CN106984951B - Damper bolt dismounting device - Google Patents
Damper bolt dismounting device Download PDFInfo
- Publication number
- CN106984951B CN106984951B CN201710191908.9A CN201710191908A CN106984951B CN 106984951 B CN106984951 B CN 106984951B CN 201710191908 A CN201710191908 A CN 201710191908A CN 106984951 B CN106984951 B CN 106984951B
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- damper
- clamping
- rocker arm
- push rod
- shaped
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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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
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/56—Reuse, recycling or recovery technologies of vehicles
Abstract
The invention discloses a damper bolt dismounting device which comprises a damper bolt dismounting manipulator, a walking device capable of walking on a wire and a control system, wherein the walking device comprises a walking wheel and a bracket for installing the walking wheel, the damper bolt dismounting manipulator comprises a damper bolt automatic dismounting assembly and a damper clamping and positioning assembly, and the control system is used for controlling actions of each electric push rod, each motor and each walking wheel. The mechanical device for disassembling and assembling the damper bolts can realize the electrified automatic assembly and disassembly of the damper, avoid manual equipotential operation, greatly improve the working safety and reduce the labor intensity.
Description
Technical Field
The invention relates to a dismounting device, in particular to a damper bolt dismounting device.
Background
When the overhead transmission line is acted by stable and small breeze, more than one airflow vortex with certain frequency alternating up and down is generated on the lee surface of the ground wire, and the airflow vortex enables the overhead line to be subjected to up-down alternating impact force. When the alternating frequency of the airflow vortex is equal to the natural self-vibration frequency of the overhead line, resonance is generated in the vertical plane, that is, vibration of the overhead line is caused. Breeze vibration of overhead lines is a frequently occurring hazardous vibration, which poses a great threat to the safe operation of the line. The vibration causes the overhead line to be tired, which causes the overhead line to be broken, even broken. In order to prevent the overhead wire from vibrating slightly, a certain number of vibration dampers are generally installed by calculating the position where fatigue is most likely to occur near the wire clamp of the overhead wire after the conditions of the diameter of the overhead wire and the local wind speed are combined. When the wire vibrates, the heavy weights at the two ends of the damper move up and down relatively due to inertia, so that the energy of the vibration of the overhead wire is consumed, the amplitude of the overhead wire is reduced, and the vibration is limited in a dangerous range, so that the fatigue and strand breakage of the overhead wire are avoided.
However, after the damper is installed, the damper is damaged and displaced due to various reasons, so that the damper cannot play a role in vibration prevention, and even an overhead line is worn out and broken. Therefore, the damaged or displaced damper must be replaced as soon as possible. At present, the operation is mainly carried out through live working or power failure, and the traditional operation mode is that personnel take ground wire guiding galloping to carry out maintenance.
The traditional overhaul mode has the following defects:
(1) The main working procedure of the vibration damper replacement operation is required to be operated relatively finely, and the conventional ground potential operation tool cannot meet the operation requirement. Therefore, equipotential operation is currently generally adopted, and an operator enters an electric field to perform maintenance operation. Firstly, the equipotential operation has high risk, the labor intensity of operators is extremely high, the requirements on the quality of the operators are high, and the operation risk is high; secondly, partial compact towers, wires are vertically arranged or crossed, the live working space is insufficient, the operation requirement cannot be met, and the power failure treatment is required.
(2) The power failure operation has the defects of high labor intensity of operators and high operation risk. In addition, if the power failure is handled, firstly, the power supply reliability is affected, secondly, because the power failure is managed in a planned manner, the sudden and timely performance of the defect handling and the planned performance of the power failure are contradicted, the vibration damper defect cannot be handled in time, and the defect continues to develop, so that the risk of the safe operation of the line is endangered.
Besides, the ground wire fitting has the defects of bolt loosening, nut falling and the like due to the effects of breeze vibration and the like, the fitting is required to be replaced in time, otherwise, the fitting is easy to generate heat, and serious accidents such as insulator disconnection, ground wire disconnection and the like can occur.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the damper bolt dismounting device which can realize live working, accurately dismount damper bolts and realize damper conveying.
The utility model provides a damper bolt dismouting device, includes damper bolt dismouting manipulator, running gear and control system that can walk on the wire, running gear including walking wheel and be used for installing the support of walking wheel, damper bolt dismouting with manipulator, damper centre gripping and locating component including damper bolt automatic handling subassembly, damper centre gripping and locating component is provided with clamping jaw and uses electric putter, two clamping jaws and the location platform of bilateral symmetry setting including arc or L-shaped rocking arm, the lower part of rocking arm, electric putter connects on the rocking arm, one clamping jaw one end in two clamping jaws articulates in electric putter's push rod, the clamping jaw that links to each other with electric putter passes through the gear and drives another clamping jaw and make folding or opening the motion, be provided with the location platform that is used for supporting damper in the below of clamping jaw; the automatic assembly and disassembly device comprises a rocker arm, an electric sliding table, a sleeve shaft, a telescopic sleeve and a fixing frame, wherein the arc-shaped or L-shaped rocker arm, the electric sliding table, the sleeve shaft, the telescopic sleeve and the fixing frame are arranged at the lower end of the rocker arm, the electric sliding table and the sleeve shaft are arranged in parallel, a sliding block and a shifting fork are arranged on a guide rail of the electric sliding table, a return spring is arranged between the sliding block and the shifting fork, the sleeve shaft below the electric sliding table is driven by an electric spanner, the end, opposite to a damper clamping and positioning assembly, of the sleeve shaft is arranged on the telescopic sleeve, the shifting fork on the electric sliding table is connected with the telescopic sleeve to drive the telescopic sleeve to reciprocate along the sleeve shaft, the telescopic sleeve is driven by the telescopic sleeve shaft to rotate, the automatic assembly and disassembly device of the damper bolt and the rocker arm of the damper clamping and positioning assembly are hinged together, an electric push rod for pushing the rocker arm to move is arranged between the rocker arm of the automatic assembly and the hinge seat of the damper bolt clamping and positioning assembly, an electric push rod for pushing the rocker arm to move is arranged between the rocker arm of the damper clamping and the hinge seat, the hinge seat of the manipulator for assembling and the damper bolt clamping and the support of the manipulator is arranged on the support of the travelling wheel and the support for controlling the automatic assembly and the damper clamping and the motor of the vibration damper clamping and positioning assembly.
According to the damper bolt dismounting device, the travelling device can travel on the guide wire, and the mechanical arm can be used for mounting and dismounting the damper. The manipulator comprises an automatic damper bolt assembling and disassembling assembly and an automatic damper clamping and positioning assembly, and the automatic damper bolt assembling and disassembling assembly and the automatic damper clamping and positioning assembly are hinged through the centers of two rocker arms and respectively realize two folding/unfolding states through two electric push rods.
The automatic assembling and disassembling assembly of the damper bolt drives the sliding block to move along the guide rail on the electric sliding table through the motor on the electric sliding table, the shifting fork is pushed/pulled back, the shifting fork drives the telescopic sleeve to do telescopic action, the electric wrench assembly drives the sleeve shaft to rotate so as to provide torque for screwing/disassembling the damper bolt, and the screwing/disassembling function of the damper bolt is realized.
The clamping and positioning assembly of the damper is telescopic through the electric push rod, the clamping jaw connected with the damper is driven to move, the clamping jaw drives the gear connected with the clamping jaw to move, the other clamping jaw is driven to move, the clamping jaw assembly is opened and closed, the clamping and positioning functions of the damper during installation/disassembly are realized through the positioning platform below the clamping jaw, and the carrying function of the damper after disassembly can be realized.
When the damper bolt dismounting mechanical arm is dismounted, the damper bolt automatic dismounting component and the damper clamping and positioning component of the mechanical arm are opened, the two clamping jaws of the damper clamping and positioning component clamp the left side and the right side of the damper clamp (the left side and the right side refer to the two sides of the wire clamp in the vertical wire direction), the positioning platform of the damper clamping and positioning component supports the lower part of the damper clamp, then the rocker arm of the mechanical arm damper bolt automatic dismounting component is started, the damper clamping and positioning component is folded relative to the damper clamping and positioning component, then the electric slipway motor is started, the shifting fork drives the telescopic sleeve to move forward, the telescopic sleeve is aligned with a nut (bolt) on the damper clamp, the electric spanner is started, the electric spanner drives the sleeve shaft to rotate, the dismounting of the bolt is completed, the damper clamping and positioning component is opened by utilizing the electric pushrod, the damper clamping and positioning component is separated together, the damper clamping and positioning component is dismounted, the damper clamp is clamped in the damper clamping and positioning component, the damper clamping clamp is started, the telescopic sleeve is moved relative to the wire clamping and the telescopic sleeve clamping and positioning component is required to be mounted, and the telescopic sleeve clamping and positioning component is automatically clamped, and the damper clamping and the telescopic sleeve clamping and the positioning component is required to be mounted and dismounted. After the installation, start the damper centre gripping and locating component electric putter earlier, make the clamping jaw loosen damper fastener, then start the electric putter on two rocking arms again for two components of manipulator open relatively, conveniently remove the damper.
The front ends of the two clamping jaws are arranged into opposite hook-shaped structures.
The front ends of the clamping jaws are arranged into the opposite hook-shaped structures, so that the damper wire clamps can be held when clamped, and therefore the clamping force is greatly improved, and the slipping is avoided.
The gear and the clamping jaw arranged at the lower part of the rocker arm of the damper clamping and positioning assembly are arranged on the support frame, the support frame is locked on the rocker arm, the electric push rod is fixed on the support frame through the connecting sheet, and the positioning platform is locked on the support frame.
The support frame including being the U-shaped support body of horizontal placement, be provided with the riser that is perpendicular with the U-shaped limit in the tip on the U-shaped bottom of U-shaped support body and a U-shaped limit, the riser of U-shaped bottom and the riser on the U-shaped limit are reverse to extend, gear and clamping jaw set up in the U-shaped recess inboard.
The support frame with the structure not only can conveniently install the gears and the clamping jaws, but also can protect the gears.
The connection relation between the gear and the clamping jaw is as follows: one clamping jaw is connected with one gear to realize simultaneous movement, and the two gears are meshed with each other for transmission.
Each clamping jaw and the gear are arranged into an integrated structure, the clamping jaw connected with the electric push rod moves under the pushing of the electric push rod, so that the gear connected with the clamping jaw is driven to move, the gear drives the other gear to move, and then the driven gear drives the clamping jaw to move, so that the clamping jaw can be synchronously opened and closed.
The two rocker arm hinged hinge seats comprise an upper piece and a lower piece, the upper piece is used for installing a hinge point, the lower piece is used for installing an electric push rod, and through holes for oppositely holding and installing the two rocker arm hinge seats are formed in the upper piece and the lower piece.
When the device is used, the hinge seat of the upper piece is arranged above the support of the walking device, the hinge seat of the lower piece is arranged below the support, and then the upper piece and the lower piece are locked by the threaded connecting piece for opposite holding.
The travelling wheels are equipotential conductive wheels.
In summary, compared with the prior art, the invention has the following advantages:
the mechanical device for disassembling and assembling the damper bolts can realize the electrified automatic assembly and disassembly of the damper, avoid manual equipotential operation, greatly improve the working safety and reduce the labor intensity.
Drawings
Fig. 1 is a schematic view showing a closed state of a damper clamping and positioning assembly according to the present invention.
Fig. 2 is a schematic view showing an expanded state of the damper clamping and positioning assembly of the present invention.
Fig. 3 is a schematic structural view of the damper bolt attaching/detaching robot.
Fig. 4 is a schematic view of a part of the operating state of the damper bolt attaching/detaching robot.
Fig. 5 is a schematic view of a partially opened state of the damper bolt attaching/detaching robot.
Fig. 6 is an overall schematic view of the damper bolt attaching/detaching device of the present invention.
Fig. 7 is another angular schematic view of the damper bolt attaching/detaching device of the present invention.
Fig. 8 is a control block diagram of the damper bolt attaching/detaching device of the present invention.
Reference numeral 1 a traveling device of a vibration proof bolt automatic assembling and disassembling component 2 a vibration proof clamping and positioning component 3 a rocker arm 4 an electric push rod 5 a clamping jaw 6 a positioning platform 7 a gear 8 an electric sliding table 9 a sleeve shaft 10 a telescopic sleeve 11 a fixed frame 12 a sliding block 13 a shifting fork 14 a return spring 15 an electric spanner 16 a supporting frame 17 a hinge seat 18.
Detailed Description
The present invention will be described in more detail with reference to examples.
Example 1
The mechanical arm for dismounting the damper bolts comprises an automatic damper bolt dismounting assembly 1 and a damper clamping and positioning assembly 2, wherein the damper clamping and positioning assembly comprises an arc-shaped or L-shaped rocker arm 3, an electric push rod 4 for clamping jaws, two clamping jaws 5 and a positioning platform 6 which are symmetrically arranged on the left side and the right side are arranged at the lower part of the rocker arm, the electric push rod is connected to the rocker arm, one end of one clamping jaw of the two clamping jaws is hinged to a push rod of the electric push rod, the clamping jaw connected with the electric push rod drives the other clamping jaw to perform folding or unfolding motion through a gear 7, and a positioning platform for supporting the damper is arranged below the clamping jaw; the automatic assembling and disassembling assembly for the damper bolt comprises an arc or L-shaped rocker arm, an electric sliding table 8, a sleeve shaft 9, an telescopic sleeve 10 and a fixing frame 11, wherein the fixing frame is arranged at the lower end of the rocker arm, the electric sliding table and the sleeve shaft are arranged in parallel at the upper layer and the lower layer, a sliding block 12 and a shifting fork 13 are arranged on a guide rail of the electric sliding table, a reset spring 14 is arranged between the sliding block and the shifting fork, the sleeve shaft below the electric sliding table is driven by an electric spanner 15, the end, opposite to the damper clamping and positioning assembly, of the sleeve shaft is arranged on the telescopic sleeve, the shifting fork on the electric sliding table is connected with the telescopic sleeve to drive the telescopic sleeve to reciprocate along the sleeve shaft, the telescopic sleeve is driven by the sleeve shaft to rotate, the automatic assembling and disassembling assembly for the damper bolt is hinged with a rocker arm of the damper clamping and positioning assembly, and an electric push rod for pushing the rocker arm to move is arranged between the rocker arm of the automatic assembling and the hinge seat of the damper clamping and positioning assembly. The front ends of the two clamping jaws are arranged into opposite hook-shaped structures. The gear and the clamping jaw arranged at the lower part of the rocker arm of the damper clamping and positioning assembly are arranged on the support frame 16, the support frame is locked on the rocker arm, the electric push rod is fixed on the support frame through the connecting sheet, and the positioning platform is locked on the support frame. The connection relation between the gear and the clamping jaw is as follows: one clamping jaw is connected with one gear to realize simultaneous movement, and the two gears are meshed with each other for transmission. The two rocker arm hinged hinge seats comprise an upper piece and a lower piece, the upper piece is used for installing a hinge point, the lower piece is used for installing an electric push rod, and through holes for oppositely holding and installing the two hinge seats 17 are formed in the upper piece and the lower piece. The travelling wheels are equipotential conductive wheels.
The undescribed portion of this embodiment is identical to the prior art.
Claims (7)
1. The utility model provides a damper bolt dismouting device which characterized in that: the mechanical arm for dismounting the damper bolt comprises an automatic damper bolt dismounting assembly and a damper clamping and positioning assembly, wherein the damper clamping and positioning assembly comprises an arc or L-shaped rocker arm, an electric push rod for clamping jaws and a positioning platform which are arranged in bilateral symmetry, the electric push rod is connected to the rocker arm, one end of one clamping jaw in the two clamping jaws is hinged to a push rod of the electric push rod, the clamping jaw connected with the electric push rod drives the other clamping jaw to perform folding or unfolding motion through a gear, and the positioning platform for supporting the damper is arranged below the clamping jaw; the automatic assembly and disassembly device comprises a rocker arm, an electric sliding table, a sleeve shaft, a telescopic sleeve and a fixing frame, wherein the arc-shaped or L-shaped rocker arm, the electric sliding table, the sleeve shaft, the telescopic sleeve and the fixing frame are arranged at the lower end of the rocker arm, the electric sliding table and the sleeve shaft are arranged in parallel, a sliding block and a shifting fork are arranged on a guide rail of the electric sliding table, a return spring is arranged between the sliding block and the shifting fork, the sleeve shaft below the electric sliding table is driven by an electric spanner, the end, opposite to a damper clamping and positioning assembly, of the sleeve shaft is arranged on the telescopic sleeve, the shifting fork on the electric sliding table is connected with the telescopic sleeve to drive the telescopic sleeve to reciprocate along the sleeve shaft, the telescopic sleeve is driven by the telescopic sleeve shaft to rotate, the automatic assembly and disassembly device of the damper bolt and the rocker arm of the damper clamping and positioning assembly are hinged together, an electric push rod for pushing the rocker arm to move is arranged between the rocker arm of the automatic assembly and the hinge seat of the damper bolt clamping and positioning assembly, an electric push rod for pushing the rocker arm to move is arranged between the rocker arm of the damper clamping and the hinge seat, the hinge seat of the manipulator for assembling and the damper bolt clamping and the support of the manipulator is arranged on the support of the travelling wheel and the support for controlling the automatic assembly and the damper clamping and the motor of the vibration damper clamping and positioning assembly.
2. The damper bolt assembling and disassembling device according to claim 1, wherein: the front ends of the two clamping jaws are arranged into opposite hook-shaped structures.
3. The damper bolt assembling and disassembling device according to claim 2, wherein: the gear and the clamping jaw arranged at the lower part of the rocker arm of the damper clamping and positioning assembly are arranged on the support frame, the support frame is locked on the rocker arm, the electric push rod is fixed on the support frame through the connecting sheet, and the positioning platform is locked on the support frame.
4. The damper bolt assembling and disassembling device according to claim 3, wherein: the support frame including being the U-shaped support body of horizontal placement, be provided with the riser that is perpendicular with the U-shaped limit in the tip on the U-shaped bottom of U-shaped support body and a U-shaped limit, the riser of U-shaped bottom and the riser on the U-shaped limit are reverse to extend, gear and clamping jaw set up in the U-shaped recess inboard.
5. The damper bolt assembling and disassembling device according to claim 4, wherein: the connection relation between the gear and the clamping jaw is as follows: one clamping jaw is connected with one gear to realize simultaneous movement, and the two gears are meshed with each other for transmission.
6. The damper bolt assembling and disassembling device according to any one of claims 1 to 5, wherein: the hinge seat with the two rocker arms hinged comprises an upper piece and a lower piece, wherein the upper piece is used for installing a hinge point, and the lower piece is used for installing an electric push rod.
7. The damper bolt assembling and disassembling device according to claim 1, wherein: the travelling wheels are equipotential conductive wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710191908.9A CN106984951B (en) | 2017-03-28 | 2017-03-28 | Damper bolt dismounting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710191908.9A CN106984951B (en) | 2017-03-28 | 2017-03-28 | Damper bolt dismounting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106984951A CN106984951A (en) | 2017-07-28 |
| CN106984951B true CN106984951B (en) | 2023-05-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710191908.9A Active CN106984951B (en) | 2017-03-28 | 2017-03-28 | Damper bolt dismounting device |
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| CN (1) | CN106984951B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107591737A (en) * | 2017-10-20 | 2018-01-16 | 国网四川省电力公司凉山供电公司 | For installing the robot of stockbridge damper |
| CN108927644B (en) * | 2018-07-19 | 2021-01-12 | 沈彦南 | Hinge type damper dismounting device and method |
| CN109317957B (en) * | 2018-10-19 | 2023-12-19 | 盐城国投中科新能源科技有限公司 | Be used for plastics bolt robot |
| CN110492419B (en) * | 2019-08-23 | 2020-09-11 | 安徽博晟亿电力科技有限公司 | Installing support convenient to dismouting stockbridge damper |
| CN112636124B (en) * | 2020-11-04 | 2022-07-08 | 国网浙江省电力有限公司金华供电公司 | A mobile device and equipotential robot for equipotential robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102581606B (en) * | 2012-03-07 | 2013-11-13 | 武汉大学 | Mounting and dismantling device for dampers of high-voltage transmission lines |
| DE202012103565U1 (en) * | 2012-09-18 | 2012-10-08 | Jörg Hohmann | Clamping device for stretching a threaded bolt and suitable tool, preferably drive adapter |
| CN103433716B (en) * | 2013-07-23 | 2015-11-18 | 东华大学 | A kind of automatic disassembling device of filament spinning component and method |
| CN105397444B (en) * | 2015-12-22 | 2018-05-29 | 广东科凯达智能机器人有限公司 | A kind of W pins that robot is replaced for suspension insulator dismount compound end equipment |
| CN206689681U (en) * | 2017-03-28 | 2017-12-01 | 国网福建省电力有限公司泉州供电公司 | A kind of damper attaching/detaching apparatus |
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2017
- 2017-03-28 CN CN201710191908.9A patent/CN106984951B/en active Active
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