Multifunctional robot applied to power transmission line maintenance

Abstract

The invention discloses a multifunctional robot applied to power transmission line maintenance, belongs to the technical field of inspection and maintenance of power transmission lines in an electric power system, and solves the problem that defect elimination work is relatively difficult when electric power workers work in a hot-line mode. The device mainly comprises a base, a rotating disc and a battery are arranged on the base, and a hanging assembly, a righting assembly and a dismounting assembly are arranged on the rotating disc; a walking assembly and a guiding assembly are arranged at the bottom of the base, the guiding assembly is matched with the walking assembly, the walking assembly comprises four clamping assemblies, each clamping assembly comprises two opposite clamping wheels, the clamping wheels can move oppositely, the clamping wheels are connected with a transmission shaft, the transmission shaft is powered by a driving motor, and the guiding assembly is arranged on the base. According to the invention, various tasks can be executed in the maintenance process of the power transmission line, the working efficiency is improved, and the tower climbing number of workers is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection and maintenance of power transmission lines in an electric power system, and in particular to a multifunctional robot used for inspection and maintenance of power transmission lines. Background Art

[0002] With the rapid development of the economy, per capita electricity consumption continues to rise. In order to reduce the impact of power outages on people's work and life, the maintenance and troubleshooting of power lines and equipment are increasingly carried out in a live working mode. The pins on some old transmission lines are rusted and fall off, and the bolt connections of the wire clamps of the tension tower drainage lines are loose. Especially in summer and winter, the power load surges, and the temperature of the loose parts is much higher than the normal conductor position. The traditional method is that seven or eight power personnel climb the tower to cooperate, and the equipotential electrician enters the electric field to carry out live troubleshooting. Now the development of intelligence is advancing by leaps and bounds, and the development of all walks of life is also inseparable from robots and intelligent technology. In the prior art, the application with publication number CN118281749A has opened a transmission line inspection robot, but it has fewer functions. At present, there is a lack of a robot that can replace manual labor to repair power lines and equipment. Summary of the invention

[0003] The purpose of the present invention is to provide a multifunctional robot used for power transmission line maintenance, so as to solve the problem that it is difficult for power workers to eliminate faults when working with power lines.

[0004] The present invention is achieved through the following technical solutions:

[0005] A multifunctional robot used for power transmission line maintenance comprises a base, a rotating disk and a battery are provided on the base, a hooking assembly, a straightening assembly and a disassembly assembly are provided on the rotating disk; a walking assembly and a guiding assembly are provided at the bottom of the base, the guiding assembly cooperates with the walking assembly, the walking assembly comprises four groups of clamping assemblies, the clamping assembly comprises two relative clamping wheels, the clamping wheels can move toward each other, the clamping wheels are connected to a transmission shaft, the transmission shaft is powered by a driving motor, and a guiding assembly is provided on the base. The present invention integrates multiple functions, such as walking, straightening and disassembly, can perform multiple tasks in the process of power transmission line maintenance, and improves work efficiency.

[0006] Furthermore, the straightening assembly includes a six-axis robot arm I, which is provided with a straightening fixture and a dismantling plate, and the dismantling plate cooperates with the straightening fixture; the dismantling plate includes a bottom plate, which is provided with a U-shaped opening, and the bottom plate is provided with a push-pull electric cylinder and a close-pin electric cylinder. The use of the six-axis robot arm makes the straightening robot and the dismantling robot highly flexible and can adapt to different working environments and angles.

[0007] Furthermore, the pin removal plate is provided with a limit baffle, a pin-closing electric cylinder is arranged inside the limit baffle, a pin-closing electric cylinder piston rod is provided with a pin-closing push rod, a pin-pushing push rod is provided on the piston rod of the pin-pushing electric cylinder, and the pin-closing push rod and the pin-pushing push rod are arranged opposite to each other. The pin-pushing electric cylinder on the pin removal plate cooperates with the pin-closing electric cylinder to ensure the safety and accuracy of the disassembly process.

[0008] Furthermore, the disassembly assembly includes a six-axis robotic arm II, and an electric wrench is provided on the six-axis robotic arm II.

[0009] Furthermore, the guide assembly comprises a buffer elastic member, a guide plate is provided at the bottom of the buffer elastic member, and the guide plate is in an inverted V shape. The guide plate helps the wire to enter the predetermined track more smoothly.

[0010] Furthermore, the righting assembly and the disassembly assembly are both provided with cameras, which can monitor the operation status in real time, and facilitate remote control and fault diagnosis.

[0011] Furthermore, the clamping assembly includes a double-slide slide, and the clamping wheels are respectively arranged on corresponding slides of the double-slide slide, and the two clamping wheels can move towards each other. The double-slide slide ensures that the clamping wheels can move towards each other smoothly and more reliably fix the wire.

[0012] Furthermore, the hanging assembly comprises a support frame, a balance board is arranged on the support frame, and a connecting handle is arranged on the balance board.

[0013] Furthermore, an arc-extinguishing rope is provided on one side of the base; the upper end of the arc-extinguishing rope is a copper wire, and the lower end is an insulating rope. Before the base enters the electric field, an equipotential connection is performed in advance to prevent the wire from frequently discharging to the base.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The present invention is provided with a walking assembly, a straightening assembly and a disassembly assembly, which can perform a variety of tasks during the maintenance of power transmission lines, improve work efficiency and reduce the number of workers climbing the tower.

[0016] 2. The present invention is provided with a guiding assembly to facilitate the placement of the UAV. When the robot approaches the wire, it can enter the predetermined track more smoothly after aligning the rear wire.

[0017] 3. The present invention is provided with a push-pull electric cylinder and a pin-closing electric cylinder, which cooperate with each other to complete the disassembly and assembly of the pins inside the bowl head hanging plate, ensuring the safety and accuracy of the disassembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front view of the present invention;

[0019] Figure 2It is a left side view of the present invention;

[0020] Figure 3 It is a right side view of the present invention;

[0021] Figure 4 is a bottom view of the present invention;

[0022] Figure 5 It is a schematic diagram of a demolition pin plate of the present invention;

[0023] Figure 6 is a schematic diagram of a rotating disk of the present invention;

[0024] Figure 7 is a schematic diagram of a latch assembly of the present invention;

[0025] Figure 8 This is a schematic diagram of the bowl head hanging plate.

[0026] In the figure: 1. Base; 2. Rotating disk; 3. Hanging assembly; 4. Travel assembly; 5. Guide assembly; 6. Six-axis robot arm I; 7. Six-axis robot arm II; 8. Electric wrench; 9. Pin removal plate; 10. Push cylinder; 11. Pin closing cylinder; 12. Push rod; 13. Pin closing rod; 14. Electric wrench; 15. Guide plate; 16. Clamping wheel; 17. Straightening assembly; 18. Disassembly assembly; 19. Double-slide slide; 20. Limit baffle; 21. Clamping fixture; 22. Thumb cylinder; 23. Pin cylinder; 24. Pin push rod; 25. Bowl head hanging plate; 26. Pin hole. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] Embodiment 1: A multifunctional robot for power transmission line maintenance, such as Figure 1-Figure 6As shown, it includes a base 1, on which a rotating disk 2 and a battery are provided. The battery supplies power to various parts through a power line. The rotating disk 2 can rotate relative to the base 1. The power is driven by a driving motor. The rotating disk 2 can drive the righting assembly 17 and the disassembly assembly 18 to rotate, and the orientation of the righting assembly 17 and the disassembly assembly 18 can be adjusted. The bases of the righting assembly 17 and the disassembly assembly 18 are detachably connected to the rotating disk, and the required components can be assembled according to on-site needs. The rotating disk 2 is provided with a hanging assembly 3, a righting assembly 17 and a disassembly assembly 18, and the hanging assembly 3 is connected to the drone; the bottom of the base 1 is provided with a walking assembly 4 and a guiding assembly 5, and the guiding assembly 5 is connected to the walking assembly The walking assembly 4 includes four groups of clamping assemblies, and the clamping assembly includes two relative clamping wheels 16, which can move toward each other. The two clamping wheels 16 are connected to a transmission shaft, which is powered by a driving motor. The clamping wheels 16 clamp the wire and walk by driving the driving motor. A guiding assembly 5 is provided on the base 1. When the drone places the robot, the wire is guided between the two clamping wheels 16. The clamping wheels 16 are provided with a limit groove, which is used to limit the position of the wire. The walking assembly 4, the rotating disk 2, the straightening assembly 17 and the disassembly assembly 18 are all connected to the ground controller through wireless communication, and each assembly is controlled by the controller. The present invention integrates multiple functions, such as walking, straightening and disassembly, and can perform multiple tasks during the maintenance of power transmission lines, thereby improving work efficiency.

[0030] A mounting groove is provided on the rotating disk, and the straightening assembly 17 and the disassembly assembly 18 are detachably mounted on the rotating disk through the mounting groove. A flame-spraying defect-eliminating assembly is detachably mounted in the mounting groove, and the flame-spraying defect-eliminating assembly includes a fuel tank, an oil pump, an igniter and a flame-spraying nozzle. The flame-spraying defect-eliminating assembly burns flammable hanging objects on the wires, which effectively replaces the practice of operators manually removing hanging objects.

[0031] Embodiment 2: A multifunctional robot for power transmission line maintenance, such as Figure 2-Figure 3 As shown, the said straightening assembly 17 comprises a six-axis robot arm Ⅰ6, which is a prior art and will not be described here in detail. The six-axis robot arm Ⅰ6 is provided with a straightening fixture and a dismantling plate 9, which cooperates with the straightening fixture; the dismantling plate 9 comprises a bottom plate, which is provided with a U-shaped opening, and is provided with a push cylinder 10 and a pin-off cylinder. The use of the six-axis robot arm makes the straightening robot and the dismantling robot highly flexible and can adapt to different working environments and angles;

[0032] like Figure 5As shown, the pin removal plate 9 is provided with a limit baffle 20, a pin closing electric cylinder 11 is provided inside the limit baffle 20, a pin closing electric cylinder 11 is provided with a pin closing push rod 13 on the piston rod, a pin pushing push rod 12 is provided on the piston rod of the pin pushing electric cylinder 10, and the pin closing push rod 13 is arranged opposite to the pin pushing push rod 12. The pin pushing electric cylinder 10 on the pin removal plate 9 cooperates with the pin closing electric cylinder to ensure the safety and accuracy of the disassembly process.

[0033] The latch assembly is detachably mounted in the mounting groove. The latch assembly also includes a latch electric cylinder 23 and a latch push rod 24. Its structure is the same as the above-mentioned sales promotion electric cylinder 10 and sales promotion push rod 12. The latch electric cylinder 23 is provided with a clamping fixture 21 on both sides. The latch electric cylinder 23 is provided with a camera. The clamping fixture is fixed on the thumb electric cylinder 22 and is powered by the thumb electric cylinder 22. The latch assembly is used to install the R pin on the screw rod, such as Figure 7 As shown, the clamping fixture clamps the R pin, aligns the camera with the pin hole on the screw, and then pushes the R pin into the pin hole through the pin push rod to prevent the threaded connection from loosening.

[0034] The disassembly assembly 18 comprises a six-axis robot arm II 7, which is prior art and will not be described in detail herein. The six-axis robot arm II 7 is provided with an electric wrench 8 which can be used to tighten bolts.

[0035] The guide assembly 5 includes a buffer elastic member, and a guide plate 15 is provided at the bottom of the buffer elastic member. The guide plate 15 is in an inverted V shape. When the buffer elastic member contracts, the V-shaped bottom of the guide plate 15 is flush with the space between the two gears. The guide plate 15 helps the wire to enter the predetermined track more smoothly.

[0036] Both the straightening assembly 17 and the disassembly assembly 18 are provided with cameras, and the cameras are electrically connected to the controller via wireless communication, so as to monitor the operation status in real time, facilitate remote control and fault diagnosis, and the camera of the straightening assembly 17 is arranged on the disassembly pin plate 9 to align with the pin position in the bowl head hanging plate 25; the camera of the disassembly assembly 18 is arranged on the electric wrench 8.

[0037] like Figure 4 As shown, the clamping assembly includes a double-slide slide 19, and the clamping wheels 16 are respectively arranged on the corresponding slides of the double-slide slide 19, and the two clamping wheels 16 can move towards each other. The double-slide slide 19 ensures that the clamping wheels 16 can move towards each other smoothly and more reliably fix the wire.

[0038] The hanging assembly 3 includes a support frame, a balance board 14 is provided on the support frame, a connecting handle is provided on the balance board 14, the connecting handle cooperates with the lifting clamp of the drone, and the balance board 14 fits with the bottom of the drone to ensure overall stability. Others are the same as in Example 1.

[0039] An arc extinguishing rope is provided on one side of the base 1; the upper end of the arc extinguishing rope is a copper wire, and the lower end is an insulating rope. Before the base 1 enters the electric field, an equipotential connection is performed in advance to prevent the wire from frequently discharging the base 1.

[0040] When the present invention is in use, the drone is first used to fly the robot to the vicinity of the double-split conductor through the hanging component 3. After arriving at the working area, the robot is put down, and the robot is fixed on the double-split conductor through the cooperation of the guide component 5 and the walking component 4; further, the conductor is placed on the guide plate 15, and under the action of the overall weight of the robot, the buffer elastic part contracts, and the conductor moves between the two clamping wheels 16. At this time, the two clamping wheels 16 move toward each other under the action of the double skateboard slide 19, and then clamp the conductor in the middle. The clamping of the clamping wheels 16 stabilizes the body of the entire robot; the drone is disconnected from the hanging component 3; the clamping wheel 16 rotates under the drive of the drive motor, and the clamping wheel 16 walks on the conductor, and the robot completes the walking function.

[0041] When the robot reaches the work site and finds the location of the defect through the camera, the staff can control the robot's mechanical arm and rotating disk 2 through wireless communication to align the electric wrench 8 on the disassembly component 18 with the bolt for tightening.

[0042] When the robot reaches the work site and finds the location of the defect through the camera, the staff can control the robot's mechanical arm and rotating disk 2 through wireless communication to align the pin plate 9 of the straightening assembly 17 with the pin hole 26 of the bowl head hanging plate 25. At this time, the straightening fixture clamps the bottom of the bowl head hanging plate 25 to straighten the bowl head hanging plate 25. The shape of the bowl head hanging plate 25 is as follows: Figure 8 As shown, the sales push rod 12 pushes the pin in the pin hole 26 into the limit baffle 20 under the drive of the sales push rod. At this time, the insulator is not limited by the pin and can be replaced. When the new insulator is placed in the cup head pin hole, the pin closing electric cylinder 11 drives the pin closing push rod 13 to push the pin in the limit baffle 20 back into the pin hole 26, so that the new insulator is limited. At this time, the straightening clamp is released to complete the insulator replacement work. The robot is connected to the hanging component 3 again through the drone, and the robot's clamping wheels 16 are separated to both sides. The drone brings the robot to the ground to complete the work.

[0043] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. A multifunctional robot for power transmission line maintenance, comprising a base (1), characterized in that: The base (1) is provided with a rotating disk (2) and a battery, and the rotating disk (2) is provided with a hanging assembly (3), a straightening assembly (17) and a disassembly assembly (18); a walking assembly (4) and a guiding assembly (5) are provided at the bottom of the base (1), and the guiding assembly (5) cooperates with the walking assembly (4), and the walking assembly (4) includes four groups of clamping assemblies, and the clamping assembly includes two relative clamping wheels (16), and the clamping wheels (16) can move toward each other, and the clamping wheels (16) are connected to a transmission shaft, and the transmission shaft is powered by a driving motor, and the base (1) is provided with a guiding assembly (5).

2. The multifunctional robot for power transmission line maintenance according to claim 1 is characterized in that: The straightening assembly (17) comprises a six-axis robot arm I (6), on which a straightening fixture and a pin removal plate (9) are provided, the pin removal plate (9) cooperates with the straightening fixture; the pin removal plate (9) comprises a bottom plate, on which a push-pull electric cylinder (10) and a pin-closing electric cylinder are provided.

3. The multifunctional robot for power transmission line maintenance according to claim 2 is characterized in that: The pin removal plate (9) is provided with a limit baffle (20), a pin closing electric cylinder (11) is arranged inside the limit baffle (20), a pin closing electric cylinder (11) is provided with a pin closing push rod (13) on the piston rod, a pin pushing push rod (12) is provided on the piston rod of the pin pushing electric cylinder (10), and the pin closing push rod (13) and the pin pushing push rod (12) are arranged opposite to each other.

4. The multifunctional robot for power transmission line maintenance according to claim 1 is characterized in that: The disassembly assembly (18) comprises a six-axis mechanical arm II (7), and an electric wrench (8) is provided on the six-axis mechanical arm II (7).

5. The multifunctional robot for power transmission line maintenance according to claim 1 is characterized in that: The guide assembly (5) comprises a buffer elastic member, a guide plate (15) is provided at the bottom of the buffer elastic member, and the guide plate (15) is in an inverted V shape.

6. The multifunctional robot for power transmission line maintenance according to claim 1, characterized in that: The straightening assembly (17) and the disassembly assembly (18) are both provided with cameras.

7. The multifunctional robot for power transmission line maintenance according to claim 1, characterized in that: The clamping assembly comprises a double-slide slide (19), and the clamping wheels (16) are respectively arranged on corresponding slides of the double-slide slide (19), and the two clamping wheels (16) can complete opposite movement.

8. The multifunctional robot for power transmission line maintenance according to claim 1, characterized in that: The hanging assembly (3) comprises a support frame, a balance board (14) is provided on the support frame, and a connecting handle is provided on the balance board (14).

9. The multifunctional robot for power transmission line maintenance according to claim 1, characterized in that: An arc extinguishing rope is provided on one side of the base (1).

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