Transmission line hanging robot and line-hanging and hanging methods

Abstract

The invention discloses a transmission line hanging robot and a method for hanging up and down lines. The robot includes a saddle frame, a wire claw clamp and an electromagnetic adsorption mechanism. The saddle frame includes a strip groove for arranging wires. A pair of wire claw clamps are connected to the saddle frame and are arranged on both sides of the strip groove. The electromagnetic adsorption mechanism is connected to the saddle frame. When going online, the robot is carried to the wire by an unmanned aerial vehicle, adjusted to align with the wire, hung with the wire by the saddle frame, and locked with the wire by the wire claw clamp to complete the online. The electromagnetic adsorption mechanism can be controlled to cut off power, release the drone, and leave the hanging robot on the wire as an operation fulcrum. When going offline, the drone is controlled to fly to the hanging robot, and the electromagnetic adsorption mechanism is powered on to adsorb with the drone; the wire claw clamp is controlled to release the wire, and the wire can be transported back to the ground. It can avoid the need for personnel to pull the lifting rope to move the power robot up and down the wire in conventional operations, reduce the physical consumption of maintenance personnel, and reduce the operation risk.

Description

Technical Field

[0001] The invention belongs to the technical field of live transmission line operations, and in particular relates to a transmission line hanging robot and a line-hanging and line-hanging 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 on 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 cannot be realized. Second, the risk of on-site safety control is high. On-site safety control of live working 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 provide a power transmission line hanging robot and a line-hanging and line-hanging method that can reduce labor intensity and operation risks in view of the shortcomings of the prior art.

[0005] The power transmission line hanging robot provided by the present invention 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.

[0006] The saddle frame includes side panels, a top seat and a wire pressing assembly; the side panels are rectangular panels with their bottom edges bent outward, a mounting seat provided at their geometric center, a lifting slot provided at the top, and a plurality of weight-reducing holes 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 bottom of the side plate is connected with an outwardly expanded bent plate.

[0008] 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.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] The present invention also provides a method for hanging and unhanging a transmission line, which uses the above-mentioned hanging robot as a tool and includes the following steps:

[0015] 1) The wire-hanging robot is electromagnetically adsorbed under the drone through an electromagnetic adsorption mechanism;

[0016] 2) Start the drone and carry the wire-hanging robot to the top of the wire;

[0017] 3) 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;

[0018] 4) Control the wire claw to clamp the wire, complete the wire hanging, cut off the power supply of the electromagnetic adsorption mechanism, and then control the drone to return to the ground;

[0019] 5) When going offline, control the drone to fly above the hanging robot, and the electromagnetic adsorption mechanism is powered on to adsorb to the drone;

[0020] 6) Control the wire claw to release the wire, and then control the drone to transport the wire-hanging robot back to the ground.

[0021] When the present invention is put into use and goes online, the line hanging robot is electromagnetically adsorbed and lowered to the drone, and then carried to the top of the wire by the drone. After adjusting the position to align with the wire, it is hung with the wire through the saddle frame, and locked with the wire through the wire claw clamp. After the line is completed, the electromagnetic adsorption mechanism can be controlled to cut off the power, release the drone, control the drone to return and leave the line hanging robot on the wire as an operation fulcrum. When the operation is completed and needs to be taken offline, the drone flies above the line hanging robot, and the electromagnetic adsorption mechanism is powered on and adsorbed to the drone; the wire claw clamp is controlled to release the wire, and the drone can be controlled to transport the equipment 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 electric robot up and down the wire by pulling the sling for conventional operations, reducing the physical consumption of maintenance personnel and reducing operational risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional schematic diagram of a preferred embodiment of the present invention.

[0023] Figure 2 for Figure 1 An enlarged left view of .

[0024] Figure 3 It is a three-dimensional enlarged schematic diagram of the top seat in this preferred embodiment.

[0025] Figure 4 It is a three-dimensional enlarged schematic diagram of the wire crimping assembly in this preferred embodiment.

[0026] Figure 5 It is a three-dimensional enlarged schematic diagram of the wire claw clamp in this preferred embodiment.

[0027] Figure 6 This is a three-dimensional enlarged schematic diagram of the wire claw clamp in this preferred embodiment after the claw seat is removed.

[0028] Figure 7 This is a schematic diagram of the initial state of hanging wires for the live-working robot in this preferred embodiment.

[0029] Figure serial number:

[0030] A—Hanging line robot,

[0031] 1—saddle rack,

[0032] 11—Side panels,

[0033] 12—Top seat,

[0034] 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,

[0035] 14—Mounting seat,

[0036] 15—Bending plate,

[0037] 2—Wire claw clamp,

[0038] 21—claw seat, 211—motor mounting position, 212—screw mounting position, 213—ear plate,

[0039] 22 - Motor,

[0040] 23—transmission mechanism, 231—input gear, 232—output gear, 233—envelope,

[0041] 24-screw rod,

[0042] 25—Nut seat,

[0043] 26-main claw, 261-main gripper, 262-connecting rod, 263-slot,

[0044] 27-secondary claw, 271-secondary gripper,

[0045] 3—Electromagnetic adsorption mechanism;

[0046] B—Live working robot;

[0047] C—UAV;

[0048] D—connecting mechanism, D1—top plate, D2—metal bottom plate, D3—telescopic rod;

[0049] E—Wire. DETAILED DESCRIPTION

[0050] like Figure 1 , Figure 2As shown, the transmission line hanging robot disclosed in this embodiment 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.

[0051] 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 a live working robot. The tops of both side plates are provided with lifting slots, and a plurality of weight-reducing holes are provided on the body. 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. 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.

[0052] like Figure 3 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.

[0053] like Figure 1 , Figure 4 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.

[0054] like Figure 5 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.

[0055] 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.

[0056] like Figure 6As 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] like Figure 7 As shown, when using this hanging line robot A to carry the live working robot B online and offline, it can be carried out in conjunction with the drone C. The specific steps are:

[0061] 1) According to the maintenance needs, select the live working robot that needs to enter the equipotential, and install it outside the mounting base of the hanging robot;

[0062] 2) Cooperate with the UAV operation, set a camera under the UAV, control the electromagnetic adsorption mechanism to energize and connect the UAV and the hanging robot through the connection mechanism D;

[0063] 3) Start the drone to drive the assembly of the device and the live working robot to fly above the wire E;

[0064] 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;

[0065] 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;

[0066] 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;

[0067] 7) Control the drone to fly above the hanging robot, and energize the electromagnetic adsorption mechanism to adsorb it to the connecting mechanism;

[0068] 8) Control the wire claw to release the wire, and then control the drone to transport the equipment back to the ground.

[0069] UAV C uses an octorotor robot, and a camera is installed at its bottom to better understand the relative positions of the wire-hanging robot and the wire. The connection mechanism D includes a top plate D1, a metal bottom plate D2, and a telescopic rod D3. 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 bottom rod of the UAV with its top plate, and the metal bottom plate is electromagnetically adsorbed to the wire-hanging robot. The telescopic rod is used to realize the soft connection between the UAV and the wire-hanging robot to avoid tipping during adsorption.

[0070] 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 to align with the wire so that the line-hanging robot and the wire are hooked and locked, 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. 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 risks.

Claims

1. A transmission line hanging robot, characterized in that: The robot comprises a saddle frame, a wire claw clamp and an electromagnetic adsorption mechanism, wherein the saddle frame comprises 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 saddle frame includes a side plate, a top seat and a wire pressing assembly; the side plate is a rectangular plate, the bottom edge of which is 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 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 plate, 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 power transmission line hanging robot according to claim 1, characterized in that: The bottom of the side plate is connected with an outwardly expanded bent plate.

3. The power transmission line hanging 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.

4. The power transmission line hanging robot according to claim 3, 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.

5. The power transmission line hanging robot 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.

6. The power transmission line hanging 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.

7. A method for getting on and off a transmission line, characterized in that: This method uses the wire hanging robot described in any one of claims 1 to 6 as a tool, and comprises the following steps: 1) The wire-hanging robot is electromagnetically adsorbed under the drone through the electromagnetic adsorption mechanism; 2) Start the drone and carry the wire-hanging robot to the top of the wire; 3) 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 rack hangs on the wire; 4) Control the wire claw to clamp the wire, complete the wire hanging, cut off the power supply of the electromagnetic adsorption mechanism, and then control the drone to return to the ground; 5) When going offline, control the drone to fly above the hanging robot, and the electromagnetic adsorption mechanism is powered on to adsorb the drone; 6) Control the wire claw to release the wire, and then control the drone to transport the wire-hanging robot back to the ground.

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