CN106584478A - Multifunctional wire type automatic online detection robot - Google Patents
Multifunctional wire type automatic online detection robot Download PDFInfo
- Publication number
- CN106584478A CN106584478A CN201611208769.8A CN201611208769A CN106584478A CN 106584478 A CN106584478 A CN 106584478A CN 201611208769 A CN201611208769 A CN 201611208769A CN 106584478 A CN106584478 A CN 106584478A
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- China
- Prior art keywords
- lower prop
- ratchet
- cross tube
- detection robot
- pole
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention discloses a multifunctional wire type automatic online detection robot. A CT power picking device is connected with a drive motor. The drive motor is connected with a programmable controller. A vibration sensor is connected with the programmable controller. A camera is arranged on the robot and used for remotely monitoring an insulator on a transmission line so that pollution flashover warning information can be obtained in advance, and replacement or maintenance of the insulator is facilitated. The multifunctional wire type automatic online detection robot has the beneficial effects of being low in risk, economical and reasonable in cost, accurate in measurement, high in measurement precision, high in interference resistance and meanwhile capable of improving the safety and reliability of a power grid.
Description
Technical field
The invention belongs to wireline inspection automation roboticses field, more particularly to a kind of on-line automatic inspection of Multifunctional lead
Survey robot.
Background technology
With the ANOMALOUS VARIATIONS of global climate, powerline ice-covering disaster was more frequent in recent years, and transmission of electricity icing problem is outstanding
Now project, such as powerline ice-covering in 2008 causes transmission tower large area to be collapsed, electrical network substantially completely damages impact people more than 100,000,000
Mouth household electricity, while directly affecting national economy loses more than 400 hundred million yuan.Electric power is the lifeblood of national economy, so solving defeated
The problem of electric line icing is extremely urgent.
The mechanism that icing works the mischief is not quite similar, and existing solution powerline ice-covering method is also varied, but
Method such as mechanical deicing, short-circuit deicing etc., can only carry out a kind of working method of anti-icing or deicing, it is impossible to will be anti-icing at present
It is effectively combined with deicing, and mostly safety is relatively low, the scope of application has limitation and wastes the drawbacks such as electric power resource.
The requirement of power system security also much can not meet to the degree of icing Resolving probiems.
It is summed up the thinking to solving the problems, such as icing and can be divided into anti-icing technology and de-icing technology, but existing solution is defeated
Electric line icing method can only anti-icing or deicing, the two can not be taken into account.When operation artificial first is difficult to grasp optimal deicing
Phase, and while deicing, cause unavoidably other injuries to transmission system.Such as existing short-circuit de-icing method, in two shaft towers
Between carry out short circuit, huge magnetic field is produced unavoidably in short circuit while transmission line of electricity produces big electric current, caloric value, is made defeated
Electric line produces huge moment of torsion causes circuit significantly to swing.Due to carrying out when line ice coating reaches to a certain degree
Ice-melt, it is impossible to prevented from the source of line ice coating, institute's icing that effectively can not prevent in this way are led when coming off when different
The circuit bounce of cause, it is impossible to prevent wire ice on the insulator from dodging accident.And existing mechanical deicing's method, also simply stop
Deicing and can not be prevented from source in local, and the method for various mechanical deicings all can be different degrees of to power transmission line
Path loss is bad.
Recently a kind of tuning frequency conversion short circuit ice-melt for proposing, it is impossible to ice-melt while power supply, it is impossible to utilize transmission line of electricity
The electric energy of conveying itself, also needs another stand-by power source, and this causes use not convenient in some mountain areas, and the special geography in mountain area and weather ring
Border is mostly to cause disaster to fall the prone areas of bar.And many de-icing methods are not Based Intelligent Controls, it is impossible to how many according to icing
And carry out the deicing of lowest power consumption.
The content of the invention
Problem to be solved by this invention is the above-mentioned deficiency for overcoming prior art, and the present invention proposes a kind of many work(of wire
Energy online automatic detection robot, easy to use, deicing effect of the invention is good, maintenance cost is extremely low, labor intensity is little, safety is
Number is high.
To solve above-mentioned technical problem, the technical solution used in the present invention is：A kind of on-line automatic inspection of Multifunctional lead
Robot, including two door font frames are surveyed, two door font frames pass through cross tube and sheer pole connects, and the cross tube is provided with
Vibrating sensor, the cross tube have two column bodies, and the sheer pole is provided with two lower sections corresponding with cross tube
Shape hole, is provided with lower prop in the lower square opening, be provided with upper guide roller by rotating shaft under the column body, leads on the lower prop
Crossing rotating shaft and being provided with lower wire wheel, the sheer pole has middle square opening, middle lower prop is provided with the middle square opening,
The middle lower prop upper end is provided with lower wire wheel by rotating shaft, and the sheer pole has lower prop jacking mechanism, the door
Font frame side is provided with CT electricity getting devices, and the cross tube is provided with driving shifter, and the driving shifter includes setting
The support body on cross tube and the motor being arranged on support body are put, the support body is provided with two power transmission shafts, the transmission
The drive shaft of axle and motor is by chain drive, the power transmission shaft and shaft axis transmission, the CT electricity getting devices and driving
Motor connection, the motor connect Programmable Logic Controller, and the vibrating sensor is connected with Programmable Logic Controller, it is described in
Between lower prop have thread bush, be provided with the bolt being threadedly coupled therewith in the thread bush, the bolt and middle lower prop
Connected by thrust bearing, the thread bush both sides are equipped with slide rail, the reducing motor for sliding up and down, institute are provided with two slide rails
State the drive shaft and bolt connection of reducing motor.
The reducing motor is provided with ratchet, is provided with ratchet by pole, between the ratchet and pole on the ratchet
Connected by electric expansion bar, electric expansion bar two ends are hinged with pole and ratchet.
The lower prop jacking mechanism includes being arranged under sheer pole the swivel nut being enclosed within lower prop, is provided with the swivel nut
The screw rod being threadedly coupled therewith.
The screw rod is provided with rectangular opening.
The lower prop jacking mechanism adopts electronic Worm gear feed screw elevator.
Wear-resisting wire rubber cover is provided with guide roller.
The sheer pole is provided with accumulator, and accumulator is connected with CT electricity getting devices.
The wear-resisting wire rubber cover, is prepared by the raw materials in：45～52 parts of nitrile rubber, butylbenzene rubber
15～25 parts of glue, 20～28 parts of polysiloxanes, 3～6 parts of white mineral oil, 10～12 parts of titanium dioxide, 14～23 parts of carbon fiber, oxidation
4～6 parts of magnesium, 2～3 parts of tungsten powder, 3.6～4.0 parts of mass fraction compositions of urethanes.
Beneficial effect：The Multifunctional lead online automatic detection robot that the present invention is provided includes two door font frames, two
Individual door font frame passes through cross tube and sheer pole connects, and the cross tube is provided with vibrating sensor, and the cross tube has
Two column bodies, the sheer pole are provided with two lower square openings corresponding with cross tube, are provided with lower prop in the lower square opening
Body, is provided with upper guide roller by rotating shaft under the column body, is provided with lower wire wheel, the lower horizontal stroke by rotating shaft on the lower prop
Bar has middle square opening, and middle lower prop is provided with the middle square opening, and the middle lower prop upper end passes through rotating shaft
Lower wire wheel is provided with, the sheer pole has lower prop jacking mechanism, and the door font frame side is provided with CT electricity getting devices, institute
State cross tube and be provided with driving shifter, the driving shifter includes the support body being arranged on cross tube and is arranged on frame
Motor on body, the support body are provided with two power transmission shafts, and the power transmission shaft passes through chain with the drive shaft of motor
Transmission, the power transmission shaft are driven with shaft axis, and the CT electricity getting devices are connected with motor, and the motor connection can be compiled
Range controller, the vibrating sensor are connected with Programmable Logic Controller, and the middle lower prop has thread bush, the screw thread
The bolt being threadedly coupled therewith is provided with set, the bolt is connected by thrust bearing with middle lower prop, on the thread bush
Rotationally connected gear is provided with, the sheer pole has the reducing motor of drive gear rotation, and the gear is provided with
Drive rod, bolt lower end rocking arm, the rocking arm are provided with the through hole passed through for drive rod.After circuit is waved, shake
Dynamic sensor is transferred to conductor galloping data in Programmable Logic Controller, Programmable Logic Controller and arranges conductor galloping value（Vibration frequency
Rate）, when conductor galloping value exceedes the frequency of vibration for arranging（High level）, illustrate that wire is now waved too greatly, accident easily occur, this
When the work of Controlled by Programmable Controller motor, drive Multifunctional lead online automatic detection robot from one end to the other side
Mobile, Multifunctional lead online automatic detection robot own wt is big, equivalent to stockbridge damper, when conductor galloping value is less than setting
Frequency of vibration, Controlled by Programmable Controller motor quits work, and illustrates now Multifunctional lead online automatic detection machine
Device people stops here and disclosure satisfy that power supply normal demand, and now power transmission line is in normal condition, accident will not occur because waving；On
Air velocity transducer is set on cross bar, and after wind speed is reduced, wind speed is less than setting value, and the wind speed of setting value will not cause conductor galloping
The frequency of vibration that value superelevation is arranged（High level）, the work of Controlled by Programmable Controller motor will wave deicing mechanism and move to and lead
Line one end, mitigates conductor loading extension lead service life.
Description of the drawings
The invention will be further described below in conjunction with the accompanying drawings：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the side structure schematic view of the present invention；
Fig. 3 is the screw-rod structure schematic diagram of the present invention；
Fig. 4 is the structural representation at the reducing motor of the present invention.
Fig. 5 is the ratchet structure schematic diagram of the present invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and examples.
Embodiment one：As shown in Fig. 1,2,3,4,5, a kind of Multifunctional lead online automatic detection robot, including support body
Hook 5 is provided with, two door font frames 30, two door font frames are connected by cross tube 1 and sheer pole 35, the cross tube 1
Vibrating sensor 8 is provided with, the cross tube has two column bodies 11, and the sheer pole 35 is provided with corresponding with cross tube
Two lower square openings, lower prop 15 is provided with the lower square opening, upper guide roller is provided with by rotating shaft under the column body 11
12, lower wire wheel 14 is provided with by rotating shaft 36 on the lower prop 15, the sheer pole has middle square opening, the centre
Middle lower prop 17 is provided with square opening, the middle lower prop upper end is provided with lower wire wheel 14, the sheer pole by rotating shaft
Lower prop electric threaded shaft elevator 37 is had, the door font frame side is provided with CT electricity getting devices 13, sets on the cross tube 1
There is driving shifter, the driving shifter includes the support body 3 being arranged on cross tube and the driving being arranged on support body
Motor 6, the support body 1 are provided with two power transmission shafts 7, and the power transmission shaft is driven by chain 4 with the drive shaft of motor, institute
State power transmission shaft to be driven with shaft axis, the CT electricity getting devices are connected with motor, the vibrating sensor 8,6 and of motor
Electric threaded shaft elevator 37 is connected with Programmable Logic Controller 9, and the middle lower prop has thread bush 21, the thread bush
The bolt 23 being threadedly coupled therewith is provided with 21, the bolt 23 is connected by thrust bearing 22 with middle lower prop 17, described
21 both sides of thread bush are equipped with slide rail 25, and the reducing motor for sliding up and down, the drive of the reducing motor 24 are provided with two slide rails
Moving axis and bolt connection.
The reducing motor is provided with ratchet 27, is provided with ratchet 33, the ratchet 33 by pole 28 on the ratchet 27
It is connected by electric expansion bar 32 between pole, 32 two ends of electric expansion bar are hinged with pole and ratchet.
The door font frame side is provided with opening 31.
The sheer pole 35 has the ratchet 27 engaged with gear.
The sheer pole is provided with middle lower prop righting fairlead 16.
The Electronic control ratchet is included the ratchet 27 being arranged under sheer pole by pole 29 and is arranged on pole 28
The ratchet 33 being hinged therewith, is connected by electric expansion bar 32 between the pole 28 and ratchet 33.The electric expansion bar
Two ends are articulated and connected with pole and ratchet.
Wear-resisting wire rubber cover is provided with guide roller.
The sheer pole is provided with accumulator, and accumulator is connected with CT electricity getting devices.
The lower prop jacking mechanism includes being arranged under sheer pole the swivel nut 18 being enclosed within lower prop, sets in the swivel nut
There is the screw rod 20 being threadedly coupled therewith.The swivel nut is provided with Positioning screw 19.
The screw rod 18 is provided with rectangular opening 26.
Pressure transducer is provided between the middle lower prop 17 and thrust bearing, when wire loosens outstanding downwards, pressure sensing
Pressure information is transferred to Programmable Logic Controller by device, and pressure is less than setting low value（Wire loosens outstanding downwards）, Programmable Logic Controller
Control reducing motor work, reducing motor are moved up in slide rail, while driving bolt to rotate clockwise is threaded into set, spiral shell
Middle lower prop is pressed by bolt upwards, when pressure reaches setting high level（Now wire loosens downwards normal）Programmable Logic Controller control
Reducing motor processed 26 quits work, and now wire does not loosen；When wire tension, Controlled by Programmable Controller electric expansion bar drives
Ratchet leaves ratchet, and motor drives bolt to rotate counterclockwise, and after wire loosens, reducing motor quits work, electric expansion
Bar elongation is stuck on ratchet.
The door font frame side is provided with inclination electric expansion bar, and the inclination electric expansion bar lower end is provided with U-shaped groove,
Drive shaft pass through expansion link lower end, cutting blade positioned at drive shaft on be located at groove in, blade stretches out groove.The door
Font frame is provided with for observing the photographic head of wire, and photographic head is connected with Programmable Logic Controller, and communication module is by data message
Backstage is transferred to, drive shaft drives steel wire 2 to rotate when there is foreign body on wire, steel wire drives drive shaft to rotate, drive shaft
Drive circular cutter blade to rotate, make blade distance wire 0.1mm remove foreign body by inclining electric expansion bar control.
The support body is provided with 2 power transmission shafts, and the power transmission shaft passes through chain drive, support body with the drive shaft of motor
The power transmission shaft of side is connected one by one with the rotating shaft on lower prop, and motor can drive the rotating shaft on lower prop to turn in the same direction
Dynamic, while driving, mobile stable, line transmission is that, by steel wire drive, steel wire is rotated and drives axis of rotation, and main shaft drives guide roller
Rotate.
Space between the upper guide roller and lower wire wheel is for wire through simultaneously in the top effect upwards of middle lower prop
Under make conductive line bends be inverted V-shaped.
Wear-resisting wire rubber cover is equipped with the upper guide roller and lower wire wheel, wear-resisting wire rubber cover
Thickness is 4mm.
The door font frame side is provided with the mobile X-ray unit passed through for wire, the mobile X-ray unit and programmable control
Device connection processed, the Programmable Logic Controller are connected with wireless data transmission module, and Portable X machine adopts Weihai Ai Tifu portable medicals
X-ray machine.CT electricity getting device of the CT electricity getting devices using the production of Peking blue Parker Power Tech Corp. Inc..
The Multifunctional lead online automatic detection robot that the present invention is provided includes two door font frames, two door font frames
Connected by cross tube and sheer pole, the cross tube is provided with vibrating sensor, and the cross tube has two column bodies,
The sheer pole is provided with two lower square openings corresponding with cross tube, and lower prop, the upper prop are provided with the lower square opening
Upper guide roller is provided with by rotating shaft under body, lower wire wheel is provided with by rotating shaft on the lower prop, during the sheer pole has
Between square opening, middle lower prop is provided with the middle square opening, the middle lower prop upper end is provided with lower wire by rotating shaft
Wheel, the sheer pole have lower prop jacking mechanism, and the door font frame side is provided with CT electricity getting devices, on the cross tube
It is provided with driving shifter, the driving that the driving shifter includes the support body being arranged on cross tube and is arranged on support body
Motor, the support body are provided with two power transmission shafts, and the power transmission shaft passes through chain drive, the biography with the drive shaft of motor
Moving axis is driven with shaft axis, and the CT electricity getting devices are connected with motor, and the motor connects Programmable Logic Controller, institute
State vibrating sensor to be connected with Programmable Logic Controller, the middle lower prop has thread bush, be provided with the thread bush with
Threaded connection bolt, the bolt is connected by thrust bearing with middle lower prop, and the thread bush is provided with and turns therewith
The gear of dynamic connection, the sheer pole have the reducing motor of drive gear rotation, and the gear is provided with drive rod, described
Bolt lower end rocking arm, the rocking arm are provided with the through hole passed through for drive rod.Device is hung on wire, screw rod is tightened, under
Wire is compressed by the guide roller on cylinder, and after circuit is waved, conductor galloping data are transferred to and can be compiled by vibrating sensor
Conductor galloping value is set in range controller, Programmable Logic Controller（Frequency of vibration）, when conductor galloping value exceedes the vibration frequency for arranging
Rate（High level）, illustrate that wire is now waved too greatly, accident easily occur, now the work of Controlled by Programmable Controller motor,
Multifunctional lead online automatic detection robot is driven from one end to the other side to move, Multifunctional lead online automatic detection machine
People's own wt is big, and equivalent to stockbridge damper, when conductor galloping value is less than the frequency of vibration for arranging, Controlled by Programmable Controller drives
Motor quits work, and illustrates that now Multifunctional lead online automatic detection robot is stopped here and disclosure satisfy that power supply is normally needed
Ask, now power transmission line is in normal condition, accident will not occur because waving；Air velocity transducer 10 is set on cross tube, works as wind speed
After reduction, wind speed is less than setting value, and the wind speed of setting value will not cause the frequency of vibration of conductor galloping value superelevation setting（High level）,
The work of Controlled by Programmable Controller motor will be waved deicing mechanism and be moved to wire one end, mitigate conductor loading extension lead
Service life.When there is icing on wire, controller control motor work band mobile robot moves to the other end from one end, leads
During line bends, icing falls；Motor connects remote switch receptor, the switch produced using POWER companies of the U.S.
Power supply chip LNK304 controls power supply, by the work of remote control remotely control motor and stopping.
Embodiment two：As shown in Fig. 1,2,3,4,5, a kind of Multifunctional lead online automatic detection robot, including support body
Hook 5 is provided with, two door font frames 30, two door font frames are connected by cross tube 1 and sheer pole 35, the cross tube 1
Vibrating sensor 8 is provided with, the cross tube has two column bodies 11, and the sheer pole 35 is provided with corresponding with cross tube
Two lower square openings, lower prop 15 is provided with the lower square opening, upper guide roller is provided with by rotating shaft under the column body 11
12, lower wire wheel 14 is provided with by rotating shaft 36 on the lower prop 15, the sheer pole has middle square opening, the centre
Middle lower prop 17 is provided with square opening, the middle lower prop upper end is provided with lower wire wheel 14, the sheer pole by rotating shaft
Lower prop electric threaded shaft elevator 37 is had, the door font frame side is provided with CT electricity getting devices 13, sets on the cross tube 1
There is driving shifter, the driving shifter includes the support body 3 being arranged on cross tube and the driving being arranged on support body
Motor 6, the support body 1 are provided with two power transmission shafts 7, and the power transmission shaft is driven by chain 4 with the drive shaft of motor, institute
State power transmission shaft to be driven with shaft axis, the CT electricity getting devices are connected with motor, the vibrating sensor 8,6 and of motor
Electric threaded shaft elevator 37 is connected with Programmable Logic Controller 9, and the middle lower prop has thread bush 21, the thread bush
The bolt 23 being threadedly coupled therewith is provided with 21, the bolt 23 is connected by thrust bearing 22 with middle lower prop 17, described
21 both sides of thread bush are equipped with slide rail 25, and the reducing motor for sliding up and down, the drive of the reducing motor 24 are provided with two slide rails
Moving axis and bolt connection.
The reducing motor is provided with ratchet 27, is provided with ratchet 33, the ratchet 33 by pole 28 on the ratchet 27
It is connected by electric expansion bar 32 between pole, 32 two ends of electric expansion bar are hinged with pole and ratchet.
The door font frame side is provided with opening 31.
The sheer pole is provided with middle lower prop righting fairlead 16.
The Electronic control ratchet is included the ratchet 27 being arranged under sheer pole by pole 29 and is arranged on pole 28
The ratchet 33 being hinged therewith, is connected by electric expansion bar 32 between the pole 28 and ratchet 33.The electric expansion bar
Two ends are articulated and connected with pole and ratchet.
Wear-resisting wire rubber cover is provided with guide roller.
By photographic head is arranged in robot.Remotely to monitor the insulator on transmission line, it is easy to obtain in advance
Pollution flashover warning information is obtained to be changed to insulator or to be safeguarded, and dangerous low, cost economic is reasonable, measurement is accurate,
Certainty of measurement is high, capacity of resisting disturbance is also strong, while also improving the safety of electrical network, reliability.
Embodiment three：As shown in Fig. 1,2,3,4,5, a kind of Multifunctional lead online automatic detection robot, including support body
Hook 5 is provided with, two door font frames 30, two door font frames are connected by cross tube 1 and sheer pole 35, the cross tube 1
Vibrating sensor 8 is provided with, the cross tube has two column bodies 11, and the sheer pole 35 is provided with corresponding with cross tube
Two lower square openings, lower prop 15 is provided with the lower square opening, upper guide roller is provided with by rotating shaft under the column body 11
12, lower wire wheel 14 is provided with by rotating shaft 36 on the lower prop 15, the sheer pole has middle square opening, the centre
Middle lower prop 17 is provided with square opening, the middle lower prop upper end is provided with lower wire wheel 14, the sheer pole by rotating shaft
Lower prop electric threaded shaft elevator 37 is had, the door font frame side is provided with CT electricity getting devices 13, sets on the cross tube 1
There is driving shifter, the driving shifter includes the support body 3 being arranged on cross tube and the driving being arranged on support body
Motor 6, the support body 1 are provided with two power transmission shafts 7, and the power transmission shaft is driven by chain 4 with the drive shaft of motor, institute
State power transmission shaft to be driven with shaft axis, the CT electricity getting devices are connected with motor, the vibrating sensor 8,6 and of motor
Electric threaded shaft elevator 37 is connected with Programmable Logic Controller 9, and the middle lower prop has thread bush 21, the thread bush
The bolt 23 being threadedly coupled therewith is provided with 21, the bolt 23 is connected by thrust bearing 22 with middle lower prop 17, described
21 both sides of thread bush are equipped with slide rail 25, and the reducing motor for sliding up and down, the drive of the reducing motor 24 are provided with two slide rails
Moving axis and bolt connection.
The reducing motor is provided with ratchet 27, is provided with ratchet 33, the ratchet 33 by pole 28 on the ratchet 27
It is connected by electric expansion bar 32 between pole, 32 two ends of electric expansion bar are hinged with pole and ratchet.
The door font frame side is provided with opening 31.
The sheer pole is provided with middle lower prop righting fairlead 16.
The Electronic control ratchet is included the ratchet 27 being arranged under sheer pole by pole 29 and is arranged on pole 28
The ratchet 33 being hinged therewith, is connected by electric expansion bar 32 between the pole 28 and ratchet 33.The electric expansion bar
Two ends are articulated and connected with pole and ratchet.
Example IV：As shown in Fig. 1,2,3,4,5, a kind of Multifunctional lead online automatic detection robot, including support body
Hook 5 is provided with, two door font frames 30, two door font frames are connected by cross tube 1 and sheer pole 35, the cross tube 1
Vibrating sensor 8 is provided with, the cross tube has two column bodies 11, and the sheer pole 35 is provided with corresponding with cross tube
Two lower square openings, lower prop 15 is provided with the lower square opening, upper guide roller is provided with by rotating shaft under the column body 11
12, lower wire wheel 14 is provided with by rotating shaft 36 on the lower prop 15, the sheer pole has middle square opening, the centre
Middle lower prop 17 is provided with square opening, the middle lower prop upper end is provided with lower wire wheel 14, the sheer pole by rotating shaft
Lower prop electric threaded shaft elevator 37 is had, the door font frame side is provided with CT electricity getting devices 13, sets on the cross tube 1
There is driving shifter, the driving shifter includes the support body 3 being arranged on cross tube and the driving being arranged on support body
Motor 6, the support body 1 are provided with two power transmission shafts 7, and the power transmission shaft is driven by chain 4 with the drive shaft of motor, institute
State power transmission shaft to be driven with shaft axis, the CT electricity getting devices are connected with motor, the vibrating sensor 8,6 and of motor
Electric threaded shaft elevator 37 is connected with Programmable Logic Controller 9, and the middle lower prop has thread bush 21, the thread bush
The bolt 23 being threadedly coupled therewith is provided with 21, the bolt 23 is connected by thrust bearing 22 with middle lower prop 17, described
21 both sides of thread bush are equipped with slide rail 25, and the reducing motor for sliding up and down, the drive of the reducing motor 24 are provided with two slide rails
Moving axis and bolt connection.
The reducing motor is provided with ratchet 27, is provided with ratchet 33, the ratchet 33 by pole 28 on the ratchet 27
It is connected by electric expansion bar 32 between pole, 32 two ends of electric expansion bar are hinged with pole and ratchet.
The door font frame side is provided with opening 31.
The sheer pole is provided with middle lower prop righting fairlead 16.
Embodiment five with the difference of example IV is：The wear-resisting wire rubber cover, by the raw material of following weight portion
Make：45 parts of nitrile rubber, 15 parts of butadiene-styrene rubber, 22 parts of polysiloxanes, 3 parts of white mineral oil, 10 parts of titanium dioxide,Carbon fiber14
Part, 4 parts of magnesium oxide, 2 parts of tungsten powder, 3.6 parts of mass fraction compositions of urethanes.
Embodiment six with the difference of example IV is：The wear-resisting wire rubber cover, by the raw material of following weight portion
Make：45 parts of nitrile rubber, 20 parts of butadiene-styrene rubber, 25 parts of polysiloxanes, 5 parts of white mineral oil, 11 parts of titanium dioxide,Carbon fiber18
Part, 5 parts of magnesium oxide, 1.5 parts of tungsten powder, 3.8 parts of mass fraction compositions of urethanes.
Embodiment seven with the difference of example IV is：The wear-resisting wire rubber cover, by the raw material of following weight portion
Make：52 parts of nitrile rubber, 25 parts of butadiene-styrene rubber, 28 parts of polysiloxanes, 6 parts of white mineral oil, 12 parts of titanium dioxide,Carbon fiber23
Part, 6 parts of magnesium oxide, 3 parts of tungsten powder, 4.0 parts of mass fraction compositions of urethanes.
The guide roller of embodiment five, six, seven on the two lines road of same length, after 2 years, using embodiment five,
6th, seven guide roller, wire without abrasion, rubber layer without replacing, substantially without damage.And embodiment is using the rubber material of prior art
Material, such as200710200888.3, 2 years replacing rubber layers 3 times, each rubber layer of changing all wears away, and transmission line of electricity abrasion is tight
Weight.
Above presently preferred embodiments of the present invention is described, to illustrate principles and applications, but should be managed
Solution, the present invention can be otherwise realized on the basis of without departing from these principles.
Claims (7)
1. a kind of Multifunctional lead online automatic detection robot, it is characterised in that：Including two door font frames, two door fonts
Frame passes through cross tube and sheer pole connects, and the cross tube is provided with vibrating sensor, and the cross tube has two upper props
Body, the sheer pole are provided with two lower square openings corresponding with cross tube, are provided with lower prop in the lower square opening, it is described on
Upper guide roller is provided with by rotating shaft under cylinder, lower wire wheel is provided with by rotating shaft on the lower prop, the sheer pole has
Middle square opening, is provided with middle lower prop in the middle square opening, the middle lower prop upper end is provided with down by rotating shaft leads
Line wheel, the sheer pole have lower prop jacking mechanism, and the door font frame side is provided with CT electricity getting devices, the cross tube
It is provided with driving shifter, the drive that the driving shifter includes the support body being arranged on cross tube and is arranged on support body
Galvanic electricity machine, the support body are provided with two power transmission shafts, and the power transmission shaft passes through chain drive with the drive shaft of motor, described
Power transmission shaft is driven with shaft axis, and the CT electricity getting devices are connected with motor, and the motor connects Programmable Logic Controller,
The vibrating sensor is connected with Programmable Logic Controller, and the middle lower prop has thread bush, is provided with the thread bush
The bolt being threadedly coupled therewith, the bolt are connected by thrust bearing with middle lower prop, and the thread bush both sides are equipped with
Slide rail, is provided with the reducing motor for sliding up and down, the drive shaft and bolt connection of the reducing motor in two slide rails.
2. Multifunctional lead online automatic detection robot as claimed in claim 1, it is characterised in that：On the reducing motor
Ratchet is provided with, ratchet is provided with by pole on the ratchet, connected by electric expansion bar between the ratchet and pole, it is electronic
Expansion link two ends are hinged with pole and ratchet.
3. Multifunctional lead online automatic detection robot as claimed in claim 2, it is characterised in that：The upper guide roller with
Space between lower wire wheel is for wire through while make conductive line bends be inverted V-shaped under the effect of middle lower prop.
4. Multifunctional lead online automatic detection robot as claimed in claim 3, it is characterised in that：The door font frame one
Side is provided with the mobile X-ray unit passed through for wire.
5. Multifunctional lead online automatic detection robot as claimed in claim 4, it is characterised in that：The Portable X-ray
Machine is connected with Programmable Logic Controller.
6. Multifunctional lead online automatic detection robot as claimed in claim 5, it is characterised in that：The PLC technology
Device is connected with wireless data transmission module.
7. Multifunctional lead online automatic detection robot as claimed in claim 6, it is characterised in that：Portable X machine is adopted
Weihai Ai Tifu portable medical x-ray machines.
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| CN201611208769.8A CN106584478A (en) | 2016-12-23 | 2016-12-23 | Multifunctional wire type automatic online detection robot |
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| CN201611208769.8A CN106584478A (en) | 2016-12-23 | 2016-12-23 | Multifunctional wire type automatic online detection robot |
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| CN106584478A true CN106584478A (en) | 2017-04-26 |
Family
ID=58601294
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| CN201611208769.8A Pending CN106584478A (en) | 2016-12-23 | 2016-12-23 | Multifunctional wire type automatic online detection robot |
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| CN109406547A (en) * | 2018-10-29 | 2019-03-01 | 国网山东省电力公司潍坊供电公司 | Overhead transmission line straight line continuous pipe x-ray detection robot |
| CN113997278A (en) * | 2021-10-21 | 2022-02-01 | 广东电网有限责任公司广州供电局 | 5G cloud-based work robot control method, system and equipment |
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| CN113997278A (en) * | 2021-10-21 | 2022-02-01 | 广东电网有限责任公司广州供电局 | 5G cloud-based work robot control method, system and equipment |
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