Power transmission line drainage plate bolt fastening robot

Abstract

The invention discloses a power transmission line drainage plate bolt fastening robot, and relates to the technical field of power transmission line maintenance equipment. Comprising a walking vehicle body capable of self-walking on a power transmission line; the multi-shaft mechanical arm is mounted on the walking vehicle body; the electric sleeve is installed at the free end of the multi-axis mechanical arm and can automatically tighten the drainage plate bolt. When the electric transmission line drainage plate bolt tightening device is used, the walking vehicle body is hung on the electric transmission line drainage plate bolt tightening device and then driven to move to a drainage plate accessory needing to be tightened, then the electric sleeve sleeves the head of a corresponding bolt through movement of the multi-shaft mechanical arm, and finally the electric sleeve tightens the drainage plate bolt, so that the electric transmission line drainage plate bolt can be automatically tightened; manual live-line work on the power transmission cable / cable rack is not needed, and the problems of easy sunstroke, high labor intensity and high safety risk of personnel caused by manual fastening are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line maintenance equipment, and in particular to a transmission line drain plate bolt tightening robot. Background Art

[0002] During the transmission of power on a transmission line, tension clamps and drain plates are needed to connect the transmission cables between different tension sections. The two drain plates are connected by bolts. However, most transmission lines are located outdoors and are affected by factors such as strong winds, vibration, ice shedding, and inadequate bolt tightening. The drain plate bolts will become loose, especially during the high temperature and high load period in summer. The heating of loose drain plates is more prominent. If the drain plate bolts are not tightened in time, when the temperature reaches a certain level, they will melt and burn the drain plates, causing the transmission line to stop operating and even causing wildfires, which poses a huge threat to social safety. It is difficult to eliminate faults in ultra-high voltage transmission lines during power outages, often requiring live work. Moreover, during high-altitude operations in the summer, workers are extremely prone to heatstroke after wearing airtight shielding suits. The labor intensity is high and the safety risks are very high. Therefore, there is an urgent need to develop a transmission line drain plate bolt tightening robot. Summary of the Invention

[0003] In response to the technical problem that existing ultra-high voltage transmission lines require manual live tightening of drain plate bolts, the present invention provides a transmission line drain plate bolt tightening robot that can automatically tighten the transmission line drain plate bolts, avoiding the problems of personnel being extremely prone to heatstroke, high labor intensity and high safety risks caused by manual tightening.

[0004] The present invention is achieved through the following technical solutions: The present invention provides a transmission line drain plate bolt tightening robot, comprising: a walking body capable of self-propelled movement on a transmission line; a multi-axis robotic arm mounted on the walking body; and an electric sleeve mounted on the free end of the multi-axis robotic arm and capable of automatically tightening the drain plate bolts.

[0005] The transmission line drain plate bolt tightening robot provided by the present invention includes a walking body, a multi-axis robotic arm and an electric sleeve, wherein the walking body can move independently on the transmission line, the multi-axis robotic arm is installed on the walking body, and the electric sleeve is installed on the free end of the multi-axis robotic arm and can automatically tighten the drain plate bolts. When in use, the walking body is mounted (the walking body is hung on the transmission cable through an insulating rod, a drone or other equipment), and then the walking body is driven to move to the drain plate accessory that needs to be tightened, and then the electric sleeve is sleeved on the corresponding bolt head through the movement of the multi-axis robotic arm, and finally the drain plate bolts are tightened by the electric sleeve.

[0006] Therefore, the transmission line drain plate bolt tightening robot provided by the present invention can automatically tighten the transmission line drain plate bolts without the need for manual live work on the transmission cable / cable rack, avoiding the problems of personnel being extremely prone to heatstroke, high labor intensity and high safety risks caused by manual tightening.

[0007] In an optional embodiment of the present application, the walking vehicle body is adapted to be equipped with a walking wheel mechanism, and the walking wheel mechanism includes: a driving wheel, which is a grooved wheel structure, installed on the walking vehicle body and can rotate along its own axis; a walking drive motor, which is transmission-connected to the driving wheel and can drive the driving wheel to rotate, so as to drive the walking vehicle body to move along the transmission cable through the walking wheel mechanism.

[0008] In an optional embodiment of the present application, the walking wheel mechanism also includes a guide rod; one end of the guide rod is connected to the fixed component of the walking wheel mechanism, and is tilted downward away from the walking vehicle body to facilitate quick and accurate clamping of the drive wheel on the transmission cable.

[0009] In an optional embodiment of the present application, the bottom of the groove of the driving wheel is covered with a layer of rubber material to ensure sufficient friction between the driving wheel and the transmission cable to prevent the driving wheel from slipping relative to the transmission cable when rotating.

[0010] In an optional embodiment of the present application, a locking mechanism is further included. The locking mechanism is installed on the walking body and can lock the walking body on the power transmission line to prevent the walking body from tipping over when the multi-axis robotic arm is operating.

[0011] In an optional embodiment of the present application, the locking mechanism includes: a fixed mounting seat, mounted on the walking vehicle body; a locking servo, mounted on the fixed mounting seat; a screw telescopic mechanism, which is transmission-connected to the locking servo and can automatically telescope under the drive of the locking servo; a clamping block, which is provided with two pieces and is respectively arranged on the two opposite free ends of the screw telescopic mechanism; wherein, when the screw telescopic mechanism is telescoped, it can drive the two clamping blocks to move closer or farther away from each other, so as to ensure that the locking mechanism can clamp outside the corresponding transmission cable.

[0012] In an optional embodiment of the present application, the walking vehicle body is also equipped with: a first perception sensor component, which can provide environmental perception and positioning data for the mounting of the transmission line drainage plate bolt tightening robot; a second perception sensor component, which can provide environmental perception and positioning data for the walking of the walking vehicle body to ensure that the walking vehicle body can accurately stop at the set position on the transmission cable.

[0013] In an optional embodiment of the present application, it also includes: a third perception sensor component, installed on the free end of the multi-axis robotic arm; a VR remote helmet, which can display the environment of the free end of the multi-axis robotic arm based on the feedback data of the third perception sensor component and the environment of the walking body based on the feedback data of the second perception sensor component; a twin control arm, which is connected to the multi-axis robotic arm by twin control, so as to facilitate remote control of the multi-axis robotic arm movement directly by hand, so as to quickly and accurately sleeve the electric sleeve on the outside of the bolt head to be tightened.

[0014] In an optional embodiment of the present application, a connecting hook is further installed on the walking vehicle body, and the connecting hook is used to connect a drone so that the walking vehicle body can be mounted on the corresponding power transmission line through the drone.

[0015] In an optional embodiment of the present application, the multi-axis robotic arm is a six-axis robotic arm to ensure that the multi-axis robotic arm has sufficient degrees of freedom to simulate human hand movements and achieve free rotation in six dimensions, thereby sending the electric sleeve to the vicinity of the guide plate bolt, ensuring that it can quickly and without dead angles put the electric sleeve on the outside of the bolt head to be tightened, thereby achieving the tightening of the guide plate bolts at various inclination angles.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects: The transmission line drain plate bolt tightening robot provided by the present invention includes a walking body, a multi-axis robotic arm and an electric sleeve, wherein the walking body can move independently on the transmission line, the multi-axis robotic arm is installed on the walking body, and the electric sleeve is installed on the free end of the multi-axis robotic arm and can automatically tighten the drain plate bolts. When in use, the walking body is mounted (the walking body is hung on the transmission cable through an insulating rod, an unmanned aerial vehicle or other equipment), and then the walking body is driven to move to the drain plate accessory that needs to be tightened, and then the electric sleeve is sleeved on the corresponding bolt head through the movement of the multi-axis robotic arm. Finally, the drain plate bolts are tightened by the electric sleeve. The transmission line drain plate bolts can be automatically tightened, and there is no need for manual live work on the transmission cable / cable rack, avoiding the problems of personnel being extremely prone to heatstroke, high labor intensity and high safety risks due to manual tightening. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0018] In the attached figure: Figure 1 A schematic diagram of the structural principle of a transmission line drain plate bolt tightening robot provided by an embodiment of the present invention; Figure 2 A schematic structural diagram of a traveling wheel mechanism provided in an embodiment of the present invention; Figure 3 A schematic structural diagram of a locking mechanism provided in an embodiment of the present invention; Figure 4 A schematic diagram of the structural principle of a multi-axis robotic arm provided in an embodiment of the present invention.

[0019] Markings and corresponding parts names in the accompanying drawings: 1-traveling body, 2-first sensing sensor assembly, 3-traveling wheel mechanism, 4-locking mechanism, 5-multi-axis robotic arm, 6-third sensing sensor assembly, 7-electric sleeve, 8-hook, 9-second sensing sensor assembly, 10-robotic arm mounting hole, 11-traveling drive motor, 12-reducer, 13-mounting bearing, 14-driving wheel, 15-rubber material layer, 16-guide rod, 17-fixed mounting seat, 18-locking servo, 19-fixed fulcrum, 20-telescopic frame, 21-rolling screw, 22-clamping block. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0021] In the description of the embodiments of the present application, the indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the device of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. These are merely for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present application.

[0022] In the description of this application, unless otherwise specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0023] Example Combine Figure 1 This embodiment provides a transmission line drain plate bolt tightening robot, including: a walking body 1, which can move independently on the transmission line; a multi-axis robotic arm 5, which is installed on the walking body 1; and an electric sleeve 7, which is installed on the free end of the multi-axis robotic arm 5 and can automatically tighten the drain plate bolts.

[0024] Combine Figure 2 The walking body 1 is adapted to be equipped with a walking wheel mechanism 3, and the walking wheel mechanism 3 includes: a driving wheel 14, which is a grooved wheel structure, installed on the walking body 1, and can rotate along its own axis; a walking drive motor 11, which is transmission-connected to the driving wheel 14 and can drive the driving wheel 14 to rotate, so as to drive the walking body 1 to move along the transmission cable through the walking wheel mechanism 3.

[0025] In this embodiment, the walking wheel mechanism 3 also includes a guide rod 16; one end of the guide rod 16 is connected to the fixed component of the walking wheel mechanism 3, and is tilted downward away from the walking body 1, so as to quickly and accurately clamp the driving wheel 14 on the transmission cable.

[0026] Furthermore, the groove bottom of the driving wheel 14 is covered with a rubber material layer 15 to ensure sufficient friction between the driving wheel 14 and the power transmission cable, thereby preventing the driving wheel 14 from slipping relative to the power transmission cable when rotating.

[0027] It is understandable that the vehicle body 1 can be a front-wheel drive, rear-wheel drive or four-wheel drive mechanism, and the vehicle body 1 is also equipped with brakes, a power supply and a remote control switch, etc. In this embodiment, a four-wheel drive mechanism is used to ensure that the vehicle body 1 has enough driving power.

[0028] Therefore, this embodiment controls the installation position of the four driving wheels 14 on the traveling body 1 so that the traveling body 1 can travel on transmission cables split at different intervals and transmission cables with different diameters. The main part of the driving wheel 14 is made of metal and the bottom of the groove is a rubber inner layer to avoid slipping when traveling on the metal transmission cable. The guide rod 16 ensures that the traveling body 1 can be accurately stuck on the corresponding transmission cable.

[0029] Continue to combine Figure 1 and Figure 4 The walking vehicle body 1 is also equipped with: a first sensing component 2, which can provide environmental perception and positioning data for the mounting of the transmission line drainage plate bolt tightening robot; a second sensing component 9, which can provide environmental perception and positioning data for the walking vehicle body 1 to ensure that the walking vehicle body 1 can accurately stop at the set position on the transmission cable.

[0030] It is understood that the first sensing component 2 and the second sensing component 9 are used to obtain the position information and environmental information of the corresponding components, and generally use a combination of laser radar and cameras. The first sensing component 2 is installed vertically downward at the bottom of the vehicle body 1 to facilitate positioning between the vehicle body 1 and the power transmission cable; the second sensing component 9 is installed at the front end of the vehicle body 1 to provide data support for the positioning of the vehicle body 1.

[0031] Combine Figure 3 This embodiment further includes a locking mechanism 4 mounted on the vehicle body 1. This locking mechanism 4 is capable of locking the vehicle body 1 to the power transmission line to prevent the vehicle body 1 from tipping over during operation of the multi-axis robotic arm 5. In this embodiment, a locking mechanism 4 is mounted on each side of the vehicle body 1. When the vehicle body 1 reaches a designated position, the locking mechanism 4 is controlled by a motor to lock the power transmission line.

[0032] The locking mechanism 4 can be a cylinder clamping mechanism, a screw clamping mechanism, a four-bar clamping mechanism, etc. Figure 3 The locking mechanism 4 includes: a fixed mounting seat 17, which is installed on the walking body 1; a locking servo 18, which is installed on the fixed mounting seat 17; a screw telescopic mechanism, which is transmission-connected to the locking servo 18 and can automatically extend and retract under the drive of the locking servo 18; a clamping block 22, which is provided with two pieces and is respectively arranged on the two opposite free ends of the screw telescopic mechanism; wherein, when the screw telescopic mechanism is extended and retracted, it can drive the two clamping blocks 22 to move closer or farther away from each other, so as to ensure that the locking mechanism 4 can be clamped outside the corresponding transmission cable.

[0033] On this basis, this embodiment also includes: a third perception sensor component 6 (including a laser radar and a camera), which is installed on the free end of the multi-axis robotic arm 5; a VR remote helmet, which can display the environment of the free end of the multi-axis robotic arm 5 based on the feedback data of the third perception sensor component 6 and the environment of the walking body 1 based on the feedback data of the second perception sensor component 9; a twin control arm, which is connected to the multi-axis robotic arm 5 by twin control, so as to directly remotely control the movement of the multi-axis robotic arm 5 by hand, so as to quickly and accurately sleeve the electric sleeve 7 on the outside of the bolt head to be tightened.

[0034] Therefore, when the walking vehicle body 1 moves, it relies on the driving wheel 14 to move to the point for preliminary positioning, and the multi-axis robotic arm 5 performs secondary positioning. At this time, the high-precision three-dimensional coordinates are scanned by the laser radar, and the center point of the bolt is identified by the camera cross, so as to align and calibrate the posture and perform the third final positioning.

[0035] It should be understood that the vehicle body 1 is also equipped with a connecting hook 8 for connecting to a drone, allowing the vehicle body 1 to be mounted on a corresponding power transmission line via the drone. In this embodiment, a door-shaped connecting frame is provided below the connecting hook 8, with both ends of the door-shaped connecting frame connected to the corresponding side arms of the vehicle body 1. A curved hook 8 is provided at the top of the door-shaped connecting frame to facilitate drone attachment.

[0036] Recombination Figure 4 The multi-axis robotic arm 5 is a six-axis robotic arm to ensure that the multi-axis robotic arm 5 has sufficient degrees of freedom to simulate human hand movements and realize free rotation in six dimensions, thereby sending the electric sleeve 7 to the vicinity of the guide plate bolt, ensuring that it can quickly and without dead angles put the electric sleeve 7 on the outside of the bolt head to be tightened, thereby realizing the tightening of the guide plate bolts at various inclination angles.

[0037] The six-axis collaborative robotic arm can be mounted on and below the vehicle body 1. When mounted on the top, it can tighten the bolts of the upper sub-transmission cable drain plate; when mounted on the bottom, it can tighten the bolts of the lower sub-transmission cable drain plate. Multiple mounting holes are also provided on the vehicle body 1, both horizontally and vertically, to facilitate flexible installation in special circumstances, thus addressing the limited operating radius of the six-axis collaborative robotic arm.

[0038] It should be noted that the electric sleeve 7 is a fixed-torque sleeve (with a set torque value, such as 80 N·m for M16 bolts on power transmission line drain plates). This allows for constant torque tightening, preventing under-tightening or over-tightening. To reduce the load on the six-axis collaborative robot arm, the power supply and remote control switch for the fixed-torque electric sleeve 7 are located on the vehicle body 1.

[0039] In summary, the transmission line drain plate bolt tightening robot provided in this embodiment includes a walking body 1, a multi-axis robotic arm 5, an electric sleeve 7, a VR remote helmet and a twin control arm, wherein the walking body 1 can walk independently on the transmission line, the multi-axis robotic arm 5 is installed on the walking body 1, the electric sleeve 7 is installed on the free end of the multi-axis robotic arm 5 and can automatically tighten the drain plate bolts, and the twin control arm is connected to the multi-axis robotic arm 5 in a twin control manner.

[0040] During use, the walking body 1 is mounted (the walking body 1 is mounted on the transmission cable through an insulating rod, a drone or other equipment), and then the drain plate bolt tightening robot walks on the transmission line through the driving wheel 14. After reaching the designated position, the transmission cable is locked by the locking mechanism 4, and the multi-axis robotic arm 5 positions the fixed torque electric sleeve 7 to the loose drain plate position. Based on laser radar and image recognition technology, the VR camera and the twin control arms are quickly operated to accurately locate the loose bolts. Finally, the bolts are tightened by the fixed torque electric sleeve 7, thereby realizing remote tightening of the loose drain plate bolts and eliminating the heating defect of the transmission line drain plate.

[0041] Specifically: The hook 8 is connected to the heavy-loaded drone hook. After the heavy-loaded drone takes off, the laser radar and camera of the first sensing sensor component 2 are used to preliminarily find the transmission cable. The heavy-loaded drone is guided by the guide rod 16 and accurately installs the walking body 1 on the transmission cable. Then the heavy-loaded drone vertically descends a certain distance so that the driving wheel 14 is stuck on the transmission cable, and then the drone hook is disengaged, and the heavy-loaded drone is controlled to leave.

[0042] At this time, a person walks on the transmission line through remote control of the walking vehicle body 1, and navigates to a position near the transmission cable drainage plate through the laser radar and camera of the second sensing sensor component 9, and then stops the vehicle. By locking the servo 18 and rotating it, the telescopic frame 20 moves on the rolling screw 21, and the locking mechanisms 4 on both sides respectively lock the transmission cables on both sides, so that the drainage plate bolt tightening robot can be firmly fixed on the transmission cable.

[0043] Then, through the coordinated action of the VR remote headset and the twin control arms, the multi-axis robotic arm 5 is remotely controlled to gradually approach the approximate location of the loosened bolt. The third sensing component 6, using the laser radar and camera, aligns and calibrates the posture to achieve the final positioning of the loosened bolt at various tilt angles. The electric cylinder is then placed outside the bolt head. The drive motor of the electric sleeve 7 is then activated, driving the fixed torque electric sleeve 7 to tighten the bolt.

[0044] After the bolts are tightened, the multi-axis robotic arm 5 is retracted through the coordinated action of the VR remote helmet and the twin control arms, and the locking mechanisms 4 on both sides of the walking body 1 are controlled to loosen, so that the connection between the walking body 1 and the transmission cable is disconnected. The transmission line drainage plate bolt tightening robot is lifted up again by the drone hook and placed on the ground, thus completing the drainage plate bolt tightening operation.

[0045] In summary, the transmission line drain plate bolt tightening robot provided in this embodiment can automatically tighten the transmission line drain plate bolts without the need for manual live work on the transmission cables / cable racks, avoiding the problems of personnel being extremely prone to heatstroke, high labor intensity and high safety risks caused by manual tightening.

[0046] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A transmission line drain plate bolt tightening robot, characterized in that: include: A walking vehicle (1) capable of moving autonomously along the transmission line; A multi-axis robotic arm (5) is mounted on the walking vehicle (1); An electric sleeve (7) is mounted on the free end of the multi-axis mechanical arm (5) and is capable of automatically tightening the guide plate bolts.

2. The power transmission line drain plate bolt tightening robot according to claim 1, characterized in that: The traveling vehicle body (1) is adapted to be equipped with a traveling wheel mechanism (3), and the traveling wheel mechanism (3) comprises: The driving wheel (14) is a grooved wheel structure, mounted on the traveling vehicle body (1), and capable of rotating along its own axis; The travel drive motor (11) is in transmission connection with the drive wheel (14) and can drive the drive wheel (14) to rotate.

3. The power transmission line drain plate bolt tightening robot according to claim 2, characterized in that: The walking wheel mechanism (3) further includes a guide rod (16); One end of the guide rod (16) is connected to the fixed component of the walking wheel mechanism (3), and is arranged to be tilted downward in a direction away from the walking vehicle body (1).

4. The power transmission line drain plate bolt tightening robot according to claim 2, characterized in that: The groove bottom of the driving wheel (14) is covered with a rubber material layer (15).

5. The power transmission line drain plate bolt tightening robot according to claim 1, characterized in that: It also includes a locking mechanism (4), which is installed on the traveling vehicle body (1) and can lock the traveling vehicle body (1) on the power transmission line.

6. The power transmission line drain plate bolt tightening robot according to claim 5, characterized in that: The locking mechanism (4) comprises: A fixed mounting seat (17) is mounted on the traveling vehicle body (1); A locking servo (18) mounted on the fixed mounting seat (17); A screw telescopic mechanism is in transmission connection with the locking servo (18) and can automatically telescope under the drive of the locking servo (18); Two clamping blocks (22) are provided, which are respectively arranged on two opposite free ends of the lead screw telescopic mechanism; When the lead screw telescopic mechanism is telescoped, the two clamping blocks (22) can be driven to move closer to or farther away from each other.

7. The power transmission line drain plate bolt tightening robot according to claim 1, characterized in that: The walking vehicle body (1) is also equipped with: A first sensing component (2) is capable of providing environmental sensing positioning data for the mounting of the transmission line drain plate bolt tightening robot; The second sensing component (9) is capable of providing environmental sensing positioning data for the walking vehicle (1).

8. The power transmission line drain plate bolt tightening robot according to claim 7, characterized in that: Also includes: A third sensing component (6) is mounted on the free end of the multi-axis robotic arm (5); A VR remote helmet is capable of displaying the environment in which the free end of the multi-axis robotic arm (5) is located based on feedback data from the third sensing component (6) and displaying the environment in which the walking vehicle (1) is located based on feedback data from the second sensing component (9); A twin control arm is connected to the multi-axis robotic arm (5) in a twin control manner.

9. The power transmission line drain plate bolt tightening robot according to claim 7, characterized in that: A connecting hook (8) is also installed on the walking vehicle body (1), and the connecting hook (8) is used to connect to a drone.

10. The power transmission line drain plate bolt tightening robot according to any one of claims 1 to 9, characterized in that: The multi-axis robotic arm (5) is a six-axis robotic arm.

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