Self-adaptive wire walking mechanism of overhead transmission line spacer installation robot

Abstract

The invention belongs to the field of power transmission line operation robots, and discloses an overhead power transmission line spacer installation robot self-adaptive wire walking mechanism, which comprises a walking part used for walking on an overhead power transmission line and comprises a first ball screw assembly, the bottom of the first ball screw assembly is rotatably installed on a first steel sleeve seat, and the upper surface of the first ball screw assembly extends in the vertical direction; the bottom of the wheel leg carbon tube is fixedly connected to a first ball of the first ball screw assembly in a sleeving mode, and the upper surface of the wheel leg carbon tube extends in the extending direction of the first ball screw assembly; the bottom end of the shell is fixedly connected to the fixing part of the first ball screw assembly in a sleeving mode and extends in the extending direction of the first ball screw assembly; the walking assisting part is used for assisting the walking part to walk on the overhead transmission line to cross the spacer after meeting the spacer; the device is simple in structure, smooth in action and high in control precision, and the continuity and safety of robot operation are improved; the telescopic distance and the swing angle of each walking part can be adaptively adjusted according to the distance between the wires, and different wires are compatible.

Description

Technical Field

[0001] This invention belongs to the field of power transmission line operation robots, specifically relating to an adaptive conductor walking mechanism for an overhead power transmission line spacer installation robot. Background Technology

[0002] In the construction and operation of power transmission lines in my country, the installation of spacers still mainly relies on manual walking along the line or manual aerial work. This method is highly dependent on workers at height, involves high labor intensity, and poses serious safety hazards such as falls and electric shocks. Especially in long-span lines or complex terrain conditions, the construction efficiency is significantly low, thus hindering the overall progress of power transmission line construction. To improve efficiency, some units have tried using helicopters to assist in installation, but this method is costly and carries significant safety risks, making it difficult to promote.

[0003] In contrast, using robots to install spacers on overhead transmission lines can effectively solve the safety and efficiency problems inherent in traditional manual operations, significantly improving the automation level and work quality of high-altitude installation. However, transmission lines often have obstacles such as joints and insulators, requiring robots to have good anti-slip performance when crossing them. At the same time, the conductor diameter is small and significantly affected by wind disturbances, so the robot must maintain sufficient load-bearing stability during obstacle crossing and positioning to prevent risks such as slippage, overturning, or falling off.

[0004] In addition, existing patents, such as Chinese patent application number CN202410036792.1 which designs a single-conductor flying car for crossing obstacles on power transmission lines, and patent application number CN202411645445.5 which describes an intelligent obstacle-crossing mechanism and method for an overhead power transmission line acceptance robot, often use only a single support structure for the drive wheel assembly, resulting in limited load-bearing capacity and an inability to effectively support heavy loads or maintain stability in complex environments. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an adaptive conductor walking mechanism for an overhead transmission line spacer installation robot. The mechanism aims to enable simple and efficient obstacle crossing, integrates photoelectric sensors to improve control accuracy, and enhances load-bearing capacity through a dual carbon tube structure.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An adaptive conductor walking mechanism for a robot installing spacer bars on overhead transmission lines is disclosed. The walking mechanism includes a walking unit for moving along the overhead transmission line, comprising a ball screw assembly rotatably mounted on a first steel sleeve at its bottom, with its upper surface extending vertically; carbon steel wheel tubes fixedly sleeved at their bottom on the balls of the ball screw assembly, with their upper surfaces extending along the extension direction of the ball screw assembly; a housing fixedly sleeved at its bottom on a fixing part of the ball screw assembly, extending along the extension direction of the ball screw assembly; the lower ends of the carbon steel wheel tubes inserted into the housing; and a walking auxiliary unit for assisting the walking unit in moving along the overhead transmission line. The system, when encountering a spacer bar, moves across it. It includes a second ball screw assembly, the bottom of which is rotatably mounted on a second steel sleeve, with its upper surface extending vertically; a oscillating carbon tube, the bottom of which is fixedly sleeved on the second ball of the second ball screw assembly, with its upper surface extending along the extension direction of the first ball screw assembly; the other end of which is hinged to the housing; and the lowest point of the second steel sleeve is lower than the lowest point of the first steel sleeve. This system, through the transmission of the second ball screw assembly, drives the oscillating carbon tube to move along the extension direction of the second ball screw assembly, thereby changing the angle of the traveling part relative to the overhead conductor, ultimately allowing it to cross the spacer bar.

[0007] Preferably, the walking unit further includes, The travel reduction motor is fixedly mounted on the upper end of the vertical side wall of the carbon tube of the wheel leg via a flange of the travel wheel; The traveling wheel is fixedly sleeved on the free end of the traveling gear motor and located on the upper end of the vertical side wall of the wheel leg carbon tube; it is used to drive the traveling gear motor, and the free end of the traveling gear motor drives the traveling wheel to travel on the overhead power line.

[0008] Preferably, the surface of the groove of the walking wheel is coated with V-shaped polyurethane.

[0009] Preferably, the ball screw assembly includes, Motor 1, its fixed end is rotatably mounted on the first steel sleeve, and its free end extends along the vertical direction. A ball screw is fixed to the free end of the motor, and its upper surface extends in a vertical direction. The balls of the ball screw slide along the extension direction of the ball screw or in the opposite direction of the extension direction. The lower end of the carbon tube of the wheel leg is fixedly installed on the ball of the ball screw.

[0010] Preferably, the housing has a housing chamber that extends along the housing's own extension direction and is open on the upper and lower surfaces of the housing; and the lower surface of the housing is fixed to the fixed end of the motor, and the free end of the motor and the ball screw both enter the housing chamber through the opening on the lower surface of the housing chamber and then extend out of the housing through the opening on the upper surface of the housing chamber.

[0011] Preferably, a deflection connector is mounted on the upper surface of the housing, and the deflection connector is hinged to the upper end of the side wall of the oscillating carbon tube.

[0012] Preferably, the second ball screw assembly includes, The second motor has its fixed end rotatably mounted on the second steel sleeve, and its free end extends along the vertical direction. The second ball screw is fixed to the free end of the second motor, and its upper surface extends in the vertical direction. The balls of the second ball screw slide along the extension direction of the second ball screw or in the opposite direction of its extension direction. The lower end of the oscillating carbon tube is fixedly mounted on the second ball of the second ball screw, and the upper end of the oscillating carbon tube is fixedly mounted with a connector, which is hinged to the deflection connecting seat.

[0013] Preferably, a photoelectric sensor is installed on one side wall of the deflection connector. The sensing end of the photoelectric sensor is used to detect whether the walking part encounters a spacer bar in front of it and whether the second motor has completed its swing, ensuring that the walking part completely avoids the obstacle and ensuring that the obstacle crossing process is smooth and safe. When any wheel set is not fully reset, the obstacle crossing action of the next walking part is paused to ensure coordination and synchronization.

[0014] Preferably, the walking mechanism further includes a carbon fiber frame having a length direction and a width direction, and the carbon fiber frame has a step, including an upper surface and a lower surface of the step. At least four walking parts of the obstacle crossing mechanism are installed on the upper surface of the step. The four walking parts are divided into two groups along the width direction, and each group of walking parts is arranged along the length direction. Four walking auxiliary parts of the obstacle crossing mechanism are installed on the lower surface of the step, and each walking auxiliary part is hinged to the walking part.

[0015] Preferably, the walking mechanism further includes a connecting frame for connecting the carbon fiber frame and the first steel sleeve or the second steel sleeve described above.

[0016] Preferably, the lower part of the groove of the traveling wheel contacts the wire.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. Because the present invention uses a ball screw assembly one to move the walking part away from the conductor, and then uses a ball screw assembly two to deflect the walking part relative to the reference position, and then uses the ball screw assembly one to make the walking part land on the conductor, so as to enable the robot to cross the spacer bar, the present invention has a simple structure, smooth movement, and high control precision, which can effectively improve the continuity and safety of the overhead transmission line robot operation; in addition, the extension distance and swing angle of each wheel set can be adaptively adjusted according to the conductor spacing to ensure compatibility under different conductor environments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the obstacle-crossing mechanism in this invention; Figure 2 This is a schematic diagram of the walking section in the obstacle-crossing mechanism of the present invention; Figure 3 This is a cross-sectional view of the traveling part in the obstacle-crossing mechanism of the present invention, that is, a schematic diagram of the position of the ball screw in the traveling part inside the housing. Figure 4 This is a schematic diagram of the walking assistance unit in the obstacle-crossing mechanism of the present invention; Figure 5 This is a cross-sectional view of the walking assistance part in the obstacle crossing mechanism of the present invention, that is, a schematic diagram of the position of the second ball screw in the walking assistance part; Figure 6 This is a schematic diagram of the structure for installing the robot in this invention; In the diagram: 1. Wire; 2. Carbon fiber frame; 3. Connecting frame; 4. Aluminum alloy connector; 5. First steel sleeve; 6. Motor 1; 7. Photoelectric sensor; 8. Flange for traveling wheel; 9. Traveling wheel; 10. V-shaped polyurethane coating; 11. Travel geared motor; 12. Wheel leg carbon tube; 13. Deflection connecting seat; 14. Swing carbon tube; 15. Ball screw 1; 16. Motor 2; 17. Spherical bearing; 18. Ball screw 2; 19. Housing; 20. Second steel sleeve; 21. Ball 2; 22. Ball 1. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this invention easier to understand, the following embodiments are described in detail with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand this invention, but does not constitute a limitation of this invention.

[0020] like Figure 1-6As shown, an adaptive conductor walking mechanism for an overhead transmission line spacer installation robot includes a walking unit for walking on the overhead transmission line. The walking unit includes a ball screw assembly 1, whose bottom is rotatably mounted on a first steel sleeve 55, and whose upper surface extends vertically; wheel leg carbon tubes 12, whose bottom is fixedly sleeved on the balls 22 of the ball screw assembly 1, and whose upper surface extends along the extending direction of the ball screw assembly 1; a housing 19, whose bottom end is fixedly sleeved on the fixing part of the ball screw assembly 1, and extends along the extending direction of the ball screw assembly 1; the lower end of the wheel leg carbon tubes 12 is inserted into the housing 19; and a walking auxiliary unit for assisting the walking unit in walking on the overhead transmission line. The walking mechanism crosses the spacer after encountering it. It includes a second ball screw assembly, the bottom of which is rotatably mounted on a second steel sleeve 20, with its upper surface extending vertically; a swing carbon tube 14, the bottom of which is fixedly sleeved on the second ball 21 of the second ball screw assembly, with its upper surface extending along the extension direction of the first ball screw assembly; the other end of which is hinged to the housing 19; and the lowest point of the second steel sleeve 20 is lower than the lowest point of the first steel sleeve 5. This mechanism drives the swing carbon tube 14 to move along the extension direction of the second ball screw assembly through the transmission of the second ball screw assembly, thereby changing the angle of the walking unit relative to the overhead conductor 1, ultimately allowing it to cross the spacer.

[0021] The traveling unit also includes a traveling geared motor 11, which is fixedly mounted on the upper end of the vertical side wall of the wheel leg carbon tube 12 via a flange 8 through a traveling wheel 9; a traveling wheel 9, which is fixedly sleeved on the free end of the traveling geared motor 11 and located on the upper end of the vertical side wall of the wheel leg carbon tube 12; used to drive the traveling geared motor 11, the free end of the traveling geared motor 11 drives the traveling wheel 9 to travel on the overhead power line, and the surface of the wire groove of the traveling wheel 9 is coated with V-shaped polyurethane coating 10; the purpose is to make the traveling wheel 9 fit the surface of the conductor 1 and prevent slippage.

[0022] The ball screw assembly includes a motor 6, whose fixed end is rotatably mounted on a first steel sleeve 5 and whose free end extends vertically; a ball screw 18, which is fixed to the free end of the motor 6 and whose upper surface extends vertically; and balls 22 on the ball screw 18 sliding along the extension direction of the ball screw 18 or in the opposite direction thereof; and the lower end of the wheel leg carbon tube 12 is fixedly mounted on the balls on the ball screw.

[0023] The housing 19 has a housing 19 chamber inside, which extends along the extension direction of the housing 19 and is open on the upper and lower surfaces of the housing 19; the lower surface of the housing 19 is fixed to the fixed end of the motor-6, and the free end of the motor and the ball screw-18 both enter the housing 19 chamber through the opening on the lower surface of the housing 19 chamber, and then extend out of the housing 19 through the opening on the upper surface of the housing 19 chamber.

[0024] A deflection connector 13 is mounted on the upper surface of the housing 19, and the deflection connector 13 is hinged to the upper end of the side wall of the swing carbon tube 14.

[0025] Ball screw assembly two includes, Motor 216, its fixed end is rotatably mounted on the second steel sleeve 20, and its free end extends vertically. The ball screw 15 is fixed to the free end of the motor 16, and its upper surface extends in the vertical direction. The balls 21 on the ball screw 15 slide in the direction of extension of the ball screw 15 or in the opposite direction of the direction of extension.

[0026] The lower end of the oscillating carbon tube 14 is fixedly mounted on the ball bearing 21 on the ball screw 15, and the upper end of the oscillating carbon tube 14 is fixedly mounted with a connector, which is hinged to the deflection connecting seat 13. Specifically, the connector is a spherical bearing 17, the movable end of which is fixed on the deflection connecting seat 13, and the fixed end of which is fixed on the oscillating carbon tube 14, while the movable end moves on the fixed end. The purpose is to achieve the oscillating carbon tube 14 driving the deflection connecting seat 13 to perform angular offset through a soft connection between the deflection connecting seat 13 and the oscillating carbon tube 14.

[0027] A photoelectric sensor 7 is installed on one side wall of the deflection connector 13. The sensing end of the photoelectric sensor 7 is used to detect whether there is a spacer bar in front of the walking part and whether the motor 16 has completed swinging, to ensure that the walking part completely avoids the obstacle and to ensure that the obstacle crossing process is smooth and safe. When any wheel set is not fully reset, the obstacle crossing action of the next walking part is paused to ensure coordination and synchronization.

[0028] The walking mechanism also includes a carbon fiber frame 2 (it should be noted that the carbon fiber frame 2 is a frame structure assembled from carbon fiber tubes and aluminum alloy connectors 4). The carbon fiber frame 2 has a length direction and a width direction, and the carbon fiber frame 2 has a step, including an upper surface and a lower surface of the step. At least four walking parts of the obstacle crossing mechanism are installed on the upper surface of the step through a connecting frame 3. The four walking parts are divided into two groups along the width direction, and each group of walking parts is arranged along the length direction. The lower surface of the step is equipped with four walking auxiliary parts of the obstacle crossing mechanism through the connecting frame 3, and each walking auxiliary part is hinged to the walking part. Specifically, the four walking parts are arranged in a parallelogram on the carbon fiber frame 2. The walking wheel 9 contacts the wire 1 below the wire groove, that is, the walking wheel 9 presses down on the wire 1 through the wire groove and contacts the wire 1.

[0029] It should be noted that this invention connects to an external terminal via communication, such as Bluetooth or wireless communication. The external terminal is equipped with a control system, which controls the starting and stopping of each motor of the robot and receives and processes signals from each photoelectric sensor. Specifically, when photoelectric sensor 7 detects an obstacle, it transmits the detection signal to the control system, which identifies the walking part closest to the spacer bar. The control system then controls the movement of ball screw one on this walking part, ultimately extending the carbon tube of the wheel leg until the V-shaped wheel groove disengages from the lead wire. Next, it controls the movement of ball screw two, ultimately causing the oscillating carbon tube to rotate until the walking part is offset to a safe area.

[0030] The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Various modifications or variations that can be made by those skilled in the art without creative effort within the scope of the appended claims are still within the scope of protection of this patent.

Claims

1. An adaptive conductor walking mechanism for an overhead transmission line spacer installation robot, characterized in that: The device includes a traveling unit for traveling on an overhead power line, comprising a ball screw assembly 1, the bottom of which is rotatably mounted on a first steel sleeve and the upper surface of which extends vertically; a wheel leg carbon tube, the bottom of which is fixedly sleeved on a ball of the ball screw assembly 1 and the upper surface of which extends along the extending direction of the ball screw assembly 1; a housing, the bottom end of which is fixedly sleeved on a fixing part of the ball screw assembly 1 and extends along the extending direction of the ball screw assembly 1; and a traveling auxiliary unit for assisting the traveling unit in traveling on the overhead power line and passing over spacers after encountering them. That It includes a second ball screw assembly, the bottom of which is rotatably mounted on a second steel sleeve, and its upper surface extends vertically; a oscillating carbon tube, the bottom of which is fixedly sleeved on the second ball of the second ball screw assembly, and its upper surface extends along the extension direction of the first ball screw assembly; the other end is hinged to the housing; and the lowest point of the second steel sleeve is lower than the lowest point of the first steel sleeve; it is used to drive the oscillating carbon tube to move along the extension direction of the second ball screw assembly through the transmission of the second ball screw assembly, thereby changing the angle of the traveling part relative to the overhead conductor, and finally crossing the spacer bar.

2. The walking mechanism according to claim 1, characterized in that: The traveling unit also includes a traveling speed reduction motor, which is fixedly mounted on the upper end of the vertical side wall of the wheel leg carbon tube via a flange; a traveling wheel, which is fixedly sleeved on the free end of the traveling speed reduction motor and located on the upper end of the vertical side wall of the wheel leg carbon tube; used to drive the traveling speed reduction motor, the free end of which drives the traveling wheel to travel on the overhead power line.

3. The walking mechanism according to claim 2, characterized in that: The surface of the cable groove of the walking wheel is coated with V-shaped polyurethane.

4. The walking mechanism according to claim 1 or 3, characterized in that: The ball screw assembly includes a motor, the fixed end of which is rotatably mounted on the first steel sleeve, and the free end of which extends along the vertical direction; a ball screw, which is fixed to the free end of the motor, and the upper surface of which extends along the vertical direction; the balls of the ball screw slide along the extension direction of the ball screw or in the opposite direction of the extension direction; and the lower end of the wheel leg carbon tube is fixedly mounted on the balls of the ball screw.

5. The walking mechanism according to claim 4, characterized in that: The housing has a housing chamber that extends along the housing's own extension direction and is open on the upper and lower surfaces of the housing; the lower surface of the housing is fixed to the fixed end of the motor, and the free end of the motor and the ball screw both enter the housing chamber through the opening on the lower surface of the housing chamber and then extend out of the housing through the opening on the upper surface of the housing chamber.

6. The walking mechanism according to claim 5, characterized in that: A deflection connector is mounted on the upper surface of the housing, and the deflection connector is hinged to the upper end of the side wall of the oscillating carbon tube.

7. The walking mechanism according to claim 6, characterized in that: The second ball screw assembly includes a second motor, whose fixed end is rotatably mounted on a second steel sleeve, and whose free end extends along the vertical direction; a second ball screw, which is fixed to the free end of the second motor, and whose upper surface extends along the vertical direction; the balls of the second ball screw sliding along or in the opposite direction of the extension direction of the second ball screw; the lower end of the oscillating carbon tube is fixedly mounted on the balls of the second ball screw, and the upper end of the oscillating carbon tube is fixedly mounted with a connector, which is hinged to the deflection connecting seat.

8. The walking mechanism according to claim 7, characterized in that: A photoelectric sensor is installed on one side wall of the deflection connector. The sensing end of the photoelectric sensor is used to detect whether the walking part encounters a spacer bar in front of it and whether the second motor has completed its swing, ensuring that the walking part completely avoids the obstacle and that the obstacle crossing process is smooth and safe. When any wheel set is not fully reset, the obstacle crossing action of the next walking part is paused to ensure coordination and synchronization.

9. The walking mechanism according to claim 8, characterized in that: The walking mechanism also includes a carbon fiber frame having a length direction and a width direction, and a step having an upper surface and a lower surface. At least four walking parts are installed on the upper surface of the step, the four walking parts being divided into two groups along the width direction, and each group of walking parts being arranged along the length direction. Four walking auxiliary parts of the obstacle crossing mechanism are installed on the lower surface of the step, each of which is hinged to the walking part.

10. The walking mechanism according to claim 9, characterized in that: The lower part of the cable groove of the walking wheel contacts the wire.

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