CN102709859B - Deicing robot for transmission line - Google Patents
Deicing robot for transmission line Download PDFInfo
- Publication number
- CN102709859B CN102709859B CN201210172326.3A CN201210172326A CN102709859B CN 102709859 B CN102709859 B CN 102709859B CN 201210172326 A CN201210172326 A CN 201210172326A CN 102709859 B CN102709859 B CN 102709859B
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- gear
- support arm
- clamp system
- pinion
- motor
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Abstract
The invention aims to provide a deicing robot for a transmission line, which comprises two groups of deicing mechanisms, two groups of drive mechanisms, two groups of clamping mechanisms, two groups of supporting mechanisms and an obstacle-crossing mechanism, wherein each drive mechanism comprises a drive motor and a motor base; the two groups of deicing mechanisms and the two groups of clamping mechanism are fixed with the motor bases; the upper ends of the two groups of supporting mechanisms are connected with the motor bases; the supporting mechanisms are fixed on the obstacle-crossing mechanism; and the two groups of deicing mechanisms, the two groups of drive mechanisms, the two groups of clamping mechanisms and the two groups of supporting mechanisms are symmetrically and oppositely arranged. The deicing robot has the advantages that not only can various obstacles on the line be crossed, but also poles and towers can be crossed to realize automatic deicing operation among multiple lines.
Description
Technical field
What the present invention relates to is a kind of robot with obstacle crossing device.
Background technology
Due to the icing on transmission line and accumulated snow, often cause line tripping, broken string, fall the accidents such as bar, insulator arc-over and communication disruption.China's security incident a large amount of because powerline ice-covering causes, brought huge economic loss to country in recent years.At present, utilize deicing robot to carry out deicing operation in the Preliminary Applications stage to transmission line, it is low that robot deicing has cost, simple to operate, raises the efficiency, and ensures the advantages such as Employee Security.
During application transmission line multi-thread synchronous deicing robot deicing, on running into line, need during obstacle the robot can leaping over obstacles, when finishing the work need to be across shelves time, need robot energy crossing pole in one grade, continue deicing.Therefore, in order raising the efficiency, to reduce that line work personnel climbing shaft tower is repeatedly installed or the number of times of unloading robot, to need the robot can the continuous deicing operation of obstacle detouring crossing pole for this reason.
Summary of the invention
The object of the present invention is to provide not only can crossover track on various disorders, and can stride across the removing ice of power transmission line robot that shaft tower is realized automatic de-icing operation between many grades of circuits.
The object of the present invention is achieved like this:
Removing ice of power transmission line of the present invention robot, it is characterized in that: comprise deicing mechanism, driving mechanism, clamp system, supporting mechanism, barrier getting over mechanism, driving mechanism comprises drive motors and motor cabinet, deicing mechanism and clamp system and motor cabinet are fixed, the upper end of supporting mechanism connects motor cabinet, and supporting mechanism is fixed on barrier getting over mechanism, described deicing mechanism, driving mechanism, clamp system, supporting mechanism have two groups and symmetry to arrange in opposite directions, described barrier getting over mechanism comprises motor, pinion, gear wheel, left gear, right gear, tooth sector, left end tooth bar, right-hand member tooth bar, power transmission shaft, left rail, right guide rail, left telescopic arm, right telescopic arm, motor connects pinion, pinion connects gear wheel, gear wheel, left gear, right gear is installed on power transmission shaft, right gear and tooth sector engagement, left telescopic arm is connected with left end tooth bar with left rail, right telescopic arm is connected with right-hand member tooth bar with right guide rail, left gear and the engagement of left end tooth bar drive left telescopic arm to move, tooth sector and the engagement of right-hand member tooth bar drive right telescopic arm to move.
The present invention can also comprise:
1, described barrier getting over mechanism also comprises control casing, electric rotating machine, rotary worm, revolving wormgear, rotating drive shaft, right guide rail bracket, runing rest, right guide rail bracket is arranged on right guide rail outside, electric rotating machine, runing rest are arranged on to be controlled in casing, electric rotating machine, rotary worm, revolving wormgear are connected successively, revolving wormgear and right guide rail bracket are connected, and right guide rail bracket is connected by bearing with runing rest.
2, two described supporting mechanisms are arranged on respectively on the left telescopic arm of barrier getting over mechanism and on right telescopic arm.
3, described supporting mechanism comprises upper support arm, lower support arm, support arm oscillating motor, bevel pinion, bevel gear wheel, rotation axis, upper support arm is connected by deep groove ball bearing with lower support arm, support arm oscillating motor connects bevel pinion, bevel pinion and bevel gear wheel engagement, rotation axis and bevel gear wheel circumferentially connecting, rotation axis is fixed in upper support arm and drives upper support arm swing through lower support arm.
4, on described upper support arm, alignment pin is installed, spacing groove is set on lower support arm, alignment pin moves along spacing groove.
5, described clamp system comprises that clamp system motor, clamp system pinion, clamp system gear wheel, axle, rotation worm gear, rotary worm, cable clamp hand, rotary worm is arranged on axle, rotate worm gear connection of rotating worm screw, cable clamps hand connection of rotating worm screw, described cable clamping hand, rotation worm gear, rotary worm have two groups, two cables clamp hand and have coordinated clamping, unclamped action, clamp system gear wheel is arranged on axle and with clamp system pinion and meshes, and clamp system pinion connects clamp system motor.
6, also comprise tong forearm, tong forearm is arranged on and rotates between worm gear and cable clamping hand.
7, described deicing mechanism comprises except ice lolly, base, rotating shaft, and the described ice lolly that removes has four, is arranged on base uniformly, and rotating shaft is connected with driving mechanism and fixes with base.
Advantage of the present invention is: the present invention not only can crossover track on various disorders, can also stride across shaft tower and realize automatic de-icing operation between many grades of circuits.
Accompanying drawing explanation
Fig. 1 is axonometric drawing of the present invention;
Fig. 2 is front view of the present invention;
Fig. 3 is obstacle detouring controlling organization profile A;
Fig. 4 is obstacle detouring controlling organization profile B;
Fig. 5 is supporting mechanism profile;
Fig. 6 is clamp system profile.
Embodiment
Below in conjunction with accompanying drawing, for example the present invention is described in more detail:
In conjunction with Fig. 1～6, the present invention is comprised of deicing mechanism I, driving mechanism II, clamp system III, supporting mechanism IV and obstacle detouring controlling organization V.
Described obstacle detouring controlling organization V is controlled motor 1 by obstacle detouring, motor reducer 2, obstacle detouring is controlled motor cabinet 3, bearing pedestal 4, deep groove ball bearing 5, obstacle detouring is controlled electric machine rotational axis 6, motor output pinion 7, control casing 8, bearing (ball) cover 9, gear wheel 10, left gear 11, power transmission shaft 12, left end tooth bar 13, left cantilever arm 14, left rail 15, left rail frame 16, right cantilever arm 17, right guide rail 18, right guide rail bracket 19, right tooth bar 20, right gear 21, tooth sector 22, axle sleeve 23, right end cap 24, deep groove ball bearing 25, rotating drive shaft 26, deep groove ball bearing 27, runing rest 28, revolving wormgear 29, travelling gear 30, rotary worm 31, bearing pedestal 32, travelling gear 33, electric rotating machine 34 compositions such as grade.
Described supporting mechanism IV consists of upper support arm 35, deep groove ball bearing 36, spacing groove 37, bevel gear wheel 38, rotation axis 39, motor output rotation axis 40, bevel pinion 41, output shaft steady pin 42, motor reducer 43, motor cabinet 44, support arm oscillating motor 45, lower support arm 46 etc.
Described clamp system III clamps hand 47, tong forearm 48, rubber blanket 49, rotary turbine 50, bearing (ball) cover 51, deep groove ball bearing 52, worm screw 53, clamp system shell 54, clamp system motor 55, motor reducer 56, motor cabinet 57, motor output shaft steady pin 58, pinion 59, motor output rotation axis 60, gear wheel 61, axle sleeve 62 etc. by cable and forms.
In described obstacle detouring controlling organization V, obstacle detouring control motor 1 and motor reducer 2 are controlled motor cabinet 3 by obstacle detouring and are fixed on control casing 8, obstacle detouring is controlled the output shaft of motor 1 and is controlled electric machine rotational axis 6 circumferentially connectings by flat key and obstacle detouring, obstacle detouring is controlled electric machine rotational axis 6 respectively by two of left and right deep groove ball bearing 5 and two of left and right bearing pedestal 4 axial restraints, the left end of bearing pedestal 4 is by passing through screw rigid bearing end cap 9, bearing (ball) cover 9 is by deep groove ball bearing 5 axial location simultaneously, obstacle detouring control electric machine rotational axis 6 by flat key by motor output pinion 7 circumferentially connectings, motor output pinion 7 left ends are by axle sleeve axial location, motor output pinion 7 coordinates with gear wheel 10 gears.The shaft shoulder of power transmission shaft 12 left ends is by left gear 11, axle sleeve, deep groove ball bearing and bearing left end cap axial restraint, gear wheel 10 is by the shaft shoulder and the round nut axial restraint at power transmission shaft 12 middle parts, right gear 20 is by the shaft shoulder, axle sleeve, bearing and right end cap 23 axial restraints of power transmission shaft 12 right-hand members, and left gear 11, gear wheel 10 and right gear 20 are respectively by flat key and power transmission shaft 12 circumferentially connectings.Left gear 11 coordinates with left end tooth bar 13, left end tooth bar 13 is fixedly connected with left cantilever arm 14 by screw, left cantilever arm 14 is fixedly connected by screw and left rail 15, and left rail 15 coordinates the lower end of left rail frame 16 to be fixedly connected with control casing 8 with left rail frame 16.Right gear 21 coordinates with tooth sector 22, tooth sector 22 is by flat key and rotating drive shaft 26 circumferentially connectings, tooth sector 22 is by the shaft shoulder and round nut and rotating drive shaft 26 axial restraints of rotating drive shaft 26, rotating drive shaft 26 deep groove ball bearings 27 are fixedly connected with runing rest 28 with round nut, right gear 21 coordinates with right tooth bar 20, right tooth bar 20 is fixedly connected with right cantilever arm 17 by screw, right cantilever arm 17 is fixedly connected by screw and right guide rail 18, right guide rail 18 coordinates with right guide rail bracket 19, right guide rail bracket 19 is by bearing and runing rest 28 axial restraints, right guide rail bracket 19 is connected and fixed by screw and revolving wormgear 29.Revolving wormgear 29 coordinates with rotary worm 31, and rotary worm 31 is by bearing and bearing pedestal 32 axial restraints, and electric rotating machine 34 is by flat key and travelling gear 30 circumferentially connectings.
As shown in Figure 5, in described support IV mechanism, support arm oscillating motor 45 and motor reducer 43 are fixedly connected by screw and motor cabinet 44, motor cabinet 44 is fixedly connected by screw and lower support arm 46, support arm oscillating motor 45 is fixedly connected by output shaft steady pin 42 and motor output rotation axis 40, motor output rotation axis 40 other ends are by flat key and bevel pinion 41 circumferentially connectings, and the shaft shoulder axial location other end of bevel pinion 41 one end and motor output rotation axis 40 is by round nut axial location.Bevel pinion 41 coordinates with bevel gear wheel 38, be that bevel pinion 41 drives bevel gear wheel 38 rotations, bevel gear wheel 38 is by rotation axis 39 and round nut axial location, by flat key and rotation axis 39 circumferentially connectings, be that bevel gear wheel 38 rotation axiss 39 drive 35 rotations of upper support arm, the boss of upper support arm 35 is by deep groove ball bearing 36 and lower support arm 46 circumferentially connectings.Alignment pin on upper support arm 35 boss coordinates with the spacing groove 37 of lower support arm 46, and upper support arm 35 is along the track rotation of the spacing groove 37 of lower support arm 46.
As shown in Figure 6, described steps up in mechanism's III, and clamp system motor 55 is fixedly connected with motor reducer 56, and is fixed by screws on motor cabinet 57, is fixed by screws on clamp system shell 54 on motor cabinet 57.The output shaft of clamp system motor 55 is fixedly connected by motor output shaft steady pin 58 and motor output rotation axis 60, the shaft shoulder of motor output rotation axis 60 and pinion 59 axial location, pinion 59 right-hand members are by round nut axial location and pinion 59 by flat key and motor output rotation axis 60 circumferentially connectings, and clamp system motor 55 rotates by motor output rotation axis 60 and drives pinions 59 to rotate.Pinion 59 coordinates with gear wheel 61, and gear wheel 61 is by flat key and worm shaft circumferentially connecting, and gear wheel 61 right-hand members are by round nut axial location, and left end is by axle sleeve 62 and deep groove ball bearing axial location.It is respectively left-handed and dextrorotation that the two ends of worm shaft are arranged symmetrically with two worm screws, and the left-handed and dextrorotation part of worm screw 53 coordinates with two rotary turbine 50 respectively, and worm screw is rotated and drives two rotary turbine 50 to relatively rotate.Rotary turbine axle is by flat key and tong forearm 48 circumferentially connectings, and tong forearm 48 clamps hand 47 by the screw cable that is fixedly connected, and rotary turbine 50 is rotated and driven cables to clamp hands 47 to rotate.Rubber blanket 49 is fixedly connected by the lower end of screw and clamp system shell 54.
Operation principle: described high-voltage line automatically deicing robot obstacle detouring ice detachment is for hiding obstacle action, leaping over obstacles action, the action of falling cable, clamping and releases cable action, crossing pole action, specific as follows:
1) hide obstacle action support arm oscillating motor 45 and drive bevel pinion 41 to rotate by motor output rotation axis 40, bevel pinion 41 coordinates with bevel gear wheel 38 gears, bevel gear wheel 38 and rotation axis 39 circumferentially connectings, so rotation axis 39 rotates thereupon.One section of rotation axis 39 drives upper support arm 35 to swing, and on the boss of upper support arm 35, alignment pin is installed, and alignment pin can only be along the spacing movement of spacing groove 37, and therefore can limit upper support arm 35 slewing areas prevents that pivot angle is excessive.Upper support arm 35 tops and driving mechanism are fixedly connected, thereby drive driving mechanism to swing along certain angle, depart from cable, realize and hide obstacle action.
2) leaping over obstacles action obstacle detouring is controlled motor 1 and is controlled electric machine rotational axis 6 drive motor output pinions 7 rotations by obstacle detouring, pinion 7 coordinates drive power transmission shaft 12 to rotate with gear wheel 10, on power transmission shaft 12 with left gear 11 and right gear 21 circumferentially connectings, so left gear 11 and right gear 21 also rotate thereupon, left gear 11 drives left cantilever arm 14 to move along left rail frame 16 by the left end tooth bar 13 coordinating.Right-hand member, right gear 21 coordinates with tooth sector 22 gears, tooth sector 22 rightabouts are rotated, tooth sector 22 coordinates the right cantilever arm 17 of drive to move with left cantilever arm 14 rightabouts along right guide rail bracket 19 with right tooth bar 20, thereby relative motion when realizing left and right cantilever arm, thereby drive front driving mechanism to surmount obstacles.
3) falling that cable action falls cable action after rise and to hide cable action similar after rise, is the inverse process of hiding cable action.
4) clamp and releases cable action when front driving mechanism or rear drive mechanism surmount obstacles, in order to guarantee stablizing of robot, need rear drive mechanism or front driving mechanism to clamp cable.Now, clamp system motor 55 drives pinion 59 to rotate by motor output rotation axis 60, and pinion 59 coordinates with gear wheel 61 gears, gear wheel 61 and worm screw 53 circumferentially connectings, so worm screw 53 is rotated thereupon.It is respectively left-handed and dextrorotation that the two ends of worm shaft are arranged symmetrically with two worm screws, and the left-handed and dextrorotation part of worm screw 53 coordinates with two rotary turbine 50 respectively, and worm screw is rotated and drives two rotary turbine 50 to relatively rotate.Along with the rotation of rotary turbine 50, two of left and right cable clamps hand 47 and also relatively rotates, thereby realizes clamp and the loose ends action of clamp system.
5) crossing pole action is when cable is followed from single line cable crossing pole to another by robot, and two cables have certain angle.Now, electric rotating machine 34 rotates by travelling gear 30 and travelling gear 33 driven rotary worm screws 31, and rotary worm 31 coordinates with revolving wormgear 29, and therefore, revolving wormgear 29 rotates thereupon.Revolving wormgear 29 is fixedly connected with right guide rail bracket 19, and right guide rail bracket 19 rotates relative to runing rest 28 by bearing 27.The rotation of right guide rail bracket 19 is with right cantilever arm pitch rotation Shang Xia 17.Hiding obstacle action, obstacle detouring action and falling after rise under the cooperation of cable action, thereby realizing crossing pole action.
Claims (7)
1. removing ice of power transmission line robot, it is characterized in that: comprise deicing mechanism, driving mechanism, clamp system, supporting mechanism, barrier getting over mechanism, driving mechanism comprises drive motors and motor cabinet, deicing mechanism and clamp system and motor cabinet are fixed, the upper end of supporting mechanism connects motor cabinet, and supporting mechanism is fixed on barrier getting over mechanism, described deicing mechanism, driving mechanism, clamp system, supporting mechanism have two groups and symmetry to arrange in opposite directions, described barrier getting over mechanism comprises motor, pinion, gear wheel, left gear, right gear, tooth sector, left end tooth bar, right-hand member tooth bar, power transmission shaft, left rail, right guide rail, left telescopic arm, right telescopic arm, motor connects pinion, pinion connects gear wheel, gear wheel, left gear, right gear is installed on power transmission shaft, right gear and tooth sector engagement, left telescopic arm is connected with left end tooth bar with left rail, right telescopic arm is connected with right-hand member tooth bar with right guide rail, left gear and the engagement of left end tooth bar drive left telescopic arm to move, tooth sector and the engagement of right-hand member tooth bar drive right telescopic arm to move,
Described barrier getting over mechanism also comprises controls casing, electric rotating machine, rotary worm, rotation worm gear, rotating drive shaft, right guide rail bracket, runing rest, right guide rail bracket is arranged on right guide rail outside, electric rotating machine, runing rest are arranged on to be controlled in casing, electric rotating machine, rotary worm, rotation worm gear are connected successively, rotation worm gear and right guide rail bracket are connected, and right guide rail bracket is connected by bearing with runing rest.
2. removing ice of power transmission line according to claim 1 robot, is characterized in that: two described supporting mechanisms are arranged on respectively on the left telescopic arm of barrier getting over mechanism and on right telescopic arm.
3. removing ice of power transmission line according to claim 2 robot, it is characterized in that: described supporting mechanism comprises upper support arm, lower support arm, support arm oscillating motor, bevel pinion, bevel gear wheel, rotation axis, upper support arm is connected by deep groove ball bearing with lower support arm, support arm oscillating motor connects bevel pinion, bevel pinion and bevel gear wheel engagement, rotation axis and bevel gear wheel circumferentially connecting, rotation axis is fixed in upper support arm and drives upper support arm swing through lower support arm.
4. removing ice of power transmission line according to claim 3 robot, is characterized in that: on described upper support arm, alignment pin is installed, spacing groove is set on lower support arm, alignment pin moves along spacing groove.
5. removing ice of power transmission line according to claim 4 robot, it is characterized in that: described clamp system comprises clamp system motor, clamp system pinion, clamp system gear wheel, axle, rotate worm gear, rotary worm, cable clamps hand, rotary worm is arranged on axle, rotate worm gear connection of rotating worm screw, cable clamps hand connection of rotating worm gear, described cable clamps hand, rotate worm gear, rotary worm has two groups, two cables clamp hand and have coordinated clamping, unclamp action, clamp system gear wheel is arranged on axle and with clamp system pinion and meshes, clamp system pinion connects clamp system motor.
6. removing ice of power transmission line according to claim 5 robot, is characterized in that: also comprise tong forearm, tong forearm is arranged on and rotates worm gear and cable clamps between hand.
7. removing ice of power transmission line according to claim 6 robot, it is characterized in that: described deicing mechanism comprises except ice lolly, base, rotating shaft, the described ice lolly that removes has four, is arranged on base uniformly, and rotating shaft is connected with driving mechanism and fixes with base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210172326.3A CN102709859B (en) | 2012-05-30 | 2012-05-30 | Deicing robot for transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210172326.3A CN102709859B (en) | 2012-05-30 | 2012-05-30 | Deicing robot for transmission line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102709859A CN102709859A (en) | 2012-10-03 |
| CN102709859B true CN102709859B (en) | 2014-12-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210172326.3A Expired - Fee Related CN102709859B (en) | 2012-05-30 | 2012-05-30 | Deicing robot for transmission line |
Country Status (1)
| Country | Link |
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| CN (1) | CN102709859B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105071291B (en) * | 2015-07-31 | 2017-05-03 | 洛阳理工学院 | Obstacle crossing clamping mechanism for deicing obstacle removing mechanical apparatus |
| CN106003079B (en) * | 2016-06-23 | 2017-11-10 | 黄伟林 | A kind of series-parallel connection flexible electric deicing intelligent robot |
| CN106078679B (en) * | 2016-06-23 | 2018-09-18 | 罗军 | A kind of mountain area high-voltage electric power circuit upkeep operation intelligent robot |
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| CN1647898A (en) * | 2004-12-10 | 2005-08-03 | 武汉大学 | Robot travelling along overhead high voltage transmission line |
| CA2463188A1 (en) * | 2004-04-15 | 2005-10-15 | Serge Montambault | Compact inspection and intervention vehicle that moves on a cable and can cross major obstacles |
| CN101168253A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Transmission line polling robot mechanical arm device |
| CN101168254A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Swinging arm type transmission line polling robot |
| CN201383635Y (en) * | 2008-12-30 | 2010-01-13 | 中国科学院沈阳自动化研究所 | Inspection robot mechanism |
| CN201994593U (en) * | 2010-12-30 | 2011-09-28 | 中国电力科学研究院 | Inspection or de-icing robot of power transmission line |
| CN202678898U (en) * | 2012-05-30 | 2013-01-16 | 哈尔滨工程大学 | Deicing robot for transmission line |
-
2012
- 2012-05-30 CN CN201210172326.3A patent/CN102709859B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2463188A1 (en) * | 2004-04-15 | 2005-10-15 | Serge Montambault | Compact inspection and intervention vehicle that moves on a cable and can cross major obstacles |
| CN1647898A (en) * | 2004-12-10 | 2005-08-03 | 武汉大学 | Robot travelling along overhead high voltage transmission line |
| CN101168253A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Transmission line polling robot mechanical arm device |
| CN101168254A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Swinging arm type transmission line polling robot |
| CN201383635Y (en) * | 2008-12-30 | 2010-01-13 | 中国科学院沈阳自动化研究所 | Inspection robot mechanism |
| CN201994593U (en) * | 2010-12-30 | 2011-09-28 | 中国电力科学研究院 | Inspection or de-icing robot of power transmission line |
| CN202678898U (en) * | 2012-05-30 | 2013-01-16 | 哈尔滨工程大学 | Deicing robot for transmission line |
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| CN102709859A (en) | 2012-10-03 |
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