CN218275809U - Robot for installing spacer of high-voltage transmission line - Google Patents
Robot for installing spacer of high-voltage transmission line Download PDFInfo
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- CN218275809U CN218275809U CN202222281445.4U CN202222281445U CN218275809U CN 218275809 U CN218275809 U CN 218275809U CN 202222281445 U CN202222281445 U CN 202222281445U CN 218275809 U CN218275809 U CN 218275809U
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- spacer
- vehicle body
- robot
- transmission line
- installing
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Abstract
The utility model discloses a high tension transmission line spacer installation robot, which relates to the technical field of electric power construction and comprises a working device and a hoisting device, wherein the working device is positioned at the lower end of a split conductor, the hoisting device is positioned at the upper end of the split conductor, the working device and the hoisting device are connected through a rope, the working device comprises a vehicle body, and two sides of the vehicle body are provided with walking devices; a spacer storage bin is arranged in the middle of the vehicle body; the front end of the vehicle body is provided with a first manipulator, the rear end of the vehicle body is provided with a first vision camera, and the left and the right of the vehicle body are respectively provided with a second manipulator; the hoisting device comprises a traveling wheel II and a hoisting mechanism, a rope is arranged on the hoisting mechanism, and the rope is arranged in a pulley outside the hoisting mechanism; the hoisting device is also provided with a protective housing, and a second hook is arranged above the protective housing; the utility model discloses a remote control and automated control technique can replace the artifical automatic installation that realizes the conductor spacer, risk when having avoided artifical high altitude construction.
Description
Technical Field
The utility model belongs to the technical field of the electric power construction technique and specifically relates to a high tension transmission line conductor spacer installation robot is related to.
Background
The power transmission conductor is a main carrier of electric energy transmission, and the reliability of the power transmission conductor is related to the stability of the whole power system. In order to improve the power transmission capacity of the line, split conductors are mostly adopted for power transmission conductors above the voltage level of 220 kV, namely each phase conductor consists of a plurality of branch conductors with smaller diameters, and the branch conductors are arranged at intervals according to a certain distance and in a symmetrical polygon shape and are arranged on the vertexes of a regular polygon. The conductor spacer is a protective hardware fitting, can effectively prevent whipping between the conductors, inhibit breeze vibration and inhibit sub-span oscillation, ensures the operation safety of the split conductors and prolongs the service life of the split conductors. However, the installation of the spacer bars at present needs to be manually installed on a high-voltage cable line by climbing a tower station, and people need good balance capacity when standing on the cable line for high-altitude operation, and have great psychological examination capacity on installation personnel and high danger.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the danger caused by manual high-altitude operation and realizing the mechanical installation of the spacer rod;
the utility model discloses a realize through following technical scheme: the utility model provides a high tension transmission line conductor spacer installation robot comprises the hoist device who realizes the equipment of conductor spacer automatic installation and the hoist device who realizes the equipment lift, and equipment is located the split conductor lower extreme, and hoist device is located the split conductor upper end, and both connect its characterized in that through the rope: the working device comprises a vehicle body, and walking devices for walking on the split conductor are arranged on two sides of the vehicle body; a spacer storage bin is arranged in the middle of the trolley body; the front end of the vehicle body is provided with a first manipulator used for holding and fixing the spacing rod, the rear end of the vehicle body is provided with a first visual camera, and the left and the right of the vehicle body are respectively provided with a second manipulator used for installing a holding claw of the spacing rod;
the hoisting device comprises a second bottom travelling wheel arranged on the second motor and a hoisting mechanism used for pulling the rope to ascend and descend, wherein the hoisting mechanism is provided with the rope, and the rope is arranged in a pulley on the outer side of the hoisting mechanism; the hoisting device is also provided with a protective housing, and a second hook for hoisting the unmanned aerial vehicle is arranged above the protective housing;
controllers for controlling the motion of each executing mechanism are further arranged in the working device and the hoisting device, and the controllers are in communication connection with an operating platform used by ground workers;
preferably, the travelling device comprises a wheel carrier bent at a certain angle, the tail end of the wheel carrier is provided with a first motor, the output end of the first motor is provided with a first travelling wheel with a large-angle opening matched with the split conductor, and the tail end of the first travelling wheel is provided with a rotatable wheel blade;
preferably, the bottom of the wheel carrier is provided with a push rod, and the push rod is arranged in a push rod driving device;
preferably, the push rod is connected with the push rod driving device through a spring;
preferably, the center line of the first manipulator and the center line of the spacer are located on the same plane, and a first clamping jaw for grabbing the spacer is arranged at the tail end of the first manipulator;
preferably, the tail end of the manipulator is provided with a clamping jaw II for shifting the holding jaw of the spacer and mounting a holding jaw fastener;
preferably, the front ends of the first mechanical arm and the second mechanical arm are provided with a second visual camera for capturing mounting position information;
preferably, the spacer storage bin comprises a plurality of compartments for the transverse arrangement of the spacers;
preferably, the tail end of the rope is provided with a hanging ring, and the side surface of the vehicle body is provided with a first hook matched with the hanging ring for use;
preferably, the two hooks are arranged in the same direction;
preferably, the method comprises the following preparation process before installation of the spacer:
s1, a carrying unmanned aerial vehicle is connected with a hook II of a hoisting device on the ground, the carrying unmanned aerial vehicle is controlled through remote control to send the hoisting device to the high altitude to reach the position above the split conductors on which the spacing rods are to be installed, then the position is adjusted through visual recognition, a travelling wheel II in the hoisting device falls on the two split conductors and locks the hoisting device to prevent movement, and then the unmanned aerial vehicle is controlled to be separated from the hoisting device and returns to the ground;
s2, a hoisting mechanism in the remote control hoisting device puts down a rope from high altitude, the rope is connected with a first hook on the side face of the working device, the working device is hoisted by controlling the hoisting mechanism, after the working device is hoisted to a proper height, a push rod driving device enables a traveling device to be folded inwards, the wheel distance between two traveling wheels I is close to the distance between split conductors, then the working device is slowly descended by the hoisting mechanism, the traveling wheels I fall on the split conductors, and the preparation work before installation is finished;
to sum up, the utility model discloses following beneficial effect has:
1. the utility model discloses a high tension transmission line conductor spacer installation robot adopts remote control and automated control technique, can replace the manual work to realize the automatic installation of conductor spacer, has avoided the risk when artifical high altitude construction;
2. the utility model discloses a working device is equipped with the conductor spacer storage bin, can once only carry a plurality of conductor spacers and carry out the operation, and working device and hoist device link to each other through the rope of liftable, when the conductor spacer runs out, directly put down working device to ground and carry out the manual work and supply, then promote working device to the high altitude can, solved the conductor spacer supply trouble, supply the long problem of time, improved work efficiency;
3. the utility model discloses the vision camera that sets up can be in real time with conductor spacer installation picture information transfer to operation platform's display screen, makes things convenient for operating personnel to monitor the installation condition and the installation quality of conductor spacer.
Drawings
FIG. 1 is an overall structure diagram of the present invention;
fig. 2 is a front view of the present invention;
fig. 3 is a left side view of the present invention;
FIG. 4 is a structural view of the working device of the present invention;
FIG. 5 is a structural view of the lifting device of the present invention;
in the figure: 1-working device, 110-vehicle body, 120-walking device, 121-wheel carrier, 122-motor I, 123-walking wheel I, 124-wheel blade, 125-push rod, 126-push rod driving device, 130-manipulator I, 131-clamping jaw I, 140-manipulator II, 141-clamping jaw II, 142-vision camera II, 150-spacer storage bin, 160-hook I, 170-vision camera I, 2-hoisting device, 21-hoisting mechanism, 22-rope, 23-lifting ring, 24-pulley, 25-walking wheel II, 26-motor II, 27-protective housing, 28-hook II, 3-split lead and 4-spacer.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention;
as shown in fig. 1-5, a high tension transmission line conductor spacer installation robot comprises the hoist device 2 that realizes the equipment 1 of conductor spacer 4 automatic installation and the hoist device that realizes the equipment 1 lift, and equipment 1 is located split conductor 3 lower extreme, and hoist device 2 is located split conductor 3 upper ends, and both connect its characterized in that through rope 22: the working device 1 comprises a vehicle body 110, wherein the two sides of the vehicle body 110 are provided with the traveling devices 120 used for traveling on the split conductor 3, under the normal condition, the traveling devices 120 are in an open state, and during working, the traveling devices 120 are in a close state and are fastened in the split conductor 3, so that the stability of the working device 1 during traveling is ensured; a spacer storage bin 150 is arranged in the middle of the vehicle body 110; the front end of the vehicle body 110 is provided with a first manipulator 130 for holding and fixing the spacer 4, the rear end of the vehicle body is provided with a first vision camera 170, and the left side and the right side of the vehicle body are respectively provided with a second manipulator 140 for installing spacer holding claws, wherein the spacer 4 is vertically placed in a spacer storage bin 150, and the middle part of the spacer 4 exceeds the spacer storage bin 150, so that the spacer can be held by the first manipulator 130; the hoisting device 2 comprises a bottom travelling wheel II 25 arranged on a motor II 26 and a hoisting mechanism 21 used for pulling the rope 22 to ascend and descend, the rope 22 is arranged on the hoisting mechanism 21, and the rope 22 is arranged in a pulley 24 outside the hoisting mechanism 21; the hoisting device 2 is also provided with a protective housing 27, a second hook 28 for hoisting the unmanned aerial vehicle is arranged above the protective housing 27, and the hoisting device 2 and the working device 1 are kept synchronous during walking; controllers for controlling the motion of each actuating mechanism are further arranged in the working device 1 and the hoisting device 2, and the controllers are in communication connection with an operating platform used by ground workers;
in some embodiments of the present invention: the walking device 120 comprises a wheel frame 121 bent at a certain angle, a motor I122 is arranged at the tail end of the wheel frame 121, a large-angle opening walking wheel I123 matched with the split conductor 3 is arranged at the output end of the motor I122, a rotatable wheel blade 124 is arranged at the tail end of the walking wheel I123, and when a spacer or other hardware is crossed, the wheel blade 124 can be clamped on the hardware and provides driving force to assist walking, so that the passing performance of the wheel frame facing to an obstacle is improved;
in some embodiments of the present invention: a push rod 125 is arranged at the bottom of the wheel carrier 121, the push rod 125 is installed in a push rod driving device 126, and the synchronous opening and closing of the traveling devices 120 at the two sides of the vehicle body 110 can be realized through the push rod driving device 126 and the push rod 125;
in some embodiments of the present invention: the push rod 125 is connected with the push rod driving device 126 through a spring, and the walking device 120 has a certain movement change range through the arranged spring, so that the stability of the working device 1 during walking on the split conductor 3 and crossing obstacles can be improved;
in some embodiments of the present invention: the center line of the first manipulator 130 and the center line of the spacer 4 are located on the same plane, the tail end of the first manipulator 130 is provided with a first clamping jaw 131 for grabbing the spacer 4, the first manipulator 130 is placed right opposite to the spacer 4 to be installed, the first manipulator 130 can grab the spacer 4 quickly, the position of the spacer 4 can be adjusted accurately through multi-angle and multi-direction movement of the first clamping jaw 131, the spacer 4 is moved to the middle of the split conductor 3 by means of a visual camera, and then the position is adjusted to enable the holding jaw of the spacer to be placed in the split conductor 3;
in some embodiments of the present invention: the tail end of the second manipulator 140 is provided with a second clamping jaw 141 for shifting the holding jaw of the spacer and installing a clamping jaw fastener, when the first manipulator 130 places the holding jaw of the spacer on the split conductor 3, the second manipulator 140 starts to work, the second clamping jaw 141 closes the holding jaw of the spacer, and then a fastening part is installed to fix the holding jaw of the spacer;
in some embodiments of the present invention: the front ends of the first manipulator 130 and the second manipulator 140 are provided with a second visual camera 142 for capturing mounting position information, picture information acquired by the second visual camera 142 is transmitted to the controller and is also transmitted to the ground working platform, and then the controller makes a judgment to realize correct control on the manipulators;
in some embodiments of the present invention: the spacer storage bin 150 comprises a plurality of compartments for horizontally placing the spacers, and the arrangement of the compartments is favorable for regular placement of the spacers, so that the problem that the spacers are stacked and lean against each other to cause difficulty in grabbing the spacers by the manipulator I130 is solved;
in some embodiments of the present invention: the tail end of the rope 22 is provided with a hanging ring 23, and the side surface of the vehicle body 110 is provided with a first hook 160 matched with the hanging ring 23 for use;
in some embodiments of the present invention, the second hooks 28 are arranged in the same direction, and the second hooks 28 arranged in the same direction are beneficial for the unmanned aerial vehicle to separate from the lifting device after carrying the lifting device;
in some embodiments of the present invention: the method comprises the following preparation processes before installation of the spacer:
s1, a carrying unmanned aerial vehicle is connected with a second hook 28 of a lifting device 2 on the ground, the carrying unmanned aerial vehicle is controlled by remote control to send the lifting device 2 to the high altitude to reach the position above the split conductors 3 to be provided with the spacer, then the position is adjusted by means of visual identification, a second travelling wheel 25 in the lifting device 2 falls on the two split conductors 3 and locks the lifting device 2 to prevent movement, and the unmanned aerial vehicle is controlled to be separated from the lifting device 2 and returns to the ground;
s2, the hoisting mechanism 21 in the remote control hoisting device 2 lowers the rope 22 from high altitude, the rope 22 is connected with a first hook 160 on the side surface of the working device 1, then the working device 1 is lifted up by controlling the hoisting mechanism 21, after the working device is lifted to a proper height, the push rod driving device 126 is controlled to enable the travelling device 120 to be folded inwards, the wheel track between two travelling wheels 123 is enabled to be close to the distance between the split conductors 3, then the working device 1 is slowly lowered by the hoisting mechanism 21, the travelling wheels 123 are enabled to fall on the split conductors 3, and the preparation work before installation is completed;
the spacer installation robot is conveyed to a power transmission line by the unmanned aerial vehicle and hoisting mode instead of manual work, so that the life safety of operators is guaranteed to the greatest extent;
the working principle is as follows: the working personnel firstly use the carrying unmanned aerial vehicle to be connected with the second hook 28 of the lifting device 2 on the ground, the carrying unmanned aerial vehicle is controlled by remote control to send the lifting device 2 to the high altitude to reach the position above the split conductor 3 to be provided with the spacer, then the position is adjusted by means of visual identification, the second travelling wheel 25 in the lifting device 2 falls on the two split conductors 3 and locks the lifting device 2 to prevent movement, and then the unmanned aerial vehicle is controlled to be separated from the lifting device 2 and returns to the ground; then, the hoisting mechanism 21 in the remote control hoisting device 2 lowers the rope 22 from the high altitude, the rope 22 is connected with the first hook 160 on the side surface of the working device 1, then the working device 1 is lifted up by controlling the hoisting mechanism 21, after the working device is lifted to a proper height, the push rod driving device 126 enables the traveling device 120 to be folded inwards, the wheel distance between the two traveling wheels 123 is enabled to be close to the distance between the split conductors 3, then the working device 1 is slowly lowered by the hoisting mechanism 21, the traveling wheels 123 fall on the split conductors 3, and the preparation work before the installation is completed; and then, controlling the spacer robot to enter a working mode to realize the automatic installation of the spacers: through an instruction sent by a visual camera and a controller, a first clamping jaw 131 in a first manipulator 130 firstly grabs a spacer 4 in a spacer storage bin 150, then the spacer 4 is moved to the middle of a split conductor, the position is adjusted, so that a holding jaw of the spacer is clamped in the split conductor 4, then a second clamping jaw 141 in a second manipulator 140 on the left side and the right side closes the holding jaw of the spacer, a fastener is installed, the spacer 4 is installed, and then a working device 1 and a hoisting device 2 synchronously move to the next spacer installation position; when the spacer is used up, the working device 1 is directly put down to the ground for manual supplement, and then the working device 1 is lifted to the high altitude; when the work is finished, the working device 1 is put down through the hoisting device 2, and then the hoisting device 2 is carried to the ground through the unmanned aerial vehicle;
the above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (10)
1. The utility model provides a high tension transmission line conductor spacer installation robot comprises working device (1) and hoisting device (2) that realize that working device (1) goes up and down that realize conductor spacer (4) automatic installation, and working device (1) is located split conductor (3) lower extreme, and hoisting device (2) are located split conductor (3) upper end, and both connect its characterized in that through rope (22): the working device (1) comprises a vehicle body (110), and walking devices (120) used for walking on the split conductors (3) are arranged on two sides of the vehicle body (110); a spacer storage bin (150) is arranged in the middle of the trolley body (110); the front end of the vehicle body (110) is provided with a first manipulator (130) for holding and fixing the spacer (4), the rear end of the vehicle body is provided with a first vision camera (170), and the left and right of the vehicle body are respectively provided with a second manipulator (140) for installing a holding claw of the spacer;
the hoisting device (2) comprises a second bottom travelling wheel (25) arranged on a second motor (26) and a hoisting mechanism (21) for pulling the rope (22) to ascend and descend, the hoisting mechanism (21) is provided with the rope (22), and the rope (22) is arranged in a pulley (24) on the outer side of the hoisting mechanism (21); the lifting device (2) is further provided with a protective housing (27), and a second hook (28) for lifting the unmanned aerial vehicle is arranged above the protective housing (27);
the working device (1) and the hoisting device (2) are internally provided with controllers for controlling the movement of each actuating mechanism, and the controllers are in communication connection with an operating platform used by ground workers.
2. The robot for installing the spacer on the high-voltage transmission line according to claim 1, wherein: the walking device (120) comprises a wheel carrier (121) bent at a certain angle, a first motor (122) is arranged at the tail end of the wheel carrier (121), a first large-angle opening walking wheel (123) matched with the split conductor (3) is arranged at the output end of the first motor (122), and a rotatable wheel blade (124) is arranged at the tail end of the walking wheel (123).
3. The robot for installing the spacer on the high-voltage transmission line according to claim 2, wherein: the bottom of the wheel carrier (121) is provided with a push rod (125), and the push rod (125) is arranged in a push rod driving device (126).
4. The robot for installing the spacer for the high-voltage transmission line according to claim 3, wherein: the push rod (125) is connected with the push rod driving device (126) through a spring.
5. The robot for installing the spacer on the high-voltage transmission line according to claim 1, wherein: the center line of the first manipulator (130) and the center line of the spacer (4) are located on the same plane, and a first clamping jaw (131) for grabbing the spacer is arranged at the tail end of the first manipulator (130).
6. The robot for installing the spacer for the high-voltage transmission line according to claim 1, wherein: and a second clamping jaw (141) for stirring the holding jaw of the spacer and mounting a holding jaw fastener is arranged at the tail end of the second manipulator (140).
7. The robot for installing the spacer on the high-voltage transmission line according to claim 1, wherein: and the front ends of the first mechanical arm (130) and the second mechanical arm (140) are provided with a second visual camera (142) for capturing the installation position information.
8. The robot for installing the spacer on the high-voltage transmission line according to claim 1, wherein: the spacer storage bin (150) comprises a plurality of compartments for transverse arrangement of the spacers (4).
9. The robot for installing the spacer on the high-voltage transmission line according to claim 1, wherein: the tail end of the rope (22) is provided with a hanging ring (23), and the side surface of the vehicle body (110) is provided with a first hook (160) matched with the hanging ring (23) for use.
10. The robot for installing the spacer on the high-voltage transmission line according to claim 1, wherein: the second hooks (28) are arranged in the same direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222281445.4U CN218275809U (en) | 2022-08-30 | 2022-08-30 | Robot for installing spacer of high-voltage transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222281445.4U CN218275809U (en) | 2022-08-30 | 2022-08-30 | Robot for installing spacer of high-voltage transmission line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218275809U true CN218275809U (en) | 2023-01-10 |
Family
ID=84709923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222281445.4U Active CN218275809U (en) | 2022-08-30 | 2022-08-30 | Robot for installing spacer of high-voltage transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218275809U (en) |
-
2022
- 2022-08-30 CN CN202222281445.4U patent/CN218275809U/en active Active
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