A power transmission line strand breakage repairing and stranding device and robot

Abstract

The application discloses a kind of transmission line broken strand repair and line straightening device and robot, including line climbing device and installation on line climbing device broken strand repair and line straightening unit, the line climbing device includes rack, the inside of the rack is installed with climb groove wheel, the both sides of the rack are fixedly installed with driving motor, the output shaft of the driving motor is meshed with conical gear and drives climb groove wheel to rotate, the both sides of the rack are fixedly installed with control cabinet and battery for power supply for electrical appliance in robot.The application, between the adjacent two aluminum buckles used in repairing broken strand, install another winding wrapping line, can further improve the fixing effect of broken strand and main cable, reduce the force of broken strand on aluminum buckle, so as to avoid the deformation of aluminum buckle caused by excessive force, leading to the shedding of broken strand, so as to improve the stability and reliability of transmission line after repair, reduce the workload of repair.

Description

Technical Field

[0001] This invention relates to the field of power transmission line repair technology, and more specifically, to a power transmission line strand repair and straightening device and robot. Background Technology

[0002] Strand breakage faults in transmission line conductors and ground wires occur frequently during operation and maintenance. Affected by factors such as icing, extreme weather, vibration, and lightning strikes, when the tensile stress of the conductor exceeds its mechanical strength, structural cracks propagate, leading to plastic deformation and fatigue necking fracture. The high temperature generated by the large current during a lightning strike can also rapidly melt weak points, causing breakage. Sometimes, broken strands may lap over adjacent cables, causing short circuits. Due to the difficulty of repairs and the long power outage time, this poses a significant threat to the safe operation of transmission lines.

[0003] Most broken strand repairs in conventional power transmission lines are done manually by re-attaching the cable to the broken section. This is dangerous due to the high altitude and the location on the power transmission line. Traditional broken strand repairs involve using aluminum clips to re-fix the broken strand to the main cable. However, the strength of aluminum clips is relatively weak. When the cable is subjected to external forces and is prone to breakage, the instantaneous force generated by the cable often causes the aluminum clips to deform again, resulting in the broken strand falling off again. This method lacks stability and reliability. Summary of the Invention

[0004] In view of the problems existing in the prior art, the purpose of this invention is to provide a device and robot for repairing broken strands in power transmission lines.

[0005] To address the aforementioned technical problems, the present invention adopts the following technical solution.

[0006] A power transmission line broken strand repair and straightening device and robot include a climbing device and a broken strand repair and straightening unit installed on the climbing device. The climbing device includes a frame, with climbing wheels installed inside the frame. Drive motors are fixedly installed on both sides of the frame. The output shaft of the drive motor drives the climbing wheels to rotate through bevel gear meshing. Control cabinets and batteries for powering electronic components or electrical appliances in the robot are fixedly installed on both sides of the frame. The broken strand repair and straightening unit includes two six-axis articulated robotic arms symmetrically installed on the left and right sides of the frame. The left six-axis articulated robotic arm is equipped with a cable gripper, and the right six-axis articulated robotic arm is equipped with a cable broken strand repair gripper. The drive motor, the six-axis articulated robotic arm, the cable gripper, and the cable broken strand repair gripper are all electrically connected to the control cabinet. The cable breakage repair gripper includes a bracket mounted on a right-side six-axis articulated robotic arm. A first servo motor is fixedly mounted on the bracket. Two supporting linkage wheels are rotatably mounted inside the bracket. Each of the two supporting linkage wheels has a gripper integrally formed to mate with the aluminum clip of the repaired cable. The two supporting linkage wheels are linked by two meshing gears. The output shaft of the first servo motor passes through the bracket and is fixedly connected to one of its supporting linkage wheels. A winding clip hopper is fixedly mounted on the side of the bracket away from the first servo motor. An electric push rod is fixedly mounted on the other side of the winding clip hopper. A pusher plate is fixedly mounted on the output end of the electric push rod. A winding disc is rotatably connected inside the winding clip hopper. A cable outlet mechanism is fixedly mounted inside the winding disc. A strip-shaped through slot with a width greater than the width of the undeformed aluminum clip is opened on the winding disc. Second servo motors are fixedly mounted on both sides of the winding clip hopper. The output shaft of the second servo motor meshes with the winding disc through gears.

[0007] As a further description of the above technical solution: The lead-out mechanism includes a take-up wheel rotatably mounted inside the winding reel and a miniature electric cylinder fixedly mounted on the winding reel. A winding cutter head is fixedly mounted on the output end of the miniature electric cylinder. The winding reel has a lead-out port, and a lead-out wheel is rotatably mounted on the inner side of the lead-out port. A miniature motor is mounted on the winding reel, and the output shaft of the miniature motor is fixedly connected to the lead-out wheel.

[0008] As a further description of the above technical solution: The frame, winding clip hopper, and winding reel are all provided with V-shaped grooves for fitting with the cable, and the bottom of the V-shaped grooves is arc-shaped.

[0009] As a further description of the above technical solution: The winding reel has a winding storage cavity inside for placing and installing the wire outlet mechanism. The wire outlet is connected to the inside of the winding storage cavity. A replacement port is provided on the side of the winding reel away from the wire outlet, and a cover plate is fixedly installed inside the replacement port by bolts.

[0010] As a further description of the above technical solution: The thickness of the pusher plate is less than the thickness of the cable repair aluminum clip and less than the height of the strip groove.

[0011] As a further description of the above technical solution: A spring is fixedly installed on the inner bottom wall of the winding clip hopper, and a top plate is fixedly installed on the top of the spring.

[0012] As a further description of the above technical solution: A baffle plate is inserted into the winding clip hopper.

[0013] As a further description of the above technical solution: A solar panel for replenishing the battery is fixedly installed on the top of the frame, and a camera is fixedly installed on the front of the frame.

[0014] As a further description of the above technical solution: The bottom of the frame is provided with a cable tray, and the weight on both sides of the frame is similar or equal.

[0015] The present invention also provides a power transmission line strand breakage repair robot, which includes the above-mentioned power transmission line strand breakage repair straightening device.

[0016] Compared with the prior art, the advantages of this invention are: This solution involves installing a wrapping wire between two adjacent aluminum clips used for repairing broken strands. This further improves the fixation effect between the broken strand and the main cable. At the same time, when the cable tends to break strands again, the force generated by the broken strand will be preferentially constrained by the wrapping wire, reducing the force exerted by the broken strand on the aluminum clip. This prevents the aluminum clip from deforming due to excessive force, which could cause the broken strand to fall off. As a result, the stability and reliability of the transmission line after repair are improved, and the workload of repair is reduced. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the cable strand repair gripper of the present invention; Figure 3 This is a front view cross-sectional schematic diagram of the cable strand repair clamp of the present invention; Figure 4 This is a schematic diagram of the connection structure between the winding reel and the winding clip hopper of the present invention; Figure 5 For the present invention Figure 3 Schematic diagram of the cross-sectional structure of AA; Figure 6 This is a front view of the winding reel of the present invention. Figure 7 This is a schematic diagram of the right-side cross-sectional structure of the frame of the present invention.

[0018] Explanation of the labels in the diagram: 1. Climbing device; 11. Frame; 12. Climbing wheel; 13. Drive motor; 14. Control cabinet; 15. Battery; 16. Solar panel; 17. Camera; 2. Strand repair and straightening unit; 21. Six-axis articulated robotic arm; 22. Cable gripper; 23. Strand repair gripper; 231. Bracket; 232. First servo motor; 233. Support linkage wheel; 234. Gripper; 235. Winding clip hopper; 2 351. Spring; 2352. Top plate; 2353. Baffle plate; 236. Electric push rod; 237. Push plate; 238. Winding reel; 2381. Winding storage cavity; 2382. Replacement port; 2383. Cover plate; 239. Cable exit mechanism; 2391. Take-up wheel; 2392. Miniature electric cylinder; 2393. Winding cutter head; 2394. Cable exit wheel; 2395. Miniature motor; 2310. Second servo motor. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; Please see Figure 1-7 The present invention provides Embodiment 1: A power transmission line broken strand repair and straightening device and robot include a climbing device 1 and a broken strand repair and straightening unit 2 installed on the climbing device 1. The climbing device 1 includes a frame 11, with climbing wheels 12 installed inside the frame 11. Drive motors 13 are fixedly installed on both sides of the frame 11. The output shaft of the drive motor 13 drives the climbing wheels 12 to rotate through bevel gear meshing. A control cabinet 14 and a battery 15 for powering electronic components or electrical appliances in the robot are fixedly installed on both sides of the frame 11.

[0020] The broken strand repair and straightening unit 2 includes two six-axis articulated robotic arms 21 symmetrically installed on the left and right sides of the frame 11. The left six-axis articulated robotic arm 21 is equipped with a cable gripper 22, and the right six-axis articulated robotic arm 21 is equipped with a cable broken strand repair gripper 23. The drive motor 13, the six-axis articulated robotic arm 21, the cable gripper 22 and the cable broken strand repair gripper 23 are all electrically connected to the control cabinet 14.

[0021] The cable strand repair gripper 23 includes a bracket 231 mounted on the right-side six-axis articulated robotic arm 21. A first servo motor 232 is fixedly mounted on the bracket 231. Two support linkage wheels 233 are rotatably mounted inside the bracket 231. Each of the two support linkage wheels 233 has an integrally formed gripper 234 that mates with the aluminum clip of the repaired cable. The two support linkage wheels 233 are linked by two meshing gears. The output shaft of the first servo motor 232 passes through the bracket 231 and is fixedly connected to one of its support linkage wheels 233. The side of the bracket 231 away from the first servo motor 232 is fixedly... A winding clip hopper 235 is fixedly installed on one side, and an electric push rod 236 is fixedly installed on the other side of the winding clip hopper 235. A push plate 237 is fixedly installed on the output end of the electric push rod 236. A winding disc 238 is rotatably connected inside the winding clip hopper 235. A wire output mechanism 239 is fixedly installed inside the winding disc 238. A strip-shaped through slot with a width greater than the width of the undeformed aluminum clip is opened on the winding disc 238. A second servo motor 2310 is fixedly installed on both sides of the winding clip hopper 235. The output shaft of the second servo motor 2310 meshes with the winding disc 238 through a gear.

[0022] Among them, the frame 11, the winding clip hopper 235 and the winding reel 238 are all provided with V-shaped grooves for fitting with the cable, and the bottom of the V-shaped grooves is arc-shaped.

[0023] By placing the frame 11 in a good section of the power transmission line near the section to be repaired, the drive motor 13 drives the two crawling wheels 12 to rotate synchronously, thus crawling along the cable towards the broken strand area. During the crawling process, the control cabinet 14 receives control commands from the remote controller, remotely controlling the left six-axis articulated robotic arm 21 to move, allowing the cable grippers 22 on the left six-axis articulated robotic arm 21 to clamp and straighten the cable until the bent broken strand is straightened and merged into the main cable. Then, the control cabinet 14 controls the right six-axis articulated robotic arm 21 to move, allowing the cable broken strand to be repaired. The clamping claw 23 engages with the cable, positioning it within the V-shaped groove on the frame 11, the winding clip hopper 235, and the winding reel 238. First, a length of iron or aluminum wire is released via the wire release mechanism 239 of the winding reel 238. Then, the electric push rod 236 moves the pusher plate 237, pushing out the aluminum clip from the winding clip hopper 235. The clip then passes through the strip-shaped groove and moves between the two support linkage wheels 233, positioned between the support linkage wheels 233 and the cable. Finally, the first servo motor 232 operates, causing the support linkage wheels to... The two support wheels 233 mesh with each other via a gear structure, causing the grippers 234 on the two supporting linkage wheels 233 to move closer together and clamp and deform the aluminum buckle until it surrounds the cable. Simultaneously, the iron or aluminum wire is also wrapped and fixed to the cable by the aluminum buckle. The robot then continues to crawl on the cable. During this crawling process, the second servo motor 2310 drives the winding disc 238 to rotate around the cable via gears, thereby winding the iron or aluminum wire between the cable and the broken strand, constraining the broken strand. At the end, the first servo motor 232 cooperates with the electric push rod 236 to... The process involves installing an aluminum clip and then cutting the outgoing wire using the outgoing wire mechanism 239. Compared to simply using aluminum clips to fix the main cable and broken strands, installing a wrapping wire between two adjacent aluminum clips further improves the fixing effect between the broken strands and the main cable. At the same time, when the cable tends to break strands again, the force generated by the broken strands will be preferentially constrained by the wrapping wire, reducing the force applied to the aluminum clips. This prevents the aluminum clips from deforming due to excessive force, which could cause the broken strands to fall off. As a result, the stability and reliability of the transmission line after repair are improved, and the workload of repair is reduced.

[0024] In this invention, the thickness of the pusher plate 237 is less than the thickness of the cable repair aluminum buckle and less than the height of the strip groove. Since the thickness of the pusher plate 237 can pass through the strip groove, the pusher plate 237 can push the aluminum buckle completely through the strip groove to complete the feeding.

[0025] A spring 2351 is fixedly installed on the inner bottom wall of the winding clip hopper 235, and a top plate 2352 is fixedly installed on the top of the spring 2351. A baffle plate 2353 is inserted into the winding clip hopper 235.

[0026] The aluminum buckle is placed inside the winding buckle hopper 235, and then the inserting baffle plate 2353 is used to prevent the aluminum buckle from leaking out. Then the spring force of the spring 2351 pushes the top plate 2352, so that the topmost aluminum buckle is flush with the push plate 237.

[0027] In this invention, a solar panel 16 for replenishing power to the battery 15 is fixedly installed on the top of the frame 11, and a camera 17 is fixedly installed on the front of the frame 11. The solar panel 16 can collect solar energy and convert it into electrical energy to replenish a certain amount of power consumed by the battery 15, thereby improving the robot's endurance. The camera 17 can transmit signals from the control cabinet 14 to the remote control terminal to the repair area, thereby facilitating remote control adjustment.

[0028] The bottom of the rack 11 is provided with a cable crawler. The weight on both sides of the rack 11 is similar or equal. The deeper cable crawler ensures that when the rack 11 is placed on the cable, its center of gravity is located below the cable, and the weight on both sides of the rack 11 is similar or equal, which further improves the balance of the rack 11 after placement.

[0029] Please see Figure 2-6 Based on Example 1, the present invention also provides Example 2: The wire feeding mechanism 239 includes a take-up wheel 2391 rotatably mounted inside the winding reel 238 and a miniature electric cylinder 2392 fixedly mounted on the winding reel 238. A winding cutter head 2393 is fixedly mounted on the output end of the miniature electric cylinder 2392. The winding reel 238 has a wire feeding port, in which a wire feeding wheel 2394 is rotatably mounted on the inner side of the wire feeding port. A miniature motor 2395 is mounted on the winding reel 238, and the output shaft of the miniature motor 2395 is fixedly connected to the wire feeding wheel 2394.

[0030] When wire needs to be unwound, the micro motor 2395 operates, driving the wire output wheel 2394 to rotate. This wheel, in conjunction with the inner wall of the wire output port, outputs the winding wire between the two, thus completing the active unwound wire. During the unwound wire process, the winding wheel 2391 inside the winding reel 238, which is used to wind up the winding wire, rotates accordingly. After the unwound wire is repaired and the broken strand is repaired, the micro electric cylinder 2392 can drive the winding cutting head 2393 to form a shearing force with the surface of the winding reel 238 to cut the winding wire.

[0031] The miniature electric cylinder 2392 is model Louis TS-XTL10. Due to its small size and thrust of 1000N, it can meet the cutting force requirements of traditional iron or aluminum wire.

[0032] Furthermore, the power supply for the micro motor 2395 and the micro electric cylinder 2392 can be located inside the winding reel 238, and the power can be replenished by setting a charging plug on the winding reel 238.

[0033] The winding reel 238 has a winding storage cavity 2381 for placing and installing the wire outlet mechanism 239. The wire outlet is connected to the inside of the winding storage cavity 2381. A replacement port 2382 is provided on the side of the winding reel 238 away from the wire outlet, and a cover plate 2383 is fixedly installed inside the replacement port 2382 by bolts.

[0034] By removing the cover plate 2383 on the replacement port 2382, the winding storage cavity 2381 can be exposed, which facilitates the replenishment and replacement of the winding, making operation easier and improving the efficiency of cable strand repair.

[0035] Please see Figure 1-7 The present invention also provides a power transmission line strand breakage repair robot, comprising the above-mentioned power transmission line strand breakage repair straightening device.

[0036] The above are merely preferred embodiments of the present invention; however, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concept, should be covered within the scope of protection of the present invention.

Claims

1. A wire straightening and repair device for broken strands in transmission lines, comprising a wire climbing device (1) and a wire straightening and repair unit (2) installed on the wire climbing device (1), characterized in that: The climbing device (1) includes a frame (11), inside which a climbing wheel (12) is installed. A drive motor (13) is fixedly installed on both sides of the frame (11). The output shaft of the drive motor (13) drives the climbing wheel (12) to rotate through bevel gear meshing. A control cabinet (14) and a battery (15) for powering the electrical appliances in the robot are fixedly installed on both sides of the frame (11). The broken strand repair and straightening unit (2) includes two six-axis articulated robotic arms (21) symmetrically installed on the left and right sides of the frame (11). The left six-axis articulated robotic arm (21) is equipped with a cable clamp (22), and the right six-axis articulated robotic arm (21) is equipped with a cable broken strand repair clamp (23). The drive motor (13), the six-axis articulated robotic arm (21), the cable clamp (22) and the cable broken strand repair clamp (23) are all electrically connected to the control cabinet (14). The cable break repair gripper (23) includes a bracket (231) mounted on the right-side six-axis articulated robotic arm (21). A first servo motor (232) is fixedly mounted on the bracket (231). Two support linkage wheels (233) are rotatably mounted inside the bracket (231). Each of the two support linkage wheels (233) has a gripper (234) integrally formed to cooperate with the aluminum buckle of the repair cable. The two support linkage wheels (233) are linked by two meshing gears. The output shaft of the first servo motor (232) passes through the bracket (231) and is fixedly connected to one of the support linkage wheels (233). The bracket (231) is located on the side away from the first servo motor (232). A winding clip hopper (235) is fixedly installed. An electric push rod (236) is fixedly installed on the other side of the winding clip hopper (235). A push plate (237) is fixedly installed at the output end of the electric push rod (236). A winding disc (238) is rotatably connected inside the winding clip hopper (235). A wire output mechanism (239) is fixedly installed inside the winding disc (238). A strip-shaped through slot with a width greater than the width of the undeformed aluminum clip is opened on the winding disc (238). A second servo motor (2310) is fixedly installed on both sides of the winding clip hopper (235). The output shaft of the second servo motor (2310) meshes with the winding disc (238) through a gear.

2. The transmission line strand breakage repair and straightening device according to claim 1, characterized in that: The lead-out mechanism (239) includes a take-up wheel (2391) rotatably mounted inside the winding reel (238) and a miniature electric cylinder (2392) fixedly mounted on the winding reel (238). A winding cutter head (2393) is fixedly mounted on the output end of the miniature electric cylinder (2392). The winding reel (238) has a lead-out port, and a lead-out wheel (2394) is rotatably mounted on the inner side of the lead-out port. A miniature motor (2395) is mounted on the winding reel (238), and the output shaft of the miniature motor (2395) is fixedly connected to the lead-out wheel (2394).

3. The transmission line strand breakage repair and straightening device according to claim 1, characterized in that: The frame (11), the winding clip hopper (235) and the winding reel (238) are all provided with V-shaped grooves for fitting with the cable, and the bottom of the V-shaped grooves is arc-shaped.

4. The transmission line strand breakage repair and straightening device according to claim 1, characterized in that: The winding reel (238) has a winding storage cavity (2381) for placing and installing the wire outlet mechanism (239). The wire outlet is connected to the inside of the winding storage cavity (2381). A replacement port (2382) is provided on the side of the winding reel (238) away from the wire outlet, and a cover plate (2383) is fixedly installed inside the replacement port (2382) by bolts.

5. The transmission line strand breakage repair and straightening device according to claim 1, characterized in that: The thickness of the pusher plate (237) is less than the thickness of the cable repair aluminum buckle and less than the height of the strip groove.

6. The transmission line strand breakage repair and straightening device according to claim 1, characterized in that: A spring (2351) is fixedly installed on the inner bottom wall of the winding clip hopper (235), and a top plate (2352) is fixedly installed on the top of the spring (2351).

7. The transmission line strand breakage repair and straightening device according to claim 1, characterized in that: A baffle plate (2353) is inserted into the winding clip hopper (235).

8. The transmission line strand breakage repair and straightening device according to claim 1, characterized in that: A solar panel (16) for replenishing power to the battery (15) is fixedly installed on the top of the frame (11), and a camera (17) is fixedly installed on the front of the frame (11).

9. A wire straightening and repair device for broken strands in transmission lines according to claim 1, characterized in that: The bottom of the frame (11) is provided with a cable tray, and the weights on both sides of the frame (11) are similar or equal.

10. A robot for repairing broken strands in power transmission lines, characterized in that, The device includes the power transmission line strand repair and straightening device as described in any one of claims 1-9.

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