Unmanned tower-climbing overhauling device for overhead transmission line

Abstract

The utility model discloses an unmanned tower-climbing maintenance device for an overhead transmission line, which comprises an unmanned aerial vehicle, a pulley is hoisted below the unmanned aerial vehicle, the pulley is connected with a maintenance robot through a lifting rope, and the other end of the lifting rope is also connected with a winch fixed on the ground; the maintenance robot comprises a rack, a mechanical arm is arranged on the side face of the rack, a bolt screwing device is arranged at the end of the mechanical arm, and a detection sensor set is further arranged on the mechanical arm. A lifting rope fixing wheel is arranged in the middle of the upper surface of the rack; walking wheel assemblies are further arranged at the two ends of the upper surface of the rack, and a lifting type anti-falling frame is arranged below the walking wheel assemblies. According to the utility model, the purpose of power transmission line maintenance can be realized when no person climbs the tower.

Description

Technical Field

[0001] The utility model relates to the field of overhead power transmission line maintenance, in particular to an unmanned tower maintenance device for overhead power transmission lines. Background Art

[0002] Overhead transmission lines connect power plants, substations, and users, forming the transmission and distribution networks. Because the conductors that conduct current are mounted on towers with insulators and hardware, they are called overhead lines or power lines. Overhead lines generally consist of conductors, insulators, hardware, towers and their foundations, lightning conductors, and grounding devices. To ensure the normal operation of overhead transmission lines, regular inspection and maintenance are required. However, overhead transmission lines are located at high altitudes, and existing maintenance methods for overhead transmission lines still rely primarily on manual access to towers. This high-altitude work poses significant safety hazards and construction risks, and manual maintenance is time-consuming, inefficient, and generally unreliable. Therefore, there is an urgent need for an inspection machine that can replace manual access to towers to meet the maintenance needs of overhead lines. Utility Model Content

[0003] The purpose of the utility model is to provide an overhead power transmission line unmanned tower maintenance device. The utility model can achieve the purpose of power transmission line maintenance without anyone climbing the tower.

[0004] The technical solution of the utility model is as follows: an unmanned tower maintenance device for overhead power transmission lines, comprising a drone, a pulley mounted below the drone, the pulley being connected to a maintenance robot via a lifting rope, the other end of the lifting rope being also connected to a winch fixed to the ground; the maintenance robot comprising a frame, a mechanical arm being provided on the side of the frame, a bolt tightener being provided at the end of the mechanical arm, and a detection sensor group being also provided on the mechanical arm; a lifting rope fixing wheel being provided in the middle of the upper surface of the frame, the lifting rope fixing wheel being connected to the end of the lifting rope, the other end of the lifting rope being connected to the winch after passing through the pulley; walking wheel assemblies being also provided at both ends of the upper surface of the frame, and a lifting anti-slip frame being provided below the walking wheel assembly.

[0005] In the aforementioned unmanned tower maintenance device for overhead transmission lines, a controller and a battery pack are also provided inside the frame, and the controller is respectively connected to the robotic arm, bolt tightener, walking wheel assembly, and lifting anti-slip frame; the controller is also connected to a wireless transmission module, and the wireless transmission module is connected to an intelligent control terminal.

[0006] In the aforementioned unmanned tower maintenance device for overhead power transmission lines, the detection sensor group includes a plurality of video image sensors distributed on the robotic arm.

[0007] In the aforementioned unmanned tower maintenance device for overhead transmission lines, the pulley includes a bracket, rollers are provided at both ends of the bottom of the bracket, a hanging bracket is provided on the upper part of the bracket, a hanging pulley is provided inside the hanging bracket, an inclined opening is provided on one side of the bottom of the hanging bracket, and an inclined guide plate is provided on the outside of the inclined opening; a telescopic hook is provided above the hanging bracket, and a lower rod is provided at the bottom of the telescopic hook, which is located below the hanging bracket, and a reset spring is provided between the lower rod and the bottom surface of the hanging bracket, and one of the lower rods corresponds to the position of the inclined opening.

[0008] In the aforementioned overhead power transmission line unmanned tower maintenance device, a groove is provided at the bottom of the inclined opening, a magnet is provided in the groove, and a magnetic block is provided at the bottom end of the lower rod.

[0009] In the aforementioned overhead power transmission line unmanned tower maintenance device, the lifting anti-slip frame includes a lifting cylinder fixed above the frame, an anti-slip frame is provided at the output end of the lifting cylinder, and anti-slip bayonet sockets matching the cable are provided at both ends of the anti-slip frame.

[0010] In the aforementioned overhead power transmission line unmanned tower maintenance device, the travel wheel assembly includes a travel fixed frame fixed above the frame, the upper end of the travel fixed frame is provided with a travel wheel, and the travel fixed frame is also provided with a travel motor that cooperates with the travel wheel.

[0011] Compared with the existing technology, the present invention is composed of a drone, a maintenance robot connected by a suspension rope, and a winch. The drone is used to mount the maintenance robot on the high-altitude cable, and the winch is used to mount the maintenance robot's walking wheels on the high-altitude cable, thereby achieving the mounting of the maintenance robot on the cable. The walking wheels can then drive the maintenance robot to move along the cable for maintenance, and the mechanical arm and the bolt tightener can also be used to tighten the bolts at the corresponding position. Through the mutual cooperation between the above structures, it is possible to realize the maintenance and repair of overhead transmission lines without anyone climbing the tower, replacing the traditional manual maintenance method of climbing the tower. It is not only safe and reliable, but also fast and efficient, and takes less time. In summary, the present invention can achieve the purpose of performing transmission line maintenance without anyone climbing the tower. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural diagram of the utility model;

[0013] Figure 2 This is the structural diagram of the maintenance robot before it is mounted on the power transmission cable;

[0014] Figure 3 This is a structural diagram of the maintenance robot mounted on the power transmission cable;

[0015] Figure 4 This is a structural diagram of the pulley when it is mounted on the transmission cable;

[0016] Figure 5 This is a structural view of the pulley.

[0017] The marks in the accompanying drawings are: 1-UAV, 2-pulley, 3-rope, 4-maintenance robot, 5-winch, 6-transmission cable, 401-frame, 402-mechanical arm, 403-bolt tightener, 404-detection sensor group, 405-rope fixing wheel, 406-travel wheel assembly, 407-lifting anti-slip frame, 201-bracket, 202-roller, 203-mounting frame, 204-mounting pulley, 205-inclined opening, 206-inclined guide plate, 207-telescopic hook, 208-lower rod, 209-reset spring, 251-groove, 252-magnet, 253-magnetic block, 471-lifting cylinder, 472-anti-slip frame, 473-anti-slip bayonet, 461-travel fixing frame, 462-travel wheel, 463-travel motor. DETAILED DESCRIPTION

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0019] Embodiment. An unmanned tower maintenance device for overhead power transmission lines is constructed as follows: Figure 1-5 As shown, it includes a drone 1, a pulley 2 is hoisted below the drone 1, the pulley 2 is connected to a maintenance robot 4 via a lifting rope 3, and the other end of the lifting rope 3 is also connected to a winch 5 fixed to the ground; the maintenance robot 4 includes a frame 401, a mechanical arm 402 is provided on the side of the frame 401, a bolt tightener 403 is provided at the end of the mechanical arm 402, and a detection sensor group 404 is also provided on the mechanical arm 402; a lifting rope fixing wheel 405 is provided in the middle of the upper surface of the frame 401, the lifting rope fixing wheel 405 is connected to the end of the lifting rope 3, and the other end of the lifting rope 3 is connected to the winch 5 after passing through the pulley 2; walking wheel assemblies 406 are also provided at both ends of the upper surface of the frame 401, and a lifting anti-slip frame 407 is provided below the walking wheel assembly 406.

[0020] The frame 401 is further provided with a controller and a battery pack, and the controller is respectively connected to the robotic arm 402, the bolt tightener 403, the walking wheel assembly 406, and the lifting anti-slip frame 407; the controller 6 is also connected to a wireless transmission module, and the wireless transmission module is connected to an intelligent control terminal.

[0021] The detection sensor group 404 includes a plurality of video image sensors distributed on the robotic arm 402 .

[0022] The pulley 2 includes a bracket 201, rollers 202 are provided at both ends of the bottom of the bracket 201, a hanging frame 203 is provided on the upper part of the bracket 201, a hanging pulley 204 is provided in the hanging frame 203, an inclined opening 205 is provided on one side of the bottom of the hanging frame 203, and an inclined guide plate 206 is provided on the outside of the inclined opening 205; a telescopic hook 207 is provided above the hanging frame 203, and a lower rod 208 is provided at the bottom of the telescopic hook 207, which is located below the hanging frame 203, and a reset spring 209 is provided between the lower rod 208 and the bottom surface of the hanging frame 203, and one of the lower rods 208 corresponds to the position of the inclined opening 205.

[0023] A groove 251 is provided at the bottom of the inclined opening 205 , an attracting magnet 252 is provided in the groove 251 , and a magnetic block 253 is provided at the bottom end of the lower rod 208 .

[0024] The lifting anti-slip frame 407 includes a lifting cylinder 471 fixed above the frame 401, an anti-slip frame 472 is provided at the output end of the lifting cylinder 471, and anti-slip bayonet 473 cooperating with the cable is provided at both ends of the anti-slip frame 472.

[0025] The travel wheel assembly 406 includes a travel fixed frame 461 fixed above the frame 401 , a travel wheel 462 is provided on the upper end of the travel fixed frame 461 , and a travel motor 463 matched with the travel wheel 462 is also provided on the travel fixed frame 461 .

[0026] The maintenance method of an overhead transmission line unmanned tower maintenance device is characterized by comprising the following steps:

[0027] S1. Fix the winch to the ground, pass the other end of the rope wound on the winch winding wheel through the pulley and fix it on the rope fixing wheel;

[0028] S2. The hook at the bottom of the drone is mounted on the telescopic hook at the top of the pulley. The drone lifts the maintenance robot to the required operation area and hangs the pulley on the designated cable. After the mounting is completed, the drone releases the pulley.

[0029] S3. The maintenance robot is hoisted to the preset position by the winch. The position of the manipulator arm is then adjusted so that the travel wheels are at an angle to the cable line. The winch continues to pull the maintenance robot upward so that the bottom of the travel wheels passes over the cable line. The manipulator arm is then adjusted so that the travel wheels are perpendicular to the cable line. The winch then slowly releases the rope so that the travel wheels fall onto the cable line, completing the mounting of the maintenance robot.

[0030] S4. Raise the lifting anti-drop frame to the bottom of the cable and match it with the cable;

[0031] S5, the walking wheel starts to move, driving the maintenance robot to move to the set position;

[0032] S6. Move the robotic arm to the working position and tighten the bolts using the bolt tightener.

[0033] By arranging a groove for attracting magnets at the bottom of the inclined opening and arranging a magnetic block at the bottom end of the lower rod, the two cooperate with each other to further prevent the pulley from being separated from the cable.

[0034] Press the switch on the maintenance robot to turn on the device, wait a few minutes for the WiFi signal to appear, and click "Connect Control Panel" on the control software of the intelligent control terminal to connect the maintenance robot to the intelligent control terminal.

[0035] Before the robot ascends the tower, you need to move the robotic arm to a preset position to ensure the maintenance robot maintains balance during the lifting process. First, use the winch to slightly lift the robot to facilitate the robotic arm's posture adjustment. Then, click the preset button on the control software to move the robotic arm to the preset position.

[0036] There is a hook under the drone, which is used to engage with the telescopic hook on the top of the maintenance robot pulley.

[0037] When hoisting, the telescopic hook moves upward under the action of tension, and the lower rod reveals the inclined opening. When the pulley is mounted in place and the drone is separated from the pulley, the lower rod will drop under the action of the return spring, covering the inclined opening, thereby effectively preventing it from slipping out of the inclined opening.

[0038] Fix one end of the lifting rope to the winch roller, pass the other end through the pulley and fix it to the lifting rope fixing wheel, and leave enough length of rope between the winch and the pulley to climb the tower.

[0039] The tower maintenance process of the utility model is as follows: first, a winch is fixed in a set area on the ground, and after the lifting rope passes through the roller of the pulley, the end is fixed on the lifting rope fixing wheel; the drone is started, and the drone is controlled to make the hook at the bottom of the drone hook with the telescopic hook of the hanging frame. The drone rises and lifts the pulley to a position corresponding to the transmission line to be inspected, and then the inclined opening of the pulley is sent from the side to the bottom of the transmission cable, so that the hanging pulley is located above the transmission cable, and the pulley is mounted on the transmission cable. Then the drone is separated from the pulley, and the lower rod of the telescopic hook is lowered to cover the inclined opening to prevent the pulley from falling off.

[0040] Next, the winch begins to operate, hoisting the maintenance robot to a point where its wheels are approximately 20 cm below the cable. The robotic arm adjusts its position so that the wheels are at an angle to the cable. The robot continues to pull upward, allowing the bottom of the wheels to pass over the cable. The robotic arm is then adjusted so that the wheels are perpendicular to the cable. The winch then slowly lowers the rope, allowing the wheels to fall onto the cable, completing the robot's mounting. Once both wheels are attached to the cable, the lifting cylinder is controlled to descend, and the anti-slip bracket is controlled to rise to the bottom of the cable, locking the anti-slip latch to prevent the robot from slipping.

[0041] During this process, it is important to note that after the pulley is mounted, use the winch to move the maintenance robot up the tower. Pay attention to controlling the speed of the winch and try to avoid large shaking of the maintenance robot.

[0042] Finally, the travel motor is controlled to drive the travel wheels along the cable, controlling the maintenance robot to move to the appropriate position for operation. The robot arm is then moved to the operating position, and the screwdriver is used to tighten the bolts. Meanwhile, during the movement, the position is monitored by a video image sensor to ensure that the set position has been reached. The video image sensor can also be used to inspect the cable surface condition.

[0043] After the operation is completed, the process of descending the tower is similar to that of ascending the tower, and the steps are just reversed.

[0044] If the robot is not used for a long time, it needs to be fully charged before storage. It is recommended to charge it once a month. If the maintenance robot is not used for a long time, it needs to be charged before use.

Claims

1. Unmanned tower maintenance device for overhead power transmission lines, characterized by: The invention comprises an unmanned aerial vehicle (1), wherein a pulley (2) is hoisted below the unmanned aerial vehicle (1), the pulley (2) is connected to a maintenance robot (4) via a suspension rope (3), and the other end of the suspension rope (3) is also connected to a winch (5) fixed to the ground; the maintenance robot (4) comprises a frame (401), a mechanical arm (402) is provided on the side of the frame (401), a bolt tightener (403) is provided at the end of the mechanical arm (402), and a detection sensor group (404) is also provided on the mechanical arm (402); a suspension rope fixing wheel (405) is provided in the middle of the upper surface of the frame (401), the suspension rope fixing wheel (405) is connected to the end of the suspension rope (3), and the other end of the suspension rope (3) is connected to the winch (5) after passing through the pulley (2); a running wheel assembly (406) is also provided at both ends of the upper surface of the frame (401), and a lifting anti-slip frame (407) is provided below the running wheel assembly (406).

2. The unmanned tower maintenance device for overhead power transmission lines according to claim 1 is characterized in that: A controller and a battery pack are further provided inside the frame (401), and the controller is respectively connected to the mechanical arm (402), the bolt tightener (403), the walking wheel assembly (406), and the lifting anti-slip frame (407); the controller (6) is also connected to a wireless transmission module, and the wireless transmission module is connected to an intelligent control terminal.

3. The unmanned tower maintenance device for overhead power transmission lines according to claim 1 is characterized in that: The detection sensor group (404) includes a plurality of video image sensors distributed on the mechanical arm (402).

4. The unmanned tower maintenance device for overhead power transmission lines according to claim 1 is characterized in that: The pulley (2) comprises a bracket (201), rollers (202) are provided at both ends of the bottom of the bracket (201), a hanging frame (203) is provided on the upper part of the bracket (201), a hanging pulley (204) is provided inside the hanging frame (203), an inclined opening (205) is provided on one side of the bottom of the hanging frame (203), and an inclined guide plate (206) is provided outside the inclined opening (205); a telescopic hook (207) is provided above the hanging frame (203), a lower rod (208) located below the hanging frame (203) is provided at the bottom of the telescopic hook (207), a return spring (209) is provided between the lower rod (208) and the bottom surface of the hanging frame (203), and one of the lower rods (208) corresponds to the position of the inclined opening (205).

5. The unmanned tower maintenance device for overhead power transmission lines according to claim 4 is characterized in that: The bottom of the inclined opening (205) is provided with a groove (251), an attracting magnet (252) is provided in the groove (251), and a magnetic block (253) is provided at the bottom end of the lower rod (208).

6. The unmanned tower maintenance device for overhead power transmission lines according to claim 1, characterized in that: The lifting anti-slip frame (407) comprises a lifting cylinder (471) fixed above the frame (401); an anti-slip frame (472) is provided at the output end of the lifting cylinder (471); and anti-slip bayonet holes (473) matched with the cable are provided at both ends of the anti-slip frame (472).

7. The unmanned tower maintenance device for overhead power transmission lines according to claim 1, characterized in that: The walking wheel assembly (406) includes a walking fixed frame (461) fixed above the frame (401), a walking wheel (462) is provided at the upper end of the walking fixed frame (461), and a walking motor (463) matched with the walking wheel (462) is also provided on the walking fixed frame (461).

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