Self-traction type overhead bare conductor coating robot

Abstract

The invention discloses a self-traction type overhead bare conductor coating robot which comprises a machine body, a wire hanging unit, a walking unit and a coating unit. The wire hanging unit comprises a wire hanging frame, the walking unit comprises moving frames located at the upper end of the machine body and arranged relative to the two ends of the wire hanging frame, and the coating unit comprises a coating frame arranged at the upper end of one moving frame. According to the coating robot, the cable hanging frame is hung to a cable in a mode of manually hanging a traction rope, then the equipment is driven by the lifting rope to ascend, so that the equipment cable hanging operation is automatically completed, and the equipment stably moves along the cable through the walking unit; in the moving process of the machine body, the material barrel is used for continuously conveying the insulating material to the coating head so that the insulating material can be evenly coated on the surface of the cable, compared with manual construction, the construction automation degree is high, the operation risk is reduced, and the construction efficiency and quality are remarkably improved; the whole on-line and off-line operation process of the device is simple, and the device is particularly convenient for field operation in field and remote areas.

Description

Technical Field

[0001] The invention relates to the technical field of power grid maintenance, and in particular to a self-traction type overhead bare wire coating robot. Background Art

[0002] In the existing technology, power transmission mainly takes the form of overhead lines, and the distribution lines planned in the early stage were mostly put into use in the form of bare conductors. Due to the low overhead height of the distribution network bare conductors, they are easy to contact with the trees that grow year by year and the buildings that gradually expand in scope and cause short circuits, which poses many safety hazards. In order to improve the safety of power transmission, it is necessary to insulate the old overhead bare conductors. The traditional method of insulating overhead lines is to replace the entire bare conductor. This construction method requires large-scale power outages and requires the re-planning and erection of poles and towers. It is not only time-consuming, labor-intensive, and costly, but also extremely inefficient.

[0003] Existing spraying usually adopts manual spraying or machine spraying. Manual spraying has the problems of low efficiency, high operation risk and poor consistency of spraying effect. Although machine spraying improves spraying efficiency, the existing coating robot requires personnel to hang the machine on the line, which is not only time-consuming and laborious, but also the hanging line personnel must contact the live wire, which is dangerous. Not only is it dangerous to the operator, but the construction efficiency is very low, and it is easy to cause the risk of equipment or personnel falling. Summary of the invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a self-pulling overhead bare wire coating robot, which adopts a fully automatic spraying method to improve the cable maintenance efficiency.

[0005] The technical solution adopted by the present invention is: a self-traction type overhead bare wire coating robot, including a machine body, including a wire hanging unit, a walking unit and a coating unit; the wire hanging unit includes a wire hanging frame, a hanging groove for the cable to be inserted is provided on the front side of the wire hanging frame, a traction part connected to the traction rope is provided on the top of the wire hanging frame, and lifting ropes are also connected to both ends of the wire hanging frame, and the lifting ropes are connected to the winding module arranged in the machine body; the walking unit includes a moving frame located at the upper end of the machine body and arranged relative to the two ends of the wire hanging frame, the lower end of the moving frame is coordinated with the machine body for rotation, and a walking wheel group is provided at the upper end of the moving frame, and a pushing module for driving the moving frame to rotate around the lower end is provided in the moving frame, so that the moving frame can rotate upward to a vertical position so that the walking wheel group is hung on the cable; the coating unit includes a coating frame arranged at the upper end of one of the moving frames, and a coating head is provided on the coating frame, and the coating head is connected to a barrel for storing insulating material through a pipeline.

[0006] In the present technical scheme, the hanging unit arranged on the machine body is used to automatically hang the entire equipment on the cable. After the traction rope is passed around the cable by the elevated equipment, the traction rope is pulled to gradually raise the hanging frame and finally the cable is stuck in the hanging groove; then the lifting rope is gradually reeled in by the winding module to drive the entire equipment to rise until the cable position; the various moving frames of the walking unit are rotated to a vertical position so that the walking wheel group contacts the cable, and the machine body can move along the cable under the rotation of the walking wheel group; during the movement of the machine body, the insulating material is continuously conveyed to the coating head by the material barrel so that the insulating material is evenly coated on the cable surface. The entire on-line and off-line operation process of the device is simple, which is especially convenient for on-site operations in the wild and remote areas. At the same time, compared with manual construction, not only the construction has a high degree of automation, which reduces the operation risk, but also the construction efficiency and quality are significantly improved.

[0007] Preferably, the pushing module includes a pushing block slidably arranged at the lower end of the moving frame, the lower end of the pushing block is also hinged to the upper end of the machine body, when the pushing block slides out of the lower end of the moving frame, the moving frame rotates upward around the lower end to a position perpendicular to the machine body.

[0008] Preferably, the lower end of the mobile frame is provided with a slide groove that is slidably matched with the push block, and a motor module is provided in the mobile frame. The output end of the motor module is connected to a screw rod that is threadedly matched with the mobile frame, and the lower end of the push block is hingedly matched with the machine body.

[0009] Preferably, a positioning groove capable of abutting against the wire hanging rack is provided at the upper end of the machine body, and a lifting rope connected to the wire winding module passes through both ends of the positioning groove.

[0010] Preferably, a limit block is provided in the positioning groove, and a limit sensing module connected to the wire winding module signal is provided on the limit block. When the limit block abuts against the wire hanging rack, the wire winding module stops running.

[0011] Preferably, the two movable racks located at the upper end of the machine body are located at both ends of the positioning groove and are arranged in a staggered manner, and the two movable racks rotate in opposite directions.

[0012] Preferably, the coating rack comprises an upper mold rack and a lower mold rack which are arranged relatively to each other up and down, and the upper mold rack and the lower mold rack are connected by a screw module, and the distance between the upper mold and the lower mold can be increased or decreased when the screw module rotates.

[0013] Preferably, a spraying groove with an arc-shaped structure is provided on one side opposite to the upper mold and the lower mold, and the coating head is arranged in the spraying groove.

[0014] Preferably, one end surface of the machine body is provided with an installation position for installing a barrel, the installation position opening is provided with an L-structured locking groove, and the outer periphery of the barrel end is provided with a locking lever, and the locking lever can be stuck in the locking groove.

[0015] The beneficial effects of the present invention are as follows: the coating robot in the present invention hangs the wire hanging frame on the cable by manually hanging the traction rope, and then uses the winding module to reel in the lifting rope to automatically complete the equipment hanging operation; the various moving frames of the walking unit rotate to a vertical position so that the walking wheel group contacts the cable, and the machine body can move along the cable under the rotation of the walking wheel group; during the movement of the machine body, the material barrel is used to continuously transport the insulating material to the coating head so that the insulating material is evenly coated on the cable surface. Compared with manual construction, it not only has a high degree of automation and reduces operational risks, but also significantly improves construction efficiency and quality; at the same time, the entire on-line and off-line operation process of the device is simple, which is especially convenient for on-site operations in the wild and remote areas, and has high practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0017] Figure 1 A three-dimensional diagram of a self-pulling overhead bare wire coating robot provided in an embodiment of the present invention Figure 1 .

[0018] Figure 2 A three-dimensional diagram of a self-pulling overhead bare wire coating robot provided in an embodiment of the present invention Figure 2 .

[0019] Figure 3 It is a schematic diagram of the lifting and lowering of the self-traction type overhead bare wire coating robot provided in an embodiment of the present invention.

[0020] Figure numerals: machine body 100, positioning slot 110, installation position 120, locking slot 130, wire hanging rack 200, hanging slot 210, traction part 220, lifting rope 300, moving rack 400, walking wheel group 500, coating rack 600, upper mold rack 610, lower mold rack 620, screw module 630, spray tank 640, barrel 700, locking lever 710, push block 800, limit block 900. DETAILED DESCRIPTION

[0021] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0022] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0023] Embodiment 1

[0024] like Figures 1 to 3 As shown, a specific embodiment of the present invention provides a self-traction type overhead bare wire coating robot, which can automatically complete the insulation material spraying operation of the cable; specifically includes a body 100, including a hanging unit, a walking unit and a coating unit; the hanging unit includes a hanging frame 200, the front side of the hanging frame 200 is provided with a hanging groove 210 for the cable to be inserted, the top of the hanging frame 200 is provided with a traction part 220 connected to the traction rope, and the two ends of the hanging frame 200 are also connected with a lifting rope 300, and the lifting rope 300 is connected to a winding module arranged in the body 100; the walking unit includes a moving frame 400 located at the upper end of the body 100 and arranged relative to the two ends of the hanging frame 200, the lower end of the moving frame 400 is rotatably matched with the body 100, and the upper end of the moving frame 400 is provided with a walking wheel group 500, and the moving frame 400 is provided with a pushing module for driving the moving frame 400 to rotate around the lower end, so that the moving frame 400 can be rotated upward to a vertical position so that the walking wheel group 500 is hung on the cable. The coating unit includes a coating frame 600 disposed on the upper end of one of the moving frames 400 . A coating head is disposed on the coating frame 600 . The coating head is connected to a barrel 700 storing insulating material through a pipeline.

[0025] like Figures 1 to 3 As shown, through the above-mentioned arrangement, the wire hanging unit arranged on the body 100 in this embodiment is used to automatically hang the entire device on the cable; when the device is in use, after the traction rope is passed around the cable by an elevated device, such as a small drone, the technician can pull the traction rope to gradually raise the wire hanging frame 200 and finally make the cable stuck in the wire hanging groove; when the wire hanging frame 200 is stably hung on the cable, the winding module in the body 100 is started to gradually wind up the lifting rope 300, and the device is automatically raised to the cable position under the pulling of the winding module, completing the automatic wire hanging operation of the device; during operation, the device is rotated to a vertical position through each moving frame 400 of the walking unit The traveling wheel group 500 is brought into contact with the cable, and the machine body 100 can move along the cable as the traveling wheel group 500 rotates; during the movement of the machine body 100, the barrel 700 is used to continuously convey the insulating material to the coating head so that the insulating material is evenly coated on the cable surface. In actual applications, a power supply module, a control system and a data transmission system are arranged in the machine body 100 to facilitate technicians to perform remote control operations. The specific structure and detailed use method of the hanging rack 200 in this embodiment refer to the technical content of an overhead transmission line hanging rack 200 and a method for getting on and off the line disclosed in the application number 202410021500.7 of our company, which will not be repeated here.

[0026] As mentioned above, when the machine body 100 rises to its position under the drive of the winding module, the mobile frame 400 located at the upper end of the machine body 100 needs to use the pushing module to hang the walking wheel group 500 on the cable; the pushing module provided in this embodiment includes a pushing block 800 slidably arranged at the lower end of the mobile frame 400, and the lower end of the pushing block 800 is also hinged with the upper end of the machine body 100. When the pushing block 800 slides out of the lower end of the mobile frame 400, the mobile frame 400 rotates upward around the lower end to a vertical position with the machine body 100. Since the lower end of the mobile frame 400 is rotatably connected with the machine body 100, the pushing block 800 can push the mobile frame 400 to rotate online after sliding out of the mobile frame 400, thereby moving the walking wheel group 500 to the top of the cable, and the device can realize automatic walking through the driving force provided by the walking wheel group 500.

[0027] like Figures 1 to 3 As shown, in order to slide the push block 800 on the lower end of the moving frame 400, the present embodiment provides a slide groove that slides with the push block 800 at the lower end of the moving frame 400, and a motor module is provided in the moving frame 400. The output end of the motor module is connected to a screw that threads with the moving frame 400. The lower end of the push block 800 is hingedly matched with the body 100. The motor module drives the screw to rotate to make the push block 800 slide along the slide groove, thereby causing the moving frame 400 to rotate upward. In order to reduce the time for the hanging rack to move upward to a vertical position, the two mobile racks 400 located at the upper end of the body 100 are located at both ends of the positioning groove 110 and are arranged in a staggered manner, and the two mobile racks 400 turn in opposite directions; in this way, the two mobile racks 400 can rotate towards each other, so that the walking wheel groups 500 on the two mobile racks 400 can complete the line hanging operation; in addition, the mobile racks 400 are arranged at an angle in the initial state, and in the longitudinal cross-section, the two mobile racks 400 are in a V state. When the mobile racks 400 are rotated to a vertical position, the walking wheel groups 500 can be hung on the cables.

[0028] like Figures 1 to 3As shown, after the machine body 100 rises to the limit position by winding the lifting rope 300 through the winding module, the wire hanging rack 200 contacts the machine body 100. In order to improve the stability of the wire hanging rack 200 after contacting the machine body 100, the wire hanging rack 200 is provided with a positioning groove 110 at the upper end of the machine body 100 in this embodiment, which can be counteracted with the wire hanging rack 200, and the lifting rope 300 connected to the winding module passes through the two ends of the positioning groove 110. In addition, in order to ensure that the machine body 100 can stop automatically after rising and contacting the wire hanging rack 200, the present embodiment is provided with a limit block 900 in the positioning groove 110, and the limit block 900 is provided with a limit sensing module connected to the signal of the winding module. That is to say, after the machine body 100 rises to the position of the wire hanging rack 200, the limit block 900 located in the positioning groove 110 can be against the wire hanging rack 200, triggering the limit sensing module, thereby stopping the operation of the winding module, and the machine body 100 can be maintained at a corresponding height so that the walking wheel group 500 on the movable frame 400 is hung on the cable.

[0029] Embodiment 2

[0030] like Figures 1 to 3 As shown, the coating rack 600 structure is further optimized in this embodiment to improve the coating uniformity of the cable. Specifically, the coating rack 600 includes an upper mold rack 610 and a lower mold rack 620 arranged relatively up and down. The upper mold rack 610 and the lower mold rack 620 are connected by a screw module 630. When the screw module 630 rotates, the distance between the upper mold and the lower mold can be increased or decreased. When the equipment is moved into place, the coating rack 600 can move to the cable position with the moving rack 400. The mold racks arranged up and down can surround the cable, thereby improving the uniformity of the spraying of the insulating material; in addition, a spraying groove 640 with an arc structure is provided on the opposite side of the upper mold and the lower mold, and the coating head is arranged in the spraying groove 640; the spraying groove 640 can form a complete encirclement of the cable, so that the coating head can completely spray the insulating material onto the surface of the cable.

[0031] like Figures 1 to 3 As shown, in this embodiment, an installation position 120 for installing a barrel 700 is provided on one end surface of the machine body 100, and an L-shaped locking groove 130 is provided at the opening of the installation position 120. A locking lever 710 is provided at the outer periphery of the end of the barrel 700, and the locking lever 710 can be inserted into the locking groove 130. The barrel 700 storing the insulating material can be inserted into the installation position 120 and fixed by the locking lever 710 for disassembly and replacement. The barrel 700 can adopt a pressure bottle structure to spray the insulating material with the help of pressure.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A self-traction type overhead bare wire coating robot, comprising a body (100), characterized in that: Also includes The wire hanging unit comprises a wire hanging frame (200), the front side of the wire hanging frame (200) is provided with a hanging groove (210) for the cable to be inserted, the top of the wire hanging frame (200) is provided with a traction part (220) connected to the traction rope, and both ends of the wire hanging frame (200) are also connected to the lifting rope (300), and the lifting rope (300) is connected to the wire winding module arranged in the machine body (100); The walking unit comprises a moving frame (400) located at the upper end of the machine body (100) and arranged relative to the two ends of the wire hanging frame (200); the lower end of the moving frame (400) is rotatably matched with the machine body (100); the upper end of the moving frame (400) is provided with a walking wheel group (500); the moving frame (400) is provided with a pushing module for driving the moving frame (400) to rotate around the lower end, so that the moving frame (400) can be rotated upward to a vertical position so that the walking wheel group (500) is hung on the wire; The coating unit comprises a coating frame (600) arranged at the upper end of one of the movable frames (400), a coating head being arranged on the coating frame (600), and the coating frame (600) comprising an upper mold frame (610) and a lower mold frame (620) arranged opposite to each other in the upper and lower directions, the upper mold frame (610) and the lower mold frame (620) being connected in transmission via a screw module (630), and the distance between the upper mold and the lower mold can be increased or decreased when the screw module (630) rotates.

2. The self-traction type overhead bare wire coating robot according to claim 1, characterized in that: The pushing module comprises a pushing block (800) slidably arranged at the lower end of the moving frame (400); the lower end of the pushing block (800) is also hinged to the upper end of the machine body (100); when the pushing block (800) slides out of the lower end of the moving frame (400), the moving frame (400) rotates upward around the lower end to a position perpendicular to the machine body (100).

3. The self-traction type overhead bare wire coating robot according to claim 2, characterized in that: The lower end of the movable frame (400) is provided with a slide groove that slidably cooperates with the push block (800), and the movable frame (400) is provided with a motor module, and the output end of the motor module is connected to a screw push block (800) that is threadedly cooperated with the movable frame (400), and the lower end of the push block (800) is hingedly cooperated with the machine body (100).

4. The self-traction type overhead bare wire coating robot according to claim 1, characterized in that: The upper end of the machine body (100) is provided with a positioning groove (110) capable of abutting against the wire hanging rack (200), and a lifting rope (300) connected to the wire winding module passes through both ends of the positioning groove (110).

5. The self-traction type overhead bare wire coating robot according to claim 4, characterized in that: A limit block (900) is provided in the positioning groove (110), and a limit sensing module connected to the wire winding module signal is provided on the limit block (900). When the limit block (900) abuts against the wire hanging rack (200), the wire winding module stops running.

6. The self-pulling overhead bare wire coating robot according to claim 1, characterized in that: The two movable frames (400) located at the upper end of the machine body (100) are located at both ends of the positioning groove (110) and are arranged in a staggered manner, and the two movable frames (400) rotate in opposite directions.

7. The self-traction type overhead bare wire coating robot according to claim 1, characterized in that: The coating frame (600) comprises an upper mold frame (610) and a lower mold frame (620) which are arranged opposite to each other in the upper and lower directions. The upper mold frame (610) and the lower mold frame (620) are connected to each other through a screw module (630). When the screw module (630) rotates, the distance between the upper mold and the lower mold can be increased or decreased.

8. The self-traction type overhead bare wire coating robot according to claim 7, characterized in that: A spraying groove (640) with an arc structure is provided on one side of the upper mold opposite to the lower mold, and the coating head is arranged in the spraying groove (640).

9. The self-traction type overhead bare wire coating robot according to claim 1, characterized in that: The coating head is connected to a barrel (700) storing insulating material via a pipeline; one end surface of the machine body (100) is provided with an installation position (120) for installing the barrel (700); an opening of the installation position (120) is provided with an L-structured locking groove (130); a locking lever (710) is provided on the outer periphery of the end of the barrel (700); and the locking lever (710) can be inserted into the locking groove (130).

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