Self-traction type overhead bare conductor coating robot

Abstract

The utility model discloses a self-traction type overhead bare conductor coating robot which comprises a machine body, a wire hanging unit, a walking unit and a coating unit. The wire hanging unit comprises a wire hanging frame, the walking unit comprises moving frames located at the upper end of the machine body and arranged relative to the two ends of the wire hanging frame, and the coating unit comprises a coating frame arranged at the upper end of one moving frame. According to the utility model, the coating robot hangs the wire hanging frame on the cable in a manner of manually hanging the traction rope, and then the lifting rope drives the equipment to ascend, so that the wire hanging operation of the equipment is automatically completed, and the equipment stably moves along the cable through the walking unit; in the moving process of the machine body, the material barrel is used for continuously conveying the insulating material to the coating head so that the insulating material can be evenly coated on the surface of the cable, compared with manual construction, the construction automation degree is high, the operation risk is reduced, and the construction efficiency and quality are remarkably improved; the whole on-line and off-line operation process of the device is simple, and the device is particularly convenient for field operation in field and remote areas.

Description

Technical Field

[0001] The utility model relates to the technical field of power grid maintenance, in particular to a self-traction type overhead bare wire coating robot. Background Art

[0002] In existing technology, power transmission primarily utilizes overhead lines. Early-planned distribution lines were often deployed with bare conductors. Due to their low overhead height, bare conductors are susceptible to contact with growing trees and expanding buildings, potentially causing short circuits and presenting numerous safety hazards. To improve power transmission safety, insulation retrofits are required on older bare overhead conductors. Traditionally, the insulation retrofit method for overhead lines involves replacing the entire bare conductor. This construction method requires widespread power outages and the replanning and erection of poles and towers, which is not only time-consuming, labor-intensive, and costly, but also extremely inefficient.

[0003] Conventional spraying typically involves manual or robotic spraying. Manual spraying suffers from low efficiency, high operational risks, and inconsistent results. While robotic spraying improves efficiency, existing coating robots require operators to hook the machine up to a line, which is not only time-consuming and labor-intensive but also involves contact with live wires, creating a risk. This is not only dangerous for operators but also reduces efficiency and can easily lead to falls, potentially causing equipment or personnel to fall. Utility Model Content

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a self-traction overhead bare wire coating robot, which adopts a fully automatic spraying method to improve the cable maintenance efficiency.

[0005] The technical solution adopted by the utility model is: a self-traction overhead bare wire coating robot, including a machine body, a wire hanging unit, a walking unit and a coating unit; the wire hanging unit includes a wire hanging frame, a hanging groove for the cable to be clamped in the front side of the wire hanging frame, a traction part connected to the traction rope is provided at the top of the wire hanging frame, and lifting ropes are also connected at both ends of the wire hanging frame, and the lifting ropes are connected to the winding module arranged in the machine body; the walking unit includes a moving frame located at the upper end of the machine body and arranged relative to the two ends of the wire hanging frame, the lower end of the moving frame rotates with the machine body, and the upper end of the moving frame is provided with a walking wheel group. The moving frame is provided with a pushing module for driving the moving frame to rotate around the lower end, so that the moving frame can rotate upward to a vertical position so that the walking wheel group is hung on the cable; the coating unit includes a coating frame provided at the upper end of one of the moving frames, and a coating head is provided on the coating frame, and the coating head is connected to a barrel for storing insulating material through a pipeline.

[0006] In this technical solution, the hanging unit arranged on the machine body is used to automatically hang the entire equipment on the cable. After the traction rope is passed around the cable through the elevated equipment, the traction rope is pulled to gradually raise the hanging frame and finally make the cable stuck in the hanging groove; then the lifting rope is gradually reeled in by the winding module to drive the entire equipment to rise until the cable position; the various moving frames of the walking unit are rotated to a vertical position so that the walking wheel group contacts the cable, and the machine body can move along the cable under the rotation of the walking wheel group; during the movement of the machine body, the insulating material is continuously transported to the coating head by the material barrel so that the insulating material is evenly coated on the cable surface. The entire on-line and off-line operation process of this device is simple, which is especially convenient for on-site operations in the wild and remote areas. At the same time, compared with manual construction, not only is the construction automation level high, the operation risk is reduced, but the construction efficiency and quality are significantly improved.

[0007] Preferably, the pushing module includes a pushing block slidably arranged at the lower end of the mobile frame, the lower end of the pushing block is also hinged to the upper end of the machine body, when the pushing block slides out of the lower end of the mobile frame, the mobile frame rotates upward around the lower end to a position perpendicular to the machine body.

[0008] Preferably, the lower end of the mobile frame is provided with a slide groove that slides with the push block, and a motor module is provided in the mobile frame. The output end of the motor module is connected to a screw that threads with the mobile frame and the lower end of the push block is hinged with the machine body.

[0009] Preferably, a positioning groove capable of abutting against the wire hanging rack is provided at the upper end of the machine body, and a lifting rope connected to the wire winding module passes through both ends of the positioning groove.

[0010] Preferably, a limit block is provided in the positioning groove, and a limit sensing module connected to the winding module signal is provided on the limit block. When the limit block abuts against the wire hanging rack, the winding module stops running.

[0011] Preferably, the two movable racks located at the upper end of the machine body are located at both ends of the positioning slot and are arranged in a staggered manner, and the two movable racks rotate in opposite directions.

[0012] Preferably, the coating rack comprises an upper mold rack and a lower mold rack arranged relatively to each other, the upper mold rack and the lower mold rack are connected via a screw module, and the distance between the upper mold and the lower mold can be increased or decreased when the screw module rotates.

[0013] Preferably, a spraying groove with an arc-shaped structure is provided on one side opposite to the upper mold and the lower mold, and the coating head is arranged in the spraying groove.

[0014] Preferably, one end surface of the machine body is provided with an installation position for installing the barrel, the installation position opening is provided with an L-structured locking groove, and the outer periphery of the barrel end is provided with a locking lever, and the locking lever can be stuck in the locking groove.

[0015] The beneficial effects of the present invention are as follows: the coating robot in the present invention hangs the hanging frame to the cable by manually hanging the traction rope, and then uses the winding module to reel in the lifting rope to automatically complete the equipment hanging operation, and the various moving frames of the walking unit rotate to a vertical position so that the walking wheel group contacts the cable, and the machine body can move along the cable under the rotation of the walking wheel group; during the movement of the machine body, the material barrel is used to continuously transport the insulating material to the coating head so that the insulating material is evenly coated on the cable surface. Compared with manual construction, it not only has a high degree of automation, reduces operational risks, but also significantly improves construction efficiency and quality; at the same time, the entire on-line and off-line operation process of the device is simple, which is especially convenient for on-site operations in the wild and remote areas, and has high practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0017] Figure 1 The three-dimensional structure of the self-pulling overhead bare wire coating robot provided in the embodiment of the utility model Figure 1 .

[0018] Figure 2 The three-dimensional structure of the self-pulling overhead bare wire coating robot provided in the embodiment of the utility model Figure 2 .

[0019] Figure 3 This is a schematic diagram of the lifting and lowering of the self-traction overhead bare wire coating robot provided in an embodiment of the utility model.

[0020] Figure numerals: machine body 100, positioning slot 110, installation position 120, locking slot 130, wire hanging rack 200, hanging slot 210, traction part 220, lifting rope 300, moving rack 400, walking wheel group 500, coating rack 600, upper mold rack 610, lower mold rack 620, screw module 630, spray tank 640, barrel 700, locking lever 710, push block 800, limit block 900. DETAILED DESCRIPTION

[0021] The following embodiments of the technical solution of the present invention are described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and are therefore only examples and are not intended to limit the scope of protection of the present invention.

[0022] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which this utility model belongs.

[0023] Example 1

[0024] like Figures 1 to 3 As shown, a specific embodiment of the present invention provides a self-traction overhead bare wire coating robot, which can automatically complete the insulation material spraying operation of the cable; it specifically includes a body 100, including a hanging unit, a walking unit and a coating unit; the hanging unit includes a hanging frame 200, and the front side of the hanging frame 200 is provided with a hanging groove 210 for the cable to be clamped, and the top of the hanging frame 200 is provided with a traction part 220 connected to the traction rope, and the two ends of the hanging frame 200 are also connected with a lifting rope 300, and the lifting rope 300 is connected to the winding module provided in the body 100; the walking unit includes a moving frame 400 located at the upper end of the body 100 and arranged relative to the two ends of the hanging frame 200, the lower end of the moving frame 400 is rotatably matched with the body 100, and the upper end of the moving frame 400 is provided with a walking wheel group 500, and the moving frame 400 is provided with a pushing module for driving the moving frame 400 to rotate around the lower end, so that the moving frame 400 can be rotated upward to a vertical position so that the walking wheel group 500 is hung on the cable. The coating unit includes a coating rack 600 disposed on the upper end of one of the movable racks 400 . A coating head is disposed on the coating rack 600 . The coating head is connected to a barrel 700 storing insulating material through a pipeline.

[0025] like Figures 1 to 3 As shown, through the above-mentioned arrangement, the wire hanging unit provided on the body 100 in this embodiment is used to automatically hang the entire device on the cable; when the device is in use, after the traction rope is passed around the cable by an elevated device, such as a small drone, the technician can pull the traction rope to gradually raise the wire hanging frame 200 and finally make the cable stuck in the wire hanging groove; when the wire hanging frame 200 is stably hung on the cable, the winding module in the body 100 is started to gradually reel in the lifting rope 300, and the device is automatically raised to the cable position under the pull of the winding module, completing the automatic wire hanging operation of the device; during operation, the device is rotated to a vertical position through the various moving frames 400 of the walking unit. The traveling wheel group 500 is brought into contact with the cable, and the machine body 100 can move along the cable as the traveling wheel group 500 rotates; during the movement of the machine body 100, the barrel 700 is used to continuously convey the insulating material to the coating head so that the insulating material is evenly coated on the surface of the cable. In actual applications, a power supply module, a control system and a data transmission system are set in the machine body 100 to facilitate remote control operations by technicians. The specific structure and detailed usage method of the hanging rack 200 in this embodiment refer to the technical content of the overhead transmission line hanging rack 200 and the method of loading and unloading the line disclosed in the application number 202410021500.7 applied by our company, which will not be repeated here.

[0026] As mentioned above, after the machine body 100 is raised to its position under the drive of the winding module, the mobile frame 400 located at the upper end of the machine body 100 needs to use the pushing module to make the walking wheel group 500 hang on the cable; the pushing module provided in this embodiment includes a pushing block 800 slidably arranged at the lower end of the mobile frame 400, and the lower end of the pushing block 800 is also hinged to the upper end of the machine body 100. When the pushing block 800 slides out of the lower end of the mobile frame 400, the mobile frame 400 rotates upward around the lower end to a position perpendicular to the machine body 100. Since the lower end of the mobile frame 400 is rotatably connected to the machine body 100, the pushing block 800 can push the mobile frame 400 to rotate online after sliding out of the mobile frame 400, thereby moving the walking wheel group 500 to above the cable, and the device can achieve automatic travel through the driving force provided by the walking wheel group 500.

[0027] like Figures 1 to 3 As shown, in order to slide the push block 800 on the lower end of the mobile frame 400, this embodiment provides a slide groove that slides with the push block 800 at the lower end of the mobile frame 400, and a motor module is provided in the mobile frame 400. The output end of the motor module is connected to a screw that threads with the mobile frame 400. The lower end of the push block 800 is hinged with the body 100. The motor module drives the screw to rotate to make the push block 800 slide along the slide groove, thereby causing the mobile frame 400 to rotate upward. In order to reduce the time it takes for the hanging rack to move upward to a vertical position, the two movable racks 400 located at the upper end of the body 100 are located at both ends of the positioning groove 110 and are arranged in a staggered manner, and the two movable racks 400 turn in opposite directions; in this way, the two movable racks 400 can rotate toward each other, so that the walking wheel assemblies 500 on the two movable racks 400 complete the line hanging operation; in addition, the movable racks 400 are arranged at an angle in the initial state, and in the longitudinal cross-section, the two movable racks 400 are in a V state. When the movable racks 400 are rotated to a vertical position, the walking wheel assemblies 500 can be hung on the cable.

[0028] like Figures 1 to 3As shown, after the device winds the lifting rope 300 through the winding module to raise the body 100 to the limit position, the wire hanging rack 200 contacts the body 100. In order to improve the stability of the wire hanging rack 200 after contacting the body 100, this embodiment provides a positioning groove 110 at the upper end of the body 100 of the wire hanging rack 200, which can be offset against the wire hanging rack 200, and the lifting rope 300 connected to the winding module passes through the two ends of the positioning groove 110. In addition, in order to ensure that the machine body 100 can stop automatically after rising and contacting the wire hanging rack 200, this embodiment is provided with a limit block 900 in the positioning groove 110, and the limit block 900 is provided with a limit sensing module connected to the signal of the winding module. That is to say, after the machine body 100 rises to the position of the wire hanging rack 200, the limit block 900 located in the positioning groove 110 can be against the wire hanging rack 200, triggering the limit sensing module, thereby stopping the operation of the winding module, and the machine body 100 can be maintained at the corresponding height so that the walking wheel group 500 on the movable frame 400 is hung on the cable.

[0029] Example 2

[0030] like Figures 1 to 3 As shown, this embodiment further optimizes the structure of the coating rack 600 to improve the coating uniformity of the cable. Specifically, the coating rack 600 includes an upper mold rack 610 and a lower mold rack 620 arranged relative to each other in the upper and lower directions. The upper mold rack 610 and the lower mold rack 620 are connected by a screw module 630. When the screw module 630 rotates, the distance between the upper mold and the lower mold can increase or decrease. After the equipment is moved into place, the coating rack 600 can move to the cable position with the movable rack 400. The mold racks arranged in the upper and lower directions can surround the cable, thereby improving the uniformity of the spraying of the insulating material. In addition, an arc-shaped spraying groove 640 is provided on the opposite side of the upper mold and the lower mold, and the coating head is provided in the spraying groove 640. The spraying groove 640 can completely surround the cable, so that the coating head can completely spray the insulating material onto the surface of the cable.

[0031] like Figures 1 to 3 As shown, in this embodiment, a mounting position 120 for mounting a cartridge 700 is provided on one end surface of the housing 100. The mounting position 120 has an L-shaped locking slot 130 formed at its opening. A locking lever 710 is provided on the outer periphery of the end of the cartridge 700 and can be snapped into the locking slot 130. The cartridge 700, which contains insulating material, can be inserted into the mounting position 120 and secured by the locking lever 710 for easy assembly and replacement. The cartridge 700 can be constructed as a pressure bottle, which uses pressure to eject the insulating material.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A self-traction type overhead bare wire coating robot, comprising a body (100), characterized in that: Also includes The wire hanging unit comprises a wire hanging frame (200), a hanging groove (210) for inserting a cable into the front side of the wire hanging frame (200), a traction portion (220) for connecting a traction rope to the top of the wire hanging frame (200), and lifting ropes (300) connected to both ends of the wire hanging frame (200). The lifting ropes (300) are connected to a wire winding module provided in the machine body (100); The walking unit comprises a moving frame (400) located at the upper end of the machine body (100) and arranged relative to both ends of the wire hanging frame (200); the lower end of the moving frame (400) is rotatably matched with the machine body (100); the upper end of the moving frame (400) is provided with a walking wheel group (500); the moving frame (400) is provided with a pushing module for driving the moving frame (400) to rotate around the lower end, so that the moving frame (400) can be rotated upward to a vertical position so that the walking wheel group (500) is hung on the wire; The coating unit comprises a coating frame (600) arranged at the upper end of one of the movable frames (400), a coating head being provided on the coating frame (600), and the coating frame (600) comprising an upper mold frame (610) and a lower mold frame (620) arranged opposite to each other in an upper and lower direction. The upper mold frame (610) and the lower mold frame (620) are connected to each other through a screw module (630). When the screw module (630) rotates, the distance between the upper mold frame (610) and the lower mold frame (620) can be increased or decreased.

2. The self-traction type overhead bare wire coating robot according to claim 1, characterized in that: The pushing module comprises a pushing block (800) slidably arranged at the lower end of the moving frame (400), the lower end of the pushing block (800) being hinged to the upper end of the machine body (100), and when the pushing block (800) slides out of the lower end of the moving frame (400), the moving frame (400) rotates upward around the lower end to a position perpendicular to the machine body (100).

3. The self-traction type overhead bare wire coating robot according to claim 2, characterized in that: The lower end of the movable frame (400) is provided with a slide groove that is slidably matched with the push block (800), and a motor module is provided in the movable frame (400). The output end of the motor module is connected to a screw push block (800) that is threadedly matched with the movable frame (400), and the lower end of the screw push block (800) is hingedly matched with the machine body (100).

4. The self-traction type overhead bare wire coating robot according to claim 1, characterized in that: The upper end of the machine body (100) is provided with a positioning groove (110) capable of abutting against the wire hanging frame (200), and a lifting rope (300) connected to the wire winding module passes through both ends of the positioning groove (110).

5. The self-traction type overhead bare wire coating robot according to claim 4, characterized in that: A limit block (900) is provided in the positioning groove (110), and a limit sensing module connected to the winding module signal is provided on the limit block (900). When the limit block (900) abuts against the wire hanging rack (200), the winding module stops running.

6. The self-traction type overhead bare wire coating robot according to claim 1, characterized in that: The two movable frames (400) located at the upper end of the machine body (100) are located at both ends of the positioning groove (110) and are arranged in a staggered manner, and the two movable frames (400) rotate in opposite directions.

7. The self-traction type overhead bare wire coating robot according to claim 1, characterized in that: An arc-shaped spraying slot (640) is provided on one side opposite to the upper mold frame (610) and the lower mold frame (620), and the coating head is arranged in the spraying slot (640).

8. The self-traction type overhead bare wire coating robot according to claim 1, characterized in that: The coating head is connected to a barrel (700) for storing insulating material via a pipeline; one end surface of the machine body (100) is provided with an installation position (120) for installing the barrel (700); an opening of the installation position (120) is provided with an L-shaped locking groove (130); a locking lever (710) is provided on the outer periphery of the end of the barrel (700); and the locking lever (710) can be locked in the locking groove (130).

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