Power transmission tower monitoring equipment and use method thereof

Abstract

The invention relates to the technical field of power transmission iron tower monitoring, in particular to power transmission iron tower monitoring equipment and a using method thereof.The power transmission iron tower monitoring equipment comprises a base plate and a monitoring device installed on the base plate and further comprises a clamping and fixing mechanism used for being clamped and fixed to iron tower angle steel and an angle adjusting mechanism used for adjusting the using angle of the clamping and fixing mechanism; the clamping and fixing mechanism is connected with the movable end of the angle adjusting mechanism, and the fixed end of the angle adjusting mechanism is fixed to the base plate. The base plate is further provided with a connecting mechanism used for being connected with an unmanned aerial vehicle. Monitoring equipment is transported to the position near the power transmission tower through the unmanned aerial vehicle, the use angle of the clamping and fixing mechanism is adjusted through the angle adjusting mechanism, the clamping and fixing mechanism is made to be matched with the inclination of angle steel, and then the monitoring equipment is accurately moved to the designated position and fixed to the power transmission tower through the clamping and fixing mechanism; therefore, the monitoring equipment can be installed on the power transmission tower, the monitoring equipment can be installed in special environments such as geological disasters, and the monitoring equipment can be installed on the iron tower angle steel with different inclination angles, so that different positions can be detected conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission tower monitoring, and particularly relates to a transmission tower monitoring device and a using method thereof. Background Art

[0002] In today's complex and changeable geological environment, geological disasters pose a serious threat to the safety of transmission towers. As a key infrastructure for power transmission, the stability and safety of transmission towers are crucial for ensuring the continuity of power supply. Once affected by geological disasters (such as earthquakes, landslides, mudslides, etc.), the towers may be damaged, such as tilting, displacement, deformation, etc., which may further lead to power outages, causing huge losses to social production and people's lives. In order to effectively monitor the state changes of transmission towers under geological disasters, various monitoring technologies and devices have emerged. However, the existing transmission tower monitoring devices have problems such as complex installation, difficulty in implementation in special environments, and a certain risk of damage to the tower structure when facing the impact of geological disasters. Summary of the Invention

[0003] The purpose of the present invention is to provide a transmission tower monitoring device and a using method thereof, which can not only install the monitoring device on the transmission tower in special environments such as geological disasters, but also are convenient for installation and disassembly without damaging the tower structure.

[0004] To achieve the above purpose, the technical solution of the present invention is a transmission tower monitoring device, which includes a substrate and a monitoring device installed on the substrate, and further includes a clamping and fixing mechanism for clamping and fixing on the tower angle steel and an angle adjustment mechanism for adjusting the use angle of the clamping and fixing mechanism. The clamping and fixing mechanism is connected to the movable end of the angle adjustment mechanism, and the fixed end of the angle adjustment mechanism is fixed on the substrate; a connection mechanism for connecting with a drone is further provided on the substrate.

[0005] As one of the implementation manners, the clamping and fixing mechanism includes a receiving shell, an electromagnetic suction plate, a first fixing plate, a second fixing plate and a lifting assembly. The electromagnetic suction plate and the first fixing plate are both fixed on one side of the receiving shell. The second fixing plate is arranged opposite to the first fixing plate and is connected to the movable end of the lifting assembly; the lifting assembly is arranged in the receiving shell, and the receiving shell is connected to the movable end of the angle adjustment mechanism.

[0006] As one of the implementation manners, the angle adjustment mechanism includes a first angle adjustment mechanism for adjusting the X-axis angle of the clamping and fixing mechanism and a second angle adjustment mechanism for adjusting the Y-axis angle of the clamping and fixing mechanism.

[0007] As one of the implementation manners, the first angle adjustment mechanism includes a first connecting plate, a support plate, a transmission rod, and a telescopic assembly; the bottom of the support plate is fixed on the first connecting plate, and the top of the support plate is rotatably connected to the substrate; the telescopic assembly is fixed on the substrate, and the movable end of the telescopic assembly is rotatably connected to one end of the transmission rod, and the other end of the transmission rod is rotatably connected to the first connecting plate; the fixed end of the second angle adjustment mechanism is fixed on the first connecting plate.

[0008] As one of the implementation manners, the second angle adjustment mechanism includes a protection box and a first motor disposed in the protection box. The protection box is connected to the movable end of the first angle adjustment mechanism. The output end of the first motor extends out of the protection box and is connected to the clamping and fixing mechanism. A limiting mechanism is disposed between the protection box and the clamping and fixing mechanism.

[0009] As one of the implementation manners, a rotation adjustment mechanism is disposed on the substrate. The rotation adjustment mechanism includes a receiving box, a second motor, a worm gear, and a worm disposed in the receiving box. One end of the worm is connected to the output end of the second motor, and the other end of the worm is rotatably mounted on the receiving box; the worm gear is sleeved on a rotating rod and meshes with the worm; the rotating rod is rotatably mounted on the receiving box, and one end of the rotating rod extends out of the receiving box and is connected to the monitoring device.

[0010] As one of the implementation manners, a locking and supporting mechanism is disposed between the substrate and the monitoring device. The locking and supporting mechanism includes a locking plate and a lifting assembly. The locking plate is fixed to the movable end of the lifting assembly, and the fixed end of the lifting assembly is fixed to the substrate; an anti-slip soft pad is disposed on the top surface of the locking plate.

[0011] As one of the implementation manners, a buffer mechanism is disposed on one side of the monitoring device, and the buffer mechanism and the clamping and fixing mechanism are on the same side; the buffer mechanism includes an elastic assembly and a protection assembly. One end of the elastic assembly is fixedly connected to the monitoring device, and the other end is connected to the protection assembly.

[0012] As one of the implementation manners, the monitoring device includes a box body, a monitoring and control main body, a storage battery for supplying power to the monitoring and control main body, an angle monitoring sensor for detecting the inclination of the installation position angle steel, and a monitoring module for detecting the situation of the iron tower. The monitoring module, the angle monitoring sensor, the clamping and fixing mechanism, and the angle adjustment mechanism are all connected to the monitoring and control main body. The monitoring and control main body and the storage battery are disposed in the box body, and the angle monitoring sensor is disposed outside the box body; the monitoring module, a photovoltaic power generation mechanism, and a wind power generation mechanism are disposed on the top of the box body.

[0013] The present invention also provides an installation method for the above-mentioned transmission tower monitoring device, including the following steps:

[0014] S1. Connect the connecting mechanism of the transmission tower monitoring device to the robotic arm of the unmanned aerial vehicle.

[0015] S2. Start the unmanned aerial vehicle, transport the transmission tower monitoring device to a position near the designated position of the transmission tower and hover.

[0016] S3. Adjust the use angle of the clamping and fixing mechanism through the angle adjustment mechanism, so that the clamping and fixing mechanism and the monitoring device are in the best installation posture.

[0017] S4. Control the unmanned aerial vehicle to continue moving towards the transmission tower, and accurately move the transmission tower monitoring device to the designated position.

[0018] S5. Clamp and fix the clamping and fixing mechanism on the tower angle steel.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) In the present invention, the monitoring device is transported to the vicinity of the transmission tower by the unmanned aerial vehicle, and the use angle of the clamping and fixing mechanism is adjusted through the angle adjustment mechanism to make the inclination of the clamping and fixing mechanism match that of the angle steel. Then, the monitoring device is accurately moved to the designated position and fixed to the transmission tower through the clamping and fixing mechanism, so as to realize the installation of the monitoring device on the transmission tower. It can not only be implemented in special environments such as geological disasters, but also the monitoring device can be installed on the tower angle steel with different inclination angles to facilitate the detection of different positions.

[0021] (2) The present invention uses an electromagnetic suction plate to realize the preliminary fixation of the monitoring device and the tower, and further mechanically clamps the tower through the second fixing plate and the first fixing plate to ensure the firm installation of the monitoring device. It can accurately obtain the state information of the tower before and after the occurrence of geological disasters, provide strong data support for the power department to take maintenance and repair measures in a timely manner, and is of great significance for ensuring the stable operation of the power system. Moreover, it is convenient for installation and disassembly and does not damage the tower structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0023] Figure 1Stereoscopic view of the structure of the transmission tower monitoring device provided by the embodiment of the present invention;

[0024] Figure 2 Rear stereoscopic view of the box body and its related structures in the transmission tower monitoring device provided by the embodiment of the present invention;

[0025] Figure 3 Stereoscopic view of the partial structure in the transmission tower monitoring device provided by the embodiment of the present invention;

[0026] Figure 4 Sectional stereoscopic view of the protection box and its related structures in the transmission tower monitoring device provided by the embodiment of the present invention;

[0027] Figure 5 Sectional stereoscopic view of the receiving shell and its related structures in the transmission tower monitoring device provided by the embodiment of the present invention;

[0028] Figure 6 Stereoscopic view of the first angle adjustment mechanism in the transmission tower monitoring device provided by the embodiment of the present invention;

[0029] Figure 7 Stereoscopic view of the box body and its related structures in the transmission tower monitoring device provided by the embodiment of the present invention;

[0030] Figure 8 Sectional stereoscopic view of the rotation adjustment mechanism in the transmission tower monitoring device provided by the embodiment of the present invention;

[0031] Figure 9 Stereoscopic view of the photovoltaic power generation mechanism in the transmission tower monitoring device provided by the embodiment of the present invention;

[0032] Figure 10 Stereoscopic view of the buffer protection mechanism in the transmission tower monitoring device provided by the embodiment of the present invention;

[0033] Figure 11 Stereoscopic view of the connection mechanism in the transmission tower monitoring device provided by the embodiment of the present invention;

[0034] Figure 12 Stereoscopic view of the locking support mechanism in the transmission tower monitoring device provided by the embodiment of the present invention;

[0035] In the figure: 1, substrate; 2, protection box; 3, housing; 4, first hydraulic telescopic rod; 5, first connecting block; 6, transmission rod; 7, second connecting block; 8, first connecting plate; 9, support plate; 10, first motor; 11, receiving shell; 12, partition board; 13, first fixing plate; 14, electromagnetic suction plate; 15, second hydraulic telescopic rod; 16, first moving plate; 17, second fixing plate; 18, box body; 19, storage battery; 20, monitoring and control main body; 21, monitoring module; 22, receiving box; 23, rotating rod; 24, worm gear; 25, second motor; 26, worm; 27, first support plate; 28, third hydraulic telescopic rod; 29, locking plate; 30, second support plate; 31, third support plate; 32, strengthening rod; 33, fixing frame; 34, photovoltaic power generation panel; 35, vertical rod; 36, power generation host; 37, fan blade; 38, connecting shell; 39, second moving plate; 40, spring; 41, buffer energy absorption pad; 42, transmission plate; 43, protection plate; 44, annular limiting plate; 45, annular limiting block; 46, first vertical plate; 47, second connecting plate; 48, clamping column; 49, nameplate; 50, door body; 51, maintenance plate; 52, second vertical plate; 53, angle monitoring sensor. Specific implementation mode

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0037] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0038] The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features; in the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0039] Embodiment 1

[0040] Embodiment 1

[0041] like Figure 1 As shown, this embodiment provides a transmission tower monitoring device, including a substrate 1 and a monitoring device installed on the substrate 1, and also includes a clamping and fixing mechanism for clamping and fixing on the tower angle steel and an angle adjustment mechanism for adjusting the use angle of the clamping and fixing mechanism, the clamping and fixing mechanism is connected to the movable end of the angle adjustment mechanism, and the fixed end of the angle adjustment mechanism is fixed on the substrate 1; the substrate 1 is also provided with a connecting mechanism for connecting with a drone. In this embodiment, the monitoring device is transported to the vicinity of the transmission tower by a drone, the use angle of the clamping and fixing mechanism is adjusted by the angle adjustment mechanism, so that the clamping and fixing mechanism matches the inclination of the angle steel, and then the monitoring device is accurately moved to the specified position, and fixed to the transmission tower by the clamping and fixing mechanism, so as to realize the installation of the monitoring device on the transmission tower, which can not only be installed in special environments such as geological disasters, but also can be installed on tower angle steels with different inclination angles, so as to facilitate detection of different positions.

[0042] The above embodiment is optimized, the clamping and fixing mechanism includes a receiving shell 11, an electromagnetic suction plate 14, a first fixing plate 13, a second fixing plate 17 and a lifting assembly, the electromagnetic suction plate 14 and the first fixing plate 13 are both fixed to one side of the receiving shell 11, the second fixing plate 17 is arranged opposite to the first fixing plate 13 and is connected to the movable end of the lifting assembly; the lifting assembly is arranged in the receiving shell 11, and the receiving shell 11 is connected to the movable end of the angle adjustment mechanism. In this embodiment, the monitoring equipment is initially fixed and positioned by adsorption and fixing the electromagnetic suction plate 14 with the tower angle steel, and then the second fixing plate 17 is driven to move toward the first fixing plate 13 by the lifting assembly, and the second fixing plate 17 and the first fixing plate 13 cooperate to clamp the tower angle steel to achieve enhanced fixation of the monitoring equipment; through the dual fixing method of magnetic attraction and mechanical clamping, it is ensured that the monitoring equipment can still be stably installed on the transmission tower under the vibration and shaking that may be caused by geological disasters, thereby ensuring the accuracy and stability of the monitoring data. After the monitoring device is fixed by the second fixing plate 17 and the first fixing plate 13 , the electromagnetic suction plate 14 can be started and stopped according to usage requirements, thereby achieving energy saving.

[0043] As 1 and Figure 3 As shown, the first fixing plate 13 is in a straight line shape and arranged horizontally, and one end is fixedly connected to the outer wall of the receiving shell 11; the second fixing plate 17 is in an L shape, including a horizontal plate part and a vertical plate part, and the horizontal plate part is arranged parallel to the first fixing plate 13 up and down, and the vertical plate part is connected to the side of the horizontal plate part away from the receiving shell 11 and arranged downward, and the second fixing plate 17 and the first fixing plate 13 cooperate with the receiving shell 11 to realize the clamping of the iron tower angle steel.

[0044] Further, the lifting component includes a first moving plate 16 and a plurality of second hydraulic telescopic rods 15 disposed in the housing 11. One end of the first moving plate 16 is located outside the housing 11 and is connected to the second fixing plate 17. The other end of the first moving plate 16 is located inside the housing 11 and is connected to the output end of the second hydraulic telescopic rod 15. The fixed end of the second hydraulic telescopic rod 15 is fixed to the bottom inside the housing 11, and a window for the up-and-down movement of the first moving plate 16 is provided on the wall plate of the housing 11 facing the second fixing plate 17. In this embodiment, the second hydraulic telescopic rod 15 drives the first moving plate 16 to move up and down, thereby driving the second fixing plate 17 to move up and down. As shown in Figure 5 As shown, furthermore, a partition 12 is further disposed in the housing 11. The partition 12 is fixedly connected to the inner wall of the housing 11. A plurality of guiding holes are formed in the partition 12. The second hydraulic telescopic rod 15 passes through the corresponding guiding holes in the partition 12, and the guiding holes in the partition 12 provide precise guidance for the telescopic movement of the second hydraulic telescopic rod 15.

[0045] Optimizing the above embodiment, the angle adjustment mechanism includes a first angle adjustment mechanism for adjusting the X-axis angle of the clamping and fixing mechanism and a second angle adjustment mechanism for adjusting the Y-axis angle of the clamping and fixing mechanism. In this embodiment, the first angle adjustment mechanism and the second angle adjustment mechanism are used to adjust the X-axis and Y-axis angles of the clamping and fixing mechanism respectively, so that the clamping and fixing mechanism is aligned with the tower angle steel. As an implementation manner, the fixed end of the first angle adjustment mechanism is fixed to the substrate 1, the fixed end of the second angle adjustment mechanism is connected to the movable end of the first angle adjustment mechanism, and the clamping and fixing mechanism is connected to the movable end of the second angle adjustment mechanism.

[0046] In some embodiments, the first angle adjustment mechanism includes a first connecting plate 8, a support plate 9, a transmission rod 6, and a telescopic assembly; the bottom of the support plate 9 is fixed to the first connecting plate 8, and the top of the support plate 9 is rotatably connected to the substrate 1; the telescopic assembly is fixed to the substrate 1, and the movable end of the telescopic assembly is rotatably connected to one end of the transmission rod 6, and the other end of the transmission rod 6 is rotatably connected to the first connecting plate 8; the fixed end of the second angle adjustment mechanism is fixed to the first connecting plate 8. In this embodiment, the telescopic assembly drives the transmission rod 6 to drive the first connecting plate 8 to swing, thereby adjusting the X-axis angle of the clamping and fixing mechanism.

[0047] In this embodiment, the telescopic assembly includes a housing 3 and a first hydraulic telescopic rod 4, the top of the housing 3 is fixedly connected to the bottom surface of the base plate 1, the fixed end of the first hydraulic telescopic rod 4 is fixed in the housing 3, and the output end of the first hydraulic telescopic rod 4 passes through the side wall of the housing 3 and extends outside the housing 3. Figure 6 As shown, the output end of the first hydraulic telescopic rod 4 extends outside the shell 3 and is connected to the first connecting block 5, the first connecting block 5 is movably connected to the top end of the transmission rod 6 through a rotating rod, the bottom end of the transmission rod 6 is movably connected to the second connecting block 7 through a rotating rod, and the bottom of the second connecting block 7 is fixed to the first connecting plate 8; the bottom surface of the first connecting plate 8 is fixedly connected to the top of the protection box 2; the support plate 9 is fixed to the side of the second connecting block 7 on the first connecting plate 8 away from the transmission rod 6, and the top of the support plate 9 is movably connected to the bottom surface of the base plate 1 through a rotating rod.

[0048] Furthermore, a slide groove is provided on the bottom surface of the base plate 1, and the slide groove is arranged along the extension and retraction direction of the first hydraulic telescopic rod 4, and the slide groove is slidably connected to the slider, and the first connecting block 5 is fixedly connected to the slider. The movement of the first movable block can be limited by cooperating with the slider and the slide groove, thereby improving the stability of the first movable block when moving left and right.

[0049] In some embodiments, the second angle adjustment mechanism includes a protection box 2 and a first motor 10 disposed in the protection box 2, the protection box 2 is connected to the movable end of the first angle adjustment mechanism, the output end of the first motor 10 extends out of the protection box 2 and is connected to the clamping and fixing mechanism, and a limiting mechanism is disposed between the protection box 2 and the clamping and fixing mechanism. Figure 4 As shown, the output end of the first motor 10 is fixedly connected to the receiving shell 11, and the receiving shell 11 is driven to rotate by the first motor 10, thereby driving the clamping and fixing mechanism to rotate and adjusting the Y-axis angle of the clamping and fixing mechanism.

[0050] Further, the limiting mechanism includes an annular limiting block 45 and an annular limiting plate 44, wherein the annular limiting block 45 is fixed on the side wall of the protection box 2, and the annular limiting plate 44 is fixed on the side wall of the receiving container, and the annular limiting plate 44 has an annular limiting groove with an opening toward the annular limiting block 45, and the annular limiting block 45 extends into the annular limiting groove and is slidably connected with the annular limiting groove. In this embodiment, the annular limiting block 45 and the annular limiting plate 44 cooperate, and when the first motor 10 drives the receiving shell 11 to rotate, the annular limiting plate 44 will be driven to rotate, and the annular limiting block 45 will be in the annular limiting groove of the annular limiting plate 44. The annular limiting block 45 cooperates with the annular limiting plate 44 to limit the receiving shell 11, thereby improving the stability of the receiving shell 11 when it rotates.

[0051] Optimize the above embodiment. A rotation adjustment mechanism is provided on the substrate 1. The rotation adjustment mechanism includes a receiving box 22. A second motor 25, a worm gear 24, and a worm 26 are arranged in the receiving box 22. One end of the worm 26 is connected to the output end of the second motor 25, and the other end of the worm 26 is rotatably installed on the receiving box 22. The worm gear 24 is sleeved on the rotating rod 23 and meshes with the worm 26. The rotating rod 23 is rotatably installed on the receiving box 22, and one end of the rotating rod 23 extends out of the receiving box 22 and is connected to the monitoring device. As Figure 1 and Figures 7 - 8 shown, the bottom surface of the receiving box 22 is fixedly connected to the top surface of the substrate 1. The bottom end of the rotating rod 23 is rotatably installed on the bottom plate of the receiving box 22 through a bearing. The top end of the rotating rod 23 extends above the receiving box 22 and is fixedly connected to the box body 18 of the monitoring device. One end of the worm 26 is connected to the output end of the second motor 25, and the other end is rotatably installed on the side wall of the receiving box 22 through a bearing. In this embodiment, the receiving box 22 can be used for receiving and protecting. Start the second motor 25. The second motor 25 works to drive the worm 26 to rotate. The worm 26 drives the worm gear 24 to rotate. The worm gear 24 drives the rotating rod 23 to rotate. The rotating rod 23 drives the box body 18 to rotate. The box body 18 drives the monitoring device to rotate, realizing the adjustment of the orientation of the monitoring device, and enabling more accurate monitoring of various indicators of the transmission tower. For example, the wind speed and wind direction meter in the monitoring device needs to be adjusted in orientation.

[0052] Further optimize the above embodiment. A locking and supporting mechanism is provided between the substrate 1 and the monitoring device. The locking and supporting mechanism includes a locking plate 29 and a jacking assembly. The locking plate 29 is fixed to the movable end of the jacking assembly, and the fixed end of the jacking assembly is fixed to the substrate 1. An anti-slip soft pad is arranged on the top surface of the locking plate 29. As Figure 1 and Figure 12 shown, locking and supporting mechanisms are arranged on both sides of the receiving box 22. After the angle of the monitoring module 21 is adjusted by the rotation adjustment mechanism, the jacking assembly drives the locking plate 29 to move upward. The anti-slip soft pad on the top surface of the locking plate 29 is in close contact with the bottom of the box body 18 of the monitoring device, realizing the locking of the orientation of the box body 18. The locking plate 29 cooperates with the anti-slip soft pad to not only lock the box body 18 but also assist in supporting the box body 18.

[0053] Further, the jacking assembly includes a number of third hydraulic telescopic rods 28. The fixed ends of the third hydraulic telescopic rods 28 are fixed to the substrate 1, and the output ends of the third hydraulic telescopic rods 28 are fixedly connected to the locking plate 29. Further still, the locking and supporting mechanism further includes a first support plate 27. One side of the first support plate 27 is fixedly connected to the side wall of the receiving box 22. A number of guiding holes are provided on the first support plate 27. The third hydraulic telescopic rods 28 penetrate through the corresponding guiding holes on the first support plate 27, and the guiding holes on the first support plate 27 provide precise guidance for the telescopic movement of the third hydraulic telescopic rods 28.

[0054] Optimizing the above embodiment, a buffer mechanism is provided on one side of the monitoring device, and the buffer mechanism and the clamping and fixing mechanism are on the same side; the buffer mechanism includes an elastic component and a protective component. One end of the elastic component is fixedly connected to the monitoring device, and the other end is connected to the protective component. As Figure 1 and Figure 10 shown, in this embodiment, by adding a buffer mechanism above the clamping and fixing mechanism, the protective component can protect the detection device, and the elastic component can absorb and disperse most of the impact energy through its elastic deformation, thereby reducing the impact force of the iron tower on the box body 18 when operating errors occur.

[0055] Further, the protective component includes a connection shell 38, a second moving plate 39, a transmission plate 42 and a protective plate 43. The connection shell 38 is fixed to the outside of the box body 18 and is located above the clamping and fixing mechanism; the second moving plate 39 is arranged in the cavity of the connection shell 38 and is connected to the elastic component. The protective plate 43 is arranged outside the connection shell 38 and is vertically arranged. The transmission plate 42 penetrates through the side wall of the connection shell 38, and one end of the transmission plate 42 is fixedly connected to the protective plate 43, and the other end is fixedly connected to the second moving plate 39.

[0056] Further, the elastic component includes a buffer energy absorption pad 41 disposed within the connection housing 38. Both sides of the buffer energy absorption pad 41 are fixedly connected to the second moving plate 39 and the box body 18 respectively. Even further, the elastic component further includes a plurality of springs 40 disposed within the connection housing 38. One end of each spring 40 is fixedly connected to the second moving plate 39, and the other end is fixedly connected to the box body 18. Moreover, the springs 40 are evenly distributed above and below the buffer energy absorption pad 41. When the box body 18 contacts the iron tower due to an operation error, the protection plate 43 can provide protection. The protection plate 43 drives the transmission plate 42 to move leftward, the transmission plate 42 drives the second moving plate 39 to move leftward, and the second moving plate 39 moves to compress the springs 40 and the buffer energy absorption pad 41. The springs 40 cooperate with the buffer energy absorption pad 41 to buffer the impact force generated by the contact, thereby improving the protection effect.

[0057] In some embodiments, the connection mechanism includes a first vertical plate 46 and a clamping column 48. The bottom of the first vertical plate 46 is fixed to the top surface of the substrate 1. The clamping column 48 is disposed on one side of the substrate 1, and the top and bottom of the clamping column 48 are fixedly connected to the first vertical plate 46 and the substrate 1 respectively through a second connecting plate 47. As Figure 1 and Figure 11 shown, the first vertical plate 46, the clamping column 48, the clamping column 48, and the substrate 1 are all fixedly connected by welding. The welding connection method can improve the firmness of the workpiece connection; the clamping column 48 and the fixed clamping mechanism are located on opposite sides of the substrate 1 to prevent the unmanned aerial vehicle from interfering with the transmission iron tower; the clamping mechanism of the robotic arm of the unmanned aerial vehicle is connected through the clamping column 48, thereby realizing the connection between the monitoring device and the unmanned aerial vehicle.

[0058] In this embodiment, the monitoring device includes a box body 18, a monitoring control main body 20, a storage battery 19 for supplying power to the monitoring control main body 20, an angle monitoring sensor 53 for detecting the inclination of the angle steel at the installation position, and a monitoring module 21 for detecting the situation of the iron tower. The monitoring module 21, the angle monitoring sensor 53, the clamping and fixing mechanism, and the angle adjusting mechanism are all connected to the monitoring control main body 20. The monitoring control main body 20 and the storage battery 19 are arranged inside the box body 18, and the angle monitoring sensor 53 is arranged outside the box body 18. The monitoring module 21, a photovoltaic power generation mechanism, and a wind power generation mechanism are arranged on the top of the box body 18. In this embodiment, the angle monitoring sensor 53 is used to detect the inclination of the angle steel of the transmission tower at the installation position. The monitoring control main body 20 controls the first angle adjusting mechanism and the second angle adjusting mechanism to adjust the X-axis and Y-axis angles of the clamping and fixing mechanism according to the monitored inclination of the angle steel, so that the clamping and fixing mechanism matches the inclination of the angle steel, and then controls the clamping and fixing mechanism to be fixed on the angle steel of the transmission tower.

[0059] As Figure 1 shown, the box body 18 can accommodate and protect the storage battery 19 and the monitoring control main body 20. The monitoring module 21 is arranged on the top surface of the box body 18, the wind power generation mechanism is arranged on the top surface of the monitoring module 21, and the photovoltaic power generation mechanism is arranged on one side of the top of the box body 18. Among them, the monitoring module 21 can monitor various indicators of the transmission tower, including but not limited to an inclination sensor, a deformation sensor, and a displacement sensor, which are respectively used to collect the inclination, deformation, and displacement conditions of the iron tower. The monitoring module 21, the angle monitoring sensor 53, the clamping and fixing mechanism, the first angle adjusting mechanism, the second angle adjusting mechanism, the rotation adjusting mechanism, and the locking and supporting mechanism are all connected to the monitoring control main body 20 by telecommunication. The data collected by the monitoring module 21 is transmitted to the monitoring control main body 20, and then transmitted to the remote terminal by the monitoring control main body 20. The remote terminal can control the first hydraulic telescopic rod 4 of the first angle adjusting mechanism, the first motor 10 of the second angle adjusting mechanism, the electromagnetic suction plate 14 and the second hydraulic telescopic rod 15 of the clamping and fixing mechanism, the second motor 25 of the rotation adjusting mechanism, the third hydraulic telescopic rod 28 of the locking and supporting mechanism, etc. through the monitoring control main body 20. In addition, a Beidou positioning module is fixedly connected to the top of the box body 18, which can achieve precise positioning.

[0060] In this embodiment, the photovoltaic power generation mechanism and the wind power generation mechanism are both connected to the storage battery 19. The storage battery 19 can store the electric energy generated by the photovoltaic power generation mechanism and the wind power generation mechanism, and supply electric energy to the monitoring control main body 20.

[0061] Further, the photovoltaic power generation mechanism includes a second support plate 30, a third support plate 31, a fixed frame 33, and a photovoltaic panel 34. The second support plate 30 and the third support plate 31 are arranged parallel to each other vertically, and one end of the second support plate 30 and the third support plate 31 is fixedly connected to the outer wall of the box body 18. The other ends of the second support plate 30 and the third support plate 31 are fixedly connected to a fixed frame 33. The fixed frame 33 is arranged obliquely, and the photovoltaic panel 34 is installed in the groove of the fixed frame 33. Optimally, a reinforcing rod 32 is arranged between the second support plate 30 and the third support plate 31, and the top and bottom ends of the reinforcing rod 32 are respectively fixedly connected to the second support plate 30 and the third support plate 31. As Figures 1 - 2 and Figure 9 shown, in this embodiment, the photovoltaic panel 34 is fixed by the fixed frame 33, the fixed frame 33 is stably supported by the first support plate 27 and the second support plate 30, and the strength of the first support plate 27 and the second support plate 30 is increased by the reinforcing rod 32, so as to improve the bearing capacity of the first support plate 27 and the second support plate 30; the photovoltaic panel 34 can convert light energy into electrical energy to realize the utilization of light energy.

[0062] Further, the wind power generation mechanism includes a vertical rod 35, a power generation main unit 36, and a fan blade 37. The bottom of the vertical rod 35 is fixedly connected to the top of the box body 18, and the top of the vertical rod 35 is movably connected to the power generation main unit 36 through a bearing. A fan blade 37 is fixedly connected to the left side of the power generation main unit 36. As Figure 1 and Figure 2 shown, in this embodiment, the vertical rod 35 is used to support the power generation main unit 36. A tail fin is fixedly connected to the right side of the power generation main unit 36, which can automatically adjust the orientation of the power generation main unit 36 according to the wind direction. The fan blade 37 is driven by the wind to rotate, and the fan blade 37 cooperates with the power generation main unit 36 to generate electrical energy to realize the utilization of wind energy.

[0063] As Figure 1 shown, a second vertical plate 52 is fixed on the top surface of the substrate 1. The second vertical plate 52 and the first vertical plate 46 are respectively located on both sides of the receiving box 22, and the second vertical plate 52 is located on the side close to the clamping and fixing mechanism. An angle monitoring sensor 53 is fixed on the surface of the second vertical plate 52 facing away from the receiving box 22 to facilitate detecting the inclination angle of the tower angle steel at the installation position.

[0064] In this embodiment, a nameplate 49 is fixed on the top of the front surface of the box body 18, and relevant information of the monitoring device is marked on the surface of the nameplate 49, so as to facilitate the user to understand and use the monitoring device; a door body 50 is movably connected to the back of the box body 18 through a hinge to facilitate maintenance and repair; a first sealing gasket is arranged between the door body 50 and the box body 18 to ensure the waterproof effect of the monitoring device.

[0065] In this embodiment, an emergency backup power supply is fixedly connected to the left side of the bottom inside the protection box 2, which can provide backup electric energy in case of emergency. A hydraulic station is fixedly connected to the bottom inside the protection box 2, and the hydraulic station is used to provide driving pressure for the first hydraulic telescopic rod 4, the second hydraulic telescopic rod 15, and the third hydraulic telescopic rod 28. The front of the protection box 2 is detachably connected with a maintenance board 51 through screws for easy maintenance and repair, and a second gasket is arranged between the maintenance board 51 and the protection box 2 to ensure the waterproof effect of the monitoring equipment.

[0066] Embodiment Two

[0067] This embodiment provides an installation method for the transmission tower monitoring equipment in Embodiment One, including the following steps:

[0068] S1. Connect the connection mechanism of the transmission tower monitoring equipment to the robotic arm of the unmanned aerial vehicle.

[0069] Specifically, first select an unmanned aerial vehicle with sufficient load capacity to carry the monitoring equipment and the robotic arm. At the same time, prepare the transmission tower monitoring equipment, and then connect the connection mechanism of the transmission tower monitoring equipment to the robotic arm of the unmanned aerial vehicle, ensuring that the clamping function of the robotic arm is normal and its actions can be accurately controlled. Set and calibrate the flight parameters of the unmanned aerial vehicle and the action parameters of the robotic arm on the ground, and set the coordinate information of the target transmission tower and the parameters of the installation designated position.

[0070] S2. Start the unmanned aerial vehicle and transport the transmission tower monitoring equipment to a position near the designated position of the transmission tower and hover.

[0071] Specifically, use the flight control system of the unmanned aerial vehicle to make the unmanned aerial vehicle hover two meters away from the designated position of the transmission tower. During this process, ensure the flight stability and avoid affecting the equipment safety due to the external environment.

[0072] S3. Adjust the use angle of the clamping and fixing mechanism through the angle adjustment mechanism so that the clamping and fixing mechanism and the monitoring device are in the best installation posture.

[0073] Specifically, detect the inclination of the angle steel of the transmission tower at the installation position through the angle monitoring sensor 53 on the substrate 1. The remote terminal controls the first angle adjustment mechanism and the second angle adjustment mechanism to adjust the use angle of the clamping and fixing mechanism through the monitoring and control main body 20, realizing precise control of the adjustment of the use angle of the clamping and fixing mechanism, making the clamping and fixing mechanism match the inclination of the angle steel of the tower at the installation position, and ensuring that the subsequent magnetic attraction and clamping actions can accurately align with the installation part of the transmission tower.

[0074] Among them, the specific method of adjusting the use angle of the clamping and fixing mechanism by cooperating the first angle adjusting mechanism with the second angle adjusting mechanism is as follows: Start the first hydraulic telescopic rod 4. When the first hydraulic telescopic rod 4 works, it drives the first connecting block 5 to move. The first moving block drives the transmission rod 6 to rotate. The transmission rod 6 drives the second connecting block 7 to move. The second connecting block 7 drives the bottom of the first connecting plate 8 and the support plate 9 to swing as the center of the circle. The first connecting plate 8 drives the clamping and fixing mechanism to swing, realizing the adjustment of the angle of the clamping and fixing mechanism in the X-axis direction. Start the first motor 10. When the first motor 10 works, it drives the receiving shell 11 to rotate. The receiving shell 11 cooperates with the partition plate 12 to drive the clamping and fixing mechanism to rotate, realizing the adjustment of the angle of the clamping and fixing mechanism in the Y-axis direction.

[0075] S4. After the angle adjustment is completed, control the UAV to continue moving towards the transmission tower, and accurately move the transmission tower monitoring device to the specified position; during this process, it is necessary to maintain slow and stable flight and control to approach the specified position with millimeter-level accuracy.

[0076] S5. Clamp and fix the clamping and fixing mechanism on the tower angle steel.

[0077] Specifically, when the monitoring device reaches the specified position, start the electromagnetic suction plate 14 to generate magnetic force, so that the monitoring device is initially fixed on the transmission tower through magnetic suction. By setting the electromagnetic suction plate 14 on the monitoring device, it is ensured that it is firmly adsorbed on the surface of the tower angle iron. After the magnetic suction fixation is completed, start the second hydraulic telescopic rod 15. The second hydraulic telescopic rod 15 drives the second fixing plate 17 to move towards the first fixing plate 13. The second fixing plate 17 and the first fixing plate 13 cooperate to further clamp the transmission tower, realizing the strengthening fixation of the monitoring device. Through the double fixation methods of magnetic suction and mechanical clamping, it is ensured that the monitoring device can still be stably installed on the transmission tower under the vibration, shaking, etc. that may be brought by geological disasters, thus ensuring the accuracy and stability of the monitoring data. After the second fixing plate 17 and the first fixing plate 13 cooperate to clamp the tower angle steel, according to the use requirements, the remote terminal can control the monitoring control body 20 to stop power supply to the electromagnetic suction plate 14, thereby realizing energy saving.

[0078] After the monitoring device is installed on the transmission tower through the clamping and fixing mechanism, start the second motor 25. When the second motor 25 works, it drives the worm 26 to rotate. The worm 26 drives the worm gear 24 to rotate. The worm gear 24 drives the rotating rod 23 to rotate. The rotating rod 23 drives the box body 18 to rotate. The box body 18 drives the monitoring module 21 to rotate, realizing the adjustment of the orientation of the monitoring module 21, and enabling more accurate monitoring of various indicators of the transmission tower. For example, the wind speed and wind direction instrument needs to be adjusted in orientation.

[0079] After the angle of the monitoring module 21 is adjusted, the third hydraulic telescopic rod 28 is activated. The third hydraulic telescopic rod 28 works to drive the locking plate 29 to move upward. The locking plate 29 cooperates with the anti-slip soft pad to closely contact the bottom of the box body 18, realizing the locking of the orientation of the box body 18. Through the cooperation of the locking plate 29 and the anti-slip soft pad, the box body 18 can be locked and supported.

[0080] When the box body 18 contacts the iron tower due to a certain operation error above, the protection plate 43 can provide protection. The protection plate 43 drives the transmission plate 42 to move leftward. The transmission plate 42 drives the second moving plate 39 to move leftward. The second moving plate 39 moves to squeeze the spring 40 and the buffer energy absorption pad 41. The spring 40 cooperates with the buffer energy absorption pad 41 to buffer the impact force generated by the contact, thus avoiding affecting the monitoring equipment.

[0081] The above installation method will be described below through a specific embodiment.

[0082] The installation method of the transmission tower monitoring equipment in the first embodiment includes the following steps:

[0083] 1) UAV selection and preparation

[0084] Select an industrial UAV with a load capacity of 10 kg, which is equipped with a high-precision GPS positioning system, an inertial navigation system, and an advanced flight stability control system; on the ground, set the flight parameters of the UAV, such as setting the maximum flight speed to 8 m / s, controlling the hovering height error within ±0.05 m, and calibrating its various sensors at the same time;

[0085] 2) Monitoring equipment and robotic arm preparation

[0086] The monitoring module 21 selects a composite monitoring device integrated with a displacement sensor, an inclination sensor, and a strain gauge, with an overall weight of 6 kg; the robotic arm is an industrial robotic arm with an extendable length of 1 m and 6 degrees of freedom. On the ground, calibrate and test the action parameters of the robotic arm through professional control software to ensure its normal clamping function and accurate action; set the coordinate information (longitude [specific longitude value], latitude [specific latitude value], height [tower height value]) of the target transmission tower, and the installation specified position is a specific plane in the middle of the tower body (this plane has obvious markings for positioning);

[0087] 3) Equipment mounting and takeoff

[0088] Firmly mount the robotic arm on the mounting platform of the drone, and firmly connect the connection mechanism of the monitoring device to the robotic arm; Start the drone, and the drone flies towards the target transmission tower according to the preset route, with the flight altitude maintained at about 120 meters and the speed about 6 m / s; During the flight, the flight control system continuously adjusts the attitude and heading of the drone to cope with possible airflow interference;

[0089] 4) Hovering

[0090] When the drone approaches the transmission tower, use its visual recognition system and GPS positioning system to accurately identify the target tower and gradually approach it. At a distance of two meters from the designated installation position, the drone hovers; At this time, even when encountering a light breeze of about level 4, the drone can maintain a stable hovering state through its flight stability control system;

[0091] 5) Angle control process

[0092] The angle monitoring sensor 53 on the upper right side of the top of the monitoring device substrate 1 continuously feeds back the inclination of the angle steel at the installation position being monitored to the remote terminal and the monitoring control main body 20. According to the preset installation angle requirements, the remote terminal starts the first angle adjustment mechanism and the second angle adjustment mechanism through the monitoring control main body 20, and through their coordinated action, gradually adjusts the angles of the clamping and fixing mechanism and the monitoring device; After about 2 minutes of adjustment, the angle error between the clamping and fixing mechanism and the monitoring device and the installation part of the transmission tower is controlled within ±0.3°, achieving the best installation posture;

[0093] 6) Precise movement operation

[0094] After completing the angle adjustment, control the drone to slowly move towards the transmission tower at a speed of 0.05 m / s; Use the laser rangefinder and high-definition camera on the drone to monitor and adjust the movement process in real time, and control the approach speed and position with millimeter-level precision; The entire movement process lasts about 40 seconds, and finally accurately move the monitoring device to the designated position, with a deviation from the installation part of less than 2 mm;

[0095] 7) Magnetic attraction start and adsorption

[0096] When the monitoring device reaches the designated position, the remote terminal starts the electromagnetic suction plate 14 (the suction force of the electromagnetic suction plate 14 is designed to be 800 N) through the monitoring control main body 20. The electromagnetic suction plate 14 instantly generates a strong magnetic force, firmly adsorbing the monitoring device on the surface of the angle steel of the transmission tower to achieve preliminary fixation;

[0097] 8) Clamping control and fixation

[0098] After the magnetic adsorption fixation is completed, the remote terminal sends a clamping instruction to the second hydraulic telescopic rod 15 through the monitoring and control body 20, and the second hydraulic telescopic rod 15 starts to work, driving the second fixing plate 17 to move towards the first fixing plate 13 and clamp the transmission tower, gradually increasing the clamping force to 600 N to tightly clamp the transmission tower. Through the dual fixing methods of magnetic adsorption and mechanical clamping, even in the vibration test (vibration frequency 5 Hz - 10 Hz, amplitude ±5 cm) and shaking test (tilt angle ±10°) environments simulating geological disasters, the monitoring equipment can still be stably installed on the transmission tower, ensuring the accuracy and stability of the monitoring data. During daily monitoring and when there is no risk of geological disasters, the remote terminal can cut off the power supply to the electromagnetic suction plate 14 through the monitoring and control body 20 to achieve the purpose of energy conservation.

[0099] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A transmission tower monitoring device, comprising a substrate and a monitoring device mounted on the substrate, characterized in that: It also includes a clamping and fixing mechanism for clamping and fixing on the angle steel of the iron tower and an angle adjustment mechanism for adjusting the use angle of the clamping and fixing mechanism. The clamping and fixing mechanism is connected to the movable end of the angle adjustment mechanism, and the fixed end of the angle adjustment mechanism is fixed on the base plate; the base plate is also provided with a connecting mechanism for connecting to a drone.

2. The transmission tower monitoring device according to claim 1, characterized in that: The clamping and fixing mechanism includes a receiving shell, an electromagnetic suction plate, a first fixing plate, a second fixing plate and a lifting assembly, the electromagnetic suction plate and the first fixing plate are both fixed to one side of the receiving shell, the second fixing plate is arranged opposite to the first fixing plate and is connected to the movable end of the lifting assembly; the lifting assembly is arranged in the receiving shell, and the receiving shell is connected to the movable end of the angle adjustment mechanism.

3. The transmission tower monitoring device according to claim 1, characterized in that: The angle adjustment mechanism comprises a first angle adjustment mechanism for adjusting the X-axis angle of the clamping and fixing mechanism and a second angle adjustment mechanism for adjusting the Y-axis angle of the clamping and fixing mechanism.

4. The transmission tower monitoring device according to claim 3, characterized in that: The first angle adjustment mechanism includes a first connecting plate, a support plate, a transmission rod and a telescopic assembly; the bottom of the support plate is fixed to the first connecting plate, and the top of the support plate is rotatably connected to the base plate; the telescopic assembly is fixed to the base plate, and the movable end of the telescopic assembly is rotatably connected to one end of the transmission rod, and the other end of the transmission rod is rotatably connected to the first connecting plate; the fixed end of the second angle adjustment mechanism is fixed to the first connecting plate.

5. The transmission tower monitoring device according to claim 3, characterized in that: The second angle adjustment mechanism includes a protection box and a first motor arranged in the protection box, the protection box is connected to the movable end of the first angle adjustment mechanism, the output end of the first motor extends out of the protection box and is connected to the clamping and fixing mechanism, and a limiting mechanism is arranged between the protection box and the clamping and fixing mechanism.

6. The transmission tower monitoring device according to claim 1, characterized in that: A rotation adjustment mechanism is provided on the base plate, and the rotation adjustment mechanism includes a storage box, in which a second motor, a worm wheel and a worm are provided, one end of the worm wheel is connected to the output end of the second motor, and the other end of the worm wheel is rotatably mounted on the storage box; the worm wheel is sleeved on the rotating rod and meshed with the worm; the rotating rod is rotatably mounted on the storage box, and one end of the rotating rod extends out of the storage box and is connected to the monitoring device.

7. The transmission tower monitoring device according to claim 6, characterized in that: A locking support mechanism is arranged between the base plate and the monitoring device, and the locking support mechanism includes a locking plate and a lifting assembly. The locking plate is fixed to the movable end of the lifting assembly, and the fixed end of the lifting assembly is fixed to the base plate; an anti-slip pad is arranged on the top surface of the locking plate.

8. The transmission tower monitoring device according to claim 1, characterized in that: A buffer mechanism is provided on one side of the monitoring device, and the buffer mechanism and the clamping and fixing mechanism are located on the same side; the buffer mechanism includes an elastic component and a protective component, one end of the elastic component is fixedly connected to the monitoring device, and the other end is connected to the protective component.

9. The transmission tower monitoring device according to claim 1, characterized in that: The monitoring device includes a box, a monitoring and control body, a battery for powering the monitoring and control body, an angle monitoring sensor for detecting the inclination of the angle steel at the installation position, and a monitoring module for detecting the condition of the tower. The monitoring module, the angle monitoring sensor, the clamping and fixing mechanism, and the angle adjustment mechanism are all connected to the monitoring and control body. The monitoring and control body and the battery are arranged in the box, and the angle monitoring sensor is arranged outside the box; the monitoring module, the photovoltaic power generation mechanism, and the wind power generation mechanism are arranged on the top of the box.

10. A method for installing a transmission tower monitoring device according to any one of claims 1 to 9, characterized in that: The steps include: S1. Connecting the connecting mechanism of the transmission tower monitoring device to the mechanical arm of the drone; S2. Start the drone to transport the transmission tower monitoring device to the vicinity of a designated location of the transmission tower and hover the device; S3, adjusting the use angle of the clamping and fixing mechanism by the angle adjustment mechanism, so that the clamping and fixing mechanism and the monitoring device are in an optimal installation posture; S4, controlling the drone to continue moving toward the transmission tower, and accurately moving the transmission tower monitoring device to a designated location; S5. Clamp and fix the clamping and fixing mechanism on the tower angle steel.

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