CN-119610145-B - Multi-functional type robot for eliminating deficiency

CN119610145BCN 119610145 BCN119610145 BCN 119610145BCN-119610145-B

Abstract

The application relates to the technical field of maintenance of ultra-high voltage transmission lines, in particular to a multifunctional defect eliminating robot which comprises a frame, a distance adjusting structure, a line distance adjusting structure and a mechanical arm, wherein the distance adjusting structure is arranged on the frame, the line distance adjusting structure is arranged on the distance adjusting structure, the mechanical arm is arranged on the frame, a defect eliminating tool or a pin supplementing tool is connected to the mechanical arm, the pin supplementing tool comprises a mounting table, a horizontal displacement structure, a vertical translation structure, a pin box, a pin clamping jaw, a cost device and a nut clamping jaw, the horizontal displacement structure is arranged on the mounting table, the vertical translation structure is arranged in the mounting table, the cost device is arranged at the front end of the mounting table, and the nut clamping jaw is arranged above the cost device. Therefore, the multifunctional defect eliminating robot is used for solving the technical problems that the prior art is stopped at the inspection or foreign matter cleaning stage, and although some device technologies can achieve repair work, the defect eliminating robot is mostly single in operation.

Inventors

ZHOU ZIJIAN
YI YANG
ZHANG XUZHAO
WU TAO
LIU HONGJI
LI GANGTAO
Zuo Hangyu

Assignees

国网河北省电力有限公司超高压分公司
国家电网有限公司

Dates

Publication Date: 20260505
Application Date: 20241107

Claims (8)

1. The multifunctional defect eliminating robot is characterized by comprising a frame (1), a spacing adjusting structure arranged on the frame (1), a line spacing adjusting structure arranged on the spacing adjusting structure and a mechanical arm (2) arranged on the frame (1), wherein a defect eliminating tool or a pin supplementing tool is connected to the mechanical arm (2); The pin supplementing tool comprises a mounting table (3), a horizontal displacement structure mounted on the mounting table (3), a vertical translation structure mounted on the horizontal displacement structure, a pin box mounted inside the mounting table (3), pin clamping jaws mounted on the vertical translation structure, and a spending device and a nut clamping jaw mounted at the front end of the mounting table (3), wherein the nut clamping jaw is positioned above the spending device; The nut clamping jaw comprises a sixth motor (33) arranged in the mounting table (3), a deflector rod (34) is rotatably connected to the power output end of the sixth motor (33), a push-pull rod (35) is hinged to the deflector rod (34), a first limiting block (36) is arranged on the push-pull rod (35), a first stop block (37) matched with the first limiting block (36) is arranged on the outer wall of the mounting table (3), a first connecting rod (38) is arranged at the front end of the mounting table (3), clamping plates (39) are arranged at the front end of the mounting plate, two clamping plates (39) are arranged, one ends of the two clamping plates (39) are hinged to the mounting table (3), a second rotating rod (40) is hinged to the other end of the push-pull rod (35), a pull rod (41) is arranged between the second rotating rod (40) and the clamping plates (39), the pull rod (41) is hinged to the first connecting rod (38), and two ends of the pull rod (41) are hinged to the second rotating rod (40) respectively; The overhead device comprises a shell (48) arranged at the front end of the mounting table (3), the shell (48) is hinged with the first connecting rod (38), an eighth motor (49) used for vertically displacing the shell (48) is arranged in the mounting table (3), a second connecting rod (50) is connected to the power output end on one side of the eighth motor (49), two ends of the second connecting rod (50) are hinged with the shell (48) and the power output end on one side of the eighth motor (49) respectively, a second limiting block (51) is arranged at the power output end on the other side of the eighth motor (49), and a second limiting block (52) matched with the second limiting block (51) is arranged on the outer wall of the mounting table (3); Be provided with ninth motor (53) on shell (48), fixedly connected with first gear (54) on the power take off of ninth motor (53), first gear (54) meshing have second gear (55) with rotate between shell (48) and be connected, second gear (55) are provided with two second gear (55) rotate to opposite, two all be provided with third gear (56) on second gear (55), two all mesh on third gear (56) have bending block (57), be provided with draw-in groove (58) that are used for the fixed of pin on bending block (57), fixed mounting has fixed plate (59) on shell (48), fixed plate (59) are located between third gear (56) with bending block (57), bending block (57) with rotate between fixed plate (59) and be connected.
2. The multifunctional defect eliminating robot according to claim 1, wherein the line spacing adjusting structure comprises a first electric push rod (4), a first supporting leg (5) and a second supporting leg (6) which are arranged on the spacing adjusting structure, a mounting seat (7) is hinged on the first supporting leg (5) and the second supporting leg (6), a pressing wheel (8) is arranged on the mounting seat (7), a travelling wheel (9) is arranged above the pressing wheel (8), and a first motor (10) for providing power for the travelling wheel (9) is connected.
3. The multifunctional defect eliminating robot according to claim 2, wherein the travelling wheel (9) is formed by splicing two frustums, teeth are arranged on the frustums close to one side of the frame (1) and connected through the guide posts (11), the teeth are arranged on one side with larger diameter of the frustums, the travelling wheel (9) is connected with the power first motor (10) through a fourth gear (12), and the fourth gear (12) is meshed with teeth arranged on the frustums.
4. A multi-functional defect eliminating robot according to claim 3, wherein the travelling wheels (9) are provided with four wheels and are respectively arranged at four corners of the frame (1), and corresponding pinch rollers (8) are arranged below each travelling wheel (9).
5. The multifunctional defect eliminating robot according to claim 1, wherein the mechanical arm (2) is installed at the front end of the frame (1), an extending structure (13) is arranged at the front end of the mechanical arm (2), the extending structure (13) is slidably connected with the mechanical arm (2), a second motor (14) is installed on the mechanical arm (2), a screw (15) is arranged between the second motor (14) and the extending structure (13), one end of the screw (15) is fixedly connected with the power output end of the second motor (14), the other end of the screw is in threaded connection with the extending structure (13) in a penetrating mode, and an installation interface for installing a rotating pin supplementing tool is arranged at the end, deviating from the mechanical arm (2), of the extending structure (13).
6. The multifunctional defect eliminating robot according to claim 1, wherein guide rails (16) are arranged between the horizontal displacement structure and the mounting table (3), two guide rails (16) are arranged, the two guide rails (16) are arranged on two sides of the mounting table (3) in parallel, racks (18) are arranged between the two guide rails (16), the horizontal displacement structure comprises a bottom plate (19), the bottom plate (19) is located above the guide rails (16), a sliding block matched with the guide rails (16) is arranged on the bottom plate (19), a third motor (20) is arranged on the bottom plate (19), a power gear (21) is arranged on a power output end of the third motor (20), a driven gear (22) is arranged between the power gear (21) and the racks (18), and the driven gear (22) is rotationally connected with the bottom plate (19).
7. The multifunctional defect eliminating robot according to claim 6, wherein a fourth motor (24) is installed below a top plate (23) of the horizontal displacement structure, a lifting rod (25) is arranged between the top plate (23) and the bottom plate (19), two ends of the lifting rod (25) are respectively in rotary connection with the top plate (23) and the bottom plate (19), threads are arranged in the middle of the lifting rod (25), two lifting rods (25) are arranged, one end of each lifting rod (25) located on the top plate (23) is provided with a belt pulley (26), the belt pulleys (26) are connected with the power output end of the fourth motor (24) through a transmission belt (27), two sliding rails (61) are arranged between the bottom plate (19) and the top plate (23), and the two sliding rails (61) are located behind the two lifting rods (25) respectively; A fifth motor (28) is arranged between the two sliding rails (61), two sides of the fifth motor (28) are respectively connected with the sliding rails (61) in a sliding mode through sliding parts, each pin clamping jaw comprises a lifting table (29) which is connected with two lifting rods (25) in a penetrating threaded mode, a first rotating rod (30) is fixedly connected to the power output end of each fifth motor (28), clamping arms (31) are hinged to the lifting table (29), two clamping arms (31) are arranged, a connecting rod (32) is hinged between the two clamping arms (31), the connecting rod (32) is connected with the first rotating rod (30) in a rotating mode through connecting parts, and one sides, close to the sliding rails (61), of the two clamping arms (31) are arranged in a splayed mode.
8. The multifunctional defect eliminating robot according to claim 1, wherein the pin box comprises a seventh motor (42) arranged in the middle of the mounting table (3), and a pin device connected with the seventh motor (42) through a conveyor belt (43), the pin device is rotatably connected with the inner wall of the mounting table (3), the pin device comprises a pin box (45) and a rotating wheel (46), a pin hole (47) for storing pins is formed in the pin box (45), and the rotating wheel (46) is positioned on one side of the pin box (45) and fixedly connected with the pin box (45).

Description

Multi-functional type robot for eliminating deficiency Technical Field The application relates to the technical field of maintenance of ultra-high voltage transmission lines, in particular to a multifunctional defect eliminating robot. Background The transmission line is used as a core component of the transmission network and plays a vital role in ensuring the safe, economical and reliable operation of the transmission network. However, due to its wide distribution range and the often faced complex geographical environment, the transmission line is extremely susceptible to various adverse conditions, resulting in operational failure. The faults not only directly threaten the safe and reliable operation of the circuit, but also can cause large-area power failure when serious, and bring great loss to social life and economic development. Of particular note, low frequency vibrations caused by breezes (also known as sub-span vibrations or jerks) pose a serious challenge to the long-term reliability of the transmission line. Such vibrations have a significant negative impact on key components of the link fitting, such as the yoke plate, spacer, and weight. These gold fittings are important elements for ensuring the correct fixation of the wire and the insulator string, and the loosening or missing of the nuts and the pins can obviously reduce the tightness of the gold fittings, thereby affecting the stability of the wire and increasing the risk of line faults. Currently, the maintenance work of a power transmission line mainly depends on manual live working, which not only requires operators to carry out high-intensity labor in a severe working environment, but also greatly threatens the personal safety of the operators by a strong electric field. Particularly, in the equipotential operation, the difficulty and the danger of manual operation are obviously increased due to the limitation of the distance between the cross arms and the space between the cross arms. To overcome these challenges, research and practice of live working of electric transmission lines using unmanned aerial vehicles, electric lifting devices, and other automation and remote control techniques has been initiated in the prior art. However, these technologies are currently only applied to simple tasks such as inspection and cleaning of foreign matters, and for more complex repair work, although some device technologies are available, they are often only suitable for a single operation scene, and a comprehensive solution is lacking. Therefore, in view of the above-mentioned problems in the background art, the present invention aims to provide a one-machine multi-functional type defect eliminating robot, so as to overcome the limitations of the prior art and meet the urgent needs of practical applications. Disclosure of Invention Based on the above problems, the application provides a multifunctional defect eliminating robot which is used for solving the technical problems that in the prior art, the defect eliminating robot stays at the inspection or foreign matter cleaning stage, and although some device technologies can achieve repair work, most of the device technologies are single operation. In order to solve the technical problems, the invention adopts the following technical scheme: The multifunctional defect eliminating robot comprises a frame, a spacing adjusting structure arranged on the frame, a line spacing adjusting structure arranged on the spacing adjusting structure and a mechanical arm arranged on the frame, wherein a defect eliminating tool or a pin supplementing tool is connected to the mechanical arm; The pin supplementing tool comprises an installation table, a horizontal displacement structure arranged on the installation table, a vertical translation structure arranged on the horizontal displacement structure, a pin box arranged inside the installation table, a pin clamping jaw arranged on the vertical translation structure, a spending device and a nut clamping jaw arranged at the front end of the installation table, wherein the nut clamping jaw is arranged above the spending device. In a specific embodiment, the line spacing adjustment structure comprises a first electric push rod, a first supporting leg and a second supporting leg, wherein the first electric push rod and the second supporting leg are installed on the spacing adjustment structure, a mounting seat is hinged to the first supporting leg and the second supporting leg, a pressing wheel is installed on the mounting seat, a travelling wheel is installed above the pressing wheel, and the travelling wheel is connected with a first motor for providing power for the travelling wheel. In a specific implementation mode, the travelling wheel is formed by splicing two frustums, the spliced part is connected through a guide post, teeth are arranged on the frustums close to one side of the frame and are arranged on one side with larger diameter of the frustums, the trav