Device and method for on-line and off-line operation of live working robot

Abstract

The present invention discloses a device and method for getting on and off the line of a live working robot, including a drone, a hanging line robot and a connecting mechanism; the hanging line robot includes a saddle frame, a wire claw clamp and an electromagnetic adsorption mechanism, the saddle frame includes a strip groove for arranging the wire, a pair of wire claw clamps are connected to the saddle frame and are arranged on both sides of the strip groove, and the electromagnetic adsorption mechanism is connected to the saddle frame; the top of the connecting mechanism is connected to the drone, and the bottom is electromagnetically adsorbed by the hanging line robot. When in use, the drone and the hanging line robot work together, and the drone and the hanging line robot cooperate to control the live working robot to go online for operation. When the operation is completed and the robot goes offline, the drone and the hanging line robot cooperate to transport the live working robot back to the ground. The online and offline operations can be completed with the assistance of drones, avoiding the need for personnel to pull the wires of the power robot up and down by pulling the sling for conventional operations, reducing the physical consumption of maintenance personnel and reducing the operation risks.

Description

Technical Field

[0001] The present invention belongs to the technical field of live-line working on power transmission lines, and in particular relates to a live-line working robot on-line access device and method. Background Art

[0002] Live working on transmission lines is a method of maintenance and testing on high-voltage overhead transmission lines without power outages. It is an important technical means to ensure the safe and stable operation of the power grid and the reliability of power supply. It can bring huge economic benefits to the operation of the power grid and huge social benefits to reliable power supply. However, there are still the following problems with live working: First, the labor intensity of the operators is high. Live working requires operators to go to the site to implement, which has high labor intensity, low work efficiency and high operating costs. Some simple live working can be replaced by robots, but there are currently no mature live working robots and it cannot be realized. Second, the risk of on-site safety control is high. The safety control of live working sites is mainly based on "human defense", which relies heavily on the work experience of operators, the safety protection means are extremely single, and the individual control differences are uneven, which poses a great safety risk.

[0003] Live maintenance work must be carried out by live workers at the equipotential position, ground potential position and intermediate potential position, and can only be completed with the help of live working tools. Equipotential work has many advantages. It can do maintenance work with zero-distance contact with live equipment, can complete many delicate and complex maintenance work, and can ensure ideal work results; however, when working on compact line towers and multi-circuit line towers, the distance between crossarms and phases is too small. To carry out equipotential work, maintenance personnel must move their bodies along the insulators into the live parts, or use hanging rails to put them in. In the process of entering, it will cause short circuits between phases and relative to ground, which seriously restricts the effective implementation of equipotential work. Summary of the invention

[0004] The purpose of the present invention is to address the deficiencies of the prior art and provide a live working robot on-line and off-line device and method that reduces labor intensity and operating risks.

[0005] The live working robot line-up and down-line device provided by the present invention comprises an unmanned aerial vehicle, a line-hanging robot and a connecting mechanism; the line-hanging robot comprises a saddle frame, a wire claw clamp and an electromagnetic adsorption mechanism, the saddle frame comprises a strip groove for arranging the wires, a pair of wire claw clamps are connected to the saddle frame and are arranged on both sides of the strip groove, and the electromagnetic adsorption mechanism is connected to the saddle frame; the top end of the connecting mechanism is connected to the unmanned aerial vehicle, and the bottom end is electromagnetically adsorbed to the line-hanging robot.

[0006] The saddle frame includes side panels, a top seat and a wire pressing assembly; the side panels are rectangular panels, the bottom edges of which are bent outward, a mounting seat is provided at the geometric center, a lifting slot is provided at the top, and a plurality of weight-reducing holes are provided on the body; a pair of side panels are arranged opposite to each other, the top seat is connected between the two side panels, the top edge is flush with the top edge of the side panels, and the wire pressing assembly is connected inside the two side panels.

[0007] The wire crimping assembly includes a wire crimping wheel, a wheel seat and a guide rod; the wire crimping wheel includes a wheel body and a wheel axle, the wheel axle is a stepped shaft, and its two ends are threaded small diameter sections; a pair of wheel seats are respectively arranged outside the two side plates; a pair of guide rods are respectively arranged on the threaded small diameter sections and locked by nuts; the wheel body of the wire crimping wheel is arranged in the two side plates, and the two ends of the wheel axle extend into the lifting groove so that the top end of the guide rod extends into the wheel seat.

[0008] The wheel seat includes a mounting side plate and a guide sleeve, the bottom end of the guide sleeve is provided with a notch to facilitate the lifting and lowering of the crimping wheel, and the top end is provided with a sealing plate; the guide rod extends into the guide sleeve, and a spring is sleeved on the guide rod, one end of the spring contacts the wheel axle, and the other end contacts the sealing plate.

[0009] The wire claw clamp includes a claw seat and a motor, a transmission mechanism, a screw rod, a nut seat, a main claw and a secondary claw installed in the claw seat; the input end of the transmission mechanism is connected to the output shaft of the motor, and the output end is connected to the screw rod, the nut seat is connected to the outside of the screw rod, the main claw and the secondary claw are arranged on both sides of the nut seat relatively, and the middle part is hinged to the claw seat respectively.

[0010] The claw seat comprises a motor mounting position and a screw rod mounting position which are arranged in parallel; an ear plate is arranged at the bottom of the screw rod mounting position.

[0011] The transmission mechanism includes an input gear, an output gear and a housing. The input gear is fixedly connected to the outside of the output shaft of the motor and is located under the motor mounting position. The output gear is fixedly connected to the screw rod and is located under the screw rod mounting position. The input gear and the output gear are often meshed. The housing is detachably connected to the bottom of the claw seat to seal the input gear and the output gear.

[0012] The main claw includes a main gripper and a connecting rod. A slot is provided in the middle of the main gripper. The top end of the connecting rod is hinged to the nut seat, and the bottom end is hinged to the main gripper. The middle part of the main gripper is hinged to the ear plate below the screw installation position; the auxiliary claw includes an auxiliary gripper and a connecting rod. The bottom end of the auxiliary gripper can be inserted into the slot. The top end of the connecting rod is hinged to the nut seat, and the bottom end is hinged to the auxiliary gripper. The middle part of the auxiliary gripper is hinged to the ear plate below the screw installation position; the motor drives the nut seat to rise and fall along the screw to control the opening and closing of the auxiliary claw and the main claw.

[0013] The connection mechanism includes a top plate, a metal bottom plate and a telescopic rod, one end of the telescopic rod is connected to the top rod, and the other end is connected to the metal bottom plate. The connection structure is connected to the drone by its top plate, and electromagnetically adsorbed to the wire-hanging robot by the metal bottom plate.

[0014] The present invention also provides a method for a live working robot to raise and lower conductors, the method using the above device as a tool, comprising the following steps:

[0015] 1) According to the maintenance needs, select the live working robot that needs to enter the equipotential and install it outside the hanging line robot;

[0016] 2) The electromagnetic adsorption mechanism is powered on to connect the drone and the wire-hanging robot through the connecting mechanism;

[0017] 3) Start the drone to drive the assembly of the device and the live working robot to fly above the wire;

[0018] 4) Adjust the position of the drone so that the wire hanging robot is aligned with the wire, and control the drone to move downward so that the saddle frame hangs on the wire;

[0019] 5) Control the wire claw to clamp the wire, complete the wire hanging, and then control the live working robot to enter the equipotential work;

[0020] 6) Cut off the power supply of the electromagnetic adsorption mechanism, disconnect the drone from the hanging robot, and control the drone to return to the ground;

[0021] 7) Control the drone to fly above the hanging robot, and energize the electromagnetic adsorption mechanism to adsorb it to the connecting mechanism;

[0022] 8) Control the wire claw to release the wire, and then control the drone to transport the equipment back to the ground.

[0023] The present invention cooperates with the line-hanging robot through the unmanned aerial vehicle during use, connects the unmanned aerial vehicle with the line-hanging robot through a connecting mechanism, and the connecting mechanism and the line-hanging robot are electromagnetically adsorbed, and the connection or disconnection can be controlled by turning on and off the power. When going online, the live working robot is assembled on the line-hanging robot, and then carried to the top of the wire by the unmanned aerial vehicle, and adjusted, and the line-hanging robot and the wire are hooked and locked after being aligned with the wire, and the electromagnetic adsorption mechanism can be controlled to be powered off, and the unmanned aerial vehicle and the connecting mechanism can be released, and the unmanned aerial vehicle can be controlled to return and leave the line-hanging robot and the live working robot on the wire to work. When the operation is completed and it is necessary to go offline, the unmanned aerial vehicle is controlled to fly above the line-hanging robot, and the electromagnetic adsorption mechanism is powered on and adsorbed with the connecting mechanism; the wire claw of the line-hanging robot is controlled to release the wire, and the unmanned aerial vehicle can be controlled to transport the equipment back to the ground. The online and offline operations can be completed with the assistance of unmanned aerial vehicles, avoiding the need for personnel to pull the electric robot up and down the wire by pulling the suspension rope during conventional operations, reducing the physical consumption of maintenance personnel and reducing the operation risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The figure is a schematic diagram of the use status of a preferred embodiment of the present invention.

[0025] Figure 2 for Figure 1 An enlarged schematic diagram of the mid-hanging line robot.

[0026] Figure 3 It is a three-dimensional enlarged schematic diagram of the wire hanging robot in this preferred embodiment.

[0027] Figure 4 It is a three-dimensional enlarged schematic diagram of the top seat in this preferred embodiment.

[0028] Figure 5 It is a three-dimensional enlarged schematic diagram of the wire crimping assembly in this preferred embodiment.

[0029] Figure 6 It is a three-dimensional enlarged schematic diagram of the wire claw clamp in this preferred embodiment.

[0030] Figure 7 This is a three-dimensional enlarged schematic diagram of the wire claw clamp in this preferred embodiment after the claw seat is removed.

[0031] Figure serial number:

[0032] A—UAV;

[0033] B—Hanging line robot,

[0034] 1—saddle rack,

[0035] 11—Side panels,

[0036] 12—Top seat,

[0037] 13—wire pressing assembly, 131—wire pressing wheel, 132—wheel seat, 133—guide rod, 134—spring, a—wheel body, b—wheel axle, c—mounting side plate, d—guide sleeve, e—sealing plate,

[0038] 14—Mounting seat,

[0039] 15—Bending plate,

[0040] 2—Wire claw clamp,

[0041] 21—claw seat, 211—motor mounting position, 212—screw mounting position, 213—ear plate,

[0042] 22 - Motor,

[0043] 23—transmission mechanism, 231—input gear, 232—output gear, 233—envelope,

[0044] 24-screw rod,

[0045] 25—Nut seat,

[0046] 26-main claw, 261-main gripper, 262-connecting rod, 263-slot,

[0047] 27-secondary claw, 271-secondary gripper,

[0048] 3—Electromagnetic adsorption mechanism;

[0049] C—connecting mechanism, C1—top plate, C2—metal bottom plate, C3—telescopic rod;

[0050] D—camera; E—wire; F—bottom rod; G—live working robot. DETAILED DESCRIPTION

[0051] like Figure 1 As shown, the live working robot online and offline device disclosed in this embodiment includes a drone A, a line hanging robot B and a connecting mechanism C; the drone adopts an octorotor drone, a camera D is provided on the top to better observe the relative position with the wire E when online and offline, and the bottom of the drone is connected to the connecting mechanism C through a bottom rod F.

[0052] The connecting mechanism C includes a top plate C1, a metal bottom plate C2 and a telescopic rod C3. One end of the telescopic rod is connected to the top rod and the other end is connected to the metal bottom plate. The connecting structure is connected to the bottom rod of the drone with its top plate and electromagnetically adsorbed to the wire-hanging robot B with the metal bottom plate. The telescopic rod is used to realize a soft connection between the drone and the wire-hanging robot to avoid tipping during adsorption.

[0053] like Figure 2 , Figure 3 As shown, the wire hanging robot B includes a saddle frame 1, a wire claw clamp 2 and an electromagnetic adsorption mechanism 3. The electromagnetic adsorption mechanism 3 uses an electromagnet with an adsorption capacity of not less than 100kg, and the electromagnet is installed on the top surface of the saddle frame through a base. A pair of wire claw clamps 2 are connected to the two ends of the saddle frame 1 and are arranged on both sides of the strip groove, and a pair of electromagnetic adsorption mechanisms 3 are symmetrically connected to the top surface of the saddle.

[0054] The saddle frame 1 includes a side plate 11, a top seat 12 and a wire pressing assembly 13. The side plate is a rectangular plate, and its bottom edge is bent outward. A mounting seat 14 is provided at the geometric center of one side plate for assembling the live working robot G. The tops of both side plates are provided with lifting slots, and a plurality of weight reduction holes are provided on the entity. A pair of side plates are arranged oppositely, the top seat 12 is connected between the two side plates, and the top edge is flush with the top edge of the side plate. The wire pressing assembly 13 is connected inside the two side plates, and the space between the two side plates forms a strip groove for hanging the wire, and a bending plate 14 extending outward is provided at the bottom of the side plate to increase the width of the slot to facilitate hanging the wire.

[0055] like Figure 4 As shown, the top seat 12 is a rectangular seat with notches at both ends for installing the wire crimping assembly 13, a mounting opening at the top for installing the electromagnetic adsorption mechanism 3, and a hole group in the middle of the side wall for connecting with the side plate.

[0056] like Figure 3 , Figure 5 As shown, the wire pressing assembly 13 includes a wire pressing wheel 131, a wheel seat 132 and a guide rod 133; the wire pressing wheel 131 includes a wheel body a and a wheel shaft b, the wheel shaft is a stepped shaft, and its two ends are threaded small diameter sections, and a pair of guide rods are arranged on the threaded small diameter sections and locked by nuts; the wheel seat 132 includes a mounting side plate c and a guide sleeve d, the bottom end of the guide sleeve is provided with a notch to facilitate the lifting of the wire pressing wheel, and the top end is provided with a sealing plate; the guide rod extends into the guide sleeve, and the guide rod outer sleeve spring 134, one end of the spring contacts the wheel shaft, and the other end contacts the sealing plate e. During assembly, a pair of wheel seats are connected to the outside of the lifting groove of the two side plates; the wheel body of the wire pressing wheel is arranged in the two side plates, and the two ends of the wheel shaft extend into the lifting groove so that the top of the guide rod extends into the wheel seat. When hanging the wire, the wheel body presses on the wire, and the spring is compressed under the action of gravity to ensure that it fits the wire, so as to facilitate the wire claw clamp 2 to better clamp the wire.

[0057] like Figure 6 As shown, the wire claw clamp 2 includes a claw seat 21, a motor 22, a transmission mechanism 23, a screw rod 24, a nut seat 25, a main claw 26 and an auxiliary claw 27.

[0058] The claw seat 21 includes a motor mounting position 211 and a screw mounting position 212 arranged in parallel, and an ear plate 213 is provided at the bottom of the screw mounting position.

[0059] like Figure 7 As shown, the transmission mechanism 23 includes an input gear 231, an output gear 232 and a housing 233. The input gear is fixedly connected to the outside of the output shaft of the motor and is located under the motor mounting position. The output gear is fixedly connected to the screw and is located under the screw mounting position. The input gear and the output gear are often meshed. The housing is detachably connected to the bottom of the claw seat to seal the input gear and the output gear.

[0060] The main claw 26 includes a main gripper 261 and a connecting rod 262. A slot 263 is provided in the middle of the main gripper. The top end of the connecting rod is hinged to the nut seat, and the bottom end is hinged to the main gripper. The middle part of the main gripper is hinged to the ear plate below the screw rod installation position.

[0061] The auxiliary claw 27 includes an auxiliary clamp 271 and a connecting rod. The bottom end of the auxiliary clamp can be inserted into the slot. The top end of the connecting rod is hinged to the nut seat, and the bottom end is hinged to the auxiliary clamp. The middle part of the auxiliary clamp is hinged to the ear plate below the screw mounting position; the motor drives the nut seat to rise and fall along the screw to control the auxiliary claw to enter the main claw slot or withdraw from the slot.

[0062] When the wire hanging robot is hung above the wire, under the action of the reaction force of the wire hanging robot's gravity, the compression spring ensures that the wire pressing wheel of the wire hanging robot is in close contact with the wire; when the motor controlling the wire claw clamp is started, the lead screw is driven to rotate through the transmission mechanism, and the nut seat rises and falls along the lead screw, driving the main claw and the auxiliary claw to move relative to each other, and the auxiliary clamp is inserted into the slot of the main clamp to clamp the wire, and the auxiliary clamp is withdrawn from the slot of the main clamp to release the wire.

[0063] When using the live working robot of this embodiment to carry and lower the conductor, the following steps are followed:

[0064] 1) According to the maintenance needs, select the live working robot that needs to enter the equipotential and install it outside the hanging line robot;

[0065] 2) The electromagnetic adsorption mechanism is powered on to connect the drone and the wire-hanging robot through the connecting mechanism;

[0066] 3) Start the drone to drive the assembly of the device and the live working robot to fly above the wire;

[0067] 4) Adjust the position of the drone according to the visual information monitored in real time by the camera, align the wire-hanging robot with the wire, and control the drone to move downward so that the saddle rack is hung on the wire;

[0068] 5) Control the wire claw to clamp the wire, complete the wire hanging, and then control the live working robot to enter the equipotential work;

[0069] 6) Cut off the power supply of the electromagnetic adsorption mechanism, disconnect the drone from the hanging robot, and control the drone to return to the ground;

[0070] 7) Control the drone to fly above the hanging robot, and energize the electromagnetic adsorption mechanism to adsorb it to the connecting mechanism;

[0071] 8) Control the wire claw to release the wire, and then control the drone to transport the equipment back to the ground.

[0072] The present invention cooperates with the line-hanging robot through the unmanned aerial vehicle during use, connects the unmanned aerial vehicle with the line-hanging robot through a connecting mechanism, and the connecting mechanism and the line-hanging robot are electromagnetically adsorbed, and the connection or disconnection can be controlled by turning on and off the power. When going online, the live-working robot is assembled on the line-hanging robot, and then carried to the top of the wire by the unmanned aerial vehicle, and adjusted, and the line-hanging robot is hooked and locked with the wire after being aligned with the wire, and the electromagnetic adsorption mechanism can be controlled to be powered off, and the unmanned aerial vehicle and the connecting mechanism can be released, and the unmanned aerial vehicle can be controlled to return and leave the line-hanging robot and the live-working robot on the wire to work. When going offline after the operation is completed, the unmanned aerial vehicle flies above the line-hanging robot, and the electromagnetic adsorption mechanism is powered on and adsorbed with the connecting mechanism; the wire claw of the line-hanging robot is controlled to release the wire, and the unmanned aerial vehicle can be controlled to transport the equipment back to the ground. The online and offline operations can be completed with the assistance of unmanned aerial vehicles, avoiding the need for personnel to pull the electric robot up and down the wire by pulling the sling rope for conventional operations, reducing the physical consumption of maintenance personnel and reducing the operation risk.

Claims

1. A live working robot on-line device, including a drone, characterized in that: The device also includes a wire hanging robot and a connecting mechanism; the wire hanging robot includes a saddle frame, a wire claw clamp and an electromagnetic adsorption mechanism, the saddle frame includes a strip groove for hanging the wire, a pair of wire claw clamps are connected to the saddle frame and are arranged on both sides of the strip groove, and the electromagnetic adsorption mechanism is connected to the saddle frame; the top end of the connecting mechanism is connected to the drone, and the bottom end is electromagnetically adsorbed to the wire hanging robot; The saddle frame includes side plates, a top seat and a wire pressing assembly; the side plates are rectangular plates, the bottom edges of which are bent outwards, a mounting seat is provided at the geometric center, a lifting slot is provided at the top, and a plurality of weight-reducing holes are provided on the body; a pair of side plates are arranged oppositely, the top seat is connected between the two side plates, the top edge is flush with the top edge of the side plates, and the wire pressing assembly is connected inside the two side plates; The crimping assembly includes a crimping wheel, a wheel seat and a guide rod; the crimping wheel includes a wheel body and a wheel axle, the wheel axle is a stepped shaft, and both ends of the wheel axle are threaded small diameter sections; a pair of wheel seats are respectively arranged outside the two side plates; a pair of guide rods are respectively arranged on the threaded small diameter sections and locked by nuts; the wheel body of the crimping wheel is arranged in the two side plates, and both ends of the wheel axle extend into the lifting groove so that the top end of the guide rod extends into the wheel seat; The wheel seat includes a mounting side plate and a guide sleeve, the bottom end of the guide sleeve is provided with a notch to facilitate the lifting and lowering of the crimping wheel, and the top end is provided with a sealing plate; the guide rod extends into the guide sleeve, and a spring is sleeved on the guide rod, one end of the spring contacts the wheel axle, and the other end contacts the sealing plate.

2. The device for loading and unloading a live working robot according to claim 1, characterized in that: The wire claw clamp includes a claw seat and a motor, a transmission mechanism, a screw rod, a nut seat, a main claw and a secondary claw installed in the claw seat; the input end of the transmission mechanism is connected to the output shaft of the motor, and the output end is connected to the screw rod, the nut seat is connected to the outside of the screw rod, the main claw and the secondary claw are arranged on both sides of the nut seat relatively, and the middle part is hinged to the claw seat respectively.

3. The live working robot on-line device according to claim 2, characterized in that: The claw seat comprises a motor mounting position and a screw rod mounting position which are arranged in parallel; an ear plate is arranged at the bottom of the screw rod mounting position.

4. The live working robot on-line device according to claim 3, characterized in that: The transmission mechanism includes an input gear, an output gear and a housing. The input gear is fixedly connected to the outside of the output shaft of the motor and is located under the motor mounting position. The output gear is fixedly connected to the screw rod and is located under the screw rod mounting position. The input gear and the output gear are meshed. The housing is detachably connected to the bottom of the claw seat to seal the input gear and the output gear.

5. The device for loading and unloading a live working robot according to claim 3, characterized in that: The main claw comprises a main gripper and a connecting rod, a slot is provided in the middle of the main gripper, the top end of the connecting rod is hinged to the nut seat, the bottom end is hinged to the main gripper, and the middle part of the main gripper is hinged to the ear plate below the screw rod installation position; The auxiliary claw includes an auxiliary gripper and a connecting rod. The bottom end of the auxiliary gripper can be inserted into the slot. The top end of the connecting rod is hinged to the nut seat, and the bottom end is hinged to the auxiliary gripper. The middle part of the auxiliary gripper is hinged to the ear plate below the screw installation position. The motor drives the nut seat to rise and fall along the screw to control the opening and closing of the auxiliary claw and the main claw.

6. The live working robot on-line and off-line device according to claim 1, characterized in that: The connection mechanism includes a top plate, a metal bottom plate and a telescopic rod, one end of the telescopic rod is connected to the top rod, and the other end is connected to the metal bottom plate. The connection structure is connected to the drone by its top plate, and electromagnetically adsorbed to the wire-hanging robot by the metal bottom plate.

7. A method for raising and lowering a conductor by a live working robot, characterized in that: The method is carried out using the device described in any one of claims 1 to 6 as a tool, and comprises the following steps: 1) According to the maintenance needs, select the live working robot that needs to enter the equipotential and install it outside the hanging line robot; 2) The electromagnetic adsorption mechanism is powered on to connect the drone and the wire-hanging robot through the connecting mechanism; 3) Start the drone to drive the assembly of the device and the live working robot to fly above the wire; 4) Adjust the position of the drone so that the wire hanging robot is aligned with the wire, and control the drone to move downward so that the saddle frame hangs on the wire; 5) Control the wire claw to clamp the wire, complete the wire hanging, and then control the live working robot to enter the equipotential work; 6) Cut off the power supply of the electromagnetic adsorption mechanism, disconnect the drone from the hanging robot, and control the drone to return to the ground; 7) Control the drone to fly above the hanging robot, and the electromagnetic adsorption mechanism is energized to adsorb to the connecting mechanism; 8) Control the wire claw to release the wire, and then control the drone to transport the equipment back to the ground.

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