Walking mechanism for high-altitude power transmission line and wind-resistant X-ray flaw detection device thereof

Abstract

The invention relates to the technical field of high-voltage cable maintenance, and discloses a walking mechanism for a high-altitude power transmission line. The lifting mechanism comprises a driving motor, a winding roll rotationally arranged on the rack, a lifting wire with one end fixed to the winding roll and a hanging ring fixed to the other end of the lifting wire; the walking assembly comprises a swing driver arranged on the rack, a swing arm driven by the swing driver to swing up and down, and walking wheels arranged on the swing arm; the flaw detection mechanism is used for performing flaw detection on the overhead cable; and the butt clamping mechanism is used for clamping the left side and the right side of the overhead cable. The top side of the wind-resistant flaw detection robot is fixed through the walking wheels, and the lower side of the wind-resistant flaw detection robot clamps an overhead cable for reinforcement, so that the capability of resisting swing when facing wind is improved.

Description

Technical Field

[0001] The invention relates to the technical field of high-voltage cable maintenance, in particular to a walking mechanism used on an aerial transmission line. Background Art

[0002] Overhead bare conductors are exposed to high altitude environments for a long time, and are subjected to wind and rain. There may be damage inside the overhead bare conductors, and it is necessary to regularly use flaw detection instruments or flaw detection robots to perform flaw detection operations on the bare conductors.

[0003] The flaw detection robot in the prior art, such as a self-traction winch single traction rope high-voltage line device and method disclosed in CN110817721B, realizes flaw detection of the overhead bare wire by hanging on the overhead bare wire and walking.

[0004] However, when the flaw detection robot is moved in a hanging manner, it is easy to swing when disturbed by the lateral wind, and the imaging quality obtained by the flaw detection mechanism (usually an X-ray mechanism) is poor, which reduces the accuracy of the flaw detection results.

[0005] Therefore, a device is needed to improve the stability of the flaw detection robot walking on the overhead bare wire. Summary of the invention

[0006] The present invention aims to solve at least one technical problem in the background technology.

[0007] The present invention provides a traveling mechanism for use on an overhead transmission line, comprising:

[0008] frame;

[0009] The lifting mechanism includes a driving motor, a winding drum rotatably arranged on the frame, a lifting wire fixed at one end to the winding drum, and a hanging ring fixed at the other end of the lifting wire;

[0010] A traveling assembly, comprising a swing drive arranged on the frame and a traveling wheel driven by the swing drive and rotating around a vertical axis;

[0011] A flaw detection mechanism, used for flaw detection of overhead cables;

[0012] The clamping mechanism is used to clamp the left and right sides of the overhead cables.

[0013] The beneficial effects of the present invention are as follows: after the wind-resistant flaw detection robot is lifted to the height of the overhead cables by the lifting mechanism, the walking wheels are driven to rotate around the vertical axis by the swing driver of the walking assembly, so that the walking wheels are swung above the overhead cables, and then the clamping mechanism is actuated to clamp the left and right sides of the overhead cables located below. The top side of the wind-resistant flaw detection robot is fixed by the walking wheels, and the lower side clamps the overhead cables for reinforcement, thereby improving the ability to resist swinging when facing the wind.

[0014] As some sub-schemes of the above technical scheme, the clamping mechanism includes a driving structure, a first clamp, and a second clamp. The driving structure drives the first clamp and the second clamp to switch to a clamping position or an open position. In the clamping position, the first clamp and the second clamp clamp the overhead cable, and in the open position, the first clamp and the second clamp swing to a horizontal direction.

[0015] As some sub-solutions of the above technical solution, the first clamp is a conveyor belt.

[0016] As some sub-schemes of the above technical scheme, the clamping mechanism also includes a first closing plate, a second closing plate, a first roller, a second roller, a top support wheel, and a bottom support wheel. The first roller and the second roller are both arranged on the inner side of the first clamp and support the first clamp at the same time. The first closing plate and the second edge seal are respectively arranged on the upper and lower sides of the first clamp. The first closing plate and the second closing plate jointly support the first roller and the second roller. The top support wheel is rotatably arranged on the upper side of the first closing plate and abuts against the top end of the first clamp. The bottom support wheel is rotatably arranged on the lower side of the second edge seal and abuts against the bottom end driven by the second clamp.

[0017] As some sub-solutions of the above technical solution, an outer wall of the top support wheel is formed with an annular top positioning groove, and the first clamp is located in the top positioning groove.

[0018] As some sub-solutions of the above technical solution, an outer wall of the bottom support wheel is formed with an annular bottom positioning groove, and the first clamp is located in the bottom positioning groove.

[0019] As some sub-solutions of the above technical solution, the clamping mechanism also includes a top side wheel frame, the top side wheel frame is arranged on the first sealing plate, and the top side support wheel is rotatably arranged between the top side wheel frame and the first sealing plate.

[0020] As some sub-schemes of the above technical scheme, the top side wheel frame includes a first upper wheel frame plate, a second upper wheel frame plate and a top side "U"-shaped plate, the top side "U"-shaped plate is inverted, the first upper wheel frame plate and the second upper wheel frame plate are respectively connected to the two sides of the opening direction of the top side "U"-shaped plate, and the first upper wheel frame plate and the second upper wheel frame plate are both fixed to the first covering plate by screws.

[0021] As some sub-schemes of the above technical scheme, the driving structure includes an opening and closing motor, a transmission mechanism, a first driving shaft, a first driving arm, a second driving shaft, and a second driving arm. The driving motor drives the first driving shaft and the second driving shaft to rotate synchronously in opposite directions through the transmission mechanism. The first driving shaft is connected to the first sealing plate through the first driving arm, and the second driving shaft is connected to the second sealing plate through the second driving arm.

[0022] As some sub-solutions of the above technical solution, the first clamp includes a first contact surface that contacts the overhead cable, and the second clamp includes a second contact surface that contacts the overhead cable. In the clamping position, the first contact surface and the second contact surface are in a "V" shape.

[0023] The present invention also provides a wind-resistant X-ray flaw detection device, comprising the walking mechanism used on the high-altitude transmission line described in the above technical solution.

[0024] The wind-resistant X-ray flaw detection device of the present invention includes any of the above-mentioned traveling mechanisms for use on high-altitude transmission lines, and therefore also has corresponding beneficial effects, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0026] Figure 1 Axonometric view of an embodiment of a traveling mechanism for use on an overhead transmission line Figure 1 ;

[0027] Figure 2 Axonometric view of an embodiment of a traveling mechanism for use on an overhead transmission line Figure 2 ;

[0028] Figure 3 is a schematic structural diagram of an embodiment of a driving mechanism and a first clamp;

[0029] Figure 4 It is a partial exploded view of an embodiment of the driving mechanism and the first clamp.

[0030] In the accompanying drawings: 1- lifting mechanism;

[0031] 2-travel assembly; 21-swing drive; 22-travel wheel;

[0032] 3-Negative detection mechanism;

[0033] 4-clamping mechanism; 41-first clamping member; 42-second clamping member; 421-second contact surface; 43-driving structure; 431-first driving shaft; 432-first driving arm;

[0034] 433-second drive shaft; 434-second drive arm; 441-first closing plate; 451-first roller; 452-second roller; 461-top support wheel; 4611-top positioning groove; 462-bottom support wheel; 47-top wheel frame; 471-first upper wheel frame plate; 472-top "U"-shaped plate; 473-second upper wheel frame plate;

[0035] 9-Overhead cables. DETAILED DESCRIPTION

[0036] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0037] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] In the description of the present invention, the meaning of "several" is an indefinite quantity, the meaning of "multiple" is more than two, "greater than", "less than", "exceed", etc. are understood as not including the number itself, and "above", "below", "within", etc. are understood as including the number itself. If there is a description of the first and the second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features. The "and / or" that appears in the full text represents three parallel solutions. For example, A and / or B represents the solution satisfied by A, the solution satisfied by B, or the solution satisfied by both A and B.

[0039] In the description of the present invention, if there is a short sentence containing multiple parallel features, the attributive defines the closest feature, for example: B, C, and E connected to D are arranged on A, which means that B is arranged on A and E is connected to D, and does not constitute a limitation on C; but attributives that indicate the relationship between features, such as "interval arrangement" or "circular arrangement", do not belong to this category. If the word "all" is preceded by an attributive, it means that all features in the short sentence are limited, such as B, C, and D are all arranged on A, which means that B, C, and D are all arranged on A. For a sentence with an omitted subject, the omitted subject is the subject of the previous sentence, that is, B is arranged on A, including C, which means that B is arranged on A and A includes C.

[0040] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0041] Combine the following Figures 1 to 4 Embodiments of the present invention are described.

[0042] This embodiment relates to a walking mechanism for use on an aerial transmission line, so that when the flaw detection robot is used to inspect the overhead cables 9 on the aerial transmission line, the walking stability of the flaw detection robot can be improved, the imaging quality of the flaw detection mechanism 3 can be improved, and the accuracy of flaw detection can be improved.

[0043] The process of the flaw detection robot inspecting the overhead cable 9 is as follows: the flaw detection robot is raised to the position of the overhead cable 9, the walking wheel 22 of the walking component 2 is hung on the overhead cable 9, the flaw detection mechanism 3 (usually an X-ray flaw detection mechanism 3) is deployed to align with the target cable, and then the walking component 2 drives the flaw detection robot to move along the target cable. During the movement, the flaw detection mechanism 3 obtains the image information of the entire target cable, and manually judges whether the overhead cable 9 is damaged based on the image information.

[0044] The walking mechanism used on the high-altitude transmission line in this embodiment includes:

[0045] frame;

[0046] The lifting mechanism 1 includes a driving motor, a winding drum rotatably arranged on the frame, a lifting wire fixed at one end to the winding drum, and a hanging ring fixed at the other end of the lifting wire;

[0047] A traveling assembly 2, comprising a swing drive 21 disposed on the frame and a traveling wheel 22 driven by the swing drive 21 and rotating around a vertical axis;

[0048] A flaw detection mechanism 3, used for flaw detection of the overhead cable 9;

[0049] The clamping mechanism 4 is used to clamp the left and right sides of the overhead cable 9 .

[0050] After the wind-resistant flaw detection robot is lifted to the height of the overhead cable 9 by the lifting mechanism 1, the swing driver 21 of the walking component 2 drives the walking wheel 22 to rotate around the vertical axis, so that the walking wheel 22 swings above the overhead cable 9, and then the clamping mechanism 4 is actuated to clamp the left and right sides of the overhead cable 9 located below. The top side of the wind-resistant flaw detection robot is fixed by the walking wheel 22, and the lower side clamps the overhead cable 9 for reinforcement, thereby improving the ability to resist swinging when facing the wind.

[0051] The walking assembly 2, the flaw detection mechanism 3, and the lifting mechanism 1 all adopt the solutions of the existing technology. Here, only their working principles are briefly described, and their structural composition is not elaborated.

[0052] The clamping mechanism 4 includes a driving structure 43, a first clamp 41, and a second clamp 42. The driving structure 43 drives the first clamp 41 and the second clamp 42 to switch to a clamping position or an open position. In the clamping position, the first clamp 41 and the second clamp 42 clamp the overhead cable 9. In the open position, the first clamp 41 and the second clamp 42 swing to a horizontal direction. The driving structure 43 drives the first clamp 41 and the second clamp 42 to switch to a clamping position or an open position so as to realize the operation of the wind-resistant flaw detection robot rising, and at the same time, the first clamp 41 and the second clamp 42 can conveniently clamp the overhead cable 9. Specifically, when the lifting mechanism 1 of the wind-resistant flaw detection robot moves forward to make the wind-resistant flaw detection robot rise from under the overhead cable 9, the driving structure 43 keeps the first clamp 41 and the second clamp 42 in the retracted position so as to reduce the obstacles for the wind-resistant flaw detection robot to cross the overhead cable 9. After the wind-resistant flaw detection robot crosses the target overhead cable 9, the driving structure 43 switches the first clamp 41 and the second clamp 42 to the open position, and then the lifting mechanism 1 moves in the reverse direction to make the wind-resistant flaw detection robot descend, and then the driving structure 43 drives the first clamp 41 and the second clamp 42 to switch to the retracted position, and the overhead cable 9 is clamped by the first clamp 41 and the second clamp 42, thereby achieving the clamping of the cable by the first clamp 41 and the second clamp 42.

[0053] The upper section of the wind-resistant flaw detection robot is hung on the upper overhead cable 9 through the walking wheels 22, and the lower side is reinforced by clamping the overhead cable 9 on the lower side through the first clamp 41 and the second clamp 42. When the flaw detection mechanism 3 is working, even if there is strong wind in the environment, the swing amplitude of the wind-resistant flaw detection robot is small, so that the wind-resistant flaw detection robot has high recognition accuracy for the overhead cable 9.

[0054] The first clamp 41 is a conveyor belt. The first clamp 41 is a conveyor belt, and the belt surface of the conveyor belt contacts the overhead cable 9. When the wind-resistant flaw detection robot moves, the belt surface of the conveyor belt moves, and the resistance is small during movement.

[0055] The clamping mechanism 4 also includes a first closing plate 441, a second closing plate, a first roller 451, a second roller 452, a top support wheel 461, and a bottom support wheel 462. The first roller 451 and the second roller 452 are both arranged on the inner side of the first clamp 41 and support the first clamp 41 at the same time. The first closing plate 441 and the second edge seal are respectively arranged on the upper side and the lower side of the first clamp 41. The first closing plate 441 and the second closing plate jointly support the first roller 451 and the second roller 452. The top support wheel 461 is rotatably arranged on the upper side of the first closing plate 441 and abuts against the top end of the first clamp 41. The bottom support wheel 462 is rotatably arranged on the lower side of the second edge seal and abuts against the bottom end driven by the second clamp 42. The first closing plate 441 and the second closing plate jointly support the first roller 451 and the second roller 452, forming a square frame as a whole. The top support wheel 461 rotatably arranged on the first closing plate 441 and the bottom support wheel 462 rotatably arranged on the bottom second closing plate are cleverly realized to jointly support the first clamp 41 and the second clamp 42 in the up and down directions, meeting the support needs of the first clamp 41 when the conveyor belt is used. At the same time, wheel structures are used for support on the top and bottom sides of the conveyor belt, which is beneficial to reduce the wear of the conveyor belt and increase the service life of the conveyor belt.

[0056] An annular top positioning groove 4611 is formed on the outer wall of the top supporting wheel 461 , and the first clamp 41 is located in the top positioning groove 4611 .

[0057] The outer wall of the bottom support wheel 462 is formed with an annular bottom positioning groove, and the first clamp 41 is located in the bottom positioning groove. By setting the top positioning groove 4611, when the top support wheel 461 supports the first clamp 41, the top support wheel 461 can limit the upper side of the first clamp 41 to move along the axis direction of the top support wheel 461, and when the belt surface of the first clamp 41 faces the wind, the first clamp 41 is not easy to be dislocated. Similarly, a bottom limiting groove is set on the bottom support wheel 462, and when the bottom support wheel 462 supports the second clamp 42, the bottom support wheel 462 can limit the lower side of the first clamp 41 to move along the axis direction of the bottom support wheel 462, further improving the stability of the first clamp 41 when facing the wind.

[0058] The clamping mechanism 4 further includes a top wheel frame 47, which is disposed on the first sealing plate 441, and the top support wheel 461 is rotatably disposed between the top wheel frame 47 and the first sealing plate 441. The top wheel frame 47 restricts the top support wheel 461 on the first sealing plate 441, and can ensure that the top support wheel 461 is firmly installed.

[0059] The top wheel frame 47 includes a first upper wheel frame plate 471, a second upper wheel frame plate 473 and a top "U"-shaped plate 472, the top "U"-shaped plate 472 is inverted, the first upper wheel frame plate 471 and the second upper wheel frame plate 473 are respectively connected to the two sides of the opening direction of the top "U"-shaped plate 472, and the first upper wheel frame plate 471 and the second upper wheel frame plate 473 are both fixed to the first sealing plate 441 by screws. The top wheel frame 47 is configured to include a first upper wheel frame plate 471, a second upper wheel frame plate 473 and a top "U"-shaped plate 472, which is compact in space and can effectively support the top support wheel 461, ensuring that the top support wheel 461 can stably support the first clamp 41.

[0060] In this embodiment, the bottom support wheel 462 is installed on the second cover plate through the bottom wheel frame, and the structure of the bottom wheel frame is symmetrical with the structure of the top wheel frame 47 in the upper and lower planes, thereby further improving the installation stability of the first clamp 41.

[0061] The driving structure 43 includes an opening and closing motor (not shown in the figure), a transmission mechanism (not shown in the figure), a first driving shaft 431, a first driving arm 432, a second driving shaft 433, and a second driving arm 434. The driving motor drives the first driving shaft 431 and the second driving shaft 433 to rotate synchronously in the opposite direction through the transmission mechanism. The first driving shaft 431 is connected to the first sealing plate 441 through the first driving arm 432, and the second driving shaft 433 is connected to the second sealing plate through the second driving arm 434. The driving structure 43 drives the first sealing plate 441 and the second sealing plate to rotate synchronously in the opposite direction through the opening and closing motor, the transmission mechanism, the first driving shaft 431, the first driving arm 432, the second driving shaft 433, and the second driving arm 434. The first clamp 41 and the second clamp 42 form an opening and closing structure as a whole. The center positions of the first clamp 41 and the second clamp 42 remain unchanged before and after the action, and the action logic is simple.

[0062] The first clamp 41 includes a first contact surface in contact with the overhead cable 9, and the second clamp 42 includes a second contact surface 421 in contact with the overhead cable 9. When in the clamping position, the first contact surface and the second contact surface 421 are in a "V" shape. The first contact surface and the second contact surface 421 are in a "V" shape, and the overhead cable 9 generates a reaction force on the first contact surface and the second contact surface 421 with a downward component, which increases the downward force of the wind-resistant flaw detection robot, increases the tightening pressure of the walking wheel 22 on the upper overhead cable 9, further improves the walking stability of the wind-resistant flaw detection robot, and improves the wind resistance.

[0063] The present invention also provides a wind-resistant X-ray flaw detection device, comprising a traveling mechanism for use on a high-altitude transmission line as described in the above-mentioned embodiments. The wind-resistant X-ray flaw detection device is easy to obtain relatively accurate flaw detection results.

[0064] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A traveling mechanism used on an overhead transmission line, characterized in that: include: frame; A lifting mechanism (1) comprises a driving motor, a winding drum rotatably arranged on the frame, a lifting wire fixed at one end to the winding drum, and a hanging ring fixed at the other end of the lifting wire; A travel assembly (2), comprising a swing drive (21) arranged on the frame and a travel wheel (22) driven by the swing drive (21) to rotate around a vertical axis; A flaw detection mechanism (3) for detecting flaws in the overhead cable (9); The clamping mechanism (4) is used to clamp the left and right sides of the overhead cable (9).

2. The traveling mechanism for use on an overhead transmission line according to claim 1 is characterized in that: The clamping mechanism (4) comprises a driving structure (43), a first clamp (41), and a second clamp (42); the driving structure (43) drives the first clamp (41) and the second clamp (42) to switch to a clamping position or an open position; in the clamping position, the first clamp (41) and the second clamp (42) clamp the overhead cable (9); in the open position, the first clamp (41) and the second clamp (42) swing to a horizontal direction.

3. The traveling mechanism for use on an overhead transmission line according to claim 2 is characterized in that: The first clamping member (41) is a conveyor belt.

4. The traveling mechanism for use on an overhead transmission line according to claim 3 is characterized in that: The clamping mechanism (4) also includes a first sealing plate (441), a second sealing plate, a first roller (451), a second roller (452), a top support wheel (461), and a bottom support wheel (462); the first roller (451) and the second roller (452) are both arranged on the inner side of the first clamp (41) and support the first clamp (41) at the same time; the first sealing plate (441) and the second edge seal are respectively arranged on the upper side and the lower side of the first clamp (41); the first sealing plate (441) and the second sealing plate jointly support the first roller (451) and the second roller (452); the top support wheel (461) is rotatably arranged on the upper side of the first sealing plate (441) and abuts against the top end of the first clamp (41); the bottom support wheel (462) is rotatably arranged on the lower side of the second edge seal and abuts against the bottom end driven by the second clamp (42).

5. The traveling mechanism for use on an overhead transmission line according to claim 4 is characterized in that: An annular top positioning groove (4611) is formed on the outer wall of the top supporting wheel (461), and the first clamp (41) is located in the top positioning groove (4611).

6. The traveling mechanism for use on an overhead transmission line according to claim 5, characterized in that: An annular bottom positioning groove is formed on the outer wall of the bottom supporting wheel (462), and the first clamping member (41) is located in the bottom positioning groove.

7. The traveling mechanism for use on an overhead transmission line according to claim 4, characterized in that: The clamping mechanism (4) further comprises a top wheel frame (47), wherein the top wheel frame (47) is arranged on the first sealing plate (441), and the top supporting wheel (461) is rotatably arranged between the top wheel frame (47) and the first sealing plate (441).

8. The traveling mechanism for use on an overhead transmission line according to claim 7 is characterized in that: The top wheel frame (47) comprises a first upper wheel frame plate (471), a second upper wheel frame plate (473) and a top "U"-shaped plate (472); the top "U"-shaped plate (472) is inverted; the first upper wheel frame plate (471) and the second upper wheel frame plate (473) are respectively connected to two sides of the opening direction of the top "U"-shaped plate (472); the first upper wheel frame plate (471) and the second upper wheel frame plate (473) are both fixed to the first sealing plate (441) by screws.

9. The traveling mechanism for use on an overhead transmission line according to claim 4, characterized in that: The driving structure (43) comprises an opening and closing motor, a transmission mechanism, a first driving shaft (431), a first driving arm (432), a second driving shaft (433), and a second driving arm (434); the driving motor drives the first driving shaft (431) and the second driving shaft (433) to rotate synchronously in opposite directions through the transmission mechanism; the first driving shaft (431) is transmission-connected to the first sealing plate (441) through the first driving arm (432); and the second driving shaft (433) is transmission-connected to the second sealing plate through the second driving arm (434).

10. Wind-resistant X-ray flaw detection device, characterized in that: It comprises a traveling mechanism for use on an overhead transmission line as described in any one of claims 1 to 9.

Images