CN109510105B - Equipotential intelligent repair method for transmission line conductor - Google Patents
Equipotential intelligent repair method for transmission line conductor Download PDFInfo
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- CN109510105B CN109510105B CN201811388085.XA CN201811388085A CN109510105B CN 109510105 B CN109510105 B CN 109510105B CN 201811388085 A CN201811388085 A CN 201811388085A CN 109510105 B CN109510105 B CN 109510105B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000008439 repair process Effects 0.000 title claims description 20
- 239000004020 conductor Substances 0.000 title claims description 10
- 238000004804 winding Methods 0.000 claims abstract description 197
- 230000007246 mechanism Effects 0.000 claims abstract description 123
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- 230000002457 bidirectional effect Effects 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 13
- 239000000725 suspension Substances 0.000 claims description 8
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 229910052744 lithium Inorganic materials 0.000 claims description 6
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- 229910052782 aluminium Inorganic materials 0.000 description 4
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- 238000009730 filament winding Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
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- 230000003014 reinforcing effect Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 229920001875 Ebonite Polymers 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
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Classifications
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- 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
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- 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 an equipotential intelligent repairing method for a transmission line wire, which comprises an executing mechanism, a frame and a control system, wherein the control system is used for controlling the action of the executing mechanism, the executing mechanism comprises a walking device capable of walking on the wire and a wire winding device for winding a preformed armor wire on the wire, the control system comprises an electric control system and a ground operating system, the executing mechanism and the electric control system are arranged on the frame, and an automatic device is used for carrying out a new exploration of high-altitude high-voltage live working, so that the high-altitude high-voltage equipotential working of a power grid worker and a complex and low-efficiency safe operation flow are creatively avoided, and meanwhile, the power failure of the transmission line is reduced, the manpower of the high-altitude working is liberated, the safety is improved, the efficiency is improved, and the popularization value is wide.
Description
Technical Field
The invention relates to a live working lead repairing method, in particular to an equipotential intelligent repairing method for a lead of a power transmission line.
Background
Various transmission lines or distribution lines are exposed, are subjected to wind and rain, and can be damaged by lightning strike, fire, external damage and other events, so that the damaged wires have extremely high danger and need to be repaired in time, when repair operation is carried out, manual high-altitude live working is needed in most cases, the danger coefficient is high, the operation flow is complex, the serious condition needs to be subjected to power failure operation, the reliability of power supply is reduced, and economic loss is brought.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an equipotential intelligent repair method for a power transmission line wire, which can be used for repairing a conductive wire in an electrified manner.
The utility model provides an electric transmission line wire equipotential intelligent repair method, a transmission line wire equipotential intelligent repair device is provided, it includes actuating mechanism, frame and control system, control system be used for controlling actuating mechanism's action, actuating mechanism include can walk on the wire the running gear, be used for twining the wire winding device on the wire with preformed armor rod, control system include actuating mechanism and ground operating system, actuating mechanism, electric control system installs on the frame, wire winding device include wire winding mechanism and clamp wire mechanism, wire winding mechanism include two semi-set up wire winding disk supporting seat, two semi-set up wire winding disk, electric lock and screw thread lead screw structure, the lead screw be two-way screw thread lead screw, two semi-wire winding disk supporting seat set up respectively on two sections of two-way screw and do the motion of separating or folding under the drive of lead screw, electric lock be used for locking wire winding disk supporting seat after folding, be provided with semicircle hole on the wire winding disk supporting seat, two semi-disc supporting seat's one semicircle hole on the face opposite to each semicircle hole, the semicircle hole of a semicircle hole on the same circumference of a gear that the semicircle hole is parallel to the wire is set up in the transmission disk, the circumference of a semicircle hole is set up in the same round groove that is parallel with the round wire is set up in the round hole, and the wire is parallel, and the wire is set up in the round hole is around the circumference, and the groove is set up in the round hole is around the diameter in the diameter, and the circumference has the wire has the diameter in the diameter round hole is, the final gear drives the wire winding disc to rotate, the final gear is of a two-half structure, and a driving wheel driven by the gear is supported on a wire winding disc supporting seat; the wire clamping mechanism comprises a clamping support seat, clamping blocks, an electric lock and a threaded screw structure, wherein the clamping blocks, the electric lock and the threaded screw structure are arranged on the clamping support seat, the screw is a bidirectional threaded screw, two halves of the clamping support seat are respectively arranged on two sections of the bidirectional screw and are driven by the screw to perform separation or folding movement, the clamping support seat and the clamping blocks are formed by two halves, the flexible clamping blocks are further arranged on the clamping blocks and are of two half structures, wire clamping holes are formed in the flexible clamping blocks at intervals, the wire clamping holes are distributed on the same circumference of the flexible clamping blocks, the number of the wire clamping holes is equal to that of holes on a wire winding disc, central round holes are formed in the central parts of the two halves of the flexible clamping blocks, and the electric lock is used for locking the folded clamping blocks; the wire clamping mechanism is arranged on the frame, the wire winding mechanism is arranged on a threaded lead screw on the frame and slides far away from and close to the wire clamping mechanism along the lead screw, the threaded lead screw on the frame is perpendicular to the two bidirectional lead screws of the wire clamping mechanism and the two bidirectional threaded lead screws of the wire winding mechanism, a central round hole of a flexible clamping block in the wire clamping mechanism is concentric with a central round hole of a wire winding disc of the wire winding mechanism, one end of a preformed armor rod with a required length is inserted into the wire clamping hole of the flexible clamping block of the wire clamping mechanism in operation, the other end of the preformed armor rod passes through the wire winding hole on the wire winding disc of the wire winding mechanism, at the moment, the wire winding mechanism is positioned at the end of the wire clamping mechanism, then the equipotential intelligent repairing device is placed on a wire, the two half-parallel electric locks of the wire winding mechanism and the wire clamping mechanism are started, the threaded lead screw on the frame is started, and simultaneously the gear transmission on the wire winding mechanism is started, the wire winding disc of the wire winding mechanism is driven to rotate under the gear drive, one end of the preformed armor rod is driven to rotate and drives the preformed armor rod to move away from the wire winding mechanism, and the preformed armor rod is driven to move far away from the wire winding mechanism when the preformed armor rod is wound on the wire winding mechanism.
Cam followers are arranged at the same circumference of the end face of the other end of the wire winding disc, which is contacted with the wire winding disc supporting seat, a circle of sliding grooves are arranged on the corresponding face of the wire winding disc supporting seat, and the cam followers are clamped in the sliding grooves to run.
The cam follower is arranged on the end surface of the wire winding disc, which is contacted with the wire winding disc supporting seat, so that the concentricity of the wire winding disc and the double semicircular sliding grooves of the supporting seat in the rotating process can be ensured.
The outer ring of the middle round hole of the end face of the wire winding disc, which faces the wire clamping mechanism, is provided with a conical sleeve formed by two halves, the small end of the sleeve is far away from the wire winding disc, and the large end of the sleeve is connected with the wire winding disc.
The sleeve is arranged for enabling the preformed armor rods to fall out from the wire winding holes and then to be removed through the conical sleeve, so that good winding of the tail parts of the preformed armor rods is guaranteed.
The end face of the wire winding disc, which is provided with the sleeve, is provided with baffle blades distributed along the radial direction of the wire winding disc, the baffle blades extend outwards from the sleeve, and the number of the baffle blades is that the wire winding holes on the wire winding disc are isolated.
And when the pre-twisted wires are terminated, the pre-twisted wires slide out of the wire winding holes, and the pre-twisted wires are guided to be contracted and folded in a uniformly distributed mode through the baffle plates.
The driving wheel in the gear transmission is arranged at the left side below the final gear, the anti-disengaging gear is also arranged at the right side below the final gear, and the driving wheel and the anti-disengaging gear are respectively arranged on the two halves of wire winding disc supporting seats.
When the wire winding mechanism is folded, the driving wheel drives the final gear to rotate, and the driving gear and the anti-disengaging gear can prevent the wire winding disc from slipping off from the sliding groove of the wire winding disc supporting seat after the final gear is separated.
The wire clamping holes of the flexible clamping blocks ensure that the preformed armor rods are easy to insert, the initial positioning is firm and reliable, and meanwhile, the flexible clamping blocks can be broken through the forward movement of the clamping blocks after the wire winding action is completed.
The flexible clamping block not only solves the problem of difficult initial positioning of the preformed armor rods, but also can fracture the preformed armor rods through wire winding operation, and the final wire has no residue or leaves a small amount of residue.
The flexible clamping block is made of common hard rubber materials.
The frame be square frame body, be provided with two slide rails and one section lead screw on the frame body, the lead screw is on a parallel with the slide rail and is located between two slide rails, is provided with the slider on the slide rail, wire winding mechanism links to each other with the slider.
The wire winding mechanism is arranged on the sliding rail, so that the wire winding mechanism is kept vertical to the frame when advancing along the wire direction.
The wire clamping mechanism is arranged on the frame through a connecting seat.
The wire clamping mechanism is arranged on the frame through the connecting seat, so that the height of the wire clamping mechanism can be conveniently adjusted.
The electric control system is connected with the rack in a snap-in mode.
The buckle type connection is convenient to separate and combine, so that the transportation is convenient, and the modularized design is convenient for maintenance and upgrade in the future.
The frame body is an aluminum profile frame.
The aluminum profile frame is adopted to reduce the weight to the maximum extent.
A bottom plate is arranged on the frame body.
The bottom plate can play a role in fixing and leveling, and the stability of the main body frame is enhanced while the parallel sliding rails are ensured to be installed in the same plane.
The running gear including the conductive wheel that arranges around, conductive wheel mount pad, set up the lifting hook on conductive wheel mount pad, conductive wheel mount pad passes through the suspension arm and supports in the frame, the shaft of conductive wheel passes conductive wheel mount pad, one end installation conductive wheel, one end installation band pulley, the band pulley drives the shaft rotation, pivoted shaft drives conductive wheel rotation.
The conductive wheel mounting seat and the lifting hook are of an integrated structure.
The mount pad adopts the integral type design, ensures that conducting wheel and mount pad firm in connection is reliable, also ensures firm in connection between lifting hook and the arm that hangs simultaneously.
The joint of the suspension arm and the frame is provided with a reinforcing angle seat.
The setting of the reinforcing angle seat can improve the stability of the connection of the suspension arm and the frame.
The screw thread lead screw, the driving wheel and the two conductive wheels are driven by independent motors respectively.
The adoption of an independent motor can greatly simplify the whole structure.
The utility model provides an electronic control system include the battery, the PLC controller, motor driver and motor, the relay, electric putter, the electric lock, limit switch, switching power supply, the pilot lamp, the switch, the camera, the motor including be used for driving the motor that wire winding mechanism moved around along the lead screw of frame and realize wire winding mechanism's two halves fold and the wire winding motor of separately, the motor still includes the motor that realizes wire clamping mechanism to fold and separate, the motor still includes the motor that makes action wheel pivoted, the motor still includes the walking motor that makes two conducting wheel walking, the PLC controller be connected with pulse type driver, the electric lock, limit switch, relay, bus driving module and switch respectively, motor driver link to each other with the walking motor, bus driving module link to each other with bus type driver, bus type driver is used for driving wire winding motor and wire clamping motor, the switch is connected with camera and wireless communication module AP end, wireless communication module AP end carries out data transmission through switch and PLC controller, the battery gives PLC controller, wireless communication module, switch, bus driving module and bus driving module RS battery power supply system carry out the transmission of data with CPE communication bridge wireless communication network AP communication system through wireless communication bridge, CPE communication network AP carries out with wireless communication network communication system and wireless communication network AP.
The electric control system performs point-to-point communication with the CPE end of the ground network bridge through the AP end of the wireless communication network bridge, the maximum distance is more than 1KM, and the AP end of the wireless communication network bridge performs data transmission with the PLC through the switch, so that the functions of motion control such as walking, climbing, wire winding, automatic zero return, electric lock switching, push rod lifting and the like of equipment are realized. BMS lithium battery system exchanges battery information through RS485 communication and PLC, and PLC passes through wireless transmission with battery information again and gives data to ground operating system. The wireless communication network bridge AP end performs image transmission with the 2 paths of cameras through the switch, so that the real-time monitoring, recording and playback functions of the operation site are realized.
The PLC controller comprises a pulse output port, a motion control port of a bus output port, an IO port, a driver alarm, a limit switch, a traveling wheel motor driver, an electric lock and a relay, wherein DO is used as the pulse output port to be connected with the traveling wheel motor driver, the PLC controller is communicated with a BMS lithium battery management system through RS485 and reads electric quantity, temperature, voltage and current key information, and the PLC controller is provided with a DC5V power supply to supply power to an input terminal of the pulse motor driver.
The electric control system controls 6 motors, and each shaft is defined as respectively by a right-hand coordinate system: 1-axis walking 1X, 2-axis walking 2X, 3-axis winding R, 4-axis winding Y, 5-axis winding X and 6-axis clamping Y. Wherein 1,2 are controlled using a pulse type driver and 3-6 axes are controlled using a bus type driver.
In summary, compared with the prior art, the invention has the following advantages:
the device provided by the invention realizes automatic inspection operation of a high-voltage transmission line and automatic repair operation of a broken strand circuit by a multi-axis positioning control system, a compact actuating mechanism and an electric control system, a wireless transmission network and an intelligent HMI ground operation system through remote control/auxiliary operation on the ground of personnel. The device also has the functions of obstacle surmounting, climbing, real-time monitoring, state display, motion control, automatic zero return, recording and playback, fault alarm, emergency stop and the like, is a novel exploration for high-altitude high-voltage live working by using automatic equipment, creatively avoids high-altitude high-voltage equipotential operation and complex and inefficient safe operation flow of power grid workers, reduces power failure of a power transmission line, liberates high-altitude working manpower, is safer, more efficient and more economic, and has wide application prospect and popularization value.
According to the invention, the pre-twisted wires are positioned at the initial positions through the flexible wire clamping blocks, the wire clamping mechanism is separated from the wire winding mechanism by a certain distance, the wire winding holes in the wire winding mechanism are matched with the relative positions of the wire clamping holes in the flexible clamping blocks, so that the gesture of the pre-twisted wires can be determined, the pre-twisted wires are inserted in sequence, the initial positions of the pre-twisted wires can be ensured to uniformly surround the transmission line, meanwhile, the rotation trend of a plurality of pre-twisted wires is the same, and the wire winding process is ensured not to interfere with each other.
The wire winding mechanism and the wire clamping mechanism of the device both adopt a bidirectional threaded screw rod as a base, so that synchronous opening/closing operation can be realized, and the wire winding mechanism and the wire clamping mechanism are both in an open state when the wire winding mechanism and the wire clamping mechanism are off line. When the device is on line, the folding operation is carried out through the ground operation system, the wire winding mechanism and the wire clamping mechanism are automatically and synchronously folded, the wire is clamped in the center hole, and 2 times of positioning of the preformed armor rods and the center rotating shaft are completed. The technical problems that 16 pre-twisted wires under the wire are difficult to initially position, the wire is difficult to position for 2 times, the manual wire winding hand action is difficult to reproduce and the like are solved through the exquisite design of the flexible clamping blocks and the rotary wire winding disc.
The wire clamping mechanism is matched with the wire winding mechanism to successfully reproduce the winding repair actions of 16 spiral preformed armor rods, the winding repair actions are optimized, the one-key automatic wire winding function is realized, the effect is better than that of manual wire winding, and important technological breakthroughs are realized.
Through the mode of manual on-line teaching of a ground operating system, semi-automatic wire winding operation is realized on the premise that hands do not directly contact preformed armor rods, and meanwhile, motion data of each stage of each shaft are recorded. And then the pulse number is adjusted through a large number of experiments, and the pulse frequency finds out a group of data which can realize full-automatic wire winding by one key. The data is carefully optimized, so that the speed of an automatic wire winding process is faster, the wire winding action is more accurate, and the final automatic wire winding effect is obviously better than the manual wire winding effect.
Drawings
Fig. 1 is a schematic structural diagram of an equipotential intelligent repairing device for a conductive ground wire of a power transmission line.
Fig. 2 is a schematic diagram of a conductive wheel structure.
Fig. 3 is a schematic structural view of the filament winding mechanism of the present invention.
Fig. 4 is another angular schematic view of the filament winding mechanism.
Fig. 5 is a cross-sectional view of the wire winding mechanism.
Fig. 6 is a schematic cross-sectional view of a filament winding mechanism.
Fig. 7 is a schematic view of a wire clamping mechanism.
FIG. 8 is a schematic cross-sectional view of a wire clamping mechanism.
Fig. 9 is a schematic view of a frame structure.
Fig. 10 is a front view of fig. 9.
Fig. 11 is a block diagram of an electrical control system.
Fig. 12 is an electronically controlled design.
Fig. 13 and 14 are coordinate system diagrams.
Fig. 15 is a schematic view of an electric cabinet.
Fig. 16 is a top view of the electric cabinet.
Reference numeral 1 illustrates a cam follower 122 clamping mechanism 1221 of a driving wheel 1215 of an electric lock 1214 and a driving wheel 1215 of a conical half-tube 12125 of a blade 121213, a clamping support 1222 clamping block 1223, a flexible clamping block 1224 and a camera of a base plate 9 of a sliding rail 7 of a sliding block 8 of a gear 6, wherein the clamping hole 2 of the frame 1223 is clamped by a lifting hook 113 of a traveling device 111 of an actuating mechanism 11, a lifting hook 113 of a conductive wheel mounting seat 111, a suspension arm 12, a wire winding device 121, a wire winding mechanism 1211, a wire winding disc 12111, a wire winding disc 12121, a wire winding hole 121212, and a threaded screw 5 of an electric control system 4 of the frame 3 is separated from the sliding rail 7 of the gear 6.
Detailed Description
The present invention will be described in more detail with reference to examples.
Example 1
The utility model provides a transmission line wire equipotential intelligent repair method, provides a transmission line wire equipotential intelligent repair device, including actuating mechanism 1, frame 2 and control system 3, control system be used for controlling actuating mechanism's action, actuating mechanism including running gear 11 that can walk on the wire, be used for twining the wire winding device 12 on the wire with preformed armor rod, control system include electrical system and ground operating system, actuating mechanism, electrical system are installed in the frame. The wire winding device comprises a wire winding mechanism 121 and a wire clamping mechanism 122, the wire winding mechanism comprises a wire winding disc supporting seat 1211 which is arranged in two halves, a wire winding disc 1212 which is arranged in two halves, an electric lock 1213 and a threaded screw 4, the screw is a bidirectional threaded screw, the two halves of the wire winding disc supporting seat are respectively arranged on two sections of the bidirectional screw and are driven by the screw to be separated or folded, the electric lock is used for locking the folded wire winding disc supporting seat, semicircular holes are arranged on opposite surfaces of the wire winding disc supporting seats of each half, the semicircular holes of the two halves of the wire winding disc supporting seat are combined into a circular hole, a semicircular groove which can be embedded into a semicircular disc is formed in the hole wall of the semicircular hole, the semicircular grooves form an annular chute 12111 when the wire winding disc supporting seat is folded, the wire winding disc is nested in the annular chute and concentric with the annular chute in rotation, a central round hole capable of penetrating a wire is formed in the center of the wire winding disc, the central round holes are respectively distributed on the two halves of wire winding disc, wire winding holes 12121 are formed in each half of wire winding disc at intervals, the wire winding holes on the wire winding disc are distributed on the same circumference, a baffle blade 121212 and a conical half tube 121213 are arranged on the side of the wire winding disc, facing the wire clamping mechanism, of the wire winding disc are used for ending actions of wire winding operation, the wire winding device further comprises a gear transmission, a final gear in the gear transmission is of a ring structure and is parallel to the end face of the wire winding disc and is arranged at one end of the wire winding disc, the final gear 1215 drives the wire winding disc to rotate, the final gear is of a two-half structure, and a driving wheel 1214 of the gear transmission is supported on a wire winding disc supporting seat; the wire clamping mechanism comprises a clamping support seat 1221, clamping blocks 1222 arranged on the clamping support seat, an electric lock and a threaded screw structure, wherein the screw is a bidirectional threaded screw, two halves of the clamping support seat are respectively arranged on two sections of the bidirectional screw and are driven by the screw to perform separation or folding movement, the clamping support seat and the clamping blocks are formed by two halves, the clamping blocks are also provided with flexible clamping blocks 1223 which are of two half structures, the flexible clamping blocks are provided with wire clamping holes 1224 at intervals, the wire clamping holes are distributed on the same circumference of the flexible clamping blocks, the number of the wire clamping holes is equal to that of holes on a wire winding disc, the central positions of the two halves of the flexible clamping blocks are provided with central round holes, and the electric lock is used for the folded clamping blocks; the wire clamping mechanism is arranged on the frame, the wire winding mechanism is arranged on a threaded screw rod on the frame and slides along the screw rod far away from and close to the wire clamping mechanism, the two bidirectional screw rods of the wire clamping mechanism and the wire winding mechanism are in parallel, the threaded screw rod on the frame is perpendicular to the two bidirectional threaded screw rods of the wire clamping mechanism and the wire winding mechanism, and a central round hole of a flexible clamping block in the wire clamping mechanism is concentric with a central round hole of a wire winding disc of the wire winding mechanism. Cam followers are arranged at the same circumference of the end surface of the other end of the wire winding disc, which is contacted with the wire winding disc supporting seat, a circle of sliding grooves are arranged on the corresponding surface of the wire winding disc supporting seat, and the cam followers 1216 are blocked in the sliding grooves to run. The outer ring of the central round hole of the end face of the wire winding disc, which faces the wire clamping mechanism, is provided with a conical sleeve formed by two halves, the small end of the sleeve is far away from the wire winding disc, and the large end of the sleeve is connected with the wire winding disc. The end face of the wire winding disc, which is provided with the sleeve, is provided with baffle blades distributed along the radial direction of the wire winding disc, the baffle blades extend outwards from the sleeve, and the number of the baffle blades is that the wire winding holes on the wire winding disc are isolated. The driving wheel in the gear transmission is arranged at the left side below the final gear, the anti-disengaging gear 5 is also arranged at the right side below the final gear, and the driving wheel and the anti-disengaging gear are respectively arranged on the two halves of wire winding disc supporting seats. The flexible clamping block is made of common hard rubber materials. The frame be square frame body, be provided with two slide rails and one section lead screw on the frame body, the lead screw is on a parallel with slide rail 6 and is located between two slide rails, is provided with slider 7 on the slide rail, wire winding mechanism links to each other with the slider. The wire clamping mechanism is arranged on the frame through a connecting seat. The electric control system is connected with the rack in a snap-in mode. The frame body is an aluminum profile frame. A bottom plate 8 is provided on the frame body. The running gear including the conductive wheel that arranges around, conductive wheel mount pad, set up the lifting hook on conductive wheel mount pad, conductive wheel mount pad passes through the suspension arm and supports in the frame, the shaft of conductive wheel passes conductive wheel mount pad, one end installation conductive wheel, one end installation band pulley, the band pulley drives the shaft rotation, pivoted shaft drives conductive wheel rotation. The conductive wheel mounting base 111 and the lifting hook 112 are of an integrated structure. The connection of the suspension arm 113 and the frame is provided with a reinforcing corner seat. The screw thread lead screw, the driving wheel and the two conductive wheels are driven by independent motors respectively.
The electric control system mainly comprises a BMS lithium battery system, a wireless communication network bridge AP end (vehicle-mounted end), a PLC controller, a motor driver and a motor, a relay, an electric push rod, an electric lock, a limit switch, a switching power supply, a circuit breaker, an indicator light, a switch, a camera 9 and the like.
The PLC controller comprises 4 paths of pulse output ports, 12 paths of motion control ports in total of 8 paths of bus output ports, 16 paths of IO ports, 4 paths of DI (input output) connected with a driver for alarming, 7 paths of DI connected with a limit switch, 6 paths of DO serving as the pulse output ports connected with a travelling wheel motor driver, and 6 paths of DO connected with an electric lock and a relay. The PLC controller is communicated with the BMS lithium battery management system through RS485, and key information such as electric quantity, temperature, voltage and current are read. The PLC is provided with a DC5V power supply to supply power for the input terminal of the pulse motor driver.
The electronic control system controls 6 motors, a right-hand coordinate system is formulated according to fig. 11, and 6 axes are respectively defined as: 1-axis walking 1X, 2-axis walking 2X, 3-axis winding R, 4-axis winding Y, 5-axis winding X and 6-axis clamping Y. Wherein 1,2 are controlled using a pulse type driver and 3-6 axes are controlled using a bus type driver.
The electric control system performs point-to-point communication with the CPE end of the ground network bridge through the AP end of the wireless communication network bridge, the maximum distance is more than 1KM, and the AP end of the wireless communication network bridge performs data transmission with the PLC through the switch, so that the functions of motion control such as walking, climbing, wire winding, automatic zero return, electric lock switching, push rod lifting and the like of equipment are realized. BMS lithium battery system exchanges battery information through RS485 communication and PLC, and PLC passes through wireless transmission with battery information again and gives data to ground operating system. The wireless communication network bridge AP end performs image transmission with the 2 paths of cameras through the switch, so that the real-time monitoring, recording and playback functions of the operation site are realized. The travelling wheel and the motor are driven by a 60-tooth and 24-tooth synchronous belt driving wheel, the synchronous belt is used for driving, the reduction ratio of the speed reducer is 1:5.08, and thus the torque of the motor is amplified by 12.7 times, and the travelling wheel can be dragged to climb a slope and surmount a obstacle at a large angle. The advancing and dragging mechanism of the wire winding mechanism mainly comprises parallel sliding rails, sliding blocks, motors, ball screws and connecting blocks. The parallel sliding rail is adopted to ensure that the wire winding mechanism is vertical to the plane of the suspension arm when advancing along the direction of the wire, and the double sliding blocks are adopted to form a group of unilateral sliding rail supporting points to ensure that the wire winding mechanism is vertical to the plane of the bottom plate when advancing along the direction of the wire. The rectangular bottom plate seat with the thickness of 4mm is arranged above the aluminum profile frame, plays a role in fixing and leveling, and ensures that parallel sliding rails are arranged in the same plane while strengthening the stability of the main body frame. The actuating mechanism is connected with the electric cabinet by adopting a buckle type, so that the electric cabinet is convenient to separate and combine for transportation, and the modularized design is convenient for maintenance and upgrade in the future.
Conductive wheel (road wheel): the conductive wheel has 2 layers of outer wheels, 2 layers of elastic inner wheels, 5 layers of conductive middle wheels and a long shaft. The long shaft is internally connected with the conductive block, the conductive block is connected with the middle conductive wheel through the clockwork spring, and when the conductive wheel is hung on the transmission line, the equipotential operation is realized through the metal passage of the middle conductive wheel, the clockwork spring, the conductive block, the wheel shaft, the mounting seat, the hanging arm and the integral device.
The elastic inner wheel in the middle is made of high-strength rubber, and friction force of the elastic inner wheel on the power transmission line is increased, so that climbing and obstacle crossing capacity is increased. The design of the appearance size of the conductive wheel refers to the design of the appearance size of the obstacle. The mount pad adopts the integral type design, ensures that conducting wheel and mount pad firm in connection is reliable, also ensures firm in connection between lifting hook and the arm that hangs simultaneously.
The undescribed portion of this embodiment is identical to the prior art.
Claims (9)
1. An equipotential intelligent repair method for a transmission line wire is characterized by comprising the following steps of: the utility model provides an equipotential intelligent repairing device for a transmission line wire, which comprises an actuating mechanism, a frame and a control system, wherein the control system is used for controlling the action of the actuating mechanism, the actuating mechanism comprises a traveling device capable of traveling on the wire and a wire winding device used for winding a preformed armor wire on the wire, the control system comprises an electric control system and a ground operating system, the actuating mechanism and the electric control system are arranged on the frame, the wire winding device comprises a wire winding mechanism and a wire clamping mechanism, the wire winding mechanism comprises a wire winding disc supporting seat which is arranged in two halves, a wire winding disc which is arranged in two halves, an electric lock and a threaded screw structure, the screw is a bidirectional threaded screw, the wire winding disc supporting seat in two halves is respectively arranged on two sections of the bidirectional screw and is driven by the screw to perform separation or folding movement, the electric lock is used for locking the folded wire winding disc supporting seat, the opposite surfaces of the wire winding disc supporting seats of each half are provided with semicircular holes, the semicircular holes of the wire winding disc supporting seats of the two halves are combined into a circular hole, the hole wall of the semicircular hole is provided with a semicircular groove which can be embedded into the semicircular wire winding disc, when the wire winding disc supporting seats are folded, the two semicircular grooves form an annular chute, the wire winding disc is nested in the annular chute and concentric with the annular chute in rotation, the center part of the wire winding disc is provided with a central circular hole which can penetrate through a wire, the central circular holes are respectively distributed on the wire winding discs of the two halves, the wire winding discs of each half are provided with wire winding holes at intervals, the wire winding holes on the wire winding disc are distributed at the same circumference, the wire winding device also comprises a gear transmission, a final stage gear in the gear transmission is of an annular structure and is parallel to the end surface of the wire winding disc, the final stage gear drives the wire winding disc to rotate, the final stage gear is of a two-half structure, the driving wheel of the gear transmission is supported on the wire winding disc supporting seat; the wire clamping mechanism comprises a clamping support seat, clamping blocks, an electric lock and a threaded screw structure, wherein the clamping blocks, the electric lock and the threaded screw structure are arranged on the clamping support seat, the screw is a bidirectional threaded screw, two halves of the clamping support seat are respectively arranged on two sections of the bidirectional screw and are driven by the screw to perform separation or folding movement, the clamping support seat and the clamping blocks are formed by two halves, the flexible clamping blocks are further arranged on the clamping blocks and are of two half structures, wire clamping holes are formed in the flexible clamping blocks at intervals, the wire clamping holes are distributed on the same circumference of the flexible clamping blocks, the number of the wire clamping holes is equal to that of holes on a wire winding disc, central round holes are formed in the central parts of the two halves of the flexible clamping blocks, and the electric lock is used for locking the folded clamping blocks; the wire clamping mechanism is arranged on the frame, the wire winding mechanism is arranged on a threaded lead screw on the frame and slides far away from and close to the wire clamping mechanism along the lead screw, the threaded lead screw on the frame is in a parallel state with the two bidirectional lead screws of the wire clamping mechanism and the two bidirectional threaded lead screws of the wire winding mechanism, a central round hole of a flexible clamping block in the wire clamping mechanism is concentric with a central round hole of a wire winding disc of the wire winding mechanism, one end of a preformed armor rod with a required length is inserted into the wire clamping hole of the flexible clamping block of the wire clamping mechanism during operation, the other end of the preformed armor rod passes through the wire winding hole on the wire winding disc of the wire winding mechanism, at the moment, the wire winding mechanism is positioned at the end of the wire clamping mechanism, then the equipotential intelligent repairing device is placed on a wire, the two half parallel electric locks of the wire winding mechanism and the wire clamping mechanism are started, the threaded lead screw on the frame is started, and simultaneously the gear transmission on the wire winding mechanism is started, the wire winding disc of the wire winding mechanism is driven to rotate under the drive of the gear, the preformed armor rod is driven to rotate and drives the preformed armor rod to move away from the wire winding mechanism, and the preformed armor rod is wound on the wire winding mechanism to the wire winding mechanism when the preformed armor rod is far away from the wire winding mechanism; the frame be square frame body, be provided with two slide rails and one section lead screw on the frame body, the lead screw is on a parallel with the slide rail and is located between two slide rails, is provided with the slider on the slide rail, wire winding mechanism bottom links to each other with the slider.
2. The intelligent repair method for the equipotential of the transmission line conductor according to claim 1, wherein the method comprises the following steps: cam followers are arranged at the same circumference of the end face of the other end of the wire winding disc, which is contacted with the wire winding disc supporting seat, a circle of sliding grooves are arranged on the corresponding face of the wire winding disc supporting seat, and the cam followers are clamped in the sliding grooves to run.
3. The intelligent repair method for the equipotential of the transmission line conductor according to claim 2, wherein the method comprises the following steps: the outer ring of the central round hole of the end face of the wire winding disc, which faces the wire clamping mechanism, is provided with a conical sleeve formed by two halves, the small end of the sleeve is far away from the wire winding disc, and the large end of the sleeve is connected with the wire winding disc.
4. The intelligent repair method for the equipotential of the transmission line conductor according to claim 3, wherein the method comprises the following steps: the end face of the wire winding disc, which is provided with the sleeve, is provided with baffle blades distributed along the radial direction of the wire winding disc, the baffle blades extend outwards from the sleeve, and the number of the baffle blades is that the wire winding holes on the wire winding disc are isolated.
5. The intelligent repair method for the equipotential of the transmission line conductor according to claim 4, wherein the method comprises the following steps: the driving wheel in the gear transmission is arranged at the left side below the final gear, the anti-disengaging gear is also arranged at the right side below the final gear, and the driving wheel and the anti-disengaging gear are respectively arranged on the two halves of wire winding disc supporting seats.
6. The intelligent repair method for the equipotential of the transmission line conductor according to claim 1, wherein the method comprises the following steps: the running gear including the conductive wheel that arranges around, conductive wheel mount pad, set up the lifting hook on conductive wheel mount pad, conductive wheel mount pad passes through the suspension arm and supports in the frame, the shaft of conductive wheel passes conductive wheel mount pad, one end installation conductive wheel, one end installation band pulley, the band pulley drives the shaft rotation, pivoted shaft drives conductive wheel rotation.
7. The intelligent repair method for the equipotential of the transmission line conductor according to claim 1, wherein the method comprises the following steps: the utility model provides an electronic control system include the battery, the PLC controller, motor driver and motor, the relay, electric putter, the electric lock, limit switch, switching power supply, the pilot lamp, the switch, the camera, the motor including be used for driving the motor that wire winding mechanism moved around along the lead screw of frame and realize wire winding mechanism's two halves fold and the wire winding motor of separately, the motor still includes the motor that realizes wire clamping mechanism to fold and separate, the motor still includes the motor that makes action wheel pivoted, the motor still includes the walking motor that makes two conducting wheel walking, the PLC controller be connected with pulse type driver, the electric lock, limit switch, relay, bus driving module and switch respectively, motor driver link to each other with the walking motor, bus driving module link to each other with bus type driver, bus type driver is used for driving wire winding motor and wire clamping motor, the switch is connected with camera and wireless communication module AP end, wireless communication module AP end carries out data transmission through switch and PLC controller, the battery gives PLC controller, wireless communication module, switch, bus driving module and bus driving module RS battery power supply system carry out the transmission of data with CPE communication bridge wireless communication network AP communication system through wireless communication bridge, CPE communication network AP carries out with wireless communication network communication system and wireless communication network AP.
8. The intelligent repair method for the equipotential of the transmission line conductor according to claim 7, wherein the method comprises the following steps: the PLC controller comprises a pulse output port, a motion control port of a bus output port, an IO port, a driver alarm, a limit switch, a traveling wheel motor driver, an electric lock, a relay, an electric quantity, temperature, voltage and current key information, wherein the DI is connected with the limit switch, the DO is used as the pulse output port to be connected with the traveling wheel motor driver, the DO is also connected with the electric lock, the PLC controller is communicated with a BMS lithium battery management system through an RS485, the electric quantity, the temperature, the voltage and the current key information are read, and the PLC controller is provided with a DC5V power supply to supply power for an input terminal of the pulse motor driver.
9. The intelligent repair method for the equipotential of the transmission line conductor according to claim 8, wherein the method comprises the following steps: the electric control system controls 6 motors, and each shaft is defined as respectively by a right-hand coordinate system: 1 axis walk 1X,2 axis walk 2X,3 axis wire wrap R,4 axis wire wrap Y,5 axis wire wrap X,6 axis wire clamp Y, wherein 1,2 are controlled using a pulse driver and 3-6 axes are controlled using a bus driver.
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| CN110556742A (en) * | 2019-10-14 | 2019-12-10 | 武汉纺织大学 | Full-automatic optical cable paying-off and bundling machine |
| 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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