CN108306219B - Bowl head dismounting device for vertical insulator string of power transmission line - Google Patents
Bowl head dismounting device for vertical insulator string of power transmission line Download PDFInfo
- Publication number
- CN108306219B CN108306219B CN201810353480.8A CN201810353480A CN108306219B CN 108306219 B CN108306219 B CN 108306219B CN 201810353480 A CN201810353480 A CN 201810353480A CN 108306219 B CN108306219 B CN 108306219B
- Authority
- CN
- China
- Prior art keywords
- telescopic
- transmission line
- mechanical arm
- mechanical
- motor
- 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.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- 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
-
- 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
- H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
Landscapes
- Electric Cable Installation (AREA)
Abstract
The invention provides a bowl head dismounting device for a vertical insulator chain of a power transmission line. The dismounting device comprises a main body platform, a first mechanical arm and a second mechanical arm which are arranged on the main body platform, a first telescopic motor, a second telescopic motor, a first mechanical finger and a second mechanical finger which are respectively arranged on the first mechanical arm and the second mechanical arm, wherein the first telescopic motor and the second telescopic motor are respectively fixed at the tail ends of the first mechanical arm and the second mechanical arm, telescopic slideways are respectively arranged on the first mechanical arm and the second mechanical arm, a sliding telescopic sleeve is slidably arranged on each telescopic slideway, the two sliding telescopic sleeves are respectively sleeved on rotating shafts of the first telescopic motor and the second telescopic motor, and the first mechanical finger and the second mechanical finger are correspondingly arranged on the sliding telescopic sleeves on the first mechanical arm and the second mechanical arm and can move back and forth along the telescopic slideways on the corresponding side mechanical arms through the sliding telescopic sleeves; the invention can replace manual online operation, is safe and reliable, is convenient to carry, is easy and convenient to operate, has good applicability, and saves time and labor.
Description
Technical Field
The invention relates to a maintenance device of a power transmission line, in particular to a bowl head dismounting device for a vertical insulator chain of the power transmission line.
Background
The electric energy is transmitted to various places through the high-voltage transmission line after being generated by the power plant, so the high-voltage transmission line extends over various corners including cities, rural areas and the like. High-voltage transmission lines generally refer to lines with a voltage of 220V or above, and maintenance and repair of the high-voltage transmission lines are limited by various conditions, firstly, because the lines are electrified, such as potential safety hazards exist in direct manual operation, and secondly, because the high-voltage transmission lines are difficult or impossible to reach or approach by workers due to the environment or topography of the high-voltage transmission lines, there is a need for automatic maintenance or repair devices of the high-voltage transmission lines, and high-voltage transmission line robots are generated. The existing high-voltage transmission line robot is generally used for high-voltage line inspection, and although the robot can replace manual inspection and has the advantages of stable operation quality, high efficiency and the like, the robot cannot perform basic maintenance operations, such as insulator string replacement.
Because the insulator chain is connected with the wire through the spherical hanging ring at the lower end of the insulator chain being buckled into the groove at the bowl head of the bowl head hanging plate on the wire, for safety, a safety pin can be inserted after buckling, so that the spherical hanging ring is prevented from falling out of the groove. Therefore, when the wire is replaced, manual operation is generally needed on the wire, and particularly, under the condition of electrification, the wire is manually constructed, the preparation work of the electrification work is complex, the operation is complex, the labor intensity is high, the efficiency is low, and the safety risk exists.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the bowl head dismounting device for the vertical insulator chain of the power transmission line, which can replace manual on-line operation, and has the advantages of convenient use, safety, reliability, portability, simple and convenient operation, better stability, time saving and labor saving.
The invention provides a power transmission line vertical insulator chain bowl head dismounting device, which comprises a main body platform connected with a power transmission line travelling mechanism, and a first mechanical arm and a second mechanical arm rotatably arranged on the main body platform, wherein the first mechanical arm and the second mechanical arm are oppositely arranged and controlled to be opened or clamped by an electric control device; the first mechanical arm and the second mechanical arm are respectively provided with a first mechanical finger and a second mechanical finger, the first mechanical finger and the second mechanical finger are respectively arranged on the corresponding mechanical arms through telescopic devices, the first mechanical finger is provided with a transverse front pushing plate and a thimble, and the second mechanical finger is provided with a front hook plate and a rear hook plate; when the insulator chain bowl head is dismounted, the thimble on the first mechanical finger is opposite to the insertion end of the safety pin of the insulator chain bowl head, the transverse front push plate is opposite to the mounting end of the safety pin of the insulator chain bowl head, the second mechanical finger is provided with a front hook plate hook part and a rear hook plate hook part which are opposite to the spherical hanging ring at the lower end of the insulator chain, and the thimble is driven to move forwards under the action of the telescopic device to push out the safety pin, and the front hook plate moves backwards to pull out the spherical hanging ring, so that the insulator chain bowl head is dismounted; or the transverse front push plate is driven to move backwards under the action of the telescopic device to install the safety pin, and the rear hook plate moves forwards to push the spherical hanging ring into the bowl head groove of the bowl head hanging plate, so that the bowl head of the insulator chain is installed.
The invention has the preferable technical scheme that: the first mechanical arm and the second mechanical arm are symmetrically arranged on the main body platform through rotating shafts respectively, an electric control clamping mechanism is arranged between the first mechanical arm and the second mechanical arm and comprises a third telescopic motor and a telescopic connecting rod, and the first mechanical arm and the second mechanical arm are driven to open or clamp under the action of the third telescopic motor and the telescopic connecting rod.
The invention has the preferable technical scheme that: the first mechanical arm and the second mechanical arm are respectively provided with a first telescopic motor and a second telescopic motor, the first telescopic motor and the second telescopic motor are respectively fixed at the tail ends of the first mechanical arm and the second mechanical arm, the outer sides of the first mechanical arm and the second mechanical arm are respectively provided with telescopic slideways, a sliding telescopic sleeve is slidably arranged on each telescopic slideway, the two sliding telescopic sleeves are respectively sleeved on rotating shafts of the first telescopic motor and the second telescopic motor, the first mechanical finger and the second mechanical finger are correspondingly arranged on the sliding telescopic sleeves on the first mechanical arm and the second mechanical arm, and under the action of the first telescopic motor and the second telescopic motor, the first mechanical finger and the second mechanical finger respectively move back and forth along the telescopic slideways on the corresponding side mechanical arm through the sliding telescopic sleeves; the first telescopic motor and the second telescopic motor are mutually symmetrical, and the third telescopic motor is arranged on a transverse middle split line of the main body platform.
The invention has the preferable technical scheme that: the main body platform is provided with a lifting mechanism which is used for being connected with the transmission line travelling mechanism, the lifting mechanism consists of a lifting motor and a lifting rod, the lifting mechanism is arranged on the transmission line travelling mechanism through the lifting rod, and the main body platform can be adjusted in height along the lifting rod under the action of the lifting motor.
The invention has the preferable technical scheme that: the first mechanical finger consists of an L-shaped supporting plate, a transverse front push plate transversely arranged at the front end of a vertical supporting plate of the L-shaped supporting plate and a thimble vertically arranged at the free end of the transverse supporting plate of the L-shaped supporting plate, and the L-shaped supporting plate is arranged on a rotating shaft of a first telescopic motor through a sliding telescopic sleeve; the second mechanical finger consists of a vertical supporting plate, a front hook plate and a rear hook plate which are respectively arranged at the front end and the rear end of the vertical supporting plate, the hook parts of the front hook plate and the rear hook plate are oppositely arranged, and the vertical supporting plate is arranged on a second telescopic motor rotating shaft through a telescopic sleeve; when the bowl heads of the insulator strings are disassembled, the ejector pins are driven to move forwards under the action of the first telescopic motor to push out the safety pins, and the front hook plates of the second mechanical fingers are driven to move backwards under the action of the second telescopic motor to pull out the spherical hanging rings, so that the bowl heads of the insulator strings are disassembled; or the first telescopic motor drives the transverse front push plate to move backwards to install the safety pin, and the second telescopic motor drives the rear hook plate of the second mechanical finger to move forwards to push the spherical hanging ring into the bowl head groove of the bowl head hanging plate, so that the bowl head of the insulator string is installed.
The invention has the preferable technical scheme that: the telescopic connecting rod consists of a left telescopic rod, a right telescopic rod and a telescopic sleeve, the telescopic sleeve is sleeved on the rotating shaft of the third telescopic motor, the left telescopic rod and the right telescopic rod are symmetrically arranged on the telescopic sleeve, one end of the left telescopic rod and the right telescopic rod are fixed on the telescopic sleeve, the other end of the left telescopic rod and the other end of the right telescopic rod are respectively fixed on the first mechanical arm and the second mechanical arm, the telescopic sleeve moves back and forth along the rotating shaft of the third telescopic motor under the action of the third telescopic motor, and accordingly the first mechanical arm and the second mechanical arm are driven to open or clamp.
The invention has the preferable technical scheme that: the dismounting device further comprises a control box and a transmission line travelling mechanism, the main body platform is arranged at the front end of the transmission line travelling mechanism through a lifting mechanism, a power supply and a controller are arranged in the control box, and the control box is connected with the lifting mechanism, the transmission line travelling mechanism and the control ends of the first, second and third telescopic motors through control lines.
The invention has the preferable technical scheme that: the dismounting device further comprises a multi-azimuth camera mounted on the main body platform, the camera is mounted on the main body through a rotary bracket, and a signal output end of the camera is connected with a signal input end of the controller or is in wireless connection with a signal input end of the ground monitoring system through a wireless transmitter.
The invention has the preferable technical scheme that: the line running mechanism consists of a running motor with a speed reducer and a group of running sheaves distributed along a straight line, the running motor is connected with the power end of each running sheave or a group of running sheaves through a transmission mechanism and drives the group of running sheaves to rotate simultaneously, the running mechanism is arranged on a power transmission line through the running sheaves in a clamping way and runs along the power transmission line under the action of the running motor, a safety mechanism for preventing the running sheaves from being separated from the power transmission line is arranged below the running sheaves, and the safety mechanism comprises one or a group of positioning sheaves and a sheave rotating motor which are arranged below the power transmission line.
The invention has the preferable technical scheme that: the height of the first mechanical finger is lower than that of the second mechanical finger, a first supporting plate which extends downwards is arranged at the free end of the L-shaped supporting plate of the first mechanical finger, and the thimble is arranged on the first supporting plate and is parallel to the vertical supporting plate of the L-shaped supporting plate; the front end of the vertical supporting plate of the L-shaped supporting plate is provided with a second supporting plate which extends downwards, the transverse front pushing plate is arranged on the second supporting plate and is parallel to the transverse supporting plate of the L-shaped supporting plate, and the lengths of the first supporting plate and the second supporting plate which extend downwards are equal.
The invention has the preferable technical scheme that: the dismounting device further comprises a remote controller, the remote controller is in communication connection with the camera and the control box through the wireless transceiver, and control signals are given to the control box through the remote controller, so that the transmission line travelling mechanism, the camera, the first telescopic motor, the second telescopic motor and the third telescopic motor are controlled.
The invention has the preferable technical scheme that: and a safety mechanism for preventing the traveling sheave from being separated from the transmission line is arranged below the traveling sheave and comprises one or a group of positioning sheaves and a sheave rotating motor which are arranged below the transmission line.
The length of the two mechanical arms is the running stroke of the mechanical fingers, so that the mechanical arms are compact and reasonable in structure, and the device has good overall rigidity in a clamping state, so that the mechanical fingers can realize large-moment work, and the moment requirements of the disassembly and assembly work of the two mechanical fingers on the two mechanical arms can be met respectively.
The lifting mechanism arranged on the main body platform can enable the main body platform to lift, meanwhile, the lifting mechanism can be conveniently installed on the travelling mechanism, the travelling mechanism is correspondingly provided with the matched mounting groove or mounting hole, the mounting shaft or the mounting screw at the lower end of the lifting mechanism can be conveniently and fixedly installed on the travelling mechanism, then the mechanical arm and the mechanical finger are driven to lift under the action of the lifting mechanism, and the requirements of bowl head hanging plates at different heights are met.
The bowl head of the insulator chain can be quickly and conveniently disassembled and assembled, and the risk of manual online operation is reduced.
Drawings
FIG. 1 is a perspective view of the invention in an open position with two robotic arms;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic front view of FIG. 1;
FIG. 4 is a perspective view of the present invention in a clamped state of two robotic arms;
FIG. 5 is a top view of FIG. 4;
fig. 6 is a schematic diagram of the present invention after connection to a transmission line running gear;
fig. 7 is a perspective view of the transmission line travel mechanism;
FIGS. 8 and 9 are reference schematic views of the removal of the insulator string bowl using the present invention;
FIG. 10 is a top view of FIG. 9;
FIGS. 11-13 are reference schematic views of the insulator string bowl of the present invention;
FIG. 14 is a top view of FIG. 11;
FIG. 15 is a top view of FIG. 12;
fig. 16 is a top view of fig. 13.
Reference numerals: 1-main body platform, 2, 3-first and second mechanical arms, 2-1-telescopic slide ways, 2-sliding telescopic sleeves, 4 lifting mechanisms, 5-electric control clamping mechanisms, 5-1-third telescopic motors, 5-2, 5-3-left and right telescopic rods, 5-4-telescopic sleeves, 5-third telescopic motor shafts, 6-shafts, 7-first mechanical fingers, 7-1-L-shaped supporting plates, 7-2-transverse front push plates, 7-3-ejector pins, 7-4-first supporting plates, 7-5-second supporting plates, 8, 9-first and second telescopic motors, 8-1, 9-1-first and second telescopic motor shafts, 10-second mechanical fingers, 10-1-vertical supporting plates, 10-2, 10-3-front and rear hook plates, 11-insulator chain bowl heads, 12-safety pins, 13-spherical hanging rings, 14-bowl head grooves, 15-transmission line travelling mechanisms, 15-1-travelling transmission line mechanisms, 15-2-grooved wheels, 16-control safety boxes and 17-camera heads.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The automatic dismounting device for the bowl heads of the vertical insulator strings of the power transmission lines as shown in fig. 1 to 3 comprises a main body platform 1, a first mechanical arm 2 and a second mechanical arm 3, wherein a lifting mechanism 4 used for being connected with a traveling mechanism of the power transmission lines is arranged on the main body platform 1, the lifting mechanism 4 consists of a lifting motor and a lifting rod, the lifting mechanism 4 is arranged on the traveling mechanism 15 of the power transmission lines or a robot host of the power transmission lines through the lifting rod, the traveling mechanism 15 of the combined power transmission lines or a robot capable of traveling on the power transmission lines jointly acts, the height of the main body platform 1 can be adjusted under the action of the lifting motor, and the automatic dismounting device can be suitable for dismounting the bowl heads of the insulator strings of different heights. As shown in fig. 6, the dismounting device may further include a control box 16 and a transmission line travelling mechanism 15, the main body platform 1 is installed at the front end of the transmission line travelling mechanism 15 through the lifting mechanism 4, a power supply and a controller are disposed in the control box 16, the control box 16 is connected with the lifting mechanism 4, the transmission line travelling mechanism 15 and the control ends of the first, second and third telescopic motors 8, 9 and 5-1 through control lines, and the control box 16 may provide a power supply and a control system for the whole device. The first telescopic motor 8 and the second telescopic motor 9 are mutually symmetrical, and the third telescopic motor 5-1 is arranged on a transverse middle split line of the main body platform 1.
As shown in fig. 1, the first and second mechanical arms 2 and 3 are symmetrically installed on the main body platform 1 through rotating shafts 6, an electric control clamping mechanism 5 is arranged between the first and second mechanical arms 2 and 3, as shown in fig. 2 and 3, the electric control clamping mechanism 5 is composed of a third telescopic motor 5-1, left and right telescopic rods 5-2 and 5-3 and a telescopic sleeve 5-4, the telescopic sleeve 5-4 is sleeved on the rotating shaft 5-5 of the third telescopic motor, the left and right telescopic rods 5-2 and 5-3 are symmetrically installed on the telescopic sleeve 5-4, one end of each of the left and right telescopic rods 5-2 and 5-3 is fixed on the telescopic sleeve 5-4, the other end of each of the left and right telescopic rods is fixed on the first and second mechanical arms 2 and 3, and the telescopic sleeve 5-4 is moved back and forth along the rotating shaft 5-5 of the third telescopic motor 5-1 under the action of the third telescopic motor 5-1, so that the first and second mechanical arms 2 and 3 are driven to open (as shown in fig. 1 and 2) or clamp (as shown in fig. 4 and 5).
As shown in fig. 1 to 5, a first telescopic motor 8 and a first mechanical finger 7 are installed on the first mechanical arm 2, a second telescopic motor 9 and a second mechanical finger 10 are installed on the second mechanical arm 3, the first and second telescopic motors 8 and 9 are respectively fixed at the tail ends of the first and second mechanical arms 2 and 3, telescopic slide ways 2-1 are respectively arranged on the first and second mechanical arms 2 and 3, the telescopic slide ways 2-1 are respectively arranged at the outer sides of the first and second mechanical arms 2 and 3, the length of the telescopic slide ways 2-1 is used for ensuring that when the first mechanical finger 7 slides forwards, the ejector pins 7-3 on the L-shaped supporting plate 7-1 can completely withdraw the safety pins 12 of the bowl heads of insulator strings, and when the first mechanical finger slides backwards, the transverse front pushing plates 7-2 at the front ends of the L-shaped supporting plate 7-1 can completely install the safety pins 12; in the sliding process of the second mechanical finger 10, the front and rear hook plates 10-2 and 10-3 can pull or push the spherical hanging ring 13 out of the bowl head groove 14 of the bowl head hanging plate; a sliding telescopic sleeve 2-2 is slidably arranged on each telescopic slideway 2-1, the two sliding telescopic sleeves 2-2 are respectively sleeved on a first telescopic motor rotating shaft 8-1 and a second telescopic motor rotating shaft 9-1, the first mechanical finger 7 and the second mechanical finger 10 are correspondingly arranged on the sliding telescopic sleeves 2-2 of the first mechanical arm 2 and the second mechanical arm 3, and under the action of the first telescopic motor 8 and the second telescopic motor 9, the first mechanical finger 7 and the second mechanical finger 10 respectively move back and forth along the telescopic slideway 2-1 on the mechanical arm on the corresponding side through the sliding telescopic sleeves 2-2; the first mechanical finger 7 consists of an L-shaped supporting plate 7-1, a transverse front push plate 7-2 transversely arranged at the front end of a vertical supporting plate of the L-shaped supporting plate 7-1 and a thimble 7-3 vertically arranged at the free end of the transverse supporting plate of the L-shaped supporting plate 7-1, and the L-shaped supporting plate 7-1 is arranged on a rotating shaft 8-1 of a first telescopic motor through a sliding telescopic sleeve 2-2; the second mechanical finger 10 consists of a vertical supporting plate 10-1, and front and rear hook plates 10-2 and 10-3 respectively arranged at the front end and the rear end of the vertical supporting plate 10-1, wherein hook parts of the front and rear hook plates 10-2 and 10-3 are arranged in opposite directions, and the vertical supporting plate 10-1 is arranged on a second telescopic motor rotating shaft 9-1 through a telescopic sleeve; when the insulator chain bowl head 11 is dismounted, the thimble 7-3 in the first mechanical finger 7 is opposite to the insertion end of the safety pin 12 of the insulator chain bowl head, the transverse front push plate 7-2 is opposite to the mounting end of the safety pin 12 of the insulator chain bowl head, the hook parts of the front and rear hook plates 10-2 and 10-3 of the second mechanical finger 10 are opposite to the spherical hanging ring 13 at the lower end of the insulator chain, and when the insulator chain bowl head 11 is dismounted, as shown in fig. 8 to 10, the thimble 7-3 is driven to move forwards under the action of the first telescopic motor 8 to push out the safety pin 12, and the front hook plate 10-2 of the second mechanical finger 10 is driven to move backwards under the action of the second telescopic motor 9 to pull out the spherical hanging ring 13, so that the dismounting of the insulator chain bowl head 11 is realized; when the bowl heads of the insulator strings are installed, as shown in fig. 11 to 16, the transverse front pushing plate 7-2 is driven to move the safety pin 12 backwards under the action of the first telescopic motor 8, the rear hook plate 10-3 of the second mechanical finger 10 is driven to move forwards under the action of the second telescopic motor 9, and the spherical hanging ring 13 is pushed into the bowl head groove 14 of the bowl head hanging plate, so that the bowl heads 11 of the insulator strings are installed.
The height of the first mechanical finger 7 is lower than that of the second mechanical finger 10, a first supporting plate which extends downwards is arranged at the free end of a transverse supporting plate 7-1 of the L-shaped supporting plate 7 of the first mechanical finger 7, and the thimble 7-3 is arranged on the first supporting plate and is parallel to a vertical supporting plate of the L-shaped supporting plate 7-1; the front end of the vertical support plate of the L-shaped support plate 7-1 is also provided with a second support plate 7-5 which extends downwards, the transverse front push plate 7-2 is arranged on the second support plate 7-5 and is parallel to the transverse support plate of the L-shaped support plate 7-1, and the lengths of the downward extension of the first support plate 7-4 and the downward extension of the second support plate 7-5 are equal.
The dismounting device of the invention can also comprise a multi-azimuth camera 17 on the main body platform 1, wherein the camera is arranged on the main body through a rotary bracket, and the signal output end of the camera is connected with the signal input end of the controller or is in wireless connection with the signal input end of the ground monitoring system through a wireless transmitter. The invention can also comprise a remote controller which is connected with the camera 17 and the control box 16 through a wireless transmitter and controls the transmission line travelling mechanism 15, the camera 17 and the first, second and third telescopic motors 8, 9 and 5-1 through the remote controller.
The transmission line travelling mechanism 15 in the invention can be a structure shown in fig. 7, and consists of a travelling motor 15-3 with a speed reducer and a group of travelling sheaves 15-1 distributed along a straight line, wherein the travelling motor is connected with the power end of each travelling sheave 15-1 or a group of travelling sheaves 15-1 through a transmission mechanism and drives the group of travelling sheaves to rotate simultaneously, the transmission line travelling mechanism 15 is clamped on a transmission line 18 through the travelling sheaves 15-1 and travels along the transmission line 18 under the action of the travelling motor, a safety mechanism 15-2 for preventing the travelling sheaves 15-1 from being separated from the transmission line is arranged below the travelling sheaves 15-1, the safety mechanism 15-2 comprises one or a group of positioning sheaves and sheave rotating motors arranged below the transmission line, and the sheave rotating motors of the travelling motor 15-3 and the safety mechanism 15-2 are connected with a controller and a power supply in a control box 16 and controlled to travel by the control box 16.
When the device is in operation, firstly, the device is installed on a transmission line travelling mechanism 15 through a main body platform 1, the main body platform 1 is connected with the transmission line travelling mechanism 15 in a hard connection mode, the height of the device can be adjusted only through a lifting mechanism 4, and the first, second and third telescopic motors 8, 9 and 5-1 are connected with a control box 16 through signal lines and power lines, and the control box 16 provides power and control. After the device is installed, the whole device is driven to walk to the position of an overhead transmission line insulator along a transmission line 18 through a transmission line traveling mechanism 15, the device is observed through videos of a camera 17, the height of the device is adjusted, then the third telescopic motor 5-1 is controlled to operate to perform two mechanical arms to clamp, as shown in fig. 4 and 5, the two mechanical arms clamp the insulator string bowl 11 of the bowl head hanging plate and keep the insulator string bowl head 11 still, at the moment, the first mechanical finger 7 faces the safety pin 12 in the bowl head, and the second mechanical finger 10 comprises the spherical hanging ring 13. As shown in fig. 8, the first telescopic motor 8 is remotely started to control the first mechanical finger 7 to move forwards, the safety pin 12 in the bowl head 11 of the insulator string is ejected out by the thimble 7-3 of the finger, then as shown in fig. 9 and 10, the second telescopic motor 9 is started to control the second mechanical finger 10 to move backwards, the spherical hanging ring 13 is pulled out from the bowl head groove 14 of the bowl head hanging plate, and the disassembling action of the wire end of the insulator string is completed. Next, the insulator mounting work is directly performed, the bowl heads are held by the two mechanical arms to be still in the whole dismounting process, after a new insulator is lifted in place, the spherical hanging ring 13 is enabled to be hung into the second mechanical finger 10, then the second telescopic motor 9 is started, as shown in fig. 11 and 14, the second mechanical finger 10 moves forwards, the spherical hanging ring 13 is pushed into the bowl head groove 14 of the bowl head hanging plate and is kept still, at the moment, the first telescopic motor 8 is started again, as shown in fig. 12 and 15, the first mechanical finger 7 moves backwards, and the safety pin 12 extending out of the bowl heads is pushed back to the insulator string bowl heads 11 by utilizing the transverse front push plate 7-2 at the front end, so that the spherical hanging ring 13 is locked and is not pulled out any more. After the installation, as shown in fig. 13 and 16, the first mechanical finger 7 and the second mechanical finger 10 are controlled to move back and forth respectively at this time so as to separate from the spherical hanging ring 13 and the bowl head hanging plate, and the two mechanical arms are operated to open to separate from the insulator, so that the whole insulator replacement work is completed.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
Claims (10)
1. The utility model provides a transmission line vertical insulator chain bowl head dismouting device which characterized in that: the dismounting device comprises a main body platform (1) connected with the transmission line travelling mechanism, and a first mechanical arm (2) and a second mechanical arm (3) rotatably arranged on the main body platform (1), wherein the first mechanical arm (2) and the second mechanical arm (3) are oppositely arranged and controlled to be opened or clamped by an electric control device; the first mechanical arm (2) and the second mechanical arm (3) are respectively provided with a first telescopic motor (8) and a second telescopic motor (9), the first telescopic motor (8) and the second telescopic motor (9) are respectively fixed at the tail ends of the first mechanical arm (2) and the second mechanical arm (3), the outer sides of the first mechanical arm (2) and the second mechanical arm (3) are respectively provided with a telescopic slideway (2-1), each telescopic slideway (2-1) is slidably provided with a sliding telescopic sleeve (2-2), and the two sliding telescopic sleeves (2-2) are respectively sleeved on the rotating shafts (8-1, 9-1) of the first telescopic motor and the second telescopic motor; the first telescopic motor (8) and the second telescopic motor (9) are mutually symmetrical, and the third telescopic motor (5-1) is arranged on a transverse middle split line of the main body platform (1);
the first mechanical arm (2) and the second mechanical arm (3) are respectively provided with a first mechanical finger (7) and a second mechanical finger (10), the first mechanical finger (7) and the second mechanical finger (10) are correspondingly arranged on a sliding telescopic sleeve (2-2) on the first mechanical arm (2) and the second mechanical arm (3), and under the action of a first telescopic motor (8) and a second telescopic motor (9), the first mechanical finger (7) and the second mechanical finger (10) respectively move forwards and backwards along a telescopic slideway (2-1) on the mechanical arm on the corresponding side through the sliding telescopic sleeve (2-2); the first mechanical finger (7) consists of an L-shaped supporting plate (7-1), a transverse front push plate (7-2) transversely arranged at the front end of a vertical supporting plate of the L-shaped supporting plate (7-1) and a thimble (7-3) vertically arranged at the free end of the transverse supporting plate of the L-shaped supporting plate (7-1), and the L-shaped supporting plate (7-1) is arranged on a first telescopic motor rotating shaft (8-1) through a sliding telescopic sleeve (2-2); the second mechanical finger (10) consists of a vertical supporting plate (10-1) and front and rear hook-shaped plates (10-2, 10-3) respectively arranged at the front end and the rear end of the vertical supporting plate (10-1), hook-shaped parts of the front and rear hook-shaped plates (10-2, 10-3) are arranged in opposite directions, and the vertical supporting plate (10-1) is arranged on a second telescopic motor rotating shaft (9-1) through a sliding telescopic sleeve;
the first mechanical arms (2) and the second mechanical arms (3) are symmetrically arranged on the main body platform (1) through rotating shafts (6), an electric control clamping mechanism (5) is arranged between the first mechanical arms (2) and the second mechanical arms (3), the electric control clamping mechanism (5) comprises a third telescopic motor (5-1) and a telescopic connecting rod, and the first mechanical arms (2) and the second mechanical arms (3) are driven to open or clamp under the action of the third telescopic motor (5-1) and the telescopic connecting rod;
when the insulator chain bowl head (11) is dismounted, the thimble (7-3) on the first mechanical finger (7) is opposite to the insertion end of the safety pin (12) of the insulator chain bowl head, the transverse front push plate (7-2) is opposite to the mounting end of the safety pin (12) of the insulator chain bowl head, the hook parts of the front hook plate (10-2) and the rear hook plate (10-3) arranged on the second mechanical finger (10) are opposite to the spherical hanging ring (13) at the lower end of the insulator chain, and the thimble (7-3) is driven to move forwards under the action of the telescopic device to push out the safety pin (12) and the front hook plate (10-2) is moved backwards to pull out the spherical hanging ring (13), so that the insulator chain bowl head (11) is dismounted; or the transverse front push plate (7-2) is driven to move backwards under the action of the telescopic device to install the safety pin (12) and the rear hook plate (10-3) to move forwards, and the spherical hanging ring (13) is pushed into the bowl head groove (14) of the bowl head hanging plate, so that the bowl head (11) of the insulator string is installed.
2. The power transmission line vertical insulator string bowl head dismounting device according to claim 1, wherein: the main body platform (1) is provided with a lifting mechanism (4) which is connected with the transmission line travelling mechanism, the lifting mechanism (4) consists of a lifting motor and a lifting rod, the lifting mechanism is arranged on the transmission line travelling mechanism (15) through the lifting rod, and the main body platform (1) can adjust the height of the lifting mechanism along the lifting rod under the action of the lifting motor.
3. The power transmission line vertical insulator string bowl head dismounting device according to claim 1, wherein: when the insulator string bowl head (11) is disassembled, the ejector pin (7-3) is driven to move forwards under the action of the first telescopic motor (8) to push out the safety pin (12), and the front hook-shaped plate (10-2) of the second mechanical finger (10) is driven to move backwards under the action of the second telescopic motor (9) to pull out the spherical hanging ring (13), so that the insulator string bowl head (11) is disassembled; or the transverse front pushing plate (7-2) is driven to move the safety pin (12) backwards under the action of the first telescopic motor (8), the rear hook plate (10-3) of the second mechanical finger (10) is driven to move forwards under the action of the second telescopic motor (9), and the spherical hanging ring (13) is pushed into the bowl head groove (14) of the bowl head hanging plate, so that the installation of the bowl head (11) of the insulator string is realized.
4. The power transmission line vertical insulator string bowl head dismounting device according to claim 1, wherein: the telescopic connecting rod consists of a left telescopic rod (5-2), a right telescopic rod (5-3) and a telescopic sleeve (5-4), the telescopic sleeve (5-4) is sleeved on a rotating shaft (5-5) of a third telescopic motor, the left telescopic rod and the right telescopic rod (5-2, 5-3) are symmetrically arranged on the telescopic sleeve (5-4), one end of the telescopic connecting rod is fixed on the telescopic sleeve (5-4), the other end of the telescopic connecting rod is respectively fixed on a first mechanical arm and a second mechanical arm (2, 3), and the telescopic sleeve (5-4) moves back and forth along the rotating shaft (5-5) of the third telescopic motor under the action of the third telescopic motor, so that the first mechanical arm and the second mechanical arm (2, 3) are driven to open or clamp.
5. The power transmission line vertical insulator string bowl head dismounting device according to claim 1, wherein: the dismounting device further comprises a control box (16) and a transmission line travelling mechanism (15), the main body platform (1) is mounted at the front end of the transmission line travelling mechanism (15) through the lifting mechanism (4), a power supply and a controller are arranged in the control box (16), and the control box (16) is connected with the lifting mechanism (4), the transmission line travelling mechanism (15) and the control ends of the first, second and third telescopic motors (8, 9, 5-1) through control lines.
6. The power transmission line vertical insulator string bowl head dismounting device according to claim 1, wherein: the dismounting device further comprises a multi-azimuth camera (17) mounted on the main body platform (1), the camera is mounted on the main body platform through a rotary bracket, and the signal output end of the camera is connected with the signal input end of the controller or is in wireless connection with the signal input end of the ground monitoring system through a wireless transmitter.
7. The power transmission line vertical insulator string bowl head dismounting device according to claim 1, wherein: the transmission line traveling mechanism (15) consists of a traveling motor (15-3) with a speed reducer and a group of traveling sheaves (15-1) distributed along a straight line, wherein the traveling motor is connected with the power end of each traveling sheave (15-1) or a group of traveling sheaves (15-1) through a transmission mechanism and drives the group of traveling sheaves to rotate simultaneously, and the transmission line traveling mechanism (15) is clamped on a transmission line (18) through the traveling sheaves (15-1) and travels along the transmission line (18) under the action of the traveling motor.
8. The power transmission line vertical insulator string bowl head dismounting device according to claim 3, wherein: the height of the first mechanical finger (7) is lower than that of the second mechanical finger (10), a first supporting plate which extends downwards is arranged at the free end of an L-shaped supporting plate (7-1) of the first mechanical finger (7), and the thimble (7-3) is arranged on the first supporting plate and is parallel to a vertical supporting plate of the L-shaped supporting plate (7-1); the front end of the vertical support plate of the L-shaped support plate (7-1) is provided with a second support plate which extends downwards, the transverse front push plate (7-2) is arranged on the second support plate and is parallel to the transverse support plate of the L-shaped support plate (7-1), and the lengths of the downward extension of the first support plate and the downward extension of the second support plate are equal.
9. The power transmission line vertical insulator string bowl head dismounting device according to claim 5, wherein: the dismounting device further comprises a remote controller, the remote controller is in communication connection with the camera (17) and the control box (16) through a wireless transceiver, and control signals are given to the control box through the remote controller, so that the power transmission line travelling mechanism (15), the camera (17) and the first, second and third telescopic motors (8, 9, 5-1) are controlled.
10. The power transmission line vertical insulator string bowl head dismounting device according to claim 7, wherein: a safety mechanism (15-2) for preventing the traveling sheave (15-1) from being separated from the transmission line is arranged below the traveling sheave (15-1), and the safety mechanism (15-2) comprises one or a group of positioning sheaves and a sheave rotating motor which are arranged below the transmission line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810353480.8A CN108306219B (en) | 2018-04-19 | 2018-04-19 | Bowl head dismounting device for vertical insulator string of power transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810353480.8A CN108306219B (en) | 2018-04-19 | 2018-04-19 | Bowl head dismounting device for vertical insulator string of power transmission line |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108306219A CN108306219A (en) | 2018-07-20 |
| CN108306219B true CN108306219B (en) | 2023-09-12 |
Family
ID=62847455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810353480.8A Active CN108306219B (en) | 2018-04-19 | 2018-04-19 | Bowl head dismounting device for vertical insulator string of power transmission line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108306219B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109301755B (en) * | 2018-11-16 | 2023-11-07 | 国网江苏省电力有限公司镇江供电分公司 | Translation lifting and rotating assembly for insulator dismounting mechanism |
| CN114375939B (en) * | 2021-12-21 | 2023-01-13 | 淮阴工学院 | Controllable intelligent overhead line drives bird ware |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102227076A (en) * | 2011-04-14 | 2011-10-26 | 三峡大学 | Robot used for automatically deicing high tension transmission line |
| CN103112561A (en) * | 2012-11-07 | 2013-05-22 | 哈尔滨工程大学 | Under-actuated AUV (Autonomous Underwater Vehicle) underwater recycling device |
| CN208078518U (en) * | 2018-04-19 | 2018-11-09 | 国网湖北省电力有限公司电力科学研究院 | The vertically insulated substring bowl head attaching/detaching apparatus of transmission line of electricity |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102806543B (en) * | 2012-07-16 | 2016-05-18 | 国家电网公司 | Change insulator chain Electrified operation mechanical hand |
| CN103972821B (en) * | 2014-05-27 | 2015-11-11 | 国家电网公司 | High voltage transmission line live work robot |
| CN104505769B (en) * | 2014-12-16 | 2017-09-22 | 国家电网公司 | A kind of earth potential working straight line pole bowl head assembly and disassembly methods |
| CN104967049A (en) * | 2015-06-29 | 2015-10-07 | 国家电网公司 | Insulator string pushing terminal |
-
2018
- 2018-04-19 CN CN201810353480.8A patent/CN108306219B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102227076A (en) * | 2011-04-14 | 2011-10-26 | 三峡大学 | Robot used for automatically deicing high tension transmission line |
| CN103112561A (en) * | 2012-11-07 | 2013-05-22 | 哈尔滨工程大学 | Under-actuated AUV (Autonomous Underwater Vehicle) underwater recycling device |
| CN208078518U (en) * | 2018-04-19 | 2018-11-09 | 国网湖北省电力有限公司电力科学研究院 | The vertically insulated substring bowl head attaching/detaching apparatus of transmission line of electricity |
Non-Patent Citations (1)
| Title |
|---|
| 邹德华 等 输电线路绝缘子更换带电作业机器人控制方法.高压电器.2016,第52卷(第10期),第0092-0098页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108306219A (en) | 2018-07-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2019382302B2 (en) | A kind of automatic pin shaft disassembly equipment for mine hydraulic support and its applications | |
| CN106312998B (en) | It is a kind of to assist aerial transmission power line robot upper coil inserting apparatus automatically | |
| CN102427209B (en) | Sliding mechanism for obstacle crossing of line inspection robot and line inspection robot equipment | |
| CN203839819U (en) | Obstacle surmounting mechanical arm suitable for power transmission line inspection robot | |
| CN101972526B (en) | Rescue device for small-diameter deep well | |
| CN105666478A (en) | Joint type mechanical arm rapid disassembling and assembling system under nuclear radiation environment | |
| CN108306219B (en) | Bowl head dismounting device for vertical insulator string of power transmission line | |
| CN103972816A (en) | Obstacle-crossing mechanical arm suitable for power transmission line inspection robot | |
| CN106312996B (en) | Overhead transmission line active obstacle travelling robot goes up coil inserting apparatus and method automatically | |
| CN113013783B (en) | Power insulator maintenance construction system and construction method | |
| CN204002635U (en) | A kind of wire rope pulls the upper and lower rig floor device of drilling tool | |
| CN209129555U (en) | A kind of automatic handgrip of drilling rod and full-automatic upper drilling rod mechanical arm | |
| CN209948531U (en) | Equipotential robot for live replacement of suspension insulator string | |
| CN114914844B (en) | Live working robot for power transmission line and application method thereof | |
| CN110625357A (en) | Novel slide rail type tool changing system for shield | |
| CN203112345U (en) | Hanger for mounting shaft coupler of wind driven generator | |
| CN115609563A (en) | Modular live working robot body capable of mounting end platform | |
| CN206088798U (en) | A automation system of plugging into for hoist remote communications | |
| CN201862173U (en) | Rescue device for small-diameter deep well | |
| CN107161923B (en) | Energy storage power station staff protection device | |
| CN207582034U (en) | Spool is more changed trains lift truck body | |
| CN201546175U (en) | Railway bridge erecting machine | |
| CN115126429B (en) | Pure electric power catwalk device | |
| CN216467447U (en) | Telescopic washing gun for cleaning electrified railway contact net | |
| CN216190741U (en) | Safe type 10kV keeps apart insulating baffle lifting means |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |