CN108808542B - Power transmission line broken strand repairing robot mechanism - Google Patents

Abstract

The invention belongs to the technical field of power transmission line strand breakage repair, and particularly relates to a power transmission line strand breakage repair robot mechanism. Including repair instrument, electrical apparatus box, forearm, postbrachium, preceding running gear and back running gear, wherein forearm and postbrachium set up respectively in the preceding of electrical apparatus box, the rear side, the end of forearm and postbrachium is connected with preceding running gear and back running gear respectively, the repair instrument set up on the electrical apparatus box and lie in between forearm and the postbrachium. The invention can automatically repair the broken strand, improve the efficiency, reduce the labor intensity of personnel and improve the personal safety.

Description

A robot mechanism for repairing broken strands in transmission lines

technical field

The invention belongs to the technical field of repairing broken strands of power transmission lines, in particular to a robot mechanism for repairing broken strands of power transmission lines.

Background technique

Transmission lines are an extremely important part of the power system. Due to its long-term exposure to the open air, the transmission line operates in a poor environment and is affected by various natural conditions. Under the long-term action of various stresses, the transmission line will cause the material to become brittle, and lightning flashover, external force damage, etc. will also cause damage to the surface of the conductor; especially the transmission line in seaside and industrial areas is more susceptible to corrosion, resulting in transmission lines. Cracks, broken strands and other defects. The damage and broken strands of the overhead line will reduce the current carrying capacity in light, and cause disconnection accidents in severe cases, which will affect the safe operation of the line. Therefore, once the wire is damaged or broken, it should be dealt with immediately.

At present, the measures adopted by the power sector after the shares of transmission lines are broken are mainly to repair the broken shares manually. Since the position of the broken strand is in the center of the first gear line, people need to go out to work, the wire drawing and winding operations take a long time, the labor intensity is high, and the risk is high. Therefore, it is necessary to develop equipment that can quickly repair broken strands. Manually repair the broken strands of the transmission line, improve the efficiency, reduce the labor intensity of personnel, and ensure the safe operation of the transmission line.

SUMMARY OF THE INVENTION

In view of the above problems, the purpose of the present invention is to provide a robot mechanism for repairing broken strands of power transmission lines. The agency can automatically repair broken shares, improve efficiency, reduce personnel labor intensity, and improve personal safety.

In order to achieve the above object, the present invention adopts the following technical solutions:

A robot mechanism for repairing broken strands of a transmission line, comprising a repair tool, an electrical box body, a forearm, a rear arm, a front walking device and a rear walking device, wherein the forearm and the rear arm are respectively arranged on the front and rear sides of the electrical box body, and the The ends of the forearm and the rear arm are respectively rotatably connected with a front walking device and a rear walking device, and the repair tool is arranged on the electrical box and located between the forearm and the rear arm.

The front traveling device includes a traveling wheel, a traveling driving motor and a traveling wheel supporting frame, wherein the traveling wheel supporting frame is connected with the upper end of the forearm through a horizontally placed passive rotating joint, and the axle of the traveling wheel is rotatably installed on the traveling wheel supporting frame. On the rack, the traveling drive motor is installed on the traveling wheel support frame, and the output shaft is fixedly connected with the axle of the traveling wheel;

The rear running device has the same structure as the front running device.

The repair tool includes a winding mechanism, a lifting mechanism and a rotating mechanism, wherein the winding mechanism is fixedly connected with the lifting mechanism, the lifting or lowering of the winding mechanism is realized by the lifting mechanism, the lifting mechanism is fixedly connected with the rotating mechanism, and the winding mechanism can be realized through the rotating mechanism. Rotation of mechanism and lift mechanism.

The winding mechanism includes a winding mechanism driving device, a supporting frame, a rolling gear, a wire roller and a winding frame, wherein the supporting frame and the rolling gear are both annular structures with openings, the supporting frame is connected with the lifting mechanism, and the The rolling gear is arranged on the inner side of the support frame and is slidably connected to the support frame, the winding mechanism driving device is mounted on the supporting frame and is connected with the rolling gear, and the winding mechanism driving device drives the rolling gear Circumferential movement along the support frame, the wire roller and the winding frame are fixedly connected with the rolling gear.

The winding mechanism driving device includes a motor a, a gear a and a motor bracket a, the motor a is mounted on the support bracket through the motor bracket a, the output shaft of the motor a is connected with the gear a, and the gear a is connected with the gear a. Rolling gear meshes.

There are two groups of the winding mechanism driving devices, two sides of the support frame are provided with through holes, and the two groups of the winding mechanism driving devices are connected with the rolling gears at the through holes on both sides of the support frame.

The lifting mechanism includes a lifting mechanism driving device, a lifting screw nut, a screw nut support shaft, a bearing seat, a lead screw, a guide rail, a sliding block and a connecting frame of the rotating mechanism, a connecting frame and a connecting frame of the winding mechanism, wherein the screw and the guide rail are vertically arranged. The upper and lower ends of the lead screw are respectively rotatably connected with the connecting frame and the connecting frame of the winding mechanism, and the upper and lower ends of the guide rail are respectively fixedly connected with the connecting frame and the connecting frame of the winding mechanism. It is threadedly connected with the lead screw, and is rotatably connected with the rotating mechanism. The lifting mechanism driving device is installed on the rotating mechanism and is connected with the lifting screw nut. The sliding block is installed on the rotating mechanism. The frame is mounted on the frame and is slidably connected with the guide rail, and the rotating mechanism connecting frame is connected with the rotating mechanism.

The upper end of the lifting nut is drivingly connected with the driving device of the lifting mechanism, and the lower end is provided with a nut supporting shaft, which is rotatably connected to the bearing seat through a bearing, and the bearing seat is connected to the rotating mechanism. The lead screw is threadedly connected with a locking nut a and a locking nut b located below the lifting screw nut.

The lifting mechanism driving device includes a motor c, a first synchronous pulley, a second synchronous pulley and a synchronous belt, wherein the motor c is installed on the rotating mechanism, and the output shaft is connected with the first synchronous pulley, and the first synchronous pulley is connected to the output shaft. The two synchronous pulleys are fixedly connected with the lifting nut, and are drivingly connected with the first synchronous pulley through a synchronous belt.

The rotating mechanism includes a motor d, a gear c, a fixed plate and a gear d, wherein the motor d is installed on the electrical box body, and the output shaft is connected with the gear c, and the fixed plate is rotatably installed on the On the electrical box body, the gear d is fixedly connected with the fixing plate and meshes with the gear c, and the lifting mechanism is installed on the mounting hole provided on the fixing plate.

The present invention has the following advantages and beneficial effects:

1. The wire-stretching process of the present invention is simple and effective.

2. The present invention has a good effect of repairing broken strands.

3. The present invention improves personal safety. The invention replaces the worker to carry out the wire-stripping and crimping operation, reduces the danger and improves the personal safety.

4. The present invention reduces the labor intensity of personnel. After the broken strand occurs in the line, the present invention replaces the worker to perform wire drawing and crimping on the broken strand, which can reduce the labor intensity of the personnel and improve the efficiency.

5. The present invention can overcome obstacles such as anti-vibration hammers, crimping pipes, etc., and realize the repairing of broken strands of transmission lines in the first gear.

Description of drawings

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the structural representation of the front traveling device in the present invention;

Fig. 3 is the structural representation of the repair tool in the present invention;

Fig. 4 is one of the structural representations of the winding mechanism in the present invention;

Fig. 5 is the second structural representation of the winding mechanism in the present invention;

Fig. 6 is the structural representation of the lifting mechanism in the present invention;

FIG. 7 is a schematic view of the structure of the rotating mechanism in the present invention.

Among them: 1 is the winding mechanism, 101 is the motor a, 102 is the gear a, 103 is the motor bracket a, 104 is the motor b, 105 is the gear b, 106 is the motor bracket b, 107 is the support frame, 108 is the rolling gear, 109 110 is the winding frame, 2 is the lifting mechanism, 201 is the motor c, 202 is the first synchronous pulley, 203 is the second synchronous pulley, 204 is the synchronous belt, 205 is the lifting wire mother, and 206 is the wire mother Support shaft, 207 is the bearing seat, 208 is the locking nut a, 209 is the locking nut b, 210 is the lead screw, 211 is the guide rail, 212 is the slider, 213 is the rotating mechanism connecting frame, 214 is the winding mechanism connecting frame, 215 is the connecting frame, 3 is the rotating mechanism, 301 is the motor d, 302 is the gear c, 303 is the fixed plate, 304 is the sliding bearing, 305 is the gear d, 10 is the repair tool, 20 is the electrical box body, 30 is the forearm, 40 is the rear arm, 50 is the front traveling device, 501 is the traveling wheel, 502 is the traveling driving motor, 503 is the traveling wheel support frame, and 60 is the rear traveling device.

Detailed ways

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

As shown in FIG. 1 , a robot mechanism for repairing broken strands of a transmission line provided by the present invention includes a repair tool 10 , an electrical box 20 , a forearm 30 , a rear arm 40 , a front walking device 50 and a rear walking device 60 , wherein the forearm 30 and the rear arm 40 are respectively arranged on the front and rear sides of the electrical box body 20, the ends of the forearm 30 and the rear arm 40 are respectively connected with a front walking device 50 and a rear walking device 60, the repair tool 10 is arranged on the electrical box body 20 and between the forearm 30 and the rear arm 40.

As shown in FIG. 2 , the front traveling device 50 includes a traveling wheel 501, a traveling driving motor 502 and a traveling wheel supporting frame 503, wherein the traveling wheel supporting frame 503 is connected to the upper end of the forearm 30 through a horizontally placed passive rotating joint, so The axle of the traveling wheel 501 is rotatably mounted on the traveling wheel support frame 503 , the traveling drive motor 502 is mounted on the traveling wheel support frame 503 , and the output shaft is fixedly connected with the axle of the traveling wheel 501 .

The rear walking device 60 has the same structure as the front walking device 50 , the forearm 30 and the rear arm 40 have the same structure, and the rear walking device 60 is connected to the upper end of the rear arm 40 through another horizontal passive rotating joint.

As shown in FIG. 3 , the repair tool 10 includes a winding mechanism 1 , a lifting mechanism 2 and a rotating mechanism 3 , wherein the winding mechanism 1 is fixedly connected with the lifting mechanism 2 , and the lifting mechanism 1 realizes the lifting or lowering of the winding mechanism 1 . The lifting mechanism 2 is fixedly connected with the rotating mechanism 3 , and the rotation of the winding mechanism 1 and the lifting mechanism 2 can be realized through the rotating mechanism 3 .

As shown in FIGS. 4 and 5 , the winding mechanism 1 includes a winding mechanism driving device, a support frame 107 , a rolling gear 108 , a wire roller 109 and a winding frame 110 , wherein the support frame 107 and the rolling gear 108 are both with openings In an annular structure, the support frame 107 is connected with the lifting mechanism 2 , and the rolling gear 108 is disposed on the inner side of the support frame 107 and is slidably connected with the support frame 107 . The winding mechanism driving device is mounted on the support frame 107 and is in driving connection with the rolling gear 108. The winding mechanism driving device drives the rolling gear 108 to move in the circumferential direction along the supporting frame 107. The wire roller 109 and The winding racks 110 are fixedly connected to the two sides of the rolling gear 108 respectively.

The winding mechanism driving devices may be one group or two groups.

In this embodiment, the winding mechanism driving devices are divided into two groups, the two sides of the support frame 107 are provided with through holes, and the two groups of the winding mechanism driving devices are connected to the through holes on both sides of the support frame 107 with all the through holes on both sides of the support frame 107. The rolling gear 108 is drive-connected.

One group of the winding mechanism driving devices includes a motor a101, a gear a102 and a motor bracket a103, wherein the motor a101 is horizontally installed on one side of the support bracket 107 through the motor bracket a103, and the output shaft of the motor a101 is connected to the gear a102 is connected, and the gear a102 is engaged with the rolling gear 108 at the through hole on one side of the support frame 107 .

Another group of the winding mechanism driving devices includes a motor b104, a gear b105 and a motor bracket b106. The motor b104 is horizontally installed on the other side of the support frame 107 through the motor bracket b106. The output shaft of the motor b104 The gear b105 is connected with the rolling gear 108 at the through hole on the other side of the support frame 107 .

The support frame 107 is a 270-degree ring, and an annular sliding guide is embedded therein, and the rolling gear 108 is a 270-degree ring gear and is slidably connected to the annular sliding guide.

The motor a101 and the motor b104 respectively drive the gear a102 and the gear b105 in the same direction to realize the rotation of the rolling gear 108 along the circumference of the support frame 107. Since the winding frame 110 and the wire roller 109 are fixedly connected with the rolling gear 108, the winding frame 110 and the The circumference of the wire roller 109 rotates.

As shown in FIG. 6, the lifting mechanism 2 includes a lifting mechanism driving device, a lifting screw nut 205, a screw nut support shaft 206, a bearing seat 207, a screw 210, a guide rail 211, a slider 212, a rotating mechanism connecting frame 213, a winding Mechanism connecting frame 214 and connecting frame 215, wherein the lead screw 210 and the guide rail 211 are arranged in the vertical direction, the upper and lower ends of the lead screw 210 are respectively rotatably connected with the winding mechanism connecting frame 214 and the connecting frame 215, the guide rail The upper and lower ends of 211 are respectively fixedly connected to the connecting frame 214 and the connecting frame 215 of the winding mechanism. The lifting screw nut 205 is threadedly connected with the lead screw 210 and is rotatably connected with the rotating mechanism 3 , and the lifting mechanism driving device is mounted on the rotating mechanism 3 and is drivingly connected with the lifting screw nut 205 , the slider 212 is installed on the rotating mechanism connecting frame 213 and is slidably connected with the guide rail 211 , and the rotating mechanism connecting frame 213 is connected with the rotating mechanism 3 . The winding mechanism connecting frame 214 is fixedly connected with the winding mechanism 1 .

The upper end of the lifting nut 205 is in driving connection with the driving device of the lifting mechanism, and the lower end is provided with a nut supporting shaft 206. The nut supporting shaft 206 is rotatably connected to the bearing seat 207 through a bearing, and the bearing seat 207 Connected to the rotating mechanism 3 . The lead screw 210 is threadedly connected with a locking nut a208 and a locking nut b209 located below the lifting screw nut 205. The screw nut support shaft 206 restricts the vertical movement of the lifting screw nut 205 through a bearing, and is locked Nut a208 and lock nut b209 prevent loosening.

The lifting mechanism driving device includes a motor c201, a first synchronous pulley 202, a second synchronous pulley 203 and a synchronous belt 204, wherein the motor c201 is installed on the rotating mechanism 3, and the output shaft is connected to the first synchronous pulley 202. The second synchronous pulley 203 is fixedly connected with the lifting screw nut 205, and is connected to the first synchronous pulley 202 through a synchronous belt 204 in a driving manner. The second synchronous pulley 203 is coaxial with the lifting nut 205 .

The motor c201 drives the first synchronous pulley 202 to rotate, and drives the second synchronous pulley 203 to rotate through the synchronous belt 204 , so as to realize the rotation of the lifting screw nut 205 , thereby realizing the ascending or descending of the lead screw 210 . Since the guide rail 211 is fixedly connected with the lead screw 210 through the connecting frame 215 and the winding mechanism connecting frame 214 , the guide rail 211 can ascend or descend along the slider 212 at the same time, and the movement of the guide rail 211 ensures the smooth ascending or descending movement of the lead screw 210 sex. Since the winding mechanism 1 is fixedly connected with the lifting mechanism 2 through the winding mechanism connecting frame 214 , the lifting or lowering of the winding mechanism 1 is realized.

As shown in FIG. 7 , the rotating mechanism 3 includes a motor d301, a gear c302, a fixing plate 303 and a gear d305, wherein the motor d301 is installed on the electrical box 20, and the output shaft is connected with the gear c302, and the fixing plate 303 passes through The sliding bearing 304 is rotatably mounted on the electrical box 20 , the gear d305 is fixedly connected with the fixing plate 303 and meshes with the gear c302 . The fixing plate 303 is provided with a mounting hole connected with the lifting mechanism 2 , and the lifting mechanism 2 is mounted on the mounting hole on the fixing plate 303 .

The motor d301 is driven by the gear c 302 and the gear d305 to drive the fixed plate 303 to rotate. Because the sliding bearing 304 is installed on the electrical box body 20, and is fixedly connected with the fixed plate 303, the fixed plate 303 is realized along the electrical box body 20. circle rotation. Since the lifting mechanism 2 and the winding mechanism 1 are fixedly connected with the fixing plate 303 , the circular rotation of the lifting mechanism 2 and the winding mechanism 1 is realized.

The operation process of the present invention is as follows:

The first step: winding one end of the aluminum wire on the winding support frame 110 , and then rolling the aluminum wire onto the wire roller 109 in sequence.

Step 2: The robot goes online, and the broken stock repair operation mechanism walks along the transmission line and stops near the broken stock.

The third step: the lifting mechanism 2 is lifted, and the center of the support frame 107 of the winding mechanism 1 is positioned near the center of the transmission line.

Step 4: The robot moves forward slowly, while the motor a101 and the motor b104 drive the rolling gear 108 to rotate in the inner circumference of the support frame 107, and drive the wire roller 109 and the winding frame 110 to rotate around the circumference, thereby realizing the winding of the aluminum wire on the transmission line.

Step 5: After all the broken strands of the transmission line are wound back to the line, the lifting mechanism 2 descends, the winding mechanism 1 descends below the transmission line, and the rotating mechanism 3 drives the lifting mechanism 2 and the winding mechanism 1 to rotate continuously in a circle to realize the line rollers 109 and 109. The continuous twisting of the wires at both ends of the winding frame 110 prevents the ends of the aluminum wires from loosening.

Claims (8)

1. A robot mechanism for repairing broken strands in a transmission line, characterized in that it comprises a repair tool (10), an electrical box (20), a forearm (30), a rear arm (40), a front walking device (50) and a rear walking device The device (60), wherein the forearm (30) and the rear arm (40) are respectively disposed on the front and rear sides of the electrical box body (20), and the ends of the forearm (30) and the rear arm (40) are respectively rotatably connected There are a front walking device (50) and a rear walking device (60), and the repair tool (10) is arranged on the electrical box (20) and is located between the forearm (30) and the rear arm (40); The repair tool (10) includes a winding mechanism (1), a lifting mechanism (2) and a rotating mechanism (3), wherein the winding mechanism (1) is fixedly connected with the lifting mechanism (2), and the winding mechanism is realized by the lifting mechanism (1). (1) rise or fall, the lifting mechanism (2) is fixedly connected with the rotating mechanism (3), and the rotation of the winding mechanism (1) and the lifting mechanism (2) can be realized through the rotating mechanism (3); The winding mechanism (1) includes a winding mechanism driving device, a support frame (107), a rolling gear (108), a wire roller (109) and a winding frame (110), wherein the support frame (107) and the rolling gear (108) are both The supporting frame (107) is connected with the lifting mechanism (2), and the rolling gear (108) is arranged on the inner side of the supporting frame (107), and can be connected with the supporting frame (107). slidably connected, the winding mechanism driving device is mounted on the support frame (107) and is in driving connection with the rolling gear (108), the winding mechanism driving device drives the rolling gear (108) along the supporting frame (107) ) moves circumferentially, and both the wire roller (109) and the winding frame (110) are fixedly connected with the rolling gear (108). 2. The robot mechanism for repairing broken strands of a power transmission line according to claim 1, wherein the front traveling device (50) comprises a traveling wheel (501), a traveling driving motor (502) and a traveling wheel supporting frame (503) , wherein the traveling wheel support frame (503) is connected with the upper end of the forearm (30) through a horizontally placed passive rotating joint, and the axle of the traveling wheel (501) is rotatably mounted on the traveling wheel support frame (503), and the The traveling drive motor (502) is mounted on the traveling wheel support frame (503), and the output shaft is fixedly connected with the axle of the traveling wheel (501); The rear running device (60) has the same structure as the front running device (50). 3. The power transmission line broken strand repairing robot mechanism according to claim 1, wherein the winding mechanism driving device comprises a motor a (101), a gear a (102) and a motor support a (103), the motor a (101) is mounted on the support frame (107) through the motor bracket a (103), the output shaft of the motor a (101) is connected with the gear a (102), and the gear a (102) is connected with the rolling gear (108) Engagement. 4. The robot mechanism for repairing broken strands of a power transmission line according to claim 1, wherein the winding mechanism driving devices are two groups, the two sides of the support frame (107) are provided with through holes, and the two groups of The winding mechanism driving device is in driving connection with the rolling gear (108) at the through holes on both sides of the support frame (107). 5. The robot mechanism for repairing broken strands of a transmission line according to claim 1, wherein the lifting mechanism (2) comprises a lifting mechanism driving device, a lifting nut (205), a nut support shaft (206), a bearing The seat (207), the lead screw (210), the guide rail (211), the slider (212), the rotating mechanism connecting frame (213), the winding mechanism connecting frame (214) and the connecting frame (215), wherein the lead screw (210) and the guide rail (211) are arranged in the vertical direction, the upper and lower ends of the lead screw (210) are respectively rotatably connected with the connecting frame (214) and the connecting frame (215) of the winding mechanism, and the upper end of the guide rail (211) , the lower ends are respectively fixedly connected with the connecting frame (214) and the connecting frame (215) of the winding mechanism, the lifting screw nut (205) is threadedly connected with the lead screw (210), and is rotatably connected with the rotating mechanism (3) , the driving device of the lifting mechanism is installed on the rotating mechanism (3), and is connected with the lifting nut (205) in a driving manner, and the sliding block (212) is installed on the connecting frame (213) of the rotating mechanism, and is It is slidably connected with the guide rail (211), and the rotating mechanism connecting frame (213) is connected with the rotating mechanism (3). 6. The robot mechanism for repairing broken strands of a transmission line according to claim 5, wherein the upper end of the lifting nut (205) is drive-connected with the driving device of the lifting mechanism, and the lower end is provided with a nut support shaft (206). ), the nut support shaft (206) is rotatably connected to a bearing seat (207) through a bearing, the bearing seat (207) is connected to the rotating mechanism (3), and the lead screw (210) is threaded A locking nut a (208) and a locking nut b (209) located below the lifting nut (205) are connected. 7. The robot mechanism for repairing broken strands of a power transmission line according to claim 5, wherein the lifting mechanism driving device comprises a motor c (201), a first synchronous pulley (202), and a second synchronous pulley (203). ) and a timing belt (204), wherein the motor c (201) is installed on the rotating mechanism (3), and the output shaft is connected with the first timing belt pulley (202), and the second timing belt pulley (203) is connected with The lifting nut (205) is fixedly connected, and is drivingly connected with the first timing pulley (202) through a timing belt (204). 8 . The robot mechanism for repairing broken strands of a transmission line according to claim 1 , wherein the rotating mechanism ( 3 ) comprises a motor d ( 301 ), a gear c ( 302 ), a fixing plate ( 303 ) and a gear d ( 8 . 305), wherein the motor d (301) is mounted on the electrical box (20), and the output shaft is connected with the gear c (302), and the fixing plate (303) is rotatably mounted on the On the electrical box body (20), the gear d (305) is fixedly connected with the fixing plate (303) and meshes with the gear c (302), and the lifting mechanism (2) is installed on the fixing plate (303) ) on the mounting holes provided.

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