Opening and closing wire clamping device of line robot

Abstract

The invention relates to the field of power transmission line maintenance equipment, in particular to a line robot opening and closing line clamping device which comprises a line clamping device body, the line clamping device body comprises a magnetic attraction frame and an opening and closing frame, the opening and closing frame is hinged to the two sides of the opening and closing frame, hinge grooves are formed in the two sides of the magnetic attraction frame, and adjusting motors are fixedly installed in the hinge grooves. The output end of the adjusting motor is connected with the opening and closing frame, a control box and a power module are installed on the side of the magnetic attraction frame, a main control chip and a wireless module are arranged in the control box, through the design of the magnetic attraction frame and the opening and closing frame, rapid and stable clamping and releasing of a line are achieved, the operation efficiency is greatly improved, and the labor intensity of workers is lowered. Various operation schemes such as extrusion deicing, floating ice shoveling and vibration deicing are provided, the deicing requirements in different scenes can be met, and the pertinence and efficiency of operation are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of power transmission line maintenance equipment, in particular to a line robot opening and closing clamping device. BACKGROUND

[0002] In the field of power transmission, power transmission lines are a key component of power delivery, and their stable operation is crucial to ensuring the safety and reliability of the power system. However, in cold seasons, especially in extreme weather conditions, power transmission lines often face severe challenges due to icing. The accumulation of ice on the power transmission line not only increases the weight of the line, causing the line to sag or even break, but also seriously affects the efficiency of power transmission, and even causes large-scale power outages, causing significant impact on the social economy and residents' lives.

[0003] Traditional deicing methods mainly rely on manual operation, i.e. workers need to climb to the top of the tower and use tools such as hammers, shovels, etc. to physically remove ice. This method not only has low efficiency and requires a large amount of manpower, but also has high safety risks during operation, and any carelessness can cause personnel casualties. In addition, with the continuous expansion of the power network and the increasing complexity of power transmission lines, the cost of manual deicing is also rising, making it difficult to meet the demand for efficient and safe operation of modern power systems.

[0004] In recent years, with the rapid development of automation technology and robotics, robot technology for deicing power transmission lines has emerged. These robots can automatically ascend to the top of the tower and achieve automatic deicing through rotating brushes, knocking hammers and other mechanical means, significantly improving the efficiency of deicing operations and effectively reducing the safety risks of workers. However, although existing deicing robots have solved some of the problems of traditional deicing methods to some extent, they still face a series of technical challenges and limitations: ‌Insufficient adaptability‌: Traditional deicing robots are usually designed for specific diameters and shapes of power transmission lines, making it difficult to adapt to different specifications and types of power transmission lines, resulting in limited operation range and inability to be widely applied to various complex scenarios.

[0005] ‌Complex operation‌: Most deicing robots have complex operation interfaces and control systems, requiring professional personnel to provide on-site guidance and operation, increasing labor costs and training difficulty, which is not conducive to quick response and efficient operation.

[0006] ‌Poor communication reliability‌: In the vicinity of power transmission lines, due to strong electromagnetic interference, the communication system of existing deicing robots often faces the problem of insufficient stability, which can easily lead to data loss, command delay or misoperation, affecting the accuracy and safety of the operation.

[0007] ‌High safety risk: Although robots replace manual high-altitude operations, traditional deicing robots may still have safety hazards such as falling and losing control in complex and variable high-altitude environments, posing a threat to operating personnel and the surrounding environment.

[0008] ‌Low intelligence level: Most existing deicing robots lack advanced perception and decision-making capabilities, and cannot flexibly adjust work strategies according to real-time working conditions and ice thickness, etc., resulting in limited operation efficiency and deicing effect. SUMMARY

[0009] (I) Technical problems solved In view of the shortcomings of the prior art, the present application provides a line robot opening and closing clamping device.

[0010] (ii) Technical solutions In order to achieve the above-mentioned purpose, the present application provides the following technical solutions: a line robot opening and closing clamping device, characterized in that it comprises a line clamp main body, the line clamp main body comprises a magnetic attraction frame and an opening and closing frame, the opening and closing frame is hinged on both sides of the opening and closing frame, both sides of the magnetic attraction frame are provided with a hinge groove, an adjusting motor is fixedly installed in the hinge groove, the output end of the adjusting motor is connected with the opening and closing frame, a control box and a power module are installed on the side of the magnetic attraction frame, a main control chip and a wireless module are arranged in the control box, an AI intelligent model system is built-in in the main control chip, the adjusting motor, the power module and the wireless module are electrically connected with the main control chip, a magnetic attraction groove is arranged on the top of the magnetic attraction frame, a wheel groove is arranged on the opening and closing frame, a traveling wheel is rotatably installed in the wheel groove, a wheel frame is arranged at the bottom of the magnetic attraction frame, an upper pressing wheel is rotatably installed on the wheel frame, a lower pressing wheel is rotatably installed on the inner side of the opening and closing frame, the lower pressing wheel is perpendicular to the upper pressing wheel, and the upper pressing wheel and the lower pressing wheel are provided with two groups.

[0011] Preferably, the traveling wheel is located on the front side of the upper pressing wheel and the lower pressing wheel, an electric motor groove is arranged in the wheel groove, a driving motor is fixedly installed in the electric motor groove, the output end of the driving motor is connected with the traveling wheel, and the driving motor is electrically connected with the main control chip.

[0012] Further preferably, V-shaped line grooves are arranged on the traveling wheel, the upper pressing wheel and the lower pressing wheel.

[0013] Again preferably, protective rubber pads are wrapped on the side of the traveling wheel, the upper pressing wheel and the lower pressing wheel.

[0014] Preferably, an adjusting groove one is arranged on the front side of the opening and closing frame, a micro motor one is fixedly installed in the adjusting groove one, a side shovel is hinged in the adjusting groove one, the output end of the micro motor one is connected with the side shovel, and the micro motor one is electrically connected with the main control chip.

[0015] Further preferably, the front side of the magnetic bracket is provided with an adjusting groove two, a micro motor two is fixedly installed in the adjusting groove two, an upper shovel is hingedly connected in the adjusting groove two, the output end of the micro motor two is connected with the upper shovel, and the micro motor two is electrically connected with the master control chip.

[0016] Again preferably, the front end of the side shovel is of L-shaped structure, and the corner of the L-shaped side shovel is of arc structure.

[0017] Preferably, the upper pressing wheel, the lower pressing wheel and the traveling wheel are made of metal material, and the protective rubber pad is made of silica gel material.

[0018] Further preferably, the surfaces of the side shovel and the upper shovel are coated with a rust-proof coating, and the side shovel and the upper shovel are made of any one of plastic, polyethylene, glass fiber reinforced plastic and rubber or synthetic rubber.

[0019] Again preferably, a pneumatic hammer and a vibration sensor are installed at the rear end of the magnetic bracket, the output end of the pneumatic hammer is perpendicular to the magnetic bracket, the pneumatic hammer and the vibration sensor are electrically connected with the master control chip, and the vibration sensor is any one of a fiber Bragg grating sensor and a laser Doppler vibration tester.

[0020] (Three) beneficial effects

[0021] Compared with the prior art, the present application provides a line robot opening and closing clamping device, which has the following beneficial effects: Efficient and convenient line clamping and moving Through the design of the magnetic bracket and the opening and closing bracket, fast and stable clamping and releasing of the line are realized, and the operation efficiency is greatly improved.

[0022] The magnetic attraction groove at the top of the magnetic bracket can conveniently attract the electromagnetic lifting device, so that the whole device can be easily transported to the circuit transmission line by the unmanned aerial vehicle, realizing remote and high-altitude operation capability.

[0023] Stable walking and clamping performance The V-shaped line groove design on the traveling wheel, the upper pressing wheel and the lower pressing wheel increases the contact area with the line, and significantly improves the stability of walking and the firmness of clamping.

[0024] The protective rubber pad made of silica gel material not only reduces the wear on the surface of the line, but also increases the friction, further improving the stability of walking and clamping.

[0025] Intelligent control system The integration of the master control chip and the wireless module realizes centralized control and remote communication of each execution element of the device, and improves the flexibility and convenience of operation.

[0026] The introduction of the AI intelligent model system enables the device to adaptively adjust the angle and force of the opening and closing frame based on real-time data collection, ensuring optimal clamping effect and improving the intelligent level of the operation.

[0027] ‌Comprehensive safety precautions‌: The rust-proof coating on the side and upper shovels and the selection of high-quality materials effectively prevent rust and corrosion problems caused by long-term exposure to the environment, extending the service life of the device.

[0028] The device is designed to consider material strength while reducing weight, ensuring efficiency and safety of the operation.

[0029] ‌Diversified deicing operation schemes‌: It provides various operation schemes such as extrusion deicing, shovel deicing, and vibration deicing, which can adapt to different deicing needs in different scenarios, improving the pertinence and efficiency of the operation.

[0030] The addition of pneumatic hammers provides the necessary knocking force for vibration deicing, promoting resonance effects and further improving deicing efficiency.

[0031] ‌Optimized material selection and application‌: The traveling wheels, upper and lower pressure wheels are made of metal materials to ensure strength and durability; the protective rubber pads are made of silicone materials with excellent anti-aging and weather-resistant properties.

[0032] The side and upper shovels are made of various lightweight and corrosion-resistant materials, ensuring strength while reducing weight, improving the portability and efficiency of the device.

[0033] ‌Enhancing user experience and operation safety‌: Through intelligent control systems and remote communication capabilities, users can easily remotely control the device for operation, reducing the difficulty and risk of manual operation.

[0034] The control method based on the free vibration frequency of the line and the selection of high-precision sensors such as Fiber Bragg Grating (FBG) sensors or Laser Doppler Vibrometer (LDV) further improve the deicing efficiency and operation safety.

[0035] In summary, the line robot opening and closing clamp device realizes efficient, precise, and easy-to-operate power line maintenance technology through a series of carefully designed technical solutions. It not only enhances the flexibility, reliability, and user experience of the system, but also provides a new solution for modern power maintenance, with significant benefits and application value. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1It is the schematic diagram of the front view structure of the thread clamp main body of the application; Figure 2 It is the schematic diagram of the rear view structure of the thread clamp main body of the application; Figure 3 It is the schematic diagram of the exploded view structure of the magnetic bracket and the opening and closing bracket of the application; Figure 4 It is the schematic diagram of the cross-sectional structure of the opening and closing bracket of the application; Figure 5 It is the schematic diagram of the control box structure of the application; In the figure: 1, magnetic bracket; 2, opening and closing bracket; 3, traveling wheel; 4, wheel bracket; 5, upper pressing wheel; 6, lower pressing wheel; 7, V-shaped thread groove; 8, control box; 9, power module; 10, adjusting groove one; 11, adjusting groove two; 12, micro motor one; 13, side shovel; 14, micro motor two; 15, upper shovel; 16, magnetic attraction groove; 17, hinged groove; 18, adjusting motor; 19, pneumatic hammer; 20, vibration sensor; 21, driving motor. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0038] Please refer to Figures 1-5 The opening and closing thread clamping device of the thread robot of the application comprises a thread clamp main body, the thread clamp main body comprises a magnetic bracket 1 and an opening and closing bracket 2, the opening and closing bracket 2 is hinged on both sides of the opening and closing bracket 2, both sides of the magnetic bracket 1 are provided with a hinged groove 17, an adjusting motor 18 is fixedly installed in the hinged groove 17, the output end of the adjusting motor 18 is connected with the opening and closing bracket 2, a control box 8 and a power module 9 are installed on the side of the magnetic bracket 1, a main control chip and a wireless module are arranged in the control box 8, an AI intelligent model system is built in the main control chip, the adjusting motor 18, the power module 9 and the wireless module are electrically connected with the main control chip, a magnetic attraction groove 16 is arranged on the top of the magnetic bracket 1, a wheel groove is arranged on the opening and closing bracket 2, a traveling wheel 3 is rotatably installed in the wheel groove, a wheel bracket 4 is arranged at the bottom of the magnetic bracket 1, an upper pressing wheel 5 is rotatably installed on the wheel bracket 4, a lower pressing wheel 6 is rotatably installed on the inner side of the opening and closing bracket 2, the lower pressing wheel 6 is perpendicular to the upper pressing wheel 5, and the upper pressing wheel 5 and the lower pressing wheel 6 are provided with two groups.

[0039] The line robot opening and closing clamping device mainly realizes the clamping and movement of the line through the magnetic suction frame 1 and the opening and closing frame 2. The magnetic suction frame 1 is adsorbed through the magnetic suction groove 16 on the top, and the hoisting device is installed on the unmanned aerial vehicle. The unmanned aerial vehicle transports the line clamp main body to the circuit transmission line, and the opening and closing frame 2 realizes the opening and closing action through the adjustment of the driving motor 18 to clamp or release the line. The main control chip in the control box 8 is responsible for receiving the instructions of the wireless module and controlling the work of the adjustment motor 18, the driving motor 21 and other execution elements. The travel wheel 3, the upper pressing wheel 5 and the lower pressing wheel 6 work together to ensure the stable movement and clamping of the robot on the line.

[0040] Travel wheel 3 drive: the travel wheel 3 is installed in the wheel groove on the opening and closing frame 2, and the motor groove is arranged in the wheel groove. The built-in driving motor 21 is responsible for the rotation of the travel wheel 3. The driving motor 21 is electrically connected with the main control chip, receives the instructions and drives the travel wheel 3 to rotate, so that the whole device moves along the line.

[0041] V-shaped line groove 7 design: the travel wheel 3, the upper pressing wheel 5 and the lower pressing wheel 6 are provided with V-shaped line grooves 7, which increase the contact area with the line and improve the walking stability.

[0042] Protective rubber pad: the wheels are wrapped with protective rubber pads made of silica gel material, which reduces the wear on the surface of the line and increases the friction.

[0043] Intelligent control system: Main control chip and wireless module: the control box 8 is installed on the side of the magnetic suction frame 1, and the main control chip and the wireless module are arranged inside. All motors and sensors are electrically connected with the main control chip to realize centralized control and remote communication. The wireless module adopts any one of ZigBee, Wi-Fi and Bluetooth.

[0044] AI intelligent model system: the main control chip is built-in AI intelligent model system, which can adjust the angle and intensity of the opening and closing frame 2 according to the real-time collected data to ensure the best clamping effect.

[0045] Safety protection measures: Anti-rust coating: the side shovel 13 and the upper shovel 15 are coated with an anti-rust coating to prevent rusting and corrosion caused by long-term exposure to the outside environment.

[0046] Material selection: the side shovel 13 and the upper shovel 15 are made of one of the following materials: plastic, polyethylene, glass fiber reinforced plastic and rubber or synthetic rubber, which can ensure the strength while reducing the weight; the upper pressing wheel 5, the lower pressing wheel 6 and the travel wheel 3 are made of metal material to ensure the durability.

[0047] Additional functions: Side shovel 13 and upper shovel 15 adjustment: the front side of the open-close frame 2 is provided with an adjustment groove one 10, a micro motor one 12 is built-in, and a side shovel 13 is hinged; the front side of the magnetic bracket 1 is provided with an adjustment groove two 11, a micro motor two 14 is built-in, and an upper shovel 15 is hinged. The two shovels can remove ice and snow on the line to improve the ice removal efficiency.

[0048] Side shovel 13 front end design: the front end of the side shovel 13 is L-shaped structure, and the corner is arc structure, to adapt to different diameter and shape of the line, and improve the cleaning efficiency.

[0049] Pneumatic hammer 19: the rear end of the magnetic bracket 1 is provided with a pneumatic hammer 19, the output end is perpendicular to the magnetic bracket 1, the pneumatic hammer 19 is electrically connected with the main control chip, and is used for providing knocking force when vibrating to remove ice.

[0050] Ice removal operation scheme Scheme one: extrusion ice removal The main body of the wire clamp is composed of four upper and lower pressure wheels 5, 6 and two left and right travel wheels 3. The main body of the wire clamp is hung on the line by installing an electromagnetic lifting device on the unmanned aerial vehicle, the floating ice at the force point of the main body of the wire clamp is removed several times by manually controlling the unmanned aerial vehicle to press the line up and down, and then the main body of the wire clamp is used to crush the floating ice by the front travel wheels 3 to complete the ice removal operation.

[0051] Scheme two: shovel floating ice The main body of the wire clamp is composed of four upper and lower pressure wheels 5, 6, two left and right travel wheels 3 and a metal ice shovel mechanism. The main body of the wire clamp is hung on the line by installing an electromagnetic lifting device on the unmanned aerial vehicle, the floating ice at the force point of the main body of the wire clamp is removed several times by manually controlling the unmanned aerial vehicle to press the line up and down, and then the main body of the wire clamp is used to shovel the floating ice by the front shovel and the upper shovel 15.

[0052] Scheme three: vibration ice removal The main body of the wire clamp is hung on the line by installing an electromagnetic lifting device on the unmanned aerial vehicle, the unmanned aerial vehicle hovers, the wire clamp is clamped by remote control, the pneumatic hammer 19 is knocked several times, the free vibration frequency of the line is measured by the vibration sensor 20, and then the output vibration of the pneumatic hammer 19 is adjusted according to the free vibration frequency of the line to complete the ice removal work; after completing the ice removal work, the wire clamp is released by remote control, and the unmanned aerial vehicle drives the wire clamp to the next ice removal work point for ice removal.

[0053] Pneumatic hammer 19 application: in this process, the pneumatic hammer 19 can be used to provide the necessary knocking force to help destroy the ice layer structure and promote the resonance effect.

[0054] In "Scheme Three: Vibration Deicing", the control method based on the free vibration frequency of the line is adopted, and the fiber Bragg grating (FBG) sensor or laser Doppler vibrometer (LDV) is selected as the vibration sensor 20, which can effectively improve the deicing efficiency and operation safety.

[0055] Material optimization Wheel material: The traveling wheels 3, the upper pressing wheels 5 and the lower pressing wheels 6 are made of metal material to ensure strength and durability.

[0056] Protective rubber pad: The silicone material is used, which has excellent anti-aging and weather resistance performance, and reduces damage to the line.

[0057] Shovel material: The side shovel 13 and the upper shovel 15 are made of various materials (plastic, polyethylene, glass fiber reinforced plastic and rubber or synthetic rubber) to ensure the balance of strength and lightness.

[0058] In summary, the line robot opening and closing clamping device combines advanced mechanical transmission, electric control, sensing detection and intelligent control technologies in multiple fields, realizes efficient, accurate and easy-to-operate power transmission line maintenance process. Through a series of carefully designed technical solutions, not only the flexibility, reliability and user experience of the system are enhanced, but also a new solution for modern power maintenance is provided.

[0059] Although embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A line robot opening and closing clamping device, characterized in that: The invention comprises a wire clamp body, wherein the wire clamp body comprises a magnetic frame (1) and an opening and closing frame (2), wherein the opening and closing frame (2) is hinged on both sides of the opening and closing frame (2), and hinge grooves (17) are provided on both sides of the magnetic frame (1), and an adjusting motor (18) is fixedly installed in the hinge groove (17), and the output end of the adjusting motor (18) is connected to the opening and closing frame (2), and a control box (8) and a power module (9) are installed on the side of the magnetic frame (1), and a main control chip and a wireless module are provided in the control box (8), and the main control chip has an AI intelligent model system built in. The adjusting motor (18), the power module (9) and the wireless module are all electrically connected to the main control chip, and a magnetic groove (16) is provided on the top of the magnetic frame (1), and a wheel groove is provided on the opening and closing frame (2), and a traveling wheel (3) is rotatably installed in the wheel groove, and a wheel frame (4), an upper pressure wheel (5) and a lower pressure wheel (6) are provided at the bottom of the magnetic frame (1).

2. A line robot opening and closing clamping device according to claim 1, characterized in that: An upper pressure wheel (5) is rotatably mounted on the wheel frame (4), and a lower pressure wheel (6) is rotatably mounted on the inner side of the opening and closing frame (2). The lower pressure wheel (6) is perpendicular to the upper pressure wheel (5), and two groups of upper pressure wheels (5) and lower pressure wheels (6) are provided. The traveling wheel (3) is located in front of the upper pressure wheel (5) and the lower pressure wheel (6). A motor slot is provided in the wheel slot, and a driving motor (21) is fixedly mounted in the motor slot. The output end of the driving motor (21) is connected to the traveling wheel (3), and the driving motor (21) is electrically connected to the main control chip.

3. A line robot opening and closing clamping device according to claim 2, characterized in that: The traveling wheel (3), the upper pressing wheel (5) and the lower pressing wheel (6) are provided with V-shaped line grooves (7).

4. A line robot opening and closing clamping device according to claim 3, characterized in that: The sides of the traveling wheel (3), the upper pressing wheel (5) and the lower pressing wheel (6) are wrapped with protective rubber pads.

5. A line robot opening and closing clamping device according to claim 4, characterized in that: An adjustment slot (10) is provided on the front side of the opening and closing frame (2), a micro motor (12) is fixedly installed in the adjustment slot (10), a side shovel (13) is hinged in the adjustment slot (10), an output end of the micro motor (12) is connected to the side shovel (13), and the micro motor (12) is electrically connected to the main control chip.

6. A line robot opening and closing clamping device according to claim 5, characterized in that: The front side of the magnetic frame (1) is provided with an adjustment slot 2 (11), a micro motor 2 (14) is fixedly installed in the adjustment slot 2 (11), an upper shovel (15) is hinged in the adjustment slot 2 (11), an output end of the micro motor 2 (14) is connected to the upper shovel (15), and the micro motor 2 (14) is electrically connected to the main control chip.

7. A line robot opening and closing clamping device according to claim 6, characterized in that: The front end of the side shovel (13) is an L-shaped structure, and the corner of the L-shaped side shovel (13) is an arc-shaped structure.

8. The line robot opening and closing clamping device according to claim 7, characterized in that: The upper pressing wheel (5), the lower pressing wheel (6) and the traveling wheel (3) are made of metal, and the protective rubber pad is made of silicone material.

9. The line robot opening and closing clamping device according to claim 8, characterized in that: The surfaces of the side shovel (13) and the upper shovel (15) are coated with an anti-rust coating, and the side shovel (13) and the upper shovel (15) are made of any one of plastic, polyethylene, glass fiber reinforced plastic, rubber or synthetic rubber.

10. A line robot opening and closing clamping device according to claim 9, characterized in that: A pneumatic hammer (19) and a vibration sensor (20) are installed at the rear end of the magnetic frame (1), the output end of the pneumatic hammer (19) is perpendicular to the magnetic frame (1), the pneumatic hammer (19) and the vibration sensor (20) are electrically connected to the main control chip, and the vibration sensor (20) adopts any one of a fiber Bragg grating sensor and a laser Doppler vibrometer.

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