High-voltage power transmission line robot

Abstract

The invention provides a high-voltage power transmission line robot. The high-voltage power transmission line robot comprises flexible power wheels which are arranged in pairs and can move along powertransmission cables, power wheel supporting arms and a supporting seat, wherein one end of each power wheel supporting arm is connected with each flexible power wheel; walking arm flexible driving mechanisms are correspondingly arranged on the supporting seat; the other end of each power wheel supporting arm is connected with each walking arm flexible driving mechanism and is hinged on the supporting seat in a swinging state; and an actuator which can be replaced according to operation tasks is also arranged on the supporting seat. The high-voltage power transmission line robot is designed for divided conductors with voltage being higher than 500kv, is capable of ensuring that the flexible power wheels are tightly close to an inspection line during moving, can be adapted to complicated situations of the line, can be better applied to line hardware, has a function of easily lifting and hanging the line, and also naturally has a falling prevention function, is capable of avoiding crossing failure caused by leaving from the line when crossing over poles and towers; the reliability and the stability of a robot platform in use are improved; the inspection efficiency and the safety aregreatly improved; and the equipment reliability is high.

Description

technical field [0001] The invention belongs to the technical field of power line inspection and maintenance, and in particular relates to a high-voltage transmission line robot. Background technique [0002] The high-voltage transmission line is the core of the power grid, and the method of power outage maintenance will cause huge economic losses. Therefore, the maintenance of the high-voltage transmission line must be carried out under live conditions, but the maintenance work of the high-voltage transmission line is extremely difficult and dangerous. Therefore, it is inevitable to replace or assist workers in dangerous and complicated line inspection and maintenance by robots. [0003] At present, the maintenance of the prior art is basically done for the 220kv high-voltage transmission line. The lines with a voltage level of 500kv and above are basically four-split, six-split (or 8-split and more) wires. There are huge differences in level lines, but the existing techn...

AI Technical Summary

Problems solved by technology

There are many kinds of poles and towers in a high-voltage line, and the straight poles and towers are relatively simple. However, the process of passing the straight line towers in the prior art is very complicated: usually by adjusting the position and posture of the mechanical arm and cooperating with the actuator to perform wire loosening-moving-restarting The action of grabbing the line to achieve the leap

Its execution is complicated and time-consuming. The structure of the corresponding mechanical arm is complex and the development cost is high. However, four-split, six-split and more wires are more complicated, and it needs to be completed by multiple transmission mechanisms to cooperate with the actuator, which not only increases the inspection The overall weight and manufacturing cost of the robot. Moreover, due to the relatively harsh high-altitude environment, the robot body may sway and tilt more seriously. In the process of crossing the suspension wire clamp and the actuator loosening the high-voltage wire to adjust the attitude, complex and multi-stage The transmission mechanism is likely to cause the actuator to go off-line due to insufficient transmission or failure, and cannot return to the predetermined working position, which seriously affects the success rate of crossing the high-voltage line tower, and there are potential safety hazards

[0005] In addition, the maintenance of power transmission lines belongs to high-altitude operations, and the working conditions are complex and the risk factor is high. There are extremely high requirements for the reliability, flexibility and versatility of the robot platform.

Existing technologies and robot systems generally face the problem of insufficient versatility. It is difficult to cope with the complexity of high-altitude working conditions with a single motion mechanism, and the success rate of operations cannot be guaranteed.

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