A ground wire repairing robot

Abstract

The application relates to the technical field of high-voltage line repair, in particular to a ground wire repair robot, which comprises a rack, walking wheels are installed on the rack, mounting plates are arranged at the two ends of the rack, and a repair device is installed on each mounting plate; the repair device comprises a second motor installed on the mounting plate, a mounting seat is arranged below the second motor, a screw rod is connected to the power output end of the second motor, a driving nut is threadedly connected to the screw rod, the two sides of the driving nut are connected with the mounting seat through push rods, a third motor is installed on the mounting seat, a power gear is installed on the power output end of the third motor, and a working ring is slidably arranged on the mounting seat. Therefore, the ground wire repair robot can solve the technical problems of high manual operation risk, low efficiency, poor adaptability and lack of automatic equipment in the prior art.

Description

Technical Field

[0001] This application relates to the field of high-voltage line repair technology, and more specifically, to a ground wire repair robot. Background Technology

[0002] In ultra-high voltage transmission line systems, the ground wire is a crucial component ensuring the safe and stable operation of the transmission line, undertaking important functions such as lightning protection, wind deflection resistance, and conductor support. Ground wires are exposed to the complex outdoor environment for extended periods, making them susceptible to breakage or damage due to lightning strikes, corrosion, and mechanical wear. Failure to repair them promptly can lead to transmission line faults, power outages, and even safety accidents. Therefore, efficient and safe repair of ground wires is one of the core tasks of transmission line operation and maintenance.

[0003] Currently, there is no mature equipment in the industry capable of fully automating the repair of ground wires for ultra-high voltage transmission lines. Existing repair work mainly relies on manual operation. Specifically, when a ground wire breaks or is damaged, maintenance personnel must climb transmission towers and use climbing tools to reach the ground wire, then manually repair it using techniques such as pre-twisted wire wrapping. This traditional manual repair method has many significant drawbacks:

[0004] When manually climbing to the high ground wire position for work, there are multiple safety risks such as falling from height and electric shock. Especially under severe weather conditions such as strong winds, thunderstorms, and low temperatures, the risk of operation increases significantly, posing a serious threat to the life safety of maintenance personnel.

[0005] Manual repairs involve multiple steps, including pole climbing, tool transport, and on-site operations. A single repair operation often requires the cooperation of multiple personnel, which takes a long time and not only affects the repair progress but may also cause significant economic losses due to prolonged power outages.

[0006] Although the industry has attempted to develop mechanical devices to assist in repair, existing devices generally suffer from problems such as unreasonable structural design, insufficient positioning accuracy, and inability to simultaneously carry out movement and repair due to the special nature of the grounding wire operation environment (e.g., high altitude, single-wire support, and the need to operate around the grounding wire). For example, the lack of an opening and closing structure capable of accurately wrapping grounding wires of different specifications makes it difficult for the equipment to adhere stably to the grounding wire; the failure to achieve coordinated control of movement and repair actions prevents the completion of repair operations such as pre-twisting wire during movement, ultimately failing to effectively replace manual repair methods.

[0007] Therefore, in response to the problems of high risk, low efficiency, poor adaptability and lack of automated equipment in existing ground wire repair technologies, developing an automated device that can achieve precise positioning, autonomous movement and efficient completion of ground wire repair has become an urgent technical problem to be solved in the field of ultra-high voltage transmission line operation and maintenance. Utility Model Content

[0008] Based on the above problems, this application proposes a grounding wire repair robot to solve the technical problems of high risk, low efficiency, poor adaptability and lack of automated equipment in existing grounding wire repair technologies.

[0009] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0010] A grounding repair robot includes a frame with wheels mounted on it, mounting plates at both ends of the frame, and a repairer mounted on each mounting plate.

[0011] The repair device includes a second motor mounted on the mounting plate, a mounting base below the second motor, a screw connected to the power output end of the second motor, a drive nut threaded onto the screw, and push rods connecting the two sides of the drive nut to the mounting base. A third motor is mounted on the mounting base, a drive gear is mounted on the power output end of the third motor, a working ring is slidably mounted on the mounting base, a driven gear meshing with the drive gear is fixedly mounted on the working ring, a tape wrapping structure is mounted on the mounting base, and the inner wall of the working ring has textures to match the ground wire being repaired.

[0012] In one specific implementation scheme, the walking wheels are divided into driven wheels and driving wheels. The driven wheels are rotatably connected to the frame. One end of the shaft of the driving wheel is rotatably connected to the frame. A first motor is installed on the other end of the shaft of the driving wheel. The first motor is fixedly installed on the frame. The power output shaft of the first motor is connected to the driving wheel.

[0013] In one specific implementation, the rack is equipped with equipment lifting hooks.

[0014] In one specific implementation, the two ends of the push rod are hinged to the drive nut and the mounting base, respectively.

[0015] In one specific feasible embodiment, a lubricated bearing is provided between the working ring and the mounting base.

[0016] In one specific implementation, the distance between the upper opening of the frame's legs is less than the distance between the lower opening.

[0017] In one specific implementation, the tape winding structure is installed on one side close to the frame. The tape winding structure includes a tape shaft and a tape retainer mounted on the mounting base. The tape shaft is rotatably connected to the mounting base. A tape pressure bar is mounted on the mounting base. A prestress is preset at the connection between the tape pressure bar and the mounting base.

[0018] The positive effects of this utility model are:

[0019] The robot's autonomous movement along the ground line is achieved by mounting wheels on a frame, eliminating the need for maintenance personnel to climb poles or reach high-altitude work locations. Repair devices at both ends of the frame can automatically complete repair operations, fundamentally eliminating safety risks such as falls from heights and electric shocks, especially mitigating the dangers of working in inclement weather. Remote control and automated operation: The equipment is driven by motors for movement and repair, enabling remote control or automated operation via preset programs, reducing direct human intervention and further lowering operational risks.

[0020] Integrated operation process: The robot integrates walking and repair functions. The walking wheels are driven by the first motor to achieve autonomous movement. The repairer is controlled by the second and third motors in coordination, and can complete the repair work simultaneously during the movement. There is no need for manual step-by-step operation (such as climbing, carrying tools, manual wrapping, etc.), which greatly shortens the repair time of a single point.

[0021] In the repair device, the second motor drives the screw to move the drive nut, and the position of the mounting seat is adjusted by the push rod so that the working ring can adapt to ground wires of different diameters; the lubricated bearing between the working ring and the mounting seat ensures that it can rotate stably on ground wires of different specifications, realizing the universality of repair processes such as pre-twisted wire winding.

[0022] The walking wheels are divided into driving wheels and driven wheels. The driving wheels are independently driven by the first motor and can maintain stable movement on uneven or slightly damaged ground wires. The pre-stressed design of the tape winding structure ensures that the tape adheres to the ground wire and can adapt to the repair needs of different degrees of damage.

[0023] The integrated structure of "frame-walking system-repair device" achieves full automation from positioning and movement to repair. The motor drive of the walking wheels, the extension and retraction adjustment of the screw in the repair device, and the gear transmission of the working ring are all completed through the mechanical structure and motor in coordination, without manual intervention. The third motor meshes with the driven gear of the working ring through the power gear, realizing the rotation of the working ring for repair; at the same time, the walking wheels can move forward synchronously, solving the problem that existing devices cannot simultaneously carry out movement and repair, filling the technological gap in automated repair equipment. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of this utility model;

[0026] Figure 2 This is a structural schematic diagram A of the present invention with some parts hidden;

[0027] Figure 3 This is a structural schematic diagram (B) of the present invention with some parts of the structure hidden.

[0028] Figure 4 This is a structural schematic diagram (C) of the present invention with some parts of the structure hidden.

[0029] Figure 5 This is a schematic diagram of the working ring of this utility model;

[0030] Explanation of reference numerals in the attached figures

[0031] 1. Frame; 2. Wheels; 3. Mounting plate; 4. Second motor; 6. Mounting base; 7. Screw; 8. Drive nut; 9. Push rod; 10. Third motor; 11. Drive gear; 12. Working ring; 13. Driven gear; 14. Driven wheel; 15. Drive wheel; 16. Equipment lifting hook; 17. Outrigger; 18. Belt shaft; 19. Belt pressure bar; 20. Belt retainer; 21. First motor; 22. Lubricating bearing. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0033] Example

[0034] like Figure 1-5 As shown, the ground wire repair robot disclosed in this utility model is an automated device designed for repairing ground wire fractures or damage in ultra-high voltage transmission lines. Its overall structure includes a frame 1, a walking system, a repairer, and auxiliary components. All parts work together to achieve precise positioning, autonomous movement, and efficient repair functions.

[0035] The frame 1, serving as the main support structure of the equipment, is made of high-strength aluminum alloy, featuring lightweight and high rigidity, and can meet the stability requirements of high-altitude, strong-wind environments. The legs 17 of the frame 1 adopt a trapezoidal opening design, with the upper opening distance being smaller than the lower opening distance (for example, the upper opening width is 30cm, and the lower opening width is 45cm). This structure can provide guidance when the equipment is in place, and can quickly align with the ground line when hoisted by a drone, solving the problems of difficult placement and time-consuming adjustments of existing equipment, and significantly improving placement efficiency.

[0036] The frame 1 is equipped with traveling wheels 2, which consist of driven wheels 14 and driving wheels 15, symmetrically distributed on both sides of the frame 1. The driven wheels 14 are rotatably connected to the frame 1 via bearings, serving only a supporting and guiding function. One end of the shaft of the driving wheel 15 is rotatably connected to the frame 1 via a deep groove ball bearing, and the other end is rigidly connected to the power output shaft of the first motor 21 via a coupling. The first motor 21 is bolted to a motor mounting plate 3 on the side of the frame 1. When the first motor 21 starts, its output torque directly drives the driving wheel 15 to rotate via the shaft, causing the entire robot to move along the ground axis, achieving autonomous movement of the equipment and replacing the traditional method of manual pushing or dragging, thus reducing workload.

[0037] A hoisting hook 16 is welded to the center of the top of the frame 1. The hook is forged from high-strength alloy steel and rust-proofed, and can withstand the overall weight of the equipment (approximately 50 kg) and the impact force during hoisting. By connecting the hook to the drone hoisting rope, the equipment can be accurately transported to the ground line operation location, avoiding the safety risks of manual climbing of the tower, and improving the flexibility of cross-terrain operations.

[0038] The frame 1 has mounting plates 3 (made of stainless steel) symmetrically arranged at both ends, and each mounting plate 3 is equipped with a repair device.

[0039] A second motor 4 (a servo motor with precise speed control) is bolted to the mounting plate 3. The power output end of the second motor 4 is connected to a screw 7 (using a trapezoidal thread structure for high transmission efficiency) via a key. A drive nut 8 is threaded onto the screw 7. Push rods 9 are symmetrically arranged on both sides of the drive nut 8, with their ends hinged to the drive nut 8 and the mounting base 6 respectively via fisheye bearings. When the second motor 4 rotates forward or reverse, the screw 7 drives the drive nut 8 to move axially. The push rods 9 push and pull the mounting base 6 to adjust its vertical position, adapting to the repair needs of ground wires of different diameters and solving the problem of poor adaptability to ground wire specifications in existing devices.

[0040] The rotating assembly of the working ring 12 has a working ring 12 slidably mounted on its inner side via a lubricating bearing 22 (a deep groove ball bearing with long-lasting grease). The working ring 12 has a semi-circular opening and closing structure (forming a complete ring when closed), and its inner side is in contact with the surface of the ground wire. The inner wall of the working ring 12 is provided with textures to match the ground wire being repaired. These textures allow the robot to repair the ground wire more smoothly and prevent jamming. A third motor 10 (a geared motor with high output torque) is fixed to the mounting base 6 via a motor bracket. A power gear 11 is mounted on the power output end of the third motor 10, and a driven gear 13 (gear module 2, transmission ratio 1:3) is fixedly mounted on the outer side of the working ring 12 to mesh with the power gear 11. When the third motor 10 starts, it drives the working ring 12 to rotate around the ground wire through gear meshing. Combined with the low friction characteristics of the lubricating bearing 22, it ensures stable operation of the working ring 12 at high speed, achieving uniform winding of pre-twisted wire or repair tape.

[0041] The tape winding structure is mounted on the side of the mounting base 6 near the frame 1. It includes a tape spool 18, a tape holder 20, and a tape pressure bar 19. The tape spool is rotatably connected to the mounting base 6 via the base of the tape spool 18, and can hold pre-twisted tape or insulating repair tape. The tape holder 20 is used to fix the free end of the tape, ensuring accurate initial winding position. The tape pressure bar 19 is mounted on the mounting base 6 via a pin, and its connection to the mounting base 6 is pre-stressed (achieved through a torsion spring) to ensure the pressure bar always adheres to the ground wire surface. When the working ring 12 rotates, the tape pressure bar 19 tightly presses the tape onto the ground wire, preventing air bubbles or loosening during winding and improving the stability of the repair quality.

[0042] When the ground wire breaks or is damaged and needs repair, the robot is first hoisted to the work position by a drone: the drone connects to the equipment through the hoisting hook, flies to the vicinity of the ground wire damage point, and uses the trapezoidal opening of the support leg 17 of the frame 1 as a guide to guide the ground wire into the space between the walking wheel 2 and the working ring 12, thus completing the positioning.

[0043] The first motor 21 is started, and the drive wheel 15 rotates, moving the equipment along the ground wire until the repairer is aligned with the damaged area. Then, the second motor 4 starts, adjusting the height of the mounting base 6 via the screw 7, causing the working ring 12 to close and adhere to the ground wire surface. Next, the free end of the tape is fixed to the damaged area of ​​the ground wire using the tape holder 20. The third motor 10 is then started, and the working ring 12 rotates around the ground wire under gear transmission. Simultaneously, the tape reel releases the tape, and the tape pressure rod 19 presses the tape tightly against the ground wire surface, completing the repair operation. During the repair process, the first motor 21 can drive the equipment to move slowly, expanding the repair area along the ground wire axis, achieving simultaneous movement and repair, thus solving the efficiency problem of existing devices requiring a complete stop for repair.

[0044] By using drones for hoisting and positioning and automated operations, the risks of falls and electric shock associated with manual high-altitude climbing are completely eliminated, making it particularly suitable for emergency repairs under adverse weather conditions.

[0045] Autonomous movement and synchronous repair functions reduce single-point repair time to one-third of manual methods. The guide structure and automated adjustment design of the frame 1 reduce positioning and adjustment time by more than 50%. Precise control of gear transmission and pre-stress design of the tape pressure bar 19 ensure that the repair material is wrapped evenly and adhered tightly, improving the service life of the repaired grounding wire.

[0046] The two semi-circular working rings 12 achieve precise positioning of the working environment. Furthermore, the two working rings 12 achieve the purpose of rotational repair and forward movement. By advancing forward while rotating, the working rings 12 achieve the purpose of repairing the ground wire. This comprehensively solves the problems of high risk, low efficiency, poor adaptability, and lack of automated equipment in existing ground wire repair technologies, providing an efficient, safe, and intelligent solution for ground wire repair of ultra-high voltage transmission lines.

[0047] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0048] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A grounding wire repair robot, characterized in that, Includes a frame (1), on which a traveling wheel (2) is installed, and at both ends of the frame (1) are mounting plates (3), and each mounting plate (3) is equipped with a repairer; The repair device includes a second motor (4) mounted on the mounting plate (3), a mounting base (6) is provided below the second motor (4), a screw (7) is connected to the power output end of the second motor (4), a drive nut (8) is threadedly connected to the screw (7), the two sides of the drive nut (8) are connected to the mounting base (6) through push rods (9), a third motor (10) is mounted on the mounting base (6), a power gear (11) is mounted on the power output end of the third motor (10), a working ring (12) is slidably arranged on the mounting base (6), a passive gear (13) that meshes with the power gear (11) is fixedly installed on the working ring (12), a tape winding structure is installed on the mounting base (6), and the inner wall of the working ring (12) is provided with a texture for matching the ground wire to be repaired.

2. The grounding repair robot according to claim 1, characterized in that, The walking wheel (2) is divided into a driven wheel (14) and a driving wheel (15). The driven wheel (14) is rotatably connected to the frame (1). One end of the shaft of the driving wheel (15) is rotatably connected to the frame (1). A first motor (21) is installed on the other end of the shaft of the driving wheel (15). The first motor is fixedly installed on the frame (1). The power output shaft of the first motor (21) is connected to the driving wheel (15).

3. The grounding repair robot according to claim 1, characterized in that, The frame (1) is equipped with a hoisting hook (16).

4. A grounding repair robot according to claim 1, characterized in that, The two ends of the push rod (9) are hinged to the drive nut (8) and the mounting base (6), respectively.

5. A grounding repair robot according to claim 1, characterized in that, A lubricated bearing (22) is provided between the working ring (12) and the mounting base (6).

6. A grounding repair robot according to claim 1, characterized in that, The distance between the upper opening of the legs (17) of the frame (1) is less than the distance between the lower opening.

7. A grounding repair robot according to claim 1, characterized in that, The tape winding structure is installed on one side near the frame (1). The tape winding structure includes a tape light shaft (18) and a tape retainer (20) installed on the mounting base (6). The tape light shaft (18) is rotatably connected to the mounting base (6). A tape pressure bar (19) is installed on the mounting base (6). The connection between the tape pressure bar (19) and the mounting base (6) is prestressed.

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