CN102790366B - Ice removing mechanism of ice removing robot for overhead cable - Google Patents
Ice removing mechanism of ice removing robot for overhead cable Download PDFInfo
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- CN102790366B CN102790366B CN201210291444.6A CN201210291444A CN102790366B CN 102790366 B CN102790366 B CN 102790366B CN 201210291444 A CN201210291444 A CN 201210291444A CN 102790366 B CN102790366 B CN 102790366B
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- removal machine
- overhead cable
- device people
- ice removal
- ice
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Abstract
An ice removing mechanism of an ice removing robot for an overhead cable is controlled by a controller of the ice removing robot for the overhead cable to work and comprises a mechanism body, a pair of striking units and an adjusting mechanism, wherein the mechanism body is arranged at the front end of the robot; a thread transmitting mechanism and a pair of crescent dual flank gears are arranged in an inner chamber of the mechanism body; a longitudinal double-thread screw rod is controlled by a swing motor to rotate; teeth of outer cambered surfaces of the pair of crescent dual flank gears are respectively occluded with corresponding sections on the thread transmitting mechanism; one group of rotary striking hammers are arranged in each striking unit and are fixedly arranged on wheel discs rotating along with the linkage of a motor output shaft; the adjusting mechanism is used for adjusting the heights of the striking hammers and comprises a bracket with teeth; one end of the bracket is fixedly connected with the wheel disc of each striking unit; another external tooth with a tooth end is occluded with the teeth of inner cambered surfaces of the crescent dual flank gears; the bracket rotates clockwise or anticlockwise around a pivot on the mechanism body along with the rotation of the crescent dual flank gears; and each motor is controlled by the controller. The ice removing mechanism is simple in structure and favorable in ice removing effect.
Description
Technical field
The present invention relates to a kind of ice removal machine for overhead cable device people deicing mechanism.
Background technology
Multifarious and the southern sleet of climate change cause very large impact all can to transmission of electricity cause, and particularly bring great potential safety hazard to electrical network, cause manual operation inefficiency, also the easy life security to operator causes damage.For this reason, the meaning that robot cause has it great is developed.Now, along with the development of robot cause, ice removal machine for overhead cable device people has become the research object that everybody comparatively pays close attention to, and more existing inventions are (as number of patent application: 200810019735.3; 200910043583.5 and 200910043582.0) etc. deicing mechanism come out one after another.
Deicing mechanism plays vital effect in deicing robot, is not only the guarantee of efficiency, is sometimes also related to the problem that whether can hurt cable.Application number be 200810019735.3 application for a patent for invention only done simple description, fail the essence place showing that it is deeply dealt with problems; If application number is the opening ice cone in 200910043583.5 long will hurt cable downwards, it is undesirable to cross shallow deicing again; Application number is the ice sheet within 200910043582.0 ice-breaking mechanisms can only abolish front and grouped by itself ice-cutter external diameter, beyond grouped by itself ice-cutter external diameter, ice-breaking mechanism will as creeping in ice brill, the length being deep into combination skates is arrived the limit, cannot move on again.According to television image, freeze very large very thick, according to freezing thickness theory, the size of this kind of robot should depend on freezes thickness, again because robot can not be too large, will damage cable too greatly, and helpless to the ice and snow below cable.
Summary of the invention
The object of this invention is to provide a kind of ice removal machine for overhead cable device people deicing mechanism opening ice effective.
For achieving the above object, the present invention takes following design:
A kind of ice removal machine for overhead cable device people deicing mechanism, controls by the ice removal machine for overhead cable device people being installed on controller the impulse stroke that it completes deicing; It includes:
One has inner cavity chamber and can be set in the mechanism body on cable, is arranged on the front end of ice removal machine for overhead cable device people;
In mechanism body inner cavity chamber, install a screw thread connecting gear and a pair month type double sided gear, this screw thread connecting gear is controlled to rotate by a swing motor; This is engaged with the screw thread of correspondence position section on screw thread connecting gear respectively mutually to the tooth on moon type double sided gear extrados;
The a pair point of impact unit being located at cable upper and lower, include one group of hammer rotated in each impact unit, this group hammer is fixed on a wheel disc with motor output shaft linkage rotation;
The governor motion of one adjustment hammer height, comprise a toothed support, one end of this support is fixedly connected with the wheel disc of impact unit, tooth on support another band external tooth of increment and intrados of moon type double sided gear is interlocked mutually, this support with the moon type double sided gear rotation and a fulcrum in mechanism body is clockwise or rotate counterclockwise;
Described swing motor and the motor impacted in unit are controlled by controller.
In described ice removal machine for overhead cable device people deicing mechanism, in mechanism body, also arrange one drive rotation mechanism away, comprise at least one group to be fixed in mechanism body and de-icing work time can form the thread spindle of extruding together to cable.
In described ice removal machine for overhead cable device people deicing mechanism, install one in the below of driving rotation mechanism away and lead ice groove.
In described ice removal machine for overhead cable device people deicing mechanism, the axis of each thread spindle on cable that is periphery and cable cross-contact.
In described ice removal machine for overhead cable device people deicing mechanism, mechanism body is installed at least one in camera and transducer.
In described ice removal machine for overhead cable device people deicing mechanism, described mechanism body is by can two parts split of automatically controlled folding form: can be upper and lower two parts split, an electromagnetic fixing device and matrix drive motors by laying respectively at upper and lower part during installation realize automatically controlled folding; May also be left and right two parts split composition of automatically controlled folding, left and right portion, the front portion by laying respectively at deicing robot during installation, fit by the separation horizontally rotating the front portion mechanism of realization of one's own drive motors respectively.
The hammer of described ice removal machine for overhead cable device people deicing mechanism is fixedly connected on wheel disc by steel wire rope.
Advantage of the present invention is: structure is simple, deicing works very well, and can not damage cable.
Accompanying drawing explanation
Fig. 1 is the structural representation (using state) of ice removal machine for overhead cable device people deicing mechanism of the present invention.
Fig. 2 is the end view (A-A to) of Fig. 1.
Fig. 3 is the impact unit one example structure schematic diagram of this ice removal machine for overhead cable device people deicing mechanism.
Fig. 4 is another example structure schematic diagram of impact unit of this ice removal machine for overhead cable device people deicing mechanism.
In figure: 1-mechanism body; 2-leads ice groove; The toothed support of 3-; 4-motor; 5-steel wire rope; 6-wheel disc; 7-output shaft; 8-thread spindle; 9-freezes and barrier; 10-cable; 11-camera; 12-bottom matrix drive motors; 13-electromagnetic fixing device; 14-connects gap; 15-shaft joint; The vertical two-way leading screw of 16-; 17-swing motor; 18-fulcrum; 19-month type double sided gear; 20-hammer.
Below in conjunction with drawings and the specific embodiments, the present invention is described in further details.
Embodiment
Ice removal machine for overhead cable device people deicing mechanism of the present invention is that one knocks flexible deicing mechanism, drives walking by ice removal machine for overhead cable device people, is arranged on the front end of ice removal machine for overhead cable device people when it uses.
Ice removal machine for overhead cable device people deicing mechanism of the present invention is created point and is the structural new design of deicing mechanism, and consult shown in Fig. 1, Fig. 2, this ice removal machine for overhead cable device people deicing mechanism specifically includes:
One mechanism body 1, has inner cavity chamber; This mechanism body 1 can adopt upper and lower two-part split composition, and an electromagnetic fixing device and matrix drive motors by laying respectively at upper and lower part during installation realize automatically controlled folding.In the present embodiment, bottom matrix drive motors 12 is contained in mechanism body upper side rear, is connected during installation by motor fixing device; Connected by bottom matrix drive motors 12 output shaft when lower body is installed, electromagnetic fixing device 13 is also arranged on mechanism body upper side rear (installing with motor symmetry), and (close and device for automatically opening during robot leaping over obstacles, the controller that the action of bottom matrix drive motors 12, electromagnetic fixing device 13 is all controlled by robot controls herein.When needs are opened, electromagnetic fixing device 13 power-off, disconnects with the attracting device of bottom, and bottom matrix drive motors 12 reverses, until open completely; When needs are closed, bottom matrix drive motors 12 rotates forward, until completely closed, electromagnetic fixing device 13 obtains electric, with the attracting device adhesive of bottom); Connect gap 14 narrow and small, then form the entirety that can be set on cable 10 by electromagnetic fixing device 13.
In mechanism body inner cavity chamber, install a screw thread connecting gear and a pair month type double sided gear 19, two thread segments that simultaneously ensure on screw thread connecting gear have with a pair month type double sided gear respectively and contact well.This screw thread connecting gear can adopt various ways, as: be a vertical two-way leading screw with bidirectional helical section; Or can also be preferably the two-way double cut bolt adopting cover to have two-way nut, during work, by two-way (dextrorotation and derotation) two symmetrical nut screwing clampings, can automatically realize locking location, under strong vibration environmental condition, more tight between the two-way nut that correspondence can be made to tighten, ensure that anti-loosening effect is more reliable.
In the illustrated embodiment, this screw thread connecting gear adopts vertical two-way leading screw 16, to there being two mutual reverse thread segments on vertical two-way leading screw, the respectively position of corresponding two months type double sided gears, this is engaged with the screw thread of correspondence position section on vertical two-way leading screw respectively mutually to the tooth on moon type double sided gear 19 extrados; One swing motor 17 be contained in mechanism body controls the rotation of vertical two-way leading screw 16 through shaft coupling 15, in the present embodiment, swing motor 17 is controlled by the controller be installed on ice removal machine for overhead cable device people.
A pair impact unit, divides the upper and lower being located at cable 10; In the present embodiment, adopt in each impact unit one group can the hammer of High Rotation Speed, this group hammer can be fixed on a wheel disc 6 by steel wire rope 5, it can be one, also can be a pair symmetrical (as shown in Figure 3, it is preferred version), can also be multiple (as shown in Figure 4), time multiple, should be uniformly distributed as good.A pair wheel disc 6 is arranged on the output shaft of motor 4, and during work, along with the High Rotation Speed of motor, hammer also can be flown in circles at a high speed.Steel wire rope 5 is adopted to connect hand hammer, its advantage is: the space of the flexible action of steel wire rope sling in rotation, the section bar ratio hard compared with other, if run into too hard ice sheet, can not very stiff and demanding and cause damage, by further to adjust or flexibility is repeatedly beaten, finally can complete the task of broken ice, extend the life-span of impact assembly of elements.
The governor motion of one adjustment hammer height, comprise the toothed support 3 that one end (front end) is fixedly connected with the wheel disc 6 of impact unit, tooth on the external tooth of another band increment of this toothed support 3 and the intrados of moon type double sided gear 19 is engaged mutually, this support 3 with the moon type double sided gear 19 rotation and a fulcrum 18 in mechanism body does clockwise or counterclockwise rotation.
The another creation point of ice removal machine for overhead cable device people deicing mechanism of the present invention is, also can arrange one in mechanism body and drive rotation mechanism away, comprise at least one group of thread spindle 8 be fixed in mechanism body, this group thread spindle is periphery around cable when installing, during de-icing work, due to the advance of mechanism, distance between thread spindle and cable is very little, they form relative motion, during relative motion, the thread spindle of foremost is formed ice more than on cable and shear, again because thread spindle is rotational structure, along with the increasing of resistance, thread spindle produces and rotates, shearing becomes overstocks and can not cause damage to cable, thread spindle below forms new shearing to ice more than on cable, extruding, extruding can be formed together to cable, the thread spindle 8 of more than three should be had in one group, and can be arrange many groups, preferred version is: with axis and the cable cross-contact of each thread spindle in group.In the embodiment shown in Fig. 1 and Fig. 2, adopt two groups, often in group, have four thread spindles 8, during installation, will ensure that eight thread spindles well can contact with cable.
Installing one in the below that this drives rotation mechanism away and lead ice groove 2, convenient to collect driving the ice landing that rotation mechanism process gets off away; Ponding not only can drip rearward to protect deicing mechanism by the setting leading ice groove, can also increase the mechanical strength of mechanism body 1 simultaneously.
For realizing better work, mechanism body is installed detection camera 11 and transducer, the work motor of these detecting devicess and this deicing mechanism is all communicated in the controller of ice removal machine for overhead cable device people, integration can be realized automatically control, it by existing techniques in realizing, can not repeat herein.
Operation principle and the course of work of ice removal machine for overhead cable device people deicing mechanism of the present invention are: when the camera 11 be contained in mechanism body, transducer find freeze and barrier time, distinguished by the controller be installed on ice removal machine for overhead cable device people, when discovery is that barrier (circuit facility etc.) determines how to cross over (this part does not belong to scope) by robot; When find be freeze, snow ice 9 time, controller starts swing motor 17 and drives vertical two-way leading screw 16 to rotate, screw thread on vertical double cut leading screw drives moon type double sided gear 19, double sided gear rotates, the support 3 of its inner circle gear driven band gear swings, therefore steel wire rope 5 can shake the height of robot deicing mechanism up and down very well according to the rotation of swing motor, is convenient to aim at freezing above, snow ice.Again because be equipped with adz-eye hammer 20 on the top of steel wire rope, it improves again the kinetic energy of this device while High Rotation Speed, run into freeze, snow ice is smashed rapidly, hit down.The ice and snow be distributed in like this above and below cable 10 just solves.Remaining is exactly be distributed in the remaining ice and snow of cable 10 left and right sides, when deicing mechanism proceeds to existing thread spindle position, eight thread spindles and cable are all cross-contacts, a kind of extruding is formed to cable, the place of the thread contact of thread spindle projection is different with angle, one is formed to ice and snow and drives rotation work away, make to come off very soon to ice and snow.The ice and snow come off is along leading ice groove 2 landing.
The various embodiments described above can in addition some changes under not departing from the scope of the present invention, thus above explanation to comprise and the structure shown in accompanying drawing should be considered as exemplary, and be not used to the protection range limiting the application's patent.
Claims (9)
1. an ice removal machine for overhead cable device people deicing mechanism, controls by the ice removal machine for overhead cable device people being installed on controller the impulse stroke that it completes deicing; It is characterized in that including:
One has inner cavity chamber and can be set in the mechanism body on cable, is arranged on the front end of ice removal machine for overhead cable device people;
In mechanism body inner cavity chamber, install a screw thread connecting gear and a pair month type double sided gear, this screw thread connecting gear is controlled to rotate by a swing motor; This is engaged with the screw thread of correspondence position section on screw thread connecting gear respectively mutually to the tooth on moon type double sided gear extrados;
The a pair point of impact unit being located at cable upper and lower, include one group of hammer rotated in each impact unit, this group hammer is fixed on a wheel disc with motor output shaft linkage rotation;
The governor motion of one adjustment hammer height, comprise a toothed support, one end of this support is fixedly connected with the wheel disc of impact unit, tooth on support another band external tooth of increment and intrados of moon type double sided gear is interlocked mutually, this support with the moon type double sided gear rotation and a fulcrum in mechanism body is clockwise or rotate counterclockwise;
Described swing motor and the motor impacted in unit are controlled by controller.
2. ice removal machine for overhead cable device people deicing mechanism according to claim 1, is characterized in that: in mechanism body, also arrange one drive rotation mechanism away, comprise at least one group to be fixed in mechanism body and de-icing work time can form the thread spindle of extruding together to cable.
3. ice removal machine for overhead cable device people deicing mechanism according to claim 2, is characterized in that: install one in the below of driving rotation mechanism away and lead ice groove.
4. ice removal machine for overhead cable device people deicing mechanism according to claim 2, is characterized in that: the axis of each thread spindle on cable that is periphery and cable cross-contact.
5. ice removal machine for overhead cable device people deicing mechanism according to claim 1 and 2, is characterized in that: in mechanism body, install transducer.
6. ice removal machine for overhead cable device people deicing mechanism according to claim 1 and 2, is characterized in that: described mechanism body is by can two parts split of automatically controlled folding form.
7. ice removal machine for overhead cable device people deicing mechanism according to claim 6, is characterized in that: realize automatically controlled folding by the electromagnetic fixing device and matrix drive motors laying respectively at upper and lower part when described mechanism body is installed.
8. ice removal machine for overhead cable device people deicing mechanism according to claim 1 and 2, is characterized in that: described hammer is fixedly connected on wheel disc by steel wire rope.
9. ice removal machine for overhead cable device people deicing mechanism according to claim 1 and 2, is characterized in that: described screw thread connecting gear is a vertical two-way leading screw with bidirectional helical section, or for overlapping the two-way double cut bolt having a pair two-way nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210291444.6A CN102790366B (en) | 2012-08-15 | 2012-08-15 | Ice removing mechanism of ice removing robot for overhead cable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210291444.6A CN102790366B (en) | 2012-08-15 | 2012-08-15 | Ice removing mechanism of ice removing robot for overhead cable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102790366A CN102790366A (en) | 2012-11-21 |
| CN102790366B true CN102790366B (en) | 2015-06-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210291444.6A Expired - Fee Related CN102790366B (en) | 2012-08-15 | 2012-08-15 | Ice removing mechanism of ice removing robot for overhead cable |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103885447B (en) * | 2014-03-28 | 2017-09-12 | 东北石油大学 | A kind of automatic de-icing post robot system |
| CN110011261B (en) * | 2019-04-19 | 2023-12-05 | 桂林电子科技大学 | Symmetrical hammering type deicing mechanism of overhead line deicing robot |
| CN110912065A (en) * | 2019-12-30 | 2020-03-24 | 广东电网有限责任公司 | Ice breaking device for removing ice coated on high-voltage line |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101557089A (en) * | 2008-04-09 | 2009-10-14 | 国网北京电力建设研究院 | Conducting wire deicing method and device for high-voltage transmission line |
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2012
- 2012-08-15 CN CN201210291444.6A patent/CN102790366B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101557089A (en) * | 2008-04-09 | 2009-10-14 | 国网北京电力建设研究院 | Conducting wire deicing method and device for high-voltage transmission line |
Non-Patent Citations (1)
| Title |
|---|
| 张屹 邵威 高虹亮 罗成 杨旸.高压输电线路除冰机器人的机构设计.《三峡大学学报(自然科学版)》.2008,第30卷(第6期),69-72. * |
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| CN102790366A (en) | 2012-11-21 |
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