CN109510105A - Transmission line wire equipotential intelligence method for repairing and mending - Google Patents
Transmission line wire equipotential intelligence method for repairing and mending Download PDFInfo
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- CN109510105A CN109510105A CN201811388085.XA CN201811388085A CN109510105A CN 109510105 A CN109510105 A CN 109510105A CN 201811388085 A CN201811388085 A CN 201811388085A CN 109510105 A CN109510105 A CN 109510105A
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- 238000004804 winding Methods 0.000 claims abstract description 12
- 230000005611 electricity Effects 0.000 claims abstract description 9
- 230000008439 repair process Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 101
- 238000010618 wire wrap Methods 0.000 claims description 93
- 239000000725 suspension Substances 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 13
- 230000002457 bidirectional effect Effects 0.000 claims description 10
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 8
- 229910052744 lithium Inorganic materials 0.000 claims description 8
- 239000011148 porous material Substances 0.000 claims description 5
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- 238000013461 design Methods 0.000 description 5
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical group [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- 229910052782 aluminium Inorganic materials 0.000 description 4
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- 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
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 208000025274 Lightning injury Diseases 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
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/82—Recycling of waste of electrical or electronic equipment [WEEE]
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Abstract
The invention discloses a kind of transmission line wire equipotential intelligence method for repairing and mending, a kind of transmission line wire equipotential intelligence repair apparatus is provided, it includes 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, 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 is installed in rack, a kind of new exploration of high aloft livewire work is carried out with automation equipment, the high aloft equipotential live line work of power grid worker and the safety operation process that complexity is inefficient are avoided in a creative way, transmission line of electricity power failure is reduced simultaneously, liberate high altitude operation manpower, it is safer, it is more efficient, it is more economical, it is answered with wide With prospect and promotional value.
Description
Technical field
The present invention relates to a kind of livewire work conducting wire mending method, especially a kind of transmission line wire equipotential is intelligently repaired
Compensating method.
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
Transmission line wire equipotential intelligence method for repairing and mending.
A kind of transmission line wire equipotential intelligence method for repairing and mending provides a kind of transmission line wire equipotential intelligently repairing
Device comprising have executing agency, rack and control system, the control system is used to control the movement of executing agency, institute
The executing agency stated includes the running gear that can be walked on conducting wire, the wrapping wire dress for being wound in preformed armor rods on conducting wire
It sets, the control system includes electric-control system and terrestrial operation system, and executing agency, electric-control system are installed in rack,
The wire winding device includes take-up mechanism and clamping mechanism, and the take-up mechanism includes the wire wrapping disk branch of two halves setting
Wire wrapping disk, electric lock and the thread lead screw structure of seat, two halves setting are supportted, the lead screw is bidirectional helical lead screw, the wrapping wire of two halves
Disk support base is separately positioned on two sections of two-way lead screw and does separated or closing movement, the electric lock under the drive of lead screw
For locking the wire wrapping disk support base after closing up, semicircle orifice, two halves are provided on the forward surface of fifty-fifty wire wrapping disk support base
The semicircle orifice of wire wrapping disk support base be merged into a circular hole, offered on the hole wall of semicircle orifice the embeddable half of half-turn around
The groove of wire tray, 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 cunning
Both in slot and in rotation with one heart, the center hole that may pass through conducting wire, center hole are provided at the center of circle position of wire wrapping disk
It is respectively distributed on the wire wrapping disk of two halves, dividing in wire hole, wire wrapping disk around wire hole is arranged at intervals on fifty-fifty wire wrapping disk
It is distributed at same circumference, further includes having a gear drive, final-stage gear is cyclic structure and the end with wire wrapping disk in gear drive
The parallel one end for being set to wire wrapping disk in face, final-stage gear drive wire wrapping disk rotation, and final-stage gear is two-half structure, and gear passes
Dynamic driving wheel is supported on wire wrapping disk support base；The clamping mechanism includes clamping brace seat, is set to clamping brace
Gripping block, electric lock and thread lead screw structure on seat, the lead screw are bidirectional helical lead screw, and the clamping brace seat of two halves is distinguished
Two sections that two-way lead screw is arranged in are done above and under the drive of lead screw separately or closing movement, the clamping brace seat clamp
Block is two halves composition, Flexible Fixturing block is additionally provided in gripping block, Flexible Fixturing block is two halves structure, on Flexible Fixturing block
It is arranged at intervals 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 it is suitable, the centre of the Flexible Fixturing block of two halves is provided with center hole, center hole is distributed in two soft
Property gripping block on, the electric lock is for locking the gripping block after closing up；The clamping mechanism is arranged on the rack, spiral filament forming machine
In the thread lead screw that structure is arranged on the rack and along lead screw do far from close to clamping mechanism sliding, clamping mechanism with around
Two two-way lead screws of silk mechanism are in parallel state, the thread lead screw in rack and clamping mechanism and take-up mechanism it is two-way
Thread lead screw is perpendicular, and the center hole of the wire wrapping disk of the center hole and take-up mechanism of the Flexible Fixturing block in clamping mechanism is same
One end of the preformed armor rods of required length is inserted into the wired hole of the Flexible Fixturing block of clamping mechanism by the heart at work, another
End on the wire wrapping disk of take-up mechanism in wire hole, take-up mechanism is in clamping mechanism end at this time, then by the equipotential
Intelligent repair apparatus is put on conducting wire, starts the bidirectional helical lead screw of take-up mechanism and clamping mechanism, closes up take-up mechanism and folder
The two halves of silk mechanism are simultaneously locked with electric lock, are started the thread lead screw in rack and are started the gear drive on take-up mechanism simultaneously,
The wire wrapping disk of take-up mechanism is realized under gear drive to be rotated and the preformed armor rods being through thereon is driven to rotate, while spiral filament forming machine
The movement far from clamping mechanism is done under the drive of the thread lead screw of structure also on the rack, to realize preformed armor rods around to be repaired
Conducting wire on, when take-up mechanism range ability greater than preformed armor rods length after, preformed armor rods will from wire wrapping disk in wire hole take off
Implement existing winding.
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.
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.
Take-up mechanism is arranged in sliding rail, 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, the driver connected alarm of DI connects limit switch, and DO connects traveling wheel motor driver as pulse output end mouth,
DO is also connected with electric lock, relay, and PLC controller is communicated by RS485 and BMS lithium battery management system, reads electricity, temperature
Degree, 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 method for repairing and mending of the invention, the device provided pass through multiaxis location control system
System, compact executing agency and electric-control system, it is remote that wireless-transmission network with intelligence HMI terrestrial operation system realizes personnel ground
The automatic detecting operation of journey remote control/auxiliary operation ultra-high-tension power transmission line and the auto-mending operation of stranded route.The present apparatus is also
With obstacle detouring, climb, real time monitoring, status display, motion control, self-zeroing, record playback, the function such as fault alarm and emergency stop
Can, it is a kind of new exploration for carrying out high aloft livewire work with automation equipment, avoids power grid worker in a creative way
High aloft equipotential live line work and complicated inefficient safety operation process, while reducing transmission line of electricity power failure, liberation high-altitude is made
Industry manpower, it is safer, it is 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
1222 gripping block of support base, 1223 Flexible Fixturing block, 1,224 3 control system of wired 2 rack of hole, 31 electric-control system, 4 threaded screw rod 5 is anti-
It is detached from 6 sliding rail of gear, 7 sliding block, 8 bottom plate, 9 camera.
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 method for repairing and mending provides a kind of transmission line wire equipotential intelligence repairing dress
It sets, includes executing agency 1, rack 2 and control system 3, the control system is used to control the movement of executing agency, described
Executing agency include the running gear 11 that can be walked on conducting wire, the wire winding device for being wound in preformed armor rods on conducting wire
12, the control system includes electric-control system and terrestrial operation system, and executing agency, electric-control system are installed in rack.
The wire winding device includes take-up mechanism 121 and clamping mechanism 122, the take-up mechanism include two halves setting around
4 structure of wire wrapping disk 1212, electric lock 1213 and thread lead screw that wire tray support base 1211, two halves are arranged, the lead screw are two-way
Thread lead screw, the wire wrapping disk support base of two halves be separately positioned on two sections of two-way lead screw it is upper and done under the drive of lead screw separate or
Closing movement, the electric lock is for locking the wire wrapping disk support base after closing up, in the forward surface of fifty-fifty wire wrapping disk support base
On be provided with semicircle orifice, the semicircle orifice of the wire wrapping disk support base of two halves is merged into a circular hole, opens up on the hole wall of semicircle orifice
There is the groove of the embeddable half wire wrapping disk of half-turn, the groove of two half rings surrounds an annular groove when wire wrapping disk support base closes up
12111, wire wrapping disk is nested in annular groove and with one heart, be provided at the center of circle position of wire wrapping disk may pass through the two in rotation
The center hole of conducting wire, center hole are respectively distributed on the wire wrapping disk of two halves, be arranged at intervals on fifty-fifty wire wrapping disk around
Wire hole 12121, for the wrapping wire pore size distribution on wire wrapping disk at same circumference, wire wrapping disk has gear blade 121212 towards clamping mechanism side
It for the ending movement of wrapping wire operation further include having a gear drive with taper semicanal 121213, final-stage gear in gear drive
For cyclic structure and one end for being set to wire wrapping disk parallel with the end face of wire wrapping disk, final-stage gear 1215 drive wire wrapping disk to turn
Dynamic, final-stage gear is two-half structure, and gear-driven driving wheel 1214 is supported on wire wrapping disk support base；The silk clamping machine
Structure includes clamping brace seat 1221, the gripping block being set on clamping brace seat 1222, electric lock and thread lead screw structure, described
Lead screw be 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 in the drive of lead screw
Under do separate or closing movement, the clamping brace seat, gripping block be two halves constitute, flexible folder is additionally provided in gripping block
Tight block 1223, Flexible Fixturing block are two halves structure, are arranged at intervals with wired hole 1224 on Flexible Fixturing block, wired pore size distribution in
On the same circumference of Flexible Fixturing block, the quantity in wired hole is suitable with the quantity in hole on wire wrapping disk, in the Flexible Fixturing block of two halves
Centre be provided with center hole, center hole is distributed on two Flexible Fixturing blocks, and the electric lock is for closing up
Gripping block afterwards；The clamping mechanism is arranged on the rack, in the thread lead screw that take-up mechanism is arranged on the rack and edge
Lead screw do far from the sliding close to clamping mechanism, clamping mechanism is in parallel shape with two two-way lead screws of take-up mechanism
State, thread lead screw in rack and the bidirectional helical lead screw of clamping mechanism and take-up mechanism are perpendicular, the flexibility in clamping mechanism
The center hole of the wire wrapping disk of the center hole and take-up mechanism of gripping block is concentric.In the wire wrapping disk other end and wire wrapping disk support base
It is arranged at intervals with Cam Follower at the same circumference for that end face being in contact, is arranged in the respective face of wire wrapping disk support base
There is the sliding slot of a circle, Cam Follower 1216, which is stuck in sliding slot, to be run.In that end face towards clamping mechanism of wire wrapping disk
Center hole outer ring is provided with the tapered casing being made of two halves, and far from wire wrapping disk, the big end of casing connects the small end of casing
It is connected to wire wrapping disk.It is radially distributed with gear blade along wire wrapping disk on that end face for being provided with casing of wire wrapping disk, keeps off leaf
Piece is extended outwardly by casing, and the gear blade quantity is to keep apart each on wire wrapping disk around wire hole.The gear drive
In driving wheel be set to the left side below final-stage gear, also set up an anti-detachment gear 5 in final-stage gear lower right, it is main
Driving wheel and anti-detachment gear are divided on the wire wrapping disk support base of two halves.The Flexible Fixturing block is common Rubber materials.
The rack is rectangular frame body, two sliding rails and one section of lead screw is provided on frame body, lead screw is parallel to cunning
Rail 6 and between two sliding rails, is provided with sliding block 7, take-up mechanism is connected with sliding block on the slide rail.The clamping mechanism passes through
Attachment base is installed in rack.It is connected between the electric-control system and rack using buckle-type.The frame body is aluminium profiles
Material frame.Bottom plate 8 is set on frame body.The running gear include front and back arrange conductive casters, conductive casters mounting base,
Suspension hook in conductive casters mounting base is set, and conductive casters mounting base is supported on the rack by suspension arm, and the wheel shaft of conductive casters is worn
Conductive casters mounting base is crossed, conductive casters are installed in one end, and belt wheel is installed in one end, and belt wheel drives wheel shaft rotation, and the wheel shaft drive of rotation is led
Electricity wheel rotation.Conductive casters mounting base 111 is an integral structure with suspension hook 112.The junction of suspension arm 113 and rack, which installs additional, to be reinforced
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
First 9 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 11, 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, ball-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 intelligence method for repairing and mending, it is characterised in that: provide a kind of electricity such as transmission line wire
The intelligent repair apparatus in position, includes executing agency, rack and control system, the control system is for controlling executing agency
Movement, the executing agency includes the running gear that can be walked on conducting wire, for preformed armor rods to be wound on conducting wire
Wire winding device, the control system include electric-control system and terrestrial operation system, and executing agency, electric-control system are installed on machine
On frame, the wire winding device includes take-up mechanism and clamping mechanism, the take-up mechanism include two halves setting around
Wire wrapping disk, electric lock and the thread lead screw structure that wire tray support base, two halves are arranged, the lead screw are bidirectional helical lead screw, two halves
Wire wrapping disk support base 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, it is described
Electric lock for locking the wire wrapping disk support base after closing up, be provided with semicircle on the forward surface of fifty-fifty wire wrapping disk support base
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, electric lock and thread lead screw structure on clamping brace seat, the lead screw are bidirectional helical lead screw, the clamping branch of two halves
Support seat is separately positioned on two sections of two-way lead screw and does separated or closing movement, the clamping brace under the drive of lead screw
Seat, gripping block are two halves composition, Flexible Fixturing block are additionally provided in gripping block, Flexible Fixturing block is two halves structure, in flexibility
Be arranged at intervals with wired hole in gripping block, wired pore size distribution on the same circumference of Flexible Fixturing block, the quantity in wired hole with around
The quantity in hole is suitable in wire tray, the centre of the Flexible Fixturing block of two halves is provided with center hole, center hole is distributed in
On two Flexible Fixturing blocks, the electric lock is for locking the gripping block after closing up；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 spiral filament forming machine
The bidirectional helical lead screw of structure is perpendicular, in the center hole of Flexible Fixturing block and the wire wrapping disk of take-up mechanism in clamping mechanism
Heart circular hole is concentric, at work, one end of the preformed armor rods of required length is inserted into the wired of the Flexible Fixturing block of clamping mechanism
Kong Zhong, the other end pass through take-up mechanism wire wrapping disk in wire hole, take-up mechanism be in clamping mechanism end at this time, then general
The equipotential intelligence repair apparatus is put on conducting wire, is started the bidirectional helical lead screw of take-up mechanism and clamping mechanism, is closed up wrapping wire
The two halves of mechanism and clamping mechanism are simultaneously locked with electric lock, are started the thread lead screw in rack and are started the tooth on take-up mechanism simultaneously
Wheel transmission, the wire wrapping disk of take-up mechanism is realized under gear drive to be rotated and the preformed armor rods being through thereon is driven to rotate, together
When take-up mechanism thread lead screw also on the rack drive under do the movement far from clamping mechanism, thus realize by preformed armor rods around
Onto conducting wire to be repaired, when take-up mechanism range ability greater than preformed armor rods length after, preformed armor rods by from wire wrapping disk around
Fall off realization winding in wire hole.
2. a kind of transmission line wire equipotential intelligence method for repairing and mending according to claim 1, it is characterised in that: in wrapping wire
It is arranged at intervals with Cam Follower at the same circumference for that end face that the disk other end is in contact with wire wrapping disk support base, in wrapping wire
The sliding slot of a circle is provided in the respective face of disk support base, Cam Follower is stuck in sliding slot and runs.
3. a kind of transmission line wire equipotential intelligence method for repairing and mending according to claim 2, it is characterised in that: in wrapping wire
The center hole outer ring of that end face towards clamping mechanism of disk is provided with the tapered casing being made of two halves, casing
Small end is connected to wire wrapping disk far from wire wrapping disk, the big end of casing.
4. a kind of transmission line wire equipotential intelligence method for repairing and mending according to claim 3, it is characterised in that: in wrapping wire
Being provided on that end face of casing for disk is radially distributed with gear blade along wire wrapping disk, and gear blade is extended outwardly by casing,
The gear blade quantity is to keep apart each on wire wrapping disk around wire hole.
5. a kind of transmission line wire equipotential intelligence method for repairing and mending according to claim 4, it is characterised in that: described
Driving wheel in gear drive is set to the left side below final-stage gear, final-stage gear lower right also set up one it is anti-detachment
Gear, driving wheel and anti-detachment gear are divided on the wire wrapping disk support base of two halves.
6. a kind of transmission line wire equipotential intelligence method for repairing and mending according to claim 1, it is characterised in that: described
Rack is rectangular frame body, and two sliding rails and one section of lead screw are provided on frame body, and lead screw is parallel to sliding rail and position
Between two sliding rails, it is provided with sliding block on the slide rail, take-up mechanism bottom is connected with sliding block.
7. a kind of transmission line wire equipotential intelligence method for repairing and mending according to claim 1, it is characterised in that: described
Running gear includes conductive casters, the conductive casters mounting base, the suspension hook being arranged in conductive casters mounting base that front and back is arranged, conductive casters
Mounting base is supported on the rack by suspension arm, and the wheel shaft of conductive casters passes through conductive casters mounting base, and conductive casters, one end are installed in one end
Belt wheel is installed, belt wheel drives wheel shaft rotation, and the wheel shaft of rotation drives conductive casters rotation.
8. a kind of transmission line wire equipotential intelligence method for repairing and mending according to claim 1, it is characterised in that: described
Electric-control system includes battery, PLC controller, motor driver and motor, relay, electric pushrod, electric lock, and limit switch is opened
Powered-down source, breaker, indicator light, interchanger, camera, the motor include for driving take-up mechanism along rack
The motor and realize the wrapping wire motor that the two halves of take-up mechanism close up and separate that lead screw is moved forward and backward, motor further include that realization is wired
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 block
And interchanger is connected, the motor driver is connected with walking turbin generator, and the bus driver block and bus-type drive
Dynamic device is connected, and for bus-type driver for driving wrapping wire motor and wired motor, interchanger is connected with camera and wireless telecommunications
The end modules A P, the end wireless communication module AP are carried out data transmission by interchanger and PLC controller, and battery is to PLC controller, nothing
Line communication module, interchanger, bus driver block and bus-type driver power supply, BMS lithium battery system by RS485 communicate and
Data are transmitted to terrestrial operation system, radio communication network by being wirelessly transferred again by battery information by PLC communicating battery information, PLC
The end bridge AP carries out image transmitting by interchanger and road camera, and the terrestrial operation system passes through wireless communication module CPE
End carries out point-to- point communication with the end wireless telecommunications bridge AP.
9. according to right want 8 described in a kind of transmission line wire equipotential intelligence method for repairing and mending, it is characterised in that: it is described
PLC controller includes the motion control port of pulse output end mouth and bus output port, further includes having I/O port and DI to connect
Driver alarm, DI therein connect limit switch, and DO connects traveling wheel motor driver as pulse output end mouth, and DO is also
Electric lock, relay are connected, 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.
10. a kind of transmission line wire equipotential intelligence method for repairing and mending according to claim 9, it is characterised in that: automatically controlled
System controls 6 motors, is respectively defined as each axis by right-handed coordinate system: 1 axis is walked 1X, and 2 axis are walked 2X, 3 axis wrapping wire R, 4
Axis wrapping wire Y, 5 axis wrapping wire X, 6 axle clamp silk Y, wherein 1,2 uses impulse type driver control, 3-6 axis uses the control of bus-type driver
System.
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| CN201811388085.XA CN109510105B (en) | 2018-11-21 | 2018-11-21 | Equipotential intelligent repair method for transmission line conductor |
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| CN201811388085.XA CN109510105B (en) | 2018-11-21 | 2018-11-21 | Equipotential intelligent repair method for transmission line conductor |
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| CN113659485A (en) * | 2021-08-23 | 2021-11-16 | 南京荟聪网络科技有限公司 | Walking obstacle crossing mechanism of power transmission cable inspection robot and obstacle crossing method thereof |
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| Publication number | Publication date |
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| CN109510105B (en) | 2024-03-15 |
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