CN223348257U - Unmanned tower maintenance equipment for overhead transmission lines - Google Patents
Unmanned tower maintenance equipment for overhead transmission linesInfo
- Publication number
- CN223348257U CN223348257U CN202421997435.3U CN202421997435U CN223348257U CN 223348257 U CN223348257 U CN 223348257U CN 202421997435 U CN202421997435 U CN 202421997435U CN 223348257 U CN223348257 U CN 223348257U
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- frame
- pulley
- mechanical arm
- power transmission
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Abstract
The utility model discloses an unmanned tower-loading overhauling device for an overhead transmission line, which comprises an unmanned aerial vehicle, wherein a pulley is hoisted below the unmanned aerial vehicle, the pulley is connected with an overhauling robot through a lifting rope, the other end of the lifting rope is also connected with a winch fixed on the ground, the overhauling robot comprises a frame, a mechanical arm is arranged on the side face of the frame, a bolt screwing device is arranged at the end part of the mechanical arm, a detection sensor group is further arranged on the mechanical arm, a lifting rope fixing wheel is arranged in the middle of the upper surface of the frame, travelling wheel assemblies are further arranged at the two ends of the upper surface of the frame, and a lifting type anti-falling frame is arranged below the travelling wheel assemblies. The utility model can realize the purpose that the power transmission line can be overhauled by unmanned tower feeding.
Description
Technical Field
The utility model relates to the field of overhead transmission line overhaul, in particular to an unmanned tower-feeding overhaul device for an overhead transmission line.
Background
The overhead transmission line connects the power plant, the substation and the user to form a transmission network and a distribution network, and the conductors for conducting current are erected on the tower by insulators and hardware fittings, so the overhead transmission line and the overhead power line are called. The overhead line is generally composed of wires, insulators, hardware fittings, towers and foundations thereof, lightning wires, grounding devices and the like. In order to ensure the normal operation of the overhead transmission line, the line needs to be overhauled and maintained regularly, but the height angle of the overhead transmission line is the same as that of the conventional overhead transmission line overhauling scheme, the manual tower feeding overhauling is still the main scheme, the high-altitude operation has great potential safety hazard and construction risk, and the manual overhauling time is long, the efficiency is low and the reliability is general. Therefore, a need exists for an inspection machine that can replace the manual feeding of towers to meet the inspection requirements of overhead lines.
Disclosure of utility model
The utility model aims to provide an unmanned tower-loading overhauling device for an overhead transmission line. The utility model can realize the purpose that the power transmission line can be overhauled by unmanned tower feeding.
The technical scheme is that the unmanned tower-loading overhauling device for the overhead transmission line comprises an unmanned aerial vehicle, a pulley is hoisted below the unmanned aerial vehicle, the pulley is connected with an overhauling robot through a lifting rope, the other end of the lifting rope is further connected with a winch fixed on the ground, the overhauling robot comprises a frame, a mechanical arm is arranged on the side face of the frame, a bolt screwing device is arranged at the end of the mechanical arm, a detection sensor group is further arranged on the mechanical arm, a lifting rope fixing wheel is arranged in the middle of the upper surface of the frame, the lifting rope fixing wheel is connected with the end of the lifting rope, the other end of the lifting rope is connected with the winch after penetrating through the pulley, travelling wheel assemblies are further arranged at two ends of the upper surface of the frame, and a lifting type anti-falling frame is arranged below the travelling wheel assemblies.
In the unmanned tower-loading overhauling device for the overhead transmission line, the controller and the battery pack are further arranged in the frame, the controller is respectively connected with the mechanical arm, the bolt screwing device, the travelling wheel assembly and the lifting anti-drop frame, and the controller is further connected with a wireless transmission module which is connected with an intelligent control terminal.
In the unmanned tower-climbing maintenance device for the overhead transmission line, the detection sensor group comprises a plurality of video image sensors distributed on the mechanical arm.
In the unmanned tower feeding overhauling device for the overhead transmission line, the pulley comprises a support, rollers are arranged at two ends of the bottom of the support, a hanging frame is arranged on the upper portion of the support, hanging pulleys are arranged in the hanging frame, an inclined opening is formed in one side of the bottom of the hanging frame, an inclined guide plate is arranged on the outer side of the inclined opening, a telescopic hook is arranged above the hanging frame, a lower rod located below the hanging frame is arranged at the bottom of the telescopic hook, and a reset spring is arranged between the lower rod and the bottom of the hanging frame, wherein one lower rod corresponds to the position of the inclined opening.
In the unmanned tower feeding overhauling device for the overhead transmission line, the bottom of the inclined opening is provided with a groove, the inside of the groove is provided with a magnet, and the bottom end of the lower rod is provided with a magnetic block.
In the unmanned tower feeding overhauling device for the overhead transmission line, the lifting type anti-falling frame comprises a lifting cylinder fixed above the frame, an anti-falling frame is arranged at the output end of the lifting cylinder, and anti-falling bayonets matched with the cables are arranged at two ends of the anti-falling frame.
In the unmanned tower feeding overhauling device for the overhead transmission line, the traveling wheel assembly comprises a traveling fixing frame fixed above the frame, the traveling wheel is arranged at the upper end of the traveling fixing frame, and a traveling motor matched with the traveling wheel is further arranged on the traveling fixing frame.
Compared with the prior art, the overhead power transmission line maintenance device comprises an unmanned aerial vehicle, a maintenance robot and a winch, wherein the maintenance robot is connected through a lifting rope, the maintenance robot is mounted on an overhead cable through the unmanned aerial vehicle, the travelling wheel of the maintenance robot and the overhead cable are mounted through the winch, so that the maintenance robot is mounted on the cable, then the travelling wheel can drive the maintenance robot to move along the cable to carry out maintenance, bolts at corresponding positions can be screwed through a mechanical arm and a bolt screwing device, maintenance and maintenance of an overhead power transmission line can be realized through mutual cooperation between the structures, a traditional manual tower-lifting maintenance mode is replaced, and the overhead power transmission line maintenance device is safe, reliable, rapid in maintenance, efficient and short in time consumption. In conclusion, the utility model can realize the purpose that the power transmission line can be overhauled by no one going on the tower.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
fig. 2 is a structural view of the service robot when it has not been mounted to the power cable;
fig. 3 is a structural view of the maintenance robot when mounted to the power transmission cable;
Fig. 4 is a block diagram of the pulley mounted on the power cable;
Fig. 5 is a structural view of the sled.
The drawing comprises a 1-unmanned plane, a 2-pulley, a 3-lifting rope, a 4-maintenance robot, a 5-winch, a 6-power transmission cable, a 401-frame, a 402-mechanical arm, a 403-bolt screwing device, a 404-detection sensor group, a 405-lifting rope fixing wheel, a 406-travelling wheel assembly, a 407-lifting type anti-falling frame, a 201-support, a 202-roller, a 203-hanging frame, a 204-hanging pulley, a 205-inclined opening, a 206-inclined guide plate, a 207-telescopic hook, a 208-lower rod, a 209-reset spring, a 251-groove, a 252-magnet, a 253-magnetic block, 471-lifting cylinder, a 472-anti-falling frame, 473-anti-falling bayonet, a 461-travelling fixing frame, a 462-travelling wheel and 463-travelling motor.
Detailed Description
The utility model is further illustrated by the following figures and examples, which are not intended to be limiting.
Examples. The unmanned tower-loading overhauling device for the overhead transmission line is shown in the figures 1-5, and comprises an unmanned aerial vehicle 1, wherein a pulley 2 is hoisted below the unmanned aerial vehicle 1, the pulley 2 is connected with an overhauling robot 4 through a lifting rope 3, the other end of the lifting rope 3 is further connected with a winch 5 fixed on the ground, the overhauling robot 4 comprises a frame 401, a mechanical arm 402 is arranged on the side face of the frame 401, a bolt screwing device 403 is arranged at the end part of the mechanical arm 402, a detection sensor group 404 is further arranged on the mechanical arm 402, a lifting rope fixing wheel 405 is arranged in the middle of the upper surface of the frame 401, the lifting rope fixing wheel 405 is connected with the end part of the lifting rope 3, the other end of the lifting rope 3 penetrates through the pulley 2 and then is connected with the winch 5, travelling wheel assemblies 406 are further arranged at the two ends of the upper surface of the frame 401, and lifting anti-falling frames 407 are arranged below the travelling wheel assemblies 406.
The inside of the frame 401 is also provided with a controller and a battery pack, the controller is respectively connected with a mechanical arm 402, a bolt screwing device 403, a travelling wheel assembly 406 and a lifting type anti-drop frame 407, the controller 6 is also connected with a wireless transmission module, and the wireless transmission module is connected with an intelligent control terminal.
The sensor set 404 includes a plurality of video image sensors distributed on the robotic arm 402.
The pulley 2 comprises a support 201, rollers 202 are arranged at two ends of the bottom of the support 201, a hanging frame 203 is arranged at the upper portion of the support 201, a hanging pulley 204 is arranged in the hanging frame 203, an inclined opening 205 is formed in one side of the bottom of the hanging frame 203, an inclined guide plate 206 is arranged outside the inclined opening 205, a telescopic hook 207 is arranged above the hanging frame 203, a lower rod 208 located below the hanging frame 203 is arranged at the bottom of the telescopic hook 207, and a reset spring 209 is arranged between the lower rod 208 and the bottom surface of the hanging frame 203, wherein one lower rod 208 corresponds to the position of the inclined opening 205.
The bottom of the inclined opening 205 is provided with a groove 251, a magnet 252 is arranged in the groove 251, and the bottom end of the lower rod 208 is provided with a magnetic block 253.
The lifting anti-drop rack 407 comprises a lifting cylinder 471 fixed above the frame 401, an anti-drop rack 472 is arranged at the output end of the lifting cylinder 471, and anti-drop bayonets 473 matched with the cables are arranged at two ends of the anti-drop rack 472.
The traveling wheel assembly 406 comprises a traveling fixed frame 461 fixed above the frame 401, a traveling wheel 462 is arranged at the upper end of the traveling fixed frame 461, and a traveling motor 463 matched with the traveling wheel 462 is further arranged on the traveling fixed frame 461.
The maintenance method of the unmanned tower-loading maintenance device for the overhead transmission line is characterized by comprising the following steps of:
S1, fixing a winch on the ground, and fixing the other end of a lifting rope wound on a winding wheel of the winch on a lifting rope fixing wheel through a pulley;
S2, hanging a lifting hook at the bottom of the unmanned aerial vehicle on a telescopic hook at the top of the pulley, hanging the maintenance robot to a region needing to be operated by the unmanned aerial vehicle, hanging the pulley on a designated cable, and loosening the pulley by the unmanned aerial vehicle after the completion of the mounting;
S3, hanging the maintenance robot to a preset position through a winch, adjusting the pose of the mechanical arm to enable the travelling wheel and the cable to form an oblique angle, continuously pulling the maintenance robot to move upwards by the winch to enable the bottom of the travelling wheel to pass through the cable, adjusting the mechanical arm to enable the travelling wheel to be perpendicular to the cable, slowly releasing a rope through the winch at the moment, enabling the travelling wheel to fall onto the cable, and completing mounting of the maintenance robot;
S4, lifting the lifting type anti-drop frame to the bottom of the cable and matching with the cable;
S5, the travelling wheel starts to move to drive the maintenance robot to move to a set position;
s6, moving the mechanical arm to a working position, and screwing the bolt through the bolt screwing device.
Through being provided with the recess that attracts magnet in the slope opening bottom, set up the magnetic block in lower part pole bottom, both mutually support, can further prevent that the coaster from breaking away from the cable.
Pressing a switch on the maintenance robot to start the equipment, waiting for wifi signals to click a connection control board on the intelligent control terminal control software in a few minutes, and connecting the maintenance robot with the intelligent control terminal.
Before the robot gets on the tower, the mechanical arm is required to be moved to a preset position, so that the maintenance robot can keep balance in the lifting process. The robot is slightly lifted by the winch to facilitate posture adjustment of the robot arm, and a preset key on control software is clicked to move the robot arm to a preset position.
A hook is arranged below the unmanned aerial vehicle and is used for being hung with a telescopic hook at the top of the overhauling robot pulley.
When the telescopic hook is lifted, the lower rod is moved upwards under the action of pulling force, the inclined opening is exposed out, when the pulley is mounted in place, the lower rod can descend under the action of the reset spring after the unmanned aerial vehicle is separated from the pulley, and the inclined opening is shielded, so that the inclined opening can be effectively prevented from sliding out.
One end of the lifting rope is fixed to the roller of the hoist, the other end of the lifting rope penetrates through the pulley and is fixed to the lifting rope fixing wheel, and a rope with enough length is reserved between the hoist and the pulley so as to be on the tower.
The upper tower overhauling process comprises the steps of fixing a winch in a set area on the ground, enabling a lifting rope to pass through a roller of a pulley, enabling the end part of the lifting rope to be fixed on a lifting rope fixing wheel, starting an unmanned aerial vehicle, controlling the unmanned aerial vehicle to enable a lifting hook at the bottom of the unmanned aerial vehicle to be hooked with a telescopic hook of a hanging frame, lifting the pulley to a position corresponding to a power transmission line to be detected, then sending an inclined opening of the pulley to the lower portion of the power transmission cable from the side surface, enabling the hanging pulley to be located above the power transmission cable, achieving hanging of the pulley on the power transmission cable, separating the unmanned aerial vehicle from the pulley, enabling a lower rod of the telescopic hook to descend, shielding the inclined opening, and preventing the pulley from falling.
Then, the winch starts to work, the maintenance robot is lifted to the position, 20cm away from the lower portion of the cable, of the walking wheel, the pose of the mechanical arm is adjusted to enable the walking wheel and the cable to form an oblique angle, the mechanical arm is pulled upwards continuously, the bottom of the walking wheel passes through the cable, the mechanical arm is adjusted again to enable the walking wheel to be perpendicular to the cable, at the moment, the winch slowly releases ropes to enable the walking wheel to fall onto the cable, and mounting of the maintenance robot is completed. When two travelling wheels of the maintenance robot are hung on the cable, the lifting cylinder is controlled to descend, the anti-drop frame is controlled to ascend to the bottom of the cable and the anti-drop bayonet is clamped, so that the robot is prevented from slipping.
In the process, the crane is used for overhauling the robot to get on the tower by using the winch after the pulley is mounted, the speed of the winch is controlled, and the overhauling robot is prevented from shaking greatly as much as possible.
And finally, controlling a traveling motor to act so as to drive the traveling wheels to move along the cable, controlling the maintenance robot to travel to a proper position and then operating, moving the mechanical arm to an operating position, and performing bolt screwing operation through the screw screwing device. Meanwhile, in the walking process, position monitoring can be carried out through the video image sensor, the situation that the cable surface is detected through the video image sensor can be guaranteed to reach the set position.
After the operation is finished, the lower tower process is similar to the upper tower process, and the steps are opposite.
When not used for a long time, the battery needs to be fully charged and then stored, and charging is recommended to be carried out once per month. If the maintenance robot is not used for a long time, the maintenance robot needs to be charged and then used.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421997435.3U CN223348257U (en) | 2024-08-19 | 2024-08-19 | Unmanned tower maintenance equipment for overhead transmission lines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202421997435.3U CN223348257U (en) | 2024-08-19 | 2024-08-19 | Unmanned tower maintenance equipment for overhead transmission lines |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN223348257U true CN223348257U (en) | 2025-09-16 |
Family
ID=97022242
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202421997435.3U Active CN223348257U (en) | 2024-08-19 | 2024-08-19 | Unmanned tower maintenance equipment for overhead transmission lines |
Country Status (1)
| Country | Link |
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| CN (1) | CN223348257U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120855156A (en) * | 2025-09-23 | 2025-10-28 | 宁波北创航奥科技有限公司 | An X-ray inspection robot for live working on overhead transmission lines |
-
2024
- 2024-08-19 CN CN202421997435.3U patent/CN223348257U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120855156A (en) * | 2025-09-23 | 2025-10-28 | 宁波北创航奥科技有限公司 | An X-ray inspection robot for live working on overhead transmission lines |
| CN120855156B (en) * | 2025-09-23 | 2025-12-26 | 宁波北创航奥科技有限公司 | An X-ray inspection robot for live-line work on overhead power transmission lines |
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