WO2022057356A1 - 一种机器人挂载绳及导线带电作业机器人 - Google Patents

一种机器人挂载绳及导线带电作业机器人 Download PDF

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WO2022057356A1
WO2022057356A1 PCT/CN2021/101698 CN2021101698W WO2022057356A1 WO 2022057356 A1 WO2022057356 A1 WO 2022057356A1 CN 2021101698 W CN2021101698 W CN 2021101698W WO 2022057356 A1 WO2022057356 A1 WO 2022057356A1
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robot
rope
wire
segment
metal
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PCT/CN2021/101698
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English (en)
French (fr)
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邹林
李锐海
余文辉
罗俊平
王颂
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南方电网科学研究院有限责任公司
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Publication of WO2022057356A1 publication Critical patent/WO2022057356A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
    • H01R13/02—Contact members
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R24/00—Two-part coupling devices, or either of their cooperating parts, characterised by their overall structure
    • H01R24/005—Two-part coupling devices, or either of their cooperating parts, characterised by their overall structure requiring successive relative motions to complete the coupling, e.g. bayonet type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables

Definitions

  • the invention relates to the technical field of power transmission line construction robots, in particular to a robot carrying rope and wire live working robot.
  • the embodiments of the present invention provide a robot carrying rope and wire live working robot, which can avoid being affected by electromagnetic interference when the robot is close to the power transmission wire, and ensure the safety of the robot operation.
  • An embodiment of the present invention provides a robot hanging rope, and a wire-powered working robot is hung on the wire through the robot hanging rope, including:
  • Insulated rope segment Insulated rope segment
  • a connecting section, the insulating rope section is sewed with the metal rope section through the connecting section.
  • the connecting section includes a suture line, and the metal rope section is joined with the insulating rope section through the suture line.
  • the insulating rope segment is woven from man-made fibers or natural fibers.
  • the metal rope segment is woven from copper wire.
  • the connecting section is made of fibers.
  • Another embodiment of the present invention correspondingly provides a wire live working robot, which is characterized by comprising: a robot body, a lifting mechanism and the above-mentioned robot hanging rope;
  • the robot body is hung on the wire through the robot hanging rope; the robot body is provided with an electric rod;
  • the lifting mechanism includes two take-up winches symmetrically arranged on the robot body, and the robot hanging ropes are attached to the wire take-up winches to drive the wire take-up winches to rotate and make the robot body The whole rises, so that when the metal rope segment in the robot hanging rope is in contact with the electricity receiving rod, the electrified connection action is completed.
  • the wire live working robot further includes a walking mechanism
  • the walking mechanism includes a walking wheel, so as to drive the walking wheel to walk on the wire so that the robot body moves along the wire.
  • a robot carrying rope and wire live working robot disclosed in the embodiment of the present invention has the following beneficial effects:
  • the robot hanging rope includes an insulating rope segment, a metal rope segment and a connecting segment; by setting the connecting segment, the insulating rope segment and the metal rope segment are sewn together; the insulating rope segment is close to the wire.
  • Partially covering the metal rope segment provides a live access channel when the robot rises to a certain position during the live online process of the robot, so that the robot can avoid the influence of electromagnetic interference and ensure the safety of the robot operation.
  • the wire live working robot includes: a robot body, a lifting mechanism and a robot hanging rope.
  • the robot body is hung on the wire through the robot hanging rope, and a power receiving rod is arranged on the robot body.
  • the mechanism includes two take-up winches symmetrically arranged on the robot body, and the robot hanging ropes are tied on the wire take-up winches to drive the wire take-up winches to rotate and make the robot body rise as a whole, When the metal rope segment in the robot hanging rope is in contact with the power receiving rod, the live access action is completed, so that the robot can avoid being affected by electromagnetic interference when it approaches the power transmission wire, and the safety of the robot operation is ensured.
  • FIG. 1 is a schematic structural diagram of a robot carrying rope according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a wire live working robot according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a live wire working robot completing a live access action provided by an embodiment of the present invention.
  • FIG. 1 it is a schematic structural diagram of a robot hanging rope provided by an embodiment of the present invention.
  • the wire live working robot is hung on the wire 5 through the robot hanging rope 1 , and the robot hanging rope 1 includes:
  • Insulating rope segment 11 Insulating rope segment 11;
  • a connecting segment 13 , the insulating rope segment 11 is sewed with the metal rope segment 12 through the connecting segment 13 .
  • the robot hanging rope 1 is suitable for the occasion where a live working robot or a live working tool is mounted on a 400V-1100kV transmission line.
  • the entire section of the robot carrying rope 1 is composed of an insulating rope section 11 , and a portion of the insulating rope section 11 close to the wire 5 is covered with a metal rope section 12 .
  • the robot carrying rope 1 is used to mount the wire working robot, so that the robot body 2 is insulated from the ground, and is lifted to the wire 5 to complete the action of going on and off the line with electricity.
  • the robot carrying rope 1 is used to provide a channel for electrified access of a high-voltage electric field when the robot rises to a certain position during the live-on-line process of the robot, so that the robot can avoid being affected by electromagnetic interference.
  • the connecting segment 13 is made of fiber, and can also be made of other metals, in order to achieve the function of sewing the insulating rope segment 11 and the metal rope segment 12 .
  • the connecting section 13 includes a suture line 131 , and the metal rope section 12 is joined with the insulating rope section 11 through the suture line 131 .
  • the insulating rope segment 11 can be woven from man-made fibers or natural fibers to implement a live working robot carrying wires so that the robot body is insulated from the ground.
  • the metal rope segment 12 is implemented in the process of the robot being powered online, and when the robot rises to a certain position, a channel for live access is provided, so that the robot can avoid being affected by electromagnetic interference.
  • the metal rope segment 12 is woven from copper wire, and can also be woven from other metal materials.
  • An embodiment of the present invention provides a robot hanging rope.
  • the robot hanging rope includes an insulating rope section, a metal rope section and a connecting section; by setting the connecting section, the insulating rope section and the metal rope section are sewn together.
  • the part of the insulating rope segment close to the wire is covered with the metal rope segment, so that in the process of the robot being powered on, a live access channel is provided when the robot rises to a certain position, so that the robot can avoid electromagnetic interference It ensures the safety of robot operation.
  • FIG. 2 it is a schematic structural diagram of a live wire working robot provided by an embodiment of the present invention.
  • the wire live working robot includes: a robot body 2 , a lifting mechanism 3 and the above-mentioned robot hanging rope 1 ;
  • the robot body 2 is hung on the wire 5 through the robot hanging rope 1; the robot body 2 is provided with an electric rod 21;
  • the lifting mechanism 3 includes two wire take-up winches 31 symmetrically arranged on the robot body 2 , and the robot hanging rope 1 is tied to the wire take-up winches 31 to drive the wire take-up winches 31 .
  • the rotation causes the robot body 2 to rise as a whole, so that when the metal rope segment 12 in the robot hanging rope 1 is in contact with the electricity receiving rod 21 , the live connection action is completed.
  • the wire working robot further includes a walking mechanism 4;
  • the walking mechanism 4 includes a walking wheel 41 , so as to drive the walking wheel 41 to walk on the wire 5 so that the robot body 2 moves along the wire.
  • FIG. 2 when the wire live working robot is on the ground, the hanging rope is hung above the wire 5 , and the metal rope segments 12 are evenly arranged in the insulating rope segment 11 near both ends of the wire 5 , and are connected with the wire 5 is charged in contact, and the insulating rope section 11 bears the voltage of the conductor 5 to the ground.
  • FIG. 3 it is a schematic structural diagram of a live wire working robot provided by an embodiment of the present invention to complete the live access action.
  • the insulating rope section is continuously shortened, and the robot body 2 rises as a whole .
  • the power receiving rod 21 will be connected with the metal rope section 12, thereby realizing live access.
  • the walking mechanism 4 includes a rotating arm 42 for connecting the robot body 2 and the walking wheel 41 , and when the robot body 2 rises to a certain position, controls the rotating arm 42 The walking wheel 41 is placed on the wire 5, and the hanging rope is appropriately loosened, so that the robot is placed on the wire.
  • An embodiment of the present invention provides a live wire working robot.
  • the wire live working robot includes a robot body, a lifting mechanism, and a robot hanging rope.
  • the robot body is hung on the wire through the robot hanging rope.
  • the robot body is provided with a power-receiving rod, and the lifting mechanism includes two wire take-up winches symmetrically arranged on the robot body.
  • the rotation of the wire take-up winch makes the robot body rise as a whole, so that when the metal rope segment in the robot's hanging rope is in contact with the power receiving rod, the live access action is completed, so that the robot can avoid being affected when it is close to the power transmission wire.
  • the influence of electromagnetic interference ensures the safety of robot operation.

Abstract

本发明公开了一种机器人挂载绳及导线带电作业机器人，导线带电作业机器人通过机器人挂载绳挂设在导线上，机器人挂载绳包括：绝缘绳段；金属绳段，绝缘绳段靠近导线的部分覆盖有金属绳段；接续段，绝缘绳段通过接续段与金属绳段缝接。导线带电作业机器人包括：机器人本体、上升机构及机器人挂载绳；机器人本体，通过机器人挂载绳挂设在导线上；机器人本体上设有接电棒；上升机构包括两个于机器人本体上对称设置的收线绞盘，收线绞盘上均系有机器人挂载绳，以实现驱动收线绞盘转动令机器人本体整体上升，使得当机器人挂载绳中的金属绳段与接电棒接触时，完成带电接入动作。本发明实现机器人靠近输电导线时避免受到电磁干扰的影响。

Description

一种机器人挂载绳及导线带电作业机器人 技术领域
本发明涉及输电线路施工机器人技术领域，尤其涉及一种机器人挂载绳及导线带电作业机器人。
背景技术
输电线路作为能源输送命脉，其供电可靠性不可轻易中断，此外考虑到输电线路的带电运行，一些行走监测机器人、除冰机器人等、涂料机器人等往往需要挂载到导线上并与导线等电位才能开展作业。在机器人进入电场时，由于机器人本体的电容效应，当机器人逐渐靠近高压线路时，一旦导线与机器人本体之间的电场高于临界值，两者之间将会发生明显的放电过程，高频放电将产生强烈的电磁干扰，可能会使得机器人遥控模块或者电路发生瘫痪。
发明内容
本发明实施例提供一种机器人挂载绳及导线带电作业机器人，实现机器人靠近输电导线时可避免受到电磁干扰的影响，保证了机器人作业的安全性。
本发明一实施例提供一种机器人挂载绳，导线带电作业机器人通过所述机器人挂载绳挂设在导线上，包括：
绝缘绳段；
金属绳段，所述绝缘绳段靠近所述导线的部分覆盖有所述金属绳段；
接续段，所述绝缘绳段通过所述接续段与所述金属绳段缝接。
作为上述方案的改进，所述接续段包括缝接线，通过所述缝接线将所述金属绳段与所述绝缘绳段接合。
作为上述方案的改进，所述绝缘绳段由人造纤维或天然纤维编织而成。
作为上述方案的改进，所述金属绳段由铜线编织而成。
作为上述方案的改进，所述接续段由纤维制成。
本发明另一实施例对应提供了一种导线带电作业机器人，其特征在于，包括：机器人本体、上升机构及上述的机器人挂载绳；
所述机器人本体，通过所述机器人挂载绳挂设在导线上；所述机器人本体上设有接电棒；
所述上升机构包括两个于所述机器人本体上对称设置的收线绞盘，所述收线绞盘上均系有所述机器人挂载绳，以实现驱动所述收线绞盘转动令所述机器人本体整体上升，使得当所述机器人挂载绳中的金属绳段与所述接电棒接触时，完成带电接入动作。
作为上述方案的改进，所述导线带电作业机器人还包括行走机构；
所述行走机构包括行走轮，以实现驱动所述行走轮在所述导线上行走令所述机器人本体沿所述导线移动。
与现有技术相比，本发明实施例公开的一种机器人挂载绳及导线带电作业机器人，具有如下有益效果：
所述机器人挂载绳包括绝缘绳段，金属绳段及接续段；通过设置接续段，实现将所述绝缘绳段与所述金属绳段缝接；通过所述绝缘绳段靠近所述导线的部分覆盖所述金属绳段，实现在机器人带电上线过程中，当机器人上升到一定位置时提供一个带电接入的渠道，使得机器人避免受到电磁干扰的影响，保证了机器人作业的安全性。
所述导线带电作业机器人包括：机器人本体、上升机构及机器人挂载绳，所述机器人本体，通过所述机器人挂载绳挂设在导线上，所述机器人本体上设有接 电棒，所述上升机构包括两个于所述机器人本体上对称设置的收线绞盘，所述收线绞盘上均系有所述机器人挂载绳，以实现驱动所述收线绞盘转动令所述机器人本体整体上升，使得当所述机器人挂载绳中的金属绳段与所述接电棒接触时，完成带电接入动作，从而实现机器人靠近输电导线时可避免受到电磁干扰的影响，保证了机器人作业的安全性。
附图说明
图1是本发明一实施例提供的一种机器人挂载绳的结构示意图；
图2是本发明一实施例提供的一种导线带电作业机器人的结构示意图；
图3是本发明一实施例提供的导线带电作业机器人完成带电接入动作的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
参见图1，是本发明一实施例提供的一种机器人挂载绳的结构示意图，导线带电作业机器人通过所述机器人挂载绳1挂设在导线5上，所述机器人挂载绳1包括：
绝缘绳段11；
金属绳段12，所述绝缘绳段11靠近所述导线5的部分覆盖有所述金属绳段12；
接续段13，所述绝缘绳段11通过所述接续段13与所述金属绳段12缝接。
本实施例中，机器人挂载绳1适用于400V-1100kV的输电线路挂载带电作业 机器人或者带电作业工器具的场合。具体的，机器人挂载绳1全段均由绝缘绳段11构成，绝缘绳段11靠近所述导线5的部分覆盖有金属绳段12。机器人挂载绳1用于挂载导线作业机器人，使得机器人本体2与地面绝缘，并将其提升至导线5上，完成带电上下线的动作。其次，机器人挂载绳1用于在机器人带电上线过程中，当机器人上升到一定位置时提供一个高压电场带电接入的渠道，使得机器人避免受到电磁干扰的影响。
在一些实施例中，接续段13为实现对绝缘绳段11和金属绳段12进行缝接的功能，所述接续段13采用纤维制成，也可以采用其他金属制成。具体的，所述接续段13包括缝接线131，通过所述缝接线131将所述金属绳段12与所述绝缘绳段11接合。
在一些实施例，绝缘绳段11实现挂载导线带电作业机器人使得机器人本体与地面绝缘，则所述绝缘绳段11可由人造纤维或天然纤维编织而成。
在一些实施例，金属绳段12实现在机器人带电上线过程中，当机器人上升到一定位置时提供一个带电接入的渠道，使得机器人避免受到电磁干扰的影响。为实现上述功能，所述金属绳段12由铜线编织而成，亦可由其他金属材料编织而成。
本发明实施例提供的一种机器人挂载绳，所述机器人挂载绳包括绝缘绳段，金属绳段及接续段；通过设置接续段，实现将所述绝缘绳段与所述金属绳段缝接；通过所述绝缘绳段靠近所述导线的部分覆盖所述金属绳段，实现在机器人带电上线过程中，当机器人上升到一定位置时提供一个带电接入的渠道，使得机器人避免受到电磁干扰的影响，保证了机器人作业的安全性。
参见图2，是本发明一实施例提供的一种导线带电作业机器人的结构示意图，导线带电作业机器人包括：机器人本体2、上升机构3及上述的机器人挂载绳1；
所述机器人本体2，通过所述机器人挂载绳1挂设在导线5上；所述机器人 本体2上设有接电棒21；
所述上升机构3包括两个于所述机器人本体2上对称设置的收线绞盘31，所述收线绞盘31上均系有所述机器人挂载绳1，以实现驱动所述收线绞盘31转动令所述机器人本体2整体上升，使得当所述机器人挂载绳1中的金属绳段12与所述接电棒21接触时，完成带电接入动作。
在一些实施例中，请参见图2，所述导线带电作业机器人还包括行走机构4；
所述行走机构4包括行走轮41，以实现驱动所述行走轮41在所述导线5上行走令所述机器人本体2沿所述导线移动。
具体的，请参见图2，当导线带电作业机器人处于地面状态时，挂载绳挂设在导线5上方，金属绳段12平均布置在绝缘绳段11中靠近导线5的两端，并与导线5接触带电，绝缘绳段11承受导线5对地电压。利用收线绞盘31旋转收紧或者放松挂载绳，实现机器人上升或者下降。参见图3，是本发明一实施例提供的导线带电作业机器人完成带电接入动作的结构示意图，随着收线绞盘31旋转收紧挂载绳，绝缘绳段不断变短，机器人本体2整体上升。当挂载绳收紧到一定的位置时，由于挂载绳的金属绳段12逐步靠近接电棒21，接电棒21将会与金属绳段12相连接，从而实现带电接入。
在一些实施例中，请参见图2和图3，所述行走机构4包括旋转臂42，用于连接机器人本体2与行走轮41，并当机器人本体2上升到一定位置时，控制旋转臂42使得行走轮41置于到导线5上，适当放松挂载绳，使得机器人架在导线上。
本发明实施例提供的一种导线带电作业机器人，所述导线带电作业机器人包括：机器人本体、上升机构及机器人挂载绳，所述机器人本体，通过所述机器人挂载绳挂设在导线上，所述机器人本体上设有接电棒，所述上升机构包括两个于所述机器人本体上对称设置的收线绞盘，所述收线绞盘上均系有所述机器人挂载绳，以实现驱动所述收线绞盘转动令所述机器人本体整体上升，使得当所述机器 人挂载绳中的金属绳段与所述接电棒接触时，完成带电接入动作，从而实现机器人靠近输电导线时可避免受到电磁干扰的影响，保证了机器人作业的安全性。
以上所述是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。

Claims (7)

  1. 一种机器人挂载绳，其特征在于，导线带电作业机器人通过所述机器人挂载绳挂设在导线上，包括：
    绝缘绳段；
    金属绳段，所述绝缘绳段靠近所述导线的部分覆盖有所述金属绳段；
    接续段，所述绝缘绳段通过所述接续段与所述金属绳段缝接。
  2. 如权利要求1所述的机器人挂载绳，其特征在于，所述接续段包括缝接线，通过所述缝接线将所述金属绳段与所述绝缘绳段接合。
  3. 如权利要求1所述的机器人挂载绳，其特征在于，所述绝缘绳段由人造纤维或天然纤维编织而成。
  4. 如权利要求1所述的机器人挂载绳，其特征在于，所述金属绳段由铜线编织而成。
  5. 如权利要求1所述的机器人挂载绳，其特征在于，所述接续段由纤维制成。
  6. 一种导线带电作业机器人，其特征在于，包括：机器人本体、上升机构及如权利要求1至5任一项所述的机器人挂载绳；
    所述机器人本体，通过所述机器人挂载绳挂设在导线上；所述机器人本体上设有接电棒；
    所述上升机构包括两个于所述机器人本体上对称设置的收线绞盘，所述收线绞盘上均系有所述机器人挂载绳，以实现驱动所述收线绞盘转动令所述机器人本体整体上升，使得当所述机器人挂载绳中的金属绳段与所述接电棒接触时，完成带电接入动作。
  7. 如权利要求6所述的导线带电作业机器人，其特征在于，所述导线带电作业机器人还包括行走机构；
    所述行走机构包括行走轮，以实现驱动所述行走轮在所述导线上行走令所述机器人本体沿所述导线移动。
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