Walking mechanism for high altitude transmission line and its anti-wind x-ray flaw detection device

Abstract

The application relates to the technical field of high-voltage cable maintenance, and discloses a walking mechanism used on an overhead power transmission line, which comprises a rack, a lifting mechanism, a walking assembly, a flaw detection mechanism and a clamping mechanism. The lifting mechanism comprises a driving motor, a winding disc rotatably arranged on the rack, a lifting line fixed at one end of the winding disc and a hanging ring fixed at the other end of the lifting line. The walking assembly comprises a swing direction driver arranged on the rack, a swing arm which swings up and down and is driven by the swing direction driver, and a walking wheel arranged on the swing arm. The flaw detection mechanism is used for detecting flaws of the overhead cable. The clamping mechanism is used for clamping the left and right sides of the overhead cable. The top side of the wind-resistant flaw detection robot is fixed by the walking wheel, and the bottom side clamps the overhead cable to reinforce the cable, thereby improving the swing resistance when the cable faces the wind.

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. Regular flaw detection operations need to be carried out on the bare conductors with the help of flaw detection instruments or flaw detection robots.

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

[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 provided on the frame and a traveling wheel driven by the swing drive and rotating around a vertical axis;

[0011] 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 cable by the lifting mechanism, the walking wheel is driven to rotate around the vertical axis by the swing driver of the walking assembly, so that the walking wheel is swung above the overhead cable, and then the clamping mechanism is actuated to clamp the left and right sides of the overhead cable located below. The top side of the wind-resistant flaw detection robot is fixed by the walking wheel, and the lower side clamps the overhead cable for reinforcement, thereby improving the ability to resist swinging when facing the wind.

[0014] As some sub-solutions of the above technical solution, 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 clamping member 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 closing plate 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 closing plate and abuts against the bottom end of the first clamp.

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

[0018] As some sub-solutions of the above technical solution, an annular bottom positioning groove is formed on the outer wall of the bottom support wheel, 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-solutions of the above technical solution, 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-solutions of the above technical solution, 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 "V" shaped.

[0023] The present invention also provides a wind-resistant X-ray flaw detection device, comprising the walking mechanism for use on high-altitude transmission lines as 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 readily understood from the following description of the embodiments with reference to the accompanying 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 structural schematic diagram of an embodiment of a driving mechanism and a first clamping member;

[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-Nondestructive testing 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] The following describes embodiments of the present invention in detail. Examples of the embodiments 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 intended only to explain the present invention and are not to be construed 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., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They 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. Therefore, they cannot be understood as limitations on the present invention.

[0038] In the description of the present invention, "several" means an indefinite quantity, "multiple" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, and "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" is solely for the purpose of distinguishing technical features and should not be understood to indicate or imply relative importance, or to implicitly indicate the number or order of the technical features indicated. "And / or" throughout the text represents three parallel solutions. For example, "A and / or B" means a solution where A satisfies, a solution where B satisfies, or a solution where both A and B satisfy.

[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 are arranged on A, and are connected to D" means that B is arranged on A and E is connected to D, and does not constitute a limitation on C. However, attributives that express the relationship between features, such as "spaced arrangement" or "circular arrangement", do not fall into this category. If the word "all" is preceded by an attributive, it means that all features in the short sentence are limited. For example, "B, C, and D are all arranged on A" means that B, C, and D are all arranged on A. In 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" 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, and connecting 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 based on the specific content of the technical solution.

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

[0042] This embodiment relates to a walking mechanism for use on an overhead transmission line, so that when the flaw detection robot is used to inspect the overhead cables 9 on the overhead 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 where the overhead cable 9 is located, the walking wheels 22 of the walking component 2 are hung on the overhead cable 9, the flaw detection mechanism 3 (usually an X-ray flaw detection mechanism 3) is deployed and aimed at 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 image information of the entire target cable, and manually judges whether the overhead cable 9 is damaged based on the image information.

[0044] The traveling mechanism used on the overhead 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] The traveling assembly 2 includes a swing drive 21 provided 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 existing technical solutions. Here, only their working principles are briefly described, and their structural components are not elaborated.

[0052] The clamping mechanism 4 includes a drive structure 43, a first clamp 41, and a second clamp 42. The drive 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 horizontally. The drive structure 43 drives the first clamp 41 and the second clamp 42 to switch to the clamping position or the open position to achieve the upward operation of the wind-resistant flaw detection robot, while also conveniently enabling the first clamp 41 and the second clamp 42 to clamp the overhead cable 9. Specifically, when the lifting mechanism 1 of the wind-resistant flaw detection robot moves forward and causes the wind-resistant flaw detection robot to 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 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 opposite direction to cause the wind-resistant flaw detection robot to 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 part of the wind-resistant flaw detection robot is hung on the upper overhead cable 9 through the walking wheel 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 during movement is small.

[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 closing plate are respectively arranged on the upper and lower sides 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 set 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 set on the lower side of the second closing plate and abuts against the bottom end 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, and the whole constitutes a square frame. 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 cleverly realize the joint support of 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 using a conveyor belt. 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 providing 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 from moving along the axial direction of the top support wheel 461. When the belt surface of the first clamp 41 faces the wind, the first clamp 41 is not easily dislocated. Similarly, a bottom limiting groove is provided on the bottom support wheel 462. 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 from moving along the axial 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 provided on the first sealing plate 441. The top support wheel 461 is rotatably provided 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, thereby ensuring that the top support wheel 461 is securely mounted.

[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. 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 as a structure including the first upper wheel frame plate 471, the second upper wheel frame plate 473, and the top U-shaped plate 472. The structure is compact 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. 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 opposite directions through the transmission mechanism. The first driving shaft 431 is connected to the first closing plate 441 through the first driving arm 432, and the second driving shaft 433 is connected to the second closing plate through the second driving arm 434. The driving structure 43 drives the first closing plate 441 and the second closing plate to rotate synchronously in opposite directions 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 operation, and the operation logic is simple.

[0062] The first clamp 41 includes a first contact surface that contacts the overhead cable 9, and the second clamp 42 includes a second contact surface 421 that contacts the overhead cable 9. In the clamped position, the first and second contact surfaces 421 form a V-shape. The V-shaped first and second contact surfaces 421 generate a downward component of the reaction force exerted by the overhead cable 9 on the first and second contact surfaces 421. This increases the downward force of the wind-resistant flaw detection robot and increases the tightening force of the walking wheels 22 on the upper overhead cable 9, further improving the walking stability of the wind-resistant flaw detection robot and enhancing its wind resistance.

[0063] The present invention further provides a wind-resistant X-ray flaw detection device, comprising the travel mechanism for use on overhead transmission lines as described in the above embodiments. The wind-resistant X-ray flaw detection device can easily obtain relatively accurate flaw detection results.

[0064] The above specifically describes the preferred embodiments of the present invention, 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 overhead transmission lines, characterized by: include: frame; A lifting mechanism (1) comprises a driving motor, a winding drum rotatably arranged on the frame, a lifting line having one end fixed to the winding drum, and a hanging ring fixed to the other end of the lifting line; A traveling assembly (2) comprising a swing drive (21) provided on the frame and a traveling wheel (22) driven by the swing drive (21) and rotating about a vertical axis; A flaw detection mechanism (3) for detecting flaws in overhead cables (9); A clamping mechanism (4) for clamping the left and right sides of the overhead cable (9); 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; The first clamping member (41) is a conveyor belt; The clamping mechanism (4) further comprises 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 closing plate 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 closing plate and abuts against the bottom end of the first clamp (41).

2. The traveling mechanism for overhead transmission lines according to claim 1, 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).

3. The traveling mechanism for overhead transmission lines according to claim 2, characterized in that: An annular bottom positioning groove is formed on the outer wall of the bottom support wheel (462), and the first clamp (41) is located in the bottom positioning groove.

4. The traveling mechanism for overhead transmission lines according to claim 1, characterized in that: The clamping mechanism (4) further comprises a top wheel frame (47), wherein the top wheel frame (47) is provided on the first sealing plate (441), and the top support wheel (461) is rotatably provided between the top wheel frame (47) and the first sealing plate (441).

5. The traveling mechanism for overhead transmission lines according to claim 4, 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.

6. The traveling mechanism for overhead transmission lines according to claim 1, 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 connected to the first closing plate (441) through the first driving arm (432); and the second driving shaft (433) is connected to the second closing plate through the second driving arm (434).

7. Wind-resistant X-ray flaw detection device, characterized by: It comprises a traveling mechanism for use on an overhead transmission line as described in any one of claims 1 to 6.

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