Unmanned maintenance method for power transmission line

Abstract

The invention relates to the technical field of power transmission line maintenance, and discloses a power transmission line unmanned maintenance method, which comprises the following steps that S1, unmanned flight equipment hangs a hook assembly of an on-line and off-line device on a wire; s2, the power lifting mechanism rotates in the forward direction, and the power transmission line maintenance platform ascends to a preset position along a plurality of ropes below the hook assembly; s3, the potential energy storage structure is located between the hook assembly and the power transmission line maintenance platform, and the power transmission line maintenance platform continues to ascend and compresses the potential energy storage structure to the target degree; s4, the walking arm device clamps the power transmission line maintenance platform on the wire in a longitudinal locking manner; s5, the power lifting mechanism rotates reversely, the upper end of the rope is released by the preset length, and at the moment, the potential energy storage structure is released, and restoring force generated by the potential energy storage structure pushes the hook assembly; s6, the walking arm device drives the walking arm device to transversely move in a reciprocating mode along the wire, and meanwhile the tail end executing mechanism executes overhauling; therefore, the thread releasing of the hook assembly is automatically completed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission line maintenance, in particular to a power transmission line unmanned maintenance method. 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 automated and intelligent maintenance technology is urgently needed.

[0003] Currently, bolt fastening and tension clamp flaw detection operations mainly rely on manual high-altitude operations, which have 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 online scheme.

[0005] For example, the patent document with application number 2022112615868 discloses a modular live working robot system and its working method, which mainly suspends the hook from the wire through the unmanned aerial vehicle and realizes the automatic online and offline of the robot through the insulating rope winding and unwinding device. The unmanned aerial vehicle carries one hook online each time, low load ensures stable flight, and two insulating ropes pull the robot to rise and fall stably. Although this scheme realizes automatic online and offline, it still has the following problems: 1. It needs to be online separately, and the steps are repeated and tedious; 2. After the equipment is online, the hook needs to be separated from the wire, and this scheme is through the end of the clamping type hand claw to take down the hook from the target wire respectively, so that the insulating rope connected with the hook is shortened, and the bottom of the hook is inserted into the case module. The defects brought by this scheme are: the clamping type hand claw may not be flexible enough, it is difficult to adapt when the hook position deviates; or uneven force leads to falling off; it may also rely on accurate visual positioning, and once the error occurs, it will fail. In addition, manual remote operation is low in efficiency and has safety risks. SUMMARY

[0006] The present application provides a power transmission line unmanned maintenance method with simple steps, simple structure, high reliability and low cost to solve the above problems.

[0007] The technical scheme of the present application is as follows: The power transmission line unmanned maintenance method comprises an online and offline device and a power transmission line maintenance platform. The 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, the lower ends of the plurality of ropes pass through the power lifting mechanism, the power lifting mechanism is used to drive the power line maintenance platform to ascend or position along the ropes, the power 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 line maintenance platform, and the potential energy storage structure is used to push the hook assembly to go up and release the conductor when the walking arm device clamps the conductor. Further comprising the following steps: S1, the unmanned flight equipment suspends the hook assembly of the up-and-down device to the conductor; S2, the power lifting mechanism rotates forward, and the power line maintenance platform ascends to a preset position along the plurality of ropes below the hook assembly; S3, at this time, the potential energy storage structure is located between the hook assembly and the power line maintenance platform, the power line maintenance platform continues to ascend and simultaneously compresses the potential energy storage structure to a target degree; S4, the walking arm device successively performs a rotating close-to-conductor action and a conductor clamping action, and longitudinally locks the power line maintenance platform to the conductor; S5, the power lifting mechanism reversely rotates, so that the upper ends of the ropes are released by a preset length, at this time, the potential energy storage structure is released to push the hook assembly by a restoring force generated by the potential energy storage structure; S6, the walking arm device drives the power line maintenance platform to reciprocally move transversely along the conductor, and an end execution mechanism performs maintenance.

[0008] Preferably, after step S3 and before step S4, when the slope of the conductor exceeds the clamping range of the walking arm device, the power lifting mechanism first adjusts the height thereof on different ropes so that the slope of the power lifting mechanism is consistent with the target conductor.

[0009] Preferably, further comprising an unmanned flight equipment, the upper end of the hook assembly is provided with a connection ring body, the unmanned flight equipment is hung to the connection ring body, the power line maintenance platform is further provided with a multi-degree-of-freedom mechanical arm, and an end execution mechanism is arranged at the output end of the multi-degree-of-freedom mechanical arm.

[0010] Preferably, the potential energy storage structure comprises a butt joint sleeve slidingly sleeved on the rope and a limiting rope sleeve fixedly sleeved at the connection position between the upper end of the rope (130) and the hook assembly, the butt joint sleeve is fixed to the power line maintenance platform through an elastic expansion cylinder, and the limiting rope sleeve and the butt joint sleeve are nested and matched, so that when the power line maintenance platform is at a high position, the butt joint sleeve abuts against the limiting rope sleeve, and the power line maintenance platform extrudes the elastic expansion cylinder.

[0011] Preferably, the power lifting mechanism includes a climbing mounting base fixed relative to the power transmission line maintenance platform, a friction main wheel rotatably mounted on the climbing mounting base, and a friction secondary wheel rotatably mounted on the climbing mounting base to cooperate with the friction main wheel to form an action wheel surface for passing through the rope.

[0012] Preferably, the number of friction wheels corresponds at least one-to-one with each of the ropes, and the climbing mounting base is provided with multiple drive motors. Each friction wheel is equipped with at least one drive motor for independent driving, and a gyroscope is installed on the climbing mounting base near the center of the friction wheel.

[0013] Preferably, the traveling arm device includes a support arm that is movably mounted on the power transmission line maintenance platform via an angle adjustment component, and the support arm is movably provided with a group of traveling pulleys that can move closer to or further away from each other.

[0014] Preferably, the angle adjustment assembly includes a support arm base fixedly installed on the power transmission line maintenance platform, the lower end of the support arm being rotatably installed on the support arm base, a gear one being fixedly connected to the middle part of the support arm, a servo motor being installed on the support arm base or the power transmission line maintenance platform, and a gear two being coaxially fixedly sleeved on the output shaft of the servo motor, the gear two meshing with the gear one.

[0015] Preferably, the traveling pulley assembly includes a traveling wheel rotatably mounted on the side of the upper end of the support arm near the conductor, a second drive motor for driving the traveling wheel is mounted on the support arm, a pulley assembly mounting seat is slidably mounted on the support arm along its extension direction to be opposite to the traveling wheel, and a plurality of auxiliary clamping wheels are rotatably mounted on the pulley assembly mounting seat.

[0016] Preferably, a linear guide rail is mounted on the support arm, and the pulley block mounting base is fixed to the output end of the linear guide rail.

[0017] Preferably, the unmanned aerial vehicle is equipped with a hook for suspending the connecting ring.

[0018] Preferably, the end effector is at least one of a bolt fastening device and an X-ray flaw detection device.

[0019] Preferably, after step S6, the unmanned aerial vehicle suspends the hook assembly of the upper and lower line device onto the conductor again, the power lifting mechanism rotates forward to compress the potential energy storage structure again, and then the walking arm device performs the action of opening the conductor and rotating away from the conductor in sequence. The power lifting mechanism rotates in the opposite direction to lower the power transmission line maintenance platform and remove the conductor.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: Based on the aforementioned device design, this invention forms a hook assembly that can be suspended by multiple lifting ropes in one go. Then, through the active lifting compression potential energy storage structure at the upper end of the power lifting mechanism, after the power transmission line maintenance platform is connected to the conductor, the upper end of the rope is released, causing the potential energy storage structure to release and lift the hook assembly, thereby automatically completing the hook assembly's unhooking. The passive unhooking is achieved by utilizing elastic potential energy and the mechanism's guidance, avoiding the risk of hook "jamming" or "disengagement" caused by the instability of complex force control of the robotic arm. The entire "release-lift-unhooking" process is completed automatically and instantly, without the need for precise operation of the robotic arm. The operation process is simple, reducing high-altitude operation time and uncertainty, eliminating the need for precise force control sensors and complex unhooking algorithms at the end of the robotic arm, and reducing system complexity and manufacturing costs.

[0021] In a preferred embodiment of the above-mentioned scheme, the present invention can further improve the contact area and angle between the power lifting mechanism and the rope, enabling the power lifting mechanism to pass through the rope and avoiding the instability caused by the increased weight due to rope winding in the prior art.

[0022] In a preferred embodiment of the above-mentioned scheme, the present invention further provides each crawling friction main wheel with an independent drive, which can actively correct or compensate for the cable clamping error between the traveling wheel and the auxiliary clamping wheel when the cable tilts excessively or when the maintenance platform tilts during the ascent process. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the first embodiment of the online / offline device of the present invention, which is installed on a power transmission line maintenance platform and is in the process of being lifted. Figure 2 This is a schematic diagram of the first embodiment of the online / offline device of the present invention, which is installed on a power transmission line maintenance platform and is in the process of compression of the potential energy storage structure. Figure 3 For the present invention Figure 2 Enlarged view of the structure at point G in the middle; Figure 4 For the present invention Figure 2 Schematic diagram of the traveling arm device; Figure 5 This is a schematic diagram of the cooperation between the unmanned aerial vehicle and the loading / unloading device of the present invention; Figure 6 This is a schematic diagram of the structure of the second embodiment of the online / offline device of the present invention.

[0025] In the picture: 100. Loading / unloading device; 200. Power transmission line maintenance platform; 300. Traveling arm device; 400. Multi-degree-of-freedom robotic arm; 500. End effector; 600. Unmanned aerial vehicle (UAV) equipment; 110. Connecting ring; 120. Hook assembly; 130. Rope; 140. Potential energy storage structure; 150. Power lifting mechanism; 141. Limiting rope loop; 142. Connecting clamp; 143. Elastic telescopic cylinder; 151. Climbing mount; 152. Drive motor 1; 153. Friction main wheel; 154. Friction secondary wheel; 155. Gyroscope; 310. Angle adjustment assembly; 320. Support arm; 330. Traveling pulley system; 311. Support arm base; 312. Gear 1; 313. Gear 2; 314. Servo motor; 331. Traveling wheel; 332. Drive motor II; 333. Pulley block mounting base; 334. Auxiliary clamping wheel; 335. Linear guide rail; 610. Lifting hook. Detailed Implementation

[0026] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0027] This unmanned power transmission line maintenance method includes a line loading / unloading device 100 and a power transmission line maintenance platform 200. The line loading / 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, and the lower ends of the 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, fall, or be positioned along the ropes 130. A traveling arm device 300 is installed 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 installed 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 it from the conductor when the traveling arm device 300 clamps the conductor. The method also includes the following steps: S1, the unmanned aerial vehicle 600 loads the hook assembly 120... S2. The hook assembly 120 is suspended on the conductor; S3. The power lifting mechanism 150 rotates forward, and the power transmission line maintenance platform 200 rises to a preset position along the multiple ropes 130 below the hook assembly 120; S4. At this time, the potential energy storage structure 140 is located between the hook assembly 120 and the power transmission line maintenance platform 200, and the power transmission line maintenance platform 200 continues to rise while compressing the potential energy storage structure 140 to the target level; S5. The traveling arm device 300 performs the rotation approaching the conductor and clamping the conductor in sequence, locking the power transmission line maintenance platform 200 longitudinally onto the conductor; S6. The power lifting mechanism 150 rotates in the reverse direction, so that the upper end of the rope 130 is released by a preset length, and at this time the potential energy storage structure 140 is released and its restoring force pushes the hook assembly 120; S7. The traveling arm device 300 drives the power transmission line maintenance platform 200 to move back and forth along the conductor, while the end effector 500 performs maintenance.

[0028] In some embodiments, since the present invention adopts an independent climbing scheme with multiple ropes 130, when the inclination of the guide wire exceeds the range of the walking arm device 300 clamping the guide wire after step S3 and before step S4, the power lifting mechanism 150 first adjusts its own height on different ropes 130 so that the inclination of the power lifting mechanism 150 is consistent with the target guide wire.

[0029] This method also includes an unmanned aerial vehicle 600, a connecting ring 110 installed at the upper end of the hook assembly 120, the unmanned aerial vehicle 600 being hooked to the connecting ring 110, and a multi-degree-of-freedom robotic arm 400 being installed on the power transmission line maintenance platform 200, with an end effector 500 installed at the output end of the multi-degree-of-freedom robotic arm 400.

[0030] In some embodiments, in order to guide and direct the compression process of the elastic telescopic cylinder 143, the following configuration is made: 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 through the 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 compresses the elastic telescopic cylinder 143.

[0031] In some embodiments, to avoid tangling of the rope 130: the power lifting mechanism 150 includes a climbing mount 151 fixed relative to the power transmission line maintenance platform 200, a friction main wheel 153 rotatably mounted on the climbing mount 151, and a friction secondary wheel 154 rotatably mounted on the climbing mount 151 to cooperate with the friction main wheel 153 to form an action wheel surface for passing through the rope 130.

[0032] In some embodiments, in order to prevent the inclination of the guide wire from exceeding the clamping range of the guide wire by the walking arm device 300, the number of friction main wheels 153 is at least one-to-one with each rope 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, and a gyroscope 155 is installed on the climbing mounting base 151 near the center of the friction main wheel 153.

[0033] In some embodiments, to provide a low-cost, stable and reliable solution for avoiding and approaching the power line, the present invention further includes the following limitation: the traveling arm device 300 includes a support arm 320 movably mounted on the power transmission line maintenance platform 200 via an angle adjustment component 310, and the support arm 320 is movably provided with a traveling pulley group 330 that can move closer to or further away from each other.

[0034] Specifically, the angle adjustment assembly 310 includes a support arm base 311 fixedly installed on the power transmission line maintenance platform 200, the lower end of the support arm 320 rotatably installed on the support arm base 311, a gear 312 fixedly connected to the middle part of the support arm 320, a servo motor 314 installed on the support arm base 311 or the power transmission line maintenance platform 200, and a gear 313 coaxially fixedly sleeved on the output shaft of the servo motor 314, with the gear 313 meshing with the gear 312.

[0035] Specifically, the traveling pulley block 330 includes a traveling wheel 331 rotatably mounted on the side of the upper end of the support arm 320 near the conductor. A drive motor 332 for driving the traveling wheel 331 is mounted on the support arm 320. A pulley block mounting seat 333 is slidably mounted on the support arm 320 along its extension direction to be opposite to the traveling wheel 331. A plurality of auxiliary clamping wheels 334 are rotatably mounted on the pulley block mounting seat 333.

[0036] Specifically, a linear guide rail 335 is mounted on the support arm 320, and a pulley block mounting base 333 is fixed to the output end of the linear guide rail 335.

[0037] Specifically, the unmanned aerial vehicle 600 is equipped with a hook 610 for suspending the connecting ring 110.

[0038] Specifically, the end effector 500 is at least one of the bolt fastening device and the X-ray flaw detection device.

[0039] Specifically, after step S6, the unmanned aerial vehicle 600 once again suspends the hook assembly 120 of the line-lifting device 100 onto the conductor, the power lifting mechanism 150 rotates forward to compress the potential energy storage structure 140 again, and then the walking arm device 300 successively performs the action of opening the conductor and rotating away from the conductor, and the power lifting mechanism 150 rotates in the opposite direction to lower the power transmission line maintenance platform 200 and remove the conductor.

[0040] Figures 1 to 5 The first embodiment of the present invention is shown below: The system supporting this method includes an up-and-down line device 100, a transmission line maintenance platform 200, and an unmanned flying device 600. The upper end of the hook combination 120 is installed with a connecting ring body 110. The unmanned flying device 600 is hung on the connecting ring body 110 through a hook 610 provided thereon. The connecting ring body 110 is set to be circular in this embodiment to increase the hooking error tolerance. On the two side walls of the transmission line maintenance platform 200, two walking arm devices 300 are symmetrically arranged left and right to ensure the stability of clamping. On one side wall of the transmission line maintenance platform 200, a multi-degree-of-freedom robotic arm 400 (a five-axis robotic arm existing in this embodiment) is arranged without affecting the walking arm device 300. The output end of the multi-degree-of-freedom robotic arm 400 is provided with an end effector 500 (a single bolt tightening device in this embodiment). The up-and-down line device 100 includes a hook combination 120 and a power lifting mechanism 150. Two ropes 130 are provided at the lower end of the hook combination 120. 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 combination 120 and the transmission line maintenance platform 200. The potential energy storage structure 140 includes a limiting rope sleeve 141 slidably sleeved on the rope 130, and a docking sleeve 142 fixedly arranged at the connection between the upper end of the rope 130 and the hook combination 120. The limiting rope sleeve 141 is fixed to the transmission line maintenance platform 200 through an elastic telescopic cylinder 143. The power lifting mechanism 150 includes a climbing mounting seat 151 relatively fixed to the transmission line maintenance platform 200. Two friction main wheels 153 are rotatably installed on the climbing mounting seat 151. Four friction auxiliary wheels 154 are also rotatably installed on the climbing mounting seat 151 to cooperate with the friction main wheels 153 to form a working wheel surface for passing through the rope 130. Two driving motors one 152 are arranged on the climbing mounting seat 151. The driving motors one 152 synchronously drive the two friction main wheels 153 through a gearbox. A gyroscope 155 is installed near the center of the friction main wheel 153 on the climbing mounting seat 151; The walking arm device 300 includes a support arm 320 movably installed on the transmission line maintenance platform 200 through an angle adjustment component 310. A walking pulley group 330 that can approach or move away from each other is movably arranged on the support arm 320. The angle adjustment component 310 includes a support arm base 311 fixedly installed on the 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 transmission line maintenance platform 200. The output shaft of the servo motor 314 is coaxially fixedly sleeved with a gear two 313. The gear two 313 meshes with the gear one 312.The traveling pulley block 330 includes a traveling wheel 331 rotatably mounted on the side of the upper end of the support arm 320 near the guide wire. A drive motor 332 for driving the traveling wheel 331 is mounted on the support arm 320. A pulley block mounting seat 333 is slidably mounted on the support arm 320 along its extension direction, opposite to the traveling wheel 331. Two auxiliary clamping wheels 334 are rotatably mounted on the pulley block mounting seat 333. A linear guide rail 335 is mounted on the support arm 320, and the pulley block mounting seat 333 is fixed to the output end of the linear guide rail 335.

[0041] The system works as follows: The unmanned aerial vehicle (UAV) 600 first connects to the circular connecting ring 110 via a hook 610. The UAV 600 then suspends the hook assembly 120, which is fixedly connected to the connecting ring 110, onto the target guide wire. In this embodiment, the hook assembly 120 is a combination structure consisting of a set of hooks connected by a connecting rod. Its purpose is to allow for the spacing of two ropes 130 during a single suspension, thereby improving installation stability. Subsequently, the power lifting mechanism 150 is activated. Its single drive motor 152 synchronously drives two friction main wheels 153 via gear trains. Two friction auxiliary wheels 154 next to each friction main wheel 153 press the rope 130 against half the circumference of the corresponding friction main wheel 153 to obtain sufficient friction. Note that in this embodiment, the friction main wheel 153 and the corresponding rope 130... Instead of the common method of winding the rope 130, the platform slides relative to each other. This method of raising the platform by rope does not require winding the rope 130, which avoids the increase in volume and weight of the main wheel 153 due to friction, thereby raising the entire maintenance platform. When the platform rises, the limiting rope sleeve 141, which is sleeved on the rope 130, will contact the docking sleeve 142. As the platform continues to rise, the limiting rope sleeve 141 will compress the elastic telescopic cylinder 143 and store energy in the elastic telescopic cylinder 143. After the platform is in place, the servo motor 314 of the traveling arm device 300 drives the support arm 320 to rotate through the meshing of gear 2 313 and gear 1 312, so that the top of the support arm 320 approaches the wire. Then, the linear guide rail 335 pushes the pulley block mounting seat 333 and the auxiliary clamping wheel 334 to move upward, and cooperates with the traveling wheel 331 to firmly clamp the wire in the traveling pulley block 330. After the platform is locked, the power lifting mechanism 150 rotates in the opposite direction to slightly release the rope 130. The restoring force of the pre-compressed elastic telescopic cylinder 143 in the potential energy storage structure 140 pushes the limiting rope sleeve 141 and the docking sleeve 142 upward, thereby pushing the hook assembly 120 away from the conductor and achieving automatic disengagement. Afterward, the maintenance platform moves along the conductor under the drive of the traveling wheels 331, and the five-axis robotic arm carries the bolt fastening equipment at the end to perform maintenance tasks. The hook assembly 120 is generally made of metal, and dragging it on the conductor will cause a series of serious defects: it will scratch the surface of the conductor, damage the anti-corrosion layer, and may damage the internal steel core. This will not only weaken the mechanical strength of the conductor. This can create potential breakage hazards, increase local resistance leading to overheating, and increase power loss. At the same time, dragging may also cause impact damage to line auxiliary equipment such as anti-vibration hammers, and there is a risk of falling objects from heights, ultimately posing a serious threat to the safety and reliability of the transmission line. Finally, the hook assembly 120 of the unmanned aerial vehicle 600 is suspended onto the conductor again by the unmanned aerial vehicle 600. The potential energy storage structure 140 is compressed again by the forward rotation of the power lifting mechanism 150. Then, the walking arm device 300 performs the action of opening the conductor and rotating away from the conductor in sequence. The transmission line maintenance platform 200 is lowered and the conductor is unloaded by the reverse rotation of the power lifting mechanism 150.

[0042] like Figure 6 The second embodiment shown: The difference from the above embodiment is that the climbing mounting base 151 is provided with two drive motors 152, which drive the friction main wheel 153 in a one-to-one correspondence. A gyroscope 155 is installed on the climbing mounting base 151 near the center of the friction main wheel 153.

[0043] In this embodiment, when the inclination of the guide wire exceeds the clamping range of the guide wire by the traveling arm device 300, the height of the device on the two ropes 130 is first adjusted by the power lifting mechanism 150 so that the inclination of the power lifting mechanism 150 is consistent with the target guide wire, and then the clamping action of the traveling pulley group 330 is executed. At the same time, the gyroscope 155 monitors the platform attitude in real time. When the left and right sides of the maintenance platform are unevenly distributed, the climbing height of the left and right sides of the maintenance platform on the ropes 130 may be inconsistent. At this time, the platform attitude can be kept horizontal by adjusting the difference in lifting speed of the two friction main wheels 153.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for unmanned maintenance of power transmission lines, characterized in that, Includes online / offline device (100) and power transmission line maintenance platform (200). 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 disengage from the conductor when the traveling arm device (300) clamps the conductor. It also includes the following steps: S1. The unmanned aerial vehicle (600) suspends the hook assembly (120) of the loading and unloading device (100) onto the conductor; S2. The power lifting mechanism (150) rotates in the forward direction, and the power transmission line maintenance platform (200) rises to the preset position along the multiple ropes (130) below the hook assembly (120); S3. At this time, the potential energy storage structure (140) is located between the hook assembly (120) and the power transmission line maintenance platform (200). The power transmission line maintenance platform (200) continues to rise and compresses the potential energy storage structure (140) to the target level. S4. The traveling arm device (300) performs the rotation approaching the conductor and the clamping conductor action in sequence, locking the power transmission line maintenance platform (200) longitudinally onto the conductor. S5. The power lifting mechanism (150) rotates in the opposite direction, causing the upper end of the rope (130) to be released by a preset length. At this time, the potential energy storage structure (140) is released and its restoring force pushes the hook assembly (120). S6. The traveling arm device (300) drives the power transmission line maintenance platform (200) to move back and forth along the conductor, while the end effector (500) performs maintenance.

2. The unmanned maintenance method for power transmission lines according to claim 1, characterized in that, After step S3 and before step S4, when the slope of the conductor exceeds the range of the walking arm device (300) clamping the conductor, the power lifting mechanism (150) first adjusts its own height on different ropes (130) so that the slope of the power lifting mechanism (150) is consistent with the target conductor.

3. The unmanned maintenance method for power transmission lines according to claim 1 or 2, characterized in that, It also includes an unmanned aerial vehicle (600), and a connecting ring (110) is installed on the upper end of the hook assembly (120). The unmanned aerial vehicle (600) is hooked to the connecting ring (110). A multi-degree-of-freedom robotic arm (400) is also provided on the power transmission line maintenance platform (200). An end effector (500) is provided at the output end of the multi-degree-of-freedom robotic arm (400).

4. The unmanned maintenance method for power transmission lines according to claim 1 or 2, 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).

5. The unmanned maintenance method for power transmission lines 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).

6. The unmanned maintenance method for power transmission lines according to claim 5, 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).

7. The unmanned maintenance method for power transmission lines according to claim 3, characterized in that, The traveling arm device (300) includes a support arm (320) movably mounted on the power transmission line maintenance platform (200) via an angle adjustment component (310), and the support arm (320) is movably provided with a traveling pulley group (330) that can move closer to or further away from each other.

8. The unmanned maintenance method for power transmission lines according to claim 7, characterized in that, The angle adjustment assembly (310) includes 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). The gear two (313) meshes with the gear one (312).

9. The unmanned maintenance method for power transmission lines according to claim 7 or 8, characterized in that, The traveling pulley assembly (330) includes a traveling wheel (331) rotatably mounted on the side of the upper end of the support arm (320) near the conductor. A second drive motor (332) for driving the traveling wheel (331) is mounted on the support arm (320). A pulley assembly mounting seat (333) is slidably mounted on the support arm (320) along its extension direction to be opposite to the traveling wheel (331). A plurality of auxiliary clamping wheels (334) are rotatably mounted on the pulley assembly mounting seat (333).

10. The unmanned maintenance method for power transmission lines according to claim 9, characterized in that, A linear guide rail (335) is installed on the support arm (320), and the pulley block mounting base (333) is fixed on the output end of the linear guide rail (335); the unmanned aerial vehicle (600) is provided with a hook (610) for suspending the connecting ring (110). The end effector (500) is at least one of a bolt fastening device and an X-ray flaw detection device; After step S6, the unmanned aerial vehicle (600) once again suspends the hook assembly (120) of the line-lifting device (100) onto the conductor. The power lifting mechanism (150) rotates forward to compress the potential energy storage structure (140) again. Then, the walking arm device (300) performs the action of opening the conductor and rotating away from the conductor in sequence. The power lifting mechanism (150) rotates in the opposite direction to lower the power transmission line maintenance platform (200) and remove the conductor.

Images