CN202014061U - Broken-strand crimping operation robot mechanism for ultrahigh voltage power transmission line - Google Patents

Abstract

The utility model relates to a robot for repairing a power transmission line, in particular to a broken-strand crimping operation robot mechanism for an ultrahigh voltage power transmission line. The robot mechanism comprises a front line-straining device, a front walking and clamping mechanism, a front arm, an electrical appliance box body, a crimping arm, a rear arm, a rear walking and clamping mechanism and a rear line-straining device, wherein one end of the front arm and one end of the rear arm are fixedly connected with the electrical appliance box body respectively, the other ends are hinged with the front walking and clamping mechanism and the rear walking and clamping mechanism respectively, and the front line-straining device and the rear line-straining device are arranged at the outer sides of the front walking and clamping mechanism and the rear walking and clamping mechanism respectively; one end of the crimping arm is fixedly connected with the electrical appliance box body, and the other end is a crimping end and is located between the front walking and clamping mechanism and the rear walking and clamping mechanism. The broken-strand crimping operation robot mechanism has advantages that the climbing angle is large, the safety protectiveness is good, the obstacle-navigation time is short and the obstacle-navigation process is simple, the line-straining process is simple and effective, the wearing to the line is small, the effect of crimping of the broken strand is good, the personal safety is improved, the labor intensity can be reduced, and the efficiency is improved.

Description

Robot mechanism for crimping broken strands of ultra-high voltage transmission lines

technical field

The utility model relates to a power transmission line repairing robot, in particular to a broken-strand crimping operation robot mechanism of an ultra-high voltage 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.

Utility model content

In order to solve the problems of low efficiency, high labor intensity and high risk of manual repair of broken strands, the purpose of this utility model is to provide a crimping operation robot mechanism for broken strands of ultra-high voltage transmission lines. The robot mechanism automatically repairs broken strands, improves efficiency, reduces labor intensity of personnel, and improves personal safety.

The purpose of this utility model is achieved through the following technical solutions:

The utility model comprises a front threading device, a front traveling clamping mechanism, a forearm, an electrical appliance box, a crimping arm, a rear arm, a rear traveling clamping mechanism and a rear threading device, wherein one end of the forearm and the rear arm are respectively fixed on On the electrical appliance box, the other end is respectively hinged with the front traveling clamping mechanism and the rear traveling clamping mechanism, and a front threading device and a rear threading device are respectively provided on the outer sides of the front traveling clamping mechanism and the rear traveling clamping mechanism; One end of the crimping arm is fixedly connected to the electrical box, and the other end is a crimping end, which is located between the front traveling clamping mechanism and the rear traveling clamping mechanism.

Wherein: the structure of the front thread-rolling device is the same as that of the rear thread-rolling device, including an opening and closing motor, a fixed plate, a first lead screw, a first left screw nut, a left guide sleeve, a left guide rod, a left thread threader, a right Guide rod, right guide sleeve, right thread smoother and first right screw nut, wherein the opening and closing motor is installed on the outside of the fixed plate, and the first lead screw connected with the output shaft of the opening and closing motor is arranged on the inside of the fixed plate , the first lead screw is threaded with a first left screw nut and a first right screw nut, and the left guide sleeve and the right guide sleeve are respectively rotatably installed on the first left screw nut and the first right screw nut; One end of the guide rod is connected with the left guide sleeve, and the other end is connected with the left threader, and one end of the right guide rod is connected with the right guide sleeve, and the other end is connected with the right threader, and the left threader and the right threader Rotationally connected by a rotating shaft; the structure of the left thread smoother is the same as that of the right thread smoother, including a base, an outer jacket, an outer ring, an inner ring, a top post, a third spring, a pressing piece, a trigger piece and a fixing ring, wherein The base is fixedly connected with the guide rod, a fixed ring is arranged on the base, the outer sleeve is fixed on the base, and the outer ring is rotatably installed in the inner hole formed by the outer sleeve and the fixed ring. Fixed connection, the inner surface of the inner ring in contact with the transmission line is evenly distributed along the circumferential direction with a plurality of line guide posts; the top post can be reciprocally moved in the hole of the base, and the top post is sleeved with The third spring, the third spring is fixed by the pressure piece installed on the base; one end of the push post is passed through the jacket and abuts in the groove opened on the outer surface of the outer ring, and the other end is passed through the pressure piece, A trigger piece is provided; the outer casing, the outer ring and the inner ring are all semicircular, and the two sections of the outer ring and the base are respectively provided with butt posts and post sleeves; the screw threads at both ends of the first lead screw On the contrary, the direction of rotation of the first left screw nut and the first right screw nut is the same as that of the connecting end of the first screw; the end surfaces of the left guide sleeve, the right guide sleeve and the rotating shaft are fixedly connected with blocking pieces.

The crimping arm includes a support frame, a moving pair, a connecting piece, an adjustment spring and a crimping device, wherein one end of the supporting frame is fixedly connected to the electrical box, and the other end is connected to one end of the connecting piece through the moving pair, and the connecting piece The other end is connected with a crimping device through an adjustment spring; the crimping device includes a crimping motor, a bracket, a second lead screw, a second right screw nut, a second left screw nut, a moving seat, a slider, a guide rail and a C Type clamp, wherein the bracket is connected with the other end of the connector through the adjustment spring, a crimping motor is provided outside the bracket, and a second screw and a guide rail are respectively arranged up and down inside the bracket; one end of the second screw It is connected with the output shaft of the crimping motor, and the second screw nut and the second right nut are threaded on the second lead screw, and the second left nut and the second right nut are respectively fixed with moving seats, each moving A slider is fixed on each seat, and a C-shaped clip is installed on each moving seat. The second left screw nut, the second right screw nut and their respective moving seats move back and forth along the guide rail with the slider, driving the left and right The two C-shaped clips are opened or closed to realize the crimping of the broken strand circuit; there are two C-shaped clips, which are relatively installed on two moving seats, and each C-shaped clip has a groove on the inner wall. A second spring is provided in the groove, one end of the second spring is fixedly connected to the inner wall of the C-shaped clip, and the other end is provided with a push plate, and the push plate abuts against the C-shaped ring installed on the C-shaped clip; The threads at both ends of the second lead screw have opposite directions of rotation, and the directions of rotation of the second left screw nut and the second right screw nut are the same as that of the connecting end of the second lead screw.

The structure of the front clamping mechanism and the rear clamping mechanism is the same, including right clamp, soft cable, reel, wheel frame, left clamp and traveling wheels, and the wheels in the forward clamping mechanism and the rear clamping mechanism. The frame is respectively hinged with the forearm and the rear arm through the first hinge and the second hinge, and the right clip, reel, left clip and walking wheel are installed on the wheel frame respectively; one end of the flexible cable is wound on the reel, and the other end is divided into The two strands are respectively connected to the right clip and the left clip; the structure of the right clip and the left clip is the same, including the first half jaw, the fan gear, the second half jaw and the first spring, wherein the first half jaw and The second half jaw is connected by a sector gear, and a first spring is provided between the first half jaw and the second half jaw; the two ends of the flexible cable are respectively connected to a jaw in the right and left clamps .

Advantage and positive effect of the present utility model are:

1. The thread stroke process is simple and effective. The utility model makes full use of the helical winding mode of the transmission wire strands. With the continuous rotation of the helical winding direction of the transmission wire strands, the line guide column rotates along the wire groove, and can effectively squeeze the broken strands out of the wire groove into the original wire groove position. , to achieve the purpose of stroking the line.

2. Less wear and tear on the line. The line guide post of the utility model adopts nylon material, which has the characteristics of low friction coefficient and good wear resistance. During the working process, the wire-stripping guide post contacts with the broken strand, and rotates helically along the wire groove, squeezing the broken strand into the original position, with less friction and less damage to the wire.

3. The crimping effect of broken strands is good. After the crimping device of the utility model crimps the broken strands, it not only increases the crimping strength to ensure that the broken strands are no longer scattered, but also can ensure the current intensity of conduction and avoid power loss.

4. Improve personal safety. The utility model replaces the workers who go out of the wire to carry out the crimping and crimping operation, which reduces the danger and improves the personal safety.

5. Reduce the labor intensity of personnel. After the broken strand occurs in the line, the utility model replaces the worker to go out and carry out the threading and crimping on the broken strand, which can reduce the labor intensity of personnel and improve the efficiency.

6. Large climbing angle. The utility model makes full use of the clamping force of the front and rear clips of the traveling wheel to increase the positive pressure of the traveling wheel and the transmission line, thereby increasing the frictional force, making it easier to climb a slope with a larger angle, and the maximum climbing line angle is 45°.

7. Anti-offline, good safety protection. During the walking process of the utility model, the four clips of the front and rear arms clamp the wire from the bottom of the power line, and there are two clips to clamp the power line when crossing obstacles. The jaws of the clip and the walking wheels form a closed structure, so that the robot The mechanism prevents the walking wheel of the robot from detaching from the power line during walking and overcoming obstacles, and plays a role of safety protection.

8. Short obstacle-crossing time and simple obstacle-crossing process. The utility model adopts the way that the walking wheels directly drive over the obstacle to cross the obstacle, the obstacle crossing action is simple, and there is no need to adjust the posture of the car body, and it can directly cross the anti-vibration hammer and crimping pipe on the ultra-high voltage transmission line.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model;

Fig. 2 is the schematic diagram of the three-dimensional structure of the front (rear) thread-strapping device in Fig. 1;

Fig. 3 is the front view of the front (rear) thread-strapping device in Fig. 1;

Fig. 4 is an internal sectional view of the right thread straightening device in Fig. 3;

Fig. 5 is a schematic structural view of the front (rear) travel clamping mechanism in Fig. 1;

Fig. 6 is a structural schematic diagram of the crimping arm in Fig. 1;

Fig. 7a is a structural front view of the crimping device in Fig. 6;

Figure 7b is a top view of Figure 7a;

Figure 8a is a front view of the C-shaped clip in Figure 7b;

Fig. 8b is the left view of Fig. 8a;

Fig. 9 is a schematic diagram of the environment of the ultra-high voltage transmission line;

Fig. 10a is one of the flow charts of the robot of the present invention to stroke and crimp;

Fig. 10b is the second of the flow chart of the utility model robot line and crimping;

Fig. 10c is the third of the flow chart of the robot of the utility model for stroking and crimping;

Fig. 10d is the fourth of the flow chart of the utility model robot stroke and crimp;

Fig. 10e is the fifth of the flow chart of the robot of the utility model for stroking and crimping;

Fig. 10f is the sixth of the flow chart of the robot of the utility model to stroke and crimp;

Among them: 1 is the front threading device, 2 is the front travel clamping mechanism, 3 is the first hinge, 4 is the forearm, 5 is the electrical box, 6 is the crimping arm, 7 is the rear arm, 8 is the second hinge, 9 is the rear travel clamping mechanism, 10 is the rear threading device, 11 is the opening and closing motor, 12 is the fixed plate, 13 is the copper sleeve, 14 is the first lead screw, 15 is the first left screw nut, and 16 is the left guide Cover, 17 is the left guide rod, 18 is the right threader, 19 is the fixed ring, 20 is the left threader, 21 is the rotating shaft, 22 is the right guide rod, 23 is the right guide sleeve, 24 is the second right wire Female, 25 is the right clip, 26 is the flexible cable, 27 is the reel, 28 is the wheel frame, 29 is the left clip, 30 is the running wheel, 31 is the first half jaw, 32 is the fan gear, 33 is the second half Gripper, 34 is the first spring, 35 is the support frame, 36 is the moving pair, 37 is the connector, 38 is the adjustment spring, 39 is the crimping device, 40 is the crimping motor, 41 is the bracket, 42 is the second Lead screw, 43 is the second right screw nut, 44 is the moving seat, 45 is the slider, 46 is the guide rail, 47 is the C-shaped clip, 48 is the left C-shaped ring, 49 is the right C-shaped ring, 50 is the second left Screw nut, 51 is the push plate, 52 is the second spring, 53 is the bracket, 54 is the base, 55 is the jacket, 56 is the outer ring, 57 is the inner ring, 58 is the docking column, 59 is the column sleeve, 60 is the stroke Line guide post, 61 is the top post, 62 is the third spring, 63 is the pressing piece, 64 is the trigger piece, 65 is the stop piece, 66 is the transmission line, 67 is the first anti-vibration hammer, 68 is the crimping tube, 69 is the Second anti-vibration hammer.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described in further detail.

As shown in Figure 1, the utility model includes a front threading device 1, a front traveling clamping mechanism 2, a forearm 4, an electrical box 5, a crimping arm 6, a rear arm 7, a rear traveling clamping mechanism 9 and a rear threading Device 10, wherein one end of the forearm 4 and the rear arm 7 are fixedly connected to the electrical box 5 respectively, the other end of the forearm 4 is connected with the front travel clamping mechanism 2 through the first hinge 3, and the other end of the rear arm 7 is connected through the second The hinge 8 is connected with the rear traveling clamping mechanism 9, and a front threading device 1 and a rear threading device 10 are respectively provided on the outside of the front traveling clamping mechanism 2 and the rear traveling clamping mechanism 7; One end is fixedly connected to the electrical box body 5, and the other end is a crimping end, which is located between the front traveling clamping mechanism 2 and the rear traveling clamping mechanism 7.

As shown in Figures 2 to 4, the front thread-stripping device 1 has the same structure as the rear thread-stripping device 10, including an opening and closing motor 11, a fixed plate 12, a copper sleeve 13, a first lead screw 14, a first left screw nut 15, Left guide sleeve 16, left guide rod 17, left threader 20, rotating shaft 21, right guide rod 22, right guide sleeve 23, right threader 18, first right nut 24 and bracket 53, wherein fixed plate 12 It is a rectangular frame structure, copper sleeves 13 are affixed to the two inner walls in the height direction of the fixing plate 12, and the two ends of the first lead screw 14 are supported by two copper sleeves 13, one end of which passes through the fixing plate 12 and is fixedly connected to The output shaft of the opening and closing motor 11 on the fixed plate 12 is connected, driven by the opening and closing motor 11, and rotates with the output shaft of the opening and closing motor 11. On the first lead screw 14, the first left screw nut 15 and the first right screw nut 24 are threadedly connected to the two ends of the first lead screw 14; It is left-handed, and the other end is right-handed. The helical direction of the first left screw nut 15 and the first right screw nut 24 is the same as the helical direction of the connecting end of the first leading screw 14; when the first leading screw 14 rotates, it can simultaneously inward or outward at the same time. The left guide sleeve 16 and the right guide sleeve 23 are respectively rotatably installed on the first left screw nut 15 and the first right screw nut 24. The left guide sleeve 16 has the same structure as the right guide sleeve 23, and the left guide sleeve 16 and the right guide sleeve One end of sleeve 23 is connected with first left screw nut 15 and first right screw nut 24 respectively, and guide sleeve itself is rotatable, and the other end of left guide sleeve 16 and right guide sleeve 23 is connected with left guide rod 17 and right guide rod 22 respectively. connected. One end of the left guide rod 17 links to each other with the left guide sleeve 16, and can slide in the left guide sleeve 16, and the other end is fixedly connected with a left threader 20; Slide in cover 23, and the other end is affixed with right thread straightening device 18. The left thread straightening device 20 and the right thread straightening device 18 are installed on the rotating shaft 21 in tandem, and can rotate around the rotating shaft 21 respectively.

The left thread stroker 20 comprises a base 54, an overcoat 55, an outer ring 56, an inner ring 57, a top post 61, a third spring 62, a pressing piece 63, a trigger piece 64 and a fixed ring 19, wherein one end of the base 54 is connected to the left side The guide rod 17 is affixed and connected with the base in the right threader 18 through the rotating shaft 21. The other end of the base 54 is a free end; On the base 54, the outer ring 56 is rotatably installed in the inner hole formed by the outer sleeve 55 and the fixed ring 19, the inner ring 57 is fixedly connected to the outer ring 56, and the inner surface of the inner ring 57 is in contact with the transmission line A plurality of line guide posts 60 are evenly distributed along the circumferential direction. The top post 61 is reciprocally accommodated in the hole of the base 54, the top post 61 is sleeved with a third spring 62, one end of the third spring 62 abuts against the radial extension of the top post 61, and the other One end is fixed by a pressing piece 63 installed on the base 54; one end of the top column 61 is passed through by the jacket 55 and abuts in the groove provided on the outer surface of the outer ring 56, and the other end is passed through by the pressing piece 63 to set There is trigger piece 64. The overcoat 55, the outer ring 56 and the inner ring 57 are all semicircular, and the two sections of the outer ring 56 and the base 54 are respectively provided with a docking column 58 and a column sleeve 59, that is, on the base section of the left threader 20. , one side is provided with docking post 58, and the other side is provided with post cover 59; The post 58 is inserted into the post sleeve 59 when the two threaders are closed. Similarly, on the section of the outer ring of the left thread straightening device 20, one side is provided with a docking post 58, and the other side is provided with a post sleeve 59; Cover 59, the other side is provided with docking column 58, and docking column 58 is inserted in the post sleeve 59 when two thread straighteners are closed. The structure of the right threader 18 and the left threader 20 is the same.

Blocking pieces 65 are affixed to the end faces of the left guide sleeve 16 , the right guide sleeve 23 and the rotating shaft 21 . On the fixed plate 12, a support 53 is affixed, and the front threading device 1 and the rear threading device 10 are installed on the outsides of the front traveling clamping mechanism 2 and the rear traveling clamping mechanism 7 by respective supports 53 respectively.

As shown in Figure 6, the crimping arm 6 includes a support frame 35, a moving pair 36, a connector 37, an adjustment spring 38 and a crimping device 39, wherein one end (lower end) of the support frame 35 is affixed to the electrical box 5, The other end (upper end) is connected to one end (lower end) of the connecting piece 37 through the moving pair 36 , and the other end (upper end) of the connecting piece 37 is connected with a crimping device 39 through an adjustment spring 38 .

As shown in Figures 7a to 7b, the crimping device 39 includes a crimping motor 40, a bracket 41, a second lead screw 42, a second right nut 43, a second left nut 50, a moving seat 44, a slider 45, Guide rail 46 and two C-shaped clips 47, wherein the bracket 41 is connected with the other end of the connector 37 through the adjustment spring 38, a crimping motor 40 is fixedly connected to the outside of the bracket 41, and the bracket 41 is respectively provided with a first Two leading screws 42 and guide rails 46; one end of the second leading screw 42 passes through the bracket 41, is connected with the output shaft of the crimping motor 40, is driven by the crimping motor 40, and rotates with the output shaft of the crimping motor 40 . The second screw nut 50 and the second right screw nut 43 are threadedly connected on the second leading screw 42, and the screw threads at the two ends of the second leading screw 42 are opposite in direction, and the second left screw nut 50 and the second right screw nut 43 are screwed together. The direction of rotation is the same as that of the connecting end of the second leading screw; when the second leading screw 42 rotates, it can move inwardly or outwardly at the same time. The second left screw nut 50 and the second right screw nut 43 are respectively fixedly connected with a moving seat 44, and each moving seat 44 is respectively fixed with a slider 45, and a C-shaped clip is also respectively installed on each moving seat 44. 47, the second left screw nut 50, the second right screw nut 43 and their respective moving seats 44 move back and forth along the guide rail 46 with the slide block 45, driving the left and right two C-shaped clips to open or close, so as to realize the control of the broken strand circuit Crimp. Two C-shaped clips 47 are installed on the two moving seats 44 oppositely, as shown in Figures 8a-8b, each C-shaped clip 47 has a groove on the inner wall, and a second spring 52 is arranged in the groove. One end of the two springs 52 is affixed to the inner wall of the C-shaped clip, and the other end is provided with a push plate 51; a left C-shaped ring 48 is installed on the left C-shaped clip, and a right C-shaped ring is installed on the right C-shaped clip. The C-shaped ring 49 and the push plates 51 on the two C-shaped clips abut against the left C-shaped ring 48 and the right C-shaped ring 49 respectively.

As shown in Figure 5, the structure of the front walking clamping mechanism 2 is the same as that of the rear walking clamping mechanism 9, including the right clip 25, the soft cable 26, the reel 27, the wheel frame 28, the left clip 29 and the traveling wheels 30. The wheel frame 28 in the clamping mechanism 2 and the rear walking clamping mechanism 9 is hinged with the forearm 4 and the rear arm 7 by the first hinge 3 and the second hinge 8 respectively, and the right clamp 25, the reel 27, the left clamp 29 and the walking wheel 30 are installed on the wheel frame 28 respectively; The right clamp 25 has the same structure as the left clamp 29, including the first half jaw 31, the sector gear 32, the second half jaw 33 and the first spring 34, wherein the first half jaw 31 and the second half jaw 33 are connected by a pair of sector gears 32, and a first spring 34 is provided between the first half jaw 31 and the second half jaw 33. One end of the flexible rope 26 is wound on the reel 27, and the other end is divided into two strands, which are respectively connected to a jaw in the right clamp 25 and the left clamp 29.

The working principle of the utility model is:

Walking on the transmission line 66: the traveling motor works to drive the traveling wheel 30 to rotate, so that the traveling wheel 30 is walking on the transmission line 66.

Clamping/unclamping: the reel motor works to make the reel 27 rotate, which drives the flexible cable 26 on it to tighten, and pulls the first half jaw 31 of the right clip 25 and the second half jaw 33 of the left clip 29 One end is outward respectively, so that the other end of the jaw rotates inwardly around the gear shaft of the fan gear 32, thereby clamping the transmission line 66; When it is released, the jaws will rotate around the sector gear 32 under the action of the first spring 34 at one end, and return to the initial open position, thereby realizing the release of the power line.

Obstacle surmounting: when the walking wheel 30 in the forearm 4 of the robot encountered obstacles such as the anti-vibration hammer and the crimping pipe 68, the right clip 25 and the left clip 29 of the forearm were released, and the two walking wheels 30 in the forearm 4 and the rear arm 7 Commonly driven by respective walking motors, the walking wheels 30 in the forearm 4 are directly opened on obstacles; It is easy to reach the top of the obstacle; pass above the obstacle, and after reaching the front of the obstacle, the right clip 25 and the left clip 29 of the forearm 4 are re-clamped; Two road wheels 30 continue to walk, and the road wheels 30 in the rear arm 7 directly pass through obstacles in the same way.

Squeeze the thread: when the robot walks to the broken strand, the robot stops moving forward. After this, the opening and closing motor 11 works to make the first screw 14 rotate, driving the first left screw nut 15 and the first right screw nut 24 on it to move forward simultaneously. The left and right guide sleeves 16 and 23 connected with the first left and right screw nuts 15 and 24 act respectively to drive the left and right guide rods 17 and 22 and the left and right thread straighteners 20 and 18 around the axis of rotation. 21 rotates inwardly, realizes the closing of left and right thread straightening device 20,18. After the left and right thread smoothing devices 20,18 are closed, the inner ring 57 and the outer ring 56 are closed, and the inner ring 57 is positioned at a thread guide post 60 in the groove between the two strands. After the threading device is closed, the robot continues to walk forward, and the threading guide pillar will move along the spiral groove, and prompt the inner ring 57 and the outer ring 56 to perform spiral rotation, and the broken strands will be squeezed by the threading guide pillars on both sides. Under the action of pressure, return to the original slot position, thus realizing the threading operation of the broken strands.

Crimping: After the robot strokes the wire, the moving pair 36 of the crimping arm 6 rises, driving the connecting piece 37, the adjusting spring 38, and the crimping device 39 to rise to the power line, and the crimping motor 40 works, driving the second lead screw 42 Rotate to make the second left screw nut 50 and the second right screw nut 43 move inwardly, and simultaneously drive the moving seat 44 and the slide block 45 affixed to the second left and right screw nuts 50, 43 to move inwardly along the guide rail 46, Finally, the left and right C-shaped rings 48, 49 installed in the moving seat 44 are closed to realize the crimping of the broken strand circuit.

After the broken strand crimping operation robot goes online, two walking wheels 30 in the front and rear arms 4,7 of the robot are all on the power line 66. After the walking motor is powered on, the driving wheel 30 rotates, so that the robot is on the power line 66. Up and forward or backward; when the transmission line 66 has a large angle, the reel motor drives the reel 27 to rotate, and the flexible cable 26 is tightened, so that the two pairs of right clips 25 and left clips 29 in the forearm 4 and rear arm 7 are clamped for power transmission Line 66 increases the positive pressure and facilitates crawling on power lines with large angles.

The walking wheel 30 in the forearm 4 of the broken strand crimping operation robot stops at the right edge of the hammer body of the first anti-vibration hammer 67, and the right clip 25 and the left clip 29 of the forearm 4 are opened. The walking wheel 30 in the arm 7 drives the robot forward again; after the walking wheel 30 in the forearm 4 hits the first anti-vibration hammer 67, the forearm 4 rotates around the first hinge 3 and rotates at a certain angle, while walking in the forearm 4 Driven jointly by the wheel 30 and the road wheel 30 in the rear arm 7, the road wheel 30 in the forearm 4 passes through the top of the first anti-vibration hammer 67, and after reaching the other side of the first anti-vibration hammer 67, the right clip of the forearm 4 25, the left clamp 29 clamps the thread again. The walking wheel 30 in the forearm 4 and the walking wheel 30 in the rear arm 7 continue to drive the robot to walk online until the walking wheel 30 in the rear arm 7 encounters the right edge of the hammer body of the first anti-vibration hammer 67 and stops. The right clip 25 and the left clip 29 are unclamped; thereafter, the road wheel 30 in the rear arm 7 spans the first anti-vibration hammer 67, and the cross process is the same as the road wheel 30 in the forearm 4.

After the front and rear walking wheels of the robot all cross the first anti-vibration hammer 67, they continue to walk, and when they arrive at the broken strand, the robot stops moving forward. After this, the opening and closing motor 11 works to make the first leading screw 14 rotate, and drives the first left and right screw nuts 15,24 on it to move inwards simultaneously, and passes through the first left and right screw nuts 15,24 connected respectively. Left and right guide bushing 16,23 effects drive left and right guide rod 17,22 and left and right thread winder 20,18 to rotate inwardly around rotating shaft 21, realize the closure of left and right thread threader 20,18. After the left and right thread stroking devices 20, 18 are closed, the inner ring 57 and the outer ring 56 are closed, and the inner ring 57 is positioned at a thread guide post 60 in the groove between the two strands. After the threading device is closed, the robot continues to walk forward, and the threading guide pillar will move along the spiral groove, and prompt the inner ring 57 and the outer ring 56 to perform a spiral rotation, and the broken strands will be squeezed by the threading guide pillars on both sides. Under the action of pressure, return to the original wire slot position, thus realizing the threading operation of the broken strand on one side.

Thereafter, the opening and closing motor 11 of the robot works to rotate the first leading screw 14, and drives the first left and right screw nuts 15,24 on it to move outwards simultaneously, and connects with the first left and right screw nuts 15,24 respectively. The left and right guide bushing 16,23 effect of driving left and right guide bar 17,22 and left and right thread winder 20,18 rotate outwards around rotating shaft 21, realize left and right thread threader 20,18 to open. The robot continued to walk forward, and the front and rear wheels stopped after passing the broken strand on the opposite side. Then, the thread-rolling device on the outside of the rear wheel is closed, and the robot moves backward to thread-roll the broken strand on the other side.

After the robot strokes the two sections of broken strands, it finds the broken ends of the two broken strands through the information of the multi-sensors, and the robot walks so that the crimping arm 6 is directly below the broken ends. Thereafter, the moving pair 36 of the crimping arm 6 rises to drive the connector 37, the adjustment spring 38, and the crimping device 39 to the power line, and the crimping motor 40 works to drive the second lead screw 42 to rotate, so that the second left, The right screw nut 50,43 moves inwardly, drives the moving seat 44 that is fixedly connected with the second left and right screw nuts 50,43, and the slide block 45 moves inwardly along the guide rail 46, and finally makes the left and right sides installed in the moving seat 44 move inwardly. The C-shaped rings 48 and 49 are closed to realize the crimping of the broken strand circuit.

After the crimping is completed, the crimping motor 40 of the crimping arm 6 works to drive the second lead screw 42 to rotate, so that the second left and right screw nuts 50, 43 are moved outwards, and simultaneously drive the second left and right screw nuts 50, 43 to rotate. The affixed moving seat 44 and slide block 45 move outwards along the guide rail 46 to realize opening. Thereafter, the moving pair 36 descends, driving the connector 37, the adjustment spring 38, and the crimping device 39 to descend to the robot box, and the robot returns to the pole tower, and the whole crimping process ends.

After the crimping is completed, the crimping motor 40 of the crimping arm 6 works to drive the second lead screw 42 to rotate, so that the second left and right screw nuts 50, 43 move outward, and at the same time drive the moving seat 44 on which the C-shaped ring is installed to open At a certain position, under the action of the elastic force of the second spring 52, a C-shaped ring in the C-shaped clip 47 is pushed into the moving seat 44 for the next crimping use.

After crimping, the broken strand crimping operation robot crosses the crimping pipe 68 and the second anti-vibration hammer 69 on the transmission line 66 according to the above operation.

Claims (10)

1. disconnected strand of crimping work machine robot mechanism of an extra high voltage network, it is characterized in that: smooth out with the fingers line apparatus (1) before comprising, preceding walking clipping mechanism (2), forearm (4), electrical equipment casing (5), crimping arm (6), postbrachium (7), back walking clipping mechanism (9) and after smooth out with the fingers line apparatus (10), wherein an end of forearm (4) and postbrachium (7) is fixed in respectively on the electrical equipment casing (5), the other end is hinged with preceding walking clipping mechanism (2) and back walking clipping mechanism (9) respectively, the outside of preceding walking clipping mechanism (2) and back walking clipping mechanism (7) smooth out with the fingers before being respectively equipped with line apparatus (1) and after smooth out with the fingers line apparatus (10); One end of described crimping arm (6) is fixed on the electrical equipment casing (5), and the other end is pressure connection terminal, is positioned between preceding walking clipping mechanism (2) and the back walking clipping mechanism (7).

2. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 1, it is characterized in that: smooth out with the fingers before described line apparatus (1) with after to smooth out with the fingers the structure of line apparatus (10) identical, comprise folding motor (11), fixed head (12), first leading screw (14), the first left screw (15), left side guide pin bushing (16), left side guide rod (17), line device (20) is smoothed out with the fingers on a left side, right guide rod (22), right guide pin bushing (23), the line device (18) and the first right screw (24) are smoothed out with the fingers in the right side, wherein folding motor (11) is installed in the outside of fixed head (12), be provided with first leading screw (14) that is connected with the output shaft of folding motor (11) in the inboard of fixed head (12), the first left screw (15) has been threaded on this first leading screw (14), the first right screw (24), left guide pin bushing (16) and right guide pin bushing (23) are installed in rotation on the first left screw (15) respectively, on the first right screw (24); One end of described left guide rod (17) links to each other with left guide pin bushing (16), the other end is connected with a left side and smoothes out with the fingers line device (20), one end of right guide rod (22) links to each other with right guide pin bushing (23), the other end is connected with the right side and smoothes out with the fingers line device (18), and a described left side is smoothed out with the fingers line device (20) and the right side and smoothed out with the fingers line device (18) and be rotationally connected by rotation axis (21).

3. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 2, it is characterized in that: it is identical that the structure of line device (20) and the right side smoothing out with the fingers line device (18) is smoothed out with the fingers on a described left side, comprise pedestal (54), overcoat (55), outer ring (56), inner ring (57), fore-set (61), the 3rd spring (62), compressing tablet (63), trigger sheet (64) and retainer ring (19), wherein pedestal (54) is affixed with guide rod, on pedestal (54), be provided with retainer ring (19), overcoat (55) is fixed on the pedestal (54), outer ring (56) is installed in rotation in the endoporus of overcoat (55) and retainer ring (19) formation, described inner ring (57) and outer ring (56) Joint along the circumferential direction are evenly equipped with a plurality of line guide pillars (60) of smoothing out with the fingers on inner ring (57) and inner surface that transmission line contacts; Described fore-set (61) can reciprocatingly be placed in the hole of pedestal (54), is arranged with the 3rd spring (62) on the fore-set (61), and the 3rd spring (62) is fixing by the compressing tablet (63) that is installed on the pedestal (54); One end of described fore-set (61) passes, is connected in the groove that outer ring (56) outer surface offers by overcoat (55), and the other end is passed, is provided with by compressing tablet (63) and triggers sheet (64); Described overcoat (55), outer ring (56) and inner ring (57) are semicircle, are respectively equipped with butt joint post (58) and column sleeve (59) on two sections of outer ring (56) and pedestal (54).

4. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 2, it is characterized in that: the thread rotary orientation at described first leading screw (14) two ends is opposite, and the rotation direction of the first left screw (15) and the first right screw (24) is identical with the thread rotary orientation of the first leading screw link; All be connected with catch (65) on the end face of described left guide pin bushing (16), right guide pin bushing (23) and rotation axis (21).

5. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 1, it is characterized in that: described crimping arm (6) comprises bracing frame (35), moving sets (36), connector (37), regulating spring (38) and compression bonding apparatus (39), wherein an end of bracing frame (35) is fixed on the electrical equipment casing (5), the other end links to each other with an end of connector (37) by moving sets (36), and the other end of connector (37) is connected with compression bonding apparatus (39) by regulating spring (38).

6. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 5, it is characterized in that: described compression bonding apparatus (39) comprises crimping motor (40), carriage (41), second leading screw (42), the second right screw (43), the second left screw (50), move seat (44), slide block (45), guide rail (46) and C type folder (47), wherein carriage (41) is connected with the other end of connector (37) by regulating spring (38), be provided with crimping motor (40) in the outside of carriage (41), in the carriage (41) respectively upper and lower settings second leading screw (42) and guide rail (46) are arranged; One end of described second leading screw (42) links to each other with the output shaft of crimping motor (40), the second left screw (50) and the second right screw (43) are threaded on second leading screw (42), be connected with respectively on the second left screw (50) and the second right screw (43) and move seat (44), each moves seat (44) and goes up each affixed slide block (45), move the C type of also respectively installing on the seat (44) at each and press from both sides (47), the second left screw (50), the second right screw (43) and mobile seat (44) separately with slide block (45) along moving back and forth on the guide rail (46), two C type folders open or closure about drive, realize the crimping to disconnected strand road.

7. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 6, it is characterized in that: described C type folder (47) is two, move on the seat (44) relative to being installed in two, all have groove on the inwall of each C type folder (47), be provided with second spring (52) in the groove, one end of this second spring (52) is fixed on the inwall of C type folder, and the other end is provided with slurcam (51), this slurcam (51) and the C type ring butt that is installed on the C type folder.

8. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 6, it is characterized in that: the thread rotary orientation at described second leading screw (42) two ends is opposite, and the rotation direction of the second left screw (50) and the second right screw (43) is identical with the thread rotary orientation of the second leading screw link.

9. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 1, it is characterized in that: walking clipping mechanism (2) is identical with the structure of back walking clipping mechanism (9) before described, comprise right clip (25), gentle rope (26), reel (27), wheel carrier (28), left side clip (29) and road wheel (30), preceding walking clipping mechanism (2) is hinged with forearm (4) and postbrachium (7) by first hinge (3) and second hinge (8) respectively with the wheel carrier (28) in the back walking clipping mechanism (9), right clip (25), reel (27), left side clip (29) and road wheel (30) are installed in respectively on the wheel carrier (28); One end of described gentle rope (26) is wrapped on the reel (27), and the other end is divided into two strands, is connected to right clip (25) and left clip (29).

10. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 9, it is characterized in that: described right clip (25) is identical with the structure of left clip (29), comprise the first half jaws (31), elevating arc (32), the second half jaw (33) and first springs (34), wherein the first half jaws (31) are connected by elevating arc (32) with the second half jaws (33), are provided with first spring (34) between the first half jaws (31) and the second half jaws (33); The two ends of described gentle rope (26) are connected to a jaw in right clip (25) and the left clip (29) respectively.

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