CN102354930B - Four-bundle conductor traveling apparatus of 500kV transmission line - Google Patents
Four-bundle conductor traveling apparatus of 500kV transmission line Download PDFInfo
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- CN102354930B CN102354930B CN 201110307062 CN201110307062A CN102354930B CN 102354930 B CN102354930 B CN 102354930B CN 201110307062 CN201110307062 CN 201110307062 CN 201110307062 A CN201110307062 A CN 201110307062A CN 102354930 B CN102354930 B CN 102354930B
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Abstract
The invention relates to a four-bundle conductor traveling apparatus of a 500kV transmission line, which consists of main wheel traveling mechanisms, swing-bar elevation mechanisms, auxiliary wheel traveling mechanisms, brake mechanisms, boom side-swing mechanisms, a suspension basket and the like, wherein the main wheel traveling mechanisms, the swing-bar elevation mechanism, the auxiliary wheel traveling mechanisms, the brake mechanisms and the boom side-swing mechanisms are respectively divided into two groups which are symmetrically distributed according to the traveling direction of the mechanisms with the left side and the right side being provided with one group respectively, and the main wheel traveling mechanisms, the swing-bar elevation mechanism, the auxiliary wheel traveling mechanisms, the brake mechanisms and the boom side-swing mechanisms are integrated into a whole by hinging two booms and a suspension basket bottom beam on the bottom parts of the main wheel traveling mechanisms. The four-bundle conductor traveling apparatus of the 500kV transmission line has high strength and a light weight, and the weight of the entire apparatus is greatly reduced; high-energy lithium battery is adopted as an electric power source, so the four-bundle conductor traveling apparatus can run continuously for more than one hour after being charged at one time; a direct-current low-speed brushless motor is adopted as a power mechanism, so the electrodeless variable-speed can be realized, and the four-bundle conductor traveling apparatus can be free and smooth to go forward and backward; the conductor traveling apparatus can successfully step across the barriers such as conductor spacers, stockbridge dampers, splicing sleeves, linear suspension strings and the like; and due to the adoption of the brake mechanisms, not only can the brake be realized, but also the safety effect can be realized.
Description
Technical field
The present invention relates to a kind of 500kV transmission line conductors on quad bundled running gear, it is the means of transportation of patrolling and examining for 500kV transmission line rack.
Background technology
At present, 500kV transmission line rack is patrolled and examined mainly based on artificial cabling, use the foot-operated lead driving of manpower at the part circuit, but all there are some problem and shortage in these methods.First 500kV line conductor hangs higher, and span is bigger, and modes such as cabling or foot-operated lead driving are adopted in operation, and operating personnel's physical demands is a lot, and particularly operating personnel require great effort more when climbing.Whole transmission of electricity rack patrol and examine with operation process in, operating personnel's labour intensity increases, inefficiency; It two is that the operating personnel can not stand at driving the defective of lead is carried out maintenance activity, and disappearing to lack exists bigger space constraints; It three is that to patrol and examine with operation at transmission line all be to depend on manpower to finish, and the tool kind that the operating personnel carries and quantity all are limited, can not in time solve when running into some special circumstances; It four is operating personnel's cabling or foot-operated lead driving, the operation process less stable, and difficulty and risk are bigger.
Summary of the invention
The objective of the invention is to overcome above-mentioned weak point, thereby provide a kind of 500kV transmission line conductors on quad bundled running gear, this running gear with high power lithium battery as power source, can walk and cross over conductor spacer, stockbridge damper, splicing sleeve, straight line in the electrical network barriers such as string that dangle automatically, can carry more instrument, help the operating personnel to carry out rack shelves cabling and disappear scarcely continuously, increase work efficiency, reduce labor intensity.
According to technical scheme provided by the invention, 500kV transmission line conductors on quad bundled running gear is by the main wheel walking mechanism, the fork elevating mechanism, the jockey pulley walking mechanism, skidding mechanism, arm side-sway mechanism, hanging basket is formed, main wheel walking mechanism wherein, the fork elevating mechanism, the jockey pulley walking mechanism, skidding mechanism, arm side-sway mechanism all has two groups, each one group of symmetrical distribution of limit, the left and right sides according to mechanism's direction of travel, the arm top of arm side-sway mechanism and main wheel walking mechanism, the fork elevating mechanism, the jockey pulley walking mechanism, skidding mechanism links to each other, hinge axis is passed through in the bottom, the hanging basket bottom girder is hinged, and the most whole running gear connects as one.
Every group of main wheel walking mechanism, fork elevating mechanism, jockey pulley walking mechanism, skidding mechanism, arm side-sway mechanism structure are identical.
Every group of main wheel running gear is made up of two blocks of column plates, main wheel, main motor, bevel gear set and main axle; Wherein in the main wheel groove between two column plate bottoms, the outside one end of main axle is equipped with bevel gear set to main wheel by main axle and bearing fixing; Main motor is fixed on in the outer part the column plate, and electric machine main shaft is connected with main axle vertically downward and by bevel gear set, and main electrical power rotates also and drives the main wheel rotation by bevel gear set, main axle, walks at lead thereby drive whole running gear.
Every group of fork elevating mechanism is made up of lifting motor, two swing arms, screw mandrel, silk braid, guide wheel, auxiliary wheel, slide block, lifting tooth wheels, silk braid fixed heads; Wherein swing arm is respectively to install one before and after being by mechanism's direct of travel, and two swing arms upper end is hinged with the column plate, in the race of front swing arm lower end guide wheel is installed, and in the race of rear-swing arm lower end auxiliary wheel is installed; Guided wheel slot, auxiliary race and main wheel groove center are positioned at the lead top, and on same vertical plane; Lifting motor and screw mandrel are installed in the slide block, and lifting motor is connected with screw mandrel by the lifting tooth wheels, and screw mandrel two ends thread rotary orientation is opposite; Slide block is installed in the middle of the groove that is formed by two blocks of column plates, and it can be done and slide up and down; The two ends of screw mandrel are connected by silk braid, two swing arms of silk braid fixed head and front and back that are installed in the swing arm middle part respectively.
Every group of jockey pulley walking mechanism is made up of stand-by motor, auxiliary wheel, auxiliary wheel shaft and shaft coupling; Auxiliary wheel is fixed in the auxiliary race of swing arm by auxiliary wheel shaft, the auxiliary wheel shaft outside one end is equipped with shaft coupling, and it is connected the axle of stand-by motor with auxiliary wheel shaft; Stand-by motor is fixed in the outside, swing arm lower end.
Every group of skidding mechanism is made up of arm, front brake roller, back brake roller, two levers, rode, handle, rotating shafts; Lever is positioned the arm middle part by rotating shaft, and they are distributed in the front and back side of arm, and the front brake roller is installed on the lever of front side, and brake roller in back is installed on the rear side lever, and two lever tails are to link into an integrated entity by handle.Arm top is fixed on the column plate by long spiro nail and short screw, and aligns with it; Front brake roller and back brake roller are installed in the below of main wheel and lead.
Between described lever and the column plate rode is installed, rode one end is fixed in lever head, and the pin on the other end and the column plate is become knot that can be undone by a pull.
Every group of arm side-sway mechanism is made up of arm, adjusting rod, screw, hanging basket, montant, hinge axis, hanging basket bottom girder, handwheel; Arm top connects the column plate of screw mandrel swing arm obstacle detouring walking mechanism, and the arm bottom is hinged by hinge axis and hanging basket bottom girder, and the most whole walking mechanism connects as one; The hanging basket bottom girder is fixed on the hanging basket bottom; Adjusting rod passes arm middle part aperture, and on montant, its other end is equipped with handwheel to the one end by screw in compression, can control the angle of arm side-sway by the advance and retreat of adjusting handle.
Surround an elliptical shape with MAG's aluminum around the hanging basket, go to the bottom on it upper base reinforcement is arranged respectively, the reinforcement of going to the bottom is connected and fixed; Hanging basket bottom girder and arm hinge are arranged at the bottom; Be provided with bench in the hanging basket.
Hanging basket end face, bottom surface are laid with the polyester sheet of 4mm thickness, in the middle of scrape out slotted eye, bench aluminium section bar, artificial leather and sponge are made, its two ends are parallel with the arm direction, the stool face is from hanging basket base plate 400mm; The bench bottom surrounds a casing with thin aluminum sheet.
Compared with the prior art the present invention has the following advantages:
1, integral material adopts the high-strength aluminium magnesium alloy, the intensity height, and quality is light, greatly reduces the weight of whole device;
2, electrical source of power adopts high power lithium battery, once charges sustainable operation more than 1 hour;
3, actuating unit adopts DC low-speed brushless motor, and electrodeless variable-speed advances and falls back walking freely;
4, the design of screw mandrel swing arm obstacle detouring running gear, lead running gear can be crossed over conductor spacer, stockbridge damper, splicing sleeve, the straight line obstacles such as string that dangle smoothly;
5, open arm side-sway mechanism, the lead running gear is installation in position on the 500kV conductors on quad bundled rapidly;
6, hanging basket surrounds elliptical shape for MAG's aluminum, and upper base and the employing reinforcement of going to the bottom are fixed, and vertical direction also has four reinforcements to be connected and fixed; Not only attractive in appearance but also guaranteed mechanical strength requirements, satisfy the requirement of combinational gap; A certain amount of instrument of portability, can be comprehensive, multi-angle overhaul disappear scarce;
7, the design of brake deceleration mechanism can be carried out slowing-down brake, can play safety effect again.
Description of drawings
Fig. 1 is structural front view of the present invention.
Fig. 2 is structure side view of the present invention.
Fig. 3 is side-sway structural scheme of mechanism of the present invention.
Fig. 4 is brake deceleration of the present invention mechanism front view.
Fig. 5 is brake deceleration mechanism side view of the present invention.
Fig. 6 is barrel structure front view of the present invention.
Fig. 7 is barrel structure vertical view of the present invention.
Fig. 8 is barrel structure end view of the present invention.
Embodiment
Embodiment during following the present invention incites somebody to action by reference to the accompanying drawings is further described:
Fig. 1～shown in Figure 7 comprises column 1, lifting motor 2, main wheel 3, swing arm 4, screw mandrel 5, silk braid 6, stand-by motor 7, guide wheel 8, auxiliary wheel 9, hanging basket 10, adjusting rod 11, handwheel 12, main motor 13, slide block 14, lifting tooth wheels 15, bevel gear set 16, brake safeties 17, silk braid fixed head 18, auxiliary wheel shaft 19, arm 20, front brake roller 21, back brake roller 22, lever 23, lead 24, rode 25, handle 26, rotating shaft 27, hinge axis 28, screw 29, upper base reinforcement 30, the reinforcement 31 of going to the bottom, bench 32, operating desk 33, polyester sheet 34, montant 35, main axle 36, long bolt 37, short screw 38 and hanging basket bottom girder 39 etc.
The present invention is graded by main wheel walking mechanism, fork elevating mechanism, jockey pulley walking mechanism, skidding mechanism, arm side-sway mechanism, hanging basket and electric control part and forms, wherein main wheel walking mechanism, fork elevating mechanism, jockey pulley walking mechanism, skidding mechanism, arm side-sway mechanism all have two groups, they are symmetrically distributed for each one group according to the limit, the left and right sides of mechanism's direction of travel, finally in the walking mechanism bottom by two arms and integral body of the hinged formation of hanging basket bottom girder.Every group of main wheel walking mechanism, fork elevating mechanism, jockey pulley walking mechanism, skidding mechanism, arm side-sway mechanism structure are identical.
Every group of main wheel walking mechanism is made up of parts such as two blocks of column plates 1, main wheel 3, main motor 13, bevel gear set 16 and main axles 36.Wherein main wheel 3 is by main axle 36 and bearing fixing in the main wheel groove between two column plate 1 bottoms, and the outside one end of main axle 36 is equipped with bevel gear set 16.Main motor 13 is fixed on in the outer part the column plate 1, and electric machine main shaft is connected with main axle vertically downward and by bevel gear set 16.During work, main motor 13 energisings are rotated and are driven the main wheel rotation by bevel gear set 16, main axle 36, walk at lead thereby drive whole running gear.
Every group of fork elevating mechanism is made up of lifting motor 2, two swing arms 4, screw mandrel 5, silk braid 6, guide wheel 8, auxiliary wheel 9, slide block 14, lifting tooth wheels 15, silk braid fixed heads 18.Wherein swing arm 4 is respectively to install one before and after being by mechanism's direct of travel, and two swing arms, 4 upper ends and column plate 1 are hinged, in the race of front swing arm lower end guide wheel 8 are installed, and in the race of rear-swing arm lower end auxiliary wheel 9 are installed.Guided wheel slot, auxiliary race and main wheel groove center are positioned at the lead top, and on same vertical plane.Lifting motor 2 and screw mandrel 5 are installed in the slide block 14, and lifting motor 2 is connected with screw mandrel 5 by lifting tooth wheels 15, and screw mandrel 5 two ends thread rotary orientations are opposite.Slide block 14 is installed in the middle of the groove that is formed by two blocks of column plates, and it can be done and slide up and down.The two ends of screw mandrel 5 are connected by silk braid 6, two swing arms of silk braid fixed head 18 and front and back that are installed in the swing arm middle part respectively.After the lifting motor energising, it drives the screw mandrel rotation by the lifting tooth wheels, and swing arm was around the axle core swing of its upper end hole before and after screw mandrel drove by silk braid and silk braid fixed head.When two swing arms during simultaneously to lower swing, the guide wheel of its underpart and auxiliary wheel are pressed on the lead and gradually main wheel 3 are lifted, and can enough surmount obstacles.When two swing arms were stretched to both sides simultaneously, guide wheel and jockey pulley left lead, lift certain altitude simultaneously, in order to surmount obstacles.
Every group of jockey pulley walking mechanism is made up of parts such as stand-by motor 7, auxiliary wheel 9, auxiliary wheel shaft 19 and shaft couplings.Auxiliary wheel 9 is fixed in the race of swing arm 4 by auxiliary wheel shaft 19, auxiliary wheel shaft 19 outsides one end is equipped with shaft coupling, and it is connected the axle of stand-by motor 7 with auxiliary wheel shaft 19.Stand-by motor 7 is fixed in the outside, swing arm 4 lower ends.The effect of jockey pulley walking mechanism is to be lifted need surmount obstacles the time when main wheel 3, and the stand-by motor of jockey pulley walking mechanism gets electric, and its drives auxiliary wheel rotation, thereby moving whole running gear moves ahead.
Every group of skidding mechanism 17 is made up of for two of front and back sides, rode 25, handle 26, rotating shaft 27 arm 20, front brake roller 21, back brake roller 22, lever 23.Lever 23 is positioned arm 20 middle parts by rotating shaft 27, and they are distributed in the front and back side of arm 20, and front brake roller 21 is installed on the lever of front side, and it is to link into an integrated entity by handle 26 that back brake roller 22, two lever tails are installed on the rear side lever.Arm 20 tops are fixed on the column plate 1 by long bolt 37 and short screw 38, and align with it.The effect of skidding mechanism is to prevent that running gear from going up a slope or the slope takes place to slip during descending, and can control running gear the speed of service, it is braked.Front brake roller 21 and back brake roller 22 are installed in the below of main wheel 3 and lead 24, when the needs slowing-down brake, handle 26 is past drop-down, effect by lever, front brake roller and back brake roller up lift, with main wheel lead is clamped, increase the resistance of walking, thereby play the effect of deceleration.When running gear will pass through obstacle, handle up to be lifted, this moment, front brake roller and back brake roller turned to the arm both sides with lever, avoided contacting with obstacle.In order to prevent that lead from skidding off the main wheel groove and causing the running gear falling accident, between lever and column plate, rode 25 is installed, rode one end is fixed in lever head, pin on the other end and the column plate is become knot that can be undone by a pull, so both can guarantee the safety of walking, again can be when running gear runs into obstacle braking mechanism be recoverable to and dodge.
Every group of arm side-sway mechanism is made up of parts such as arm 20, adjusting rod 11, screw 29, hanging basket 10, montant 35, hinge axis 28, hanging basket bottom girder 39, handwheels 12.Arm 20 tops link to each other with main wheel walking mechanism, fork elevating mechanism, jockey pulley walking mechanism, skidding mechanism, and the bottom is hinged by hinge axis 28, hanging basket bottom girder 39, and the most whole walking mechanism connects as one.Hanging basket bottom girder 39 is fixed on hanging basket 10 bottoms.Adjusting rod 11 passes arm middle part aperture, and the one end is pressed in by screw 29 that its other end is equipped with handwheel 12 on the montant 35, can control the angle of arm 20 side-swaies by the advance and retreat of adjusting handle 12.The effect of arm side-sway mechanism is when lifting walking mechanism on the lead, top touching lead, obstruction running gear hanging for fear of mechanism, can be earlier with arm and main wheel walking mechanism, fork elevating mechanism, the jockey pulley walking mechanism moving angle of swinging sideward simultaneously, mechanism avoids can continuing to rise behind the position of lead, when the main wheel bottom surpasses the lead height, boom angle is restored, walking mechanism can be hung on two of conductors on quad bundled reach the standard grade smoothly again.Walking mechanism also needs when unloading from lead to finish by arm side-sway mechanism.
Surround an elliptical shape with MAG's aluminum around the hanging basket 10, go to the bottom on it upper base reinforcement 30 is arranged respectively, the reinforcement 31 of going to the bottom is connected and fixed.Hanging basket bottom girder 39 and arm 20 hinges are arranged at the bottom.Lay with the polyester sheet 34 of 4mm thickness the bottom surface.The hanging basket end face also is to adopt polyester sheet to lay, in the middle of scrape out slotted eye, the staff stands on wherein, automatically controlled button is installed as operating desk 33 in both sides.Be provided with bench 32 in the hanging basket, bench aluminium section bar, artificial leather and sponge are made, and its two ends are parallel with the arm direction, and the stool face is from hanging basket base plate 400mm.The bench bottom surrounds a casing with thin aluminum sheet, and the power supply lithium battery of walking mechanism, control cubicle etc. are installed on wherein.
Need with lifting appliance it to be lifted on the lead of transmission line rack before the lead running gear of the present invention work.Because entire mechanism is vertical lifting, for roller is hung on the lead, in arm side-sway mechanism of screw mandrel swing arm obstacle detouring walking mechanism design.Arm side-sway mechanism is to be girder with arm 20, arm 20 tops connect the column plate 1 of screw mandrel swing arm obstacle detouring walking mechanism, the aluminium alloy extrusions of its underpart and hanging basket 10 basket bodies bottom is hinged, and arm 20 middle parts are equipped with the adjusting rod 11 of arm side-sway mechanism and the screw 29 and handwheel 12 of regulating action by hinge axis 28.By the distance that adjusting handle moves, swing arm is swung sideward move some angles, guarantee that the roller of mechanism departs from the lead both sides, has enough space lengths to rise on the lead 24.The lifting of running gear utilizes tripod to promote.The tripod drift angle has pulley, hangs on the transmission of electricity brandreth by hanger rope and movable pulley.There is suspension hook at the tripod two ends, and their difference hooks are in two long bolt 37 places of running gear.
The hanging basket 10 of lead running gear of the present invention is mainly used in carrying operating personnel and power tool, and it should have enough intensity, guarantees operating personnel's safety, controls volume and weight again.Hanging basket comprises parts such as arm, basket body, operating desk and seat stool.Other designs remote control, as standby control.In order to alleviate the weight of running gear integral body, adopt MAG's aluminum to surround elliptical shape around the hanging basket 10, hanging basket 10 each side be provided with an arm 20, upper base and go to the bottom and adopt reinforcement to fix, vertical direction also has four reinforcements to be connected and fixed.Lay with 4mm high-strength polyester plate 34 the hanging basket bottom, and the hanging basket end face also is to adopt polyester sheet to lay, and as operating desk 33, automatically controlled button is installed above it.In hanging basket 11, be provided with bench 32, bench material selection aluminium section bar, artificial leather and sponge, its two ends are parallel with arm 20 directions, and the stool face is from hanging basket base plate 400mm.The bench bottom surrounds a casing with thin aluminum sheet, and control apparatus cabinet etc. is installed on wherein.
Determining of mechanism's whole height.Be as the criterion from conductor spacer center relative distance 100～150mm with operating personnel's sitting posture state head, reduce the running gear height dimension on this basis as far as possible, electric discharge phenomena did not take place when guaranteeing the tower window; Also alleviate simultaneously the weight of mechanism.
Actuating unit adopts DC low-speed brushless motor, and peak torque is not less than 36Nm, and power output is not less than 210W; Overall weight≤80kg; Service load 200kg allowable; The climbing elevation angle≤15 °; Once charging continues travel time 〉=1 hour; Forward-reverse speed 20m/min, infinitely variable speeds (astern torque is constant).
The action and function of critical piece of the present invention:
1, swing arm structure
Swing arm is a strength member of 500kV transmission line conductors on quad bundled running gear, and by it and the cooperating of screw mandrel, running gear has been realized the function of leaping over obstacles.
In 500kV transmission line conductors on quad bundled running gear, design has four swing arms altogether.Parts such as per two swing arms and column plate, screw mandrel are formed one group of barrier getting over mechanism.Because swing arm will be born the load of whole mechanism at work, and be subjected to the effect of moment, so require it to have higher intensity.In addition, because fork quantity is more, for the weight of control device integral body, be convenient to be hanging on the electrical network, need reduce the weight of fork as far as possible.For to satisfy above-mentioned requirement to swing arm, the swing arm two sides are designed to engraved structure in the design, make its cross section become " worker " font, so both improved the intensity of swing arm, can alleviate the weight of swing arm significantly again.
In addition, because swing arm is subjected to the effect of moment at work, in order to improve the bending resistance of swing arm, its configuration design is become to be made of several sections concavo-convex circular arcs.The dome arc of its middle and lower part has improved swing arm is subjected to moment loading when receiving the clip angle bending resistance; The concave arc at its middle part can reduce the active length of screw mandrel, improves the rigidity of screw mandrel; And the dome arc on its top can improve the space between the two swing arm angles, is convenient to install parts such as lifting motor and gear.
Be processed with a square hole at the middle part of swing arm, the square hole bottom is that a degree of depth is the circular hole of 15mm.The side of corresponding position is processed with an oblong aperture therewith, and interior the dress inserted.The effect of this part is for fixedly silk braid fixed head and silk braid.
The design load of 500kV transmission line conductors on quad bundled running gear is 200KG, and because four swing arms are arranged in the mechanism, so the suffered power of each root swing arm is 50KG.Swing arm will constantly change the angle between them when work, its stressed situation can be analyzed by minimum angle and maximum angle.
2, column plate
In device, about the column plate has two, they are linked to be a column body by screw.Its top and swing arm are hinged, and the bottom is equipped with wheel shaft and main wheel.The column plate adopts LY 12 aluminum alloy materials manufacturings, and thickness is 12mm, for the intensity that guarantees part, alleviate its weight, will mill except 8mm in the plate face, stays the 6mm reinforcement all around, and limit, hole projection also keeps certain wall thickness.
3, screw mandrel
Screw mandrel in mechanism, be mainly used to regulate swing arm angle, finish the function of obstacle detouring.There is T type screw thread M14 at the leading screw two ends, and its rotation direction is opposite, and there is the round bar transition at every section screw thread two, prevent that screw mandrel and silk braid from deviating from or the gathering of swing arm angle is too small, play the security insurance effect.The bar silk mainly is to be subjected to pulling force at work.As can be known, the maximum pull that screw mandrel is subjected to is F6 from top calculating, and its size is 1.6KN.For guaranteeing the intensity of leading screw, screw mandrel is selected No. 60 steel processing and manufacturings after modifier treatment for use, and its tensile strength is 675MPa, and its maximum pull that can bear reaches 54KN, adheres to specification fully.
4, screw mandrel cover and silk braid fixed head
Main and the screw mandrel cooperating of screw mandrel cover, in order to prevent interlock, silk braid adopts the bronze material manufacturing, and internal thread is M14.The screw mandrel cover is installed in the silk braid fixed head, is screwed, and links together by silk braid fixed head and swing arm.
The silk braid fixed head adopts the manufacturing of LY12 aluminium alloy, and its centre bore is used for the screw mandrel cover is installed, and both use screw in compression.Its both sides are processed with rotating shaft, and this cooperates with hole in the swing arm, make that silk braid can be done corresponding rotation thereupon when angle was adjusted in swing arm.
5, hanging basket
The hanging basket of lead running gear is mainly used in carrying operating personnel and power tool, and it should have enough intensity, guarantees operating personnel's safety, controls volume and weight again.Hanging basket comprises parts such as arm, basket body, operating desk and seat stool.
5.1, arm
Hanging basket an arm each side arranged, one of its effect is that walking mechanism is connected with hanging basket, acting on two is the weight that carries operating personnel and power tool and basket body at lead.It is that 2100mm, wall thickness are that 2mm, sectional dimension are the LY12 aluminium alloy extrusions making of 100 * 40mm that arm adopts length, and its length has determined the overall height of running gear.The arm upper end is connected with the column plate by screw, and the bottom is connected with the basket body by hinge, and its middle part is equipped with bolt and the handwheel of arm side-sway.
The maximum pull F that single arm can bear
ArmFor:
F
Arm=420 * (100 * 40-96 * 36)=228480N
F
ArmGreater than the full payload 2000N of device, and enough surpluses are arranged, its intensity meets safety requirements fully.
6, roller
Every group of walking mechanism of 500kV transmission line conductors on quad bundled running gear has three rollers, and they are respectively main wheel, guide wheel and jockey pulley.Wherein main wheel is the main walking power wheel of mechanism, the speed of walking during the work of its determination means.And guide wheel does not have power, and it pushes away shape or pulling by other wheel, and its effect is assist mechanism balance and guiding.Power is installed on the jockey pulley, its effect be when driving wheel to surmount obstacles, when leaving lead, device just relies on the power of jockey pulley to move ahead or retreats.
6.1 main wheel
(1) according to the requirement of the speed of travel 20m/min of mechanism, in conjunction with selected electric machine speed regulation scope, determines that the external diameter of driving wheel is
Endoporus processing keyway is so that transferring power.
(2) according to diameter of wire
And the swing situation that in walking, takes place of the fluctuation range that under nature, takes place of lead line-spacing and mechanism, can accurately get back on the lead again after off-line lifts for guaranteeing roller, race needs certain guiding width, and the thickness of determining roller is 60mm.
(3) determine the race size according to diameter of wire, the required guiding width of lead and race encapsulate thickness.
(4) non-slip in the lead walking on 15 ° of slopes for guaranteeing mechanism, carry out encapsulate in the roller groove and handle the thick 4mm of encapsulate.
7, guide wheel and auxiliary wheel
Because the speed of travel of guide wheel and auxiliary wheel and mechanism does not have direct relation, the height that swing arm is lifted during for the weight of less mechanism and minimizing obstacle detouring is so that the diameter of guide wheel and auxiliary wheel can be got is smaller.According to the size of race and needs that parts such as motor are installed, the diameter choosing of guide wheel and auxiliary wheel
Other requirement is identical with main wheel.Difference of them is that the auxiliary wheel endoporus has keyway.
8, the design of mechanism's power and calculating
8.1 the calculating of main motor current
According to structure and the designing requirement of running gear, running gear should drive two main wheel respectively by two main motors and roll simultaneously, and the load that each main wheel bears is 100KG.The speed of main wheel walking is V=20mm/min, encapsulate in the main wheel groove, coefficientoffriction=0.25 of it and lead.When inclination alpha=15 of lead maximum °, the required maximum power of running gear is:
Motor torque T=mg cos α * μ * r=100 * 10 * cos15 ° * 0.25 * 0.094=22.7Nm
Motor speed
Then
8.2 the installation of main motor be connected
Main motor is fixed on the column plate, it by one group of rotating ratio be 2: 1 bevel gear with transmission of power to main axle and drive main wheel walking.
8.3 the calculating of auxiliary motor power
Auxiliary motor power:
Motor torque T=mg * μ * r=100 * 10 * 0.25 * 0.0575=14.38Nm
Select motor speed n=30r/min for use
Then
8.4 the calculating of lifting motor power
Lifting motor power:
Feed screw nut's coefficientoffriction=0.65
The screw mandrel path is
Suffered tensile force f=2 * 1600=3200N
Motor torque T=F * μ * r=1600 * 0.65 * 0.005=5.2Nm
Select motor speed n=80r/min for use
Then
8.5 the installation of lifting motor be connected
Lifting motor is fixed in the slide block, rotates by a gear set drive screw mandrel.During work, lifting motor moves up and down with swing arm, screw mandrel and slide block.
The used motor of running gear is the planetary gear speed-reduction direct current machine, and this motor output torque is big, and noise is little.Motor is selected lithium iron battery power supply for use, and it is big that this battery is deposited electric weight, moment output current big, use safety, do not explode.
9, brake deceleration mechanism
Because the lead running gear is to walk in that 500kV transmission line rack is up, the rack span is big, lead has winding degree, so this device is to work under the ascents and descents two states substantially.When descending, because the effect of external power such as the gravity of device self or wind-force, mechanism can accelerate descending.When going up a slope, if mechanism is short of power or when running out of steam, slide can take place down.Therefore, for preventing accident, running gear need have brake deceleration mechanism.
Because the power of running gear is from main wheel, brake deceleration mainly is the braking main wheel.The a pair of front and back of design brake roller below main wheel, these front and back the roller that brakes is installed on the lever that has a handle, and it can be swung with the swing of handle.Because of main wheel above lead, front and back brake roller is below lead, when mechanism stream slope, the staff with handle down, way roller is up put along lever, and tightly clamps lead with main wheel, the pulling force of handle is more big, lead is held just more tight, and main wheel is also just more big to the frictional force of lead, slows down or stops until mechanism.
10, arm side-sway mechanism
Need before the running gear work with lifting appliance it to be lifted on the lead of transmission line rack.Because entire mechanism is vertical lifting, for roller is hung on the lead, open side-sway mechanism one of running gear design.
Side-sway mechanism is to be girder with the arm, its top connects walking mechanism, the aluminium alloy extrusions of its underpart and basket body bottom is hinged, its middle part is equipped with screw and the handwheel of regulating action, the distance that moves by adjusting handle, swing arm is swung sideward move some angles, guarantee that the roller of mechanism departs from the lead both sides, has enough space lengths to rise on the lead.
When needing the lifting running gear, earlier handwheel is unclamped to both sides, promote arm around the hinge axis moving certain angle of swinging sideward, then the nut on the screw is tightened.The hanger that catches on the both sides, top with lifting rope promotes walking mechanism.When the idler wheel bottom of running gear surpasses reaching the standard grade of quadripartion line, unclamp the nut on the screw, rotation hand wheel is swung after race is aimed at lead arm to the inside, puts down lifting rope gently, treat that race line after, walking mechanism namely places on the lead.
11, control system
11.1, power module
For satisfy the safety requirements that running gear is worked in electrical network, avoid digital signal and module by signal phase mutual interference control section DC-DC change-over circuit to adopt the Switching Power Supply voltage stabilizing technique to combine with the conventional linear voltage stabilizing technique, the control section power supply circuits have been designed, enlarge the constant voltage scope, reduced ripple.
Aspect driver, adopt autonomous Design high-power multi-path driver, satisfy high power direct-current motor and drive requirement, design multiple protection functions, protection driver and motor.
11.2 limit switch
Limit switch partly adopts the 24V high voltage direct current to carry out photoelectricity isolation and host CPU communication.Adopt the photoelectricity isolation can well resist external disturbance and can realize that external switch and internal circuit are full isolation, the protection innernal CPU safely and steadily runs.
11.3 processor
What adopt is STM32 series 32 bit flash memory microcontrollers, makes to come from ARM company and have breakthrough Cortex-M3 kernel, and this kernel is that specialized designs is in satisfying the requirement that integrates high-performance, low-power consumption, has the built-in field of competitive price.The enhancing of Cortex-M3 on system configuration, it is infinite to allow STM32 be benefited; The Thumb-2 instruction set has been brought higher instruction efficient and stronger performance; By tightly coupled nested vectored interrupt controller, the response of centering event is rapider; All these have all incorporated leading power consumption level again.
11.4 control program
Adopt the stepless remote control speed change, with two kinds of forms of the level and smooth startup of button, two kinds of Starting mode are independent mutually; both are higher than remote control at button priority, and when button operation was arranged, straighforward operation ceased to be in force automatically; limit switch is done protection to the oscilaltion limit, guarantees mechanical part safety.
Wherein read the reception of button and remote control value, motor movement is handled by single extreme finishing, and button priority was higher than remote control when button and remote control were controlled simultaneously.Button operation carries soft start function, prevents motor shake in the start-up course.The omnidistance stepless time adjustment of straighforward operation, speed are by user's manual operation, and the current power output of Color Liquid Crystal Display percentage makes operating personnel's Real Time Observation, in emergency circumstances can the failure judgement point.
Operation principle of the present invention is:
Screw mandrel swing arm obstacle detouring walking mechanism be with about two walking mechanisms be hung on simultaneously on two of conductors on quad bundled reach the standard grade, lead is positioned within the race.During walking, line with main wheel, guide wheel and jockey pulley off-line or only depend on line gets final product.Rotated and walking on line by main driven by motor main wheel.When guide wheel ran into conductor spacer in the circuit or stockbridge damper, splicing sleeve, straight line and dangles obstacle such as string, main motor suspended, and main wheel stops to move ahead.This moment, lifting motor drove screw mandrel work, and screw mandrel rotates the angle that constantly enlarges two swing arms, when the guide wheel raising height of swing arm lower end surpasses obstacle height, lifting motor quits work, main motor is resumed work, and drives main wheel and move ahead, and guide wheel is surmounted obstacles.When main wheel runs into obstacle in the circuit, main motor quits work, lifting motor is done reverse rotation, receives the angle of little two swing arms, and this moment, main wheel was lifted gradually with the column plate, when the height that lifts when main wheel surpasses the height of barrier, lifting motor quits work, and the stand-by motor on the auxiliary wheel is started working, and it drives auxiliary wheel and rotates, and promote whole device and move ahead, main wheel is surmounted obstacles.When jockey pulley runs into obstacle in the circuit, stand-by motor quits work, the similar process of the process of its leaping over obstacles and guide wheel leaping over obstacles, namely drive the angle that screw mandrel constantly enlarges swing arm by lifting motor, make main wheel line, when the angle of swing arm expands to a certain degree, the height that auxiliary wheel lifts surpasses the height of barrier, moved ahead by main driven by motor main wheel, auxiliary wheel surmounts obstacles, and entire mechanism has been finished the obstacle detouring process.When mechanism drives in the wrong direction, its walking and obstacle detouring process as hereinbefore, when difference only is stand-by motor work, device being pushed to become to be dragged and moving ahead when moving ahead.
Claims (6)
1. a 500kV transmission line conductors on quad bundled running gear comprises main wheel walking mechanism, fork elevating mechanism, jockey pulley walking mechanism;
It is characterized in that: also comprise skidding mechanism, arm side-sway mechanism, wherein main wheel walking mechanism, fork elevating mechanism, jockey pulley walking mechanism, skidding mechanism, arm side-sway mechanism are equipped with two groups, each one group of symmetrical distribution of limit, the left and right sides according to mechanism's direction of travel, the arm top of arm side-sway mechanism is connected with main wheel walking mechanism, fork elevating mechanism, jockey pulley walking mechanism, skidding mechanism, the bottom is hinged by hinge axis and hanging basket bottom girder, and the most whole running gear connects as one;
Described two groups of main wheel walking mechanism structures are identical, and described main wheel walking mechanism is made up of two blocks of column plates (1), main wheel (3), main motor (13), bevel gear set (16) and main axle (36); Wherein main wheel (3) is by in main axle (36) and the main wheel groove of bearing fixing between two blocks of column plates (1) bottom, and the outside one end of main axle (36) is equipped with bevel gear set (16); Main motor (13) is fixed on in the outer part the column plate (1), electric machine main shaft is connected with main axle (36) vertically downward and by bevel gear set (16), and main motor (13) energising is rotated and driven the main wheel rotation by bevel gear set (16), main axle (36);
Described two groups of fork elevating mechanism structures are identical, and described fork elevating mechanism is made up of lifting motor (2), two swing arms (4), screw mandrel (5), silk braid (6), guide wheel (8), auxiliary wheel (9), slide block (14), lifting tooth wheels (15) and silk braid fixed head (18); Wherein swing arm (4) is respectively to install one before and after being by mechanism's direct of travel, and two swing arm upper ends, front and back are hinged with column plate (1), and guide wheel (8) is installed in the race of front swing arm lower end, in the auxiliary race in rear-swing arm lower end auxiliary wheel (9) are installed; Guided wheel slot, auxiliary race and main wheel groove center are positioned at the lead top, and on same vertical plane; Lifting motor (2) and screw mandrel (5) are installed in the slide block (14), and lifting motor (12) is connected with screw mandrel (5) by lifting tooth wheels (15), and screw mandrel (5) two ends thread rotary orientation is opposite; The two ends of screw mandrel (5) are connected by silk braid (6), two swing arms of silk braid fixed head (18) and front and back that are installed in the swing arm middle part respectively;
Described two groups of jockey pulley walking mechanism structures are identical, and described jockey pulley walking mechanism is made up of stand-by motor (7), auxiliary wheel (9), auxiliary wheel shaft (19) and shaft coupling; Auxiliary wheel (9) is fixed in the auxiliary race of swing arm (4) by auxiliary wheel shaft (19), auxiliary wheel shaft (19) outside one end is equipped with shaft coupling, and it is connected the axle of stand-by motor (7) with auxiliary wheel shaft (19); Stand-by motor (7) is fixed in the outside, swing arm (4) lower end;
Described two groups of skidding mechanism structure are identical, and described skidding mechanism is made up of front brake roller (21), back brake roller (22), two levers (23), rode (25), handle (26), rotating shaft (27); Two levers (23) are positioned arm (20) middle part by rotating shaft (27), described two levers (23) are distributed in the front and back side of arm, on the preceding lever front brake roller (21) is installed, brake roller (22) in back is installed on the back lever, and two lever tails in front and back link into an integrated entity by handle (26); Arm (20) top is fixed on the column plate (1) by long bolt (37) and short screw (38); Front brake roller (21) and back brake roller (22) are installed in the below of main wheel (3) and lead.
2. 500kV transmission line conductors on quad bundled running gear as claimed in claim 1, it is characterized in that: between described lever (23) and the column plate (1) rode (25) is installed, rode (25) one ends are fixed in lever (23) head, and the pin of the other end and column plate (1) is become knot that can be undone by a pull.
3. 500kV transmission line conductors on quad bundled running gear as claimed in claim 1, it is characterized in that: described two groups of arm side-sway mechanism structure are identical, and described arm side-sway mechanism is made up of arm (20), adjusting rod (11), screw (29), hanging basket (10), montant (35), hinge axis (28), hanging basket bottom girder (39), handwheel (12); Arm (20) is hinged by hinge axis (28) and hanging basket bottom girder (39), and hanging basket bottom girder (39) is fixed on hanging basket (10) bottom; Adjusting rod (11) passes the arm mider hole, and described adjusting rod (11) one ends are pressed on the montant (35) by screw (29), and the other end is equipped with handwheel (12), namely controls the angle of arm side-sway by the advance and retreat of adjusting handle.
4. 500kV transmission line conductors on quad bundled running gear as claimed in claim 3, it is characterized in that: described hanging basket (10) surrounds an elliptical shape with MAG's aluminum all around, and upper base reinforcement (30) is connected and fixed with the reinforcement (31) of going to the bottom; Be provided with bench (32) in the hanging basket (10), hanging basket bottom girder (39) and arm (20) hinge.
5. 500kV transmission line conductors on quad bundled running gear as claimed in claim 3 is characterized in that: described hanging basket (10) end face, bottom surface use the polyester sheet (34) of 4mm thickness to lay respectively.
6. 500kV transmission line conductors on quad bundled running gear as claimed in claim 4, it is characterized in that: described bench (32) aluminium section bar, artificial leather and sponge are made, and its two ends are parallel with the arm direction, and the stool face is from hanging basket base plate 400mm; Bench (32) bottom surrounds a casing with thin aluminum sheet.
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| CN 201110307062 CN102354930B (en) | 2011-10-10 | 2011-10-10 | Four-bundle conductor traveling apparatus of 500kV transmission line |
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| CN 201110307062 CN102354930B (en) | 2011-10-10 | 2011-10-10 | Four-bundle conductor traveling apparatus of 500kV transmission line |
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| CN102922530B (en) * | 2012-12-05 | 2015-03-04 | 国网山东省电力公司电力科学研究院 | Inspection robot platform of 500kV split conductors |
| CN102938544B (en) * | 2012-12-05 | 2015-12-09 | 山东电力集团公司电力科学研究院 | A kind of transmission line active obstacle travelling robot |
| CN102946072B (en) * | 2012-12-05 | 2015-04-22 | 山东电力集团公司电力科学研究院 | Bundle conductor inspection robot platform |
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| CN110844800B (en) * | 2019-11-08 | 2020-08-18 | 广东冠能电力科技发展有限公司 | Device and method for high-voltage line on self-traction winch double-traction rope |
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