Staying type power transmission line patrol obstacle removing equipment and control system thereof

Abstract

The invention relates to the technical field of line inspection, and discloses resident type power transmission line inspection obstacle removing equipment and a control system thereof.The resident type power transmission line inspection obstacle removing equipment comprises an obstacle crossing bridge, a resident chamber, a machine body and a mainframe box, and is characterized in that the lower end, the left end and the right end of the machine body are each provided with an opening, and two transmission shafts are rotationally connected into the machine body through ball bearings; the shaft walls of the two transmission shafts are jointly provided with a driving mechanism, the driving mechanism is provided with a first driving wheel and a second driving wheel, the line patrol and obstacle removal equipment can crawl on an obstacle crossing bridge and a cable through the first driving wheel and the second driving wheel, the interior of the machine body is rotationally connected with a rotating shaft through a rolling bearing, and the shaft wall of the rotating shaft is provided with a swing arm mechanism. According to the staying type power transmission line patrol obstacle removing equipment and the control system thereof, the line patrol equipment can quickly pass through obstacles, the climbing ability of the equipment can be improved, the stable work of the line patrol obstacle removing equipment can be realized, and meanwhile, ice and snow on a cable can be cleaned in an auxiliary manner.

Description

Technical Field

[0001] The present invention relates to the technical field of line inspection, and particularly to a stationary power transmission line inspection and obstacle removal device and its control system. Background Art

[0002] Overhead high-voltage lines are bare metal wires erected in the wild. Inevitably, they have to cross large areas of lakes, forests, mountains, and reservoirs. They are exposed to wind, sun, rain, ice, and snow all year round, and are also affected by factors such as bird damage, human damage, aging, and entanglement of foreign objects. These factors may all cause mechanical damage to the power transmission line. Therefore, to ensure the stable operation of the power system, it is necessary to regularly inspect the power transmission line to ensure its safety. Usual inspection methods include manual inspection, aerial survey method, and robot inspection, etc. Manual inspection uses the human eye for observation with the help of auxiliary equipment such as telescopes. This method is inefficient. The aerial survey method refers to using unmanned aerial vehicles, model aircraft, or helicopters to inspect overhead high-voltage transmission lines. To ensure the safe distance of the unmanned aerial vehicle flight, it is impossible to observe the line closely, and inspection operations cannot be carried out due to the influence of strong wind weather. The inspection machine walks on the wire, and a series of equipment on the inspection machine body is used to detect the power transmission line at close range, and the detection accuracy is relatively high. Although the inspection machine can walk on the wire through a wireless remote sensing system, there are different accessories on the power transmission line, such as tower arms, insulator strings, shock-absorbing hammers, and strain clamps, etc., which are all components that affect the inspection equipment.

[0003] At present, it is not easy to control the equipment to cross the obstacles on the line during line inspection, and it is also necessary to manually place the inspection equipment on the line. The installation is relatively difficult, and due to the large distance between two transmission towers and the large slope of the cable, the inspection equipment is extremely likely to slip when climbing a cable with a large slope, resulting in the inability to efficiently and stably inspect the power transmission line. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] Aiming at the deficiencies of the prior art, the present invention provides a stationary power transmission line inspection and obstacle removal device and its control system, which solves the problems that it is not easy to control the equipment to cross the obstacles on the line during line inspection, it is also necessary to manually place the inspection equipment on the line, and the inspection equipment is extremely likely to slip when climbing a cable with a large slope.

[0006] (2) Technical Solutions

[0007] To achieve the above object, the present invention provides the following technical solution: A resident type power transmission line patrol and obstacle removal device, including an obstacle crossing bridge, a resident chamber, a body and a main chassis. Openings are provided at the lower end, left and right ends of the body. Two transmission shafts are rotatably connected in the body through ball bearings. A driving mechanism is commonly installed on the shaft walls of the two transmission shafts. The driving mechanism is equipped with a first driving wheel and a second driving wheel. The patrol and obstacle removal device crawls on the obstacle crossing bridge and the cable through the first driving wheel and the second driving wheel;

[0008] A rotating shaft is rotatably connected in the body through a rolling bearing. A swing arm mechanism is installed on the shaft wall of the rotating shaft. The swing arm mechanism cooperates with the driving mechanism through a swing roller, so that the driving wheel can be clamped on the obstacle crossing bridge and the cable when working;

[0009] Two rectangular plates and two rectangular frames are fixedly connected in the body. Two first cameras are fixedly connected obliquely at the lower end of one of the rectangular plates. Two second cameras are fixedly connected obliquely at the upper end of the main chassis. An obstacle removal mechanism is commonly installed between the two rectangular frames. The obstacle removal mechanism can break sundries of different sizes on the cable by adjusting the distance;

[0010] A support shaft is fixedly connected to one side of the body. A suspension rod is rotatably connected to the shaft wall of the support shaft through a rolling bearing. The lower end of the suspension rod is fixedly connected to the upper end of the chassis;

[0011] Both ends of the resident chamber are of an open structure. The obstacle crossing bridge is fixed inside the resident chamber. An incision is provided on one side of the body. The incision cooperates with the obstacle crossing bridge. The obstacle crossing bridge is composed of a first guide rod, a second guide rod and two guide rails.

[0012] Preferably, the driving mechanism includes a protective cover. The protective cover is fixed on one side of the body. A main shaft is arranged inside the protective cover. The main shaft is rotatably connected to one side of the body through a bearing seat. Worms are fixedly connected to both ends of the main shaft. Worm gears are meshed on the rod walls of the two worms. One end of the transmission shaft passes through the ball bearing and meshes with one side of the worm gear. A driving motor is fixedly connected to the upper end of the body. The output end of the driving motor is fixedly connected to the upper end of one of the worms. The first driving wheel and the second driving wheel are respectively fixed on the shaft walls of the two transmission shafts;

[0013] A support roller is rotatably connected to the inside of the machine body through a needle roller bearing. A plurality of positioning grooves are provided on the side walls of the support roller, the first driving wheel, and the second driving wheel. One side of the machine body is rotatably connected to a plurality of short shafts through needle roller bearings. One end of each of the plurality of short shafts is fixedly connected to a track wheel. The spacing between the track wheels matches the spacing between the two guide rails. A first gear is fixedly connected to the shaft wall of the transmission shaft. A second gear is engaged with one side of the first gear. One end of the short shaft passes through the needle roller bearing and is fixedly connected to one side of the second gear coaxially.

[0014] Preferably, the swing arm mechanism includes two support arms. One end of each of the two support arms is fixedly inclined on the shaft wall of the rotating shaft. Arc-shaped through holes are provided on both opposite sides of the machine body. A rotating shaft is slidably connected in the two arc-shaped through holes together. A pressure roller is fixedly connected to the shaft wall of the rotating shaft. The shaft wall of the rotating shaft is rotatably connected to the end of the support arm through a roller bearing. A steering gear is fixedly connected to one side of the machine body. The output end of the steering gear is fixedly connected to one end of the rotating shaft coaxially. A plurality of uniformly distributed annular grooves are provided on the side wall of the pressure roller;

[0015] A first toothed ring is fixedly connected to the shaft wall of the rotating shaft. A second toothed ring is engaged with one side of the first toothed ring. A support plate is fixedly connected to one side of the second toothed ring. The second toothed ring and the second support plate are rotatably connected to a half shaft together through roller bearings. The half shaft is fixed to one side of the machine body. One end of the support plate is fixedly connected to a sleeve. A sleeve is sleeved on the tube wall of the sleeve. A roller is fixedly connected to one end of the sleeve. A directional groove is provided on the side wall of the roller. One end of the sleeve extends into the roller and is fixedly connected to a strong magnetic ring. One end of the sleeve extends into the roller and is fixedly connected to an electromagnet. The inner diameter of the roller is equal to the outer diameter of the sleeve. Wear-resistant layers are provided on the inner wall of the sleeve and the tube wall of the sleeve.

[0016] Preferably, the obstacle removal mechanism includes two rectangular blocks. The two rectangular blocks are both slidably connected between two rectangular frames. The two rectangular blocks are jointly connected to a bidirectional lead screw through threaded holes. Both ends of the bidirectional lead screw are rotatably connected to the inside of the machine body through rolling bearings. Two sliders are slidably connected in one of the rectangular frames. The two sliders are respectively fixed to the upper ends of the two rectangular blocks. Two connecting blocks are slidably connected in the other rectangular frame. The two connecting blocks are respectively fixed to the lower ends of the two rectangular blocks. A shaft pin is fixedly connected to the lower end of the connecting block. A roller is rotatably connected to the shaft wall of the shaft pin through a roller bearing. A plurality of spiral protrusions are provided on the side wall of the roller. A positioning sleeve is fixedly connected to the rod wall of the bidirectional lead screw. A reduction motor is fixedly connected to one side of the machine body. The output end of the reduction motor is fixedly connected to one end of the bidirectional lead screw.

[0017] Preferably, one side of the first guide rod is horizontally and fixedly connected with a fixed plate. One side of the fixed plate passes through the notch and is fixedly connected with one side of one of the guide rails. The lower end of the second guide rod is fixedly connected with a plurality of U-shaped brackets. One end of each of the plurality of U-shaped brackets is fixed to the lower end of the other guide rail. Both ends of the two guide rails are provided with bent portions, and one end of the bent portion is provided with a flared portion. Both ends of the first guide rod and the second guide rod are inclined with guide portions, and the bending angles of the guide portions are the same as those of the bent portions. Both ends of the machine body are inclined and fixedly connected with guide plates, and the side wall of the guide plate is provided with a directional port matching the notch.

[0018] The present invention also provides a control system for a resident type power transmission line patrol and obstacle removal device, including a ground control system, a main control module, a servo drive module, a wireless communication module, a sensing system, and a power supply module. The ground control system is composed of a ground terminal PC and a handheld terminal, and is connected to the main controller module through the wireless communication module. The sensing system is provided with a high-definition camera, a ranging sensor, a lidar, a gyroscope, an encoder, and a GPS. The main control module is connected to the sensing system to collect data of the gyroscope, the ranging sensor, and the encoder, and is also used to drive the high-definition camera, the GPS, the lidar, and the ranging sensor. The main control module is also connected to a controller and other execution elements. The main control module adopts a distributed control form and is based on the CAN bus, and any execution device can be added or reduced. A coordination layer is arranged in the main control module, and the coordination layer is provided with an I / O expansion module, a display screen, a CAN interface, a USB conversion module, and a wireless module.

[0019] Preferably, the sensing system transmits the pictures of the inspected conductors and the obstacle crossing of the inspection device in real time through a plurality of cameras and the GPS, and simultaneously transmits the inspection position information of the inspection device in real time. The sensing system stores the GPS positions, sequences, types, sizes, and surrounding abnormal conditions of the obstacles to be inspected into the ground terminal PC, and performs obstacle recognition accordingly. The sensing system also has a motion assistance function, and the motion assistance function is composed of a current detection module, a gyroscope, an encoder, and a limit switch.

[0020] Preferably, the servo drive module is used to control the position, speed and output torque of the drive motor. The servo drive module is provided with a current loop. The current loop uses a current sensor to detect the output current of each phase of the motor, compares it with the current set value to obtain a deviation, and performs PID adjustment. Through feedback control, the output current is made to approach or equal the set current as much as possible. The current inner loop can ensure that the system accelerates at the maximum constant current, speeds up the starting process, and limits the maximum starting acceleration. The servo drive module is provided with a speed loop. The output of the speed loop is the set value of the current loop. Therefore, the speed loop includes the current loop and is a double-loop control of inner and outer loops. While controlling the speed, it also controls the torque of the motor to achieve the coordination of speed and torque. The speed loop can limit the maximum speed and steady-state speed of the driving system, and also speed up the dynamic response of the system and enhance the anti-interference ability of the system. The servo drive module also includes a position loop. The output of the position loop is the set value of the speed loop. In the position loop control mode, the operations of all three loops need to be performed. Through the coordinated operation of the current loop, speed loop and position loop, the system can accurately position, and has a fast starting process, constant torque and stable speed.

[0021] Preferably, motors of each joint of the line patrol device are equipped with motor drivers. Each motor driver has an independent processor to perform closed-loop control on the corresponding motor. The incremental PID control algorithm is adopted. Through the feedback value of the encoder, the motor driver outputs PWM to drive the motor after calculation. The PID algorithm of the motor driver can realize the independent control of any one of the current loop, speed loop and position loop.

[0022] Preferably, the power supply module includes a photovoltaic panel, a controller, a storage battery, an inverter and a wireless charger. The power receiving coil of the wireless charger is installed on the line patrol device, and the power output coil of the wireless charger is installed in the residence device. The photovoltaic panel is installed on the iron tower. The inverter converts the power in the storage battery into commercial power and supplies power to the power output coil through a high-frequency inverter power supply. The power transmission between the power receiving coil and the power output coil is realized through the generated alternating magnetic field to complete the power supplement of the line patrol device.

[0023] (III) Beneficial effects

[0024] Compared with the prior art, the present invention provides a residence-type power transmission line patrol and obstacle removal device and its control system, which have the following beneficial effects:

[0025] 1. When the present invention is in use, the line patrol and obstacle removal device is activated by the ground personnel's control. The first driving wheel and the second driving wheel are used to crawl on the obstacle-crossing bridge and the cable. At the same time, the pressing roller arranged by the swing arm mechanism enables the driving wheel to clamp on the obstacle-crossing bridge and the cable when working, ensuring that the force of clamping the wire is such that the line patrol device does not slip when climbing a slope or crossing the obstacle-crossing bridge, realizing the stable operation of the line patrol and obstacle removal device. Moreover, the distance between the obstacle removal mechanism and the cable can be adjusted to squeeze the ice and snow off the cable, preventing the ice and snow from adhering to the cable for a long time and causing damage.

[0026] 2. The driving mechanism provided by the present invention, during normal line patrol, the second driving wheel is connected to the cable through the positioning groove in the middle part and the cooperation of the swing arm mechanism. At the same time, relying on the self-weight of the line patrol and obstacle removal device, the second driving wheel and the cable can have sufficient friction to drive the line patrol device to crawl on the cable. When crossing an obstacle, the track wheel installed on one side of the machine body first enters the flared part on the guide rail, and the first driving wheel and the supporting roller move along the bent part on the first guide rod to its upper side in sequence. Then the swing arm mechanism releases the clamping of the cable, and at the same time, the track wheel can roll in the guide rail through the first gear, the second gear and the short shaft, so that the line patrol and obstacle removal device can complete the obstacle-crossing action and cross the obstacle-crossing bridge smoothly up and down.

[0027] 3. During normal line patrol, the roller can cooperate with the second driving wheel to jointly clamp the wire, so that the second driving wheel and the pressing roller can be in close contact with the upper part of the cable, enabling the line patrol and obstacle removal device to crawl on the cable with a large curvature, improving the climbing performance of the line patrol and obstacle removal device. When passing through the obstacle-crossing bridge, the steering gear works to drive the pressing roller to reset twice at different stages first, realizing its cooperation with the supporting roller and the first driving wheel to jointly hold tightly on the first guide rod, so that the line patrol and obstacle removal device is not easy to slip when passing through the obstacle-crossing bridge.

[0028] 4. The obstacle removal mechanism provided by the present invention, when in use, starts the reduction motor to drive the bidirectional screw to rotate. When the bidirectional screw rotates, it drives two rectangular blocks to move relatively. When the rectangular blocks move, the moving posture of the rectangular blocks is maintained through the sliders and the connecting blocks. When the distance between the two rollers shrinks, the ice and snow on the wire can be squeezed when the line patrol and obstacle removal device moves, and the ice and snow are broken and fall off under the action of the thread protrusions. Under normal conditions, the distance between the two rollers is the largest, avoiding affecting the passage through the obstacle-crossing bridge during normal inspection.

[0029] 5. The control system provided by the present invention can enable ground personnel to view the status of the inspection device in real time and control all components of the inspection device. The handheld terminal is a special remote controller for the inspection device designed independently, which can customize functions according to requirements, can be downloaded and debugged. There are two display screens on the handheld terminal to achieve human-computer interaction. One displays the sent commands and status, and the other transmits the walking video of the inspection device in real time. The wireless transmission module is actually divided into two parts. One is the wireless data transmission module for transmitting data such as sensors, and the other is the wireless video transmission module for transmitting video. The frequencies between them are quite different to prevent signal interference with each other. At the same time, through the motion assistance function set by the perception system, the attitude of the line inspection and obstacle removal equipment can be collected, ensuring that a stable working environment can be provided for each executing component. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic structural diagram of a stationary power transmission line inspection and obstacle removal device proposed by the present invention;

[0031] Figure 2 is a schematic structural diagram of an obstacle crossing bridge, a body and a chassis in a stationary power transmission line inspection and obstacle removal device proposed by the present invention;

[0032] Figure 3 is a schematic internal structure diagram of an obstacle crossing bridge and a body in a stationary power transmission line inspection and obstacle removal device proposed by the present invention;

[0033] Figure 4 is a schematic structural diagram of an obstacle crossing bridge in a stationary power transmission line inspection and obstacle removal device proposed by the present invention;

[0034] Figure 5 is a schematic structural diagram of a body in a stationary power transmission line inspection and obstacle removal device proposed by the present invention;

[0035] Figure 6 is a schematic structural diagram of a driving mechanism in a stationary power transmission line inspection and obstacle removal device proposed by the present invention;

[0036] Figure 7 is a schematic structural diagram of a swing arm mechanism in a stationary power transmission line inspection and obstacle removal device proposed by the present invention;

[0037] Figure 8 are two effect diagrams of a driving mechanism and a swing arm mechanism on an obstacle crossing bridge in a stationary power transmission line inspection and obstacle removal device proposed by the present invention;

[0038] Figure 9 is a schematic structural diagram of an obstacle removal mechanism in a stationary power transmission line inspection and obstacle removal device proposed by the present invention;

[0039] Figure 10In a line patrol and obstacle removal device for a stay-type transmission line proposed by the present invention Figure 5 Rear view;

[0040] Figure 11 Four effect diagrams of the driving mechanism and the swing arm mechanism of a line patrol and obstacle removal device for a stay-type transmission line proposed by the present invention on the obstacle-crossing bridge;

[0041] Figure 12 Schematic structural diagram of the body of a line patrol and obstacle removal device for a stay-type transmission line proposed by the present invention;

[0042] Figure 13 Schematic structural diagram of a line patrol and obstacle removal device for a stay-type transmission line proposed by the present invention installed on the tower arm;

[0043] Figure 14 Block diagram of the control system of a line patrol and obstacle removal device for a stay-type transmission line proposed by the present invention;

[0044] Figure 15 Block diagram of the control scheme of the servo drive module controlling the motor in the control system of a line patrol and obstacle removal device for a stay-type transmission line proposed by the present invention.

[0045] In the figure: 1, stay chamber; 2, guide rail; 3, first guide rod; 4, second guide rod; 5, body; 6, drive motor; 7, guide plate; 8, reduction motor; 9, servo motor; 10, suspension rod; 11, protective cover; 12, roller; 13, chassis; 14, support roller; 15, pressure roller; 16, first drive wheel; 17, second drive wheel; 18, worm gear; 19, support plate; 20, support arm; 21, first camera; 22, rotating shaft; 23, first toothed ring; 24, second toothed ring; 25, notch; 26, worm; 27, rectangular frame; 28, roller; 29, sleeve; 30, casing; 31, arc-shaped through hole; 32, first gear; 33, track wheel; 34, second gear; 35, electromagnet; 36, strong magnetic ring; 37, rectangular block; 38, bidirectional lead screw; 39, connecting block; 40, positioning sleeve; 41, second camera. Detailed implementation manners

[0046] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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 of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0047] Embodiment 1:

[0048] Refer to the attached Figure 1-13, A stationary power transmission line patrol and obstacle removal device, including an obstacle crossing bridge, a stationary chamber 1, a body 5 and a main chassis 13. Openings are provided at the lower end, left and right ends of the body 5. Two transmission shafts are rotatably connected in the body 5 through ball bearings. A driving mechanism is commonly installed on the shaft walls of the two transmission shafts. The driving mechanism is equipped with a first driving wheel 16 and a second driving wheel 17. The patrol and obstacle removal device crawls on the obstacle crossing bridge and the cable through the first driving wheel 16 and the second driving wheel 17. A rotating shaft 22 is rotatably connected in the body 5 through a rolling bearing. A swing arm mechanism is installed on the shaft wall of the rotating shaft 22. The swing arm mechanism cooperates with the driving mechanism through a swinging pressure roller 15, so that the driving wheels can be clamped on the obstacle crossing bridge and the cable when working;

[0049] Two rectangular plates and two rectangular frames 27 are fixedly connected in the body 5. Two first cameras 21 are obliquely fixedly connected to the lower end of one of the rectangular plates. Two second cameras 41 are obliquely fixedly connected to the upper end of the main chassis 13. An obstacle removal mechanism is commonly installed between the two rectangular frames 27. The obstacle removal mechanism can break up sundries of different sizes on the cable by adjusting the spacing. A support shaft is fixedly connected to one side of the body 5. A suspension rod 10 is rotatably connected to the shaft wall of the support shaft through a rolling bearing. The lower end of the suspension rod 10 is fixedly connected to the upper end of the chassis 13. Both ends of the stationary chamber 1 are of an open structure. The obstacle crossing bridge is fixed inside the stationary chamber 1. An incision 25 is provided on one side of the body 5. The incision 25 cooperates with the obstacle crossing bridge. The obstacle crossing bridge is composed of a first guide rod 3, a second guide rod 4 and two guide rails 2. A fixing plate is horizontally fixedly connected to one side of the first guide rod 3. One side of the fixing plate passes through the incision 25 and is fixedly connected to one side of one of the guide rails 2. The lower end of the second guide rod 4 is fixedly connected with a plurality of U-shaped brackets. One ends of the plurality of U-shaped brackets are all fixed to the lower end of the other guide rail 2. Both ends of the two guide rails 2 are provided with bent portions, and one end of the bent portion is provided with a flared portion. Guide portions are obliquely provided at both ends of the first guide rod 3 and the second guide rod 4. The bending angles of the guide portions and the bent portions are the same. Guide plates 7 are obliquely fixedly connected to both ends of the body 5, and a directional opening matching the incision 25 is provided on the side wall of the guide plate 7.

[0050] When the present invention is in use, the stationary chamber 1 is arranged in accordance with Figure 13As shown, it is installed on the iron frame, and the obstacle-crossing bridge is installed on one side inside the residence room 1. At this time, the guiding parts at both ends of the second guiding rod 4 are lower than the cable. Under normal conditions, the line inspection and obstacle removal equipment is in a standby state in the residence room 1. When line inspection is required, the line inspection and obstacle removal equipment is activated by the ground personnel. It crawls on the obstacle-crossing bridge and the cable through the first driving wheel 16 and the second driving wheel 17. At the same time, the pressing roller 15 set by the swing arm mechanism is used to make the driving wheels clamp on the obstacle-crossing bridge and the cable when working, ensuring that the force of clamping the wire enables the line inspection equipment not to slip when climbing slopes or crossing the obstacle-crossing bridge, so as to realize the stable operation of the line inspection and obstacle removal equipment. During the working process, the first camera 21 and the second camera 41 can be used to take pictures of the cable surface from multiple angles to check whether there are phenomena such as corrosion and cracking. Moreover, when there are ice blocks or snow attached to the wire in extreme weather, the distance between the obstacle removal mechanism and the cable can be adjusted to squeeze the ice and snow off the cable, avoiding damage caused by long-term attachment of ice and snow to the cable.

[0051] Embodiment 2: Different from Embodiment 1;

[0052] Refer to the appendix Figures 2-6 and Figures 8-11 The driving mechanism includes a protective cover 11. The protective cover 11 is fixed on one side of the machine body 5. A main shaft is arranged inside the protective cover 11. The main shaft is rotatably connected to one side of the machine body 5 through a bearing seat. Both ends of the main shaft are fixedly connected with worm gears 26. Worm wheels 18 are engaged on the rod walls of the two worm gears 26. One end of the transmission shaft passes through a ball bearing and is engaged with one side of the worm wheel 18. A driving motor 6 is fixedly connected to the upper end of the machine body 5. The output end of the driving motor 6 is fixedly connected to the upper end of one of the worm gears 26. The first driving wheel 16 and the second driving wheel 17 are respectively fixed on the shaft walls of the two transmission shafts;

[0053] A support roller 14 is rotatably connected to the machine body 5 through a needle bearing. A plurality of positioning grooves are provided on the side walls of the support roller 14, the first driving wheel 16 and the second driving wheel 17. A plurality of short shafts are rotatably connected to one side of the machine body 5 through needle bearings. One ends of the plurality of short shafts are fixedly connected with track wheels 33. The distance between the track wheels 33 matches the distance between the two guide rails 2. A first gear 32 is fixedly connected to the shaft wall of the transmission shaft. A second gear 34 is engaged on one side of the first gear 32. One end of the short shaft passes through the needle bearing and is fixedly connected with one side of the second gear 34 coaxially.

[0054] The driving mechanism provided by the present invention, such as Figure 8 and Figure 11As shown, during normal line inspection, the second driving wheel 17 is connected to the cable through the positioning groove in the middle part and the swing arm mechanism. When working, the driving motor 6 is started to drive the transmission shaft to rotate the worm 26. When the worm 26 rotates, it drives the worm wheel 18 to rotate the transmission shaft and the second driving wheel 17. When the second driving wheel 17 rotates, relying on the self-weight of the line inspection and obstacle removal device, sufficient friction can be generated between the second driving wheel 17 and the cable to drive the line inspection device to crawl on the cable;

[0055] When crossing an obstacle, the track wheel 33 installed on one side of the body 5 first enters the flared part on the guide rail 2. The first driving wheel 16 and the support roller 14 sequentially move along the bent part on the first guide rod 3 to its upper side. Then the swing arm mechanism releases the clamping of the cable. At this time, the worm 26 drives the worm wheel 18 to drive the transmission shaft to drive the first driving wheel 16 to rotate. At this time, the first driving wheel 16 can cooperate with the second driving wheel 17 to roll on the first guide rod 3 and the second guide rod 4 together. At the same time, when the transmission shaft rotates, it drives the first gear 32 to drive the second gear 34. When the second gear 34 rotates, it drives the short shaft to make the track wheel 33 roll in the guide rail 2, so that the line inspection and obstacle removal device can complete the obstacle crossing action and cross the obstacle bridge smoothly up and down.

[0056] Embodiment 3: Different from Embodiment 1;

[0057] Refer to the appendix Figures 5-7 and Figure 11 , the swing arm mechanism includes two support arms 20. One ends of the two support arms 20 are both inclined and fixed on the shaft wall of the rotating shaft 22. Arc-shaped through holes 31 are opened on both opposite sides of the body 5. A rotating shaft is slidably connected in the two arc-shaped through holes 31 together. A pressure roller 15 is fixedly connected to the shaft wall of the rotating shaft. The shaft wall of the rotating shaft is rotatably connected to the end of the support arm 20 through a roller bearing. A steering gear 9 is fixedly connected to one side of the body 5. The steering gear 9 adopts a reducer with a self-locking function, such as a worm and worm gear reducer, or a motor with a self-locking function. The output end of the steering gear 9 is coaxially fixedly connected to one end of the rotating shaft 22. A plurality of uniformly distributed annular grooves are opened on the side wall of the pressure roller 15;

[0058] A first toothed ring 23 is fixedly connected to the shaft wall of the rotating shaft 22. A second toothed ring 24 is meshed with one side of the first toothed ring 23. A support plate 19 is fixedly connected to one side of the second toothed ring 24. Both the second toothed ring 24 and the second support plate 19 are rotatably connected to a half shaft through roller bearings. The half shaft is fixed to one side of the machine body 5. One end of the support plate 19 is fixedly connected to a sleeve 30. A sleeve 29 is sleeved on the pipe wall of the sleeve 30. One end of the sleeve 29 is fixedly connected to a roller 12. A guiding groove is formed in the side wall of the roller 12. One end of the sleeve 29 extends into the roller 12 and is fixedly connected to a strong magnetic ring 36. One end of the sleeve 30 extends into the roller 12 and is fixedly connected to an electromagnet 35. The inner diameter of the roller 12 is equal to the outer diameter of the sleeve 29. Wear-resistant layers are provided on the inner wall of the sleeve 29 and the pipe wall of the sleeve 30.

[0059] The swing arm mechanism provided in the present invention, during normal line patrol, starts the servo 9 to drive the rotating shaft 22 to swing the support arm 20. The swing of the support arm 20 drives the swing of the pressure roller 15. When the pressure roller 15 swings above the cable, it can cooperate with the second driving wheel 17 to support the line patrol and obstacle removal device. At the same time, when the rotating shaft 22 rotates, it drives the first toothed ring 23 to rotate the second toothed ring 24. When the second toothed ring 24 rotates, it drives the support plate 19 to swing the sleeve 30 and the roller 12 below the cable. At this time, the roller 12 can cooperate with the second driving wheel 17 to jointly clamp the wire, so that the second driving wheel 17 and the pressure roller 15 can be in close contact with the upper part of the cable, enabling the line patrol and obstacle removal device to crawl on the cable with a large curvature and improving the climbing performance of the line patrol and obstacle removal device. When passing over the obstacle bridge, the servo 9 works to first drive the pressure roller 15 to reset half of the stroke. At the same time, the roller 12 also resets half. At this time, the electromagnet 35 is started to generate the same magnetic pole as one end of the strong magnet. At this time, the magnetic repulsion force can push the sleeve 29 and the roller 12 to slide on the sleeve 30, so that the roller 12 moves away from below the wire to facilitate the roller 12 to smoothly enter below the second guiding rod 4. After all the track wheels 33 enter the horizontal part of the guide rail 2, the servo 9 continues to work to drive the pressure roller 15 to reset the remaining half of the stroke. In this way, it can move below the first guiding rod 3 and cooperate with the support roller 14 and the first driving wheel 16 to jointly hold tightly on the first guiding rod 3, making the line patrol and obstacle removal device not easy to slip when passing through the obstacle bridge.

[0060] Example 4: Different from Example 1;

[0061] Refer to the appendix Figure 5 and Figure 9, The obstacle removal mechanism includes two rectangular blocks 37. Both of the two rectangular blocks 37 are slidably connected between two rectangular frames 27. Both of the two rectangular blocks 37 are commonly connected with a bidirectional lead screw 38 through threaded holes. Both ends of the bidirectional lead screw 38 are rotatably connected in the machine body 5 through rolling bearings. Two sliders are slidably connected in one of the rectangular frames 27, and the two sliders are respectively fixed to the upper ends of the two rectangular blocks 37. Two connecting blocks 39 are slidably connected in the other rectangular frame 27, and the two connecting blocks 39 are respectively fixed to the lower ends of the two rectangular blocks 37. A pin is fixedly connected to the lower end of the connecting block 39. A roller 28 is rotatably connected to the shaft wall of the pin through a roller bearing. A plurality of spiral protrusions are arranged on the side wall of the roller 28. A positioning sleeve 40 is fixedly connected to the rod wall of the bidirectional lead screw 38. A reduction motor 8 is fixedly connected to one side of the machine body 5, and the output end of the reduction motor 8 is fixedly connected to one end of the bidirectional lead screw 38.

[0062] The obstacle removal mechanism provided by the present invention, when in use, starts the reduction motor 8 to drive the bidirectional lead screw 38 to rotate. When the bidirectional lead screw 38 rotates, it drives the two rectangular blocks 37 to move relatively. When the rectangular blocks 37 move, the movement postures of the rectangular blocks 37 are maintained through the sliders and the connecting blocks 39. When the distance between the two rollers 28 shrinks, it can squeeze the ice and snow on the wire when the line inspection and obstacle removal equipment moves, so that the ice and snow are broken and dropped under the action of the threaded protrusions. Under normal conditions, the distance between the two rollers is the largest, avoiding affecting the passage through the obstacle crossing bridge during normal inspection.

[0063] Refer to Figures 14-15 :

[0064] The present invention also provides a control system for a resident type transmission line inspection and obstacle removal device, including a ground control system, a main control module, a servo drive module, a wireless communication module, a sensing system and a power supply module. The ground control system is composed of a ground terminal PC and a handheld terminal, and is connected to the main controller module through the wireless communication module. As a high-speed multifunctional processing device, the PC serves as the most comprehensive man-machine interaction device in the inspection device control system. The upper computer software is edited using the MFC library of VisualStudio to enable ground personnel to view the status of the inspection device in real time and control all components of the inspection device. The handheld terminal is a specially designed remote controller for the inspection device, which can customize functions according to needs, can be downloaded and debugged. There are two display screens on the handheld terminal for man-machine interaction. One displays the sent commands and status, and the other transmits the real-time walking video of the inspection device. The wireless transmission module is actually divided into two parts. One is the wireless data transmission module, which is used to transmit data such as sensors, and the other is the wireless video transmission module, which is used to transmit videos. The frequencies between them are quite different to prevent signal interference between each other;

[0065] The perception system is equipped with a high-definition camera, a ranging sensor, a lidar, a gyroscope, an encoder, and a GPS. The main control module is connected to the perception system to collect data from the gyroscope, ranging sensor, and encoder, and is also used to drive the high-definition camera, GPS, lidar, and ranging sensor. The main control module is also connected to a controller and other execution elements. The main control module adopts a distributed control form and is based on the CAN bus, allowing for the arbitrary addition or reduction of execution devices. A coordination layer is set within the main control module, and the coordination layer is equipped with an I / O expansion module, a display screen, a CAN interface, a USB-to-232 module, and a wireless module. The perception system transmits in real time the images of patrolling wires and the obstacle crossing of the inspection device through multiple cameras and GPS, and at the same time transmits in real time the patrolling position information of the line patrol device. The perception system stores the GPS position, sequence, type, size, and surrounding abnormal conditions of the obstacles to be inspected into the ground terminal PC, and performs obstacle recognition accordingly. The perception system also has a motion assistance function, which consists of a current detection module, a gyroscope, an encoder, and a limit switch.

[0066] The servo drive module is used to control the position, speed, and output torque of the drive motor. The servo drive module is provided with a current loop. The current loop uses a current sensor to detect the output current of each phase of the motor, compares it with the current set value to obtain a deviation, and performs PID regulation. Through feedback control, the output current is made to approach or equal the set current as much as possible. The current inner loop can ensure that the system accelerates under the maximum constant current, speeds up the startup process, and limits the maximum startup acceleration. The servo drive module is provided with a speed loop. The output of the speed loop is the set value of the current loop. Since the speed loop includes the current loop, it is an inner and outer double-loop control, controlling the torque of the motor while controlling the speed to achieve the coordination of speed and torque. The speed loop can limit the maximum speed and steady-state speed of the drive system, and also speed up the dynamic response of the system and enhance the anti-interference ability of the system. The servo drive module also includes a position loop. The output of the position loop is the set value of the speed loop. In the position loop control mode, three-loop operations are required. Through the coordinated operation of the current loop, speed loop, and position loop, the system can accurately position, and has a fast startup process, constant torque, and stable speed. The motors of each joint of the line patrol equipment are all equipped with motor drivers, and at the same time, Hall sensors, forming switches, and point loose lion proximity switches are equipped as limit switches. Each motor driver has an independent processor to perform closed-loop control on the corresponding motor. The incremental PID control algorithm is adopted. Through the encoder feedback value, the motor driver calculates and outputs PWM to drive the motor. The PID algorithm of the motor driver can achieve the individual control of any one of the current loop, speed loop, and position loop;

[0067] The power supply module includes a photovoltaic panel, a controller, a storage battery, an inverter and a wireless charger. The power receiving coil of the wireless charger is installed on the line patrol device, and the power output coil of the wireless charger is installed inside the resident device. The photovoltaic panel is installed on the iron tower. The inverter converts the power in the storage battery into commercial power, and then supplies power to the power output coil through a high-frequency inverter power supply. The power transmission between the power receiving coil and the power output coil is realized through the generated alternating magnetic field, completing the power supplement for the line patrol device.

[0068] It should be noted that the term "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0069] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A resident type power transmission line patrol and obstacle removal device, comprising an obstacle crossing bridge, a resident chamber (1), a machine body (5) and a main chassis (13), characterized in that: The lower end, left end, and right end of the body (5) are all provided with openings. Inside the body (5), two transmission shafts are rotatably connected through ball bearings. A driving mechanism is commonly installed on the shaft walls of the two transmission shafts. The driving mechanism is equipped with a first driving wheel (16) and a second driving wheel (17). The line-tracking obstacle-removing device crawls on the obstacle-crossing bridge and the cable through the first driving wheel (16) and the second driving wheel (17); Inside the body (5), a rotating shaft (22) is rotatably connected through a rolling bearing. A swing arm mechanism is installed on the shaft wall of the rotating shaft (22). The swing arm mechanism cooperates with the driving mechanism through a swinging pressure roller (15) to enable the driving wheels to clamp on the obstacle-crossing bridge and the cable when working; Two rectangular plates and two rectangular frames (27) are fixedly connected inside the body (5). The lower end of one of the rectangular plates is obliquely and fixedly connected with two first cameras (21). The upper end of the main chassis (13) is obliquely and fixedly connected with two second cameras (41). An obstacle-removing mechanism is commonly installed between the two rectangular frames (27). The obstacle-removing mechanism can break up sundries of different sizes on the cable by adjusting the spacing; One side of the body (5) is fixedly connected with a support shaft. The shaft wall of the support shaft is rotatably connected with a suspension rod (10) through a rolling bearing. The lower end of the suspension rod (10) is fixedly connected with the upper end of the chassis (13); Both ends of the residence chamber (1) are of open structures. The obstacle-crossing bridge is fixed inside the residence chamber (1). One side of the body (5) is provided with a notch (25). The notch (25) cooperates with the obstacle-crossing bridge. The obstacle-crossing bridge is composed of a first guide rod (3), a second guide rod (4), and two guide rails (2); 2. The resident power transmission line patrol and obstacle removal device according to claim 1, characterized in that: The driving mechanism includes a protective cover (11). The protective cover (11) is fixed on one side of the body (5). A main shaft is arranged inside the protective cover (11). The main shaft is rotatably connected to one side of the body (5) through a bearing seat. Both ends of the main shaft are fixedly connected with worm gears (26). Worm wheels (18) are meshed on the rod walls of the two worm gears (26). One end of the transmission shaft passes through the ball bearing and is meshed with one side of the worm wheel (18). A driving motor (6) is fixedly connected to the upper end of the body (5). The output end of the driving motor (6) is fixedly connected to the upper end of one of the worm gears (26). The first driving wheel (16) and the second driving wheel (17) are respectively fixed on the shaft walls of the two transmission shafts; Inside the machine body (5), a support roller (14) is rotatably connected through a needle roller bearing. A plurality of positioning grooves are provided on the side walls of the support roller (14), the first driving wheel (16), and the second driving wheel (17). One side of the machine body (5) is rotatably connected with a plurality of short shafts through needle roller bearings. One end of each of the plurality of short shafts is fixedly connected with a track wheel (33). The spacing between the track wheels (33) matches the spacing between the two guide rails (2). A first gear (32) is fixedly connected to the shaft wall of the transmission shaft. A second gear (34) meshes with one side of the first gear (32). One end of the short shaft passes through the needle roller bearing and is fixedly connected to one side of the second gear (34) coaxially.

3. The resident type transmission line inspection and obstacle removal equipment according to claim 1, characterized in that: The swing arm mechanism includes two support arms (20). One end of each of the two support arms (20) is fixedly inclined on the shaft wall of a rotating shaft (22). Arc-shaped through holes (31) are provided on opposite sides of the machine body (5). A rotating shaft is slidably connected in the two arc-shaped through holes (31) together. A pressing roller (15) is fixedly connected to the shaft wall of the rotating shaft. The shaft wall of the rotating shaft is rotatably connected to the end of the support arm (20) through a roller bearing. A steering gear (9) is fixedly connected to one side of the machine body (5). The output end of the steering gear (9) is fixedly connected to one end of the rotating shaft (22) coaxially. A plurality of uniformly distributed annular grooves are provided on the side wall of the pressing roller (15); A first toothed ring (23) is fixedly connected to the shaft wall of the rotating shaft (22). A second toothed ring (24) meshes with one side of the first toothed ring (23). A support plate (19) is fixedly connected to one side of the second toothed ring (24). The second toothed ring (24) and the second support plate (19) are both rotatably connected to a half shaft through roller bearings together. The half shaft is fixed to one side of the machine body (5). One end of the support plate (19) is fixedly connected to a sleeve (30). A sleeve (29) is sleeved on the pipe wall of the sleeve (30). A roller (12) is fixedly connected to one end of the sleeve (29). A guiding groove is provided on the side wall of the roller (12). One end of the sleeve (29) extends into the roller (12) and is fixedly connected to a strong magnetic ring (36). One end of the sleeve (30) extends into the roller (12) and is fixedly connected to an electromagnet (35). The inner diameter of the roller (12) is equal to the outer diameter of the sleeve (29). Wear-resistant layers are provided on the inner wall of the sleeve (29) and the pipe wall of the sleeve (30).

4. The resident type transmission line inspection and obstacle removal equipment according to claim 1, characterized in that: The obstacle removing mechanism includes two rectangular blocks (37). Both of the two rectangular blocks (37) are slidably connected between two rectangular frames (27). Both of the two rectangular blocks (37) are commonly connected with a bidirectional lead screw (38) through threaded holes. Both ends of the bidirectional lead screw (38) are rotatably connected in the machine body (5) through rolling bearings. Two sliders are slidably connected in one of the rectangular frames (27), and the two sliders are respectively fixed to the upper ends of the two rectangular blocks (37). Two connecting blocks (39) are slidably connected in the other rectangular frame (27), and the two connecting blocks (39) are respectively fixed to the lower ends of the two rectangular blocks (37). A shaft pin is fixedly connected to the lower end of the connecting block (39). A roller (28) is rotatably connected to the shaft wall of the shaft pin through a roller bearing. A plurality of spiral protrusions are arranged on the side wall of the roller (28). A positioning sleeve (40) is fixedly connected to the rod wall of the bidirectional lead screw (38). A reduction motor (8) is fixedly connected to one side of the machine body (5), and the output end of the reduction motor (8) is fixedly connected to one end of the bidirectional lead screw (38).

5. The resident type transmission line patrol and obstacle removal equipment according to claim 1, characterized in that: One side of the first guide rod (3) is horizontally and fixedly connected with a fixing plate. One side of the fixing plate passes through the notch (25) and is fixedly connected with one side of one of the guide rails (2). A plurality of U-shaped brackets are fixedly connected to the lower end of the second guide rod (4), and one ends of the plurality of U-shaped brackets are all fixed to the lower end of the other guide rail (2). Bending parts are arranged at both ends of the two guide rails (2), and a flared part is arranged at one end of the bending part. Guide parts are obliquely arranged at both ends of the first guide rod (3) and the second guide rod (4), and the bending angles of the guide parts are the same as those of the bending parts. Guide plates (7) are obliquely and fixedly connected to both ends of the machine body (5), and a positioning port matched with the notch (25) is formed in the side wall of the guide plate (7).

6. A control system for the resident power transmission line patrol and obstacle removal equipment according to any one of claims 1-5, characterized in that: It includes a ground control system, a main control module, a servo drive module, a wireless communication module, a sensing system and a power supply module. The ground control system consists of a ground terminal PC and a handheld terminal, and is connected to the main controller module through the wireless communication module. The sensing system is provided with a high-definition camera, a ranging sensor, a lidar, a gyroscope, an encoder and a GPS. The main control module is connected to the sensing system to collect data of the gyroscope, the ranging sensor and the encoder, and is also used to drive the high-definition camera, the GPS, the lidar and the ranging sensor. The main control module is also connected with a controller and other actuators. The main control module adopts a distributed control form and is based on the CAN bus, and any actuator can be added or reduced. A coordination layer is arranged in the main control module, and the coordination layer is provided with an I / O expansion module, a display screen, a CAN interface, a USB to 232 module and a wireless module.

7. The control system of a resident power transmission line patrol and obstacle removal device according to claim 6, characterized in that: The perception system transmits the images of the inspected conductor and the obstacle crossing of the inspection device in real time through multiple cameras and GPS, and at the same time transmits the inspection position information of the line inspection device. The perception system stores the GPS positions, sequences, types, sizes and surrounding abnormal conditions of the obstacles to be inspected into the ground terminal PC, and performs obstacle recognition accordingly. The perception system also has a motion assistance function, which consists of a current detection module, a gyroscope, an encoder and a limit switch.

8. The control system of a resident power transmission line patrol and obstacle removal device according to claim 6, characterized in that: The servo drive module is used to control the position, speed and output torque of the drive motor. The servo drive module is provided with a current loop. The current loop uses a current sensor to detect the output current of each phase of the motor, compares it with the current set value to obtain a deviation, and performs PID adjustment. Through feedback control, the output current is made to approach or equal the set current as much as possible. The current inner loop can ensure that the system accelerates at the maximum constant current, speeds up the startup process, and limits the maximum startup acceleration. The servo drive module is provided with a speed loop. The output of the speed loop is the set value of the current loop. Therefore, the speed loop includes the current loop and is a double-loop control of inside and outside. While controlling the speed, it also controls the torque of the motor to achieve the coordination of speed and torque. The speed loop can limit the maximum speed and steady-state speed of the drive system, and also speed up the dynamic response of the system and enhance the anti-interference ability of the system. The servo drive module also includes a position loop. The output of the position loop is the set value of the speed loop. In the position loop control mode, the operations of all three loops need to be performed. Through the coordinated operation of the current loop, speed loop and position loop, the system can accurately position, and has a fast startup process, constant torque and stable speed.

9. The control system of a resident power transmission line patrol and obstacle removal device according to claim 8, characterized in that: The motors of each joint of the line inspection device are all equipped with motor drivers. Each motor driver has an independent processor to perform closed-loop control on the corresponding motor. The incremental PID control algorithm is adopted. Through the feedback value of the encoder, the motor driver calculates and outputs PWM to drive the motor. The PID algorithm of the motor driver can realize the independent control of any one of the current loop, speed loop and position loop.

10. The control system of a resident power transmission line patrol and obstacle removal device according to claim 6, characterized in that: The power supply module includes a photovoltaic panel, a controller, a storage battery, an inverter and a wireless charger. The power receiving coil of the wireless charger is installed on the line inspection device, and the power output coil of the wireless charger is installed in the residence device. The photovoltaic panel is installed on the iron tower. The inverter converts the power in the storage battery into commercial power, and then supplies power to the power output coil through a high-frequency inverter power supply. The power transmission between the power receiving coil and the power output coil is realized through the generated alternating magnetic field to complete the power supplement of the line inspection device.

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