Variable-distance power line patrol vehicle

Abstract

The utility model discloses a variable-pitch power line patrol vehicle, and belongs to the technical field of power line patrol equipment. The device comprises a mobile platform and a sensor module loaded on the mobile platform and used for line inspection, and further comprises a driving wheel assembly which comprises a mounting plate, a driving mechanism fixed on the mounting plate, a driving wheel located on the side face of the mounting plate and fixed to a rotating shaft of the driving mechanism, and a pair of follow-up guide wheels located on the two sides of the driving wheel; and the telescopic assembly is provided with a telescopic end which stretches and retracts towards one side or two sides, and the telescopic assembly is fixed on the movable platform. According to the line patrol vehicle, the distance between the left and right driving wheel assemblies is variable through the telescopic assembly; in addition, the driving wheel assembly is provided with a pair of follow-up guide wheels arranged on the two sides of the bridge guide rails respectively, when the distance between the bridge guide rails fluctuates, the bridge guide rails can extrude the follow-up guide wheels, the follow-up guide wheels drive the telescopic ends of the telescopic assemblies to move, and the purpose of stably passing on the bridge guide rails with continuous track gauge changes is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a variable distance electric power line inspection vehicle belongs to electric power line inspection equipment technical field. BACKGROUND

[0002] The electric power line inspection equipment is important technical equipment for guaranteeing the safe operation of the power grid, and the unmanned line inspection vehicle relying on the bridge track is an important direction developed in recent years. The technical scheme mainly comprises a bridge track, an unmanned line inspection vehicle, and a sensor module and a wireless communication module assembled on the unmanned line inspection vehicle, and the core advantage lies in that high-precision and high-frequency inspection is realized through the preset track. The bridge track is erected along the power line to form a continuous closed or segmented inspection path. The sensor module of the unmanned line inspection vehicle mainly comprises a high-definition visible light camera, an infrared thermal imager and a laser radar and the like composite sensor, and can also carry a multi-degree-of-freedom mechanical arm, and can complete more than ten professional detection tasks such as conductor wear detection, insulator damage identification and tower corrosion analysis. Such equipment is especially suitable for power transmission lines crossing rivers, valleys and other complex terrains, and the track system can be laid along the power transmission line to effectively avoid the pain points of the traditional unmanned aerial vehicle inspection restricted by weather conditions.

[0003] Although the track type unmanned line inspection vehicle technology is mature, there are still some unsolvable problems when dealing with complex bridge environments. The moving platform of the existing line inspection vehicle is generally designed based on fixed track pitch, and the walking mechanism of the moving platform is rigidly coupled with the bridge track. When the bridge width fluctuation exceeds the set adaptive width range, the wheels of the walking mechanism are stuck with the bridge track, so that the line inspection vehicle cannot complete the whole line inspection work.

[0004] Therefore, a variable distance electric power line inspection vehicle is designed, which changes the distance between the left and right wheels through the variable distance structure, so that the line inspection vehicle can stably run on the inspection line bridge with large width fluctuation. SUMMARY

[0005] The technical problem to be solved by the utility model lies in: providing a variable distance electric power line inspection vehicle, which solves the problem that the current electric power line inspection vehicle cannot continuously run on the bridge track with large track pitch fluctuation.

[0006] The technical problem to be solved by the utility model is realized by adopting the following technical scheme:

[0007] A variable distance electric power line inspection vehicle, comprising a moving platform and a sensor module loaded on the moving platform for line inspection, further comprising:

[0008] The driving wheel assembly comprises a mounting plate, a driving mechanism fixed on the mounting plate, a driving wheel located on the side of the mounting plate and fixed with the rotating shaft of the driving mechanism, and a pair of follow-up guide wheels located on both sides of the driving wheel, the follow-up guide wheels being installed below the guide plate fixed with the mounting plate, and the outer periphery of the driving wheel being in contact with the top of the single track of the bridge when the single track of the bridge is between the pair of follow-up guide wheels.

[0009] The telescopic assembly has a telescopic end for telescoping to one side or both sides, the telescopic assembly being fixed on the mobile platform, and the telescoping direction of the telescopic assembly being perpendicular to the walking direction of the mobile platform, and at least one set of driving wheel assemblies being installed on the left and right sides of the mobile platform facing the walking direction, wherein the driving wheel assemblies on at least one side of the mobile platform are installed together with the mobile platform through the telescopic assembly.

[0010] Preferably, the sensor module comprises an infrared thermal imaging module, a visible light camera module and a distance measuring module.

[0011] Preferably, the mobile platform is further provided with a wireless communication module.

[0012] Preferably, the driving mechanism adopts a motor.

[0013] Preferably, a U-shaped groove is arranged in the middle of the guide plate, a pair of follow-up guide wheels are respectively installed below the guide plate on both sides of the U-shaped groove, and the driving wheel is located in the U-shaped groove.

[0014] Preferably, the follow-up guide wheel comprises a fixed rod and a roller, the upper end of the fixed rod being fixed with the guide plate, and the roller being rotatably installed on the rod body of the fixed rod, and when the outer periphery of the driving wheel is in contact with the top of the single track of the bridge, the roller is in the same horizontal position as the single track of the bridge.

[0015] Preferably, the driving wheel assembly further comprises a safety device, the safety device connecting the bottom of the fixed rods of the pair of follow-up guide wheels together, and an enclosed annular space being formed around the single track of the bridge among the safety device, the pair of follow-up guide wheels and the guide plate.

[0016] Preferably, the telescopic assembly adopts a telescopic guide rail for telescoping to one side, the telescopic guide rail comprising a guide rail part and a telescopic part installed in the guide rail part, the guide rail part being installed on the mobile platform, and the telescopic end of the telescopic part being fixed with the driving wheel assembly.

[0017] Preferably, the telescopic assembly adopts a synchronous rack assembly capable of synchronous telescoping on both sides, the synchronous rack assembly comprising a central gear rotatably installed at the bottom of the moving platform, a first rack and a second rack respectively engaged with both sides of the central gear, and a sliding seat movably installing the first rack and the second rack on the moving platform, the first rack and the second rack being respectively provided with a maximum limiting block and a minimum limiting block limiting the telescopic stroke in the sliding seat, and the telescopic ends of the first rack and the second rack being respectively fixed with a driving wheel assembly.

[0018] The utility model discloses the beneficial effect is: this patrol car realizes the interval variable of left and right side driving wheel assembly through telescopic assembly, provides the hardware foundation for realizing variable pitch function, and driving wheel assembly is provided with a pair of follow-up guide wheels arranged in the bridge guide rail both sides, when the interval fluctuation of bridge guide rail, the bridge guide rail will extrude follow-up guide wheel, and follow-up guide wheel drives the telescopic end of telescopic assembly to move, and driving wheel telescopes together with the telescopic end, so that the interval of left and right side driving wheel changes along with the interval change of bridge track, realizes the purpose that can stably pass on the bridge track of continuous track interval change. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the overhead structure schematic drawing of the utility model;

[0020] Figure 2 It is the structure schematic drawing of the utility model variable pitch after;

[0021] Figure 3 It is the structure schematic drawing of driving wheel assembly;

[0022] Figure 4 It is the front end surface structure schematic drawing of the utility model;

[0023] Figure 5 It is the structure schematic drawing of synchronous rack assembly;

[0024] Figure 6 It is the bottom surface structure schematic drawing of the utility model using synchronous rack assembly;

[0025] Figure 7 It is the overhead structure schematic drawing of the utility model using synchronous rack assembly;

[0026] Figure 8 It is the walking state schematic drawing of the utility model on the bridge track.

[0027] In the drawing:

[0028] 1, moving platform;

[0029] 2, sensor module; 201, infrared thermal imaging module; 202, visible light camera module; 203, ranging module;

[0030] 3. drive wheel assembly; 301. mounting plate; 302. drive mechanism; 303. drive wheel;

[0031] 4. telescopic assembly; 41. telescopic rail; 411. rail part; 412. telescopic part; 42. synchronous rack assembly; 421. central gear; 422. first rack; 423. second rack; 424. sliding seat; 425. maximum limit stop; 426. minimum limit stop;

[0032] 5. follow-up guide wheel; 501. fixed rod; 502. roller;

[0033] 6. guide plate; 601. U-shaped groove;

[0034] 7. single track; 701. smooth transition section;

[0035] 8. safety device. DETAILED DESCRIPTION

[0036] In order to make the technical means, creative features, purposes and effects of the utility model easy to understand, the utility model will be further described below in combination with specific drawings.

[0037] As shown in Figures 1-4 The variable-distance electric power line inspection vehicle includes a mobile platform 1 and a sensor module 2 for line inspection loaded on the mobile platform 1. The sensor module 2 includes an infrared thermal imaging module 201, a visible light camera module 202, and a ranging module 203.

[0038] The infrared thermal imaging module 201 can detect temperature abnormalities by detecting the thermal radiation of line equipment to form an infrared thermal image, which can quickly find abnormal heating conditions caused by overloading, short circuit, poor contact, and other faults of the equipment, facilitate timely troubleshooting, prevent accidents, and provide stable and reliable detection data regardless of light conditions, whether it is day, night, or bad weather (such as fog, light rain, etc.).

[0039] The visible light camera module 202 can be used for direct observation of equipment status, shooting of visible light images of line equipment, and clear display of equipment appearance, structure, connection parts, and other conditions, which helps inspection personnel directly observe whether the equipment has damage, deformation, foreign matter attachment, and other problems, such as insulator damage, hardware corrosion, etc., to provide accurate image data for fault analysis and equipment maintenance. It can also determine the specific location of the equipment and the surrounding environment through the visible light image, which is convenient for accurate judgment of fault points and development of repair schemes.

[0040] The ranging module 203 adopts a commercially available laser ranging module 203 or ultrasonic ranging module 203 to accurately measure the distance between line equipment, the distance between the equipment and surrounding objects, and other parameters, thereby providing data support for determining whether the equipment installation position meets the requirements and whether the line has safety hazards.

[0041] The mobile platform 1 of the variable-distance electric power line inspection vehicle is also provided with a wireless communication module. The wireless communication module can remotely transmit and receive data information and control information of the sensor module 2 and the driving mechanism 302. The wireless communication module includes a 4G and 5G communication module, which is suitable for scenarios requiring remote real-time monitoring and large data transmission, such as city infrastructure inspection and power line inspection, and can enable the control center to timely obtain high-definition images, videos, and sensor data of the inspection vehicle. In areas where 4G and 5G signals cannot be covered, a satellite communication module can be used for supplementation.

[0042] The variable-distance electric power line inspection vehicle further includes a driving wheel assembly 3 and a telescopic assembly 4.

[0043] The driving wheel assembly 3 includes a mounting plate 301, a driving mechanism 302 fixed on the mounting plate 301, a driving wheel 303 located on the side of the mounting plate 301 and fixed with the rotating shaft of the driving mechanism 302, anti-skid tires arranged on the outer circumference of the driving wheel 303, and a pair of follow-up guide wheels 5 located on both sides of the driving wheel 303. The follow-up guide wheels 5 are installed below a guide plate 6, and the guide plate 6 is fixed with the mounting plate 301. When the outer circumference of the driving wheel 303 contacts the top of a single track 7 of a bridge, the single track 7 of the bridge is located between the pair of follow-up guide wheels 5. When the pair of follow-up guide wheels 5 move left and right with the single track 7 of the bridge, the tread of the driving wheel 303 is always in contact with and can roll on the upper surface of the single track 7 of the bridge.

[0044] The driving mechanism 302 adopts a commercially available motor, and each driving wheel 303 is driven to rotate by a separate motor, thereby improving the climbing ability and stability of passing.

[0045] As shown in Figure 2 , Figure 3 In some embodiments, a U-shaped groove 601 is arranged in the middle of the guide plate 6, a pair of follow-up guide wheels 5 are respectively installed below the guide plate 6 on both sides of the U-shaped groove 601, and the driving wheel 303 is located in the U-shaped groove 601.

[0046] The bottom of the driving wheel 303 passes through the U-shaped slot 601 of the guide plate 6 and contacts the single track 7 of the bridge, and the driving wheel 303 is driven to rotate by the motor, so as to realize the forward movement or backward movement of the moving platform 1. The guide plate 6 not only provides a mounting position for the follow-up guide wheel 5, but also provides protection for the driving wheel 303. The U-shaped slot 601 of the front end of the guide plate 6 is opened towards the rear, and the U-shaped slot 601 of the rear end of the guide plate 6 is opened towards the front. When there is an obstacle on the single track 7 of the bridge, the guide plate 6 can collide to prevent the driving wheel 303 from being directly damaged.

[0047] As shown in Figure 3 some embodiments, the follow-up guide wheel 5 includes a fixed rod 501 and a roller 502. The upper end of the fixed rod 501 is fixed to the guide plate 6, and the roller 502 is rotatably installed on the rod body of the fixed rod 501. When the outer circumference of the driving wheel 303 contacts the top of the single track 7 of the bridge, the roller 502 is in the same horizontal position as the single track 7 of the bridge.

[0048] The single track 7 of the bridge is limited in the middle by a pair of rollers 502. When the spacing of the bridge track changes, the roller 502 is pushed by the single track 7 of the bridge, so as to realize the extension and contraction of the extension and contraction assembly 4.

[0049] As shown in Figure 3 some embodiments, the driving wheel assembly 3 further includes a safety device 8. The safety device 8 connects the bottom of the fixed rods 501 of the pair of follow-up guide wheels 5 together. The safety device 8, the pair of follow-up guide wheels 5, and the guide plate 6 form a closed annular space around the single track 7 of the bridge.

[0050] In relatively severe weather conditions, the safety device 8 can prevent the patrol vehicle from being separated from the bridge track. The patrol vehicle has all-weather inspection capability.

[0051] As shown in Figure 2 , Figures 4-7 the extension and contraction assembly 4 has a single-sided or double-sided extension and contraction end. The extension and contraction assembly 4 is fixed to the moving platform 1, and the extension and contraction direction of the extension and contraction assembly 4 is perpendicular to the walking direction of the moving platform 1. The left and right sides of the moving platform 1 facing the walking direction are each provided with at least one set of driving wheel assemblies 3. Among them, the driving wheel assembly 3 on at least one side of the moving platform 1 is installed together with the moving platform 1 through the extension and contraction assembly 4.

[0052] As shown in Figure 8As shown, the bridge track is composed of two tracks fixed on both sides of the bridge, and the bridge carries power lines. The track gauge of the bridge track will change due to the change in the number of power lines carried. For example, where the number of lines is small, the track gauge of the bridge track is relatively narrow; where the number of lines is large, the track gauge of the bridge track is relatively wide. At the place where the track gauge changes from narrow to wide or from wide to narrow, the track gauge between the two tracks is smoothly transitioned through slow changes in the track gauge, forming a smooth transition section 701, so that the inspection vehicle will not be stuck. The width of the narrowest part of the bridge track is required to be greater than the narrowest distance between the left and right drive wheels 303 of the variable-gauge power line inspection vehicle, and the width of the widest part of the bridge track is required to be less than the widest distance between the left and right drive wheels 303 of the variable-gauge power line inspection vehicle, so that the distance between the drive wheels 303 can always adapt to the width of the bridge track throughout the entire track. By using the telescopic assembly 4, the distance between the left and right drive wheels 303 can be changed.

[0053] As shown in Figure 2 , Figure 4 In some embodiments, the telescopic assembly 4 uses a single-sided telescopic telescopic guide rail 41, which includes a guide rail part 411 and a telescopic part 412 installed in the guide rail part 411. The guide rail part 411 is installed on the moving platform 1, and the telescopic end of the telescopic part 412 is fixed with the drive wheel assembly 3. Two parallel telescopic guide rails 41 are fixed on the moving platform 1, and two groups of drive wheel assemblies 3 are installed on one side of the moving platform 1 in a direct and fixed manner with the mounting plate 301. The other two groups of drive wheel assemblies 3 are installed on the end of the telescopic part 412 of the telescopic guide rail 41 through the mounting plate 301, and can be telescoped with the telescopic part 412. When walking, the distance between the front and rear drive wheels 303 on the left and right sides can be independently changed to adapt to the smooth transition section of the bridge track with different track gauges.

[0054] The telescopic guide rail 41 is simple in structure and easy to install. The telescopic guide rail 41 is used to change the distance between the left and right drive wheels 303, and the single-sided drive wheel 303 can be moved away or close to each other according to the change in the track gauge of the bridge track.

[0055] As shown in Figures 5-8 In some embodiments, the telescopic assembly 4 uses a double-sided synchronous telescopic synchronous rack assembly 42, which includes a center gear 421 rotatably installed on the bottom of the moving platform 1, a first rack 422 and a second rack 423 respectively engaged with the two sides of the center gear 421, and a sliding seat 424 movably installed on the moving platform 1. The first rack 422 and the second rack 423 are each provided with a maximum limit stop block 425 and a minimum limit stop block 426 that limit the telescopic stroke in the sliding seat 424, and the telescopic ends of the first rack 422 and the second rack 423 are respectively fixed with the drive wheel assembly 3.

[0056] Two groups of parallel synchronous rack assemblies 42 are fixed on the moving platform 1, the first rack 422 and the second rack 423 of each group of synchronous rack assemblies 42 are installed with driving wheel assemblies 3 in a fixed manner through the mounting plate 301, and the moving platform 1 is installed with four groups of driving wheel assemblies 3. When walking, the interval of the front and rear driving wheels 303 on the left and right can be changed independently, and the left and right driving wheels 303 are synchronized with the moving platform 1.

[0057] When the bridge track rail gauge changes, the left and right driving wheels 303 are symmetrically extended and retracted relative to the moving platform 1, which is beneficial to the sensor module 2 of the moving platform 1 to be always in the central position of the required inspection line, and is beneficial to the complete recording of the inspection information. The symmetric extension is more stable and smooth when walking on the bridge track smooth transition section 701.

[0058] The basic principle and main features of the utility model and the advantages of the utility model are shown and described. It should be understood by those skilled in the art that the utility model is not limited by the above-mentioned embodiments, and various changes and improvements can be made without departing from the spirit and scope of the utility model. These changes and improvements all fall within the scope of the utility model. The scope of protection of the utility model is defined by the appended claims and their equivalents.

Claims

1. A variable distance electric power line inspection vehicle comprising a mobile platform (1) and a sensor module (2) for line inspection mounted on the mobile platform (1), characterized in that, Also include: The driving wheel assembly (3) includes a mounting plate (301), a driving mechanism (302) fixed on the mounting plate (301), a driving wheel (303) located on the side of the mounting plate (301) and fixed with the rotating shaft of the driving mechanism (302), and a pair of follow-up guide wheels (5) located on both sides of the driving wheel (303), the follow-up guide wheels (5) are installed below the guide plate (6), the guide plate (6) is fixed with the mounting plate (301), when the outer circumference of the driving wheel (303) contacts the top of the single track (7) of the bridge, the single track (7) of the bridge is between the pair of follow-up guide wheels (5); The telescopic assembly (4) has a telescopic end that can be telescoped to one side or both sides, the telescopic assembly (4) is fixed on the mobile platform (1), the telescopic direction of the telescopic assembly (4) is perpendicular to the walking direction of the mobile platform (1), the left and right sides of the mobile platform (1) facing the walking direction are each provided with at least one set of driving wheel assembly (3), and the driving wheel assembly (3) on at least one side of the mobile platform (1) is installed with the mobile platform (1) through the telescopic assembly (4).

2. The variable distance electric line inspection vehicle according to claim 1, wherein, The sensor module (2) includes an infrared thermal imaging module (201), a visible light camera module (202), and a distance measuring module (203).

3. The variable distance electric line inspection vehicle of claim 1, wherein, The mobile platform (1) is also provided with a wireless communication module.

4. The variable distance electric line inspection vehicle of claim 1, wherein, The driving mechanism (302) adopts a motor.

5. The variable distance electric line inspection vehicle of claim 1, wherein, The middle part of the guide plate (6) is provided with a U-shaped groove (601), and a pair of follow-up guide wheels (5) are respectively installed below the guide plate (6) on both sides of the U-shaped groove (601), and the driving wheel (303) is located in the U-shaped groove (601).

6. The variable distance electric line inspection vehicle of claim 1, wherein, The follow-up guide wheel (5) includes a fixed rod (501) and a roller (502), the upper end of the fixed rod (501) is fixed with the guide plate (6), and the roller (502) is rotatably installed on the rod body of the fixed rod (501), when the outer circumference of the driving wheel (303) contacts the top of the single track (7) of the bridge, the roller (502) is located in the same horizontal position as the single track (7) of the bridge.

7. The variable distance electric line inspection vehicle of claim 6, wherein, The driving wheel assembly (3) further comprises a safety device (8), the safety device (8) connects the bottom of the fixed rods (501) of the pair of follow-up guide wheels (5) together, and a closed annular space around the single track (7) of the bridge is formed between the safety device (8), the pair of follow-up guide wheels (5) and the guide plate (6).

8. The variable distance electric line inspection vehicle of claim 1, wherein, The telescopic assembly (4) adopts a single-sided telescopic telescopic guide rail (41), the telescopic guide rail (41) includes a guide rail part (411) and a telescopic part (412) installed in the guide rail part (411), the guide rail part (411) is installed on the mobile platform (1), and the telescopic end of the telescopic part (412) is fixed with the driving wheel assembly (3).

9. The variable distance electric line inspection vehicle of claim 1, wherein, The telescopic assembly (4) adopts a synchronous rack assembly (42) capable of synchronous telescoping on both sides, which comprises a central gear (421) rotatably installed at the bottom of the moving platform (1), a first rack (422) and a second rack (423) respectively meshing with both sides of the central gear (421), and a sliding seat (424) movably mounting the first rack (422) and the second rack (423) on the moving platform (1), wherein the first rack (422) and the second rack (423) are respectively provided with a maximum limiting stop block (425) and a minimum limiting stop block (426) limiting the telescopic stroke in the sliding seat (424), and the telescopic ends of the first rack (422) and the second rack (423) are respectively fixed with a driving wheel assembly (3).

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