Power transmission line maintenance platform online and offline device and power transmission line unmanned maintenance system

Abstract

The invention relates to the technical field of power transmission line maintenance, and discloses a power transmission line maintenance platform line feeding and discharging device and a power transmission line unmanned maintenance system.The line feeding and discharging device comprises a hook assembly and a power lifting mechanism, a plurality of ropes are arranged at the lower end of the hook assembly at intervals, and the lower ends of the ropes penetrate through the power lifting mechanism; the power lifting mechanism is used for driving the power transmission line maintenance platform to ascend and descend or be positioned along the rope, a walking arm device is arranged on the power transmission line maintenance platform, the working end of the walking arm device is used for automatically clamping a wire and transversely moving on the wire, and a potential energy storage structure is arranged between the hook assembly and the power transmission line maintenance platform. The invention provides a suspension and separation online and offline device which is efficient and automatic and does not interfere with follow-up operation. The on-line and off-line device allows a hook assembly to be hung on a target wire through various carrying modes such as an unmanned aerial vehicle, a climbing robot or a high-altitude maintenance kit; in the hanging process, one-time overall hanging positioning can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission line maintenance, in particular to a power transmission line maintenance platform up / down device and a power transmission line unmanned maintenance system. BACKGROUND

[0002] With the rapid development of China's power industry, the power transmission line operation and maintenance technology continues to improve. However, the increase in long-distance transmission mileage increases the burden of grassroots inspection and operation and maintenance costs, and there is an urgent need for automated and intelligent maintenance technology.

[0003] At present, bolt fastening and tension clamp flaw detection and other operations mainly rely on manual high-altitude operation, which has low efficiency and high risk. With the exploration of "drone + live maintenance" technology, based on computer vision, mechanical arm control, electromagnetic shielding and other key technologies, building an intelligent automatic maintenance system has become an inevitable trend of power grid development.

[0004] For example, the patent document with application number 2020100351709 discloses a power transmission line bolt fastening robot, which moves along the wire through walking wheels and equipotential wheels, and tightens the bolt through a multi-degree-of-freedom mechanical arm and a flexible end fastening device. However, this scheme does not provide a corresponding upline scheme.

[0005] Take the "modular live working robot system and its working method" disclosed in the Chinese patent document with application number 2022112615868 as an example. It uses a drone to hang a carrying hook on the wire, and then uses an insulating rope winding and unwinding device to automatically raise and lower the working robot (equivalent to the maintenance platform in this application). However, after in-depth analysis, it was found that this up / down device has a significant limitation: its working process relies on the drone to complete the initial suspension, and still needs the maintenance platform that arrives later to perform the "hook taking" operation. This design lacks a hook release structure that can automatically separate the hook from the wire after the work is completed. This defect makes the up / down device highly dependent on the maintenance platform, and when used with other operation platforms that do not have the function of taking hooks with mechanical arms, it is limited, and the mechanical arm taking hook is unstable, thereby weakening the universality of its technical solution. SUMMARY

[0006] The present application provides a power transmission line maintenance platform up / down device and a power transmission line unmanned maintenance system with high universality, simple structure, high reliability and low cost.

[0007] The technical solution of the present application is as follows: The power transmission line maintenance platform up-and-down device comprises a hook assembly and a power lifting mechanism. The lower end of the hook assembly is provided with a plurality of ropes at intervals. The lower ends of the plurality of ropes pass through the power lifting mechanism. The power lifting mechanism is used to drive the power transmission line maintenance platform to ascend or descend along the ropes or to be positioned. The power transmission line maintenance platform is provided with a walking arm device. The working end of the walking arm device is used to automatically clamp the conductor and move transversely on the conductor. A potential energy storage structure is arranged between the hook assembly and the power transmission line maintenance platform. The potential energy storage structure is used to push the hook assembly to go up and to be separated from the conductor when the walking arm device clamps the conductor.

[0008] Preferably, the potential energy storage structure comprises a butt joint sleeve which is sleeved on the rope and a limiting rope sleeve which is fixedly sleeved on the upper end of the rope and connected with the hook assembly. The butt joint sleeve is fixed on the power transmission line maintenance platform through an elastic expansion cylinder. The limiting rope sleeve and the butt joint sleeve are nested to make the butt joint sleeve abut against the limiting rope sleeve when the power transmission line maintenance platform is in the high position, and the power transmission line maintenance platform extrudes the elastic expansion cylinder.

[0009] Preferably, the power lifting mechanism comprises a climbing mounting seat which is fixed relative to the power transmission line maintenance platform. A friction main wheel is rotatably mounted on the climbing mounting seat. A friction auxiliary wheel is also rotatably mounted on the climbing mounting seat to form an action wheel surface for passing through the rope in cooperation with the friction main wheel.

[0010] Preferably, the number of the friction main wheels is at least one-to-one corresponding to each rope. The climbing mounting seat is provided with a plurality of driving motors. Each friction main wheel is provided with at least one driving motor for independent driving. A gyroscope is mounted on the climbing mounting seat close to the center of the friction main wheel.

[0011] Preferably, the length of the rope which is attached to the corresponding friction main wheel is at least half of the circumference of the friction main wheel.

[0012] The power transmission line unmanned maintenance system comprises the above-mentioned power transmission line maintenance platform up-and-down device and the power transmission line maintenance platform.

[0013] Compared with the prior art, the power transmission line unmanned maintenance system has the following beneficial effects: The application provides a suspension and disengagement up-and-down device which is efficient, automatic and does not interfere with subsequent operations; the up-and-down device allows the hook assembly to be suspended on the target conductor wire through various carrying modes such as unmanned aerial vehicles, climbing robots or high-altitude maintenance kits; during the suspension process, a plurality of lifting ropes are arranged to realize one-time overall suspension positioning, which is simple and efficient to operate; after the suspension is completed, the existing arbitrary or specified power line maintenance platform can be stably and accurately transported to the specified working position on the conductor wire through the power lifting mechanism; during the platform rising process, the built-in potential energy storage structure (such as a spring or an elastic body) is synchronously compressed, so that the mechanical energy is converted into elastic potential energy and stored; when the maintenance platform completes the upline and needs to be disengaged from the hook, the elastic potential energy accumulated in the potential energy storage structure is rapidly converted into kinetic energy to generate sufficient restoring force to drive or jolt the hook assembly to disengage from the conductor wire; the design ensures that the platform does not need to be continuously intervened by external power during the installation and disengagement process on the conductor wire, so as to avoid the hindrance of the hook to the subsequent power line maintenance operation activities. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the specific embodiments of the application or the technical solutions in the prior art, the drawings needed to be used in the specific embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0015] Figure 1 It is a structural schematic view of the first embodiment of the up-and-down device of the application. Figure 2 It is a structural schematic view of the second embodiment of the up-and-down device of the application installed on the power line maintenance platform and in the lifting process. Figure 3 It is a structural schematic view of the second embodiment of the up-and-down device of the application installed on the power line maintenance platform and in the potential energy storage structure compression process. Figure 4 It is a structural schematic view of the second embodiment of the up-and-down device of the application installed on the power line maintenance platform and in the potential energy storage structure compression process. Figure 3 It is an enlarged view of the structure at G in the application. Figure 5 It is a structural schematic view of the walking arm device in the application. Figure 3 Figure 6 It is a schematic view of the cooperation between the unmanned flight equipment and the up-and-down device of the application.

[0016] In the drawings: 100, up-and-down device; 200, power line maintenance platform; 300, walking arm device; 400, multi-degree-of-freedom mechanical arm; 500, end execution mechanism; 600, unmanned flight equipment; ​110, adapter ring body; 120, hook assembly; 130, rope; 140, potential energy storage structure; 150, power lifting mechanism; 141, limiting rope sleeve; 142, butt joint sleeve; 143, elastic telescopic cylinder; 151, climbing mounting seat; 152, driving motor one; 153, friction primary wheel; 154, friction secondary wheel; 155, gyroscope; 310, angle adjusting assembly; 320, support arm; 330, walking pulley block; 311, support arm base; 312, gear one; 313, gear two; 314, servo motor; 331, walking wheel; 332, driving motor two; 333, pulley block mounting seat; 334, auxiliary clamping wheel; 335, linear guide rail; 610, lifting hook. DETAILED DESCRIPTION

[0017] The technical solutions of the present application will be described clearly and completely in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments.

[0018] The up-and-down device of the power transmission line maintenance platform of the present application comprises a hook assembly 120 and a power lifting mechanism 150. The lower end of the hook assembly 120 is provided with a plurality of ropes 130. The lower ends of the plurality of ropes 130 pass through the power lifting mechanism 150. The power lifting mechanism 150 is used to drive the power transmission line maintenance platform 200 to ascend or descend along the ropes 130 or to be positioned. The power transmission line maintenance platform 200 is provided with a walking arm device 300. The working end of the walking arm device 300 is used to automatically clamp the conductor and move transversely on the conductor. The potential energy storage structure 140 is arranged between the hook assembly 120 and the power transmission line maintenance platform 200. The potential energy storage structure 140 is used to push the hook assembly 120 to go up and to be separated from the conductor when the walking arm device 300 clamps the conductor.

[0019] The potential energy storage structure 140 of the present application can be compressed when the power transmission line maintenance platform 200 approaches the hook assembly 120. The specific shape and material of the potential energy storage structure 140 are not limited specifically. It only needs to be longitudinally elastically compressed, which is generally a spring and its mounting part. The walking arm device 300 only needs to not hinder the movement of the ropes 130 and the movement of the power transmission line maintenance platform 200 to approach the conductor. The specific shape of the walking arm device 300 is not limited. It is generally a pulley block that can be automatically disassembled and assembled. When the conductor is in the target area, it can automatically complete the assembly to clamp the conductor.

[0020] In order to ensure the stability of compression, preferably: the potential energy storage structure 140 comprises a butt joint sleeve 142 sleeved on the rope 130 and a limiting rope sleeve 141 fixedly sleeved on the upper end of the rope 130 and connected with the hook combination 120, the butt joint sleeve 142 is fixed on the power transmission line maintenance platform 200 through an elastic expansion cylinder 143, and the limiting rope sleeve 141 and the butt joint sleeve 142 are nested to abut against each other when the power transmission line maintenance platform 200 is in the high position, and the power transmission line maintenance platform 200 extrudes the elastic expansion cylinder 143.

[0021] In order to avoid winding the cable, preferably: the power lifting mechanism 150 comprises a climbing mounting seat 151 fixed opposite to the power transmission line maintenance platform 200, a friction main wheel 153 is rotatably installed on the climbing mounting seat 151, and a friction auxiliary wheel 154 is also rotatably installed on the climbing mounting seat 151 to form an action wheel surface for passing through the rope 130 in cooperation with the friction main wheel 153.

[0022] In order to realize the deviation rectification capability of the on-line, preferably: the number of the friction main wheels 153 is at least one-to-one corresponding to each rope 130, and the climbing mounting seat 151 is provided with a plurality of driving motors 152, each friction main wheel 153 is provided with at least one driving motor 152 for independent driving, and a gyroscope 155 is installed at the center of the climbing mounting seat 151 close to the friction main wheel 153.

[0023] In order to ensure the stability of climbing, preferably: the length of the rope 130 abutting against the corresponding friction main wheel 153 is at least half of the circumference of the friction main wheel 153.

[0024] The application further provides a power transmission line unmanned maintenance system, which comprises the on-off line device 100 and the power transmission line maintenance platform 200.

[0025] Figures 2 to 6 The second embodiment of the application is shown: The power transmission line unmanned maintenance system of the application comprises an up-and-down device 100, a power transmission line maintenance platform 200 and an unmanned flight device 600, the upper end of a hook assembly 120 is provided with a connection ring body 110, the unmanned flight device 600 is hung with the connection ring body 110 through a hook 610 arranged thereon, the connection ring body 110 is arranged in a circular shape in this embodiment to increase the fault tolerance of the hooking, two walking arm devices 300 are stacked on the left and right side walls of the power transmission line maintenance platform 200 to ensure the stability of the clamping, a multi-degree-of-freedom mechanical arm 400 (existing five-axis mechanical arm in this embodiment) is arranged on one side wall of the power transmission line maintenance platform 200 without affecting the walking arm device 300, an end effector 500 (single bolt fastening device in this embodiment) is arranged at the output end of the multi-degree-of-freedom mechanical arm 400, the up-and-down device 100 comprises the hook assembly 120 and a power lifting mechanism 150, the lower end of the hook assembly 120 is provided with two ropes 130, the lower ends of the two ropes 130 pass through the power lifting mechanism 150, a potential energy storage structure 140 is arranged between the hook assembly 120 and the power transmission line maintenance platform 200, the potential energy storage structure 140 comprises a limiting rope sleeve 141 slidably sleeved on the rope 130 and a butt joint sleeve 142 fixedly arranged at the upper end of the rope 130 and the connection position of the hook assembly 120, and the limiting rope sleeve 141 is fixed on the power transmission line maintenance platform 200 through an elastic expansion cylinder 143. The power lifting mechanism 150 comprises a climbing mounting seat 151 fixed opposite to the power transmission line maintenance platform 200, two friction main wheels 153 are rotatably installed on the climbing mounting seat 151, four friction sub-wheels 154 are also rotatably installed on the climbing mounting seat 151 to form an action wheel surface for passing through the rope 130 in cooperation with the friction main wheels 153, the climbing mounting seat 151 is provided with two driving motors 152, the driving motor 152 synchronously drives the two friction main wheels 153 through a gear box, and a gyroscope 155 is installed at the center of the climbing mounting seat 151 close to the friction main wheels 153. The walking arm device 300 comprises a support arm 320 movably installed on the power transmission line maintenance platform 200 through an angle adjusting assembly 310, and walking pulley sets 330 capable of approaching or moving away from each other are movably arranged on the support arm 320. The angle adjusting assembly 310 comprises a support arm base 311 fixedly installed on the power transmission line maintenance platform 200, the lower end of the support arm 320 is rotatably installed on the support arm base 311, a gear one 312 is fixedly connected to the middle part of the support arm 320, a servo motor 314 is installed on the support arm base 311 or the power transmission line maintenance platform 200, a gear two 313 is coaxially fixedly sleeved on the output shaft of the servo motor 314, and the gear two 313 is engaged with the gear one 312.The walking pulley block 330 comprises a walking wheel 331 rotatably mounted on the upper end of the branch arm 320 close to the side of the wire, a driving motor 332 for driving the walking wheel 331 is mounted on the branch arm 320, a pulley block mounting seat 333 is reciprocatingly mounted on the branch arm 320 along the extending direction of the branch arm 320 so as to be opposite to the walking wheel 331, two auxiliary pinch wheels 334 are rotatably mounted on the pulley block mounting seat 333. A linear guide rail 335 is mounted on the branch arm 320, and the pulley block mounting seat 333 is fixed on the output end of the linear guide rail 335.

[0026] The working principle of the system is: the unmanned flight equipment 600 first hangs the circular adapter ring body 110 through the hook 610, controls the unmanned flight equipment 600 to suspend the hook combination body 120 fixedly connected with the adapter ring body 110 on the target wire, in this embodiment, the hook combination body 120 is a combination structure of a group of hooks connected by connecting rods, and the setting purpose is to realize the spacing of two ropes 130 in one suspension, so as to improve the stability of installation; then, the power lifting mechanism 150 starts, the single driving motor 152 of the power lifting mechanism 150 drives the two friction main wheels 153 through the gear line respectively, and the two friction sub-wheels 154 beside each friction main wheel 153 tightly paste the rope 130 on half of the circumference of the corresponding friction main wheel 153, so as to obtain sufficient friction force, it is noted that in this embodiment, the friction main wheel 153 and the corresponding rope 130 slide relative to each other, instead of the common setting mode of winding the rope 130, so that the rope-up mode does not need to wind the rope 130, which can avoid the increase of volume and weight of the friction main wheel 153, so as to improve the whole maintenance platform; when the platform rises, the limiting rope sleeve 141 sleeved outside the rope 130 will contact the butt joint sleeve 142, and when the platform continues to rise, the limiting rope sleeve 141 will compress the elastic expansion cylinder 143, and store energy in the elastic expansion cylinder 143, after the platform is in place, the servo motor 314 of the walking arm device 300 drives the branch arm 320 to rotate through the meshing of gear two 313 and gear one 312, so that the top end of the branch arm 320 approaches the wire, then the linear guide rail 335 pushes the pulley block mounting seat 333 and the auxiliary clamping wheel 334 upwards, and cooperates with the walking wheel 331 to tightly clamp the wire in the walking pulley block 330. After the platform is locked, the power lifting mechanism 150 reversely rotates to slightly release the rope 130, the restoring force of the pre-pressed elastic expansion cylinder 143 in the potential energy storage structure 140 pushes the limiting rope sleeve 141 and the butt joint sleeve 142 upwards, and then the hook combination body 120 is separated from the wire, so as to realize automatic unhooking, thereafter, the maintenance platform moves along the wire under the driving of the walking wheel 331, and the five-axis mechanical arm carries out the maintenance task by the bolt fastening equipment at the tail end, the hook combination body 120 is generally made of metal material, and dragging on the wire will cause a series of serious defects: it will scratch the surface of the wire, damage the anticorrosive layer and possibly damage the internal steel core, which not only weakens the mechanical strength of the wire and forms a hidden danger of fracture, but also causes local resistance to increase and overheating, increases the loss of electric energy; at the same time, dragging may also impact and damage the shock absorber and other line auxiliary equipment, and there is a risk of falling objects from high altitude, which finally seriously threatens the safety and reliability of the power transmission line; finally, the hook combination body 120 of the up and down line device 100 is suspended on the wire again through the unmanned flight equipment 600, the power lifting mechanism 150 is reversely rotated to compress the potential energy storage structure 140 again, and then the walking arm device 300 performs the actions of opening the wire and rotating away from the wire in turn, and the power lifting mechanism 150 is reversely rotated to lower the power transmission line maintenance platform 200 and unhook the wire.

[0027] As Figure 1 shown in the first embodiment: The difference between the above embodiment is that two driving motors 152 are arranged on the climbing mount 151, and the driving motor 152 drives the friction main wheel 153 one by one. The gyro 155 is installed near the center of the friction main wheel 153 of the climbing mount 151.

[0028] In this embodiment, when the slope of the wire exceeds the clamping range of the walking arm device 300, the power lifting mechanism 150 first adjusts its height on the two ropes 130 so that the slope of the power lifting mechanism 150 is consistent with the target wire, and then the clamping action of the walking pulley block 330 is performed. At the same time, the gyro 155 monitors the platform posture in real time. When the left and right gravity distribution of the maintenance platform is uneven, the left and right sides of the maintenance platform may be inconsistent in the climbing height of the rope 130. At this time, the lifting speed difference of the two friction main wheels 153 can be adjusted to keep the platform posture horizontal.

[0029] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and 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 application.

Claims

1. A power transmission line maintenance platform loading / unloading device, characterized in that: The loading and unloading device (100) includes a hook assembly (120) and a power lifting mechanism (150). Multiple ropes (130) are spaced apart at the lower end of the hook assembly (120). The lower ends of the multiple ropes (130) pass through the power lifting mechanism (150). The power lifting mechanism (150) is used to drive the power transmission line maintenance platform (200) to rise or be positioned along the ropes (130). A traveling arm device (300) is provided on the power transmission line maintenance platform (200). The working end of the traveling arm device (300) is used to automatically clamp the conductor and move laterally on the conductor. A potential energy storage structure (140) is provided between the hook assembly (120) and the power transmission line maintenance platform (200). The potential energy storage structure (140) is used to push the hook assembly (120) upward and release the conductor when the traveling arm device (300) clamps the conductor.

2. The power transmission line maintenance platform loading / unloading device according to claim 1, characterized in that, The potential energy storage structure (140) includes a docking sleeve (142) slidably sleeved on the rope (130) and a limiting rope sleeve (141) fixedly sleeved at the connection between the upper end of the rope (130) and the hook assembly (120). The docking sleeve (142) is fixed to the power transmission line maintenance platform (200) by an elastic telescopic cylinder (143). The limiting rope sleeve (141) and the docking sleeve (142) are nested together so that when the power transmission line maintenance platform (200) is in a high position, the docking sleeve (142) abuts against the limiting rope sleeve (141), and at the same time, the power transmission line maintenance platform (200) squeezes the elastic telescopic cylinder (143).

3. The power transmission line maintenance platform loading / unloading device according to claim 1 or 2, characterized in that, The power lifting mechanism (150) includes a climbing mounting base (151) fixed relative to the power transmission line maintenance platform (200). A friction main wheel (153) is rotatably mounted on the climbing mounting base (151), and a friction secondary wheel (154) is also rotatably mounted on the climbing mounting base (151) to cooperate with the friction main wheel (153) to form an action wheel surface for passing through the rope (130).

4. The power transmission line maintenance platform loading / unloading device according to claim 3, characterized in that, The number of friction main wheels (153) is at least one-to-one with each of the ropes (130), and the climbing mounting base (151) is provided with multiple drive motors (152). Each friction main wheel (153) is equipped with at least one drive motor (152) for independent driving. A gyroscope (155) is installed on the climbing mounting base (151) near the center of the friction main wheel (153).

5. The power transmission line maintenance platform loading / unloading device according to claim 4, characterized in that, The length of the rope (130) attached to the corresponding friction wheel (153) is at least half the circumference of the friction wheel (153).

6. A power transmission line unmanned maintenance system, characterized in that, It includes the online / offline device (100) and the power transmission line maintenance platform (200) as described in claim 5.

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