High-altitude pin penetrating device

Abstract

The high-altitude pin penetrating device comprises a connecting block, a first limiting groove and a second limiting groove are formed in the connecting block, and a connecting channel is formed between the first limiting groove and the second limiting groove; a pushing part is arranged on the connecting block, and the bottom end of the connecting block is connected with a movable rotating part through a connecting seat; the first limiting groove is used for containing a to-be-penetrated part, the second limiting groove is used for containing a bearing part, and after the movable rotating part drives the to-be-penetrated part to rotate to be aligned with a connecting hole of the bearing part, the to-be-penetrated part penetrates into the connecting hole of the bearing part under the thrust of the pushing part. According to the device, cooperative work of all parts is achieved through remote control, the manual intervention link is reduced, the supplementary pin operation time is shortened, the crisis defect of power transmission line pin missing can be rapidly eliminated, line power failure does not need to be applied, economic losses caused by power failure to electricity customers are avoided, and the problem that power failure supplementary pin cannot be eliminated in time is solved.

Description

Technical Field

[0001] This invention relates to the field of pin insertion equipment, and in particular to a high-altitude pin insertion device. Background Technology

[0002] With the rapid development of the economy and society, the demand for electricity load is increasing year by year, and the scale of transmission lines is also getting larger and larger. Because overhead transmission lines operate outdoors for extended periods, they are increasingly affected by external environment, external forces, and equipment aging. This has led to a growing number of defects, such as rust and loss of cotter pins on the line connection hardware bolts, seriously affecting the safe and stable operation of the transmission lines. Transmission line operation and management regulations stipulate that missing connection hardware pins are considered critical defects, and the time required to address these defects must not exceed 24 hours. Therefore, replacing missing pins has become one of the busiest tasks for line maintenance teams.

[0003] There are two existing methods for repairing insulator pins. The first is power outage repair, which involves submitting a power outage application or combining it with a line outage maintenance plan. With the line de-energized, workers walk along the insulator to the repair point to perform the repair. This method requires no complicated preparation work, saves time, and eliminates the risk of electric shock as the line is de-energized during the operation. However, applying for a line outage can cause economic losses to electricity customers, and some lines may not even be able to be de-energized. If repair is performed during maintenance, it is impossible to promptly eliminate discovered defects, and the repair workers need to lower the conductor to the end of the insulator, a process that carries certain risks.

[0004] The second method is live-line repair pinning. This involves workers wearing full protective gear climbing an insulated ladder to the pinning point while the line is normally energized. This method eliminates the need for power outages, avoiding losses to customers, and allows for immediate detection and elimination of potential hazards: workers reach the pinning point directly via the ladder without needing to lower the conductor. However, this method requires a long preparation time, is inefficient, and requires a large number of personnel. Because the line is energized, strict requirements are placed on site management and the safety equipment worn by workers, and there is also a risk of electric shock.

[0005] In conclusion, how to improve the safety of workers and quickly perform live-line repair is a problem that needs to be solved. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is: how to improve the safety of operators and quickly perform pin replacement under the condition of live pin replacement.

[0007] The above-mentioned technical problems are solved by the following technical solution: The present invention proposes a high-altitude pin-piercing device, which includes a connecting block, a first limiting groove and a second limiting groove provided on the connecting block, and a connecting channel provided between the first limiting groove and the second limiting groove; a pushing component is provided on the connecting block, and the bottom end of the connecting block is connected to a movable rotating component through a connecting seat; the first limiting groove is used to place the piece to be pierced, the second limiting groove is used to place a receiving component, and the movable rotating component drives the piece to be pierced to rotate until it is aligned with the connecting hole of the receiving component, and the piece to be pierced is inserted into the connecting hole of the receiving component under the pushing force of the pushing component.

[0008] In a preferred embodiment of the high-altitude pin insertion device of the present invention: two sets of laser sensors are arranged opposite to the vertical extension line of the first limiting groove at the center position of the second limiting groove; the two sets of laser sensors are used to locate the position of the connecting hole in the second limiting groove.

[0009] In a preferred embodiment of the high-altitude pin-threading device of the present invention: a movable block is provided at the end of the first limiting groove away from the second limiting groove, and a limiting block is provided at the end of the first limiting groove near the second limiting groove.

[0010] In a preferred embodiment of the high-altitude pin-threading device of the present invention: a first opening groove is provided on the moving block, and a strip-shaped through groove is provided on the limiting block, the strip-shaped through groove being connected to the connecting channel and the second limiting groove; the first opening groove is adapted to the end of the piece to be threaded, and the limiting block is adapted to the tail end of the piece to be threaded and is used to limit the tail end of the piece to be threaded.

[0011] In a preferred embodiment of the high-altitude pin-threading device of the present invention: two sets of slots with their central axes coincident are provided oppositely on the inner wall of the second limiting groove, and the central axes of the two sets of slots are perpendicular to the first limiting groove; two sets of laser sensors are respectively disposed in the two sets of slots; and a camera is disposed at the bottom end of the inner wall of the second limiting groove.

[0012] In a preferred embodiment of the high-altitude pin-threading device of the present invention: the pushing component includes a pushing rod disposed on the connecting seat, a connecting rod disposed at the end of the pushing rod, and a motor disposed inside the connecting seat.

[0013] In a preferred embodiment of the high-altitude pin-threading device of the present invention: the end of the connecting rod away from the push rod is connected to the moving block, and when the push rod extends or retracts, it can drive the moving block to move along the inner wall of the first limiting groove through the telescopic connecting rod.

[0014] In a preferred embodiment of the high-altitude pin-threading device of the present invention: the moving rotating component, the pushing component, and the laser sensor are all electrically connected to the remote control system.

[0015] In a preferred embodiment of the high-altitude pin-threading device of the present invention: the movable rotating component includes a robotic arm connected to the connecting seat.

[0016] In a preferred embodiment of the high-altitude pin-threading device of the present invention: the movable rotating component includes a movable rotating rod connected to the connecting seat.

[0017] The beneficial effects of this invention are as follows: By setting a first limiting groove, a second limiting groove, and a camera within the second limiting groove on the connecting block, the invention first uses the camera to visually confirm whether the receiving part has entered the second limiting groove. Then, a laser sensor precisely positions the connecting hole. After receiving the laser sensor signal, the remote control system controls the moving and rotating component to move or rotate the connecting block, aligning the part to be inserted in the first limiting groove with the connecting hole. Finally, the pushing component drives the moving block along the first limiting groove to push the part to be inserted into the connecting hole to complete the pin replacement. The entire process does not require operators to directly contact the live line, completely avoiding the risk of electric shock during live work and significantly improving operational safety. At the same time, compared to the long preparation time and multiple personnel required for traditional live pin replacement, this device achieves coordinated work of each component through remote control, reducing manual intervention and shortening the pin replacement operation time. It can quickly eliminate the critical defect of missing pins on transmission lines without requesting a power outage, avoiding economic losses to electricity customers caused by power outages, and also solving the problem of timely pin replacement during power outages. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Wherein: Figure 1 A schematic diagram of the overall structure of the high-altitude pin insertion device is shown. Figure 1 ; Figure 2 A schematic diagram showing the usage status of the high-altitude pin insertion device is provided. Figure 3 A schematic diagram of bolt 6 of the high-altitude pin-insertion device is shown; Figure 4 A schematic diagram of the overall structure of the high-altitude pin insertion device is shown. Figure 2 ; Figure 5 A top view of the connecting block of the high-altitude pin-connecting device is shown.

[0019] In the diagram: 1. Connecting block; 11. First limiting groove; 12. Second limiting groove; 121. Slot; 13. Connecting channel; 14. Moving block; 15. Limiting block; 16. First opening groove; 17. Strip through groove; 18. Stroke groove; 2. Pushing component; 21. Pushing rod; 22. Connecting rod; 3. Connecting seat; 4. Moving and rotating component; 5. Component to be threaded; 51. End; 52. Tail end; 6. Receiving component; 61. Connecting hole; 7. Laser sensor; 8. Camera. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0021] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0022] Reference Figure 1 and Figure 2 This embodiment provides a high-altitude pin insertion device, including a connecting block 1, a first limiting groove 11 and a second limiting groove 12 provided on the connecting block 1, a pushing component 2 provided on the connecting block 1, and the bottom end of the connecting block 1 connected to the moving and rotating component 4 through a connecting seat 3.

[0023] The pushing component 2 provides power for the pin-threading action, enabling the connecting block 1 to move along a predetermined trajectory, while the moving and rotating component 4 is responsible for adjusting the angle of the device. The first limiting groove 11 and the second limiting groove 12 are used to define the relative positions of the piece to be threaded 5 and the receiving piece 6 and maintain their positional relationship.

[0024] Furthermore, refer to Figure 3 and Figure 5 A connecting channel 13 is provided between the first limiting groove 11 and the second limiting groove 12; the first limiting groove 11 is used to place the piece to be inserted 5, and the second limiting groove 12 is used to place the receiving piece 6. After the moving rotating component 4 drives the piece to be inserted 5 to rotate until it is aligned with the connecting hole 61 of the receiving piece 6, the piece to be inserted 5 is pushed into the connecting hole 61 of the receiving piece 6 by the pushing force of the pushing component 2.

[0025] It should be noted that in the embodiment, the part to be inserted 5 is a pin 5, and the receiving part 6 is a bolt 6 used in the connecting hardware of the power transmission line. However, in actual use, our invention can not only be used to insert the pin 5 into the connecting hole 61 at the end of the bolt 6, but the part to be inserted 5 can also be a connecting pin, etc., and the receiving part 6 can be a circular connecting end with a through hole on the side wall.

[0026] Returning to this embodiment, the part to be inserted 5 is the pin 5, and the receiving part 6 is the bolt 6 of the connecting hardware. This device is suitable for bolts 6 of models M16 to M20. The reasons for this are: 1. The thrust of the push rod is limited; a bolt 6 that is too large will affect the pushing operation of the push rod; 2. The diameter of the second limiting groove 12 on the connecting block 1 should not be too large, otherwise it will reduce the limiting effect of the second limiting groove 12 on the end of the bolt 6. For these reasons, this device is suitable for bolts 6 of models M16 to M20, which is also the commonly used bolt 6 in existing connecting hardware.

[0027] When the bolt 6 model is not within the range of M16~M20, the appropriate thrust rod and the appropriate diameter of the second limiting groove 12 can be calculated based on the bolt 6 model. Replacing the corresponding thrust rod and the second limiting groove 12 on the connecting block 1 can also be applied to other bolt 6 models.

[0028] Specifically, refer to Figure 5 The reason why the first limiting groove 11 can limit the pin 5 is that the tail end 52 of the pin 5 has an arc-shaped structure. The limiting block 15 can fix the pin 5 in the first limiting groove 11 by limiting the position of the arc-shaped structure.

[0029] Furthermore, two sets of laser sensors 7 are arranged opposite to the vertical extension of the first limiting groove 11 at the center of the second limiting groove 12. The two sets of laser sensors 7 are used to locate the position of the connecting hole 61 in the second limiting groove 12. That is, the line connecting the centers of the two sets of laser sensors 7 is perpendicular to the first limiting groove 11, so that when the light emitted by the two sets of laser sensors 7 passes through the connecting hole 61 at the same time, it means that the connecting hole 61 is perpendicular to the pin 5. At this time, rotating the connecting block 1 clockwise by 90° will also cause the pin 5 to rotate clockwise by 90° at the same time, and the rotated pin 5 will be aligned with the connecting hole 61.

[0030] In some implementations, refer to Figure 5A movable block 14 is provided at the end of the first limiting groove 11 away from the second limiting groove 12, and a limiting block 15 is provided at the end of the first limiting groove 11 near the second limiting groove 12. The movable block 14 has a first opening groove 16, and the limiting block 15 has a strip-shaped through groove 17, which communicates with the connecting channel 13 and the second limiting groove 12. The first opening groove 16 is adapted to the end 51 of the piece to be threaded 5, and the limiting block 15 is adapted to the tail end 52 of the piece to be threaded 5 and is used to limit the tail end 52 of the piece to be threaded 5. When the piece to be threaded 5 is placed in the device, its end 51 will be embedded in the first opening groove 16, while its tail end 52 will be fixed by the limiting block 15, thereby keeping the piece to be threaded 5 stable during the threading process. It should be noted that a travel groove 18 is also provided at the bottom of the connecting block 1, and the connecting rod 22 passes through the travel groove 18 to connect with the movable block 14. When the push rod 21 pushes the moving block 14 to move through the connecting rod 22, the connecting rod 22 moves along the stroke groove 18 at the same time.

[0031] Furthermore, refer to Figure 5 The inner wall of the second limiting groove 12 has two sets of slots 121 with their central axes overlapping, and the central axes of the two sets of slots 121 are perpendicular to the first limiting groove 11; two sets of laser sensors 7 are respectively set in the two sets of slots 121; and a camera 8 is set at the bottom of the inner wall of the second limiting groove 12.

[0032] Furthermore, refer to Figure 2 and Figure 4 The pushing component 2 includes a pushing rod 21 disposed on the connecting seat 3, a connecting rod 22 disposed at the end of the pushing rod 21, and a motor disposed inside the connecting seat 3. The end of the connecting rod 22 away from the pushing rod 21 is connected to the moving block 14. When the pushing rod 21 extends or retracts, it can drive the moving block 14 to move along the inner wall of the first limiting groove 11 through the telescopic connecting rod 22. It should be noted that the motor located inside the connecting seat 3 is the power source of the pushing component 2, providing driving force for the entire pushing action; the pushing rod 21 on the connecting seat 3 achieves telescopic movement under the drive of the motor. Since the end of the connecting rod 22 away from the pushing rod 21 is connected to the moving block 14, when the pushing rod 21 telescopics under the drive of the motor, it will transmit power to the moving block 14 through the connecting rod 22, thereby driving the moving block 14 to move along the inner wall of the first limiting groove 11. The moving block 14 is adapted to the end 51 of the piece to be inserted 5 in the first limiting groove 11. The movement of the moving block 14 will generate a pushing force on the piece to be inserted, and finally cause the piece to be inserted 5 to move along the first limiting groove 11 and the connecting channel 13 to the receiving component 6 in the second limiting groove 12 under the action of the pushing force, and insert into the connecting hole 61 of the receiving component 6 to complete the pin insertion operation.

[0033] Furthermore, the moving rotating component 4, the pushing component 2, and the laser sensor 7 are all electrically connected to the remote control system. Specifically, the remote control system can receive the positioning signal transmitted by the laser sensor 7. When the laser sensor 7 detects the position of the connecting hole 61 of the receiving component 6 and sends an electrical signal, the remote control system can analyze the signal and then send precise action commands to the moving rotating component 4 to control it to move or rotate the connecting block 1, so as to align the component 5 to be inserted with the connecting hole 61. After alignment, the remote control system can send a pushing command to the pushing component 2, driving the pushing component 2 to move the moving block 14, thereby allowing the component 5 to be inserted into the connecting hole 61 to complete the pinning operation. The entire process does not require on-site operation by personnel, which reduces the tedious steps of manual cooperation and improves the accuracy and efficiency of the pinning action through the precise control of the system, ensuring that the requirements for rapid elimination of transmission line defects are met while minimizing operational risks.

[0034] Furthermore, refer to Figure 1 The movable rotating component 4 includes a robotic arm connected to the connecting seat 3.

[0035] In use, the supporting platform is fixed at a suitable position on the power transmission line. Then, the pin 5 is placed into the first limiting groove 11. Next, the connecting block 1 is brought close to the bolt 6 to be inserted using a robotic arm. Then, the robotic arm is rotated, causing the connecting block 1 to rotate simultaneously. At this time, the camera 8 at the bottom of the inner wall of the second limiting groove 12 determines the specific position of the end of the receiving part 6 with the connecting hole 61. After confirming the position of the end of the receiving part 6 with the connecting hole 61 through the camera 8, the robotic arm is moved to insert the end of the connecting part with the connecting hole 61 into the second limiting groove 12. Then, the robotic arm drives the connecting seat 3 to rotate until the light emitted by the two sets of laser sensors 7 can pass through the connecting hole 61 simultaneously. At this time, the laser sensor 7 sends an electrical signal to the remote control system. The remote control system receives the signal, analyzes it, and sends a 90° clockwise rotation action command to the moving rotating part 4. Since the connecting line between the centers of the two sets of laser sensors 7 is perpendicular to the first limiting groove 11, when the laser sensors 7 simultaneously pass through the connecting hole 61, it means that the connecting hole 61 is perpendicular to the first limiting groove 11. At this time, by rotating the connecting block 1 clockwise by 90°, the connecting hole 61 can be aligned with the first limiting groove 11. After the moving rotating component rotates the connecting block 1 clockwise by 90°, the remote control system sends a pushing command to the pushing component 2, causing the pushing rod 21 to push the moving block 14 towards the second limiting groove 12. Since the stroke of the pushing rod 21 is fixed or preset, the pin 5 can pass through the connecting hole 61 after the pushing stroke of the pushing rod 21 is completed, thus completing the pin insertion work.

[0036] In some implementations, refer to Figure 2 and Figure 4The movable rotating component 4 includes a movable rotating rod connected to the connecting seat 3.

[0037] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A high-altitude pin-threading device, characterized in that: include, A connecting block (1) is provided with a first limiting groove (11) and a second limiting groove (12), and a connecting channel (13) is provided between the first limiting groove (11) and the second limiting groove (12). The connecting block (1) is provided with a pushing component (2), and the bottom end of the connecting block (1) is connected to the moving and rotating component (4) through a connecting seat (3); The first limiting groove (11) is used to place the piece to be inserted (5), and the second limiting groove (12) is used to place the receiving piece (6). The moving rotating component (4) drives the piece to be inserted (5) to rotate until it is aligned with the connecting hole (61) of the receiving piece (6). Then, the piece to be inserted (5) is pushed into the connecting hole (61) of the receiving piece (6) by the pushing component (2).

2. The high-altitude pin-threading device according to claim 1, characterized in that: Two sets of laser sensors (7) are arranged at the center of the second limiting groove (12) relative to the vertical extension of the first limiting groove (11). The two sets of laser sensors (7) are used to locate the connection hole (61) in the second limiting groove (12).

3. The high-altitude pin-threading device according to claim 2, characterized in that: A movable block (14) is provided at the end of the first limiting groove (11) away from the second limiting groove (12), and a limiting block (15) is provided at the end of the first limiting groove (11) close to the second limiting groove (12).

4. The high-altitude pin-threading device according to claim 3, characterized in that: The moving block (14) has a first opening groove (16), and the limiting block (15) has a strip groove (17). The strip groove (17) is connected to the connecting channel (13) and the second limiting groove (12). The first opening groove (16) is adapted to the end (51) of the piece to be worn (5), and the limiting block (15) is adapted to the tail end (52) of the piece to be worn (5) and is used to limit the tail end (52) of the piece to be worn (5).

5. The high-altitude pin-threading device according to claim 4, characterized in that: The inner wall of the second limiting groove (12) is provided with two sets of slots (121) with their central axes overlapping, and the central axes of the two sets of slots (121) are perpendicular to the first limiting groove (11); The two sets of laser sensors (7) are respectively set in the two sets of slots (121); a camera (8) is set at the bottom of the inner wall of the second limiting slot (12).

6. The high-altitude pin-threading device according to claim 5, characterized in that: The pushing component (2) includes a pushing rod (21) disposed on the connecting seat (3), a connecting rod (22) disposed at the end of the pushing rod (21), and a motor disposed inside the connecting seat (3).

7. The high-altitude pin-threading device according to claim 6, characterized in that: The end of the connecting rod (22) away from the push rod (21) is connected to the moving block (14). When the push rod (21) extends or retracts, it can drive the moving block (14) to move along the inner wall of the first limiting groove (11) through the telescopic connecting rod (22).

8. The high-altitude pin-threading device according to claim 7, characterized in that: The moving rotating component (4), the pushing component (2), and the laser sensor (7) are all electrically connected to the remote control system.

9. The high-altitude pin-threading device according to claim 8, characterized in that: The movable rotating component (4) includes a robotic arm connected to the connecting seat (3).

10. The high-altitude pin-threading device according to claim 8, characterized in that: The movable rotating component (4) includes a movable rotating rod connected to the connecting seat (3).

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