CN105397811A - Self-lifting on-wire device for hot-line work robot - Google Patents
Self-lifting on-wire device for hot-line work robot Download PDFInfo
- Publication number
- CN105397811A CN105397811A CN201510911777.8A CN201510911777A CN105397811A CN 105397811 A CN105397811 A CN 105397811A CN 201510911777 A CN201510911777 A CN 201510911777A CN 105397811 A CN105397811 A CN 105397811A
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- Prior art keywords
- driving wheel
- fixed pulley
- fixed
- travel
- promoting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1679—Program controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A self-lifting on-wire device for a hot-line work robot comprises a bearing frame (1), a clamping wheel set, a motor (6) and a control cabinet (8). The bearing frame is a rectangular frame. Vertical plates (2) are arranged at the two ends of two edge frame bodies. A fixed pulley shaft is fixed to the upper portion on the inner side of each vertical plate, and a movable support shaft (12) is fixed to the lower portion of the inner side of the vertical plate. A fixed pulley (5) is arranged on each fixed pulley shaft. One end of a movable support (4) is borne by each movable support shaft in a swinging mode, and a driving wheel shaft is fixed to the other end of the movable support. A driving wheel (3) provided with a motor is arranged on each driving wheel shaft. The middle portions of two insulating ropes (10) are thrown and hung on a transmission cable in advance through a rope jetting device, the rope head of each insulating rope is wound from the outer side of the corresponding driving wheel to the inner side of the driving wheel opposite to the corresponding fixed pulley, then wound upwards to the inner side of the fixed pulley, and finally extends downwards from the outer side of the fixed pulley and is fixed to the bottom face. According to the self-lifting on-wire device for the hot-line work robot, the automatic on-wire process and automatic off-wire process of the hot-line work robot can be achieved through remote-control operation on the ground.
Description
Technical field
The present invention relates to a kind of hot line robot for power system transmission line from promoting eedle threader.
Background technology
Along with the raising of automation and Based Intelligent Control level, various robot, as increasing in the application in power system such as automatic running on transmisson line robot, deicing robot.These robots effectively can reduce the labour intensity of workman, reduce the risk of artificial livewire work, effectively improve the maintenance levels of circuit.
But the method that the input of robot still adopts human assistance to throw in mostly, needs workman to climb up pylon or carry out hot line job by rope ladder/hanging basket etc. when reaching the standard grade or roll off the production line, the original intention of this and design robot is runed counter to.
Summary of the invention
Technical problem to be solved by this invention, just be to provide a kind of hot line robot from promoting eedle threader, it under avoiding or reducing that workman is charged and step on the condition of tower, by straighforward operation on the ground, can realize the automatic wire charging of hot line robot and lower line process.
Solve the problems of the technologies described above, the technical solution adopted in the present invention is as follows:
A kind of hot line robot, from promoting eedle threader, comprises bearing frame, clamping wheels, motor and control cabinet, it is characterized in that:
Described bearing frame is horizontal rectangular frame, and two relative frames are provided with riser near the position at two ends, in one of them of another two frames, is provided with two cooperation robot locking location pins erect;
The travel(l)ing rest axle that top inside described riser is fixed with the fixed pulley axis of level, bottom is then fixed with level, fixed pulley axis is supported with fixed pulley, travel(l)ing rest axle carries swingably one end of a travel(l)ing rest, the other end of travel(l)ing rest is fixed with the live axle of level, live axle is supported with the driving wheel from translator, fixed pulley is positioned at same plane with driving wheel and makes both have relative inner side and opposing outside;
Also comprise two insulating cords middle part impelling be suspended on by manpower or Rope shooter in advance on power transmission cable, insulating cord fag end fixes on the ground after being wrapped in fixed pulley and driving wheel accordingly, and canoe is: insulating cord fag end from top to bottom time first from the outside of driving wheel around inside the driving wheel relative with fixed pulley, more upwards around to fixed pulley inner side, be finally fixed on bottom surface from the lateral downward-extension of fixed pulley.
On the basis of above-mentioned basic model, the present invention can also have various modified:
The center of rotation of described travel(l)ing rest 4 is equal with the diameter D of driving wheel to the distance L of driving wheel center of rotation.
Described live axle is supported with and from the structure of the driving wheel of translator is: riser corresponds to live axle swing part and have arcuate socket, described driving wheel is connected with motor output shaft through after arcuate socket, and the other end of motor shaft is bearing in one and is fixed in the arcuate socket of the angle block of right angle on described riser.
Be provided with crossbeam in the middle of described bearing frame, be provided with control cabinet, it comprises batteries and control system.
Described battery is distributed on the left and right sides of control cabinet, to ensure the left-right balance from promoting eedle threader.
Described motor is stepper motor.
Beneficial effect: advantage of the present invention:
1, the present invention makes hot line robot along insulating cord from promoting by the frictional force between insulating cord and driving wheel, operating personnel ground just can complete robot on to roll off the production line operation, easy to use, efficiency is high, and security is good;
2, selecting suitable dimensional parameters by calculating, driving wheel self-locking when running out of steam can being made, prevent the overall security incident caused of falling of emergency lower device;
3, the present invention is risen by four motor drivers, and each driving wheel can drive.System also has pinch wheels slippage and detects and integral inclined measuring ability, can compensate driving separately according to testing result to each motor, ensure that hot line robot is overall and steadily rises and decline;
4, the present invention adopts wireless communication technology to communicate with ground master control system and robot, and ground handling operator can grasp the working condition of equipment at any time and send control command.
In sum, from promoting eedle threader, hot line robot described in the invention has that security is good, reliability is high, easy to operate, use advantage flexibly, and simple structure, easy to maintenance, can greatly reduce hot line robot reach the standard grade and roll off the production line operation Labor Risk, reduce labour intensity, enhance productivity, have broad application prospects.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below.
Fig. 1 is the structural representation of one embodiment of the invention;
Fig. 2 is one group of clamping structure of wheels and the schematic diagram of insulating cord winding in Fig. 1 embodiment;
Fig. 3 is the structural representation of embodiment of the present invention control system.
In figure: 1-bearing frame, 2-riser, 3-driving wheel, 4-travel(l)ing rest, 5-fixed pulley, 6-motor, 7-angle block of right angle, 8-control cabinet, 9-locates pin, 10-insulating cord, 11-power transmission cable, 12-travel(l)ing rest bearing pin.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described.
As shown in Figure 1, Figure 2 and Figure 3, give hot line robot of the present invention from promoting eedle threader embodiment, in this embodiment, hot line robot of the present invention is made up of bearing frame, clamping wheels, motor and control cabinet from promoting eedle threader.
Bearing frame 1 is horizontal rectangular frame, and two relative frames are provided with riser 2 near the position at two ends, for mounting clamp bearing up pulley group and motor 6; In one of them of another two frames, be provided with two cooperation robot lockings location pins 9 erect, can make easily robot detect information in place also and bearing frame lock;
The travel(l)ing rest axle that top inside riser is fixed with the fixed pulley axis of level, bottom is then fixed with level, fixed pulley axis is supported with fixed pulley, travel(l)ing rest axle carries swingably one end of travel(l)ing rest, the other end of travel(l)ing rest is fixed with the live axle of level, live axle is supported with the driving wheel from translator, fixed pulley is positioned at same plane with driving wheel and makes both have relative inner side and opposing outside;
Also comprise two insulating cords middle part impelling be suspended on by manpower or Rope shooter in advance on power transmission cable, insulating cord fag end fixes on the ground after being wrapped in fixed pulley and driving wheel accordingly, and canoe is: insulating cord fag end from top to bottom time first from the outside of driving wheel around inside the driving wheel relative with fixed pulley, more upwards around to fixed pulley inner side, be finally fixed on bottom surface from the lateral downward-extension of fixed pulley.
Live axle is supported with and from the structure of the driving wheel of translator is: riser corresponds to live axle swing part and have arcuate socket, described driving wheel is connected with motor output shaft through after arcuate socket, and the other end of motor shaft is bearing in one and is fixed in the arcuate socket of the angle block of right angle on described riser.
Be provided with crossbeam in the middle of bearing frame, be provided with control cabinet 8, it comprises batteries and control system, and battery is distributed on the left and right sides of control cabinet, to ensure the left-right balance from promoting eedle threader.Control cabinet 8 with bearing frame 1 one lifting, for eedle threader provides power and control.Further, control cabinet 8 can move forward and backward within the specific limits, for regulating the center of gravity of lifting device and robot.
The clamping wheels comprising fixed pulley and driving wheel have four groups, are arranged on four risers 2 of side respectively, and often group comprises a driving wheel 3 and a fixed pulley 5.Fixed pulley 5 is directly fixed on riser 2; Driving wheel 3 is arranged on riser 2 by travel(l)ing rest 4, and can swing in a segment limit with travel(l)ing rest 4.Two insulating cords 10 ridden on power transmission cable 11 can be wrapped on driving wheel 3 and fixed pulley 5, and under motor 6 drives, device entirety can rise along insulating cord 10 or decline.
Select suitable dimensional parameters by calculating, can make under load Gravitative Loads, driving wheel 3 upwards swings and clamps insulating cord 11, realizes self-locking, ensure that the safety of in emergency circumstances equipment.
Motor 6 is stepper motor, is installed on riser by angle block of right angle 7, Direct driver driving wheel 3.
As shown in Figure 2, first the insulating cord 10 be suspended on power transmission cable 11 is walked around driving wheel 3 from outside, is more upwards walked around fixed pulley 5 from inner side, and fag end fixes on the ground afterwards.Selecting suitable dimensional parameters by calculating, the self-locking of pinch wheels can be realized.Particularly, select the center of rotation of travel(l)ing rest 4 equal with the diameter D of driving wheel to the distance L of driving wheel center of rotation in the present embodiment, be 40mm, the diameter of fixed pulley is 30mm, can meet the condition of self-locking.
As shown in Figure 3, control system is made up of main control module, drive control module and wireless communication module.Main control module detects the inclination of the slippage of each clamping wheels, height and entirety, and carries out automatic leveling by the motor that drive control module drive is different; Drive control module is responsible for producing the drive singal required for the motion of each stepper motor; Wireless communication module is responsible for carrying out communication with ground control system and robot, receives the control instruction of ground controller and instruction execution result and system mode are returned to ground master control system.
The impelling of two insulating cords 10 in use, is first suspended on power transmission cable 11 by manpower or Rope shooter by the present invention; Afterwards, the four-head of rope is correctly wrapped in respectively clamping wheels on and fag end is fixed on the ground; Hot line robot is fixed on after promoting eedle threader, master control sends order of reaching the standard grade and starts operation of reaching the standard grade, control system is received order rear drive four motors 6 and is rotated, and relies on the frictional force between insulating cord 10 and driving wheel 3, rises from lifting device along insulating cord; In uphill process, control system constantly detects slippage situation and the device overall inclination angle of pinch wheels, and automatically adjusts the drive singal of motor and compensate, and makes robot steadily increase; After arriving specified altitude assignment, control system notice ground master control system, completes the operation of reaching the standard grade of robot.
Otherwise the process of operation of rolling off the production line, repeats no more herein.
Claims (5)
1. hot line robot is from promoting an eedle threader, comprises bearing frame (1), the clamping wheels be made up of fixed pulley and movable pulley, motor (6) and control cabinet (8), it is characterized in that:
Described bearing frame is horizontal rectangular frame, and its two relative frames are provided with riser (2) near the position at two ends, in one of them of another two frames, is provided with two cooperation robots locking location pin (9) erect;
The travel(l)ing rest axle (12) that top inside described riser is fixed with the fixed pulley axis of level, bottom is then fixed with level, fixed pulley axis is supported with fixed pulley (5), travel(l)ing rest axle carries swingably one end of a travel(l)ing rest (4), the other end of travel(l)ing rest is fixed with the live axle of level, live axle is supported with the driving wheel (3) from translator, fixed pulley is positioned at same plane with driving wheel and makes both have relative inner side and opposing outside;
Also comprise two insulating cords (10) middle part impelling be suspended on by manpower or Rope shooter in advance on power transmission cable, insulating cord fag end fixes on the ground after being wrapped in fixed pulley and driving wheel accordingly, and canoe is: insulating cord fag end from top to bottom time first from the outside of driving wheel around inside the driving wheel relative with fixed pulley, more upwards around to fixed pulley inner side, be finally fixed on bottom surface from the lateral downward-extension of fixed pulley.
2. hot line robot according to claim 1 is from promoting eedle threader, it is characterized in that: the center of rotation of described travel(l)ing rest (4) is equal with the diameter D of driving wheel to the distance L of driving wheel center of rotation.
3. hot line robot according to claim 2 is from promoting eedle threader, it is characterized in that: described live axle is supported with from the structure of the driving wheel of translator is: riser corresponds to live axle and swing part and have arcuate socket, described driving wheel is connected with motor output shaft through after arcuate socket, and the other end of motor shaft is bearing in one and is fixed in the arcuate socket of the angle block of right angle (7) on described riser.
4. hot line robot according to claim 3 is from promoting eedle threader, it is characterized in that: be provided with crossbeam in the middle of described bearing frame, be provided with control cabinet (8), it comprises batteries and control system.
5. hot line robot according to claim 4 is from promoting eedle threader, it is characterized in that: described battery is distributed on the left and right sides of control cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510911777.8A CN105397811A (en) | 2015-12-11 | 2015-12-11 | Self-lifting on-wire device for hot-line work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510911777.8A CN105397811A (en) | 2015-12-11 | 2015-12-11 | Self-lifting on-wire device for hot-line work robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105397811A true CN105397811A (en) | 2016-03-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510911777.8A Pending CN105397811A (en) | 2015-12-11 | 2015-12-11 | Self-lifting on-wire device for hot-line work robot |
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| CN (1) | CN105397811A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106312996A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Device and method for automatically getting on/off line by autonomous obstacle-surmounting inspection robot for overhead transmission line |
| CN106393061A (en) * | 2016-12-02 | 2017-02-15 | 广东电网有限责任公司电力科学研究院 | Device for independent circuit loading and unloading of electrified operation robot |
| CN106744448A (en) * | 2016-11-30 | 2017-05-31 | 芜湖木木游乐设备有限公司 | A kind of automatic lifting device for the cleaning of aquatic entertainment park skin raft |
| CN106965188A (en) * | 2017-05-25 | 2017-07-21 | 国网湖南省电力公司带电作业中心 | A kind of eedle threader of high-tension line electrified Work robot |
| CN107293998A (en) * | 2017-08-22 | 2017-10-24 | 广东电网有限责任公司电力科学研究院 | Coil inserting apparatus in a kind of hot line maintenance robot |
| CN112443726A (en) * | 2020-11-06 | 2021-03-05 | 浙江国自机器人技术股份有限公司 | Hoisting device for overhead cable operation equipment to get on and off line |
| CN113146652A (en) * | 2021-04-15 | 2021-07-23 | 南方电网科学研究院有限责任公司 | Live working robot |
| CN116194257A (en) * | 2020-08-26 | 2023-05-30 | 奥卡多创新有限公司 | Slot manipulator and method for lifting a target and a trough |
| CN118181275A (en) * | 2024-02-06 | 2024-06-14 | 重庆小目科技有限责任公司 | A control system and method for on-line and off-line inspection robots for power transmission lines |
| CN120709878A (en) * | 2025-08-28 | 2025-09-26 | 广东冠能电力科技发展有限公司 | An on-line device and automatic on-line method for a multi-split tension clamp detection robot |
-
2015
- 2015-12-11 CN CN201510911777.8A patent/CN105397811A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106312996A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Device and method for automatically getting on/off line by autonomous obstacle-surmounting inspection robot for overhead transmission line |
| CN106744448B (en) * | 2016-11-30 | 2019-11-22 | 亳州文青测量技术有限公司 | A kind of automatic lifting device for the cleaning of aquatic entertainment park skin raft |
| CN106744448A (en) * | 2016-11-30 | 2017-05-31 | 芜湖木木游乐设备有限公司 | A kind of automatic lifting device for the cleaning of aquatic entertainment park skin raft |
| CN106393061A (en) * | 2016-12-02 | 2017-02-15 | 广东电网有限责任公司电力科学研究院 | Device for independent circuit loading and unloading of electrified operation robot |
| CN106965188B (en) * | 2017-05-25 | 2023-09-29 | 国网湖南省电力公司带电作业中心 | An on-line device for a high-voltage line live working robot |
| CN106965188A (en) * | 2017-05-25 | 2017-07-21 | 国网湖南省电力公司带电作业中心 | A kind of eedle threader of high-tension line electrified Work robot |
| CN107293998A (en) * | 2017-08-22 | 2017-10-24 | 广东电网有限责任公司电力科学研究院 | Coil inserting apparatus in a kind of hot line maintenance robot |
| CN116194257A (en) * | 2020-08-26 | 2023-05-30 | 奥卡多创新有限公司 | Slot manipulator and method for lifting a target and a trough |
| CN112443726A (en) * | 2020-11-06 | 2021-03-05 | 浙江国自机器人技术股份有限公司 | Hoisting device for overhead cable operation equipment to get on and off line |
| CN113146652A (en) * | 2021-04-15 | 2021-07-23 | 南方电网科学研究院有限责任公司 | Live working robot |
| CN118181275A (en) * | 2024-02-06 | 2024-06-14 | 重庆小目科技有限责任公司 | A control system and method for on-line and off-line inspection robots for power transmission lines |
| CN120709878A (en) * | 2025-08-28 | 2025-09-26 | 广东冠能电力科技发展有限公司 | An on-line device and automatic on-line method for a multi-split tension clamp detection robot |
| CN120709878B (en) * | 2025-08-28 | 2025-11-18 | 广东冠能电力科技发展有限公司 | A device and automatic loading method for a multi-split tension clamp inspection robot. |
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Application publication date: 20160316 |