CN101752818A - Driving mechanism for automatically deicing robot along overhead high voltage transmission line - Google Patents
Driving mechanism for automatically deicing robot along overhead high voltage transmission line Download PDFInfo
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- CN101752818A CN101752818A CN201010128263A CN201010128263A CN101752818A CN 101752818 A CN101752818 A CN 101752818A CN 201010128263 A CN201010128263 A CN 201010128263A CN 201010128263 A CN201010128263 A CN 201010128263A CN 101752818 A CN101752818 A CN 101752818A
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Abstract
The invention relates to a driving mechanism for an automatically deicing robot along an overhead high voltage transmission line, which comprises a large arm stretching mechanism, two stretching manipulator mechanisms, a walking wheel mechanism and a clamping mechanism. The lower ends of the two stretching manipulator mechanisms are connected with rotation mechanisms at both ends of the large arm stretching mechanism, the two stretching manipulator mechanisms can rotate around a plumb shaft, the walking wheel mechanism consists of a walking wheel and a walking wheel drive mechanism, the walking wheel drive mechanism is connected with the upper ends of the stretching manipulator mechanisms, and the clamping mechanism is connected with the stretching manipulator mechanisms and can clamp/loosen the transmission line along with stretching of the stretching manipulator mechanisms. The driving mechanism for the automatically deicing robot along the overhead high voltage transmission line has strong obstacle surmounting ability, does not need to be transported from one side of an obstacle to the other side by being artificially charged, is safe and reliable, greatly lowers the labor intensity, can work on the whole course of the transmission line without being limited by the external environment and climate and has wide application range and high working efficiency.
Description
Technical field
The present invention relates to a kind of traveling mechanism, particularly a kind of traveling mechanism that is used for automatically deicing robot along overhead high voltage transmission line.
Background technology
At present, the traveling mechanism that is used for automatically deicing robot along overhead high voltage transmission line is a telecar, USA Magazine " Transmisson and Distribution Construction in 2003, Opeartion and Live-Line Maintenace, 2003.2003IEEE 10th International Conference on " (the ISBN numbering: 0-7803-7917-9) article of 33-40 page or leaf " The HQ LineROVER:Contributing to Innovation in Transmission Line Maintenance " discloses a kind of remotely operated vehicle (Remotely Operated Vehicle) that aerial high-voltage power transmission line is patrolled and examined that is used for.This remotely operated vehicle utilizes three pairs of pinch wheels to clamp power transmission line, driving telecar travels along power transmission line, its shortcoming is can only work on one grade of circuit because of this telecar, do not have the obstacle detouring function, during various barrier metallization on running into circuit, need artificial live line working that its side from barrier is transported to opposite side, inefficiency, poor stability.
Summary of the invention
Technical problem to be solved by this invention provides a kind of traveling mechanism that is used for automatically deicing robot along overhead high voltage transmission line, can not only be along the through running of aerial high-voltage power transmission line, and the various barriers on can span line, do not need artificial charged its side from barrier to be transported to opposite side, improved the operating efficiency of automatically deicing robot greatly, safe.
In order to solve the problems of the technologies described above, technical scheme of the present invention is: a kind of traveling mechanism that is used for automatically deicing robot along overhead high voltage transmission line, and it comprises big arm telescoping mechanism; Two flexible manipulator mechanisms, two flexible manipulator mechanism lower ends are connected with the rotating mechanism at big arm telescoping mechanism two ends, and two flexible manipulator mechanisms can rotate around vertical axis; Road wheel mechanism is made up of road wheel and ground drive mechanism, and ground drive mechanism is connected with the upper end of flexible manipulator mechanism; Clamp system, clamp system is connected with flexible manipulator mechanism, and clamp system can be along with the flexible clamping of flexible manipulator mechanism/unclamp power transmission line.
Big arm telescoping mechanism optimized technical scheme is: in the big arm telescoping mechanism, the left arm case is slidingly connected by two pairs of guide rails and right arm case, big arm motor is located in the right arm case, the output shaft of big arm motor is connected with walking leading screw one end, is fixed in the left arm case with the corresponding walking nut of walking screw mandrel.
Flexible manipulator mechanism optimized technical scheme is: in the flexible manipulator mechanism, top box is slidingly connected by two pairs of riser guides and nowel, lifting motor is located in the nowel, the output shaft of lifting motor is connected with elevating screw one end, the lifting nut corresponding with elevating screw is fixed in the top box, and nowel is connected with rotating mechanism by connector.
The rotating mechanism optimized technical scheme is: in the rotating mechanism, connector is connected with the plate that is rotationally connected at big arm telescoping mechanism two ends, and gear wheel is fixed on the connector, and rotary electric machine is fixed on the plate that is rotationally connected, and the output shaft of rotary electric machine is connected with pinion.
Road wheel mechanism optimized technical scheme is: in the road wheel mechanism, the drive motors of ground drive mechanism is connected with the plate that stretches out of top box one side, and the output shaft of drive motors is connected with the back shaft of road wheel.
The clamp system optimized technical scheme is: in the clamp system, angle coupling bar one end is provided with clamp, the angle coupling bar other end is connected with dwang one end by the nowel fixed axis, the dwang other end is connected with top box fixed axis on being fixed on top box, and the nowel fixed axis places the chute on the top box and is fixed on the nowel outer surface.
The traveling mechanism that is used for automatically deicing robot along overhead high voltage transmission line provided by the invention, because the road wheel of road wheel mechanism can be implemented in the cruising on the transmission line, two flexible manipulator mechanisms are connected with the rotating mechanism at big arm telescoping mechanism two ends, make that the distance between two manipulator mechanisms can be along with the flexible elongation/shortening of big arm telescoping mechanism, simultaneously, not only oneself height is scalable for each flexible manipulator mechanism, can also rotate around vertical axis, the action that cooperates clamp system to clamp/unclamp power transmission line can realize the function of obstacle detouring, obstacle climbing ability is strong, do not need artificial charged its side from barrier to be transported to opposite side, and by flexible manipulator mechanism flexible imbalance can obstacle detouring the time, safe and reliable, greatly reduced labour intensity, can not be subjected to external environment, weather is restrictedly worked on the whole process of transmission line, applied range, high efficiency.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples: Fig. 1 is a front view of the present invention; Fig. 2 is an A-A cutaway view among Fig. 1 of the present invention; Fig. 3 is a B-B cutaway view among Fig. 2 of the present invention; Fig. 4 is the enlarged drawing at C place among Fig. 2 of the present invention; Fig. 5 is the clamping figure of clamp system; Fig. 6 is the figure that unclamps of clamp system; Fig. 7 is that the present invention places the schematic diagram on the power transmission line; Fig. 8 is a principle schematic of the present invention.
Embodiment
As Fig. 1, Fig. 2 and shown in Figure 3, the present invention includes big arm telescoping mechanism 2; Two flexible manipulator mechanisms, 1,1 ', two flexible manipulator mechanism 1,1 ' lower ends are connected with the rotating mechanism at big arm telescoping mechanism 2 two ends, and two flexible manipulator mechanisms 1,1 ' can rotate around vertical axis; Road wheel mechanism 3 is made up of road wheel 10 and ground drive mechanism 5, and ground drive mechanism 5 is connected with the upper end of flexible manipulator mechanism 1; Clamp system 4, clamp system 4 is connected with flexible manipulator mechanism 1, and clamp system 4 can be along with the flexible clamping of flexible manipulator mechanism 1/unclamp power transmission line 11.
In the big arm telescoping mechanism 2, left arm case 24 is slidingly connected by two pairs of guide rails 41 and right arm case 25, big arm motor 26 is connected with arm case connecting plate 27 in the right arm case 25, the output shaft of big arm motor 26 is connected with walking leading screw 29 1 ends by shaft coupling 28, is fixed in the left arm case 24 with walking screw mandrel 29 corresponding walking nuts 30; Guide rail 41 is preferably ball bearing type curtain rail.
In the flexible manipulator mechanism 1, top box 35 is slidingly connected by two pairs of riser guides 18 and nowel 36, nowel connecting plate 13 in lifting motor 1 and the nowel 36, the output shaft of lifting motor 12 is connected with elevating screw 15 1 ends by lifting shaft coupling 14, the lifting nut 16 corresponding with elevating screw 15 is fixed on the top box connecting plate 17 in the top box 35, and nowel 36 is connected with rotating mechanism by connector 19.
In the road wheel mechanism 3, the drive motors 6 of ground drive mechanism 5 is connected with the plate 7 that stretches out of top box 35 1 sides, and the output shaft of drive motors 7 is connected with the back shaft 9 of road wheel 10 by driving shaft coupling 8.
In the clamp system 4, angle coupling bar 34 1 ends are provided with clamp 37, angle coupling bar 34 other ends are connected with dwang 31 1 ends by nowel fixed axis 32, dwang 31 other ends are connected with top box fixed axis 33 on being fixed on top box 35, nowel fixed axis 32 places the chute 38 on the top box 35 and is fixed on nowel 36 outer surfaces, and the schematic diagram that clamp 37 unclamps/clamp power transmission line 11 as shown in Figure 5 and Figure 6.
The structure of rotating mechanism as shown in Figure 4, in the rotating mechanism, connector 19 is connected with the plate 21 that is rotationally connected at big arm telescoping mechanism 2 two ends, and gear wheel 20 is fixed on the connector 19, rotary electric machine 22 is fixed on the plate 21 that is rotationally connected, and the output shaft of rotary electric machine 22 is connected with pinion 23.
The course of work of the present invention is as follows: at first, and with two road wheels 10 of two flexible manipulator mechanisms 1,1 ', 10 ' is placed on the power transmission line 11, and as shown in Figure 7, manipulator mechanism 1 stretches this moment two, the clamp 37 of the clamp system 4,4 ' on 1 ', 37 ' is in releasing orientation, do not clamp power transmission line 11, start two drive motors 6,6 ', ground-engaging wheel 10,10 ' rolls, and realizes originally travelling mechanism's rolling-operation on power transmission line 11.
When the flexible manipulator mechanism 1 that is in the place ahead runs into barrier on the power transmission line 11 (as insulator 39, stockbridge damper 40 etc.), close two drive motors 6 simultaneously, 6 ', start the lifting motor 12 on the two flexible manipulator mechanisms 1,1 ' more simultaneously, 12 ', elevating screw 15,15 ' with respect to lifting nut 16, and 16 ' moves upward, drive nowel 36,36 ' and big arm telescoping mechanism 2 move upward, this moment, nowel fixed axis 32,32 ' was also along with moving upward, drive dwang 31,31 ' and angle coupling bar 34,34 ' rotate, up to clamp 37,37 ' closes lifting motor 12,12 ' when clamping power transmission line 11 simultaneously; Oppositely start the lifting motor 12 ' that is in the rear again and make its counter-rotating, because the clamp 37 of the flexible manipulator mechanism 1 in the place ahead has clamped power transmission line 11, so the nowel 36 ' at big arm telescoping mechanism 2 and rear maintains static, then make lifting nut 16 ' move upward with respect to elevating screw 15 ', drive top box 35 ' and the 3 ' rising of road wheel mechanism, top box fixed axis 33 ' drives clamp 37 ' backward rotation and slowly unclamps power transmission line also along with moving upward at this moment, and road wheel 10 ' rises thereupon; After road wheel 10 ' rising breaks away from power transmission line 11 fully, close the lifting motor 12 ' of the flexible manipulator mechanism 1 ' at rear, open rotary electric machine again, then drive the gear wheel rotation by driving pinion rotation, flexible manipulator mechanism 1 ' rotates around vertical axis thereupon, treat that flexible manipulator mechanism 1 ' closes rotary electric machine behind vertical axis Rotate 180 °, open the big arm motor 26 of walking screw mandrel 29, the distance of walking screw mandrel 29 relative walking nuts 30 is reduced, because the clamp 37 of the flexible manipulator mechanism 1 in the place ahead clamps power transmission line 11,26 on big arm motor drives right arm case 25 and travels forward, then the flexible manipulator mechanism 1 ' that drives the rear travels forward, after clearing the jumps, flexible manipulator mechanism 1 ' closes big arm motor 26, this moment, flexible manipulator mechanism 1 ' exchanged with the front and back position of flexible manipulator mechanism 1, and flexible manipulator mechanism 1 ' is in the place ahead of flexible manipulator mechanism 1.
Oppositely start rotary electric machine again, the flexible manipulator mechanism 1 ' that drives behind the obstacle detouring is oppositely closed rotary electric machine behind vertical axis Rotate 180 °, and this moment, road wheel 10 ' came back to the top of power transmission line 11; Open lifting motor 12 ', because the clamp 37 of flexible manipulator mechanism 1 clamps power transmission line 11, then lifting nut 16 ' the relative elevating screw 15 ' of flexible manipulator mechanism 1 ' moves downward, drive top box 35 ' and the 3 ' decline of road wheel mechanism, top box fixed axis 33 ' descends thereupon, drive clamp 37 ' and slowly clamp power transmission line 11, when clamp 37 ' clamps power transmission line 11 fully, close lifting motor 12 '.Make the clamp 37 of flexible manipulator mechanism 1 unclamp power transmission line 11 again, repeat said process, make flexible manipulator mechanism 1 finish the obstacle detouring action, the obstacle detouring principle as shown in Figure 8.
When two flexible manipulator mechanisms 1,1 ' all clear the jumps after, start simultaneously oppositely two lifting motors 12,12 ', make two nowels 36,36 ' and big arm telescoping mechanism 2 descend simultaneously, clamping folder 37 ' unclamps power transmission line 11, two road wheels 10,10 ' and places again on the power transmission line 11, restart two drive motors 6,6 ' and can realize this walking mechanism travelling on power transmission line 11.
If in the process of moving, the flexible manipulator mechanism 1 ' that is in the rear runs into barrier, repeats above-mentioned steps and gets final product.
Claims (6)
1. traveling mechanism that is used for automatically deicing robot along overhead high voltage transmission line, it is characterized in that: it comprises big arm telescoping mechanism (2); Two flexible manipulator mechanisms (1,1 '), two flexible manipulator mechanism (1,1 ') lower ends are connected with the rotating mechanism at big arm telescoping mechanism (2) two ends, and two flexible manipulator mechanisms (1,1 ') can rotate around vertical axis; Road wheel mechanism (3) is made up of road wheel (10) and ground drive mechanism (5), and ground drive mechanism (5) is connected with the upper end of flexible manipulator mechanism (1); Clamp system (4), clamp system (4) is connected with flexible manipulator mechanism (1), and clamp system (4) can be along with the flexible clamping of flexible manipulator mechanism (1)/unclamp power transmission line (11).
2. the traveling mechanism that is used for automatically deicing robot along overhead high voltage transmission line according to claim 1, it is characterized in that: in the big arm telescoping mechanism (2), left arm case (24) is slidingly connected by two pairs of guide rails (41) and right arm case (25), big arm motor (26) is located in the right arm case (25), the output shaft of big arm motor (26) is connected with walking leading screw (29) one ends, is fixed in the left arm case (24) with walking screw mandrel (29) corresponding walking nuts (30).
3. the traveling mechanism that is used for automatically deicing robot along overhead high voltage transmission line according to claim 1 and 2, it is characterized in that: in the flexible manipulator mechanism (1), top box (35) is slidingly connected by two pairs of riser guides (18) and nowel (36), lifting motor (12) is located in the nowel (36), the output shaft of lifting motor (12) is connected with elevating screw (15) one ends, the lifting nut (16) corresponding with elevating screw (15) is fixed in the top box (35), and nowel (36) is connected with rotating mechanism by connector (19).
4. the traveling mechanism that is used for automatically deicing robot along overhead high voltage transmission line according to claim 1 and 2, it is characterized in that: in the rotating mechanism, connector (19) is connected with the plate that is rotationally connected (21) at big arm telescoping mechanism (2) two ends, gear wheel (20) is fixed on the connector (19), rotary electric machine (22) is fixed on the plate that is rotationally connected (21), and the output shaft of rotary electric machine (22) is connected with pinion (23).
5. the traveling mechanism that is used for automatically deicing robot along overhead high voltage transmission line according to claim 1 and 2, it is characterized in that: in the road wheel mechanism (3), the drive motors (6) of ground drive mechanism (5) is connected with the plate (7) that stretches out of top box (35) one sides, and the output shaft of drive motors (7) is connected with the back shaft (9) of road wheel (10).
6. the traveling mechanism that is used for automatically deicing robot along overhead high voltage transmission line according to claim 1 and 2, it is characterized in that: in the clamp system (4), angle coupling bar (34) one ends are provided with clamp (37), angle coupling bar (34) other end is connected with dwang (31) one ends by nowel fixed axis (32), dwang (31) other end is connected with top box fixed axis (33) on being fixed on top box (35), and nowel fixed axis (32) places the chute (38) on the top box (35) and is fixed on nowel (36) outer surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010128263A CN101752818A (en) | 2010-03-19 | 2010-03-19 | Driving mechanism for automatically deicing robot along overhead high voltage transmission line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201010128263A CN101752818A (en) | 2010-03-19 | 2010-03-19 | Driving mechanism for automatically deicing robot along overhead high voltage transmission line |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102270822A (en) * | 2011-08-25 | 2011-12-07 | 三峡大学 | Robot for automatic deicing of transmission line |
| CN102332694A (en) * | 2011-08-25 | 2012-01-25 | 三峡大学 | Robot for automatically deicing for power transmission line |
| CN103138219A (en) * | 2011-11-22 | 2013-06-05 | 北京林业大学 | Automatic deicing machine of high-voltage transmission line |
| CN104682309A (en) * | 2015-03-02 | 2015-06-03 | 江南大学 | Suspended high-voltage line deicing device |
| CN104993641A (en) * | 2015-07-02 | 2015-10-21 | 洛阳理工学院 | Synchronous telescopic mechanism for deicing barrier removing mechanical apparatus |
| CN109861133A (en) * | 2019-01-25 | 2019-06-07 | 武汉大学 | A kind of mostly division aerial high-voltage power transmission line mobile robot and its reconfigurable method |
| CN110137851A (en) * | 2019-05-31 | 2019-08-16 | 国网山东省电力公司临沂供电公司 | Overhead transmission line fitting removes device |
| CN110921227A (en) * | 2019-11-08 | 2020-03-27 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| CN113241648A (en) * | 2021-05-21 | 2021-08-10 | 贵州电网有限责任公司 | Transformer substation's isolator contact congeals processing apparatus |
| CN114914844A (en) * | 2021-12-15 | 2022-08-16 | 长沙理工大学 | Transmission line hot-line work robot and equipotential operating mechanism thereof |
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2010
- 2010-03-19 CN CN201010128263A patent/CN101752818A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102270822A (en) * | 2011-08-25 | 2011-12-07 | 三峡大学 | Robot for automatic deicing of transmission line |
| CN102332694A (en) * | 2011-08-25 | 2012-01-25 | 三峡大学 | Robot for automatically deicing for power transmission line |
| CN102270822B (en) * | 2011-08-25 | 2013-10-02 | 三峡大学 | Robot for automatic deicing of transmission line |
| CN102332694B (en) * | 2011-08-25 | 2013-10-09 | 三峡大学 | Robot for automatically deicing for power transmission line |
| CN103138219A (en) * | 2011-11-22 | 2013-06-05 | 北京林业大学 | Automatic deicing machine of high-voltage transmission line |
| CN104682309A (en) * | 2015-03-02 | 2015-06-03 | 江南大学 | Suspended high-voltage line deicing device |
| CN104993641A (en) * | 2015-07-02 | 2015-10-21 | 洛阳理工学院 | Synchronous telescopic mechanism for deicing barrier removing mechanical apparatus |
| CN109861133A (en) * | 2019-01-25 | 2019-06-07 | 武汉大学 | A kind of mostly division aerial high-voltage power transmission line mobile robot and its reconfigurable method |
| CN110137851A (en) * | 2019-05-31 | 2019-08-16 | 国网山东省电力公司临沂供电公司 | Overhead transmission line fitting removes device |
| CN110921227A (en) * | 2019-11-08 | 2020-03-27 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| CN110921227B (en) * | 2019-11-08 | 2020-10-16 | 中国科学院自动化研究所 | Carrying mechanism for on-line walking |
| US11283247B2 (en) | 2019-11-08 | 2022-03-22 | Institute Of Automation, Chinese Academy Of Sciences | Carrier mechanism for walking on line |
| CN113241648A (en) * | 2021-05-21 | 2021-08-10 | 贵州电网有限责任公司 | Transformer substation's isolator contact congeals processing apparatus |
| CN114914844A (en) * | 2021-12-15 | 2022-08-16 | 长沙理工大学 | Transmission line hot-line work robot and equipotential operating mechanism thereof |
| CN114914844B (en) * | 2021-12-15 | 2024-02-02 | 长沙理工大学 | Live working robot for power transmission line and application method thereof |
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Application publication date: 20100623 |