CN212182960U

CN212182960U - Overhead cable inspection trolley based on vision

Info

Publication number: CN212182960U
Application number: CN202020315326.4U
Authority: CN
Inventors: 吴禹辰; 陆涵; 吕玺; 程文译; 杨博成
Original assignee: Jiangsu Yixing Middle School
Current assignee: Jiangsu Yixing Middle School
Priority date: 2020-03-14
Filing date: 2020-03-14
Publication date: 2020-12-18
Anticipated expiration: 2030-03-14

Abstract

Dolly is patrolled and examined to overhead cable based on vision. Relate to the overhead cable equipment field of patrolling and examining. The utility model provides a structure is exquisite, easy operation, motion stability is good and long service life, and portability video shooting equipment carries out the high efficiency to the overhead cable and patrols and examines during the use to can effectively avoid being patrolled and examined the dolly by the overhead cable of the winding based on vision of debris on the overhead cable. The overhead cable inspection trolley based on vision is characterized by comprising a case and a travelling mechanism, wherein one side of the case facing to the advancing direction is fixedly connected with a camera for shooting the outer layer of a cable; the rotating shaft is detachably connected with the travelling wheel through an anti-winding assembly; the anti-winding assembly comprises an inner nut, an inner plane bearing, an outer plane bearing and an outer nut. The device has the advantages of exquisite structure, simple operation, good motion stability, long service life and the like on the whole.

Description

Overhead cable inspection trolley based on vision

Technical Field

The utility model relates to an overhead cable inspection equipment field.

Background

In recent years, with the construction of a backbone network of a high-voltage line, more and more high-voltage transmission lines are in operation in a hanging mode, and meanwhile, operation defects are gradually exposed, for example, broken strands of outer layer strands of an OPGW optical fiber composite overhead ground wire with high frequency are threatened to communication safety, and the broken strands of the outer layer strands are seriously threatened to the safety of the transmission lines due to the reduction of the mechanical strength of the line along with the increase of the length of the broken strands. According to survey statistics on the strand breakage condition of the power transmission line, the strand breakage generally means that strand breakage occurs on outer layer monofilaments, and therefore a video image inspection mode can be adopted for inspection on the strand breakage condition of the power transmission line.

At present, the conventional inspection method is a manual inspection method, the method has large workload, hard conditions and low inspection precision, and particularly, inspection of mountainous areas and lines crossing large rivers is difficult, and even some inspection projects are difficult to finish by a conventional method. In order to achieve the purpose of comprehensive inspection, the inspection method for the helicopter aerial survey is provided, the precision and the efficiency are high, but potential safety hazards exist due to the influence of conditions such as geographical conditions, climatic conditions and the like of an inspection area, and the line inspection cost is high. In addition, the inspection equipment which directly walks on the power transmission line for detection also appears, but the defects of weak obstacle-crossing capability, poor cruising ability and the like generally exist, and particularly, sundries (kite lines, cotton lines, fishing lines and the like) on the overhead cable are wound on the walking wheels of the inspection equipment along with the walking of the inspection equipment, so that great influence is brought to the normal use of the inspection equipment.

Therefore, those skilled in the art need to research and develop a traveling device capable of traveling on the line to inspect the operation status of the line, having no blind area, high precision, high efficiency, strong obstacle-crossing capability, strong cruising capability and relatively low cost, to find the damage of the power transmission line to the broken strand in time, to effectively avoid the accident caused by the damage of the broken strand of the power transmission line, and to ensure the safe operation of the communication of the power system.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to above problem, provided a structure is exquisite, easy operation, the good and long service life of motion stability, the portability video shooting equipment carries out the high efficiency to the overhead cable and patrols and examines during the use to can effectively avoid being patrolled and examined the dolly by the overhead cable of the winding overhead cable based on vision of debris on the overhead cable.

The technical scheme of the utility model is that: the overhead cable inspection trolley based on vision is characterized by comprising a case and a travelling mechanism, wherein one side of the case facing to the advancing direction is fixedly connected with a camera for shooting the outer layer of a cable;

the walking mechanism comprises a fixed seat, a motor, a transmission assembly, a pair of rotating shafts and four walking wheels, the fixed seat is fixedly connected to the top surface of the case, the motor is fixedly connected inside the case, the pair of rotating shafts are parallel to each other and are equal in height, the rotating shafts penetrate through the upper portion of the fixed seat, two ends of each rotating shaft extend out of the fixed seat, the four walking wheels are respectively detachably connected to the end heads of the two rotating shafts, and the motor drives the two rotating shafts to rotate around the axes of the motor through the transmission assembly;

the rotating shaft is detachably connected with the travelling wheel through an anti-winding assembly;

the anti-winding assembly comprises an inner nut, an inner plane bearing, an outer plane bearing and an outer nut, wherein the rotating shaft is provided with threads, the inner plane bearing is sleeved with the rotating shaft and is positioned in the fixed seat, the inner nut is connected to the rotating shaft through the threads, and the inner plane bearing is tightly pressed on the inner wall of the fixed seat through the inner nut; outer flat bearing, walking wheel, outer nut cup joint in proper order and stretch out the end department of fixing base at the rotation axis, outer nut and rotation axis threaded connection to compress tightly outer flat bearing on the outer wall of fixing base through outer nut, and make walking wheel and rotation axis keep synchronous revolution.

An inner rotation stopping nut is further arranged on one side of the inner nut, back to the inner plane bearing, and is in threaded connection with the rotating shaft and attached to the inner nut;

and one side of the outer nut, which is back to the travelling wheel, is also provided with an outer rotation stopping nut, and the outer rotation stopping nut is in threaded connection with the rotating shaft and is attached to the outer nut.

At least one gasket is arranged between the outer plane bearing and the outer wall of the fixed seat.

The transmission assembly comprises a first transmission shaft, a pinion, a first belt and a pair of large gears, the two ends of the first transmission shaft are hinged in the fixing seat and are parallel to the pair of rotating shafts, the output shaft of the motor is parallel to the first transmission shaft and is located below the first transmission shaft, the output shaft of the motor and the first transmission shaft are in linkage through the belt, the pinion is fixedly connected to the first transmission shaft and is coaxial with the first transmission shaft, the large gears are fixedly connected to the pair of rotating shafts respectively and are coaxial with the pair of rotating shafts respectively, and the pinion is located between the pair of large gears and two sides of the small gear are in mesh with the two large gears respectively.

The walking mechanism further comprises an obstacle crossing mechanism, the obstacle crossing mechanism comprises a rotating shaft, a power transmission assembly, a pair of obstacle crossing wheels, a pair of sliding blocks and a pair of springs, a pair of vertically arranged sliding holes are formed in two sides of the fixed seat, the pair of sliding blocks are respectively connected in the sliding holes in a sliding mode, the springs are vertically arranged, and two ends of each spring are respectively fixedly connected between the bottom of each sliding block and the bottom of each sliding hole;

the two ends of the rotating shaft penetrate through the sliding blocks, and the two obstacle crossing wheels are respectively detachably connected to the end heads of the two sides of the rotating shaft extending out of the fixed seat and positioned below the walking wheels;

the power transmission assembly is connected between the output shaft of the motor and the rotating shaft, so that the output shaft of the motor and the rotating shaft keep synchronous rotation.

The obstacle crossing wheel is characterized in that a plane bearing is arranged between the obstacle crossing wheel and the sliding block, one side, far away from the fixed seat, of the obstacle crossing wheel is provided with a pair of fastening nuts, the fastening nuts are connected to the rotating shaft through threads, the fastening nuts are mutually attached, the plane bearing is tightly pressed on the surface of the sliding block through the fastening nuts, and the obstacle crossing wheel and the rotating shaft are enabled to keep synchronous rotation.

The power transmission assembly comprises a second transmission shaft, a second belt, a second connecting rod, a third belt and a third connecting rod, the second transmission shaft is positioned between the output shaft of the motor and the rotating shaft and is parallel to the output shaft of the motor and the rotating shaft, one end of the second connecting rod is hinged with the output shaft of the motor, the other end of the second connecting rod is hinged with the second transmission shaft, one end of the third connecting rod is hinged with the rotating shaft, and the other end of the third connecting rod is hinged with the second;

the output shaft of the motor is in linkage with the second transmission shaft through the second belt, and the second transmission shaft is in linkage with the rotating shaft through the third belt.

The utility model discloses during the use, can arrange the present case between two adjacent aerial [ insulated ] line cables to make four walking wheel carriers that divide in the fixing base both sides establish on two adjacent aerial [ insulated ] line cables, afterwards, can be under the condition that keeps the camera to open, remote control motor operation (the concrete implementation of remote control motor belongs to the conventional technical means among the prior art, consequently, no longer describe here in the present case), thereby it is rotatory to drive four walking wheels under transmission assembly's effect, and then the realization is patrolled and examined the walking of dolly on aerial [ insulated ] line cable. And realized carrying video shooting equipment through the antiwind subassembly that adds and high-efficiently patrolling and examining the overhead cable to effectively avoid being twined by debris on the overhead cable purpose, have on the whole that the structure is exquisite, easy operation, motion stability is good and advantages such as long service life.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of the present invention,

figure 3 is a top view of figure 2,

figure 4 is a cross-sectional view taken along line a-a of figure 2,

figure 5 is a cross-sectional view taken along line D-D of figure 3,

figure 6 is a cross-sectional view taken along line B-B of figure 2,

FIG. 7 is a cross-sectional view taken along line C-C of FIG. 3;

in the figure, 1 is a case, 10 is a camera;

2, a travelling mechanism, 21, a fixed seat, 22, a motor, 23, a transmission assembly, 231, a first transmission shaft, 232, a pinion, 233, a first belt, 234, a gearwheel, 24, a rotating shaft and 25, wherein the first transmission shaft is a belt;

261 is an inner nut, 262 is an inner flat bearing, 263 is an outer flat bearing, 264 is an outer nut, 265 is an inner rotation-stopping nut, 266 is an outer rotation-stopping nut, 267 is a washer;

3 is obstacle crossing mechanism, 31 is a rotating shaft, 32 is a power transmission component, 321 is a transmission shaft II, 322 is a belt II, 323 is a connecting rod II, 324 is a belt III, 325 is a connecting rod III, 33 is an obstacle crossing wheel, 331 is a plane bearing, 332 is a fastening nut, 34 is a sliding block, and 35 is a spring.

Detailed Description

In order to clearly explain the technical features of the present patent, the following detailed description of the present patent is provided in conjunction with the accompanying drawings.

As shown in fig. 1-7, the utility model comprises a case 1 and a traveling mechanism 2, a battery, a signal transmission device, a data storage device and the like are accommodated in the case, and as shown in fig. 1, a camera 10 for shooting the outer layer of a cable is fixedly connected to one side of the case 1 facing to the advancing direction, so that whether the problems of monofilament strand breakage and the like occur in the subsequent judgment can be realized; the aspects of signal transmission, operation control, arrangement of electric wires or signal wires and the like of the camera disclosed in the present application belong to conventional technical means in the prior art, are not technical solutions to be protected by the present application, and are unrelated to the technical problems to be solved in the present application, so that the details are not repeated in the present application;

the travelling mechanism 2 comprises a fixed seat 21, a motor 22, a transmission assembly 23, a pair of rotating shafts 24 and four travelling wheels 25, the fixed seat 21 is fixedly connected to the top surface of the case 1, the motor 22 is fixedly connected in the case 1, the pair of rotating shafts 24 are parallel to each other and have the same height, the rotating shafts 24 penetrate through the upper part of the fixed seat 21, two ends of each rotating shaft 24 extend out of the fixed seat 21, the four travelling wheels 25 are respectively and detachably connected to the ends of the two rotating shafts 24, and the motor 22 drives the two rotating shafts 24 to rotate around the axes of the motor 22 through the transmission assembly 23;

the rotating shaft 24 is detachably connected with the traveling wheels 25 through an anti-winding assembly;

the anti-winding assembly comprises an inner nut 261, an inner plane bearing 262, an outer plane bearing 263 and an outer nut 264, wherein the rotating shaft 24 is provided with threads, the inner plane bearing 262 is sleeved with the rotating shaft 24 and is positioned in the fixed seat 21, the inner nut 261 is connected to the rotating shaft 24 through threads, and the inner plane bearing 262 is pressed on the inner wall of the fixed seat 21 through the inner nut 261; the outer plane bearing 263, the traveling wheel 25 and the outer nut 264 are sequentially sleeved at the end of the rotating shaft 24 extending out of the fixed seat 21, and the outer nut 264 is in threaded connection with the rotating shaft 24, so that the outer plane bearing 263 is tightly pressed on the outer wall of the fixed seat 21 through the outer nut 264, and the traveling wheel 25 and the rotating shaft 24 keep synchronous rotation. Like this, will realize the walking wheel smoothly, the rotation axis is synchronous to be rotary motion for the fixing base while, through the arrangement of antiwind subassembly, effectively filled up the space between walking wheel and the fixing base to the space between rotation axis and the fixing base has been blocked, thereby has effectively avoided the debris on the aerial [ insulated ] cable to twine the possibility in the rotation axis, has avoided phenomenons such as equipment card that the operation in-process appears to hinder.

An inner rotation stopping nut 264 is further arranged on one side, back to the inner plane bearing, of the inner nut 261, and the inner rotation stopping nut 265 is in threaded connection with the rotating shaft 24 and is attached to the inner nut 261; thereby playing a good role in stopping rotation for the inner nut.

An outer rotation stopping nut 266 is further arranged on one side of the outer nut 264, which is back to the travelling wheel, and the outer rotation stopping nut 266 is in threaded connection with the rotating shaft 24 and is attached to the outer nut 264. Thereby having good rotation stopping function for the outer nut.

At least one gasket 267 is further disposed between the outer plane bearing 263 and the outer wall of the fixed seat 21. Thereby can carry out appropriate adjustment to the interval between two walking wheels on the same root rotation axis according to the interval of adjacent cable to make the dolly of patrolling and examining can be better, more smooth walk on the overhead cable.

As shown in fig. 4-5, the transmission assembly 23 includes a first transmission shaft 231, a pinion 232, a first belt 233, and a pair of bull gears 234, two ends of the first transmission shaft 231 are hinged in the fixing base 21 and are parallel to the pair of rotating shafts 24, an output shaft of the motor 22 is parallel to the first transmission shaft 231 and is located below the first transmission shaft 231, the output shaft of the motor 22 and the first transmission shaft 231 keep linkage through the first belt 233, the pinion 232 is fixedly connected to the first transmission shaft 231 and is coaxial with the first transmission shaft 231, the pair of bull gears 234 are respectively and fixedly connected to the pair of rotating shafts 24 and are respectively coaxial with the pair of rotating shafts 24, the pinion 232 is located between the pair of bull gears 234, and two sides of the pinion 232 are respectively kept engaged with the two bull gears 234. Therefore, after the motor is started, the rotating motion of the output shaft of the motor drives the transmission shaft to rotate, so that the pair of rotating shafts is driven to rotate under the transmission of the pinion and the gearwheel, and the walking of the inspection trolley on the overhead cable is realized.

People also find that the routing inspection equipment has the capability of crossing or climbing obstacles in many cases for sundries on the overhead cable in practical use, so the scheme also improves the following steps:

the walking mechanism further comprises an obstacle crossing mechanism 3, the obstacle crossing mechanism 3 comprises a rotating shaft 31, a power transmission assembly 32, a pair of obstacle crossing wheels 33, a pair of sliding blocks 34 and a pair of springs 35, a pair of vertically arranged sliding holes are formed in two sides of the fixed seat 21, the pair of sliding blocks 34 are respectively connected in the sliding holes in a sliding mode, clamping grooves matched with the wall thickness of the fixed seat are formed in the surfaces of the two sides of each sliding block, the sliding blocks can only make linear relative motion with the fixed seat in the vertical direction, the springs 35 are vertically arranged, and two ends of each spring 35 are respectively and fixedly connected between the bottom of each sliding block 34 and the bottom of each sliding hole;

the two ends of the rotating shaft 31 penetrate through the sliding blocks 34, and the two obstacle crossing wheels 33 are respectively detachably connected to the end heads of the two sides of the rotating shaft 31 extending out of the fixed seat 21 and positioned below the travelling wheels 25;

the power transmission assembly 32 is connected between the output shaft of the motor 22 and the rotating shaft 31 so that the output shaft of the motor 22 and the rotating shaft 31 keep rotating synchronously. Therefore, after the motor is started, the rotating motion of the output shaft of the motor drives the rotating shaft to rotate, so that the pair of obstacle crossing wheels is driven to rotate, the obstacle crossing wheels are attached to the bottom of the cable in a normal state due to the existence of the springs, and can move downwards relative to the walking wheels when meeting sundries or obstacles, so that enough space is reserved between the obstacle crossing wheels and the walking wheels for the sundries to pass through. Finally, the obstacle crossing capability of the inspection trolley is remarkably improved, so that the case can have a better actual use effect.

A plane bearing 331 is arranged between the obstacle crossing wheel 33 and the sliding block, a pair of fastening nuts 332 is arranged on one side of the obstacle crossing wheel 33, which is far away from the fixed seat 21, the pair of fastening nuts 332 are connected on the rotating shaft 31 through threads, the pair of fastening nuts 332 are mutually attached, the plane bearing 331 is pressed on the surface of the sliding block 34 through the pair of fastening nuts 332, and the obstacle crossing wheel 33 and the rotating shaft 31 are enabled to keep synchronous rotation. Like this, will realize smoothly that obstacle-surmounting wheel, pivot are synchronous to be rotary motion for the fixing base in, through arrangement of plane bearing and fastening nut, effectively filled up the space between obstacle-surmounting wheel and the slider to the space between pivot and the slider has been blocked, thereby effectively avoided the debris on the overhead cable to twine in the epaxial possibility of changeing, avoided the phenomenon such as equipment card that appears in the operation process hinders.

In order to adjust the distance between the obstacle crossing wheels, a thickened gasket sleeved with the rotating shaft can be properly arranged between the plane bearing and the sliding block.

In order to keep the continuity of power transmission between the output shaft of the motor and the rotating shaft and avoid the inspection trolley being overhead by sundries, the scheme also makes the following improvements on the power transmission mechanism:

the power transmission assembly 32 comprises a second transmission shaft 321, a second belt 322, a second connecting rod 323, a third belt 324 and a third connecting rod 325, the second transmission shaft 321 is positioned between the output shaft of the motor 22 and the rotating shaft 31 and is parallel to the output shaft and the rotating shaft, one end of the second connecting rod 323 is hinged with the output shaft of the motor 22, the other end of the second connecting rod 323 is hinged with the second transmission shaft 321, one end of the third connecting rod 325 is hinged with the rotating shaft 31, and the other end of the third connecting rod is hinged with the second transmission shaft 321;

the output shaft of the motor 22 and the second transmission shaft 321 are kept linked through a second belt 322, and the second transmission shaft 321 and the rotating shaft 31 are kept linked through a third belt 324. The specific transmission ratio among the three can be controlled by controlling the size of the belt wheel as required as shown in figures 6-7. Therefore, due to the existence of the second connecting rod and the second belt, stable power transmission is kept between the output shaft of the motor and the second transmission shaft; due to the existence of the third connecting rod and the third belt, stable power transmission is kept between the second transmission shaft and the rotating shaft; therefore, even if the inspection trolley is in the obstacle crossing process, the continuity of power transmission between the output shaft of the motor and the rotating shaft can be effectively ensured, and the inspection trolley is prevented from being overhead by sundries.

In order to make the action of the power transmission assembly more stable, the following optimization is also made on the power transmission assembly 32;

the power transmission assembly 32 further comprises an elastic pull rope, one end of the elastic pull rope is fixedly connected to the top end of the second connecting rod 323, and the other end of the elastic pull rope is fixedly connected to the top of the inner wall of the case 1. Thereby "pull" the top of connecting rod two through the elasticity stay cord for power transmission assembly keeps better motion stability.

At least one arc-shaped sliding groove is formed in the side wall of the case 1, the center line of the arc-shaped sliding groove takes the axis of the motor as the center of a circle, and the end of the second transmission shaft 321 penetrates through the arc-shaped sliding groove and can slide back and forth along the arc-shaped sliding groove under the driving of the up-and-down motion of the obstacle crossing wheel 33. The motion of the second transmission shaft is more stable.

The present invention has many specific implementation ways, and the above description is only the preferred embodiment of the present invention, it should be noted that, for those skilled in the art, a plurality of improvements can be made without departing from the principles of the present invention, and these improvements should also be regarded as the protection scope of the present invention.

Claims

1. The overhead cable inspection trolley based on vision is characterized by comprising a case and a travelling mechanism, wherein one side of the case facing to the advancing direction is fixedly connected with a camera for shooting the outer layer of a cable;

2. The vision-based overhead cable inspection trolley according to claim 1, wherein an inner rotation stopping nut is further arranged on one side of the inner nut, which is opposite to the inner planar bearing, and is in threaded connection with the rotating shaft and attached to the inner nut;

3. The vision-based overhead cable inspection trolley according to claim 1, wherein at least one spacer is further disposed between the outer planar bearing and an outer wall of the holder.

4. The dolly is patrolled and examined to overhead cable based on vision, its characterized in that, drive assembly includes transmission shaft one, pinion, belt one and a pair of gear wheel, the both ends of transmission shaft one articulate in the fixing base, and parallel with a pair of rotation axis, the output shaft of motor is parallel with transmission shaft one, and is in the below of transmission shaft one, the output shaft of motor and transmission shaft one keep the linkage through the belt, pinion fixed connection is one on the transmission shaft, and with the transmission shaft coaxial center, it is a pair of the gear wheel respectively fixed connection on a pair of rotation axis, and respectively with a pair of rotation axis coaxial center, the pinion is between a pair of gear wheel, and the both sides of pinion keep meshing with two gear wheels respectively.

5. The vision-based overhead cable inspection trolley according to claim 1, wherein the traveling mechanism further comprises an obstacle crossing mechanism, the obstacle crossing mechanism comprises a rotating shaft, a power transmission assembly, a pair of obstacle crossing wheels, a pair of sliding blocks and a pair of springs, a pair of vertically arranged sliding holes are formed in two sides of the fixed seat, the pair of sliding blocks are respectively slidably connected in the sliding holes, the springs are vertically arranged, and two ends of each spring are respectively and fixedly connected between the bottom of each sliding block and the bottom of each sliding hole;

6. The vision-based overhead cable inspection trolley according to claim 5, wherein a flat bearing is arranged between the obstacle crossing wheel and the sliding block, one side of the obstacle crossing wheel, which is far away from the fixed seat, is provided with a pair of fastening nuts, the pair of fastening nuts are connected to the rotating shaft through threads, the pair of fastening nuts are attached to each other, the flat bearing is pressed on the surface of the sliding block through the pair of fastening nuts, and the obstacle crossing wheel and the rotating shaft are enabled to keep synchronous rotation.

7. The vision-based overhead cable inspection trolley according to claim 5, wherein the power transmission assembly comprises a second transmission shaft, a second belt, a second connecting rod, a third belt and a third connecting rod, the second transmission shaft is located between the output shaft of the motor and the rotating shaft and is parallel to the output shaft of the motor and the rotating shaft, one end of the second connecting rod is hinged to the output shaft of the motor, the other end of the second connecting rod is hinged to the second transmission shaft, one end of the third connecting rod is hinged to the rotating shaft, and the other end of the third connecting rod is hinged to the second transmission shaft;