CN105896370B - Stockbridge damper more changing device, the robot with it and stockbridge damper replacing options - Google Patents
Stockbridge damper more changing device, the robot with it and stockbridge damper replacing options Download PDFInfo
- Publication number
- CN105896370B CN105896370B CN201510795461.7A CN201510795461A CN105896370B CN 105896370 B CN105896370 B CN 105896370B CN 201510795461 A CN201510795461 A CN 201510795461A CN 105896370 B CN105896370 B CN 105896370B
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- stockbridge damper
- changing device
- stockbridge
- clamping part
- wire clamp
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- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000012806 monitoring device Methods 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Manipulator (AREA)
Abstract
The present invention provides a kind of stockbridge damper more changing device, and it includes：Body；Clamping part, its first end is stretched into body, and the second end can act to clamp or unclamp the wire clamp of stockbridge damper；Support, it is arranged in the lower section at the second end of the clamping part, and for supporting stockbridge damper；And drive division, it is arranged in the body, and for driving the clamping part.According to the stockbridge damper more changing device of the present invention, it supports the weight of whole stockbridge damper by clamping the wire clamp part of stockbridge damper, it is achieved thereby that in high aerial picking and placeing and disposing to stockbridge damper.
Description
Technical field
The present invention relates to ultra-high-tension power transmission line maintenance technology field, livewire work machine specifically, the present invention relates to
The stockbridge damper of device people more changing device.
Background technology
By the development of decades, the technology of aerial high-voltage power transmission line crusing robot and its application have been achieved necessarily
Achievement, be that the intelligent patrol detection of transmission line of electricity opens a piece of new field, and this is only merely the first of Maintenance of Electric Transmission Line
Step, the basic behave that maintenance is only guarantee circuit stable operation is carried out for corresponding failure.The maintenance of current circuit is all to rely on
Manually carry special Work tool and carry out livewire work realization, while labor intensity is high, people of the highfield to operating personnel
When body also constitutes safely great threat, particularly equipotential live line work, by between less cross-arm and phase spacing restricted, people
The difficulty of work operation is very big, dangerous also very high.Therefore be badly in need of the intelligentized maintenance technique of research, by people from it is this it is dangerous, dislike
Freed in bad working environment and hard work task.The success of robot inspection is embodied as robot power-on serving operation
There is provided possible.
The hot line robot developed at present has possessed carries out the function of a variety of maintenances in high-altitude.However, for
Aerial this problem of replacing stockbridge damper, still fails to be well solved.To find out its cause, including following aspect：First, prevent
Shake hammer weight is excessive.This requires that stockbridge damper Renewal process needs multiple work jibs to coordinate or needs specific larger supporting power
Single work jibs；Secondly, the required precision for stockbridge damper installation site is very high, and this will be carried to the structure of work jibs and control
Requirements at the higher level are gone out.
The content of the invention
It is used for it is an object of the invention to provide a kind of in the high aerial stockbridge damper more changing device for changing stockbridge damper.
According to an aspect of the present invention there is provided a kind of stockbridge damper more changing device, it includes：Body；Clamping part, it first
End is stretched into body, and the second end can act to clamp or unclamp the wire clamp of stockbridge damper；Support, it is arranged in the clamping part
The second end lower section, and for supporting stockbridge damper；And drive division, it is arranged in the body, and described for driving
Clamping part.
Alternatively, the clamping part includes two supports, two supports can move toward one another to clamp stockbridge damper
Wire clamp；And/or dorsad move to unclamp the wire clamp of stockbridge damper.
Alternatively, the support includes lift stand, and the lift stand is arranged in the lower section at the second end of the clamping part,
And stockbridge damper can be supported.
Alternatively, the support also includes position-limited wheel, and the position-limited wheel is arranged in the end of the lift stand, and described
The race of position-limited wheel can be caught in the steel strand wires of stockbridge damper.
Alternatively, the drive division includes turbine and worm and motor, and the motor drives described via the turbine and worm
Clamping part.
Alternatively, also include：Monitoring device, it is arranged in the body upper.
Alternatively, the monitoring device is camera.
According to another aspect of the present invention, a kind of hot line robot is also provided, it includes：It is foregoing shockproof
Hammer more changing device into shape；And bolt clamp device, it is used to tighten and/or unclamps the bolt on the wire clamp of stockbridge damper.
According to a further aspect of the invention, a kind of stockbridge damper replacing options are also provided, it includes powered work as previously described
Industry robot：Demounting procedure：The clamping part of the stockbridge damper more changing device clamps the wire clamp of stockbridge damper, and the stockbridge damper more changes the outfit
The support put supports stockbridge damper at the steel strand wires of stockbridge damper, and the bolt clamp device is unclamped on the wire clamp of stockbridge damper
Bolt, the hot line robot unloads stockbridge damper；And installation steps：The clamping part pine of the stockbridge damper more changing device
The wire clamp of stockbridge damper is driven, the support of the stockbridge damper more changing device is separated from the steel strand wires of stockbridge damper, and the bolt is tight
The bolt put on the wire clamp for unclamping the stockbridge damper is fixedly mounted with, the hot line robot loads onto stockbridge damper.
According to the stockbridge damper more changing device of the present invention, it is supported whole by clamping the wire clamp part of stockbridge damper
The weight of stockbridge damper, it is achieved thereby that in high aerial picking and placeing and disposing to stockbridge damper.
Brief description of the drawings
Describe the specific embodiment of the present invention below in conjunction with accompanying drawing, it should be understood that shown accompanying drawing at large depicts production
Each details of product, these details are only intended to enable those skilled in the art more easily to implement and be not intended to limit the present invention
Scope, in the drawings：
Fig. 1 shows the hot line robot of the more changing device of the stockbridge damper with one embodiment of the present of invention.
Embodiment
It should be pointed out that hereinafter by specific description according to the ultra-high-tension power transmission line hot line job robot end's of invention
Specific embodiment, the orientation term such as " transverse direction " used in embodiment, " longitudinal direction " and " x ", and " y ", " z " direction of principal axis etc. is all
For relative direction, the present invention will clearly provide definition in each paragraph or each secondary figure, therefore those skilled in the art are in solution
Should be based on specification when releasing these terms.
Draw or describe it should be pointed out that hereinafter the concrete structure of part conventional machinery part is not detailed, but this
The structure or equipment that art personnel can commonly use according to this area knowledge-chosen realize same or like technical purpose, therefore this
A little simple descriptions do not interfere with the implementation of the present invention.
Fig. 1 shows the hot line robot 1 of the more changing device of the stockbridge damper with one embodiment of the present of invention, and it is wrapped
Include：A variety of conventional components such as robot platform, walking arm component, operation arm component.Wherein, operation arm component is fastened including bolt
Device 2 and stockbridge damper more changing device 3.For stockbridge damper therein more changing device 3, it specifically includes body 301.Outside body 301
Side has two supports 302, the first end of support 302 is stretched into body 301, and its second end inwardly move toward one another can be pressed from both sides
The wire clamp 401 of tight stockbridge damper, or face outward away from moving discharging the wire clamp 401 of stockbridge damper, so as to realize limitation stockbridge damper edge
The motion of horizontal direction, further to improve stockbridge damper installation accuracy.Set and lift respectively in the bottom at the second end of support 302
Frame 303, its end arrangement position-limited wheel 304.Both each serves as the effect of the tup 403 of supporting stockbridge damper 4 and by stockbridge damper 4
Steel strand wires 402 be caught in the race of position-limited wheel 304 prevent stockbridge damper turn on one's side or pour out.The set is also set up inside body 301
Power is transferred to branch by the driver part of device, namely motor 305 and worm and gear 306, motor 305 via worm and gear 306
Frame 302, to drive the motion of frame 302.In addition, to ensure whole process having in one's pocket in operator, to enter in time
Monitoring device 307 is also set up on row adjustment, body 301, to be monitored in real time.
As above one embodiment of stockbridge damper more changing device 3 is illustrate only, alternatively, support 302 therein can also be
Other can act the hold assembly of the wire clamp 401 to clamp or unclamp stockbridge damper；Lift stand 303 can also replace with other branch
Support part part；Position-limited wheel equally could alternatively be other limiting components.Similarly it is applied to drive division and monitoring portion.
On the other hand, the robot 1 should also be equipped with bolt clamp device 2, so that realize during stockbridge damper is dismounted,
Tighten or unclamp the bolt on wire clamp 401, with the lower stockbridge damper of fixed or dismounting.
The present invention robot 1 change stockbridge damper flow on substantially using " dress-obstacle detouring-tear open-fill-obstacle detouring-tear open-fill-
This pattern of obstacle detouring-tear open ", that is, carry new stockbridge damper and on wire, robot platform to be crossed and remove old after new stockbridge damper
Stockbridge damper, carries old stockbridge damper and is moved to beside's placement, reserve robot platform behind installation position and cross old stockbridge damper, remove
New stockbridge damper is simultaneously arranged on reserved location.Robot platform crosses mounted new stockbridge damper, removes old stockbridge damper offline.
There is following will combine the robot of the stockbridge damper more changing device of the present invention its course of work is described in detail：
First, the support 302 of stockbridge damper more changing device 3 clamps the wire clamp of new stockbridge damper, and makes the steel strand wires of new stockbridge damper
Into the race of position-limited wheel 304, robot 1 carries wire on new stockbridge damper.Secondly, new stockbridge damper is moved to correct position,
Guiding line side shifting to stockbridge damper wire clamp enters wire, is aligned using bolt clamp device 2 and is fixed to new stockbridge damper in advance
On wire.Then, the support 302 of stockbridge damper more changing device 3 unclamps the wire clamp of new stockbridge damper, and make the steel strand wires of new stockbridge damper from
Deviate from the race of position-limited wheel 304.Hereafter, robot makes general walking arm and work jibs across old shockproof by obstacle crossing function
Hammer, and perform the dismounting action to old stockbridge damper.Specifically, the support 302 of stockbridge damper more changing device 3 is made to clamp old stockbridge damper
Wire clamp, and make old stockbridge damper steel strand wires enter position-limited wheel 304 race.Hereafter, it is aligned and incites somebody to action using bolt clamp device 2
Old stockbridge damper is unscrewed, and then removes old stockbridge damper.Hereafter repeat said process new stockbridge damper is placed in into specific bit
Put, and it is offline to carry old stockbridge damper.
The invention is not restricted to above-described embodiment, any remodeling within the scope of this invention, modification, improvement is regarded as
Within the scope of the present invention, including those skilled in the art after the present invention is learnt to avoid the modification made of the present invention.
Claims (9)
1. a kind of stockbridge damper more changing device, it is characterised in that including：
Body；
Clamping part, its first end is stretched into body, and the second end can act to clamp or unclamp the wire clamp of stockbridge damper；
Support, it is arranged in the lower section at the second end of the clamping part, and for supporting stockbridge damper；And
Drive division, it is arranged in the body, and for driving the clamping part.
2. stockbridge damper according to claim 1 more changing device, it is characterised in that the clamping part includes two supports, two
Support described in root can move toward one another to clamp the wire clamp of stockbridge damper；And/or dorsad move to unclamp the wire clamp of stockbridge damper.
3. stockbridge damper according to claim 1 or 2 more changing device, it is characterised in that the support includes lift stand, institute
The lower section that lift stand is arranged in the second end of the clamping part is stated, and stockbridge damper can be supported.
4. stockbridge damper according to claim 3 more changing device, it is characterised in that the support also includes position-limited wheel, institute
The end that position-limited wheel is arranged in the lift stand is stated, and the race of the position-limited wheel can be caught in the steel strand wires of stockbridge damper.
5. stockbridge damper according to claim 1 or 2 more changing device, it is characterised in that the drive division includes turbine and worm
And motor, the motor is via the turbine and worm driving clamping part.
6. stockbridge damper according to claim 1 or 2 more changing device, it is characterised in that also include：Monitoring device, it is arranged
In the body upper.
7. stockbridge damper according to claim 6 more changing device, it is characterised in that the monitoring device is camera.
8. a kind of hot line robot, it is characterised in that including：Stockbridge damper as described in claim 1 to 7 any one is more
Changing device；And bolt clamp device, it is used to tighten and/or unclamps the bolt on the wire clamp of stockbridge damper.
9. a kind of stockbridge damper replacing options, it is characterised in that including hot line robot as claimed in claim 8：
Demounting procedure：The clamping part of the stockbridge damper more changing device clamps the wire clamp of stockbridge damper, the stockbridge damper more changing device
Support supports stockbridge damper at the steel strand wires of stockbridge damper, and the bolt clamp device unclamps the spiral shell on the wire clamp of stockbridge damper
Bolt, the hot line robot unloads stockbridge damper；And
Installation steps：The clamping part of the stockbridge damper more changing device unclamps the wire clamp of stockbridge damper, the stockbridge damper more changing device
Support is separated from the steel strand wires of stockbridge damper, and the bolt clamp device unclamps the bolt on the wire clamp of the stockbridge damper,
The hot line robot loads onto stockbridge damper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510795461.7A CN105896370B (en) | 2015-11-16 | 2015-11-16 | Stockbridge damper more changing device, the robot with it and stockbridge damper replacing options |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510795461.7A CN105896370B (en) | 2015-11-16 | 2015-11-16 | Stockbridge damper more changing device, the robot with it and stockbridge damper replacing options |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105896370A CN105896370A (en) | 2016-08-24 |
| CN105896370B true CN105896370B (en) | 2017-07-11 |
Family
ID=57002880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510795461.7A Active CN105896370B (en) | 2015-11-16 | 2015-11-16 | Stockbridge damper more changing device, the robot with it and stockbridge damper replacing options |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105896370B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106356760B (en) * | 2016-09-18 | 2017-12-15 | 武汉大学 | A kind of end-of-arm tooling and method that high-voltage conducting wires stockbridge damper is dismounted using robot |
| CN109167297A (en) * | 2018-10-09 | 2019-01-08 | 华北电力大学（保定） | A kind of high stability high pressure inspection mobile robot device |
| CN109066475A (en) * | 2018-10-30 | 2018-12-21 | 国网山东省电力公司潍坊供电公司 | A kind of stockbridge damper more changing device |
| CN109193465A (en) * | 2018-11-01 | 2019-01-11 | 国网河南省电力公司西峡县供电公司 | A kind of high voltage transmission line live work robot and stockbridge damper replacing options |
| CN110649507A (en) * | 2019-10-11 | 2020-01-03 | 国网山东省电力公司潍坊供电公司 | Transmission line damper replacement system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62178108A (en) * | 1986-01-31 | 1987-08-05 | 住友電気工業株式会社 | Robot for construction of distribution |
| CN102136690B (en) * | 2010-12-29 | 2013-05-08 | 北京深浪电子技术有限公司 | Automatic dismounting device of transmission line damper |
| CN102581606B (en) * | 2012-03-07 | 2013-11-13 | 武汉大学 | Mounting and dismantling device for dampers of high-voltage transmission lines |
| CN205452943U (en) * | 2015-11-18 | 2016-08-10 | 国网湖南省电力公司 | Stockbridge damper is changed device and is had its robot |
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- 2015-11-16 CN CN201510795461.7A patent/CN105896370B/en active Active
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| Publication number | Publication date |
|---|---|
| CN105896370A (en) | 2016-08-24 |
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
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Address after: 410004 398 new Shao Dong Road, Tianxin District, Changsha, Hunan Co-patentee after: THE LIVE WORKING CENTER OF HUNAN ELECTRIC POWER Corp. Patentee after: STATE GRID HUNAN ELECTRIC POWER Co.,Ltd. Co-patentee after: STATE GRID CORPORATION OF CHINA Co-patentee after: HUNAN ANPEI ELECTRIC LIVE-LINE WORK CO.,LTD. Address before: 410007 Shaoshan North Road, Changsha, Hunan 388 Co-patentee before: THE LIVE WORKING CENTER OF HUNAN ELECTRIC POWER Corp. Patentee before: STATE GRID HUNAN ELECTRIC POWER Co. Co-patentee before: State Grid Corporation of China Co-patentee before: HUNAN ANPEI ELECTRIC LIVE-LINE WORK CO.,LTD. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190325 Address after: 410004 Xiangchaoyuan Experimental Building, 339 Xinshaodong Road, Tianxin District, Changsha City, Hunan Province Co-patentee after: STATE GRID HUNAN ELECTRIC POWER Co.,Ltd. Patentee after: STATE GRID HUNAN ELECTRIC POWER COMPANY LIMITED, MAINTENANCE Co. Co-patentee after: STATE GRID CORPORATION OF CHINA Address before: 410004 398 new Shao Dong Road, Tianxin District, Changsha, Hunan Co-patentee before: THE LIVE WORKING CENTER OF HUNAN ELECTRIC POWER Corp. Patentee before: STATE GRID HUNAN ELECTRIC POWER Co.,Ltd. Co-patentee before: STATE GRID CORPORATION OF CHINA Co-patentee before: HUNAN ANPEI ELECTRIC LIVE-LINE WORK CO.,LTD. |