CN105006771B - A kind of clamping device of removing obstacles for deicing barrier clearing device - Google Patents
A kind of clamping device of removing obstacles for deicing barrier clearing device Download PDFInfo
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- CN105006771B CN105006771B CN201510380294.XA CN201510380294A CN105006771B CN 105006771 B CN105006771 B CN 105006771B CN 201510380294 A CN201510380294 A CN 201510380294A CN 105006771 B CN105006771 B CN 105006771B
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Abstract
A kind of clamping device of removing obstacles for deicing barrier clearing device, the present invention pass through in revolution arm（11）Both ends turning motor is set respectively, drive revolution arm and manipulator respectively by turning motor（1）Rotation can make manipulator realize four-degree-of-freedom rotation, further under the action of two turning motors, by being equipped with intermeshing toothed surface between the contact surface of manipulator, crawl fastness to ensure manipulator etc., the present invention have it is simple in structure, using respectively the features such as.
Description
【Technical field】
The present invention relates to high voltage transmission line deicing fields, and in particular to a kind of clamping machine of removing obstacles for deicing barrier clearing device
Structure.
【Background technology】
Known, with China's rapid development of economy, super-pressure large capacity transmission circuit the more is built the more more, and line corridor is worn
Geographical environment more also becomes increasingly complex, such as reservoir, lake and the high and steep mountains Jing Guo large area, is brought much to line upkeep
It is difficult.Particularly in severe winter and season in the early spring, China Yunnan-Guizhou Plateau, Sichuan and Shanxi one with and Hubei ＆ Hunan often there is rime and glaze
Phenomenon causes coated by ice of overhead power transmission line, makes line oscillation, flashover, burn or even broken string bar, makes electric network composition by broken
Bad, safe operation is by serious threat etc..In case of emergency, tracking person's hot stick or other similar insulating bars
Can be seldom a part of icing circuit deicing, and there is very high danger.
Further, since circuit moves towards complexity, in order to which the normal operation for ensureing power circuit needs to carry out power transmission line
It regularly safeguards and inspection, inspection can not only grasp the operation conditions of circuit, can also identify defects of circuit and equipment in time
With the variation of surrounding enviroment.Aerial line is more complicated, usually the place with the sternness of some weathers, particularly some vegetables in the wild
Dish production base, general high voltage line is all by these places.When vegetables harvest, plastic film will abandoned, strong wind
Will be suspended in when arrival on high-voltage line becomes barrier.Common floating material is typically that some are light on quadripartion high-voltage line
Matter article common are kite string, lightweight rubber and polybag etc..The barrier that these insulate when daytime and fine day
Object is hindered not cause any harm to high-voltage line, during to the dusk, evening cold air aggravates, and will be atomized on these lightweight barriers
Droplet, droplet, which has been assembled more, just makes these lightweight barriers to insulate become conductor, if serious harm cannot be removed timely
The regular supply of high-voltage line.After the barrier of these insulation becomes conductor, if encountering another conducting wire of high-voltage line, that
Moment short circuit will occur, entire electric power system is made to paralyse, seriously affects normal production and living.
But barrier is artificial to remove there is great work intensity still by traditional artificial removing on current high-voltage line,
Dangerous high harm, therefore the deicing barrier clearing device that a kind of replacement of design manually may span across high-voltage line cat-head transmission tower just seems particularly
It is important, and clamping device of removing obstacles in the deicing barrier clearing device that may span across high-voltage line cat-head transmission tower is key therein, then how
A kind of clamping device of removing obstacles for deicing barrier clearing device is provided just into the term technology demand of those skilled in the art.
【Invention content】
Insufficient present in background technology to overcome, the present invention provides a kind of clampings of removing obstacles for deicing barrier clearing device
Mechanism, technical solution using the present invention can make manipulator realize four-degree-of-freedom rotation, while can also ensure manipulator
Fastness is captured, the present invention has the features such as simple in structure, easy to use.
To realize goal of the invention as described above, the present invention uses technical solution as described below：
A kind of clamping device of removing obstacles for deicing barrier clearing device, including clamping manipulator and revolution arm, the revolution
The power output shaft of one end connection turning motor A of arm, the turning motor A are fixed on by motor support base on main shell,
Pass through power output shaft and revolution hand of the motor support base equipped with turning motor B, the turning motor B in the other end of revolution arm
The central axis upright setting of arm, the power output shaft of turning motor B connect the end of robot support frame in clamping manipulator,
The central axis of robot support frame and the centerline axis parallel of revolution arm are set, and are equipped in the other end of robot support frame
Mechanical arm supporting rack is equipped with steering engine on the side wall of the U-shaped groove of mechanical arm supporting rack, the both ends of steering wheel on the steering engine
One end of connecting rod is connected respectively, and the other end of two connecting rods connects manipulator respectively, and the middle part of two manipulators is cut with scissors by connecting pin
It connects, the both ends of the connecting pin are fixed on connection mechanical arm supporting rack forms institute on the two side at U-shaped slot opening end
The clamping device of removing obstacles for deicing barrier clearing device stated.
The clamping device of removing obstacles for deicing barrier clearing device, the clamping face of the manipulator are equipped with toothed surface.
The clamping device of removing obstacles for deicing barrier clearing device, the side of the main shell are equipped with bearing spider,
Rotating shaft is equipped with by bearing in endoporus in the middle part of the bearing spider, motor support frame is equipped in the end of bearing spider,
The end of motor support frame is equipped with motor support base, dynamic equipped with turning motor A, the turning motor A on the motor support base
Power output shaft is plugged in the connecting hole set in the middle part of revolution axial end, and the other end of rotating shaft, which connects back to, changes hands arm one end end face
The revolution shaft mounting hole of middle part setting.
The clamping device of removing obstacles for deicing barrier clearing device, the other end of the revolution arm are equipped with bearing branch
Seat is equipped with rotating shaft in the endoporus in the middle part of the bearing spider by bearing, and motor support is equipped in the end of bearing spider
Frame is equipped with motor support base in the end of motor support frame, turning motor B, the turning motor B is equipped on the motor support base
Power output shaft be plugged in the connecting hole set in the middle part of revolution axial end, the other end of rotating shaft connection robot support frame
The shaft coupling of end set.
The clamping device of removing obstacles for deicing barrier clearing device, the outer edge surface of described rotating shaft one end are equipped with key
Slot, the middle part of rotating shaft the other end face are equipped with connecting hole, and the wire hole penetrated through to connecting hole is equipped on the outer edge surface of rotating shaft,
Locknut is equipped in wire hole.
The clamping device of removing obstacles for deicing barrier clearing device, the clamping manipulator include manipulator, connecting rod, rudder
Disk, steering engine, robot support frame, connecting pin, balanced support block and mechanical arm supporting rack, the mechanical arm supporting rack are
Square structure is equipped with U-shaped groove, on the side wall of the U-shaped groove of mechanical arm supporting rack at the middle part of mechanical arm supporting rack
Equipped with steering engine, the both ends of steering wheel connect one end of connecting rod by pin respectively on the steering engine, and the other end of two connecting rods leads to respectively
The end that pin connects two manipulators is crossed, the middle part of two manipulators is hinged by connecting pin, and the both ends of the connecting pin are consolidated
It is scheduled on connection mechanical arm supporting rack on the two side at U-shaped slot opening end, in the two sides of manipulator and U-shaped slot opening
Balanced support block is respectively equipped between the two side at end, the balanced support block is socketed on the outer edge surface of connecting pin, in machine
The end of tool arm supporting bracket is equipped with robot support frame, and shaft coupling is equipped in the end of robot support frame.
The clamping device of removing obstacles for deicing barrier clearing device, the steering engine are fixed at machine by steering engine bearing
On tool arm supporting bracket on the side wall of U-shaped groove.
The clamping device of removing obstacles for deicing barrier clearing device, the middle part of the manipulator are equipped with limiting slot.
Using technical solution as described above, the present invention has superiority as described below：
A kind of clamping device of removing obstacles for deicing barrier clearing device of the present invention, the present invention pass through in revolution arm
Both ends set turning motor respectively, revolution arm and manipulator rotation are driven respectively by turning motor, in two turning motors
Manipulator can be made to realize four-degree-of-freedom rotation under effect, further, mutually nibbled by being equipped between the contact surface of manipulator
The toothed surface of conjunction, the crawl fastness to ensure manipulator etc., the present invention have the features such as simple in structure, easy to use.
【Description of the drawings】
Fig. 1 is the structure diagram of clamping manipulator in the present invention；
Fig. 2 is the overlooking the structure diagram of Fig. 1；
Fig. 3 is the structure diagram of the present invention；
In figure：1st, manipulator；2nd, connecting rod；3rd, steering wheel；4th, steering engine；5th, robot support frame；6th, shaft coupling；7th, connecting pin
Nail；8th, balanced support block；9th, steering engine bearing；10th, mechanical arm supporting rack；11st, arm is turned round；12nd, rotating shaft；13rd, main shell；
14th, bearing spider；15th, bearing；16th, motor support frame；17th, locknut；18th, motor support base；19th, turning motor A；20th, it returns
Rotating motor B.
【Specific embodiment】
The present invention can be explained in more detail by the following examples, the invention is not limited in the following examples；
A kind of clamping device of removing obstacles for deicing barrier clearing device with reference to described in attached drawing 1~3, including clamping manipulator and
Arm 11, the power output shaft of one end connection turning motor A19 of the revolution arm 11 are turned round, the turning motor A19 leads to
It crosses motor support base 18 to be fixed on main shell 13, turning motor is equipped with by motor support base 18 in the other end of revolution arm 11
The power output shaft of B20, the turning motor B20 and the central axis upright of revolution arm 11 are set, and turning motor B20's is dynamic
The end of robot support frame 5 in power output shaft connection clamping manipulator, central axis and the revolution arm of robot support frame 5
11 centerline axis parallel setting is equipped with mechanical arm supporting rack 10, in mechanical arm branch in the other end of robot support frame 5
The side wall of the U-shaped groove of support 10 is equipped with steering engine 4, and the both ends of steering wheel 3 connect one end of connecting rod 2 respectively on the steering engine 4, and two
The other end of connecting rod 2 connects manipulator 1 respectively, and the middle part of two manipulators 1 is hinged by connecting pin 7, the connecting pin 7
Both ends are fixed on connection mechanical arm supporting rack 10 removing obstacles for deicing described in formation on the two side at U-shaped slot opening end
The clamping device of removing obstacles of device.
The present invention is in implementation process, wherein in order to improve the firmness of manipulator clamping, in the clamping of the manipulator 1
Face is equipped with the toothed surface being mutually twisted；Rubber layer can also be equipped on the clamping face of manipulator, is set on the surface of rubber layer
There is anti-slip tank；The middle part of the manipulator 1 is equipped with limiting slot, and two limiting slots contact with each other；
Further, the main shell 13 is the load-carrying unit of entire deicing barrier clearing device, therefore it is required that there is certain carrying
Ability, the side of main shell 13 are equipped with bearing spider 14, are equipped in the endoporus at 14 middle part of bearing spider by bearing 15
Rotating shaft 12, motor support frame 16 is equipped in the end of bearing spider 14, and motor support base is equipped in the end of motor support frame 16
18, turning motor A19 is equipped on the motor support base 18, the power output shaft of the turning motor A19 is plugged on rotating shaft
In the connecting hole set in the middle part of 12 end faces, the other end of rotating shaft 12 connects back to the revolution changed hands and set in the middle part of 11 one end end face of arm
Shaft mounting hole.The other end of the revolution arm 11 is equipped with bearing spider 14, leads in the endoporus at 14 middle part of bearing spider
Bearing 15 is crossed equipped with rotating shaft 12, motor support frame 16 is equipped in the end of bearing spider 14, in the end of motor support frame 16
Equipped with motor support base 18, turning motor B20, the power output shaft of the turning motor B20 are equipped on the motor support base 18
It is plugged in the connecting hole set in the middle part of 12 end face of rotating shaft, 5 end of other end connection robot support frame of rotating shaft 12 is set
The shaft coupling 6 put.The outer edge surface of described 12 one end of rotating shaft is equipped with keyway, and the middle part of 12 the other end face of rotating shaft, which is equipped with, to be connected
Hole is connect, perforation is equipped on the outer edge surface of rotating shaft 12 to the wire hole of connecting hole, locknut 17 is equipped in wire hole；
Further, the clamping manipulator includes manipulator 1, connecting rod 2, steering wheel 3, steering engine 4, robot support frame 5, connection
Pin 7, balanced support block 8 and mechanical arm supporting rack 10, the mechanical arm supporting rack 10 is square structure, in mechanical arm
The middle part of supporting rack 10 is equipped with U-shaped groove, and steering engine 4, the rudder are equipped on the side wall of the U-shaped groove of mechanical arm supporting rack 10
The both ends of steering wheel 3 connect one end of connecting rod 2 by pin respectively on machine 4, and the other end of two connecting rods 2 connects two by pin respectively
The end of manipulator 1, the middle part of two manipulators 1 is hinged by connecting pin 7, and the both ends of the connecting pin 7 are fixed on connection
On mechanical arm supporting rack 10 on the two side at U-shaped slot opening end, in the two sides of manipulator 1 and U-shaped slot opening end
Balanced support block 8 is respectively equipped between two side, the balanced support block 8 is socketed on the outer edge surface of connecting pin 7, in machinery
The end of arm supporting bracket 10 is equipped with robot support frame 5, and shaft coupling 6 is equipped in the end of robot support frame 5.The steering engine
4 are fixed on mechanical arm supporting rack 10 by steering engine bearing 9 on the side wall of U-shaped groove.
Steering engine 4 is fixed on by steering engine bearing 9 on mechanical arm supporting rack 10 in the present invention, and the steering wheel 3 on steering engine 4 is distinguished
It is connected with two connecting rods 2 by pin, the end of two connecting rods 2 is connected respectively with two manipulators 1 by pin.Two machineries
The limiting slot mutually constrained is provided among hand 1, two limiting groove faces contact with each other, set by balanced support block 8 and connecting pin 7
It puts on mechanical arm supporting rack 10.In order to ensure to capture fastness, it is provided between the contact surface of two manipulators 1 and mutually nibbles
The toothed surface of conjunction.
In use, turning motor A19 drives revolution arm 11 to rotate to the present invention, and turning motor B20 drives machinery
Hand supporting rack 5 rotates, and steering engine 4 drives manipulator 1 to realize crawl.
Part not in the detailed description of the invention is the prior art.
The embodiment selected herein for the open purpose of the present invention, is presently considered to be suitable, still, Ying Liao
Solution, the present invention is directed to include all changes and the improvement that all belong to this design and the embodiment in invention scope.
Claims (6)
1. a kind of clamping device of removing obstacles for deicing barrier clearing device, including clamping manipulator and revolution arm（11）, feature
It is：The revolution arm（11）One end connection turning motor A（19）Power output shaft, the turning motor A（19）Pass through
First motor support base（18）It is fixed on main shell（13）On, in revolution arm（11）The other end pass through second motor support base
（18）Equipped with turning motor B（20）, the turning motor B（20）Power output shaft with revolution arm（11）Central axis hang down
Straight setting, turning motor B（20）Power output shaft connection clamping manipulator in robot support frame（5）End, manipulator
Supporting rack（5）Central axis with revolution arm（11）Centerline axis parallel setting, in robot support frame（5）The other end
Equipped with mechanical arm supporting rack（10）, in mechanical arm supporting rack（10）U-shaped groove side wall be equipped with steering engine（4）, it is described
Steering engine（4）Pass through steering engine bearing（9）It is fixed at mechanical arm supporting rack（10）On the side wall of upper U-shaped groove, the steering engine
（4）Upper steering wheel（3）Both ends connect two connecting rods respectively（2）One end, two connecting rods（2）The other end connect manipulator respectively（1）,
The manipulator（1）Middle part be equipped with limiting slot, two manipulators（1）Middle part pass through connecting pin（7）It is hinged, the connecting pin
Nail（7）Both ends be fixedly connected on mechanical arm supporting rack（10）The use is formed on the two side at upper U-shaped slot opening end
In the clamping device of removing obstacles of deicing barrier clearing device.
2. the clamping device of removing obstacles according to claim 1 for deicing barrier clearing device, it is characterized in that：The manipulator
（1）Clamping face be equipped with toothed surface.
3. the clamping device of removing obstacles according to claim 1 for deicing barrier clearing device, it is characterized in that：The main shell
（13）Side be equipped with bearing spider（14）, in the bearing spider（14）Pass through bearing in the endoporus at middle part（15）Equipped with revolution
Axis（12）, in bearing spider（14）End be equipped with motor support frame（16）, in motor support frame（16）End be equipped with first
A motor support base（18）, in first motor support base（18）It is equipped with turning motor A（19）, the turning motor A（19）
Power output shaft be plugged on rotating shaft（12）In the connecting hole set in the middle part of end face, rotating shaft（12）The other end connection revolution
Arm（11）The revolution shaft mounting hole set in the middle part of the end face of one end.
4. the clamping device of removing obstacles according to claim 1 for deicing barrier clearing device, it is characterized in that：The revolution arm
（11）The other end be equipped with bearing spider（14）, in the bearing spider（14）Pass through bearing in the endoporus at middle part（15）Equipped with return
Shaft（12）, in bearing spider（14）End be equipped with motor support frame（16）, in motor support frame（16）End be equipped with the
Two motor support bases（18）, in second motor support base（18）It is equipped with turning motor B（20）, the turning motor B
（20）Power output shaft be plugged on rotating shaft（12）In the connecting hole set in the middle part of end face, rotating shaft（12）The other end connection
Robot support frame（5）The shaft coupling of end set（6）.
5. according to the clamping device of removing obstacles for deicing barrier clearing device described in 3 or 4 any claim of claim, feature
It is：The rotating shaft（12）The outer edge surface of one end is equipped with keyway, rotating shaft（12）The middle part of the other end face is equipped with connecting hole,
In rotating shaft（12）Outer edge surface be equipped with perforation to connecting hole wire hole, in wire hole be equipped with locknut（17）.
6. the clamping device of removing obstacles according to claim 1 for deicing barrier clearing device, it is characterized in that：The clamping machinery
Hand includes manipulator（1）, connecting rod（2）, steering wheel（3）, steering engine（4）, robot support frame（5）, connecting pin（7）, balanced support
Block（8）With mechanical arm supporting rack（10）, the mechanical arm supporting rack（10）For square structure, in mechanical arm supporting rack
（10）Middle part be equipped with U-shaped groove, in mechanical arm supporting rack（10）U-shaped groove side wall be equipped with steering engine（4）, the rudder
Machine（4）Upper steering wheel（3）Both ends respectively pass through pin connect two connecting rods（2）One end, two connecting rods（2）The other end pass through respectively
Pin connects two manipulators（1）End, two manipulators（1）Middle part pass through connecting pin（7）It is hinged, the connecting pin
（7）Both ends be fixedly connected on mechanical arm supporting rack（10）On the two side at upper U-shaped slot opening end, in manipulator（1）'s
Balanced support block is respectively equipped between the two side at two sides and U-shaped slot opening end（8）, the balanced support block（8）Socket
In connecting pin（7）Outer edge surface on, in mechanical arm supporting rack（10）End be equipped with robot support frame（5）, in machinery
Hand supporting rack（5）End be equipped with shaft coupling（6）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510380294.XA CN105006771B (en) | 2015-07-02 | 2015-07-02 | A kind of clamping device of removing obstacles for deicing barrier clearing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510380294.XA CN105006771B (en) | 2015-07-02 | 2015-07-02 | A kind of clamping device of removing obstacles for deicing barrier clearing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105006771A CN105006771A (en) | 2015-10-28 |
| CN105006771B true CN105006771B (en) | 2018-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510380294.XA Expired - Fee Related CN105006771B (en) | 2015-07-02 | 2015-07-02 | A kind of clamping device of removing obstacles for deicing barrier clearing device |
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| Country | Link |
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| CN (1) | CN105006771B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620995A (en) * | 2016-04-11 | 2016-06-01 | 山东建筑大学 | Automatic storing and fetching device for expresses |
| CN109047082B (en) * | 2018-07-20 | 2023-07-28 | 河北工业大学 | Automatic inspection and cleaning device for ultra-high voltage four-split power line |
| CN108831278A (en) * | 2018-08-28 | 2018-11-16 | 广东海翔教育科技有限公司 | A kind of education and science's mechanical arm for teaching apparatus for demonstrating |
| CN112636246A (en) * | 2020-12-21 | 2021-04-09 | 侯艳权 | Power transmission line deicing anchor clamps and adopt deicing machine that this deicing anchor clamps realized |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2341602A (en) * | 1941-06-21 | 1944-02-15 | Ohio Seamless Tube Company | Billet centering apparatus |
| US4283851A (en) * | 1979-03-17 | 1981-08-18 | Baudat E. Wolter Kg | Scissor-type shear, especially a cable cutter |
| CN101513733A (en) * | 2009-03-23 | 2009-08-26 | 山东电力集团公司超高压公司 | Overhead network barrier-clearance and detection robot |
| CN102490176A (en) * | 2011-11-22 | 2012-06-13 | 成都海科机械设备制造有限公司 | Manipulator |
| CN103941736A (en) * | 2014-05-07 | 2014-07-23 | 山东理工大学 | Novel intelligent carrier and control method thereof |
| CN204885996U (en) * | 2015-07-02 | 2015-12-16 | 洛阳理工学院 | A fixture that removes obstacles for deicing clearance sacrifice device |
-
2015
- 2015-07-02 CN CN201510380294.XA patent/CN105006771B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2341602A (en) * | 1941-06-21 | 1944-02-15 | Ohio Seamless Tube Company | Billet centering apparatus |
| US4283851A (en) * | 1979-03-17 | 1981-08-18 | Baudat E. Wolter Kg | Scissor-type shear, especially a cable cutter |
| CN101513733A (en) * | 2009-03-23 | 2009-08-26 | 山东电力集团公司超高压公司 | Overhead network barrier-clearance and detection robot |
| CN102490176A (en) * | 2011-11-22 | 2012-06-13 | 成都海科机械设备制造有限公司 | Manipulator |
| CN103941736A (en) * | 2014-05-07 | 2014-07-23 | 山东理工大学 | Novel intelligent carrier and control method thereof |
| CN204885996U (en) * | 2015-07-02 | 2015-12-16 | 洛阳理工学院 | A fixture that removes obstacles for deicing clearance sacrifice device |
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|---|---|
| CN105006771A (en) | 2015-10-28 |
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