CN112117701B - Double-arm coordination operation device for suspension insulator string of power transmission line - Google Patents
Double-arm coordination operation device for suspension insulator string of power transmission line Download PDFInfo
- Publication number
- CN112117701B CN112117701B CN201910535549.3A CN201910535549A CN112117701B CN 112117701 B CN112117701 B CN 112117701B CN 201910535549 A CN201910535549 A CN 201910535549A CN 112117701 B CN112117701 B CN 112117701B
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- arm
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 51
- 239000012212 insulator Substances 0.000 title claims abstract description 48
- 239000000725 suspension Substances 0.000 title claims abstract description 38
- 230000001360 synchronised effect Effects 0.000 claims description 33
- 230000007246 mechanism Effects 0.000 claims description 28
- 230000009467 reduction Effects 0.000 claims description 14
- 230000009471 action Effects 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000009193 crawling Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005684 electric field Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- 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
Abstract
The invention relates to an operation maintenance device for a power transmission line, in particular to a double-arm coordinated replacement operation device for a suspension insulator string of the power transmission line. The device 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 a spring pin, separating from the spring pin and loading a bowl head fitting; the operation arm II is used for clamping the connecting plate fitting and matching with the operation arm I to complete auxiliary replacement operation tasks of the insulator string of the power transmission line. The invention simulates a manual operation mode to insert and withdraw the spring pin, separate and insert the bowl head from the ball head, and coordinate operation of the double-operation arms is more accurate in action and higher in operation efficiency compared with manual operation.
Description
Technical Field
The invention relates to an operation maintenance device for a power transmission line, in particular to a double-arm coordinated replacement operation device for a suspension insulator string of the power transmission line.
Background
The insulators in the power transmission line are subjected to the influence of electromechanical load and severe weather environment for a long time in the operation process, so that the electromechanical performance of the insulators is deteriorated, and the deteriorated insulators must be replaced early, otherwise, the safe operation of the line is threatened, and power failure accidents are caused.
At present, the operation mode of replacing the insulator string on site mainly adopts the operation mode of manually entering the equipotential of the strong electric field, the danger of the equipotential electrician entering the live working in the environment of the strong electric field is extremely high, the replacement operation is difficult to operate, and although related special tools and construction processes are continuously improved, the high-risk operation mode that operators must enter the equipotential of the strong electric field cannot be fundamentally changed.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a double-arm coordination operation device for a suspension insulator string of a power transmission line, which is used for replacing manual operation of an equipotential electrician and solving the problem of replacing the insulator string of the power transmission line in a non-power-off state. The insulator string replacement 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 above purpose, the present invention adopts the following technical scheme:
the double-arm coordination operation device for the suspension insulator string of the 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 a spring pin, separating from the spring pin and loading a bowl head fitting; the operation arm II is used for clamping the connecting plate fitting and matching with the operation arm I to finish auxiliary replacement operation tasks 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 guide 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 guide block connecting seat is in sliding connection with the lifting guide rail through the lifting guide rail sliding block, the lifting driving mechanism is arranged on the lifting guide 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 guide block connecting seat is connected with the horizontal telescopic joint.
The upper end of the rack support is provided with a lifting limit collision block, the lifting slide block connecting seat is provided with a lifting limit switch, and the lifting limit switch is matched with the lifting limit collision block to limit the lifting limit position of the lifting slide block connecting seat.
The lifting driving mechanism comprises a lifting motor and a worm gear reduction box, an output shaft of the lifting motor is connected with an input shaft of the worm gear reduction box, and an output shaft of the worm 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 screw front connecting frame, a telescopic motor mounting seat, a nut bearing seat, a telescopic motor, a telescopic screw, a guide rail screw rear connecting frame, a telescopic screw and a transmission mechanism, wherein the telescopic guide rail and the telescopic screw are arranged in parallel, two ends of the telescopic guide rail and the telescopic screw are respectively connected through the guide rail screw front connecting frame and the guide rail screw rear connecting frame, the nut bearing seat is connected with the telescopic guide rail in a sliding manner through the telescopic guide rail sliding block, the telescopic guide rail sliding block is connected with the vertical lifting joint, the telescopic screw is rotatably mounted on the nut bearing seat and is connected with the telescopic screw in a threaded manner to form a threaded pair, the telescopic motor mounting seat is connected with the nut bearing seat, and the telescopic motor is mounted on the telescopic motor mounting seat and the output end of the telescopic screw is connected through the transmission mechanism.
One end of the telescopic screw is connected with a screw supporting shaft, the screw supporting shaft is connected with the screw bearing seat through a bearing, and the screw supporting shaft is connected with the transmission mechanism.
The driving mechanism comprises a driving synchronous pulley, a synchronous belt and a driven synchronous pulley, wherein the driving synchronous pulley is arranged on an output shaft of the telescopic motor, the driven synchronous pulley is coaxially connected between the nut supporting shaft and the telescopic nut, and the driving synchronous pulley is in transmission connection with the driven synchronous pulley 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 front connecting frame of the guide rail screw rod, 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 travel of the horizontal telescopic joint.
The clamping jaw clamping and loosening joint comprises a split motor, a split motor mounting seat, a guide rail lead screw support frame, a split lead screw, a split guide rail, a first clamping jaw, a second clamping jaw and a gear transmission mechanism, wherein the guide rail lead screw support frame is connected with the horizontal telescopic joint, the split lead screw and the split guide rail are arranged on the guide rail lead screw support frame in parallel, the split motor is arranged on the guide rail lead screw support frame, an output end of the split motor is connected with the split lead screw in a transmission mode through the gear transmission mechanism, two sections of reverse threads are arranged on the split lead screw, the first clamping jaw and the second clamping jaw are in sliding connection with the split guide rail through guide rail sliding blocks, and the first clamping jaw and the second clamping jaw are respectively connected with two sections of reverse threads on the split lead screw through a left-handed split nut and a right-handed split nut.
The double-arm coordination operation device for the suspension insulator string of the power transmission line further comprises a camera fixing seat and a miniature camera, wherein the camera fixing seat is arranged on the clamping jaw clamping and loosening joint, 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 suspension insulator strings.
2. The invention has modularized design and is easy to maintain. According to the invention, the two operation arms are in a modularized design, and all joints of each operation arm are installed in series, so that the operation arm is 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 withdraw the spring pin, separate and insert the bowl head from the ball head, and coordinate operation of the double-operation arms 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 equipotential electrician live working, ensures personnel safety, and has high reliability of double-arm coordination operation.
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 structure of the working arm I and the working arm II according to the present invention;
FIG. 4 is an isometric view of work arm I and work arm II of the present invention;
FIG. 5 is a schematic view of a vertical lift joint according to one embodiment of the present invention;
FIG. 6 is a second schematic view of a vertical lift joint according to the present invention;
FIG. 7 is a schematic view of a horizontal telescopic joint according to the present invention;
FIG. 8 is a second schematic view of a horizontal telescopic joint according to the present invention;
FIG. 9 is a schematic view of one of the clamping jaw clamping and unclamping joints of the present invention;
FIG. 10 is a second schematic view of the jaw clamping and unclamping joint according to the present invention.
Wherein: 1 is a suspension insulator chain, 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 fitting, 8 is a connecting plate 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 gear reduction box, 103 is a rack, 104 is a rack bracket, 105 is a lifting guide rail, 106 is a lifting guide rail slider, 107 is a lifting limit bump, 108 is a lifting limit switch, 109 is a lifting slider 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 slider, 203 is a guide rail lead screw front connecting frame, 204 is a telescopic motor mounting seat, 205 is a screw bearing seat, 206 is a screw support shaft, 207 is a telescopic motor, 208 is a telescopic screw, 209 is a guide screw rear connecting frame, 210 is a driving synchronous pulley, 211 is a synchronous belt, 212 is a driven synchronous pulley, 213 is a telescopic screw, 214 is a telescopic limit switch, 215 is a telescopic limit collision block, 301 is a split motor, 302 is a split motor mounting seat, 303 is a first guide screw supporting frame, 304 is a split screw, 305 is a split guide rail, 306 is a first screw slider connecting frame, 307 is a first clamping jaw, 308 is a second clamping jaw, 309 is a second screw slider connecting frame, 310 is a second guide screw supporting frame, 311 is a left-handed split screw, 312 is a driven bevel gear, 313 is a driving bevel gear, 314 is a right-handed split screw, 315 is a first split guide rail slider, 316 is a camera fixing seat, 317 is a miniature camera, 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 double-arm coordinated operation device for a suspension insulator string of a power transmission line, which comprises an operation arm I3 and an operation arm II4, wherein the operation arm I3 and the operation 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 inserting and pulling the spring pin 2, separating from the spring pin and loading the spring pin into the bowl head fitting 7; the operation arm II4 is used for clamping the connecting plate fitting 8 and matching with the operation arm I3 to complete auxiliary replacement operation tasks of the insulator string of the power transmission line.
As shown in fig. 3 to 4, the working arm I3 and the working arm II4 have the same structure and each include a vertical lifting joint 10, a horizontal telescopic joint 20 and a jaw clamping releasing joint 30 which are sequentially connected. The vertical lifting joint 10 is fixed on the first electric box 5 or the second electric box 6 and is used for driving the two latter 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 clamping loosening joint 30 to perform horizontal telescopic movement; the jaw clamping release joint 30 is connected to the horizontal telescopic joint 20.
The vertical lifting joint 10 of the operation arm I3 is fixed on the first electric box body 5, and the clamping jaw clamping and loosening joint 30 of the operation arm I3 has the function of driving the multifunctional clamping jaw on the vertical lifting joint to clamp or loosen, so as to complete the operations of inserting and extracting the spring pin, separating and loading the bowl head.
The vertical lifting joint 10 of the working arm II4 is fixed on the second electric box body 6, and the clamping jaw clamping and loosening joint 30 of the working arm II4 has the function of driving the multifunctional clamping jaw on the working arm II to clamp or loosen, so that the operation of clamping the connecting plate fitting 8 is completed.
As shown in fig. 5 to 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 with the robot body, the rack 103 and the lifting guide rail 105 are arranged on the rack bracket 104 along the vertical direction, the lifting slider connecting seat 109 is slidably connected with the lifting guide rail 105 through the lifting guide rail slider 106, the lifting driving mechanism is arranged on the lifting slider connecting seat 109, the output end is connected with the driving gear 110, the driving gear 110 is meshed with the rack 103, and the lifting slider connecting seat 109 is connected with the horizontal telescopic joint 20.
The upper end of the rack support 104 is provided with a lifting limit collision block 107, the lifting slide block 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 slide block connecting seat 109.
In the embodiment of the invention, 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 a driving gear 110.
The rack bracket 104 is connected 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 connected to the first electric box 5, and the rack bracket 104 in the working arm II4 is connected to the second electric box 6). The lifting slide block connecting seat 109 connects the lifting guide rail slide block 106 with the worm gear reduction box 102, and meanwhile, a driving gear 110 on an output shaft 111 of the reduction box is meshed with the rack 103; the lifting motor 101 is connected with a worm in the worm gear reduction box 102 to finish lifting driving of an operation arm; when the working arm is lifted 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 a role of lifting limit of the working arm.
As shown in fig. 7 to 8, the horizontal telescopic joint 20 includes a telescopic rail 201, a telescopic rail slider 202, a rail screw front connecting frame 203, a telescopic motor mounting seat 204, a nut bearing seat 205, a telescopic motor 207, a telescopic screw 208, a rail screw rear connecting frame 209, a telescopic nut 213 and a transmission mechanism, wherein the telescopic rail 201 and the telescopic screw 208 are arranged in parallel, two ends of the telescopic rail 201 are respectively connected with the rail screw rear connecting frame 209 through the rail screw front connecting frame 203, the nut bearing seat 205 is in sliding connection with the telescopic rail 201 through the telescopic rail slider 202, and the telescopic rail slider 202 is connected with the lifting slider connecting seat 109 in the vertical lifting joint 10. The telescopic screw 213 is rotatably installed on the screw bearing seat 205 and is in threaded connection with the telescopic screw 208 to form a thread pair, the telescopic motor installation seat 204 is connected with the screw bearing seat 205, the telescopic motor 207 is installed on the telescopic motor installation seat 204, and the output end is connected with the telescopic screw 213 through a transmission mechanism.
One end of the telescopic screw 213 is connected with a screw support shaft 206, the screw support shaft 206 is connected with a screw bearing seat 205 through a bearing, and the screw 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 a nut support shaft 206 and a telescopic nut 213, the driven synchronous pulley 212 and the nut support shaft 206 are connected together and then are arranged on a telescopic screw rod 208, and the driving synchronous pulley 210 is in transmission connection with the driven synchronous pulley 212 through the synchronous belt 211, so that power transmission is realized.
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 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 travel 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 213 to rotate, so that the telescopic 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 is retracted to a defined position, the telescopic limit switch 214 is contacted with the telescopic limit collision block 215 installed on the guide rail screw front connecting frame 203, thereby playing a role in limiting the arm telescopic.
As shown in fig. 9 to 10, the jaw clamping releasing joint 30 comprises a split motor 301, a split motor mounting seat 302, a guide screw support frame, a split screw 304, a split guide 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 mounting seat 302, and the split motor mounting seat 302 is connected to the guide 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 seat 302; the split screw 304 and the split guide rail 305 are disposed in parallel. The output end of the split motor 301 is in transmission connection with a split screw 304 through a gear transmission mechanism. The gear transmission mechanism includes a drive bevel gear 313 and a driven bevel gear 312, the drive 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 meshes with the drive bevel gear 313 to perform power transmission. The split screw 304 is provided with two sections of reverse threads, 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 slider 315 are connected together by the first nut slider connecting frame 304, and the left-handed split nut 311 and the second split rail slider 319 are connected together by the second nut slider connecting frame 309.
The electric transmission line suspension insulator string double-arm coordination operation device further comprises a camera fixing seat 316 and a miniature camera 317, wherein the camera fixing seat 316 is arranged on the split guide rail 305 of the clamping jaw clamping and loosening joint 30, the miniature camera 317 is arranged on the camera fixing seat 316, and the miniature camera 317 is used for observing operation conditions of the operation arm I3 and the operation arm II 4.
The power transmission line equipment comprises a suspension insulator string 1, a suspension clamp, a wire, a spring pin 2, a bowl head fitting 7 and a connecting plate fitting 8, wherein the connecting plate fitting 8 and the bowl head fitting 7 are sequentially connected to the suspension clamp, the bowl head fitting 7 is connected with the suspension insulator string 1 through the spring pin 2, and the suspension clamp is used for clamping the wire.
When the split motor 301 rotates, after power is transmitted to the split screw 304 through the meshing of the driving bevel gear 313 and the driven bevel gear 312, the split screw 304 rotates to drive the left-handed split nut 311 and the right-handed split nut 314 to simultaneously and reversely move, so that the clamping or loosening of the tail end clamping jaw is completed; the miniature camera 317 is installed on the camera fixing seat 316, and the camera fixing seat 316 is connected on the split guide rail 304, and the operation condition of the operation arm can be observed through the miniature camera 317. The first clamping jaw 307 and the second clamping jaw 308 in the working arm I3 are used for replacing an equipotential electrician to execute the insertion and the extraction of the spring pin 2 in the suspension insulator string 1; the other function is to replace the equipotential electrician to execute the operations of separating and loading the bowl head fitting 7 from the insulator ball head, and the aim 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 connecting plate fitting 8 below the suspension insulator string 1, and are matched with the working arm I3 to execute the operations of inserting and pulling the spring pin 2 in the suspension insulator string 1 and the operations of detaching and loading the bowl head fitting 7 from the insulator ball head.
The working process of auxiliary replacement of the suspension insulator string by the double-arm coordination operation device of the suspension insulator string of the power transmission line is as follows:
the invention is used for auxiliary replacement of a suspension insulator string of a power transmission line, and the working process is as follows:
first, a working arm is mounted on a robot body. The working arm I3 and the working arm II4 are arranged on a crawling driving device of the robot body, and then the robot body is hoisted to a tower; and after the tower is hung, the crawling driving device is arranged on the crawling support frame.
And secondly, crawling the robot body in place. And controlling the robot body with the working arm I3 and the working arm II4 to climb downwards along the suspension insulator string to be worked, and stopping the action after crawling to a preset working position.
And thirdly, pulling out the spring pin and separating from the bowl head. The operation arm I3 and the operation arm II4 work in a double-arm coordination mode, clamping jaws of the operation arm II4 clamp the connecting plate hardware fitting 8, a spring pin 2 is pulled out of a multifunctional clamping jaw of the operation arm I4, and then the bowl head hardware fitting 7 is separated from the suspension insulator chain 1.
And fourthly, inserting a spring pin and loading the bowl head. After the suspension insulator string 1 is manually replaced, the two arms of the operation arm I3 and the operation arm II4 are coordinated again, the multifunctional clamping jaw of the operation 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 fifthly, finishing the operation. After the replacement operation of the suspension insulator string 1 is completed, the robot body with the operation arms I3 and II4 climbs to the initial position along the insulator string, and the operation of auxiliary replacement of the suspension insulator string is finished.
The invention adopts two three-degree-of-freedom operation arms to coordinate operation, has strong flexibility and can adapt to various suspension insulator strings. The invention simulates a manual operation mode to insert and withdraw the spring pin, separate and insert the bowl head from the ball head, and coordinate operation of the double-operation arms is more accurate in action and higher in operation efficiency compared with manual operation. The invention replaces the equipotential electrician live working, ensures personnel safety, and has high reliability of double-arm coordination operation.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (7)
1. The double-arm coordination 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 loosening joint (30) which are sequentially connected, and the operation arm I (3) is used for plugging and unplugging a spring pin (2) and separating and loading a bowl head fitting (7); the operation arm II (4) is used for clamping the connecting plate fitting (8) and matching with the operation arm I (3) to finish auxiliary replacement operation tasks of the insulator string of the power transmission line;
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 sliding block (106), a lifting sliding block 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 the vertical direction, the lifting sliding block connecting seat (109) is in sliding connection with the lifting guide rail (105) through the lifting guide rail sliding block (106), the lifting driving mechanism is arranged on the lifting sliding block connecting seat (109), the output end of the lifting sliding block connecting seat is connected with the driving gear (110), the driving gear (110) is meshed with the rack (103), and the lifting sliding block connecting seat (109) is connected with the horizontal telescopic joint (20).
The horizontal telescopic joint (20) comprises a telescopic guide rail (201), a telescopic guide rail sliding block (202), a guide rail screw front connecting frame (203), a telescopic motor mounting seat (204), a screw bearing seat (205), a telescopic motor (207), a telescopic screw (208), a guide rail screw rear connecting frame (209), a telescopic screw (213) and a transmission mechanism, wherein the telescopic guide rail (201) and the telescopic screw (208) are arranged in parallel, two ends of the telescopic guide rail are respectively connected with the guide rail screw rear connecting frame (209) through the guide rail screw front connecting frame (203), the screw bearing seat (205) is in sliding connection with the telescopic guide rail (201) through the telescopic guide rail sliding block (202), the telescopic guide rail sliding block (202) is connected with the vertical lifting joint (10), a telescopic screw (213) is rotatably arranged on the screw bearing seat (205) and is in threaded connection with the telescopic screw (208) to form a thread pair, the telescopic motor mounting seat (204) is connected with the screw bearing seat (205), and the output end of the telescopic motor is connected with the screw (213) through the transmission mechanism;
clamping jaw clamping loosening joint (30) include split motor (301), split motor mount pad (302), guide rail lead screw support frame, split lead screw (304), split guide rail (305), first clamping jaw (307), second clamping jaw (308) and gear train, wherein guide rail lead screw support frame with horizontal telescopic joint (20) are connected, split lead screw (304) and split guide rail (305) parallel set up in on the guide rail lead screw support frame, split motor (301) set up on the guide rail lead screw support frame, and the output pass through gear train with split lead screw (304) transmission is connected, be equipped with two sections reverse screw on split lead screw (304), first clamping jaw (307) and second clamping jaw (308) pass through guide rail slider and split guide rail (305) sliding connection, first clamping jaw (307) and second clamping jaw (308) respectively through levogyration screw (311) and dextrorotation screw (314) with two sections reverse screw on the split lead screw (304) are connected.
2. The double-arm coordination operation device for the suspension insulator string of the power transmission line according to claim 1, 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 slide block 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 slide block connecting seat (109).
3. The double-arm coordination work device for the suspension insulator string of the power transmission line according to claim 1, 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).
4. The electric transmission line suspension insulator string double-arm coordination operation device according to claim 1, wherein one end of the telescopic screw (213) is connected with a screw support shaft (206), the screw support shaft (206) is connected with the screw bearing seat (205) through a bearing, and the screw support shaft (206) is connected with the transmission mechanism.
5. The electric transmission line suspension insulator string double-arm coordination work device according to claim 4, 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).
6. The electric transmission line suspension insulator string double-arm coordination operation device according to claim 1, 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 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) cooperate to limit the limit telescopic travel of the horizontal telescopic joint (20).
7. The transmission line suspension insulator string double-arm coordinated operation device according to claim 1, further comprising a camera fixing seat (316) and a miniature camera (317), wherein the camera fixing seat (316) is arranged on the clamping jaw clamping and loosening joint (30), the miniature camera (317) is arranged on the camera fixing seat (316), and the miniature camera (317) is used for observing operation conditions of an operation arm I (3) and an operation arm II (4).
Priority Applications (1)
| 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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| Publication Number | Publication Date |
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| CN112117701A CN112117701A (en) | 2020-12-22 |
| CN112117701B true CN112117701B (en) | 2024-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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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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| 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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|---|---|---|---|---|
| CN1695908A (en) * | 2005-06-03 | 2005-11-16 | 武汉大学 | Crawl mechanism of clearing robot for suspension insulators on high voltage line |
| 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 |
| 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 |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102806543B (en) * | 2012-07-16 | 2016-05-18 | 国家电网公司 | Change insulator chain Electrified operation mechanical hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1695908A (en) * | 2005-06-03 | 2005-11-16 | 武汉大学 | Crawl mechanism of clearing robot for suspension insulators on high voltage line |
| 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 |
| 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 |
| 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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| CN112117701A (en) | 2020-12-22 |
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