Intelligent inspection device for iron tower track

Abstract

The invention relates to an intelligent inspection device for an iron tower track. The intelligent inspection device comprises a mounting main body, the clamping mechanism is connected with the mounting main body and is used for clamping the track in the inspection process; the walking mechanism comprises a driving structure and a first roller assembly, the driving structure is connected with the mounting main body, and the first roller assembly is attached to the surface of the track and walks on the track under the driving of the driving structure; the industrial camera is connected with the mounting main body and is used for shooting an image of the track so as to carry out defect detection; and the marking assembly is connected with the mounting main body and is used for marking the defect position. The method has the effects of improving the maintenance efficiency of the iron tower track and reducing the safety risk.

Description

Technical Field

[0001] This application relates to the technical field of power transmission tower inspection, and in particular to an intelligent inspection device for tower tracks. Background Technology

[0002] Currently, power transmission towers play a crucial role in power systems, and their tracks are mostly constructed from angle steel, T-shaped steel, or I-beams, bolted together or welded together. After a period of use, the tracks of power transmission towers are susceptible to wind vibrations that can cause bolts to loosen or detach, as well as rainwater erosion. Therefore, it is necessary to inspect the surface, welds, and joints of the tracks to check for defects such as surface corrosion, weld detachment, or loose bolts. Current inspection methods involve personnel wearing fall arresters climbing the tower for maintenance. This method is inefficient, dangerous, and unsafe. Furthermore, track jamming during maintenance can impede the passage of fall arresters, requiring personnel intervention and further reducing maintenance efficiency.

[0003] Regarding the aforementioned technologies, the inventors believe that existing maintenance methods suffer from low efficiency and high safety risks. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, this application provides an intelligent inspection device for iron tower tracks to improve the maintenance efficiency of iron tower tracks and reduce safety risks.

[0005] The intelligent inspection device for iron tower tracks provided in this application adopts the following technical solution:

[0006] An intelligent inspection device for iron tower tracks includes an installation body; a clamping mechanism connected to the installation body for clamping the track during inspection; a traveling mechanism including a drive structure and a first roller assembly, the drive structure being connected to the installation body, the first roller assembly being in contact with the track surface and traveling on the track under the drive of the drive structure; an industrial camera connected to the installation body for capturing images of the track for defect detection; and a marking component connected to the installation body for marking the location of defects.

[0007] By adopting the above technical solution, the clamping mechanism can firmly clamp the track, ensuring the stability of the device during the inspection process. The walking drive structure drives the first roller assembly to move on the track, realizing the automatic inspection of the device. The industrial camera can capture images of the track, and image analysis technology can be used to detect defects such as surface corrosion, welds or joints, improving the accuracy and efficiency of maintenance. The marking component is used to mark the location of detected defects, making it convenient for subsequent maintenance personnel to quickly locate and repair them. This realizes the automatic inspection of the tower track, improves the inspection efficiency, eliminates the need for personnel to climb the tower before a defect is identified, improving safety, and allows maintenance personnel to quickly locate the defect after it is identified, reducing the time spent at high altitudes and improving maintenance efficiency.

[0008] Preferably, the marking component includes a marker pen and a first driving component. The marker pen is located above the track, and the first driving component is connected to the mounting body. The marker pen contacts the surface of the track through the drive of the first driving component and draws a mark on the surface of the track through the drive of the walking mechanism.

[0009] By adopting the above technical solution, the first drive component can precisely control the up and down movement of the marker pen, making it contact or separate from the track surface. When the industrial camera detects a defect in the track, the first drive component drives the marker pen to descend and contact the track surface. Then, driven by the walking mechanism, the marker pen leaves a clear mark on the track surface, so that maintenance personnel can quickly find the defect location for repair. After marking, the first drive component drives the marker pen to rise and separate from the track surface, avoiding interference with the normal movement of the device.

[0010] Preferably, the marking assembly includes a hydraulic damper connected to the first drive assembly and abutting against the top of the marker to maintain pressure on the marker as it marks the track.

[0011] By adopting the above technical solution, the hydraulic damper ensures that the marker maintains stable pressure during marking, preventing inconsistent marking depth due to vibrations in the traveling mechanism or unevenness of the track surface. This guarantees the clarity and durability of the markings, facilitating accurate identification of defect locations by subsequent maintenance personnel. Simultaneously, the hydraulic damper also provides cushioning, reducing the impact force when the marker contacts the track surface and extending the marker's lifespan.

[0012] Preferably, the clamping mechanism includes four clamping wheel assemblies, which are symmetrically arranged in pairs on both sides of the track length direction. Each clamping wheel assembly includes a first rotating shaft and a clamping wheel. The circumferential surface of the clamping wheel abuts against the track. The track is clamped between two symmetrical clamping wheels. When the walking mechanism is started, the clamping wheel rotates around the first rotating shaft.

[0013] By adopting the above technical solution, the four clamping wheel assemblies are symmetrically distributed in pairs on both sides of the track, forming a stable clamping structure. This ensures that the inspection device can be firmly fixed on the track during the inspection process and will not shift or fall off due to wind or the device's own movement. The circumferential surface of the clamping wheels is in close contact with the track, achieving a stable clamping force through friction. At the same time, when the traveling mechanism is activated, the clamping wheels can rotate flexibly around the first axis without obstructing the normal movement of the device, ensuring the smooth progress of the inspection process.

[0014] Preferably, the clamping mechanism includes at least two clamping wheel adjustment components, which are respectively connected to two clamping wheel components on the same side. The clamping wheel adjustment components are used to adjust the distance between the two symmetrical clamping wheels to facilitate the track entering between the two clamping wheels.

[0015] By adopting the above technical solution, the clamping wheel distance adjustment assembly makes the inspection device more convenient to install and disassemble. When the inspection device needs to be placed on the track, the distance between the two symmetrical clamping wheels can be increased by adjusting the clamping wheel distance adjustment assembly, thereby facilitating the track to enter between the two clamping wheels. After the device is installed, the clamping wheel distance adjustment assembly is adjusted again to decrease the distance between the two symmetrical clamping wheels, so as to achieve a stable clamping of the track.

[0016] Preferably, the traveling mechanism includes at least two first clamping components and at least two guide wheel assemblies, the at least two first clamping components and at least two guide wheel assemblies being located on both sides of the track length direction, the two first clamping components being connected to both ends of the first roller assembly, the two guide wheel assemblies being in contact with the bottom surface of the track, the two guide wheel assemblies and the first roller assembly jointly clamping the track, the two first clamping components being used to adjust the distance between the first roller assembly and the two guide wheel assemblies so that the track enters and maintains clamping of the track.

[0017] By adopting the above technical solution, the traveling mechanism achieves stable clamping and flexible movement of the track through the cooperation of at least two first clamping components and at least two guide wheel assemblies. The first clamping components can adjust the distance between the first roller assembly and the guide wheel assembly, allowing the inspection device to easily incorporate the track into the clamping range during installation and maintain a stable clamping state after installation. The guide wheel assembly fits against the bottom surface of the track and works together with the first roller assembly to ensure that the inspection device will not deviate or sway due to uneven track or wind forces during movement, improving the stability and accuracy of the inspection. At the same time, it also allows the inspection device to adapt to tracks of different specifications and shapes, enhancing its versatility and flexibility.

[0018] Preferably, the drive structure includes two second drive components, each second drive component including a servo motor, a drive shaft, a drive gear, and a driven gear. The first roller assembly includes a first roller shaft and at least one first roller. One end of the drive shaft is connected to the servo motor, and the other end is connected to the drive gear. The drive gear meshes with the driven gear. Both ends of the first roller shaft are connected to two of the driven gears. The at least one first roller is connected to the first roller shaft.

[0019] By adopting the above technical solution, the two second drive components work together to achieve stable and powerful walking force for the inspection device. The servo motor, as the power source, transmits power to the drive gear via the drive wheel shaft, and then to the first roller shaft via the driven gear meshing with the drive gear. This ultimately drives at least one first roller to roll on the track, ensuring that the inspection device maintains a stable speed and direction during movement. Simultaneously, the two second drive components enhance the redundancy of the walking mechanism; even if one drive component fails, the other can continue to operate, ensuring the reliability and safety of the inspection device.

[0020] Preferably, it includes a safety protection mechanism, which includes a track self-locking device, a safety rope, and a lifting ring. The lifting ring is connected to the installation body, one end of the safety rope is connected to the lifting ring, and the other end is connected to the track self-locking device. The track self-locking device is slidably connected to the track.

[0021] By adopting the above technical solution, the safety protection mechanism enhances the safety of the inspection device during the inspection process. The track self-locking device can slide along the track and has a self-locking function. When the inspection device is operating normally, the track self-locking device moves with the inspection device and will not obstruct the movement of the inspection device. When the inspection device encounters an unexpected situation, such as abnormal speed or loss of control, the track self-locking device will immediately lock onto the track to prevent the device from falling and ensure the safety of personnel and equipment below. This allows the inspection device to minimize safety risks and ensure the smooth progress of inspection work when operating in complex high-altitude environments.

[0022] Preferably, the mounting body includes a control box and a mounting plate, the industrial camera is connected to the mounting plate, the mounting plate is hinged to and magnetically attracted to the control box, the control box is provided with a protective chamber, and the industrial camera can be flipped into the protective chamber.

[0023] By adopting the above technical solution, the industrial camera is connected to the mounting plate, which is hinged and magnetically attached to the control box. This ensures the stability of the mounting plate and facilitates the flipping of the industrial camera when needed. The control box is equipped with a protective chamber. In case of severe weather or when filming is not required, the industrial camera can be flipped into the protective chamber, effectively protecting it from rain, dust, and other environmental factors, extending its service life, and ensuring the smooth progress of inspection work.

[0024] Preferably, it further includes a first cleaning component, which includes a brush wheel and a cutter, the cutter being used to cut entanglement on the track, and the brush wheel being used to remove debris or dust from the track.

[0025] By adopting the above technical solution, the first cleaning component effectively removes debris, dust, and entanglements from the track, ensuring smooth operation of the inspection device and improving the clarity of images captured by the industrial camera. The brush wheel, through its rotating motion, removes dust and small debris from the track surface, while the cutting component cuts and removes any entanglements that may appear on the track, such as vines and plastic bags, preventing them from obstructing the movement of the inspection device. This design enables the inspection device to maintain efficient and stable operation in various complex environments, improving the accuracy and reliability of the inspection.

[0026] The intelligent inspection device for iron tower tracks provided in this application embodiment can realize automated monitoring and intelligent identification of the surface condition of iron tower tracks. This not only significantly improves the overall efficiency of inspection work, but also effectively reduces the safety hazards and operational risks that may be encountered during manual inspection, providing a strong guarantee for the long-term stability and safety of iron tower facilities. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the intelligent inspection device for iron tower tracks provided in the embodiments of this application.

[0028] Figure 2 This is a schematic diagram of the intelligent inspection device for the iron tower track behind the hidden control box provided in the embodiments of this application.

[0029] Figure 3 This is a side view of the intelligent inspection device for the iron tower track behind the hidden control box provided in the embodiment of this application.

[0030] Figure 4 This is a three-dimensional schematic diagram of the mounting bracket and clamping mechanism provided in the embodiments of this application.

[0031] Figure 5 This is a three-dimensional schematic diagram of the walking mechanism provided in the embodiments of this application.

[0032] Figure 6 This is a bottom schematic diagram of the intelligent inspection device for iron tower tracks provided in the embodiments of this application.

[0033] Figure 7 This is a cross-sectional schematic diagram of the intelligent inspection device for iron tower tracks provided in the embodiments of this application.

[0034] Figure 8 This is another schematic diagram of the intelligent inspection device for iron tower tracks provided in the embodiments of this application.

[0035] Figure 9 This is a front view of the walking mechanism provided in the embodiments of this application.

[0036] Explanation of reference numerals in the attached drawings: 101, track; 1, mounting body; 11, mounting bracket; 111, top plate; 112, first side plate; 1121, first mounting component; 1122, positioning hole; 113, second side plate; 114, first base plate; 115, second base plate; 12, control box; 121, box cover; 122, silicone strip; 123, positioning block; 124, protective chamber; 125, first magnetic component; 126, [missing information - likely a reference to a specific component or element]. 2. Magnetic components; 13. Battery pack; 14. Mounting plate; 141. Hinge shaft; 2. Clamping mechanism; 21. Clamping wheel assembly; 211. First rotating shaft; 212. Clamping wheel; 22. Clamping wheel adjustment assembly; 221. Adjusting component; 2211. Positioning shaft; 222. First compression spring; 3. Walking mechanism; 31. Walking drive structure; 311. Servo motor; 312. Drive wheel shaft; 313. Drive gear; 3 14. Driven gear; 315. Gear seat; 32. First roller assembly; 321. First roller shaft; 322. First roller; 33. First clamping assembly; 331. Guide sleeve; 332. Guide shaft; 333. Second compression spring; 334. Slider; 335. Guide rod; 336. Set screw; 337. Set screw seat; 34. Guide wheel assembly; 341. Guide wheel seat; 342. Guide wheel; 4. Industrial camera; 5. 51. Marking component; 52. First drive component; 521. Electric push rod; 522. Push rod fixing plate; 523. Marker fixing piece; 53. Hydraulic buffer; 6. Safety protection mechanism; 61. Track self-locking device; 62. Safety rope; 63. Lifting ring; 7. First cleaning component; 71. Brush wheel; 72. Connecting bracket; 73. Second rotating shaft; 74. Cutting piece; 81. Motor; 82. Roller brush. Detailed Implementation

[0037] To better understand the purpose, technical solutions, and advantages of this application, it has been described and illustrated below with reference to the accompanying drawings and embodiments. However, those skilled in the art should understand that this application can be implemented without these details. In some cases, to avoid obscuring various aspects of this application due to unnecessary description, well-known methods, processes, systems, components, and / or circuits already described at a higher level will not be elaborated upon. It will be apparent to those skilled in the art that various modifications can be made to the embodiments disclosed in this application, and the general principles defined in this application can be applied to other embodiments and application scenarios without departing from the principles and scope of this application. Therefore, this application is not limited to the illustrated embodiments, but conforms to the broadest scope consistent with the scope of protection claimed in this application.

[0038] It should be noted that the descriptions of these embodiments are for the purpose of aiding understanding the present invention, but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0039] In the description of this application, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0040] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples.

[0041] This application discloses an intelligent inspection device for iron tower tracks.

[0042] like Figure 1 and Figure 2As shown, the intelligent inspection device for the tower track 101 includes a mounting body 1, a clamping mechanism 2, a traveling mechanism 3, an industrial camera 4, and a marking component 5. The clamping mechanism 2 is connected to the mounting body 1 and is used to clamp the track 101 during inspection, ensuring stable operation of the device. The traveling mechanism 3 includes a traveling drive structure 31 and a first roller assembly 32. The traveling drive structure 31 is connected to the mounting body 1, and the first roller assembly 32 is in contact with the surface of the track 101. Driven by the traveling drive structure 31, it can move autonomously on the track 101, achieving fully automated inspection. The industrial camera 4 is fixed to the mounting body 1 and is used to collect image information of the track 101 surface in real time. It transmits the data to the processing system for defect analysis via a wireless transceiver. The marking component 5 is connected to the mounting body 1 and, based on the identification results, physically marks or records coordinates at the defect locations. Maintenance personnel can quickly locate the marked defect locations using these marks during maintenance. This application sets up a clamping mechanism 2 to clamp the track 101, and a traveling mechanism 3 to drive an industrial camera 4 to travel on the track 101 to take pictures. Combined with the processing system, the images are automatically analyzed for defects, realizing the inspection of the tower track 101. Maintenance personnel do not need to climb the tower to inspect, which improves maintenance efficiency. Maintenance personnel can only climb the tower to repair when a defect is found. Furthermore, the marking component 5 can quickly locate the defect, reducing the time of high-risk operations and lowering safety hazards.

[0043] In practical applications, the intelligent inspection device for the tower track 101 operates as follows: First, the device is securely clamped onto the tower track 101 by the clamping mechanism 2, ensuring that the device will not shake or shift during the inspection process, thereby guaranteeing the clarity and accuracy of the acquired image information. Next, the walking drive structure 31 is activated, driving the first roller assembly 32 to roll on the surface of the track 101, propelling the entire device to move autonomously along the track 101, achieving fully automated inspection. During the device's movement, the industrial camera 4 continuously operates, acquiring real-time image information of the track 101 surface and transmitting the data to the processing system via a wireless transceiver. The processing system analyzes and processes the received image information, identifying defects such as whether the weld seam of the track 101 is detached, whether the joint is too large (considered loose bolts), or whether the surface is corroded. Once an anomaly is detected, the processing system will immediately send an instruction to the marking component 5. The marking component 5 will then physically mark the defect location according to the instruction, such as drawing a mark on the surface of the track 101 with a marker pen 51, recording the coordinate information of the anomaly location, or spraying paint onto the surface of the track 101, so that subsequent maintenance personnel can quickly find the defect location and carry out maintenance work such as welding repair and reinforcement.

[0044] In this embodiment, the marking component 5 includes a marker pen 51 and a first driving component 52, such as... Figure 3As shown, the marker pen 51 is located behind the industrial camera 4 and above the track 101. The first drive assembly 52 is connected to the mounting body 1. The marker pen 51 contacts the surface of the track 101 through the push of the first drive assembly 52 and draws a mark on the surface of the track 101 through the drive of the walking mechanism 3. The first drive assembly 52 includes an electric push rod 521, a push rod fixing plate 522, and a marker pen fixing member 523. The push rod fixing plate 522 is connected to the mounting body 1. The fixed end of the electric push rod 521 is connected to the push rod fixing plate 522, and the pushing end of the electric push rod 521 is connected to the marker pen fixing member 523. The marker pen 51 is connected to the marker pen fixing member 523. When the processing system detects an abnormality in the weld of track 101, it quickly sends a command to the electric actuator 521. Upon receiving the command, the actuator 521 extends its pushing end, driving the marker pen 51 downwards via the marker pen holder 523 until the tip of the marker pen 51 contacts the surface of track 101. At this point, as the traveling mechanism 3 continues to move along track 101, the marker pen 51 draws a clear mark on the surface of track 101. This mark will serve as an important basis for subsequent maintenance personnel to quickly locate the abnormal weld.

[0045] In addition to physical marking, the marking component 5 also has a coordinate recording function. During device movement, the built-in positioning system records the device's position information in real time and correlates this information with the acquired image information. Once the processing system identifies a defect, in addition to controlling the marker pen 51 to perform physical marking, it also records the coordinate information of the abnormal location and transmits it to the processing system or stores it in the device's internal memory via a wireless transceiver. In this way, maintenance personnel can quickly find the approximate location of the defect by first querying the coordinate information, and then quickly pinpoint the specific location by combining it with the markings from the marker pen 51.

[0046] The marking assembly 5 is also equipped with a hydraulic damper 53, which is connected to the marker pen 51 mounting plate and keeps it in contact with the upper end of the marker pen 51. During the downward movement of the entire device driven by the electric actuator, when the marker pen 51 is about to contact the surface of the track 101, the hydraulic damper 53 effectively reduces the impact force generated when the marker pen 51 contacts the track 101, preventing equipment vibration or pen tip damage due to sudden collision. Simultaneously, the hydraulic damper 53 continuously applies a moderate and stable downward pressure, ensuring that the marker pen 51 maintains a stable drawing motion on the surface of the track 101, thereby improving the clarity and consistency of the markings.

[0047] like Figure 4As shown, the mounting body 1 includes a mounting frame 11, which includes a top plate 111, a first side plate 112 and a second side plate 113 disposed opposite to each other on both sides of the top plate 111, and a track 101 located between the first side plate 112 and the second side plate 113. Two first mounting members 1121 are provided at both ends of the length direction of the first side plate 112, and two second mounting members are provided at both ends of the length direction of the second side plate 113. The two first mounting members 1121 are opposite to the two second mounting members. A first bottom plate 114 is connected to the bottom of the first side plate 112, and a second bottom plate 115 is connected to the bottom of the second side plate 113. The first bottom plate 114 and the second bottom plate 115 extend toward the inner side of the mounting frame 11.

[0048] The clamping mechanism 2 includes four clamping wheel assemblies 21. The four clamping wheel assemblies 21 are symmetrically arranged on both sides of the length direction of the track 101 and are respectively connected to the two ends of the mounting frame 11. Each clamping wheel assembly 21 includes a first rotating shaft 211 and a clamping wheel 212. The two ends of the first rotating shaft 211 near the first side plate 112 are respectively connected to the first mounting member 1121 and the first base plate 114. The two ends of the first rotating shaft 211 near the second side plate 113 are respectively connected to the second mounting member and the second base plate 115. The clamping wheel 212 is coaxially connected to the first rotating shaft 211. The circumferential surface of the clamping wheel 212 abuts against the track 101. The two symmetrical clamping wheels 212 clamp and guide the guide rail to prevent the entire device from tilting when moving and also prevent it from affecting the marking of the marker pen 51. When the walking mechanism 3 is driven, the clamping wheel 212 rotates around the first rotating shaft 211 under the action of friction with the track 101, so that the entire device moves smoothly along the track 101, which enhances the stability of the device on the track 101 and improves the accuracy of image acquisition and defect identification. The clamping wheel 212 can be made of a material with high wear resistance and low friction coefficient to extend its service life and reduce wear during operation.

[0049] The clamping mechanism 2 also includes at least two clamping wheel adjustment components 22, which are respectively connected to two clamping wheel components 21 located on the same side. Each clamping wheel adjustment component 22 has an independent adjustment function, which can adjust the distance between the two symmetrically arranged clamping wheels 212. In this embodiment, the two clamping wheel adjustment components 22 are located on the side close to the first side plate 112. Each clamping wheel adjustment component 22 includes an adjusting member 221 and two first compression springs 222. The two ends of the adjusting member 221 in the height direction (same as the axial direction of the clamping wheel 212) are respectively connected to the two ends of the first rotating shaft 211. The first mounting member 1121 and the first base plate 114 are provided with strip holes. The two ends of the first rotating shaft 211 are connected to the strip holes and can move along the length direction of the strip holes. The back of the adjusting member 221 is provided with two positioning shafts 2211 and two first compression springs. One end of the spring 222 is respectively sleeved on the two positioning shafts 2211, and the other end is located in the two positioning holes 1122 provided on the first side plate 112. When the first compression spring 222 contracts, the clamping wheel 212 near the first side plate 112 moves toward the first side plate 112, and the distance between the two symmetrical clamping wheels 212 increases, making it easier for the track 101 to enter. When the first compression spring 222 extends, the clamping wheel 212 near the first side plate 112 moves toward the track 101, and the distance between the two symmetrical clamping wheels 212 decreases, tightly clamping the track 101 therein. When the device needs to be installed on the track 101, simply compress the clamping wheels 212 towards the first side plate 112 to widen the distance between the two clamping wheels 212, allowing the track 101 to smoothly enter between the two clamping wheels 212. Then, the elastic force of the first compression spring 222 pushes the clamping wheels 212 towards the track 101, clamping the track 101. No complex adjustment operations are required, greatly saving time and labor costs. This application, through the clamping wheel distance adjustment component 22, enables the device to be quickly installed on the track 101, thereby improving inspection efficiency. It can also adapt to tracks 101 of different widths and automatically maintain clamping on the track 101, improving the versatility and flexibility of the device, and achieving the effect of being applicable to inspection of tracks 101 of different widths.

[0050] like Figure 5As shown, the walking drive structure 31 includes two symmetrically arranged second drive components. The second drive components include a servo motor 311, a drive wheel shaft 312, a drive gear 313, a driven gear 314, and a gear seat 315. The first roller assembly 32 includes a first roller shaft 321 and at least one first roller 322. One end of the drive wheel shaft 312 is connected to the servo motor 311, and the other end is connected to the drive gear 313. The drive gear 313 meshes with the driven gear 314. Both ends of the first roller shaft 321 are coaxially connected to the two driven gears 314. At least one first roller 322 is connected to the first roller shaft 321 via a key. The drive gear 313 and the driven gear 314 are located inside the gear seat 315. The gear seat 315 is provided with corresponding bearings, and the drive gear 313 and the driven gear 314 are connected to the bearings of the gear seat 315. The circumferential surface of the first roller 322 is in contact with the top surface of the track 101. When the servo motor 311 is started, the active gear 313, the passive gear 314 and the first roller shaft 321 rotate synchronously, so that the first roller 322 rolls on the track 101 and automatically inspects along the direction in which the track 101 is laid.

[0051] This application uses a servo motor 311 as the drive source, enabling precise speed control and ensuring stable and controllable movement of the device on the track 101. The first roller 322 is made of high-strength, wear-resistant materials, such as wear-resistant rubber, possessing good elasticity and grip to withstand long-term, high-frequency rolling friction on the track 101, reducing wear and extending service life. Furthermore, the combination of the clamping mechanism 2 and the traveling mechanism 3 allows the device to adapt to different slopes and curvatures of the tower track 101, ensuring stable operation in various working environments and improving the device's applicability and reliability. In this embodiment, both the driving gear 313 and the driven gear 314 employ a helical gear design with a 45-degree helix angle, enhancing the smoothness and load-bearing capacity of the gear transmission. Compared to spur gears, helical gears exhibit more progressive tooth surface contact during meshing, reducing impact and noise while significantly improving transmission accuracy and efficiency.

[0052] The number and thickness of the first rollers 322 can be set according to the width of the track 101. In this embodiment, there are three first rollers 322, which are connected to the first roller shaft 321 by a flat key, so that they can rotate synchronously. The three first rollers 322 can be standard parts available on the market, eliminating the need to process a whole roller separately according to the width of the track 101, thus reducing costs. When one of the first rollers 322 is severely worn, it can be replaced specifically, or the entire set can be replaced. When the width of the track 101 is different, the number of first rollers 322 can be reduced or increased accordingly to adapt, thereby improving the inspection adaptability of the device.

[0053] like Figure 5 and Figure 6 As shown, the traveling mechanism 3 includes two first clamping assemblies 33 and two guide wheel assemblies 34. The two first clamping assemblies 33 are located on both sides of the track 101 along its length. Each first clamping assembly 33 includes a guide sleeve 331, a guide shaft 332, a second compression spring 333, and a slider 334. The guide sleeve 331 is connected to the top plate 111, and the slider 334 is located below the top plate 111. One end of the guide shaft 332 extends into the guide sleeve 331 and can move up and down along the axial direction of the guide sleeve 331. The other end of the guide shaft 332 is connected to the slider 334. The second compression spring 333 is sleeved on the guide shaft 332 and is connected to both the guide sleeve 331 and the slider. The slider 334 abuts against the bottom of the slider 334 and the set screw 336 rod. The set screw 336 rod is threadedly connected to the set screw seat 337 and can be rotated to move closer to or away from the bottom of the slider 334. The set screw seat 337 is connected to the first side plate 112 or the second side plate 113. A bearing is installed in the center of the slider 334. The two ends of the first roller shaft 321 are connected to the bearings in the center of the two sliders 334. The two second compression springs 333 press against the corresponding sliders 334 through their own elasticity, so that the first roller shaft 321 keeps the downward trend, thereby pressing the first roller 322 tightly against the surface of the track 101, increasing the friction with the surface of the track 101, and improving the walking stability. In this embodiment, the first clamping assembly 33 further includes two guide rods 335. One end of the two guide rods 335 is connected to the top plate 111, and the other end is connected to the set screw seat 337. Slide grooves are provided on opposite sides of the slider 334. The two slide grooves are respectively adapted to be inserted into the two guide rods 335. The axial direction of the guide rods 335 is the same as the direction of movement of the slider 334. The slider 334 can be guided by the guide rods 335 when it moves. The cooperation between the slide grooves and the guide rods 335 can prevent the slider 334 from twisting during the movement.

[0054] Two guide wheel assemblies 34 are located on opposite sides of the length of the track 101. Each guide wheel assembly 34 includes at least one guide wheel 342 and a guide wheel seat 341. The two guide wheel seats 341 are connected to the first base plate 114 and the second base plate 115, respectively. The guide wheel 342 is connected to the guide wheel seat 341. The circumferential surface of the guide wheel 342 is in contact with the bottom surface of the track 101. Combined with the pressure of the first roller 322 on the surface of the track 101, a clamping effect is formed on the height of the track 101. Combined with the clamping mechanism clamping the width of the track 101, the stability of the connection between the device and the track 101 is ensured. In this embodiment, each guide wheel assembly 34 includes two guide wheels 342, which are arranged at intervals along the length of the track 101. The two guide wheels 342 can directly use standard ball bearings, reducing processing costs.

[0055] This application uses a first clamping assembly 33 and a guide wheel assembly 34 to clamp the track 101 in the height direction. When the device is placed on the track 101, the slider 334 can move towards the top plate 111, and the second compression spring 333 on the first clamping assembly 33 contracts, thereby widening the distance between the first roller 322 and the guide wheel 342, allowing the track 101 to smoothly enter between the first clamping assembly 33 and the guide wheel assembly 34. Therefore, the design of the first clamping assembly 33 can also be applied to tracks 101 of different thicknesses. After the track 101 smoothly enters, the second compression spring 333 expands elastically to reduce the distance between the first roller 322 and the guide wheel 342, maintaining the clamped state of the track 101. The telescopic design of the first clamping assembly 33 can adaptively adjust the distance between the first roller 322 and the guide wheel 342 when encountering uneven surfaces on the track 101, allowing for smooth passage. The second compression spring 333 also buffers the vibrations caused by uneven surfaces, maintaining the stability of the entire device and ensuring the clarity of the captured images.

[0056] The walking mechanism 3 also includes a second roller assembly and two second clamping assemblies. The second roller assembly includes a second roller shaft and at least one second roller. The two second clamping assemblies are located on opposite sides of the track 101 along its length. The second clamping assemblies have the same structure as the first clamping assembly 33. The sliders 334 in the two second clamping assemblies are connected to both ends of the second roller shaft via bearings. The second roller assembly has the same structure as the first roller assembly 32 and is spaced apart along the length of the track 101. By setting the second roller assembly and the two second clamping assemblies, the walking stability of the device on the track 101 is enhanced. The second rollers are also made of highly wear-resistant rubber material and work in conjunction with the first roller 322 to share the weight of the device and the friction force during walking, effectively extending the service life of the rollers. The two second clamping assemblies are identical to the first clamping assembly 33, both using the elastic force of the second compression spring 333 to press the second rollers tightly against the surface of the track 101, ensuring sufficient friction between the second rollers and the track 101 and preventing slippage or deviation during walking. This dual-clamping and roller combination design allows the device to better adapt to tower tracks 101 with varying slopes and curvatures, maintaining stable travel performance even under high loads or complex environments. Simultaneously, the addition of the second roller assembly and the second clamping assembly enhances the device's adaptability to uneven surfaces on the track 101. When encountering localized protrusions or depressions on the track 101 surface, the second compression spring 333 can absorb some of the impact force through its elastic deformation, maintaining the device's smooth movement and ensuring clear and accurate image information captured by the industrial camera 4.

[0057] In practical applications, the device is also equipped with a remote monitoring and control system. Maintenance personnel can remotely monitor the device's operating status and inspection progress using mobile phones or computers, and view the collected image information and processing results in real time. If any abnormalities are detected, maintenance personnel can immediately send instructions to the device through the remote control system to adjust the inspection route or perform other operations, further improving inspection efficiency and accuracy.

[0058] In addition, the intelligent inspection device provided in this embodiment also includes a safety protection mechanism 6. The safety protection mechanism 6 includes a track self-locking device 61, a safety rope 62, and a lifting ring 63. The lifting ring 63 is connected to the rear end of the mounting frame 11. One end of the safety rope 62 is connected to the lifting ring 63, and the other end is connected to the track self-locking device 61. The track self-locking device 61 is slidably connected to the track 101. During the device inspection process, the safety protection mechanism 6 can ensure the safe operation of the device on the track 101 and prevent the device from falling off the track 101 due to unexpected situations, thereby ensuring the smooth progress of the inspection work. The track self-locking device 61 can be an existing purchased component, which will not be described in detail here.

[0059] like Figure 7 As shown, the intelligent inspection device provided in this embodiment is powered by a battery pack 13. The main body 1 includes a control box 12, and the battery pack 13 is installed inside the control box 12, supplying power to components such as the electric push rod 521, servo motor 311, and industrial camera 4, providing stable power support for the device and ensuring continuous operation during long-term inspections. The control box 12 is equipped with multiple positioning blocks 123 for the battery pack 13 to position its four corners. A buffer silicone strip 122 is provided on the cover 121 of the control box 12, pressing the cover 121 against the top of the battery pack 13 through the buffer silicone strip 122, thereby preventing the battery pack 13 from moving up and down during inspections.

[0060] like Figure 8 As shown, the mounting body 1 also includes a mounting plate 14. The industrial camera 4 is connected to the mounting plate 14. The mounting plate 14 is provided with a hinge shaft 141, which is rotatably connected to the control box 12. The surface of the control box 12 is provided with a first magnetic element 125. During inspection, the mounting plate 14 is attracted to the control box 12 through the first magnetic element 125 to ensure the stability of the industrial camera 4's shooting. The control box 12 is also provided with a protective chamber 124 for the industrial camera 4. The protective chamber 124 is adjacent to the working position of the industrial camera 4. A second magnetic element 126 is provided at the entrance of the protective chamber 124. After the inspection is completed, the mounting plate 14 can be flipped to be attracted to the second magnetic element 126 of the protective chamber 124, thereby hiding the industrial camera 4 inside the protective chamber 124 for protection, avoiding damage from external environmental interference or human collisions during non-inspection periods.

[0061] In some embodiments, one end of the hinge shaft 141 is connected to a micro rotary motor 81, which is connected to the control room. The first magnetic component 125 and the second magnetic component 126 are electromagnet assemblies. During the equipment's inspection task, the first magnetic component 125 remains energized, forming a stable magnetic connection with the control box 12, thus ensuring the industrial camera 4 is firmly positioned during inspection. If extreme weather such as typhoons or heavy rains occurs during the inspection, the remote control system can respond quickly by de-energizing the first magnetic component 125 to eliminate its magnetism and separate it from the control box 12; simultaneously, the micro rotary motor 81 is activated, driving the mounting plate 14 to rotate the industrial camera 4. At this time, the second magnetic component 126, located at the entrance of the protective chamber 124, is energized to generate magnetic force. When the mounting plate 14 rotates to a position near the entrance, it forms a reliable magnetic connection with the mounting plate 14, allowing the industrial camera 4 to quickly move into the protective chamber 124 for shelter, effectively preventing impact or damage from severe external environments such as typhoons and heavy rains.

[0062] In addition, after the daily inspection work is completed, the system can immediately flip the industrial camera 4 back into the protective chamber 124, so that the inspection device can move at a high speed during the return process from the tower without worrying about the airflow causing damage to the industrial camera 4 due to excessive speed. At the same time, it shortens the return time, which is conducive to the inspection device quickly entering the next round of inspection tasks, thereby improving the overall efficiency of tower inspection work and the safety of using the industrial camera 4.

[0063] Furthermore, to ensure the accuracy and stability of the mounting plate 14's flipping motion, the miniature rotary motor 81 is equipped with a high-precision encoder, which can provide real-time feedback on the motor 81's rotation angle and speed. The remote control system precisely controls the operation of the motor 81 based on the encoder feedback data, ensuring that the mounting plate 14 accurately flips the industrial camera 4 to the designated position. Simultaneously, the electromagnet at the entrance of the protective chamber 124 has its magnetic force carefully adjusted when energized, ensuring it firmly attracts the mounting plate 14 without being too strong to prevent separation. A buffer is also incorporated during the magnetic attraction between the mounting plate 14 and the electromagnet at the entrance of the protective chamber 124 to reduce the impact force generated during the magnetic attraction, further protecting the industrial camera 4 and related components from damage.

[0064] In addition, this application is also equipped with a first cleaning component 7, such as Figure 8As shown, the first cleaning component 7 can automatically remove debris and dust from the surface of the track 101 during movement, maintaining the cleanliness of the track 101 and improving the accuracy and reliability of the inspection. The first cleaning component 7 includes a brush wheel 71 and its connecting bracket 72. The connecting bracket 72 is connected to the first base plate 114 and the second base plate 115. The brush wheel 71 is connected to the connecting bracket 72 through a second rotating shaft 73. The brush wheel 71 and the second rotating shaft 73 are rotatably connected. The brush wheel 71 is in contact with the surface of the track 101 and is in front of the industrial camera 4. During the inspection movement, the brush wheel 71 moves and rotates along the surface of the track 101, thereby removing debris and dust from the surface of the track 101 in advance, so as to prevent debris and dust on the surface of the track 101 from affecting the shooting image of the industrial camera 4 and affecting the movement of the first roller assembly 32. A cutting element 74 is provided on the inner side of the connecting bracket 72 facing the track 101. The cutting element 74 is close to the track 101 and is used to cut the entangled objects on the track 101, such as threads, plastic bags, and strips of cloth. These entangled objects on the track 101 will affect the normal movement of the entire device and make it impossible to complete the inspection work. Therefore, by setting the cutting element 74 in front of the walking mechanism 3, the entangled objects can be cut off in advance to avoid affecting the normal inspection work of the entire device. The cutting element 74 can also be set in front of the brush wheel 71 to cut the entangled objects first when they are encountered. If the entangled objects cannot be detached from the track 101 naturally, they can be further removed by the brush wheel 71.

[0065] This application improves the cleanliness of the track 101 surface by incorporating a first cleaning component 7, thereby enhancing the device's adaptability and inspection efficiency in complex environments. The brush wheel 71 uses high-density, wear-resistant bristles to ensure good cleaning performance even during prolonged, high-frequency rotation, while reducing wear on the track 101 surface. The cutting component 74 is made of a sharp and durable metal material, such as stainless steel, to handle various possible entanglements and ensure smooth cutting operations.

[0066] In other embodiments, this application provides a second cleaning component above the first roller assembly 32. This second cleaning component can automatically clean debris and dust that enters the roller surface and its tooth grooves during movement, maintaining the cleanliness of the roller surface and tooth grooves and ensuring its grip on the track 101. Figure 9As shown, the second cleaning component includes a motor 81 and a roller brush 82. The motor 81 is connected to the mounting bracket 11, and the drive shaft of the motor 81 is connected to the roller brush 82. The roller brush 82 is located above the roller and in contact with it. During inspection, the roller rotates along the track 101 and contacts the roller brush 82 to clean the dust on the surface and the debris in the tooth grooves. The motor 81 can also be started to make the roller brush 82 rotate, which increases the cleaning force during rotation. The second cleaning component may also include a linear guide rail and a cylinder (not shown in the figure). The motor 81 is connected to the slider 334 on the linear guide rail through a connector. The linear guide rail is connected to the mounting bracket 11, and its length direction is the same as the length direction of the tooth grooves of the first roller 322. The cylinder drives the slider 334 to move on the linear guide rail, so that the motor 81 drives the roller brush 82 to remove the impurities in the tooth grooves of the first roller 322. Thus, the cleaning force of the first roller 322 is improved by combining the cleaning by the rotation of the motor 81 and the cleaning by the cylinder.

[0067] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An intelligent inspection device for iron tower tracks, characterized in that: include Installation main body (1); The clamping mechanism (2) is connected to the mounting body (1) and is used to clamp the track (101) during the inspection process. The walking mechanism (3) includes a drive structure and a first roller assembly (32). The drive structure is connected to the mounting body (1). The first roller assembly (32) is in contact with the surface of the track (101) and moves on the track (101) under the drive of the drive structure. An industrial camera (4), connected to the mounting body (1), is used to capture images of the track (101) for defect detection; The marking component (5) is connected to the mounting body (1) and is used to mark the location of defects.

2. The intelligent inspection device for iron tower tracks according to claim 1, characterized in that: The marking component (5) includes a marker (51) and a first drive component (52). The marker (51) is located above the track (101). The first drive component (52) is connected to the mounting body (1). The marker (51) contacts the surface of the track (101) through the drive of the first drive component (52) and draws a mark on the surface of the track (101) through the drive of the walking mechanism (3).

3. The intelligent inspection device for iron tower tracks according to claim 2, characterized in that: The marking assembly (5) includes a hydraulic damper (53) connected to the first drive assembly (52) and abutting against the top of the marker (51) to maintain the pressure of the marker (51) marking on the track (101).

4. The intelligent inspection device for iron tower tracks according to claim 1, characterized in that: The clamping mechanism (2) includes four clamping wheel assemblies (21), which are symmetrically arranged on both sides of the track (101) along its length. Each clamping wheel assembly (21) includes a first rotating shaft (211) and a clamping wheel (212). The circumferential surface of the clamping wheel (212) abuts against the track (101), and the track (101) is clamped between two symmetrical clamping wheels (212). When the walking mechanism (3) is started, the clamping wheel (212) rotates around the first rotating shaft (211).

5. The intelligent inspection device for iron tower tracks according to claim 4, characterized in that: The clamping mechanism (2) includes at least two clamping wheel adjustment components (22), which are respectively connected to two clamping wheel components (21) on the same side. The clamping wheel adjustment components (22) are used to adjust the distance between the two symmetrical clamping wheels (212) so that the track (101) can enter between the two clamping wheels (212).

6. The intelligent inspection device for iron tower tracks according to claim 1, characterized in that: The walking mechanism (3) includes at least two first clamping components (33) and at least two guide wheel assemblies (34). The at least two first clamping components (33) and at least two guide wheel assemblies (34) are located on both sides of the length direction of the track (101). The two first clamping components (33) are connected to both ends of the first roller assembly (32). The two guide wheel assemblies (34) are in contact with the bottom surface of the track (101). The two guide wheel assemblies (34) and the first roller assembly (32) together clamp the track (101). The two first clamping components (33) are used to adjust the distance between the first roller assembly (32) and the two guide wheel assemblies (34) so ​​that the track (101) enters and maintains the clamping of the track (101).

7. The intelligent inspection device for iron tower tracks according to claim 1, characterized in that: The drive structure includes two second drive components. Each second drive component includes a servo motor (311), a drive shaft (312), a drive gear (313), and a driven gear (314). The first roller assembly (32) includes a first roller shaft (321) and at least one first roller (322). One end of the drive shaft (312) is connected to the servo motor (311), and the other end is connected to the drive gear (313). The drive gear (313) meshes with the driven gear (314). Both ends of the first roller shaft (321) are connected to the two driven gears (314). The at least one first roller (322) is connected to the first roller shaft (321).

8. The intelligent inspection device for iron tower tracks according to claim 1, characterized in that: The system includes a safety protection mechanism (6), which includes a track self-locking device (61), a safety rope (62), and a lifting ring (63). The lifting ring (63) is connected to the installation body (1). One end of the safety rope (62) is connected to the lifting ring (63), and the other end is connected to the track self-locking device (61). The track self-locking device (61) is slidably connected to the track (101).

9. The intelligent inspection device for iron tower tracks according to claim 1, characterized in that: The mounting body (1) includes a control box (12) and a mounting plate (14). The industrial camera (4) is connected to the mounting plate (14). The mounting plate (14) is hinged to the control box (12) and magnetically attracted. The control box (12) is provided with a protective chamber (124). The industrial camera (4) can be flipped into the protective chamber (124).

10. The intelligent inspection device for iron tower tracks according to claim 1, characterized in that: It also includes a first cleaning component (7), which includes a brush wheel (71) and a cutter (74), the cutter (74) being used to cut entanglement on the track (101), and the brush wheel (71) being used to remove debris or dust from the track (101).

Images