CN104362568B - A kind of high-tension line deicing robot - Google Patents

Abstract

A high-voltage transmission line deicing robot mechanism belongs to the field of mechanical engineering. The purpose of the present invention is to replace artificial high-altitude operations, improve work efficiency, and reduce the incidence of casualty accidents. The structure of the robot body consists of five parts: deicing tool, walking mechanism, obstacle surmounting mechanism, transmission system and camera unit. The deicing tool consists of a deicing grinding wheel and a deicing hammer, and uses a combination of cutting and impact to achieve deicing. The obstacle surmounting mechanism is integrated with the walking mechanism to realize the obstacle surmounting function of the robot and at the same time ensure that the mechanism can walk on the line. The transmission system is composed of three transmission routes, and the power transmission is realized by means of gear meshing. The camera unit provides real-time feedback on the working conditions of the device on the ground, ensuring the accuracy and reliability of the work. The communication control system on the ground can also perform online fault diagnosis and remote control of the robot. Compared with the traditional deicing method, this robot is more efficient, safe, reliable, cheap and practical.

Description

A high voltage line deicing robot

technical field

The high-voltage transmission line deicing robot is a device used to replace manual deicing of high-voltage lines. It belongs to the field of mechanical engineering and realizes the maintenance of high-voltage lines.

Background technique

With the rapid development of my country's electric power industry, the coverage area of high-voltage transmission network continues to expand, and the lines pass through different geographical environments. Some areas often encounter low temperature, ice, snow or freezing weather. However, since the atmospheric temperature is lower than zero and the air humidity is relatively high, the melted ice will quickly condense into ice, making the speed of freezing faster than the speed of melting, resulting in more and more ice. Severe icing of high-voltage lines will lead to collapse of towers, wire galloping, disconnection, insulator flashover and de-icing jumps, etc., causing accidents such as line tripping and power supply interruptions. Production and people's lives have been seriously affected.

In order to alleviate the adverse effects of ice and snow disasters on transmission lines, various deicing technology research work has been carried out at home and abroad. There are more than 30 kinds of deicing methods at home and abroad, which are basically divided into two types: mechanical deicing method and thermal deicing method. Mechanical deicing methods include strong vibration method and pulley scraping method. This method is cheap, but consumes a lot of manpower and material resources, and the deicing efficiency is low; thermal deicing mainly includes three-phase short-circuit deicing and load deicing. Compared with deicing, the deicing speed is faster and the safety is higher, but it can only be used for local lines. For severe wire icing, manual deicing is generally the most effective method, but manual deicing is very dangerous and the efficiency is low. In addition, the power transmission system is a system with a strong electric field. Working in a strong electric field for a long time, the human body will be damaged by electromagnetic radiation.

Contents of the invention

The present invention provides a device that uses a deicing grinding wheel and a deicing hammer to remove ice on high-voltage lines. Its purpose is to replace the traditional method of manually removing ice from high-voltage lines. The group of deicing hammers first cuts and then impacts to achieve high-efficiency and mechanized deicing operations for high-voltage line icing.

The above-mentioned purpose of the high-voltage transmission line deicing robot of the patent of the present invention is achieved in this way, as follows in conjunction with the accompanying drawings:

The high-voltage line deicing robot uses ice-coated wheels to keep the high-voltage line in a horizontal state during cutting, ensuring the stability of the robot during deicing. Utilizing the tensioning mechanism can reduce the number of motors driving the traveling mechanism and ensure the continuity of power when the robot is walking. The obstacle-surmounting function of the robot is realized by adopting the mechanical transmission mode of displacement. The locking function of the ratchet pawl is used to drive the lead screw to rotate to adjust the gap between a pair of deicing grinding wheels to adapt to high-voltage lines of different specifications.

The transmission system of the deicing robot is mainly composed of bevel gears, reduction spur gears, incomplete gears and spur gears. It is characterized in that the motor transmits the power to the coaxially connected deceleration spur gear through the bevel gear, and the deceleration spur gear meshes with two spur gears of the same specification for two-stage transmission of power. The coaxially connected incomplete gears transmit the power to the two spur gears with the deicing hammer again to realize the control of the reciprocating motion of the deicing hammer.

The walking mechanism of the high-voltage line deicing robot patented by the present invention is integrated with the obstacle-crossing mechanism, including a first lifting device, a second lifting device, a third lifting device and a sliding gear mechanism. The first lifting device includes a helical gear and a lifting nut. , lead screw, ice-covered wheel, the helical gear is connected with the lead screw, and the lifting nut is arranged on the lead screw; the second lifting device and the third lifting device are respectively composed of a helical gear, a lifting nut, a lead screw, and a walking wheel, and the respective helical gears It is connected with the corresponding screw, and the respective lifting nuts are arranged on the corresponding screw; the sliding gear mechanism includes a motor, a spline shaft, a sliding gear, a displacement wrench, and an electric screw.

The obstacle surmounting mechanism is composed of a sliding gear, a helical gear, a lead screw, a lifting nut, a displacement wrench, a spline shaft and an electric lead screw. It is characterized in that the electric lead screw drives the displacement wrench to move horizontally, and the displacement wrench moves the sliding gear on the spline shaft, and brings it to the designated position for meshing transmission with the helical gear, and the rotation of the helical gear drives the fixed screw to rotate , the rotation of the lead screw drives the lifting nut to rise, and the lifting nut is lowered by changing the direction of the motor installed on the spline shaft, so as to realize the obstacle-crossing function of the robot.

The traveling mechanism includes traveling wheels, motors, tension pulleys and pulleys. It is characterized in that the device is equipped with three traveling wheels, and the three traveling wheels are kept level with the center of the deicing hammer when walking, and the front is an ice coating wheel, which walks on the high-voltage line where the ice coating has not been removed, so as to ensure that the high voltage line is removed when the ice coating is removed. Creates a horizontal line that improves de-icing reliability. A motor is installed on the middle walking wheel, and a belt is used for power transmission between the rear two wheels. A tensioning wheel is provided between the belts for tensioning. A spring with a certain strength is installed in the tensioning mechanism. When the mechanism realizes obstacle surmounting, Since the tension wheel rises thereupon when the strength limit of the spring is reached, it is ensured that the robot provides continuous power for the device when overcoming obstacles.

The online travel distance of the walking mechanism must be less than 1.5 to 2 times the effective impact length of the deicing hammer.

The invention mainly breaks through the traditional manual knocking or cutting operation mode, and adopts a pair of deicing grinding wheels or rotating cutters to cooperate with a group of deicing hammers to first cut and then impact, so as to realize high-efficiency and mechanized deicing of high-voltage lines. A pair of grinding wheels or cutters cut the ice-covered sides of the high-voltage line. The locking mechanism adopts a ratchet pawl to adjust the distance between a pair of deicing grinding wheels to meet the deicing work of high-voltage lines of different sizes; the left and right deicing hammers pass intermittently The reciprocating motion realizes the impact on the icing of the high-voltage line. The intermittent reciprocating motion of the deicing hammer is realized by the incomplete gear, and the incomplete gear can also be replaced by a cam to realize the intermittent reciprocating motion of the deicing hammer. The walking mechanism has three walking wheels to realize the robot walking on the high-voltage line, and each concave wheel can also realize obstacle surmounting through the lifting nut. Compared with the traditional manual cleaning method, this technology has high efficiency, low cost and wide adaptability.

A camera device is installed on the frame, and the camera device can monitor the condition of the high-voltage line and the working condition of the robot in real time. If the robot fails while working on the high-voltage line, the communication control system on the ground can also perform remote fault diagnosis and online control of the robot through the feedback information of the camera device, ensuring the accuracy and reliability of the robot's work.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the high-voltage line deicing robot.

Figure 2 is a three-dimensional structural view of the high-voltage line deicing robot.

Figure 3 is a partial structural diagram of the transmission system of the high-voltage line deicing robot.

Figure 4 is a schematic diagram of the working principle of the obstacle surmounting mechanism of the high-voltage line deicing robot.

Figure 5 is a schematic diagram of the walking mechanism of the high-voltage line deicing robot.

detailed description

The specific content and working process of the high-voltage transmission line deicing robot of the patent of the present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

Figure 1 is a schematic diagram of the overall structure of a high-voltage line deicing robot, which is mainly composed of a frame, a transmission system, a deicing tool, an obstacle overcoming mechanism, a walking mechanism, and a camera unit. In the transmission system, the bevel gear (7) transmits the power of the motor one (8) to the deceleration spur gear (13) coaxially connected with the bevel gear (7), and the deceleration spur gear (13) and the spur gear one (14) are meshed, and the power is transmitted to the second spur gear (17) through the secondary gear transmission, and the second spur gear (17) drives the deicing hammer fixedly connected with it to move. The deicing tools are symmetrically distributed and consist of a pair of deicing grinding wheels (28) and a set of deicing hammers (19). The deicing grinding wheels (28) are connected to the pulley shaft, and are connected to The mutual meshing of the helical gears (1) transmits the power of the second motor (10) to the deicing grinding wheel (28) through the belt (31), and a pair of deicing grinding wheels (28) rotate to realize cutting on both sides of the high voltage line covered with ice; The deicing hammer (19) is provided with a semicircular groove structure that matches the shape of the high-voltage line, and its movement is achieved by a pair of incomplete gears (15) alternately meshing with a pair of spur gears (17) to achieve 180° intermittent reciprocation movement to strike ice on high voltage lines. In the obstacle-crossing mechanism, the second driving motor (10) is installed on the spline shaft (35), and the second motor (10) drives the spline shaft (35) to rotate, thereby driving the sliding gear (2) to rotate. The electric screw (37) adjusts the position of the sliding gear (2) through the displacement wrench (3) and meshes with the helical gear (5) (9) (34) respectively, and the sliding gear (2) passes through the screw connected to it The lifting nut is adjusted to rise or fall to realize the obstacle-crossing function of the robot. When the device is in non-obstacle surmounting working state, the helical gear coaxially fixed with the belt pulley is always engaged with the sliding gear, so that the deicing grinding wheel (28) is always in working state, which improves the working efficiency of the robot. Described walking mechanism, motor three (26) is installed on the walking wheel (25). Carry out power transmission with belt (24) between road wheel (25) and road wheel (20), be provided with tension pulley (23) belt is preloaded between two belt pulleys. The camera unit is mainly composed of a camera (21) and ground control software and hardware, and performs online operation control and remote fault diagnosis for the robot.

Fig. 2 is a three-dimensional structural view of the high-voltage line deicing robot. The robot's walking mechanism and obstacle-crossing mechanism are integrated, including a first lifting device, a second lifting device, a third lifting device and a sliding gear mechanism, and the first lifting device includes a helical gear (34), a lifting nut (33) , lead screw (32), ice wheel (30), helical gear (34) is connected with lead screw (32), lifting nut (33) is arranged on the lead screw (32); the second lifting device includes helical gear (5) , the lifting nut (4), the leading screw (6), the traveling wheel (25), the helical gear (5) is connected with the leading screw (6), and the lifting nut (4) is arranged on the leading screw (6); the third lifting device Including helical gear (9), lifting nut (12), lead screw (11), travel wheel (20), helical gear (9) is connected with lead screw (11), and lift nut (12) is arranged on lead screw (11) On; the sliding gear mechanism includes motor two (10), spline shaft (35), sliding gear (2), displacement wrench (3), electric lead screw (37). The three traveling wheels of the traveling mechanism are kept level with the center of the deicing hammer when walking, and the icing wheel (30) walks on the high-voltage line to ensure that the high-voltage line forms a straight line when the ice is removed; the traveling wheel (25) is installed Drive motor three (26) provides forward power for the robot, and the road wheel (25) and the road wheel (20) are driven by a belt, and a tension wheel (23) is arranged between the belts for tensioning; when the robot moves to an obstacle, The electric screw (37) drives the displacement wrench (3) to move horizontally, the displacement wrench (3) meshes the sliding gear (2) with the helical gear (34, 5, 9), and the helical gear (34, 5, 9) rotates Drive the lead screw (32, 6, 11) to rotate, adjust the rise and fall of the lifting nut (33, 12, 4), so that the ice-covered wheel (30) and the walking wheel (20, 25) are raised or lowered to realize the robot's overtaking disabled function. The deicing work of the robot: the robot adopts the method of cutting first and then impacting to deicing. A pair of deicing grinding wheels (28) rotate at high speed to cut the ice-covered sides of the high-voltage line. The locking mechanism is provided to adjust the distance between the deicing grinding wheels. The distance is suitable for high-voltage transmission lines of different sizes; the 180° intermittent reciprocating motion of the deicing hammer is achieved by a pair of incomplete gears meshing alternately with a pair of spur gears. The camera monitors the walking, overcoming obstacles and deicing process of the deicing robot in real time.

Figure 3 is a partial structural diagram of the transmission system of the high-voltage line deicing robot. The structure is distributed symmetrically, the motor one (8) transmits the power to the reduction spur gear (13) through the bevel gear (7), and the spur gear one (14) matched with the reduction spur gear (13) transmits the power to the The incomplete gear (15) connected coaxially, and then the incomplete gear (15) transmits to the two spur gears (17) meshing with each other, and then drives the two deicing gears fixed on the spur gears. The hammer (19) realizes the control of the 180° reciprocating motion of the deicing hammer through the cooperation of incomplete gears.

Fig. 4 is a schematic diagram of the working principle of the obstacle-surmounting mechanism of the high-voltage line deicing robot. This part is made up of motor two (10), slip gear (2), spline shaft (35), helical gear (9), lifting nut (12), road wheel (20). When the walking wheel moves to an obstacle, the second motor (10) drives the spline shaft (35) to rotate, and the slip gear (2) coaxially connected with it meshes with the helical gear (9) through rotation, and the helical gear ( 9) The rotation drives the lead screw (11) to rotate, and the lifting nut (12) is adjusted to rise or fall, so that the walking wheel (20) is raised or lowered to complete the obstacle-crossing function. In the same way, the other two road wheels perform obstacle surmounting according to this working principle.

Fig. 5 is a structural schematic diagram of the walking mechanism of the high-voltage line deicing robot. Three traveling wheels walk on the high-voltage transmission line, and driving motor three (26) is installed on the traveling wheel (25), and power is transmitted by a belt between the traveling wheel (25) and the traveling wheel (20). Wheel (25) and road wheel (20) when crossing obstacles, the belt between the two wheels will become slack or tension unavoidably, between road wheel (25) and road wheel (20) a tensioner wheel ( 23), can solve this technical problem. Taking the road wheel (20) as an example to overcome obstacles, in the process of the road wheel (20) rising, the belt between the road wheel (25) and the road wheel (20) will slowly become tighter, and the tension wheel is provided with an adjustment Spring (22), the adjustment spring (22) will stretch as the belt slowly tightens. Conversely, when the traveling wheel (20) descends, the adjustment spring will also be compressed along with the loosening of the belt.

The content described in the above drawings should be understood as exemplary, and the present invention is not limited by these examples. Although a set of deicing grinding wheel and deicing hammer drive structures are given in the description, those skilled in the art can make various changes or equivalent replacements to it on the basis of the present invention, and freely select other Deicing tools and their driving forms, etc. Apparently, these changes or equivalent replacements should all be included within the scope of the present invention.

Claims (5)

1. A kind of deicing robot mechanism based on high-voltage transmission line, it comprises deicing tool, walking mechanism, obstacle-surmounting mechanism, transmission system and camera unit, it is characterized in that described deicing tool is symmetrical distribution, by deicing emery wheel ( 28) and a deicing hammer (19), the deicing grinding wheel (28) is connected to the pulley shaft, and the power of the motor 2 (10) is passed through the belt ( 31) Transfer to the deicing grinding wheel (28), a pair of deicing grinding wheels (28) rotate to realize cutting on both sides of the high voltage line covered with ice, and the motor 1 (8) transmits the power to the deceleration spur gear ( 13), the first spur gear (14) matched with the deceleration spur gear (13) transmits the power to the incomplete gear (15), and the incomplete gear (15) meshes with the second spur gear (17). The ice hammer (19) is connected with the second spur gear (17), and the rotation of the incomplete gear (15) causes the deicing hammer (19) to make a 180° arc reciprocating motion in the guide track groove in the box, thereby realizing the impact Icing function. The walking mechanism and the obstacle-breaking mechanism are integrated, including a first lifting device, a second lifting device, a third lifting device and a sliding gear mechanism, and the first lifting device includes a helical gear (34), a lifting nut (33) , lead screw (32), ice wheel (30), helical gear (34) is connected with lead screw (32), lifting nut (33) is arranged on the lead screw (32); the second lifting device includes helical gear (5) , the lifting nut (4), the leading screw (6), the traveling wheel (25), the helical gear (5) is connected with the leading screw (6), and the lifting nut (4) is arranged on the leading screw (6); the third lifting device Including helical gear (9), lifting nut (12), lead screw (11), travel wheel (20), helical gear (9) is connected with lead screw (11), and lift nut (12) is arranged on lead screw (11) Above; the sliding gear mechanism includes motor two (10), spline shaft (35), sliding gear (2), displacement wrench (3), electric lead screw (37), when moving to an obstacle, motor two ( 10) The spline shaft (35) is connected with the sliding gear (2), the second motor (10) drives the spline shaft (35) to rotate, the displacement wrench (3) is set on the electric lead screw (37), and by turning The displacement wrench (3) makes the sliding gear (2) move, and then the sliding gear (2) meshes with the helical gear (34, 5, 9), and the helical gear (34, 5, 9) rotates to drive the lead screw (32, 6, 11) Rotate, adjust the lifting nuts (33, 12, 4) to rise or fall, so that the ice-covered wheel (30) and the walking wheel (20, 25) rise or fall, and complete the obstacle-crossing function to achieve the purpose of the robot. The traveling mechanism is driven by the motor three (26), the power transmission is carried out by the belt (24) between the traveling wheel (20) and the traveling wheel (25) in the traveling mechanism, and a tension pulley (23) is installed between the two pulleys , to realize the tensioning of the belt, in the process of the road wheel (20) rising, the belt between the road wheel (25) and the road wheel (20) will become tighter, conversely, when the road wheel (20) descends , the belt between the road wheel (25) and the road wheel (20) will be loose. 2. The high-voltage transmission line deicing robot mechanism according to claim 1, characterized in that the first motor (8) uses a high-power motor to drive the bevel gear (7), and the power is transmitted to the three-stage gear through the mutual meshing effect The reciprocating deicing hammers (19) in the guide track groove realize that a group of deicing hammers collide with each other to remove ice on the high voltage line. 3. The high-voltage transmission line deicing robot mechanism according to claim 1, characterized in that the deicing grinding wheel is equipped with a locking mechanism, and the locking mechanism adopts a ratchet pawl to adjust the distance between a pair of deicing grinding wheels, Meet the deicing work of different sizes of high voltage lines. 4. The high-voltage transmission line deicing robot mechanism according to claim 1, characterized in that the transmission system is composed of transmission power components, and the second motor (10) drives the deicing grinding wheel ( 28) Turn, the meshing between the gears transmits the power to the deicing hammer (19); the electric screw (37) realizes the helical gear (5) (9) (34) in the obstacle surmounting mechanism by controlling the displacement wrench (3) ) respectively mesh with the sliding gear (2) to transmit power. 5. The high-voltage transmission line deicing robot mechanism according to claim 1, characterized in that the camera unit (21), the camera unit is the working condition of the real-time feedback device on the ground, and also has a communication control system on the ground that can The robot performs remote fault diagnosis and online control.