CN-121983874-A - High-voltage transmission line operation robot

CN121983874ACN 121983874 ACN121983874 ACN 121983874ACN-121983874-A

Abstract

The invention discloses a high-voltage transmission line operation robot which comprises a robot body, a walking unit, a cutting unit, a spraying unit, a vision unit and a control unit, wherein the robot body comprises a bearing platform and a bearing bracket fixed above the bearing platform, the walking unit is arranged on the robot body, the operation unit is arranged on one side of the bearing bracket and is used for cutting a suspended object on a high-voltage transmission line or conducting silver paste spraying operation on a strain clamp on the high-voltage transmission line, the vision unit is arranged on the robot body and is used for realizing inspection of the high-voltage transmission line and working state monitoring of the robot, and the control unit is fixed on the bearing platform. The robot provided by the invention has the functions of walking on the high-voltage transmission line, cutting suspended objects, spraying conductive silver paste of the strain clamp, inspecting the transmission line and the like, does not need personnel to contact the high-voltage transmission line during live working, and is high in reliability and safety.

Inventors

LI LIPING
YANG CHUNLIN
Zheng Huoxin
WANG FAN

Assignees

厦门声百思信息科技有限公司

Dates

Publication Date: 20260505
Application Date: 20231124

Claims (13)

1. A high voltage power transmission line work robot, comprising: The robot body comprises a bearing platform and a bearing bracket fixed above the bearing platform; The walking unit is arranged on the robot body and used for enabling the robot to walk on the high-voltage transmission line; the operation unit is arranged on one side of the bearing bracket and is used for realizing cutting treatment on suspended matters on the high-voltage transmission line or conducting silver paste spraying action on a strain clamp on the high-voltage transmission line; the visual unit is arranged on the robot body and is used for realizing inspection of the high-voltage transmission line and monitoring of the working state of the robot; And the control unit is fixed on the bearing platform, and the walking unit, the operation unit and the vision unit are respectively and electrically connected with the control unit.
2. The high-voltage transmission line operation robot of claim 1, wherein the bearing support comprises two vertical support rods and horizontal support rods fixedly connected with the two vertical support rods respectively, the vertical support rods and the horizontal support rods are hollow carbon fiber tubes, two insulating rubber seats are fixedly arranged at the top of the bearing platform, and the bottoms of the two vertical support rods are respectively fixed on the two insulating rubber seats.
3. The high-voltage transmission line operation robot according to claim 1, wherein the traveling unit comprises two groups of traveling assemblies symmetrically arranged on the left side and the right side of the bearing support, and the traveling assemblies comprise a rotating shaft rotatably arranged on the upper portion of the bearing support, traveling wheels connected with one end of the rotating shaft, a first belt pulley connected with the other end of the rotating shaft, a driving motor fixed on the base, a second belt pulley connected with the shaft end of the driving motor, and a driving belt for driving and connecting the first belt pulley and the second belt pulley.
4. A high-voltage transmission line operation robot according to claim 3, wherein the travelling wheel comprises a wheel body and two limit bodies symmetrically arranged at two ends of the wheel body, the wheel body comprises an inner grooved wheel used for travelling on a transmission line and two outer grooved wheels extending outwards from two ends of the inner grooved wheel towards the circumferential direction and used for obstacle crossing, one side of each outer grooved wheel close to each inner grooved wheel is provided with an inclined surface which is convenient for the transmission line to slide in, the outer annular surfaces of the inner grooved wheels and the outer grooved wheels are of gear-shaped structures, and the circumferential dimension of the limit bodies is larger than that of each outer grooved wheel.
5. The high-voltage transmission line operation robot according to claim 4, wherein the outer surfaces of the inner grooved pulley and the outer grooved pulley are respectively and closely coated with a wear-resistant insulating rubber layer, and the thickness of the wear-resistant insulating rubber layer is 3-6mm.
6. The high-voltage transmission line operation robot according to claim 4, wherein the wheel body and the two limiting bodies are of an integrated structure.
7. The high-voltage transmission line operation robot as claimed in claim 6, wherein the limit body comprises a fixed ring and a plurality of blades which are formed by extending outwards towards the circumference of the fixed ring, and the blades are provided with first wind through holes for reducing wind resistance.
8. The high-voltage transmission line operation robot as claimed in claim 6, wherein the limiting body is of a disc-shaped structure, and a plurality of second wind through holes for reducing wind resistance are formed in the surface of the limiting body.
9. A high-voltage transmission line operation robot is characterized in that the visual unit comprises a first visual component and a second visual component, wherein the first visual component is used for inspecting a transmission line and monitoring the on-line state of the robot, the second visual component is used for monitoring the working state of the operation unit, the first visual component comprises a supporting rod fixed on a supporting bracket, a first camera fixed at the tail end of the supporting rod and positioned right above the middle of two traveling wheels, and two second cameras fixed on a supporting platform and respectively positioned right below the two traveling wheels, the second visual component comprises a supporting seat fixed on the supporting platform, a sliding table slidably mounted on the supporting seat and a third camera fixed on the sliding table, and locking pieces used for locking and fixing the sliding table are arranged on the side edges of the sliding table.
10. The high-voltage transmission line operation robot as claimed in claim 1, wherein the operation unit is a cutting unit, the cutting unit is fixed on a fixed frame on the bearing support, a cutting motor fixedly arranged on the side edge of the fixed frame, and a cutting blade connected with the shaft end of the cutting motor.
11. The high-voltage transmission line operation robot is characterized in that the operation unit is a spraying unit, the spraying unit comprises a working frame, a conductive silver paste feeding assembly, a spraying assembly, a driving assembly and a controller, the working frame is fixed on the bearing support, the conductive silver paste feeding assembly comprises a conductive silver paste liquid storage barrel and a high-pressure pump which are fixed at the bottom of the working frame, a liquid inlet of the high-pressure pump is connected with the conductive silver paste liquid storage barrel through a liquid inlet pipe, a liquid outlet is connected with a liquid outlet pipe, the spraying assembly comprises a U-shaped transmission pipe and two nozzles arranged at the inner sides of two ends of the U-shaped transmission pipe, a paddle inlet is formed in the U-shaped transmission pipe, the paddle inlet is connected with the liquid outlet pipe, the driving assembly is arranged on the side edge of the working frame, the U-shaped transmission pipe is connected with the driving assembly and can move and rotate under the driving of the driving assembly, and the controller is fixed at the bottom of the working frame, and the conductive silver paste feeding assembly and the driving assembly are respectively connected with the controller.
12. The high-voltage transmission line operation robot of claim 11, wherein one side of the working frame is provided with an inclined plate, the driving assembly is installed on the inclined plate, the driving assembly comprises a supporting seat fixed on the inner side of the inclined plate, a screw guide rail module fixed on the supporting seat, a sliding block installed on the screw guide rail module and capable of sliding along the inclined direction of the inclined plate, a supporting rod fixedly connected with the sliding block and one end of the sliding block penetrates out of the inclined plate outwards, a rotary steering engine fixed at the tail end of the supporting rod and a supporting disc connected with the rotary steering engine, the side edge of the U-shaped transmission tube is fixed on the supporting disc, and a yielding groove is formed in the inclined plate along the movable track of the supporting rod.
13. The robot for high voltage transmission line operation of claim 11, wherein the U-shaped transmission pipe comprises a connecting pipe, a first pipe body and a second pipe body which are respectively communicated with two ends of the connecting pipe, the two nozzles are respectively arranged at the inner sides of the tail ends of the first pipe body and the second pipe body and are opposite, the length of the first pipe body is larger than that of the second pipe body, and reinforcing strips are respectively arranged at the corners of the first pipe body and the connecting pipe and at the corners of the second pipe body and the connecting pipe.

Description

High-voltage transmission line operation robot Technical Field The invention relates to the technical field of power transmission line operation equipment, in particular to a high-voltage power transmission line operation robot. Background Overhead high-voltage transmission lines are arteries of the power system, and the running state of the overhead high-voltage transmission lines directly determines the safety and benefit of the power system. At present, the working environment of an overhead high-voltage transmission line is severe, and the overhead high-voltage transmission line is exposed in the field all the time and is very easily influenced by environmental and geographical factors, so that certain maintenance work, such as live inspection, foreign matter removal, strain clamp bolt loosening treatment and the like, needs to be carried out on the line regularly or irregularly in order to ensure the normal operation of the transmission line. At present, various faults and regular inspection and examination of a high-voltage transmission line are usually completed manually, a large amount of manpower and material resources are needed to be input by adopting a manual inspection mode, the working efficiency is low, the safety risk is high, the operation is slightly careless, the life danger is brought to workers, the operation quality of manual maintenance is difficult to ensure, so that robots capable of operating on the high-voltage transmission line gradually appear on the market to replace the manual work, but the existing high-voltage transmission line operation robot has single function and can only realize one of the functions of inspection/deicing/foreign matter removal and the like, and meanwhile, the existing operation robot also generally has the obvious defects of large volume, large weight, complex structure and the like. Disclosure of Invention Aiming at the technical problems in the background technology, the invention aims to provide a multifunctional high-voltage transmission line operation robot which has reasonable structural design and high integration level and can complete various operation tasks. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a high voltage power line work robot comprising: The robot body comprises a bearing platform and a bearing bracket fixed above the bearing platform. And the walking unit is arranged on the robot body and used for realizing the walking of the robot on the high-voltage transmission line. And the operation unit is arranged on one side of the bearing bracket and is used for realizing cutting treatment on suspended matters on the high-voltage transmission line or conducting silver paste spraying action on a strain clamp on the high-voltage transmission line. And the visual unit is arranged on the robot body and used for realizing inspection of the high-voltage transmission line and monitoring of the working state of the robot. And the control unit is fixed on the bearing platform, and the walking unit, the operation unit and the vision unit are respectively and electrically connected with the control unit. Further, the bearing support comprises two vertical support rods and horizontal support rods fixedly connected with the two vertical support rods respectively. The vertical support rods and the horizontal support rods are hollow carbon fiber tubes. The top of the bearing platform is fixedly provided with two insulating rubber seats, and the bottoms of the two vertical supporting rods are respectively fixed on the two insulating rubber seats. Further, the walking unit comprises two groups of walking components symmetrically arranged on the left side and the right side of the bearing bracket. The walking assembly comprises a rotating shaft rotatably arranged on the upper portion of the bearing support, a walking wheel connected with one end of the rotating shaft, a first belt pulley connected with the other end of the rotating shaft, a driving motor fixed on the base, a second belt pulley connected with the shaft end of the driving motor and a transmission belt used for transmitting and connecting the first belt pulley and the second belt pulley. The travelling wheel comprises a wheel body and two limit bodies symmetrically arranged at two ends of the wheel body. The wheel body comprises an inner grooved wheel used for walking on the power transmission line and two outer grooved wheels extending outwards from two ends of the inner grooved wheel towards the circumferential direction and used for surmounting the obstacle, and an inclined plane which is convenient for the power transmission line to slide in is arranged on one side of the outer grooved wheel close to the inner grooved wheel. The outer ring surfaces of the inner grooved wheel and the outer grooved wheel are of gear-shaped structures, and the circumferential dimension of the limiting body is larger than that of the outer grooved wheel.