CN108199292A - It is a kind of can obstacle detouring high voltage cable automatic detecting machine device people - Google Patents
It is a kind of can obstacle detouring high voltage cable automatic detecting machine device people Download PDFInfo
- Publication number
- CN108199292A CN108199292A CN201711372875.4A CN201711372875A CN108199292A CN 108199292 A CN108199292 A CN 108199292A CN 201711372875 A CN201711372875 A CN 201711372875A CN 108199292 A CN108199292 A CN 108199292A
- Authority
- CN
- China
- Prior art keywords
- sliding rail
- bar
- support
- gripper
- spur gear
- 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
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provide it is a kind of can obstacle detouring high voltage cable automatic detecting machine device people, including first support and second support, the first support is connected with second support by sliding rail；Sliding rail rack, the first sliding rail outer bar, the second sliding rail outer bar and sliding rail interior bar, the sliding rail rack are fixedly linked with sliding rail interior bar, and the first sliding rail outer bar, the second sliding rail outer bar are movably connected with sliding rail interior bar；The first sliding rail outer bar is fixedly linked with first support, and the second sliding rail outer bar is fixedly linked with second support；First gripper in the first support is installed, the second gripper, PLC controller and detection device on the sliding rail are installed, third gripper is installed in the second support.The present invention it is a kind of can obstacle detouring high voltage cable automatic detecting machine device people, can be suspended on high voltage cable and arbitrarily creep, high voltage cable is detected by detection device automatically, and encounter barrier to cross automatically.
Description
Technical field：
The present invention relates to it is a kind of can obstacle detouring high voltage cable automatic detecting machine device people.
Background technology：
It is important a carrier and tool of the electric power of society's transmission now in ultra high-tension transmission line.In recent years, due to
Ultra-high-tension power transmission line is often subject to the influence of the violent weather of extreme climate environment such as sleet, strong wind and causes numerous on ground
Foreign matter has scraped super-high voltage road, so as to which common High Voltage Electricity Transfer Circuit failure such as super-high voltage can be caused to cause short circuit, electric discharge
Deng, these failures happen occasionally, the extremely serious safety for destroying high-voltage line transmission of electricity and high-voltage line power supply reliability and
Stability, life security and property to people suffer from very big threat.Therefore, it is necessary to periodical inspection is carried out to transmission line of electricity
It checks, grasps and understands the operating condition of transmission line of electricity and the situation of change of circuit ambient enviroment at any time, find and disappear in time
Except hidden danger, the generation prevented accident.
The inspection of ultra-high-tension power transmission line is that a labor intensity is big, the job task that involves a wide range of knowledge.So far, both at home and abroad
It relying primarily on and performs Detection task along the various detection devices of patrol officer's carrying, efficiency is low, of high cost, flase drop omission factor is big,
Therefore, the automation of high-voltage line inspection is urgently to be resolved hurrily.High-voltage line crusing robot belongs to the extraordinary machine with wide application prospect
Device people, it is intended to which the detection for ultra-high-tension power transmission line provides a set of robot manipulating task system, is examined instead of testing staff to circuit
It surveys and safeguards, so as to mitigate the labor intensity of inspection operation, reduce testing cost, improve detection quality and efficiency, improve detection
The safety of operation, so as to improve the management of circuit and maintenance levels.Currently both at home and abroad to the research of crusing robot not yet into
Ripe, also many key technologies are to be resolved, and particularly domestic research is started late, at present still in the experimental study stage,
With practical application also there are certain distance, and existing achievement in research is only capable of completing the line data-logging between double tower, job area is limited.
Invention content：
The purpose of the present invention is to solve the problems of the prior art, provide it is a kind of replace artificial detection, can be suspended on
Arbitrarily creep on high voltage cable, high voltage cable detected by detection device automatically, and encounter that barrier can cross automatically can
The high voltage cable automatic detecting machine device people of obstacle detouring.
In order to achieve the above object, the technical scheme is that：
It is a kind of can obstacle detouring high voltage cable automatic detecting machine device people, including first support and second support, described first
Frame is connected with second support by sliding rail；First motor is installed, first motor passes through inside the first support
First transmission shaft is equipped with the first spur gear；First bearing seat, the first bearing seat are installed in the first support
On second driving shaft is installed, the second spur gear and the first sprocket wheel are separately installed on the both ends of the second driving shaft, it is described
First spur gear is engaged with the second spur gear to be connected, and first sprocket wheel is engaged with the first roller chain to be connected；The first support
Inside is also installed with clutch shaft bearing bar, and the second sprocket wheel, second sprocket wheel and first are equipped on the clutch shaft bearing bar
Roller chain engagement is connected；Second motor is installed, second motor passes through third transmission shaft inside the second support
Third spur gear is installed；3rd bearing seat inside the second support is installed, the 4th is equipped on the 3rd bearing seat
Transmission shaft, is separately installed with the 4th spur gear and third sprocket wheel on the both ends of the 4th transmission shaft, the 4th spur gear with
The engagement of third spur gear is connected, and the third sprocket wheel is engaged with the second roller chain to be connected；Also fixed peace inside the second support
Equipped with second bearing bar, the 4th sprocket wheel is installed on the second bearing bar, the 4th sprocket wheel engages phase with the second roller chain
Even；First gripper in the first support is installed, the second gripper, PLC controller and detection are installed on the sliding rail
Device is equipped with third gripper in the second support.
The sliding rail includes sliding rail rack, the first sliding rail outer bar, the second sliding rail outer bar and sliding rail interior bar, the sliding rail rack
It is fixedly linked with sliding rail interior bar, the first sliding rail outer bar, the second sliding rail outer bar are movably connected with sliding rail interior bar；Described first
Sliding rail outer bar is fixedly linked with first support, and the second sliding rail outer bar is fixedly linked with second support；On the sliding rail rack
The first bar-shaped trough and the second bar-shaped trough are offered, first bar-shaped trough connects with clutch shaft bearing rod set to be connected, second bar shaped
Slot connects with second bearing rod set to be connected；First clamping portion is installed on the sliding rail rack above first bar-shaped trough, described
Second clamping portion is installed, first clamping portion is clamped with the first roller chain, described on the sliding rail rack above two bar-shaped troughs
Second clamping portion is clamped with the second roller chain；Second gripper is mounted on the centre position of sliding rail rack.
The first support includes the first left plate, the first right plate and the first top plate, first left plate, first right side
Side plate and the first top plate are fixedly linked by angle bar and bolt；The second support includes the second left plate, the second right plate
With the second top plate, second left plate, the second right plate and the second top plate are fixedly linked also by angle bar and bolt；It is described
The first gripper is equipped with by fixed seat on first top plate, third machinery is installed also by fixed seat on second top plate
Pawl.
First steering engine on first gripper is installed, the second steering engine is installed on second gripper, described
Third steering engine is installed, and first steering engine, the second steering engine and third steering engine pass through internal wiring and PLC on three grippers
Controller is connected.
It is installed in same level on first gripper, the second gripper and third gripper.
First spur gear and the second spur gear are mounted on the outside of first support, the 4th spur gear and third commutating tooth
Wheel is mounted on the outside of second support.
The beneficial effects of the invention are as follows：The present invention it is a kind of can obstacle detouring high voltage cable automatic detecting machine device people, motor
Roller chain is driven to rotate by sprocket wheel, roller chain is connected by clamping portion with sliding rail, and the rotation of roller chain drives the flexible of sliding rail,
Realize moving forward and backward for robot；Gripper is coordinated the flexible of slide bar, can be realized by PLC controller and servos control
The obstacle detouring of robot makes robot continuous firing.
Description of the drawings：
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the vertical view of Fig. 1；
Fig. 3 is the sectional view of Fig. 1；
Fig. 4 is the enlarged drawing at A in Fig. 3.
Specific embodiment：
Embodiment 1
As shown in Figs 1-4 it is a kind of can obstacle detouring high voltage cable automatic detecting machine device people, including first support 1 and second
Frame 2, the first support 1 are connected with second support 2 by sliding rail 3.First motor is installed inside the first support 1
11, first motor 11 is equipped with the first spur gear 13 by the first transmission shaft 12.It is fixedly mounted in the first support 1
There is first bearing seat 4, second driving shaft 41 in the first bearing seat 4 is installed, is divided on the both ends of the second driving shaft 41
Second spur gear 14 and the first sprocket wheel 42 are not installed, first spur gear 13 is engaged with the second spur gear 14 to be connected, described
First sprocket wheel 42 is engaged with the first roller chain 31 to be connected.Clutch shaft bearing bar 5, institute are also installed with inside the first support 1
It states and the second sprocket wheel 51 is installed on clutch shaft bearing bar 5, second sprocket wheel 51 is engaged with the first roller chain 31 to be connected.First is electronic
Machine 11 drives the first roller chain 31 to rotate, and the first roller chain 31 drives sliding rail 3 flexible, realizes the movement of first support 1.
Second motor 21 is installed, second motor 21 passes through third transmission shaft 22 inside the second support 2
Third spur gear 23 is installed；3rd bearing seat 43 inside the second support 2 is installed, is installed on the 3rd bearing seat 43
There is the 4th transmission shaft 44, be separately installed with the 4th spur gear 24 and third sprocket wheel 45 on the both ends of the 4th transmission shaft 44, institute
It states the 4th spur gear 24 and is engaged with third spur gear 23 and is connected, the third sprocket wheel 45 is engaged with the second roller chain 32 to be connected；Institute
It states and second bearing bar 52 is also installed with inside second support 2, the 4th sprocket wheel 53, institute are installed on the second bearing bar 52
It states the 4th sprocket wheel 53 and is engaged with the second roller chain 32 and is connected.Second motor 21 drives the second roller chain 32 to rotate, the second roller
Chain 32 drives sliding rail 3 flexible, realizes the movement of second support 2.
First gripper 6 in the first support 1 is installed, the second gripper 61, PLC controls are installed on the sliding rail 3
Device 10 processed and detection device 7 are equipped with third gripper 62 in the second support 2.Is equipped on first gripper 6
One steering engine 9 is equipped with the second steering engine 91 on second gripper 61, third steering engine is equipped on the third gripper 62
92, and first steering engine 9, the second steering engine 91 and third steering engine 92 are connected by internal wiring with PLC controller 10, are passed through
PLC controller 10 controls the operating of 3 steering engines.Pacify on first gripper 6, the second gripper 61 and third gripper 62
In same level.First spur gear, 13 and second spur gear 14 is mounted on 1 outside of first support, and the described 4th just
Gear 24 and third spur gear 23 are mounted on 2 outside of second support, are avoiding the first spur gear 13, the second spur gear the 14, the 4th just
Gear 24 and third spur gear 23 cause failure with the collision of other mechanical parts.
The sliding rail 3 includes sliding rail rack 33, the first sliding rail outer bar 34, the second sliding rail outer bar 35 and sliding rail interior bar 36, institute
Sliding rail rack 33 is stated to be fixedly linked with sliding rail interior bar 36, the first sliding rail outer bar 34, the second sliding rail outer bar 35 in sliding rail
Bar 36 is movably connected；The first sliding rail outer bar 34 is fixedly linked with first support 1, the second sliding rail outer bar 35 and second
Frame 2 is fixedly linked；The first bar-shaped trough 71 and the second bar-shaped trough 72, first bar-shaped trough 71 are offered on the sliding rail rack 33
It is connected with the socket of clutch shaft bearing bar 5, second bar-shaped trough 72 is connected with the socket of second bearing bar 52.First bar-shaped trough 71 and
Two bar-shaped troughs 72 can limit the distance of stretch out and draw back of first support 1 and second support 2.The sliding rail of first bar-shaped trough, 71 top
First clamping portion 73 on stent 33 is installed, the second clamping portion is installed on the sliding rail rack 33 of 72 top of the second bar-shaped trough
74, first clamping portion 73 is clamped with the first roller chain 31, and second clamping portion 74 is clamped with the second roller chain 32；It is described
Second gripper 61 is mounted on the centre position of sliding rail rack 33.
The first support 1 includes the first left plate 81, the first right plate 82 and the first top plate 83, first left plate
81st, the first right plate 82 and the first top plate 83 are fixedly linked by angle bar 8 and bolt 89；It is left that the second support includes second
Side plate 84, the second right plate 85 and the second top plate 86, second left plate 84, the second right plate 85 and the second top plate 86 also lead to
It crosses angle bar 8 and bolt 89 is fixedly linked, convenient for the dismounting of first support 1 and second support 2.Pass through on first top plate 83
Fixed seat 88 is equipped with the first gripper 6, and third gripper 62 is equipped with also by fixed seat 88 on second top plate 86.
Can the high voltage cable automatic detecting machine device people of obstacle detouring advancing and during obstacle detouring, the first gripper 6 opens, the second machinery
Pawl 61 and third gripper 62 firmly grasp high-tension cable, and the first motor 11 drives sliding rail 3 to make first support 1 to extension；Then
One gripper 6 and third gripper 62 firmly grasp high-tension cable, and the second gripper 61 opens, the first motor 11 drive sliding rail 3 to
First support direction bounces back；Then the first gripper 6 and the second gripper 61 firmly grasp high-tension cable, and third gripper 62 opens,
Second motor 21 drives sliding rail 3 that second support 2 is made to be moved to 1 direction of first support, realizes advance and the obstacle detouring of robot.
The present embodiment it is a kind of can obstacle detouring high voltage cable automatic detecting machine device people, motor drives roller chain by sprocket wheel
Rotation, roller chain is connected by clamping portion with sliding rail, and the rotation of roller chain drives the flexible of sliding rail, realize the advance of robot with
It retreats；Gripper is coordinated the flexible of slide bar, can be realized the obstacle detouring of robot, make machine by PLC controller and servos control
People's continuous firing.
Claims (6)
1. it is a kind of can obstacle detouring high voltage cable automatic detecting machine device people, it is characterised in that：Including first support (1) and second support
(2), the first support (1) is connected with second support (2) by sliding rail (3)；First is equipped with inside the first support (1)
Motor (11), first motor (11) are equipped with the first spur gear (13) by the first transmission shaft (12)；Described first
First bearing seat (4) is installed in stent (1), second driving shaft (41) is installed on the first bearing seat (4), it is described
The second spur gear (14) and the first sprocket wheel (42), first spur gear are separately installed on the both ends of second driving shaft (41)
(13) it engages and is connected with the second spur gear (14), first sprocket wheel (42) is engaged with the first roller chain (31) to be connected；Described
Clutch shaft bearing bar (5) is also installed with inside one stent (1), the second sprocket wheel (51) is installed on the clutch shaft bearing bar (5),
Second sprocket wheel (51) is engaged with the first roller chain (31) to be connected；The second motor is installed inside the second support (2)
(21), second motor (21) is equipped with third spur gear (23) by third transmission shaft (22)；The second support (2)
Inside is equipped with 3rd bearing seat (43), and the 4th transmission shaft (44) is equipped on the 3rd bearing seat (43), and the described 4th passes
It is separately installed with the 4th spur gear (24) and third sprocket wheel (45) on the both ends of moving axis (44), the 4th spur gear (24) and the
Three spur gears (23) engagement is connected, and the third sprocket wheel (45) is engaged with the second roller chain (32) to be connected；The second support (2)
Inside is also installed with second bearing bar (52), is equipped with the 4th sprocket wheel (53) on the second bearing bar (52), and described the
Four sprocket wheels (53) are engaged with the second roller chain (32) to be connected；First gripper (6) is installed on the first support (1), it is described
Second gripper (61), PLC controller (10) and detection device (7) on sliding rail (3) are installed, pacified on the second support (2)
Equipped with third gripper (62).
2. it is according to claim 1 it is a kind of can obstacle detouring high voltage cable automatic detecting machine device people, it is characterised in that：The cunning
Rail (3) includes sliding rail rack (33), the first sliding rail outer bar (34), the second sliding rail outer bar (35) and sliding rail interior bar (36), the cunning
Rail stent (33) is fixedly linked with sliding rail interior bar (36), the first sliding rail outer bar (34), the second sliding rail outer bar (35) with cunning
Rail interior bar (36) is movably connected；The first sliding rail outer bar (34) is fixedly linked with first support (1), the second sliding rail outer bar
(35) it is fixedly linked with second support (2)；The first bar-shaped trough (71) and the second bar-shaped trough are offered on the sliding rail rack (33)
(72), first bar-shaped trough (71) is connected with clutch shaft bearing bar (5) socket, second bar-shaped trough (72) and second bearing bar
(52) socket is connected；First clamping portion (73) is installed on the sliding rail rack (33) above first bar-shaped trough (71), it is described
Second clamping portion (74) is installed, first clamping portion (73) and the on the sliding rail rack (33) above the second bar-shaped trough (72)
One roller chain (31) is clamped, and second clamping portion (74) is clamped with the second roller chain (32)；Second gripper (61) peace
Mounted in the centre position of sliding rail rack (33).
3. it is according to claim 1 it is a kind of can obstacle detouring high voltage cable automatic detecting machine device people, it is characterised in that：Described
One stent (1) includes the first left plate (81), the first right plate (82) and the first top plate (83), first left plate (81),
First right plate (82) and the first top plate (83) are fixedly linked by angle bar (8) and bolt (89)；The second support includes
Second left plate (84), the second right plate (85) and the second top plate (86), second left plate (84), the second right plate (85)
It is fixedly linked with the second top plate (86) also by angle bar (8) and bolt (89)；Pass through fixed seat on first top plate (83)
(88) the first gripper (6) is installed, third gripper is installed also by fixed seat (88) on second top plate (86)
(62)。
4. it is according to claim 1 it is a kind of can obstacle detouring high voltage cable automatic detecting machine device people, it is characterised in that：Described
First steering engine (9) on one gripper (6) is installed, the second steering engine (91) is installed on second gripper (61), described
Third steering engine (92), and first steering engine (9), the second steering engine (91) and third steering engine (92) are installed on three grippers (62)
It is connected by internal wiring with PLC controller (10).
5. it is according to claim 1 it is a kind of can obstacle detouring high voltage cable automatic detecting machine device people, it is characterised in that：Described
It is installed in same level on one gripper (6), the second gripper (61) and third gripper (62).
6. it is according to claim 1 it is a kind of can obstacle detouring high voltage cable automatic detecting machine device people, it is characterised in that：Described
One spur gear (13) and the second spur gear (14) are on the outside of first support (1), and the 4th spur gear (24) and third are just
Gear (23) is on the outside of second support (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711372875.4A CN108199292A (en) | 2017-12-19 | 2017-12-19 | It is a kind of can obstacle detouring high voltage cable automatic detecting machine device people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711372875.4A CN108199292A (en) | 2017-12-19 | 2017-12-19 | It is a kind of can obstacle detouring high voltage cable automatic detecting machine device people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108199292A true CN108199292A (en) | 2018-06-22 |
Family
ID=62576823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711372875.4A Pending CN108199292A (en) | 2017-12-19 | 2017-12-19 | It is a kind of can obstacle detouring high voltage cable automatic detecting machine device people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108199292A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109066464A (en) * | 2018-08-31 | 2018-12-21 | 国网河北省电力有限公司沧州供电分公司 | Inspection robot obstacle crossing device |
| CN109367639A (en) * | 2018-11-15 | 2019-02-22 | 国网湖南省电力有限公司 | A kind of climbing level robot and its application method |
| CN114407033A (en) * | 2022-01-07 | 2022-04-29 | 湖南工程学院 | A hang rail and patrol and examine supplementary climbing mechanism of robot for outdoor heavy grade operation |
-
2017
- 2017-12-19 CN CN201711372875.4A patent/CN108199292A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109066464A (en) * | 2018-08-31 | 2018-12-21 | 国网河北省电力有限公司沧州供电分公司 | Inspection robot obstacle crossing device |
| CN109367639A (en) * | 2018-11-15 | 2019-02-22 | 国网湖南省电力有限公司 | A kind of climbing level robot and its application method |
| CN109367639B (en) * | 2018-11-15 | 2024-02-23 | 国网湖南省电力有限公司 | Pole climbing robot and application method thereof |
| CN114407033A (en) * | 2022-01-07 | 2022-04-29 | 湖南工程学院 | A hang rail and patrol and examine supplementary climbing mechanism of robot for outdoor heavy grade operation |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20180622 |