CN113809676B - Improved overhead ground wire repairing robot device - Google Patents
Improved overhead ground wire repairing robot device Download PDFInfo
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- CN113809676B CN113809676B CN202111102853.2A CN202111102853A CN113809676B CN 113809676 B CN113809676 B CN 113809676B CN 202111102853 A CN202111102853 A CN 202111102853A CN 113809676 B CN113809676 B CN 113809676B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention relates to an improved overhead ground wire repairing robot device which comprises a wire smoothing stranded wire unit and a pre-twisted wire winding unit, wherein the wire smoothing stranded wire unit comprises a wire smoothing stranded wire mechanism, a first opening and closing driving mechanism and a first rotary driving mechanism, the wire smoothing stranded wire mechanism comprises a wire smoothing stranded wire disc, the two wire smoothing stranded wire discs are combined to form a first ground wire hole for a ground wire to pass through, the first opening and closing driving mechanism is used for driving the wire smoothing stranded wire discs to be separated and combined, the first rotary driving mechanism is used for driving the two combined fan-shaped ring-shaped wire smoothing stranded wire discs to synchronously rotate around the axis of the first ground wire hole, the pre-twisted wire winding unit comprises a pre-twisted wire winding mechanism, a second opening and closing driving mechanism and a second rotary driving mechanism, the pre-twisted wire winding mechanism comprises two winding discs, the two winding discs are combined to form a second ground wire hole for the ground wire to pass through, and at least one winding disc is provided with a preformed armor rod hole for the preformed armor rod to pass through.
Description
Technical Field
The invention belongs to the technical field of electric power engineering, and particularly relates to an improved overhead ground wire repairing robot device.
Background
The overhead ground wire is an important component of a high-voltage transmission line, and due to the fact that the overhead ground wire is in a severe environment, strand breakage and strand scattering of an outer-layer lead can occur, and operation of a power grid is seriously influenced. In order to maintain the stability of a power grid, a damaged ground wire needs to be repaired, the traditional manual repairing method is high in operation difficulty and high in danger coefficient, and the robot is used for replacing manpower to perform repairing tasks, so that the efficiency can be improved, and the safety of personnel can be guaranteed.
Currently, a few robots with repair capabilities exist, but many drawbacks exist. Therefore, it is an urgent problem to be solved by workers in the field to provide an overhead ground wire repairing robot with a good structure and a good wrapping effect of preformed armor rods.
Disclosure of Invention
Therefore, the invention aims to solve the technical problems that the overhead ground wire repairing robot in the prior art is poor in body structure, the wrapping effect of the preformed armor rods is not ideal and the like.
In order to solve the technical problem, the invention provides an improved overhead ground wire repairing robot device which comprises a wire smoothing and twisting unit and a pre-twisted wire winding unit, wherein the wire smoothing and twisting unit comprises a wire smoothing and twisting mechanism, a first opening and closing driving mechanism and a first rotating driving mechanism, the wire smoothing and twisting mechanism comprises two fan-shaped wire smoothing and twisting disks, the two fan-shaped wire smoothing and twisting disks are combined to form a first ground wire hole for a ground wire to pass through, the first opening and closing driving mechanism is used for driving the two fan-shaped wire smoothing and twisting disks to be separated and combined, the first rotating driving mechanism is used for driving the two combined fan-shaped wire smoothing and twisting disks to synchronously rotate around the axis of the first ground wire hole, the pre-twisted wire winding unit comprises a pre-twisted wire winding mechanism, a second opening and closing driving mechanism and a second rotating driving mechanism, the pre-twisted wire winding mechanism comprises two fan-shaped winding disks, the two fan-shaped annular winding disks are oppositely combined to form a second ground wire hole for the ground wire to pass through, at least one of the winding disks is provided with a preformed wire hole for the preformed wire to pass through, the second opening and closing driving mechanism is used for driving the two fan-shaped annular winding disks to be separated and oppositely combined, the second rotating driving mechanism is used for driving the two oppositely combined fan-shaped annular winding disks to synchronously rotate around the axis of the second ground wire hole,
the wire straightening and stranding mechanism further comprises two first clamping claw arms, the two first clamping claw arms are rotatably connected to the base through a first rotating shaft, and the two fan-shaped wire straightening and stranding discs are respectively connected with the two first clamping claw arms;
the first opening and closing driving mechanism comprises a first motor, a first lead screw nut assembly and two first connecting rod assemblies, a rotating shaft of the first motor is connected with a lead screw of the first lead screw nut assembly, a nut of the first lead screw nut assembly is connected with one ends of the two first connecting rod assemblies, the other ends of the two first connecting rod assemblies are respectively connected with first rotating shafts of the two first clamping jaw arms, the first motor drives the nut of the first lead screw nut assembly to move along the lead screw of the first lead screw nut assembly, so that different connecting rods of the two first connecting rod assemblies are driven to be folded and unfolded relatively, the first rotating shafts are driven to rotate, and the two first clamping jaw arms are driven to be separated and folded;
the preformed armor rod winding mechanism further comprises two second clamping jaw arms, the two second clamping jaw arms are rotatably connected to the base through a second rotating shaft, and the two fan-shaped annular winding discs are respectively connected with the two second clamping jaw arms;
the second opening and closing driving mechanism comprises a second motor, a second lead screw nut assembly and two second connecting rod assemblies, a rotating shaft of the second motor is connected with a lead screw of the second lead screw nut assembly, a nut of the second lead screw nut assembly is connected with one ends of the two second connecting rod assemblies, the other ends of the two second connecting rod assemblies are respectively connected with second rotating shafts of the two second clamping jaw arms, the second motor drives the nut of the second lead screw nut assembly to move along a lead screw of the second lead screw nut assembly, so that different connecting rods of the two second connecting rod assemblies are driven to be folded and unfolded relatively, the second rotating shafts are driven to rotate, and the two second clamping jaw arms are driven to be separated and combined.
Furthermore, the wire twisting mechanism, the two pre-twisted wire winding mechanisms and the wire twisting mechanism are arranged at intervals in sequence along the length direction of the ground wire, each wire twisting mechanism uses one first opening and closing driving mechanism, the two pre-twisted wire winding mechanisms share one second opening and closing driving mechanism, and the two second clamping jaw arms on the same side are connected to the same second rotating shaft.
Furthermore, the two fan-shaped wire twisting stranded wire discs are embedded together in a concave-convex mode so that the two fan-shaped wire twisting stranded wire discs can rotate synchronously, the first rotary driving mechanism comprises a third motor, a first driving gear and a first driven gear, the first driven gear comprises two first fan-shaped gears, the two first fan-shaped gears are folded to form a first ring-shaped gear, the two first fan-shaped gears are coaxially fixed to the outer sides of the two fan-shaped wire twisting stranded wire discs respectively, the third motor drives the first driving gear to rotate so as to drive the first driven gear after folding to rotate and further drive the two fan-shaped wire twisting stranded wire discs after folding to rotate synchronously,
the two fan-shaped annular winding disks are in concave-convex embedded together so that the two fan-shaped annular winding disks can rotate synchronously, the second rotary driving mechanism comprises a fourth motor, a second driving gear and a second driven gear, the second driven gear comprises two second fan-shaped annular gears, the two second fan-shaped annular gears are combined to form a second annular gear, the two second fan-shaped annular gears are coaxially fixed on the outer sides of the two fan-shaped annular winding disks respectively, the fourth motor drives the second driving gear to rotate, the second driven gear is driven to rotate after being combined, and the two fan-shaped annular winding disks are driven to rotate synchronously.
Furthermore, each fan-shaped wire smoothing stranded wire disc comprises two layers of first fan-shaped rings, each first fan-shaped ring is provided with a pin hole penetrating through two fan-shaped surfaces of the first fan-shaped ring, one layer of the first fan-shaped rings is provided with an electromagnet, the other layer of the first fan-shaped rings is provided with a clutch transmission pin and an elastic part driving the clutch transmission pin to be inserted into the pin holes, when wires are smoothed out, the electromagnets are powered off, the clutch transmission pin is simultaneously inserted into the pin holes of the two layers of the first fan-shaped rings under the action of elastic reset force of the elastic part, the fourth motor drives the two layers of the first fan-shaped rings to rotate, when wires are stranded, the electromagnets are powered on, the electromagnets and the clutch transmission pin are attracted, the clutch transmission pin is disengaged from one of the pin holes of the first fan-shaped rings, and the fourth motor only drives one of the first fan-shaped rings to rotate.
Further, the inner diameters of the first ground wire hole and the second ground wire hole are slightly larger than the diameter of the ground wire.
Furthermore, the preformed armor rod winding unit further comprises a horizontal driving mechanism, the horizontal driving mechanism comprises a fifth motor and a third lead screw nut component, a rotating shaft of the fifth motor is connected with a lead screw of the third lead screw nut component, a lead screw of the third lead screw nut component is parallel to a ground wire, a nut of the third lead screw nut component is connected with a connecting plate, the fifth motor drives the lead screw of the third lead screw nut component to rotate, and then drives the nut of the third lead screw nut component to translate, and further drives the connecting plate to translate, and further pushes the second clamping claw arm to move along the second rotating shaft.
Furthermore, the wire smoothing and twisting mechanism and the preformed armor rod winding mechanism are both provided with sensors for sensing the positions of the fan-shaped wire smoothing and twisting disc and the fan-shaped winding disc.
Further, the first jaw arm and the second jaw arm both adopt wing-shaped structures.
Furthermore, the sector annular wire smoothing and twisting disc and the sector annular winding disc are semi-circular.
Further, the overhead ground wire repairing robot device is made of aviation aluminum.
Compared with the prior art, the technical scheme of the invention has the following advantages:
1) according to the improved robot device for repairing the overhead ground wire, the wire smoothing and twisting mechanism disclosed by the invention can output enough torque, can flexibly switch between the wire smoothing function and the wire twisting function, and fully responds to different conditions that a lead is restored in a slot. In addition, the wire smoothing function of the preformed armor rods is added, so that the tail parts of the preformed armor rods can be tightly wrapped on the overhead ground wire when being separated from the winding disc.
2) According to the improved overhead ground wire repairing robot device, the diameter of the hole for storing the preformed armor rods in the winding disc of the preformed armor rod winding mechanism is reduced, the preformed armor rods are closer to the inner ring of the winding disc, and the stability of the preformed armor rods is improved when the preformed armor rods are separated from the winding disc.
3) According to the improved overhead ground wire repairing robot device disclosed by the invention, the clamping jaw arms of the clamping jaw driving mechanism are of wing-shaped structures, so that the interference of a machine body on a repairing task is effectively avoided, the space between the overhead ground wire and the machine body is increased, and the capability of the repairing robot for crossing scattered ground wires is enhanced.
4) The improved overhead ground wire repairing robot device disclosed by the invention is made of aviation aluminum, is lighter than other repairing robots, reduces the starting and stopping capacity of a walking mechanism, and can carry more peripheral auxiliary work.
Drawings
In order that the present disclosure may be more readily and clearly understood, the following detailed description of the present disclosure is provided in connection with specific embodiments thereof and the accompanying drawings, in which,
figure 1 is a schematic view of the overall structure of an improved overhead ground wire repairing robot of the present invention,
FIG. 2 is a schematic view of a wire stroking and twisting mechanism in the improved overhead ground wire repairing robot of the invention,
FIG. 3 is a schematic view of a preformed armor rod winding mechanism in the improved overhead ground wire repairing robot of the present invention,
figure 4 is a schematic view of a first opening and closing driving mechanism in an improved overhead ground wire repairing robot of the present invention,
figure 5 is a schematic view of a second opening and closing driving mechanism in an improved overhead ground wire repairing robot according to the present invention,
fig. 6 is a schematic view of a second jaw horizontal drive assembly in an improved overhead ground wire repair robot of the present invention.
The specification reference numbers indicate:
100. a wire smoothing and twisting mechanism; 101. a first rotary drive mechanism; 102. a third motor; 103. a first drive gear; 104. a first driven gear; 105. wire stroking and twisting disc; 106. a first fan ring; 107. a first jaw arm; 108. a wire twisting and strand switching component; 109. a first ground wire hole; 110. a first rotating shaft;
200. a preformed armor rod winding mechanism; 201. a second rotary drive mechanism; 202. a fourth motor; 203. a second driving gear; 204. a second driven gear; 205. a winding disc; 206. a second jaw arm; 207. a second fan ring; 208. a second jaw horizontal drive assembly; 209. a fifth motor; 210. a third lead screw nut assembly; 211. a third nut; 212. a connecting plate; 213. a second ground hole; 214. a second rotating shaft;
300. a first opening and closing drive mechanism; 301. a first motor; 302. a first link assembly; 303. a first lead screw nut assembly; 304. a first nut; 305. a first lead screw;
400. a second opening and closing drive mechanism; 401. a second motor; 402. a second linkage assembly; 403. a second lead screw nut assembly; 404. a second nut; 405. a second lead screw;
500. a base.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1 to 6, the improved overhead ground wire repairing robot device of the present invention includes a wire twisting and stranding unit and a pre-twisting and winding unit, the wire twisting and stranding unit includes a wire twisting and stranding mechanism 100, a first opening and closing driving mechanism 300 and a first rotation driving mechanism 101, the wire twisting and stranding mechanism 100 includes two fan-shaped wire twisting disks 105, the two fan-shaped wire twisting disks 105 are folded to form a first ground wire hole 109 for a ground wire to pass through, the first opening and closing driving mechanism 300 is configured to drive the two fan-shaped wire twisting disks 105 to separate and fold, the first rotation driving mechanism 101 is configured to drive the two folded fan-shaped wire twisting disks 105 to rotate around an axis of the first ground wire hole 109 synchronously, the pre-twisting and winding unit includes a pre-twisting and winding mechanism 200, a second opening and closing driving mechanism 400 and a second rotation driving mechanism 201, the preformed armor rod winding mechanism 200 includes two segment-shaped winding disks 205, the two segment-shaped winding disks 205 are folded to form a second ground hole 213 for the ground wire to pass through, at least one of the winding disks 205 is provided with a preformed armor rod hole for the preformed armor rod to pass through, the second opening/closing driving mechanism 400 is used for driving the two segment-shaped winding disks 205 to separate and fold, the second rotation driving mechanism 201 is used for driving the two segment-shaped winding disks 205 to rotate around the axis of the second ground hole 213 synchronously,
the wire straightening and twisting mechanism 100 further comprises two first jaw arms 107, the two first jaw arms 107 are rotatably connected to the base 500 through a first rotating shaft 110, and the two fan-shaped wire straightening and twisting discs 105 are respectively connected with the two first jaw arms 107;
the first opening and closing driving mechanism 300 includes a first motor 301, a first lead screw nut assembly 303 and two first link assemblies 302, a rotating shaft of the first motor 301 is connected with a lead screw of the first lead screw nut assembly 303, a nut of the first lead screw nut assembly 303 is connected with one end of each of the two first link assemblies 302, the other end of each of the two first link assemblies 302 is connected with the first rotating shaft 110 of each of the two first jaw arms 107, the first motor 301 drives the first nut 304 to move along the first lead screw 305, so that different links of the two first link assemblies 302 are driven to fold and unfold relatively, and further the first rotating shaft 110 is driven to rotate, so that the two first jaw arms 107 are driven to separate and fold;
the preformed armor rod winding mechanism 200 further comprises two second jaw arms 206, the two second jaw arms 206 are rotatably connected to the base 500 through a second rotating shaft 214, and the two fan-shaped annular winding discs 205 are respectively connected to the two second jaw arms 206;
the second opening and closing driving mechanism 400 includes a second motor 401, a second lead screw nut assembly 403, and two second connecting rod assemblies 402, a rotating shaft of the second motor 401 is connected to a lead screw of the second lead screw nut assembly 403, a nut of the second lead screw nut assembly 403 is connected to one end of each of the two second connecting rod assemblies 402, the other end of each of the two second connecting rod assemblies 402 is connected to the second rotating shaft 214 of each of the two second jaw arms 206, and the second motor 401 drives the second nut 404 to move along the second lead screw 405, so as to drive different connecting rods of the two second connecting rod assemblies 402 to fold and unfold relatively, so as to drive the second rotating shaft 214 to rotate, and further drive the two second jaw arms 206 to separate and fold.
In the foregoing, the first opening and closing driving mechanism and the second opening and closing driving mechanism are opened and closed by the rotation of the screw nut assembly driven by the motor, so that the wire smoothing and twisting mechanism and the pre-twisted wire winding mechanism can output sufficient torque, the wire smoothing and twisting switching assembly in the wire smoothing and twisting mechanism can flexibly switch between the wire smoothing function and the twisting function, and different situations of the lead in-slot recovery are fully met. In addition, the wire smoothing function of the preformed armor rods is added, so that the tail parts of the preformed armor rods can be tightly wrapped on the overhead ground wire when being separated from the winding disc.
In a preferred embodiment of the present invention, one wire stroking and twisting mechanism 100, two pre-twisting wire winding mechanisms 200, and one wire stroking and twisting mechanism 100 are provided at intervals in the longitudinal direction of the ground, one first opening/closing drive mechanism 300 is used for each wire stroking and twisting mechanism 100, one second opening/closing drive mechanism 400 is used for both pre-twisting wire winding mechanisms 200, and two second gripper arms 206 on the same side are connected to the same second rotating shaft 214.
In the above, the wire smoothing and twisting mechanism and the pre-twisted wire winding mechanism are both arranged into two groups, the wire smoothing and twisting mechanism on the side can be judged according to the scattering direction of the wire, the two groups of pre-twisted wire winding mechanisms are connected together by putting the pre-twisted wires, and the working efficiency is improved by simultaneous movement and simultaneous working.
In a preferred embodiment of the present invention, the two fan-shaped wire twisting discs 105 are engaged with each other in a concave-convex manner so as to rotate synchronously, the first rotary driving mechanism 101 includes a third motor 102, a first driving gear 103 and a first driven gear 104, the first driven gear 104 includes two first fan-shaped 106 gears, the two first fan-shaped 106 gears are engaged to form a first ring gear, the two first fan-shaped 106 gears are coaxially fixed to the outer sides of the two fan-shaped wire twisting discs 105, the third motor 102 drives the first driving gear 103 to rotate, further drives the engaged first driven gear 104 to rotate, and further drives the two engaged fan-shaped wire twisting discs 105 to rotate synchronously;
the two fan-shaped winding disks 205 are engaged with each other in a concave-convex manner so as to rotate synchronously, the second rotation driving mechanism 201 includes a fourth motor 202, a second driving gear 203 and a second driven gear 204, the second driven gear 204 includes two second fan-shaped gears, the two second fan-shaped gears are engaged to form a second ring gear, the two second fan-shaped gears are coaxially fixed to the outer sides of the two fan-shaped winding disks 205, respectively, the fourth motor 202 drives the second driving gear 203 to rotate, and then drives the engaged second driven gear 204 to rotate, and further drives the engaged two fan-shaped winding disks 205 to rotate synchronously.
In a preferred embodiment of the present invention, each of the fan-shaped wire twisting discs 105 includes two first fan-shaped rings 106, the first fan-shaped rings 106 are provided with pin holes penetrating through two fan-shaped surfaces thereof, wherein one layer of the first fan ring 106 is provided with an electromagnet, the other layer of the first fan ring 106 is provided with a clutch transmission pin and an elastic component for driving the clutch transmission pin to be inserted into the pin hole, when the wire is stroked, the electromagnet is powered off, the clutch transmission pin is simultaneously inserted into the pin holes of the two layers of first fan-shaped rings 106 under the action of the elastic reset force of the elastic component, the fourth motor 202 drives the two layers of first fan-shaped rings 106 to rotate, when the wire is twisted, the electromagnet is energized, the electromagnet is attracted to the clutch transmission pin, the clutch transmission pin is disengaged from the pin hole of one of the first sector rings 106, and the fourth motor 202 drives only one of the first sector rings 106 to rotate.
In a preferred embodiment of the present invention, the inner diameters of the first ground hole 109 and the second ground hole 213 are slightly larger than the ground diameter.
In the foregoing, the inner diameters of the first ground hole and the second ground hole are slightly larger than the diameter of the overhead ground wire, so that the overhead ground wire can be more smoothly and stably separated.
In a preferred embodiment of this embodiment, the preformed armor rod winding unit further includes a horizontal driving mechanism, the horizontal driving mechanism includes a fifth motor 209 and a third screw-nut assembly 210, a rotating shaft of the fifth motor 209 is connected to a screw of the third screw-nut assembly 210, a screw of the third screw-nut assembly 210 is parallel to a ground line, a nut 211 of the third screw-nut assembly 210 is connected to a connecting plate 212, and the fifth motor 209 drives the screw of the third screw-nut assembly 210 to rotate, and further drives the nut 211 of the third screw-nut assembly 210 to translate, and further drives the connecting plate 212 to translate, and further drives the second claw arm 206 to move along the second rotating shaft 214.
In a preferred embodiment of the present invention, the wire twisting and stranding mechanism 100 and the pre-twisting and winding mechanism 200 are each provided with a sensor for sensing the positions of the fan-shaped wire twisting and stranding disc 105 and the fan-shaped winding disc 205.
In the above, the sensor is used to sense the position of the wire winding disc and the winding disc, preventing it from opening or not completely closing during operation.
In a preferred embodiment of the present invention, each of the first jaw arm 107 and the second jaw arm 206 has a wing-shaped structure.
In the above, the clamping jaw arms of the clamping jaw driving mechanism all adopt wing-shaped structures, so that the interference of the machine body to the repair task is effectively avoided, the space between the overhead ground wire and the machine body is increased, and the capacity of the repair robot for crossing scattered ground wires is enhanced.
In a preferred embodiment of the present invention, the fan-shaped wire twisting disk 105 and the fan-shaped winding disk 205 are semi-circular.
In a preferred embodiment of this embodiment, the overhead ground wire repairing robot apparatus is made of aircraft aluminum.
In the above, the fuselage material is selected to be aircraft aluminum, which is lighter than other repairing robots, reduces the starting and stopping capability of the walking mechanism, and can carry more peripheral auxiliary work.
Working process
When the wire twisting and stranding driving mechanism works, the wire twisting and stranding disc 105 surrounds the overhead ground wire when twisting or stranding, the first motor 301 rotates to drive the first lead screw nut assembly 303 to move up and down, and the two first clamping claw arms 107 are driven to be opened simultaneously, so that the robot can be conveniently hung on the wire normally; when wire or stranded wire is to be smoothed out, the first jaw arm 107 is closed under the driving of the first motor 301, the third motor 102 drives the driving gear, and the first driving gear 103 drives the first driven gear 104 to rotate, so that the wire or stranded wire smoothing operation is realized;
manually putting the preformed armor rods into preformed armor rod storage holes of a winding disc 205, rotating a second motor 401 to drive a second lead screw nut component 403 to move up and down, and driving two second clamping claw arms 206 to be opened simultaneously so as to facilitate normal suspension of the robot on a line; when the preformed armor rods are to be wound, the second clamping claw arm 206 is closed under the driving of the second motor 401, the second motor 401 for winding and the fifth motor 209 for walking in the middle perform interpolation motion according to parameters of the preformed armor rods, the preformed armor rods are wound on the wire, after the preformed armor rods are wound, the opening and closing claws are opened, and the operation is finished.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. The improved overhead ground wire repairing robot device comprises a wire smoothing stranded wire unit and a pre-twisted wire winding unit, wherein the wire smoothing stranded wire unit comprises a wire smoothing stranded wire mechanism, a first opening and closing driving mechanism and a first rotary driving mechanism, the wire smoothing stranded wire mechanism comprises two sector annular wire smoothing stranded wires, the two sector annular wire smoothing stranded wires are closed to form a first ground wire hole for a ground wire to pass through, the first opening and closing driving mechanism is used for driving the two sector annular wire smoothing stranded wires to be separated and closed, the first rotary driving mechanism is used for driving the two sector annular wire smoothing stranded wires to be synchronously wound around the axis of the first ground wire hole to rotate, the pre-twisted wire winding unit comprises a pre-twisted wire winding mechanism, a second opening and closing driving mechanism and a second rotary driving mechanism, the pre-twisted wire winding mechanism comprises two sector annular wire winding disks, the two fan-shaped annular winding disks are oppositely combined to form a second ground wire hole for the ground wire to pass through, at least one of the winding disks is provided with a preformed wire hole for the preformed wire to pass through, the second opening and closing driving mechanism is used for driving the two fan-shaped annular winding disks to be separated and oppositely combined, the second rotating driving mechanism is used for driving the two oppositely combined fan-shaped annular winding disks to synchronously rotate around the axis of the second ground wire hole,
the wire straightening and stranding mechanism further comprises two first clamping claw arms, the two first clamping claw arms are rotatably connected to the base through a first rotating shaft, and the two fan-shaped wire straightening and stranding discs are respectively connected with the two first clamping claw arms;
the first opening and closing driving mechanism comprises a first motor, a first lead screw nut assembly and two first connecting rod assemblies, a rotating shaft of the first motor is connected with a lead screw of the first lead screw nut assembly, a nut of the first lead screw nut assembly is connected with one ends of the two first connecting rod assemblies, the other ends of the two first connecting rod assemblies are respectively connected with first rotating shafts of the two first clamping jaw arms, the first motor drives the nut of the first lead screw nut assembly to move along the lead screw of the first lead screw nut assembly, so that different connecting rods of the two first connecting rod assemblies are driven to be folded and unfolded relatively, the first rotating shafts are driven to rotate, and the two first clamping jaw arms are driven to be separated and folded;
the preformed armor rod winding mechanism further comprises two second clamping jaw arms, the two second clamping jaw arms are rotatably connected to the base through a second rotating shaft, and the two fan-shaped annular winding discs are respectively connected with the two second clamping jaw arms;
the second opening and closing driving mechanism comprises a second motor, a second lead screw nut assembly and two second connecting rod assemblies, a rotating shaft of the second motor is connected with a lead screw of the second lead screw nut assembly, a nut of the second lead screw nut assembly is connected with one ends of the two second connecting rod assemblies, the other ends of the two second connecting rod assemblies are respectively connected with second rotating shafts of the two second clamping jaw arms, the second motor drives the nut of the second lead screw nut assembly to move along a lead screw of the second lead screw nut assembly, so that different connecting rods of the two second connecting rod assemblies are driven to be folded and unfolded relatively, the second rotating shafts are driven to rotate, and the two second clamping jaw arms are driven to be separated and combined.
2. The improved overhead ground wire repairing robot device according to claim 1, wherein one wire stroking and twisting mechanism, two pre-twisting and winding mechanisms and one wire stroking and twisting mechanism are sequentially arranged at intervals along a length direction of a ground wire, each wire stroking and twisting mechanism uses one first opening and closing driving mechanism, the two pre-twisting and winding mechanisms share one second opening and closing driving mechanism, and two second clamping jaw arms on the same side are connected to the same second rotating shaft.
3. The improved overhead ground wire repairing robot device as claimed in claim 1, wherein the two fan-shaped wire stroking stranded wire discs are concavely and convexly embedded together to enable the two fan-shaped wire stroking stranded wire discs to synchronously rotate, the first rotary driving mechanism comprises a third motor, a first driving gear and a first driven gear, the first driven gear comprises two first fan-shaped gears, the two first fan-shaped gears are oppositely combined to form a first ring-shaped gear, the two first fan-shaped gears are respectively and coaxially fixed at the outer sides of the two fan-shaped wire stroking stranded wire discs, the third motor drives the first driving gear to rotate so as to drive the oppositely combined first driven gear to rotate so as to drive the oppositely combined two fan-shaped wire stroking stranded wire discs to synchronously rotate,
the two fan-shaped annular winding disks are in concave-convex embedded together so that the two fan-shaped annular winding disks can rotate synchronously, the second rotary driving mechanism comprises a fourth motor, a second driving gear and a second driven gear, the second driven gear comprises two second fan-shaped annular gears, the two second fan-shaped annular gears are combined to form a second annular gear, the two second fan-shaped annular gears are coaxially fixed on the outer sides of the two fan-shaped annular winding disks respectively, the fourth motor drives the second driving gear to rotate, the second driven gear is driven to rotate after being combined, and the two fan-shaped annular winding disks are driven to rotate synchronously.
4. The improved overhead ground wire repairing robot device as claimed in claim 3, wherein each fan-shaped wire twisting stranded wire disc comprises two layers of first fan-shaped rings, each first fan-shaped ring is provided with a pin hole penetrating through two fan-shaped surfaces of the first fan-shaped ring, one layer of the first fan-shaped rings is provided with an electromagnet, the other layer of the first fan-shaped rings is provided with a clutch transmission pin and an elastic component for driving the clutch transmission pin to be inserted into the pin hole, when the wire is twisted, the electromagnet is powered off, the clutch transmission pin is simultaneously inserted into the pin holes of the two layers of the first fan-shaped rings under the action of elastic reset force of the elastic component, the fourth motor drives the two layers of the first fan-shaped rings to rotate, when the wire is twisted, the electromagnet is powered on, the electromagnet is attracted with the clutch transmission pin, and the clutch transmission pin is disengaged from the pin hole of one of the first fan-shaped rings, the fourth motor drives only one of the first fan rings to rotate.
5. The improved overhead ground wire repairing robot device according to claim 1, wherein an inner diameter of said first ground wire hole and said second ground wire hole is slightly larger than a ground wire diameter.
6. The improved overhead ground wire repairing robot device of claim 1, wherein the preformed armor rod winding unit further comprises a horizontal driving mechanism, the horizontal driving mechanism comprises a fifth motor and a third screw-nut assembly, a rotating shaft of the fifth motor is connected with a screw rod of the third screw-nut assembly, a screw rod of the third screw-nut assembly is parallel to the ground wire, a nut of the third screw-nut assembly is connected with a connecting plate, and the fifth motor drives the screw rod of the third screw-nut assembly to rotate, so as to drive the nut of the third screw-nut assembly to translate, so as to drive the connecting plate to translate, and further drive the second clamping claw arm to move along the second rotating shaft.
7. The improved overhead ground wire repairing robot device as claimed in claim 1, wherein said wire stroking and twisting mechanism and said pre-twisting and winding mechanism are equipped with sensors for sensing the position of said fan-shaped wire stroking and winding disc.
8. The improved overhead ground wire repairing robot device according to claim 1, wherein said first jaw arm and said second jaw arm are each of an airfoil type structure.
9. The improved overhead ground wire repairing robot device as claimed in claim 1, wherein said fan-shaped wire stroking capstan and said fan-shaped winding capstan are semi-circular.
10. The improved overhead ground wire repairing robot device according to claim 1, wherein said overhead ground wire repairing robot device is made of aircraft aluminum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111102853.2A CN113809676B (en) | 2021-09-15 | 2021-09-15 | Improved overhead ground wire repairing robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111102853.2A CN113809676B (en) | 2021-09-15 | 2021-09-15 | Improved overhead ground wire repairing robot device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113809676A CN113809676A (en) | 2021-12-17 |
| CN113809676B true CN113809676B (en) | 2022-06-14 |
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| CN114670220B (en) * | 2022-05-09 | 2023-06-23 | 常州达利辰自动化科技有限公司 | High-altitude ground wire multi-strand broken wire intelligent repairing robot |
| CN114784703B (en) * | 2022-05-17 | 2024-04-02 | 中国南方电网有限责任公司超高压输电公司广州局 | Overhead ground wire repairing device for power transmission line |
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| JP4398583B2 (en) * | 2000-11-16 | 2010-01-13 | 大東電材株式会社 | Wire repair cover |
| CN107017585B (en) * | 2016-01-28 | 2018-05-15 | 中国科学院沈阳自动化研究所 | A kind of broken strand of power transmission line smoothes out with the fingers return device |
| CN111614016A (en) * | 2020-05-22 | 2020-09-01 | 绍兴建元电力集团有限公司大兴电力承装分公司 | Wire twisting device of power transmission line ground wire repairing robot with strong repairing capability |
| CN212114551U (en) * | 2020-05-22 | 2020-12-08 | 绍兴建元电力集团有限公司大兴电力承装分公司 | High-voltage overhead ground wire repairing robot |
| CN113067291B (en) * | 2021-03-01 | 2021-11-02 | 武汉大学 | Live working robot for repairing broken strand wire by wire protection strip |
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