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Manipulator for repairing R pin of power transmission line hardware fitting

A technology of power transmission lines and manipulators, applied in manipulators, program control manipulators, overhead line/cable equipment, etc., can solve the problems of low work efficiency in installing R pins, and achieve the effect of high work efficiency

Pending Publication Date: 2022-07-29
国网河北省电力有限公司超高压分公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0012] The technical problem to be solved by the present invention is to provide a manipulator for reinstalling the R pin with the fittings of the transmission line, and to solve the technical problem of low work efficiency in installing the R pin

Method used

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  • Manipulator for repairing R pin of power transmission line hardware fitting
  • Manipulator for repairing R pin of power transmission line hardware fitting
  • Manipulator for repairing R pin of power transmission line hardware fitting

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] like Figure 1 to Figure 5As shown in the figure, the present invention discloses a manipulator for fitting an R pin on a power transmission line fitting, which includes an arm, a wrist drive motor 4 mounted on the front end of the arm, a palm mounted on the wrist drive motor 4, and a wrist mounted on the palm. The upper finger, the finger driver for driving the movement of the finger, the overhead device for spreading the R pin, and the controller, the controller is a single-chip microcomputer, and the overhead device is a triangular block 8, that is, a block with a triangular cross-section body.

[0037] like figure 1 and image 3 As shown, the arm is a three-dimensional link. The robotic arm includes three robotic arms with the same structure, namely the first to third robotic arms, and the first robotic arm includes a first arm frame 1-1, a first arm wire The rod 1-2, the first arm support rod 1-3, the first arm slider 1-4 and the first arm motor 1-5 are provided...

Embodiment 2

[0058] Embodiment 2 is different from Embodiment 1 in that the overhead device, that is, the triangular block 8 and the overhead device connecting plate 9 are removed.

[0059] The invention discloses a manipulator for installing R pins on transmission line fittings, comprising an arm, a wrist drive motor 4 mounted on the front end of the arm, a palm mounted on the wrist drive motor 4, and a finger mounted on the palm and a finger driver and a controller for driving the movement of the finger, and the controller is a single-chip microcomputer.

[0060] The arm part is a three-dimensional link. The robotic arm includes three robotic arms with the same structure, namely the first to third robotic arms, and the first robotic arm includes a first arm frame 1-1, a first arm screw 1- 2. The first arm support rod 1-3, the first arm slider 1-4 and the first arm motor 1-5 are provided with screw holes and sliding holes on the first arm slider 1-4, and the first arm slides The screw ho...

Embodiment 3

[0076] Embodiment 3 is different from Embodiment 1 in that the pin press driving motor 13 and the pin press screw 14 are replaced with electric push rods.

[0077] The invention discloses a manipulator for installing R pins on transmission line fittings, comprising an arm, a wrist drive motor 4 mounted on the front end of the arm, a palm mounted on the wrist drive motor 4, and a finger mounted on the palm The controller is a single-chip microcomputer, and the overhead device is a triangular block 8, that is, a block with a triangular cross-section.

[0078] The pin press driver includes an electric push rod and a pin press support rod 15. A sliding hole is opened on the pin press press plate 10, and the sliding hole of the pin press press plate 10 is sleeved with the pin press support rod 15. The housing of the push rod and the pin press support rod 15 are fixedly connected with the pin press connecting plate 16, and the rod of the electric push rod passes through the pin pres...

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PUM

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Abstract

The invention discloses a manipulator for repairing an R pin of a power transmission line fitting, and relates to the technical field of ultra-high voltage power transmission line maintenance equipment. The finger part is arranged on the palm part, the finger part driver is used for driving the finger part to move, the controller is electrically connected with the finger part driver, the finger part driver is in driving connection with the finger part, and the palm part, the finger part and the finger part driver form a hand part. The finger portion comprises a clamp used for clamping an R pin and a pin pressing device pressing plate used for pressing the R pin, the finger portion driver comprises a pin clamping driver and a pin pressing driver, and the pin clamping driver is connected with the clamp and enables the clamp to be opened or closed. The pin pressing driver is connected with the pin pressing device pressing plate and enables the pin pressing device pressing plate to be close to or away from the clamp. By means of the clamp, the pin pressing device pressing plate and the like, the working efficiency of installing the R pin is high.

Description

technical field [0001] The invention relates to the technical field of ultra-ultra-high voltage transmission line maintenance equipment, in particular to a manipulator for repairing R pins of transmission line fittings. Background technique [0002] During the operation of ultra-ultra-high voltage transmission lines, due to the low-frequency vibration of breeze and external force damage, etc., the connecting plates, spacers, heavy hammers and other connecting hardware pins of the transmission line are missing, which leads to hidden dangers in the operation of the transmission line. [0003] The authorization announcement number is CN108539656B, and the name is a special pin loader for tension-resistant M pins. It includes a pulley and an M-pin catapult set on the pulley, the M-pin catapult includes a catapult frame, and a sliding plate, an elastic telescopic structure, and a clip structure all set on the catapult frame, and the sliding plate is elastically stretched and stre...

Claims

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Application Information

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IPC IPC(8): H02G1/02B25J15/02B25J9/02B25J15/00
CPCH02G1/02B25J15/0213B25J9/023B25J15/0033
Inventor 周子健吕海龙高章林付炜平吴文华刘海峰苗文超吴阳依阳
Owner 国网河北省电力有限公司超高压分公司