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CN-122026247-A - Single-wire operation robot for power transmission line

CN122026247ACN 122026247 ACN122026247 ACN 122026247ACN-122026247-A

Abstract

The invention belongs to the technical field of net sealing operation of a power transmission line, and particularly relates to a single-wire operation robot for a power transmission line. The device comprises a robot moving device, a butt joint locking device, a net sealing operation tool and a locking device, wherein the robot moving device is used for walking on a power transmission line, the butt joint locking device is in butt joint with the robot moving device, and the butt joint locking device, the net sealing operation tool and the locking device are used for locking and operating the net sealing. The invention is used for hanging and moving the insulating rope net to finish the net sealing operation of the power transmission line, an operator inputs an operation plan through a man-machine interaction interface of a ground base station and monitors the operation state of the robot in real time, the smooth operation is ensured, and the automation and the safety of the net sealing operation of the power transmission line are greatly improved.

Inventors

  • LIU AIHUA
  • JING FENGREN
  • YUAN BINGBING
  • WANG HONGGUANG

Assignees

  • 中国科学院沈阳自动化研究所

Dates

Publication Date
20260512
Application Date
20241111

Claims (10)

  1. 1. A single-wire operation robot for a power transmission line is characterized by comprising a robot moving device (100), a butt joint locking device (200), a net sealing operation tool (300) and a locking device (400), wherein the robot moving device (100) is used for walking on the power transmission line (500), the butt joint locking device (200) is in butt joint with the robot moving device (100), and the butt joint locking device (200), the net sealing operation tool (300) and the locking device (400) are used for locking and operating the net sealing device (600).
  2. 2. The single-wire transmission line operation robot according to claim 1, wherein the robot moving device (100) comprises a robot moving body (1), a traveling mechanism I, a butt joint mechanical arm and a wire feeding and discharging mechanism, wherein the top of the robot moving body (1) is provided with two traveling mechanisms I and a wire feeding and discharging mechanism located between the two traveling mechanisms I, the two traveling mechanisms I are used for traveling on a transmission line (500), the wire feeding and discharging mechanism is used for lifting the robot moving body (1) to a working area and completing wire feeding and discharging operations, the butt joint mechanical arm is arranged at the rear end of the robot moving body (1), and the butt joint mechanical arm is used for being connected with the butt joint locking device (200).
  3. 3. The single-wire operation robot for the transmission line according to claim 2, wherein the traveling mechanism I comprises a traveling wheel I (2), an obstacle crossing umbrella blade I (3), a motor bracket I (5) and a traveling motor I (6), wherein the motor bracket I (5) is arranged at the top of the robot moving body (1), the traveling motor I (6) is arranged in the motor bracket I (5), an output end is connected with the traveling wheel I (2) through a traveling wheel connecting shaft I (7), and the obstacle crossing umbrella blade I (3) for obstacle crossing is arranged on the outer side end face of the traveling wheel I (2).
  4. 4. The power transmission line single-wire operation robot according to claim 2, wherein the docking mechanical arm comprises a docking device I shaft (13), a docking device II shaft (14), a screw connector (15), a locking upper stop block (17), a locking sliding block (18), a docking seat (19), a locking bidirectional screw (45), a docking mechanical arm connecting rod (47) and a locking steering engine, wherein one end of the docking mechanical arm connecting rod (47) is rotationally connected with the robot moving body (1) through the docking device I shaft (13), the other end of the docking mechanical arm connecting rod (47) is rotationally connected with the screw connector (15) through the docking device II shaft (14), and the docking device II shaft (14) is perpendicular to the docking device I shaft (13); The locking bidirectional screw rod (45) is rotatably arranged on the screw connecting piece (15), one end of the locking bidirectional screw rod is connected with the locking steering engine, the locking bidirectional screw rod (45) is respectively connected with the locking upper stop block (17) and the locking sliding block (18) through two sections of reverse threads, the locking upper stop block (17) and the locking sliding block (18) are mutually close to or far away from each other to realize locking or releasing of the butt joint locking device (200), the butt joint seat (19) is arranged on the screw connecting piece (15) and positioned at the front ends of the locking upper stop block (17) and the locking sliding block (18), the butt joint seat (19) plays a butt joint guiding role, and the rear end of the robot moving body (1) is provided with the depth camera (12).
  5. 5. The single-wire power transmission line operation robot according to claim 2, wherein the wire feeding and discharging mechanism comprises a lifting hook (8), a wire feeding and discharging seat (9), a wire feeding belt (10), a wire feeding and discharging guide wheel (11), a wire feeding and discharging tool box (35), a wire feeding and discharging reel (36) and a lifting motor (40), wherein the wire feeding and discharging tool box (35) is embedded in the robot moving body (1), the wire feeding and discharging guide wheel (11) and the wire feeding and discharging reel (36) are rotatably arranged in the wire feeding and discharging tool box (35), the wire feeding and discharging guide wheel (11) is located above the wire feeding and discharging reel (36), the lifting motor (40) is arranged at one end of the wire feeding and discharging tool box (35), the output end of the lifting motor (40) is connected with the wire feeding and discharging reel (36), one end of the wire feeding belt (10) is wound on the wire feeding and discharging reel (36), the other end of the wire feeding and discharging tool box is connected with the wire feeding and discharging seat (9) after passing through the wire feeding and discharging guide wheel (11), and the wire feeding and discharging seat (9) is provided with the lifting hook (8).
  6. 6. The single-wire working robot for the transmission line according to claim 1, wherein the docking and locking device (200) comprises a docking and locking device bracket (43), a travelling mechanism II, a locking mechanism I, a falling-preventing wheel I (23), a locking electric box I (27) and a docking assembly, wherein the travelling mechanism II and the falling-preventing wheel I (23) are arranged at the top of the docking and locking device bracket (43) up and down, and the locking mechanism I is two groups and is respectively arranged at two sides of the travelling mechanism II and used for tensioning the transmission line (500); The locking electric box I (27) is arranged at the bottom of the butt joint locking device bracket (43), the locking electric box I (27) is used for controlling the action of the travelling mechanism II, the butt joint component is arranged at the bottom of the butt joint locking device bracket (43), and the butt joint component is used for being connected with the butt joint mechanical arm.
  7. 7. The single-wire power transmission line operation robot according to claim 6, wherein the locking mechanism I comprises a locking arm I (21), a tensioning wheel I (22) and a locking motor, wherein the locking motor is arranged in the docking locking device bracket (43), the output end of the locking motor is connected with one end of the locking arm I (21), the tensioning wheel I (22) is arranged at the other end of the locking arm I (21), and the tensioning wheel I (22) is abutted to the power transmission line (500).
  8. 8. The single-wire operation robot for the transmission line of claim 6, wherein the butt joint assembly comprises a butt joint guide post (24), a guide post seat (25) and a locking spring (28), wherein the guide post seat (25) is arranged on the butt joint locking device support (43), the butt joint guide post (24) is in sliding fit with the guide post seat (25), the locking spring (28) is sleeved on the butt joint guide post (24), two ends of the locking spring are respectively abutted with a shaft shoulder of the butt joint guide post (24) and the guide post seat (25), and the front end of the butt joint guide post (24) is a butt joint ball head.
  9. 9. The single-wire power line work robot according to claim 1, wherein the net sealing work tool (300) comprises a net sealing tool support (30), a work tool lower connecting rod (31), a traveling wheel III (55), a fall-preventing wheel II (33), a locking inner fan blade (29) and an obstacle surmounting umbrella blade III (56), the travelling wheel III (55) and the anti-falling wheel II (33) are arranged at the top of the net sealing tool support (30) up and down, the bottom of the net sealing tool support (30) is provided with a lower connecting rod (31) of an operation tool for connecting the net sealing (600), the inner side end and the outer side end of the travelling wheel III (55) are respectively provided with a locking inner side fan blade (29) and an obstacle crossing umbrella blade III (56), and the locking inner side fan blade (29) prevents the axial movement of the power transmission line (500).
  10. 10. The single-wire power transmission line operation robot according to claim 1, wherein the locking device (400) comprises a locking device bracket (69), a travelling mechanism III, a falling-preventing wheel III (65), a locking mechanism II and a locking electric box II (70) which are arranged on the locking device bracket (69), wherein the travelling mechanism III and the falling-preventing wheel III (65) are arranged at the top of the locking device bracket (69) up and down, the locking mechanism II is two groups and respectively arranged at two sides of the travelling mechanism III, the locking electric box II (70) is arranged at the bottom of the locking device bracket (69), and the locking electric box II (70) is used for controlling the action of the travelling mechanism III.

Description

Single-wire operation robot for power transmission line Technical Field The invention belongs to the technical field of net sealing operation of a power transmission line, and particularly relates to a single-wire operation robot for a power transmission line. Background With the rapid development of power grid construction, the number of power transmission lines is rapidly increased. New lines often need to span complex areas such as railways, highways, and other live lines, which makes erection of transmission lines increasingly challenging. When a live line is installed across an existing live line, there is a risk of operation such as electric shock or line failure. Therefore, effective measures are needed to reduce these risks and ensure the safety of construction personnel. At present, the network sealing operation of the power transmission line is mainly finished manually. For a 35 kV-220 kV power transmission line, the network sealing operation is usually carried out in a special environment. Constructors need to ascend high to carry out the installation and the disassembly work of the insulating net. The operation mode is influenced by various factors such as weather and environment, and the construction operation condition is worse in night, cold or high-temperature weather. The long-time high-altitude operation not only makes constructors face the risk of falling off in the high altitude, but also can cause electric shock accidents. Therefore, a safe and reliable power transmission line net sealing operation robot system is urgently needed. Disclosure of Invention Aiming at the problems, the invention aims to provide a single-wire operation robot for a power transmission line, which can operate at high altitude so as to solve the problem of potential safety hazard caused by manual operation. In order to achieve the above purpose, the present invention adopts the following technical scheme: The invention provides a single-wire operation robot for a power transmission line, which comprises a robot moving device, a butt joint locking device, a net sealing operation tool and a locking device, wherein the robot moving device is used for walking on the power transmission line, the butt joint locking device is in butt joint with the robot moving device, and the butt joint locking device, the net sealing operation tool and the locking device are used for locking and operating the net sealing. In a possible implementation manner, the robot moving device comprises a robot moving body, a travelling mechanism I, a docking mechanical arm and an up-down line mechanism, wherein the top of the robot moving body is provided with two travelling mechanisms I and the up-down line mechanism positioned between the two travelling mechanisms I, the two travelling mechanisms I are used for travelling on a transmission line, the up-down line mechanism is used for lifting the robot moving body to a working area and completing up-down line operation, the docking mechanical arm is arranged at the rear end of the robot moving body, and the docking mechanical arm is used for being connected with the docking locking device. In a possible implementation manner, the travelling mechanism I comprises a travelling wheel I, an obstacle crossing umbrella blade I, a motor support I and a travelling motor I, wherein the motor support I is arranged at the top of the robot moving body, the travelling motor I is arranged in the motor support I, an output end of the travelling motor I is connected with the travelling wheel I through a travelling wheel connecting shaft I, and the obstacle crossing umbrella blade I used for obstacle crossing is arranged on the outer side end face of the travelling wheel I. In one possible implementation manner, the docking mechanical arm comprises a docking device I shaft, a docking device II shaft, a nut connecting piece, a locking upper stop block, a locking sliding block, a docking seat, a locking bidirectional screw rod, a docking mechanical arm connecting rod and a locking steering engine, wherein one end of the docking mechanical arm connecting rod is rotationally connected with the robot moving body through the docking device I shaft, the other end of the docking mechanical arm connecting rod is rotationally connected with the nut connecting piece through the docking device II shaft, and the docking device II shaft is perpendicular to the docking device I shaft; The locking bidirectional screw rod is rotatably arranged on the screw connecting piece, one end of the locking bidirectional screw rod is connected with the locking steering engine, the locking bidirectional screw rod is respectively connected with the locking upper stop block and the locking sliding block through two sections of reverse threads, the locking upper stop block and the locking sliding block are mutually close to or far away from each other to realize locking or releasing of the docking locking device, the docking seat is arranged