal centerline of the board and the target transmission line, Y is the preset distance, which is stored in the comparison circuit, and S is the transmission line.

In this embodiment, the control processing unit includes a pre-processing circuit connected to the output terminals of the position detection unit and obstacle detection unit, a comparison circuit connected to the output terminal of the pre-processing circuit, and a pre-processing circuit connected to the output terminals of the pre-processing circuit. A central processing circuit connected to the output end of the processing circuit and the output end of the comparison circuit, the central processing circuit outputs control instructions to the driver and the rotor driver, the central processing circuit adopts an existing single-chip microcomputer, such as an AVR single-chip microcomputer, and the pre-processing circuit is an existing The circuit includes functions such as amplification, filtering, and analog-to-digital conversion, and can also be a circuit integrated with an amplification circuit, a filtering circuit, and an analog-to-digital conversion circuit.

In this embodiment, the obstacle detection unit includes an ultrasonic detector and an obstacle distance sensor for detecting obstacles in front of the traveling mechanism, and the output terminals of the ultrasonic detector and the obstacle distance sensor are connected to the central processing circuit, through The function of the ultrasonic detector is to detect whether there is an obstacle in front of the traveling mechanism, such as a small obstacle, such as a shock hammer, etc. If the distance is long, the operator cannot clearly and accurately observe the obstacle, and the distance sensor is set on the mounting seat above, it is used to detect the distance between the frontmost installation seat in the walking direction and the obstacle, so that the running mechanism can stay at the most favorable crossing position beside the obstacle. The ultrasonic detector adopts the existing technology and will not be repeated here. .

In this embodiment, the control device further includes a remote control unit wirelessly connected to the control processing power supply, and the remote control unit includes a remote processing circuit, a display connected to the remote processing circuit, and a remote control unit connected to the remote processing circuit. Keyboard; the remote processing circuit is connected with the central processing circuit through a wireless transmission circuit and performs data interaction, wherein the remote control unit is held and operated by a staff member, and the remote processing circuit adopts an existing single-chip microcomputer or a microprocessing circuit, such as an AVR single-chip microcomputer, The remote control unit is also equipped with a memory for storing parameters in the running process to facilitate subsequent analysis. Among them, the display is used to display the parameters and image information in the control process, and the keyboard is used to input control commands. Of course, it can also be used The touch control screen replaces the keyboard and monitor.

In this embodiment, the control device further includes an image detection unit, the image detection unit includes at least one camera and an image processing circuit connected to the camera, the image processing circuit is connected to the central processing circuit, and through the image The function of the detection unit is to transmit the detected image of the transmission line to the remote control unit through the central processing circuit, so that the staff can understand the status of the transmission line. Wherein, the image processing circuit is an existing single-chip microcomputer, such as an AVR single-chip microcomputer.

Wherein the rotor drive adopts a motor, and the above-mentioned electrical equipment all adopts a storage battery for power supply, and of course, an online power-taking device (which is the prior art) can be used to charge the storage battery or directly supply the electrical components.

Working principle of the utility model:

1. When it is first used, the staff will output control commands to the central processing circuit through the remote control unit, the rotor will work, and the traveling mechanism will be lifted to the height position described in the power transmission line, and the staff will gradually adjust the position of the traveling mechanism. position, until the above position where a=b and c<Y, release the support rods, and the three support rods all move downward to ensure that the pulley stays on the target power transmission line accurately, and the rotor stops working after the running mechanism stops firmly;

2. When encountering small obstacles (such as anti-vibration hammer, split wire bracket), etc., the distance sensor installed on the mounting base detects the distance between the obstacle and the traveling mechanism, and the central processing circuit outputs the distance and the image processing unit The image information is transmitted to the remote control unit, and the staff controls the running gear to stay in the best spanning position (the position is determined by the staff based on the image information and the distance from the distance sensor set on the mounting base), and then controls the first running gear Action, the driver drives the support rod to move upward so that the pulley is separated from the transmission line, and at the same time the rack moves upward, and the locking buckle is driven by the rack and the locking wheel to disengage from the pulley. When the support rod moves to the upper end of the chute, due to The offset effect of the chute makes the support rod drive the pulley to deflect, and the pulley is completely deviated from the transmission line. Then the staff remotely outputs the control command and controls the pulley driver action of the other two traveling devices, thereby driving the pulley to move, and the movement The distance is the distance between two walking devices, so as to complete the action of the first walking device crossing the obstacle, and the staff controls the reset of the walking device that has crossed the obstacle, even if the pulley stays on the target transmission line again, and then repeats the above actions until All three running devices cross obstacles.

3. When encountering a large-volume obstacle on the tower, when the traveling mechanism walks to the obstacle, the staff controls the rotor to move again, and the rotation speed of the rotor is sufficient to maintain the current position of the traveling mechanism, and the staff controls the traveling device Disengage from the power transmission line (after disengagement, the support rod of the running device does not reset, the top of the chute), and then the power of the rotor makes the running mechanism cross the obstacle, and then according to the above method, the running mechanism is in a=b and When the position of c<Y, the support rod drives the pulley to reset, stay on the target line again, and continue to the next action.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present utility model without limitation. Although the utility model has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the utility model can be Modifications or equivalent replacements of the technical solutions without departing from the purpose and scope of the technical solutions of the utility model shall be covered by the claims of the utility model.

Claims (10)

1. A rotor-type transmission line inspection walking mechanism for crossing obstacles, characterized in that: it includes a bearing plate for carrying inspection equipment, and the bearing plate is provided with at least two rotors for crossing obstacles, the There are also at least two running devices capable of reciprocating movement on the power transmission line and a control device for controlling the action of the rotor and the running device on the bearing plate; The walking device includes a pulley with a trough structure, a support bar for installing the pulley, a mounting seat for installing the support bar, and a driver. The mounting seat is a plate structure and is perpendicular to the surface of the bearing plate fixedly installed on the bearing plate, the mounting seat is provided with a chute along the extension direction of its length center line, the upper end of the chute is offset to the right of the bearing plate to form an arc-shaped groove; the support rod passes through two A mounting shaft is embedded in the chute and reciprocates up and down under the drive of the driver. The pulley is installed on the upper end of the support rod through the wheel shaft, and a pulley driver drives the pulley to rotate around its own axis; The rotor is provided with a rotor drive, and the drive, the pulley drive and the rotor drive are connected to the control device. 2. According to claim 1, the rotor-type transmission line inspection walking mechanism for crossing obstacles is characterized in that: the mounting seat is provided with a locking assembly that locks when the walking mechanism is running, and the locking assembly includes a U-shaped structure. Locking buckle, locking shaft, locking gear, rack and connecting plate; the connecting plate is fixedly connected to the left side of the mounting seat, and the front end of the connecting plate is bent to form a connecting ear perpendicular to the surface of the connecting plate , the locking shaft passes through the connecting ear and can rotate along its own axis, the bottom of the locking buckle is fixedly connected to the front end of the locking shaft, the locking gear is coaxially fixed at the tail end of the locking shaft, and the locking gear and The racks are engaged, the racks are arranged on the connecting plate in a manner perpendicular to the bearing plate and the racks can reciprocate in the up and down direction, and the racks are driven by the driver to reciprocate in the up and down directions. 3. According to claim 2, the rotor-type transmission line inspection walking mechanism for crossing obstacles is characterized in that: the driver is a linear motor, the output end of the driver is provided with a push plate, and the rack and the support rod Both lower ends are fixedly connected with the push plate, and the driver drives the support rod and the rack to reciprocate up and down simultaneously. 4. According to claim 3, the rotor-type power transmission line inspection walking mechanism for crossing obstacles is characterized in that: the side wall of the connecting plate is provided with a rack chute, and the rack is embedded in the rack chute and It can reciprocate in the rack sliding groove, and the rack sliding groove faces the bending direction of the connecting ear. 5. According to any one of claims 1-4, the rotor-type obstacle-crossing power transmission line inspection walking mechanism is characterized in that: the control device includes a position detection unit for detecting the corresponding positions of the power transmission line and the pulley, An obstacle detection unit for detecting obstacles ahead of the traveling mechanism, and a control processing unit electrically connected to the position detection unit and the output end of the obstacle detection unit. 6. According to claim 5, the rotor-type obstacle-crossing transmission line inspection walking mechanism is characterized in that: the position detection unit includes at least one sensor group, and each sensor group includes three distance sensors, wherein one distance sensor is set On the bearing plate and located on the longitudinal centerline, the other two distance sensors are arranged on the bearing plate and arranged on both sides of the longitudinal centerline of the bearing plate, and the distance sensors located on both sides of the longitudinal centerline are connected to the distance sensors located on the centerline. The distances from the distance sensors are equal and the three distance sensors are on the same straight line. 7. According to claim 6, the rotor-type obstacle-crossing power transmission line inspection walking mechanism is characterized in that: the control processing unit includes a pre-processing circuit connected to the output terminals of the position detection unit and the obstacle detection unit , a comparison circuit connected to the output end of the pre-processing circuit, a central processing circuit connected to the output end of the pre-processing circuit and the output end of the comparison circuit, and the central processing circuit outputs control instructions to the driver and the rotor driver. 8. According to claim 7, the rotor-type power transmission line inspection traveling mechanism that crosses obstacles, is characterized in that: the obstacle detection unit includes an ultrasonic detector and an obstacle distance sensor for detecting obstacles in front of the traveling mechanism, The output terminals of the ultrasonic detector and the obstacle distance sensor are connected with the central processing circuit. 9. According to claim 8, the rotor-type obstacle-crossing power transmission line inspection walking mechanism is characterized in that: the control device also includes a remote control unit wirelessly connected to the control processing power supply, and the remote control unit includes a remote processing circuit , a display connected to the remote processing circuit and a keyboard connected to the remote processing circuit; the remote processing circuit is connected to the central processing circuit through a wireless transmission circuit and performs data interaction. 10. According to claim 9, the rotor-type obstacle-crossing power transmission line inspection walking mechanism is characterized in that: the control device also includes an image detection unit, and the image detection unit includes at least one camera and a camera connected to the camera An image processing circuit, the image processing circuit is connected to the central processing circuit.