A detection device for online monitoring of loose bolts on transmission towers

Abstract

The present invention relates to the technical field of transmission tower climbing detection robots, and is a detection device for online monitoring of loose bolts on transmission towers, which comprises: a main body, a slide rail assembly is arranged on one side of the main body, and a sensor module is arranged at the front end of the main body in the forward direction; a fixed clamping module is connected to the main body through a fixed clamping connection seat; a dynamic clamping module is arranged on the slide rail assembly through a dynamic clamping slider assembly, and its structure is symmetrical with that of the fixed clamping module, and the dynamic clamping module comprises an arc guide rail, a traveling mechanism arranged on the arc guide rail, a clamping claw tightening device arranged on the arc guide rail, and a first electric cylinder arranged on the traveling mechanism; the first electric cylinder is connected to the fixed clamping connection seat or the dynamic clamping slider assembly. A climbing robot detection device is provided, which can avoid obstacles and jump over obstacles at the nodes of the tower, and quickly shoot the bolt status during climbing to realize rapid detection of bolt loosening.

Description

Technical Field

[0001] The invention relates to the technical field of transmission pole tower climbing detection robots, in particular to a detection device for online monitoring of loose bolts of transmission pole towers. Background Art

[0002] As a support for overhead wires, transmission line towers are widely used in transmission lines. The safety of the towers is directly related to the safe and stable operation of the transmission lines. Transmission lines swing in strong winds. When certain meteorological conditions such as ice cover are met, the conductors may even dance. In this case, the stress on the tower body will increase, causing the bolts of the tower to loosen. If not handled in time, it may cause defects such as bolts falling off, and even tower collapse and wire breakage accidents. Due to the large number of bolts on the towers, there has been no efficient method for detecting loose bolts on transmission towers. For the bolts at the bottom of the tower, the tightening degree of the bolts at the bottom of the tower is currently determined by knocking on the bottom tower material and distinguishing the tightness of the bolts at the bottom of the tower by sound; for the bolts in the middle and upper parts of the tower, the looseness of the bolts of the tower is roughly determined by sampling and testing by high-altitude workers climbing the tower. The existing methods have extremely low detection accuracy and work efficiency, and there are high safety risks for high-altitude workers, which cannot meet the increasing requirements for lean operation and inspection of equipment. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a climbing robot detection device which can avoid obstacles and jump over obstacles at pole tower nodes, and quickly scan and photograph the bolt status during climbing to achieve rapid detection of bolt loosening.

[0004] To solve the above problems, the technical solution adopted by the present invention is:

[0005] A detection device for online monitoring of loose bolts of transmission towers, comprising:

[0006] The main body is in the shape of an elongated strip as a whole, a slide rail assembly is provided on one side of the main body along its length direction, and a sensor module is provided at the front end of the main body in the forward direction;

[0007] A fixed clamping module, connected to the main body via a fixed clamping connection seat;

[0008] The movable clamping module is slidably arranged on the slide rail assembly through the movable clamping slider assembly, and its structure is symmetrical with the fixed clamping module. The movable clamping module includes an arc-shaped guide rail, a traveling mechanism arranged on the outer edge of the arc-shaped guide rail, a clamping claw tightening device arranged on the inner edge of the arc-shaped guide rail, and a first electric cylinder arranged on the traveling mechanism. The clamping claw tightening device is used to grasp the pole tower angle steel, and the traveling mechanism is used to drive the arc-shaped guide rail to rotate or move along the outer edge; the first electric cylinder is connected to the fixed clamping connection seat or the movable clamping slider assembly;

[0009] The two groups of the driving mechanisms of the fixed clamping module and the dynamic clamping module move synchronously along the two outer edges respectively, so that the main body rotates relative to the pole tower angle steel to the position where the sensor module faces the bolts on the pole tower angle steel, so as to take pictures of the bolts on the pole tower angle steel;

[0010] The driving mechanism of the fixed clamping module or the movable clamping module drives the arc-shaped guide rail to rotate, so that the clamping claw tightening device rotates to a position to avoid the transverse connecting part on the angle steel of the pole tower.

[0011] As an embodiment of the present invention, the cross-section of the arc guide rail is in an I-shape, which includes the arc-shaped outer edge, the arc-shaped inner edge, a connecting plate connecting the outer edge and the inner edge, and two symmetrically arranged sealing plates, wherein the sealing plates are arranged at the ends of the arc guide rail to limit the travel of the traveling mechanism.

[0012] As an embodiment of the present invention, the driving mechanism includes a driving base with a "П"-shaped cross section, a driving shaft rotatably arranged between two vertical sides of the driving base, two traveling components symmetrically arranged on the two vertical sides of the driving base, and a driving motor arranged on one side of the driving base;

[0013] The travel assembly includes two symmetrically arranged travel parts, the travel parts include a driven shaft rotatably arranged on the vertical side of the travel base, a travel gear arranged on the driven shaft, and a driven sprocket arranged between the travel gear and the travel base, two driving sprockets are arranged on the driving shaft opposite to each other, and the driving sprocket is connected to the driven sprockets of the two travel parts through a chain;

[0014] The traveling gear is meshed with the planetary gear structure provided on the lower end surface of the outer edge, and a sleeve is sleeved on the middle section of the driving shaft and abuts against the upper end surface of the outer edge. The traveling drive motor drives the driving shaft to rotate, thereby rotating the traveling gear to drive the arc guide rail to rotate or move the traveling mechanism along the outer edge.

[0015] As an embodiment of the present invention, a correction camera and an obstacle-crossing camera are arranged on the sealing plate, and the obstacle-crossing camera is facing the front end or the rear end of the forward direction of the main body, and is used to collect obstacle information during travel;

[0016] The correction camera of the dynamic clamping module cooperates with the correction camera of the fixed clamping module to reset the arc guide rail after jumping over an obstacle.

[0017] As an embodiment of the present invention, the clamping jaw tightening device comprises an adapter plate connected to the inner edge, a clamping jaw mounting seat arranged on the adapter plate, two clamping jaw assemblies symmetrically arranged on the clamping jaw mounting seat, and a tightening mechanism arranged on the clamping jaw mounting seat;

[0018] The cross section of the clamping jaw mounting seat is in a "П" shape, the clamping jaw assembly is arranged on the vertical side of the clamping jaw mounting seat, and the tightening mechanism is located between the two clamping jaw assemblies;

[0019] The clamping jaw assembly is used to hook the two sides of the pole tower angle steel after closing, and the tightening mechanism is used to tighten the edges of the pole tower angle steel, so that the clamping jaw tightening device can grasp the pole tower angle steel.

[0020] As an embodiment of the present invention, a screw support plate is provided at the bottom of the vertical side of the clamping jaw mounting seat, and the clamping jaw assembly includes two symmetrically arranged clamping jaw parts, a clamping jaw driving screw rotatably arranged between the screw support plate and the horizontal side of the clamping jaw mounting seat, a clamping jaw driving nut threadedly arranged on the clamping jaw driving screw, and a synchronous pulley arranged on the top of the clamping jaw driving screw;

[0021] The clamping jaw component includes a rotating seat hingedly arranged on the vertical side of the clamping jaw mounting seat through a pin shaft, a clamping jaw arranged at one end of the rotating seat and a clamping jaw slider slidably arranged at the other end of the rotating seat, and the free end of the clamping jaw slider is hingedly connected to the clamping jaw driving nut; the clamping jaw driving screw rotates to drive the clamping jaw driving nut to rise and fall, and then drives the two rotating seats to rotate synchronously, so that the two clamping jaws are opened or closed.

[0022] As an embodiment of the present invention, a long slider limit groove is provided on the rotating seat, and a slider pin is penetrated on the clamping jaw slider corresponding to the slider limit groove, and the slider pin slides in the slider limit groove to limit the stroke of the clamping jaw slider.

[0023] As an embodiment of the present invention, the synchronous belt pulley is located above the horizontal side of the clamping claw mounting seat, and the two synchronous belt pulleys are distributed on both sides of the adapter plate, and the adapter plate is provided with a clearance hole corresponding to the synchronous belt pulley, and the two synchronous belt pulleys are sleeved with a synchronous belt, and the clearance hole is used for the synchronous belt to pass through;

[0024] A clamping jaw driving motor is fixedly arranged on one side of the adapter plate through a motor mounting seat, and an output shaft of the clamping jaw driving motor is connected to any one of the synchronous pulleys.

[0025] As an embodiment of the present invention, the tightening mechanism includes a second electric cylinder fixed on the lower end surface of the horizontal side of the clamp mounting seat through an electric cylinder fixing seat, a top block adapter plate arranged on the end of the output shaft of the second electric cylinder, and a V-shaped top block arranged on the top block adapter plate, the V-shaped top block is provided with a V-shaped groove corresponding to the pole tower angle steel, and the second electric cylinder is used to drive the V-shaped top block to tighten against the edge of the pole tower angle steel.

[0026] As an embodiment of the present invention, the sensor module includes a transverse module mechanism arranged below the end of the main body and a plurality of camera assemblies arranged on the transverse module mechanism, the transverse module mechanism includes a module slider fixed on the main body and a module guide rail relatively slidably arranged on the module slider, and the camera assembly is fixed at the lower end of the module guide rail;

[0027] The length direction of the module guide rail is perpendicular to the length direction of the main body. During the climbing process of the main body, several camera assemblies on the module guide rail scan the area where the bolts on the tower are located to quickly collect images of the bolt status.

[0028] The beneficial effects of adopting the above technical solution are:

[0029] The present application realizes the climbing operation of imitating an inchworm through the reciprocating movement of the dynamic clamping module on the main body and the alternate clamping of the tower angle steel by the fixed clamping module and the dynamic clamping module. The sensor module on the main body can realize rapid scanning imaging of the bolts on the tower during the climbing process. By comparing the imaging results with the bolt images in the database, it is possible to detect and judge whether the bolts on the tower are loose or offset, which greatly increases the detection efficiency, eliminates the climbing operation of the staff, and increases the safety of the detection personnel.

[0030] The clamping modules of the present application are provided with a first electric cylinder, an arc guide rail and a traveling mechanism, which can change the position of the main body relative to the angle steel of the tower during the climbing process. While improving the scanning imaging effect, it can also enable the main body to avoid obstacles of transverse components on the travel route. At the same time, the first electric cylinder, the arc guide rail and the traveling mechanism can also be used to realize the obstacle jumping action of the clamping claws of the clamping and tightening equipment, thereby increasing the scope of application and application prospects of the detection device of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of the structure of the embodiment during climbing.

[0032] Figure 2 yes Figure 1 Schematic diagram of the structure from another angle.

[0033] Figure 3It is a schematic diagram of the structure when the main body of the embodiment is adjusted to be parallel to one side of the angle steel of the tower.

[0034] Figure 4 It is a schematic structural diagram of the main body of the embodiment.

[0035] Figure 5 yes Figure 4 Schematic diagram of the structure from another angle.

[0036] Figure 6 yes Figure 4 Schematic diagram of the structure from another angle.

[0037] Figure 7 Schematic diagram of the structure of the dynamic clamping module of the embodiment.

[0038] Figure 8 It is a schematic structural diagram of the first electric cylinder, the traveling mechanism and the arc track of the embodiment.

[0039] Fig. 9 It is a schematic structural diagram of the arc track and the clamping and tightening device of the embodiment.

[0040] Fig.10 Schematic diagram of the structure of the clamping jaw assembly and the clamping jaw driving mechanism of the embodiment.

[0041] Fig.11 yes Fig.10 Schematic diagram of the structure after the middle clamping jaw assembly is closed.

[0042] Wherein: 100 main body; 101 main body slide rail; 102 main body lead screw; 103 lead screw drive motor; 104 control console; 105 accessory connection table;

[0043] 200 fixed clamping module; 201 fixed clamping connection seat;

[0044] 300 dynamic clamping module; 301 dynamic clamping slider assembly; 301-1 slider; 301-2 slider connecting seat; 302 nut boss;

[0045] 400 lateral movement module mechanism; 401 module slider; 402 module guide rail;

[0046] 500 Camera assembly;

[0047] 600 pole tower angle steel; 700 transverse connection parts;

[0048] 1 First electric cylinder; 1-1 Electric cylinder connection plate; 1-2 Crane connection plate;

[0049] 2 Crane mechanism; 2-1 Crane base; 2-2 Driving support seat; 2-3 Driving shaft; 2-3-1 Driving sprocket; 2-4 Driven shaft; 2-4-1 Traveling gear; 2-4-2 Driven sprocket; 2-5 Gear box; 2-6 Crane drive motor;

[0050] 3 arc guide rail; 3-1 outer edge; 3-2 connecting plate; 3-3 inner edge; 3-4 sealing plate;

[0051] 4 adapter plate; 4-1 clearance hole;

[0052] 5 Gripper mounting seat; 5-1 Screw support plate;

[0053] 6 Gripper assembly; 6-1 Gripper; 6-2 Rotating seat; 6-2-1 Slider limit slot; 6-3 Gripper slider; 6-3-1 Slider pin; 6-4 Gripper drive nut; 6-5 Gripper drive screw; 6-6 Synchronous pulley;

[0054] 7 Clamping mechanism; 7-1 Ejector block adapter plate; 7-2 V-shaped ejector block; 7-3 Second electric cylinder; 7-4 Electric cylinder fixing seat;

[0055] 8 Gripper driving mechanism; 8-1 Motor mounting seat; 8-2 Gripper driving motor;

[0056] 9 Correction camera; 10 Obstacle-crossing camera. DETAILED DESCRIPTION

[0057] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is clearly and completely described below in conjunction with specific embodiments.

[0058] Before using the detection device of this embodiment, it is necessary to scan and image the bolts on the tower to establish an image database for comparison with the captured images during subsequent detection, so as to determine whether the bolts are loose or offset.

[0059] like Figures 1 to 11 The device is a detection device for online monitoring of loose bolts of transmission towers, comprising:

[0060] The main body 100 is in the shape of a long strip as a whole. Two main body slide rails 101 are arranged along the length direction of the main body 100. Figures 1 to 3 , a sensor module is provided at the front end of the main body 100 in the forward direction;

[0061] Fixed clamping module 200, see Figures 1 to 6 , connected to the main body 100 through a fixed clamping connection seat 201;

[0062] Dynamic clamping module 300, see Figures 1 to 6, the movable clamping slider assembly 301 is slidably arranged on the slide rail assembly, and its structure is symmetrical with the fixed clamping module 200, see Figure 7 The dynamic clamping module 300 includes an arc guide rail 3, a traveling mechanism 2 arranged on the outer edge 3-1 of the arc guide rail 3, a clamping claw clamping device arranged on the inner edge 3-3 of the arc guide rail 3 and a first electric cylinder 1 arranged on the traveling mechanism 2, the clamping claw clamping device is used to grasp the tower angle steel 600, and the traveling mechanism 2 is used to drive the arc guide rail 3 to rotate or move along the outer edge 3-1; the first electric cylinder 1 is connected to the fixed clamping connecting seat 201 or the dynamic clamping slider assembly 301.

[0063] The two groups of the driving mechanisms 2 of the fixed clamping module 200 and the dynamic clamping module 300 are respectively moved synchronously along the two outer edges 3-1, so that the main body 100 is rotated relative to the pole tower angle steel 600 to the position where the sensor module is facing the bolts on the pole tower angle steel 600, so as to take pictures of the bolts on the pole tower angle steel 600, and compare the imaging results with the bolt images in the database to obtain a detection judgment on whether the bolts on the pole tower are loose or offset;

[0064] The driving mechanism 2 of the fixed clamping module 200 or the dynamic clamping module 300 drives the arc guide rail 3 to rotate, and cooperates with the extension and retraction of the first electric cylinder 1 to rotate the clamping claw tightening device to a position to avoid the transverse connecting member 700 on the tower angle steel 600.

[0065] See also Figures 4 to 6 In this embodiment, a screw drive mechanism for driving the dynamic clamping module 300 to reciprocate is provided on the main body 100, and the screw drive mechanism includes a main body screw 102 and a screw drive motor 103 rotatably arranged on the main body 100, and the dynamic clamping slider assembly 301 includes a slider connecting seat 301-2 connected to the first electric cylinder 1, two sliders 301-1 symmetrically arranged on the slider connecting seat 301-2 and a nut boss 302 arranged on the slider connecting seat 301-2, and the nut boss 302 is threadedly connected to the main body screw 102.

[0066] In this embodiment, the first electric cylinder 1 is used to adjust the relative distance between the main body 100 and the angle steel during the climbing process to increase the scanning imaging effect; and is used to adjust the relative distance between the clamping and tightening device and the main body 100 during the obstacle jumping process to successfully complete the obstacle jumping. While cooperating with the arc guide rail 3 and the driving mechanism 2 to complete the obstacle jumping of the transverse connecting member 700, when the vertical supporting angle steel is not in a straight line, the climbing operation can be achieved by adjusting the distance between the fixed clamping module 200 and the dynamic clamping module 300 relative to the angle steel, thereby increasing the scope of application of the detection device.

[0067] In this embodiment, the fixed clamping module 200 and the dynamic clamping module 300 alternately clamp the tower angle steel 600, and at the same time, the dynamic clamping module 300 is driven to slide back and forth through the screw drive mechanism on the main body 100, so that the main body 100, the dynamic clamping module 300 and the fixed clamping module 200 form an inchworm mechanism to achieve climbing on the tower angle steel 600.

[0068] See also Figures 1 to 6 In this embodiment, a console 104 is provided at one end of the main body 100, and a remote communication module, a processor module and a memory module are provided in the console 104. A power module is provided on one side of the main body 1 for providing power. An accessory connection platform 105 is provided at the end of the console 104, which can be used to connect the manipulator structure to tighten the loose bolts after detecting the loose bolts.

[0069] In this embodiment, the transverse connecting member 700 is only a horizontal angle steel intersecting with the vertical pole tower angle steel 600 in actual operation. The junction between the horizontal angle steel and the vertical pole tower angle steel 600 is often an obstacle in the climbing operation, and the obstacle jumping here is the most critical and difficult.

[0070] See also Figure 7 and Figure 8 The cross-section of the arc guide rail 3 is in an I-shape, which includes the arc-shaped outer edge 3-1, the arc-shaped inner edge 3-3, a connecting plate 3-2 connecting the outer edge 3-1 and the inner edge 3-3, and two symmetrically arranged sealing plates 3-4, wherein the sealing plates 3-4 are arranged at the ends of the arc guide rail 3 to limit the travel of the traveling mechanism 2.

[0071] See also Figure 7 and Figure 8 The driving mechanism 2 includes a driving base 2-1 with a "П"-shaped cross section, a driving shaft 2-3 rotatably arranged between two vertical sides of the driving base 2-1, two travel components symmetrically arranged on two vertical sides of the driving base 2-1, and a driving motor 2-6 arranged on one side of the driving base 2-1; in this embodiment, a driving support seat 2-2 is arranged at the bottom of one vertical side of the driving base 2-1 for fixing and supporting the driving motor 2-6. In this embodiment, a driving support seat 2-2 is arranged at the bottom of one vertical side of the driving base 2-1 for fixing and supporting the driving motor 2-6.

[0072] See also Figure 7 and Figure 8The walking assembly includes two symmetrically arranged walking parts, and the walking parts include a driven shaft 2-4 rotatably arranged on the vertical side of the traveling base 2-1, a traveling gear 2-4-1 arranged on the driven shaft 2-4, and a driven sprocket 2-4-2 arranged between the traveling gear 2-4-1 and the traveling base 2-1. Two driving sprockets 2-3-1 are arranged on the driving shaft 2-3 in opposition to each other, and the driving sprocket 2-3-1 is connected to the driven sprockets 2-4-2 of the two walking parts by a chain;

[0073] See also Figure 7 and Figure 8 The travel gear 2-4-1 is meshed with the planetary gear structure provided on the lower end surface of the outer edge 3-1, and a sleeve is sleeved on the middle section of the drive shaft 2-3 to abut against the upper end surface of the outer edge 3-1. The travel drive motor 2-6 drives the drive shaft 2-3 to rotate, thereby rotating the travel gear 2-4-1 to drive the arc guide rail 3 to rotate or to move the travel mechanism 2 along the outer edge 3-1. In this embodiment, the output shaft of the travel drive motor 2-6 is connected to the drive shaft 2-3 through the gear box 2-5, thereby rotating the drive shaft 2-3.

[0074] See also Figure 3 and Figure 5 A correction camera 9 and an obstacle-crossing camera 10 are arranged on the sealing plate 3-4. The obstacle-crossing camera 10 faces the front end or the rear end of the forward direction of the main body 100 and is used to collect obstacle information during travel; specifically, the relative position of the obstacle-crossing camera 10 and the clamping jaw 6-1 when they are in an open state is a fixed value. When the edge of the obstacle pattern in front captured by the obstacle-crossing camera 10 reaches a preset position, the controller determines that an obstacle occurs in front, so that the first electric cylinder 1 contracts and the corresponding arc track 3 rotates at the same time, so as to achieve the purpose of jumping over the obstacle.

[0075] See also Figure 3 and Figure 5 The correction camera 9 of the dynamic clamping module 300 cooperates with the correction camera 9 of the fixed clamping module 200 to reset the arc guide rail 3 after jumping over obstacles. Specifically, when jumping over obstacles, the clamping claw tightening device will deflect with the arc track 3. After completing the obstacle jump, the clamping claw tightening device needs to be reset to the position corresponding to the clamping claw tightening device that is still in the clamping state to complete the subsequent clamping work. The correction camera 9 at one end of an arc track 3 and the correction camera 9 of another arc track 3 can be used to determine whether the reset is completed, that is, the arc track 3 in the clamped state is used to complete the calibration of the arc track 3 in the unclamped state. Increase the stability of climbing and jumping obstacles.

[0076] See also Figure 1 , Figure 2 ,as well as Figures 9 to 11The clamping device comprises an adapter plate 4 connected to the inner edge 3-3, a clamping seat 5 arranged on the adapter plate 4, two clamping assemblies 6 symmetrically arranged on the clamping seat 5, and a tightening mechanism 7 arranged on the clamping seat 5. The cross section of the clamping seat 5 is in the shape of "П", the clamping assembly 6 is arranged on the vertical side of the clamping seat 5, and the tightening mechanism 7 is located between the two clamping assemblies 6. The clamping assembly 6 is used to hook the two sides of the pole tower angle steel 600 after closing, and the tightening mechanism 7 is used to tighten the edges of the pole tower angle steel 600, so that the clamping device can grasp the pole tower angle steel 600.

[0077] See also Fig. 9 and Fig.10 A screw support plate 5-1 is provided at the bottom of the vertical side of the jaw mounting seat 5, and the jaw assembly 6 includes two symmetrically arranged jaw parts, a jaw driving screw 6-5 rotatably arranged between the screw support plate 5-1 and the horizontal side of the jaw mounting seat 5, a jaw driving nut 6-4 threadedly connected to the jaw driving screw 6-5 and a synchronous pulley 6-6 arranged on the top of the jaw driving screw 6-5.

[0078] See also Fig.10 and Fig.11 The clamping jaw component includes a rotating seat 6-2 hingedly arranged on the vertical side of the clamping jaw mounting seat 5 through a pin shaft, a clamping jaw 6-1 arranged at one end of the rotating seat 6-2 and a clamping jaw slider 6-3 slidably arranged at the other end of the rotating seat 6-2, and the free end of the clamping jaw slider 6-3 is hingedly connected to the clamping jaw driving nut 6-4; the clamping jaw driving screw 6-5 rotates to drive the clamping jaw driving nut 6-4 to rise and fall, and then drives the two rotating seats 6-2 to rotate synchronously, so that the two clamping jaws 6-1 are opened or closed.

[0079] See also Fig.10 and Fig.11 The rotating seat 6-2 is provided with a long slider limit groove 6-2-1, and the clamping slider 6-3 is provided with a slider pin 6-3-1 corresponding to the slider limit groove 6-2-1. The slider pin 6-3-1 slides in the slider limit groove 6-2-1 to limit the travel of the clamping slider 6-3. The synchronous pulley 6-6 is located above the horizontal side of the clamping jaw mounting seat 5, and the two synchronous pulleys 6-6 are distributed on both sides of the adapter plate 4. The adapter plate 4 is provided with a clearance hole 4-1 corresponding to the synchronous pulley 6-6. The two synchronous pulleys 6-6 are sleeved with a synchronous belt, and the clearance hole 4-1 is used for the synchronous belt to pass through;

[0080] In this embodiment, a clamp driving mechanism 8 is provided on one side of the adapter plate 4, which includes a motor mounting seat 8-1 and a clamp driving motor 8-2 for driving the synchronous pulley 6-6 to rotate. A clamp driving motor 8-2 is fixedly provided on one side of the adapter plate 4 through the motor mounting seat 8-1, and the output shaft of the clamp driving motor 8-2 is connected to any of the synchronous pulleys 6-6.

[0081] See also Fig. 9 The clamping mechanism 7 includes a second electric cylinder 7-3 fixed on the lower end surface of the horizontal side of the clamping jaw mounting seat 5 through an electric cylinder fixing seat 7-4, a top block adapter plate 7-1 arranged on the end of the output shaft of the second electric cylinder 7-3, and a V-shaped top block 7-2 arranged on the top block adapter plate 7-1, and the V-shaped top block 7-2 is provided with a V-shaped groove corresponding to the pole tower angle steel 600, and the second electric cylinder 7-3 is used to drive the V-shaped top block 7-2 to clamp against the edge of the pole tower angle steel 600. The wiring harness of the second electric cylinder 7-3 can be connected to the console 104 through the through hole opened on the horizontal side of the clamping jaw mounting seat 5 and the clearance hole 4-1.

[0082] See also Figure 5 The sensor module includes a transverse module mechanism 400 disposed below the end of the main body 100 and a plurality of camera assemblies 500 arranged on the transverse module mechanism 400. The transverse module mechanism 400 includes a module slider 401 fixed on the main body 100 and a module guide rail 402 relatively slidably disposed on the module slider 401. The camera assembly 500 is fixed at the lower end of the module guide rail 402. The length direction of the module guide rail 402 is perpendicular to the length direction of the main body 100. During the climbing process of the main body 100, the plurality of camera assemblies 500 on the module guide rail 402 scan the area where the bolts on the tower are located to complete the rapid acquisition of images of the bolt status. The position of the module guide rail 402 can be adjusted transversely according to the position of the area where the bolts are located, so as to adapt to the acquisition of data of bolts at different positions and increase the detection efficiency.

[0083] Combination Figure 3 At this time, the obstacle climbing operation is about to be carried out. The specific steps are as follows:

[0084] 1. The clamping and tightening device of the fixed clamping module 200 loosens the pole tower angle steel 600, and the main body 100 moves upward relative to the dynamic clamping module 300. After moving into position, the clamping and tightening device of the fixed clamping module 200 is clamped on the pole tower angle steel 600.

[0085] 2. The two first electric cylinders 1 extend, the clamping and tightening device of the dynamic clamping module 300 is loosened, and the traveling mechanism 2 drives the arc guide rail 3 to drive the clamping and tightening device to rotate. After rotating to a suitable position, the first electric cylinder 1 of the dynamic clamping module 300 contracts, so that the clamping and tightening device of the dynamic clamping module 300 avoids the upper transverse component 700, and the dynamic clamping module 300 moves up to complete the obstacle jump.

[0086] 3. The traveling mechanism 2 of the dynamic clamping module 300 drives the arc guide rail 3 to drive the clamping and tightening device to rotate to a position close to the reset position, and the first electric cylinder 1 extends to make the clamping and tightening device close to the pole tower angle steel 600, and fine-tune the arc guide rail 3 to make it correspond to the arc guide rail 3 of the fixed clamping module 200 below, and the clamping and tightening device of the dynamic clamping module 300 clamps the pole tower angle steel, completing the obstacle jump of the dynamic clamping module 300. Similarly, the obstacle jump of the fixed clamping module 200 can be completed.

[0087] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A detection device for online monitoring of loose bolts of transmission towers, characterized in that: It includes: The main body (100) is in the shape of a long strip as a whole, a slide rail assembly is provided on one side of the main body (100) along its length direction, and a sensor module is provided at the front end of the main body (100) in the forward direction; A fixed clamping module (200) connected to the main body (100) via a fixed clamping connection seat (201); A movable clamping module (300) is slidably arranged on the slide rail assembly via a movable clamping slider assembly (301), and its structure is symmetrical with that of the fixed clamping module (200). The movable clamping module (300) comprises an arc-shaped guide rail (3), a traveling mechanism (2) arranged on the outer edge (3-1) of the arc-shaped guide rail (3), a clamping claw tightening device arranged on the inner edge (3-3) of the arc-shaped guide rail (3), and a first electric cylinder (1) arranged on the traveling mechanism (2). The clamping claw tightening device is used to grasp the pole tower angle steel (600), and the traveling mechanism (2) is used to drive the arc-shaped guide rail (3) to rotate or move along the outer edge (3-1); the first electric cylinder (1) is connected to the fixed clamping connection seat (201) or the movable clamping slider assembly (301); The two groups of the driving mechanisms (2) of the fixed clamping module (200) and the movable clamping module (300) respectively move synchronously along the two outer edges (3-1), so that the main body (100) rotates relative to the pole tower angle steel (600) to a position where the sensor module faces the bolts on the pole tower angle steel (600), so as to take pictures of the bolts on the pole tower angle steel (600); The driving mechanism (2) of the fixed clamping module (200) or the movable clamping module (300) drives the arc-shaped guide rail (3) to rotate, so that the clamping claw tightening device rotates to a position that avoids the transverse connection component (700) on the pole tower angle steel (600).

2. The detection device for online monitoring of loose bolts of transmission towers according to claim 1 is characterized in that: The cross section of the arc-shaped guide rail (3) is in an I-shaped shape, and comprises an arc-shaped plate-shaped outer edge (3-1), an arc-shaped plate-shaped inner edge (3-3), a connecting plate (3-2) connecting the outer edge (3-1) and the inner edge (3-3), and two symmetrically arranged sealing plates (3-4), wherein the sealing plates (3-4) are arranged at the ends of the arc-shaped guide rail (3) and are used to limit the travel of the traveling mechanism (2).

3. The detection device for online monitoring of loose bolts of transmission towers according to claim 2 is characterized in that: The traveling mechanism (2) comprises a traveling base (2-1) having a "П"-shaped cross section, a driving shaft (2-3) rotatably arranged between two vertical sides of the traveling base (2-1), two traveling components symmetrically arranged on the two vertical sides of the traveling base (2-1), and a traveling driving motor (2-6) arranged on one side of the traveling base (2-1); The travel assembly comprises two symmetrically arranged travel parts, the travel parts comprising a driven shaft (2-4) rotatably arranged on a vertical side of the travel base (2-1), a travel gear (2-4-1) arranged on the driven shaft (2-4), and a driven sprocket (2-4-2) arranged between the travel gear (2-4-1) and the travel base (2-1), two drive sprockets (2-3-1) being arranged opposite to each other on the drive shaft (2-3), and the drive sprocket (2-3-1) and the driven sprockets (2-4-2) of the two travel parts being connected via a chain; The traveling gear (2-4-1) meshes with a planetary gear structure provided on the lower end surface of the outer edge (3-1); a sleeve is sleeved on the middle section of the driving shaft (2-3) and abuts against the upper end surface of the outer edge (3-1); the traveling drive motor (2-6) drives the driving shaft (2-3) to rotate, thereby rotating the traveling gear (2-4-1) to drive the arc guide rail (3) to rotate or to move the traveling mechanism (2) along the outer edge (3-1).

4. The detection device for online monitoring of transmission tower bolt loosening according to claim 3 is characterized in that: The sealing plate (3-4) is provided with a correction camera (9) and an obstacle-crossing camera (10), the obstacle-crossing camera (10) facing the front end or the rear end of the moving direction of the main body (100) and used for collecting obstacle information during the moving process; The correction camera (9) of the dynamic clamping module (300) cooperates with the correction camera (9) of the fixed clamping module (200) to reset the arc-shaped guide rail (3) after jumping over an obstacle.

5. The detection device for online monitoring of loose bolts of transmission towers according to claim 1 is characterized in that: The clamping jaw tightening device comprises an adapter plate (4) connected to the inner edge (3-3), a clamping jaw mounting seat (5) arranged on the adapter plate (4), two clamping jaw assemblies (6) symmetrically arranged on the clamping jaw mounting seat (5), and a tightening mechanism (7) arranged on the clamping jaw mounting seat (5); The cross section of the clamping jaw mounting seat (5) is in the shape of a "P", the clamping jaw assembly (6) is arranged on the vertical side of the clamping jaw mounting seat (5), and the tightening mechanism (7) is located between the two clamping jaw assemblies (6); The clamping jaw assembly (6) is used to hook the two sides of the pole tower angle steel (600) when closed, and the tightening mechanism (7) is used to tighten the edges of the pole tower angle steel (600), thereby enabling the clamping jaw tightening device to grip the pole tower angle steel (600).

6. The detection device for online monitoring of transmission tower bolt loosening according to claim 5, characterized in that: A screw support plate (5-1) is provided at the bottom of the vertical side of the clamping jaw mounting seat (5), and the clamping jaw assembly (6) comprises two symmetrically arranged clamping jaw parts, a clamping jaw driving screw (6-5) rotatably arranged between the screw support plate (5-1) and the horizontal side of the clamping jaw mounting seat (5), a clamping jaw driving nut (6-4) threadedly connected to the clamping jaw driving screw (6-5), and a synchronous pulley (6-6) arranged on the top of the clamping jaw driving screw (6-5); The clamping jaw component comprises a rotating seat (6-2) hingedly arranged on the vertical side of the clamping jaw mounting seat (5) through a pin shaft, a clamping jaw (6-1) arranged at one end of the rotating seat (6-2), and a clamping jaw slider (6-3) slidably arranged at the other end of the rotating seat (6-2), wherein the free end of the clamping jaw slider (6-3) is hingedly connected to the clamping jaw driving nut (6-4); the clamping jaw driving screw (6-5) rotates to drive the clamping jaw driving nut (6-4) to rise and fall, thereby driving the two rotating seats (6-2) to rotate synchronously, so that the two clamping jaws (6-1) are opened or closed.

7. The detection device for online monitoring of transmission tower bolt loosening according to claim 6 is characterized in that: The rotating seat (6-2) is provided with a long slider limiting groove (6-2-1), and the clamping jaw slider (6-3) is provided with a slider pin (6-3-1) corresponding to the slider limiting groove (6-2-1), and the slider pin (6-3-1) slides in the slider limiting groove (6-2-1) to limit the travel of the clamping jaw slider (6-3).

8. The device for online monitoring of loose bolts of transmission towers according to claim 6, characterized in that: The synchronous belt pulley (6-6) is located above the horizontal side of the clamping jaw mounting seat (5), and the two synchronous belt pulleys (6-6) are distributed on both sides of the adapter plate (4). The adapter plate (4) is provided with a clearance hole (4-1) corresponding to the synchronous belt pulley (6-6). The two synchronous belt pulleys (6-6) are sleeved with a synchronous belt, and the clearance hole (4-1) is used for the synchronous belt to pass through; A clamping jaw driving motor (8-2) is fixedly mounted on one side of the adapter plate (4) via a motor mounting seat (8-1), and an output shaft of the clamping jaw driving motor (8-2) is connected to any one of the synchronous pulleys (6-6).

9. The detection device for online monitoring of transmission tower bolt loosening according to claim 8, characterized in that: The clamping mechanism (7) comprises a second electric cylinder (7-3) fixedly mounted on the lower end surface of the horizontal side of the clamping jaw mounting seat (5) via an electric cylinder fixing seat (7-4), a top block adapter plate (7-1) arranged on the end of the output shaft of the second electric cylinder (7-3), and a V-shaped top block (7-2) arranged on the top block adapter plate (7-1), wherein the V-shaped top block (7-2) is provided with a V-shaped groove corresponding to the pole tower angle steel (600), and the second electric cylinder (7-3) is used to drive the V-shaped top block (7-2) to clamp against the edge of the pole tower angle steel (600).

10. The detection device for online monitoring of transmission tower bolt loosening according to claim 1, characterized in that: The sensor module comprises a transverse module mechanism (400) arranged below the end of the main body (100) and a plurality of camera assemblies (500) arranged on the transverse module mechanism (400); the transverse module mechanism (400) comprises a module slider (401) fixedly arranged on the main body (100) and a module guide rail (402) relatively slidably arranged on the module slider (401); and the camera assembly (500) is fixedly arranged at the lower end of the module guide rail (402); The length direction of the module guide rail (402) is perpendicular to the length direction of the main body (100), and during the climbing process of the main body (100), a plurality of camera assemblies (500) on the module guide rail (402) scan the area where the bolts on the tower are located, so as to quickly collect images of the bolt status.

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