A traveling device for a power conductor rotating work apparatus and a control method thereof

Abstract

A walking device for power conductor rotating operation equipment and a control method thereof. The walking device comprises a semicircular plate, lifting mechanisms arranged on both sides of the semicircular plate, telescopic mechanisms, horizontal moving gantry mechanisms connected to the telescopic mechanisms, and driving clamping mechanisms connected to the horizontal moving gantry mechanisms. The control method adopts the walking device, detects obstacles in front in real time by using a detection unit, automatically adjusts the pitch angle by using the rotary connection between the telescopic mechanisms and the semicircular plate, plans a composite obstacle avoidance track by the lateral displacement of the telescopic mechanisms cooperating with the gantry mechanisms according to the shape of the obstacles, and realizes power failure protection by using the mechanical self-locking characteristics of the forward and reverse rotating ball screws and the roller envelope structure. The present application can realize stable obstacle crossing and flexible posture adjustment of the power conductor rotating operation equipment under heavy load conditions, avoid mechanism jamming or wire damage caused by rigid confrontation, and reduce the risk of equipment falling caused by power failure during operation.

Description

Technical Field

[0001] This invention belongs to the field of power equipment operation and maintenance and robotics technology, specifically relating to a walking device and its control method for a rotating power conductor operation equipment. Background Technology

[0002] To lay communication cables or perform line maintenance on existing high-voltage transmission lines, specialized equipment is needed to travel along the power lines and tightly attach optical fibers to the power cables in a spiral winding manner.

[0003] High-altitude winding operations often face harsh environments such as high voltage, strong electromagnetic fields, and high altitudes in the field. They are labor-intensive, extremely risky, and pose a significant threat to the personal safety of operators. Furthermore, traditional manual or simple auxiliary operations are inefficient and lack consistency, failing to meet the needs of modern power engineering's transformation towards intelligent systems, improving construction efficiency, and reducing the risk of safety accidents.

[0004] Currently, complex operating conditions exist for power transmission lines, including conductor deformation, wind-induced swaying, and various obstacles such as vibration dampers and clamps. Traditional rigid-connected walking or inspection equipment is insufficiently adaptable to flexible cable deformation and irregular obstacles. In particular, when carrying cable reels under heavy loads to overcome obstacles, it is prone to jamming or instability. Furthermore, it lacks a reliable anti-fall mechanism in the event of a power outage, making it difficult to efficiently and safely complete fiber optic winding operations. Summary of the Invention

[0005] Existing fiber optic winding or inspection robots often face the following problems: Traditional walking mechanisms mostly use rigid connections, which lack flexible obstacle avoidance paths and adaptive capabilities to wire shapes when facing obstacles such as vibration dampers and suspended wire clamps. During lifting, "over-positioning" can easily cause the guide rail to jam or damage the cable. When performing large-scale extension and retraction to overcome obstacles under heavy-load conditions such as carrying cable reels, the center of gravity of the whole machine shifts forward significantly, and the single-sided support end bears a huge overturning moment, which can easily cause the body to shake violently or even derail. The clamping mechanism mostly relies on the motor to maintain the clamping position, lacking mechanical self-locking and anti-fall protection in the event of power failure, which poses a great safety hazard.

[0006] To address the aforementioned problems, this invention provides a walking device with obstacle avoidance and power failure protection functions for working around power conductors, and a control method thereof.

[0007] The technical solution adopted by the present invention to solve its technical problem is to propose a walking device for a rotating power conductor operation equipment, including a lifting mechanism, a semi-circular plate and a telescopic mechanism; The lifting mechanism is bolted to one side of the semicircular plate and is used to drive the semicircular plate to adjust its height; the other side of the semicircular plate is connected to the telescopic mechanism through the upper L-shaped panel. The upper L-shaped panel and the semicircular plate are connected by a semicircular block containing a rotating shaft, forming a rotatable hinge point, which allows the telescopic mechanism to pitch and rotate relative to the semicircular plate. The telescopic mechanism is equipped with a telescopic arm extension plate, which is driven by the telescopic arm ball screw and moves horizontally along the linear guide rail. Two identical horizontal moving gantry mechanisms are connected above the telescopic mechanism, namely a front gantry mechanism and a rear gantry mechanism. The rear gantry mechanism is connected above the entire telescopic mechanism, and a rear drive clamping mechanism is suspended below it. The front gantry mechanism is connected above the telescopic arm extension plate, and a front drive clamping mechanism is suspended below it. A detection unit is provided above the front gantry mechanism to detect the distance of obstacles on the cable relative to the front drive clamping mechanism during the movement of the walking device.

[0008] Preferably, the lifting mechanism provides vertical power through a linear module, which drives the lifting mechanism connecting plate to slide up and down along the linear guide rail, thereby enabling the entire semi-circular plate and its connecting mechanism to adjust their height relative to the front support point; the front support point is the contact point between the front drive clamping mechanism and the cable.

[0009] The gantry mechanism motor inside the horizontal moving gantry mechanism drives the gantry mechanism ball screw, causing the load below to move laterally within the gantry frame.

[0010] Preferably, the front drive clamping mechanism and the rear drive clamping mechanism are drive clamping mechanisms with the same structure, and are connected to the horizontal moving gantry mechanism through a connecting back plate; Each drive clamping mechanism includes a forward and reverse rotating ball screw driven by a clamping motor. The two ends of the forward and reverse rotating ball screw have opposite threads. When rotating, it can drive a set of clamping sliders to move towards the center or separate to both sides in sync, thereby driving the large roller and the small roller to clamp and release the cable. The large roller is driven independently by the drive motor, and the device moves along the cable by using friction.

[0011] Preferably, the telescopic mechanism further includes a lower L-shaped panel, which is spliced ​​with the upper L-shaped panel; a set of telescopic arm ball screws is mounted on the lower L-shaped panel to drive the telescopic arm inner extension plate to perform horizontal telescopic movement along the linear guide rail (35). The linear guide rail is connected to the upper L-shaped panel.

[0012] The present invention also proposes a control method for the above-mentioned walking device, comprising the following steps: During the movement, the detection unit continuously monitors the distance between obstacles ahead and the front drive clamping mechanism. ,when Less than the preset secondary stop threshold When the time comes, the drive motor stops and self-locks, initiating the obstacle-crossing action; The detection unit scans the vertical height of the obstacle. ,when greater than the obstacle height threshold At that time, the lifting mechanism controls the semi-circular plate to rise to its maximum travel height. At this time, the rear drive clamping mechanism remains clamped, the front drive clamping mechanism is released, and the telescopic mechanism is activated. The telescopic arm extends, allowing the front drive clamping mechanism to pass over the obstacle and clamp the cable on the other side of the obstacle; after clamping, the rear drive clamping mechanism releases, the telescopic arm extends, and the telescopic arm extends, causing the rear gantry mechanism, the semi-circular plate, the lifting mechanism, and the winding assembly connected to the other side of the lifting mechanism to pass over the obstacle as a whole. After the walking device and winding assembly have passed the obstacle, the rear drive clamping mechanism re-clamps the cable.

[0013] Preferably, before the obstacle-crossing action is performed, the real-time current value of the rear drive clamping motor is detected in real time. ;when Less than the preset holding current The clamping motor automatically rotates until the preset holding current is reached.

[0014] Preferably, the lateral interference obstacle avoidance operation performed during the obstacle crossing process by the front-side drive clamping mechanism includes the following steps: After the detection unit detects an obstacle, the front drive clamping mechanism is released and moves laterally under the drive of the ball screw of the gantry mechanism on the front gantry mechanism, so as to achieve lateral interference avoidance of the front drive clamping mechanism relative to the obstacle. After the front drive clamping mechanism passes over the obstacle, it returns to its original position and re-clamps the cable under the drive of the ball screw of the front gantry mechanism.

[0015] Preferably, the logic for determining whether lateral interference exists includes: When the semicircular plate is raised to its maximum stroke height by the lifting mechanism Then, the detection unit scans and measures the obstacle boundary and projects the obstacle boundary onto the boundary of the front drive clamping mechanism; if the projection has boundary overlap, it is determined that there is lateral interference.

[0016] Preferably, the rear-side drive clamping mechanism performs the same lateral interference obstacle avoidance operation as the front-side drive clamping mechanism during obstacle crossing: The rear drive clamping mechanism moves laterally under the drive of the ball screw of the gantry mechanism on the rear gantry mechanism, so as to avoid obstacles. After the rear drive clamping mechanism drives the rear gantry mechanism, the semi-circular plate, the lifting mechanism and the winding assembly to pass over the obstacle, it returns to its original position and re-clamps the cable under the drive of the ball screw of the gantry mechanism on the rear gantry mechanism.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. Through multi-dimensional coordinated lifting, extension, and lateral movement, efficient obstacle crossing over power conductors is achieved. Simultaneously, combined with active center balancing, it optimizes the instability issues caused by overall machine migration under heavy load conditions, reducing the risk of machine swaying and wire derailment. This design balances flexibility and stability, enabling the walking device to remain stable even when facing complex conductor environments and performing large-amplitude obstacle crossings, thus improving operational reliability.

[0018] 2. The dual decoupling design of the semi-circular plate pivot and the horizontal gantry mechanism eliminates the over-positioning problem caused by traditional rigid connections, allowing the telescopic mechanism to freely pitch and rotate relative to the semi-circular plate, thus protecting the linear guide rail and cable from the risk of jamming or damage. Simultaneously, this decoupling structure enhances the adaptability of the traveling device to the conductor shape, enabling the equipment to flexibly avoid and smoothly cross obstacles such as vibration dampers and suspension clamps.

[0019] 3. Utilizing the mechanical self-locking characteristics of the forward and reverse rotating ball screws, passive anti-fall protection is achieved in the event of power failure, avoiding safety accidents caused by clamping mechanism failure and improving the safety of fiber optic entanglement or inspection operations. Furthermore, combined with real-time current monitoring and active lateral interference obstacle avoidance control of the front and rear drive clamping mechanisms during obstacle crossing, the device maintains a stable cable clamp when performing high-difficulty obstacle crossings, achieving dual protection of safety and operational continuity. Attached Figure Description

[0020] Figure 1 This is an overall structural diagram of the walking device; Figure 2 This is a detailed view of the lifting mechanism; Figure 3 This is a detailed view of the telescopic mechanism; Figure 4 This is a detailed view of the horizontally moving gantry mechanism; Figure 5 This is a detailed view of the driving clamping mechanism; Figure 6 This is a flowchart of the control method for the walking device.

[0021] It should be understood that the attached figures are not drawn to actual scale.

[0022] In the attached diagram, 1-lifting mechanism, 11-linear module, 12-lifting mechanism connecting plate, 13-linear guide rail; 2-semi-circular plate; 3-telescopic mechanism, 31-upper L-shaped panel, 32-lower L-shaped panel, 33-telescopic arm ball screw, 34-telescopic arm inner extension plate, 35-linear guide rail, 36-semi-circular block; 4-horizontal moving gantry mechanism, 41-gantry frame, 42-gantry mechanism motor, 43-gantry mechanism ball screw, 44-detection unit; 5-front drive clamping mechanism, 51-connecting back plate, 52-forward and reverse rotating ball screw, 53-clamping motor, 54-clamping slider, 55-drive motor, 56-small roller, 57-large roller; 6-rear drive clamping mechanism. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. The embodiments described in this application are merely some embodiments of this invention, and not all embodiments. Based on the spirit of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this invention.

[0024] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the present invention designs a walking device with obstacle avoidance and power failure protection functions for working around power conductors. This device is mainly used for optical fiber winding construction work on overhead high-voltage lines.

[0025] The core carrier of this device is a semi-circular plate 2. A lifting mechanism 1 is installed on one side of the semi-circular plate 2, and a telescopic mechanism 3 is installed on the other side. The lifting mechanism 1 is bolted to the semi-circular plate 2. The lifting mechanism 1 is provided with vertical power through a linear module 11. The linear module 11 drives the lifting mechanism connecting plate 12 to slide up and down along the linear guide rail 13, thereby enabling the entire semi-circular plate 2 and the mechanism connected to it to adjust its height relative to the front support point. The telescopic mechanism 3 is connected to the semi-circular plate 2 through an upper L-shaped panel 31. The front support point is the contact point between the front drive clamping mechanism 5 and the cable. A lower L-shaped panel 32 is spliced ​​below the upper L-shaped panel 31.

[0026] The key design element here is that the upper L-shaped panel 31 and the lower L-shaped panel 32, forming a single unit, are connected to the semicircular plate 2 via a semicircular block 36 containing a rotating shaft, creating a rotatable hinge point. This allows the telescopic mechanism 3 to tilt and rotate relative to the semicircular plate 2 at a certain angle. The telescopic mechanism also includes a set of telescopic arm ball screws 33, which are mounted on the lower L-shaped panel 32. The inner extension plate 34 of the drive telescopic arm moves horizontally along the linear guide rail 35. The linear guide rail 35 is connected to the upper L-shaped panel 31. The horizontally moving gantry mechanism 4 spans above the telescopic mechanism 3. The horizontally moving gantry mechanism 4 is divided into a front gantry mechanism and a rear gantry mechanism, with identical structures. The rear gantry mechanism spans above the upper L-shaped panel 31, and the front gantry mechanism spans above the telescopic arm inner extension plate 34. The gantry mechanism motor 42 inside the horizontally moving gantry mechanism 4 drives the gantry mechanism ball screw 43, which can cause the load below (i.e., the driving clamping mechanism) to make lateral displacement within the gantry frame 41. Furthermore, a detection unit 44, preferably a laser rangefinder or photoelectric sensor, is mounted above the front gantry mechanism for detecting obstacles in front.

[0027] A front drive clamping mechanism 5 is suspended below the front gantry mechanism, and a rear drive clamping mechanism 6 is suspended below the rear gantry mechanism. The front drive clamping mechanism 5 and the rear drive clamping mechanism 6 have identical structures and are connected to the horizontally moving gantry mechanism via a connecting back plate 51. The core component of the drive clamping mechanism is a forward and reverse rotating ball screw 52, ​​fixed to the connecting back plate 51 and driven by a clamping motor 53. The two ends of the forward and reverse rotating ball screw 52 have opposite thread directions. When rotating, it can drive two sets of clamping sliders 54 to move synchronously towards the center or separate to the sides, thereby driving the large roller 57 and the small roller 56 to open and close the cable, realizing the release / clamping of the cable by the drive clamping mechanism. The large roller 57 is connected to the clamping slider 54 and is independently driven by a drive motor 55. By rotating on the cable, it drives the entire machine to move forward, utilizing friction to achieve the device's movement along the cable.

[0028] The forward and reverse rotating ball screws have a self-locking characteristic, maintaining the clamping state of the large and small rollers on the power conductor when the power is off.

[0029] Combination Figure 6 As shown, the operation control method and specific action flow of this device are as follows: First, environmental perception and judgment are performed. During the fiber optic winding operation, the device uses a laser rangefinder mounted on top of the front gantry mechanism to collect real-time distance data between obstacles ahead and the front drive clamping mechanism 5. The system has a preset first-level deceleration threshold. and secondary stop threshold .

[0030] when At that moment, the control system determined that the road conditions ahead were safe and drove the motor 55 at full speed. The large roller 57 is driven to move quickly to ensure construction efficiency; when When the control system determines that it is about to approach an obstacle, it smoothly reduces the speed of the drive motor 55 to [a certain value]. Approach at low speed to prevent inertial collision; when When the obstacle crossing point is reached, the drive motor 55 immediately stops and self-locks, and the obstacle crossing procedure is triggered.

[0031] Further, the center of gravity is adjusted. Before performing the obstacle-crossing maneuver, the system needs to confirm the stability of the rear support point (i.e., the clamping position of the rear drive clamping mechanism 6 on the cable). The control system monitors the real-time current value of the clamping motor 53 in the rear drive clamping mechanism 6. .

[0032] like Less than the preset holding current This indicates insufficient clamping force. The clamping motor 53 automatically adjusts the rotation until the current reaches the standard; confirming reliable clamping (i.e., Greater than or equal to the preset holding current After that, the system calculates the current center of gravity position of the entire walking device.

[0033] If balancing is required, the horizontal moving gantry mechanism 4 drives the front gantry mechanism to move backward by a displacement L. This displacement L is obtained by using a preset lookup table based on the remaining weight of the cable reel, ensuring that the center of gravity of the entire machine always falls within a 150mm stability range before and after the rear support point.

[0034] During the lifting phase, the detection unit further scans the vertical height of the obstacle. This vertical height is the relative height of the obstacle with the cable as the zero reference point. To improve efficiency and reduce unnecessary energy consumption, the system... and setting obstacle height threshold The obstacle-crossing maneuvers are divided into Mode 1 for dealing with low obstacles and Mode 2 for dealing with higher obstacles: Mode 1: When detected At that time, the lifting mechanism 1 only lifted to the specified height. At this point, the telescopic mechanism 3 extends horizontally without requiring significant movement, allowing for quick passage. Among other things, It is a positive integer to ensure that the obstacle height is 0. At that time, the walking device can successfully overcome obstacles.

[0035] Mode 2: When detected At that time, control the lifting mechanism 1 to lift to the maximum stroke height. The semicircular plate 2 is lifted together with the lifting mechanism 1 to its maximum stroke height. At this time, the rear drive clamping mechanism 6 maintains the clamped cable state, the front drive clamping mechanism 5 releases, the telescopic mechanism 3 starts, and the telescopic arm inner extension plate 34 extends, allowing the front drive clamping mechanism 5 to pass over the obstacle and clamp the cable on the other side of the obstacle; after clamping, the rear drive clamping mechanism 6 releases, the telescopic arm inner extension plate 34 retracts, driving the rear gantry mechanism, the semi-circular plate 2, the lifting mechanism 1, and the winding assembly connected to the other side of the lifting mechanism 1 to pass over the obstacle as a whole. The winding assembly includes support points for clamping the cable, used to support the walking device and the winding assembly as a whole to be stably hung on the cable.

[0036] After the walking device and winding assembly have passed the obstacle, the rear drive clamping mechanism 6 re-clamps the cable.

[0037] In one embodiment, a lateral interference obstacle avoidance operation is performed before the obstacle crossing operation. Specifically: After being raised to the maximum travel height, the detection unit 44 scans and measures the obstacle boundary and projects the obstacle boundary onto the boundary of the front drive clamping mechanism 5; if the projection has overlapping boundaries, it is determined that there is lateral interference and a lateral interference obstacle avoidance operation needs to be performed.

[0038] Furthermore, the front drive clamping mechanism 5 is released and moves laterally under the drive of the ball screw 43 of the front gantry mechanism, thereby realizing the avoidance of the front drive clamping mechanism 5 relative to the obstacle in front; after the front drive clamping mechanism 5 passes the obstacle, it returns to its original position and clamps the cable under the drive of the ball screw 43 of the front gantry mechanism.

[0039] The rear drive clamping mechanism 6 performs the same lateral interference obstacle avoidance operation as the front drive clamping mechanism 5 before passing over the obstacle: The rear drive clamping mechanism 6 moves laterally under the drive of the ball screw 43 of the gantry mechanism on the rear gantry mechanism, thereby enabling the rear drive clamping mechanism 6 to avoid obstacles in front. After the rear drive clamping mechanism 6 drives the rear gantry mechanism and the winding assembly to pass over the obstacle, it returns to its original position and clamps the cable under the drive of the ball screw 43 of the gantry mechanism on the rear gantry mechanism.

[0040] In one embodiment, during the maximum travel height lifting process, the pivot between the telescopic mechanism 3 and the semicircular plate 2 will generate a large pitch adjustment angle. At this point, the system will limit the extension speed of the telescopic mechanism 3 to prevent vibration caused by excessively rapid changes in the dynamic pitch angle.

[0041] In one embodiment, after the front drive clamping mechanism 5 and the rear drive clamping mechanism 6 cross the obstacle and descend, a cable gripping operation is required. To prevent "over-clamping" from damaging the cable or "false clamping" from causing slippage, this invention employs closed-loop control logic based on a current threshold. The target clamping current (i.e., the aforementioned preset holding current) threshold is set to... The overload protection threshold is .

[0042] Phase A (Rapid Approach): The clamping motor 53 drives the forward and reverse ball screws 52 to close at high speed. At this time, the real-time current... Lower; Phase B (Flexible Contact): When the roller on the clamping slider 54 contacts the cable, the resistance increases, and the real-time current... A rapid rise. When detected... achieve When this happens, the motor immediately stops rotating.

[0043] Abnormal handling: If the current is abnormal during the closing process... Exceeding momentarily before completing the closed stroke The system detected an abnormal clamping condition and immediately controlled the motor to reverse and loosen the clamp by 10mm before attempting to clamp again to avoid damaging the forward and reverse screws.

[0044] In any of the above steps, if a power outage occurs, the forward and reverse rotating ball screw 52 is in a self-locking state because its helix angle is less than the friction angle. At this time, the clamping force of the large roller 57 and the small roller 56 on the cable remains at the level before the power outage, thereby ensuring that the device can be reliably mounted on the power transmission line even in the event of a power outage.

[0045] As an embodiment of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is loaded onto the processor, it employs the specific implementation described above.

[0046] As an embodiment of this application, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, employs the specific implementation described above.

[0047] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0048] This disclosure can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of this disclosure.

[0049] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0050] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0051] Computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing the status information of the computer-readable program instructions to implement various aspects of this disclosure.

[0052] 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 it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A traveling device for a power conductor rotation operation equipment, characterized in that, include: Lifting mechanism (1), semi-circular plate (2) and telescopic mechanism (3); The lifting mechanism (1) is bolted to one side of the semicircular plate (2) and is used to drive the semicircular plate (2) to adjust its height; the other side of the semicircular plate (2) is connected to the telescopic mechanism (3) through the upper L-shaped splice plate (31); The upper L-shaped panel (31) and the semi-circular plate (2) are connected by a semi-circular block (36) containing a rotating shaft, forming a rotatable hinge point, so that the telescopic mechanism (3) can pitch and rotate relative to the semi-circular plate (2). The telescopic mechanism (3) is equipped with a telescopic arm extension plate (34), which is driven by the telescopic arm ball screw (33) and moves horizontally along the linear guide rail (35); the telescopic mechanism (3) is connected above two horizontally moving gantry mechanisms (4) with the same structure, which are divided into front and rear gantry mechanisms. The rear gantry mechanism spans the top of the telescopic mechanism (3), and the rear drive clamping mechanism (6) is suspended below it; the front gantry mechanism spans the top of the telescopic arm inner extension plate (34), and the front drive clamping mechanism (5) is suspended below it. A detection unit (44) is provided above the front gantry mechanism to detect the distance of obstacles on the cable relative to the front drive clamping mechanism (5) during the travel of the walking device.

2. The traveling device for a power conductor rotation operation equipment according to claim 1, characterized in that, The lifting mechanism (1) provides vertical power through the linear module (11). The linear module (11) drives the lifting mechanism connecting plate (12) to slide up and down along the linear guide rail (13), thereby driving the entire semicircular plate (2) and its connecting mechanism to achieve height adjustment relative to the front support point. The front support point is the contact point between the front drive clamping mechanism (5) and the cable.

3. The traveling device for a power conductor rotation operation equipment according to claim 1, characterized in that, The gantry motor (42) inside the horizontal moving gantry mechanism (4) drives the gantry ball screw (43), causing the load below to move laterally within the gantry frame (41).

4. The traveling device for a power conductor rotation operation equipment according to claim 1, characterized in that, The front drive clamping mechanism (5) and the rear drive clamping mechanism (6) are drive clamping mechanisms with the same structure, and are connected to the horizontal moving gantry mechanism through the connecting back plate (51); Each drive clamping mechanism includes a forward and reverse rotating ball screw (52) driven by a clamping motor (53). The two ends of the forward and reverse rotating ball screw (52) have opposite threads. When rotating, it can drive a set of clamping sliders (54) to move towards the center or separate to both sides, thereby driving the large roller (57) and the small roller (56) to clamp and release the cable. The large roller (57) is driven independently by the drive motor (55) and uses friction to make the device move along the cable.

5. A traveling device for a power conductor rotation operation equipment according to claim 1, characterized in that, The telescopic mechanism (3) also includes a lower L-shaped panel (32) which is spliced ​​with the upper L-shaped panel (31); a set of telescopic arm ball screws (33) is mounted on the lower L-shaped panel (32) to drive the telescopic arm inner extension plate (34) to perform horizontal telescopic movement along the linear guide rail (35); the linear guide rail (35) is connected to the upper L-shaped panel (31).

6. A control method for a walking device as described in any one of claims 1-5, characterized in that, Includes the following steps: During the movement, the detection unit (44) detects in real time the distance between the obstacle in front and the front drive clamping mechanism (5). ,when Less than the preset secondary stop threshold When the time comes, the drive motor (55) stops and self-locks, and the obstacle crossing action is initiated; The detection unit (44) scans the vertical height of the obstacle. ,when greater than the obstacle height threshold At that time, the lifting mechanism (1) drives the semicircular plate (2) to rise together to the maximum stroke height. ; At this time, the rear drive clamping mechanism (6) remains clamped, the front drive clamping mechanism (5) is released, and the telescopic mechanism (3) is activated; The telescopic arm extension plate (34) extends, allowing the front drive clamping mechanism (5) to pass over the obstacle and clamp the cable on the other side of the obstacle; after clamping, the rear drive clamping mechanism (6) releases, the telescopic arm extension plate (34) retracts, and drives the rear gantry mechanism, the semicircular plate (2), the lifting mechanism (1), and the winding assembly connected to the other side of the lifting mechanism (1) to pass over the obstacle as a whole; After the walking device and the winding assembly have passed the obstacle, the rear drive clamping mechanism (6) re-clamps the cable.

7. The control method according to claim 6, characterized in that: Before the obstacle-crossing action is performed, the real-time current value of the rear drive clamping motor (53) is detected in real time. ;when Less than the preset holding current The clamping motor (53) automatically rotates until the preset holding current is reached.

8. The control method according to claim 6, characterized in that, The front drive clamping mechanism (5) performs a lateral interference obstacle avoidance operation during obstacle crossing, including the following steps: After the detection unit (44) detects an obstacle, the front drive clamping mechanism (5) is released and moves laterally under the drive of the ball screw (43) of the gantry mechanism on the front gantry mechanism, so as to realize the lateral interference avoidance of the front drive clamping mechanism (5) relative to the obstacle. After the front drive clamping mechanism (5) passes over the obstacle, it returns to its original position and re-clamps the cable under the drive of the ball screw (43) of the front gantry mechanism.

9. The control method according to claim 8, characterized in that, The logic for determining whether lateral interference exists includes: When the semicircular plate (2) is raised to its maximum stroke height by the lifting mechanism (1) Then, the detection unit (44) scans and measures the obstacle boundary and projects the obstacle boundary onto the boundary of the front drive clamping mechanism (5); if the projection has boundary overlap, it is determined that there is lateral interference.

10. The control method according to claim 6, characterized in that, The rear drive clamping mechanism (6) performs the same lateral interference obstacle avoidance operation as the front drive clamping mechanism (5) during obstacle crossing: The rear drive clamping mechanism (6) moves laterally under the drive of the ball screw (43) of the gantry mechanism on the rear gantry mechanism, so as to achieve lateral interference avoidance of the rear drive clamping mechanism (6) relative to the obstacle; after the rear drive clamping mechanism (6) drives the rear gantry mechanism, the semi-circular plate (2), the lifting mechanism (1) and the winding assembly to pass over the obstacle, it returns to its original position and re-clamps the cable under the drive of the ball screw (43) of the gantry mechanism on the rear gantry mechanism.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the computer program is loaded into the processor, it implements the control method according to any one of claims 6-10.

12. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method according to any one of claims 6-10.

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