CN114865528B - Pin supplementing robot and pin supplementing system - Google Patents
Pin supplementing robot and pin supplementing system Download PDFInfo
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- CN114865528B CN114865528B CN202210573443.4A CN202210573443A CN114865528B CN 114865528 B CN114865528 B CN 114865528B CN 202210573443 A CN202210573443 A CN 202210573443A CN 114865528 B CN114865528 B CN 114865528B
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- 230000001502 supplementing effect Effects 0.000 title claims abstract description 104
- 230000007246 mechanism Effects 0.000 claims abstract description 104
- 230000005540 biological transmission Effects 0.000 claims abstract description 47
- 238000005452 bending Methods 0.000 claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 239000013589 supplement Substances 0.000 claims description 2
- 230000007547 defect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008439 repair process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 2
- 239000012212 insulator Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000013519 translation Methods 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S10/00—Systems supporting electrical power generation, transmission or distribution
- Y04S10/50—Systems or methods supporting the power network operation or management, involving a certain degree of interaction with the load-side end user applications
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Abstract
The invention is suitable for the field of power transmission line overhaul tools, and discloses a pin supplementing robot and a pin supplementing system, wherein the pin supplementing system comprises a pin supplementing robot, a camera system and a control terminal, an operator controls the pin supplementing robot to complete pin supplementing operation through the control terminal according to data transmitted by the camera system, the pin supplementing robot comprises a pin supplementing mechanism and a driving mechanism, the pin supplementing mechanism comprises a pin adsorbing part and a pin bending assembly, the pin adsorbing part adsorbs pins, the driving mechanism is arranged on a power transmission line live working lifting platform, the driving mechanism is connected with the pin supplementing mechanism and is used for driving the pin supplementing mechanism to do lifting motion, translational motion and rotation motion relative to a pin shaft so that the pins adsorbed by the pin adsorbing part are aligned with pin holes and inserted into the pin holes, and the pin bending assembly is used for bending the pin body to expose the pin shaft.
Description
Technical Field
The invention relates to the field of power transmission line overhaul tools, in particular to a pin supplementing robot and a pin supplementing system.
Background
With the rapid development of economy and society, the power load demand is increased year by year, and the scale of the power transmission line is also increased, and because the overhead power transmission line runs in the field for a long time, the overhead power transmission line is influenced by the conditions of external environment, external damage, equipment aging and the like, the defects of rust and falling of the bolt cotter pin of the line connecting fitting are increased, and the safe and stable operation of the power transmission line is seriously influenced. The operation management specification of the power transmission line prescribes that the defect of the connecting fitting pin belongs to a crisis defect, the time requirement for processing the defect is not more than 24 hours, and the supplementary pin becomes one of the busiest operation projects of a line team.
The existing pin supplementing modes are two, namely 'power failure pin supplementing' and 'live pin supplementing', and the two pin supplementing methods have the following advantages and disadvantages:
1. and (5) supplementing pins in power failure: through putting forward the power failure application or combining the line power failure maintenance plan, under the uncharged condition of circuit, the operating personnel carries out the repair operation along the insulator to repair the pin department. The method does not need complicated preparation work, saves operation time, and has no electric shock hazard because the circuit is not electrified in the operation. However, applying for a line outage can cause economic loss to the consumer, and some lines cannot even be powered off. If the repair is carried out in the maintenance period, the discovered defects cannot be eliminated in time, and repair operators need to lower wires to the end parts of the insulators, so that the process has a certain danger.
2. Charged compensation pin: under the condition that the line is in normal live operation, an operator wears the whole shielding clothes, climbs the insulating rope ladder to the pin supplementing position for pin supplementing. The circuit of the method does not need to have power failure, so that the loss caused by the power failure to the power consumer is avoided, and hidden danger can be discovered and eliminated at any time; the operator can directly go to the repairing position by climbing the insulating ladder without needing to lower a lead. However, this method has a long preparation time before the operation and is inefficient, requiring a lot of personnel to perform the cooperation. Because of the live line, the requirements on site management and control and safety tools carried by operators are very strict during operation, and the danger of electric shock exists.
Disclosure of Invention
A first object of the present invention is to provide a pin repairing robot capable of performing a pin repairing operation instead of a manual work without manually climbing up and contacting a charged member, which greatly reduces the risk of the operation.
In order to achieve the above purpose, the invention provides the following scheme:
the pin supplementing robot is used for being matched with a live working lifting platform of a power transmission line to supplement pins of a line connection fitting, the pin is provided with pin holes, the pin supplementing robot comprises a pin absorbing part and a pin bending assembly, the pin absorbing part is used for absorbing pins, the driving mechanism is arranged on the live working lifting platform of the power transmission line and is connected with the pin supplementing mechanism and used for driving the pin supplementing mechanism to do lifting motion, translational motion and rotational motion relative to the pin so that the pins absorbed by the pin absorbing part are aligned with the pin holes and inserted into the pin holes, and the pin bending assembly is used for bending pins of the pins to expose parts of the pin holes; the pin bending assembly comprises a first mounting seat, a first clamping jaw, a second clamping jaw and a bending driving piece, wherein the first mounting seat is connected with the driving mechanism, a first meshing tooth is arranged at the first end part of the first clamping jaw, the first end part of the second clamping jaw is rotatably arranged on the first mounting seat, a second meshing tooth is arranged at the first end part of the second clamping jaw, the second meshing tooth is in meshing transmission with the first meshing tooth, a cavity is formed in one side, facing the first clamping jaw, of the second end part of the second clamping jaw, the bending driving piece is arranged on the first mounting seat, and the output end of the bending driving piece is connected with the first end part of the first clamping jaw; the pin absorbing piece is a magnetic piece, a pin mounting groove is formed in one side, facing the second clamping jaw, of the second end portion of the first clamping jaw, the magnetic piece is arranged on one side, facing away from the second clamping jaw, of the first clamping jaw, and the position of the magnetic piece corresponds to the pin mounting groove.
Preferably, the first jaw and the second jaw cooperate to have a V-shape.
Preferably, the pin supplementing robot further comprises a pin feeding mechanism, the pin feeding mechanism comprises a feed bin, a push block and an electric push rod, the feed bin is arranged on the first clamping jaw, the feed bin is provided with a trough matched with the end head of the pin, the trough comprises a horizontal trough part and a vertical trough part which are in smooth connection, the first clamping jaw is provided with a pin channel communicated with the vertical trough part, the pin channel is communicated with the pin mounting groove, one end of the pin channel, far away from the pin mounting groove, is provided with an opening, and the push block is located at the opening and is connected with the output end of the electric push rod.
Preferably, the driving mechanism comprises a multi-degree-of-freedom mechanical arm, a first rotary driving assembly, a second rotary driving assembly, a mounting platform and a second mounting seat, wherein the mounting platform is arranged at the free end of the multi-degree-of-freedom mechanical arm, the first rotary driving assembly is mounted at the top of the mounting platform, the second mounting seat is arranged below the mounting platform, the output end of the first rotary driving assembly penetrates through the mounting platform to be connected with the second mounting seat, the second rotary driving assembly is arranged on the side face of the second mounting seat, and the output end of the second rotary driving assembly is connected with the pin supplementing mechanism.
Preferably, the multi-degree-of-freedom mechanical arm comprises a third rotary driving assembly, a fourth rotary driving assembly, a swing arm assembly, a third mounting seat and a vertical plate, wherein the third rotary driving assembly is mounted on the live working lifting platform of the power transmission line, the third mounting seat is connected with the output end of the third rotary driving assembly, the vertical plate is arranged on the third mounting seat, the fourth rotary driving assembly is mounted on the vertical plate, the output end of the fourth rotary driving assembly is connected with the swing arm assembly, the mounting platform is arranged at the free end of the swing arm assembly, and the fourth rotary driving assembly is used for driving the swing arm assembly to do lifting motion relative to the pin shaft.
Preferably, the pin supplementing robot further comprises a pin removing mechanism, the pin removing mechanism comprises a fourth mounting seat, a third clamping jaw, a fourth clamping jaw and a pin removing driving piece, the fourth mounting seat is mounted on the live working lifting platform of the power transmission line, a third meshing tooth is arranged at the first end part of the third clamping jaw, the first end part of the fourth clamping jaw is rotatably mounted on the fourth mounting seat, a fourth meshing tooth is arranged at the first end part of the fourth clamping jaw, the fourth meshing tooth is in meshing transmission with the third meshing tooth, the pin removing driving piece is mounted on the fourth mounting seat, and the output end of the pin removing driving piece is connected with the first end part of the third clamping jaw.
The second object of the invention is to provide a pin supplementing system, which comprises a pin supplementing robot, a camera shooting system and a control terminal, wherein the pin supplementing robot is adopted by the pin supplementing robot, the driving mechanism, the pin bending assembly and the camera shooting system are all communicated with the control terminal, and the camera shooting system is used for collecting walking state data of a live working lifting platform of a power transmission line, self-posture data of the driving mechanism, posture data of the pin supplementing mechanism and posture data of the pin in real time and transmitting the walking state data, self-posture data of the driving mechanism, posture data of the pin supplementing mechanism and posture data of the pin to the control terminal.
Preferably, the camera system comprises a first camera, a second camera and a third camera, wherein the first camera is arranged on the live working lifting platform of the power transmission line and used for collecting walking state data of the live working lifting platform of the power transmission line and posture data of the driving mechanism, the second camera is arranged at the free end of the driving mechanism and used for collecting posture data of the pin supplementing mechanism, and the third camera is arranged on the pin supplementing mechanism and used for collecting posture data of the pin.
The pin supplementing robot provided by the invention has good pin supplementing effect, can replace workers to implement pin supplementing operation, reduces danger, improves operation safety, reduces labor cost, and can reduce labor intensity of personnel and improve efficiency. In addition, the pin supplementing robot adjusts the pins in the pin holes by arranging the pin bending assembly, so that the pins can be prevented from being separated from the pin shafts, and the pins cannot be taken away from the pin holes even if the pin clamping piece is separated from the pins after the pin supplementing is completed.
The pin supplementing system provided by the invention can provide the data such as the walking state of the live working lifting platform of the power transmission line, the self posture of the multi-degree-of-freedom machine, the posture of the pin supplementing mechanism, the posture of the pin and the like for a worker in real time, the worker can control the live working lifting platform of the power transmission line to drive the pin supplementing robot to move to a fault position according to the information transmitted by the camera system on the ground, and control the pin supplementing robot to align and insert the pin into the pin hole, so that the pin supplementing system is convenient to operate and control, and the pin supplementing robot does not need to be operated on the live working lifting platform of the power transmission line.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a state diagram of use of a reimbursement robot provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of a combination of a complementary pin mechanism and a second rotary drive assembly provided by an embodiment of the present invention;
FIG. 3 is a schematic view of a combination of a complementary pin mechanism and a second rotary drive assembly in another direction according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a multi-degree-of-freedom mechanical arm according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of another direction of the multi-degree-of-freedom mechanical arm according to the embodiment of the present invention;
fig. 6 is a schematic structural diagram of a pin removal mechanism according to an embodiment of the present invention.
Reference numerals illustrate:
100. a pin supplementing robot; 10. a pin supplementing mechanism; 11. a first mount; 12. a first jaw; 121. a first engagement tooth; 122. a pin mounting groove; 123. a pin passage; 1231. an opening; 13. a second jaw; 131. a second meshing tooth; 132. a cavity; 14. a bending drive; 15. a pin loading mechanism; 151. a storage bin; 1511. a trough; 1512. a transverse slot portion; 1513. a vertical groove portion; 152. a pushing block; 153. an electric push rod; 16. a pin absorbing member; 20. a driving mechanism; 21. a multi-degree-of-freedom mechanical arm; 211. a third rotary drive assembly; 212. a fourth rotary drive assembly; 213. a swing arm assembly; 214. a third mount; 215. a vertical plate; 22. a first rotary drive assembly; 23. a second rotary drive assembly; 24. a mounting platform; 25. a second mounting base; 30. a pin removal mechanism; 31. a fourth mount; 32. a third jaw; 321. a third meshing tooth; 33. a fourth jaw; 331. a fourth meshing tooth; 34. a pin removal drive; 200. live working lifting platform of transmission line; 300. a circuit connecting hardware fitting; 400. a pin shaft; 500. a conducting wire is arranged; 600. a lower wire; 700. a pin; 800. a first camera; 900. a second camera; 101. and a third camera.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicators are correspondingly changed.
It will also be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
As shown in fig. 1 to 6, a pin supplementing robot 100 according to an embodiment of the present invention is shown. In fig. 1, an upper wire 500 and a lower wire 600 are held by a wire connection fitting 300 and fixed by a pin 400, a pin hole is provided at the end of the pin 400, a pin 700 is installed in the pin hole, and if the pin 700 is missing, a pin repairing operation is required. The pin supplementing robot 100 realizes broken strand repair by carrying the live working lifting platform 200 of the power transmission line. The live working lifting platform 200 of the power transmission line provides power for the pin supplementing robot 100 and drives the pin supplementing robot 100 to move along the upper wire 500, and the pin supplementing robot 100 performs pin supplementing operation after arriving at a fault position. The live working lifting platform 200 for the power transmission line can adopt the existing equipment as long as the live working lifting platform can provide power for the pin supplementing robot 100 and drive the pin supplementing robot 100 to move along the upper lead 500.
It will be appreciated that in order to better secure the pin 700 within the pin bore, the pin 700 includes an end head and a pin body, the pin body being adapted to the pin bore, the end head having a diameter greater than the diameter of the pin bore.
Further, in order to facilitate the pin body to be bent by the pin supplementing robot 100, the tail portion of the pin body is provided in a semi-cylindrical structure or other thinned shape.
Referring to fig. 1-6, a pin repairing robot 100 according to an embodiment of the present invention includes a pin repairing mechanism 10 and a driving mechanism 20, wherein the pin repairing mechanism 10 includes a pin adsorbing member 16 and a pin bending assembly, the pin adsorbing member 16 adsorbs a pin 700, the driving mechanism 20 is mounted on a live working lifting platform 200 of a power transmission line, the driving mechanism 20 is connected with the pin repairing mechanism 10 and is used for driving the pin repairing mechanism 10 to perform lifting, translational and rotational movements relative to a pin 400 so that the pin 700 adsorbed by the pin adsorbing member 16 aligns with a pin hole and is inserted into the pin hole, and the pin bending assembly is used for bending a pin body to expose a portion of the pin 400.
It can be appreciated that the pin compensating robot 100 of the embodiment of the present invention may be used with a camera system, where the camera system may collect walking state data of the live working lifting platform 200 of the power transmission line, posture data of the driving mechanism 20 itself, posture data of the pin compensating mechanism 10, and posture data of the pin 700, and transmit the data to the control terminal. The staff can control the live working lifting platform 200 of the power transmission line to drive the pin supplementing robot 100 to move to a fault position on the ground according to the information transmitted by the camera system, control the pin supplementing robot 100 to align and insert the pin 700 into the pin hole, and control the pin bending assembly to expose the pin body out of the pin shaft 400, so that the pin 700 is prevented from being separated from the pin shaft 400.
It may be appreciated that the pin repairing robot 100 may also be integrated with a controller, and a sensor such as a displacement sensor or a distance measuring sensor is provided on the pin repairing robot 100, and the position relationship between the pin repairing mechanism 10 and the pin 400 is sent to the controller through the sensor, and the controller automatically controls the action of the driving mechanism 20 after calculation, so as to complete the pin repairing operation.
The working flow of the reimbursement robot 100 of the embodiment of the invention is as follows:
the driving mechanism 20 drives the pins 700 until the pins 700 attracted by the pin suction members 16 are aligned with the pin holes. After alignment, the driving mechanism 20 further drives the pin 700 to move, so that the pin 700 is inserted into the pin hole, and finally the pin body is bent by the pin bending assembly to expose the part of the pin shaft 400, so that the pin supplementing operation is completed.
The pin supplementing robot 100 disclosed by the embodiment of the invention has a good pin supplementing effect, can replace workers to implement pin supplementing operation, reduces danger, improves operation safety, reduces labor cost, and can reduce labor intensity of personnel and improve efficiency. In addition, the pin repairing robot 100 can prevent the pin 700 from being separated from the pin 400 by adjusting the pin 700 in the pin hole by providing the pin bending assembly, so that the pin 700 is not carried away from the pin hole even if the pin clamping member is separated from the pin 700 after the completion of the repairing.
Referring to fig. 1-5, in some embodiments, the pin bending assembly includes a first mounting seat 11, a first clamping jaw 12, a second clamping jaw 13, and a bending driving member 14, where the first mounting seat 11 is connected to the driving mechanism 20, a first end of the first clamping jaw 12 is provided with a first engaging tooth 121, a first end of the second clamping jaw 13 is rotatably mounted on the first mounting seat 11, a first end of the second clamping jaw 13 is provided with a second engaging tooth 131, a side of the second end of the second clamping jaw 13 facing the first clamping jaw 12 is provided with a cavity 132, the second engaging tooth 131 is in engagement transmission with the first engaging tooth 121, the bending driving member 14 is mounted on the first mounting seat 11, and an output end of the bending driving member 14 is connected to the first end of the first clamping jaw 12.
Alternatively, the second clamping jaw 13 is arranged in an arc shape, so that the pin 700 can be better forced when the pin 700 is bent.
Further, the pin absorbing member 16 is a magnetic member, a pin mounting groove 122 is disposed on a side of the second end portion of the first clamping jaw 12 facing the second clamping jaw 13, the magnetic member is disposed on a side of the first clamping jaw 12 facing away from the second clamping jaw 13, and a position of the magnetic member corresponds to the pin mounting groove 122.
It will be appreciated that the magnetic member may also be disposed within the pin mounting slot 122.
It will be appreciated that in addition to magnetically holding the spike 700 within the first jaw 12, a gas-held holding the spike 700 within the first jaw 12 may also be employed.
The pin bending assembly of the embodiment of the invention not only can realize the bending function, but also can be used for clamping the pin 700, thereby improving the utilization rate of the pin bending assembly and enabling the overall structure of the pin supplementing robot 100 to be more compact.
Alternatively, the first jaw 12 and the second jaw 13 cooperate in a V-shape, designed such that the second end of the first jaw 12 and the second end of the second jaw 13 have sufficient space in the open state, and the second jaw 13 does not touch the pin 700 in the open state.
It should be noted that, when the driving mechanism 20 drives the pin 700 to align with the pin hole, the curved driving member 14 drives the first jaw 12 to rotate counterclockwise, and the second jaw 13 engaged with the first jaw 12 rotates clockwise, so that the first jaw 12 and the second jaw 13 open to prevent the second jaw 13 from touching the pin 700. When the second clamping jaw 13 bends the pin body part exposing the pin shaft 400, the bending driving piece 14 drives the first clamping jaw 12 to rotate clockwise, the second clamping jaw 13 meshed with the first clamping jaw 12 rotates anticlockwise, the first clamping jaw 12 and the second clamping jaw 13 are closed, the second clamping jaw 13 applies pressure to the pin 700, and the pin body part exposing the pin shaft 400 is bent.
It will be appreciated that other structures may be used for the pin bending assembly, such as a push rod mechanism that can apply pressure to the pin 700 from above or below the pin 700, so long as the pin body can be bent by bending.
Referring to fig. 1-5, in an exemplary embodiment, the pin repairing robot 100 further includes an upper pin mechanism 15, where the upper pin mechanism 15 includes a bin 151, a push block 152 and an electric push rod 153, the bin 151 is disposed on the first jaw 12, the bin 151 is provided with a slot 1511 adapted to an end of the pin 700, the slot 1511 includes a horizontal slot 1512 and a vertical slot 1513 that are smoothly connected, the first jaw 12 is provided with a pin channel 123 that is communicated with the vertical slot 1513, the pin channel 123 is communicated with the pin mounting slot 122, an end of the pin channel 123 far from the pin mounting slot 122 is provided with an opening 1231, the push block 152 is located at the opening 1231 and connected with an output end of the electric push rod 153, after one pin repairing operation is completed, the electric push rod 153 pushes the pin 700 at a junction of the vertical slot 1513 and the pin channel 123 into the pin mounting slot 122 by pushing the push block 152, so as to complete automatic pin lifting, the electric push rod 153 drives the push block 152 to exit to the opening 1231, and the new pin 700 falls into the junction of the pin channel 123 under the action of gravity, and the upper pin channel 123 can save time by setting the upper pin mechanism 15.
Referring to fig. 1-5, in some embodiments, the driving mechanism 20 includes a multi-degree-of-freedom mechanical arm 21, a first rotary driving component 22, a second rotary driving component 23, a mounting platform 24 and a second mounting seat 25, the mounting platform 24 is disposed at a free end of the multi-degree-of-freedom mechanical arm 21, the first rotary driving component 22 is mounted at a top of the mounting platform 24, the second mounting seat 25 is disposed below the mounting platform 24, an output end of the first rotary driving component 22 passes through the mounting platform 24 and is connected with the second mounting seat 25, the second rotary driving component 23 is disposed at a side surface of the second mounting seat 25, the pin supplementing mechanism 10 is connected with an output end of the second rotary driving component 23, the multi-degree-of-freedom mechanical arm 21 is used for driving the pin supplementing mechanism 10 to perform lifting motion and horizontal translation motion relative to the pin 400, the first rotary driving component 22 can drive the pin supplementing mechanism 10 to rotate around a vertical line (Z direction in the drawing) perpendicular to an axis of the pin 400, the second driving component can drive the pin 700 to rotate around an axis (X direction in the drawing) of the pin 700, the multi-degree-of-freedom mechanical arm 21 is disposed at the side surface of the second rotary driving component 23, and the pin mechanism 20 can accurately control the pin 10 to perform operation from the first rotary driving component and the second rotary driving component 23 to the pin mechanism through the mechanical arm 23.
It should be understood that the control manner of the driving mechanism 20 is not particularly limited, for example, the multiple degree of freedom mechanical arm 21, the first rotary driving assembly 22 and the second rotary driving assembly 23 may be linked to drive the pin supplementing mechanism 10 to perform the hole matching operation and the pin plugging operation, that is, the multiple degree of freedom mechanical arm 21 is controlled and the first rotary driving assembly 22 and the second rotary driving assembly 23 are controlled. For another example, the multiple degree of freedom mechanical arm 21 is utilized to drive the pin supplementing mechanism 10 to the vicinity of the pin 400, then the first rotary driving assembly 22 and the second rotary driving assembly 23 are utilized to drive the pin supplementing mechanism 10 to be positioned further precisely, and finally the pin plugging operation is performed through the linkage of the multiple degree of freedom mechanical arm 21, the first rotary driving assembly 22 and the second rotary driving assembly 23.
Optionally, the multi-degree-of-freedom mechanical arm 21 includes a third rotation driving assembly 211, a fourth rotation driving assembly 212, a swing arm assembly 213, a third mounting seat 214 and a vertical plate 215, the third rotation driving assembly 211 is mounted on the live working lifting platform 200 of the power transmission line, the third mounting seat 214 is connected with an output end of the third rotation driving assembly 211, the vertical plate 215 is disposed on the third mounting seat 214, the fourth rotation driving assembly 212 is mounted on the vertical plate 215, an output end of the fourth rotation driving assembly 212 is connected with the swing arm assembly 213, and is used for driving the swing arm assembly 213 to perform lifting motion relative to the pin shaft 400, the mounting platform 24 is disposed at a free end of the swing arm assembly 213, and the lifting motion and the horizontal translational motion of the pin supplementing mechanism 10 relative to the pin shaft 400 can be precisely controlled by setting the third rotation driving assembly 211, the fourth rotation driving assembly 212 and the swing arm assembly 213.
Specifically, each of the first rotary driving assembly 22, the second rotary driving assembly 23, the third rotary driving assembly 211, and the fourth rotary driving assembly 212 includes at least one driving motor.
It will be appreciated that other prior art mechanical arms, such as those commercially available, may be used for the multiple degree of freedom mechanical arm 21, as long as it is capable of manipulating the compensating mechanism 10 from multiple degrees of freedom.
Referring to fig. 1-6, in an exemplary embodiment, the pin supplementing robot 100 further includes a pin removing mechanism 30, where the pin removing mechanism 30 includes a fourth mounting seat 31, a third clamping jaw 32, a fourth clamping jaw 33, and a pin removing driving member 34, the fourth mounting seat 31 is mounted on the live working lifting platform 200 of the power transmission line, a first end portion of the third clamping jaw 32 is provided with a third engaging tooth 321, a first end portion of the fourth clamping jaw 33 is rotatably mounted on the fourth mounting seat 31, a first end portion of the fourth clamping jaw 33 is provided with a fourth engaging tooth 331, the fourth engaging tooth 331 is in engaged transmission with the third engaging tooth 321, the pin removing driving member 34 is mounted on the third mounting seat 214, an output end of the pin removing driving member 34 is connected with a first end portion of the third clamping jaw 32, the pin removing mechanism 30 is damaged for emergency use when the pin supplementing mechanism 10 cannot be removed, and in operation, the driving mechanism 20 drives the pin removing mechanism 30 to move, the pin 700 absorbed by the pin absorbing member 16 is placed between the third clamping jaw 32 and the fourth clamping jaw 33, the pin removing driving member 33 is separated from the third clamping jaw 32, and the pin driving member 33 is driven by the fourth clamping jaw 33, and the pin removing driving member 34 is driven by the pin removing member 33, thereby completing the pin removing operation by the clamping jaw 32.
The embodiment of the invention also provides a pin supplementing system, which comprises the pin supplementing robot 100, a camera system and a control terminal, wherein the pin supplementing robot 100 is provided with the pin supplementing robot 100, the driving mechanism 20, the pin bending assembly and the camera system are all communicated with the control terminal, the camera system is used for collecting walking state data of the live working lifting platform 200 of the power transmission line, posture data of the driving mechanism 20, posture data of the pin supplementing mechanism 10 and posture data of the pin 700 in real time and transmitting the walking state data, the posture data of the driving mechanism 20, the posture data of the pin supplementing mechanism and the posture data of the pin 700 to the control terminal, and an operator can control the pin supplementing robot 100 to complete pin supplementing operation through the control terminal according to the data received by the control terminal.
Optionally, the camera system includes a first camera 800, a second camera 900 and a third camera 101, where the first camera 800 is disposed on the live working lifting platform 200 of the power transmission line and is used for collecting walking state data of the live working lifting platform 200 of the power transmission line and posture data of the driving mechanism 20, the second camera 900 is disposed at a free end of the driving mechanism 20, that is, an end of the driving mechanism 20 away from the live working lifting platform 200 of the power transmission line, the second camera 900 is used for collecting posture data of the pin supplementing mechanism 10, and the third camera 101 is disposed on the pin supplementing mechanism 10 and is used for collecting posture data of the pin 700.
It can be understood that the camera system can also be replaced by an unmanned aerial vehicle, and the unmanned aerial vehicle can be used for collecting the data such as the walking state of the live working lifting platform 200 of the power transmission line, the self posture of the multi-degree-of-freedom machine, the posture of the pin supplementing mechanism 10, the posture of the pin 700 and the like in real time.
The staff can control transmission line live working lift platform 200 to drive the pin supplementing robot 100 to move to the fault position according to the information transmitted by the camera system on the ground, control pin supplementing robot 100 to align pin 700 and insert the pin hole, control conveniently, need not to control pin supplementing robot 100 on transmission line live working lift platform 200.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (8)
1. The pin supplementing robot is used for being matched with a live working lifting platform of a power transmission line to supplement pins of a line connecting fitting, the pin is provided with pin holes, and is characterized by comprising a pin supplementing mechanism and a driving mechanism, wherein the pin supplementing mechanism comprises a pin absorbing part and a pin bending assembly, the pin absorbing part is used for absorbing pins, the driving mechanism is arranged on the live working lifting platform of the power transmission line and is connected with the pin supplementing mechanism and used for driving the pin supplementing mechanism to do lifting motion, translational motion and rotational motion relative to the pin so that the pins absorbed by the pin absorbing part are aligned with the pin holes and inserted into the pin holes, and the pin bending assembly is used for bending pins to expose parts of the pins; the pin bending assembly comprises a first mounting seat, a first clamping jaw, a second clamping jaw and a bending driving piece, wherein the first mounting seat is connected with the driving mechanism, a first meshing tooth is arranged at the first end part of the first clamping jaw, the first end part of the second clamping jaw is rotatably arranged on the first mounting seat, a second meshing tooth is arranged at the first end part of the second clamping jaw, the second meshing tooth is in meshing transmission with the first meshing tooth, a cavity is formed in one side, facing the first clamping jaw, of the second end part of the second clamping jaw, the bending driving piece is arranged on the first mounting seat, and the output end of the bending driving piece is connected with the first end part of the first clamping jaw; the pin absorbing piece is a magnetic piece, a pin mounting groove is formed in one side, facing the second clamping jaw, of the second end portion of the first clamping jaw, the magnetic piece is arranged on one side, facing away from the second clamping jaw, of the first clamping jaw, and the position of the magnetic piece corresponds to the pin mounting groove.
2. The rework robot of claim 1, wherein the first jaw and the second jaw cooperate to have a V-shape.
3. The pin supplementing robot of claim 1, further comprising a pin feeding mechanism, wherein the pin feeding mechanism comprises a bin, a push block and an electric push rod, the bin is arranged on the first clamping jaw, the bin is provided with a trough matched with the end head part of the pin, the trough comprises a horizontal trough part and a vertical trough part which are in smooth connection, the first clamping jaw is provided with a pin channel communicated with the vertical trough part, the pin channel is communicated with the pin mounting groove, one end of the pin channel away from the pin mounting groove is provided with an opening, and the push block is positioned at the opening and is connected with the output end of the electric push rod.
4. The compensating robot of claim 1 wherein the drive mechanism comprises a multiple degree of freedom mechanical arm, a first rotary drive assembly, a second rotary drive assembly, a mounting platform and a second mount pad, wherein the mounting platform is disposed at a free end of the multiple degree of freedom mechanical arm, the first rotary drive assembly is mounted at a top of the mounting platform, the second mount pad is disposed below the mounting platform, an output end of the first rotary drive assembly passes through the mounting platform to be connected with the second mount pad, the second rotary drive assembly is disposed at a side of the second mount pad, and an output end of the second rotary drive assembly is connected with the compensating mechanism.
5. The compensating robot of claim 4 wherein the multi-degree of freedom mechanical arm comprises a third rotary drive assembly, a fourth rotary drive assembly, a swing arm assembly, a third mounting seat and a vertical plate, wherein the third rotary drive assembly is mounted on the live working lifting platform of the power transmission line, the third mounting seat is connected with the output end of the third rotary drive assembly, the vertical plate is arranged on the third mounting seat, the fourth rotary drive assembly is mounted on the vertical plate, the output end of the fourth rotary drive assembly is connected with the swing arm assembly, the mounting platform is arranged at the free end of the swing arm assembly, and the fourth rotary drive assembly is used for driving the swing arm assembly to do lifting motion relative to the pin shaft.
6. The pin supplementing robot of claim 1, further comprising a pin removal mechanism, wherein the pin removal mechanism comprises a fourth mounting seat, a third clamping jaw, a fourth clamping jaw and a pin removal driving piece, the fourth mounting seat is mounted on the live working lifting platform of the power transmission line, a third meshing tooth is arranged at a first end of the third clamping jaw, the first end of the fourth clamping jaw is rotatably mounted on the fourth mounting seat, a fourth meshing tooth is arranged at a first end of the fourth clamping jaw, the fourth meshing tooth is in meshing transmission with the third meshing tooth, the pin removal driving piece is mounted on the fourth mounting seat, and an output end of the pin removal driving piece is connected with the first end of the third clamping jaw.
7. The pin supplementing system is characterized by comprising a pin supplementing robot, a camera system and a control terminal, wherein the pin supplementing robot is adopted by the pin supplementing robot according to any one of claims 1-6, the driving mechanism, the pin bending assembly and the camera system are communicated with the control terminal, and the camera system is used for collecting walking state data of a live working lifting platform of a power transmission line, posture data of the driving mechanism, posture data of the pin supplementing mechanism and posture data of the pin in real time and transmitting the walking state data, the posture data of the driving mechanism, the posture data of the pin supplementing mechanism and the posture data of the pin to the control terminal.
8. The compensation pin system of claim 7, wherein the camera system comprises a first camera, a second camera and a third camera, the first camera is arranged on the live working lifting platform of the power transmission line and is used for collecting walking state data of the live working lifting platform of the power transmission line and posture data of the driving mechanism, the second camera is arranged at a free end of the driving mechanism and is used for collecting posture data of the compensation pin mechanism, and the third camera is arranged on the compensation pin mechanism and is used for collecting posture data of a pin.
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| CN202210573443.4A CN114865528B (en) | 2022-05-25 | 2022-05-25 | Pin supplementing robot and pin supplementing system |
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| CN202210573443.4A CN114865528B (en) | 2022-05-25 | 2022-05-25 | Pin supplementing robot and pin supplementing system |
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| KR20050065701A (en) * | 2003-12-23 | 2005-06-30 | 한국전기공사협회 | Live wire working arm |
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| CN216138939U (en) * | 2021-09-02 | 2022-03-29 | 江西鼎铁自动化科技有限公司 | System for realizing automatic pin replacement of robot by using camera |
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| CN102806543B (en) * | 2012-07-16 | 2016-05-18 | 国家电网公司 | Change insulator chain Electrified operation mechanical hand |
| CN103972821B (en) * | 2014-05-27 | 2015-11-11 | 国家电网公司 | High voltage transmission line live work robot |
| DE102017109989A1 (en) * | 2017-05-09 | 2018-11-15 | Conductix-Wampfler Gmbh | Feed-in device and energy supply system |
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|---|---|---|---|---|
| KR20050065701A (en) * | 2003-12-23 | 2005-06-30 | 한국전기공사협회 | Live wire working arm |
| CN108288777A (en) * | 2017-10-23 | 2018-07-17 | 国网辽宁省电力有限公司本溪供电公司 | 66kV-220kV docks circlip type earthing wire clip and power construction implementation |
| CN216138939U (en) * | 2021-09-02 | 2022-03-29 | 江西鼎铁自动化科技有限公司 | System for realizing automatic pin replacement of robot by using camera |
| CN114193128A (en) * | 2021-12-06 | 2022-03-18 | 国网湖南省电力有限公司 | Tool for supplementing missing pin on insulator string hardware fitting and yoke plate fixing bolt |
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| CN114865528A (en) | 2022-08-05 |
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