CN111923089B - Robot hanging rope and wire live working robot - Google Patents
Robot hanging rope and wire live working robot Download PDFInfo
- Publication number
- CN111923089B CN111923089B CN202010964123.2A CN202010964123A CN111923089B CN 111923089 B CN111923089 B CN 111923089B CN 202010964123 A CN202010964123 A CN 202010964123A CN 111923089 B CN111923089 B CN 111923089B
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- robot
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- metal
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- 239000002184 metal Substances 0.000 claims abstract description 34
- 229910052751 metal Inorganic materials 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000005611 electricity Effects 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims abstract description 7
- 239000000835 fiber Substances 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 9
- 238000013459 approach Methods 0.000 abstract description 3
- 239000004020 conductor Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000006872 improvement Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000001174 ascending effect Effects 0.000 description 4
- 230000005684 electric field Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 229920002994 synthetic fiber Polymers 0.000 description 2
- 238000009941 weaving Methods 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004826 seaming Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/02—Contact members
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R24/00—Two-part coupling devices, or either of their cooperating parts, characterised by their overall structure
- H01R24/005—Two-part coupling devices, or either of their cooperating parts, characterised by their overall structure requiring successive relative motions to complete the coupling, e.g. bayonet type
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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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot mounting rope and a wire live-line work robot, wherein the wire live-line work robot is mounted on a wire through the robot mounting rope, and the robot mounting rope comprises: insulating the rope section; the metal rope section covers the part of the insulating rope section close to the conducting wire; and the insulating rope section is sewn with the metal rope section through the connecting section. Wire live working robot includes: the robot comprises a robot body, a lifting mechanism and a robot mounting rope; the robot body is hung on the lead through a robot hanging rope; the robot body is provided with an electricity receiving rod; the lifting mechanism comprises two wire collecting winches symmetrically arranged on the robot body, and robot mounting ropes are tied to the wire collecting winches to drive the wire collecting winches to rotate so as to enable the robot body to integrally lift, so that when metal rope sections in the robot mounting ropes are in contact with the electricity connecting rods, electrified access actions are completed. The invention can avoid the influence of electromagnetic interference when the robot approaches the power transmission conductor.
Description
Technical Field
The invention relates to the technical field of power transmission line construction robots, in particular to a robot mounting rope and wire live-line working robot.
Background
The power transmission line is used as an energy source to convey life pulses, the power supply reliability of the power transmission line cannot be easily interrupted, and in addition, some walking monitoring robots, deicing robots and the like, coating robots and the like can be operated only by being hung on the conducting wires and being equipotential with the conducting wires in consideration of the live operation of the power transmission line. When the robot enters an electric field, due to the capacitance effect of the robot body, when the robot gradually approaches a high-voltage line, once the electric field between the wire and the robot body is higher than a critical value, an obvious discharging process will occur between the wire and the robot body, and high-frequency discharging will generate strong electromagnetic interference, which may cause the robot remote control module or the circuit to be paralyzed.
Disclosure of Invention
The embodiment of the invention provides a robot mounting rope and a wire live-line operation robot, which can avoid the influence of electromagnetic interference when the robot approaches a power transmission wire and ensure the safety of robot operation.
An embodiment of the present invention provides a robot mounting rope, through which a wire live-working robot is mounted on a wire, including:
insulating the rope section;
the metal rope section is covered on the part, close to the conducting wire, of the insulating rope section;
and the insulating rope section is sewn with the metal rope section through the connecting section.
As an improvement of the above, the splicing section comprises a stitching line by which the metal cord section is joined with the insulating cord section.
As an improvement of the scheme, the insulating rope section is formed by weaving artificial fibers or natural fibers.
As an improvement of the scheme, the metal rope section is formed by weaving copper wires.
As an improvement of the above solution, the splicing section is made of fibers.
Another embodiment of the present invention correspondingly provides a wire live working robot, which is characterized by comprising: the robot comprises a robot body, a lifting mechanism and the robot mounting rope;
the robot body is hung on the lead through the robot hanging rope; the robot body is provided with an electricity receiving rod;
the lifting mechanism comprises two wire collecting winches symmetrically arranged on the robot body, and the robot mounting rope is tied to the wire collecting winches to drive the wire collecting winches to rotate so as to enable the robot body to integrally lift, so that when a metal rope section in the robot mounting rope is in contact with the power connection rod, the electrified connection action is completed.
As an improvement of the above scheme, the wire live working robot further comprises a walking mechanism;
the walking mechanism comprises walking wheels, so that the walking wheels are driven to walk on the lead to enable the robot body to move along the lead.
Compared with the prior art, the robot with the live working of the robot hanging rope and the wire has the following beneficial effects that:
the robot hanging rope comprises an insulating rope section, a metal rope section and a connecting section; the insulation rope section and the metal rope section are sewn through arranging a splicing section; through the insulating rope section is close to the partial cover of wire the metal rope section realizes getting on the line the in-process on line when the robot is electrified, provides the channel of an electrified access when the robot rises to a certain position for the robot avoids receiving electromagnetic interference's influence, has guaranteed the security of robot operation.
The wire live working robot comprises: robot body, ascending mechanism and robot carry rope, the robot body, through the robot carry rope is hung and is established on the wire, be equipped with the stick that connects electricity on the robot body, ascending mechanism include two in the line capstan winch of the last symmetry setting of robot body, it all has on the line capstan winch the robot carry rope to realize the drive it rotates the order to receive the line capstan winch the robot body wholly rises, makes and works as metal rope section in the robot carry rope with when connecting the contact of stick, accomplish electrified access action to can avoid receiving electromagnetic interference's influence when realizing the robot and being close to the transmission of electricity wire, guarantee the security of robot operation.
Drawings
Fig. 1 is a schematic structural diagram of a robot mounting rope according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a wire live working robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a wire live working robot for completing a live access operation according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, which is a schematic structural diagram of a robot mounting rope according to an embodiment of the present invention, a wire live working robot is mounted on a wire 5 through the robot mounting rope 1, where the robot mounting rope 1 includes:
an insulated rope section 11;
a metal rope section 12, wherein the part of the insulating rope section 11 close to the conducting wire 5 is covered with the metal rope section 12;
a connecting section 13, through which the insulating rope section 11 is stitched with the metal rope section 12.
In this embodiment, the robot mounting rope 1 is suitable for a 400V-1100kV power transmission line to mount a live working robot or a live working tool. Specifically, the whole section of the robot mounting rope 1 is composed of an insulating rope section 11, and a metal rope section 12 covers a part of the insulating rope section 11 close to the lead 5. The robot mounting rope 1 is used for mounting a wire operation robot, so that the robot body 2 is insulated from the ground and lifted to the wire 5 to finish the action of live up and down wires. Secondly, the robot mounting rope 1 is used for providing a channel for the high-voltage electric field to be electrified to be connected when the robot ascends to a certain position in the process of the robot being electrified to be on line, so that the robot is prevented from being influenced by electromagnetic interference.
In some embodiments, the connecting section 13 is made of fiber, or other metal, to perform the function of seaming the insulating rope section 11 and the metal rope section 12. In particular, the splicing section 13 comprises a stitching line 131, by means of which stitching line 131 the metal cord section 12 is joined to the insulating cord section 11.
In some embodiments, the insulating rope segment 11 is used for carrying the wire live working robot so that the robot body is insulated from the ground, and the insulating rope segment 11 can be woven by artificial fibers or natural fibers.
In some embodiments, the metal rope section 12 is implemented in the process that the robot is electrified to go on the line, and when the robot ascends to a certain position, an electrified access channel is provided, so that the robot is prevented from being influenced by electromagnetic interference. In order to achieve the above function, the metal rope portion 12 is woven by copper wires, and may be woven by other metal materials.
The embodiment of the invention provides a robot mounting rope, which comprises an insulating rope section, a metal rope section and a connecting section; the insulation rope section and the metal rope section are sewn through arranging a splicing section; through the insulating rope section is close to the partial cover of wire the metal rope section realizes getting on the line the in-process on line when the robot is electrified, provides the channel of an electrified access when the robot rises to a certain position for the robot avoids receiving electromagnetic interference's influence, has guaranteed the security of robot operation.
Referring to fig. 2, a schematic structural diagram of a wire live working robot according to an embodiment of the present invention is provided, where the wire live working robot includes: a robot body 2, a lifting mechanism 3 and the robot mounting rope 1;
the robot body 2 is hung on a lead 5 through the robot hanging rope 1; the robot body 2 is provided with an electricity receiving rod 21;
the lifting mechanism 3 comprises two wire collecting winches 31 symmetrically arranged on the robot body 2, and the robot mounting rope 1 is tied to the wire collecting winches 31 to drive the wire collecting winches 31 to rotate so as to enable the robot body 2 to integrally lift, so that when a metal rope section 12 in the robot mounting rope 1 is in contact with the electricity receiving rod 21, an electrified connection action is completed.
In some embodiments, referring to fig. 2, the wire-powered working robot further includes a traveling mechanism 4;
the travelling mechanism 4 comprises travelling wheels 41, so that the travelling wheels 41 are driven to travel on the lead 5 to enable the robot body 2 to move along the lead.
Specifically, referring to fig. 2, when the wire live working robot is in a ground state, the mounting rope is mounted above the wire 5, the metal rope segments 12 are evenly arranged in the insulating rope segments 11 near two ends of the wire 5 and are in contact with the wire 5 for electrification, and the insulating rope segments 11 bear the voltage of the wire 5 to ground. The wire take-up winch 31 is used for rotating to tighten or loosen the hanging rope, so that the robot ascends or descends. Referring to fig. 3, which is a schematic structural diagram of the wire live working robot provided in an embodiment of the present invention, when the wire take-up winch 31 rotates to tighten the mounting rope, the insulating rope section is continuously shortened, and the robot body 2 integrally ascends. When the hanging rope is tightened to a certain position, the metal rope section 12 of the hanging rope is gradually close to the electricity-connecting rod 21, and the electricity-connecting rod 21 is connected with the metal rope section 12, so that the live connection is realized.
In some embodiments, referring to fig. 2 and 3, the walking mechanism 4 includes a rotating arm 42 for connecting the robot body 2 and the walking wheel 41, and when the robot body 2 is lifted to a certain position, the rotating arm 42 is controlled to make the walking wheel 41 put on the wire 5, and the hanging rope is appropriately loosened to make the robot frame on the wire.
The embodiment of the invention provides a wire live working robot, which comprises: robot body, ascending mechanism and robot carry rope, the robot body, through the robot carry rope is hung and is established on the wire, be equipped with the stick that connects electricity on the robot body, ascending mechanism include two in the line capstan winch of the last symmetry setting of robot body, it all has on the line capstan winch the robot carry rope to realize the drive it rotates the order to receive the line capstan winch the robot body wholly rises, makes and works as metal rope section in the robot carry rope with when connecting the contact of stick, accomplish electrified access action to can avoid receiving electromagnetic interference's influence when realizing the robot and being close to the transmission of electricity wire, guarantee the security of robot operation.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (7)
1. The utility model provides a robot carries rope which characterized in that, wire live working robot passes through robot carries rope to hang and establishes on the wire, includes:
insulating the rope section;
the metal rope section is covered on the part, close to the conducting wire, of the insulating rope section;
and the insulating rope section is sewn with the metal rope section through the connecting section.
2. The robot mount cord of claim 1, wherein the splicing section includes stitching lines by which the metal cord section is joined with the insulated cord section.
3. The robot-mounted rope of claim 1, wherein the insulated rope segments are woven from synthetic or natural fibers.
4. The robot-mounted rope of claim 1, wherein the metal rope segments are woven from copper wire.
5. The robot mount rope of claim 1, wherein the splice section is made of fiber.
6. A wire live working robot, comprising: a robot body, a lifting mechanism, and the robot mounting rope according to any one of claims 1 to 5;
the robot body is hung on the lead through the robot hanging rope; the robot body is provided with an electricity receiving rod;
the lifting mechanism comprises two wire collecting winches symmetrically arranged on the robot body, and the robot mounting rope is tied to the wire collecting winches to drive the wire collecting winches to rotate so as to enable the robot body to integrally lift, so that when a metal rope section in the robot mounting rope is in contact with the power connection rod, the electrified connection action is completed.
7. The wire live working robot according to claim 6, further comprising a traveling mechanism;
the walking mechanism comprises walking wheels, so that the walking wheels are driven to walk on the lead to enable the robot body to move along the lead.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010964123.2A CN111923089B (en) | 2020-09-15 | 2020-09-15 | Robot hanging rope and wire live working robot |
| PCT/CN2021/101698 WO2022057356A1 (en) | 2020-09-15 | 2021-06-23 | Robot carrying rope, and robot for live working of conducting wire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010964123.2A CN111923089B (en) | 2020-09-15 | 2020-09-15 | Robot hanging rope and wire live working robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111923089A CN111923089A (en) | 2020-11-13 |
| CN111923089B true CN111923089B (en) | 2021-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010964123.2A Active CN111923089B (en) | 2020-09-15 | 2020-09-15 | Robot hanging rope and wire live working robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111923089B (en) |
| WO (1) | WO2022057356A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923089B (en) * | 2020-09-15 | 2021-01-08 | 广东冠能电力科技发展有限公司 | Robot hanging rope and wire live working robot |
| CN112436433A (en) * | 2020-12-17 | 2021-03-02 | 南方电网科学研究院有限责任公司 | Suspension type robot |
| CN112763789B (en) * | 2020-12-24 | 2023-05-16 | 南方电网科学研究院有限责任公司 | Power distribution network electricity inspection method and electricity inspection robot |
| CN113146652A (en) * | 2021-04-15 | 2021-07-23 | 南方电网科学研究院有限责任公司 | Live working robot |
| CN113199489B (en) * | 2021-04-30 | 2022-09-06 | 广东冠能电力科技发展有限公司 | Coating robot |
Citations (6)
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| DE202009002832U1 (en) * | 2009-02-28 | 2009-05-14 | Knorr, Volker | Assembly platform for power transmission lines |
| CN105305308A (en) * | 2015-11-16 | 2016-02-03 | 国网湖南省电力公司 | Live working robot assembly |
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| CN107196232A (en) * | 2017-07-07 | 2017-09-22 | 国网湖南省电力公司带电作业中心 | A kind of hot line robot independently goes up coil inserting apparatus with vehicular |
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| CN210535850U (en) * | 2019-11-05 | 2020-05-15 | 国网通用航空有限公司 | Optical rod type electric potential transfer rod for manned live-line work of helicopter |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016221701A1 (en) * | 2016-11-04 | 2018-05-09 | Richard Bergner Elektroarmaturen Gmbh & Co. Kg | Trolley, autonomous aircraft and mounting system for the autonomous installation of valves on overhead lines |
| CN106992469B (en) * | 2017-05-31 | 2018-08-14 | 长沙理工大学 | A kind of hot line maintenance robot and its upper and lower line control method |
| CN210490263U (en) * | 2019-06-24 | 2020-05-08 | 国网湖北省电力有限公司孝感供电公司 | Self-lifting type electrified insulating coating robot and lifting system |
| CN111923089B (en) * | 2020-09-15 | 2021-01-08 | 广东冠能电力科技发展有限公司 | Robot hanging rope and wire live working robot |
| CN112436433A (en) * | 2020-12-17 | 2021-03-02 | 南方电网科学研究院有限责任公司 | Suspension type robot |
-
2020
- 2020-09-15 CN CN202010964123.2A patent/CN111923089B/en active Active
-
2021
- 2021-06-23 WO PCT/CN2021/101698 patent/WO2022057356A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202009002832U1 (en) * | 2009-02-28 | 2009-05-14 | Knorr, Volker | Assembly platform for power transmission lines |
| CN105305308A (en) * | 2015-11-16 | 2016-02-03 | 国网湖南省电力公司 | Live working robot assembly |
| CN106393061A (en) * | 2016-12-02 | 2017-02-15 | 广东电网有限责任公司电力科学研究院 | Device for independent circuit loading and unloading of electrified operation robot |
| CN107196232A (en) * | 2017-07-07 | 2017-09-22 | 国网湖南省电力公司带电作业中心 | A kind of hot line robot independently goes up coil inserting apparatus with vehicular |
| CN107293998A (en) * | 2017-08-22 | 2017-10-24 | 广东电网有限责任公司电力科学研究院 | Coil inserting apparatus in a kind of hot line maintenance robot |
| CN210535850U (en) * | 2019-11-05 | 2020-05-15 | 国网通用航空有限公司 | Optical rod type electric potential transfer rod for manned live-line work of helicopter |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022057356A1 (en) | 2022-03-24 |
| CN111923089A (en) | 2020-11-13 |
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Effective date of registration: 20210308 Address after: No. 11, Kexiang Road, Science City, Huangpu District, Guangzhou City, Guangdong Province Patentee after: China South Power Grid International Co.,Ltd. Patentee after: GUANGDONG CROWNPOWER ELECTRIC POWER SCIENCE AND TECHNOLOGY DEVELOPMENT Co.,Ltd. Address before: 528000 Unit 202, 2nd Floor, Building 3, Area A, Hantian Science and Technology City, 17 Shenhai Road, Guicheng Street, Nanhai District, Foshan City, Guangdong Province Patentee before: GUANGDONG CROWNPOWER ELECTRIC POWER SCIENCE AND TECHNOLOGY DEVELOPMENT Co.,Ltd. Patentee before: China South Power Grid International Co.,Ltd. |