A power transmission line hardware installation robot

Abstract

The application relates to the technical field of equipment installation, and discloses a power transmission line hardware installation robot which comprises a pair of hardware components, a pair of spacer rod installation control boxes, a drone and a wireless communication module; one end of the pair of hardware components is detachably connected with two ends of the spacer rods respectively, and the other end is used for sleeving on overhead conductors; a clamp closing mechanism and a bolt fastening mechanism are arranged in the spacer rod installation control box, and a lifting hole which is in butt joint with a lifting structure of the drone is arranged at the top end of the spacer rod installation control box; the clamp closing mechanism is used for controlling the hardware components to be clamped and sleeved on the overhead conductors, and the bolt fastening mechanism is used for controlling fasteners on the hardware components to be fastened; the drone and the spacer rod installation control box are connected with the wireless communication module. Compared with the prior art, the power transmission line hardware installation robot realizes the automation, intellectualization and standardization of spacer rod installation operation, and helps the high-quality development of the power industry.

Description

Technical Field

[0001] This invention relates to the field of equipment installation technology, and more specifically to a robot for installing power transmission line fittings. Background Technology

[0002] Transmission line hardware refers to metal components used in overhead power transmission systems to support, fix, and connect conductors / ground wires and insulators, and to transmit mechanical loads, ensure electrical continuity, and provide protection. Taking spacers as an example, as a key supporting component of high-voltage transmission lines, their core function is to fix the spacing between conductors, suppress conductor galloping and swaying under wind force, and prevent insulation damage and core breakage caused by conductor friction and collision. This directly affects the safe and stable operation of the transmission line and the reliability of power transmission.

[0003] The laying environment of power transmission lines is becoming increasingly complex. Many lines need to traverse areas with complex terrain and harsh climates, such as mountains, plateaus, deserts, and waterways. These areas not only have inconvenient transportation and narrow working spaces, but also often face extreme environments such as strong winds, high temperatures, severe cold, and high-altitude hypoxia, posing a huge challenge to hardware installation operations. Traditional installation work mainly relies on manual labor. Workers need to use aerial work platforms, hand-operated flying vehicles, or walk along the conductors to complete a series of operations such as moving, positioning, inserting pins, and fixing spacers at heights of tens or even hundreds of meters. The entire process is extremely labor-intensive and carries extremely high safety risks.

[0004] To alleviate the safety pressure of manual high-altitude operations, a few power construction units have tried to use helicopters to carry workers for installation. Although this method can avoid the limitations of complex terrain and improve the flexibility of operation, it has many limitations: (1) High cost. The hourly operation cost of a helicopter is as high as tens of thousands of yuan. The cost of a single installation operation is more than 10 times that of manual operation, which makes it difficult to promote its application in large-scale power transmission line construction; (2) Safety hazards have not been completely eliminated. When helicopters are working at high altitudes, they are greatly affected by wind and airflow, which can easily cause shaking and deviation, which may lead to workers falling or equipment falling. Moreover, they cannot work normally in complex terrain and bad weather; (3) Limited operation efficiency. Due to the limitations of helicopter load and operating space, only a small number of spacers and tools can be carried at a time, which is difficult to meet the needs of large-scale and high-efficiency installation.

[0005] Therefore, traditional fitting installation methods are no longer suitable for the construction needs of new power systems, and there is an urgent need to develop automated and intelligent fitting installation robots. Summary of the Invention

[0006] Purpose of the invention: To address the problems existing in the prior art, the present invention provides a robot for installing power transmission line fittings. The fitting components are in an open state before installation and are connected to the spacer bar in a specific manner. Under the action of the robotic arm, the clamp closing mechanism and the bolt tightening mechanism, the fittings are closed and tightened.

[0007] Technical solution: The present invention provides a power transmission line fitting installation robot, including a pair of fitting components, a pair of spacer bar installation control boxes, a drone, and a wireless communication module;

[0008] One end of each pair of the hardware components is detachably connected to both ends of the spacer bar, and the other end is used to be sleeved on the overhead conductor.

[0009] The spacer bar installation control box is equipped with a clamp closing mechanism and a bolt fastening mechanism, and its top is equipped with a hoisting hole for docking with the UAV hoisting structure.

[0010] The clamp closing mechanism is used to control the clamping and sleeve of the hardware component on the overhead conductor, and the bolt fastening mechanism is used to control the fasteners on the hardware component to achieve fastening.

[0011] The drone and the spacer rod mounting control box are both connected to the wireless communication module.

[0012] Furthermore, it also includes a ground work platform for placing spacers with connecting hardware components at both ends.

[0013] Furthermore, the hardware component includes a first connector and a second connector. One end of both the first connector and the second connector is set as an annular shape, and the ends of the two are hinged. The other end of the first connector is detachably connected to the spacer bar. The other ends of the second connector and the first connector are both straight plate structures, and each of them is provided with a threaded hole corresponding to the position. The threaded hole of the first connecting plate is provided with a threaded post.

[0014] Furthermore, the clamp closing mechanism includes an electric telescopic rod disposed in the spacer rod mounting control box and an annular connecting rod extending out of the spacer rod mounting control box. The outer end of the annular connecting rod is connected to a suction cup assembly, and the inner side is rotatably connected to a bracket disposed in the spacer rod mounting control box. The actuating end of the electric telescopic rod is rotatably connected to the inner end of the annular connecting rod.

[0015] Furthermore, a support rod is also connected to the inner side of the annular connecting rod.

[0016] Furthermore, a limiting plate is fixed to the outer side of the spacer rod mounting control box near the hardware component. When the hardware component at the end of the spacer rod is connected to the overhead wire, the straight plate structure of the second connector and the first connector is directly opposite the limiting plate and avoids the threaded hole.

[0017] Furthermore, the bolt fastening mechanism includes a drive motor and a bolt fastener connected to the drive motor, and also includes a drive motor extension mechanism. The spacer rod mounting control box has an opening structure on the side near the hardware component. The drive motor extension mechanism drives the drive motor to approach the hardware component. After the stud fastener is limited and connected to the threaded post, it is rotated and tightened under the action of the drive motor.

[0018] Furthermore, the stud limiting component is also equipped with a torque sensor to detect and determine whether the tightening meets the preset requirements.

[0019] Furthermore, the spacer installation control box is also equipped with a robotic arm, a safety locking mechanism, and a winch mechanism. The robotic arm is used to grab and lift the spacer that is hoisted into the air and rotate it so that the spacer is in a vertical position, so that the hardware components are close to the overhead conductors at the upper and lower ends. The safety locking mechanism is used to lock and fix it to the overhead conductors. The winch mechanism is used to hoist the spacer.

[0020] Furthermore, the working process of the transmission line hardware installation robot is as follows:

[0021] (1) The UAV sequentially hoists the two spacer installation control boxes onto the two overhead wires where spacers need to be installed;

[0022] (2) The safety interlocking mechanism is activated by the control box of the two spacer bars, and then the system is disengaged from the UAV;

[0023] (3) Start the winch mechanism by installing the control box on both spacers and lower the hook;

[0024] (4) After the hook is lowered to a suitable position, the construction personnel will attach the spacer with the hardware components installed to the cable hook of the control box of the two spacers.

[0025] (5) The spacer installation control box lifts the spacer to a suitable position and then stops and waits;

[0026] (6) Ground personnel observe the position of the spacer through the depth camera mounted on the spacer installation control box, and then, under visual assistance and guidance, control the robotic arm to grab the spacer and send it to the appropriate position; and the bolt fastening mechanism.

[0027] (7) Start the clamp closing mechanism in the spacer bar installation control box to pull and guide the spacer bar hardware to completely lock the overhead conductor;

[0028] (8) After the hardware components are in place, control the operation of the clamp closing mechanism and the bolt tightening mechanism to achieve the closing and tightening of the hardware components, and confirm that the tightening is in place;

[0029] (9) After the upper spacer bar installation control box is in place, control the lower spacer bar installation control box and confirm that it is in place;

[0030] (10) The drone will lift the spacer robot to the next working position and then start the installation process of the next spacer.

[0031] Beneficial effects:

[0032] 1. The hardware robot designed in this invention allows for manual fixing of the hardware components at both ends of the spacer bar to be installed on the ground using a specific method. After hoisting, once the spacer bar hardware components are aligned with the phase conductor, a manual command is sent to control the closing and fastening mechanisms to perform the closing and locking operations on the hardware. This improves construction efficiency, reduces construction costs, and ensures operational safety.

[0033] 2. The hardware component designed in this invention transforms the entire component into two connectors, which are then engaged and fixed together to fit onto the overhead conductor. The design is simple and facilitates connection with the overhead conductor. Limiting and fixing are achieved using threaded holes and threaded posts.

[0034] 3. The clamping closure mechanism designed in this invention directly achieves the rotational clamping action of the annular connecting rod through an electric telescopic rod. When the electric telescopic rod extends, it pushes the annular connecting rod to rotate, enabling the end suction cup assembly to adsorb the second connecting piece and rotate, thus realizing the clamping function. The additional support rod can support the annular connecting rod.

[0035] 4. The limiting plate designed in this invention is to facilitate the threaded fixing of the hardware components. During the operation of the bolt tightening mechanism, the hardware components are limited between the clamp closing mechanism and the limiting plate by the clamp closing mechanism, which facilitates the thread tightening operation of the bolt tightening mechanism.

[0036] 5. The drive motor extension mechanism of this invention can extend the drive motor out of the control box, which facilitates the tightening operation of the threaded column. Moreover, after tightening, it can be retracted into the control box without affecting the hoisting and other operations of the control box as a whole.

[0037] 6. The surface-mounted installation robot, through precise positioning and standardized operation, achieves centimeter-level positioning and 100% pin insertion success, with installation deviations controlled within millimeters, effectively improving installation quality and reducing rework and maintenance frequency. Simultaneously, the spacer bars installed by the robot are firmly fixed, better suppressing conductor galloping and maintaining conductor spacing, reducing line faults caused by spacer bar installation quality issues, lowering subsequent line maintenance costs, and extending the service life of transmission lines. Attached Figure Description

[0038] Figure 1 This is a structural schematic diagram of the overall hoisting process of the present invention;

[0039] Figure 2 This is a schematic diagram of the hardware component structure of the present invention;

[0040] Figure 3 This is a schematic diagram of the internal structure of the spacer bar mounting control box of the present invention;

[0041] Figure 4 This is a schematic diagram of the clamp closing mechanism;

[0042] Figure 5 This is a schematic diagram of the bolt fastening mechanism of the present invention;

[0043] Figure 6 This is a structural diagram of the spacer bar installation robot software system of the present invention.

[0044] Among them, 1-UAV, 2-Spacer rod mounting control box, 201-Lifting hole, 202-Electric telescopic rod, 203-Ring connecting rod, 204-Support rod, 205-Suction cup assembly, 206-Limiting plate, 207-Bolt fastener, 3-Hardware component, 301-First connector, 302-Second connector, 303-Threaded hole, 304-Threaded column, 4-Spacer rod, 5-Overhead conductor, 6-Ground work platform. Detailed Implementation

[0045] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0046] This invention discloses a robot for installing power transmission line fittings, comprising a pair of fitting components, a pair of spacer bar installation control boxes, a drone, and a wireless communication module. See also... Figure 1 :

[0047] One end of a pair of hardware components 3 is detachably connected to both ends of the spacer 4, and the other end is used to be sleeved on the overhead conductor 5;

[0048] The spacer bar installation control box 2 is equipped with a clamp closing mechanism and a bolt fastening mechanism, and its top is provided with a hoisting hole 201 for docking with the hoisting structure of the UAV 1.

[0049] The clamp closing mechanism is used to control the clamping of the hardware component 3 onto the overhead conductor 5, and the bolt fastening mechanism is used to control the fasteners on the hardware component 3 to achieve fastening.

[0050] Both the drone 1 and the spacer rod mounting control box 2 are connected to the wireless communication module.

[0051] It also includes a ground work platform 6, which is used to place spacer bars 4 that connect the hardware components 3 at both ends.

[0052] To facilitate drone installation operations and ensure construction safety and efficiency, the spacer bar clamp hardware components were improved to meet the installation requirements of 110-500 kV lines, achieving a series of hardware products. By simplifying the clamp components and the number of bolts used, while strengthening the load-bearing capacity of individual components and pre-fabricating nuts, the overall strength of the hardware is guaranteed, and the complexity of robotic arm operation is minimized. The improved hardware is open before installation and connects to the spacer bar in a specific manner. Under the action of the robotic arm, clamp closing mechanism, and fastening mechanism, the hardware is closed and fastened.

[0053] See Figure 2 The hardware component 3 includes a first connector 301 and a second connector 302. One end of the first connector 301 and the second connector 302 are both set as annular and are hinged at the ends. The other end of the first connector 301 is detachably connected to the spacer 4. The other end of the second connector 302 and the first connector 301 are both straight plate structures and are provided with threaded holes 303 in corresponding positions. Threaded posts 304 are provided on the threaded holes 303 of the first connecting plate 301.

[0054] The clamp closing mechanism includes an electrically operated telescopic rod 202 housed within the spacer rod mounting control box 2 and an annular connecting rod 203 extending out of the spacer rod mounting control box 2. A suction cup assembly 205 is connected to the outer end of the annular connecting rod 203, and its inner side is rotatably connected to a bracket (not shown in the figure) housed within the spacer rod mounting control box 2. The actuating end of the electrically operated telescopic rod 202 is rotatably connected to the inner end of the annular connecting rod 203. A support rod 204 is also connected to the inner annular side of the annular connecting rod 203.

[0055] A limiting plate 206 is also fixed on the outer side of the spacer rod installation control box 2 near the hardware component 3. When the hardware component 3 at the end of the spacer rod 4 corresponds to the position of the overhead conductor 5, the straight plate structure of the second connector 302 and the first connector 301 is directly opposite the limiting plate 206 and avoids the threaded hole 303.

[0056] The bolt fastening mechanism includes a drive motor and a bolt fastener 207 connected to the drive motor, as well as a drive motor extension mechanism. The spacer rod mounting control box 2 has an opening structure on the side near the hardware component 3. The drive motor extension mechanism drives the drive motor to approach the hardware component 3. After the stud fastener 207 is limited and connected to the threaded stud 304, it is rotated and tightened under the action of the drive motor.

[0057] The bolt fastener 207 is also equipped with a torque sensor to detect and determine whether the tightening meets the preset requirements.

[0058] The spacer installation control box 2 is also equipped with a robotic arm, a safety locking mechanism, and a winch mechanism. The robotic arm is used to grab and lift the spacer to the air and rotate it until the spacer is vertical, bringing the hardware components close to the overhead conductors at both ends. The safety locking mechanism is used to lock and fix it to the overhead conductors. The winch mechanism is used to lift the spacer. The control box also contains a controller and a power supply.

[0059] The working process of the power transmission line hardware installation robot is as follows:

[0060] The process of using a spacer installation robot system to replace workers in installing spacers between phases is as follows:

[0061] (a) Preparation stage

[0062] Workers pre-assemble spacers and hardware components on the ground, including but not limited to...

[0063] (1) Assemble the spacers according to the phase spacing of the installation locations;

[0064] (2) Start each device and check the system self-test and communication links, etc.;

[0065] (3) Set the parameters for each device and line;

[0066] (4) Install the hardware components at both ends of the spacer and turn on the power to the spacer installation control box;

[0067] (5) After the spacer bar installation control box has completed startup and initialization, wait for the hoisting of the UAV.

[0068] (II) Construction Phase

[0069] (1) The UAV sequentially hoists the two spacer installation control boxes onto the two overhead wires where spacers need to be installed;

[0070] (2) The safety interlocking mechanism is activated by the control box of the two spacer bars, and then the system is disengaged from the UAV;

[0071] (3) Start the winch mechanism by installing the control box on both spacers and lower the hook;

[0072] (4) After the hook is lowered to a suitable position, the construction personnel will attach the spacer with the hardware components installed to the cable hook of the control box of the two spacers.

[0073] (5) The spacer installation control box lifts the spacer to a suitable position and then stops and waits;

[0074] (6) Ground personnel observe the position of the spacer through the depth camera mounted on the spacer installation control box, and then, under visual assistance and guidance, control the robotic arm to grab the spacer and send it to the appropriate position; and the bolt fastening mechanism.

[0075] (7) Start the clamp closing mechanism in the spacer bar installation control box to pull and guide the spacer bar hardware to completely lock the overhead conductor;

[0076] (8) After the hardware components are in place, control the operation of the clamp closing mechanism and the bolt tightening mechanism to achieve the closing and tightening of the hardware components, and confirm that the tightening is in place;

[0077] (9) After the upper spacer bar installation control box is in place, control the lower spacer bar installation control box and confirm that it is in place;

[0078] (10) The drone will lift the spacer robot to the next working position and then start the installation process of the next spacer.

[0079] The software system structure of the spacer bar mounting control box is as follows: Figure 6 As shown, it adopts a polling architecture without an operating system, and mainly includes three modules: communication, clamp closing mechanism and bolt fastening mechanism.

[0080] The wireless communication module is mainly used to transmit and receive data between the control box and the ground control device.

[0081] The clamp closing mechanism is used to close the hardware components. Force is applied by the electric telescopic rod to close the hardware components. During the control process, the force of the motor and the angle of rotation of the device can be detected in real time to determine whether the opening of the hardware components is closed in place. After it is closed in place, the force is maintained and a signal is sent to prepare for tightening the threaded column.

[0082] The bolt tightening mechanism is used to tighten threaded posts. Sufficient torque is provided by the rotation of a reduction torque motor, causing the threaded posts to tighten gradually. During the tightening process, the motor speed and output are monitored in real time. When the motor is found to be unable to rotate and the torque exceeds a preset threshold, the motor rotates in the opposite direction, causing the threaded post to mechanically disengage from the tightening device, thus completing the tightening action.

[0083] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent transformations or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A robot for installing power transmission line fittings, characterized in that, It includes a pair of hardware components, a pair of spacer bar mounting control boxes, a drone, and a wireless communication module; One end of each pair of the hardware components is detachably connected to both ends of the spacer bar, and the other end is used to be sleeved on the overhead conductor. The spacer bar installation control box is equipped with a clamp closing mechanism and a bolt fastening mechanism, and its top is equipped with a hoisting hole for docking with the UAV hoisting structure. The clamp closing mechanism is used to control the clamping and sleeve of the hardware component on the overhead conductor, and the bolt fastening mechanism is used to control the fasteners on the hardware component to achieve fastening. The drone and the spacer rod mounting control box are both connected to the wireless communication module.

2. The power transmission line fitting installation robot according to claim 1, characterized in that, It also includes a ground work platform for placing spacers that connect the hardware components at both ends.

3. The power transmission line fitting installation robot according to claim 1, characterized in that, The hardware component includes a first connector and a second connector. One end of both the first connector and the second connector is set as an annular shape and the ends of the two connectors are hinged. The other end of the first connector is detachably connected to the spacer bar. The other ends of the second connector and the first connector are both straight plate structures and are provided with threaded holes of corresponding positions. The threaded holes of the first connector plate are provided with threaded posts.

4. The power transmission line fitting installation robot according to claim 3, characterized in that, The clamp closing mechanism includes an electric telescopic rod disposed in the spacer rod mounting control box and an annular connecting rod extending out of the spacer rod mounting control box. The outer end of the annular connecting rod is connected to a suction cup assembly, and the inner side is rotatably connected to a bracket disposed in the spacer rod mounting control box. The actuating end of the electric telescopic rod is rotatably connected to the inner end of the annular connecting rod.

5. A power transmission line fitting installation robot according to claim 4, characterized in that, A support rod is also connected to the inner side of the annular connecting rod.

6. The power transmission line fitting installation robot according to claim 3, characterized in that, A limiting plate is also fixed to the outer side of the spacer rod installation control box near the hardware component. When the hardware component at the end of the spacer rod is connected to the overhead wire, the straight plate structure of the second connector and the first connector is directly opposite the limiting plate and avoids the threaded hole.

7. The power transmission line fitting installation robot according to claim 1, characterized in that, The bolt fastening mechanism includes a drive motor and a bolt fastener connected to the drive motor, and also includes a drive motor extension mechanism. The spacer rod mounting control box has an opening structure on the side near the hardware component. The drive motor extension mechanism drives the drive motor to approach the hardware component. After the stud fastener is limited and connected to the threaded post, it is rotated and tightened under the action of the drive motor.

8. The power transmission line fitting installation robot according to claim 7, characterized in that, The stud limiter is also equipped with a torque sensor to detect and determine whether the tightening meets the preset requirements.

9. A power transmission line fitting installation robot according to claim 1, characterized in that, The spacer installation control box is also equipped with a robotic arm, a safety locking mechanism, and a winch mechanism. The robotic arm is used to grab and lift the spacer to the air and rotate it so that the spacer is vertical, so that the hardware components are close to the overhead conductors at the top and bottom. The safety locking mechanism is used to lock and fix it to the overhead conductors. The winch mechanism is used to lift the spacer.

10. A power transmission line fitting installation robot according to claim 1, characterized in that, The working process of the power transmission line hardware installation robot is as follows: (1) The UAV sequentially hoists the two spacer installation control boxes onto the two overhead wires where spacers need to be installed; (2) The safety interlocking mechanism is activated by the control box of the two spacer bars, and then the system is disengaged from the UAV; (3) Start the winch mechanism by installing the control box on both spacers and lower the hook; (4) After the hook is lowered to a suitable position, the construction personnel will attach the spacer with the hardware components installed to the cable hook of the control box of the two spacers. (5) The spacer installation control box lifts the spacer to a suitable position and then stops and waits; (6) Ground personnel observe the position of the spacer through the depth camera mounted on the spacer installation control box, and then, under visual assistance and guidance, control the robotic arm to grab the spacer and send it to the appropriate position; and the bolt fastening mechanism. (7) Start the clamp closing mechanism in the spacer bar installation control box to pull and guide the spacer bar hardware to completely lock the overhead conductor; (8) After the hardware components are in place, control the operation of the clamp closing mechanism and the bolt tightening mechanism to achieve the closing and tightening of the hardware components, and confirm that the tightening is in place; (9) After the upper spacer bar installation control box is in place, control the lower spacer bar installation control box and confirm that it is in place; (10) The drone will lift the spacer robot to the next working position and then start the installation process of the next spacer.

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