Posture-adjustable transformer substation detection device and method thereof

Abstract

The invention discloses a posture-adjustable transformer substation detection device and a posture-adjustable transformer substation detection method, and belongs to the technical field of transformer substation detection. Two groups of fixing structures are mounted on the first climbing mechanism; a second climbing structure is mounted on the movable mounting frame, a lifting structure is mounted on the second climbing structure, and the lifting structure is connected with the fixing structure; detection mechanisms for detecting insulators are symmetrically and fixedly mounted on the movable mounting frame; the detection mechanism comprises a first detection module and a second detection module, the first detection module used for detecting the appearance of the insulator is installed on the movable installation frame, and the second detection module used for detecting the insulativity of the insulator is installed on the first detection module. In this way, the first climbing mechanism drives the fixing structure to climb to the top of the tower column, after the fixing structure is fixed to the top of the tower column, the second climbing structure and the lifting structure drive the movable mounting frame to move upwards, and the situation that the movable mounting frame falls, and consequently the first detection module and the second detection module are damaged is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of substation detection, and particularly relates to a substation detection device with adjustable posture and its method. Background Art

[0002] To ensure the normal operation of the substation, various devices in the substation need to be detected regularly, such as transformers, busbars, switch cabinets, insulators, etc.; to ensure the normal operation of various devices and no risk of electric leakage, so as to ensure the personal safety of electricity users and operation and maintenance personnel.

[0003] For example, Chinese Patent CN118604548A discloses an insulator live detection device, which adjusts the variable resistors in the normal state detection circuit and the fault detection circuit according to the voltage value change of the insulator sheet to improve the detection accuracy and the safety of the detection circuit.

[0004] However, many insulators in the substation are erected on both sides of the tower column, and it is difficult for this device to automatically move to the insulator for detection; and when the existing climbing robots climb the column, they are restricted by the friction force of the column itself; if the friction force between the robot and the column suddenly becomes smaller, the climbing robot is prone to slide and fall.

[0005] Based on this, the present invention designs a substation detection device with adjustable posture and its method to solve the above problems. Summary of the Invention

[0006] In order to solve the above problems, the present invention provides a substation detection device with adjustable posture and its method, which effectively avoids the sudden decrease in the friction force between the detection device and the column, and sliding and falling.

[0007] To achieve the above objectives, the present invention is realized through the following technical solutions:

[0008] A substation detection device with adjustable posture includes a first climbing mechanism, a fixing structure, a second climbing structure, a lifting structure, a detection mechanism, and a movable mounting frame;

[0009] Two groups of fixing structures are installed on the first climbing mechanism; a second climbing structure is installed on the lower side of the movable mounting frame, a lifting structure is installed on the second climbing structure, and the lifting structure is connected to the fixing structure; detection mechanisms for detecting insulators are symmetrically and fixedly installed on the movable mounting frame;

[0010] The detection mechanism includes a first detection module and a second detection module. A first detection module for detecting the appearance of the insulator is installed on the movable mounting frame, and a second detection module for detecting the insulation of the insulator is installed on the first detection module.

[0011] Furthermore, the structure of the second climbing structure is the same as that of the first climbing mechanism.

[0012] Furthermore, the first climbing mechanism includes a clamping module and a climbing module, and the climbing module is mounted on the clamping module.

[0013] Furthermore, the clamping module includes a clamping frame, a clamping electric push rod, a clamping synchronization block, a clamping connecting rod and a clamping arm. The clamping electric push rod is fixedly installed in the middle of the clamping frame, the end of the clamping frame is rotatably connected to the middle of the clamping arm, and the outer end of the clamping arm is rotatably connected to one end of the clamping connecting rod; the other ends of the two clamping connecting rods are respectively rotatably connected to the two ends of the clamping synchronization block; the output end of the clamping electric push rod is fixedly connected to the clamping synchronization block.

[0014] Furthermore, the climbing module includes a climbing wheel, a clamping wheel and a climbing motor. The climbing wheel is rotatably installed on the inner side of the middle part of the clamping frame, the climbing motor is fixedly installed on the clamping frame, the output end of the climbing motor is fixedly connected to the climbing wheel, and the clamping wheel is rotatably installed on the inner end of the clamping arm.

[0015] Furthermore, the fixed structure includes a hook, an extension rod and a fixed push rod, the lower end of the hook is rotatably mounted on the clamping frame, and the lower end of the hook is fixedly connected to one end of the extension rod; the fixed push rod is rotatably mounted on the clamping frame, and the output end of the fixed push rod is rotatably connected to the other end of the extension rod.

[0016] Furthermore, the lifting structure includes a guide wheel, a rotating shaft, a traction wheel, a synchronous gear, a driving gear, a winding motor and a connecting rope; the guide wheel is rotatably installed on the clamping arm of the second climbing structure, and the rotating shaft is rotatably installed on the movable mounting frame; the upper end of the connecting rope is fixedly connected to the extension rod, and traction wheels for winding up the connecting rope are fixedly installed at both ends of the rotating shaft; a synchronous gear is fixedly installed in the middle of the rotating shaft; the winding motor is fixedly installed on the movable mounting frame, and the driving gear is fixedly installed on the output end of the winding motor; the driving gear is meshed and connected with the synchronous gear.

[0017] Furthermore, the first detection module includes a support and yield module, a reflector and an intelligent camera. The support and yield module is installed on a mobile mounting frame, the intelligent camera is installed on the support and yield module, and two reflectors are symmetrically fixedly installed on the support and yield module.

[0018] Furthermore, the second detection module includes an insulation resistance tester, an extension plate, a rotating frame, a fitting spring and a probe. The insulation resistance tester is fixedly installed on the support frame, and the probe is the detection end of the insulation resistance tester; the inner end of an extension plate is fixedly installed on the upper side of a give-way rotating rod, and the inner end of another extension plate is fixedly installed on the lower side of another give-way rotating rod; the middle part of the rotating frame is rotatably installed on the outer end of the extension plate; one end of the rotating frame is fixedly connected to one end of the fitting spring, and the other end of the fitting spring is fixedly installed on the give-way rotating rod; the other end of the rotating frame is fixedly installed with a probe.

[0019] In order to better achieve the purpose of the present invention, the present invention also provides a method for using a posture-adjustable substation detection device, comprising the following steps:

[0020] Step 1: The clamping electric push rod drives the clamping synchronization block to move, thereby driving the two clamping arms to rotate through the two clamping connecting rods until the clamping synchronization block and the clamping connecting rod are in line, at which time the clamping connecting rod is perpendicular to the clamping arm; the clamping wheel and the climbing wheel at the end of the clamping arm cooperate to clamp the tower column; the climbing motor drives the climbing wheel to rotate, thereby driving the clamping frame to move upward along the tower column; until the clamping frame moves to the top of the tower column; during this process, the hook drives the connecting rope to move upward; at this time, the fixed push rod is started, and the fixed push rod drives the hook to rotate through the extension rod, so that the upper end of the hook rotates to the upper side of the tower column; then the climbing motor drives the climbing wheel to move vertically downward; until the hook is hung on the top of the tower column;

[0021] Step 2: The winding motor drives the driving gear to rotate, and the driving gear drives the synchronous gear to rotate, thereby driving the traction wheel to rotate through the rotating shaft, and the traction wheel reels the connecting rope. After the connecting rope is tightened, the second climbing structure hugs the tower column; then the second climbing structure drives the mobile installation frame to climb, and at the same time, the traction wheel reels the connecting rope, thereby driving the mobile installation frame to move vertically upward; until the support yielding module moves to the upper side of the tower column;

[0022] Step 3: The support and clearance module drives the reflector to rotate to the other side of the insulator; at this time, the two probes are in contact with the insulator respectively, and the insulator presses down the probe, thereby driving the rotating frame to rotate and the spring to stretch;

[0023] Step 4: The second climbing structure continues to drive the mobile mounting frame to climb, while the traction wheel reels in the connecting rope; during this process, the reflector reflects the appearance of the other side of the insulator; the smart camera directly detects the appearance of one side of the insulator, and the smart camera indirectly detects the appearance of the other side of the insulator through the reflector; during the movement, the detection mechanism ensures that the probe is always in contact with the insulator through the cooperation of the fitting spring and the rotating frame; the insulation performance of the insulator is tested by the probe and the insulation resistance tester.

[0024] Compared with the prior art, the beneficial effects are:

[0025] 1. The first detection module and the second detection module are in a retracted posture, so as to facilitate climbing; the first climbing mechanism is made to hold the tower column tightly, and then the first climbing mechanism drives the fixed structure to climb to the top of the tower column; then the fixed structure is operated to fix the fixed structure on the top of the tower column; the second climbing structure holds the tower column tightly, and then the second climbing structure moves upward, and the lifting structure is synchronously rolled up, and the mobile mounting frame is driven to move upward by the second climbing structure and the lifting structure, thereby driving the first detection module to move upward; and through the action of the lifting structure, the situation in which the mobile mounting frame suddenly falls due to insufficient friction on the surface of the tower column is avoided, and the mobile mounting frame and the first detection module and the second detection module on the mobile mounting frame are effectively prevented from falling and being damaged;

[0026] 2. When the second climbing structure drives the mobile mounting frame to move to the upper side of the tower column and the first detection module moves to align with the insulator; at this time, the posture of the first detection module on the mobile mounting frame is adjusted so that the first detection module can be unfolded to facilitate a comprehensive inspection of the insulator. During this process, the second detection module contacts the insulator; then the second climbing structure and the lifting structure continue to drive the mobile mounting frame to move upward, thereby driving the first detection module and the second detection module on the mobile mounting frame to move upward, and the first detection module is used to comprehensively inspect the appearance of the insulator from bottom to top; at the same time, the insulation between adjacent insulating parts of the insulator is inspected by the second detection module. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A three-dimensional substation detection device with adjustable posture according to the present invention Figure 1 ;

[0029] Figure 2 It is a front view of a posture-adjustable substation detection device of the present invention;

[0030] Figure 3 A three-dimensional substation detection device with adjustable posture according to the present invention Figure 2 ;

[0031] Figure 4 A three-dimensional substation detection device with adjustable posture according to the present invention Figure 3 ;

[0032] Figure 5 is a schematic diagram of a hook and its connection structure;

[0033] Figure 6 For Figure 4 the enlarged view of part A in

[0034] Figure 7 For Figure 4 the enlarged view of part B in

[0035] The reference numerals in the figure respectively represent:

[0036] 1. First climbing mechanism; 11. Clamping frame; 12. Climbing wheel; 13. Clamping electric push rod; 14. Clamping synchronizing block; 15. Clamping connecting rod; 16. Clamping arm; 17. Clamping wheel; 18. Climbing motor; 2. Fixed structure; 21. Hook; 22. Extension rod; 23. Fixed push rod; 3. Second climbing structure; 4. Lifting structure; 41. Guide wheel; 42. Rotating shaft; 43. Traction wheel; 44. Synchronous gear; 45. Driving gear; 46. Reeling motor; 47. Connecting rope; 5. Detection mechanism; 51. First detection module; 511. Extension arm; 512. Support frame; 513. Yielding electric push rod; 514. Yielding rotating rod; 515. Reflector; 516. Intelligent camera; 517. Yielding connecting rod; 518. Yielding synchronizing block; 52. Second detection module; 521. Insulation resistance tester; 522. Extension plate; 523. Rotating frame; 524. Fitting spring; 525. Probe; 61. Tower column; 62. Insulator; 7. Mobile mounting bracket. Specific embodiments

[0037] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0038] The "left", "right", "front", "rear", "upper" and "lower" mentioned in the following description are oriented in the perspective direction of the front view.

[0039] Embodiment 1: In some embodiments, please refer to Figures 1 - 3 and Figure 7 of the accompanying drawings of the specification. A substation detection device with adjustable posture includes a first climbing mechanism 1, a fixed structure 2, a second climbing structure 3, a lifting structure 4, a detection mechanism 5 and a mobile mounting bracket 7;

[0040] Two sets of fixing structures 2 are installed on the first climbing mechanism 1; a second climbing structure 3 is installed on the lower side of the movable mounting frame 7, and a lifting structure 4 is installed on the second climbing structure 3. The lifting structure 4 is connected to the fixing structure 2; Detection mechanisms 5 for detecting the insulator 62 are symmetrically and fixedly installed on the movable mounting frame 7;

[0041] The detection mechanism 5 includes a first detection module 51 and a second detection module 52. A first detection module 51 for detecting the appearance of the insulator 62 is installed on the movable mounting frame 7, and a second detection module 52 for detecting the insulation of the insulator 62 is installed on the first detection module 51.

[0042] In this embodiment, when the substation detection device with adjustable attitude is working properly, in the initial state, the first detection module 51 and the second detection module 52 are in a retracted posture, which is convenient for climbing; the first climbing mechanism 1 is made to hold the tower column 61 tightly, and then the first climbing mechanism 1 drives the fixing structure 2 to climb to the top of the tower column 61; then the fixing structure 2 is operated to fix the fixing structure 2 on the top of the tower column 61; the second climbing structure 3 holds the tower column 61 tightly, and then the second climbing structure 3 moves upward, and the lifting structure 4 is synchronously wound up. The movable mounting frame 7 is driven to move upward through the second climbing structure 3 and the lifting structure 4, thereby driving the first detection module 51 to move upward; and through the action of the lifting structure 4, the situation that the movable mounting frame 7 suddenly falls due to insufficient friction on the surface of the tower column 61 is avoided, effectively avoiding the falling and damage of the movable mounting frame 7 and the first detection module 51 and the second detection module 52 on the movable mounting frame 7; when the second climbing structure 3 drives the movable mounting frame 7 to move to the upper side of the tower column 61 and the first detection module 51 moves to align with the insulator 62; at this time, the posture of the first detection module 51 on the movable mounting frame 7 is adjusted to make the first detection module 51 unfold, which is convenient for comprehensively detecting the insulator 62. During this process, the second detection module 52 contacts the insulator 62; then the second climbing structure 3 and the lifting structure 4 continue to drive the movable mounting frame 7 to move upward, thereby driving the first detection module 51 and the second detection module 52 on the movable mounting frame 7 to move upward, and the appearance of the insulator 62 is comprehensively detected from bottom to top through the first detection module 51; at the same time, the insulation between adjacent insulating parts of the insulator 62 is detected through the second detection module 52; after the detection is completed, the first detection module 51 and the second detection module 52 are reset, so that the second detection module 52 is separated from the insulator 62, and the first detection module 51 is in a retracted posture to avoid the tower column 61 affecting the downward movement of the first detection module 51; then the second climbing structure 3 and the lifting structure 4 drive the movable mounting frame 7, the first detection module 51 and the second detection module 52 to move downward. After the movable mounting frame 7 moves to the bottom of the tower column 61, the fixing structure 2 is separated from the tower column 61, and the first climbing mechanism 1 drives the fixing structure 2 to move to the bottom of the tower column 61.

[0043] Embodiment 2: In some embodiments, Figures 1 - 7 As shown, as a preferred embodiment of the present invention, the structure of the second climbing structure 3 is the same as that of the first climbing mechanism 1;

[0044] The first climbing mechanism 1 comprises a gripping module and a climbing module, and the climbing module is mounted on the gripping module;

[0045] The clamping module includes a clamping frame 11, a clamping electric push rod 13, a clamping synchronization block 14, a clamping connecting rod 15 and a clamping arm 16. The clamping electric push rod 13 is fixedly installed in the middle of the clamping frame 11, the end of the clamping frame 11 is rotatably connected to the middle of the clamping arm 16, and the outer end of the clamping arm 16 is rotatably connected to one end of the clamping connecting rod 15; the other ends of the two clamping connecting rods 15 are rotatably connected to the two ends of the clamping synchronization block 14 respectively; the output end of the clamping electric push rod 13 is fixedly connected to the clamping synchronization block 14;

[0046] The climbing module includes a climbing wheel 12, a clamping wheel 17 and a climbing motor 18. The climbing wheel 12 is rotatably mounted on the inner side of the middle part of the clamping frame 11. The climbing motor 18 is fixedly mounted on the clamping frame 11. The output end of the climbing motor 18 is fixedly connected to the climbing wheel 12. The clamping wheel 17 is rotatably mounted on the inner end of the clamping arm 16.

[0047] The fixing structure 2 includes a hook 21, an extension rod 22 and a fixed push rod 23. The lower end of the hook 21 is rotatably mounted on the clamping frame 11, and the lower end of the hook 21 is fixedly connected to one end of the extension rod 22; the fixed push rod 23 is rotatably mounted on the clamping frame 11, and the output end of the fixed push rod 23 is rotatably connected to the other end of the extension rod 22;

[0048] The lifting structure 4 includes a guide wheel 41, a rotating shaft 42, a traction wheel 43, a synchronous gear 44, a driving gear 45, a winding motor 46 and a connecting rope 47. The guide wheel 41 is rotatably mounted on the clamping arm 16 of the second climbing structure 3, and the rotating shaft 42 is rotatably mounted on the mobile mounting frame 7; the upper end of the connecting rope 47 is fixedly connected to the extension rod 22, and the two ends of the rotating shaft 42 are fixedly mounted with traction wheels 43 for winding up the connecting rope 47; the middle part of the rotating shaft 42 is fixedly mounted with a synchronous gear 44; the winding motor 46 is fixedly mounted on the mobile mounting frame 7, and the output end of the winding motor 46 is fixedly mounted with a driving gear 45; the driving gear 45 is meshed and connected with the synchronous gear 44;

[0049] The first detection module 51 includes a support and yield module, a reflector 515 and an intelligent camera 516. The support and yield module is mounted on the mobile mounting frame 7, the intelligent camera 516 is mounted on the support and yield module, and two reflectors 515 are symmetrically fixedly mounted on the support and yield module;

[0050] The support and yielding module includes an extension arm 511, a support frame 512, a yielding electric push rod 513, a yielding rotating rod 514, a yielding connecting rod 517 and a yielding synchronization block 518. The extension arm 511 is fixedly mounted on the mobile mounting frame 7, the support frame 512 is fixedly mounted on the outer end of the extension arm 511, the upper side of the support frame 512 is fixedly mounted with a yielding electric push rod 513, the top of the support frame 512 is rotatably connected to the middle part of the yielding rotating rod 514; two yielding rotating rods 514 are provided; the outer end of the yielding rotating rod 514 is rotatably connected to one end of the yielding connecting rod 517; the other ends of the two yielding connecting rods 517 are rotatably mounted on the two ends of the yielding synchronization block 518; the yielding synchronization block 518 is fixedly connected to the output end of the yielding electric push rod 513; the inner end of the yielding rotating rod 514 is fixed with a reflector 515; the top of the support frame 512 is fixedly mounted with an intelligent camera 516;

[0051] The second detection module 52 includes an insulation resistance tester 521, an extension plate 522, a rotating frame 523, a fitting spring 524 and a probe 525. The insulation resistance tester 521 is fixedly installed on the support frame 512, and the probe 525 is the detection end of the insulation resistance tester 521; the inner end of an extension plate 522 is fixedly installed on the upper side of a give-way turning rod 514, and the inner end of another extension plate 522 is fixedly installed on the lower side of another give-way turning rod 514; the middle part of the rotating frame 523 is rotatably installed on the outer end of the extension plate 522; one end of the rotating frame 523 is fixedly connected to one end of the fitting spring 524, and the other end of the fitting spring 524 is fixedly installed on the give-way turning rod 514; the other end of the rotating frame 523 is fixedly installed with a probe 525.

[0052] In this embodiment, when the first climbing mechanism 1, the fixed structure 2, the second climbing structure 3, the lifting structure 4 and the detection mechanism 5 work normally, the clamping electric push rod 13 drives the clamping synchronization block 14 to move, thereby driving the two clamping arms 16 to rotate through the two clamping connecting rods 15 until the clamping synchronization block 14 and the clamping connecting rod 15 are in line, and the clamping connecting rod 15 is perpendicular to the clamping arm 16; the clamping wheel 17 at the end of the clamping arm 16 and the climbing wheel 12 cooperate to clamp the tower column 61; The climbing motor 18 drives the climbing wheel 12 to rotate, thereby driving the clamping frame 11 to move upward along the tower column 61; until the clamping frame 11 moves to the top of the tower column 61; during this process, the hook 21 drives the connecting rope 47 to move upward; at this time, the fixed push rod 23 is started, and the fixed push rod 23 drives the hook 21 to rotate through the extension rod 22, so that the upper end of the hook 21 rotates to the upper side of the tower column 61; then the climbing motor 18 drives the climbing wheel 12 to move vertically downward; until the hook 21 is hung on the top of the tower column 61;

[0053] The rewinding motor 46 drives the driving gear 45 to rotate, the driving gear 45 drives the synchronous gear 44 to rotate, thereby driving the traction wheel 43 to rotate through the rotating shaft 42, and the traction wheel 43 rewinds the connecting rope 47. After the connecting rope 47 is tightened, the second climbing structure 3 clamps the tower column 61; then the second climbing structure 3 drives the moving mounting frame 7 to climb, and at the same time the traction wheel 43 rewinds the connecting rope 47, thereby driving the moving mounting frame 7 to move vertically upward; until the retracting electric push rod 513 moves to the upper side of the tower column 61;

[0054] The retracting electric push rod 513 drives the retracting synchronous block 518 to move, and the retracting synchronous block 518 drives the retracting rotating rod 514 to rotate through the retracting connecting rod 517, so that the reflector 515 at the end of the retracting rotating rod 514 rotates to the other side of the insulator 62; at this time, the probes 525 on the two retracting rotating rods 514 are respectively in contact with the insulator 62, and the insulator 62 presses down the probes 525, thereby driving the rotating frame 523 to rotate, and the fitting spring 524 is stretched;

[0055] The second climbing structure 3 continues to drive the moving mounting frame 7 to climb, and at the same time the traction wheel 43 rewinds the connecting rope 47; during this process, the reflector 515 reflects the appearance of the other side of the insulator 62; the intelligent camera 516 directly detects the appearance of one side of the insulator 62, and the intelligent camera 516 indirectly detects the appearance of the other side of the insulator 62 through the reflector 515; during the movement, the detection mechanism 5 makes the probe 525 always in contact with the insulator 62 through the cooperation of the fitting spring 524 and the rotating frame 523; the insulation performance of the insulator 62 is detected by the probe 525 and the insulation resistance tester 521.

[0056] Embodiment 3: In some embodiments, as Figures 1 - 7 shown, as a preferred embodiment of the present invention, a method for using a substation detection device with adjustable posture includes the following steps:

[0057] Step 1: The clamping electric push rod 13 drives the clamping synchronous block 14 to move, thereby driving the two clamping arms 16 to rotate through the two clamping connecting rods 15 until the clamping synchronous block 14 and the clamping connecting rod 15 are collinear, and at this time the clamping connecting rod 15 is perpendicular to the clamping arm 16; the clamping wheels 17 at the ends of the clamping arms 16 and the climbing wheels 12 cooperate to clamp the tower column 61; the climbing motor 18 drives the climbing wheels 12 to rotate, thereby driving the clamping frame 11 to move upward along the tower column 61; until the clamping frame 11 moves to the top of the tower column 61; during this process, the hook 21 drives the connecting rope 47 to move upward; at this time, the fixed push rod 23 is started, and the fixed push rod 23 drives the hook 21 to rotate through the extension rod 22, so that the upper end of the hook 21 rotates to the upper side of the tower column 61; then the climbing motor 18 drives the climbing wheels 12 to move vertically downward; until the hook 21 is tightly hung on the top of the tower column 61;

[0058] Step 2: The rewinding motor 46 drives the driving gear 45 to rotate, the driving gear 45 drives the synchronous gear 44 to rotate, thereby driving the traction wheel 43 to rotate through the rotating shaft 42. The traction wheel 43 winds up the connecting rope 47. After the connecting rope 47 is tensioned, the second climbing structure 3 clamps the tower column 61. Then the second climbing structure 3 drives the moving mounting frame 7 to climb, and at the same time the traction wheel 43 winds up the connecting rope 47, thereby driving the moving mounting frame 7 to move vertically upward until the retracting electric push rod 513 moves to the upper side of the tower column 61.

[0059] Step 3: The retracting electric push rod 513 drives the retracting synchronous block 518 to move. The retracting synchronous block 518 drives the retracting rotating rod 514 to rotate through the retracting connecting rod 517, so that the reflector 515 at the end of the retracting rotating rod 514 rotates to the other side of the insulator 62. At this time, the probes 525 on the two retracting rotating rods 514 are respectively in contact with the insulator 62, and the insulator 62 presses down the probes 525, thereby driving the rotating frame 523 to rotate and stretching the fitting spring 524.

[0060] Step 4: The second climbing structure 3 continues to drive the moving mounting frame 7 to climb, and at the same time the traction wheel 43 winds up the connecting rope 47. During this process, the reflector 515 reflects the appearance of the other side of the insulator 62. The intelligent camera 516 directly detects the appearance of one side of the insulator 62, and the intelligent camera 516 indirectly detects the appearance of the other side of the insulator 62 through the reflector 515. During the movement, the detection mechanism 5 makes the probe 525 always in contact with the insulator 62 through the cooperation of the fitting spring 524 and the rotating frame 523. The insulation performance of the insulator 62 is detected by the probe 525 and the insulation resistance tester 521.

[0061] Finally, it should be noted that the technical solutions of the present invention are only illustrated in combination with the above embodiments and are not limited thereto. Those of ordinary skill in the art should understand that those skilled in the art can modify or equivalently replace the specific embodiments of the present invention, but these modifications or changes are all within the scope of the claims pending for approval.

Claims

1. An attitude-adjustable substation detection device, characterized in that, It includes a first climbing mechanism (1), a fixing structure (2), a second climbing structure (3), a lifting structure (4), a detection mechanism (5) and a mobile mounting frame (7), and is characterized in that: Two groups of the fixing structures (2) are installed on the first climbing mechanism (1); the second climbing structure (3) is installed on the lower side of the mobile mounting frame (7), the lifting structure (4) is installed on the second climbing structure (3), and the lifting structure (4) is connected to the fixing structure (2); the detection mechanisms (5) for detecting the insulator (62) are symmetrically and fixedly installed on the mobile mounting frame (7); The detection mechanism (5) includes a first detection module (51) and a second detection module (52). The first detection module (51) for detecting the appearance of the insulator (62) is installed on the mobile mounting frame (7), and the second detection module (52) for detecting the insulation of the insulator (62) is installed on the first detection module (51).

2. The posture-adjustable substation detection device according to claim 1, characterized in that, The structure of the second climbing structure (3) is the same as that of the first climbing mechanism (1).

3. The substation detection device with adjustable posture according to claim 1, characterized in that, The first climbing mechanism (1) includes a clamping module and a climbing module, and the climbing module is installed on the clamping module.

4. The attitude-adjustable substation detection device according to claim 3, characterized in that, The clamping module includes a clamping frame (11), a clamping electric push rod (13), a clamping synchronous block (14), a clamping connecting rod (15) and a clamping arm (16). The clamping electric push rod (13) is fixedly installed in the middle of the clamping frame (11), the end of the clamping frame (11) is rotatably connected to the middle of the clamping arm (16), and the outer end of the clamping arm (16) is rotatably connected to one end of the clamping connecting rod (15); the other ends of the two clamping connecting rods (15) are respectively rotatably connected to both ends of the clamping synchronous block (14); the output end of the clamping electric push rod (13) is fixedly connected to the clamping synchronous block (14).

5. The posture-adjustable substation detection device according to claim 4, characterized in that, The climbing module includes a climbing wheel (12), a clamping wheel (17) and a climbing motor (18). The climbing wheel (12) is rotatably installed inside the middle of the clamping frame (11), the climbing motor (18) is fixedly installed on the clamping frame (11), the output end of the climbing motor (18) is fixedly connected to the climbing wheel (12), and the clamping wheel (17) is rotatably installed at the inner end of the clamping arm (16).

6. The posture-adjustable substation detection device according to claim 5, characterized in that, The fixing structure (2) includes a hook (21), an extension rod (22) and a fixing push rod (23). The lower end of the hook (21) is rotatably installed on the clamping frame (11), and the lower end of the hook (21) is fixedly connected to one end of the extension rod (22); the fixing push rod (23) is rotatably installed on the clamping frame (11), and the output end of the fixing push rod (23) is rotatably connected to the other end of the extension rod (22).

7. The posture-adjustable substation detection device according to claim 6, wherein, The lifting structure (4) comprises a guide wheel (41), a rotating shaft (42), a traction wheel (43), a synchronous gear (44), a driving gear (45), a winding motor (46) and a connecting rope (47); the guide wheel (41) is rotatably mounted on the clamping arm (16) of the second climbing structure (3), and the rotating shaft (42) is rotatably mounted on the mobile mounting frame (7); the upper end of the connecting rope (47) is fixedly connected to the extension rod (22), and the traction wheel (43) for winding the connecting rope (47) is fixedly mounted at both ends of the rotating shaft (42); the synchronous gear (44) is fixedly mounted in the middle of the rotating shaft (42); the winding motor (46) is fixedly mounted on the mobile mounting frame (7), and the driving gear (45) is fixedly mounted on the output end of the winding motor (46); the driving gear (45) is meshedly connected with the synchronous gear (44).

8. The substation detection device with adjustable attitude according to claim 7, characterized in that, The first detection module (51) comprises a support and yield module, a reflector (515) and an intelligent camera (516); the support and yield module is mounted on the mobile mounting frame (7); the intelligent camera (516) is mounted on the support and yield module; and the two reflectors (515) are symmetrically fixedly mounted on the support and yield module.

9. An attitude-adjustable substation detection device according to claim 8, characterized in that, The second detection module (52) comprises an insulation resistance tester (521), an extension plate (522), a rotating frame (523), a fitting spring (524) and a probe (525); the insulation resistance tester (521) is fixedly mounted on the support and clearance module, and the probe (525) is a detection end of the insulation resistance tester (521); an inner end of one extension plate (522) is fixedly mounted on the upper side of the support and clearance module, and an inner end of another extension plate (522) is fixedly mounted on the lower side of the support and clearance module; the middle part of the rotating frame (523) is rotatably mounted on the outer end of the extension plate (522); one end of the rotating frame (523) is fixedly connected to one end of the fitting spring (524), and the other end of the fitting spring (524) is fixedly mounted on the support and clearance module; the other end of the rotating frame (523) is fixedly mounted with the probe (525).

10. The detection method of a posture-adjustable substation detection device according to any one of claims 1-9, characterized in that, The detection method comprises the following steps: Step 1: The clamping electric push rod (13) drives the clamping synchronization block (14) to move, thereby driving the two clamping arms (16) to rotate through the two clamping connecting rods (15) until the clamping synchronization block (14) and the clamping connecting rod (15) are collinear, at which time the clamping connecting rod (15) is perpendicular to the clamping arm (16); the clamping wheel (17) and the climbing wheel (12) at the end of the clamping arm (16) cooperate with the clamping tower column (61); the climbing motor (18) drives the climbing wheel (12) to rotate, thereby driving the clamping frame (11) along the The tower column (61) moves upward until the clamping frame (11) moves with the top of the tower column (61); during this process, the hook (21) drives the connecting rope (47) to move upward; at this time, the fixed push rod (23) is started, and the fixed push rod (23) drives the hook (21) to rotate through the extension rod (22), so that the upper end of the hook (21) rotates to the upper side of the tower column (61); then the climbing motor (18) drives the climbing wheel (12) to move vertically downward until the hook (21) is hung tightly on the top of the tower column (61); Step 2: The winding motor (46) drives the driving gear (45) to rotate, and the driving gear (45) drives the synchronous gear (44) to rotate, thereby driving the traction wheel (43) to rotate through the rotating shaft (42), and the traction wheel (43) reels the connecting rope (47). After the connecting rope (47) is tightened, the second climbing structure (3) hugs the tower column (61); then the second climbing structure (3) drives the mobile mounting frame (7) to climb, and at the same time, the traction wheel (43) reels the connecting rope (47), thereby driving the mobile mounting frame (7) to move vertically upward; until the support-giving module moves to the upper side of the tower column (61); Step 3: The support-displacing module drives the reflector (515) to rotate to the other side of the insulator (62); at this time, the two probes (525) are respectively in contact with the insulator (62), and the insulator (62) presses down the probes (525), thereby driving the rotating frame (523) to rotate and the fitting spring (524) to stretch; Step 4: The second climbing structure (3) continues to drive the mobile mounting frame (7) to climb, while the traction wheel (43) reels in the connecting rope (47); during this process, the reflector (515) reflects the appearance of the other side of the insulator (62); the smart camera (516) directly detects the appearance of one side of the insulator (62), and the smart camera (516) indirectly detects the appearance of the other side of the insulator (62) through the reflector (515); during the movement, the detection mechanism (5) ensures that the probe (525) is always in contact with the insulator (62) through the cooperation of the fitting spring (524) and the rotating frame (523); the insulation performance of the insulator (62) is detected by the probe (525) and the insulation resistance tester (521).

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