CN209805276U - Intelligent equipotential repairing device for electric transmission line lead - Google Patents
Intelligent equipotential repairing device for electric transmission line lead Download PDFInfo
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- CN209805276U CN209805276U CN201821917011.6U CN201821917011U CN209805276U CN 209805276 U CN209805276 U CN 209805276U CN 201821917011 U CN201821917011 U CN 201821917011U CN 209805276 U CN209805276 U CN 209805276U
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Abstract
The utility model discloses a transmission line wire equipotential intelligence patching device, including actuating mechanism, frame and control system, control system be used for controlling actuating mechanism's action, actuating mechanism including the running gear that can go on the wire, be used for twining the wire winding device on the wire with the preformed armor rods, control system including electrical system and ground operating system, actuating mechanism, electrical system install in the frame. The utility model discloses a transmission line leads ground wire equipotential intelligence patching device, through multiaxis positioning control system, compact actuating mechanism and electrical system, wireless transmission network and intelligent HMI ground operating system have realized personnel's ground remote control/the automatic operation of patrolling and examining of high tension transmission line of auxiliary operation and the automatic operation of repairing of disconnected strand circuit.
Description
Technical Field
The utility model relates to a live working wire patching device, especially a transmission line wire equipotential intelligence patching device.
Background
Various transmission lines or distribution lines are exposed outside, are subjected to wind and rain, and can be damaged by lightning, fire, external damage and other events, so that the damaged wires have great danger and need to be repaired in time.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's weak point, and provide a transmission line wire equipotential intelligence patching device that can be used to electrified repair lead ground wire.
The utility model provides a transmission line wire equipotential intelligence patching device, includes actuating mechanism, frame and control system, control system be used for controlling actuating mechanism's action, actuating mechanism including can go up running gear, be used for twining the wire winding device on the wire with the preformed armor rod, control system including electrical system and ground operating system, actuating mechanism, electrical system install in the frame, electrical system and frame between adopt the activity dismantlement formula to be connected.
The utility model discloses a transmission line wire equipotential intelligence patching device utilizes actuating mechanism's running gear to realize walking on the wire that needs the repair, utilizes control system control to reach the purpose wire section, then starts the wire winding device and realizes the repair to the wire.
The wire winding device comprises a wire winding mechanism and a wire clamping mechanism, the wire winding mechanism comprises two halves of wire winding disc supporting seats, two halves of wire winding discs, an electric lock and a threaded screw rod structure, the screw rod is a bidirectional threaded screw rod, the two halves of the wire winding disc supporting seats are respectively arranged on two sections of the bidirectional screw rod and are driven by the screw rod to move apart or close, the electric lock is used for locking the closed wire winding disc supporting seats, semicircular holes are arranged on the opposite surfaces of the two halves of the wire winding disc supporting seats, the semicircular holes of the two halves of the wire winding disc supporting seats are combined into a circular hole, semicircular grooves capable of being embedded into half wire winding discs are arranged on the hole wall of the semicircular hole, the two semicircular grooves surround into an annular sliding groove when the wire winding disc supporting seats are closed, the wire winding discs are embedded into the annular sliding groove and are concentric in rotation, and the center of a wire can pass through the center of a wire is arranged at the circle center of the wire winding discs, the wire winding device comprises a wire winding disc, a gear transmission and a gear transmission, wherein central circular holes are respectively distributed on two halves of the wire winding disc, wire winding holes are arranged on each half of the wire winding disc at intervals, the wire winding holes on the wire winding disc are distributed at the same circumference, the gear transmission is characterized in that a last-stage gear is of an annular structure and is arranged at one end of the wire winding disc in parallel with the end surface of the wire winding disc, the last-stage gear drives the wire winding disc to rotate, the last-stage gear is of a two-half structure, and a driving wheel of the gear transmission is supported on a supporting seat of; the wire clamping mechanism comprises a clamping support seat, clamping blocks arranged on the clamping support seat, an electric lock and a threaded screw rod structure, the screw rod is a bidirectional threaded screw rod, the two halves of the clamping support seat are respectively arranged on the two sections of the bidirectional screw rod and are driven by the screw rod to move in a separating or folding mode, the clamping support seat and the clamping blocks are formed in two halves, flexible clamping blocks are further arranged on the clamping blocks and are of two-half structures, wire clamping holes are formed in the flexible clamping blocks at intervals and distributed on the same circumference of the flexible clamping blocks, the number of the wire clamping holes is equal to the number of holes in a wire winding disc, central circular holes are formed in the central parts of the two halves of the flexible clamping blocks, and the electric lock is used for locking the folded clamping blocks; the wire clamping mechanism is arranged on the rack, the wire winding mechanism is arranged on a threaded lead screw on the rack and slides away from and close to the wire clamping mechanism along the lead screw, the wire clamping mechanism and two-way lead screws of the wire winding mechanism are in a parallel state, the threaded lead screw on the rack is vertical to the wire clamping mechanism and the two-way threaded lead screws of the wire winding mechanism, and a central circular hole of a flexible clamping block in the wire clamping mechanism is concentric with a central circular hole of a wire winding disc of the wire winding mechanism.
The utility model discloses a wire winding device, during operation, one end of preformed armor rods with required length is inserted into the wire clamping hole of the flexible clamping block of the wire clamping mechanism, the other end passes through the wire winding hole on the wire winding disc of the wire winding mechanism, the wire winding mechanism is arranged at the wire clamping mechanism end, then the equipotential intelligent repairing device is put on the wire, the central round hole of the wire winding disc and the central round hole of the flexible clamping block are arranged in the same plane, the wire winding mechanism and the two-way screw rod of the wire clamping mechanism are started to fold, the wire winding mechanism and the two halves of the wire clamping mechanism are combined to clamp the wire and are locked by an electric lock, the screw rod on the frame is started and simultaneously the gear transmission on the wire winding mechanism is started, the wire winding disc of the wire winding mechanism is driven by the gear to rotate and drive the preformed armor rods penetrating on the wire winding mechanism to rotate, and simultaneously the wire winding mechanism is driven by the screw rod on the frame to move away from the wire clamping mechanism, therefore, the preformed armor rods are wound on the lead to be repaired, and when the running distance of the wire winding mechanism is larger than the length of the preformed armor rods, the preformed armor rods fall off from wire winding holes of the wire winding disc to realize winding.
Cam followers are arranged at intervals on the same circumference of the end face, which is in contact with the supporting seat of the wire winding disc, of the other end of the wire winding disc, a circle of sliding grooves are arranged on the corresponding face of the supporting seat of the wire winding disc, and the cam followers are clamped in the sliding grooves to run.
The cam follower is arranged on the end face of the wire winding disc, which is contacted with the supporting seat of the wire winding disc, so that the wire winding disc can be ensured to be concentric with the double semicircular chutes of the supporting seat in the rotating process, and the smooth rotating action of the double semicircular wire winding disc is ensured without being blocked.
The outer ring of the middle contracting round hole of the end surface of the wire winding disc facing the wire clamping mechanism is provided with a conical sleeve consisting of two halves, the small end of the sleeve is far away from the wire winding disc, and the large end of the sleeve is connected with the wire winding disc.
The purpose of arranging the sleeve is to enable the preformed armor rods to fall off from the coiling holes of the wire winding and then to realize wire stripping through the tapered sleeve, so that the tail parts of the preformed armor rods are ensured to realize good winding.
And the end surface of the wire winding disc, which is provided with the sleeve, is distributed with baffle blades along the radial direction of the wire winding disc, the baffle blades extend outwards from the sleeve, and the quantity of the baffle blades is that the baffle blades separate wire winding holes on the wire winding disc.
And when the pre-twisted wire is closed, the pre-twisted wire slides out of the wire winding hole, and the pre-twisted wire is guided by the retaining pieces to be uniformly distributed and shrunk and folded.
The driving wheel in the gear transmission is arranged on the left side below the final-stage gear, the anti-separation gear is further arranged on the right side below the final-stage gear, and the driving wheel and the anti-separation gear are respectively arranged on the two wire winding disc supporting seats.
When the wire winding mechanism is closed, the driving wheel drives the final-stage gear to rotate, and the driving gear and the anti-separation gear can prevent the wire winding disc from sliding and separating from the sliding groove of the wire winding disc supporting seat after being separated.
The wire clamping hole of the flexible clamping block ensures that the preformed armor rods are easy to insert and the initial positioning is firm and reliable, and meanwhile, the flexible clamping block can be broken off by moving the clamping block forwards after the wire winding action is finished.
The flexible clamping block not only solves the problem that the preformed armor rods are difficult to initially position, but also can be cracked through wire winding operation, and finally the lead has no residues or a small amount of residues.
The flexible clamping block is made of common hard rubber materials.
The wire winding machine is characterized in that the rack is a square frame body, two slide rails and a section of lead screw are arranged on the frame body, the lead screw is parallel to the slide rails and is positioned between the two slide rails, a slide block is arranged on the slide rails, and the wire winding mechanism is connected with the slide block.
The wire winding mechanism is arranged on the slide rail, so that the wire winding mechanism is ensured to be vertical to the rack when moving forward along the direction of the lead.
The wire clamping mechanism is arranged on the frame through the connecting seat.
The wire clamping mechanism is arranged on the frame through the connecting seat, so that the height of the wire clamping mechanism can be conveniently adjusted.
The electric control system is connected with the rack in a buckling mode.
The buckle type connection is convenient to separate and combine, the transportation is convenient, and the modular design is also convenient for future maintenance and upgrading.
The frame body is an aluminum profile frame.
And the aluminum profile frame is adopted to reduce the weight to the maximum extent.
A bottom plate is provided on the frame body.
The bottom plate is arranged to play a role in fixing and leveling, and the stability of the main body framework is enhanced while the parallel sliding rails are ensured to be installed in the same plane.
The walking device comprises a conductive wheel, a conductive wheel mounting seat and a lifting hook, wherein the conductive wheel, the conductive wheel mounting seat and the lifting hook are arranged in front and at back, the conductive wheel mounting seat is supported on the rack through a suspension arm, a wheel shaft of the conductive wheel penetrates through the conductive wheel mounting seat, one end of the conductive wheel is provided with the conductive wheel, the other end of the conductive wheel is provided with a belt wheel, the belt wheel drives the wheel shaft to rotate, and the rotating wheel shaft drives the conductive wheel to rotate.
The conductive wheel mounting seat and the lifting hook are of an integrated structure.
The mounting seat adopts the integral type design, ensures that electrically conductive wheel and mounting seat firm in connection are reliable, also ensures simultaneously that the lifting hook with hang between the arm firm in connection reliable.
The joint of the suspension arm and the frame is additionally provided with a reinforced angle seat.
The reinforcing angle seat is arranged, so that the stability of connection of the suspension arm and the rack can be improved.
And each threaded lead screw, the driving wheel and the two conductive wheels are respectively driven by an independent motor.
The adoption of an independent motor can greatly simplify the whole structure.
The electric control system comprises a battery, a PLC controller, a motor driver, a motor, a relay, an electric push rod, an electric lock, a limit switch, a switching power supply, a circuit breaker, an indicator light, a switch and a camera, wherein the motor comprises a motor for driving a wire winding mechanism to move back and forth along a lead screw of a frame, a wire winding motor for realizing the folding and the separation of two halves of the wire winding mechanism, a motor for realizing the folding and the separation of a wire clamping mechanism, a motor for driving a driving wheel to rotate, a traveling motor for driving two conductive wheels to travel, the PLC controller is respectively connected with a pulse type driver, the electric lock, the limit switch, the relay, a bus driving module and the switch, the motor driver is connected with the traveling wheel motor, the bus driving module is connected with a bus type driver, and the bus type driver is used for driving the wire winding motor and the wire clamping motor, the switch is connected with camera and wireless communication module AP end, wireless communication module AP end carries out data transmission through switch and PLC controller, the battery gives the PLC controller, wireless communication module, the switch, bus drive module and bus type driver power supply, BMS lithium battery system exchanges battery information through RS485 communication and PLC, PLC gives ground operating system with battery information through wireless transmission again, wireless communication bridge AP end carries out image transmission through switch and way camera, ground operating system carry out point-to-point communication through wireless communication module CPE end and wireless communication bridge AP end.
The electric control system carries out point-to-point communication with a ground network bridge CPE end through a wireless communication network bridge AP end, the maximum distance is more than 1KM, and the wireless communication network bridge AP end carries out data transmission with a PLC through a switch, so that the movement control functions of equipment such as walking, climbing, wire winding, automatic zero returning, electric lock switch, push rod lifting and the like are realized. BMS lithium battery system exchanges battery information with PLC through RS485 communication, and PLC passes through wireless transmission with battery information again and gives the ground operating system with data. The wireless communication network bridge AP end carries out image transmission with the 2-path camera through the switch, and real-time monitoring, recording and playback functions of an operation site are achieved.
The PLC controller comprises a motion control port with a pulse output port and a bus output port and also comprises an IO port, wherein DI is connected with a limit switch, a driver gives an alarm, DO is connected with a walking wheel motor driver as the pulse output port, and is connected with a power lock and a relay, the PLC controller is communicated with a BMS lithium battery management system through RS485 to read electric quantity, temperature, voltage and current key information, and the PLC controller is supplied with power for an input terminal of the pulse type motor driver from a DC5V power supply.
The electric control system controls 6 motors, and each axis is respectively defined as: 1-axis walking 1X, 2-axis walking 2X, 3-axis winding R, 4-axis winding Y, 5-axis winding X and 6-axis clamping Y. Wherein 1, 2 are controlled by pulse type drivers, and 3-6 axes are controlled by bus type drivers.
To sum up, the utility model discloses compare prior art following advantage:
the utility model discloses a transmission line leads ground wire equipotential intelligence patching device belongs to internal initiative, and international blank product has filled the blank that high tension transmission line repaired the field and has not had automation equipment, realizes major technological innovation and breakthrough.
The utility model discloses a transmission line leads ground wire equipotential intelligence patching device, through multiaxis positioning control system, compact actuating mechanism and electrical system, wireless transmission network and intelligent HMI ground operating system have realized personnel's ground remote control/the automatic operation of patrolling and examining of high tension transmission line of auxiliary operation and the automatic operation of repairing of disconnected strand circuit. The device also has the functions of obstacle crossing, slope climbing, real-time monitoring, state display, motion control, automatic zero returning, record playback, fault alarm, emergency stop and the like, is a new exploration for high-altitude high-voltage live working by using automatic equipment, creatively avoids high-altitude high-voltage equipotential working and complex and low-efficiency safe operation processes of power grid workers, reduces power failure of a power transmission line, liberates manpower for high-altitude working, and is safer, more efficient, more economical and wide in application prospect and popularization value.
The utility model discloses carry out initial position location with preformed armor rods through flexible double-layered silk piece, press from both sides silk mechanism and one section distance in wire winding mechanism interval, the preformed armor rods gesture can be confirmed to the relative position of the double-layered silk hole in the flexible double-layered silk piece of wire winding hole cooperation among the wire winding mechanism, like this insert preformed armor rods according to the order and can ensure that the initial position of preformed armor rods evenly surrounds on the transmission line wire, make many preformed armor rods's rotation trend the same simultaneously, ensure that the wire winding process can not mutual interference.
The wire winding mechanism and the wire clamping mechanism of the device both adopt bidirectional threaded lead screws as bases, synchronous opening/closing operation can be realized, and the device is in an opening state when being off-line. After the device is on line, the folding operation is carried out through a ground operation system, the wire winding mechanism and the wire clamping mechanism are automatically and synchronously folded, the conducting wire is clamped in the central hole, and 2 times of positioning of the preformed armor rods and the central rotating shaft is completed. The technical problems that 16 preformed armor rods under the wire are difficult to initially position, 2 times of positioning on the wire and manual wire winding hand actions are difficult to reproduce are solved through the exquisite design of the flexible clamping block and the rotary wire winding disc.
The wire clamping mechanism is matched with the wire winding mechanism to successfully reappear winding repair actions of 16 spiral preformed armor rods, the winding repair actions are optimized, one-key automatic wire winding functions are achieved, the effect is better than manual wire winding, and major technical breakthrough is achieved.
Through the manual online teaching mode of the ground operation system, semi-automatic wire winding operation is realized on the premise that hands do not directly contact the preformed armor rods, and meanwhile, the motion data of each stage of each shaft is recorded. And then adjusting the pulse number through a large amount of experiments, and finding out a group of data capable of realizing one-key full-automatic wire winding according to the pulse frequency. And the data is carefully optimized, so that the speed of the automatic wire winding process is higher and smoother, the wire winding action is more accurate, and the final automatic wire winding effect is obviously better than the manual wire winding effect.
Drawings
Fig. 1 is the utility model discloses a transmission line leads ground wire equipotential intelligence patching device schematic diagram.
Fig. 2 is a schematic view of a conductive wheel structure.
Fig. 3 is a schematic structural view of the filament winding mechanism of the present invention.
Fig. 4 is another angular schematic of the filament winding mechanism.
Fig. 5 is a cross-sectional view of the filament winding mechanism.
FIG. 6 is a schematic cross-sectional view of the filament winding mechanism.
Fig. 7 is a schematic view of a wire clamping mechanism.
Fig. 8 is a cross-sectional schematic view of the wire clamping mechanism.
Fig. 9 is a schematic view of the structure of the frame body.
Fig. 10 is a front view of fig. 9.
Fig. 11 is a block diagram of an electronic control system.
Fig. 12 is an electric control design diagram.
FIG. 13 is a diagram of an X-Z coordinate system.
FIG. 14 is a Y-Z coordinate system diagram.
Fig. 15 is a schematic diagram of an electric cabinet.
Fig. 16 is a top view of the electric cabinet.
Description of the reference numeral 1, an actuator 11 walking device 111, a conductive wheel mounting seat 112, a hook 113, a wire winding mechanism 1211 of a wire winding device 12, a wire winding disc support 12111, a circular chute 1212, a wire winding disc 12121, a wire winding hole 121212 of a blade 121213, a conical half pipe 1213, an electric lock 1214, a primary blade 121213, a cam follower 1216, a cam follower 122, a wire clamping mechanism 1221, a clamping support 1222, a clamping block 1223, a flexible clamping block 1224, a wire clamping hole 2, a frame 3, a control system 31, an electric control system 4, a threaded screw 5, an anti-disengagement gear 6, a sliding rail.
Detailed Description
The present invention will be described in more detail with reference to the following examples.
Example 1
The utility model provides an intelligent patching device of transmission line wire equipotential, includes actuating mechanism 1, frame 2 and control system 3, control system be used for controlling actuating mechanism's action, actuating mechanism including can go up running gear 11, be used for twining preformed armor rods wire winding device 12 on the wire, control system including electrical system and ground operating system, actuating mechanism, electrical system install in the frame. The wire winding device comprises a wire winding mechanism 121 and a wire clamping mechanism 122, the wire winding mechanism comprises two halves of wire winding disc supporting seats 1211, two halves of wire winding discs 1212, an electric lock 1213 and a threaded screw rod 4, the screw rod is a bidirectional threaded screw rod, the two halves of the wire winding disc supporting seats are respectively arranged on two sections of the bidirectional screw rod and are driven by the screw rod to move apart or together, the electric lock is used for locking the folded wire winding disc supporting seats, semicircular holes are arranged on opposite surfaces of each half of the wire winding disc supporting seats, the semicircular holes of the two halves of the wire winding disc supporting seats are combined into a circular hole, a semicircular groove capable of being embedded with a half of the wire winding disc is arranged on the hole wall of the semicircular hole, the two semicircular grooves surround an annular sliding groove 12111 when the wire winding discs are folded, the wire winding discs are embedded in the annular sliding groove and are concentric in rotation, the center of the wire winding disc is provided with a supporting seat capable of penetrating through a wire, the central circular holes are respectively distributed on the two halves of the wire winding disc, the wire winding holes 12121 are arranged on each half of the wire winding disc at intervals, the wire winding holes on the wire winding disc are distributed at the same circumference, the side of the wire winding disc facing the wire clamping mechanism is provided with a baffle blade 121212 and a conical half pipe 121213 for ending action of wire winding operation, the wire winding disc further comprises a gear transmission, a final gear in the gear transmission is of an annular structure and is arranged at one end of the wire winding disc in parallel with the end surface of the wire winding disc, the final gear 1215 drives the wire winding disc to rotate, the final gear is of a two-half structure, and a driving wheel 1214 of the gear transmission is supported on a supporting seat of the wire winding disc; the wire clamping mechanism comprises a clamping support seat 1221, clamping blocks 1222 arranged on the clamping support seat, an electric lock and a threaded screw rod structure, the screw rod is a bidirectional threaded screw rod, the two halves of the clamping support seat are respectively arranged on the two sections of the bidirectional screw rod and are driven by the screw rod to move apart or together, the clamping support seat and the clamping blocks are formed by two halves, the clamping blocks are also provided with flexible clamping blocks 1223, the flexible clamping blocks are of two halves, wire clamping holes 1224 are arranged on the flexible clamping blocks at intervals, the wire clamping holes are distributed on the same circumference of the flexible clamping blocks, the number of the wire clamping holes is equal to the number of holes in the wire winding disc, central circular holes are arranged at the central parts of the two halves of the flexible clamping blocks, the central circular holes are distributed on the two flexible clamping blocks, and the electric lock is used for locking the combined clamping blocks; the wire clamping mechanism is arranged on the rack, the wire winding mechanism is arranged on a threaded lead screw on the rack and slides away from and close to the wire clamping mechanism along the lead screw, the wire clamping mechanism and two-way lead screws of the wire winding mechanism are in a parallel state, the threaded lead screw on the rack is vertical to the wire clamping mechanism and the two-way threaded lead screws of the wire winding mechanism, and a central circular hole of a flexible clamping block in the wire clamping mechanism is concentric with a central circular hole of a wire winding disc of the wire winding mechanism. Cam followers are arranged at intervals on the same circumference of the other end face of the wire winding disc, which is in contact with the wire winding disc support base, a circle of slide grooves are arranged on the corresponding face of the wire winding disc support base, and the cam followers 1216 are clamped in the slide grooves to run. The outer ring of a central circular hole of the end face of the wire winding disc facing the wire clamping mechanism is provided with a conical sleeve consisting of two halves, the small end of the sleeve is far away from the wire winding disc, and the large end of the sleeve is connected with the wire winding disc. And the end surface of the wire winding disc, which is provided with the sleeve, is distributed with baffle blades along the radial direction of the wire winding disc, the baffle blades extend outwards from the sleeve, and the quantity of the baffle blades is that the baffle blades separate wire winding holes on the wire winding disc. The driving wheel in the gear transmission is arranged on the left side below the final-stage gear, the anti-separation gear 5 is further arranged on the right side below the final-stage gear, and the driving wheel and the anti-separation gear are respectively arranged on the two wire winding disc supporting seats. The flexible clamping block is made of common hard rubber materials. The machine frame is a square frame body, two slide rails and a section of lead screw are arranged on the frame body, the lead screw is parallel to the slide rails 6 and is positioned between the two slide rails, a slide block 7 is arranged on the slide rails, and the wire winding mechanism is connected with the slide block. The wire clamping mechanism is arranged on the frame through the connecting seat. The electric control system is connected with the rack in a buckling mode. The frame body is an aluminum profile frame. A bottom plate 8 is provided on the frame body. The walking device comprises a conductive wheel, a conductive wheel mounting seat and a lifting hook, wherein the conductive wheel, the conductive wheel mounting seat and the lifting hook are arranged in front and at back, the conductive wheel mounting seat is supported on the rack through a suspension arm, a wheel shaft of the conductive wheel penetrates through the conductive wheel mounting seat, one end of the conductive wheel is provided with the conductive wheel, the other end of the conductive wheel is provided with a belt wheel, the belt wheel drives the wheel shaft to rotate, and the rotating wheel shaft drives the conductive wheel to rotate. The conductive wheel mounting seat 111 and the hook 112 are of an integrated structure. The joint of the suspension arm 113 and the frame is additionally provided with a reinforced angle seat. And each threaded lead screw, the driving wheel and the two conductive wheels are respectively driven by an independent motor.
Electric control system mainly includes BMS lithium battery system, wireless communication network bridge AP end (on-vehicle end), the PLC controller, motor drive and motor, relay, electric putter, electric lock, limit switch, switching power supply, circuit breaker, pilot lamp, switch, camera 9 etc..
The PLC controller comprises 4 paths of pulse output ports, 12 paths of motion control ports in total of 8 paths of bus output ports, 16 paths of IO ports, 4 paths of DI (digital input/output) connected with a driver for alarming, 7 paths of DI connected with a limit switch, 6 paths of DO as pulse output ports connected with a walking wheel motor driver, 6 paths of DO connected with an electric lock and a relay. The PLC controller communicates with the BMS lithium battery management system through RS485 and reads key information such as electric quantity, temperature, voltage and current. The PLC controller is provided with a DC5V power supply to supply power for the input terminal of the pulse type motor driver.
The electric control system controls 6 motors, a right-hand coordinate system is formulated according to fig. 10, and 6 axes are respectively defined as: 1-axis walking 1X, 2-axis walking 2X, 3-axis winding R, 4-axis winding Y, 5-axis winding X and 6-axis clamping Y. Wherein 1, 2 are controlled by pulse type drivers, and 3-6 axes are controlled by bus type drivers.
The electric control system carries out point-to-point communication with a ground network bridge CPE end through a wireless communication network bridge AP end, the maximum distance is more than 1KM, and the wireless communication network bridge AP end carries out data transmission with a PLC through a switch, so that the movement control functions of equipment such as walking, climbing, wire winding, automatic zero returning, electric lock switch, push rod lifting and the like are realized. BMS lithium battery system exchanges battery information with PLC through RS485 communication, and PLC passes through wireless transmission with battery information again and gives the ground operating system with data. The wireless communication network bridge AP end carries out image transmission with the 2-path camera through the switch, and real-time monitoring, recording and playback functions of an operation site are achieved. The walking wheel and the motor are driven by a synchronous belt transmission wheel with 60 teeth and 24 teeth, a synchronous conveyor belt is used for transmission, and the reduction ratio of a speed reducer is 1:5.08, so that the torque of the motor is amplified by 12.7 times, and the walking wheel can be dragged to climb and cross obstacles at a large angle. The wire winding mechanism advancing and dragging mechanism mainly comprises parallel slide rails, a slide block, a motor, a threaded lead screw and a connecting block. The parallel slide rails are adopted to ensure that the wire winding mechanism is kept vertical to the plane of the suspension arm when advancing along the direction of the lead, and the double slide blocks are adopted as a group to be used as the supporting points of the single-side slide rails to ensure that the wire winding mechanism is kept vertical to the plane of the bottom plate when advancing along the direction of the lead. The 4mm thick rectangle bottom plate seat is installed in the aluminium alloy frame top, plays fixed and effect of leveling, guarantees that parallel slide rail installs in the coplanar when strengthening main part frame stability. The actuating mechanism and the electric cabinet are connected in a buckle mode, so that the actuating mechanism and the electric cabinet are convenient to separate and combine and transport, and the modular design also facilitates the later maintenance and upgrading.
Conductive wheel (road wheel): the conductive wheel has 2 layers of outer wheels, 2 layers of elastic inner wheels and 1 layer of conductive middle wheels, and 5 layers of wheel discs are arranged in the middle of the conductive wheel and are connected through a long shaft in a penetrating way. The conductive block is connected with the middle conductive wheel through the clockwork spring, and when the conductive wheel is hung on a transmission line, equipotential operation is realized through a metal passage of the middle conductive wheel, the clockwork spring, the conductive block, the wheel shaft, the mounting seat, the suspension arm and the whole device.
The elastic inner wheel in the middle is made of a high-strength rubber material, so that the friction force of the elastic inner wheel on the power transmission line is increased, and the climbing and obstacle crossing capabilities are improved. The conductive wheel outline dimension design is designed by referring to the outline dimension of the obstacle. The mounting seat adopts the integral type design, ensures that electrically conductive wheel and mounting seat firm in connection are reliable, also ensures simultaneously that the lifting hook with hang between the arm firm in connection reliable.
The parts not described in the present embodiment are the same as those in the prior art.
Claims (10)
1. The utility model provides a transmission line wire equipotential intelligence patching device which characterized in that: the wire winding device comprises an execution mechanism, a rack and a control system, wherein the control system is used for controlling the action of the execution mechanism, the execution mechanism comprises a walking device capable of walking on a wire and a wire winding device used for winding a preformed wire on the wire, the control system comprises an electric control system and a ground operation system, and the execution mechanism and the electric control system are arranged on the rack.
2. The intelligent equipotential repairing device for the conducting wire of the power transmission line according to claim 1, wherein: the wire winding device comprises a wire winding mechanism and a wire clamping mechanism, the wire winding mechanism comprises two halves of wire winding disc supporting seats, two halves of wire winding discs, an electric lock and a threaded screw rod structure, the screw rod is a bidirectional threaded screw rod, the two halves of the wire winding disc supporting seats are respectively arranged on two sections of the bidirectional screw rod and are driven by the screw rod to move apart or close, the electric lock is used for locking the closed wire winding disc supporting seats, semicircular holes are arranged on the opposite surfaces of the two halves of the wire winding disc supporting seats, the semicircular holes of the two halves of the wire winding disc supporting seats are combined into a circular hole, semicircular grooves capable of being embedded into half wire winding discs are arranged on the hole wall of the semicircular hole, the two semicircular grooves surround into an annular sliding groove when the wire winding disc supporting seats are closed, the wire winding discs are embedded into the annular sliding groove and are concentric in rotation, and the center of a wire can pass through the center of a wire is arranged at the circle center of the wire winding discs, the wire winding device comprises a wire winding disc, a gear transmission and a gear transmission, wherein central circular holes are respectively distributed on two halves of the wire winding disc, wire winding holes are arranged on each half of the wire winding disc at intervals, the wire winding holes on the wire winding disc are distributed at the same circumference, the gear transmission is characterized in that a last-stage gear is of an annular structure and is arranged at one end of the wire winding disc in parallel with the end surface of the wire winding disc, the last-stage gear drives the wire winding disc to rotate, the last-stage gear is of a two-half structure, and a driving wheel of the gear transmission is supported on a supporting seat of; the wire clamping mechanism comprises a clamping support seat, clamping blocks arranged on the clamping support seat, an electric lock and a threaded screw rod structure, the screw rod is a bidirectional threaded screw rod, the two halves of the clamping support seat are respectively arranged on the two sections of the bidirectional screw rod and are driven by the screw rod to move in a separating or folding mode, the clamping support seat and the clamping blocks are formed in two halves, flexible clamping blocks are further arranged on the clamping blocks and are of two-half structures, wire clamping holes are formed in the flexible clamping blocks at intervals and distributed on the same circumference of the flexible clamping blocks, the number of the wire clamping holes is equal to the number of holes in a wire winding disc, central circular holes are formed in the central parts of the two halves of the flexible clamping blocks, and the electric lock is used for locking the folded clamping blocks; the wire clamping mechanism is arranged on the rack, the wire winding mechanism is arranged on a threaded lead screw on the rack and slides away from and close to the wire clamping mechanism along the lead screw, the wire clamping mechanism and two-way lead screws of the wire winding mechanism are in a parallel state, the threaded lead screw on the rack is vertical to the wire clamping mechanism and the two-way threaded lead screws of the wire winding mechanism, and a central circular hole of a flexible clamping block in the wire clamping mechanism is concentric with a central circular hole of a wire winding disc of the wire winding mechanism.
3. The intelligent equipotential repairing device for the conducting wire of the power transmission line according to claim 2, wherein: cam followers are arranged at intervals on the same circumference of the end face, which is in contact with the supporting seat of the wire winding disc, of the other end of the wire winding disc, a circle of sliding grooves are arranged on the corresponding face of the supporting seat of the wire winding disc, and the cam followers are clamped in the sliding grooves to run.
4. The intelligent equipotential repairing device for the conducting wire of the power transmission line according to claim 3, wherein: the outer ring of a central circular hole of the end face of the wire winding disc facing the wire clamping mechanism is provided with a conical sleeve consisting of two halves, the small end of the sleeve is far away from the wire winding disc, and the large end of the sleeve is connected with the wire winding disc.
5. The intelligent equipotential repairing device for the conducting wire of the power transmission line according to claim 4, wherein: and the end surface of the wire winding disc, which is provided with the sleeve, is distributed with baffle blades along the radial direction of the wire winding disc, the baffle blades extend outwards from the sleeve, and the quantity of the baffle blades is that the baffle blades separate wire winding holes on the wire winding disc.
6. The intelligent equipotential repairing device for the conducting wire of the power transmission line according to claim 5, wherein: the driving wheel in the gear transmission is arranged on the left side below the final-stage gear, the anti-separation gear is further arranged on the right side below the final-stage gear, and the driving wheel and the anti-separation gear are respectively arranged on the two wire winding disc supporting seats.
7. The intelligent equipotential repairing device for the conducting wire of the power transmission line according to claim 6, wherein: the wire clamping hole of the flexible clamping block ensures that the preformed armor rods are easy to insert and the initial positioning is firm and reliable, and meanwhile, the flexible clamping block can be broken off by moving the clamping block forwards after the wire winding action is finished.
8. The intelligent equipotential repairing device for the conducting wire of the power transmission line according to claim 1, wherein: the walking device comprises a conductive wheel, a conductive wheel mounting seat and a lifting hook, wherein the conductive wheel, the conductive wheel mounting seat and the lifting hook are arranged in front and at back, the conductive wheel mounting seat is supported on the rack through a suspension arm, a wheel shaft of the conductive wheel penetrates through the conductive wheel mounting seat, one end of the conductive wheel is provided with the conductive wheel, the other end of the conductive wheel is provided with a belt wheel, the belt wheel drives the wheel shaft to rotate, and the rotating wheel shaft drives the conductive wheel to rotate.
9. The intelligent equipotential repairing device for the conducting wire of the power transmission line according to claim 1, wherein: the electric control system comprises a battery, a PLC controller, a motor driver, a motor, a relay, an electric push rod, an electric lock, a limit switch, a switching power supply, a circuit breaker, an indicator light, a switch and a camera, wherein the motor comprises a motor for driving a wire winding mechanism to move back and forth along a lead screw of a frame, a wire winding motor for realizing the folding and the separation of two halves of the wire winding mechanism, a motor for realizing the folding and the separation of a wire clamping mechanism, a motor for driving a driving wheel to rotate, a traveling motor for driving two conductive wheels to travel, the PLC controller is respectively connected with a pulse type driver, the electric lock, the limit switch, the relay, a bus driving module and the switch, the motor driver is connected with the traveling wheel motor, the bus driving module is connected with a bus type driver, and the bus type driver is used for driving the wire winding motor and the wire clamping motor, the switch is connected with camera and wireless communication module AP end, wireless communication module AP end carries out data transmission through switch and PLC controller, the battery gives the PLC controller, wireless communication module, the switch, bus drive module and the power supply of bus type driver, BMS lithium battery system exchanges battery information through RS485 communication and PLC, PLC gives ground operating system with battery information through wireless transmission again, wireless communication bridge AP end carries out image transmission through switch and 2 way cameras, ground operating system carry out point-to-point communication through wireless communication module CPE end and wireless communication bridge AP end.
10. The intelligent equipotential repairing device for the conducting wire of the power transmission line according to claim 9, wherein: the PLC controller comprises a motion control port with a pulse output port and a bus output port and also comprises an IO port, wherein DI is connected with a driver to alarm, a limit switch and DO is connected with a walking wheel motor driver as the pulse output port, and is connected with a power lock and a relay, the PLC controller is communicated with a BMS lithium battery management system through RS485 to read electric quantity, temperature, voltage and current key information, and the PLC controller is supplied with power for an input terminal of the pulse type motor driver from a DC5V power supply.
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| CN201821917011.6U CN209805276U (en) | 2018-11-21 | 2018-11-21 | Intelligent equipotential repairing device for electric transmission line lead |
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| CN201821917011.6U CN209805276U (en) | 2018-11-21 | 2018-11-21 | Intelligent equipotential repairing device for electric transmission line lead |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109412089A (en) * | 2018-11-21 | 2019-03-01 | 国网福建省电力有限公司泉州供电公司 | Transmission line wire equipotential intelligently repairs robot |
| CN109510105A (en) * | 2018-11-21 | 2019-03-22 | 国网福建省电力有限公司泉州供电公司 | Transmission line wire equipotential intelligence method for repairing and mending |
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2018
- 2018-11-21 CN CN201821917011.6U patent/CN209805276U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109412089A (en) * | 2018-11-21 | 2019-03-01 | 国网福建省电力有限公司泉州供电公司 | Transmission line wire equipotential intelligently repairs robot |
| CN109510105A (en) * | 2018-11-21 | 2019-03-22 | 国网福建省电力有限公司泉州供电公司 | Transmission line wire equipotential intelligence method for repairing and mending |
| CN109510105B (en) * | 2018-11-21 | 2024-03-15 | 国网福建省电力有限公司泉州供电公司 | Equipotential intelligent repair method for transmission line conductor |
| CN109412089B (en) * | 2018-11-21 | 2024-03-15 | 国网福建省电力有限公司泉州供电公司 | Intelligent repair robot for equipotential of transmission line conductor |
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