CN110061449A - A kind of drainage plate robot for overhauling and its repair method towards double division high voltage electricity transmission conductive wires - Google Patents
A kind of drainage plate robot for overhauling and its repair method towards double division high voltage electricity transmission conductive wires Download PDFInfo
- Publication number
- CN110061449A CN110061449A CN201910495694.3A CN201910495694A CN110061449A CN 110061449 A CN110061449 A CN 110061449A CN 201910495694 A CN201910495694 A CN 201910495694A CN 110061449 A CN110061449 A CN 110061449A
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- drainage
- bolt
- group
- work jibs
- robot
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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
Abstract
The present invention relates to a kind of drainage plate robot for overhauling and its repair method towards double division high voltage electricity transmission conductive wires comprising cabinet；Body；Vertical shift slide unit；Moving arm；Work jibs；Its four groups mobile wheel drives are suitable for double division transmission pressure operating environments, and two group job arms are equipped on vertical shift slide unit, can overhaul to two groups of drainage plates.Wherein one end of work jibs is disposed with bolt fixing mechanism, and for fixed drainage crab bolt, two end of work jibs is disposed with nutting mechanism, for fastening drainage crab bolt.It is moved by four-wheel drive and each joint coordination, apparatus of the present invention can realize that the road electrification of double division high voltage transmission lines carries out two groups of drainage plate upkeep operations.
Description
Technical field
The present invention relates to a kind of drainage plate robot for overhauling and its repair method towards double division high voltage electricity transmission conductive wires, belong to
The double division electricity transmission line live-line maintenance operation technical fields of high aloft.
Technical background
Main artery of the ultra-high-tension power transmission line as power Transmission has significant impact for the development and stabilization of power industry,
Since single transmission pressure resistance value is larger, anti-interference ability is weak, and transmission efficiency is low, and China generallys use split conductor at present, with
Solid conductor is compared, and split conductor can be such that the inductance of power transmission line reduces, and capacitor increases, and improves the ability to transmit electricity of route, and divide
It splits conducting wire and also improves track stability, can adapt to geographical environment and the increasingly complex area of weather.At present 220KV and
The power transmission line of 330KV uses binary fission conducting wire, gold of the strain clamp as connecting conducting wire (or lightning conducter) and strain insulator string
Tool, has vital effect for the fixation of conducting wire, however, the factors such as gentle breeze, icing can cause vibration and the dance of conducting wire
It is dynamic, and then lead to strain clamp drainage plate bolt looseness, resistance will be caused to increase because of contacting not firm between drainage plate, made
It drains plate temperature to rise, the oxidation of contact surface is reinforced, and the case where burning drainage plate occurs, and line-outage contingency occurs.And electricity
Resistance, which increases, will cause a large amount of electric energy losses.Therefore, the maintenance of strain clamp drainage plate is the important content of live-line maintenance operation.
Handling such problem is mainly that artificial carrying operation tool climbing is online, is overhauled to drainage plate.Such method
Palpus power failure operation, low efficiency, personal safety cannot ensure.In this context, the present invention designs one kind towards double division high pressures
The drainage plate robot for overhauling of transmission pressure can replace artificial realize to charge two groups of drainage plate inspections on the double division transmission pressures of progress
Repair operation.
Summary of the invention
The purpose of the present invention is draining inconvenience and drawback existing for plate technique to solve existing artificial maintenance double bundle conductor,
And provide a kind of drainage plate robot for overhauling towards double division high voltage electricity transmission conductive wires.
To achieve the above object, the technical scheme adopted by the invention is that: provide and a kind of led towards double division high voltage power transmissions
The drainage plate robot for overhauling of line, it is characterised in that: include: cabinet；Body；Moving arm, is arranged in body top surface by four groups,
End is equipped with movable pulley；Vertical shift slide unit: it is arranged in body front end, and upper and lower surface is equipped with guide rail, and work jibs can be realized vertical
To movement；Work jibs one are arranged on vertical shift slide unit, drain crab bolt side；Work jibs two are arranged in vertical shift slide unit
On, drain crab bolt side；Bolt fixing mechanism is arranged in one end of work jibs, for fixed drainage crab bolt；Nutting
Mechanism is arranged in two end of work jibs, for fastening drainage crab bolt；
Work jibs one described in drainage plate robot for overhauling of the invention have Three Degree Of Freedom, comprising: vertical shift joint, rotation
Turn joint, work jibs one can be transported to operating position by telescopic joint.Operation described in drainage plate robot for overhauling of the invention
Arm two has Three Degree Of Freedom, comprising: work jibs two can be transported to operating position by vertical shift joint, rotary joint, telescopic joint.
Bolt fixing mechanism described in drainage plate robot for overhauling of the invention is arranged in one end of work jibs, is used for
Drainage crab bolt is entangled so that it is fixed.
Nutting mechanism described in drainage plate robot for overhauling of the invention, is used to fasten drainage crab bolt.
Cabinet described in drainage plate robot for overhauling of the invention is suspended below body, close to body tail portion, keeps machine
The whole laterally balance of device people, and body is connected to by slide bar, so that robot will not roll in operation process, keep
Longitudinal balance of the robot in operation process.
Bolt fixing mechanism described in drainage plate robot for overhauling of the invention and nutting mechanism, top are respectively mounted camera shooting
Head is used for autonomous positioning.
Drainage plate robot for overhauling described in drainage plate robot for overhauling of the invention is suitable for the maintenance resistance to bracing cable of compression-type
Folder drainage crab bolt.
A kind of drainage plate maintenance towards double division high voltage electricity transmission conductive wires described in drainage plate robot for overhauling of the invention
Method, step include:
Manually that the lifting of drainage plate robot for overhauling is online first, robot is travelled by four-wheel drive along double bundle conductor
To operating position；Work jibs one by vertical shift joint reach first group of working bolt position, in the process, cabinet along slide bar to
Second group of bolt direction is mobile, and robot is avoided to roll, by rotary joint and telescopic joint by bolt fixing mechanism and
First group of drainage crab bolt is aligned and entangles first group of drainage crab bolt；Work jibs two reach first group of bolt by vertical shift joint
Nutting mechanism is aligned with telescopic joint with first group of drainage crab bolt by rotary joint and tightens first group by operating position
Drain crab bolt；Double work jibs exit working condition.Second group of drainage crab bolt maintenance is then carried out, work jibs one pass through vertical shift
Joint reaches second group of working bolt position, and in the process, cabinet is moved along slide bar to first group of bolt direction, passes through rotation
Bolt fixing mechanism is aligned with second group of drainage crab bolt with telescopic joint and entangles second group of drainage crab bolt by joint；Operation
Arm two reaches second group of working bolt position by vertical shift joint, by rotary joint and telescopic joint by nutting mechanism and the
Two groups of drainage crab bolts are aligned and tighten second group of drainage crab bolt；Double work jibs exit working condition, and drainage plate is overhauled machine
People is offline.
Drainage plate upkeep operation robot of the invention has the advantage that compared with prior art
1. the present invention can be achieved to replace not having a power failure manually to carry out double division transmission pressure drainage plate upkeep operations；
Fix it 2. bolt fixing mechanism acts on drainage crab bolt, the more stable height of bolt fastening (release) operation
Effect；
3. vertical shift slide unit can realize not two groups of drainage crab bolt upkeep operations of offline progress；
4. cabinet is connect with body by slide bar, whole machine balancing of the robot in operation process is ensured；
5. drainage plate robot for overhauling of the invention uses four-wheel drive, it is adapted to double division electricity transmission line structures.
Detailed description of the invention
Fig. 1 is drainage plate robot for overhauling surface structure schematic diagram of the present invention；
Fig. 2 is that drainage plate robot for overhauling of the present invention is travelled along double bundle conductor；
Fig. 3 is that drainage plate robot for overhauling of the present invention is travelled to operating position；
Fig. 4 is that one bolt fixing mechanism of work jibs entangles first group of drainage crab bolt；
Fig. 5 is two nutting fastening of work jibs, first group of drainage crab bolt；
Fig. 6 is that double work jibs carry out second group of drainage plate bolt fastening operation.
In above-mentioned figure: 1- cabinet, 2- body, 3- slide bar, 4- vertical shift slide unit, 5- moving arm, 6- movable pulley, 7- movable pulley drive
Dynamic device, 8- work jibs one, 9- work jibs two, 10- bolt fixing mechanism, 11- nutting mechanism, 12- camera.
Specific embodiment
Below in conjunction with drawings and examples, invention is further described in detail:
A kind of drainage plate robot for overhauling structure of the invention is as shown in Figure 1, include cabinet 1, body 2, slide bar 3, vertical shift
Sliding 4, moving parts, operation the upper arm member, the basic element of character such as operation end component.The moving parts specifically includes moving arm 5, moves
Driving wheel 6, mobile wheel-drive 7；The operation the upper arm member specifically includes work jibs 1, work jibs 29, wherein linear joint and
Telescopic joint is cooperated by chain track, is driven by leading screw and nut mechanism；Rotary joint is crank and rocker mechanism；The operation end
End pieces specifically include bolt fixing mechanism 10, nutting mechanism 11, and the bolt fixing mechanism is vised by hex socket
Drainage crab bolt fixes it, nutting mechanism output torque in such a way that turbine and worm is driven；The fixed machine of the bolt
Structure and nutting mechanism, top are respectively mounted camera 12, are used for autonomous positioning.
The workflow of apparatus of the present invention is described below:
Manually that the lifting of drainage plate robot for overhauling is online first, four groups of movable pulleys 6 are travelled along double bundle conductor to work
Position；Work jibs 1 reach first group of working bolt position by vertical shift joint, and in the process, cabinet is along slide bar 3 to second
Group bolt direction is mobile, and robot is avoided to roll, by rotary joint and telescopic joint by bolt fixing mechanism 10 and the
One group of drainage crab bolt is aligned and entangles first group of drainage crab bolt；Work jibs 29 reach first group of bolt by vertical shift joint
Nutting mechanism 11 is aligned with telescopic joint with first group of drainage crab bolt by rotary joint and tightens first by operating position
Group drainage crab bolt；Double work jibs exit working condition.Second group of drainage crab bolt maintenance is then carried out, work jibs one pass through vertical
It moves joint and reaches second group of working bolt position, in the process, cabinet is moved along slide bar to first group of bolt direction, passes through rotation
Turn joint to be directed at bolt fixing mechanism with second group of drainage crab bolt with telescopic joint and entangle second group of drainage crab bolt；Make
Industry arm two reaches second group of working bolt position by vertical shift joint, by rotary joint and telescopic joint by nutting mechanism with
Second group of drainage crab bolt is aligned and tightens second group of drainage crab bolt；Double work jibs exit working condition, drainage plate servicing machine
Device people is offline.
Claims (9)
1. a kind of drainage plate robot for overhauling towards double division high voltage electricity transmission conductive wires, it is characterised in that: include: cabinet；Body；
Moving arm, is arranged in body top surface by four groups, and end is equipped with movable pulley；
Vertical shift slide unit: it is arranged in body front end, and upper and lower surface is equipped with guide rail, and double work jibs can realize longitudinal movement；
Work jibs one are arranged on vertical shift slide unit, drain crab bolt side；
Work jibs two are arranged on vertical shift slide unit, drain crab bolt side；
Bolt fixing mechanism is arranged in one end of work jibs, for fixed drainage crab bolt；
Nutting mechanism is arranged in two end of work jibs, for fastening drainage crab bolt.
2. drainage plate robot for overhauling according to claim 1, which is characterized in that the work jibs one, freely with three
Degree, comprising: work jibs one can be transported to operating position by vertical shift joint, rotary joint, telescopic joint.
3. drainage plate robot for overhauling according to claim 1, which is characterized in that the work jibs two, freely with three
Degree, comprising: work jibs two can be transported to operating position by vertical shift joint, rotary joint, telescopic joint.
4. drainage plate robot for overhauling according to claim 1 or 2, which is characterized in that the bolt fixing mechanism, arrangement
In one end of work jibs, it is used to entangle drainage crab bolt so that it is fixed.
5. conductor spacer robot for overhauling according to claim 1 or 3, which is characterized in that the nutting mechanism is used for
Fastening drainage crab bolt.
6. drainage plate robot for overhauling according to claim 1, which is characterized in that the cabinet is suspended below body,
Close to body tail portion, the whole laterally balance of robot is kept, and body is connected to by slide bar, so that robot is in operation process
In will not roll, keep longitudinal balance of the robot in operation process.
7. drainage plate robot for overhauling according to claim 1, which is characterized in that the bolt fixing mechanism and nutting
Mechanism, top are respectively mounted camera, are used for autonomous positioning.
8. drainage plate robot for overhauling according to claim 1, which is characterized in that the drainage plate robot for overhauling is applicable in
Crab bolt is drained in maintenance compression type strain clamp.
9. a kind of drainage plate robot for overhauling repair method towards double division high voltage electricity transmission conductive wires, which is characterized in that its step
It is as follows:
Manually that the lifting of drainage plate robot for overhauling is online first, robot is travelled along double bundle conductor to work by four-wheel drive
Make position；Work jibs one reach first group of working bolt position by vertical shift joint, and in the process, cabinet is along slide bar to second
Group bolt direction is mobile, and robot is avoided to roll, by rotary joint and telescopic joint by bolt fixing mechanism and first
Group drainage crab bolt is aligned and entangles first group of drainage crab bolt；Work jibs two reach first group of working bolt by vertical shift joint
Nutting mechanism is aligned with telescopic joint with first group of drainage crab bolt by rotary joint and tightens first group of drainage by position
Crab bolt；Double work jibs exit working condition.Second group of drainage crab bolt maintenance is then carried out, work jibs one pass through vertical shift joint
Second group of working bolt position is reached, in the process, cabinet is moved along slide bar to first group of bolt direction, passes through rotary joint
Bolt fixing mechanism is aligned with second group of drainage crab bolt with telescopic joint and entangles second group of drainage crab bolt；Work jibs two
Second group of working bolt position is reached by vertical shift joint, by rotary joint and telescopic joint by nutting mechanism and second group
Drainage crab bolt is aligned and tightens second group of drainage crab bolt；Double work jibs exit working condition, under drainage plate robot for overhauling
Line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910495694.3A CN110061449A (en) | 2019-06-10 | 2019-06-10 | A kind of drainage plate robot for overhauling and its repair method towards double division high voltage electricity transmission conductive wires |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910495694.3A CN110061449A (en) | 2019-06-10 | 2019-06-10 | A kind of drainage plate robot for overhauling and its repair method towards double division high voltage electricity transmission conductive wires |
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| Publication Number | Publication Date |
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| CN110061449A true CN110061449A (en) | 2019-07-26 |
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ID=67325835
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910495694.3A Pending CN110061449A (en) | 2019-06-10 | 2019-06-10 | A kind of drainage plate robot for overhauling and its repair method towards double division high voltage electricity transmission conductive wires |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110445053A (en) * | 2019-08-13 | 2019-11-12 | 武汉纺织大学 | A kind of stockbridge damper robot for overhauling and its repair method towards quadripartion EHV transmission conducting wire |
| CN110459983A (en) * | 2019-08-23 | 2019-11-15 | 武汉纺织大学 | One kind is towards the novel reconstructing method of quadripartion EHV transmission conducting wire multitask reconstruction robot and its end |
| CN111711041A (en) * | 2020-06-23 | 2020-09-25 | 中国南方电网有限责任公司超高压输电公司南宁局 | Special device for repairing conductive contact surface of strain drainage plate of power transmission line |
| CN113809679A (en) * | 2021-09-28 | 2021-12-17 | 国网浙江省电力有限公司绍兴市上虞区供电公司 | Overhead transmission line double-split conductor wiring inspection special equipment |
| CN113945805A (en) * | 2021-11-08 | 2022-01-18 | 国网江西省电力有限公司电力科学研究院 | Overhead line fault monitoring device based on Beidou fault location |
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| CN105058032A (en) * | 2015-06-29 | 2015-11-18 | 国家电网公司 | Overhead high-voltage power transmission line strain clamp drainage plate bolt tightening robot |
| CN105390991A (en) * | 2015-12-22 | 2016-03-09 | 广东科凯达智能机器人有限公司 | Power transmission line bolt tightening robot and pose control method |
| CN205753192U (en) * | 2016-05-12 | 2016-11-30 | 山东大学 | Adapt to the inspection robot frame for movement of solid conductor |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104917105A (en) * | 2015-06-29 | 2015-09-16 | 国家电网公司 | Overhead high-voltage transmission line charged maintenance robot |
| CN105058032A (en) * | 2015-06-29 | 2015-11-18 | 国家电网公司 | Overhead high-voltage power transmission line strain clamp drainage plate bolt tightening robot |
| CN105390991A (en) * | 2015-12-22 | 2016-03-09 | 广东科凯达智能机器人有限公司 | Power transmission line bolt tightening robot and pose control method |
| CN205753192U (en) * | 2016-05-12 | 2016-11-30 | 山东大学 | Adapt to the inspection robot frame for movement of solid conductor |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110445053A (en) * | 2019-08-13 | 2019-11-12 | 武汉纺织大学 | A kind of stockbridge damper robot for overhauling and its repair method towards quadripartion EHV transmission conducting wire |
| CN110459983A (en) * | 2019-08-23 | 2019-11-15 | 武汉纺织大学 | One kind is towards the novel reconstructing method of quadripartion EHV transmission conducting wire multitask reconstruction robot and its end |
| CN111711041A (en) * | 2020-06-23 | 2020-09-25 | 中国南方电网有限责任公司超高压输电公司南宁局 | Special device for repairing conductive contact surface of strain drainage plate of power transmission line |
| CN113809679A (en) * | 2021-09-28 | 2021-12-17 | 国网浙江省电力有限公司绍兴市上虞区供电公司 | Overhead transmission line double-split conductor wiring inspection special equipment |
| CN113945805A (en) * | 2021-11-08 | 2022-01-18 | 国网江西省电力有限公司电力科学研究院 | Overhead line fault monitoring device based on Beidou fault location |
| CN113945805B (en) * | 2021-11-08 | 2024-03-12 | 国网江西省电力有限公司电力科学研究院 | Overhead line fault monitoring device based on Beidou fault positioning |
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