CN109412089A - Transmission line wire equipotential intelligently repairs robot - Google Patents
Transmission line wire equipotential intelligently repairs robot Download PDFInfo
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- CN109412089A CN109412089A CN201811387977.8A CN201811387977A CN109412089A CN 109412089 A CN109412089 A CN 109412089A CN 201811387977 A CN201811387977 A CN 201811387977A CN 109412089 A CN109412089 A CN 109412089A
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- wire
- wrapping disk
- lead screw
- wire wrapping
- transmission line
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 36
- 230000008439 repair process Effects 0.000 title claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 238000004804 winding Methods 0.000 claims abstract description 14
- 238000010618 wire wrap Methods 0.000 claims description 94
- 230000007246 mechanism Effects 0.000 claims description 92
- 239000000725 suspension Substances 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 12
- 230000002457 bidirectional effect Effects 0.000 claims description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 8
- 229910052744 lithium Inorganic materials 0.000 claims description 8
- 238000009826 distribution Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 6
- 239000011148 porous material Substances 0.000 claims description 5
- 125000004122 cyclic group Chemical group 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 11
- 230000009194 climbing Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 229910052782 aluminium Inorganic materials 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical group [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000009730 filament winding Methods 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 229920001875 Ebonite Polymers 0.000 description 1
- 208000025274 Lightning injury Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000000481 breast Anatomy 0.000 description 1
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- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/16—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for repairing insulation or armouring of cables
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- Toys (AREA)
Abstract
The invention discloses a kind of transmission line wire equipotentials intelligently to repair robot, it include executing agency, rack and control system, the control system is used to control the movement of executing agency, the executing agency includes the running gear that can be walked on conducting wire, the wire winding device for being wound in preformed armor rods on conducting wire, the control system includes electric-control system and terrestrial operation system, and executing agency, electric-control system are installed in rack.Lead wire and earth wire in transmission line equipotential intelligence repair apparatus of the invention, pass through multiaxis positioning control system, compact executing agency and electric-control system, wireless-transmission network and intelligence HMI terrestrial operation system realize the automatic detecting operation of personnel ground remote control/auxiliary operation ultra-high-tension power transmission line and the auto-mending operation of stranded route.
Description
Technical field
The present invention relates to a kind of livewire work conducting wire mending device, especially a kind of transmission line wire equipotential is intelligently repaired
Mend robot.
Background technique
Various transmission lines of electricity or distribution line, due to mostly outside being exposed to, being exposed to the elements, and may also suffer from
Lightning stroke, fire, the outer events such as broken cause conducting wire to damage, and the conducting wire of these damages needs in time there are great risk to it
It is repaired, when carrying out repairing work, most cases need artificial altitude hot-line operation, and danger coefficient is high, and work flow is multiple
Miscellaneous, serious conditions need power failure operation, reduce the reliability of power supply, bring economic loss.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art places, and provide one kind and can be used for charging repairing grounded-line
The intelligent repairing robot of transmission line wire equipotential.
A kind of transmission line wire equipotential intelligence repairing robot, includes executing agency, rack and control system, institute
The control system stated is used to control the movement of executing agency, and the executing agency includes the walking dress that can be walked on conducting wire
It sets, the wire winding device for being wound in preformed armor rods on conducting wire, the control system includes electric-control system and terrestrial operation
System, executing agency, electric-control system are installed in rack.
Transmission line wire equipotential of the invention intelligently repairs robot, is realized and is existed using the running gear of executing agency
It walks on the conducting wire for needing to repair, is achieved the goal conducting line segment using control system control, then start wire winding device and realize to leading
The repairing of line.
The wire winding device includes take-up mechanism and clamping mechanism, and the take-up mechanism includes what two halves were arranged
Wire wrapping disk support base, two halves setting wire wrapping disk, electric lock and thread lead screw structure, the lead screw be bidirectional helical lead screw, two
Half wire wrapping disk support base is separately positioned on two sections of two-way lead screw and does separated or closing movement, institute under the drive of lead screw
The electric lock stated is provided with semicircle on the forward surface of fifty-fifty wire wrapping disk support base for locking the wire wrapping disk support base after closing up
Hole, the semicircle orifice of the wire wrapping disk support base of two halves are merged into a circular hole, and offer half-turn on the hole wall of semicircle orifice can be embedding
Enter the groove of half wire wrapping disk, the groove of two half rings surrounds an annular groove when wire wrapping disk support base closes up, and wire wrapping disk is nested
Both in annular groove and in rotation with one heart, the center hole that may pass through conducting wire is provided at the center of circle position of wire wrapping disk,
Center hole is respectively distributed on the wire wrapping disk of two halves, is arranged at intervals in wire hole, wire wrapping disk on fifty-fifty wire wrapping disk
Wrapping wire pore size distribution further includes having a gear drive at same circumference, in gear drive final-stage gear be cyclic structure and with around
The parallel one end for being set to wire wrapping disk in the end face of wire tray, final-stage gear drive wire wrapping disk rotation, and final-stage gear is two halves formula knot
Structure, gear-driven driving wheel are supported on wire wrapping disk support base；The clamping mechanism includes clamping brace seat, is set to
Gripping block and thread lead screw structure on clamping brace seat, the lead screw are bidirectional helical lead screw, the clamping brace seat of two halves
Be separately positioned on two sections of two-way lead screw it is upper and do and separate or closing movement under the drive of lead screw, the clamping brace seat,
Gripping block is two halves composition, Flexible Fixturing block is additionally provided in gripping block, Flexible Fixturing block is two halves structure, in Flexible Fixturing
It is arranged at intervals with wired hole on block, wired pore size distribution is on the same circumference of Flexible Fixturing block, the quantity and wire wrapping disk in wired hole
The quantity in upper hole is suitable, and the centre of the Flexible Fixturing block of two halves is provided with center hole；The clamping mechanism setting
On the rack, it does in the thread lead screw that take-up mechanism is arranged on the rack and along lead screw far from the cunning with close clamping mechanism
Dynamic, clamping mechanism be in parallel state with two two-way lead screws of take-up mechanism, the thread lead screw in rack and clamping mechanism and
The bidirectional helical lead screw of take-up mechanism is perpendicular, the center hole of the Flexible Fixturing block in clamping mechanism and the wrapping wire of take-up mechanism
The center hole of disk is concentric.
One end of the preformed armor rods of required length is inserted into clamping mechanism at work by this wire winding device of the invention
Flexible Fixturing block wired hole in, the other end pass through take-up mechanism wire wrapping disk in wire hole, at this time at take-up mechanism
In clamping mechanism end, then the equipotential intelligence repair apparatus is put on conducting wire, conducting wire, the center hole of wire wrapping disk, it is flexible
The center hole of gripping block is in same plane, and the bidirectional helical lead screw for starting take-up mechanism and clamping mechanism closes up, wrapping wire
Mechanism merges to clamp with the two halves of clamping mechanism conducting wire and to be locked with electric lock, start the thread lead screw in rack and start simultaneously around
Gear drive in silk mechanism, the wire wrapping disk of take-up mechanism is realized under gear drive to be rotated and drives the preformed armor rods being through thereon
It rotates, while doing the movement far from clamping mechanism under the drive of the thread lead screw of take-up mechanism also on the rack, thus real
Now by preformed armor rods on conducting wire to be repaired, after the length of the range ability serious offense preformed armor rods of take-up mechanism, preformed armor rods will
From the realization winding that falls off in wire hole of wire wrapping disk.
It is arranged at intervals at the same circumference for that end face that the wire wrapping disk other end is in contact with wire wrapping disk support base convex
Follower is taken turns, the sliding slot of a circle is provided in the respective face of wire wrapping disk support base, Cam Follower is stuck in sliding slot and runs.
Cam Follower is set on the end face that wire wrapping disk is in contact with wire wrapping disk support base, it can be ensured that wire wrapping disk is rotating
It is concentric with double semicircle sliding slots of support base in the process, guarantee double half wire wrapping disk spinning movement smoothnesses without stuck.
It is provided in the middle receipts circular hole outer ring of that end face towards clamping mechanism of wire wrapping disk tapered by two halves structure
At casing, for the small end of casing far from wire wrapping disk, the big end of casing is connected to wire wrapping disk.
Be arranged casing purpose be in order to make preformed armor rods from wire wrapping disk around wire hole it is backing out after realized by cone cell casing
Running guarantees that good winding is realized in the tail portion of preformed armor rods.
Be radially distributed with gear blade along wire wrapping disk on that end face for being provided with casing of wire wrapping disk, gear blade by
Casing extends outwardly, and the gear blade quantity is to keep apart each on wire wrapping disk around wire hole.
Preformed armor rods are skidded off from around wire hole when ending, are closed up by the contraction that baffle guides preformed armor rods to be uniformly distributed formula.
Driving wheel in the gear drive is set to the left side below final-stage gear, final-stage gear lower right also
One anti-detachment gear is set, and driving wheel and anti-detachment gear are divided on the wire wrapping disk support base of two halves.
When take-up mechanism closes up, driving wheel drives final-stage gear rotation, separates rear drive gear and anti-detachment gear again
It can prevent wire wrapping disk from sliding disengaging from the sliding slot of wire wrapping disk support base.
The wired hole of Flexible Fixturing block ensures that initial alignment is solid and reliable while preformed armor rods are easily inserted into, while dynamic in wrapping wire
Can be moved forward by gripping block after the completion of work goes to sticks and staves Flexible Fixturing block.
Flexible Fixturing block not only solves the problem of preformed armor rods initial alignment hardly possible, its can also be kept broken by wrapping wire operation
It splits, final conducting wire noresidue or there are a small amount of residues.
The Flexible Fixturing block is common Rubber materials.
The rack is rectangular frame body, and two sliding rails and one section of lead screw, lead screw are provided on frame body
It is parallel to sliding rail and between two sliding rails, is provided with sliding block on the slide rail, take-up mechanism is connected with sliding block.
On the slide rail by take-up mechanism setting, it is ensured that take-up mechanism is vertical with rack holding when advancing along conducting wire direction.
The clamping mechanism is installed in rack by attachment base.
Clamping mechanism is mounted on the rack by attachment base, is conveniently adjusted the height of clamping mechanism.
It is connected between the electric-control system and rack using buckle-type.
Buckle-type division easy to connect is readily transported, and modularized design also facilitates maintenance upgrade in the future.
The frame body is aluminum section bar frame.
Loss of weight to the limit is done using aluminum section bar frame.
Bottom plate is set on frame body.
Setting bottom plate, which can serve, to be fixed and ties, and reinforces ensuring that parallel sliding track is mounted on while main body frame stability
In same plane.
The running gear includes the conductive casters of front and back arrangement, conductive casters mounting base, is arranged in conductive casters mounting base
On suspension hook, conductive casters mounting base supported on the rack by suspension arm, and the wheel shafts of conductive casters passes through conductive casters mounting base, one end
Conductive casters are installed, belt wheel is installed in one end, and belt wheel drives wheel shaft rotation, and the wheel shaft of rotation drives conductive casters rotation.
Conductive casters mounting base is an integral structure with suspension hook.
Mounting base uses unitary design, it is ensured that conductive casters and mounting base firm and reliable connection, while also ensure that suspension hook with
Firm and reliable connection between suspension arm.
The junction of suspension arm and rack, which installs additional, reinforces angled seat.
Angled seat is reinforced in setting, and the stability that suspension arm is connect with rack can be improved.
Each thread lead screw, driving wheel and two conductive casters are respectively adopted independent motor and are driven.
Overall structure can be greatly simplified using independent motor.
The electric-control system includes battery, PLC controller, motor driver and motor, relay, electric pushrod, electricity
Lock, limit switch, Switching Power Supply, breaker, indicator light, interchanger, camera, the motor includes for driving wrapping wire
The motor and realize the wrapping wire motor that the two halves of take-up mechanism close up and separate that mechanism is moved forward and backward along the lead screw of rack, motor
It further include the motor for realizing clamping mechanism and closing up and separating, motor further includes the motor for rotating driving wheel, and motor further includes making
Two conductive casters walking movable motor, the PLC controller respectively with impulse type driver, electric lock, limit switch, relay
Device, bus driver block and interchanger are connected, and the motor driver is connected with walking turbin generator, the bus driver
Module is connected with bus-type driver, and for driving wrapping wire motor and wired motor, interchanger is connected with to be taken the photograph bus-type driver
As head and the end wireless communication module AP, the end wireless communication module AP is carried out data transmission by interchanger and PLC controller, battery
It powers to PLC controller, wireless communication module, interchanger, bus driver block and bus-type driver, BMS lithium battery system
By RS485 communication and PLC communicating battery information, data are transmitted to terrestrial operation by being wirelessly transferred again by battery information by PLC
System, the wireless telecommunications end bridge AP carry out image transmitting by interchanger and road camera, and the terrestrial operation system passes through
Wireless communication module cpe end and the end wireless telecommunications bridge AP carry out point-to- point communication.
Electric-control system carries out point-to- point communication by the end wireless telecommunications bridge AP and ground bridge cpe end, and maximum distance is
The end sighting distance 1KM or more, wireless telecommunications bridge AP is carried out data transmission by interchanger and PLC, realizes the walking of equipment, climbing,
Wrapping wire, self-zeroing, electric lock switch, the motion control functions such as push rod lifting.BMS lithium battery system is communicated by RS485 and PLC
Data are transmitted to terrestrial operation system by being wirelessly transferred again by battery information by communicating battery information, PLC.Wireless telecommunications bridge AP
End carries out image transmitting by interchanger and 2 road cameras, realizes the real time monitoring of operation field, record and playback function.
The PLC controller includes the motion control port of pulse output end mouth and bus output port, further includes
There is I/O port, DI therein connects limit switch, driver alarm, and DO connects traveling wheel motor driven as pulse output end mouth
Device connects electric lock, relay, and PLC controller is communicated by RS485 and BMS lithium battery management system, reading electricity, temperature,
Voltage, electric current key message, PLC controller carry DC5V power supply as the power supply of impulse type motor driver input terminal.
Each axis is respectively defined as by 6 motors of electric control system controls by right-handed coordinate system: 1 axis walking 1X, the walking of 2 axis
2X, 3 axis wrapping wire R, 4 axis wrapping wire Y, 5 axis wrapping wire X, 6 axle clamp silk Y.Wherein 1,2 impulse type driver control is used, 3-6 axis uses
Bus-type driver control.
In summary, the present invention following advantage compared with prior art:
Lead wire and earth wire in transmission line equipotential intelligence repair apparatus of the invention belongs to domestic initiation, and international blank product is filled up
Ultra-high-tension power transmission line repairs blank of the field without automation equipment, realizes significant technology innovation and breaks through.
Lead wire and earth wire in transmission line equipotential intelligence repair apparatus of the invention, passes through multiaxis positioning control system, compact
Executing agency and electric-control system, wireless-transmission network and intelligence HMI terrestrial operation system realize personnel ground remote control/auxiliary
Help the automatic detecting operation of the ultra-high-tension power transmission line of operation and the auto-mending operation of stranded route.The present apparatus also has obstacle detouring,
Climbing, real time monitoring, status display, motion control, self-zeroing, record playback, the functions such as fault alarm and emergency stop are to use
Automation equipment carries out a kind of new exploration of high aloft livewire work, avoids the high aloft of power grid worker in a creative way
Equipotential live line work and complicated inefficient safety operation process, while transmission line of electricity power failure is reduced, high altitude operation manpower is liberated, is more pacified
Entirely, more efficient, it is more economical, it has broad application prospects and promotional value.
Preformed armor rods are passed through flexible wired piece of progress initial position fix, clamping mechanism and take-up mechanism interval one by the present invention
The relative position of section distance, the wired hole in wire hole cooperation Flexible Fixturing block in take-up mechanism can determine preformed armor rods appearance
State, being plugged preformed armor rods in order in this way may insure that the initial position of preformed armor rods is uniformly surrounded on transmission line wire, simultaneously
Keep the rotating tendency of more preformed armor rods identical, it is ensured that Filament Winding process will not interfere.
The take-up mechanism and clamping mechanism of the present apparatus are all made of bidirectional helical lead screw as pedestal, and synchronization may be implemented and beat
Open/close holds together to operate, and is in opening state when under line.After device is online, carry out closing up operation by terrestrial operation system, around
Silk mechanism closes up with clamping mechanism automatic synchronization, by conductor clamping in centre bore, 2 times of completion preformed armor rods and centre rotational axis
Positioning.It is difficult to solve the lower 16 preformed armor rods initial alignment of line by the smart design of Flexible Fixturing block and revolution wire wrapping disk, 2 on line
Secondary positioning is difficult many technical problems such as to be difficult to reproduce with artificial wrapping wire hand motion.
Clamping mechanism cooperation take-up mechanism has successfully reproduced the winding repairing movement of 16 spiral shape preformed armor rods, and to twining
It is optimized around repairing movement, realizes key automation wrapping wire function, effect is better than manually wrapping wire, realizes important technical
It breaks through.
By way of the artificial on-line teaching of terrestrial operation system, manpower realizes half under the premise of being not directly contacted with preformed armor rods
Wrapping wire operation is automated, while recording the exercise data in each axis each stage.Umber of pulse, pulse frequency are adjusted by many experiments again
Find out one group of data that a key full-automation wrapping wire may be implemented.Data are using careful optimization, so that automation Filament Winding process
Speed is faster, more smooth, and wrapping wire movement is more accurate, and final automatic winding effect is significantly better than manually wrapping wire effect.
Detailed description of the invention
Fig. 1 is lead wire and earth wire in transmission line equipotential intelligence repair apparatus structural schematic diagram of the invention.
Fig. 2 is conducting wheel structure schematic diagram
Fig. 3 is take-up mechanism structural schematic diagram of the invention.
Fig. 4 is another angle schematic diagram of take-up mechanism.
Fig. 5 is take-up mechanism sectional view.
Fig. 6 is the sectional schematic diagram of take-up mechanism.
Fig. 7 is clamping mechanism schematic diagram.
Fig. 8 is clamping mechanism sectional schematic diagram.
Fig. 9 is frame body structure schematic diagram.
Figure 10 is the front view of Fig. 9.
Figure 11 is electric-control system block diagram.
Figure 12 is automatically controlled conceptual schematic drawing.
Figure 13 is coordinate system diagram.
Figure 14 is the schematic diagram of electric cabinet.
Figure 15 is the top view of electric cabinet.
1 executing agency of label declaration, 11 running gear, 111 conductive casters mounting base, 112 suspension hook, 113 suspension arm, 12 wire winding device
121 take-up mechanism, 1211 wire wrapping disk support base, 12111 annular groove, 1212 wire wrapping disk 12121 keeps off blade around wire hole 121212
Non- 1216 Cam Follower of grade gear, 122 clamping mechanism 1221 of 121213 taper semicanal, 1213 electric lock, 1214 driving wheel 1215 clamps
122 gripping block of support base, 1223 Flexible Fixturing block, 1,224 3 control system of wired 2 rack of hole, 31 electric-control system, 32 terrestrial operation system
4 threaded screw rod, 57 sliding block of anti-detachment 6 sliding rail of gear, 8 bottom plate.
Specific embodiment
The present invention is described in more detail below with reference to embodiment.
Embodiment 1
A kind of transmission line wire equipotential intelligence repairing robot, includes executing agency 1, rack 2 and control system 3, institute
The control system stated is used to control the movement of executing agency, and the executing agency includes the walking dress that can be walked on conducting wire
The 11, wire winding device 12 for being wound in preformed armor rods on conducting wire is set, the control system includes electric-control system and ground
Operating system, executing agency, electric-control system are installed in rack.The wire winding device include take-up mechanism 121 with it is wired
Mechanism 122, the take-up mechanism include two halves setting wire wrapping disk support base 1211, two halves setting wire wrapping disk 1212,
4 structure of electric lock 1213 and thread lead screw, the lead screw are bidirectional helical lead screw, and the wire wrapping disk support base of two halves is separately positioned on
Two sections of two-way lead screw are upper and do and separate or closing movement under the drive of lead screw, the electric lock be used to lock after closing up around
Wire tray support base, is provided with semicircle orifice on the forward surface of fifty-fifty wire wrapping disk support base, and the half of the wire wrapping disk support base of two halves
Circular hole is merged into a circular hole, and the groove of the embeddable half wire wrapping disk of half-turn, wire wrapping disk are offered on the hole wall of semicircle orifice
The groove of two half rings surrounds an annular groove 12111 when support base closes up, and wire wrapping disk is nested in annular groove and is rotating
It is both middle concentric, the center hole that may pass through conducting wire is provided at the center of circle position of wire wrapping disk, center hole is respectively distributed to two
On half wire wrapping disk, the wrapping wire pore size distribution in wire hole 12121, wire wrapping disk is arranged at intervals on fifty-fifty wire wrapping disk in same
At circumference, wire wrapping disk has gear blade 121212 and taper semicanal 121213 towards clamping mechanism side, the ending for wrapping wire operation
Movement, further includes having a gear drive, and final-stage gear is cyclic structure and parallel with the end face of wire wrapping disk sets in gear drive
It is placed in one end of wire wrapping disk, final-stage gear 1215 drives wire wrapping disk rotation, and final-stage gear is two-half structure, gear-driven master
Driving wheel 1214 is supported on wire wrapping disk support base；The clamping mechanism includes clamping brace seat 1221, is set to clamping branch
The gripping block 1222 and thread lead screw structure on seat are supportted, the lead screw is bidirectional helical lead screw, the clamping brace seat point of two halves
Two sections that two-way lead screw is not arranged in are done above and under the drive of lead screw separately or closing movement, the clamping brace seat press from both sides
Tight block is two halves composition, and Flexible Fixturing block 1223 is additionally provided in gripping block, and Flexible Fixturing block is two halves structure, is pressed from both sides in flexibility
Be arranged at intervals with wired hole 1224 on tight block, wired pore size distribution on the same circumference of Flexible Fixturing block, the quantity in wired hole with
The quantity in hole is suitable on wire wrapping disk, and the centre of the Flexible Fixturing block of two halves is provided with center hole, center hole distribution
In on two Flexible Fixturing blocks；The clamping mechanism is arranged on the rack, the screw thread that take-up mechanism is arranged on the rack
It does on lead screw and along lead screw and is in far from the two two-way lead screws with the sliding close to clamping mechanism, clamping mechanism and take-up mechanism
Parallel state, thread lead screw in rack and the bidirectional helical lead screw of clamping mechanism and take-up mechanism are perpendicular, clamping mechanism
In Flexible Fixturing block center hole and the wire wrapping disk of take-up mechanism center hole it is concentric.In the wire wrapping disk other end and wrapping wire
It is arranged at intervals with Cam Follower at the same circumference for that end face that disk support base is in contact, in the corresponding of wire wrapping disk support base
The sliding slot of a circle is provided on face, Cam Follower 1216, which is stuck in sliding slot, to be run.Wire wrapping disk towards clamping mechanism that
The center hole outer ring of one end face is provided with the tapered casing being made of two halves, and the small end of casing is far from wire wrapping disk, casing
Big end be connected to wire wrapping disk.Gear leaf is radially distributed with along wire wrapping disk on that end face for being provided with casing of wire wrapping disk
Piece, gear blade are extended outwardly by casing, and each on wire wrapping disk is is kept apart by the gear blade quantity around wire hole.The tooth
Driving wheel in wheel transmission is set to the left side below final-stage gear, also sets up an anti-detachment tooth in final-stage gear lower right
Wheel 5, driving wheel and anti-detachment gear are divided on the wire wrapping disk support base of two halves.The Flexible Fixturing block is common hard rubber
Material.The rack is rectangular frame body, two sliding rails and one section of lead screw is provided on frame body, lead screw is parallel
In sliding rail 6 and between two sliding rails, it is provided with sliding block 7 on the slide rail, take-up mechanism is connected with sliding block.The clamping mechanism
It is installed in rack by attachment base.It is connected between the electric-control system and rack using buckle-type.The frame body is
Aluminum section bar frame.Bottom plate 8 is set on frame body.The running gear includes conductive casters, the conductive casters peace that front and back is arranged
Seat, the suspension hook being arranged in conductive casters mounting base are filled, conductive casters mounting base is supported on the rack by suspension arm, the wheel of conductive casters
Axis passes through conductive casters mounting base, and conductive casters are installed in one end, and belt wheel is installed in one end, and belt wheel drives wheel shaft rotation, the wheel shaft band of rotation
The rotation of moving conductive wheel.Conductive casters mounting base 111 is an integral structure with suspension hook 112.The junction of suspension arm 113 and rack installs additional
Reinforce angled seat.Each thread lead screw, driving wheel and two conductive casters are respectively adopted independent motor and are driven.
Electric-control system mainly includes BMS lithium battery system, the end wireless telecommunications bridge AP (vehicle-mounted end), PLC controller, motor
Driver and motor, relay, electric pushrod, electric lock, limit switch, Switching Power Supply, breaker, indicator light, interchanger, camera shooting
Head etc..
PLC controller includes 4 road pulse output end mouths, and 8 tunnel bus output ports amount to 12 road transports and move control port, 16 tunnels
I/O port, the 4 driver connected alarms of road DI, 7 road DI connect limit switch, and 6 road DO connect walking turbin generator as pulse output end mouth
Driver, 6 road DO connect electric lock, relay.PLC controller is communicated by RS485 and BMS lithium battery management system, is read
Electricity, temperature, voltage, the key messages such as electric current.It is impulse type motor driver input terminal that PLC controller, which carries DC5V power supply,
Power supply.
6 motors of electric control system controls formulate right-handed coordinate system according to Figure 10, and 6 axis are respectively defined as: 1 axis walking 1X,
The walking of 2 axis 2X, 3 axis wrapping wire R, 4 axis wrapping wire Y, 5 axis wrapping wire X, 6 axle clamp silk Y.Wherein 1,2 use impulse type driver control, 3-6
Axis uses bus-type driver control.
Electric-control system carries out point-to- point communication by the end wireless telecommunications bridge AP and ground bridge cpe end, and maximum distance is
The end sighting distance 1KM or more, wireless telecommunications bridge AP is carried out data transmission by interchanger and PLC, realizes the walking of equipment, climbing,
Wrapping wire, self-zeroing, electric lock switch, the motion control functions such as push rod lifting.BMS lithium battery system is communicated by RS485 and PLC
Data are transmitted to terrestrial operation system by being wirelessly transferred again by battery information by communicating battery information, PLC.Wireless telecommunications bridge AP
End carries out image transmitting by interchanger and 2 road cameras, realizes the real time monitoring of operation field, record and playback function.Row
Wheel and motor to be walked to be driven by 60 teeth and 24 toothed timing driving wheels, synchrome conveying belt, speed reducer reduction ratio is 1:5.08,
Motor torque amplifies 12.7 times in this way, can drag traveling wheel and carry out wide-angle climbing and obstacle detouring.Take-up mechanism advance pull-over gear
Structure mainly includes parallel sliding track, and sliding block, motor, thread lead screw and link block form.Take-up mechanism edge is ensured using parallel sliding track
Conducting wire direction is vertical with the holding of suspension arm plane when advancing, and does unilateral sliding rail supporting point using one group of double-slider, it is ensured that wrapping wire
Mechanism is vertical with the holding of base plate plane when advancing along conducting wire direction.4mm thickness rectangular base panel seat is mounted on above aluminum section bar frame,
Serve and fix and tie, reinforces ensuring parallel sliding track installation while main body frame stability in the same plane.Execution machine
It is connected between structure and electric cabinet using buckle-type, division is facilitated to be readily transported, modularized design also facilitates maintenance upgrade in the future.
Conductive casters (traveling wheel): conductive casters have 2 layers of foreign steamer, 2 layers of elastic lubrication groove, 1 layer of conductive breast wheel totally 5 layers of wheel disc, in
Between company worn by a root long axis.Conducting block is connected inside long axis, conducting block is connected with intermediate conductive casters by clockwork spring, when
When conductive casters are hung on the transmission line, pass through intermediate conductive casters-clockwork spring-conducting block-wheel shaft-mounting base-suspension arm-entirety
Metal pathway as device realizes equipotential live line work.
Intermediate elastic lubrication groove is excellent power glue material matter, increases its frictional force on the transmission line to increase climbing and more
Barrier ability.Conductive casters profile arrangement is designed with reference to barrier apparent size.Mounting base uses unitary design, it is ensured that conductive
Wheel and mounting base firm and reliable connection, while also ensuring that firm and reliable connection between suspension hook and suspension arm.
The not described part of the present embodiment is same as the prior art.
Claims (10)
1. a kind of transmission line wire equipotential intelligently repairs robot, it is characterised in that: include executing agency, rack and control
System processed, the control system are used to control the movement of executing agency, and the executing agency includes can be in conducting wire uplink
Running gear, the wire winding device for being wound in preformed armor rods on conducting wire walked, the control system includes electric-control system
And terrestrial operation system, executing agency, electric-control system are installed in rack.
2. a kind of transmission line wire equipotential according to claim 1 intelligently repairs robot, it is characterised in that: described
Wire winding device include take-up mechanism and clamping mechanism, the take-up mechanism includes the wire wrapping disk support of two halves setting
Wire wrapping disk, electric lock and the thread lead screw structure that seat, two halves are arranged, the lead screw are bidirectional helical lead screw, the wire wrapping disk of two halves
Support base is separately positioned on two sections of two-way lead screw and does separated or closing movement under the drive of lead screw, and the electric lock is used
Wire wrapping disk support base after locking is closed up, is provided with semicircle orifice on the forward surface of fifty-fifty wire wrapping disk support base, two halves
The semicircle orifice of wire wrapping disk support base is merged into a circular hole, and half-turn shape, embeddable half are offered on the hole wall of semicircle orifice
The groove of wire wrapping disk, the groove of two half rings surrounds an annular groove when wire wrapping disk support base closes up, and wire wrapping disk is nested in annular
Both in sliding slot and in rotation with one heart, the center hole that may pass through conducting wire, center circle are provided at the center of circle position of wire wrapping disk
Hole is respectively distributed on the wire wrapping disk of two halves, be arranged at intervals on fifty-fifty wire wrapping disk in wire hole, wire wrapping disk around wire hole
Be distributed at same circumference, further include having a gear drive, in gear drive final-stage gear be cyclic structure and with wire wrapping disk
The parallel one end for being set to wire wrapping disk in end face, final-stage gear drive wire wrapping disk rotation, and final-stage gear is two-half structure, gear
The driving wheel of transmission is supported on wire wrapping disk support base；The clamping mechanism includes clamping brace seat, is set to clamping branch
The gripping block and thread lead screw structure on seat are supportted, the lead screw is bidirectional helical lead screw, and the clamping brace seat of two halves is set respectively
It sets and does separated or closing movement, the clamping brace seat, gripping block on two sections of two-way lead screw and under the drive of lead screw
For two halves composition, be additionally provided with Flexible Fixturing block in gripping block, Flexible Fixturing block is two halves structure, on Flexible Fixturing block between
Every being provided with wired hole, wired pore size distribution is on the same circumference of Flexible Fixturing block, hole in the quantity and wire wrapping disk in wired hole
Quantity is suitable, and the centre of the Flexible Fixturing block of two halves is provided with center hole；The clamping mechanism is arranged in rack
On, it does in the thread lead screw that take-up mechanism is arranged on the rack and along lead screw far from the sliding with close clamping mechanism, folder
Silk mechanism is in parallel state with two two-way lead screws of take-up mechanism, the thread lead screw in rack and clamping mechanism and wrapping wire
The bidirectional helical lead screw of mechanism is perpendicular, the wire wrapping disk of the center hole and take-up mechanism of the Flexible Fixturing block in clamping mechanism
Center hole is concentric.
3. a kind of intelligent repairing robot of transmission line wire equipotential according to claim 2, it is characterised in that: around
Be arranged at intervals with Cam Follower at the same circumference for that end face that the wire tray other end is in contact with wire wrapping disk support base, around
The sliding slot of a circle is provided in the respective face of wire tray support base, Cam Follower is stuck in sliding slot and runs.
4. a kind of intelligent repairing robot of transmission line wire equipotential according to claim 3, it is characterised in that: around
The center hole outer ring of that end face towards clamping mechanism of wire tray is provided with the casing of cone cell being made of two halves, casing
Small end is connected to wire wrapping disk far from wire wrapping disk, the big end of casing.
5. a kind of intelligent repairing robot of transmission line wire equipotential according to claim 1, it is characterised in that: around
Being provided on that end face of casing for wire tray is radially distributed with gear blade along wire wrapping disk, and gear blade is from casing to extension
It stretches, the gear blade quantity is to keep apart each on wire wrapping disk around wire hole.
6. a kind of transmission line wire equipotential according to claim 4 intelligently repairs robot, it is characterised in that: described
Gear drive in driving wheel be set to the left side below final-stage gear, also set up an anticreep in final-stage gear lower right
From gear, driving wheel and anti-detachment gear are divided on the wire wrapping disk support base of two halves.
7. a kind of transmission line wire equipotential according to claim 1 intelligently repairs robot, it is characterised in that: described
Rack be rectangular frame body, be provided with two sliding rails and one section of lead screw on frame body, lead screw parallel sliding track and position
Between two sliding rails, it is provided with sliding block on the slide rail, take-up mechanism is connected with sliding block.
8. a kind of transmission line wire equipotential according to claim 1 intelligently repairs robot, it is characterised in that: described
Running gear include conductive casters, conductive casters mounting base, the suspension hook being arranged in conductive casters mounting base that front and back is arranged, it is conductive
Mounting base to be taken turns to support on the rack by suspension arm, the wheel shafts of conductive casters passes through conductive casters mounting base, one end installation conductive casters, and one
End installation belt wheel, belt wheel drive wheel shaft rotation, and the wheel shaft of rotation drives conductive casters rotation, and conductive casters mounting base is integrated with suspension hook
Formula structure.
9. a kind of transmission line wire equipotential according to claim 1 intelligently repairs robot, it is characterised in that: described
Electric-control system include battery, PLC controller, motor driver and motor, relay, electric pushrod, electric lock, limit switch,
Switching Power Supply, breaker, indicator light, interchanger, camera, the motor include for driving take-up mechanism along rack
The motor that is moved forward and backward of lead screw and realize that the two halves of take-up mechanism close up and the wrapping wire motor that separates, motor further include realizing folder
Silk mechanism close up with the motor that separates, motor further includes the motor for rotating driving wheel, and motor further includes that two conductive casters is made to walk
Movable motor, the PLC controller respectively with impulse type driver, electric lock, limit switch, relay, bus driver mould
Block and interchanger are connected, and the motor driver is connected with walking turbin generator, the bus driver block and bus-type
Driver is connected, and for bus-type driver for driving wrapping wire motor and wired motor, interchanger is connected with camera and channel radio
Interrogate the end modules A P, the end wireless communication module AP carried out data transmission by interchanger and PLC controller, battery to PLC controller,
Wireless communication module, interchanger, bus driver block and the power supply of bus-type driver, BMS lithium battery system are communicated by RS485
With PLC communicating battery information, data are transmitted to terrestrial operation system, wireless telecommunications by being wirelessly transferred again by battery information by PLC
The end bridge AP carries out image transmitting by interchanger and 2 road cameras, and the terrestrial operation system passes through wireless communication module
Cpe end and the end wireless telecommunications bridge AP carry out point-to- point communication.
10. a kind of transmission line wire equipotential according to claim 9 intelligently repairs robot, it is characterised in that: institute
The PLC controller stated includes the motion control port of pulse output end mouth and bus output port, further includes having I/O port,
The middle driver connected alarm of DI, limit switch, DO connect traveling wheel motor driver as pulse output end mouth, connect electric lock, after
Electric appliance, PLC controller are communicated by RS485 and BMS lithium battery management system, read electricity, temperature, voltage, electric current pass
Key information, PLC controller carry DC5V power supply as the power supply of impulse type motor driver input terminal.
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| CN201811387977.8A CN109412089B (en) | 2018-11-21 | 2018-11-21 | Intelligent repair robot for equipotential of transmission line conductor |
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| CN201811387977.8A CN109412089B (en) | 2018-11-21 | 2018-11-21 | Intelligent repair robot for equipotential of transmission line conductor |
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| CN113067291A (en) * | 2021-03-01 | 2021-07-02 | 武汉大学 | Live working robot for repairing broken strand wire by wire protection strip |
| CN113796224A (en) * | 2021-09-29 | 2021-12-17 | 广东冠能电力科技发展有限公司 | Tree obstacle removing robot |
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| CN113964725A (en) * | 2021-11-10 | 2022-01-21 | 武汉珞珈天铭电气科技有限公司 | Wire repairing system and method |
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| CN109412089B (en) | 2024-03-15 |
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