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CN-122026248-A - Double-guide operation robot for power transmission line

CN122026248ACN 122026248 ACN122026248 ACN 122026248ACN-122026248-A

Abstract

The invention belongs to the technical field of net sealing operation of a power transmission line, and particularly relates to a double-guide operation robot of the power transmission line. The electric appliance box comprises an electric appliance box body, a detection module, a traveling mechanism, a docking mechanism, a net laying operation tool I and a net laying operation tool II, wherein a plurality of traveling mechanisms are symmetrically arranged at the top of the electric appliance box body and used for traveling on double transmission lines, the detection module and the docking mechanism are respectively arranged at the front end and the rear end of the electric appliance box body, the detection module is used for net sealing operation detection, the docking mechanism is used for docking with the net laying operation tool I, a plurality of net laying operation tools II are arranged at the rear side of the net laying operation tool I, and the net laying operation tool I and the net laying operation tools II are cooperated to finish net sealing operation. The robot can be used for net sealing operation, and the robot adopts a bilateral symmetry structure, so that the gravity center of the device is more balanced, the instability caused by gravity center deviation in the use process is reduced, and the operation process is more stable.

Inventors

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

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. The utility model provides a transmission line double-guide operation robot, a serial communication port, including electrical apparatus box (1), detection module (2), running gear (3), docking mechanism (4), cloth net operation instrument I (5) and cloth net operation instrument II (6), wherein the top symmetry of electrical apparatus box (1) is equipped with a plurality of running gear (3), running gear (3) are used for walking on two transmission lines (8), detection module (2) and docking mechanism (4) set up respectively in the front and back end of electrical apparatus box (1), detection module (2) are used for the screen sealing operation to detect, docking mechanism (4) are used for with cloth net operation instrument I (5) dock, the rear side of cloth net operation instrument I (5) is equipped with a plurality of cloth net operation instruments II (6), cloth net operation instrument I (5) and a plurality of cloth net operation instruments II (6) are accomplished the screen sealing operation in coordination.
  2. 2. The power transmission line double-guide working robot according to claim 1, wherein the walking mechanism (3) comprises a walking wheel I (301), a walking wheel bracket I (302), a linear driving mechanism (303), a bracket fixing seat (304) and a motor (305), wherein the walking wheel bracket I (302) is hinged on the electric appliance box body (1) through the bracket fixing seat (304), the motor (305) is installed on the walking wheel bracket I (302), an output end of the motor is connected with the walking wheel I (301), the walking wheel I (301) is used for walking on a double power transmission line (8), the linear driving mechanism (303) is hinged on the electric appliance box body (1), the output end of the linear driving mechanism is connected with the walking wheel bracket I (302), and the linear driving mechanism (303) is used for adjusting the pitching angle of the walking wheel I (301).
  3. 3. The power transmission line double-guide working robot according to claim 2, wherein the front end surface of the travelling wheel I (301) is provided with a plurality of obstacle surmounting umbrella blades in the circumferential direction, and the obstacle surmounting umbrella blades are used for assisting obstacle surmounting.
  4. 4. The power transmission line double-guide operation robot according to claim 1, wherein the docking mechanism (4) comprises a docking seat (401), a docking fixing seat (402), a docking sliding block (403) and a double-direction driving module, wherein the docking fixing seat (402) is connected with the electrical box body (1) through the docking seat (401), the double-direction driving module is arranged on the docking fixing seat (402), two double-direction output ends of the double-direction driving module are respectively connected with the two docking sliding blocks (403), and the double-direction driving module drives the two docking sliding blocks (403) to be close to or far away from each other, so that clamping or releasing of the net distribution operation tool I (5) is achieved.
  5. 5. The power transmission line double-guide working robot according to claim 4, wherein the bidirectional driving module comprises a bidirectional stud (404), a steering engine (405) and a synchronous pulley transmission assembly (406), wherein the bidirectional stud (404) and the steering engine (405) are both arranged on the docking fixing seat (402), an output end of the steering engine (405) is connected with the bidirectional stud (404) through the synchronous pulley transmission assembly (406), and the bidirectional stud (404) is connected with two docking sliding blocks (403) through two sections of reverse threads.
  6. 6. The power transmission line double-guide working robot according to claim 1, wherein the net-laying working tool I (5) comprises a working tool support I (501), two travelling wheels II (502), a rope fixing seat I (507), a tensioning assembly and a butt joint assembly, wherein the rope fixing seat I (507) used for being connected with a net sealing (7) is arranged at the bottom of the working tool support I (501), two travelling wheels II (502) are respectively arranged at two sides of the upper end of the working tool support I (501), the two travelling wheels II (502) are respectively used for travelling on two high-voltage wires of a double power transmission line (8), a plurality of obstacle crossing umbrella blades are respectively arranged on the end face of each travelling wheel II (502) along the circumferential direction, the tensioning assemblies which are respectively corresponding to the two travelling wheels II (502) are arranged at two sides of the working tool support I (501), the butt joint assembly is arranged on the working tool support I (501), and the butt joint assembly is used for being in butt joint with the butt joint mechanism (4).
  7. 7. The power transmission line double-guide working robot according to claim 6, wherein the tensioning assembly comprises a tensioning wheel (503) and a tensioning support arm (504), the tensioning support arm (504) is installed on the working tool support I (501) through a rotating shaft, the tensioning wheel (503) is arranged at the upper end, the lower end of the tensioning support arm (504) is connected with the abutting assembly, and the tensioning wheel (503) abuts against a high-voltage line.
  8. 8. The power transmission line double-guide working robot according to claim 7, wherein the docking assembly comprises a guide post holder (505), a docking guide post (506) and a spring (508), wherein the guide post holder (505) is connected with the working tool support I (501), the docking guide post (506) is in sliding fit with the guide post holder (505), a docking ball head is arranged at the front end of the docking guide post (506), the rear end of the docking guide post (506) is connected with a movable rod (509), two ends of the movable rod (509) are in floating connection with the lower ends of the two tensioning support arms (504), the spring (508) is sleeved on the docking guide post (506), two ends of the spring (508) are respectively abutted with a shaft shoulder of the docking guide post (506) and the guide post holder (505), and the spring (508) provides elastic force of a backward movement trend for the docking guide post (506), so that the tensioning wheel (503) at the upper ends of the tensioning support arms (504) presses a high-voltage line.
  9. 9. The power transmission line double-guide working robot according to claim 1, wherein the net-laying working tool II (6) comprises a walking wheel III (601), a working tool support II (602) and a rope fixing seat II (603), the bottom of the working tool support II (602) is provided with the rope fixing seat II (603) used for being connected with a net sealing (7), two walking wheels III (601) are respectively arranged on two sides of the top of the working tool support II (602), a plurality of obstacle crossing umbrella blades are arranged on opposite surface sides of the walking wheels III (601) along the circumferential direction, and the two walking wheels III (601) are used for walking on two high-voltage wires of the double power transmission line (8).
  10. 10. The power transmission line double-guide operation robot according to claim 1, wherein the detection module (2) comprises a camera (201), a camera fixing seat (202) and an azimuth adjustment platform, the azimuth adjustment platform comprises an up-down rotating part (203) and a left-right rotating shaft (204) which are sequentially connected, the camera fixing seat (202) is connected with the electric appliance box body (1), the azimuth adjustment platform is arranged on the camera fixing seat (202), the camera (201) is arranged on the azimuth adjustment platform, and the azimuth adjustment platform is used for adjusting angles of the left-right direction and the up-down direction of the camera (201).

Description

Double-guide 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 double-guide operation robot of the power transmission line. Background Along with the remarkable acceleration of the construction pace of the power grid, the power transmission line network is rapidly expanded, new lines are paved frequently to span complex terrains and existing facilities such as railways, highways and high-voltage lines, and construction difficulty and safety challenges are greatly improved. Especially, the overhead line operation on the existing live line becomes a high-risk operation link due to electric shock hazard and possible line faults, and effective measures are needed to ensure the safety of operators and reduce the accident risk. Currently, aiming at the net sealing operation of a 35kV to 220kV power transmission line, the arrangement and removal tasks of an insulating net are mainly carried out in a high-altitude environment by relying on manpower, and the process is limited by variable weather and environmental conditions (such as night operation, extreme temperature and the like) and also enables operators to be exposed to double threats of high-altitude falling and electric shock for a long time. Therefore, a safe and reliable power transmission line double-guide working robot is urgently needed. Disclosure of Invention Aiming at the problems, the invention aims to provide a double-guide operation robot for a power transmission line, so as to realize safe and reliable double-power transmission line guide screen sealing operation. The robot adopts a bilateral symmetry structure, so that the gravity center of the device is more balanced, the instability caused by gravity center deviation in the use process is reduced, and the operation process is more stable. In order to achieve the above purpose, the present invention adopts the following technical scheme: the invention provides a double-guide operation robot for a power transmission line, which comprises an electric appliance box body, a detection module, a traveling mechanism, a docking mechanism, a net laying operation tool I and a net laying operation tool II, wherein the traveling mechanism is symmetrically arranged at the top of the electric appliance box body and is used for traveling on the double-transmission line, the detection module and the docking mechanism are respectively arranged at the front end and the rear end of the electric appliance box body, the detection module is used for net sealing operation detection, the docking mechanism is used for docking with the net laying operation tool I, the net laying operation tool I is provided with the net laying operation tools II at the rear side, and the net laying operation tool I and the net laying operation tools II are cooperated to finish net sealing operation. In one possible implementation manner, the walking mechanism comprises a walking wheel I, a walking wheel bracket I, a linear driving mechanism, a bracket fixing seat and a motor, wherein the walking wheel bracket I is hinged to the electric appliance box body through the bracket fixing seat, the motor is arranged on the walking wheel bracket I, the output end of the motor is connected with the walking wheel I, the walking wheel I is used for walking on a double-transmission-line road, the linear driving mechanism is hinged to the electric appliance box body, the output end of the linear driving mechanism is connected with the walking wheel bracket I, and the linear driving mechanism is used for adjusting the pitching angle of the walking wheel I. In one possible implementation manner, a plurality of obstacle surmounting umbrella blades are arranged on the front end surface of the walking wheel I along the circumferential direction, and the obstacle surmounting umbrella blades are used for assisting obstacle surmounting. In one possible implementation manner, the docking mechanism includes a docking seat, a docking fixing seat, a docking sliding block and a bidirectional driving module, wherein the docking fixing seat is connected with the electrical box body through the docking seat, the bidirectional driving module is arranged on the docking fixing seat, two bidirectional output ends of the bidirectional driving module are respectively connected with the two docking sliding blocks, and the bidirectional driving module drives the two docking sliding blocks to be close to or far away from each other, so that clamping or releasing of the net laying operation tool I is realized. In one possible implementation manner, the bidirectional driving module comprises a bidirectional stud, a steering engine and a synchronous pulley transmission assembly, wherein the bidirectional stud and the steering engine are both arranged on the docking fixing seat, the output end of the steering engine is connected with the b