CN115570597A - An autonomous on-offline device for a power transmission robot - Google Patents

Abstract

The invention discloses an automatic wire feeding and discharging device of a power transmission robot, which relates to the technical field of power transmission line operation robots and comprises the following components: the control unit is divided into an online control unit and an offline control unit; when the control unit is switched to the upper line control unit, the winch is controlled to contract the lifting rope to drive the base to be close to the hook until the bolt is inserted into the jack, so that the rigid connection between the base and the hook is realized, and the travelling wheel and the pressing wheel are controlled to clamp the power transmission line together; when the device is switched to the offline control unit, the travelling wheel and the pressing wheel are controlled to release the power transmission line, the winch is controlled to release the lifting rope, the base is driven to be far away from the hook, and the base is separated from the hook; the control unit always receives the angle information, the wind speed information and the wind direction information of the monitoring unit, compares the angle information with a preset value, and ensures the stable operation of the base by controlling the plurality of fans; in conclusion, the invention can solve the compensation problem when the robot swings due to wind interference.

Description

An autonomous on-offline device for a power transmission robot

technical field

The invention relates to the technical field of transmission line operation robots, in particular to an autonomous on-line and off-line device for a power transmission robot.

Background technique

It is a complex and technical problem to be solved for robots to go on and off the assembly line autonomously. At present, in some towns where vehicles can reach, it is generally used to lift the work vehicle, combined with the manual installation of the robot. For those high-voltage transmission lines on the mountain, they can only be installed by manually climbing the iron tower. At present, many scholars are also studying the rope hoisting robot on and off the assembly line, but because it cannot overcome the disturbance of the wind, it can only be used in good weather, and its adaptability to harsh environments is extremely poor.

At present, many achievements have been made in robot-related technologies working on transmission lines, such as transmission line foreign body cleaning robots, broken strand repair robots, power device replacement robots, etc., but there is still a lack of efficient and reliable solutions for robots to go online and offline autonomously. . At present, the robot's autonomous on-offline is affected by various uncertain factors, such as disturbances such as strong light, strong wind, and image distortion. These will cause high risk and low success rate of robots going online and offline, which is not conducive to the demonstration application of advanced robot technology in smart grid.

The autonomous on-offline and on-offline schemes of transmission line robots include: (1) Special guide rails for iron towers: For iron towers that have been built, special guide rails will be built manually, but this solution will consume a lot of manpower and financial resources; (2) Unmanned aerial vehicles Hoisting on and off the assembly line: However, in this solution, the load of conventional drones is generally relatively small, and the self-weight of the robot often exceeds the load design of the drone; Electric safety accidents, so the applicability is not high; (3) High-altitude lifting method: However, in this solution, a professional lifting operation vehicle (such as an insulated bucket truck) is required, which has poor adaptability to field scenes and is easily restricted by terrain. ; (4) The way of robots autonomously climbing iron towers to get on and off the line: But this solution can only be applied to specific types of towers, and there are problems such as high technical difficulty, poor climbing reliability, low efficiency, and insulation on and off lines.

On the whole, the on-line and off-line process of the existing transmission line operation robot is mainly through a special track or artificially assisted on-line and off-line, which is not universal and has potential safety hazards. At present, the technology of operating robots with independent on-line and off-line is still immature, and has the following problems : (1) poor versatility, need to build a special track; (2) manual installation, complex operation process, poor safety; (3) four-rotor UAV hoisting robot on and off the assembly line, which requires extremely high cost control stability and precision, and also It remains in the laboratory stage; in addition, the strong electromagnetic interference of the transmission line brings great challenges to the UAV control system; (4) Since the position of the transmission line is generally high and is greatly disturbed by the wind, the swing of the robot is relatively large during the process of going on and off the line. Large, it is difficult to guarantee the success rate of online.

Contents of the invention

Therefore, in view of the above problems, the present invention proposes a power transmission robot autonomous on and off-line device that can solve the problem of compensation when the robot is disturbed by the wind and swings, specifically including:

base;

A plurality of fans are evenly arranged on the four side walls of the base;

Two sets of traveling mechanical arms, each group of said traveling mechanical arms are rotatably arranged on the top wall of said base, and the top of each group of said traveling mechanical arms can be lifted and provided with traveling wheels, and each group of said traveling mechanical arms There are pressure wheels on the side wall that can be lifted up and down;

The fixed block is arranged on the top of the base, and has jacks along the vertical direction;

The hoist is arranged on the top wall of the base and is located at the bottom of the fixed block. The output end of the hoist is connected with a sling, and the other end of the sling passes through the jack and is set at the bottom of the hook. The pins are connected, the pins correspond to the jacks, and the hooks are hung on the power line;

A monitoring unit, arranged on the top wall of the base, is used to monitor the angle information of the base and the wind speed and wind direction information at the base;

The control unit is divided into an on-line control unit and an off-line control unit; when switched to the on-line control unit, it controls the winch to shrink the sling, drives the base close to the hook, until the pin is inserted into the jack, realizes the rigid connection between the base and the hook, and controls the movement The pulley and the pinch wheel jointly clamp the transmission line; when switching to the off-line control unit, control the traveling wheel and the pinch wheel to release the power line, and control the hoist to release the sling, drive the base away from the hook, and realize the detachment of the base from the hook; and The control unit always receives the angle information, wind speed and wind direction information from the monitoring unit, compares the angle information with the preset value, and ensures the stable operation of the base by controlling multiple fans.

Furthermore, the autonomous on-offline device for a power transmission robot provided by the present invention also includes:

The working mechanical arm is arranged on the top wall of the base and is electrically connected to the control unit;

The camera is arranged on the top wall of the base and is electrically connected with the control unit.

Further, the monitoring unit includes:

A wind speed sensor, electrically connected to the control unit, arranged on the top wall of the base, for monitoring the wind speed and wind direction information at the base;

The gyroscope angle sensor is electrically connected with the control unit and is arranged on the bottom wall of the base for monitoring the angle information of the base.

Further, a plurality of said fans specifically include:

Two first fans, electrically connected to the control unit, are evenly arranged on the front side wall of the base;

Two second fans, electrically connected to the control unit, are evenly arranged on the rear side wall of the base;

The third fan is electrically connected to the control unit and is arranged on the left side wall of the base;

The fourth fan is electrically connected with the control unit and is arranged on the right side wall of the base.

Further, each set of traveling mechanical arms is driven by a first driving mechanism and rotated on the top wall of the base;

The first drive mechanism is electrically connected to the control unit, and the first drive mechanism includes:

The first motor is embedded on the top of the base, and a first gear is fixedly sheathed on its output shaft, and the first gear meshes with a second gear fixedly sheathed on the side wall of the traveling mechanical arm.

Further, the traveling wheel is driven by a second driving mechanism, and is liftably arranged on the top of the traveling mechanical arm;

The second drive mechanism is electrically connected to the control unit, and the second drive mechanism includes:

The second motor is fixed on the fixed plate above the traveling mechanical arm, the output shaft of the second motor is fixedly connected with a first screw, and the other end of the first screw is connected to the top of the traveling mechanical arm. thread fit connection; and the traveling wheel is rotatably arranged on the side wall of the second motor;

A plurality of guide rods are parallel to the first screw rod, one end of each guide rod is fixedly connected to the bottom of the fixed plate, and the other end is slidably connected to the top of the traveling mechanical arm.

Further, the pressing wheel is driven by a third driving mechanism, and is liftably arranged on the side wall of the traveling mechanical arm;

The third drive mechanism is electrically connected to the control unit, and the third drive mechanism includes:

The third motor is embedded on the top of the base, and its output shaft is fixedly connected with a second screw, and the second screw is rotated inside the traveling mechanical arm;

The mounting seat is connected to the traveling mechanical arm by sliding up and down, and is threadedly connected to the second screw rod, and the pressing wheel is rotatably connected to the mounting seat.

Further, the traveling wheel is driven by a fourth driving mechanism, and is rotated and arranged on the side wall of the second motor;

The fourth driving mechanism is electrically connected to the control unit, and the fourth driving mechanism includes:

The fourth motor is fixedly arranged on the fixed plate, and the traveling wheel is fixedly sleeved on the output shaft of the third motor.

Compared with the prior art, the present invention provides an autonomous on-line and off-line device for a power transmission robot that can solve the compensation problem when the robot is disturbed by the wind and swings. Its beneficial effects are:

When the present invention is in use, after the drone successfully hangs the hook on the transmission line, the robot can be driven on and off the assembly line by the drive of the winch; Compensation with the disturbance of longitudinal wind can effectively improve the stability, success rate and safety of the robot in the process of getting on and off the assembly line.

Description of drawings

Fig. 1 is the overall structural schematic diagram of the automatic on-offline device of the power transmission robot provided by the present invention;

Fig. 2 is a front view when successfully going online in Embodiment 1 of the present invention;

Fig. 3 is an enlarged schematic view of the traveling robot arm 3 in Fig. 1 of the present invention.

In the figure: 1. Base, 2. Fan, 3. Traveling mechanical arm, 4. Traveling wheel, 5. Compression wheel, 6. Fixed block, 7. Hoist, 8. Suspension rope, 9. Hook, 10. Power line , 11. Operating robotic arm, 12. Camera, 13. Wind speed sensor, 14. Gyro angle sensor, 15. First motor, 16. Second motor, 17. First screw, 18. Third motor, 19. The first Second screw, 20. Mounting seat, 21. Fourth motor, 201. First fan, 202. Second fan, 203. Third fan, 204. Fourth fan, 301. Fixed plate, 601. Jack, 901. Latch pin, 1501. first gear, 1502. second gear, 1601. guide rod.

detailed description

The specific implementation manner of the present invention will be further described below in conjunction with accompanying drawings 1 to 3 . The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

Embodiment 1: As shown in Figures 1-3, the present invention proposes an autonomous on-offline device for a power transmission robot, which specifically includes: a base 1; a plurality of fans 2, which are uniformly arranged on the four side walls of the base 1; A group of traveling mechanical arms 3, each group of traveling mechanical arms 3 are rotated on the top wall of the base 1, and the top of each group of traveling mechanical arms 3 can be lifted and provided with traveling wheels 4, and the side walls of each group of traveling mechanical arms 3 The upper liftable is provided with a pressing wheel 5; the fixed block 6 is arranged on the top of the base 1, and it is provided with a jack 601 vertically; the hoist 7 is arranged on the top wall of the base 1, and is located At the bottom, the output end of the hoist 7 is connected with a sling 8, and the other end of the sling 8 passes through the jack 601 and is connected with the latch 901 provided at the bottom of the hook 9, the latch 901 corresponds to the jack 601, and the hook 9 is hung on the power line 10 above; the monitoring unit is located on the top wall of the base 1, and is used to monitor the angle information of the base 1 and the wind speed and wind direction information at the base 1; the control unit is divided into an online control unit and an offline control unit; switch to the online When controlling the unit, control the winch 7 to shrink the suspension rope 8, drive the base 1 close to the hook 9, until the latch 901 is inserted into the jack 601, realize the rigid connection between the base 1 and the hook 9, and control the traveling wheel 4 and the pressing wheel 5 to clamp together Tighten the transmission line 10; when switching to the off-line control unit, control the traveling wheel 4 and the pressing wheel 5 to release the transmission line 10, and control the winch 7 to release the sling 8, and drive the base 1 away from the hook 9 to realize the connection between the base 1 and the hook 9 and the control unit always receives the angle information, wind speed and wind direction information from the monitoring unit, compares the angle information with the preset value, and ensures the stable operation of the base 1 by controlling multiple fans 2 .

In this embodiment, an autonomous on-offline device for a power transmission robot provided by the present invention further includes: a working robot arm 11 arranged on the top wall of the base 1 and electrically connected to the control unit; a camera 12 arranged on the top wall of the base 1 On the top wall, it is electrically connected with the control unit.

In this embodiment, the monitoring unit includes: a wind speed sensor 13, electrically connected to the control unit, arranged on the top wall of the base 1, for monitoring the wind speed and wind direction information at the base 1; a gyroscope angle sensor 14, connected to the control unit The electrical connection is arranged on the bottom wall of the base 1 and is used for monitoring the angle information of the base 1 .

In this embodiment, a plurality of fans 2 specifically include: two first fans 201, electrically connected to the control unit, uniformly arranged on the front side wall of the base 1; two second fans 202, electrically connected to the control unit connection, evenly arranged on the rear side wall of the base 1; the third fan 203, electrically connected to the control unit, is arranged on the left side wall of the base 1; the fourth fan 204, electrically connected to the control unit, is arranged on the base 1 on the right side wall.

In this embodiment, each group of traveling mechanical arms 3 is driven by a first drive mechanism, and is rotated on the top wall of the base 1; the first drive mechanism is electrically connected to the control unit, and the first drive mechanism includes: a first motor 15, It is embedded on the top of the base 1 , and a first gear 1501 is fixedly sleeved on the output shaft thereof, and the first gear 1501 meshes with a second gear 1502 fixedly sleeved on the side wall of the traveling mechanical arm 3 .

In this embodiment, the traveling wheel 4 is driven by a second driving mechanism, which can be raised and lowered on the top of the traveling mechanical arm 3; the second driving mechanism is electrically connected to the control unit, and the second driving mechanism includes: a second motor 16, fixed Set on the fixed plate 301 above the traveling mechanical arm 3, the output shaft of the second motor 16 is fixedly connected with the first screw rod 17, and the other end of the first screw rod 17 is threadedly connected with the top of the traveling mechanical arm 3; and the traveling wheel 4 Rotation is provided on the side wall of the second motor 16; a plurality of guide rods 1601, parallel to the first screw rod 17, one end of each guide rod 1601 is fixedly connected to the bottom of the fixed plate 301, and the other end is connected to the top of the traveling mechanical arm 3 Swipe to connect.

In this embodiment, the pressing wheel 5 is driven by a third driving mechanism, which is arranged on the side wall of the traveling mechanical arm 3; the third driving mechanism is electrically connected to the control unit, and the third driving mechanism includes: a third motor 18 , embedded on the top of the base 1, the output shaft is fixedly connected with a second screw 19, the second screw 19 is rotated inside the traveling mechanical arm 3; the mounting base 20 is slidingly connected with the traveling mechanical arm 3 up and down, and is Two screw rods 19 are threadedly connected, and the mounting seat 20 is rotatably connected with a pressing wheel 5 .

In the present embodiment, the traveling wheel 4 is driven by a fourth drive mechanism, and the rotation is arranged on the side wall of the second motor 16; the fourth drive mechanism is electrically connected with the control unit, and the fourth drive mechanism includes: a fourth motor 21, fixed It is arranged on the fixed plate 301 , and the traveling wheel 4 is fixedly sleeved on the output shaft of the third motor 21 .

When the present invention is specifically used, after the hook 9 is successfully hung on the power line 10 by the drone, the hoist 7 is used to lift the robot body upwards, the wind speed sensor 13 is used to measure the wind, and the gyroscope angle sensor 14 is used to measure the position of the current robot. posture. Combined with the measurement data, the first wind turbine 201 and the second wind turbine 202 are used to compensate the disturbance of the transverse wind (direction perpendicular to the transmission line 10), and the third wind turbine 203 and the fourth wind turbine 204 are used to compensate for the disturbance of the longitudinal wind (along the transmission line 10). Direction) to compensate for the disturbance, and smoothly send the working robot to the high altitude. Then under the guidance of the suspension rope 8, the latch 901 of the hook 9 is inserted into the fixed block 6 to achieve the purpose of rigid connection between the robot and the hook 9, so that the robot can only swing in the direction perpendicular to the power line 10, thereby reducing the control. difficulty.

After the robot is rigidly connected to the hook 9, it is only necessary to control the first fan 201 and the second fan 202 according to the current wind speed and posture to ensure the stability of the robot. In the case that the fan 2 is used to ensure the stability of the robot, the first motor 15 is used to rotate the two groups of traveling mechanical arms 3 clockwise by an appropriate angle, so that the power line 10 enters between the traveling wheel 4 and the pressing wheel 5, and then passes through the first motor 15 Driven by the second motor 16, the first screw rod 17 is rotated, so that the traveling wheel 4 descends, so that the transmission line 10 enters the guide groove of the traveling wheel 4, and then driven by the third motor 18, the second screw rod 19 is rotated, and the pressing wheel 5 is driven. Lifting, so that the transmission line is tightly fixed between the traveling wheel 4 and the pressure wheel 5, that is, the line is successfully launched. After the line is launched, the transmission line 10 can be inspected and repaired by the operation robot arm 11.

The off-line process is the reverse process of the on-line process. First loosen the pressing wheel 5, then raise the traveling wheel 4 so that the traveling wheel 4 is separated from the power line 10, and then rotate the two sets of traveling mechanical arms 3 counterclockwise. To ensure that the traveling wheel 4 and the power line 10 do not interfere during the descent, and finally combine the wind turbine 2 to compensate for the wind disturbance, and use the winch 7 to send the robot to the ground.

On the whole, the automatic on-offline device of the power transmission robot provided by the present invention has the following advantages:

(1) The present invention can realize the autonomous on-line and off-line of the robot through the driving of the winch, and can effectively improve the stability, success rate and safety in the on-line and off-line process through the action of multiple fans;

(2) the present invention utilizes wind speed sensor to measure wind speed, adopts closed-loop control, helps to improve system performance;

(3) The present invention only needs a single-strand transmission line to go on and off the line, and has strong versatility, and the entire operation process does not require operator participation, which can effectively simplify the operation process;

(4) The present invention is simple in structure, can effectively reduce cost;

(5) In view of the huge scale of my country's current power grid and the large demand for maintenance of power transmission systems, the present invention has a wide range of application scenarios.

The above-described embodiments are only preferred specific implementations of the present invention, and the protection scope of the present invention is not limited thereto. Any person skilled in the art can clearly obtain the simplicity of the technical solution within the technical scope disclosed in the present invention. Changes or equivalent replacements all belong to the protection scope of the present invention.

Claims (8)

1. An autonomous on-offline device for a power transmission robot, characterized in that it comprises: base(1); A plurality of fans (2) are evenly arranged on the four side walls of the base (1); Two groups of traveling mechanical arms (3), each group of said traveling mechanical arms (3) are rotatably arranged on the top wall of said base (1), and the top of each group of said traveling mechanical arms (3) can be lifted Traveling wheels (4) are provided, and pressing wheels (5) are provided on the side walls of each group of traveling mechanical arms (3) that can be lifted up and down; The fixed block (6) is arranged above the base (1), and is provided with a jack (601) vertically; The hoist (7) is arranged on the top wall of the base (1) and is located at the bottom of the fixed block (6), the output end of the hoist (7) is connected with a suspension rope (8), and the hoist The other end of the rope (8) passes through the socket (601) and is connected with the pin (901) provided at the bottom of the hook (9), the pin (901) corresponds to the socket (601), and the Hook (9) is hung on the transmission line (10); The monitoring unit is arranged on the top wall of the base (1), and is used to monitor the angle information of the base (1) and the wind speed and wind direction information at the base (1); The control unit is divided into an on-line control unit and an off-line control unit; when switching to the on-line control unit, the hoist (7) is controlled to shrink the sling (8), and the base (1) is driven close to the hook (9) until the latch (901) is inserted In the socket (601), the rigid connection between the base (1) and the hook (9) is realized, and the traveling wheel (4) and the pressing wheel (5) are controlled to clamp the transmission line (10) together; switch to the off-line control unit , control the traveling wheel (4) and the pressing wheel (5) to release the power line (10), and control the hoist (7) to release the sling (8), drive the base (1) away from the hook (9), and realize the base (1) ) and the hook (9); and the control unit always receives the angle information, wind speed, and wind direction information of the monitoring unit, and compares the angle information with the preset value, and ensures the operation of the base (1) by controlling multiple fans (2). smooth. 2. A device for autonomously going on and off the assembly line of a power transmission robot as claimed in claim 1, further comprising: An operating robot arm (11), arranged on the top wall of the base (1), is electrically connected to the control unit; The camera (12) is arranged on the top wall of the base (1), and is electrically connected with the control unit. 3. A device for autonomously going on and off the assembly line of a power transmission robot according to claim 1, wherein the monitoring unit comprises: A wind speed sensor (13), electrically connected to the control unit, arranged on the top wall of the base (1), for monitoring wind speed and wind direction information at the base (1); The gyroscope angle sensor (14), electrically connected with the control unit, is arranged on the bottom wall of the base (1), and is used for monitoring the angle information of the base (1). 4. A kind of power transmission robot autonomous on-offline device as claimed in claim 1, is characterized in that, a plurality of said fan (2), specifically comprises: Two first fans (201), electrically connected to the control unit, evenly arranged on the front side wall of the base (1); Two second fans (202), electrically connected to the control unit, evenly arranged on the rear side wall of the base (1); The third fan (203), electrically connected to the control unit, is arranged on the left side wall of the base (1); The fourth fan (204), electrically connected with the control unit, is arranged on the right side wall of the base (1). 5. A device for autonomously going on and off the assembly line of a power transmission robot as claimed in claim 1, characterized in that: Each group of said traveling mechanical arm (3) is driven by a first driving mechanism, and is rotated and arranged on the top wall of said base (1); The first drive mechanism is electrically connected to the control unit, and the first drive mechanism includes: The first motor (15) is embedded on the top of the base (1), and its output shaft is fixedly provided with a first gear (1501), and the first gear (1501) is connected to the traveling mechanical arm ( 3) The second gear (1502) fixedly sleeved on the side wall is engaged. 6. A power transmission robot autonomous on-offline device as claimed in claim 1, characterized in that: The traveling wheel (4) is driven by a second drive mechanism, and is mounted on the top of the traveling mechanical arm (3) in a liftable manner; The second drive mechanism is electrically connected to the control unit, and the second drive mechanism includes: The second motor (16) is fixedly arranged on the fixed plate (301) above the traveling mechanical arm (3), and the output shaft of the second motor (16) is fixedly connected with a first screw rod (17), so The other end of the first screw rod (17) is threadedly connected to the top of the traveling mechanical arm (3); and the traveling wheel (4) is rotated on the side wall of the second motor (16); A plurality of guide rods (1601), parallel to the first screw rod (17), one end of each guide rod (1601) is fixedly connected to the bottom of the fixed plate (301), and the other end is connected to the traveling mechanical arm (3) Top slide connection. 7. A power transmission robot autonomous on-offline device as claimed in claim 1, characterized in that: The pressing wheel (5) is driven by a third driving mechanism, and is mounted on the side wall of the traveling mechanical arm (3) in a liftable manner; The third drive mechanism is electrically connected to the control unit, and the third drive mechanism includes: The third motor (18) is embedded in the top of the base (1), and its output shaft is fixedly connected with a second screw rod (19), and the second screw rod (19) is rotated and arranged on the moving mechanical arm ( 3) interior; The mounting base (20) is slidably connected with the traveling mechanical arm (3) up and down, and is threadedly connected with the second screw rod (19), and the pressing wheel ( 5). 8. A power transmission robot autonomous on-offline device as claimed in claim 6, characterized in that: The traveling wheel (4) is driven by a fourth drive mechanism and rotated on the side wall of the second motor (16); The fourth driving mechanism is electrically connected to the control unit, and the fourth driving mechanism includes: The fourth motor (21) is fixedly arranged on the fixed plate (301), and the traveling wheel (4) is fixedly sleeved on the output shaft of the third motor (21).

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