CN108808542A - A kind of broken strand of power transmission line repair robot mechanism - Google Patents

Abstract

The invention belongs to the technical field of repairing a broken strand of a power transmission line, in particular to a robot mechanism for repairing a broken strand of a power transmission line. It includes a repair tool, an electrical box, a forearm, a rear arm, a front traveling device and a rear traveling device, wherein the forearm and the rear arm are respectively arranged on the front and rear sides of the electrical box, and the ends of the forearm and the rear arm are respectively connected with front The walking device and the rear walking device, the repair tool is arranged on the electrical box and is located between the forearm and the rear arm. The invention can automatically repair broken strands, improve efficiency, reduce labor intensity and improve personal safety.

Description

A transmission line broken strand repair robot mechanism

technical field

The invention belongs to the technical field of repairing a broken strand of a power transmission line, in particular to a robot mechanism for repairing a broken strand of a power transmission line.

Background technique

Transmission lines are an extremely important part of power systems. Because the transmission line is under the open air for a long time, the operating environment is very poor, and it is affected by various natural conditions. Under the long-term action of various stresses, transmission lines will cause material brittleness, and lightning flashover and external force damage will also cause damage to the surface of the conductors; especially the transmission lines in coastal and industrial areas are more likely to be corroded, resulting in transmission lines. Defects such as cracks and broken strands. The damage and broken strands of overhead lines will reduce the current carrying capacity in light cases, or cause disconnection accidents in severe cases, which will affect the safe operation of the lines. Therefore, once the wire is damaged or broken, it should be dealt with immediately.

At present, the measures adopted by the electric power sector after the broken strands of the transmission lines are mainly to manually repair the broken strands. Since the position of the broken strand is in the center of the line in the first gear, it is necessary for people to go out of the line to work. The operation of threading and winding takes a long time, the labor intensity is high, and the risk is high. Therefore, it is necessary to develop equipment that can quickly repair broken strands. Manually repair the broken strands of the transmission line, improve efficiency, reduce labor intensity, and ensure the safe operation of the transmission line.

Contents of the invention

In view of the above problems, the purpose of the present invention is to provide a broken strand repair robot mechanism for transmission lines. The mechanism can automatically repair broken strands, improve efficiency, reduce labor intensity and improve personal safety.

In order to achieve the above object, the present invention adopts the following technical solutions:

A transmission line broken strand repair robot mechanism, including a repair tool, an electrical box, a forearm, a rear arm, a front walking device and a rear walking device, wherein the forearm and the rear arm are respectively arranged on the front and rear sides of the electrical box, the The ends of the forearm and the rear arm are respectively rotatably connected with a front traveling device and a rear traveling device, and the repair tool is arranged on the electrical box and is located between the forearm and the rear arm.

The front walking device includes a walking wheel, a walking driving motor and a walking wheel support frame, wherein the walking wheel support frame is connected with the upper end of the forearm through a horizontally placed passive rotary joint, and the wheel shaft of the walking wheel is rotatably installed on the walking wheel support On the frame, the walking drive motor is installed on the walking wheel support frame, and the output shaft is fixedly connected with the axle of the walking wheel;

The rear traveling device has the same structure as the front traveling device.

The repair tool includes a winding mechanism, a lifting mechanism and a rotating mechanism, wherein the winding mechanism is fixedly connected with the lifting mechanism, and the winding mechanism can be raised or lowered through the lifting mechanism, and the lifting mechanism is fixedly connected with the rotating mechanism, and the winding mechanism can be realized through the rotating mechanism Rotation of mechanism and lifting mechanism.

The winding mechanism includes a winding mechanism driving device, a support frame, a rolling gear, a wire roller and a winding frame, wherein the support frame and the rolling gear are ring structures with openings, the support frame is connected with the lifting mechanism, and the The rolling gear is arranged on the inner side of the support frame and is slidably connected with the support frame. The driving device of the winding mechanism is installed on the support frame and connected with the rolling gear. The driving device of the winding mechanism drives the rolling gear Moving in the circumferential direction along the support frame, the wire roller and the winding frame are both fixedly connected with the rolling gear.

The driving device of the winding mechanism includes a motor a, a gear a and a motor bracket a, the motor a is installed on the support frame through the motor bracket a, the output shaft of the motor a is connected with the gear a, and the gear a is connected to the gear a Rolling gears mesh.

There are two groups of driving devices for the winding mechanism, through holes are provided on both sides of the support frame, and the two groups of driving devices for the winding mechanism are connected to the rolling gears at the through holes on both sides of the support frame.

The lifting mechanism includes a lifting mechanism driving device, a lifting screw nut, a screw nut supporting shaft, a bearing seat, a lead screw, a guide rail, a slider, a connecting frame for a rotating mechanism, a connecting frame for a winding mechanism, and a connecting frame, wherein the leading screw and the guide rail are vertically The upper and lower ends of the lead screw are rotatably connected to the connecting frame of the winding mechanism and the connecting frame respectively, the upper and lower ends of the guide rail are fixedly connected to the connecting frame of the winding mechanism and the connecting frame respectively, and the lifting nut It is threadedly connected with the lead screw and is rotatably connected with the rotating mechanism. The driving device of the lifting mechanism is installed on the rotating mechanism and is connected with the driving nut of the lifting nut. The slider is installed on the rotating mechanism and connected on the frame and slidingly connected with the guide rail, and the rotating mechanism connecting frame is connected with the rotating mechanism.

The upper end of the lifting nut is in transmission connection with the driving device of the lifting mechanism, and the lower end is provided with a nut supporting shaft, and the nut supporting shaft is rotatably connected with a bearing seat through a bearing, and the bearing seat is connected with the rotating mechanism connection, the screw is threaded with a lock nut a and a lock nut b located below the lifting screw nut.

The driving device of the lifting mechanism includes a motor c, a first synchronous pulley, a second synchronous pulley and a synchronous belt, wherein the motor c is installed on the rotating mechanism, and the output shaft is connected with the first synchronous pulley, and the second synchronous pulley The second synchronous pulley is fixedly connected with the lifting nut, and is connected to the first synchronous pulley through a synchronous belt.

The rotating mechanism includes a motor d, a gear c, a fixed plate and a gear d, wherein the motor d is installed on the electrical box, and the output shaft is connected to the gear c, and the fixed plate is rotatably installed on the fixed plate through a sliding bearing. On the electrical box, the gear d is fixedly connected to the fixed plate and meshes with the gear c, and the lifting mechanism is installed on the mounting hole provided on the fixed plate.

The present invention has following advantage and beneficial effect:

1. The thread-stripping process of the present invention is simple and effective.

2. The present invention has a good effect in repairing broken strands.

3. The present invention improves personal safety. The invention replaces the workers to carry out the wire crimping operation when they go out of the wire, which reduces the danger and improves the personal safety.

4. The present invention reduces the labor intensity of personnel. After the broken strand occurs in the line, the present invention replaces the worker to go out and carry out the threading and crimping on the broken strand, which can reduce the labor intensity of the personnel and improve the efficiency.

5. The present invention can overcome obstacles such as anti-vibration hammers and crimping pipes, and realize the repair operation of broken strands of transmission lines in the first gear.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the structural representation of front walking device in the present invention;

Fig. 3 is the structural representation of repair tool among the present invention;

Fig. 4 is one of structural representations of winding mechanism in the present invention;

Fig. 5 is the second structural diagram of the winding mechanism in the present invention;

Fig. 6 is the structural representation of lifting mechanism among the present invention;

Fig. 7 is a structural schematic diagram of the rotating mechanism in the present invention.

Among them: 1 is the winding mechanism, 101 is the motor a, 102 is the gear a, 103 is the motor bracket a, 104 is the motor b, 105 is the gear b, 106 is the motor bracket b, 107 is the support frame, 108 is the rolling gear, 109 110 is the winding frame, 2 is the lifting mechanism, 201 is the motor c, 202 is the first synchronous pulley, 203 is the second synchronous pulley, 204 is the synchronous belt, 205 is the lifting nut, 206 is the silk nut Support shaft, 207 is a bearing seat, 208 is a lock nut a, 209 is a lock nut b, 210 is a lead screw, 211 is a guide rail, 212 is a slide block, 213 is a rotating mechanism connecting frame, 214 is a winding mechanism connecting frame, 215 is a connecting frame, 3 is a rotating mechanism, 301 is a motor d, 302 is a gear c, 303 is a fixed plate, 304 is a sliding bearing, 305 is a gear d, 10 is a repair tool, 20 is an electrical box, and 30 is a forearm. 40 is a rear arm, 50 is a front running gear, 501 is a running wheel, 502 is a walking drive motor, 503 is a running wheel support frame, and 60 is a rear running gear.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

As shown in Fig. 1, a kind of power transmission line broken strand repair robot mechanism provided by the present invention comprises repair tool 10, electric box body 20, forearm 30, rear arm 40, front walking device 50 and rear walking device 60, wherein forearm 30 and the rear arm 40 are respectively arranged on the front and rear sides of the electrical box body 20, the ends of the front arm 30 and the rear arm 40 are respectively connected with a front traveling device 50 and a rear traveling device 60, and the repair tool 10 is arranged on the electrical box body 20 and between the forearm 30 and the rear arm 40 .

As shown in Figure 2, the front walking device 50 includes a walking wheel 501, a walking drive motor 502, and a walking wheel support frame 503, wherein the walking wheel support frame 503 is connected to the upper end of the forearm 30 through a passive rotary joint placed horizontally, so that The wheel shaft of the road wheel 501 is rotatably mounted on the road wheel support frame 503 , the travel drive motor 502 is installed on the road wheel support frame 503 , and the output shaft is fixedly connected with the wheel shaft of the road wheel 501 .

The rear walking device 60 has the same structure as the front walking device 50 , the forearm 30 and the rear arm 40 have the same structure, and the rear walking device 60 is connected to the upper end of the rear arm 40 through another horizontal passive rotary joint.

As shown in FIG. 3 , the repair tool 10 includes a winding mechanism 1 , a lifting mechanism 2 and a rotating mechanism 3 , wherein the winding mechanism 1 is fixedly connected to the lifting mechanism 2 , and the winding mechanism 1 is lifted or lowered through the lifting mechanism 1 . The lifting mechanism 2 is fixedly connected with the rotating mechanism 3, and the rotation of the winding mechanism 1 and the lifting mechanism 2 can be realized through the rotating mechanism 3.

As shown in Fig. 4 and Fig. 5, the winding mechanism 1 includes a winding mechanism driving device, a support frame 107, a rolling gear 108, a wire roller 109 and a winding frame 110, wherein the support frame 107 and the rolling gear 108 are all with openings. Ring structure, the support frame 107 is connected with the lifting mechanism 2 , the rolling gear 108 is arranged inside the support frame 107 and is slidably connected with the support frame 107 . The driving device of the winding mechanism is installed on the support frame 107 and is in transmission connection with the rolling gear 108. The driving device of the winding mechanism drives the rolling gear 108 to move circumferentially along the supporting frame 107. The wire roller 109 and The winding frame 110 is fixedly connected to both sides of the rolling gear 108 respectively.

The driving devices of the winding mechanism can be one group or two groups.

In this embodiment, there are two groups of driving devices for the winding mechanism, and through holes are provided on both sides of the support frame 107. The rolling gear 108 is connected in transmission.

Wherein one group of said winding mechanism driving device comprises motor a101, gear a102 and motor bracket a103, wherein motor a101 is installed on one side of described support frame 107 along horizontal direction by motor bracket a103, the output shaft of described motor a101 and gear a102 is connected, and the gear a102 meshes with the rolling gear 108 at the through hole on one side of the support frame 107 .

Another set of said winding mechanism driving device comprises motor b104, gear b105 and motor bracket b106, said motor b104 is installed on the other side of said support frame 107 along the horizontal direction through motor bracket b106, the output shaft of said motor b104 It is connected with the gear b105, and the gear b105 meshes with the rolling gear 108 at the through hole on the other side of the support frame 107.

The supporting frame 107 is a 270-degree circular ring with a built-in ring-shaped slide rail, and the rolling gear 108 is a 270-degree ring gear and is slidably connected with the ring-shaped slide rail.

The motor a101 and the motor b104 respectively realize the rotation of the rolling gear 108 along the circumference of the support frame 107 through the same direction driving gear a102 and gear b105. Since the winding frame 110 and the wire roller 109 are fixedly connected with the rolling gear 108, the winding frame 110 and The circumference of the wire roller 109 rotates.

As shown in Figure 6, the lifting mechanism 2 includes a lifting mechanism driving device, a lifting nut 205, a nut supporting shaft 206, a bearing seat 207, a screw 210, a guide rail 211, a slider 212, a rotating mechanism connecting frame 213, a winding Mechanism connecting frame 214 and connecting frame 215, wherein leading screw 210 and guide rail 211 are arranged along the vertical direction, and the upper and lower ends of described leading screw 210 are rotatably connected with winding mechanism connecting frame 214 and connecting frame 215 respectively, and described guide rail The upper end and the lower end of 211 are respectively fixedly connected with the connecting frame 214 and the connecting frame 215 of the winding mechanism. The lifting screw nut 205 is threadedly connected with the lead screw 210, and is rotatably connected with the rotating mechanism 3, and the driving device of the lifting mechanism is installed on the rotating mechanism 3, and is drivingly connected with the lifting screw nut 205 , the slider 212 is installed on the rotating mechanism connecting frame 213 and is slidably connected with the guide rail 211 , and the rotating mechanism connecting frame 213 is connected with the rotating mechanism 3 . The winding mechanism connecting frame 214 is fixedly connected with the winding mechanism 1 .

The upper end of the lifting nut 205 is in transmission connection with the driving device of the lifting mechanism, and the lower end is provided with a nut support shaft 206, and the nut support shaft 206 is rotatably connected with a bearing seat 207 through a bearing, and the bearing seat 207 It is connected with the said rotating mechanism 3. The screw 210 is threaded with a lock nut a208 and a lock nut b209 located below the lifting screw nut 205, and the screw nut support shaft 206 restricts the vertical movement of the lifting screw nut 205 through a bearing, and is locked by a locking nut. Nut a208 and lock nut b209 are anti-loosening.

The lifting mechanism driving device includes a motor c201, a first synchronous pulley 202, a second synchronous pulley 203 and a synchronous belt 204, wherein the motor c201 is installed on the rotating mechanism 3, and the output shaft is connected to the first synchronous pulley 202 connected, the second synchronous pulley 203 is fixedly connected with the lifting nut 205 , and is drivingly connected with the first synchronous pulley 202 through the synchronous belt 204 . The second synchronous pulley 203 is coaxial with the lifting nut 205 .

The motor c201 drives the first synchronous pulley 202 to rotate, and drives the second synchronous pulley 203 to rotate through the synchronous belt 204 , so as to realize the rotation of the lifting nut 205 , and then realize the ascending or descending of the lead screw 210 . Since the guide rail 211 is fixedly connected to the lead screw 210 through the connecting frame 215 and the winding mechanism connecting frame 214, the rise or fall of the guide rail 211 along the slider 212 is realized at the same time, and the movement of the guide rail 211 ensures that the lead screw 210 rises or falls smoothly. sex. Since the winding mechanism 1 is fixedly connected to the lifting mechanism 2 through the winding mechanism connecting frame 214 , the winding mechanism 1 can be raised or lowered.

As shown in Figure 7, the rotating mechanism 3 includes a motor d301, a gear c302, a fixed plate 303 and a gear d305, wherein the motor d301 is installed on the electrical box 20, and the output shaft is connected to the gear c302, and the fixed plate 303 passes through The sliding bearing 304 is rotatably mounted on the electrical box 20, and the gear d305 is fixedly connected with the fixing plate 303 and meshes with the gear c302. The fixing plate 303 is provided with a mounting hole connected with the lifting mechanism 2 , and the lifting mechanism 2 is mounted on the mounting hole on the fixing plate 303 .

The motor d301 drives the fixed plate 303 to rotate through the gear c 302 and the gear d305. Because the sliding bearing 304 is installed on the electrical box 20 and is fixedly connected with the fixed plate 303, the fixed plate 303 is moved along the electrical box 20. circle rotation. Since the lifting mechanism 2 and the winding mechanism 1 are fixedly connected to the fixed plate 303, the circular rotation of the lifting mechanism 2 and the winding mechanism 1 is realized.

Operation process of the present invention is as follows:

Step 1: Wind one end of the aluminum wire on the winding support frame 110, and then wind the aluminum wire on the wire roller 109 in sequence.

Step 2: The robot goes online, and the broken-strand repair mechanism walks along the power transmission line, and stops near the broken strand.

Step 3: The lifting mechanism 2 is raised, and the center of the support frame 107 of the winding mechanism 1 is near the center of the transmission line.

Step 4: The robot moves forward at a slow speed, while the motor a101 and motor b104 drive the rolling gear 108 to rotate in the inner circle of the support frame 107, driving the wire roller 109 and the winding frame 110 to rotate in a circle, and then realize the winding of the aluminum wire on the transmission line.

Step 5: After winding all the broken strands of the transmission line back to the line, the lifting mechanism 2 is lowered, the winding mechanism 1 is lowered to the bottom of the transmission line, and the rotating mechanism 3 drives the lifting mechanism 2 and the winding mechanism 1 to continuously rotate in a circle, realizing the wire roller 109 and The continuous twisting of the wires at both ends of the winding frame 110 prevents the ends of the aluminum wires from loosening.

Claims (10)

1. A power transmission line broken strand repair robot mechanism is characterized in that, comprises repair tool (10), electric box body (20), forearm (30), rear arm (40), front walking device (50) and back walking A device (60), wherein the front arm (30) and the rear arm (40) are respectively arranged on the front and rear sides of the electrical box (20), and the ends of the front arm (30) and the rear arm (40) are respectively rotatably connected There are a front traveling device (50) and a rear traveling device (60), and the repair tool (10) is arranged on the electrical box (20) and between the forearm (30) and the rear arm (40). 2. The transmission line broken strand repair robot mechanism according to claim 1, characterized in that, the front traveling device (50) includes a traveling wheel (501), a traveling driving motor (502) and a traveling wheel support frame (503) , wherein the walking wheel support frame (503) is connected to the upper end of the forearm (30) through a passive rotary joint placed horizontally, and the wheel shaft of the walking wheel (501) is rotatably installed on the walking wheel support frame (503), and the The walking drive motor (502) is installed on the walking wheel support frame (503), and the output shaft is fixedly connected with the axle of the walking wheel (501); The rear traveling device (60) has the same structure as the front traveling device (50). 3. The transmission line broken strand repair robot mechanism according to claim 1, characterized in that the repair tool (10) includes a winding mechanism (1), a lifting mechanism (2) and a rotating mechanism (3), wherein the winding mechanism (1) is fixedly connected with the elevating mechanism (2), realizes the rising or falling of the winding mechanism (1) by the elevating mechanism (1), and the elevating mechanism (2) is fixedly connected with the rotating mechanism (3), and through the rotating mechanism (3) ) can realize the rotation of the winding mechanism (1) and the lifting mechanism (2). 4. The transmission line broken strand repair robot mechanism according to claim 3, characterized in that, the winding mechanism (1) includes a winding mechanism driving device, a support frame (107), a rolling gear (108), a wire roller (109 ) and a winding frame (110), wherein the support frame (107) and the rolling gear (108) are ring structures with openings, the support frame (107) is connected with the lifting mechanism (2), and the rolling gear (108) is arranged on the inner side of the support frame (107) and is slidably connected with the support frame (107). connected, the driving device of the winding mechanism drives the rolling gear (108) to move circumferentially along the support frame (107), and the wire roller (109) and the winding frame (110) are fixed with the rolling gear (108) even. 5. The transmission line broken strand repair robot mechanism according to claim 4, characterized in that, the driving device of the winding mechanism comprises a motor a (101), a gear a (102) and a motor bracket a (103), and the motor a (101) is installed on the support frame (107) by the motor bracket a (103), the output shaft of the motor a (101) is connected with the gear a (102), and the gear a (102) is connected with the rolling gear (108) engages. 6. The robot mechanism for repairing a broken strand of a transmission line according to claim 4, characterized in that, the driving devices of the winding mechanism are divided into two groups, and the two sides of the support frame (107) are provided with through holes, and the two groups of The driving device of the winding mechanism is in transmission connection with the rolling gear (108) at the through holes on both sides of the support frame (107). 7. The transmission line broken strand repair robot mechanism according to claim 3, characterized in that, the lifting mechanism (2) includes a lifting mechanism driving device, a lifting nut (205), a nut supporting shaft (206), a bearing Seat (207), leading screw (210), guide rail (211), slide block (212) and rotating mechanism connecting frame (213), winding mechanism connecting frame (214) and connecting frame (215), wherein leading screw (210) and the guide rail (211) are vertically arranged, and the upper and lower ends of the lead screw (210) are rotatably connected with the winding mechanism connection frame (214) and the connection frame (215) respectively, and the upper end of the guide rail (211) , the lower ends are respectively fixedly connected with the winding mechanism connecting frame (214) and the connecting frame (215), and the lifting screw nut (205) is threadedly connected with the lead screw (210), and is rotatably connected with the rotating mechanism (3) , the driving device of the lifting mechanism is installed on the rotating mechanism (3), and is in transmission connection with the lifting nut (205), the slider (212) is installed on the connecting frame (213) of the rotating mechanism, and It is slidingly connected with the guide rail (211), and the rotating mechanism connecting frame (213) is connected with the rotating mechanism (3). 8. The transmission line broken strand repair robot mechanism according to claim 7, characterized in that, the upper end of the lifting nut (205) is in transmission connection with the driving device of the lifting mechanism, and the lower end is provided with a nut support shaft (206 ), the nut supporting shaft (206) is rotatably connected with the bearing seat (207) through a bearing, the bearing seat (207) is connected with the rotating mechanism (3), and the threaded screw (210) is A lock nut a (208) and a lock nut b (209) located below the lifting nut (205) are connected. 9. The transmission line broken strand repair robot mechanism according to claim 7, characterized in that, the driving device of the lifting mechanism comprises a motor c (201), a first synchronous pulley (202), a second synchronous pulley (203 ) and a synchronous belt (204), wherein the motor c (201) is installed on the rotating mechanism (3), and the output shaft is connected with the first synchronous pulley (202), and the second synchronous pulley (203) is connected with The lifting nut (205) is fixedly connected, and is connected in drive with the first synchronous pulley (202) through a synchronous belt (204). 10. The transmission line broken strand repair robot mechanism according to claim 3, characterized in that, the rotating mechanism (3) includes a motor d (301), a gear c (302), a fixed plate (303) and a gear d ( 305), wherein the motor d (301) is installed on the electrical box (20), and the output shaft is connected with the gear c (302), and the fixed plate (303) is rotatably installed on the On the electrical box (20), the gear d (305) is fixedly connected with the fixed plate (303) and meshed with the gear c (302), and the lifting mechanism (2) is installed on the fixed plate (303) ) on the mounting holes provided.