An ultra-high voltage intelligent defect elimination device based on a mobile platform

Abstract

The present invention discloses an ultra-high voltage intelligent defect elimination device based on a mobile platform, which relates to the technical field of maintenance equipment for ultra-high voltage transmission lines; it includes a vehicle frame, a manipulator, a pulley block, a pulley driver and a controller arranged on the vehicle frame. The controller is electrically connected to the manipulator, the controller is electrically connected to the pulley driver, the pulley driver is connected to the pulley block, the pulley block includes a first pulley group and a second pulley group, the first pulley group is arranged on one side of the vehicle frame, and the second pulley group is arranged on the other side of the vehicle frame; through the first pulley group and the second pulley group, etc., the trolley can be more stable on the wire, so that the R pin is easily aligned with the mounting hole, and thus the installation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of maintenance equipment for ultra - extra high voltage transmission lines, and particularly to an ultra - extra high voltage intelligent defect elimination device based on a mobile platform. Background Art

[0002] For ultra - extra high voltage transmission lines, the pins of connection fittings such as link plates, spacer dampers, and weights are missing due to low - frequency vibration in gentle breeze, etc., posing potential safety hazards.

[0003] The search formula is TTL_ALL: (pin installation) AND TACD_ALL: (sliding AND cart), and a relatively close prior - art solution is obtained.

[0004] The authorized announcement number is CN108539656B, and the name is a special pin installer for tension M - pins. It includes a cart and an M - pin ejector arranged on the cart. The M - pin ejector includes an ejection frame, and a slide plate, an elastic telescopic structure, and a latching structure all arranged on the ejection frame. The slide plate is telescopically engaged with the ejection frame through the elastic telescopic structure, and the slide plate is slidably and latched with the latching structure; it realizes the live replacement of the M - pins of the tension insulator string through the cart and the M - pin ejector, with simple, convenient, and fast operation, saving manpower and time, ensuring the reliability of power grid operation, being easy to carry, and being safe and reliable to use.

[0005] The authorized announcement number is CN108436430B, and the name is a special pin installer for M - pins based on an automatic cart. It includes an automatic cart, a pin - installation unit, a control unit, and a drive unit arranged on the automatic cart; the drive unit includes a hydraulic rod and a movable - arm drive motor, and the pin - installation unit includes a U - shaped frame, a slide plate, a support plate, a sliding groove, an outward - expanding side plate, and a movable arm; the start - stop switch, forward - backward travel switch, outward - expanding side - plate proximity switch, and movable - arm proximity switch of the control unit are respectively connected to the control end of the controller, and the control end of the controller is respectively connected to the control end of the automatic cart, the control end of the hydraulic rod, and the control end of the movable - arm drive motor; it realizes the intelligent control and automatic live installation of the M - pins of the tension insulator string through the automatic cart, the pin - installation unit, the control unit, and the drive unit, with convenient and fast operation and safe and reliable use.

[0006] Combining the above two patent literatures and the existing technical solutions, the inventor analyzed and found the following technical problems in the existing technical solutions.

[0007] 1. There are few technical solutions for installing R - pins in the prior art. When installing M - pins, the compressed M - pins are horizontally pushed into the installation hole and then the M - pins expand and are fixed in the installation hole. Using the installation device for M - pins, the installation of R - pins cannot be achieved. The reason is that the installation direction of R - pins is perpendicular to the traveling direction of the cart, not in the same direction.

[0008] 2. When the pulley is on the wire, due to the low-frequency vibration in gentle breeze, the pulley is not easy to be stable, making it difficult for the R pin to align with the installation hole, resulting in low installation efficiency.

[0009] 3. When installing the pin, due to the vibration generated by the mechanical components on the pulley during operation, the pulley slides on the wire, making it difficult for the R pin to align with the installation hole, thus resulting in low installation efficiency.

[0010] Existing technical problems and considerations:

[0011] How to solve the technical problem of low working efficiency in installing the R pin. Summary of the Invention

[0012] The technical problem to be solved by the present invention is to provide an ultra-high voltage intelligent defect elimination device based on a mobile platform to solve the technical problem.

[0013] To solve the above technical problem, the technical solution adopted by the present invention is: an ultra-high voltage intelligent defect elimination device based on a mobile platform includes a vehicle frame, a manipulator, a pulley block, a pulley driver and a controller arranged on the vehicle frame. The controller is electrically connected to the manipulator and the pulley driver. The pulley driver is connected to the pulley block. The pulley block includes a first pulley group and a second pulley group. The first pulley group is arranged on one side of the vehicle frame, and the second pulley group is arranged on the other side of the vehicle frame.

[0014] A further technical solution lies in that: the distance between the first pulley group and the second pulley group is greater than the maximum width of the vehicle frame, or the shape of the longitudinal section of the vehicle frame is an inverted trapezoid.

[0015] A further technical solution lies in that: it further includes a limiter arranged on the vehicle frame for locking the pulley block to the wire.

[0016] A further technical solution lies in that: the limiter is arranged on the pulley block. The limiter includes a limit clamping plate driving motor, a limit lead screw, a first limit support rod, a second limit support rod, a first clamping plate and a second clamping plate. The pulley block includes a pulley frame and pulleys arranged on the pulley frame. The pulleys are rotatably connected to the pulley frame. The first limit support rod is located on one side of the limit lead screw, and the second limit support rod is located on the other side of the limit lead screw. The limit lead screw includes a first limit lead screw and a second limit lead screw. The thread directions of the first limit lead screw and the second limit lead screw are opposite and they are connected together. The limit clamping plate driving motor and the limit support rods are both fixedly connected to the pulley frame. The rotating shaft of the limit clamping plate driving motor is fixedly connected to the first limit lead screw. The first clamping plate is threadedly connected to the first limit lead screw and slidably connected to the first limit support rod and the second limit support rod. The second clamping plate is threadedly connected to the second limit lead screw and slidably connected to the first limit support rod and the second limit support rod. The controller is electrically connected to the limit clamping plate driving motor. The rotating limit lead screw drives the first clamping plate and the second clamping plate to move towards each other or away from each other, so that the first clamping plate and the second clamping plate clamp the wire and lock it, or the first clamping plate and the second clamping plate release the wire and unlock it.

[0017] A further technical solution lies in that: the limiter includes a first limiter and a second limiter. The first limiter is arranged on the first pulley block, and the second limiter is arranged on the second pulley block; the structures of the first limiter and the second limiter are symmetrical.

[0018] A further technical solution lies in that: the pulley block includes a pulley frame and pulleys arranged on the pulley frame. The pulleys are rotatably connected to the pulley frame. The pulleys include a driving pulley and a driven pulley. The pulley driver includes a pulley driving motor. The controller is electrically connected to the pulley driving motor. The rotating shaft of the pulley driving motor is connected to the driving pulley; the structures of the first pulley block and the second pulley block are symmetrical.

[0019] A further technical solution lies in that: the manipulator includes an arm part, a wrist part, a palm part and a finger part connected in sequence, and a finger driver for driving the movement of the finger part. The arm part is a three-dimensional link manipulator. The wrist part is a wrist driving motor. The finger part includes a clamp for clamping the R pin and a pin pressing plate for pressing the R pin. The finger driver includes a pin clamping driver and a pin pressing driver. The wrist part, the palm part, the finger part and the finger driver form a hand part. The controller is separately and electrically connected to the wrist driving motor, the pin clamping driver and the pin pressing driver. The wrist driving motor is fixed at the front end of the arm part. The rotating shaft of the wrist driving motor is fixedly connected to the palm part. The pin clamping driver is connected to the clamp and makes the clamp open or close. The pin pressing driver is connected to the pin pressing plate and makes the pin pressing plate approach or move away from the clamp.

[0020] A further technical solution lies in that: the clamp includes a first clamp body and a second clamp body, the pin driver includes a pin driving motor and a pin driving gear, the first clamp body is rotatably connected to the palm part, the second clamp body is rotatably connected to the palm part, the rear part of the first clamp body is meshed and connected to the rear part of the second clamp body, the controller is electrically connected to the pin driving motor, the pin driving motor is fixedly connected to the palm part, the rotating shaft of the pin driving motor is connected to the pin driving gear, and the pin driving gear is meshed and connected to the rear part of the first clamp body.

[0021] A further technical solution lies in that: the pin presser driver includes a pin presser driving motor, a pin presser screw rod and a pin presser support rod. A screw hole and a sliding hole are formed in the pin presser plate. The screw hole of the pin presser plate is in threaded connection with the pin presser screw rod, and the sliding hole of the pin presser plate is sleeved with the pin presser support rod. The pin presser driving motor and the pin presser support rod are both fixedly connected to the palm part. The controller is electrically connected to the pin presser driving motor. The rotating shaft of the pin presser driving motor is connected to one end of the pin presser screw rod, and the other end of the pin presser screw rod is rotatably connected to the palm part. The rotating pin presser screw rod drives the pin presser plate to slide on the pin presser support rod.

[0022] A further technical solution lies in that: it further includes a remote controller, a communication device and a camera arranged on the vehicle frame. The controller is a single-chip microcomputer. The controller is connected and communicates with the communication device. The camera is connected and communicates with the communication device. The remote controller is connected and communicates with the communication device.

[0023] The beneficial effects produced by adopting the above technical solutions are as follows:

[0024] An ultra-high voltage intelligent defect elimination device based on a mobile platform includes a vehicle frame, a manipulator arranged on the vehicle frame, a pulley block and a pulley driver, and a controller. The controller is electrically connected to the manipulator and the pulley driver. The pulley driver is connected to the pulley block. The pulley block includes a first pulley block and a second pulley block. The first pulley block is arranged on one side of the vehicle frame, and the second pulley block is arranged on the other side of the vehicle frame. With this technical solution, through the first pulley block, the second pulley block, etc., the trolley is made more stable on the wire, so that the R pin is easily aligned with the mounting hole, and thus the installation efficiency is improved.

[0025] The distance between the first pulley block and the second pulley block is greater than the maximum width of the vehicle frame, which can further improve the stability of the trolley and further improve the installation efficiency.

[0026] The longitudinal section of the vehicle frame is in the shape of an inverted trapezoid, and the center of gravity of the trolley is more stable, which can further improve the stability of the trolley and further improve the installation efficiency.

[0027] It further includes a stopper disposed on the vehicle frame for locking the pulley block to the wire. The stopper fixes the pulley on the wire to prevent slipping, which can further improve the stability of the pulley and further enhance the installation efficiency.

[0028] See the description in the specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is the structural diagram of Embodiment 1 of the present invention;

[0030] Figure 2 is Figure 1 the structural diagram of the pulley block in

[0031] Figure 3 is Figure 1 the structural diagram of the clamping part in

[0032] Figure 4 is Figure 1 the structural diagram of the arm part in

[0033] Figure 5 is Figure 1 the structural diagram of the hand part in

[0034] Figure 6 is the principle block diagram of Embodiment 1 of the present invention;

[0035] Figure 7 is the principle block diagram of Embodiment 2 of the present invention;

[0036] Figure 8 is the principle block diagram of Embodiment 3 of the present invention.

[0037] Wherein: 1-1 first boom, 1-2 first boom screw rod, 1-3 first boom support rod, 1-4 first boom slider, 1-5 first boom motor, 2-1 second boom, 2-2 second boom screw rod, 2-3 second boom support rod, 2-4 second boom slider, 2-5 second boom motor, 3-1 third boom, 3-2 third boom screw rod, 3-3 third boom support rod, 3-4 third boom slider, 3-5 third boom motor, 4 wrist drive motor, 5 first clamp pin connector plate, 6 second clamp pin connector plate, 7-1 first clamp body, 7-2 second clamp body, 8 triangular block, 9 pin opener connector plate, 10 pin presser plate, 11 clamp pin drive motor, 12 clamp pin drive gear, 13 pin presser drive motor, 14 pin presser screw rod, 15 pin presser support rod, 16 pin presser connector plate, 21 vehicle frame, 22 first pulley frame, 23 first driving pulley, 24 first driven pulley, 25 first pulley drive motor, 26 first limit clamping plate drive motor, 27 first limit support rod, 28 second limit support rod, 29 first clamping plate, 30 second clamping plate, 31 first limit lead screw, 32 second limit lead screw. SPECIFIC IMPLEMENTATION MANNER

[0038] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The following description of at least one exemplary embodiment is actually illustrative only and in no way limits the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0039] Many specific details are set forth in the following description in order to provide a thorough understanding of the present application, but the present application may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0040] Embodiment 1:

[0041] As Figures 1 to 6 shown, the present invention discloses a ultra-high voltage intelligent defect elimination device based on a mobile platform, which includes a vehicle frame 21, a manipulator, a pulley group, a pulley driver, a limiter for locking the pulley group to a wire, and a controller installed on the vehicle frame 21. The controller is a single-chip microcomputer. The distance between the first pulley group and the second pulley group is greater than the maximum width of the vehicle frame 21, and the longitudinal section of the vehicle frame 21 is in the shape of an inverted trapezoid.

[0042] As Figure 1 shown, the pulley group includes a first pulley group and a second pulley group with symmetrical structures. The first pulley group is fixedly connected to one side of the vehicle frame 21, and the second pulley group is fixedly connected to the other side of the vehicle frame 21.

[0043] As Figure 1 and Figure 2 shown, the first pulley group includes a first pulley frame 22 and pulleys installed on the first pulley frame 22. The pulleys include a first driving pulley 23 and a first driven pulley 24. The first driving pulley 23 and the first driven pulley 24 are respectively rotatably connected to the first pulley frame 22 alone. The pulley driver includes a first pulley driving motor 25, and the rotating shaft of the first pulley driving motor 25 is connected to the first driving pulley 23.

[0044] As Figure 1 shown, the second pulley group includes a second pulley frame and pulleys installed on the second pulley frame. The pulleys include a second driving pulley and a second driven pulley. The second driving pulley and the second driven pulley are respectively rotatably connected to the second pulley frame alone. The pulley driver further includes a second pulley driving motor, and the rotating shaft of the second pulley driving motor is connected to the second driving pulley.

[0045] As Figure 1 shown, the stopper includes a first stopper and a second stopper with symmetrical structures. The first stopper is installed on the first pulley set, and the second stopper is installed on the second pulley set.

[0046] As Figure 1 and Figure 2 shown, the first stopper includes a first stopper clamping plate driving motor 26, a limiting lead screw, i.e., a first limiting rod, a first limiting support rod 27, a second limiting support rod 28, a first clamping plate 29, and a second clamping plate 30. The first limiting support rod 27 is located on one side of the first limiting rod, and the second limiting support rod 28 is located on the other side of the first limiting rod. The first limiting rod includes a first limiting lead screw 31 and a second limiting lead screw 32. The thread direction of the first limiting lead screw 31 is opposite to that of the second limiting lead screw 32 and they are connected together. The first stopper clamping plate driving motor 26, the first limiting support rod 27, and the second limiting support rod 28 are all fixedly connected to the first pulley frame 22. The rotating shaft of the first stopper clamping plate driving motor 26 is fixedly connected to the first limiting lead screw 31. The first clamping plate 29 is threadedly connected to the first limiting lead screw 31, slidably connected to the first limiting support rod 27, and slidably connected to the second limiting support rod 28. The second clamping plate 30 is threadedly connected to the second limiting lead screw 32, slidably connected to the first limiting support rod 27, and slidably connected to the second limiting support rod 28. The rotating first limiting rod drives the first clamping plate 29 and the second clamping plate 30 to move towards each other or away from each other, so that the first clamping plate 29 and the second clamping plate 30 clamp and lock the wire, or the first clamping plate 29 and the second clamping plate 30 release the wire and set it free.

[0047] As Figure 1As shown in the figure, the second position limiter includes a second position-limiting clamping plate driving motor, a position-limiting lead screw (i.e., the second position-limiting rod), a third position-limiting support rod, a fourth position-limiting support rod, a third clamping plate, and a fourth clamping plate. The third position-limiting support rod is located on one side of the second position-limiting rod, and the fourth position-limiting support rod is located on the other side of the second position-limiting rod. The position-limiting lead screw further includes a third position-limiting lead screw and a fourth position-limiting lead screw. The thread directions of the third position-limiting lead screw and the fourth position-limiting lead screw are opposite and they are connected together. The second position-limiting clamping plate driving motor, the third position-limiting support rod, and the fourth position-limiting support rod are all fixedly connected to the second pulley bracket. The rotating shaft of the second position-limiting clamping plate driving motor is fixedly connected to the third position-limiting lead screw. The third clamping plate is threadedly connected to the third position-limiting lead screw, slidably connected to the third position-limiting support rod, and slidably connected to the fourth position-limiting support rod. The fourth clamping plate is threadedly connected to the fourth position-limiting lead screw, slidably connected to the third position-limiting support rod, and slidably connected to the fourth position-limiting support rod. The rotating second position-limiting rod drives the third clamping plate and the fourth clamping plate to move towards each other or away from each other, so that the third clamping plate and the fourth clamping plate clamp the wire and lock it, or the third clamping plate and the fourth clamping plate release the wire and unlock it.

[0048] As Figure 1 shown in the figure, the manipulator includes a sequentially connected arm part, a wrist part, a palm part, a finger part, and a finger driver for driving the movement of the finger part. The arm part is a three-dimensional link manipulator arm, the wrist part is a wrist driving motor, the finger part includes a clamp for clamping the R pin and a pin-pressing plate for pressing the R pin, the finger driver includes a pin-clamping driver and a pin-pressing driver. The wrist part, the palm part, the finger part, and the finger driver form a hand part. The controller is separately electrically connected to the wrist driving motor, the pin-clamping driver, and the pin-pressing driver. The wrist driving motor is fixed at the front end of the arm part, and the rotating shaft of the wrist driving motor is fixedly connected to the palm part. The pin-clamping driver is connected to the clamp and makes the clamp open or close. The pin-pressing driver is connected to the pin-pressing plate and makes the pin-pressing plate approach or move away from the clamp.

[0049] The clamp includes a first clamp body and a second clamp body. The pin-clamping driver includes a pin-clamping driving motor and a pin-clamping driving gear. The first clamp body is rotatably connected to the palm part, the second clamp body is rotatably connected to the palm part, the rear part of the first clamp body is meshed and connected to the rear part of the second clamp body. The controller is electrically connected to the pin-clamping driving motor. The pin-clamping driving motor is fixed to the palm part, the rotating shaft of the pin-clamping driving motor is connected to the pin-clamping driving gear, and the pin-clamping driving gear is meshed and connected to the rear part of the first clamp body.

[0050] The pin press driver includes a pin press driving motor, a pin presser lead screw, and a pin presser support rod. A threaded hole and a sliding hole are formed in the pin presser plate. The threaded hole of the pin presser plate is in threaded connection with the pin presser lead screw, and the sliding hole of the pin presser plate is sleeved with the pin presser support rod. The pin press driving motor and the pin presser support rod are both fixedly connected to the palm. The controller is electrically connected to the pin press driving motor. The rotating shaft of the pin press driving motor is connected to one end of the pin presser lead screw, and the other end of the pin presser lead screw is rotatably connected to the palm. The rotating pin presser lead screw drives the pin presser plate to slide on the pin presser support rod.

[0051] It further includes a pin opener disposed on the palm for opening the R pin, and the pin presser plate, the clamp, and the pin opener are distributed in sequence.

[0052] It further includes a pin opener connecting plate, and the pin opener is fixedly connected to the palm through the pin opener connecting plate. The pin opener is a triangular block, that is, a block with a triangular cross-section.

[0053] The palm includes a first pin clamp connecting plate, a second pin clamp connecting plate, and a pin clamp support rod. One end of the pin clamp support rod is fixedly connected to the first pin clamp connecting plate, and the other end of the pin clamp support rod is fixedly connected to the second pin clamp connecting plate. The clamp is located between the first pin clamp connecting plate and the second pin clamp connecting plate.

[0054] The three-dimensional linkage robotic arm includes three robotic arms with the same structure, namely the first to the third robotic arms. The first robotic arm includes a first arm frame, a first arm lead screw, a first arm support rod, a first arm slider, and a first arm motor. A threaded hole and a sliding hole are formed in the first arm slider. The threaded hole of the first arm slider is in threaded connection with the first arm lead screw, and the sliding hole of the first arm slider is sleeved with the first arm support rod. The first arm support rod and the first arm motor are both fixedly connected to the first arm frame. The controller is electrically connected to the first arm motor. The rotating shaft of the first arm motor is connected to one end of the first arm lead screw, and the other end of the first arm lead screw is rotatably connected to the first arm frame. The rotating first arm lead screw drives the first arm slider to slide on the first arm support rod. The second robotic arm includes a second arm frame, a second arm lead screw, a second arm support rod, a second arm slider, and a second arm motor. The third robotic arm includes a third arm frame, a third arm lead screw, a third arm support rod, a third arm slider, and a third arm motor. The second arm frame is connected to the first arm slider, and the third arm frame is connected to the second arm slider.

[0055] As Figure 6 shown, the fact that the controller is electrically connected to the mechanical hand means that the controller is electrically connected to the first arm motor, the controller is electrically connected to the second arm motor, the controller is electrically connected to the third arm motor, the controller is electrically connected to the wrist driving motor, the controller is electrically connected to the pin clamp driving motor, and the controller is electrically connected to the pin press driving motor.

[0056] AsFigure 6 As shown, the controller is electrically connected to the first pulley drive motor 25, the controller is electrically connected to the second pulley drive motor, the controller is electrically connected to the first limit clamping plate drive motor 26, and the controller is electrically connected to the second limit clamping plate drive motor.

[0057] Among them, the controller is a single-chip microcomputer, the motor is a reduction motor, and the controller, the motor itself, and the corresponding communication connection technology are prior arts and will not be elaborated here.

[0058] Description of Embodiment 1:

[0059] As Figure 1 and Figure 4 shown, the arm is a three-dimensional link manipulator including three manipulators with the same structure, namely the first to the third manipulators. The first manipulator includes a first arm frame 1-1, a first arm lead screw 1-2, a first arm support rod 1-3, a first arm slider 1-4, and a first arm motor 1-5. A threaded hole and a sliding hole are provided on the first arm slider 1-4. The threaded hole of the first arm slider 1-4 is threadedly connected to the first arm lead screw 1-2, and the sliding hole of the first arm slider 1-4 is sleeved on the first arm support rod 1-3. The first arm support rod 1-3 and the first arm motor 1-5 are both fixedly connected to the first arm frame 1-1. The rotating shaft of the first arm motor 1-5 is connected to one end of the first arm lead screw 1-2, and the other end of the first arm lead screw 1-2 is rotatably connected to the first arm frame 1-1. The rotating first arm lead screw 1-2 drives the first arm slider 1-4 to slide on the first arm support rod 1-3. The second manipulator includes a second arm frame 2-1, a second arm lead screw 2-2, a second arm support rod 2-3, a second arm slider 2-4, and a second arm motor 2-5. The third manipulator includes a third arm frame 3-1, a third arm lead screw 3-2, a third arm support rod 3-3, a third arm slider 3-4, and a third arm motor 3-5. The second arm frame 2-1 is connected to the first arm slider 1-4, and the third arm frame 3-1 is connected to the second arm slider 2-4.

[0060] As Figure 3 and Figure 5 shown, the palm includes a first clip pin connector plate 5, a second clip pin connector plate 6, a clip pin support rod, a press pin connector plate 16, and an opening pin connector plate 9. One end of the clip pin support rod is fixedly connected to the first clip pin connector plate 5, and the other end of the clip pin support rod is fixedly connected to the second clip pin connector plate 6. The clamp is located between the first clip pin connector plate 5 and the second clip pin connector plate 6. The press pin connector plate 16 is fixed on the second clip pin connector plate 6, and the opening pin connector plate 9 is fixed on the first clip pin connector plate 5.

[0061] As Figure 4As shown, the wrist driving motor 4 is fixedly connected to the third arm slider 3-4. The rotating shaft of the wrist driving motor 4 is fixedly connected to the first clamp pin connector plate 5.

[0062] As Figure 5 shown, the overhead device is fixedly connected to the overhead device connecting plate 9, and the overhead device connecting plate 9 is fixedly connected to the first clamp pin connector plate 5. The finger part includes a clamp for clamping the R pin and a pin pressing plate 10 for pressing the R pin.

[0063] As Figure 3 shown, the clamp includes a first clamp body 7-1 and a second clamp body 7-2.

[0064] As Figure 5 shown, the finger driver includes a clamp pin driver and a pin pressing driver. The clamp pin driver is connected to the clamp and enables the clamp to open or close. The pin pressing driver is connected to the pin pressing plate 10 and enables the pin pressing plate 10 to approach or move away from the clamp. The pin pressing plate 10, the clamp, and the overhead device are arranged in sequence. Clamping teeth for clamping the R pin are provided at the front part of the clamp, and the pin pressing plate 10 is a C-shaped block.

[0065] As Figure 3 and Figure 5 shown, the clamp pin driver includes a clamp pin driving motor 11 and a clamp pin driving gear 12. The first clamp body 7-1 is rotatably connected to the first clamp pin connector plate 5, and the second clamp body 7-2 is rotatably connected to the first clamp pin connector plate 5. The rear part of the first clamp body 7-1 is meshed and connected to the rear part of the second clamp body 7-2. The clamp pin driving motor 11 is fixedly connected to the second clamp pin connector plate 6. The rotating shaft of the clamp pin driving motor 11 passes through the second clamp pin connector plate 6 and is fixedly connected to the clamp pin driving gear 12. The clamp pin driving gear 12 is meshed and connected to the rear part of the first clamp body 7-1.

[0066] As Figure 5 shown, the pin pressing driver includes a pin pressing driving motor 13, a pin pressing screw rod 14, and a pin pressing support rod 15. A threaded hole and a sliding hole are provided on the pin pressing plate 10. The threaded hole of the pin pressing plate 10 is threadedly connected to the pin pressing screw rod 14, and the sliding hole of the pin pressing plate 10 is sleeved on the pin pressing support rod 15. Both the pin pressing driving motor 13 and the pin pressing support rod 15 are fixedly connected to the pin pressing connector plate 16. The rotating shaft of the pin pressing driving motor 13 passes through the pin pressing connector plate 16 and is fixedly connected to one end of the pin pressing screw rod 14. The other end of the pin pressing screw rod 14 is rotatably connected to the pin pressing connector plate 16. The rotating pin pressing screw rod 14 drives the pin pressing plate 10 to slide on the pin pressing support rod 15.

[0067] As Figure 4 and Figure 5As shown in the figure, the wrist drive motor 4, the palm part, the finger part and the finger part driver form a hand. The palm part includes a first pin gripper connecting plate 5, a second pin gripper connecting plate 6, a pin gripper support rod, a pin presser connecting plate 16 and an opening pin device connecting plate 9. The finger part includes a clamp, a pin presser pressing plate 10 and an opening pin device. The opening pin device is a triangular block 8. The finger part driver includes a pin gripper driver and a pin presser driver. The pin gripper driver includes a pin gripper drive motor 11 and a pin gripper drive gear 12. The pin presser driver includes a pin presser drive motor 13, a pin presser lead screw 14 and a pin presser support rod 15.

[0068] As Figure 5 As shown in the figure, the manipulator mainly includes a pin presser, a pin gripper and an opening pin device. The pin presser mainly includes a pin presser pressing plate 10, a pin presser drive motor 13, a pin presser lead screw 14, a pin presser support rod 15 and a pin presser connecting plate 16. The pin gripper mainly includes a first pin gripper connecting plate 5, a second pin gripper connecting plate 6, a pin gripper support rod, a clamp, a pin gripper drive motor 11 and a pin gripper drive gear 12.

[0069] Instructions for Use of Embodiment 1:

[0070] As Figure 1 As shown in the figure, the vehicle frame 21 and the pulley block form a trolley. The wired communication device and the controller are fixedly installed in the control box and fixed on the vehicle frame 21.

[0071] The first arm of the three-dimensional linkage robotic arm is fixedly installed on the vehicle frame 21 of the trolley. Hold the hand-held remote control, connect the controller to the wired communication device for wired connection and communication, and connect the remote control to the wired communication device for wired connection and communication. Among them, the controller, the trolley, the wired communication device and the remote control itself, as well as the corresponding communication connection technology, are prior arts and will not be elaborated here.

[0072] During maintenance, place the trolley on the wire, use the remote control to manipulate the trolley to the working point, and use the remote control and the controller to manipulate the manipulator to install the R pin.

[0073] Compared with the instructions for use of Embodiment 1, a trolley with a wireless communication device can also be used. The controller is connected to the wireless communication device for wired connection and communication, and the remote control is connected to the wireless communication device for wireless connection and communication. Among them, the controller, the wireless communication device and the remote control itself, as well as the corresponding communication connection technology, are prior arts and will not be elaborated here.

[0074] Embodiment 2:

[0075] The difference between Embodiment 2 and Embodiment 1 is that it further includes a remote control, a communication device fixed on the vehicle frame 21 and a camera. The controller is connected to the communication device for communication, the camera is connected to the communication device for communication, and the remote control is connected to the communication device for communication.

[0076] As Figure 7As shown in the figure, the present invention discloses a UHV intelligent defect elimination device based on a mobile platform, which includes the device of Embodiment 1, and also includes a remote controller, a communication device and a camera fixed on the vehicle frame 21. The communication device is a wired communication device. The controller is electrically connected to the wired communication device and communicates bidirectionally. The controller is electrically connected to the control end of the camera. The camera is electrically connected to and communicates with the wired communication device. The remote controller is electrically connected to and communicates with the wired communication device.

[0077] Among them, the controller, the motor, the camera, the wired communication device, the remote controller itself and the corresponding communication connection technologies are prior arts and will not be elaborated here.

[0078] Embodiment 3:

[0079] The difference between Embodiment 3 and Embodiment 2 is that the communication device is a wireless communication device.

[0080] As Figure 8 As shown in the figure, the present invention discloses a UHV intelligent defect elimination device based on a mobile platform, which includes the device of Embodiment 1, and also includes a remote controller, a communication device and a camera fixed on the vehicle frame 21. The communication device is a wireless communication device. The controller is electrically connected to the wireless communication device and communicates bidirectionally. The controller is electrically connected to the control end of the camera. The camera is electrically connected to and communicates with the wireless communication device. The remote controller is wirelessly connected to and communicates with the wireless communication device.

[0081] Among them, the controller, the motor, the camera, the wireless communication device, the remote controller itself and the corresponding communication connection technologies are prior arts and will not be elaborated here.

[0082] Compared with the above embodiments, a temperature sensor and a cooling fan can also be fixedly connected and installed on the vehicle frame. The temperature sensor is electrically connected to the controller, and the control end of the controller is electrically connected to the cooling fan. When working at high temperature, the device can be cooled down.

[0083] Compared with the above embodiments, a power supply is fixedly connected to the vehicle frame, which is electrically connected to and supplies power to each device.

[0084] The purpose of this application:

[0085] The main purpose of the UHV transmission line live repair and replacement robot designed by the present invention is to eliminate the potential hazards in the operation of the transmission line caused by the missing pins of connection fittings such as line clamps, spacer dampers, and weights on the transmission line. At the same time, it can, to a certain extent, solve the problems of high labor intensity, low efficiency, and high danger in the operation of manually eliminating the defects of missing pins live. The present invention can effectively reduce the operation and maintenance costs of the main grid and some distribution network transmission lines, improve the operation economy of the power grid, effectively promote the work progress, and solve some problems in the operation of transmission lines.

[0086] Technical solution description:

[0087] The R pins applied on transmission lines are important components of transmission lines. This component can effectively prevent power grid accidents such as the shedding of connection fittings caused by the aging and loosening of the connection parts of connection fittings, the line sag caused by the partial disintegration of spacer dampers, and short circuits. Since transmission lines are erected in the wild and are exposed to the air for a long time, they are affected by adverse weather conditions such as rain, snow, ice, and strong winds, which can cause the pins to rust, break, or even fall off. Therefore, the number of critical defect work times for pin loss in power outage maintenance operations and daily live defect elimination has been increasing year by year. Based on the fact that the defect elimination work for pin loss belongs to high-risk operations, whether it is power outage or live defect elimination, operators need to carry pins to climb the tower and go online to complete the work. The labor intensity, working time, and danger during the operation process are high. Therefore, it is of great significance to develop a live pin replacement robot suitable for transmission lines to replace manual defect elimination. Based on this, the present invention has developed a live pin replacement robot applied to ultra-high voltage and extra-high voltage transmission lines according to the problems to be solved. This robot can complete the pin replacement operation for the missing pins on the connection plates, spacer dampers, weights, and other fittings on the line side of the transmission line by shifting back and forth on the transmission line and cooperating with corresponding mechanical operations.

[0088] The overall framework of the pin replacement robot is an inverted trapezoid with a wider upper part and a narrower lower part, and it can be placed on the upper side split conductors of the transmission line by hoisting with a drone.

[0089] As Figure 1 shown, it can be seen that the inverted trapezoid design can ensure that the robot can smoothly enter between the split conductors and ensure the freedom of spatial operation for subsequent defect elimination operations.

[0090] As Figure 2 shown, from the model diagram of the pin replacement robot, it can be seen that its rolling wheels are grooved. This design can ensure that the overall framework of the robot can be firmly hung on the transmission line and fully guarantee the friction required for movement. The force can meet the requirement that it will not be passively displaced within a wind field of level 5 or below, effectively ensuring the operation accuracy of the pin robot.

[0091] The live pin replacement robot mainly consists of three parts: a mobile platform, i.e., a trolley; an operation end, i.e., a manipulator; and a robot control system, i.e., including a remote controller and a communication device, and involves the application of technologies such as framework, wireless interconnection, remote control, image acquisition and transmission, and power management and control. The relevant introduction to its framework has been made in the above content. Its framework is the key to ensuring its operation on the line and is the basis for realizing subsequent operation tasks. This framework can be modified in corresponding dimensions according to the types of split conductors, so as to meet the adaptability of transmission lines with different voltage levels. The following will introduce in-depth and detailedly from the three major components of the pin replacement robot.

[0092] The first part is the mobile platform, i.e., the trolley, which consists of a load-bearing chassis, i.e., the frame, walking wheels, i.e., the pulley set, and its power source, i.e., the pulley drive motor, and a limiting mechanism, i.e., the limiter. This platform can carry the end-effector mechanical device, as well as the central control platform, i.e., the controller, and the wireless transceiver module, i.e., the wireless communication device. Its load-bearing chassis is a carbon fiber chassis. Since the power transmission line operation environment is at an altitude of dozens of meters, there are problems such as delay and electromagnetic interference that affect the operation stability and safety. Based on the principles of electromagnetic shielding and Faraday cage, a carbon fiber box is selected here, which can effectively reduce the interference of strong electromagnetic fields on wireless signals and the current trigger signals of the internal chips of the robot, and can effectively reduce the body weight.

[0093] As Figure 1 shown, the four walking wheels of the pin replacement robot are symmetrically distributed left and right relative to the box body. The two front wheels are driving wheels, which obtain power through fixed connection with the extended connecting lead screws of the two driving wheel drive motors inside the box body; the two rear wheels are driven wheels, mainly providing a supporting role. This design can control the forward and backward rolling of the wheels by controlling the forward and reverse rotation of the motor, so as to achieve forward and backward displacement on the line, and realize the bolt docking between the pin replacement robot and the working surface. To ensure the operation ability of the robot, limit clamping plates are added outside the chassis. The limit clamping plates are two stainless steel sheets, and there are threaded holes in the centers of the two stainless steel sheets, and the internal thread patterns of the holes are consistent with the threads of the drive motor and the extended lead screw, i.e., the limit lead screw, inside the box body, but the thread directions of the central screw holes of the two steel sheets are opposite. The two steel sheets are fixed at an angle by two small-sized clamping plate fixing rods, i.e., the clamping plate support rods, connecting the box body, to prevent them from rotating with the steering gear lead screw, i.e., the limit lead screw. In this way, by controlling the forward and reverse rotation of the limit clamping plate drive motor, the two steel sheets can be made to approach or move away from each other to achieve the purpose of clamping and loosening the wire.

[0094] The second part is the end-effector, which consists of an XYZ three-dimensional link manipulator and a rotating pressing link. Since the pin holes for pin replacement operations are very small and difficult to find, three stable synchronous motors are used for the XYZ three-dimensional link manipulator here to meet the precise stepping requirements during pin replacement operations.

[0095] As Figure 4 shown, with the working surface as the reference plane, the X-axis is fixedly connected to both sides of the box body. Using the movement principle of the limit clamping piece in the first part, by controlling the forward and reverse rotation of the drive motor on the X-axis mechanical rod, the Y-axis mechanical rod can be moved left and right on the X-axis; by controlling the forward and reverse rotation of the drive motor on the Y-axis mechanical rod, the Z-axis mechanical rod can be moved up and down on the Y-axis; by controlling the forward and reverse rotation of the drive motor on the Z-axis mechanical rod, the depth movement of the front pressing link manipulator can be achieved. Coupled with the pressing link manipulator claw, the pin replacement operation can be carried out on the pin defects at different depths on the fixed working plane.

[0096] As Figure 5As shown in the figure, the pressing link mechanical claw consists of three parts: a pin gripper, a pin presser, and a pin opener. The pin loading operation is achieved by controlling three driving motors. The wrist driving motor can control the 360° rotation of the pressing link mechanical claw on the working surface. The pin gripper driving motor can control the opening and closing of the mechanical claw, and the pin presser driving motor controls the up and down displacement of the pressing link pressing plate, i.e., the pin presser pressing plate. The most basic opening and closing of the mechanical claw is controlled by the driving motor directly through the motor extension screw plus the gear meshing with the internal gear of the mechanical claw; secondly, a self-rotating control motor is added. According to the daily defect elimination statistics records, due to factors such as installation and vibration deflection of the transmission line connection bolts, not all bolt holes are fixedly oriented. Therefore, for universality, this mechanical claw is designed to be 360°. Self-rotating type; the design concept of the pin presser driving motor is the same as the above-mentioned limit clip principle, which is to accurately and firmly press the pin grasped by the mechanical claw into the bolt hole. After entering the pin hole, the pin will be opened by the pin opener and prevent the pin from rebounding. This part is the main pin supplement mechanism. Before the robot goes online in actual application, it is necessary to clamp the pin first. The front end of the mechanical claw is equipped with a camera for real-time observation of the alignment of the pin and the bolt hole and the pin entry condition, ensuring the success rate of pin supplement and defect elimination.

[0097] The third part is the robot control system, which includes the robot body control system and the remote management host control system. The body control system mainly controls the precise control of each action of the robot, controls the power supply of the robot, collects images, and establishes a communication connection with the remote management host system; while the remote management host control system mainly monitors and remotely controls the robot.

[0098] As Figure 8 shown, the robot body control system consists of a motion control system, a mechanical control system, an image acquisition and transmission system, a central processing platform, and a wireless bridge system. Among them, the central processing platform is the total control center, and its core is a 100-pin STM32 self-writing chip; the motion system is connected to two serial ports of the central processing platform STM32 chip. The two serial ports respectively control 2 driving motors and 2 braking motors. The robot's displacement and brake lock are achieved by controlling the 4 motors of the motion system; the mechanical system is connected to 6 serial ports of the central processing platform STM32 chip. Each serial port controls a driving motor to achieve various functions of the operation end described above. The above 10 motor serial port signals are driving signals, which cooperate with 10 driving motors to form a driver, and then cooperate with sensors, radiators, etc. in the robot body control system to adjust the operation state of the robot.

[0099] The remote management host control system, i.e., the remote controller, consists of a power supply, an action controller, a display, and a communication module (wireless signal transceiver module). Among them, the power supply supplies power to components such as the action controller, the communication module, and the display. The communication system is responsible for the wireless transmission and reception of instructions and images. The action instructions issued by the action controller can be sent to the robot body control system through the communication module. The robot body control system that receives the command controls each component of the robot to execute relevant actions. The display receives image signals through the communication module to display the current installation and pinning state of the robot. The control personnel formulate the next action controller operation instructions based on the current state information.

[0100] The remote management host is the on-site command center of the robot, and all on-site control instructions are issued through the remote management host. Therefore, on-site operators are required to control the pinning and replenishment robot to perform correct actions in real time according to the video image displayed on the host through the remote management host control system to complete the pinning and replenishment operation.

[0101] After the confidential operation of this application for a period of time, the beneficial points feedback by on-site technical personnel are as follows:

[0102] By applying the live pinning and replenishment robot for ultra-high voltage transmission lines, various types of defects such as missing bolts and pins in the connection of various fittings on the line side can be effectively eliminated. It reduces the live working caused by critical pinning defects, reduces the risk of live working, and at the same time reduces the power grid accident rate and improves the economic efficiency of power grid operation.

[0103] This invention has good expandability. Since the front-end mechanism of this design is a reconfigurable manipulation structure, various operation ends can be developed in the later stage to eliminate different types of line defects.

[0104] At present, the technical solution of this invention has been pilot-tested, that is, a smaller-scale test before large-scale mass production of the product; after the pilot test is completed, user usage research has been carried out on a small scale, and the research results show a high user satisfaction; now it has started to prepare for the formal production and industrialization of the product (including the research on intellectual property risk early warning).

Claims

1. A UHV intelligent defect elimination device based on a mobile platform, comprising a vehicle frame, a manipulator, a pulley block, a pulley driver and a controller arranged on the vehicle frame. The controller is electrically connected to the manipulator and the pulley driver. The pulley driver is connected to the pulley block, and is characterized in that: The pulley block includes a first pulley block and a second pulley block. The first pulley block is arranged on one side of the vehicle frame, and the second pulley block is arranged on the other side of the vehicle frame. It further includes a stopper arranged on the vehicle frame for locking the pulley block to the wire. The stopper is arranged on the pulley block. The stopper includes a limit clamping plate driving motor, a limit lead screw, a first limit support rod, a second limit support rod, a first clamping plate and a second clamping plate. The pulley block includes a pulley frame and pulleys arranged on the pulley frame. The pulleys are rotatably connected to the pulley frame. The first limit support rod is located on one side of the limit lead screw, and the second limit support rod is located on the other side of the limit lead screw. The limit lead screw includes a first limit lead screw and a second limit lead screw. The thread direction of the first limit lead screw is opposite to that of the second limit lead screw and they are connected together. The limit clamping plate driving motor and the limit support rods are both fixedly connected to the pulley frame. The rotating shaft of the limit clamping plate driving motor is fixedly connected to the first limit lead screw. The first clamping plate is threadedly connected to the first limit lead screw, slidably connected to the first limit support rod, and slidably connected to the second limit support rod. The second clamping plate is threadedly connected to the second limit lead screw, slidably connected to the first limit support rod, and slidably connected to the second limit support rod. The controller is electrically connected to the limit clamping plate driving motor. The rotating limit lead screw drives the first clamping plate and the second clamping plate to move towards each other or away from each other, so that the first clamping plate and the second clamping plate clamp the wire and lock it, or the first clamping plate and the second clamping plate release the wire and unlock it.

2. The UHV intelligent defect elimination device based on a mobile platform according to claim 1, characterized in that: The distance between the first pulley block and the second pulley block is greater than the maximum width of the vehicle frame, or the longitudinal section of the vehicle frame is in the shape of an inverted trapezoid.

3. The UHV intelligent defect elimination device based on a mobile platform according to claim 1, characterized in that: The stopper includes a first stopper and a second stopper. The first stopper is arranged on the first pulley block, and the second stopper is arranged on the second pulley block. The structures of the first stopper and the second stopper are symmetrical.

4. The UHV intelligent defect elimination device based on a mobile platform according to claim 1, characterized in that: The pulley block includes a pulley frame and pulleys arranged on the pulley frame. The pulleys are rotatably connected to the pulley frame. The pulleys include a driving pulley and a driven pulley. The pulley driver includes a pulley driving motor. The controller is electrically connected to the pulley driving motor. The rotating shaft of the pulley driving motor is connected to the driving pulley. The structures of the first pulley block and the second pulley block are symmetrical.

5. The UHV intelligent defect elimination device based on a mobile platform according to claim 1, characterized in that: The manipulator includes an arm, a wrist, a palm, and fingers connected in sequence, as well as a finger driver for driving the movement of the fingers. The arm is a three-dimensional link manipulator, the wrist is a wrist driving motor, the fingers include a clamp for gripping the R pin and a pin pressing plate for pressing the R pin, the finger driver includes a pin clamping driver and a pin pressing driver, the wrist, the palm, the fingers, and the finger driver form a hand, the controller is separately electrically connected to the wrist driving motor, the pin clamping driver, and the pin pressing driver, the wrist driving motor is fixed at the front end of the arm, the rotating shaft of the wrist driving motor is fixedly connected to the palm, the pin clamping driver is connected to the clamp and enables the clamp to open or close, and the pin pressing driver is connected to the pin pressing plate and enables the pin pressing plate to approach or move away from the clamp.

6. The UHV intelligent defect elimination device based on a mobile platform according to claim 5, characterized in that: The clamp includes a first clamp body and a second clamp body, the pin clamping driver includes a pin clamping driving motor and a pin clamping driving gear, the first clamp body is rotatably connected to the palm, the second clamp body is rotatably connected to the palm, the rear part of the first clamp body is meshed and connected to the rear part of the second clamp body, the controller is electrically connected to the pin clamping driving motor, the pin clamping driving motor is fixed to the palm, the rotating shaft of the pin clamping driving motor is connected to the pin clamping driving gear, and the pin clamping driving gear is meshed and connected to the rear part of the first clamp body.

7. The UHV intelligent defect elimination device based on a mobile platform according to claim 5, characterized in that: The pin pressing driver includes a pin pressing driving motor, a pin press screw rod, and a pin press support rod. A threaded hole and a sliding hole are formed in the pin pressing plate. The threaded hole of the pin pressing plate is threadedly connected to the pin press screw rod, and the sliding hole of the pin pressing plate is sleeved on the pin press support rod. The pin pressing driving motor and the pin press support rod are both fixed to the palm. The controller is electrically connected to the pin pressing driving motor. The rotating shaft of the pin pressing driving motor is connected to one end of the pin press screw rod, and the other end of the pin press screw rod is rotatably connected to the palm. The rotating pin press screw rod drives the pin pressing plate to slide on the pin press support rod.

8. The UHV intelligent defect elimination device based on a mobile platform according to any one of claims 1 to 7, characterized in that: It further includes a remote controller, a communication device provided on the vehicle frame, and a camera. The controller is a single-chip microcomputer, the controller is connected and communicates with the communication device, the camera is connected and communicates with the communication device, and the remote controller is connected and communicates with the communication device.

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