A distribution network line spacer mounting robot

Abstract

The application discloses a distribution network line spacer mounting robot, which comprises two single working units for mounting phase-to-phase spacers and mirror-symmetrically arranged, and an insulating rod arranged between the two single working units; the phase-to-phase spacer comprises a spacer base body and a hardware clamp arranged at both ends of the spacer base body, and the hardware clamp comprises two clamping bodies hingedly connected and clamping the conductor through bolt fastening; the single working unit comprises a rack, a motion system, a bearing system and a control system arranged on the rack; the bearing system comprises a supporting rod for loading the phase-to-phase spacer, a top rod mechanism for pushing the two hingedly connected clamping bodies of the hardware clamp to be combined, and a fastening mechanism for screwing the bolts to fasten the two clamping bodies of the hardware clamp; and the control system is communicatively connected with a ground station remote control device for realizing remote control. The application can replace the traditional manual line installation mode, avoids the risk during manual line installation, and improves the installation efficiency of the phase-to-phase spacer.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a distribution network line spacer installation robot. BACKGROUND

[0002] Tripping faults frequently occur in the operation process of distribution network lines, and overhead lines are the most serious, and among them, large span lines have a larger proportion of tripping due to external causes. Especially 10kV highland distribution network large span lines, the transmission lines pass through mountains, valleys and valleys with large altitude difference, and are affected by seasonal strong winds in local areas, and large span windage discharge, wire breakage and other faults frequently occur.

[0003] At present, the effective measures for the treatment of large span windage problems are to install phase-to-phase spacers or increase the number of poles, but for the lines that have been put into operation, the installation of spacers or new poles is difficult, the site conditions do not allow, and it is difficult to promote the use. Therefore, it is urgent for the present technical personnel to provide a convenient, reliable and easy-to-operate phase-to-phase spacer installation device. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a distribution network line spacer installation robot, which can not only load the phase-to-phase spacer on the wire, but also complete the installation of the phase-to-phase spacer after reaching the predetermined position.

[0005] To solve the above technical problems, the technical solutions adopted by the present application are as follows.

[0006] A distribution network line spacer installation robot, comprising two single working units for installing phase-to-phase spacers and mirror-symmetrically arranged, and an insulating rod arranged between the two single working units and hinged to the two single working units;The phase-to-phase spacer comprises a spacer base and a fitting clamp arranged at both ends of the spacer base, and the fitting clamp comprises two hinged clamps and a clamp body clamped by a bolt;The single working unit comprises a rack and a movement system, a bearing system and a control system arranged on the rack;

[0007] The movement system comprises a driving wheel for driving the corresponding single working unit to walk, a guide wheel for walking in cooperation with the driving wheel and giving consideration to the guiding effect, and a compression wheel which can move up and down to realize cooperation with the driving wheel and the guide wheel to ensure the reliability of movement;

[0008] The bearing system comprises a supporting rod for loading the phase-to-phase spacer, a top rod mechanism for pushing the two hinged clamps of the fitting clamp to merge, and a fastening mechanism for tightening the two clamps of the fitting clamp;

[0009] The control system comprises a controller for controlling the corresponding single working unit and a camera for shooting the self-state and the surrounding environment state of the corresponding single working unit in the running state in real time; the output end of the camera is connected with the input end of the controller; the output end of the controller is connected with the controlled end of the motion system and the bearing system respectively, and the controller is further communicatively connected with a ground station remote control device for realizing remote control by the staff.

[0010] Preferably, the frame is provided with arm one and arm two; the motion system further comprises a driving motor provided on the arm one, the controlled end of the driving motor is connected with the output end of the controller, and a transmission gear one is provided on the rotating shaft of the driving motor; the driving wheel is provided on the arm one and is composed of a gear engaged with the transmission gear one and a groove wheel for walking on the guide wire; the guide wheel is a groove wheel structure for walking on the guide wire and is provided on the arm two.

[0011] Preferably, the motion system further comprises a pressing motor and a pressing arm provided on the frame; the controlled end of the pressing motor is connected with the output end of the controller, and a transmission gear three is provided on the rotating shaft of the pressing motor; the pressing wheel is a groove wheel structure for pressing the guide wire from the bottom of the guide wire and is provided on the pressing arm, and a rack one is longitudinally provided on the pressing arm and engaged with the transmission gear three to drive the pressing wheel to move up and down to realize the pressing and relaxing actions.

[0012] Preferably, the control system further comprises an angular velocity sensor one provided on the arm one to collect the rotating state and rotating information of the driving wheel and an angular velocity sensor two provided on the arm two to collect the rotating state and rotating information of the guide wheel; the output ends of the angular velocity sensor one and the angular velocity sensor two are respectively connected with the input end of the controller.

[0013] Preferably, the supporting rod is provided on the arm one; the lower edge of the fitting wire clamp when the driving wheel, the guide wheel and the supporting rod drag the interval rod is on the same axis; the pressing wheel is provided between the driving wheel and the guide wheel, and when the pressing wheel is in the pressing state, the driving wheel, the guide wheel and the pressing wheel form three-point force.

[0014] Preferably, the arm one is provided with a fastening platform above the supporting rod, a fastening mechanism is provided on the fastening platform, the fastening mechanism comprises a feeding motor, a feeding moving rod and a fastening motor, the controlled ends of the feeding motor and the fastening motor are respectively connected with the output end of the controller; a transmission gear two is provided on the rotating shaft of the feeding motor, and a rack two is longitudinally provided on the feeding moving rod and engaged with the transmission gear two to drive the feeding moving rod to move up and down; the fastening motor is provided at the lower end of the feeding moving rod, and a universal sleeve for sleeving the bolt preassembled on the fitting wire clamp is provided on the rotating shaft of the fastening motor.

[0015] Preferably, the control system further comprises a force sensor embedded between the fastening motor and the universal sleeve for collecting torque to determine the fastening state of the bolt, and the output end of the force sensor is connected with the input end of the controller.

[0016] Preferably, the ejector rod mechanism comprises an ejector rod electric cylinder arranged on the frame and an ejector rod arranged on the ejector rod electric cylinder, and the controlled end of the ejector rod electric cylinder is connected with the output end of the controller.

[0017] Preferably, the control system further comprises an angle sensor arranged at the hinge between the single working unit and the insulating rod, and the output end of the angle sensor is connected with the input end of the controller.

[0018] Preferably, the top of the frame is provided with a cross beam, and a reverse U-shaped groove for facilitating hoisting during the process of putting the robot on and off line is arranged on the cross beam; and the bottom of the frame is provided with a groove for facilitating the cooperation with the insulating rod to control the posture of the robot during the process of putting the robot on and off line.

[0019] Thanks to the above technical solutions, the present application has the following technical progress.

[0020] The present application is designed by taking the advantages of remote control and walking mechanism, and the running state of the equipment is controlled by the mutual communication between the ground station remote control device and the controller, so as to replace the traditional manual installation mode, reduce manual operation, avoid the risk during manual installation, improve the installation efficiency of the phase-to-phase spacer, and has strong practical significance and practicability. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 Fig. 1 is a structural schematic diagram of the present application;

[0022] Figure 2 Fig. 2 is a structural schematic diagram of the single working unit of the present application;

[0023] Figure 3 Fig. 3 is a side view of the single working unit of the present application;

[0024] Figure 4 Fig. 4 is a front view of the single working unit of the present application;

[0025] Figure 5 Fig. 5 is a schematic diagram of the pressing state of the pressing wheel of the single working unit of the present application;

[0026] Figure 6 Fig. 6 is a schematic diagram of the release state of the pressing wheel of the single working unit of the present application;

[0027] Figure 7 Fig. 7 is a schematic diagram of the hinge between the single working unit and the insulating rod of the present application;

[0028] Figure 8 Fig. 8 is a schematic diagram of the on-line use of the present application.

[0029] Wherein: 1. wire, 2. crossbeam, 3. transmission gear two, 4. fastening platform, 5. top rod, 6. top rod electric cylinder, 7. rack, 8. controller, 9. compression arm, 10. transmission gear three, 11. compression motor, 12. battery module, 13. camera, 14. feeding movement rod, 15. universal sleeve, 16. arm one, 17. compression wheel, 18. arm two, 19. guide wheel, 20. transmission gear one, 21. drive motor, 22. drive wheel, 23. insulating rod, 24. feeding motor, 25. fastening motor, 26. force sensor, 27. angular velocity sensor one, 28. angular velocity sensor two, 29. angle sensor, 30. supporting rod. DETAILED DESCRIPTION

[0030] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0031] A distribution network line spacer installation robot, in combination Figures 1 to 4 As shown, it comprises two single working units and an insulating rod 23, wherein the two single working units are mirror-symmetrically arranged and used for installing phase-to-phase spacers, the phase-to-phase spacer comprises a spacer base body and a hardware clamp arranged at both ends of the spacer base body, the hardware clamp comprises two clamp bodies hingedly connected and clamping the wire 1 through bolt fastening; the insulating rod 23 is arranged between the two single working units.

[0032] The single working unit comprises a rack 7 and a motion system, a bearing system and a control system arranged on the rack 7, wherein the motion system is used for driving the single working unit to reliably walk on the wire 1; the bearing system is used for loading the phase-to-phase spacer and completing the installation of the phase-to-phase spacer; the output end of the control system is connected with the controlled end of the motion system and the bearing system respectively, for controlling the corresponding single working unit.

[0033] The arm one 16 and the arm two 18 are arranged on the frame 7, and the movement system comprises a driving motor 21, a driving wheel 22, a guide wheel 19, a pressing motor 11, a pressing arm 9 and a pressing wheel 17. The driving motor 21 and the driving wheel 22 are arranged on the arm one 16, wherein a transmission gear one 20 is arranged on the rotating shaft of the driving motor 21; the driving wheel 22 is composed of a gear and a slot wheel, the gear is connected with the transmission gear one 20 in a meshing mode, and the slot wheel is used for walking on the guide wire 1; in the working process, the driving motor 21 drives the transmission gear one 20 to rotate in a forward direction, the transmission gear one 20 drives the driving wheel 22 to rotate in the forward direction, and the corresponding single working unit is realized to move forward; the driving motor 21 drives the transmission gear one 20 to rotate in a reverse direction, the transmission gear one 20 drives the driving wheel 22 to rotate in the reverse direction, and the corresponding single working unit is realized to move backward, so that the driving of the corresponding single working unit is realized to walk, and the walking of the robot is realized. The guide wheel 19 is arranged on the arm two 18, the guide wheel 19 is in a slot wheel structure, and is used for walking on the guide wire 1, so as to realize the walking in cooperation with the driving wheel 22 and to realize the guidance.

[0034] A transmission gear three 10 is arranged on the rotating shaft of the pressing motor 11; the pressing wheel 17 is in a slot wheel structure, is arranged on the pressing arm 9, and the pressing arm 9 is longitudinally provided with a rack one, the rack one is meshed with the transmission gear three 10; in the working process, the pressing motor 11 drives the transmission gear three 10 to rotate in a forward direction, the transmission gear three 10 drives the pressing arm 9 to move upward, the pressing arm 9 drives the pressing wheel 17 to move upward, and the pressing action of the pressing wheel 17 is realized; the pressing motor 11 drives the transmission gear three 10 to rotate in a reverse direction, the transmission gear three 10 drives the pressing arm 9 to move downward, the pressing arm 9 drives the pressing wheel 17 to move downward, and the release action of the pressing wheel 17 is realized.

[0035] The pressing wheel 17 is arranged between the driving wheel 22 and the guide wheel 19, when the pressing wheel 17 is in the pressing state, the upper edge of the slot wheel structure of the pressing wheel 17 is on the same axis as the guide wire 1, the driving wheel 22 and the guide wheel 19, the driving wheel 22, the guide wheel 19 and the pressing wheel 17 are in three-point force, the pressing wheel 17 presses the guide wire 1 from the bottom of the guide wire 1, and the purpose of realizing the cooperation with the driving wheel 22 and the guide wheel 19 to ensure the movement reliability is achieved, as shown in Figure 5 ; when the pressing wheel 17 is in the release state, the slot wheel structure of the pressing wheel 17 is away from the guide wire 1, as shown in Figure 6 .

[0036] The bearing system comprises a supporting rod 30, a top rod mechanism and a fastening mechanism, wherein the supporting rod 30 is arranged on the arm one 16, and the supporting rod 30 is used for dragging the phase interval rod, so as to realize the load of the single working unit to the phase interval rod. When the supporting rod 30 drags the phase interval rod, the metal fitting wire clamp and the lower edge of the driving wheel 22 and the guide wheel 19 are on the same axis, which is beneficial to the installation of the phase interval rod.

[0037] The ejection rod mechanism comprises an ejection rod electric cylinder 6 and an ejection rod 5, the ejection rod electric cylinder 6 is arranged on a frame 7, and the ejection rod 5 is arranged on the ejection rod electric cylinder 6; in operation, the ejection rod electric cylinder 6 pushes the ejection rod 5 to move upward, and the ejection rod 5 pushes the two hinged clamping bodies of the fitting wire clamp to combine, so as to clamp the conductor wire 1.

[0038] The fastening platform 4 is arranged on the arm 16 and is above the supporting rod 30. The fastening mechanism is arranged on the fastening platform 4 and comprises a feeding motor 24, a feeding moving rod 14 and a fastening motor 25, wherein the transmission gear two 3 is arranged on the rotating shaft of the feeding motor 24; the rack two is arranged longitudinally on the feeding moving rod 14 and is in meshing connection with the transmission gear two 3; the fastening motor 25 is arranged at the lower end of the feeding moving rod 14, and the universal sleeve 15 is arranged on the rotating shaft of the fastening motor 25 and is used for sleeving the bolt pre-installed on the fitting wire clamp.

[0039] In operation, the rotating shaft of the feeding motor 24 drives the transmission gear two 3 to rotate forward, the transmission gear two 3 drives the feeding moving rod 14 to move downward, the feeding moving rod 14 drives the fastening motor 25 and the universal sleeve 15 to move downward, so that the universal sleeve 15 sleeves the bolt pre-installed on the fitting wire clamp; the rotating shaft of the fastening motor 25 drives the universal sleeve 15 to rotate, so as to tighten the bolt to fasten the two clamping bodies of the fitting wire clamp and complete the installation of the phase-to-phase spacer rod. After the installation is completed, the rotating shaft of the feeding motor 24 drives the transmission gear two 3 to rotate reversely, the transmission gear two 3 drives the feeding moving rod 14 to move upward, and the feeding moving rod 14 drives the fastening motor 25 and the universal sleeve 15 to move upward to reset.

[0040] As shown in Figure 7 The two ends of the insulating rod 23 are hinged with the two single working units respectively, which not only facilitates dismounting and mounting, but also solves the problem of inconsistent height difference of the two-phase conductor wire 1 in the vertical direction during the operation of the robot striding on the two-phase conductor wire 1.

[0041] The control system comprises a controller 8, a camera 13, an angular velocity sensor 1 27, an angular velocity sensor 2 28, a force sensor 26 and an angle sensor 29, wherein the camera 13 is used to shoot the self condition and the surrounding environment condition of the corresponding single working unit in the running state in real time; the angular velocity sensor 1 27 is arranged on the arm 1 6, the angular velocity sensor 2 28 is arranged on the arm 2 18, the angular velocity sensor 1 27 and the angular velocity sensor 2 28 can collect the rotating state of the driving wheel 22 and the guide wheel 19 on the one hand to judge whether the robot driving wheel 22 slips, and on the other hand can calculate the real-time displacement of the robot through the collected rotating information; the force sensor 26 is embedded between the fastening motor 25 and the universal sleeve 15, and is used to collect the torque at this position to judge the fastening state of the bolt; the angle sensor 29 is arranged at the hinge joint of the single working unit and the insulating rod 23, and is used to collect the height difference of the robot single working unit in real time.

[0042] The input end of the controller 8 is connected with the output end of the camera 13, the angular velocity sensor 1 27, the angular velocity sensor 2 28, the force sensor 26 and the angle sensor 29 respectively; the output end of the controller 8 is connected with the controlled end of the driving motor 21, the pressing motor 1 1, the ejector cylinder 6, the feeding motor 24 and the fastening motor 25 respectively; the controller 8 is further provided with a communication module, and the controller 8 is connected with a ground station remote control device through the communication module; the staff can remotely watch the information observed and recorded by the camera 13 and accept the information collected by the related sensors through the ground station remote control device, so as to realize remote control of the controller 8 to start and stop and forward and reverse the driving motor 21, the pressing motor 1 1, the ejector cylinder 6, the feeding motor 24 and the fastening motor 25, and then execute the required action, so as to complete the control of the corresponding single working unit, and then realize the control of the robot.

[0043] The rack 7 is further provided with a battery module 12, and the battery module 12 is connected with the controller 8, the camera 13, the angular velocity sensor 1 27, the angular velocity sensor 2 28, the force sensor 26, the angle sensor 29, the driving motor 21, the pressing motor 1 1, the ejector cylinder 6, the feeding motor 24 and the fastening motor 25 respectively, so as to supply power for the robot.

[0044] The top of the rack 7 is provided with a cross beam 2, and the cross beam 2 is provided with a reverse U-shaped groove, which is used to facilitate hoisting during the process of taking the robot on and off line; the bottom of the rack 7 is provided with a groove, which is used to facilitate the cooperation of the insulating rod to control the posture of the robot during the process of taking the robot on and off line.

[0045] The single working unit takes the rack 7 as the main body, and the gravity center of the single working unit is located directly below the wire 1 after being constrained by the spatial arrangement of the related parts, so as to further facilitate the reliability of the robot movement.

[0046] In use, as shown inFigure 8 As shown, the robot is hoisted on the two-phase conductors 1 by adjusting the posture of the robot through the U-shaped groove on the cross beam 2, the groove at the bottom of the rack 7, and the cooperating insulating rod, the two-phase conductor 1 is compressed by driving the compression motor 11 to drive the compression wheel 17 to move upward and cooperate with the driving wheel 22 and the guide wheel 19; the driving wheel 22 is driven to walk the robot to the designated location; the top rod electric cylinder 6 is driven to drive the top rod 5 to move upward, thereby merging the two clamp bodies of the hardware clamp; the feeding motor 24 is driven to drive the fastening motor 25 and the universal sleeve 15 to move downward, the fastening motor 25 is driven to drive the universal sleeve 15 to rotate, thereby tightening the bolt on the hardware clamp to fasten the two clamp bodies of the hardware clamp, and the installation of the phase-to-phase spacer support is completed, which not only reduces manual operation and avoids the risk of manual wiring, but also improves the installation efficiency of the phase-to-phase spacer.

[0047] After installation is completed, the top rod electric cylinder 6 is driven to drive the top rod 5 to move downward and reset, the fastening motor 25 stops rotating, the feeding motor 24 drives the fastening motor 25 and the universal sleeve 15 to move upward and reset; the compression motor 11 is driven to drive the compression wheel 17 to move downward and reset, so that the compression wheel 17 is in a relaxed state, and the conductors 1 are no longer compressed; the posture of the robot is adjusted by the insulating rod; the robot is hoisted offline through the U-shaped groove on the cross beam 2.

Claims

1. A robot for installing spacer bars in power distribution lines, characterized in that: It includes two individual working units that are mirror-symmetrically arranged for installing phase spacers and an insulating rod (23) that is arranged between the two individual working units and hinged to the two individual working units; the phase spacer includes a spacer base and hardware clamps arranged at both ends of the spacer base, the hardware clamps including two clamps that are hinged and fastened with bolts to clamp the conductor (1); the individual working unit includes a frame (7) and a motion system, a load-bearing system and a control system arranged on the frame (7); The motion system includes a drive wheel (22) for driving the corresponding single working unit to move, a guide wheel (19) for cooperating with the drive wheel (22) to move and also for guiding, and a pressure wheel (17) that can move up and down to cooperate with the drive wheel (22) and the guide wheel (19) to ensure the reliability of the motion. The load-bearing system includes a support rod (30) for bearing the interphase spacer bar, a push rod mechanism for merging the two hinged clamps on the fitting clamp, and a fastening mechanism for tightening the two clamps of the fitting clamp by turning the bolts. The control system includes a controller (8) for controlling the corresponding individual working units and a camera (13) for capturing the status of the corresponding individual working units and the surrounding environment in real time during operation; the output of the camera (13) is connected to the input of the controller (8); the output of the controller (8) is connected to the controlled ends of the motion system and the load-bearing system respectively; the controller (8) is also connected to a ground station remote control device for remote operation by staff. The frame (7) is provided with arm one (16) and arm two (18); the motion system also includes a drive motor (21) provided on arm one (16), the controlled end of the drive motor (21) is connected to the output end of the controller (8), and a transmission gear one (20) is provided on the rotating shaft of the drive motor (21); the drive wheel (22) is provided on arm one (16), and the drive wheel (22) is composed of a gear meshing with the transmission gear one (20) and a grooved wheel for traveling on the conductor (1); the guide wheel (19) is a grooved wheel structure for traveling on the conductor (1) and is provided on arm two (18); The top of the frame (7) is provided with a crossbeam (2), and the crossbeam (2) is provided with an inverted U-shaped groove for facilitating the hoisting of the robot during the process of getting on and off the line; the bottom of the frame (7) is provided with a groove for facilitating the control of the robot's posture with the help of the insulating rod during the process of getting on and off the line.

2. The distribution network line spacer installation robot according to claim 1, characterized in that: The motion system also includes a clamping motor (11) and a clamping arm (9) mounted on the frame (7); the controlled end of the clamping motor (11) is connected to the output end of the controller (8), and a transmission gear three (10) is mounted on the rotating shaft of the clamping motor (11); the clamping wheel (17) is a grooved wheel structure used to clamp the wire (1) from the bottom of the wire (1) and is mounted on the clamping arm (9); a rack one is longitudinally mounted on the clamping arm (9) to mesh with the transmission gear three (10) to drive the clamping wheel (17) to move up and down to achieve clamping and loosening actions.

3. The robot for installing spacer bars in a power distribution network according to claim 2, characterized in that: The control system also includes an angular velocity sensor 1 (27) installed on arm 1 (16) to collect the rotation status and rotation information of the drive wheel (22) and an angular velocity sensor 2 (28) installed on arm 2 (18) to collect the rotation status and rotation information of the guide wheel (19); the output terminals of the angular velocity sensor 1 (27) and the angular velocity sensor 2 (28) are respectively connected to the input terminal of the controller (8).

4. The distribution network line spacer installation robot according to claim 2, characterized in that: The support rod (30) is mounted on the first arm (16); the lower edge of the metal clamp when the drive wheel (22), guide wheel (19) and support rod (30) hold the interphase spacer bar is on the same axis; the clamping wheel (17) is located between the drive wheel (22) and the guide wheel (19). When the clamping wheel (17) is in the clamping state, the drive wheel (22), guide wheel (19) and clamping wheel (17) are subjected to force at three points.

5. A robot for installing spacer bars in power distribution lines according to claim 4, characterized in that: The arm (16) is provided with a fastening platform (4) located above the support rod (30). The fastening mechanism is provided on the fastening platform (4). The fastening mechanism includes a feed motor (24), a feed moving rod (14) and a fastening motor (25). The controlled ends of the feed motor (24) and the fastening motor (25) are respectively connected to the output end of the controller (8). The rotating shaft of the feed motor (24) is provided with a transmission gear (3). The feed moving rod (14) is provided with a rack (2) that meshes with the transmission gear (3) to drive the feed moving rod (14) to move up and down. The fastening motor (25) is provided at the lower end of the feed moving rod (14). The rotating shaft of the fastening motor (25) is provided with a universal sleeve (15) for locking the bolts pre-installed on the hardware clamp.

6. The power distribution line spacer installation robot according to claim 5, wherein the working unit is characterized in that: the control system further includes a force sensor (26) embedded between the fastening motor (25) and the universal sleeve (15) for collecting the torque here to determine the fastening state of the bolt, and the output end of the force sensor (26) is connected to the input end of the controller (8).

7. The distribution network line spacer installation robot according to claim 1, characterized in that: The push rod mechanism includes a push rod electric cylinder (6) mounted on the frame (7) and a push rod (5) mounted on the push rod electric cylinder (6); the controlled end of the push rod electric cylinder (6) is connected to the output end of the controller (8).

8. The power distribution line spacer installation robot according to claim 1, wherein the working unit is characterized in that: the control system further includes an angle sensor (29) disposed at the hinge of the single working unit and the insulating rod (23), and the output end of the angle sensor (29) is connected to the input end of the controller (8).

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