CN112117701A - Power transmission line suspension insulator string double-arm coordination operation device - Google Patents
Power transmission line suspension insulator string double-arm coordination operation device Download PDFInfo
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- CN112117701A CN112117701A CN201910535549.3A CN201910535549A CN112117701A CN 112117701 A CN112117701 A CN 112117701A CN 201910535549 A CN201910535549 A CN 201910535549A CN 112117701 A CN112117701 A CN 112117701A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 52
- 239000012212 insulator Substances 0.000 title claims abstract description 51
- 239000000725 suspension Substances 0.000 title claims abstract description 41
- 230000001360 synchronised effect Effects 0.000 claims description 33
- 230000007246 mechanism Effects 0.000 claims description 32
- 230000009467 reduction Effects 0.000 claims description 14
- 230000009471 action Effects 0.000 abstract description 4
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000009193 crawling Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000002224 dissection Methods 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
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Abstract
The invention relates to a power transmission line operation maintenance device, in particular to a double-arm coordinated replacement operation device for a suspension insulator string of a power transmission line. The robot comprises a working arm I and a working arm II, wherein the working arm I and the working arm II are respectively arranged on a first electric box body and a second electric box body on a robot body, the working arm I and the working arm II have the same structure and respectively comprise a vertical lifting joint, a horizontal telescopic joint and a clamping jaw clamping and loosening joint which are sequentially connected, and the working arm I is used for plugging and pulling a spring pin and separating and loading a bowl head hardware fitting; and the operation arm II is used for clamping the connecting plate hardware fitting and is matched with the operation arm I to complete an auxiliary replacement task of the power transmission line insulator string. The invention simulates a manual operation mode to insert and pull out the spring pin and separate and load the bowl head and the ball head, and the double-operation arm coordination operation is more accurate in action and higher in operation efficiency compared with manual operation.
Description
Technical Field
The invention relates to a power transmission line operation maintenance device, in particular to a double-arm coordinated replacement operation device for a suspension insulator string of a power transmission line.
Background
The insulators in the transmission line are subjected to the influence of electromechanical load and severe meteorological environment for a long time in the operation process, so that the electromechanical performance of the insulators is degraded, the degraded insulators need to be replaced early, otherwise, the safe operation of the line is threatened, and a power failure accident is caused.
At present, the operation mode of replacing the insulator string on site mainly adopts manual work to enter a strong electric field equipotential operation, the equipotential electrician has high danger of live operation when entering the strong electric field environment, and the replacement operation is difficult to operate.
Disclosure of Invention
In view of the above problems, the present invention provides a two-arm coordination operation device for a suspension insulator string of a power transmission line, so as to replace the manual operation of an equipotential electrician and solve the problem of replacing the insulator string of the power transmission line in a non-power-off state. The insulator string replacing operation device adopts a double-arm coordination operation mode, and has the advantages of simple mechanism principle, strong adaptability, good stability and high safety and reliability.
In order to achieve the purpose, the invention adopts the following technical scheme:
a double-arm coordination operation device for a suspension insulator string of a power transmission line comprises an operation arm I and an operation arm II, wherein the operation arm I and the operation arm II are respectively arranged on a first electric box body and a second electric box body on a robot body, the operation arm I and the operation arm II have the same structure and respectively comprise a vertical lifting joint, a horizontal telescopic joint and a clamping jaw clamping and loosening joint which are sequentially connected, and the operation arm I is used for plugging and pulling a spring pin and separating and loading a bowl head hardware fitting; and the operation arm II is used for clamping the connecting plate hardware fitting and is matched with the operation arm I to complete an auxiliary replacement task of the insulator string of the power transmission line.
The vertical lifting joint comprises a lifting driving mechanism, a rack support, a lifting guide rail sliding block, a lifting sliding block connecting seat and a driving gear, wherein the rack support is connected with the robot body, the rack and the lifting guide rail are arranged on the rack support along the vertical direction, the lifting sliding block connecting seat is connected with the lifting guide rail through the lifting guide rail sliding block, the lifting driving mechanism is arranged on the lifting sliding block connecting seat, the output end of the lifting driving mechanism is connected with the driving gear, the driving gear is meshed with the rack, and the lifting sliding block connecting seat is connected with the horizontal telescopic joint.
The lifting limiting device is characterized in that a lifting limiting collision block is arranged at the upper end of the rack support, a lifting limiting switch is arranged on the lifting slider connecting seat, and the lifting limiting switch and the lifting limiting collision block are matched to limit the lifting limiting position of the lifting slider connecting seat.
The lifting driving mechanism comprises a lifting motor and a worm and gear reduction box, an output shaft of the lifting motor is connected with an input shaft of the worm and gear reduction box, and an output shaft of the worm and gear reduction box is connected with the driving gear.
The horizontal telescopic joint comprises a telescopic guide rail, a telescopic guide rail sliding block, a guide rail lead screw front connecting frame, a telescopic motor mounting seat, a nut bearing seat, a telescopic motor, a telescopic lead screw, a guide rail lead screw rear connecting frame, a telescopic nut and a transmission mechanism, wherein the telescopic guide rail and the telescopic screw rod are arranged in parallel, and the two ends of the telescopic guide rail and the telescopic screw rod are respectively connected through a guide rail screw rod front connecting frame and a guide rail screw rod rear connecting frame, the nut bearing seat is connected with the telescopic guide rail in a sliding way through a telescopic guide rail sliding block, the telescopic guide rail sliding block is connected with the vertical lifting joint, the telescopic screw nut is rotatably arranged on the screw nut bearing seat and is in threaded connection with the telescopic screw rod to form a thread pair, the telescopic motor mounting seat is connected with the nut bearing seat, the telescopic motor is mounted on the telescopic motor mounting seat, and the output end of the telescopic motor is connected with the telescopic nut through a transmission mechanism.
One end of the telescopic screw is connected with a screw support shaft, the screw support shaft is connected with the screw bearing seat through a bearing, and the screw support shaft is connected with the transmission mechanism.
The transmission mechanism comprises a driving synchronous belt wheel, a synchronous belt and a driven synchronous belt wheel, wherein the driving synchronous belt wheel is arranged on an output shaft of the telescopic motor, the driven synchronous belt wheel is coaxially connected with the nut supporting shaft and between the telescopic nuts, and the driving synchronous belt wheel is in transmission connection with the driven synchronous belt wheel through the synchronous belt.
The horizontal telescopic joint further comprises a telescopic limit switch and a telescopic limit collision block, wherein the telescopic limit collision block is arranged on the guide rail screw rod front connecting frame, the telescopic limit switch is arranged on the vertical lifting joint, and the telescopic limit switch and the telescopic limit collision block are matched to limit the limit telescopic stroke of the horizontal telescopic joint.
Clamping jaw presss from both sides tight joint of loosening and includes subdivision motor, subdivision motor mount pad, guide rail screw support frame, subdivision lead screw, subdivision guide rail, first clamping jaw, second clamping jaw and gear drive mechanism, wherein guide rail screw support frame with horizontal flexible articulate, subdivision lead screw and subdivision guide rail parallel arrangement in on the guide rail screw support frame, the subdivision motor set up in on the guide rail screw support frame, and the output pass through gear drive mechanism with subdivision lead screw drive connects, be equipped with two sections reverse screw on the subdivision lead screw, first clamping jaw and second clamping jaw pass through guide rail slider and subdivision guide rail sliding connection, first clamping jaw and second clamping jaw respectively through levogyration subdivision screw and dextrorotation subdivision screw with two sections reverse threaded connection on the subdivision lead screw.
The electric transmission line suspension insulator string double-arm coordination operation device further comprises a camera fixing seat and a miniature camera, wherein the camera fixing seat is arranged on the clamping and loosening joint of the clamping jaw, the miniature camera is arranged on the camera fixing seat, and the miniature camera is used for observing operation conditions of an operation arm I and an operation arm II.
The invention has the advantages and positive effects that:
1. the invention has strong adaptability to different types of suspension insulator strings. The invention adopts two three-degree-of-freedom operation arms to coordinate operation, has strong flexibility and can adapt to various types of suspension insulator strings.
2. The invention has modular design and easy maintenance. The two working arms of the invention adopt a modular design, and joints of each working arm are installed in series, thus being easy to maintain.
3. The invention has the advantages of easy realization of the operation mode and high operation efficiency. The invention simulates a manual operation mode to insert and pull out the spring pin and separate and load the bowl head and the ball head, and the double-operation arm coordination operation is more accurate in action and higher in operation efficiency compared with manual operation.
4. The invention has good safety and high reliability. The invention replaces the live-line work of an equipotential electrician, ensures the safety of personnel and has high reliability of double-arm coordination work.
Drawings
FIG. 1 is a schematic view of the general installation location of the present invention;
FIG. 2 is an isometric view of the present invention;
FIG. 3 is a schematic view of the construction of a working arm I and a working arm II according to the present invention;
FIG. 4 is an isometric view of a working arm I and a working arm II of the present invention;
FIG. 5 is a schematic structural view of the vertical lift joint of the present invention;
FIG. 6 is a second schematic view of the vertical lift joint of the present invention;
FIG. 7 is a schematic structural view of a horizontal expansion joint according to the present invention;
FIG. 8 is a second schematic structural view of the horizontal expansion joint of the present invention;
FIG. 9 is a view showing one of the structures of the jaw clamping and unclamping joint according to the present invention;
fig. 10 is a second schematic structural view of the clamping jaw clamping and loosening joint of the invention.
Wherein: 1 is a suspension insulator string, 2 is a spring pin, 3 is an operation arm I, 4 is an operation arm II, 5 is a first electric box body, 6 is a second electric box body, 7 is a bowl head hardware fitting, 8 is a connecting plate hardware fitting, 10 is a vertical lifting joint, 20 is a horizontal telescopic joint, 30 is a clamping jaw clamping and loosening joint, 101 is a lifting motor, 102 is a worm and gear reduction box, 103 is a rack, 104 is a rack bracket, 105 is a lifting guide rail, 106 is a lifting guide rail sliding block, 107 is a lifting limiting collision block, 108 is a lifting limiting switch, 109 is a lifting sliding block connecting seat, 110 is a driving gear, 111 is a reduction box output shaft, 201 is a telescopic guide rail, 202 is a telescopic guide rail sliding block, 203 is a guide rail lead screw front connecting frame, 204 is a telescopic motor mounting seat, 205 is a lead screw bearing seat, 206 is a lead screw supporting shaft, 207 is a telescopic motor, 208 is a telescopic lead screw, and 209 is a guide rail lead, 210 is a driving synchronous pulley, 211 is a synchronous belt, 212 is a driven synchronous pulley, 213 is a telescopic screw nut, 214 is a telescopic limit switch, 215 is a telescopic limit bump, 301 is a split motor, 302 is a split motor mounting base, 303 is a first guide rail lead screw support frame, 304 is a split lead screw, 305 is a split guide rail, 306 is a first screw nut slider connecting frame, 307 is a first clamping jaw, 308 is a second clamping jaw, 309 is a second screw nut slider connecting frame, 310 is a second guide rail lead screw support frame, 311 is a left-handed split screw nut, 312 is a driven bevel gear, 313 is a driving bevel gear, 314 is a right-handed split screw nut, 315 is a first split guide rail slider, 316 is a camera fixing base, 317 is a micro camera, and 319 is a second split guide rail slider.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the invention provides a two-arm coordination working device for a suspension insulator string of a power transmission line, which comprises a working arm I3 and a working arm II4, wherein the working arm I3 and the working arm II4 are respectively arranged on a first electric box 5 and a second electric box 6 on a robot body. The operation arm I3 is used for plugging and unplugging the spring pin 2 and separating and loading the socket hardware fitting 7; the operation arm II4 is used for clamping the link plate hardware 8 and is matched with the operation arm I3 to complete the auxiliary replacement task of the power transmission line insulator string.
As shown in fig. 3-4, the working arm I3 and the working arm II4 have the same structure, and each comprises a vertical lifting joint 10, a horizontal telescopic joint 20 and a clamping jaw clamping and loosening joint 30 which are connected in sequence. The vertical lifting joint 10 is fixed on the first electric box body 5 or the second electric box body 6 and is used for driving the rear two joints of the working arm I3 or the working arm II4 to perform vertical lifting movement; the horizontal telescopic joint 20 is connected with the vertical lifting joint 10 and is used for driving the clamping jaw to clamp and loosen the joint 30 to perform horizontal telescopic motion; jaw grip release joint 30 is connected to horizontal expansion joint 20.
The vertical lifting joint 10 of the working arm I3 is fixed on the first electric box body 5, and the clamping and loosening joint 30 of the clamping jaw of the working arm I3 has the function of driving the multifunctional clamping jaw thereon to clamp or loosen so as to complete the operations of inserting and pulling the spring pin and separating and loading the spring pin into the bowl head.
The vertical lifting joint 10 of the working arm II4 is fixed on the second electrical box 6, and the clamping and loosening joint 30 of the clamping jaw of the working arm II4 is used for driving the multifunctional clamping jaw thereon to clamp or loosen, so as to complete the operation of clamping the link plate hardware 8.
As shown in fig. 5-6, the vertical lifting joint 10 includes a lifting driving mechanism, a rack 103, a rack bracket 104, a lifting guide rail 105, a lifting guide rail slider 106, a lifting slider connecting seat 109, and a driving gear 110, wherein the rack bracket 104 is connected to the robot body, the rack 103 and the lifting guide rail 105 are disposed on the rack bracket 104 in a vertical direction, the lifting slider connecting seat 109 is slidably connected to the lifting guide rail 105 through the lifting guide rail slider 106, the lifting driving mechanism is disposed on the lifting slider connecting seat 109, and an output end of the lifting driving mechanism is connected to the driving gear 110, the driving gear 110 is engaged with the rack 103, and the lifting slider connecting seat 109 is connected to the horizontal telescopic joint 20.
The upper end of the rack support 104 is provided with a lifting limit collision block 107, the lifting slider connecting seat 109 is provided with a lifting limit switch 108, and the lifting limit switch 108 is matched with the lifting limit collision block 107 to limit the lifting limit position of the lifting slider connecting seat 109.
In the embodiment of the invention, the lifting driving mechanism comprises a lifting motor 101 and a worm and gear reduction box 102, an output shaft of the lifting motor 101 is connected with an input shaft of the worm and gear reduction box 102, and an output shaft of the worm and gear reduction box 102 is connected with a driving gear 110.
The rack bracket 104 is attached to the electric box as a connection of the working arm to the electric box (wherein the rack bracket 104 in the working arm I3 is attached to the first electric box 5 and the rack bracket 104 in the working arm II4 is attached to the second electric box 6). The lifting slide block connecting seat 109 connects the lifting guide rail slide block 106 with the worm and gear reduction box 102, and simultaneously, a driving gear 110 on a reduction box output shaft 111 is meshed with the rack 103; the lifting motor 101 is connected with a worm in the worm gear reduction box 102 to complete the lifting drive of the operation arm; when the working arm ascends to the highest position, the lifting limit switch 108 is contacted with the lifting limit collision block 107 arranged on the rack bracket 104, thereby playing the role of lifting limit of the working arm.
As shown in fig. 7-8, the horizontal telescopic joint 20 includes a telescopic guide rail 201, a telescopic guide rail slider 202, a guide rail lead screw front connecting frame 203, a telescopic motor mounting base 204, a nut bearing base 205, a telescopic motor 207, a telescopic lead screw 208, a guide rail lead screw rear connecting frame 209, a telescopic nut 213 and a transmission mechanism, wherein the telescopic guide rail 201 and the telescopic lead screw 208 are arranged in parallel, and both ends of the telescopic guide rail 201 and the guide rail lead screw rear connecting frame 209 are connected through the guide rail lead screw front connecting frame 203 and the guide rail lead screw rear connecting frame 209, the nut bearing base 205 is connected with the telescopic guide rail 201 through the telescopic guide rail slider 202 in a sliding manner, and the telescopic guide rail slider 202 is connected with the lifting. The telescopic screw 213 is rotatably mounted on the screw bearing seat 205 and is in threaded connection with the telescopic lead screw 208 to form a thread pair, the telescopic motor mounting seat 204 is connected with the screw bearing seat 205, the telescopic motor 207 is mounted on the telescopic motor mounting seat 204, and the output end of the telescopic motor 207 is connected with the telescopic screw 213 through a transmission mechanism.
One end of the telescopic nut 213 is connected with a nut support shaft 206, the nut support shaft 206 is connected with a nut bearing seat 205 through a bearing, and the nut support shaft 206 is connected with a transmission mechanism.
The transmission mechanism comprises a driving synchronous pulley 210, a synchronous belt 211 and a driven synchronous pulley 212, wherein the driving synchronous pulley 210 is arranged on an output shaft of the telescopic motor 207, the driven synchronous pulley 212 is coaxially connected between the nut support shaft 206 and the telescopic nut 213, the driven synchronous pulley 212 and the nut support shaft 206 are connected together and then are installed on the telescopic lead screw 208, and the driving synchronous pulley 210 is in transmission connection with the driven synchronous pulley 212 through the synchronous belt 211 to realize power transmission.
The horizontal telescopic joint 20 further comprises a telescopic limit switch 214 and a telescopic limit collision block 215, wherein the telescopic limit collision block 215 is arranged on the guide rail screw rod front connecting frame 203, the telescopic limit switch 214 is arranged on the vertical lifting joint 10, and the telescopic limit switch 214 and the telescopic limit collision block 215 are matched to limit the limit telescopic stroke of the horizontal telescopic joint 20.
When the telescopic motor 207 drives the driving synchronous pulley 210 to rotate, the driving synchronous pulley 210 drives the driven synchronous pulley 212 to rotate through the synchronous belt 211, and the driven synchronous pulley 212 drives the telescopic screw nut 213 to rotate, so that the telescopic lead screw 208 and the telescopic guide rail 201 extend or retract together; the telescopic limit switch 214 is also installed on the lifting slider connecting seat 109, and when the arm retracts to a limit position, the telescopic limit switch 214 contacts with a telescopic limit collision block 215 installed on the guide rail lead screw front connecting frame 203, so that the arm telescopic limit effect is achieved.
As shown in fig. 9 to 10, the jaw clamping and loosening joint 30 includes a split motor 301, a split motor mount 302, a rail screw support, a split screw 304, a split rail 305, a first jaw 307, a second jaw 308, and a gear transmission mechanism, wherein the split motor 301 is mounted on the split motor mount 302, and the split motor mount 302 is connected to the rail screw front connecting frame 203 of the horizontal telescopic joint 20. The guide rail lead screw support frame comprises a first guide rail lead screw support frame 303 and a second guide rail lead screw support frame 310, the split lead screw 304 and the split guide rail 304 are connected together through the first guide rail lead screw support frame 303 and the second guide rail lead screw support frame 310 on two sides, and the first guide rail lead screw support frame 303 and the second guide rail lead screw support frame 310 on two sides are respectively installed on two sides of the split motor installation base 302; the split screw 304 and the split guide rail 305 are arranged in parallel. The output end of the dissection motor 301 is in transmission connection with a dissection screw 304 through a gear transmission mechanism. The gear transmission mechanism comprises a driving bevel gear 313 and a driven bevel gear 312, the driving bevel gear 313 is connected to an output shaft of the split motor 301, and the driven bevel gear 312 is mounted on the split screw 304 and meshed with the driving bevel gear 313 to transmit power. Two sections of reverse threads are arranged on the split screw 304, the first clamping jaw 307 and the second clamping jaw 308 are in sliding connection with the split guide rail 305 through guide rail sliding blocks, and the first clamping jaw 307 and the second clamping jaw 308 are respectively connected with the two sections of reverse threads on the split screw 304 through a left-handed split nut 311 and a right-handed split nut 314. The right-handed split nut 314 and the first split rail block 315 are connected together by a first nut block link 304, and the left-handed split nut 311 and the second split rail block 319 are connected together by a second nut block link 309.
The double-arm coordinated operation device for the suspension insulator string of the power transmission line further comprises a camera fixing seat 316 and a micro camera 317, wherein the camera fixing seat 316 is arranged on a split guide rail 305 of the clamping and loosening joint 30 of the clamping jaw, the micro camera 317 is arranged on the camera fixing seat 316, and the micro camera 317 is used for observing operation conditions of an operation arm I3 and an operation arm II 4.
The transmission line equipment comprises a suspension insulator string 1, a suspension clamp, a lead, a spring pin 2, a socket hardware fitting 7 and a connecting plate hardware fitting 8, wherein the connecting plate hardware fitting 8 and the socket hardware fitting 7 are sequentially connected onto the suspension clamp, the socket hardware fitting 7 is connected with the suspension insulator string 1 through the spring pin 2, and the suspension clamp is used for clamping the lead.
When the subdivision motor 301 rotates, and power is transmitted to the subdivision screw 304 through the meshing of the driving bevel gear 313 and the driven bevel gear 312, the subdivision screw 304 rotates to drive the left-handed subdivision nut 311 and the right-handed subdivision nut 314 to move reversely at the same time, so that the clamping or loosening of the tail clamping jaw is completed; the micro camera 317 is installed on the camera fixing seat 316, the camera fixing seat 316 is connected to the subdivision guide rail 304, and the operation condition of the operation arm can be observed through the micro camera 317. The first clamping jaw 307 and the second clamping jaw 308 in the operation arm I3 have the functions of replacing an equipotential electrician to insert and extract the spring pin 2 in the suspension insulator string 1; the other function is to replace an equipotential electrician to execute the operation of separating and installing the socket hardware fitting 7 from the insulator ball head, and the purpose of replacing the suspension insulator string in an electrified auxiliary way is achieved by completing the two actions. The first clamping jaw 307 and the second clamping jaw 308 in the working arm II4 are used for clamping the link plate fitting 8 below the suspension insulator string 1, and are matched with the working arm I3 to perform the operations of inserting and pulling the spring pin 2 in the suspension insulator string 1 and separating and installing the bowl fitting 7 from the ball head of the insulator.
The working process of the power transmission line suspension insulator string double-arm coordination operation device for assisting in replacing the suspension insulator string is as follows:
the invention is used for auxiliary replacement of the suspension insulator string of the power transmission line, and the working process is as follows:
in the first step, a working arm is mounted to the robot body. Mounting a working arm I3 and a working arm II4 on a crawling driving device of a robot body, and then hoisting the working arm I3 and the working arm II4 to a tower; after the upper tower is hoisted, the crawling driving device is installed on the crawling supporting frame.
And secondly, the robot body crawls in place. And controlling the robot body with the working arm I3 and the working arm II4 to crawl downwards along the suspension insulator string to be worked, and stopping the robot body after crawling to a preset working position.
And thirdly, pulling out the spring pin and separating the spring pin from the bowl head. The working arm I3 and the working arm II4 work in a double-arm coordinated mode, the clamping jaw of the working arm II4 clamps the link plate fitting 8, the multifunctional clamping jaw of the working arm I4 pulls out the spring pin 2, and then the bowl head fitting 7 is separated from the suspension insulator string 1.
And fourthly, inserting the spring pin and loading the spring pin into the bowl head. After the suspension insulator string 1 is manually replaced, the working arm I3 and the working arm II4 perform coordinated operation again, the multifunctional clamping jaw of the working arm I3 is inserted into the spring pin 2, and then the bowl head hardware fitting 7 is installed back into the suspension insulator string 1.
And step five, finishing the operation. After the suspension insulator string 1 is replaced, the robot body with the working arm I3 and the working arm II4 climbs to the initial position along the insulator string, and the operation of replacing the suspension insulator string is assisted to be finished.
The invention adopts two three-degree-of-freedom operation arms to coordinate operation, has strong flexibility and can adapt to various types of suspension insulator strings. The invention simulates a manual operation mode to insert and pull out the spring pin and separate and load the bowl head and the ball head, and the double-operation arm coordination operation is more accurate in action and higher in operation efficiency compared with manual operation. The invention replaces the live-line work of an equipotential electrician, ensures the safety of personnel and has high reliability of double-arm coordination work.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The double-arm coordinated operation device for the suspension insulator string of the power transmission line is characterized by comprising an operation arm I (3) and an operation arm II (4), wherein the operation arm I (3) and the operation arm II (4) are respectively arranged on a first electric box body (5) and a second electric box body (6) on a robot body, the operation arm I (3) and the operation arm II (4) are identical in structure and respectively comprise a vertical lifting joint (10), a horizontal telescopic joint (20) and a clamping jaw clamping and loosening joint (30) which are sequentially connected, and the operation arm I (3) is used for plugging and pulling a spring pin (2) and separating and loading a bowl head fitting (7); and the operation arm II (4) is used for clamping the connecting plate hardware fitting (8) and is matched with the operation arm I (3) to complete the auxiliary replacement task of the insulator string of the power transmission line.
2. The electric transmission line suspension insulator string double-arm coordinated operation device according to claim 1, wherein the vertical lifting joint (10) comprises a lifting driving mechanism, a rack (103), a rack support (104), a lifting guide rail (105), a lifting guide rail slider (106), a lifting slider connecting seat (109) and a driving gear (110), wherein the rack support (104) is connected with the robot body, the rack (103) and the lifting guide rail (105) are arranged on the rack support (104) along a vertical direction, the lifting slider connecting seat (109) is connected with the lifting guide rail (105) in a sliding manner through the lifting guide rail slider (106), the lifting driving mechanism is arranged on the lifting slider connecting seat (109), an output end of the lifting driving mechanism is connected with the driving gear (110), and the driving gear (110) is meshed with the rack (103), the lifting slide block connecting seat (109) is connected with the horizontal telescopic joint (20).
3. The double-arm coordinated operation device for the suspension insulator string of the power transmission line according to claim 2, wherein a lifting limit collision block (107) is arranged at the upper end of the rack support (104), a lifting limit switch (108) is arranged on the lifting slider connecting seat (109), and the lifting limit switch (108) is matched with the lifting limit collision block (107) to limit the lifting limit position of the lifting slider connecting seat (109).
4. The electric transmission line suspension insulator string double-arm coordination operation device as claimed in claim 2, wherein the lifting driving mechanism comprises a lifting motor (101) and a worm gear reduction box (102), an output shaft of the lifting motor (101) is connected with an input shaft of the worm gear reduction box (102), and an output shaft of the worm gear reduction box (102) is connected with the driving gear (110).
5. The electric transmission line suspension insulator string double-arm coordinated operation device according to claim 1, wherein the horizontal telescopic joint (20) comprises a telescopic guide rail (201), a telescopic guide rail sliding block (202), a guide rail lead screw front connecting frame (203), a telescopic motor mounting seat (204), a nut bearing seat (205), a telescopic motor (207), a telescopic lead screw (208), a guide rail lead screw rear connecting frame (209), a telescopic nut (213) and a transmission mechanism, wherein the telescopic guide rail (201) and the telescopic lead screw (208) are arranged in parallel, two ends of the telescopic guide rail sliding block are respectively connected with the guide rail lead screw front connecting frame (203) and the guide rail lead screw rear connecting frame (209), the nut bearing seat (205) is connected with the telescopic guide rail (201) through a telescopic guide rail sliding block (202), and the telescopic guide rail sliding block (202) is connected with the vertical lifting joint (10), telescopic nut (213) rotationally install on screw bearing seat (205), and with telescopic lead screw (208) threaded connection forms the screw thread pair, telescopic motor mount pad (204) are connected with screw bearing seat (205), telescopic motor (207) install on telescopic motor mount pad (204), and the output pass through drive mechanism with telescopic nut (213) are connected.
6. The double-arm coordinated operation device for the power transmission line suspension insulator string according to claim 5, wherein one end of the telescopic nut (213) is connected with a nut support shaft (206), the nut support shaft (206) is connected with the nut bearing seat (205) through a bearing, and the nut support shaft (206) is connected with the transmission mechanism.
7. The electric transmission line suspension insulator string two-arm coordinated operation device according to claim 6, wherein the transmission mechanism comprises a driving synchronous pulley (210), a synchronous belt (211) and a driven synchronous pulley (212), wherein the driving synchronous pulley (210) is arranged on an output shaft of the telescopic motor (207), the driven synchronous pulley (212) is coaxially connected between the nut support shaft (206) and the telescopic nut (213), and the driving synchronous pulley (210) is in transmission connection with the driven synchronous pulley (212) through the synchronous belt (211).
8. The electric transmission line suspension insulator string two-arm coordinated operation device according to claim 5, wherein the horizontal telescopic joint (20) further comprises a telescopic limit switch (214) and a telescopic limit collision block (215), wherein the telescopic limit collision block (215) is arranged on the guide rail lead screw front connecting frame (203), the telescopic limit switch (214) is arranged on the vertical lifting joint (10), and the telescopic limit switch (214) and the telescopic limit collision block (215) are matched to limit the limit telescopic stroke of the horizontal telescopic joint (20).
9. The electric transmission line suspension insulator string two-arm coordinated operation device according to claim 1, wherein the clamping jaw clamping and loosening joint (30) comprises a splitting motor (301), a splitting motor mounting seat (302), a guide rail screw support frame, a splitting screw (304), a splitting guide rail (305), a first clamping jaw (307), a second clamping jaw (308) and a gear transmission mechanism, wherein the guide rail screw support frame is connected with the horizontal telescopic joint (20), the splitting screw (304) and the splitting guide rail (305) are arranged on the guide rail screw support frame in parallel, the splitting motor (301) is arranged on the guide rail screw support frame, an output end of the splitting motor is in transmission connection with the splitting screw (304) through the gear transmission mechanism, two sections of reverse threads are arranged on the splitting screw (304), and the first clamping jaw (307) and the second clamping jaw (308) are in sliding connection with the splitting guide rail (305) through guide rail sliders, the first clamping jaw (307) and the second clamping jaw (308) are respectively connected with two sections of reverse threads on the split screw rod (304) through a left-handed split nut (311) and a right-handed split nut (314).
10. The double-arm coordinated operation device for the power transmission line suspension insulator string according to claim 1, further comprising a camera fixing seat (316) and a micro camera (317), wherein the camera fixing seat (316) is arranged on the clamping and loosening joint (30) of the clamping jaw, the micro camera (317) is arranged on the camera fixing seat (316), and the micro camera (317) is used for observing the operation conditions of the operation arm I (3) and the operation arm II (4).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910535549.3A CN112117701B (en) | 2019-06-20 | 2019-06-20 | Double-arm coordination operation device for suspension insulator string of power transmission line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910535549.3A CN112117701B (en) | 2019-06-20 | 2019-06-20 | Double-arm coordination operation device for suspension insulator string of power transmission line |
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| CN112117701A true CN112117701A (en) | 2020-12-22 |
| CN112117701B CN112117701B (en) | 2024-04-02 |
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| CN201910535549.3A Active CN112117701B (en) | 2019-06-20 | 2019-06-20 | Double-arm coordination operation device for suspension insulator string of power transmission line |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113346408A (en) * | 2021-06-30 | 2021-09-03 | 江苏理工学院 | Automatic replacement device and method for composite suspension insulator |
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| CN1695908A (en) * | 2005-06-03 | 2005-11-16 | 武汉大学 | Crawl mechanism of clearing robot for suspension insulators on high voltage line |
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| WO2014108017A1 (en) * | 2013-01-11 | 2014-07-17 | 山东鲁能智能技术有限公司 | Detection robot system of insulator strings |
| US20150113798A1 (en) * | 2012-07-16 | 2015-04-30 | Shanxi Electric Power Company Taiyuan Power Supply Company | Live working robot for replacing insulator string |
| CN108376939A (en) * | 2018-04-18 | 2018-08-07 | 广东电网有限责任公司 | A kind of transmission line of electricity suspension insulator more changing device |
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| CN1695908A (en) * | 2005-06-03 | 2005-11-16 | 武汉大学 | Crawl mechanism of clearing robot for suspension insulators on high voltage line |
| US20150113798A1 (en) * | 2012-07-16 | 2015-04-30 | Shanxi Electric Power Company Taiyuan Power Supply Company | Live working robot for replacing insulator string |
| CN103001151A (en) * | 2012-12-05 | 2013-03-27 | 山东电力集团公司电力科学研究院 | Line robot drive arm with obstacle crossing function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113346408A (en) * | 2021-06-30 | 2021-09-03 | 江苏理工学院 | Automatic replacement device and method for composite suspension insulator |
| CN113346408B (en) * | 2021-06-30 | 2022-06-14 | 江苏理工学院 | Automatic replacement device and replacement method for composite suspension insulator |
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| Publication number | Publication date |
|---|---|
| CN112117701B (en) | 2024-04-02 |
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