CN114336401A - Bolt fastening device for power transmission line - Google Patents
Bolt fastening device for power transmission line Download PDFInfo
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- CN114336401A CN114336401A CN202111382655.6A CN202111382655A CN114336401A CN 114336401 A CN114336401 A CN 114336401A CN 202111382655 A CN202111382655 A CN 202111382655A CN 114336401 A CN114336401 A CN 114336401A
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- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 239000012636 effector Substances 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 238000012423 maintenance Methods 0.000 abstract description 9
- 210000001503 joint Anatomy 0.000 description 13
- 238000011161 development Methods 0.000 description 4
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- 238000013461 design Methods 0.000 description 2
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- 238000012544 monitoring process Methods 0.000 description 2
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- 230000009471 action Effects 0.000 description 1
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- 238000006880 cross-coupling reaction Methods 0.000 description 1
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Abstract
The embodiment of the application provides a bolt fastening device for a power transmission line, which comprises a device assembly, a bolt fastening device and a bolt fastening device, wherein the device assembly comprises a moving robot platform as a carrier, and the moving robot platform is provided with a walking wheel, an equipotential wheel, a clamping jaw, a robot case and a manipulator joint; two walking wheels are arranged below the mobile robot platform, one side of each walking wheel is provided with a clamping jaw, and the clamping jaws are in a semi-open state in the walking process. The purpose of replacing or partially replacing equipotential personnel to carry out live line maintenance work of the line, eliminating the potential personal safety hazard existing under the high-strength work of the operating personnel and improving the live line work efficiency can be achieved.
Description
Technical Field
The application relates to the field of power transmission circuit operation, in particular to a bolt fastening device for a power transmission line.
Background
Overhead transmission lines are often affected by weather changes such as typhoons, thunder and lightning and rapid temperature changes, and line parts such as conducting wires, insulators and hardware fittings are easy to be mechanically damaged under the long-term fatigue action caused by bending stress and rapid temperature changes caused by huge alternating tension and vibration, so that the safe operation of the lines and power transmission and transformation equipment thereof is seriously threatened. With the rapid and stable development of our country's economy, the uninterrupted power requirement for the power line is higher and higher, and live working is the most important power transmission line
The direct and effective maintenance means are more and more widely applied. The overhead live-line maintenance of the power transmission line is hard and dangerous work, common maintenance work such as drainage plate bolt fastening, lead repairing and the like can be completed by an operator who has to climb a tower to go on the line to perform equipotential operation, the labor intensity is high, the working efficiency is low, and serious personal safety hidden dangers exist. With the continuous development of power grids, compact line towers and multi-loop line towers are widely applied, the distances between cross arms and between phases are smaller and smaller, and the reliability of power supply is greatly influenced because the safety distance of a certain part of lines is short and the operation of the lines cannot be carried out manually. Developing key technical research of live working robot of power transmission line, developing intelligent live working robot, establishing intelligent live maintenance system based on robot, solving
The method solves the key problem of restricting the operation, maintenance and repair of the modern power grid, is a significant measure for responding to the intelligent power grid, and also meets the relevant requirements of the intelligent operation planning of the national power grid company of thirteen-five. The domestic and foreign hot-line work robots are mostly directed to distribution lines,
the insulating bucket arm vehicle and a manual remote control mode are adopted to overhaul along the highway, and the operation range is greatly limited. Automatic inspection and deicing are also used as main operation functions for high-voltage transmission line robots, the problems of walking, obstacle crossing, monitoring and deicing of the robots on the transmission lines are mainly solved, the live-line fastening operation of tension clamp drainage plate bolts is mostly not involved, the existing live-line operation robots are still in research, development and test stages, and have the defects of single function, low intelligent degree, difficult on-line and off-line and the like,
disclosure of Invention
The embodiment of the application provides a bolt fastening device for transmission line, reaches and can replace or partly replace the equipotential personnel to carry out the electrified maintenance work of circuit, eliminates the personal safety hidden danger that exists under the work of operation personnel high strength, improves the purpose of live working efficiency.
Specifically, this application embodiment provides a bolt-up device for transmission line, bolt-up device includes:
the method comprises the following steps that a mobile robot platform is used as a carrier, and device components including a traveling wheel, an equipotential wheel, a clamping jaw, a robot case and a manipulator joint are arranged on the mobile robot platform;
two walking wheels are arranged below the mobile robot platform, one side of each walking wheel is provided with a clamping jaw, and the clamping jaws are in a semi-open state in the walking process.
Optionally, the bolt fastening device includes:
the other side of the travelling wheel is provided with an equipotential wheel;
the device is also provided with a longitudinal rotary joint, a telescopic joint, a horizontal rotary joint and a mechanical arm;
the terminal shooting subassembly that includes two sideslip joints, two spanner sleeves, two cameras that includes of bolt-up device.
Optionally, the bolt fastening device includes:
the spanner sleeve is internally designed with a cross hinge type flexible structure in the axial direction and the radial direction, and the camera is placed in the center of the spanner sleeve.
Optionally, the bolt fastening device includes:
the output shaft of the walking reduction box is connected with a driving disc through a flange, and the driving disc is connected with the walking wheel through a bolt.
Optionally, the bolt fastening device includes:
the manipulator joint is assembled by a longitudinal rotary joint, a telescopic joint and a horizontal rotary joint; the longitudinal and horizontal rotary joints are driven by a worm gear mechanism to realize rotation in the vertical and horizontal planes, and the telescopic joints are driven by a screw rod and nut mechanism to realize vertical movement; the fixing seat of the longitudinal rotary joint is fixed on the mobile robot platform.
Optionally, the bolt fastening device includes:
the bolt-on end effector comprises an opposite telescopic joint, 2 wrench sleeves and 2 near-focus cameras, wherein a cross hinge is formed between the sleeves and a rotating shaft for connection, and a movable spring is arranged in the rotating shaft.
Optionally, the bolt fastening device includes:
a cross-shaped coupling frame is also arranged, and a rotating spring is also arranged in the cross-shaped coupling frame.
Has the advantages that:
the camera is placed in the center of the wrench socket, the robot controller detects and identifies image information transmitted back by the camera, and the robot controller adjusts the position of the tail end of the operation by combining corresponding path planning, so that the robot can intelligently search and center bolts.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of a bolt fastening device for a power transmission line according to an embodiment of the present application;
legend:
the robot comprises a mobile robot platform-1, a traveling wheel-2, an equipotential wheel-3, a clamping jaw-4, a robot case-5, a longitudinal rotary joint-6, a telescopic joint-7, a horizontal rotary joint-8, a mechanical arm-9 and a wrench sleeve-10.
Detailed Description
To make the structure and advantages of the present application clearer, the structure of the present application will be further described with reference to the accompanying drawings.
The project aims at the power transmission line with the voltage of more than 35kV, the problem of operation of screwing the tension clamp bolt by the robot is mainly solved, a principle prototype of an electrified operation robot is developed, the prototype comprises body equipment and a terminal bolt fastening device ground measurement and control base station, and video monitoring is realized
The robot works in the mode, and is verified, improved and perfected through live working tests on a simulation line and an actual line, so that the purpose of replacing or partially replacing equipotential personnel to carry out live line maintenance work on the line, eliminating the personal safety hidden danger existing under the high-intensity work of the operation personnel and improving the live line work efficiency is achieved, the current situation that the overhead transmission line in China depends on manual live line work for a long time is changed, and the problem that the overhead transmission line is difficult to maintain due to safe distance or high intensity is solved
The problem of hot-line work can be solved or not, the non-power-off hot-line work of the robot is really realized, the development of intelligent maintenance is promoted, the significance is great, the economic and social benefits are remarkable, and the popularization and application prospect is wide.
Specifically, the embodiment of the present application provides a bolt fastening device for a power transmission line, as shown in fig. 1, the bolt fastening device includes:
the method comprises the following steps that a mobile robot platform 1 is used as a carrier, and device components including a traveling wheel 2, an equipotential wheel 3, a clamping jaw 4, a robot case 5 and a manipulator joint are arranged on the mobile robot platform 1;
two walking wheels 2 are arranged below the mobile robot platform 1, clamping jaws 4 are assembled on one sides of the walking wheels 2, and the clamping jaws 4 are in a half-open state in the walking process.
The other side of the walking 2 wheel is provided with an equipotent wheel 3; the device is also provided with a longitudinal rotary joint 6, a telescopic joint 7, a horizontal rotary joint 8 and a mechanical arm 9; the bolt fastening device end includes the shooting subassembly of two sideslip joints, two spanner sleeves 10, two cameras.
The wrench socket 10 is designed with a cross hinge type flexible structure in the axial and radial directions, and the camera is placed in the center of the wrench socket 10.
The output shaft of the walking reduction box is connected with a driving disc through a flange, and the driving disc is connected with the walking wheel 2 through a bolt. The manipulator joint is assembled by a longitudinal rotary joint 6, a telescopic joint 7 and a horizontal rotary joint 8; the longitudinal and horizontal rotary joints 8 are driven by a worm gear mechanism to realize rotation in the vertical and horizontal planes, and the telescopic joint 7 is driven by a screw rod and nut mechanism to realize movement in the vertical direction; the fixing seat of the longitudinal rotary joint 6 is fixed on the mobile robot platform. The bolt-on end effector comprises an opposite telescopic joint 7, 2 wrench sleeves 10 and 2 near-focus cameras, wherein the sleeves are connected with a rotating shaft in a cross-hinge mode, and a movable spring is arranged in the rotating shaft. A cross-shaped coupling frame is also arranged, and a rotating spring is also arranged in the cross-shaped coupling frame.
The bolt fastening device mechanism takes a mobile robot as a carrier, and the mobile robot consists of a travelling wheel 2, an equipotential wheel 3, a clamping jaw 4, a robot case 5 and a manipulator joint. The robot walks on the power transmission line through the drive of two walking wheels 2, and one side assembly clamping jaw 4 of walking wheel 2, walking in-process half opens the state, guarantees that the robot is at safety, steady walking. In order to ensure that the robot works in a stable electrified way,
the other side of the travelling wheel 2 is provided with an equipotential wheel 3 to ensure that the robot and the power transmission line are equipotential, and the electromagnetic protection capability of the robot control system in a high-voltage environment is improved. The robot is provided with a longitudinal rotary joint 6, a telescopic joint 7, a horizontal rotary joint 8 and a mechanical arm 9, and the joints cooperate with each other to enable the tail end of the bolt fastening device to reach any position in the working range. The end of the bolt fastening device mainly comprises two transverse moving joints, two wrench sleeves 10, two cameras and the like. The wrench socket 10 is designed with a cross-shaped hinge type flexible structure in the axial and radial directions, which facilitates the flexible butt joint of the socket and the bolt. The robot mechanical structure and the environment near the strain clamp bolt are integrated, the camera is placed in the center of the wrench socket 10, the robot controller detects and identifies image information transmitted back by the camera, and the robot intelligently searches for the bolt and centers the bolt by combining corresponding path planning and adjusting the position of the operation tail end. The output shaft of the walking reduction box is connected with a driving disc through a flange, the driving disc is connected with a walking wheel 2 through a bolt,
the manipulator is assembled by a longitudinal rotary joint 6, a telescopic joint 7 and a horizontal rotary joint 8. The longitudinal and horizontal rotary joints 8 are driven by a worm gear mechanism to realize rotation in the vertical and horizontal planes, and the telescopic joints 7 are driven by a screw rod and nut mechanism to realize vertical movement. The fixing seat of the longitudinal rotary joint 6 is fixed on the mobile robot platform.
Bolt-up end effector includes subtend telescopic joint 7, 2 spanner sleeve 10, 2 nearly burnt cameras, in order to realize the better butt joint of sleeve and nut, design into the form of cross hinge and couple between sleeve and rotation axis, be equipped with the removal spring in the rotation axis simultaneously, after telescopic preceding terminal surface and nut contact, the longitudinal movement through flexible motor makes the removal spring further compress, and then adjusts other joints of manipulator, makes cross hinge and nut
The nut generates interaction force, and the inner hexagonal sleeve is adjusted by a certain angle relative to the rotating shaft to realize butt joint with the nut. Meanwhile, in order to ensure that the inner hexagonal sleeve is coaxial with the rotating shaft when not subjected to external force, a rotating spring is further arranged in the cross coupling frame. The controller can observe the pose of the sleeve relative to the nut through the near-focus camera, and then adjust the joint of the manipulator. The 2 near-focus cameras are arranged in the center of the rear end of the wrench socket 10, and provide image information for subsequent visual algorithm design.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (7)
1. A bolt-tightening device for transmission line, characterized in that, bolt-tightening device includes:
the method comprises the following steps that a mobile robot platform is used as a carrier, and device components including a traveling wheel, an equipotential wheel, a clamping jaw, a robot case and a manipulator joint are arranged on the mobile robot platform;
two walking wheels are arranged below the mobile robot platform, one side of each walking wheel is provided with a clamping jaw, and the clamping jaws are in a semi-open state in the walking process.
2. The bolt-fastening device for an electric power transmission line according to claim 1, comprising:
the other side of the travelling wheel is provided with an equipotential wheel;
the device is also provided with a longitudinal rotary joint, a telescopic joint, a horizontal rotary joint and a mechanical arm;
the terminal shooting subassembly that includes two sideslip joints, two spanner sleeves, two cameras that includes of bolt-up device.
3. The bolt-fastening device for an electric power transmission line according to claim 2, characterized by comprising:
the spanner sleeve is internally designed with a cross hinge type flexible structure in the axial direction and the radial direction, and the camera is placed in the center of the spanner sleeve.
4. The bolt-fastening device for an electric power transmission line according to claim 1, comprising:
the output shaft of the walking reduction box is connected with a driving disc through a flange, and the driving disc is connected with the walking wheel through a bolt.
5. The bolt-fastening device for an electric power transmission line according to claim 1, comprising:
the manipulator joint is assembled by a longitudinal rotary joint, a telescopic joint and a horizontal rotary joint; the longitudinal and horizontal rotary joints are driven by a worm gear mechanism to realize rotation in the vertical and horizontal planes, and the telescopic joints are driven by a screw rod and nut mechanism to realize vertical movement; the fixing seat of the longitudinal rotary joint is fixed on the mobile robot platform.
6. The bolt-fastening device for an electric power transmission line according to claim 1, comprising:
the bolt-on end effector comprises an opposite telescopic joint, 2 wrench sleeves and 2 near-focus cameras, wherein a cross hinge is formed between the sleeves and a rotating shaft for connection, and a movable spring is arranged in the rotating shaft.
7. The bolt-fastening device for an electric power transmission line according to claim 1, comprising:
a cross-shaped coupling frame is also arranged, and a rotating spring is also arranged in the cross-shaped coupling frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111382655.6A CN114336401A (en) | 2021-11-22 | 2021-11-22 | Bolt fastening device for power transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111382655.6A CN114336401A (en) | 2021-11-22 | 2021-11-22 | Bolt fastening device for power transmission line |
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| Publication Number | Publication Date |
|---|---|
| CN114336401A true CN114336401A (en) | 2022-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111382655.6A Pending CN114336401A (en) | 2021-11-22 | 2021-11-22 | Bolt fastening device for power transmission line |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115102123A (en) * | 2022-07-14 | 2022-09-23 | 杭州申昊科技股份有限公司 | Transmission line walking deicing robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012155505A1 (en) * | 2011-05-17 | 2012-11-22 | 福建省电力有限公司 | Unmanned automatic overhauling device for electric transmission lines |
| CN105058032A (en) * | 2015-06-29 | 2015-11-18 | 国家电网公司 | Overhead high-voltage power transmission line strain clamp drainage plate bolt tightening robot |
| CN206135296U (en) * | 2016-11-01 | 2017-04-26 | 广东电网有限责任公司电力科学研究院 | Electrified fastening bolt robot of transmission line |
| CN109698475A (en) * | 2019-01-25 | 2019-04-30 | 武汉大学 | A kind of aerial high-voltage power transmission line hot line robot |
| CN111098122A (en) * | 2020-01-14 | 2020-05-05 | 新昌县新明实业有限公司 | Bolt fastening robot for power transmission line |
-
2021
- 2021-11-22 CN CN202111382655.6A patent/CN114336401A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012155505A1 (en) * | 2011-05-17 | 2012-11-22 | 福建省电力有限公司 | Unmanned automatic overhauling device for electric transmission lines |
| CN105058032A (en) * | 2015-06-29 | 2015-11-18 | 国家电网公司 | Overhead high-voltage power transmission line strain clamp drainage plate bolt tightening robot |
| CN206135296U (en) * | 2016-11-01 | 2017-04-26 | 广东电网有限责任公司电力科学研究院 | Electrified fastening bolt robot of transmission line |
| CN109698475A (en) * | 2019-01-25 | 2019-04-30 | 武汉大学 | A kind of aerial high-voltage power transmission line hot line robot |
| CN111098122A (en) * | 2020-01-14 | 2020-05-05 | 新昌县新明实业有限公司 | Bolt fastening robot for power transmission line |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115102123A (en) * | 2022-07-14 | 2022-09-23 | 杭州申昊科技股份有限公司 | Transmission line walking deicing robot |
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