CN204947453U - Insulator string pushes end - Google Patents

Abstract

The utility model provides an insulator string pushing end, the insulator string pushing end includes: a base; a shell installed on the base, the shell is T-shaped, and includes a longitudinal extension and a transverse An extension part, a screw nut structure is arranged in the longitudinal extension part, the nut of the screw nut structure extends from the front part of the housing; it is respectively pivotable with both ends of the lateral extension part of the housing The first gripping arm and the second gripping arm that are connected by rotation; A connecting rod; wherein, the motor drives the screw to rotate, drives the nut to move in the longitudinal direction, and drives the connecting rod to close or separate the first grasping arm and the second grasping arm. The pushing end of the insulator string of the utility model has the advantages of simple structure, stable operation and high efficiency.

Description

Insulator String Push End

technical field

The utility model relates to the technical field of high-voltage transmission line maintenance, in particular, the utility model relates to an insulator string pushing end of a live operation robot of a high-voltage transmission line.

Background technique

After the electric energy is generated in the power plant, it needs to be transmitted to various places through high-voltage transmission lines, so high-voltage transmission lines are everywhere, including cities, rural areas and so on. High-voltage transmission lines generally refer to lines with a voltage of 220V or above. The maintenance and maintenance of high-voltage transmission lines are subject to various restrictions. First, because the lines are electrified, there are potential safety hazards in direct manual operation. The environment or topography may have high-voltage transmission lines that are difficult or impossible for workers to touch or approach. Therefore, there is a demand for automatic maintenance or maintenance or repair devices for high-voltage transmission lines, and high-voltage transmission line robots emerge as the times require.

The existing high-voltage transmission line robots are usually used for high-voltage line inspections. Although they can replace manual inspections and have the advantages of stable operation quality and high efficiency, they cannot perform basic maintenance operations, such as insulator string replacement, durable Tension clamp bolt fastening and other work, these work also need manual electrified operation, there is a big potential safety hazard. In order to reduce the risk of workers' operation, it is conceivable to install a mechanical arm on the robot and use different ends of the mechanical arm to realize various live operations. Various live work can be realized by equipping different end devices on the robot arm. It discloses that the manipulator 42 is used to grasp the steel cap of the insulator, but the specific shape and structure of the manipulator 42 are not disclosed therein.

Contents of the invention

The purpose of the utility model is to provide an insulator string pushing end with simple structure and stable and reliable operation. The end is suitable for being installed on the end of the mechanical arm of the high-voltage transmission line inspection robot and cooperates with the W pin push-in and push-out end to perform insulator string replacement. operate.

In order to achieve the above purpose, according to one aspect of the present invention, an insulator string pushing end is provided, which includes:

base;

The housing installed on the base, the housing is T-shaped, it includes a longitudinal extension and a lateral extension, a screw nut structure is arranged in the longitudinal extension, the screw nut structure a nut extending from the front of the housing;

a first gripping arm and a second gripping arm pivotally connected to both ends of the transversely extending portion of the housing, respectively; and

two connecting rods pivotally connected to the nuts of the first and second gripping arms and the nuts of the screw nut structure;

Wherein, the motor drives the screw to rotate, drives the nut to move in the longitudinal direction, and drives the connecting rod to close or separate the first gripping arm and the second gripping arm.

Optionally, in the pushing end of the above-mentioned insulator string, a supporting structure is installed on the base, and the supporting structure is provided with a camera that captures and feeds back the operations of the first grasping arm and the second grasping arm .

Optionally, in the pushing end of the above-mentioned insulator string, each of the first gripping arm and the second gripping arm has a semicircular profile.

Optionally, in the pushing end of the above-mentioned insulator string, each of the first gripping arm and the second gripping arm has a V-shaped profile.

The beneficial effect of the utility model is that the pushing end of the opened and closed insulator strings driven by a single motor has a simple structure and reliable operation, and the conversion from the motor rotation motion to the clamping jaw clamping motion is realized by using the connecting rod mechanism and the lead screw nut mechanism. Stable operation and high efficiency.

Description of drawings

The specific embodiments of the present utility model will be described below in conjunction with the accompanying drawings. It should be understood that the accompanying drawings describe the details of the product in detail, and these details are only intended to make it easier for those skilled in the art to implement and are not intended to limit The scope of the present invention, in these drawings:

Figure 1 shows a schematic diagram of the overall structure of a live working robot on a high-voltage transmission line, in which the end of the mechanical arm is shown; and

Figure 2 shows a top view of the pushing end of the insulator string according to the present invention; and

Fig. 3(a)-(i) shows a schematic view of the method for replacing an insulator string according to the present invention.

detailed description:

It should be noted that the following will specifically describe specific embodiments of the end of the live operation robot for high-voltage transmission lines according to the utility model, and the orientations used in the embodiments are for example "horizontal", "longitudinal" and "x", "y", The direction of the "z" axis and the like are relative directions, and the utility model will be clearly defined in each paragraph or sub-figure, so those skilled in the art should use the description as the basis when interpreting these terms.

It should be pointed out that the specific structures of some commonly used mechanical parts are not drawn or described in detail below, but those skilled in the art can select commonly used structures or equipment to achieve the same or similar technical goals based on the knowledge in the art, so these brief descriptions are not intended to Can affect the enforcement of the utility model.

Referring to FIG. 1 , it shows a simplified structural diagram of a robot suitable for carrying out electrification operations on high-voltage transmission lines. The robot has a robot body 110, the shown robot body 110 is suspended on the high-voltage transmission line through the mechanical arms 120, 130, and the mechanical arms 120, 130 are preferably located on both sides of the high-voltage transmission line, and each mechanical arm 120, 130 is close to A pulley system is provided at the end of the high-voltage transmission line, and the pulley system includes traveling wheels 121, 131 for the robot to walk along the high-voltage transmission line, and equipotential wheels 122, 132 for performing equipotential operations. The road wheels 121, 131 are driving wheels. In one embodiment, they can be driven independently and use maxon's double closed-loop driving device with position and current feedback (motor-reducer-encoder and double closed-loop servo driver). In addition, each pulley train also includes jaws 123, 133 to protect high-voltage power transmission lines.

As shown in the figure, two or more robot arms 140, 150 are arranged at the front end of the robot body 110, that is, on the left side in the figure, and each robot arm 140, 150 can move along multiple degrees of freedom, including along x, y, z axis translation, rotation about x, y, z axis, etc. In short, each robot arm is adapted to move the actual operation of the robot arm end 160, 170 to a position convenient for performing the task. In the illustrated embodiment, the first mechanical arm 140 is sequentially provided with a first mechanical arm rotary joint 141, a first mechanical arm telescopic joint 142 and a first mechanical arm longitudinal movement joint 143, while the second mechanical arm 150 is sequentially provided with The second mechanical arm rotary joint 151 , the second mechanical arm rotary joint 152 , the second mechanical arm telescopic joint 153 and the second mechanical arm longitudinal movement joint 154 .

Considering that the small phase-to-phase distance brings many safety hazards to the replacement of insulator strings in manual live work, this problem is particularly prominent when workers equipotentially replace the insulators connected to the bowl-head hanging plate on the wires. The live working robot can replace the construction personnel on the wire, take out and install the insulators connected to the bowl head hanging plate, and then cooperate with the construction personnel on the cross arm to realize semi-automatic replacement of the insulator string. Therefore, in the insulator replacement task, the task of the live working robot is to carry two sets of ends, and with the cooperation of the cross-arm construction personnel, take out the insulators connected to the bowl head hanging plate, and wait for the construction personnel to take out the entire string of insulators And after installing a new insulator string at the cross arm, the robot installs the lowermost insulator into the bowl head hanging plate to complete the whole set of tasks.

In this implementation, the end of the manipulator is used to replace the insulator string. Specifically, the insulator string is a connection structure of a single suspension insulator string suspended on a single split conductor, and the upper end of the suspension insulator string is suspended on the The upper and lower ends of the tower cross arm are connected with the bowl head hanging plate through the W pin. Correspondingly, the W pin push-in and push-out end 170 according to the present invention is provided on the first mechanical arm, and the insulator string pushing end 160 is provided on the second mechanical arm. The specific structure of the end will be described in detail below.

Referring now to FIG. 2, it shows an insulator string pushing end 160 according to the present invention, which includes a base 410; part 432 and a transverse extension 431, in which a lead screw nut structure 420 (only the tip is visible) is arranged, said lead screw nut structure 420 is substantially wrapped by the housing and its nut part 421 is removed from the housing The body extends; the first gripping arm 451 and the second gripping arm 452 that are pivotally connected to the two ends of the lateral extension portion 431 of the housing respectively; the first gripping arm 451 and the second gripping arm The gripping arms 452 have a symmetrical design, which respectively define one half of the gripping structure, in other words, both together surround and grip the insulator steel cap. One end of the first gripping arm 451 and the second gripping arm 452 is pivotably connected to the lateral extension 431 of the housing, preferably, the pivoting structure is realized by a pin. The first gripping arm 451 and the second gripping arm 452 are pivotable in the same plane about their connection point or pin with the lateral extension 431 of the housing. Above-mentioned pivoting is limited by the second pivot point or pin, promptly in the middle part of the first grasping arm 451 and the second grasping arm 452, a link mechanism 440 is arranged, and one end of the link mechanism 440 is connected with the first grasping arm respectively. The arm 451 is connected to the second grasping arm 452, and the other end of the link mechanism 440 is connected to the nut 421 of the lead screw nut mechanism 420. When the motor drives the lead screw to rotate, the nut 421 moves forward or backward accordingly, driving the connecting rod. The lever mechanism 440 determines the closing and separating actions of the first gripping arm 451 and the second gripping arm 452 . According to the utility model, the push end of the insulator string has a simple structure and is easy to operate. It can firmly grasp the steel cap of the insulator string, and push it out or push it into the installation position through the translation of the second mechanical arm 150 (Fig. 1), and cooperate with manual The insulator string can be easily replaced when the power is cut off, and there is no need for manual live operation during the replacement process, eliminating potential safety hazards. Insulator strings can be easily and safely replaced when the end is operated in conjunction with the W-pin push-in or push-out end.

Alternatively, in one embodiment, a support structure 411 is installed on the base 410, and the support structure 411 is provided with a device for ingesting and feeding back the operation of the first grasping arm 451 and the second grasping arm 452. The fourth camera 412 . The fourth camera 412 is connected to the operator or computer through a communication line, and the operator can operate according to the actual video feedback images to make the operation more accurate. Preferably, the position and shooting angle of the fourth camera 412 can be fine-tuned. Preferably, the supporting structure 411 can be lifted or moved in translation to adjust the shooting angle of the fourth camera 412 to avoid misalignment of shooting.

It should be understood that the first gripping arm 451 and the second gripping arm 452 may together define a circular profile, a rhombus profile, etc., i.e. the first gripping arm 451 and the second gripping arm 452 respectively define a semicircular profile or a V-shape type silhouette. Of course, the actual shape of the first gripping arm 451 and the second gripping arm 452 can be modified according to the requirement, or according to the specific shape of the bowl hanging plate.

Referring now to Figure 3(a)-(i), which illustrate a method for replacing an insulator string according to the utility model. The method comprises the following steps:

(s1) Provide robots for live operation of high-voltage transmission lines;

(s2) As shown in Figure 3(a), utilize the W pin to push in and push out the first clamping part and the second clamping part of the end 170 to clamp the bowl hanging plate;

(s3) as shown in Figure 3(b), using the first grasping arm and the second grasping arm to grasp the steel cap;

(s4) As shown in Figure 3 (c), use the W pin to push in and push out the W pin at the end 170 to push out the slider to push out the W pin and reset;

(s5) Tighten the line, as shown in Figure 3(d) and utilize the activity of the second mechanical arm 150 to release the ball head of the insulator string, as shown in Figure 3(e);

(s6) Replace the new insulator string, loosen the wire, as shown in Figure 3(f) and use the activity of the second mechanical arm 150 to push the ball end of the new insulator string, as shown in Figure 3(g);

(s7) Tighten the line, as shown in Figure 3(h) and push the W pin into the sliding block of the W pin pushing in and out of the end 170 with the W pin and reset, as shown in Figure 3(i).

The above method for replacing insulator strings is easy to operate, and manual live operation is not required. The replacement of insulator strings is highly efficient and easy to operate. Preferably, it can cooperate with the first camera, the second camera, the third camera and the fourth camera to realize a more automatic and stable replacement process.

The specific embodiments described above are only to describe the principle of the present utility model more clearly, and each component is embodied to make the principle of the present utility model easier to understand. Those skilled in the art can easily make various modifications to the present invention without departing from the scope of the present invention. Therefore, it should be understood that the scope of the present invention should not be limited by the above specific examples.

Claims (4)

1. A kind of insulator string pushing end, is characterized in that, described insulator string pushing end comprises: base; The housing installed on the base, the housing is T-shaped, it includes a longitudinal extension and a transverse extension, a screw nut structure is arranged in the longitudinal extension, the screw nut structure a nut extending from the front of the housing; a first gripping arm and a second gripping arm pivotally connected to both ends of the transversely extending portion of the housing, respectively; and two connecting rods pivotally connected to the nuts of the first and second gripping arms and the nuts of the screw nut structure; Wherein, the motor drives the screw to rotate, drives the nut to move in the longitudinal direction, and drives the connecting rod to close or separate the first gripping arm and the second gripping arm. 2. The pushing end of the insulator string according to claim 1, characterized in that, a support structure is installed on the base, and the support structure is provided with the first grasping arm and the second grasping arm for ingesting and feeding back. A camera of the operating condition of the arm. 3. The insulator string pushing end of claim 2, wherein the first gripping arm and the second gripping arm each have a semi-circular profile. 4. The pushing end of an insulator string according to claim 2, wherein each of the first gripping arm and the second gripping arm has a V-shaped profile.