Swing type detection device of four-split strain clamp detection robot

Abstract

The utility model relates to the technical field of wire detection, and particularly discloses a swing type detection device of a four-split strain clamp detection robot, which comprises a support rod, a lifting mechanism, a rotating mechanism, a swing mechanism and a detection mechanism, the swing type detection device can be applied to a four-split strain clamp detection robot, and can be used in cooperation with an unmanned aerial vehicle to realize loading and unloading; through cooperation of the lifting mechanism and the swing mechanism, switching detection of the four strain clamps is realized, frequent loading and unloading are not needed, and the detection efficiency is improved. The rotating mechanism capable of rotating around the z direction of the supporting rod is added, the detection mechanism can be adjusted to one side of the end portion of the strain clamp through the rotating mechanism, the end portions of the four strain clamps are detected, and detection is more comprehensive.

Description

TECHNICAL FIELD

[0001] The utility model relates to wire detection technical field, especially in four split strain clamp detection robot's swing type detection device. BACKGROUND

[0002] Four split strain clamp is the key fitting for fixing and connecting four split wires in power transmission line, and is mainly applied to strain tower of high-voltage or ultrahigh-voltage (such as 220kV, 500kV and above) transmission line. Four split strain clamp usually adopts high-strength aluminum alloy or cast steel, and has light weight and corrosion resistance. It contains four independent clamp units, which fix four sub-wires respectively. Each unit is composed of a compression sleeve (compression wire), a U-shaped bolt and an anchoring end (connected to an insulator string or a tower). Four split strain clamp is usually equipped with a voltage equalizing ring, which can improve the electric field distribution and reduce the corona effect.

[0003] Because high-voltage transmission lines often span high mountains and valleys, the span is large and the self-weight is large. The main stress of pulling the large-span transmission line is concentrated on the four split strain clamp. Therefore, the structural strength of the four split strain clamp is crucial to the reliability of high-voltage transmission.

[0004] At present, the defect detection object of four split strain clamp is basically in service, and usually needs to use a drone to hang the entire device on the four split strain clamp for defect detection. For example, the patent CN115656229A discloses a strain clamp unmanned aerial vehicle radiographic detection device. Although it can realize high-altitude detection after hanging the unmanned aerial vehicle, the radiographic machine and the imaging plate are arranged on the same side of the rack, and the imaging plate and the radiation source are located on one side of the line. Each time the line is connected, only the wires on one side of the imaging plate can be detected, and repeated connection of the line is required to complete the detection of the four strain clamps, which is low in detection efficiency.

[0005] In addition, due to the blocking of the voltage equalizing ring at the end of the strain clamp, the detection device cannot move to the end position of the strain clamp for defect detection, resulting in that the end of the four strain clamps cannot be detected.

[0006] Therefore, the prior art still needs to be improved and developed. UTILITY MODEL CONTENT

[0007] In view of the above shortcomings of the prior art, the utility model aims to provide a swing type detection device of a four split strain clamp detection robot to solve the above problems.

[0008] A swing type detection device of a four split strain clamp detection robot, comprising:

[0009] a support rod;

[0010] a lifting mechanism, which is capable of lifting along the z direction and moving on the support rod;

[0011] a rotating mechanism, which is connected to the output end of the lifting mechanism and is capable of rotating around the z direction of the support rod;

[0012] a swinging mechanism, which is connected to the output end of the rotating mechanism and is capable of swinging around the x direction of the support rod;

[0013] a detection mechanism, which comprises a carrier frame, a ray source, an imaging plate and an angle adjustment assembly, the carrier frame is connected to the output end of the swinging mechanism, the ray source is arranged at one end of the carrier frame, the angle adjustment assembly is arranged at the other end of the carrier frame, the imaging plate is connected to the output end of the angle adjustment assembly, the ray source and the imaging plate form a detection area, and the imaging plate can be adjusted to one side of any one of the four split strain clamps so that the strain clamp enters the detection area.

[0014] Specifically, the lifting mechanism comprises a lifting seat sleeved on the support rod, a first guide wheel and a first walking wheel rotatably arranged on the lifting seat and abutting against the outer wall surface of the support rod, and a first driving device arranged on the lifting seat and used for driving the first walking wheel to walk along the z direction of the support rod, and the rotating mechanism is connected to the lower end of the lifting seat.

[0015] Specifically, the first driving device comprises a first right-angle motor fixed to the lifting seat, a first driving wheel in transmission connection with the output shaft of the first right-angle motor, and a first transmission belt used for connecting the first driving wheel and the first walking wheel, and the outer side surface of the first walking wheel is provided with a first annular groove recessed along the circumferential direction, and the first transmission belt is located in the first annular groove.

[0016] Specifically, the rotating mechanism comprises a sliding seat fixed to the lower end of the lifting seat, a second guide wheel rotatably arranged on the sliding seat and abutting against the outer wall surface of the support rod, a first driven wheel fixed to the sliding seat, a rotating frame sleeved on the sliding seat and capable of rotating around the z direction of the support rod, and a second driving device arranged on the rotating frame and used for driving the first driven wheel, and the swinging mechanism is connected to one end of the rotating frame.

[0017] Specifically, the second driving device comprises a second right-angle motor fixed to the rotating frame, a second driving wheel in transmission connection with the output shaft of the second right-angle motor, and a second transmission belt used for connecting the second driving wheel and the first driven wheel.

[0018] Specifically, the swinging mechanism comprises a first rotating shaft, a second driven wheel and a third driving device.

[0019] one end of the first rotating shaft is fixed to the carrier frame, and the other end is rotatably connected to the rotating frame.

[0020] The second driven wheel is fixed to the bearing frame;

[0021] The third driving device comprises a third right-angle motor fixed to the bearing frame, a third driving wheel in transmission connection with an output shaft of the third right-angle motor, and a third transmission belt for linking the third driving wheel and the second driven wheel.

[0022] Specifically, the angle adjusting assembly comprises a second rotating shaft, a third driven wheel and a fourth driving device;

[0023] One end of the second rotating shaft is fixedly connected with the imaging plate, and the other end is in rotational cooperation with the bearing frame;

[0024] The third driven wheel is fixed to the second rotating shaft;

[0025] The fourth driving device comprises a fourth right-angle motor fixed to the imaging plate, a fourth driving wheel in transmission connection with an output shaft of the fourth right-angle motor, and a fourth transmission belt for linking the fourth driving wheel and the third driven wheel.

[0026] Specifically, a guide frame is arranged on the bearing frame, and an inclined guide part is arranged at each end of the guide frame along the length direction of the bearing frame.

[0027] Specifically, a deflection-to-position inductor is fixed to one end of the bearing frame close to the imaging plate, and the deflection-to-position inductor comprises a first inductor baffle and a second inductor baffle which are distributed on both sides of the bearing frame and can contact the strain clamp.

[0028] Specifically, a mounting frame is fixed on the bearing frame, and the ray source is detachably fixed to the mounting frame.

[0029] The present application has the following beneficial effects:

[0030] 1.The swing type detection device of the utility model can be applied to a four-split strain clamp detection robot, and can be hung by a unmanned aerial vehicle to realize wire connection and disconnection, before wire connection, the boom of the unmanned aerial vehicle is hung on the hanging rod, the front walking mechanism and the rear walking mechanism of the robot are hung on the two strain clamps at the upper end of the four-split strain clamp through the unmanned aerial vehicle hanging, the height of the detection mechanism is controlled through the lifting mechanism, the angle of the detection mechanism is adjusted through the swing mechanism, the imaging plate is adjusted to the side of any one of the four strain clamps, the ray source is turned on, a detection area is formed between the ray source and the imaging plate, the strain clamp in the detection area is detected, and the detection of the four strain clamps is completed; then the front walking mechanism and the rear walking mechanism walk a certain distance along the two strain clamps at the upper end, and the detection of different positions of the four strain clamps is carried out; the switching detection of the four strain clamps is realized through the cooperation of the lifting mechanism and the swing mechanism, the wire connection and disconnection are not needed frequently, and the detection efficiency is improved.

[0031] 2.The rotation mechanism that can rotate around the z direction of the support rod is added, the detection mechanism can be adjusted to the side of the end of the strain clamp through the rotation mechanism, the end of the four strain clamps is detected, and the detection is more comprehensive. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a perspective view of the swing type detection device of the utility model Figure 1 ;

[0033] Figure 2 It is an enlarged view of part A in the utility model Figure 1 ;

[0034] Figure 3 It is a perspective view of the swing type detection device of the utility model Figure 2 ;

[0035] Figure 4 It is a front view of the swing type detection device of the utility model

[0036] Figure 5 It is a sectional view of B-B in the utility model Figure 4 ;

[0037] Figure 6 It is a sectional view of C-C in the utility model Figure 4 ;

[0038] Figure 7 It is a perspective view of the four-split strain clamp detection robot of the embodiment

[0039] Figure 8 It is a structure diagram of the detection process of the four-split strain clamp detection robot of the embodiment Figure 1 ;

[0040] Figure 9Structure diagram of four-split strain clamp detection process for the four-split strain clamp detection robot of the embodiment Figure 2 ;

[0041] Figure 10 Structure diagram of four-split strain clamp detection process for the four-split strain clamp detection robot of the embodiment Figure 3 .

[0042] The figure marks are: support rod 10, lifting mechanism 20, lifting seat 21, first guide wheel 22, first walking wheel 23, first driving device 24, first right-angle motor 241, first driving wheel 242, first transmission belt 243, rotating mechanism 30, sliding seat 31, second guide wheel 32, first driven wheel 33, rotating frame 34, second driving device 35, second right-angle motor 351, second driving wheel 352, swinging mechanism 40, first rotating shaft 41, second driven wheel 42, third driving device 43, third right-angle motor 431, third driving wheel 432, detection mechanism 50, bearing frame 51, ray source 52, imaging plate 53, angle adjustment assembly 54, second rotating shaft 541, third driven wheel 542, fourth driving device 543, fourth right-angle motor 5431, fourth driving wheel 5432, guide frame 55, deflection in-place inductor 56, first inductor baffle 561, second inductor baffle 562, mounting frame 57, strain clamp 60, support 70, hanging rod 71, front walking mechanism 80, rear walking mechanism 90. DETAILED DESCRIPTION

[0043] The utility model provides a kind of four-split strain clamp detection robot swinging detection device, to make the purpose, technical scheme and effect of the utility model more clear, definite, the following referring to drawing and taking example to the utility model is further detailedly explained.It should be understood that the specific embodiment described here is only used to explain the utility model, and is not used to limit the utility model.

[0044] In the description of the utility model, it needs to be understood that, the orientation description, such as the orientation or positional relationship indicated by upper, lower, front, rear, left, right etc.

[0045] Please refer to Figures 1 to 10 The utility model discloses a kind of four-split strain clamp detection robot, and the four-split strain clamp detection robot includes support 70, hanging rod 71, front walking mechanism 80, rear walking mechanism 90 and swinging detection device;Wherein, swinging detection device includes:

[0046] A support rod 10 is fixed at the lower end of the support 70.

[0047] A lifting mechanism 20 is arranged to move up and down along the z direction of the support rod 10.

[0048] A rotating mechanism 30 is connected to the output end of the lifting mechanism 20 and arranged to rotate around the z direction of the support rod 10.

[0049] A swinging mechanism 40 is connected to the output end of the rotating mechanism 30 and arranged to swing around the x direction of the support rod 10.

[0050] A detection mechanism 50 includes a carrier 51, a radiation source 52, an imaging plate 53, and an angle adjustment assembly 54. The carrier 51 is connected to the output end of the swinging mechanism 40. The radiation source 52 is arranged at one end of the carrier 51. The angle adjustment assembly 54 is arranged at the other end of the carrier 51. The imaging plate 53 is connected to the output end of the angle adjustment assembly 54. The radiation source 52 and the imaging plate 53 form a detection area therebetween. The imaging plate 53 can be adjusted to one side of any one of the four split strain clamps 60, so that the strain clamp 60 enters the detection area.

[0051] The four-split strain clamp detection robot of the embodiment can be hung by the unmanned aerial vehicle to realize the line-up and line-down. Before the line-up, the boom of the unmanned aerial vehicle is hung on the hanging rod 71. The front walking mechanism 80 and the rear walking mechanism 90 of the robot are hung on the two strain clamps 60 at the upper end of the four-split strain clamp through the unmanned aerial vehicle hanging. Then, the height of the detection mechanism 50 is controlled by the lifting mechanism 20. The angle of the detection mechanism 50 is adjusted by the swinging mechanism 40, so that the imaging plate 53 is adjusted to one side of any one of the four strain clamps 60. The radiation source 52 is turned on. The radiation source 52 and the imaging plate 53 form a detection area therebetween. The strain clamp 60 in the detection area is detected until the detection of the four strain clamps 60 is completed. Then, the front walking mechanism 80 and the rear walking mechanism 90 walk a certain distance along the two strain clamps 60 at the upper end, and the detection of the four strain clamps 60 at different positions is performed. The four strain clamps 60 are switched and detected by the cooperation of the lifting mechanism 20 and the swinging mechanism 40, so that the line-up and line-down are not needed frequently, and the detection efficiency is improved.

[0052] In addition, due to the blocking of the equalizing ring at the end of the strain clamp 60, the robot cannot move to the end position of the strain clamp 60 for defect detection, so that the end of the four strain clamps 60 cannot be detected. In order to solve this problem, as shown in Figure 7 and Figure 10 the embodiment adds the rotating mechanism 30 which can rotate around the z direction of the support rod 10. The detection mechanism 50 can be adjusted to one side of the end of the strain clamp 60 by the rotating mechanism 30, so that the end of the four strain clamps 60 is detected.

[0053] Please refer to Figure 1 andFigure 3 The lifting mechanism 20 of the embodiment comprises a lifting seat 21 sleeved on the support rod 10, a first guide wheel 22 and a first walking wheel 23 rotatably arranged on the lifting seat 21 and abutting against the outer wall surface of the support rod 10, a first driving device 24 arranged on the lifting seat 21 and used for driving the first walking wheel 23 to walk along the z direction on the support rod 10, and a rotating mechanism 30 connected to the lower end of the lifting seat 21. The lifting seat 21 is in the shape of a rectangular block with a hollowed middle part. The first guide wheel 22 and the first walking wheel 23 are distributed in four directions of the lifting seat 21. When the lifting height needs to be adjusted, the first driving device 24 is used to drive the first walking wheel 23 to walk along the z direction on the support rod 10, and the walking process is stable.

[0054] Further, refer to Figure 5 The first driving device 24 of the embodiment comprises a first right-angle motor 241 fixed to the lifting seat 21, a first driving wheel 242 in transmission connection with the output shaft of the first right-angle motor 241, and a first transmission belt 243 used for linkage of the first driving wheel 242 and the first walking wheel 23. The outer side surface of the first walking wheel 23 is provided with a first annular groove recessed in the circumferential direction. The first transmission belt 243 is located in the first annular groove. By arranging the first annular groove, the first transmission belt 243 is prevented from contacting the outer wall surface of the support rod 10. Moreover, the first annular groove has a limiting effect, which can prevent the first transmission belt 243 from being deviated.

[0055] Refer to Figure 1 and Figure 3 The rotating mechanism 30 of the embodiment comprises a sliding seat 31 fixed to the lower end of the lifting seat 21, a second guide wheel 32 rotatably arranged on the sliding seat 31 and abutting against the outer wall surface of the support rod 10, a first driven wheel 33 fixed to the sliding seat 31, a rotating frame 34 sleeved on the sliding seat 31 and rotatable around the z direction of the support rod 10, and a second driving device 35 arranged on the rotating frame 34 and used for driving the first driven wheel 33. The swinging mechanism 40 is connected to one end of the rotating frame 34. When the detection mechanism 50 needs to be adjusted to the side of the end part of the strain clamp 60, the first driven wheel 33 is driven by the second driving device 35 to make the whole rotating frame 34 rotate 180° around the z direction of the support rod 10, so that the whole detection mechanism 50 is adjusted to the side of the end part of the strain clamp 60, and the adjustment efficiency is high.

[0056] Further, refer to Figure 6 The second driving device 35 of the embodiment comprises a second right-angle motor 351 fixed to the rotating frame 34, a second driving wheel 352 in transmission connection with the output shaft of the second right-angle motor 351, and a second transmission belt used for linkage of the second driving wheel 352 and the first driven wheel 33. The linkage of the second driving wheel 352 and the first driven wheel 33 is driven in the mode of belt transmission, and the structure is ingenious.

[0057] Refer toFigure 3 and 6 The swing mechanism 40 of the embodiment includes a first rotating shaft 41, a second driven wheel 42, and a third driving device 43. One end of the first rotating shaft 41 is fixed to the bearing frame 51, and the other end is rotationally connected to the rotating frame 34. The second driven wheel 42 is fixed to the bearing frame 51. The third driving device 43 includes a third right-angle motor 431 fixed to the bearing frame 51, a third driving wheel 432 in transmission connection with the output shaft of the third right-angle motor 431, and a third transmission belt for connecting the third driving wheel 432 and the second driven wheel 42. When the detection angle of the detection mechanism 50 needs to be adjusted, the third right-angle motor 431 drives the third driving wheel 432, and then the second driven wheel 42 is driven to rotate through the third transmission belt, so as to drive the bearing frame 51 to rotate, thereby achieving high adjustment efficiency.

[0058] Further, please refer to Figure 2 The angle adjustment assembly 54 includes a second rotating shaft 541, a third driven wheel 542, and a fourth driving device 543. One end of the second rotating shaft 541 is fixedly connected to the imaging plate 53, and the other end is rotationally connected to the bearing frame 51. The third driven wheel 542 is fixed to the second rotating shaft 541. The fourth driving device 543 includes a fourth right-angle motor 5431 fixed to the imaging plate 53, a fourth driving wheel 5432 in transmission connection with the output shaft of the fourth right-angle motor 5431, and a fourth transmission belt for connecting the fourth driving wheel 5432 and the third driven wheel 542. The angle of the imaging plate 53 can be adjusted through the angle adjustment assembly 54, so as to adapt to different application scenarios.

[0059] Further, please refer to Figure 3 The bearing frame 51 is provided with a guide frame 55. The guide frame 55 is provided with inclined guide portions at both ends along the length direction of the bearing frame 51. When the unmanned aerial vehicle hangs the whole robot to be online or offline, the guide frame 55 can be used for guiding, so as to quickly align the online and offline, avoid wire jamming, and reduce the difficulty of the unmanned aerial vehicle online and offline.

[0060] In addition, the bearing frame 51 is fixed to the imaging plate 53 at one end. The deflection to position sensor 56 includes first and second sensor baffles 561 and 562 distributed on both sides of the bearing frame 51 and capable of contacting the strain clamp 60. During the swing of the bearing frame 51, when the first and second sensor baffles 561 and 562 contact the strain clamp 60, the deflection to position sensor 56 receives a to position signal, and then controls the bearing frame 51 to stop swinging.

[0061] Further, the bearing frame 51 is fixed with a mounting frame 57, and the radiation source 52 is detachably fixed to the mounting frame 57, so as to facilitate disassembly and assembly.

[0062] The preferred embodiments of the utility model are specifically explained above, but the utility model creation is not limited to the described embodiments, and the skilled in the art can also make various equivalent modifications or replacements without departing from the spirit of the utility model, and these equivalent modifications or replacements are all included in the range defined by the utility model creation right claim.

Claims

1. A swing type inspection device of a four-split strain clamp inspection robot, characterized by, It includes: a support rod (10); a lifting mechanism (20) capable of lifting along the z direction on the support rod (10); a rotating mechanism (30) connected to the output end of the lifting mechanism (20) and capable of rotating around the z direction of the support rod (10); a swing mechanism (40) connected to the output end of the rotating mechanism (30) and capable of swinging around the x direction of the support rod (10); a detection mechanism (50) including a carrier frame (51), a radiation source (52), an imaging plate (53) and an angle adjustment assembly (54), the carrier frame (51) is connected to the output end of the swing mechanism (40), the radiation source (52) is arranged at one end of the carrier frame (51), the angle adjustment assembly (54) is arranged at the other end of the carrier frame (51), the imaging plate (53) is connected to the output end of the angle adjustment assembly (54), the radiation source (52) and the imaging plate (53) form a detection area, and the imaging plate (53) can be adjusted to one side of any one of the four split strain clamp (60), so that the strain clamp (60) enters the detection area.

2. The swing type detection device of the four-split strain clamp detection robot according to claim 1, characterized by, The lifting mechanism (20) includes a lifting seat (21) sleeved on the support rod (10), a first guide wheel (22) and a first walking wheel (23) rotatably arranged on the lifting seat (21) and abutting against the outer wall surface of the support rod (10), and a first driving device (24) arranged on the lifting seat (21) and used for driving the first walking wheel (23) to walk along the z direction on the support rod (10), and the rotating mechanism (30) is connected to the lower end of the lifting seat (21).

3. The swing type detection device of the four-split strain clamp detection robot according to claim 2, characterized by, The first driving device (24) includes a first right-angle motor (241) fixed to the lifting seat (21), a first driving wheel (242) in transmission connection with the output shaft of the first right-angle motor (241), and a first transmission belt (243) used for linking the first driving wheel (242) and the first walking wheel (23), and the outer side surface of the first walking wheel (23) is provided with a first annular groove recessed along the circumference, and the first transmission belt (243) is located in the first annular groove.

4. The swing type detection device of the four-split strain clamp detection robot according to claim 2, characterized by, The rotating mechanism (30) includes a sliding seat (31) fixed to the lower end of the lifting seat (21), a second guide wheel (32) rotatably arranged on the sliding seat (31) and abutting against the outer wall surface of the support rod (10), a first driven wheel (33) fixed to the sliding seat (31), a rotating frame (34) sleeved on the sliding seat (31) and capable of rotating around the z direction of the support rod (10), a second driving device (35) arranged on the rotating frame (34) and used for driving the first driven wheel (33), and the swing mechanism (40) is connected to one end of the rotating frame (34).

5. The swing-type detection device of the four-split strain clamp detection robot according to claim 4, characterized by, The second driving device (35) includes a second right-angle motor (351) fixed to the rotating frame (34), a second driving wheel (352) in transmission connection with the output shaft of the second right-angle motor (351), and a second transmission belt used for linking the second driving wheel (352) and the first driven wheel (33).

6. The swing type detection device of a four-split strain clamp detection robot according to claim 4, characterized by, The swing mechanism (40) comprises a first rotating shaft (41), a second driven wheel (42) and a third driving device (43); One end of the first rotating shaft (41) is fixed with the bearing frame (51), and the other end is rotationally matched with the rotating frame (34); The second driven wheel (42) is fixed on the bearing frame (51); The third driving device (43) comprises a third vertical motor (431) fixed on the bearing frame (51), a third driving wheel (432) in transmission connection with the output shaft of the third vertical motor (431), and a third transmission belt for linking the third driving wheel (432) and the second driven wheel (42).

7. The swing-type detection device of the four-split strain clamp detection robot according to claim 1, characterized by, The angle adjusting assembly (54) comprises a second rotating shaft (541), a third driven wheel (542) and a fourth driving device (543); One end of the second rotating shaft (541) is fixedly connected with the imaging plate (53), and the other end is rotationally matched with the bearing frame (51); The third driven wheel (542) is fixed on the second rotating shaft (541); The fourth driving device (543) comprises a fourth vertical motor (5431) fixed on the imaging plate (53), a fourth driving wheel (5432) in transmission connection with the output shaft of the fourth vertical motor (5431), and a fourth transmission belt for linking the fourth driving wheel (5432) and the third driven wheel (542).

8. The swing-type detection device of the four-split strain clamp detection robot according to claim 1, characterized by, The bearing frame (51) is provided with a guide frame (55), and the guide frame (55) is provided with inclined guide portions at both ends along the length direction of the bearing frame (51).

9. The swing-type detection device of the quad split tension clamp detection robot according to claim 1, wherein One end of the bearing frame (51) close to the imaging plate (53) is fixed with a deflection to position inductor (56), and the deflection to position inductor (56) comprises a first inductor baffle (561) and a second inductor baffle (562) distributed on both sides of the bearing frame (51) and capable of contacting the strain clamp (60).

10. The swing-type detection device of the four-split strain clamp detection robot according to claim 1, characterized by, The bearing frame (51) is fixed with a mounting frame (57), and the ray source (52) is detachably fixed on the mounting frame (57).

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