Traveling device for live flaw detection of power transmission line

Abstract

The invention discloses a walking device for live flaw detection of a power transmission line, and belongs to the technical field of power transmission line detection. The device mainly comprises a shell, a walking assembly and a flaw detection assembly, wherein the flaw detection assembly is provided with a control box; the shielding assembly comprises two sets of mounting plates, outer plates, inner plates, inserting plates and electric cylinders, the electric cylinders are mounted at the bottoms of the mounting plates, and push rods are mounted at the output ends of the electric cylinders; the supporting plate is mounted at one end of the push rod, and the supporting plate is mounted at the bottom of the insertion plate; protruding blocks are arranged on the two sides, close to the outer plate, of the inner plate and the inserting plate. Limiting blocks are arranged in the outer plate and the inner plate and located on one side of the protruding block. According to the live flaw detection walking device for the power transmission line, through the arrangement of the shielding assembly, the flaw detection area of the power transmission line is shielded in rainy and snowy weather when the power transmission line is subjected to flaw detection, the influence of rain and snow on the flaw detection result is avoided, and the effect of shielding the detection area is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of power transmission line detection, and in particular to a walking device for live flaw detection of power transmission lines. Background Art

[0002] Transmission lines are an important part of the power system, which is mainly responsible for the transmission and distribution of electric energy. Simply put, transmission lines are used to transmit the electric energy generated by power plants to various power consumption locations (such as cities, factories, rural areas, etc.). These lines are usually composed of conductors, lightning arresters, poles, insulators, hardware, wires, foundations, grounding devices, etc., and they each have different functions and roles.

[0003] After the transmission line is used for a long time, the inside of the transmission line and other components will have different damages, so it is necessary to regularly inspect the internal conditions;

[0004] For example, the patent with publication number CN110412059A specifically discloses a device for detecting live radiation of power transmission line hardware and its application method. The device uses a drone to deliver the detection device to the vicinity of the wire to be detected, controls the receiving shielding compartment to insert the wire to be detected, controls the X-ray generating module to emit X-rays, and receives the X-ray transmission signal through the X-ray imaging module to detect the internal situation of the line;

[0005] However, although the above patent can detect the internal conditions of the line, in unexpected situations, such as rainy and snowy weather, since the X-ray detection is irradiated on the line for detection, in precipitation conditions such as rain and snow, the rain and snow will absorb and scatter the X-rays, which may reduce the clarity and quality of the detection image, thereby affecting the detection effect. Therefore, when facing the required weather, it is necessary to shield the test area;

[0006] Therefore, it is necessary to provide a transmission line live flaw detection walking device to solve the above problems.

[0007] It should be noted that the above information disclosed in this background technology section is only for understanding the background technology of the present application concept, and therefore, it may contain information that does not constitute the prior art. Summary of the invention

[0008] Based on the above problems existing in the prior art, the problem to be solved by the present application is: to provide a walking device for live flaw detection of power transmission lines, so as to achieve the effect of shielding the detection area.

[0009] The technical solution adopted by the present application to solve its technical problems is: a walking device for live flaw detection of power transmission lines, including a shell body, on which a camera is arranged; a walking component, which is arranged on the shell body; a flaw detection component, which is arranged on the shell body, and the flaw detection component has a control box suitable for providing an installation space; a shielding component, which is arranged on the flaw detection component, and the shielding component includes: two groups of mounting plates, which are mounted on both sides of the control box; an outer plate, which is mounted on the mounting plate; an inner plate, which is slidably arranged inside the outer plate; an insert plate, which is slidably arranged inside the inner plate; an electric cylinder, which is mounted on the bottom of the mounting plate, and a push rod is mounted on the output end of the electric cylinder; a support plate, which is mounted on one end of the push rod, and the support plate is mounted on the bottom of the insert plate; wherein: the inner plate and the insert plate are both provided with protrusions on both sides close to the outer plate; and the inner plate and the inner plate are both provided with limit blocks, and the limit blocks are located on one side of the protrusions.

[0010] Furthermore, the walking assembly includes two groups of fixed plates installed on both sides of the shell, and support frames are rotatably installed on the two groups of fixed plates, and rollers are rotatably installed on one end of the support frame away from the fixed plates.

[0011] Furthermore, a gear ring is arranged inside the roller, a stepper motor is installed on the support frame, the stepper motor is located on one side of the roller, a gear is installed at the output end of the stepper motor, and the gear is meshed with the gear ring.

[0012] Furthermore, a servo motor is installed at the bottom of the shell, a worm is installed at the output end of the servo motor, a worm wheel is rotatably installed at the bottom of the shell, and the worm wheel and the worm are meshingly connected.

[0013] Furthermore, two sets of transmission rods are eccentrically hinged on the worm wheel, and the two sets of transmission rods are arranged opposite to each other. Two sets of triangular plates are rotatably installed on the bottom of the shell, and the two sets of triangular plates are arranged opposite to each other. The two sets of triangular plates are located on both sides of the worm wheel.

[0014] Furthermore, one corner of the triangular plate is hinged to one end of the transmission rod away from the worm gear, and connecting rods are hinged at the other two corners of the triangular plate, and one end of the connecting rod is hinged to one end of the support frame.

[0015] Furthermore, the flaw detection assembly includes a second mechanical arm installed on one side of the shell, the second mechanical arm is connected to the control box, a flaw detection head is installed at the bottom of the control box, and the flaw detection head has an X-ray emission module.

[0016] Furthermore, a first mechanical arm is installed on the other side of the shell, and a ray board is arranged on the first mechanical arm, and the ray board has an X-ray receiving module.

[0017] Furthermore, a marking assembly is provided on the shell, and the marking assembly includes a third mechanical arm installed at the bottom of the shell, and the third mechanical arm is located below the camera.

[0018] Furthermore, a fixing box is provided on the third robot arm, a storage tank is installed on the fixing box, a sealing cover is threadedly installed on the storage tank, a nozzle is provided at the bottom of the fixing box, and a connecting pipe is provided between the nozzle and the bottom of the storage tank.

[0019] The beneficial effect of the present application is that the present application provides a walking device for live flaw detection of transmission lines, which, through the setting of a shielding component, can shield the flaw detection area when encountering rainy and snowy weather during the flaw detection of the transmission line, thereby preventing rain and snow from affecting the flaw detection results and achieving the effect of shielding the detection area.

[0020] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0022] In the attached picture:

[0023] Figure 1 This is an overall schematic diagram of a live flaw detection walking device for a power transmission line in this application;

[0024] Figure 2 for Figure 1 The enlarged schematic diagram of point A in the middle;

[0025] Figure 3 for Figure 1 Another perspective diagram of the whole;

[0026] Figure 4 for Figure 3 The enlarged schematic diagram of point B in the middle;

[0027] Figure 5 for Figure 3 The enlarged schematic diagram of the center C;

[0028] Figure 6 for Figure 3 The enlarged schematic diagram of point D in the middle;

[0029] Among them, the reference numerals in the figure are:

[0030] 1. Housing; 101. Camera;

[0031] 2. Flaw detection assembly; 21. First mechanical arm; 22. X-ray board; 23. Second mechanical arm; 24. Control box; 25. Flaw detection head;

[0032] 3. Traveling assembly; 31. Roller; 32. Stepping motor; 33. Support frame; 34. Fixing plate; 35. Gear ring; 36. Connecting rod; 37. Triangular plate; 38. Transmission rod; 39. Worm wheel; 310. Worm; 311. Servo motor;

[0033] 4. Marking assembly; 41. Third robotic arm; 42. Fixing box; 43. Storage tank; 44. Nozzle;

[0034] 5. Shielding assembly; 51. Outer plate; 52. Inner plate; 53. Insert plate; 54. Mounting plate; 55. Push rod; 56. Support plate; 57. Electric cylinder. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0037] The flaw detection walking device in this application is transported and removed from the power transmission line by a drone, which is a prior art and will not be described in detail here;

[0038] like Figure 1 As shown, the present application provides a transmission line live flaw detection walking device, including a housing 1, and a camera 101, the bottom of the camera 101 is connected to a driving device, such as a rotary motor or a hydraulic motor, and the driving device is installed on the housing 1, so that the camera 101 can rotate in a circumferential direction under the drive of the driving device, so that the staff can observe the surrounding environment;

[0039] Meanwhile, a walking assembly 3 is provided on the housing 1, and the walking assembly 3 is used for walking on the transmission line, specifically:

[0040] like Figure 1 and Figure 3-Figure 5 As shown, the walking assembly 3 includes two sets of fixed plates 34 fixedly mounted on both sides of the housing 1, and support frames 33 are rotatably mounted on both sets of fixed plates 34, and a roller 31 is rotatably mounted on one end of the support frame 33 away from the fixed plates 34;

[0041] Continue to refer Figure 4A gear ring 35 is provided inside the roller 31, and a stepper motor 32 is fixedly mounted on the support frame 33. The stepper motor 32 is located on one side of the roller 31, and a gear (not shown in the figure) is fixedly mounted on the output end of the stepper motor 32, which is meshed with the gear ring 35;

[0042] Then, driven by the stepping motor 32, the gear is driven to rotate, thereby driving the ring gear 35 to rotate, and driving the roller 31 to rotate, so that the UAV can transport the housing 1 to the vicinity of the power transmission line, and then place the roller 31 on the transmission line, and under the rotation of the roller 31, it can move on the power transmission line;

[0043] It should be noted that the walking assembly 3 is suitable for being placed on multiple sets of parallel transmission lines, such as three sets of parallel transmission lines, and the rollers 31 on both sides of the housing 1 are placed on the transmission lines on both sides for support, so as to facilitate the subsequent detection of the transmission line in the middle;

[0044] Continue to refer Figure 5 A servo motor 311 is fixedly mounted at the bottom of the housing 1, and a worm 310 is fixedly mounted at the output end of the servo motor 311. A worm wheel 39 is rotatably mounted at the bottom of the housing 1. The worm wheel 39 is meshedly connected with the worm 310, so that the worm wheel 39 is driven to rotate by the worm 310 under the drive of the servo motor 311;

[0045] Two sets of transmission rods 38 are eccentrically hinged on the worm wheel 39, and the two sets of transmission rods 38 are arranged opposite to each other. Two sets of triangular plates 37 are rotatably installed at the bottom of the housing 1, and the two sets of triangular plates 37 are arranged opposite to each other and are located on both sides of the worm wheel 39. One corner of the triangular plate 37 is hinged to one end of the transmission rod 38 away from the worm wheel 39, and at the same time, connecting rods 36 are hinged at the other two corners of the triangular plate 37, and one end of the connecting rod 36 away from the triangular plate 37 is hinged to one end of the support frame 33 close to the fixed plate 34;

[0046] When the worm gear 39 rotates, the two sets of transmission rods 38 are driven to rotate eccentrically, thereby driving the triangular plate 37 to rotate, thereby driving the support frame 33 to rotate on the fixed plate 34 through the connecting rod 36 to adjust the angle of the support frame 33, thereby being suitable for power transmission lines with different spacings;

[0047] Meanwhile, a flaw detection component 2 is arranged on the housing 1, and the flaw detection component 2 is used for flaw detection operation of the circuit;

[0048] like Figure 1 As shown, the flaw detection assembly 2 includes a second mechanical arm 23 fixedly mounted on one side of the housing 1, and a control box 24 is provided on the second mechanical arm 23 to facilitate placement of electrical equipment, and the electrical equipment is communicatively connected with an external remote control device, thereby facilitating remote control by staff;

[0049] A flaw detection head 25 is fixedly mounted at the bottom of the control box 24. The flaw detection head 25 has an X-ray emission module, and the X-ray emission module is electrically connected to the electrical equipment in the control box 24 to provide a motor for the flaw detection head 25, thereby emitting X-rays to penetrate the power transmission line;

[0050] Meanwhile, a first mechanical arm 21 is fixedly mounted on the other side of the housing 1, and a ray board 22 is arranged on the first mechanical arm 21. The ray board 22 has an X-ray receiving module to receive the X-rays emitted by the flaw detection head 25, and the X-ray receiving module is connected to an external remote control device for communication, so as to transmit the internal situation of the power transmission line through which the X-rays pass to the remote control device;

[0051] It should be noted that the two sets of mechanical arms in the present application are both connected to the remote control device for communication, so that the staff can remotely control the two sets of mechanical arms to move the flaw detection head 25 and the ray board 22 to both sides of the transmission line for flaw detection testing;

[0052] At the same time, a shielding component 5 is provided on the flaw detection component 2, and the shielding component 5 is used to shield the flaw detection area of ​​the flaw detection component 2 in rainy and snowy weather to prevent the rainy and snowy weather from interfering with the flaw detection results;

[0053] like Figure 1-Figure 2 As shown, the shielding assembly 5 includes mounting plates 54 fixedly mounted on both sides of the control box 24, an outer plate 51 is fixedly mounted on the top of the two sets of mounting plates 54, the outer plate 51 is located above the control box 24, and an inner plate 52 is slidably arranged inside the outer plate 51, and an insert plate 53 is slidably arranged inside the inner plate 52;

[0054] It should be noted that protrusions (not shown in the figure) are provided on both sides of the inner plate 52 and the plug plate 53 close to the outer plate 51, and limit blocks (not shown in the figure) are provided inside the outer plate 51 and the inner plate 52, and the limit blocks are located on one side of the protrusions;

[0055] Therefore, under the action of external force, the plug plate 53 is pulled out until the limit block of the pull plate abuts against the protrusion of the inner plate 52, thereby driving the inner plate 52 to move until the plug plate 53 abuts against the ray plate 22, so as to shield the test area of ​​the flaw detection head 25 and prevent rain and snow from entering the test area. In addition, the outer plate 51, the inner plate 52 and the plug plate 53 have the same shape, which is ∩-shaped, so as to shield the side of the test area and prevent rain and snow from entering the test area from the side.

[0056] Furthermore, the sliding arrangement of the plug board 53 and the inner plate 52 can be applied to test areas with different spacings, and when the protrusion of the inner plate 52 abuts against the limit block of the outer plate 51, the moving distance of the inner plate 52 can be limited, and then the plug board 53 is limited, and this is the maximum moving distance of the plug board 53;

[0057] like Figure 3 and Figure 6 As shown, an electric cylinder 57 is fixedly mounted on the bottom of the mounting plate 54, and a push rod 55 is fixedly mounted on the output end of the electric cylinder 57. A support plate 56 is fixedly mounted on the end of the push rod 55 away from the electric cylinder 57, and the end of the support plate 56 away from the push rod 55 is connected to the bottom of the plug plate 53, and then driven by the electric cylinder 57, the push rod 55 extends and synchronously drives the plug plate 53 to extend or retract;

[0058] To sum up, when performing flaw detection tests on multiple groups of parallel transmission lines, the shell 1 is transported to the vicinity of the transmission line through a remote control device drone, and the walking component 3 is placed on the transmission lines on both sides, and then the first robotic arm 21 and the second robotic arm 23 are started, and the flaw detection head 25 and the camera board are moved to both sides of the transmission line in the middle, and the camera 101 is used to observe whether their positions are accurate. After confirmation, the flaw detection head 25 is started to emit X-rays to penetrate the inside of the transmission line, and the X-rays are received through the ray board 22, and the internal data is sent to the remote control device for the convenience of staff to view. During the test, if rainy and snowy weather occurs, the shielding component 5 is started to shield the top and both sides of the flaw detection area to prevent rain and snow from entering the flaw detection area and affecting the detection quality.

[0059] Embodiment 2:

[0060] In the above process, although the flaw detection operation of the transmission line can be realized, after the detection is completed, there is no component marking of the severely damaged parts, which makes it impossible for maintenance personnel to immediately know which parts need to be repaired during the repair, which may cause delays in maintenance work and increase the risk of transmission line failure;

[0061] In order to solve this problem, a marking component 4 is provided on the housing 1, and the marking component 4 is used to mark the part of the power transmission line that is seriously damaged;

[0062] like Figure 1 and Figure 3As shown, the marking assembly 4 includes a third mechanical arm 41 fixedly mounted on the bottom of the housing 1, the third mechanical arm 41 is located below the camera 101, and a fixed box 42 is provided on the third mechanical arm 41, and a storage tank 43 is fixedly mounted on the fixed box 42 to store marking media, such as environmentally friendly paint, etc., and a sealing cover is threadedly mounted on the storage tank 43 to seal the storage tank 43, and when the internal environmentally friendly paint is insufficient, the sealing cover can be screwed out to replenish the internal environmentally friendly paint of the storage tank 43;

[0063] At the same time, a nozzle 44 is provided at the bottom of the fixed box 42, and a connecting pipe is provided between the nozzle 44 and the bottom of the storage tank 43, so that under the action of gravity, the environmentally friendly paint in the storage tank 43 flows into the nozzle 44 through the connecting pipe, and an air inlet (not shown in the figure) is provided on the nozzle 44, and the air inlet can be connected to a driving device, such as an air pump, etc., and the driving device can be installed in the control box 24, and then driven by the driving device, the environmentally friendly paint is sprayed out through the nozzle 44;

[0064] To summarize, when encountering a severely damaged portion of the transmission line, the third robotic arm 41 is started to drive the fixed box 42 to move above the severely damaged portion of the transmission line, so that the environmentally friendly paint in the storage tank 43 flows into the nozzle 44 through the connecting pipe under the action of gravity, and then the environmentally friendly paint in the nozzle 44 is sprayed out through the driving device, thereby marking the severely damaged portion of the transmission line.

[0065] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A walking device for live flaw detection of power transmission lines, characterized in that: include: A housing (1), wherein a camera (101) is provided on the housing (1); A walking assembly (3), wherein the walking assembly (3) is arranged on the housing (1); A flaw detection component (2), the flaw detection component (2) being arranged on the housing (1), the flaw detection component (2) having a control box (24) suitable for providing an installation space; A shielding component (5), wherein the shielding component (5) is arranged on the flaw detection component (2), and the shielding component (5) comprises: Two sets of mounting plates (54), the two sets of mounting plates (54) being mounted on both sides of the control box (24); An outer plate (51), the outer plate (51) being mounted on the mounting plate (54); An inner plate (52), the inner plate (52) being slidably disposed inside the outer plate (51); An inserting plate (53), the inserting plate (53) being slidably disposed inside the inner plate (52); An electric cylinder (57), wherein the electric cylinder (57) is mounted on the bottom of the mounting plate (54), and a push rod (55) is mounted on the output end of the electric cylinder (57); A support plate (56), the support plate (56) being mounted on one end of the push rod (55), and the support plate (56) being mounted on the bottom of the plug plate (53); Wherein: both sides of the inner plate (52) and the plug plate (53) close to the outer plate (51) are provided with protrusions; Limit blocks are arranged inside the outer plate (51) and the inner plate (52), and the limit blocks are located on one side of the protrusion.

2. A transmission line live flaw detection walking device according to claim 1, characterized in that: The walking assembly (3) comprises two groups of fixing plates (34) mounted on both sides of the housing (1), and support frames (33) are rotatably mounted on both groups of the fixing plates (34), and a roller (31) is rotatably mounted on one end of the support frame (33) away from the fixing plates (34).

3. A transmission line live flaw detection walking device according to claim 2, characterized in that: A gear ring (35) is arranged inside the roller (31), a stepper motor (32) is installed on the support frame (33), the stepper motor (32) is located on one side of the roller (31), and a gear is installed at the output end of the stepper motor (32), and the gear is meshed with the gear ring (35).

4. A transmission line live flaw detection walking device according to claim 3, characterized in that: A servo motor (311) is installed at the bottom of the housing (1), a worm (310) is installed at the output end of the servo motor (311), a worm wheel (39) is rotatably installed at the bottom of the housing (1), and the worm wheel (39) and the worm (310) are meshingly connected.

5. A transmission line live flaw detection walking device according to claim 4, characterized in that: Two groups of transmission rods (38) are eccentrically hinged on the worm wheel (39), and the two groups of transmission rods (38) are arranged opposite to each other. Two groups of triangular plates (37) are rotatably mounted on the bottom of the housing (1), and the two groups of triangular plates (37) are arranged opposite to each other. The two groups of triangular plates (37) are located on both sides of the worm wheel (39).

6. A transmission line live flaw detection walking device according to claim 5, characterized in that: One corner of the triangular plate (37) is hinged to one end of the transmission rod (38) away from the worm gear (39), and connecting rods (36) are hinged to the other two corners of the triangular plate (37), and one end of the connecting rod (36) is hinged to one end of the support frame (33).

7. The live flaw detection walking device for power transmission lines according to claim 1 is characterized in that: The flaw detection assembly (2) comprises a second mechanical arm (23) installed on one side of the housing (1), the second mechanical arm (23) is connected to the control box (24), a flaw detection head (25) is installed at the bottom of the control box (24), and the flaw detection head (25) has an X-ray emission module.

8. The transmission line live flaw detection walking device according to claim 1 is characterized by: A first mechanical arm (21) is installed on the other side of the housing (1), and a ray plate (22) is arranged on the first mechanical arm (21), wherein the ray plate (22) has an X-ray receiving module.

9. The live flaw detection walking device for power transmission lines according to claim 1 is characterized in that: The shell (1) is provided with a marking component (4), and the marking component (4) comprises a third mechanical arm (41) installed at the bottom of the shell (1), and the third mechanical arm (41) is located below the camera (101).

10. A transmission line live flaw detection walking device according to claim 9, characterized in that: The third mechanical arm (41) is provided with a fixing box (42), a storage tank (43) is installed on the fixing box (42), a sealing cover is threadedly installed on the storage tank (43), a nozzle (44) is provided at the bottom of the fixing box (42), and a connecting pipe is provided between the nozzle (44) and the bottom of the storage tank (43).

Images