Power supply line inspection device and inspection method thereof

Abstract

The present invention discloses a power supply line inspection device and an inspection method thereof, and relates to the field of cable maintenance. The power supply line inspection device and the inspection method thereof include a control host, a line changing unit, a walking unit, an opening and closing type spraying unit and a detection unit. The power supply line inspection device and the inspection method thereof use the walking unit to walk on the cable, and the detection unit continuously detects the insulation layer during the walking process. When damage is found, the opening and closing type spraying unit sprays and marks the target position. When it moves to the end of the cable, the line changing unit transfers the entire inspection device to another adjacent group of cables, and then moves back and detects. In the process of line changing, the opening and closing of the walking unit drives the opening and closing type spraying unit and the detection unit to automatically open and close, so as to achieve a longer effective inspection mileage on the basis of limited power storage, and at the same time, by spraying the damaged area, it is convenient to quickly locate the damaged area in the subsequent maintenance process.

Description

Technical Field

[0001] The invention relates to the technical field of cable maintenance, in particular to power supply line inspection equipment and an inspection method thereof. Background Art

[0002] As a power connection device, the power supply line is usually composed of multiple cables and connected between two groups of power equipment. At the same time, the multiple cables are usually arranged equidistantly through wire racks at the head and tail to ensure the safety of the cables. The surface of the cables is usually wrapped with an insulating layer. During long-term use, the cables will inevitably be damaged due to aging, so maintenance personnel are required to conduct regular inspections.

[0003] The traditional method is to use power equipment to conduct regular measurements to check for leakage and to replace cables regularly. However, during the service life of the cable, the cable may be damaged due to some extreme environments, but the damage may not necessarily cause leakage, which makes it impossible to detect directly. Therefore, inspection equipment is needed for detection.

[0004] Traditional inspection equipment is mounted on the cable, moves on wheels, and then uses a camera to observe the surface of the cable. However, in actual application, the operator is required to install the equipment from the cable rack at one end to the outer surface of the cable, and after it moves to the end of the cable, it is allowed to return automatically, and then the operator transfers it to the next group of cables. In this process, the return trip of the inspection equipment is an empty run, which results in its effective inspection mileage being almost halved based on limited power storage. At the same time, multiple cable inspections require the operator to transfer them one by one, which is cumbersome to operate. After the inspection, the specific damaged location of the wire cannot be accurately marked. During the subsequent wire maintenance, the operator needs to perform a manual secondary search, then cut off the damaged section and reconnect the wires, which is very troublesome. For this purpose, a power supply line inspection device and an inspection method thereof are specially provided. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a power supply line inspection device and an inspection method thereof, which solves the problem that traditional inspection equipment runs idle on the return trip, resulting in the effective inspection mileage being almost halved. At the same time, multiple cable inspections require operators to transfer them one by one. After the inspection, the specific damaged locations of the wires cannot be accurately marked, resulting in the entire use process and subsequent cable replacement being very troublesome.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a power supply line inspection device, comprising:

[0007] Control host;

[0008] The walking unit is movably arranged on the top of the control host;

[0009] A detection unit, which includes three groups of cameras distributed in a circular array, and detects damage to the outer insulation layer of the cable through the three groups of cameras;

[0010] An openable spray unit, which is installed on the top of the control host and is used to spray and mark the damaged position;

[0011] The line-changing unit is installed on both sides of the control host and is mounted between two adjacent groups of cables by flipping, so as to control the host to transfer between two adjacent groups of cables.

[0012] Preferably, the control host includes:

[0013] An outer shell, on which the line changing unit, the traveling unit, the opening and closing spraying unit and the detection unit are all installed;

[0014] A storage battery installed in the outer shell;

[0015] A communication antenna, which is mounted on the outer wall of the housing;

[0016] An observation lens is mounted on the outer wall of the housing.

[0017] Preferably, the walking unit comprises:

[0018] A suspension seat, which is slidably arranged on the top of the outer shell;

[0019] A linear motor is fixed inside the outer shell, and an output end of the linear motor is fixed to a suspension seat;

[0020] The flip walking part is rotatably arranged on the top of the suspension seat, and a flip motor for driving the flip walking part to flip is installed on one side of the top of the suspension seat;

[0021] An auxiliary walking part is slidably arranged in the suspension seat, and the top end of the auxiliary walking part is opposite to the flip walking part;

[0022] A power piston cylinder is fixedly arranged in the outer shell, and an output shaft of the power piston cylinder is fixedly connected to the bottom end of the suspension seat;

[0023] The output piston cylinder is fixedly arranged on the side of the power piston cylinder and is communicated with the inside of the power piston cylinder. The output shaft of the output piston cylinder is fixedly connected to the auxiliary walking part.

[0024] Preferably, the flip walking part includes:

[0025] A turning frame is rotatably arranged on the top of the suspension seat and is fixedly connected to the output end of the turning motor;

[0026] Traveling wheels, which are rotatably arranged on the top of the turning frame;

[0027] A wire hanging port, which is opened on one side of the turning frame;

[0028] A travel drive gear is rotatably arranged on the other side of the turning frame, and the travel drive gear is fixedly connected to the travel wheel;

[0029] A transmission gear is spaced between a plurality of travel drive gears, and adjacent travel drive gears are meshed with the transmission gear;

[0030] The travel motor is fixedly mounted on the outer wall of the turning frame and is coaxially fixed with a set of travel driving gears.

[0031] Preferably, the auxiliary walking part comprises:

[0032] A lifting block is slidably arranged inside the suspension seat;

[0033] A U-shaped wheel seat is arranged on the top of the lifting block, and the U-shaped wheel seat penetrates from the bottom into the turning frame to form a shield for the wire hanging port;

[0034] An auxiliary roller, which is rotatably arranged in a U-shaped wheel seat;

[0035] The elastic connecting piece is installed between the lifting block and the U-shaped wheel seat.

[0036] Preferably, the detection unit comprises:

[0037] A storage bin, which is fixedly arranged on the top of the outer shell;

[0038] Two sets of flip arms are symmetrically arranged on both sides of the storage bin;

[0039] A flip gear, which is fixedly arranged at the end of the flip arm;

[0040] A push frame, one end of which is fixedly connected to the outer wall of the suspension seat, and the other end of which penetrates into the storage bin;

[0041] The turning driving rack is fixedly arranged on the top of the push frame, and the turning driving rack is meshed with the turning gear;

[0042] The three groups of cameras include a first camera fixed on the top of the flip frame and a second camera fixed on the ends of the two groups of flip arms.

[0043] Preferably, the open-close spray unit comprises:

[0044] A stand, which is fixedly arranged on the top of the outer shell, and the stand and the storage bin are arranged on both sides of the suspension seat opposite to each other;

[0045] Two sets of arc-shaped slide rails are rotatably arranged on both sides of the stand, and the two sets of arc-shaped slide rails are turned over and wrapped around the outer wall of the cable to form a complete annular spraying path;

[0046] A push rod, the bottom end of which is fixedly connected to the outer wall of the suspension seat, and the top end of which is fixedly provided with a double-sided rack;

[0047] A high-pressure paint tank is disposed in the outer shell;

[0048] Two groups of sliding nozzles are respectively slidably arranged on the outer walls of two groups of arc-shaped slide rails;

[0049] A spray pipe is connected between the high-pressure paint tank and the sliding nozzle, and an electromagnetic control valve is installed at one end of the spray pipe close to the high-pressure paint tank, and one end of the spray pipe close to the sliding nozzle penetrates into the arc-shaped slide rail;

[0050] Two sets of opening and closing gears are rotatably arranged on both sides of the top of the stand, and the two sets of opening and closing gears are respectively fixed to the two sets of arc-shaped slide rails, and the two sets of opening and closing gears are respectively meshed with both sides of the double-sided rack;

[0051] An arc-shaped rack installed inside the arc-shaped slide rail;

[0052] A mobile motor, which is fixedly mounted on the outer wall of the sliding nozzle;

[0053] The moving gear is fixedly arranged at the output end of the moving motor, and the moving gear is meshed with the arc-shaped rack.

[0054] Preferably, the line changing unit comprises:

[0055] The line-changing connecting rails are movably arranged on both sides of the outer shell;

[0056] Two sets of line-changing mounting parts are installed on one side of the line-changing connecting track and are used for hanging and connecting with the cables when the line-changing connecting track connects two sets of cables;

[0057] A line-changing drive component is installed on the other side of the line-changing connection track, and the line-changing drive component is connected to the outer shell, and is used to drive the line-changing connection track to rotate, and is used for the outer shell to move along the line-changing connection track;

[0058] Linear racks, which are installed on the inner walls of both sides of the line-changing connection track;

[0059] The linear slide is provided on the upper and lower sides of the two sets of linear racks.

[0060] Preferably, the line-changing mounting component includes:

[0061] Hanging arm;

[0062] A hook is slidably disposed inside one end of a hanging arm, and a linear drive motor for driving the hook to rise and fall is fixedly disposed in the hanging arm;

[0063] a twisting driven gear, the rotation of which is arranged inside the other end of the hanging arm;

[0064] A torsion drive motor, which is fixedly arranged on the outer wall of the hanging arm, and a torsion drive gear is fixedly arranged on the output end thereof, and the torsion drive gear is meshed with the torsion driven gear;

[0065] A low-speed motor is fixedly arranged on the outer wall of the hanging arm, and its output shaft movably penetrates the torsion driven gear and extends into the line-changing connection track;

[0066] An anti-slip block is fixedly arranged on the outer wall of the torsion driven gear, and the anti-slip block is slidably connected in a linear slide groove on one side;

[0067] A low-speed gear is fixedly arranged at the output end of the low-speed motor, and the low-speed gear is meshed with a linear rack on one side;

[0068] The line-changing drive element comprises:

[0069] A hanging plate is slidably arranged in the linear slide groove on the other side;

[0070] A rotating gear is fixedly disposed on the outer wall of the hanging plate, and the rotating gear is rotatably disposed in the side wall of the outer shell;

[0071] A rotating motor is fixedly mounted on the outer shell, and a rotating driving gear is fixedly mounted on the output end of the motor, wherein the rotating driving gear meshes with the rotating gear;

[0072] A line-changing motor, which is fixedly arranged on the outer shell;

[0073] The rotating shaft is rotatably connected to the inside of the rotating gear, and one end of the rotating shaft is fixedly connected to the line-changing motor. The other end of the rotating shaft extends to the line-changing connection track where a line-changing gear is fixedly arranged. The line-changing gear is meshed with the linear rack on the other side.

[0074] Preferably, the inspection method of the power supply line inspection equipment comprises a walking control module, a visual module, a spraying module and a line-changing remote control module arranged in the control host, and also comprises a remote terminal, the control host realizes remote control connection with the control host through a communication antenna, and the control host inspection process comprises the following steps;

[0075] Step 1: Loading: The operator assembles the entire inspection equipment on a set of cables;

[0076] Step 2: Walking detection: the remote terminal observes the operation status of the entire control host through the observation lens, and controls the walking unit to move along the cable through the walking control module, and performs real-time detection through the detection unit during the movement;

[0077] Step 3: Marking spraying. After the detection unit acquires the image, the detection image is processed through the visual module. The three groups of cameras in the visual module provide image processing and visual positioning. When the three groups of cameras detect the damaged area, the visual module provides the output spraying signal and image coordinates to the control host and sends them to the spraying module. The spraying module analyzes the coordinate signal and controls the sliding nozzle to move, thereby realizing the spraying of the damaged area.

[0078] Step 4, line change. When the walking unit moves to the end along the cable, the remote terminal observes the position of the line change unit through the observation lens and sends a control signal to the control host. The observation lens is used as a control observation to realize remote control of the line change unit, and finally the line change is realized, so that the inspection equipment is transferred to another adjacent group of cables, and then the walking unit is used to move back and detect. After returning to the starting point, the line change unit is used to change the line to the next group of cables. Repeat the above steps until all cables are inspected.

[0079] The present invention discloses a power supply line inspection device and an inspection method thereof, which have the following beneficial effects:

[0080] 1. The power supply line inspection equipment and the inspection method thereof are characterized in that line-changing connection tracks are arranged on both sides of the outer shell, and the line-changing mounting parts at one end of the line-changing connection tracks are mounted on the cable to be detected. When in use, the entire inspection equipment moves along a cable to one end of the cable to the end, and after completing the complete detection of the cable, the control host is connected through an external mobile terminal, and the position of the line-changing unit is observed by using an observation lens, and a control signal is sent to the control host according to the position of the line-changing connection track. In this way, the observation lens is used as a control observation, and the line-changing connection track is remotely controlled to rotate to the bottom end close to the adjacent cable, and then another group of line-changing mounting parts is controlled to be mounted on the adjacent cable. At this time, the line-changing connection track is suspended on the two adjacent groups of cables, and then the control host moves to the other group of cables through the line-changing motor to complete the line change, and then the inspection equipment moves back from the end of the second group of cables and detects, thereby realizing automatic line change of the entire device, and there is no idle operation during the opening and closing process, thereby realizing a longer effective inspection mileage based on limited power storage.

[0081] 2. The power supply line inspection equipment and the inspection method thereof are provided with a walking unit, and a detection unit and an opening and closing spraying unit are respectively provided on the front and rear sides of the walking unit. During the movement of the walking unit, after the detection unit obtains the image, the detection image is processed through the visual module. At the same time, the visual module is controlled and connected with the spraying module through the control host. The visual module controls the three groups of cameras respectively, and provides image processing and visual positioning for the three groups of cameras. When the three groups of cameras detect the damaged area, the visual module provides the output spraying signal and image coordinates to the control host, and sends them to the spraying module. The spraying module parses the coordinate signal and controls the sliding nozzle to move, thereby realizing the spraying of the damaged area, so as to facilitate the rapid positioning of the damaged area in the subsequent maintenance process.

[0082] 3. The power supply line inspection equipment and the inspection method thereof are configured with a push rod and a push frame so that the detection unit and the opening and closing spraying unit are both connected to the walking unit in a transmission manner. When changing the line, as the flip walking part on the top of the walking unit moves up and flips to one side, the opening and closing spraying unit is automatically opened and separated from the original cable by the push rod, and at the same time, the two groups of second cameras are automatically flipped and stored by the push frame, so as to automatically separate from the first group of cables when changing the line, and avoid obstructions and collisions when changing the line while ensuring effective detection and spraying operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0084] Figure 1 It is a schematic diagram of the overall inspection operation status of the present invention;

[0085] Figure 2 This is a schematic diagram of the overall line-changing operation state of the present invention;

[0086] Figure 3 This is a schematic diagram of the outer surface structure of the housing of the present invention;

[0087] Figure 4 This is a schematic diagram of the back structure of the outer shell of the present invention;

[0088] Figure 5 This is a schematic diagram of the top structure of the outer shell of the present invention;

[0089] Figure 6 This is a schematic diagram of the outer surface structure of the walking unit of the present invention;

[0090] Figure 7 This is a schematic diagram of the structure of the flip walking part of the present invention;

[0091] Figure 8 This is a schematic diagram of the structure of the auxiliary walking part of the present invention;

[0092] Fig. 9 This is a schematic diagram of the structure of the opening and closing spraying unit of the present invention;

[0093] Fig.10 It is a schematic diagram of the structure of the detection unit of the present invention;

[0094] Fig.11 This is a schematic diagram of the outer surface structure of the line changing unit of the present invention;

[0095] Fig.12 This is a cross-sectional view of the internal structure of the line-changing mounting component of the present invention;

[0096] Fig.13 This is a schematic diagram of the back structure of the line-changing mounting component of the present invention;

[0097] Fig.14 This is an exploded view of the line-changing drive structure of the present invention;

[0098] Fig.15 This is a control system diagram of the inspection method of the present invention.

[0099] In the figure: 1. control host; 11. outer shell; 12. battery; 13. communication antenna; 14. observation lens;

[0100] 2. Line-changing unit; 21. Line-changing connecting track; 22. Line-changing mounting part; 221. Hanging arm; 222. Hook; 223. Line driving motor; 224. Torsion driven gear; 225. Torsion driving motor; 226. Torsion driving gear; 227. Low-speed motor; 228. Low-speed gear; 229. Anti-drop block; 23. Line-changing driving part; 231. Hanging plate; 232. Rotating gear; 233. Rotating motor; 234. Rotating driving gear; 235. Line-changing motor; 236. Rotating shaft; 237. Line-changing gear; 24. Linear rack; 25. Linear slide;

[0101] 3. Travel unit; 31. Suspension seat; 32. Linear motor; 33. Turning travel unit; 331. Turning frame; 332. Travel wheel; 333. Hanging wire port; 334. Travel driving gear; 335. Transmission gear; 336. Travel motor; 34. Auxiliary travel unit; 341. Lifting block; 342. U-shaped wheel seat; 343. Auxiliary roller; 344. Elastic connector; 35. Turning motor; 36. Power piston cylinder; 37. Output piston cylinder;

[0102] 4. Opening and closing spraying unit; 41. Stand; 42. Arc-shaped slide rail; 43. Push rod; 44. High-pressure paint tank; 45. Sliding nozzle; 46. Spraying tube; 47. Opening and closing gear; 48. Double-sided rack; 49. Arc-shaped rack; 410. Moving motor; 411. Moving gear;

[0103] 5. Detection unit; 51. Storage bin; 52. Push rack; 53. Second camera; 54. First camera; 55. Flip gear; 56. Flip drive rack; 57. Flip arm. DETAILED DESCRIPTION

[0104] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0105] The embodiment of the present application provides a power supply line inspection device and an inspection method thereof, which solves the problem that traditional inspection equipment runs idle on the return trip, resulting in the effective inspection mileage being almost halved. At the same time, multiple cable inspections need to be transferred one by one by the operator. After the inspection, the specific damaged locations of the wires cannot be accurately marked, resulting in the entire use process and subsequent cable replacement being very troublesome.

[0106] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0107] The embodiment of the invention discloses a power supply line inspection device and an inspection method thereof. Example

[0108] According to the attached Figure 1-14 As shown, it includes a control host 1, a line changing unit 2, a walking unit 3, an opening and closing spraying unit 4 and a detection unit 5. The walking unit 3 is movably arranged on the top of the control host 1; the detection unit 5 includes three groups of cameras distributed in a circular array, and the three groups of cameras are used to detect the damage of the external insulation layer of the cable; the opening and closing spraying unit 4 is installed on the top of the control host 1 for spraying and marking the detected damaged position; the line changing unit 2 is installed on both sides of the control host 1, and is mounted between two adjacent groups of cables by flipping, so as to control the host 1 to transfer between two adjacent groups of cables.

[0109] The control host 1 includes an outer shell 11, a battery 12, a communication antenna 13 and an observation lens 14;

[0110] The line changing unit 2 , the walking unit 3 , the opening and closing spraying unit 4 and the detection unit 5 are all installed on the outer shell 11 ; the battery 12 is installed in the outer shell 11 ; the communication antenna 13 is installed on the outer wall of the outer shell 11 , and the observation lens 14 is installed on the outer wall of the outer shell 11 .

[0111] The walking unit 3 includes a suspension seat 31, a linear motor 32, a flip walking part 33, an auxiliary walking part 34, a flip motor 35, a power piston cylinder 36 and an output piston cylinder 37. The suspension seat 31 is slidably arranged at the top of the outer shell 11, the linear motor 32 is fixed inside the outer shell 11, and the output end of the linear motor 32 is fixed to the suspension seat 31; the flip walking part 33 is rotatably arranged on the top of the suspension seat 31, and a flip motor 35 for driving the flip walking part 33 to flip is installed on one side of the top of the suspension seat 31; the auxiliary walking part 34 is slidably arranged in the suspension seat 31, and the top of the auxiliary walking part 34 is opposite to the flip walking part 33; the power piston cylinder 36 is fixedly arranged in the outer shell 11, and the output shaft of the power piston cylinder 36 is fixedly connected to the bottom end of the suspension seat 31, the output piston cylinder 37 is fixedly arranged on the side of the power piston cylinder 36, and is communicated with the inside of the power piston cylinder 36, and the output shaft of the output piston cylinder 37 is fixedly connected to the auxiliary walking part 34.

[0112] The turning and walking part 33 includes a turning frame 331, walking wheels 332, a wire hanging port 333, a walking driving gear 334, a transmission gear 335 and a walking motor 336.

[0113] The flip frame 331 is rotatably set at the top of the suspension seat 31 and is fixedly connected to the output end of the flip motor 35; the walking wheel 332 is rotatably set at the top inside the flip frame 331; the wire hanging port 333 is opened on one side of the flip frame 331; the walking drive gear 334 is rotatably set on the other side of the flip frame 331, and the walking drive gear 334 is fixedly connected to the walking wheel 332; the transmission gear 335 is spaced between multiple walking drive gears 334, and adjacent walking drive gears 334 are meshed with the transmission gear 335; the walking motor 336 is fixedly installed on the outer wall of the flip frame 331, and is coaxially fixed with a group of walking drive gears 334.

[0114] The auxiliary walking part 34 includes a lifting block 341, a U-shaped wheel seat 342, an auxiliary roller 343 and an elastic connecting piece 344. The lifting block 341 is slidably arranged inside the suspension seat 31; the U-shaped wheel seat 342 is arranged on the top of the lifting block 341, and the U-shaped wheel seat 342 penetrates from the bottom to the flip frame 331 to form a shield for the hanging line opening 333; the auxiliary roller 343 is rotatably arranged in the U-shaped wheel seat 342; the elastic connecting piece 344 is installed between the lifting block 341 and the U-shaped wheel seat 342.

[0115] The detection unit 5 includes a storage bin 51, a push frame 52, a second camera 53, a first camera 54, a flip gear 55, a flip drive rack 56 and two groups of flip arms 57. The storage bin 51 is fixedly arranged on the top of the outer shell 11; the two groups of flip arms 57 are symmetrically rotatably arranged on both sides of the storage bin 51; the flip gear 55 is fixedly arranged at the end of the flip arm 57; one end of the push frame 52 is fixedly connected to the outer wall of the suspension seat 31, and the other end thereof passes through the storage bin 51; the flip drive rack 56 is fixedly arranged at the top of the push frame 52, and the flip drive rack 56 is meshed with the flip gear 55; the three groups of cameras include a first camera 54 fixed on the top of the flip frame 331 and a second camera 53 fixed at the ends of the two groups of flip arms 57.

[0116] The opening and closing spraying unit 4 includes a stand 41, two sets of arc-shaped slide rails 42, a push rod 43, a high-pressure paint tank 44, two sets of sliding nozzles 45, a spray tube 46, two sets of opening and closing gears 47, a double-sided rack 48, an arc-shaped rack 49, a moving motor 410 and a moving gear 411. The stand 41 is fixedly arranged on the top of the outer shell 11, and the stand 41 and the storage bin 51 are relatively arranged on both sides of the suspension seat 31; the two sets of arc-shaped slide rails 42 are respectively rotatably arranged on both sides of the stand 41, and the two sets of arc-shaped slide rails 42 are wrapped around the outer wall of the cable by flipping to form a complete annular spraying path; the bottom end of the push rod 43 is fixedly connected to the outer wall of the suspension seat 31, and a double-sided rack 48 is fixedly arranged on the top thereof; the high-pressure paint tank 44 is arranged in the outer shell 11; the two sets of sliding nozzles 45 are respectively arranged on the outer wall of the cable 31, and the two sets of arc-shaped slide rails 42 ... The two sets of opening and closing gears 47 are rotatably arranged on the outer walls of the two sets of arc-shaped slide rails 42; the spray pipe 46 is connected between the high-pressure paint tank 44 and the sliding nozzle 45, and the electromagnetic control valve is installed on the end of the spray pipe 46 close to the high-pressure paint tank 44, and the end of the spray pipe 46 close to the sliding nozzle 45 passes through the arc-shaped slide rail 42; two sets of opening and closing gears 47 are respectively rotatably arranged on both sides of the top of the stand 41, and the two sets of opening and closing gears 47 are respectively fixed to the two sets of arc-shaped slide rails 42, and the two sets of opening and closing gears 47 are respectively meshed with both sides of the double-sided rack 48; the arc-shaped rack 49 is installed inside the arc-shaped slide rail 42; the moving motor 410 is fixedly installed on the outer wall of the sliding nozzle 45, and the moving gear 411 is fixedly arranged at the output end of the moving motor 410, and the moving gear 411 is meshed with the arc-shaped rack 49.

[0117] The line changing unit 2 includes: a line changing connection track 21, two sets of line changing mounting parts 22, a line changing driving part 23, a linear rack 24 and a linear slide 25. The line changing connection track 21 is movably arranged on both sides of the outer shell 11; the two sets of line changing mounting parts 22 are both installed on one side of the line changing connection track 21, and are used to suspend and connect with the cables when the line changing connection track 21 connects two sets of cables; the line changing driving part 23 is installed on the other side of the line changing connection track 21, and the line changing driving part 23 is connected to the outer shell 11, and is used to drive the line changing connection track 21 to rotate, and at the same time is used for the outer shell 11 to move along the line changing connection track 21; the linear racks 24 are installed on the inner walls on both sides of the line changing connection track 21, and the linear slide 25 is opened on the upper and lower sides of the two sets of linear racks 24.

[0118] The line-changing mounting part 22 includes a hanging arm 221, a hook 222, a linear drive motor 223, a torsion driven gear 224, a torsion drive motor 225, a torsion drive gear 226, a low-speed motor 227, a low-speed gear 228 and an anti-dropping block 229. The hook 222 is slidably arranged inside one end of the hanging arm 221, and a linear drive motor 223 for driving the hook 222 to rise and fall is fixedly arranged in the hanging arm 221; the torsion driven gear 224 is rotatably arranged inside the other end of the hanging arm 221; the torsion drive motor 225 is fixedly arranged on the outer wall of the hanging arm 221, A torsion drive gear 226 is fixedly provided at its output end, and the torsion drive gear 226 meshes with the torsion driven gear 224; a low-speed motor 227 is fixedly provided on the outer wall of the hanging arm 221, and its output shaft movably penetrates the torsion driven gear 224 and extends to the line-changing connection track 21; an anti-slip block 229 is fixedly provided on the outer wall of the torsion driven gear 224, and the anti-slip block 229 is slidably connected to a linear slide groove 25 on one side; a low-speed gear 228 is fixedly provided at the output end of the low-speed motor 227, and the low-speed gear 228 meshes with a linear rack 24 on one side;

[0119] The line-changing drive component 23 includes a hanging plate 231, a rotating gear 232, a rotating motor 233, a rotating driving gear 234, a line-changing motor 235, a rotating shaft 236 and a line-changing gear 237. The hanging plate 231 is slidably set in the linear slide groove 25 on the other side; the rotating gear 232 is fixedly set on the outer wall of the hanging plate 231, and the rotating gear 232 is rotatably set in the side wall of the outer shell 11; the rotating motor 233 is fixedly set on the outer shell 11, and a rotating driving gear 234 is fixedly set at its output end, and the rotating driving gear 234 is meshed with the rotating gear 232; the line-changing motor 235 is fixedly set on the outer shell 11, and the rotating shaft 236 is rotatably connected to the inside of the rotating gear 232, and one end of the rotating shaft 236 is fixedly connected to the line-changing motor 235, and the other end of the rotating shaft 236 extends to the line-changing connection track 21 where a line-changing gear 237 is fixedly set, and the line-changing gear 237 is meshed with the linear rack 24 on the other side.

[0120] Working principle: When the device is in use, a group of cables at the side of multiple parallel cables is selected for mounting. At this time, the control host 1 is held by hand, and the suspension seat 31 is brought close to the target cable from below, and then the flip motor 35 is controlled to start, so that the flip frame 331 flips inward, so that the flip frame 331 is buckled on the top of the cable, and the control host 1 is released. At this time, the entire control host 1 is mounted on the target cable using the walking wheel 332. At this time, the linear motor 32 is started, so that the suspension seat 31 moves downward in the control host 1, and the bottom end of the suspension seat 31 pushes the power piston cylinder 36 The output shaft of the power piston cylinder 36 moves downward, so that the air pressure inside the power piston cylinder 36 increases, and the air pressure pushes the output shaft of the output piston cylinder 37 to move upward, thereby driving the lifting block 341 to move upward, so that the U-shaped wheel seat 342 is inserted into the inside of the flip frame 331. At this time, under the action of the elastic connecting piece 344, the auxiliary roller 343 is close to the bottom of the cable. At this time, the travel motor 336 is started, driving a set of travel drive gears 334 to rotate, and at the same time, using multiple transmission gears 335, multiple sets of travel wheels 332 are synchronously rotated, so that the entire control host 1 starts to move along the target cable;

[0121] During the above operation, as the suspension seat 31 moves downward, it drives the flip driving rack 56 to move downward through the push frame 52, and the flip driving rack 56 engages with the flip gear 55, so that the flip arm 57 drives the two sets of second cameras 53 to flip out from the storage bin 51, and at the same time cooperates with the first camera 54 on the flip frame 331, and forms a visual intersection through three sets of cameras, forming a complete visual inspection plan for the outer wall of the entire cable. At this time, the control host 1 is locked to move, and the three sets of cameras perform continuous appearance inspection;

[0122] During the above operation, as the suspension seat 31 moves downward, it pulls the double-sided rack 48 downward through the push rod 43. At this time, the double-sided rack 48 drives the opening and closing gear 47 to rotate, so that the two sets of arc-shaped slide rails 42 flip toward the middle to form a ring-shaped encirclement of the cable. At this time, when the three sets of cameras detect that there is damage on the surface of the cable, a spraying signal is given, and the damage position is determined by the three sets of cameras. At this time, the moving motor 410 is started, driving a set of moving gears 411 to rotate. At this time, the moving gear 411 is engaged with the arc-shaped rack 49, so that the sliding nozzle 45 moves along the arc-shaped slide rail 42 to the target position, and the walking motor 336 rotates at a uniform speed. , so that the entire walking unit 3 moves at a uniform speed, and the time for the opening and closing spraying unit 4 to move to the damaged position after the damaged position is found can be calculated through the straight-line distance between the opening and closing spraying unit 4 and the detection unit 5 and the moving speed of the walking unit 3, so that the opening and closing spraying unit 4 can complete the azimuth adjustment of the sliding nozzle 45 within the target time, and then at the end of the target time, the solenoid valve on the spraying pipe 46 is started, and the paint in the high-pressure paint tank 44 is sprayed outward through the spraying pipe 46, and finally sprayed on the damaged position on the cable surface through the sliding nozzle 45, so as to form a color mark, which is convenient for rapid positioning to the damaged position during subsequent maintenance;

[0123] When the device moves to the end of the target cable, the entire device is Figure 1 In the state shown, the rotating motor 233 is controlled to drive the rotating driving gear 234 to rotate, thereby driving the rotating gear 232 to rotate. At this time, the rotating gear 232 and the hanging plate 231 rotate, synchronously driving the entire line-changing connecting track 21 to rotate around the rotating shaft 236 as the axis, and finally making the other end of the line-changing connecting track 21 flip from the bottom to fit the bottom of an adjacent group of cables. At this time, the torsion driving motor 225 drives the torsion driving gear 226 to rotate, and the torsion driving gear 226 meshes with the torsion driven gear 224, thereby driving the line-changing The hanging arm 221 on the side of the connecting track 21 is flipped so that the hanging arm 221 is turned upward, and then the low-speed motor 227 is started to drive the low-speed gear 228 to rotate, so that the low-speed gear 228 drives the entire hanging arm 221 to slide along the linear slide 25, and finally the hook 222 at the top of the hanging arm 221 is hung on the surface of the cable to be replaced, and then the linear drive motor 223 drives the hook 222 to retract, so that the hook 222 is firmly connected to the target cable. At this time, the line-changing connecting track 21 is connected to the outer surfaces of the two adjacent groups of cables. Figure 2 Status shown;

[0124] At this time, the linear motor 32 starts, driving the suspension seat 31 to move upward. At this time, the entire control host 1 is supported by the hanging arms 221 on both sides and the cable suspension. At this time, the suspension seat 31 drives the flip walking part 33 to move upward. At the same time, as the suspension seat 31 moves upward, the auxiliary walking part 34 automatically moves down and moves out of the flip frame 331. At the same time, the suspension seat 31 drives the push rod 43 and the push frame 52 to move upward, so that the two groups of flip arms 57 drive the two groups of second cameras 53 to flip and store them in the storage bin 51 for storage. At the same time, the two groups of arc slide rails 42 flip outward and spread out, detaching from the cable surface, and then the flip motor 35 starts, driving the flip frame 331 to flip to one side from the cable surface, so that the walking unit 3, the opening and closing spraying unit 4 and the detection unit 5 on the top of the entire control host 1 are all separated from the first group of cables;

[0125] At this time, the line-changing motor 235 is started, and the line-changing gear 237 is driven to rotate through the rotating shaft 236, so that the line-changing gear 237 moves along the linear rack 24, so that the control host 1 moves along the line-changing connection track 21 through the hanging plate 231, and finally the control host 1 moves to the outer surface of the next group of cables. At this time, the linear motor 32 and the flip motor 35 are started, so that the walking unit 3, the opening and closing spraying unit 4 and the detection unit 5 are connected to the second group of cables. At this time, the linear drive motor 223 located on the first group of cables is started, driving the hook 222 to move upward, and then the low-speed motor 227 drives the hanging arm 221 from the surface of the first group of cables. The surface is moved away, and then the twisting drive motor 225 drives the line-changing connection track 21 to rotate with the rotating shaft 236 located on the second group of cables, so that the line-changing connection track 21 is flipped and reset to the vertical downward state on both sides of the control host 1. At this time, the upper and lower ends of the line-changing connection track 21 are reversed, but it does not affect the next flipping and use, thereby completing the line-changing operation of the device. At this time, the entire device moves back from the end of the second group of cables, and detects during the movement, thereby realizing automatic line changing of the entire device, and there is no idle running in the back and forth process, thereby achieving a longer effective inspection mileage based on limited power storage. Example

[0126] A power supply line inspection device inspection method, refer to the attached Figure 1-15 , including a walking control module, a visual module, a spraying module and a line-changing remote control module arranged in the control host 1, and also including a remote terminal connected to the control host 1. The control host 1 is essentially a microcomputer. When in use, the remote terminal realizes remote control connection with the control host 1 through the communication antenna 13.

[0127] When in use, the remote terminal observes the operation status of the entire control host 1 outside through the observation lens 14, and controls the walking unit 3 to move along the cable through the walking control module. After the detection unit 5 obtains the image, the detection image is processed through the visual module. At the same time, the visual module is controlled and connected with the opening and closing spraying unit 4 through the control host 1 and the spraying module. The visual module controls the three groups of cameras respectively, and provides image processing and visual positioning for the three groups of cameras. When the three groups of cameras detect the damaged area, the visual module provides the control host 1 with the output spraying signal and image coordinates, and sends them to the spraying module. The spraying module parses the coordinate signal and controls the sliding nozzle 45 to move, thereby realizing the spraying of the damaged area.

[0128] When changing lines, the remote terminal observes the position of the line changing unit 2 through the observation lens 14, and sends a control signal to the control host 1 according to the position of the line changing connection track 21. In this way, the observation lens 14 is used as a control observation to realize remote manual control of the line changing unit 2, and finally realize the line changing.

[0129] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A power supply line inspection device, characterized in that: include; Control host (1); A walking unit (3) which is movably arranged on the top of the control host (1); A detection unit (5), comprising three groups of cameras distributed in a ring array, and detecting damage to the outer insulation layer of the cable through the three groups of cameras; An openable spray unit (4) is mounted on the top of the control host (1) and is used to spray mark the detected damaged position; A line-changing unit (2) is installed on both sides of the control host (1) and is mounted between two adjacent groups of cables by flipping, so as to control the host (1) to transfer between the two adjacent groups of cables; The control host (1) comprises an outer shell (11), and the line changing unit (2), the walking unit (3), the opening and closing spraying unit (4) and the detection unit (5) are all installed thereon; The line changing unit (2) comprises: A line-changing connection track (21) movably arranged on both sides of the outer shell (11); Two sets of line-changing mounting parts (22), both of which are installed on one side of the line-changing connecting track (21), and are used for hanging and connecting with the cables when the line-changing connecting track (21) is connected to two sets of cables; A line-changing driving member (23) is installed on the other side of the line-changing connecting track (21), and the line-changing driving member (23) is connected to the outer shell (11) and is used to drive the line-changing connecting track (21) to rotate, and is used to allow the outer shell (11) to move along the line-changing connecting track (21); Linear racks (24) are mounted on the inner walls of both sides of the line-changing connection track (21); Linear slide grooves (25) are provided on upper and lower sides of the two sets of linear racks (24); The line-changing mounting component (22) comprises: Hanging arm (221); A hook (222) is slidably disposed inside one end of the hanging arm (221), and a linear drive motor (223) is fixedly disposed in the hanging arm (221) for driving the hook (222) to move up and down; A torsion driven gear (224) is rotatably disposed inside the other end of the hanging arm (221); A torsion drive motor (225) is fixedly disposed on the outer wall of the hanging arm (221), and a torsion drive gear (226) is fixedly disposed at the output end thereof, wherein the torsion drive gear (226) meshes with the torsion driven gear (224); A low-speed motor (227) is fixedly mounted on the outer wall of the hanging arm (221), and its output shaft movably penetrates the torsion driven gear (224) and extends into the line-changing connection track (21); An anti-slip block (229) is fixedly disposed on the outer wall of the torsion driven gear (224), and the anti-slip block (229) is slidably connected to a linear slide groove (25) on one side; A low-speed gear (228) is fixedly disposed at the output end of the low-speed motor (227), and the low-speed gear (228) is meshed with a linear rack (24) on one side; The line-changing drive component (23) comprises: A hanging plate (231) slidably disposed in the linear slide groove (25) on the other side; A rotating gear (232) is fixedly disposed on the outer wall of the hanging plate (231), and the rotating gear (232) is rotatably disposed in the side wall of the outer shell (11); A rotating motor (233) is fixedly disposed on the outer shell (11), and a rotating driving gear (234) is fixedly disposed on the output end of the rotating motor (233), wherein the rotating driving gear (234) meshes with the rotating gear (232); A line-changing motor (235) fixedly mounted on the outer shell (11); A rotating shaft (236) is rotatably connected to the inside of the rotating gear (232), and one end of the rotating shaft (236) is fixedly connected to the line-changing motor (235), and the other end of the rotating shaft (236) extends to the line-changing connecting track (21) where a line-changing gear (237) is fixedly provided, and the line-changing gear (237) is meshed with the linear rack (24) on the other side.

2. A power supply line inspection device according to claim 1, characterized in that: The control host (1) also includes: A storage battery (12) installed in the outer shell (11); A communication antenna (13) mounted on the outer wall of the outer shell (11); An observation lens (14) is mounted on the outer wall of the outer shell (11).

3. A power supply line inspection device according to claim 2, characterized in that: The walking unit (3) comprises: A suspension seat (31) slidably disposed on the top of the outer shell (11); A linear motor (32) is fixed inside the outer shell (11), and an output end of the linear motor (32) is fixed to the suspension seat (31); A flipping walking part (33) is rotatably arranged on the top of the suspension seat (31), and a flipping motor (35) for driving the flipping walking part (33) to flip is installed on one side of the top of the suspension seat (31); An auxiliary walking portion (34) is slidably disposed in the suspension seat (31), and a top end of the auxiliary walking portion (34) is opposite to the flip walking portion (33); A power piston cylinder (36) is fixedly disposed in the outer shell (11), and an output shaft of the power piston cylinder (36) is fixedly connected to the bottom end of the suspension seat (31); The output piston cylinder (37) is fixedly arranged on the side of the power piston cylinder (36) and is communicated with the inside of the power piston cylinder (36). The output shaft of the output piston cylinder (37) is fixedly connected to the auxiliary walking part (34).

4. A power supply line inspection device according to claim 3, characterized in that: The flip walking part (33) comprises: A turning frame (331) is rotatably disposed on the top of the suspension seat (31) and is fixedly connected to the output end of the turning motor (35); A running wheel (332) rotatably disposed on the top of the turning frame (331); A wire hanging port (333) is provided on one side of the turning frame (331); A travel driving gear (334) is rotatably disposed on the other side of the turning frame (331), and the travel driving gear (334) is fixedly connected to the travel wheel (332); A transmission gear (335) is arranged between the plurality of travel drive gears (334), and the adjacent travel drive gears (334) are meshed with the transmission gear (335); The travel motor (336) is fixedly mounted on the outer wall of the turning frame (331) and is coaxially fixed with a set of travel driving gears (334).

5. A power supply line inspection device according to claim 4, characterized in that: The auxiliary walking part (34) comprises: A lifting block (341) is slidably disposed inside the suspension seat (31); A U-shaped wheel seat (342) is disposed on the top of the lifting block (341), and the U-shaped wheel seat (342) penetrates from below into the turning frame (331) to form a shield for the wire hanging opening (333); An auxiliary roller (343) rotatably disposed in the U-shaped wheel seat (342); An elastic connecting member (344) is installed between the lifting block (341) and the U-shaped wheel seat (342).

6. A power supply line inspection device according to claim 3, characterized in that: The detection unit (5) comprises: A storage bin (51) fixedly disposed on the top of the outer shell (11); Two sets of flip arms (57) are symmetrically arranged on both sides of the storage bin (51); A flip gear (55) fixedly disposed at the end of the flip arm (57); A push frame (52), one end of which is fixedly connected to the outer wall of the suspension seat (31), and the other end of which penetrates into the storage bin (51); A turning driving rack (56) is fixedly arranged on the top end of the push frame (52), and the turning driving rack (56) is meshed with the turning gear (55); The three groups of cameras include a first camera (54) fixed to the top of the flip frame (331) and a second camera (53) fixed to the ends of the two groups of flip arms (57).

7. A power supply line inspection device according to claim 6, characterized in that: The openable spraying unit (4) comprises: A stand (41) fixedly disposed on the top of the outer shell (11), and the stand (41) and the storage bin (51) are disposed on opposite sides of the suspension seat (31); Two sets of arc-shaped slide rails (42) are rotatably arranged on both sides of the stand (41), and the two sets of arc-shaped slide rails (42) are turned over and wrapped around the outer wall of the cable to form a complete annular spraying path; A push rod (43), the bottom end of which is fixedly connected to the outer wall of the suspension seat (31), and the top end of which is fixedly provided with a double-sided rack (48); A high-pressure paint tank (44) disposed in the outer shell (11); Two groups of sliding nozzles (45) are respectively slidably arranged on the outer walls of two groups of arc-shaped slide rails (42); A spray pipe (46) is connected between the high-pressure paint tank (44) and the sliding nozzle (45), and an electromagnetic control valve is installed at one end of the spray pipe (46) close to the high-pressure paint tank (44), and one end of the spray pipe (46) close to the sliding nozzle (45) penetrates into the arc-shaped slide rail (42); Two sets of opening and closing gears (47) are rotatably arranged on both sides of the top of the stand (41), and the two sets of opening and closing gears (47) are respectively fixed to the two sets of arc-shaped slide rails (42), and the two sets of opening and closing gears (47) are respectively meshed with both sides of the double-sided rack (48); An arc-shaped rack (49) installed inside the arc-shaped slide rail (42); A moving motor (410) fixedly mounted on the outer wall of the sliding nozzle (45); The moving gear (411) is fixedly arranged at the output end of the moving motor (410), and the moving gear (411) is meshed with the arc-shaped rack (49).

8. A power line inspection method according to any one of claims 1 to 7, characterized in that: It comprises a walking control module, a visual module, a spraying module and a line-changing remote control module arranged in the control host (1), and also comprises a remote terminal. The control host (1) is remotely controlled and connected to the control host via a communication antenna. The inspection process of the control host (1) comprises the following steps: Step 1: Loading: The operator assembles the entire inspection equipment on a set of cables; Step 2: walking detection, the remote terminal observes the operation status of the entire control host (1) through the observation lens (14), and controls the walking unit (3) to move along the cable through the walking control module, and performs real-time detection through the detection unit (5) during the movement; Step 3: Marking spraying: After the detection unit (5) acquires the image, the detection image is processed through the visual module. The three groups of cameras of the visual module provide image processing and visual positioning. When the three groups of cameras detect the damaged area, the visual module provides an output spraying signal and image coordinates to the control host (1), and sends them to the spraying module. The spraying module analyzes the coordinate signal and controls the sliding nozzle (45) to move, thereby realizing spraying of the damaged area. Step 4: line change. When the walking unit (3) moves along the cable to the end, the remote terminal observes the position of the line change unit (2) through the observation lens (14) and sends a control signal to the control host (1). The observation lens (14) is used as a control observation to realize remote control of the line change unit (2), and finally realize line change, so that the inspection equipment is transferred to another adjacent group of cables, and then the walking unit (3) is used to move back and detect. After returning to the starting point, the line change is carried out to the next group of cables through the line change unit (2). The above steps are repeated until all cables are tested.

Images