CN106329451A - Common ground wire element for robot walking - Google Patents
Common ground wire element for robot walking Download PDFInfo
- Publication number
- CN106329451A CN106329451A CN201610994358.XA CN201610994358A CN106329451A CN 106329451 A CN106329451 A CN 106329451A CN 201610994358 A CN201610994358 A CN 201610994358A CN 106329451 A CN106329451 A CN 106329451A
- Authority
- CN
- China
- Prior art keywords
- ground wire
- link plate
- robot ambulation
- commonly
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/22—Arrangements of earthing wires suspended between mastheads
-
- 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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/05—Suspension arrangements or devices for electric cables or lines
-
- 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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/05—Suspension arrangements or devices for electric cables or lines
- H02G7/053—Suspension clamps and clips for electric overhead lines not suspended to a supporting wire
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a common ground wire element for robot walking. A tower head and a common ground wire are connected by a C-type hanging plate and a suspension clamp so as to provide an enough space to a robot for walking on the ground wire. The technical problem in the prior art that the element on the common ground wire blocks the direct passing of the pass-type polling robot can be solved. The common ground wire element for the robot walking comprises a first hanging plate connected with the tower head, the C-type hanging plate connected with the first hanging plate, and the suspension clamp connected with the C-type hanging plate and used for placing the common ground wire.
Description
Technical field
The present invention relates to transmission power line robot field, particularly relate to the commonly line component of a kind of robot ambulation.
Background technology
Nowadays, robot patrols and examines the important development direction that circuit is intelligent grid.Relative to artificial line walking, robot
Line walking both facilitated, again safety, and efficiency comparison is high.And robot line walking is to select robot to carry out on common ground wire mostly
Patrol and examine, because for wire, have the advantage that in robot using common ground wire as robot ride path and roll off the production line
Need not artificial charged equipotential live line work, robot uses comparatively safe, convenient；Inspection instrument can " occupy a commanding position " to bow and see line
Road, not only the angle of visual field is big, and can reduce the impact that visible light camera imaging is patrolled and examined by sunlight to greatest extent.
And pass through formula crusing robot for convenience and can successfully carry out line walking, need some groups on common ground wire
Part is transformed, and prevents the assembly on common ground wire from hindering and passes through directly passing through of formula crusing robot.
Summary of the invention
The embodiment of the invention discloses the commonly line component of a kind of robot ambulation, by c-type link plate and suspension clamp
Connect tower head and common ground wire, thus walk on ground wire for robot and provide the space of abundance, solve in prior art
Assembly on common ground wire hinders the technical problem directly passed through passing through formula crusing robot.
Embodiments provide the commonly line component of a kind of robot ambulation, including: first be connected with tower head
The c-type link plate that link plate is connected with described first link plate is connected the suspension clamp for placing common ground wire with described c-type link plate.
Preferably,
Described suspension clamp is positioned at below described suspension clamp with the hinge contact of described c-type link plate, is used for preventing impact
The walking of described robot ambulation wheel.
Preferably,
The commonly line component of described robot ambulation also includes connecting c-type described in described first link plate and at least two and hangs
The yoke plate of plate.
Preferably,
Described suspension clamp centrage meets D >=0.5W+ △ with horizontal range D of described c-type link plate side, and wherein W is
Described robot ambulation wheel width, △ is type link plate width safety allowance described in C.
Preferably,
Described robot ambulation wheel central horizontal face and described c-type link plate upper surface between distance H1 meet H1 >=0.5 φ+
ε, wherein φ is the external diameter of described robot ambulation wheel, and ε is c-type link plate high safety allowance.
Preferably,
The hinge contact of described c-type link plate meets H >=φ+ε 1 with distance H of described c-type link plate upper surface, and wherein φ is
The external diameter of described robot ambulation wheel, ε 1 is safety allowance.
Preferably,
The commonly line component of described robot ambulation also includes by preventing that double-U-shaped connection assembly is connected with common ground wire
Vibration hammer and parallel groove clamp；
In the middle part of described double-U-shaped connection assembly by arrange fixed component make described double-U-shaped connection assembly clamp commonly
Line, described damper or described parallel groove clamp.
Preferably,
The mounting distance X1 between described damper on described common ground wire is not less than 800mm.
Preferably,
Described damper on described common ground wire is not less than 1000mm with distance X at described suspension clamp center.
Preferably,
The mounting distance X2 between described damper at described common ground wire anchor support is not less than 800mm.
Preferably,
The commonly line component of described robot ambulation also include being arranged on outside common ground wire anchor support for for machine
The bridge structure of device people walking.
Preferably,
Described bridge structure include line slideway, the flexible guide rail being arranged on described line slideway two ends, for connecting
State flexible guide rail and the guiding tube of described common ground wire, for supporting being connected with outside common ground wire tower of described bridge structure
Guide support.
Preferably,
Described damper at described common ground wire anchor support is not less than 800mm with distance X3 of described guiding tube end.
Preferably,
Described line slideway is connected with tower head connecting plate by gold utensil fixed structure and bolt.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
1, connect tower head and common ground wire by c-type link plate and suspension clamp, thus walk on ground wire for robot and carry
Having supplied the space of abundance, the assembly solved in prior art on common ground wire hinders and passes through directly passing through of formula crusing robot
Technical problem.
2, by the hinge contact of suspension clamp is arranged on below suspension clamp, connect general by double-U-shaped connection assembly
Logical ground wire and damper, parallel groove clamp, by arrange suitable damper mounting distance and robot ambulation wheel surrounding away from
From, the assembly solved in prior art on common ground wire hinders the technical problem directly passed through passing through formula crusing robot,
Ensure that crusing robot can smoothly, work efficiently.
3, bridge structure not only makes robot to pass through at common ground wire anchor support smoothly, and meets and do not change now
Have anchor support ground wire connecting structure, do not dismantle the original bolt of shaft tower or structure build requirement, the flexible guide rail of bridge structure makes
Obtain bridge structure to adapt to corner and be not intended to the motion of ground wire.
4, line slideway is connected so that line slideway is more stable with tower head connecting plate by gold utensil fixed structure and bolt, enters
And make robot ambulation more steady.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, also may be used
To obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 in the embodiment of the present invention provide a kind of robot ambulation commonly line component single suspension clamp at
Structural representation；
Fig. 2 in the embodiment of the present invention provide a kind of robot ambulation commonly line component double suspension clamps at
Structural representation；
Fig. 3 is the structure of the c-type link plate of the commonly line component of a kind of robot ambulation of offer in the embodiment of the present invention
Schematic diagram；
Fig. 4 is the structural representation of suspension clamp of the prior art；
Fig. 5 is the structure of the suspension clamp of the commonly line component of a kind of robot ambulation of offer in the embodiment of the present invention
Schematic diagram；
Fig. 6 and Fig. 7 is the suspension clamp of the commonly line component of a kind of robot ambulation of offer in the embodiment of the present invention
Combinative structure schematic diagram with c-type link plate and road wheel；
Fig. 8 is the structural representation of damper junction of the prior art；
Fig. 9 is the damper junction of the commonly line component of a kind of robot ambulation of offer in the embodiment of the present invention
Structural representation；
Figure 10 for the damper of commonly line component of a kind of robot ambulation that provides in the embodiment of the present invention commonly
Installation site schematic diagram on ground wire；
Figure 11 is the knot of the bridge structure of the commonly line component of a kind of robot ambulation of offer in the embodiment of the present invention
Structure schematic diagram；
Figure 12 is the common ground wire strain insulator of the commonly line component of a kind of robot ambulation of offer in the embodiment of the present invention
Damper installation site schematic diagram at tower.
Detailed description of the invention
The embodiment of the invention discloses the commonly line component of a kind of robot ambulation, by c-type link plate and suspension clamp
Connect tower head and common ground wire, thus walk on ground wire for robot and provide the space of abundance, solve in prior art
Assembly on common ground wire hinders the technical problem directly passed through passing through formula crusing robot.
Refer to Fig. 1 to Figure 12, the one of the commonly line component of a kind of robot ambulation provided in the embodiment of the present invention
Individual embodiment includes: the c-type link plate 3 that the first link plate 4 being connected with tower head 5 is connected with the first link plate 4 is connected with c-type link plate 3
Being used for placing the suspension clamp 2 of common ground wire 1, wherein the size of suspension clamp 2 is determined by common ground wire 1, such as Fig. 2 institute
Showing, when common ground wire 1 is provided with double suspension clamp 2 when, c-type link plate 3 and the first link plate 4 need by arranging yoke plate 7 even
Connect.
As it is shown in figure 5, the hinge contact 6 of suspension clamp 2 and c-type link plate 3 is positioned at below suspension clamp 2, and hanging in Fig. 4
The hinge contact 6 of vertical line folder 2 is closer to common ground wire 1, so for the existing suspension clamp 2 shown in Fig. 4 that compares, this
Suspension clamp 2 in bright embodiment is effectively prevented the walking affecting robot ambulation wheel 8.
The commonly line component of robot ambulation also includes connecting the first link plate 4 and the yoke plate 7 of at least two c-type link plate 3,
As in figure 2 it is shown, when common ground wire 1 is provided with double suspension clamp 2 when, c-type link plate 3 and the first link plate 4 need by arranging
Yoke plate 7 connects.
Suspension clamp 2 centrage meets D >=0.5W+ △ with horizontal range D of c-type link plate 3 side, and wherein W is robot
Road wheel 8 width, △ is c-type link plate 2 width safety allowance.
Robot ambulation is taken turns distance H1 between 8 central horizontal faces and c-type link plate 3 upper surface and is met H1 >=0.5 φ+ε, wherein
φ is the external diameter of robot ambulation wheel 8, and ε is c-type link plate 3 high safety allowance.
The hinge contact 6 of c-type link plate 3 meets H >=φ+ε 1 with distance H of c-type link plate upper surface, and wherein φ is robot
The external diameter of road wheel 8, ε 1 is safety allowance.
As it is shown in figure 9, the commonly line component of robot ambulation also includes by double-U-shaped connection assembly 9 and common ground wire 1
The damper 10 connected and parallel groove clamp 11, make double-U-shaped connection group by arranging fixed component in the middle part of double-U-shaped connection assembly 9
Part 9 clamps common ground wire 1, damper 10 or parallel groove clamp 11, and fixed component can be bolt, by bolt so that double U
Type connects the sheet metal of assembly 9 both sides to be stepped up, thus fixing common ground wire 1, damper 10 or parallel groove clamp 11, need explanation
Being that double-U-shaped connection assembly 9 one end fits tightly socket with common ground wire 1, the other end is connected with damper 10, relative in Fig. 8
The connected mode of shown damper 10, has lacked bulge-structure, and then beneficially robot has passed through.
The mounting distance X1 between damper 10 on common ground wire 1 is not less than 800mm.
Damper 10 on common ground wire 1 is not less than 1000mm with distance X at suspension clamp 2 center.
The mounting distance X2 between damper 10 at common ground wire anchor support is not less than 800mm.
The commonly line component of robot ambulation also include being arranged on outside common ground wire anchor support for for robot
The bridge structure of walking.
Bridge structure include line slideway 12, the flexible guide rail 13 being arranged on line slideway 12 two ends, for connecting flexibility
The guiding tube 14 of guide rail 13 and common ground wire 1, it is used for supporting the guide supporting being connected with outside common ground wire tower of bridge structure
Part 15, wherein, is steel wire rope and adjustable in length in the middle of flexible guide rail 13, and guide support 15 can be U-shaped screw.
Damper 10 at common ground wire anchor support is not less than 800mm with distance X3 of guiding tube 14 end.
Line slideway 12 is connected with tower head connecting plate 17 by gold utensil fixed structure 16 and bolt.
Above the commonly line component of a kind of robot ambulation provided by the present invention is described in detail, for this
The those skilled in the art in field, according to the thought of the embodiment of the present invention, the most all have and change
In place of change, to sum up, this specification content should not be construed as limitation of the present invention.
Claims (14)
1. a commonly line component for robot ambulation, including: the first link plate being connected with tower head, it is characterised in that also wrap
Include: the c-type link plate being connected with described first link plate is connected the suspension clamp for placing common ground wire with described c-type link plate.
The commonly line component of robot ambulation the most according to claim 1, it is characterised in that described suspension clamp and institute
The hinge contact stating c-type link plate is positioned at below described suspension clamp, is used for the walking preventing affecting described robot ambulation wheel.
The commonly line component of robot ambulation the most according to claim 1, it is characterised in that also include connecting described
The yoke plate of c-type link plate described in one link plate and at least two.
The commonly line component of robot ambulation the most according to claim 1, it is characterised in that described suspension clamp center
Line meets D >=0.5W+ △ with horizontal range D of described c-type link plate side, and wherein W is that described robot ambulation takes turns width, and △ is
Type link plate width safety allowance described in C.
The commonly line component of robot ambulation the most according to claim 1, it is characterised in that described robot ambulation is taken turns
Distance H1 between central horizontal face and described c-type link plate upper surface meets H1 >=0.5 φ+ε, and wherein φ is described robot ambulation
The external diameter of wheel, ε is c-type link plate high safety allowance.
The commonly line component of robot ambulation the most according to claim 1, it is characterised in that the hinge of described c-type link plate
Junction point meets H >=φ+ε 1 with distance H of described c-type link plate upper surface, and wherein φ is the external diameter of described robot ambulation wheel, ε
1 is safety allowance.
The commonly line component of robot ambulation the most according to claim 1, it is characterised in that also include by double-U-shaped
Connect damper and parallel groove clamp that assembly is connected with common ground wire；
In the middle part of described double-U-shaped connection assembly by arrange fixed component make described double-U-shaped connection assembly clamp common ground wire, institute
State damper or described parallel groove clamp.
The commonly line component of robot ambulation the most according to claim 7, it is characterised in that on described common ground wire
Mounting distance X1 between described damper is not less than 800mm.
9. according to the commonly line component of the robot ambulation described in claim 7, it is characterised in that the institute on described common ground wire
State damper distance X with described suspension clamp center not less than 1000mm.
The commonly line component of robot ambulation the most according to claim 7, it is characterised in that described common ground wire is resistance to
Open the mounting distance X2 between the described damper at tower not less than 800mm.
The commonly line component of 11. robot ambulations according to claim 1, it is characterised in that also include being arranged on general
Being used for outside logical ground wire anchor support supplies the bridge structure of robot ambulation.
The commonly line component of 12. robot ambulations according to claim 11, it is characterised in that described bridge structure bag
Include line slideway, be arranged on described line slideway two ends flexible guide rail, for connect described flexible guide rail and described commonly
The guiding tube of line, it is used for supporting the guide support being connected with outside common ground wire tower of described bridge structure.
13. according to the commonly line component of the robot ambulation described in claim 7 and 12, it is characterised in that described commonly
Described damper at line anchor support is not less than 800mm with distance X3 of described guiding tube end.
The commonly line component of 14. robot ambulations according to claim 12, it is characterised in that described line slideway leads to
Cross gold utensil fixed structure and bolt to be connected with tower head connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610994358.XA CN106329451A (en) | 2016-11-11 | 2016-11-11 | Common ground wire element for robot walking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610994358.XA CN106329451A (en) | 2016-11-11 | 2016-11-11 | Common ground wire element for robot walking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106329451A true CN106329451A (en) | 2017-01-11 |
Family
ID=57817489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610994358.XA Pending CN106329451A (en) | 2016-11-11 | 2016-11-11 | Common ground wire element for robot walking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106329451A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107492858A (en) * | 2017-09-08 | 2017-12-19 | 国网山东省电力公司电力科学研究院 | The modified attachment structure of overhead transmission line line grounding wire and strain insulator tower head |
| CN107528258A (en) * | 2017-09-08 | 2017-12-29 | 国网山东省电力公司电力科学研究院 | A kind of online charging localization method of crusing robot and its crusing robot |
| CN107553461A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | The whole-process automatic crusing robot of overhead transmission line ground wire, system and method |
| CN107565490A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | A kind of overhead transmission line ground configurations for being applied to whole accessible inspection |
| CN107565483A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | A kind of suspension clamp and its method of work with crusing robot positioning function |
| CN107591728A (en) * | 2017-09-08 | 2018-01-16 | 国网山东省电力公司电力科学研究院 | The whole-process automatic travel mechanism of overhead transmission line ground wire, crusing robot and method |
| CN107591729A (en) * | 2017-09-08 | 2018-01-16 | 国网山东省电力公司电力科学研究院 | The crusing robot and method of anchor support are crossed over along the autonomous deflecting of overhead transmission line ground wire |
| CN110000816A (en) * | 2019-04-16 | 2019-07-12 | 中科开创（广州）智能科技发展有限公司 | A kind of inspection robot New-type charge method |
| CN113757496A (en) * | 2021-07-30 | 2021-12-07 | 广西电网有限责任公司电力科学研究院 | Movable monitoring device for crossing points of power transmission lines |
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| CN203278148U (en) * | 2013-01-25 | 2013-11-06 | 武汉大学 | Ground wire draping gap bridge apparatus of high tension transmission circuit for inspecting robot |
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| CN205595740U (en) * | 2016-03-29 | 2016-09-21 | 广东科凯达智能机器人有限公司 | A shaft tower ground wire gap bridging for transmission line patrols and examines robot |
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| WO1997007579A1 (en) * | 1995-08-18 | 1997-02-27 | Oy Envo Ab | Suspension clamp for hanging the wires of high-voltage open cables on a support structure |
| CN202474713U (en) * | 2012-03-23 | 2012-10-03 | 宁夏电力公司吴忠供电局 | Overhead ground wire bridging device for inspection robot |
| CN103078270A (en) * | 2013-01-25 | 2013-05-01 | 武汉大学 | Ground wire strain tower gap bridge device for inspection robot of power transmission line |
| CN203278148U (en) * | 2013-01-25 | 2013-11-06 | 武汉大学 | Ground wire draping gap bridge apparatus of high tension transmission circuit for inspecting robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107591729A (en) * | 2017-09-08 | 2018-01-16 | 国网山东省电力公司电力科学研究院 | The crusing robot and method of anchor support are crossed over along the autonomous deflecting of overhead transmission line ground wire |
| CN107492858A (en) * | 2017-09-08 | 2017-12-19 | 国网山东省电力公司电力科学研究院 | The modified attachment structure of overhead transmission line line grounding wire and strain insulator tower head |
| CN107553461A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | The whole-process automatic crusing robot of overhead transmission line ground wire, system and method |
| CN107565490A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | A kind of overhead transmission line ground configurations for being applied to whole accessible inspection |
| CN107565483A (en) * | 2017-09-08 | 2018-01-09 | 国网山东省电力公司电力科学研究院 | A kind of suspension clamp and its method of work with crusing robot positioning function |
| CN107591728A (en) * | 2017-09-08 | 2018-01-16 | 国网山东省电力公司电力科学研究院 | The whole-process automatic travel mechanism of overhead transmission line ground wire, crusing robot and method |
| CN107528258A (en) * | 2017-09-08 | 2017-12-29 | 国网山东省电力公司电力科学研究院 | A kind of online charging localization method of crusing robot and its crusing robot |
| CN107553461B (en) * | 2017-09-08 | 2019-11-15 | 国网山东省电力公司电力科学研究院 | The whole-process automatic crusing robot of overhead transmission line ground wire, system and method |
| CN107565490B (en) * | 2017-09-08 | 2020-07-28 | 国网山东省电力公司电力科学研究院 | Overhead transmission line ground wire structure suitable for whole-course accessible patrol |
| CN107591729B (en) * | 2017-09-08 | 2019-11-19 | 国网山东省电力公司电力科学研究院 | The crusing robot and method of anchor support are crossed over along the autonomous deflecting of overhead transmission line ground wire |
| CN110000816A (en) * | 2019-04-16 | 2019-07-12 | 中科开创（广州）智能科技发展有限公司 | A kind of inspection robot New-type charge method |
| CN110000816B (en) * | 2019-04-16 | 2020-12-29 | 中科开创（广州）智能科技发展有限公司 | Novel charging method for inspection robot |
| CN113757496A (en) * | 2021-07-30 | 2021-12-07 | 广西电网有限责任公司电力科学研究院 | Movable monitoring device for crossing points of power transmission lines |
| CN113757496B (en) * | 2021-07-30 | 2022-12-20 | 广西电网有限责任公司电力科学研究院 | Movable monitoring device for crossing points of power transmission lines |
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Application publication date: 20170111 |