CN108471079A - A kind of ultra-high-tension power transmission line electric power tower climbing crusing robot - Google Patents
A kind of ultra-high-tension power transmission line electric power tower climbing crusing robot Download PDFInfo
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- CN108471079A CN108471079A CN201810113270.1A CN201810113270A CN108471079A CN 108471079 A CN108471079 A CN 108471079A CN 201810113270 A CN201810113270 A CN 201810113270A CN 108471079 A CN108471079 A CN 108471079A
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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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Abstract
A kind of ultra-high-tension power transmission line electric power tower of disclosure of the invention climbing crusing robot, including upper box, lower box, guide cylinder is equipped on upper box, connecting cylinder is equipped on lower box, screw rod is provided in upper box, it is equipped with main motor in upper box, master gear is installed on the output end of main motor, pinion is installed on screw rod；Be equipped with auxiliary-motor in shell, opening be provided on shell, driving gear is equipped on the output end of auxiliary-motor, be equipped with driven gear on lead screw, claw and shell it is side walls hinged, block is equipped in the end of sleeve, in the end of claw equipped with bending part.The present invention substitutes artificial climbing using upper box and lower box moving up and down on steel tower, and monitoring is detected to the component on steel tower by the detection part on upper box, detection data is fed back to the monitoring center on ground, construction personnel is facilitated quickly to be excluded to relevant obstacle, it is ensured that the stable operation of ultra-high-tension power transmission line.
Description
Technical field
Invention is related to power domain, and in particular to a kind of ultra-high-tension power transmission line electric power tower climbing crusing robot.
Background technology
High voltage transmission line circuit is the artery of electric system, safety work be directly related to power supply stability and
Reliability.It needs that periodically electric power line pole tower and its attachment are overhauled and safeguarded, to ensure the safe and reliable of transmission line of electricity
Operation.The maintenance of country's ultra-high-tension power transmission line at present is safeguarded substantially by the way of manually climbing steel tower, is taken by service personnel
Hand inspection is carried out in band repair and maintenance equipment climbing to steel tower and completes every maintenance task, such as：Isolator detecting, cleaning,
Steel tower maintenance etc., this not only largely consumes the muscle power of service personnel, influences working efficiency, be also absolutely unsafe.With high pressure and spy
The lasting construction of ultra-high-tension power transmission line, the height of iron tower of power transmission line is higher and higher, and artificial climbing is more and more inconvenient, also more
It is dangerous.
Invention content
Goal of the invention is to provide a kind of ultra-high-tension power transmission line electric power tower climbing crusing robot, realization high voltage iron tower
Intelligent patrol detection, reduce the risk factor manually climbed.
Invention is achieved through the following technical solutions：
A kind of ultra-high-tension power transmission line electric power tower climbing crusing robot, including upper box and lower box, described
Upper box is equipped with guide cylinder, and connecting cylinder is equipped on the lower box, and axial along connecting cylinder is equipped in its excircle wall fan
Protrusion is rotated in the upper box and is set along being axially provided on its inner peripheral wall for guide cylinder and the matched groove of protrusion
It is equipped with the screw rod with connecting cylinder inner peripheral wall screw-thread fit, main motor is additionally provided in upper box, and on the output end of main motor
Master gear is installed, is located on one end inside upper box in screw rod and is equipped with and the matched pinion of master gear；Described
Upper box and lower box are provided with connecting hole on the side wall of homonymy each other, and locking machine is equipped in each described connecting hole
Structure；The retaining mechanism includes connecting pole and shell, and connecting pole is fixed in the housing sidewall, and connecting pole and connecting hole
Screw-thread fit is equipped with auxiliary-motor in the shell, the opening of face connecting pole is provided on shell, bearing is fixed on opening
It is interior, driving gear is installed on the output end of auxiliary-motor, through-hole is being provided with in the housing sidewall of the connecting pole heteropleural, is served as a contrast
Set is fixed in through-hole, the sleeve of screw-thread fit therewith is equipped on bushing inner peripheral wall, one end of lead screw is rotatably arranged on institute
It states in bearing, the inner peripheral wall screw-thread fit of the other end of lead screw and the sleeve, is equipped on lead screw and is mutually nibbled with driving gear
The driven gear of conjunction further includes the claw of two and the bushing homonymy, each side wall of the claw with the shell
It is hinged, it is fixed with compact heap in the end of sleeve, each described claw is side walls hinged by connecting rod and the compact heap, and
It is equipped with the bending part for steel tower stabilizer blade to be clamped in the end of the claw.In the prior art, the iron in ultra-high-tension power transmission line
The detection of each component and cleaning process on tower when safeguarding such as isolator detecting, cleaning and steel tower, need manually to climb supreme
Spending top in larger steel tower could realize, and such working at height is different from common working at height, not only makees on steel tower
The height above sea level of industry is high, and construction personnel is under high pressure high-risk environment always, and then the climbing difficulty of construction personnel is caused to increase
Greatly, the Probability for also resulting in safety accident increases；In this regard, applicant develops a kind of steel tower climbing use with regard to such defect
Crusing robot substitutes artificial climbing using upper box and lower box moving up and down on steel tower, and upper by being mounted on
Detection part on babinet is detected monitoring to the component on steel tower, and detection data is fed back to ground in time
Monitoring center, to facilitate construction personnel quickly effectively to be excluded to relevant obstacle, it is ensured that ultra-high-tension power transmission line stablizes fortune
Row is substituted manually by machinery, avoid the construction personnel in frequently detection process and climbed for several times, reduce high-altitude behaviour
The danger coefficient of work；
When specifically used, it is located at upper box and steel tower stabilizer blade is locked respectively with the retaining mechanism on lower box,
I.e. auxiliary-motor starts, and the output end of auxiliary-motor drives driving gear rotation, and driving gear is rotated with the driven tooth on lead screw
Dynamic, inner peripheral wall and the wire rod thread of middle sleeve coordinate, and the inner peripheral wall screw-thread fit of the outer circle wall of sleeve and bushing,
I.e. after auxiliary-motor startup, compact heap can be driven to be moved towards close to the direction of the shell, that is, realize the closure of two claws,
I.e. be located at clawed end portions bending section the madial wall wall of steel tower stabilizer blade is fixed, and compact heap then with steel tower stabilizer blade
Lateral wall is contacted and is oppressed it, and then ensures that upper box and lower box are fastened on steel tower stabilizer blade；And in upper box
When carrying out relative motion relative to steel tower with lower box, main motor starts, and then master gear is driven to be meshed with pinion, simultaneously
Screw rod is driven to start to be freely rotated, due to the cooperation of groove and protrusion on guide cylinder so that when screw rod rotates, with nowel
The connecting cylinder of body connection can only along the axial movement of guide cylinder, and then realize between upper box and lower box the increase of spacing or
It reduces；When upper box is climbed relative to lower box on steel tower stabilizer blade, the retaining mechanism on lower box keeps it
Standing state, and steel tower stabilizer blade is fastened completely, and the retaining mechanism on upper box then starts to operate as follows, that is, is located at upper
Auxiliary-motor in babinet master starts, and lead screw is driven to rotate clockwise, and because of the cooperation between lead screw and sleeve, bushing, it compresses
BOB(beginning of block) is moved along the direction far from the shell, and is then opened in the case where the linkage of connecting rod is reacted with two hinged claws of compact heap
Begin to open, i.e., upper box is detached from steel tower stabilizer blade, at this point, starting active motor, is allowed to rotate clockwise so that upper box
Start to move at the top of steel tower along the axial direction of connecting cylinder, and the spacing between upper box and lower box increases, and then opens again
The dynamic retaining mechanism in upper box so that the auxiliary-motor in retaining mechanism starts, and band moving sleeve carries out opposite fortune with lead screw
Dynamic, i.e., compact heap is moved towards close to the direction of shell again, and two claws then realize the locking to steel tower stabilizer blade again；With this
Meanwhile starting the auxiliary-motor for being located at retaining mechanism in lower box, and then lead screw is driven to rotate clockwise, two on nowel body sidewall
A claw then starts to open under the linkage of connecting rod reaction, that is, realizes the lock release to steel tower stabilizer blade；Then it is again started up, makes
The main motor obtained in upper box rotates counterclockwise, and then drives axial zenith directions towards steel tower stabilizer blade of the lower box along guide cylinder
Mobile, until being moved to the extreme position that lower box moves up, restarting is located at the auxiliary-motor in lower box, is allowed to drive lead screw
Rotation, and then compact heap is pushed to be moved towards close to the direction of the shell, i.e., it is realized again to the locking of steel tower stabilizer blade, is so pressed
According to above-mentioned steps, that is, complete upper box and rising of the lower box on steel tower stabilizer blade, and the step-down operation of upper box and lower box,
It is then on the contrary.Wherein, respectively by the forward and reverse rotation of auxiliary-motor in upper box and lower box, and then realize claw to steel tower stabilizer blade
Locking and releasing, to realize the rise and fall of upper box and lower box, and then substitute manually to first device of steel tower middle and upper part
Part is detected, repairs, the occurrence probability of safety accident when thoroughly avoiding artificial working at height, while improving steel tower inspection
It surveys, the safety reliability of repair.
The outboard end end face of the compact heap is arc-shaped.Further, steel tower stabilizer blade is the angle steel of triangle, and by institute
State compact heap outboard end end face setting it is in the arc-shaped so that compact heap when being contacted with steel tower stabilizer blade outer corners outstanding,
It is point contact between arc surface and outer corners, and contacts point A, and utilizes two claws and two on the inside of steel tower stabilizer blade
End in contact, and contact point is B, C, therefore, three contact points A, B, C constitute a triangle, are especially encountering iron foot support
When there is bump on the corner angle in outside, the end face outside being arc-shaped on compact heap can wrap up the bump, Jin Erzeng
Add the clamping stability between two claws and steel tower stabilizer blade, prevents upper box from skidding on steel tower with lower box.
Cylinder and position-limiting drum are fixed on the connecting cylinder, along the axial direction of position-limiting drum, wall is provided with sliding slot on the outside,
Pin is slidably arranged in position-limiting drum, and fixture block is fixed on pin, and spring is respectively and fixedly provided on the both ends side wall in position-limiting drum,
And the end of two springs is connect with the two side walls of the fixture block respectively, the output end of cylinder pass through after the sliding slot with
Fixture block connects, and limit hole is provided on connecting cylinder, pin hole is provided on the screw rod, when the screw rod is mutually transported with connecting cylinder
When moving to greatest limit position, cylinder drives the pin respectively with the limit hole, screw hole centering, and the screw rod is locked.
Further, it is equipped on upper box or lower box for inspection devices such as line fault detections, when upper box and nowel
When body is moved to detection station, it is necessary to assure the clamping stability of upper box and lower box, therefore, applicant are solid on connecting cylinder
Determine cylinder and position-limiting drum, and be provided with pin hole on screw rod, mutual be moved through is carried out between screw rod, connecting cylinder and guide cylinder
Cheng Shi, screw rod does circumferential movement relative to connecting cylinder, and connecting cylinder axially moves relative to guide cylinder, when screw rod and connecting cylinder
When mutually moving to greatest limit position, i.e., when the spacing between upper box and lower box reaches maximum, start cylinder so that gas
Pin on cylinder output end enters to the pin hole centering on screw rod so that screw rod is locked, that is, utilizes between screw rod and connecting cylinder
Screw-thread fit and pin and pin hole between cooperation so that between upper box and lower box keep stablize, with facilitate detection
The normal inspection of equipment.Wherein, at detection station transformation (increase or decline), the output end retraction of cylinder so that pin
It is detached between column and pin hole, at this point, it is equipped with fixture block in the upper of pin, and the both sides of fixture block are connected separately with spring, and two
The end of a spring is connect with position-limiting drum both ends side wall respectively, you can effectively prevent the output end of cylinder that pin is driven to occur excessive
Displacement, that is, can not be between pin hole and pin when avoiding the spacing maximum between upper box and lower box, it is ensured that pin
Lock function comes into force.
On the axis direction of the position-limiting drum, the axial length of the sliding slot is more than the axial length of the pin hole.Make
To be preferred, the axial length of sliding slot is the displacement that fixture block moves along a straight line, and the axial length of sliding slot is set greater than
The axial length of pin hole, and one, the spring at fixture block both ends is compressed, another is then stretched, and then prevents pin after reforwarding
It is dynamic, protective action is played to cylinder to facilitate.
Further include block, the block is arranged in the upper box, and blind hole is provided on the block, the master
The output end of motor is rotatably arranged in blind hole, and there are spacing between the master gear and the block.Preferably, due to
Driving part of the main motor as upper box and lower box movement in upper box, by being fixed in upper box for main motor, and
It is provided with block in upper box, the installation point that the master gear on main motor output end is then placed in block and main motor is set
Between, and then ensure stability enhancing of the master gear when coordinating with driven gear, ensure upper box and lower box it is steady on
It rises or declines.
Invention compared with prior art, has the following advantages and advantages：
1, a kind of ultra-high-tension power transmission line electric power tower climbing crusing robot is invented, using upper box and lower box in iron
Moving up and down to substitute artificial climbing, and by the detection part on upper box come to the component on steel tower on tower
It is detected monitoring, and detection data is fed back to the monitoring center on ground in time, to facilitate construction personnel quickly to correlation
Obstacle effectively excluded, it is ensured that the stable operation of ultra-high-tension power transmission line is substituted artificial by machinery, avoided frequent
Detection process in construction personnel climbed for several times, reduce the danger coefficient of high-altitude application；
2, a kind of ultra-high-tension power transmission line electric power tower climbing crusing robot is invented, passes through upper box and lower box respectively
In the forward and reverse rotation of auxiliary-motor, and then locking and releasing of the claw to steel tower stabilizer blade are realized, to realize upper box and lower box
Rise and fall, and then substitute manually the component of steel tower middle and upper part is detected, is repaired, thoroughly avoid artificial high-altitude
The occurrence probability of safety accident when operation, while improving the safety reliability of steel tower detection, repair；
3, a kind of ultra-high-tension power transmission line electric power tower climbing crusing robot is invented, (is increased in detection station transformation
Or decline) when, the output end retraction of cylinder so that detached between pin and pin hole, at this point, being equipped with card in the upper of pin
Block, and the both sides of fixture block are connected separately with spring, and the end of two springs is connect with position-limiting drum both ends side wall respectively, you can have
Effect prevents the output end of cylinder from driving pin that over-travel occurs, that is, when avoiding the spacing maximum between upper box and lower box
It can not centering between pin hole and pin, it is ensured that the lock function of pin comes into force.
Description of the drawings
Attached drawing described herein is used for providing further understanding inventive embodiments, constitutes part of this application,
The restriction to inventive embodiments is not constituted.In the accompanying drawings：
Fig. 1 is the structural schematic diagram of invention；
Fig. 2 is the structural schematic diagram of driving part；
Fig. 3 is the structural schematic diagram of retaining mechanism；
Fig. 4 is the side view of retaining mechanism；
Fig. 5 is the front view of retaining mechanism；
Fig. 6 is that retaining mechanism opens schematic diagram.
Label and corresponding parts title in attached drawing：
1- steel towers stabilizer blade, 2- upper boxes, 3- connecting cylinders, 4- screw rods, 5- lower boxes, 6- retaining mechanisms, 7- connecting holes, 8- master
Motor, 9- blocks, 10- pinions, 11- position-limiting drums, 12- pins, 13- cylinders, 14- connecting plates, 15- sliding slots, 16- fixture blocks, 17-
Spring, 18- connecting poles, 19- driving gears, 20- bearings, 21- driven gears, 22- auxiliary-motors, 23- lead screws, 24- shells, 25-
Bushing, 26- sleeves, 27- claws, 28- connecting rods, 29- compact heaps, 30- bending parts, 31- guide cylinders, 32- protrusions.
Specific implementation mode
To make the purpose, technical scheme and advantage of invention be more clearly understood, with reference to embodiment and attached drawing, to invention
It is described in further detail, the exemplary embodiment and its explanation of invention are only used for explaining invention, are not intended as to invention
Restriction.
Embodiment 1
As shown in figs. 1 to 6, the present embodiment includes upper box 2 and lower box 5, and guide cylinder is equipped on the upper box 2
31, connecting cylinder 3 is equipped on the lower box 5, axial along connecting cylinder 3 is equipped with protrusion 32 in its excircle wall fan, along guiding
Axial direction of cylinder 31 be provided on its inner peripheral wall with 32 matched groove of protrusion, in the upper box 2 rotation be provided with and
The screw rod 4 of 3 inner peripheral wall screw-thread fit of connecting cylinder is additionally provided with main motor 8 in upper box 2, and pacifies on the output end of main motor 8
Equipped with master gear, it is located on one end inside upper box 2 in screw rod 4 and is equipped with and the matched pinion of master gear 10；Institute
It states upper box 2 and lower box 5 and is provided with connecting hole 7 on the side wall of homonymy each other, lock is equipped in each described connecting hole 7
Tight mechanism 6；The retaining mechanism 6 includes connecting pole 18 and shell 24, and connecting pole 18 is fixed on 24 side wall of the shell, and
Connecting pole 18 and 7 screw-thread fit of connecting hole, auxiliary-motor 22 is equipped in the shell 24, face connecting pole is provided on shell 24
18 opening, bearing 20 are fixed in opening, and driving gear 19 is equipped on the output end of auxiliary-motor 22, with the connection
It is provided with through-hole on 24 side wall of shell of 18 heteropleural of column, bushing 25 is fixed in through-hole, is equipped with therewith on 25 inner peripheral wall of bushing
One end of the sleeve 26 of screw-thread fit, lead screw 23 is rotatably arranged in the bearing 20, the other end of lead screw 23 and the sleeve
26 inner peripheral wall screw-thread fit is equipped with the driven gear 21 being meshed with driving gear 19 on lead screw 23, further includes two
With the claw 27 of 25 homonymy of the bushing, each described claw 27 is side walls hinged with the shell 24, in sleeve 26
End is fixed with compact heap 29, each described claw 27 is side walls hinged by connecting rod 28 and the compact heap 29, and in institute
The end of claw 27 is stated equipped with the bending part 30 for steel tower stabilizer blade 1 to be clamped.
In the prior art, the detection of each component and cleaning process, such as insulator on steel tower in ultra-high-tension power transmission line
When detection, cleaning and steel tower are safeguarded, need top in manually climbing to the larger steel tower of height that could realize, and such high-altitude
Operation is different from common working at height, and the height above sea level of the not only operation on steel tower is high, and construction personnel is in high pressure always
Under high-risk environment, and then the climbing difficulty of construction personnel is caused to increase, the Probability for also resulting in safety accident increases；It is right
This, applicant develops a kind of steel tower climbing crusing robot with regard to such defect, using upper box 2 and lower box 5 in steel tower
On move up and down to substitute artificial climbing, and by the detection part on upper box 2 come to the component on steel tower
It is detected monitoring, and detection data is fed back to the monitoring center on ground in time, to facilitate construction personnel quickly to correlation
Obstacle effectively excluded, it is ensured that the stable operation of ultra-high-tension power transmission line is substituted artificial by machinery, avoided frequent
Detection process in construction personnel climbed for several times, reduce the danger coefficient of high-altitude application；
When specifically used, it is located at upper box 2 and steel tower stabilizer blade 1 is locked respectively with the retaining mechanism 6 on lower box 5
Tightly, i.e., auxiliary-motor 22 starts, and the output end of auxiliary-motor 22 drives driving gear 19 to rotate, and on driving gear 19 and lead screw 23
Driven gear 21 rotate, the inner peripheral wall of middle sleeve 26 and 23 screw-thread fit of lead screw, and the outer circle wall and lining of sleeve 26
The inner peripheral wall screw-thread fit of set 25 can drive compact heap 29 towards close to the shell 24 that is, after the startup of auxiliary-motor 22
Direction is moved, that is, is realized the closure of two claws 27, that is, be located at madial wall wall of the bending section to steel tower stabilizer blade 1 of 27 end of claw
It fixes, and compact heap 29 is then contacted with the lateral wall of steel tower stabilizer blade 1 and is oppressed it, and then ensure upper box
2 and lower box 5 be fastened on steel tower stabilizer blade 1；And when upper box 2 and lower box 5 carry out relative motion relative to steel tower, it is main
Motor 8 starts, and then master gear is driven to be meshed with pinion 10, while screw rod 4 being driven to start to be freely rotated, due to being oriented to
The cooperation of groove and protrusion 32 on cylinder 31 so that when screw rod 4 rotates, the connecting cylinder 3 being connect with lower box 5 can only be along guiding
The axial movement of cylinder 31, and then realize the increase or diminution of spacing between upper box 2 and lower box 5；When upper box 2 relative to
For lower box 5 when being climbed on steel tower stabilizer blade 1, the retaining mechanism 6 being located on lower box 5 keeps its standing state, and by iron
Tower stabilizer blade 1 fastens completely, and the retaining mechanism 6 on upper box 2 then starts to operate as follows, that is, is located in the master of upper box 2
Auxiliary-motor 22 starts, and lead screw 23 is driven to rotate clockwise, and because of the cooperation between lead screw 23 and sleeve 26, bushing 25, it compresses
Block 29 starts to move along the direction far from the shell 24, and two claws 27 hinged with compact heap 29 are then in the connection of connecting rod 28
Start to open under dynamic reaction, i.e., upper box 2 is detached from steel tower stabilizer blade 1, at this point, starting active motor, is allowed to turn clockwise
It is dynamic so that upper box 2 starts to move at the top of steel tower along the axial direction of connecting cylinder 3, and between upper box 2 and lower box 5 between
Away from increase, it is then again started up the retaining mechanism 6 in upper box 2 so that the auxiliary-motor 22 in retaining mechanism 6 starts, band
Moving sleeve 26 carries out relative motion with lead screw 23, i.e., compact heap 29 is moved towards close to the direction of shell 24 again, and two claws
The locking to steel tower stabilizer blade 1 is then realized again in 27 bending section 30；At the same time, start and be located at retaining mechanism 6 in lower box 5
Auxiliary-motor 22, and then lead screw 23 is driven to rotate clockwise, two claws 27 on 5 side wall of lower box are then anti-in the linkage of connecting rod 28
It should start to open down, that is, realize the lock release to steel tower stabilizer blade 1；Then it is again started up so that the main motor 8 in upper box 2
It rotates counterclockwise, and then lower box 5 is driven to be moved along the axial zenith directions towards steel tower stabilizer blade 1 of guide cylinder 31, until mobile
The extreme position moved up to lower box 5, restarting are located at the auxiliary-motor 22 in lower box 5, are allowed to that lead screw 23 is driven to rotate, into
And push compact heap 29 towards being moved close to the direction of the shell 24, i.e., realize the locking to steel tower stabilizer blade 1 again, so according to
Above-mentioned steps complete upper box 2 and rising of the lower box 5 on steel tower stabilizer blade 1, and upper box 2 and the decline of lower box 5 are grasped
Make, then it is on the contrary.Wherein, respectively by 22 forward and reverse rotation of auxiliary-motor in upper box 2 and lower box 5, and then claw 27 is realized
Locking and releasing to steel tower stabilizer blade 1 to realize the rise and fall of upper box 2 and lower box 5, and then substitute manually to steel tower
The component of middle and upper part is detected, repairs, and the occurrence probability of safety accident, carries simultaneously when thoroughly avoiding artificial working at height
The safety reliability of high steel tower detection, repair.
Further, steel tower stabilizer blade 1 is the angle steel of triangle, and the outboard end end face of the compact heap 29 is arranged to justify
Arc so that compact heap 29 connects between arc surface and outer corners for when being contacted with 1 outer corners outstanding of steel tower stabilizer blade
It touches, and contacts point A, and using two end in contact of two claws 27 and 1 inside of steel tower stabilizer blade, and contact point is B, C, because
This, three contact points A, B, C constitute a triangle, especially occur 32 object of protrusion on the corner angle encountered on the outside of iron foot support
When, the end face outside being arc-shaped on compact heap 29 can wrap up 32 object of protrusion, and then increase by two claws 27 and steel tower
Clamping stability between stabilizer blade 1 prevents upper box 2 from skidding on steel tower with lower box 5.
In the present embodiment, cylinder 13 and position-limiting drum 11 are fixed on the connecting cylinder 3, along the axial direction of position-limiting drum 11
Wall is provided with sliding slot 15 on the outside, and pin 12 is slidably arranged in position-limiting drum 11, and fixture block 16 is fixed on pin 12, is being limited
It is respectively and fixedly provided with spring 17 on both ends side wall in cylinder 11, and the end of two springs 17 two with the fixture block 16 respectively
Side wall connects, and the output end of cylinder 13 is connect after the sliding slot 15 with fixture block 16, and is provided with limit hole on connecting cylinder 3,
It is provided with pin hole on the screw rod 4, when the screw rod 4 mutually moves to greatest limit position with connecting cylinder 3, cylinder 13 drives
With the limit hole, screw hole centering, the screw rod 4 is locked respectively for the pin 12.Pacify on upper box 2 or lower box 5
Equipped with the inspection devices such as detecting for line fault, when upper box 2 and lower box 5 are moved to detection station, it is necessary to assure on
The clamping stability of babinet 2 and lower box 5, therefore, applicant fix cylinder 13 and position-limiting drum 11 on connecting cylinder 3, and
Be provided with pin hole on screw rod 4, when carrying out mutual motion process between screw rod 4, connecting cylinder 3 and guide cylinder 31, screw rod 4 relative to
Connecting cylinder 3 does circumferential movement, and connecting cylinder 3 axially moves relative to guide cylinder 31, when screw rod 4 and connecting cylinder 3 mutually move
When to greatest limit position, i.e., when the spacing between upper box 2 and lower box 5 reaches maximum, start cylinder 13, and cylinder 13 is defeated
Outlet is connect by connecting plate 14 with fixture block 16, and fixture block 16 is fixed on pin 12, i.e., 13 output end of cylinder drives pin 12
Enter to the pin hole centering on screw rod 4 so that screw rod 4 is locked, that is, utilize the screw-thread fit between screw rod 4 and connecting cylinder 3 with
And the cooperation between pin 12 and pin hole so that keep stablizing between upper box 2 and lower box 5, to facilitate detection device just
Normal inspection.Wherein, in detection station transformation (increase or decline), the output end retraction of cylinder 13 so that pin 12 with
It is detached between pin hole, at this point, it is equipped with fixture block 16 in the upper of pin 12, and the both sides of fixture block 16 are connected separately with spring 17,
And the end of two springs 17 is connect with 11 both ends side wall of position-limiting drum respectively, you can the output end of cylinder 13 is effectively prevent to drive pin
Over-travel occurs for column 12, that is, can not between pin hole and pin 12 when avoiding the spacing maximum between upper box 2 and lower box 5
Centering, it is ensured that the lock function of pin 12 comes into force.
Preferably, the axial length of sliding slot 15 is the displacement that fixture block 16 moves along a straight line, by the axis of sliding slot 15
The axial length of pin hole being set greater than to length, and 17 1, the spring at 16 both ends of fixture block is compressed, another is then stretched,
And then pin 12 is prevented to continue to move, protective action is played to cylinder 13 to facilitate.
The present embodiment further includes block 9, and the block 9 is arranged in the upper box 2, and is arranged on the block 9
There is blind hole, the output end of the main motor 8 to be rotatably arranged in blind hole, and between the master gear and the block 9 there are
Away from.Preferably, due to the driving part that the main motor 8 in upper box 2 is moved as upper box 2 and lower box 5, by auxiliary-motor
22 are fixed in upper box 2, and block 9 is provided in upper box 2, and the master gear being arranged on 8 output end of main motor is then
It is placed between block 9 and the installation point of main motor 8, and then ensures that stability of the master gear when coordinating with driven gear 21 increases
By force, ensure steady rising or decline of the upper box 2 with lower box 5.
Above-described specific implementation mode has carried out further in detail the purpose, technical solution and advantageous effect of invention
It describes in detail bright, it should be understood that the foregoing is merely the specific implementation mode of invention, is not used to limit the protection of invention
Range, all within the spirit and principle of invention, any modification, equivalent substitution, improvement and etc. done should be included in invention
Within protection domain.
Claims (5)
1. a kind of ultra-high-tension power transmission line electric power tower climbing crusing robot, including upper box (2) and lower box (5),
It is characterized in that：It is equipped with guide cylinder (31) on the upper box (2), connecting cylinder (3) is equipped on the lower box (5), along even
The axial of connect cylinder (3) is equipped with protrusion (32) in its excircle wall fan, and axial along guide cylinder (31) is provided on its inner peripheral wall
With protrusion (32) matched groove, rotates and be provided with and connecting cylinder (3) inner peripheral wall screw-thread fit in the upper box (2)
Screw rod (4), main motor (8) is additionally provided in upper box (2), and master gear is installed on the output end of main motor (8), in spiral shell
Bar (4), which is located on the internal one end of upper box (2), to be equipped with and the matched pinion of master gear (10)；In the upper box
(2) and lower box (5) is provided with connecting hole (7) on the side wall of homonymy each other, and lock is equipped in each described connecting hole (7)
Tight mechanism (6)；The retaining mechanism (6) includes connecting pole (18) and shell (24), and connecting pole (18) is fixed on the shell
(24) on side wall, and connecting pole (18) and connecting hole (7) screw-thread fit, auxiliary-motor (22) is equipped in the shell (24),
The opening of face connecting pole (18) is provided on shell (24), bearing (20) is fixed in opening, the output end in auxiliary-motor (22)
On driving gear (19) is installed, through-hole, bushing (25) are provided on shell (24) side wall with the connecting pole (18) heteropleural
It is fixed in through-hole, the sleeve (26) of screw-thread fit therewith is equipped on bushing (25) inner peripheral wall, one end of lead screw (23) turns
Dynamic setting is in the bearing (20), the inner peripheral wall screw-thread fit of the other end and the sleeve (26) of lead screw (23), in silk
Bar (23) is equipped with the driven gear (21) being meshed with driving gear (19), further includes two and the bushing (25) homonymy
Claw (27), each described claw (27) is side walls hinged with the shell (24), is fixed in the end of sleeve (26)
Compact heap (29), each described claw (27) is side walls hinged by connecting rod (28) and the compact heap (29), and described
The end of claw (27) is equipped with the bending part (30) for steel tower stabilizer blade (1) to be clamped.
2. a kind of ultra-high-tension power transmission line electric power tower according to claim 1 climbing crusing robot, it is characterised in that：
The outboard end end face of the compact heap (29) is arc-shaped.
3. a kind of ultra-high-tension power transmission line electric power tower according to claim 1 climbing crusing robot, it is characterised in that：
Cylinder (13) and position-limiting drum (11) are fixed on the connecting cylinder (3), wall is opened on the outside along the axial direction of position-limiting drum (11)
There are sliding slot, pin (12) to be slidably arranged in position-limiting drum (11), fixture block (16) is fixed on pin (12), in position-limiting drum (11)
Be respectively and fixedly provided with spring (17) on interior both ends side wall, and the end of two springs (17) respectively with the fixture block (16) two
A side wall connection, the output end of cylinder (13) is connect after the sliding slot with fixture block (16), and is provided with limit on connecting cylinder (3)
Position hole, pin hole is provided on the screw rod (4), when the screw rod (4) and connecting cylinder (3) mutually move to greatest limit position
When, cylinder (13) drives the pin (12) that with the limit hole, screw hole centering, the screw rod (4) are locked respectively.
4. a kind of ultra-high-tension power transmission line electric power tower according to claim 3 climbing crusing robot, it is characterised in that：
On the axis direction of the position-limiting drum (11), the axial length of the sliding slot is more than the axial length of the pin hole.
5. a kind of ultra-high-tension power transmission line electric power tower climbing crusing robot according to Claims 1 to 4 any one,
It is characterized in that：Further include block (9), block (9) setting is set in the upper box (2) on the block (9)
It is equipped with blind hole, the output end of the main motor (8) is rotatably arranged in blind hole, and between the master gear and the block (9)
There are spacing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810113270.1A CN108471079B (en) | 2018-02-06 | 2018-02-06 | A kind of ultra-high-tension power transmission line electric power tower climbing crusing robot |
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| CN201810113270.1A CN108471079B (en) | 2018-02-06 | 2018-02-06 | A kind of ultra-high-tension power transmission line electric power tower climbing crusing robot |
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| CN108471079B CN108471079B (en) | 2019-03-12 |
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| CN109263742A (en) * | 2018-09-29 | 2019-01-25 | 山东建筑大学 | Transmission tower climbing robot clamping device and its robot |
| CN110768159A (en) * | 2019-11-12 | 2020-02-07 | 国家电网有限公司 | Auxiliary inspection robot and method for extra-high voltage transmission line inspection |
| CN111641160A (en) * | 2020-04-23 | 2020-09-08 | 武汉船用机械有限责任公司 | Cable laying device and cable laying trough |
| CN115021145A (en) * | 2022-06-16 | 2022-09-06 | 杭州申昊科技股份有限公司 | Robot climbing self-stabilizing method |
| WO2023087795A1 (en) * | 2021-11-18 | 2023-05-25 | 国网湖南省电力有限公司 | Bionic tower climbing robot and tower climbing method thereof |
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| CN111641160A (en) * | 2020-04-23 | 2020-09-08 | 武汉船用机械有限责任公司 | Cable laying device and cable laying trough |
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| CN115021145A (en) * | 2022-06-16 | 2022-09-06 | 杭州申昊科技股份有限公司 | Robot climbing self-stabilizing method |
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| CN108471079B (en) | 2019-03-12 |
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Effective date of registration: 20190212 Address after: 235000 Longhu Industrial Park, Huaibei Economic Development Zone, Anhui Province Applicant after: Anhui Baoguang Special Steel Group Wanli Electric Power Tower Co., Ltd. Address before: 610000 Chengdu, Sichuan, Shuangliu District, Dongsheng Street, long bridge 6, 129, 1 units, 9 level 902. Applicant before: Chengdu Ming Jie Technology Co., Ltd. |
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