Remote-controlled overhead transmission line inspection transmission device

Abstract

The utility model relates to the technical field of power transmission detection, in particular to a remote-control overhead transmission line inspection transmission device. The device comprises a detection mechanism which is sleeved on a cable and is composed of an accommodating model and a coil; the device further comprises a walking mechanism and a control center. The walking mechanism is arranged on the cable and is connected with the detection mechanism; the control center is arranged on the detection mechanism, is electrically connected with the walking mechanism, can receive signals of an external remote controller, and controls the walking mechanism to drive the detection mechanism to move in the length direction of the cable. According to the technical scheme of the utility model, the problems of large manual inspection workload, long operation time and low inspection precision in the prior art are solved; an existing inspection robot is complex in mechanism, large in size, large in mass, low in advancing speed, low in stability, high in application difficulty and the like.

Description

Technical Field

[0001] The utility model relates to a remotely controllable overhead transmission line inspection drive device, which belongs to the technical field of power transmission detection, and particularly relates to a remotely controllable overhead transmission line inspection drive device. Background Art

[0002] With the increasing scale of the annual construction of power channels in China, the loss rate of transmission lines needs to be further reduced. Most of the newly built high-voltage transmission lines are far from towns and are in complex environments. The lines are in harsh natural environments for a long time and are subject to continuous mechanical tension and continuous temperature changes, which are extremely likely to cause wear and strand breakage of high-voltage transmission lines. Therefore, improving the inspection operation efficiency and timely monitoring the operation status of cables are important factors to ensure the stable and safe power transmission of cables.

[0003] The inspection robot developed by the Shenyang Institute of Automation, Chinese Academy of Sciences provides a feasible inspection solution. The inspection robot is composed of a traveling mechanism, a robotic arm, a mobile platform, etc. The traveling mechanism and the robotic arm adopt an off-site hanging installation scheme. The mobile platform cooperates with the traveling mechanism to adjust the distance of the robotic arm to adapt to the inspection line, and realizes the along-line inspection of the inspection robot through the sensing device.

[0004] Traditional manual visual inspection relies extremely on the inspector's own experience to judge whether there is a problem with the transmission line, and there are problems such as a large workload, a long operation time, and low inspection accuracy. Existing inspection robots generally have the characteristics of complex mechanism design, large volume, large body mass, slow traveling speed, low traveling stability, and high application difficulty.

[0005] In view of the problems existing in the above-mentioned prior art, it is very necessary to research and design a new type of remotely controllable overhead transmission line inspection drive device to overcome the problems existing in the prior art. Summary of the Invention

[0006] In view of the technical problems of large workload, long operation time, and low inspection accuracy in manual inspection proposed in the above-mentioned prior art; complex mechanism, large volume, large mass, slow traveling speed, low stability, and high application difficulty in existing inspection robots, a remotely controllable overhead transmission line inspection drive device is provided. The utility model mainly uses a central control unit to control the traveling mechanism installed on the cable to drive the detection mechanism to move along the cable, so as to realize a device with a simple mechanical structure, streamlined mechanism, low cost, and high-precision inspection of cable defects.

[0007] The technical means adopted by the utility model are as follows:

[0008] A remotely controllable overhead transmission line inspection drive device includes: a detection mechanism sleeved on the cable and composed of a housing model and a coil;

[0009] Furthermore, the remotely controllable overhead power transmission line inspection drive device further includes: a traveling mechanism and a control center;

[0010] Furthermore, the traveling mechanism is placed on the cable and is connected to the inspection mechanism;

[0011] Furthermore, the control center is arranged on the inspection mechanism, is electrically connected to the traveling mechanism, and can simultaneously receive signals from an external remote controller to control the traveling mechanism to drive the inspection mechanism to move along the length direction of the cable.

[0012] Furthermore, the traveling mechanism includes: a driven wheel, a driving wheel, and a DC motor;

[0013] Furthermore, a wheel axle is arranged at the center of the driving wheel, and connecting rods B assembled by flanges on both sides of the wheel axle center are first connected to the inspection mechanism through a connecting piece D;

[0014] Furthermore, a bearing is arranged between the connecting rod B and the connecting piece D;

[0015] Furthermore, the connecting rod B is connected to the output end of the DC motor, and the DC motor is fixedly installed on the connecting piece D;

[0016] Furthermore, connecting rods A arranged on both sides of the center of the driven wheel are movably connected to the connecting piece D through a connecting component, and together drive the inspection mechanism to move along the cable under the drive of the driving wheel.

[0017] Furthermore, the connecting rod B and the output end of the DC motor are connected by meshing of two bevel gears. Using bevel gear transmission can place the DC motor in a position perpendicular to the wheel axle, horizontally reducing the volume of the traveling mechanism.

[0018] Furthermore, the connecting component includes: connecting piece A, connecting piece B, and connecting piece C;

[0019] Furthermore, the connecting piece A is two L-shaped plate-like structures with the same structure. The two connecting pieces A are respectively arranged on both sides of the driven wheel, the short sides are movably connected to the connecting rod A, and the ends of the long sides are detachably and fixedly connected to the connecting piece B;

[0020] Furthermore, the connecting piece B is a plate-like structure, one side end face is vertically connected to the end of the long side of the connecting piece A, and the other side end face is connected to the connecting piece C;

[0021] Furthermore, the connecting piece C is two plate-like structures with the same structure. One end side of the two connecting pieces C is vertically and fixedly connected to the connecting piece B;

[0022] Furthermore, the connecting piece C is interactively connected to the connecting piece D.

[0023] Furthermore, an inverted V-shaped groove is provided in the middle of the lower end of the connecting member B, and the notch of the inverted V-shaped groove is clamped on the cable to support and guide the running mechanism.

[0024] Furthermore, an arc-shaped guide groove is provided on the connecting member B;

[0025] Furthermore, a guide rod is vertically arranged on the inner side of the connector D, which is inserted into the arc guide groove and can slide along the arc guide groove to change the connection angle between the connector D and the connecting component, thereby solving the sag problem caused by the cable under the influence of gravity.

[0026] Furthermore, the grooves on the circumferences of the driving wheel and the driven wheel are on the same horizontal plane;

[0027] Furthermore, a rib is provided on both sides of the groove of the driving wheel and the driven wheel respectively to constrain the running direction of the driving wheel and the driven wheel, thereby ensuring that the running mechanism will not be separated from the cable.

[0028] Furthermore, the diameters of the grooves of the driving wheel and the driven wheel are larger than the diameter of the cable, thereby increasing the effective contact area between the driving wheel and the cable and increasing the friction between the two.

[0029] Furthermore, the control center includes: a command receiving module, a central processing module, an output module, and a power supply connected to the above modules and the DC motor;

[0030] Furthermore, the output end of the command receiving module is connected to the input end of the central processing module, and is used to receive the speed adjustment and emergency stop signals from the external remote controller, and transmit the signals to the central processing module;

[0031] Furthermore, the output end of the central processing module is connected to the input end of the output module for converting the digital signal into an electrical signal and transmitting it to the output module;

[0032] Furthermore, the output end of the output module is connected to the input end of the DC motor to transmit the electrical signal to the DC motor, and the DC motor changes the rotation speed accordingly, thereby completing the process of remote control speed regulation of the DC motor.

[0033] Compared with the prior art, the utility model has the following advantages:

[0034] 1. The remote-controlled overhead power transmission line inspection transmission device provided by the utility model realizes self-balance in the assembly stage, simplifies the balancing mechanism such as the clamping device, and reduces the weight of the equipment itself;

[0035] 2. The remote-controlled overhead power transmission line inspection transmission device provided by the utility model can stably remotely adjust the speed of the walking device according to the user's own inspection needs to match the actual inspection situation;

[0036] 3. The remotely controllable overhead transmission line inspection drive device provided by the present utility model has a walking structure that supports a detection mechanism at the back. The modular design facilitates the maintenance and replacement of the traveling mechanism and the detection mechanism before and after use.

[0037] 4. The remotely controllable overhead transmission line inspection drive device provided by the present utility model reduces the manufacturing cost and assembly difficulty of the inspection equipment on the premise of ensuring the inspection accuracy. In addition, the self-weight of the inspection equipment is greatly reduced, which also alleviates the difficulty of manually assisting the equipment to get on and off the line.

[0038] In summary, the technical solution of the present utility model solves the problems in the prior art, such as large manual inspection workload, long operation time, low inspection accuracy; complex structure, large volume, large mass, slow traveling speed, low stability, and high application difficulty of existing inspection robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0040] Figure 1 It is a schematic structural view of the present utility model;

[0041] Figure 2 For the present utility model Figure 1 Right side view;

[0042] Figure 3 It is an enlarged view of the connection part of connecting piece C and connecting piece D of the present utility model;

[0043] Figure 4 It is a side view of the driving wheel of the present utility model;

[0044] Figure 5 It is a side view of the driven wheel of the present utility model.

[0045] In the figure: 1. Link A 2. Driven wheel 3. Connecting piece A 4. Connecting piece B 5. Connecting piece C 6. Connecting piece D 7. Link B 8. Bearing 9. Axle 10. Driving wheel 11. Guide rod 12. Detection mechanism 13. DC motor 14. Bevel gear 15. Arc-shaped guide groove 16. Cable. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other. The following will refer to the drawings and combine the embodiments to detail the present utility model.

[0047] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part rather than all of the embodiments of the present utility model. The description of at least one exemplary embodiment is actually only illustrative and in no way limits the present utility model and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the scope of protection of the present utility model.

[0048] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments of the present utility model. As used herein, unless otherwise clearly specified in the context, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0049] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and values set forth in these embodiments do not limit the scope of the present utility model. At the same time, it should be clear that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationship. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the said technologies, methods and devices should be regarded as part of the authorized specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it will not be further discussed in subsequent drawings.

[0050] In the description of the present utility model, it should be understood that orientation terms such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. usually indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description. Without contrary description, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus cannot be construed as limiting the scope of protection of the present utility model: the orientation terms "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0051] For ease of description, spatial relative terms, such as "above", "over", "on the upper surface", "upper", etc., may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figure is inverted, a device described as "above" or "over" other devices or structures will then be oriented "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both orientations of "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the corresponding explanations are made for the spatial relative descriptions used herein.

[0052] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of differentiating the corresponding components. Without additional statements, the above terms have no special meanings, and thus should not be construed as limiting the protection scope of the present utility model.

[0053] As Figure 1 shown, the present utility model provides a remotely controllable inspection drive device for overhead transmission lines, comprising: a traveling mechanism, a detection mechanism and a control center.

[0054] Referring to the Figure 1 figures, the traveling mechanism consists of a driven wheel 2, a driving wheel 10, a wheel shaft 9, a DC motor 13 and connecting parts, etc.

[0055] Referring to the Figure 2 figures, the function of the driven wheel 2 is to attach the detection mechanism to the wire and guide the detection mechanism to move along the direction of the cable 16. A groove is designed in the middle of the driven wheel 2, which plays a role of line inspection and guiding when the driving wheel 2 travels while attached to the wire. The opening radius of the groove is slightly larger than the diameter of the cable 16, which can ensure that the two side edges of the driven wheel 2 always contact the cable 16 when the traveling mechanism travels while attached to the wire, playing a better auxiliary guiding role.

[0056] In order to ensure that the driven wheel 2 plays a good auxiliary guiding role and the DC motor 13 has a correct driving effect on the driving wheel 10, the grooves of the driving wheel 10 and the driven wheel 2 should be on the same horizontal line, so the connectors A3, B4, C5, and D6 are designed. It is convenient to install the driven wheel 2 and the DC motor 13. Among them, the driven wheel 2 is fixed between the two connectors A3 through the connecting rod A1, the connector A3 is fastened to the connector B4 by screws, and the connector B4 is fixed to the connector C5 by screws. At the same time, due to the influence of gravity, the cable 16 will produce sag. In order to adapt to the changes of the cable 16, an arc guide groove 15 that can rotate around the axis is designed on the connector C5. The guide rod 11 on the inner side of the connector D6 is inserted into the arc guide groove 15, which can make the running mechanism adapt to small slope changes and small angle changes in direction.

[0057] The driving wheel 10 is driven by a DC motor 13. In order to better match the power transmission line, the diameter of the groove of the driving wheel 10 is larger than the diameter of the cable 16, so that the driving wheel 10 can be embedded in the cable 16 and move safely along the direction of the cable 16. At the same time, it can be seen from the force conditions of the contact points between the driving wheel 10 and the cable 16 that this design increases the effective contact area between the driving wheel 10 and the cable 16, and also increases the friction between the driving wheel 10 and the cable 16. In addition, a rib is provided on the outer periphery of the driving wheel 10, which effectively constrains the driving wheel 10, so that the driving wheel 10 always moves along the direction of the cable, ensuring that the running mechanism will not be separated from the cable 16 when moving, and maximally ensuring the safety of the equipment during the inspection operation.

[0058] In order to better ensure the strength of the transmission structure and facilitate the maintenance of the running mechanism before and after operation, a wheel shaft 9 is provided between the DC motor 13 and the driving wheel 10. The driving wheel 10 is connected to the wheel shaft 9 by friction. The wheel shaft 9 is connected to the upper flange by screws and is connected to the connecting rod B7. The connecting rod B7 passes through the bearing 8 at the connecting piece D6, and the bearing 8 is fixed to the connecting piece D6 by screws, which can minimize the power loss during the transmission process.

[0059] In order to determine the torque of the driving motor of the driving wheel 10, after making assumptions about some variables, the motor torque can be obtained according to the kinematic formula, and finally a DC motor 13 with a reduction ratio of 1 / 148 driven by a 12v DC battery is selected. In addition, the bevel gear 8 on the output shaft of the DC motor 13 cooperates with the bevel gear 8 on the connecting rod B7. The use of bevel gear transmission can place the DC motor 13 in a position perpendicular to the wheel axle 9, which horizontally simplifies the volume of the running mechanism.

[0060] The control center includes: an instruction receiving module, a central processing module, an output module, and a power supply. The instruction receiving module is used to receive signals from an external remote controller for adjusting the rotation speed or emergency stop. The central processing module is used to convert digital signals into electrical signals and output the adjusted current to the DC motor 13 through the output module. The DC motor 13 correspondingly changes its rotation speed, thereby completing the process of remotely controlling the speed of the DC motor 13.

[0061] After the traveling mechanism is assembled, the respective positions of the control center and the DC motor 13 on the connecting member are determined through calculation to achieve the balance of the traveling mechanism on the cable 16.

[0062] The SOLIDWORKS software is used to simulate the assembly of the main body of the inspection robot, which consists of two parts: a traveling mechanism and a detection mechanism 12. The traveling mechanism is composed of a driven wheel 2, a driving wheel 10, a wheel shaft 9, a DC motor 13, and a connecting member. The detection mechanism 12 includes a housing model and a coil. During assembly, the driving wheel 10 is press-fitted on the wheel shaft 9; the DC motor 13 is installed on the connecting member D6 and drives the driving wheel 10 to travel along the cable 16 through bevel gears; the driven wheel 2 is installed on the connecting member A3 to play a guiding role. The wheel shaft 9 and the connecting rod B7 are fixed through a flange and installed on the connecting plate through a vertical bearing 8. Finally, the connecting member and the detection mechanism 12 are respectively installed on the connecting plate.

[0063] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote-controlled overhead power transmission line inspection transmission device, comprising: A detection mechanism (12) mounted on a cable (16) and composed of a housing model and a coil; characterized in that: The remote-controlled overhead power transmission line inspection transmission device further comprises: a running mechanism and a control center; The running mechanism is placed on the cable (16) and connected to the detection mechanism (12); The control center is arranged on the detection mechanism (12) and is electrically connected to the running mechanism. It can also receive signals from an external remote controller and control the running mechanism to drive the detection mechanism (12) to move along the length direction of the cable (16).

2. The remote-controlled overhead power line inspection transmission device according to claim 1, characterized in that: The running mechanism comprises: a driven wheel (2), a driving wheel (10), and a DC motor (13); The center of the driving wheel (10) is provided with a wheel axle (9), and connecting rods B (7) assembled through flanges on both sides of the center of the wheel axle (9) are first connected to the detection mechanism (12) through a connecting piece D (6); A bearing (8) is provided between the connecting rod B (7) and the connecting member D (6); The connecting rod B (7) is connected to the output end of the DC motor (13), and the DC motor (13) is fixedly mounted on the connecting member D (6); The connecting rods A (1) arranged on both sides of the center of the driven wheel (2) are movably connected to the connecting member D (6) through a connecting assembly, and are driven by the driving wheel (10) to pull the detection mechanism (12) to move along the cable (16).

3. The remote-controlled overhead power line inspection transmission device according to claim 2 is characterized in that: The connecting rod B (7) is meshed with the output end of the DC motor (13) via two bevel teeth (14). The DC motor (13) can be placed in a position perpendicular to the wheel axle (9) by using the bevel teeth (14) for transmission, thereby reducing the volume of the running mechanism in the horizontal direction.

4. The remote-controlled overhead power line inspection transmission device according to claim 2, characterized in that: The connection assembly comprises: a connection member A (3), a connection member B (4) and a connection member C (5); The connecting member A (3) is two L-shaped plate structures of the same structure. The two connecting members A (3) are respectively arranged on both sides of the driven wheel (2). The short sides are movably connected to the connecting rod A (1), and the ends of the long sides are detachably fixedly connected to the connecting member B (4). The connecting member B (4) is a plate-like structure, one end surface of which is vertically connected to the long side end of the connecting member A (3), and the other end surface of which is connected to the connecting member C (5); The connecting members C (5) are two plate-like structures of the same structure, and one end edge of the two connecting members C (5) is vertically fixedly connected to the connecting member B (4); The connecting member C (5) is interactively connected with the connecting member D (6).

5. The remote-controlled overhead power line inspection transmission device according to claim 4 is characterized in that: An inverted V-shaped groove is provided at the middle of the lower end of the connecting member B (4), and the notch of the inverted V-shaped groove is clamped on the cable (16) to support and guide the running mechanism.

6. The remote-controlled overhead power line inspection transmission device according to claim 4, characterized in that: The connecting member B (4) is provided with an arc-shaped guide groove (15); A guide rod (11) is vertically arranged on the inner side of the connecting piece D (6). The guide rod (11) is inserted into the arc-shaped guide groove (15) and can slide along the arc-shaped guide groove (15) to change the connection angle between the connecting piece D (6) and the connecting component, thereby solving the problem of sag caused by the cable (16) under the influence of gravity.

7. The remote-controlled overhead power line inspection transmission device according to claim 2, characterized in that: The grooves on the circumferences of the driving wheel (10) and the driven wheel (2) are located on the same horizontal plane; A retaining edge is provided on both sides of the groove of the driving wheel (10) and the driven wheel (2), respectively, to constrain the running direction of the driving wheel (10) and the driven wheel (2), thereby ensuring that the running mechanism will not be separated from the cable (16).

8. The remote-controlled overhead power line inspection transmission device according to claim 7, characterized in that: The diameters of the grooves of the driving wheel (10) and the driven wheel (2) are greater than the diameter of the cable (16), thereby increasing the effective contact area between the driving wheel (10) and the cable (16) and increasing the friction between the two.

9. The remote-controlled overhead power line inspection transmission device according to claim 1, characterized in that: The control center comprises: a command receiving module, a central processing module, an output module, and a power supply connected to the above modules and a DC motor (13); The output end of the command receiving module is connected to the input end of the central processing module, and is used to receive the speed adjustment and emergency stop signals from the external remote controller, and transmit the signals to the central processing module; The output end of the central processing module is connected to the input end of the output module, and is used to convert the digital signal into an electrical signal and transmit it to the output module; The output end of the output module is connected to the input end of the DC motor (13), and the electrical signal is transmitted to the DC motor (13), and the DC motor (13) changes its rotation speed accordingly, thereby completing the process of remotely controlling the speed of the DC motor.

Images