WO2021082367A1

WO2021082367A1 - High-voltage line spraying device

Info

Publication number: WO2021082367A1
Application number: PCT/CN2020/085891
Authority: WO
Inventors: 贾绍春; 史锋; 李方; 薛家驹; 吴积贤; 樊广棉; 张扬勇
Original assignee: 广东科凯达智能机器人有限公司
Priority date: 2019-10-28
Filing date: 2020-04-21
Publication date: 2021-05-06
Also published as: CN110639742A

Abstract

A high-voltage line spraying device, comprising: a spraying machine body, the spraying machine body being connected to a flight driving device (2); the flight driving device (2) is configured to drive the spraying machine body to fly, so as to move the spraying machine body to a member to be sprayed, or move the spraying machine body away from a member to be sprayed. When the device is to be installed on a line or removed from the line, the device can be installed on the line or removed from the line merely by means of a flight driving device without the need for a worker to climb the tower to install the device on the power transmission line or remove the device from the power transmission line, thereby improving the working efficiency and safety of a worker.

Description

High-voltage line spraying equipment

Cross-reference to related applications

This application claims the priority of the Chinese patent application with the application number 201911034385.2 and the name "High-voltage line spraying equipment" filed with the Chinese Patent Office on October 28, 2019, the entire content of which is incorporated into this application by reference.

Technical field

This application relates to the field of paint spraying, and in particular to a high-voltage line spraying equipment.

Background technique

When the high-voltage line spraying equipment in the prior art is on-line and off-line, workers are required to "climb the tower", that is, to climb the transmission line tower (or tower and similar facilities), and install the high-voltage line spraying equipment on the transmission line. Or remove it from the transmission line, so that the work efficiency of the staff is low, and there is a great safety hazard when the staff climbs the tower.

Summary of the invention

The purpose of this application includes providing a high-voltage line spraying equipment.

The high-voltage line spraying equipment provided by the present application includes: a spraying machine body with a flying drive device connected to the spraying machine body;

The flying drive device is configured to drive the sprayer body to fly, so as to move the sprayer body to the component to be sprayed, or to remove the sprayer body from the component to be sprayed.

Optionally, the high-voltage line spraying equipment further includes a controller;

The flying drive device is wirelessly connected to the controller, and the controller is configured to control the flying drive device to take off or land, so as to drive the sprayer body to move to the component to be sprayed, or to move the sprayer body Remove from the component to be sprayed.

Optionally, the controller is a remote controller, a receiver is provided on the flight driving device, and the controller and the receiver are wirelessly connected.

Optionally, the flight driving device is a multi-axis aircraft, the multi-axis aircraft is fixedly connected with the sprayer body, and the controller is wirelessly connected with the multi-axis aircraft.

Optionally, the multi-axis aircraft is a four-axis aircraft.

Optionally, the high-voltage line spraying equipment further includes a positioning detection mechanism;

The positioning detection mechanism is arranged on the flight driving device, and the positioning detection mechanism is wirelessly connected to the controller. The positioning detection mechanism is configured to detect the flight environment information of the flight driving device and connect the flight The environmental information is transferred to the controller.

Optionally, the detection of the flight environment information of the flight driving device by the positioning detection mechanism includes detection of the position information of the power transmission line and/or the ground.

Optionally, the positioning detection mechanism is a camera, and a display screen is provided on the controller;

The controller is connected to the display screen, and the controller is configured to transmit picture information taken by the camera to the display screen.

Optionally, the spraying machine body includes a frame, a running mechanism and a spraying device;

The walking mechanism and the frame body are respectively connected with the flight driving device, and the spraying device is arranged on the frame body;

The walking mechanism is wirelessly connected to the controller, the walking mechanism is configured to be erected on a power transmission line, and the controller is configured to control the motion of the walking mechanism so that the walking mechanism drives the frame along the The power transmission line travels;

The spraying device is wirelessly connected with the controller, and the controller is configured to control the spraying device to spray paint to the power transmission line.

Optionally, the traveling mechanism includes a traveling motor, a motor base and a traveling wheel;

Wheel grooves are provided on the walking wheels;

The traveling motor is connected to the motor base, the motor base is connected to the body of the flying drive device, the drive shaft of the traveling motor is connected to the traveling wheels, and the wheel groove is configured to be connected to the power transmission Line contact.

Optionally, the frame body includes a first fixing frame and a second fixing frame;

The upper end of the first fixing frame is connected with the fuselage of the flying drive device, the upper end of the second fixing frame is connected with the fuselage of the flying drive device, and the walking wheels are located on the first fixing frame and Between the second fixing frames, and the first fixing frame, the traveling wheel and the second fixing frame form an inverted V-shaped structure;

The distance between the upper end of the first fixing frame and the upper end of the second fixing frame is smaller than the distance between the lower end of the first fixing frame and the lower end of the second fixing frame.

Optionally, a first baffle is provided on the side of the first fixing frame close to the second fixing frame, and a second stop is provided on the side of the second fixing frame close to the first fixing frame. board;

The traveling wheel is located between the first baffle and the second baffle, and the first baffle, the traveling wheel and the second baffle form an inverted V-shaped structure;

The distance between the upper end of the first baffle and the upper end of the second baffle is smaller than the distance between the lower end of the first baffle and the lower end of the second baffle.

Optionally, the spraying device includes two paint tanks, a pump, two conveying pipes, and a spraying pipe;

The two paint tanks are respectively arranged on the first fixing frame and the second fixing frame, and the two paint tanks are respectively connected to the pump through two conveying pipes, and the pump is connected to the pump. The spray pipe is connected, and the spray pipe is configured to spray paint on the power transmission line.

Optionally, the pump is configured to extract paint from the two paint tanks and deliver the paint to the spray pipe, wherein the spray pipe is arc-shaped, and atomizing nozzles are evenly arranged on the spray pipe.

Optionally, the high-voltage line spraying equipment further includes a locking mechanism;

The locking mechanism is arranged on a side of the body close to the frame, and the locking mechanism is connected to the body, the controller is wirelessly connected to the locking mechanism, and the controller is configured to control The locking mechanism operates to lock the high-voltage line spraying equipment with the power transmission line.

Optionally, the locking mechanism includes an outer sleeve, an inner sleeve, a self-locking motor and a connecting rod;

The outer sleeve and the self-locking motor are respectively fixedly connected to the body, the outer sleeve and the inner sleeve are both arc-shaped structures, and the inner side of the outer sleeve is provided with a walking hole along the length direction;

The output shaft of the self-locking motor is connected to one end of the connecting rod, the other end of the connecting rod is connected to the inner sleeve, the connecting rod penetrates the walking hole, and the controller is connected to the The self-locking motor is wirelessly connected, and the controller is configured to control the forward or reverse rotation of the self-locking motor to drive the connecting rod to rotate around the self-locking motor to drive the inner sleeve to open the The outer sleeve or the outer sleeve is closed.

Optionally, the locking mechanism further includes a first limit switch and a second limit switch;

The first limit switch is arranged on the inner side of the first end of the outer sleeve, the second limit switch is arranged on the inner side of the second end of the outer sleeve, and the first limit switch and the second limit switch are The position switches are respectively configured to limit the rotation position of the connecting rod to limit the locking mechanism to be in a locked state or an open state.

Optionally, a power supply device is provided on the frame body, and the power supply device is respectively connected with the flight driving device, the pump, the walking motor, and the self-locking motor.

Description of the drawings

In order to more clearly illustrate the specific embodiments of this application or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the specific embodiments or the description of the prior art. Obviously, the appendix in the following description The drawings are some embodiments of the application. For ordinary workers in the field, other drawings can be obtained based on these drawings without creative work.

Figure 1 is a schematic structural diagram of a high-voltage line spraying equipment provided by an embodiment of the application;

2 is a schematic structural diagram of a high-voltage line spraying equipment provided by another embodiment of the application;

Figure 3 is a front view of a high-voltage line spraying equipment provided by an embodiment of the application;

Figure 4 is an enlarged view of A in Figure 3;

Figure 5 is a side view of the high-voltage line spraying equipment provided by an embodiment of the application;

Figure 6 is a top view of a high-voltage line spraying equipment provided by an embodiment of the application;

FIG. 7 is a schematic structural diagram of a walking mechanism in a high-voltage line spraying equipment provided by an embodiment of the application;

FIG. 8 is a schematic structural diagram of the open state of the locking mechanism in the high-voltage line spraying equipment provided by the embodiment of the application;

FIG. 9 is a schematic structural diagram of the locking state of the locking mechanism in the high-voltage line spraying equipment provided by the embodiment of the application.

Icon: 11-first fixed frame; 111-first baffle; 12-second fixed frame; 121-second baffle; 2-flight drive device; 21-body; 3-remote control; 31-controller ; 32- display screen; 41- walking motor; 411- motor seat; 42- walking wheel; 5- camera; 6-paint box; 61- pump; 62- delivery pipe; 63- spray pipe; 631- nozzle; 7- Locking mechanism; 71- outer sleeve; 72- inner sleeve; 73- self-locking motor; 731- output shaft; 74- connecting rod; 75- first limit switch; 76- second limit switch; 8- power supply device ; 9- Transmission line.

Detailed ways

The technical solutions of the present application will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are a part of the embodiments of the present application, not all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various different configurations. Based on the embodiments in this application, all other embodiments obtained by ordinary workers in the field without creative work shall fall within the protection scope of this application.

Therefore, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that similar reference numerals and letters indicate similar items in the following figures. Therefore, once a certain item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

In the description of this application, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "left", "right", etc. are based on the drawings shown The position or position relationship, or the position or position relationship that is usually placed when the application product is used, or the position or position relationship commonly understood by those skilled in the art, is only for the convenience of describing the application and simplifying the description, rather than indicating or It is implied that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second", etc. are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.

The high-voltage lines laid in the early days were generally laid in the form of bare wires to save construction costs, but there were greater safety hazards. In order to improve the insulation and safety of high-voltage lines, power grid systems generally use high-voltage line spraying equipment to spray paint on high-voltage lines.

The existing high-pressure line spraying equipment mainly includes traveling wheels, racks, paint buckets, pumps and delivery pipes. The traveling wheels are connected to the racks. The paint buckets, pumps and delivery pipes are all set on the racks, and the paint buckets are connected to the rack through the pump. The delivery pipe is connected, and the end of the delivery pipe away from the pump is provided with a nozzle. Before high-voltage line spraying equipment is used to spray paint on transmission lines, the high-voltage line spraying equipment needs to be online, the staff climbs the tower, and the high-voltage line spraying equipment is placed above the transmission line, and the traveling wheel is in contact with the transmission line, and the nozzle is connected to the transmission line. Corresponding to the line, the rack is provided with a traction hole, and a traction rope is set at the traction hole. The staff pulls the traction rope to pull the high-voltage line spraying equipment to walk along the length of the transmission line. The pump pumps the paint in the paint bucket to Conveying pipe, the paint is sprayed to the outer surface of the transmission line through the nozzle of the conveying pipe; when the paint spraying work on the transmission line is completed, the staff climbs the tower, removes the high-voltage line spraying equipment from the transmission line, and completes the high-voltage line spraying equipment Offline work.

In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, terms such as “setup” and “connection” should be understood in a broad sense. For example, “connection” can be a fixed connection or an optional connection. Detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood according to specific circumstances.

However, when the existing high-voltage line spraying equipment is on-line and off-line, workers need to climb the tower and erect the high-voltage line spraying equipment on the transmission line or remove it from the transmission line. This makes the work more efficient for the staff. Low, and there is a great safety hazard when the staff climbs the tower.

Fig. 1 is a schematic structural diagram of a high-voltage line spraying equipment provided by an embodiment of the application; Fig. 2 is a schematic structural diagram of a high-voltage line spraying equipment provided by another embodiment of the application.

As shown in Figure 1-2, this embodiment provides a high-voltage line spraying equipment to solve the problem that the high-voltage line spraying equipment in the prior art requires staff to climb the tower and spray the high-voltage line when it is on-line and off-line. The equipment is installed on the transmission line or removed from the transmission line, so that the work efficiency of the staff is low, and there is a technical problem of great safety hazards when the staff climbs the tower. The high-voltage line spraying equipment includes: a sprayer body, the sprayer body is connected with a flying drive device 2; the flying drive device 2 is configured to drive the sprayer body to fly, so as to move the sprayer body to the component to be sprayed, or to move the sprayer The body is removed from the component to be sprayed.

The spraying machine body is arranged under the flying driving device 2, and the spraying machine body is connected with the flying driving device 2. Among them, the spraying machine body and the flight drive device 2 can be connected in a fixed connection, for example, by the way that the two are integrally formed, or can be detachably connected, for example, by bolt connection, buckle connection, etc. commonly used in the prior art. Ways, I won’t go into details here. The detachable connection method is beneficial to the modularization of the high-voltage line spraying equipment of the present application, and facilitates the separate maintenance and repair of the sprayer body and the flight drive device 2.

When the high-voltage line spraying equipment provided in this embodiment is used to spray paint on the transmission line 9, the sprayer body is driven to fly by the flying drive device 2 to move the sprayer body to the component to be sprayed, or to move the sprayer body from the component to be sprayed Move up to complete the on-line or off-line of the sprayer body.

Therefore, when the high-voltage line spraying equipment provided in this embodiment is online or offline, there is no need for staff to climb the tower to realize the work of erecting or removing the high-voltage line spraying equipment on or from the transmission line 9 through the flying drive device. 2 The on-line or off-line work of the sprayer body can be completed, therefore, the work efficiency and safety of the staff are greatly improved.

Among them, the "on-line" mentioned in this article refers to the ground wire that allows the high-voltage line spraying equipment to travel from a predetermined starting position (such as the ground) to a predetermined height position of the transmission line (such as a tower or a transmission line erected on a pole) (Also called lightning protection line) the process of going up for work; "off line" in this article refers to the process of moving the high-voltage line spraying equipment from the working position on the power line to a standby position (such as the ground). It should be noted that "up" and "down" here refer to abstract meanings, and do not mean that the height of the high-voltage line spraying equipment must be increased during the online process or the high-voltage line spraying during the offline process The height of the equipment must be reduced. According to the requirements of the actual application scenario, the high-voltage line spraying equipment can also be lowered from a higher initial standby position to a predetermined position with a relatively low height and start operation.

Optionally, in order to facilitate the staff to control the on-line or off-line of the high-voltage line spraying equipment, in the high-voltage line spraying equipment provided in this embodiment, as shown in Figure 1-2, the high-voltage line spraying equipment also includes a controller 31; a flight drive device 2 is wirelessly connected to the controller 31, and the controller 31 is configured to control the flight driving device 2 to take off or land to drive the sprayer body to move to the component to be sprayed, or to remove the sprayer body from the component to be sprayed.

The controller 31 may be the remote controller 3. The flight driving device 2 is provided with a receiver, and the controller 31 is wirelessly connected with the receiver. Among them, the above-mentioned wireless connection can use various wireless connection methods commonly used in existing drone control technologies, such as wireless communication methods such as WIFI, 4G/5G network, Bluetooth, and satellite communication. Optionally, multiple communication methods can be used at the same time and make each other back up. For example, using the 4G/5G network and Bluetooth communication provided by the mobile operator at the same time, using the mobile operator network has low cost and easy deployment. Advantages, suitable for areas with better mobile network signal coverage, and when the network signal in the operating area is poor, such as in remote mountain areas and other use environments, the remote control 3 and the receiver can be directly connected using Bluetooth communication.

The controller 31 may be a PLC (Programmable Logic Controller), a single-chip microcomputer, a microcomputer, a mobile communication terminal, and the like.

PLC is a kind of digital operation electronic system specially designed for application in industrial environment. It uses a programmable memory to store instructions for operations such as logic operations, sequence control, timing, counting and arithmetic operations, and control various types of mechanical equipment or production through digital or analog input and output. process.

The remote control 3 is provided with buttons, such as the upward flight button, the downward flight button, and the horizontal flight button. The staff can control the flight upward, downward, and horizontal flight buttons on the remote control 3 on the ground. The flight driving device 2 takes off, landed or flies horizontally, thereby erecting the spraying machine body on the power transmission line 9 or removing it from the power transmission line 9.

The form of the remote controller described above is only an example, and other forms can also be used in practice. For example, the remote control 3 can directly adopt a mobile communication terminal, such as a smart phone. In this way, there are no buttons on the remote control 3, and the staff can operate the flight driving device 2 through a dedicated APP using touch operation.

Optionally, in order to enable the flying drive device 2 to better bring the sprayer body online or offline under the control of the controller 31, in the high-voltage line spraying equipment provided in this embodiment, as shown in Figure 1-2, The flight driving device 2 is a multi-axis aircraft, the multi-axis aircraft is fixedly connected with the sprayer body, and the controller 31 is wirelessly connected with the multi-axis aircraft.

Optionally, the multi-axis aircraft is generally a four-axis aircraft.

Quadcopter is also called quadrotor, quadrotor helicopter, or quadcopter or quadrotor for short. This multi-rotor aircraft is a multi-rotor aircraft. The four propellers of the multi-rotor aircraft are all simple mechanisms with motors directly connected. The cross-shaped layout allows the aircraft to obtain the force to rotate the fuselage 21 by changing the motor speed, thereby adjusting its own attitude. Internationally well-known multi-axis aircraft companies include China's DJI Innovation Company, French Parrot Company, German AscTec Company and American 3D Robotics Company.

The multi-axis aircraft can take off, land, and fly smoothly under the control of the controller 31, thereby driving the sprayer body to go online or offline better.

Optionally, in order to make the high-voltage line spraying equipment go online or offline more accurately, in the high-voltage line spraying equipment provided in this embodiment, as shown in Figure 1-2, the high-voltage line spraying equipment also includes a positioning detection mechanism; a positioning detection mechanism It is arranged on the flight driving device 2 and the positioning detection mechanism is wirelessly connected to the controller 31. The positioning detection mechanism is configured to detect flight environment information of the flight driving device 2 and transmit the flight environment information to the controller 31. Among them, the flight environment information refers to the position information of the power transmission line 9 and/or the ground. The positioning detection mechanism can detect the position information of the power transmission line 9 and/or the ground, and transmit the above-mentioned position information to the controller 31, which controls the flight. The driving device 2 operates, so that the high-voltage line spraying equipment can be accurately on-line or off-line. Fig. 5 is a side view of the high-voltage line spraying equipment provided by an embodiment of the application.

Optionally, in order to allow workers to accurately control the on-line or off-line of the high-voltage line spraying equipment through the controller 31, in the high-voltage line spraying equipment provided in this embodiment, as shown in Figures 1-2 and 5, the positioning detection mechanism For the camera 5, the controller 31 is provided with a display screen 32; the controller 31 is connected to the display screen 32, and the controller 31 is configured to transmit the picture information taken by the camera 5 to the display screen 32.

By setting the camera 5 on the flight driving device 2 and setting the display screen 32 on the remote control 3, the controller 31 is electrically connected to the display screen 32, and the camera 5 is wirelessly connected to the controller 31. The camera 5 is configured to take pictures under the high-voltage line spraying equipment to transmit the picture information to the controller 31, and the controller 31 displays the picture information on the display, so that the staff can pass according to the image on the display 32 The controller 31 controls the flight driving device 2 to take off, land or fly horizontally, etc., so that the staff can control the high-voltage line spraying equipment on-line or off-line through the controller 31 more accurately.

Among them, in order to further improve the breadth and accuracy of the data obtained by the positioning detection mechanism of the flight driving device 2, for example, a GPS module of the positioning detection mechanism can be used. The GPS module can provide both position information and altitude data. High maturity and low cost. Alternatively, the positioning detection mechanism may also include equipment such as barometers, gyroscopes, laser rangefinders, etc., to further improve the accuracy of the flight height, flight attitude, distance and other data acquired by the flight driving device 2. These information can be displayed on the display screen 32 of the controller 31 in real time, thereby further helping the staff to perform spraying and on-line or off-line operations more accurately.

In addition, when the controller 31 is a mobile-only device, various virtual display technologies, such as AR or VR technology, can also be integrated into the operating function of the controller 31, and various data obtained by the positioning detection mechanism can be integrated. The processing can be used to provide the staff with an AR or VR experience from the perspective of the driving device 2, and the method can refer to various mature solutions in the prior art, which will not be repeated here. In this way, the staff can operate the above-mentioned flight driving device with a more intuitive and immersive interactive experience. In this way, even after only a short period of training on how to remotely control the flight driving device The staff can also smoothly use the high-voltage line spraying equipment provided by this application.

Optionally, in order to make the high-voltage line spraying equipment spray paint evenly on the transmission line 9 to improve the insulation performance and safety performance of the transmission line 9, the high-voltage line spraying equipment provided in this embodiment is shown in Figure 1-2 , The spraying machine body includes a frame, a walking mechanism and a spraying device; the walking mechanism and the frame are respectively connected to the flight driving device 2, and the spraying device is arranged on the frame; the walking mechanism is wirelessly connected to the controller 31, and the walking mechanism is configured to be erected on On the power transmission line 9, the controller 31 is configured to control the movement of the walking mechanism so that the walking mechanism drives the frame to walk along the power transmission line 9; the spraying device is wirelessly connected to the controller 31, and the controller 31 is configured to control the spraying device to spray to the power transmission line 9 coating.

When the high-voltage line spraying equipment is installed on the power transmission line 9, the controller 31 controls the walking mechanism to move, and at the same time controls the spraying device to spray paint synchronously, so that the high-voltage line spraying equipment is walking along the length of the power transmission line 9. The paint can be sprayed to the power transmission line 9 uniformly, thereby improving the insulation performance and safety performance of the power transmission line 9.

Fig. 7 is a schematic structural diagram of a walking mechanism in a high-voltage line spraying equipment provided by an embodiment of the application.

Optionally, in order to enable the high-voltage line spraying equipment to run smoothly along the length of the transmission line 9, so that the high-voltage line spraying equipment can spray paint evenly on the transmission line 9, in the high-voltage line spraying equipment provided in this embodiment, such as As shown in Figures 1-2 and 7, the walking mechanism includes a walking motor 41, a motor seat 411 and a walking wheel 42; the walking wheel 42 is provided with a wheel groove; the walking motor 41 is connected to the motor seat 411, and the motor seat 411 is connected to the flying drive device 2 is connected to the fuselage 21, the driving shaft of the traveling motor 41 is connected to the traveling wheel 42, and the wheel groove is configured to be in contact with the power transmission line 9. Among them, the motor used in this application needs to be a motor that can accurately control its speed, so as to facilitate accurate control of the travel speed of the high-voltage line spraying equipment.

When the high-voltage line spraying equipment is installed on the power transmission line 9, the wheel grooves of the traveling wheels 42 are in contact with the power transmission line 9, so that the traveling mechanism travels more smoothly along the length of the power transmission line 9, and the motor drives the traveling wheels 42 to rotate, so that the traveling wheels 42 can walk smoothly along the transmission line 9.

For the purpose of simplicity of description, the steering mechanism that cooperates with the walking wheel 42 is not shown in the drawings of the present application. It is understandable that, optionally, a steering mechanism may be connected between the walking wheel 42 and the motor base 411, thereby helping the high-voltage line spraying equipment to adaptively control the spraying equipment when the direction of the working power transmission line 9 is not straight enough. Direction of travel.

Fig. 3 is a front view of a high-voltage line spraying equipment provided by an embodiment of the application; Fig. 4 is an enlarged view of A in Fig. 3.

Optionally, in order to make the high-voltage line spraying equipment more balanced when walking on the power transmission line 9 and avoid the problem of sideways of the high-voltage line spraying equipment, in the high-voltage line spraying equipment provided in this embodiment, as shown in Figures 3-4, The frame body includes a first fixing frame 11 and a second fixing frame 12; the upper end of the first fixing frame 11 is connected with the fuselage 21 of the flying drive device 2, and the upper end of the second fixing frame 12 is connected with the fuselage 21 of the flying drive device 2. , The traveling wheel 42 is located between the first fixing frame 11 and the second fixing frame 12, and the first fixing frame 11, the traveling wheel 42 and the second fixing frame 12 form an inverted V-shaped structure; The distance between the upper ends of the two fixing frames 12 is smaller than the distance between the lower end of the first fixing frame 11 and the lower end of the second fixing frame 12.

The first fixing frame 11, the traveling wheel 42 and the second fixing frame 12 form an inverted V-shaped structure, which can make the structure of the frame more symmetrical, so that after the traveling wheel 42 is erected on the transmission line 9, the overall high-voltage line spraying equipment The center of gravity falls on the power transmission line 9 so that the high-voltage line spraying equipment can walk more smoothly on the power transmission line 9 and avoid the problem of the high-voltage line spraying equipment turning over from the power transmission line 9.

Optionally, in order to make the high-voltage line spraying equipment installed on the transmission line 9 more smoothly and accurately, in the high-voltage line spraying equipment provided in this embodiment, as shown in Figs. 3-4, the first fixing frame 11 is close to the second fixing frame. A first baffle 111 is provided on one side of the frame 12, and a second baffle 121 is provided on the side of the second fixing frame 12 close to the first fixing frame 11; the walking wheels 42 are located between the first baffle 111 and the second baffle 111. Between the baffles 121, and the first baffle 111, the walking wheel 42, and the second baffle 121 form an inverted V-shaped structure; the distance between the upper end of the first baffle 111 and the upper end of the second baffle 121 is smaller than that of the first baffle The distance between the lower end of the baffle 111 and the lower end of the second baffle 121.

A first baffle 111 is provided on the side of the first fixing frame 11 close to the second fixing frame 12, and a second baffle 121 is provided on the side of the second fixing frame 12 close to the first fixing frame 11. A baffle 111, a traveling wheel 42 and a second baffle 121 form an inverted V-shaped structure; the distance between the upper end of the first baffle 111 and the upper end of the second baffle 121 is smaller than the lower end of the first baffle 111 and the second baffle 121 The distance between the lower ends of the baffle 121 is such that when the high-voltage line spraying equipment is installed on the transmission line 9, the first baffle 111 and the second baffle have a certain degree of relative movement between the transmission line 9 and the high-voltage line spraying equipment. The guiding function, because the distance between the lower end of the first baffle 111 and the lower end of the second baffle 121 is relatively large, it can provide a good limit and guide function for the transmission line 9 to enter the wheel groove of the traveling wheel 42 , Which makes the installation of high-voltage line spraying equipment on the transmission line 9 more smooth and accurate.

Optionally, in order to make the spraying device spray paint evenly on the power transmission line 9 and the overall center of gravity of the high-voltage line spraying equipment can fall on the power transmission line 9 to prevent the high-voltage line spraying equipment from turning over during walking on the power transmission line 9 In the high-voltage line spraying equipment provided by this embodiment, as shown in Figures 1-5, the spraying device includes two paint tanks 6, a pump 61, two delivery pipes 62, and a spray pipe 63; the two paint tanks 6 are respectively Set on the first fixing frame 11 and the second fixing frame 12, the two paint tanks 6 are respectively connected to the pump 61 through two conveying pipes 62, the pump 61 is connected to the spray pipe 63, and the spray pipe 63 is configured to spray the power transmission line 9 coating.

The pump 61 draws paint from the two paint tanks 6 and delivers it to the spray pipe 63. The spray pipe 63 is arc-shaped, and the spray pipe 63 is evenly provided with atomizing nozzles 631, so that the spray pipe 63 can be evenly distributed to the power transmission line. 9 Spray paint.

And the paint tanks 6 are designed into two, and the two paint tanks 6 are respectively fixed on the first fixing frame 11 and the second fixing frame 12, so that the overall center of gravity of the high-voltage line spraying equipment can fall on the transmission line 9, so that the high-voltage line The spraying equipment is more stable when walking on the power transmission line 9 to avoid the problem of the high-voltage line spraying equipment turning over from the power transmission line 9.

Optionally, sensors can be installed in the two paint tanks 6 to measure the amount of remaining paint. On the one hand, this data can be sent to the staff in real time to help them plan and judge the progress of the work. On the other hand, Only the order and amount of use of the paint tanks 6 on both sides can be controlled, so as to help the high-voltage line spraying equipment to maintain a better balance on the line 9. For example, when it is found that the attitude of the high-voltage line spraying equipment on the line 9 is inclined to one side due to the influence of unbalanced gravity, the paint in the paint tank 6 on that side can be preferentially used accordingly, so as to help the high-voltage line spraying equipment adjust its attitude and Better maintain balance.

6 is a top view of the high-voltage line spraying equipment provided by an embodiment of the application; FIG. 8 is a structural schematic diagram of the locking mechanism in the high-voltage line spraying equipment provided by an embodiment of the application in an open state; FIG. 9 is a high-voltage line spraying provided by an embodiment of the application The structure diagram of the locking state of the locking mechanism in the equipment.

Optionally, in order to further improve the safety performance of the high-voltage line spraying equipment, in the high-voltage line spraying equipment provided in this embodiment, as shown in FIGS. 6 and 8-9, the high-voltage line spraying equipment further includes a locking mechanism 7; It is arranged on the side of the body 21 close to the frame, and the locking mechanism 7 is connected to the body 21, the controller 31 is wirelessly connected to the locking mechanism 7, and the controller 31 is configured to control the action of the locking mechanism 7 to connect the high-voltage line spraying equipment with Transmission line 9 is locked.

When the high-voltage line spraying equipment is installed on the power transmission line 9, the locking mechanism 7 locks the high-voltage line spraying equipment with the power transmission line 9 to prevent the high-voltage line spraying equipment from walking along the length of the power transmission line 9 and spraying paint due to rollover. The problem of falling on the transmission line 9 further improves the safety performance of the high-voltage line spraying equipment.

The locking mechanism 7 is wirelessly connected with the controller 31, so that the staff can control the locking mechanism 7 to open or lock through the controller 31.

Optionally, in order to enable the locking mechanism 7 to lock the high-voltage line spraying equipment with the power transmission line 9 without affecting the walking mechanism to walk on the power transmission line 9, the high-voltage line spraying equipment provided in this embodiment is shown in Figures 6 and 8 As shown in -9, the locking mechanism 7 includes an outer sleeve 71, an inner sleeve 72, a self-locking motor 73 and a connecting rod 74; the outer sleeve 71 and the self-locking motor 73 are respectively fixedly connected to the body 21, the outer sleeve 71 and the inner sleeve 72 are all arc-shaped structures, the inner side of the outer tube 71 is provided with a walking hole along the length direction; the output shaft 731 of the self-locking motor 73 is connected to one end of the connecting rod 74, and the other end of the connecting rod 74 is connected to the inner sleeve 72. The rod 74 has a walking hole, the controller 31 is wirelessly connected to the self-locking motor 73, and the controller 31 is configured to control the self-locking motor 73 to rotate forward or reverse, and drive the connecting rod 74 to rotate around the self-locking motor 73 to drive The inner sleeve 72 opens the outer sleeve 71 or closes the outer sleeve 71.

After the high-voltage line spraying equipment is installed on the power transmission line 9, the staff controls the action of the self-locking motor 73 through the controller 31, so that the self-locking motor 73 drives the connecting rod 74 to rotate, so that the inner sleeve 72 follows the walking hole of the outer sleeve 71 Move, so that the inner sleeve 72 closes the outer sleeve 71 and the power transmission line 9 is enclosed in the annular structure formed by the inner sleeve 72 and the outer sleeve 71.

When the high-voltage line spraying equipment rolls over from the transmission line 9, because the transmission line 9 is enclosed in the ring structure formed by the inner sleeve 72 and the outer sleeve 71, the high-voltage line spraying equipment cannot be separated from the transmission line 9. Therefore, the problem of the high-voltage line spraying equipment falling from the power transmission line 9 is avoided, and the hidden danger of personnel and property losses caused by the falling of the high-voltage line spraying equipment can be eliminated.

After the high-voltage line spraying equipment completes the spraying work on the transmission line 9, the staff controls the action of the self-locking motor 73 through the controller 31, so that the automatic motor drives the connecting rod 74 to rotate, so that the inner sleeve 72 follows the walking hole of the outer sleeve 71 Move, so that the inner sleeve 72 enters the outer sleeve 71, so that when the controller 31 controls the flight driving device 2 to start, the high-voltage line spraying equipment can smoothly leave the power transmission line 9.

Optionally, in order to enable workers to accurately control the locking mechanism 7 to lock the high-voltage line spraying equipment with the power transmission line 9, or to open the locking mechanism 7 so that the high-voltage line spraying equipment can smoothly leave the power transmission line 9, this embodiment provides In the high-voltage line spraying equipment, as shown in Figures 6 and 8-9, the locking mechanism 7 also includes a first limit switch 75 and a second limit switch 76; the first limit switch 75 is arranged at the first end of the outer sleeve 71 The second limit switch 76 is arranged on the inner side of the second end of the outer sleeve 71, and the first limit switch 75 and the second limit switch 76 are respectively configured to limit the rotation position of the connecting rod 74 to limit the locking mechanism 7 to be locked State or open state.

By setting a first limit switch 75 on the inner side of the first end of the outer sleeve 71 and a second limit switch 76 on the inner side of the second end of the outer sleeve 71, when the high-voltage line spraying equipment is installed on the transmission line 9, it is controlled by the controller 31 The self-locking motor 73 acts to drive the connecting rod 74 to rotate, so that the inner sleeve 72 extends out of the outer sleeve 71. When the connecting rod 74 contacts the second limit switch 76, the second limit switch 76 sends a message to the controller 31 Signal so that the controller 31 controls the self-locking motor 73 to stop, so that the locking mechanism 7 is in a locked state, thereby ensuring that the high-voltage line spraying equipment is safer when walking along the length of the transmission line 9; when the high-voltage line spraying equipment completes the transmission line After the paint spraying of 9 works, the controller 31 controls the action of the self-locking motor 73 to drive the connecting rod 74 to rotate in the reverse direction, so that the inner sleeve 72 enters the outer sleeve 71. When the connecting rod 74 is in contact with the first limit switch 75 At this time, the first limit switch 75 sends a signal to the controller 31 so that the controller 31 controls the self-locking motor 73 to stop, so that the locking mechanism 7 is in an open state, so that after the flight driving device 2 is activated, the sprayer body can be driven smoothly. Leave the transmission line 9.

A power supply device 8 is provided on the frame. The power supply device 8 is respectively connected to the flight driving device 2, the pump 61, the walking motor 41, and the self-locking motor 73. The power supply device 8 may be a battery. Optionally, the battery is a lithium battery or a fuel cell.

When the high-voltage line spraying equipment provided by the application is used to spray paint on the transmission line, the sprayer body is driven to fly by the flying drive device to move the sprayer body to the component to be sprayed, or to remove the sprayer body from the component to be sprayed , So as to complete the on-line or off-line of the sprayer body.

Therefore, when the high-voltage line spraying equipment provided by this application is online or offline, the work of erecting or removing the high-voltage line spraying equipment on or off the transmission line can be achieved without the need for staff to climb the tower. The on-line or off-line work of the sprayer body can be completed, therefore, the work efficiency and safety of the staff are greatly improved.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, but not to limit it; although the application has been described in detail with reference to the foregoing embodiments, ordinary workers in the field should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. range.

Industrial applicability

This application provides a high-voltage line spraying equipment, which can solve the problem that the high-voltage line spraying equipment in the prior art requires staff to climb the tower when the high-voltage line spraying equipment is online and offline, and the high-voltage line spraying equipment is erected on the transmission line or from the transmission line. The removal from the line makes the working efficiency of the staff low, and there is a technical problem of great safety hazards when the staff climbs the tower.

Claims

A high-voltage line spraying equipment, which is characterized by comprising: a spraying machine body, the spraying machine body is connected with a flying drive device;

The flying drive device is configured to drive the sprayer body to fly, so as to move the sprayer body to the component to be sprayed, or to remove the sprayer body from the component to be sprayed.
The high-voltage line spraying equipment according to claim 1, wherein the high-voltage line spraying equipment further comprises a controller;

The flying drive device is wirelessly connected to the controller, and the controller is configured to control the flying drive device to take off or land, so as to drive the sprayer body to move to the component to be sprayed, or to move the sprayer body Remove from the component to be sprayed.
The high-voltage line spraying equipment according to claim 2, wherein the controller is a remote controller, a receiver is provided on the flight driving device, and the controller and the receiver are wirelessly connected.
The high-voltage line spraying equipment according to claim 2 or 3, wherein the flying drive device is a multi-axis aircraft, the multi-axis aircraft is fixedly connected to the sprayer body, and the controller is connected to the multi-axis aircraft. Axis aircraft wireless connection.
The high-voltage line spraying equipment according to claim 4, wherein the multi-axis aircraft is a four-axis aircraft.
The high-voltage line spraying equipment according to any one of claims 2 to 5, wherein the high-voltage line spraying equipment further comprises a positioning detection mechanism;

The positioning detection mechanism is arranged on the flight driving device, and the positioning detection mechanism is wirelessly connected with the controller. The positioning detection mechanism is configured to detect the flight environment information of the flight driving device and connect the flight The environmental information is transferred to the controller.
The high-voltage line spraying equipment according to claim 6, wherein the detection of the flight environment information of the flight driving device by the positioning detection mechanism includes detection of the position information of the power transmission line and/or the ground.
The high-voltage line spraying equipment according to claim 6 or 7, wherein the positioning detection mechanism is a camera, and a display screen is provided on the controller;

The controller is connected to the display screen, and the controller is configured to transmit picture information taken by the camera to the display screen.
The high-voltage line spraying equipment according to any one of claims 2 to 8, wherein the spraying machine body includes a frame, a running mechanism and a spraying device;

The walking mechanism and the frame body are respectively connected with the flight driving device, and the spraying device is arranged on the frame body;

The walking mechanism is wirelessly connected to the controller, the walking mechanism is configured to be erected on a power transmission line, and the controller is configured to control the motion of the walking mechanism so that the walking mechanism drives the frame along the The power transmission line travels;

The spraying device is wirelessly connected with the controller, and the controller is configured to control the spraying device to spray paint to the power transmission line.
The high-voltage line spraying equipment according to claim 9, wherein the walking mechanism comprises a walking motor, a motor seat and a walking wheel;

Wheel grooves are provided on the walking wheels;

The traveling motor is connected to the motor base, the motor base is connected to the body of the flying drive device, the drive shaft of the traveling motor is connected to the traveling wheels, and the wheel groove is configured to be connected to the power transmission Line contact.
The high-voltage line spraying equipment according to claim 10, wherein the frame body comprises a first fixing frame and a second fixing frame;

The upper end of the first fixing frame is connected with the fuselage of the flying drive device, the upper end of the second fixing frame is connected with the fuselage of the flying drive device, and the walking wheels are located on the first fixing frame and Between the second fixing frames, and the first fixing frame, the traveling wheel and the second fixing frame form an inverted V-shaped structure;

The distance between the upper end of the first fixing frame and the upper end of the second fixing frame is smaller than the distance between the lower end of the first fixing frame and the lower end of the second fixing frame.
The high-voltage line spraying equipment according to claim 11, wherein a first baffle is provided on the side of the first fixing frame close to the second fixing frame, and the second fixing frame is close to the second fixing frame. A second baffle is provided on one side of the first fixing frame;

The traveling wheel is located between the first baffle and the second baffle, and the first baffle, the traveling wheel and the second baffle form an inverted V-shaped structure;

The distance between the upper end of the first baffle and the upper end of the second baffle is smaller than the distance between the lower end of the first baffle and the lower end of the second baffle.
The high-voltage line spraying equipment according to claim 11 or 12, wherein the spraying device comprises two paint tanks, a pump, two conveying pipes and a spraying pipe;

The two paint tanks are respectively arranged on the first fixing frame and the second fixing frame, and the two paint tanks are respectively connected to the pump through two conveying pipes, and the pump is connected to the pump. The spray pipe is connected, and the spray pipe is configured to spray paint on the power transmission line.
The high-voltage line spraying equipment according to claim 13, wherein the pump is configured to extract paint from the two paint tanks and deliver it to the spray pipe, wherein the spray pipe is arc-shaped, and Atomizing nozzles are evenly arranged on the spray pipe.
The high-voltage line spraying equipment according to any one of claims 10 to 14, wherein the high-voltage line spraying equipment further comprises a locking mechanism;

The locking mechanism is arranged on a side of the body close to the frame, and the locking mechanism is connected to the body, the controller is wirelessly connected to the locking mechanism, and the controller is configured to control The locking mechanism operates to lock the high-voltage line spraying equipment with the power transmission line.
The high-voltage line spraying equipment according to claim 15, wherein the locking mechanism comprises an outer sleeve, an inner sleeve, a self-locking motor and a connecting rod;

The outer sleeve and the self-locking motor are respectively fixedly connected to the body, the outer sleeve and the inner sleeve are both arc-shaped structures, and the inner side of the outer sleeve is provided with a walking hole along the length direction;

The output shaft of the self-locking motor is connected to one end of the connecting rod, the other end of the connecting rod is connected to the inner sleeve, the connecting rod penetrates the walking hole, and the controller is connected to the The self-locking motor is wirelessly connected, and the controller is configured to control the forward or reverse rotation of the self-locking motor to drive the connecting rod to rotate around the self-locking motor to drive the inner sleeve to open the The outer sleeve or the outer sleeve is closed.
The high-voltage line spraying equipment according to claim 16, wherein the locking mechanism further comprises a first limit switch and a second limit switch;

The first limit switch is arranged on the inner side of the first end of the outer sleeve, the second limit switch is arranged on the inner side of the second end of the outer sleeve, and the first limit switch and the second limit switch are The position switches are respectively configured to limit the rotation position of the connecting rod to limit the locking mechanism to be in a locked state or an open state.
The high-voltage line spraying equipment according to claim 16 or 17, wherein a power supply device is provided on the frame body, and the power supply device is respectively connected to the flight drive device, the pump, the walking motor and the The self-locking motor connection is described.