CN108695804A - A kind of suspension running gear on icing electric wire - Google Patents
A kind of suspension running gear on icing electric wire Download PDFInfo
- Publication number
- CN108695804A CN108695804A CN201810878714.0A CN201810878714A CN108695804A CN 108695804 A CN108695804 A CN 108695804A CN 201810878714 A CN201810878714 A CN 201810878714A CN 108695804 A CN108695804 A CN 108695804A
- Authority
- CN
- China
- Prior art keywords
- forearm
- unit
- postbrachium
- workbench
- suspension
- 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.)
- Granted
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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
Abstract
Suspension running gear on a kind of icing electric wire provided by the invention, including the workbench that dangles, it is provided with workbench suspension unit, forearm lifting unit and postbrachium lifting unit on pendency workbench, forearm lifting unit and postbrachium lifting unit are arranged symmetrically centered on the vertical axis for the workbench that dangles;Wherein, forearm lifting unit control is connected with forearm;The control of postbrachium lifting unit is connected with postbrachium;Forearm, postbrachium and workbench suspension unit are suspended on high-tension bus-bar;This structure can provide the power walked along electric wire, it is not easy to skid, and suspension unit and walking unit are worked independently from each other and do not interfere with each other while realizing reliable suspension on the electric wire for have icicle.
Description
Technical field
The present invention relates to deicing of high voltage wire technical fields, and in particular to the suspension running gear on a kind of icing electric wire.
Background technology
The safety and stability of power Transmission is to maintain the important leverage of national product life.China has wide high-tension electricity
The ice formation issues of transport net, every winter, high-tension bus-bar can all generate power Transmission certain threat, and high-tension bus-bar removes
Ice is an important process of winter electric inspection process operation, but deicing of high voltage wire operation has the characteristics that high-risk is highly difficult,
Be not suitable for the method using manual work, therefore best bet is to use robot deicing.
There is the circuits auxiliary equipment such as a large amount of lead spacer, suspension clamp, damper on high-tension line, for edge
For the deicing robot that high-tension bus-bar is advanced, these are all typical barriers.Therefore for deicing of high voltage wire robot
Research and development, need to solve at first the problem of be exactly to realize safe and reliable traveling and obstacle detouring.
If deicing robot directly can reliablely and stablely walk on the electric wire for have icicle, can with for except
Ice work brings many facilities, however due to electric wire feature closed at both ends, along with icing thickness it is uncertain caused by ice
Column diameter is not known so that this work of robot that research and development can walk on icing electric wire becomes relatively difficult.
Invention content
The purpose of the present invention is to provide the suspension running gears on a kind of icing electric wire, can be in the electric wire for having icicle
While upper realization is reliably hung, the power walked along electric wire is provided, it is not easy to skid, and suspension module and walking module phase
It mutually works independently and does not interfere with each other.
In order to achieve the above object, the technical solution adopted by the present invention is:
Suspension running gear on a kind of icing electric wire provided by the invention, including pendency workbench, dangle on workbench
It is provided with workbench suspension unit, forearm lifting unit, postbrachium lifting unit and control unit, forearm lifting unit and postbrachium liter
Drop unit is arranged symmetrically centered on the vertical axis for the workbench that dangles;Control unit respectively with workbench suspension unit, forearm
Lifting unit is connected with postbrachium lifting unit;
Wherein, forearm lifting unit control is connected with forearm;The control of postbrachium lifting unit is connected with postbrachium;Forearm and postbrachium
It is connect with pendency workbench.
Preferably, pendency workbench includes pendency workbench body, and pendency workbench body is convex structure, described convex
The big end of font structure is opened up there are three mounting hole, respectively the first mounting hole, the second mounting hole and third mounting hole, wherein
First mounting hole is identical with third structure of mounting hole, and is arranged symmetrically centered on the second mounting hole;
Workbench suspension unit is mounted in the second mounting hole, and workbench suspension unit includes being mounted on the second mounting hole bottom
The electromagnet in portion is provided with pull rod above electromagnet, and the pull rod and electromagnet are coaxially arranged;
The upper end of pull rod is connected with pseudoconjugant, and the pseudoconjugant includes two obvolvent pawls, one end of two obvolvent pawls
It opens, other end articulated connection, the junction of two obvolvent pawls is provided with torsional spring so that two obvolvent pawls are in normally open;
The lower end of pull rod has ferromagnetism, interacts with electromagnet, and electromagnet is connect with control unit.
Preferably, postbrachium includes rear arm support, and postbrachium clamping unit, the postbrachium clamping unit are equipped in the rear arm support
It is connect with control unit including postbrachium spindle motor, the postbrachium spindle motor, and the first two-way silk is connected with by V belt translation
Thick stick, the first two-way leading screw are mounted in the first open slot opened up in rear arm support;
The first sliding groove is offered on the side wall of first open slot, the first sliding groove opens up direction and the first two-way leading screw
The direction of motion it is consistent, meanwhile, the first clamping section is connected in the first sliding groove;
First clamping section is made of the identical clamping section ontology of structure, and the clamping section ontology is I-shaped structure, described
The lower end both sides of I-shaped structure are provided with the first sliding lug, and the first sliding lug is mounted in the first sliding groove;
Offer the first semi-circular recesses on the side wall of the upper end of two I-shaped structures and opposite side, described
The bottom of one semi-circular recesses is equipped with postbrachium walking unit;
The lower end of two I-shaped structures is equipped with the first feed screw nut, and two first feed screw nuts are respectively with first
The both ends of two-way leading screw are connected, and realize the opening or closure of the first clamping section.
Preferably, postbrachium walking unit includes several idler wheels, and the idler wheel is distributed on the bottom of the first semi-circular recesses,
The idler wheel is connect with the idler wheel motor on the first clamping section, and idler wheel motor is connect with control unit;Meanwhile idler wheel
Outer surface and the outer surface of high-tension bus-bar fit.
Preferably, forearm includes preceding arm support, and forearm clamping unit, forearm walking unit and liter are provided on the preceding arm support
Obvolvent unit drops;Wherein,
It includes special-shaped pseudoconjugant to lift obvolvent unit, and special-shaped pseudoconjugant includes two special-shaped obvolvent pawls, two special-shaped obvolvents
One end of pawl is opened, other end articulated connection, which is connected with preceding arm brace, is connected in the preceding arm brace
There are driving leading screw, the driving leading screw to be drivingly connected with the motor on preceding arm support, motor is connect with control unit;
Forearm clamping unit includes forearm spindle motor, and the forearm spindle motor is connect with control unit, and passes through band
It is sequentially connected with the second two-way leading screw, the second two-way leading screw is mounted in the second open slot opened up on preceding arm support;
Second sliding slot is offered on the side wall of second open slot, the second sliding slot opens up direction and the second two-way leading screw
The direction of motion it is consistent, meanwhile, the second clamping section is connected in the second sliding slot;
Second clamping section is made of the identical clamping section ontology of structure, and the clamping section ontology is I-shaped structure, described
The lower end both sides of I-shaped structure are provided with the second sliding lug, and the second sliding lug is mounted in second sliding slot;
Offer the second semi-circular recesses on the side wall of the upper end of two I-shaped structures and opposite side, described
The bottom of two semi-circular recesses is equipped with forearm walking unit;
The lower end of two I-shaped structures is equipped with the second feed screw nut, and two second feed screw nuts are respectively with second
The both ends of two-way leading screw are connected, and realize the opening or closure of clamping section;
Forearm walking unit includes the spring nail wheel that several are distributed on the second the bottom of a semicircular groove, spring nail wheel and peace
Driving motor on preceding arm support is drivingly connected, and driving motor is connect with control unit;
Meanwhile spring nail wheel includes wheel body, its circumferential direction of the outer surface upper edge of the wheel body offers peace in array
Hole is filled, spring is installed in the mounting hole, the free end of the spring is connected with nail, and the tip of the nail is outside
Side.
Preferably, forearm lifting unit is identical with postbrachium lifting unit structure, wherein forearm lifting unit includes being mounted on
The lifting motor to dangle on workbench, lifting motor are connect with control unit, and its output shaft drive connection has elevating screw, rises
It is connected with casing on drop leading screw, described sleeve pipe is connect with the forearm on-of bolt that preceding arm support bottom is arranged.
Preferably, the free end of casing pass through pendency workbench on open up pass through connect with forearm on-of bolt;
Its axial direction of the lateral wall upper edge of casing is arranged symmetrically there are two the first strip projected parts, the first strip projected parts with wear
The first strip groove opened up on the madial wall in hole matches;
Two the second strip grooves corresponding with the first strip projected parts position are offered on the madial wall of casing;Forearm from
Lateral wall upper edge its axial direction for closing bolt is arranged symmetrically that there are two the second strip projected parts, the second strip groove and the second strips
Protrusion matches.
Preferably, forearm and postbrachium are connect by head-rope with pendency workbench, meanwhile, it is also symmetrical on the workbench that dangles
It is provided with the forearm head-rope retractable unit and postbrachium head-rope retractable unit for head-rope folding and unfolding, forearm head-rope folding and unfolding list
Member and postbrachium head-rope retractable unit are separately mounted in the first mounting hole and third mounting hole.
Preferably, forearm head-rope retractable unit is identical with the structure of postbrachium head-rope retractable unit, wherein forearm load-bearing
Rope retractable unit includes the spiral turbin generator being mounted in the first mounting hole, and the spiral turbin generator is connect with control unit, and
Its output shaft is connected with driving wheel, and driving wheel is connected with driven wheel by transmission belt, and the driven wheel is mounted on reel
On axis;
There are two winding rolls for suit on spiral wheel shaft, meanwhile, it is connected with bearing in the both ends end of spiral wheel shaft;
The one ends wound of head-rope is on winding roll, before the other end is fixed on arm support.
Compared with prior art, the beneficial effects of the invention are as follows:
Suspension running gear on a kind of icing electric wire provided by the invention, when forearm is walked forward, forearm lifting is single
So that forearm falls off from high-tension bus-bar, postbrachium lifting unit control postbrachium is suspended on high-tension bus-bar member;Workbench suspension is single
Pendency workbench is suspended on high-tension bus-bar by member, and when postbrachium is walked forward, identical as the mode of forearm walking, which exists
It when walking, is suspended on high-tension bus-bar by 2 points, realizes the stability of walking;Meanwhile this structure can have icicle
Electric wire on while realize reliable suspension, provide the power walked along electric wire, it is not easy to skid, and suspension unit and walking
Unit, which works independently from each other, not to be interfere with each other.
Further, by the electromagnetic action between electromagnet and pull rod, the opening or closure of pseudoconjugant are realized, in turn
Realize suspension or releasing of the workbench suspension unit to high-tension bus-bar.
Further, two-way leading screw is driven by driving motor, and then drives clamping section to high-voltage electricity by two-way leading screw
The suspension or releasing of line.
Further, suiting by idler wheel and high-tension bus-bar outer surface, while passing through the fortune that driving motor drives idler wheel
It is dynamic, and then realize walking of the postbrachium on high-tension bus-bar.
Further, although forearm has the second clamping section as postbrachium, the second clamping section is eliminated the reliance on as outstanding
Load-carrying construction is hung, and is the increase in lifting obvolvent module, and this lifting obvolvent module is not simple obvolvent to high-tension bus-bar
Suspension, it needs to make the second clamping section and spring nail wheel substantially not by power straight down, to make walking module and suspension mould
Block works independently from each other not by interfering with each other.
Further, forearm and postbrachium are connect by head-rope with pendency workbench, which ensure that pendency work
For platform when releasing suspension, entire running gear has preferable stability.
Description of the drawings
Fig. 1 is the overall structure stereoscopic schematic diagram for hanging running gear;
Fig. 2 is the integrally-built front view for hanging running gear;
Fig. 3 is the structural schematic diagram of pendency workbench;
Fig. 4 is the structural schematic diagram of postbrachium;
Fig. 5 is the structural schematic diagram of forearm;
Fig. 6 is the structural schematic diagram of forearm lifting obvolvent unit;
Fig. 7 is the front view of forearm;
Fig. 8 is B-B sectional views;
Fig. 9 is head-rope retractable unit structural schematic diagram;
Figure 10 is the structural schematic diagram of forearm lifting unit;
Figure 11 is a kind of working state figure for hanging running gear;
Figure 12 is second of working state figure for hanging running gear;
Figure 13 is the third working state figure for hanging running gear;
Wherein, 1, pendency workbench 101, pendency workbench body 102, the 4th mounting hole 103,1031, first articles of perforation
Shape groove 104, spine 105, arcuation groove 106, the first round bar 107, cramping body 2, lifting motor 3, head-rope 4, casing 401,
First strip projected parts 402, the second strip groove 5, rear arm support 501, postbrachium on-of bolt 5011, the second strip projected parts 502, first
Sliding slot 6, high-tension bus-bar 7, the first clamping section 701, first sliding lug 702, the first semi-circular recesses 7b, the second clamping section 8, rolling
Take turns 8b, spring nail wheel 8b01, wheel body 8b02, nail 8b03, spring 9, obvolvent pawl 10, special-shaped obvolvent pawl 1001, arc section 1002,
First straight line section 1003, second straight line section 11, the first electromagnet 12, preceding arm support 1201, the first round bar 1202, forearm on-of bolt
13, pulley 14, spiral wheel shaft 1401, reel 15, bearing 16, conveyer belt 17, driving wheel 18, electromagnet 19, spiral turbin generator
20, preceding arm brace 21, pull rod 22, elevating screw 23, postbrachium spindle motor 24, V belt translation 25, the first two-way leading screw 26, first
Thick stick nut 27, idler wheel motor 28, icicle 29, driving leading screw 30, motor 31, shaft coupling 32, driving motor.
Specific implementation mode
Below in conjunction with the accompanying drawings, the present invention is described in more detail.
As shown in Figure 1-Figure 3, the suspension running gear on a kind of icing electric wire provided by the invention, including pendency workbench
1, dangle workbench 1 on be provided with workbench suspension unit, forearm lifting unit, postbrachium lifting unit, forearm head-rope folding and unfolding
Unit, postbrachium head-rope retractable unit and control unit, control unit respectively with forearm head-rope retractable unit, postbrachium head-rope
Retractable unit, forearm lifting unit, postbrachium lifting unit are connected with workbench suspension unit.
Control unit has basic storage, calculating and the function of sending control pulse, such as DSP2812 chips;
The workbench 1 that dangles includes pendency workbench body 101, and pendency workbench body 101 is convex structure, described convex
The big end of font structure is opened up there are three mounting hole, respectively the first mounting hole, the second mounting hole and third mounting hole, wherein
First mounting hole is identical with third structure of mounting hole, and is arranged symmetrically centered on the second mounting hole.
The big end end of the convex structure offers arcuation groove 105, is provided in the arcuation groove 105 several
The spine 104 of a protrusion.
Workbench suspension unit is provided in second mounting hole, during traveling, obstacle detouring, it is sometimes desirable to unclamp forearm
Or postbrachium, then to realize reliable 2 points of suspensions at this time, it is necessary to which workbench suspension unit carries out assisted suspension, makes ice removing machine
Device people being capable of steady operation.
The workbench suspension unit includes the electromagnet 18 mounted on the second mounting hole bottom, and the top of electromagnet 18 is set
It is equipped with cramping body 107, the cramping body 107 includes cylindrical structure, and the cylindrical structure is fixed by the connecting rod second
On the side wall of mounting hole, meanwhile, the center of cylindrical structure offers through-hole, and the through-hole is connected with pull rod 21, described
Pull rod 21, cramping body 107 and electromagnet 18 are coaxially arranged;Cramping body 107 is used for the freedom of motion of binding bar 21, makes it only
It can move up and down.
The upper end of pull rod 21 is connected with pseudoconjugant, and the pseudoconjugant includes two obvolvent pawls 9, two obvolvent pawls 9
One end open, the other end articulated connection, meanwhile, be arranged symmetrically centered on the junction of two obvolvent pawls 9 there are two first circle
Bar 106, the outer surface and the outer surface of obvolvent pawl 9 of first round bar 106 are tangent.
The junction of two obvolvent pawls 9 is provided with torsional spring so that two obvolvent pawls 9 are in normally open.
Meanwhile the second limit protrusion there are two being arranged symmetrically on the side wall of pull rod 21, after electromagnet 18 powers off, obvolvent pawl 9
It is opened under the action of torsional spring, while pull rod 21 can be by upward pulling force, if the not obstruction of limit protrusion, 21 He of pull rod
Obvolvent pawl 9, which may pop up, to fall off.
The lower end of pull rod 21 has ferromagnetism, interacts with the second electromagnet 18.
Electromagnet 18 is connected with control unit, the closure for controlling pseudoconjugant 9 or unlatching.
The small end of the convex structure offers the 4th mounting hole 102, is provided in the 4th mounting hole 102 symmetrical
The forearm lifting unit and postbrachium lifting unit of arrangement, wherein forearm lifting unit is identical with postbrachium lifting unit structure;
Specifically, by taking forearm lifting unit as an example:
Forearm lifting unit includes lifting motor 2, and the lifting motor 2 is mounted in the 4th mounting hole 102, lifting motor
2 connect with control unit, and output shaft drive connection has elevating screw 22, the free end of elevating screw 22 to pass through pendency workbench
The perforation 103 opened up on ontology 101 is connect with forearm.
Meanwhile casing 4 is further sleeved on elevating screw 22, described sleeve pipe is mounted in perforation 103.
As shown in figure 4, postbrachium includes the rear arm support 5 of square structure, postbrachium clamping unit is installed in the rear arm support 5,
The postbrachium clamping unit includes that postbrachium spindle motor 23, the postbrachium spindle motor 23 are mounted on the peace that opens up in rear arm support 5
It filling in cavity, postbrachium spindle motor 23 is connect with control unit, and the first two-way leading screw 25 is connected with by V belt translation 24, and first
Two-way leading screw 25 is mounted in the open slot opened up in rear arm support 5, and the installation cavity is placed in the lower section of open slot.
Meanwhile the first sliding groove 502 is offered on the side wall of open slot, the first slot of the cunning 502 opens up direction and first
The direction of motion of two-way leading screw 25 is consistent, meanwhile, the first clamping section 7 is connected in the first sliding groove 502.
First clamping section 7 is made of the identical clamping section ontology of structure, and the clamping section ontology is I-shaped structure, described
The lower end both sides of I-shaped structure are provided with the first sliding lug 701, the first sliding lug 701 and 502 phase of the first sliding groove
Cooperation.
Meanwhile the lower end centre position of I-shaped structure is equipped with the first feed screw nut 26, first feed screw nut 26
It is connected with the first two-way leading screw 25.
The closure or opening of the first two-way leading screw 25 two clamping section ontologies of realization are driven by postbrachium spindle motor 23.
Offer the first semi-circular recesses 702 on the opposite side side wall in the upper ends of two I-shaped structures, described
The bottom of one semi-circular recesses 702 is equipped with postbrachium walking unit.
Postbrachium walking unit includes several idler wheels 8, and the idler wheel 8 is distributed on the bottom of the first semi-circular recesses 702, together
When pass through mounted on I-shaped structure interlude idler wheel motor 27 drive.
The idler wheel 8 is rubber material, and busbar is the semicircle shape of indent, and the radius of semicircle is less than or equal to high-tension bus-bar 6
Radius, when two clamping section ontologies of clamping section 7 move toward one another and high-tension bus-bar 6 is clamped in semicolumn slot 702,
The busbar of idler wheel 8 is close to high-tension bus-bar 6, at this time if idler wheel 8 rotates, postbrachium can be driven to be moved along high-tension bus-bar 6.
The bottom of rear arm support 5 is provided with changeover portion, and postbrachium on-of bolt 501, the postbrachium are provided in the changeover portion
On-of bolt 501 is inserted into casing 4.
As shown in Figure 5-Figure 8, forearm includes preceding arm support 12, and forearm clamping unit, forearm are provided on the preceding arm support 12
Walking unit and lifting obvolvent unit, wherein forearm clamping unit is used to push walking module to freeze electric wire then to make row
Walk 28 surface of icicle that module is tightly attached on electric wire 6;Forearm walking unit is for providing the power advanced along electric wire;Lift obvolvent
Unit is used to hold 28 surface of icicle on electric wire 6 tightly.
It includes special-shaped pseudoconjugant to lift obvolvent unit, and special-shaped pseudoconjugant is connected with preceding arm brace 20, the preceding arm brace 20
It is inside connected with driving leading screw 29, the driving leading screw 29 is drivingly connected by the motor 30 on preceding arm support 12, electricity
Machine 30 is connect with control unit, and shaft coupling 31 is provided on output shaft.
Second round bar 1201 there are two being arranged symmetrically centered on the special-shaped pseudoconjugant.
Special-shaped pseudoconjugant includes two special-shaped obvolvent pawls 10, and one end of two special-shaped obvolvent pawls 10 is opened, and the other end is hinged
Connection, meanwhile, the junction is provided with torsional spring so that two special-shaped obvolvent pawls 10 are in the case of not by other external force
Normally open.
For special-shaped obvolvent pawl 10 in closed state, outer surface and the outer surface of the second round bar 1201 are tangent.
The equidistant center line of the cross section of special-shaped obvolvent pawl 10 is divided into three sections, respectively arc section 1001, first straight line section
1002 and second straight line section 1003, the arc section 1001 is quarter circular arc, the first straight line section 1002 and the circle
Segmental arc 1001 is tangent, and the angle between the second straight line section 1003 and the first straight line section 1002 is obtuse angle, two abnormity
Obvolvent pawl 10 is articulated and connected in the end of the second straight line section 1003.
The advantage for lifting the structure feature of obvolvent unit is, it is only necessary to arm brace 20 before motor 30 drives leading screw 29 to drive
Decline, so that it may with complete two action, one be special-shaped obvolvent pawl 10 obvolvent, the other is the special-shaped obvolvent pawl 10 after obvolvent
Decline and be close to icicle upper surface, the complexity that this uses simplify control logic and reduction component is highly beneficial.
Forearm clamping unit is identical as the structure of postbrachium clamping unit, includes specifically the forearm being mounted on preceding arm support 12
Spindle motor, the forearm spindle motor are connected with the second two-way leading screw by V belt translation, and the second two-way leading screw is mounted on
In the open slot opened up on preceding arm support 12.
Meanwhile second sliding slot is offered on the side wall of the open slot opened up on preceding arm support 12, cooperation in the second sliding slot
It is connected with the second clamping section 7b.
Second clamping section 7b is made of the identical clamping section ontology of structure, and the clamping section ontology is I-shaped structure, institute
The lower end both sides for stating I-shaped structure are provided with the second sliding lug, and the second sliding lug is matched with second sliding slot.
Meanwhile the lower end centre position of I-shaped structure is equipped with the second feed screw nut, second feed screw nut and
Two two-way leading screws match.
The closure or opening of two clamping section ontologies are realized by the second two-way leading screw of forearm spindle motor driving.
The second semi-circular recesses are offered on the side wall of the upper end of the I-shaped structure, second semi-circular recesses
Bottom is provided with forearm walking unit.
Forearm walking unit includes spring nail wheel 8b and driving motor 32, and driving motor 32 is connect with control unit, defeated
Shaft is drivingly connected with spring nail wheel 8;The spring nail wheel 8b is provided with multiple, being distributed on the second clamping section 7b half
In circular groove.
Spring nail wheel 8b includes wheel body 8b01, its circumferential direction of the outer surface upper edge of the wheel body 8b01 is opened up in array
There is mounting hole, the free end that spring 8b03, the spring 8b03 are equipped in the mounting hole is connected with nail 8b02, the nail
The tip of sub- 8b02 is towards outside.
Forearm is using spring nail wheel 8b as driving wheel, since nail tip is in the skid resistance and the second clamping section 7b of ice face
Clamping force, solve the problems, such as well on icicle 28 be easy skidding, simultaneously because the second clamping section 7b and spring nail wheel 8b
Design feature, there is broad applicability to the different-diameter of icicle 28.
Although forearm has the second clamping section 7b as postbrachium, the second clamping section 7b is eliminated the reliance on as suspension load
Structure, and it is the increase in lifting obvolvent module, and also this lifting obvolvent module is not simple obvolvent suspension to high-tension bus-bar, it
It needs to make the second clamping section 7b and spring nail wheel 8b substantially not by power straight down, to make walking module and suspension module phase
Mutually work independently not by interfering with each other.Due to special-shaped obvolvent pawl 10 need to hang be icicle upper edge, and icicle diameter is
It is uncertain, to make clamping section 7b and spring nail wheel 8b not by power straight down, it is necessary to which obvolvent pawl must be also after obvolvent
It can move up and down to be bonded with icicle upper edge, realize suspension.
As shown in figure 9, its axial direction of the lateral wall upper edge of casing 4 is arranged symmetrically there are two the first strip projected parts 401, the
One strip projected parts 401 are matched with the first strip groove 1031 opened up on the madial wall of perforation 103;
Two the second strip grooves corresponding with 401 position of the first strip projected parts are offered on the madial wall of casing 4
402;Its axial direction of the lateral wall upper edge of forearm on-of bolt 1203 is arranged symmetrically there are two the second strip projected parts 5011, and second
Strip groove 402 is matched with the second strip projected parts 5011.This Curve guide impeller is for confinement sleeve 4, postbrachium on-of bolt
501, the degree of freedom that forearm on-of bolt 1202 is rotated around respective axial line, avoids arm before and after from rotating in lifting process.
Forearm head-rope retractable unit and postbrachium head-rope folding and unfolding are separately installed in first mounting hole and third mounting hole
Unit, the forearm head-rope retractable unit and postbrachium head-rope retractable unit are connected by head-rope and forearm or postbrachium respectively
It connects;The structure ensure that pendency workbench 1 has preferable stability in suspension.
Wherein, forearm head-rope retractable unit is identical with the structure of postbrachium head-rope retractable unit, is received with forearm head-rope
For putting unit, specifically:
As shown in Figure 10, forearm head-rope retractable unit includes the spiral turbin generator 19 being mounted in the first mounting hole, institute
It states spiral turbin generator 19 to connect with control unit, output shaft is connected with driving wheel 17, and driving wheel 17 passes through transmission belt 16
It is connected with driven wheel, the driven wheel is mounted on spiral wheel shaft 14.
There are two winding rolls 1401 for suit on spiral wheel shaft 14, meanwhile, it is connected in the both ends end of spiral wheel shaft 14
There is bearing 15.
A head-rope 3 is wound on two winding rolls 1401, the free end of the head-rope 3 is fixed on preceding arm support 12
On.
Meanwhile pulley 13 is additionally provided between spiral wheel shaft 14 and preceding arm support 12, the head-rope 3 is wound by pulley 13
On reel 1401.
Since forearm does not have an autonomous dynamic, the stressing conditions of the on-of bolt 1203 of forearm are more severe when obstacle detouring, and
There is particular/special requirement to the length of casing 4, therefore forearm preferably has autonomous dynamic, further, forearm, which needs to have, to freeze
Electric wire on the ability walked, while also needing to that there is reliable suspension behavior.According to common knowledge, the both ends of high-tension bus-bar with
High voltage iron tower connects, and centre usually can also be equipped with the barriers such as conductor spacer, therefore high-tension bus-bar belongs to closed at both ends and intermediate
The linear path for having barrier requires that the suspension of deicing robot is held which results in when either installing or when obstacle detouring
Power structure and driving structure, which can grab, is attached on high-tension bus-bar and is detached from high-tension bus-bar, that is to say, that must be open
Structure.
And under normal conditions, the icicle diameter on icing electric wire is all underrange, and icicle surface is very sliding.It will be in icing
Reliable driving and suspension are realized on high-tension bus-bar, must just be solved the above problems.
As shown in figures 11-13, prepare before obstacle detouring:
When there are when barrier, execute obstacle detouring to make for the camera detection being connect with control unit installed on forearm to front
Industry, first postbrachium are moved along electric wire 6, the distance between adjustment arm before and after to the state after the completion of step 4, then front and back head-rope
Folding and unfolding module starts to wind so that front and back head-rope 3 shortens, and pendency workbench 1 rises, when rising to suitable position, before unlatching
Postbrachium lifts the lifting motor 2 of module, and the one end of drive sleeve 4 along elevating screw 22 away from lifting motor 2 rises, and makes set
Pipe 4 is connect with the on-of bolt in arm before and after, is then turned on the electromagnet 18 of workbench suspension module, is made workbench suspension module
9 obvolvent of obvolvent pawl and be buckled on high-tension bus-bar 6.
Obstacle detouring:
Forearm clamping and obvolvent of the forearm abnormity obvolvent pawl 10 to electric wire icicle 28 are released, then starts forearm and lifts module
It drives forearm to decline, restarts postbrachium idler wheel motor 27, driving postbrachium advances, due to postbrachium on-of bolt 501 and postbrachium at this time
The casing 4 of lifting module is in connection status, therefore the workbench 1 that dangles can also be driven advance, until pendency workbench 1 is embraced
It closes pawl 9 and touches barrier, then forearm lifting module drive forearm, which rises to the clamping section 7 of forearm, can clamp barrier opposite
High-tension bus-bar 6 on icicle 28 position, then make forearm advance certain distance, this distance is greater than pendency workbench 1
Then size on 6 direction of high-tension bus-bar starts the lifting motor 2 of postbrachium lifting module, drive sleeve 4 is along elevating screw 22
Decline towards close to one end of lifting motor 2, casing 4 is made to be detached with the on-of bolt 501 on postbrachium, it is outstanding to be then shut off workbench
The electromagnet 18 of module is hung, the obvolvent pawl 9 of workbench suspension module separately releases obvolvent, makes rear load-bearing rope elongation, preceding head-rope
Shorten, the workbench 1 that dangles is moved to the position for going just past barrier, then opens the electromagnet of workbench suspension module
18, make 9 obvolvent of obvolvent pawl of workbench suspension module and be buckled on high-tension bus-bar 6, the clamping of postbrachium is then released, after restarting
Arm lifting module makes postbrachium decline, and then forearm moves on, and pulls pendency workbench 1 and postbrachium one by preceding head-rope 3
It rises and advances, until postbrachium also fully passes over barrier, then start postbrachium and lift module, driving postbrachium rises to postbrachium clamping section
7 can clamp the position of high-tension bus-bar 6, then postbrachium is clamped, and open the lifting motor 2 of postbrachium lifting module, 4 edge of drive sleeve
Elevating screw 22 declines towards close to one end of lifting motor 2, so that casing 4 is detached with the on-of bolt 501 on postbrachium, then closes
The electromagnet 18 for closing workbench suspension module makes the obvolvent pawl of workbench suspension module separately release obvolvent, so far, deicing machine
People has completed obstacle detouring.
It should be noted that according to the process and geometrical principle of above-mentioned obstacle detouring mode, the obstacle detouring needs of postbrachium meet most
Low condition is, casing 4 rises to limiting condition to limiting condition is dropped to during this along elevating screw 22, and casing 4 is along preceding
The half of the variable quantity of the component of rear direction is more than or equal to the size of postbrachium along the longitudinal direction.
Forearm clamps:
Forearm spindle motor is opened, two the second clamping section ontologies of forearm is driven to move toward one another, until two second folders
Spring nail wheel 8b in tight portion ontology clamps the icicle 28 on electric wire 6.In clamping process for the stroke of the second clamping section 7b
Control method is set when the second induction module being arranged on forearm spindle motor detects that the load of forearm spindle motor increases to
When fixed threshold value, identification has clamped in place, simultaneously closes off forearm spindle motor, two the second clamping section ontologies no longer move.
Here principle is, during forearm clamps, with 28 immediate part nail of electric wire icicle on spring nail wheel 8b
Nail tip contacts icicle 28 at first, these nails start to compress the spring 8b03 of tail portion, the elasticity of the compression generation of spring 8b03
Power causes the load of forearm spindle motor to increase, in practical applications, when can be rolled along icicle 28 according to spring nail wheel 8b not
It is easy to happen and skids required clamping force to set load threshold, when load increases to this threshold value, the second clamping section 7b
It does not continue to move.
Forearm abnormity obvolvent pawl obvolvent electric wire icicle:
The motor 30 for opening forearm lifting obvolvent module, 20 downlink of arm brace before driving, special-shaped 10 obvolvent of obvolvent pawl, then
Motor 30 continues 20 downlink of arm brace before driving, until special-shaped obvolvent pawl 10 is close to the upper edge of icicle 28.Under special-shaped obvolvent pawl 10
Stroke control method when row is, when the first induction module being arranged on motor 30 detects that the main shaft load of motor 30 increases suddenly
When greatly to the threshold value of setting, identification has declined in place, closes motor 30, and special-shaped obvolvent pawl 10 does not continue to downlink.Here
Principle is that, when special-shaped obvolvent pawl 10 drops to the upper edge for starting to contact icicle 28, the pressure of contact surface can pass through special-shaped obvolvent pawl
10, preceding arm brace 20 and leading screw 29 pass to the main shaft of motor 30, at this time the main shaft of motor 30 continue rotation can not make it is different
Shape obvolvent pawl 10 continues to decline, and resistance increases suddenly, and the main shaft load of motor 30 will increase suddenly, and this feature
As the signal fallen into place.
Start the driving motor 32 of forearm walking module, driving spring nail wheel 8b rotations, to drive forearm to advance, with this
Meanwhile the spiral turbin generator 19 of head-rope folding and unfolding module corresponding with forearm is opened, so that 14 uncoiling of reel, head-rope 3 is extended
To adapt to forearm advance, the distance that forearm advances determines according to actual needs.
Claims (9)
1. the suspension running gear on a kind of icing electric wire, which is characterized in that including pendency workbench (1), pendency workbench (1)
On be provided with workbench suspension unit, forearm lifting unit, postbrachium lifting unit and control unit, forearm lifting unit and postbrachium
Lifting unit is arranged symmetrically centered on the vertical axis of the workbench that dangles (1);Control unit respectively with workbench suspension unit,
Forearm lifting unit is connected with postbrachium lifting unit;
Wherein, forearm lifting unit control is connected with forearm;The control of postbrachium lifting unit is connected with postbrachium, forearm and postbrachium with
The workbench (1) that dangles connects.
2. the suspension running gear on a kind of icing electric wire according to claim 1, which is characterized in that pendency workbench
(1) include pendency workbench body (101), pendency workbench body (101) be convex structure, the convex structure it is big
End is opened up there are three mounting hole, respectively the first mounting hole, the second mounting hole and third mounting hole, wherein the first mounting hole and
Third structure of mounting hole is identical, and is arranged symmetrically centered on the second mounting hole;
Workbench suspension unit is mounted in the second mounting hole, and workbench suspension unit includes being mounted on the second mounting hole bottom
Electromagnet (18) is provided with pull rod (21) above electromagnet (18), and the pull rod (21) and electromagnet (18) are coaxially arranged;
The upper end of pull rod (21) is connected with pseudoconjugant, and the pseudoconjugant includes two obvolvent pawls (9), two obvolvent pawls (9)
One end open, other end articulated connection, the junction of two obvolvent pawls (9) is provided with torsional spring so that at two obvolvent pawls (9)
In normally open;
The lower end of pull rod (21) has ferromagnetism, interacts with electromagnet (18), and electromagnet (18) is connect with control unit.
3. the suspension running gear on a kind of icing electric wire according to claim 1, which is characterized in that postbrachium includes postbrachium
Frame (5), is equipped with postbrachium clamping unit on the rear arm support (5), the postbrachium clamping unit include postbrachium spindle motor (23),
The postbrachium spindle motor (23) connect with control unit, and is connected with the first two-way leading screw (25) by V belt translation (24), the
One two-way leading screw (25) is mounted in the first open slot opened up in rear arm support (5);
The first sliding groove (502) is offered on the side wall of first open slot, the first sliding groove (502) opens up direction and first pair
The direction of motion to leading screw (25) is consistent, meanwhile, it is connected with the first clamping section (7) in the first sliding groove (502);
First clamping section (7) is made of the identical clamping section ontology of structure, and the clamping section ontology is I-shaped structure, the work
The lower end both sides of font structure are provided with the first sliding lug (701), and the first sliding lug (701) is mounted on the first sliding groove
(502) in;
The first semi-circular recesses (702) are offered on the side wall of the upper end of two I-shaped structures and opposite side, it is described
The bottom of first semi-circular recesses (702) is equipped with postbrachium walking unit;
The lower end of two I-shaped structures is equipped with the first feed screw nut (26), two first feed screw nuts (26) respectively with
The both ends of first two-way leading screw (25) are connected, and realize the opening or closure of the first clamping section.
4. the suspension running gear on a kind of icing electric wire according to claim 3, which is characterized in that postbrachium walking unit
Including several idler wheels (8), the idler wheel (8) is distributed on the bottom of the first semi-circular recesses (702), the idler wheel (8) and peace
Idler wheel motor (27) connection on the first clamping section (7), idler wheel motor (27) are connect with control unit;Meanwhile idler wheel (8)
Outer surface and the outer surface of high-tension bus-bar (6) fit.
5. the suspension running gear on a kind of icing electric wire according to claim 1, which is characterized in that forearm includes forearm
Frame (12) is provided with forearm clamping unit, forearm walking unit and lifting obvolvent unit on the preceding arm support (12);Wherein,
It includes special-shaped pseudoconjugant to lift obvolvent unit, and special-shaped pseudoconjugant includes two special-shaped obvolvent pawls (10), two special-shaped obvolvents
One end of pawl (10) is opened, and other end articulated connection, which is connected with preceding arm brace (20), the preceding arm brace
(20) driving leading screw (29) is connected in, the driving leading screw (29) is driven with the motor (30) on preceding arm support (12)
Dynamic connection, motor (30) are connect with control unit;
Forearm clamping unit includes forearm spindle motor, and the forearm spindle motor is connect with control unit, and passes through V belt translation
It is connected with the second two-way leading screw, the second two-way leading screw is mounted in the second open slot opened up on preceding arm support (12);
Second sliding slot, the fortune for opening up direction and the second two-way leading screw of the second sliding slot are offered on the side wall of second open slot
Dynamic direction is consistent, meanwhile, the second clamping section (7b) is connected in the second sliding slot;
Second clamping section (7b) is made of the identical clamping section ontology of structure, and the clamping section ontology is I-shaped structure, described
The lower end both sides of I-shaped structure are provided with the second sliding lug, and the second sliding lug is mounted in second sliding slot;
Offer the second semi-circular recesses on the side wall of the upper end of two I-shaped structures and opposite side, described the second half
The bottom of circular groove is equipped with forearm walking unit;
The lower end of two I-shaped structures is equipped with the second feed screw nut, and two second feed screw nuts are two-way with second respectively
The both ends of leading screw are connected, and realize the opening or closure of clamping section;
Forearm walking unit includes the spring nail wheel (8b) that several are distributed on the second the bottom of a semicircular groove, spring nail wheel (8b)
It is drivingly connected with the driving motor (32) on preceding arm support (12), driving motor (32) is connect with control unit;
Meanwhile spring nail wheel (8b) includes wheel body (8b01), its circumferential direction of the outer surface upper edge of the wheel body (8b01) is in battle array
Column offers mounting hole, and spring (8b03) is equipped in the mounting hole, and the free end of the spring (8b03) is connected with nail
Sub (8b02), the tip of the nail (8b02) is towards outside.
6. the suspension running gear on a kind of icing electric wire according to claim 5, which is characterized in that forearm lifting unit
It is identical with postbrachium lifting unit structure, wherein forearm lifting unit includes the lifting motor being mounted on pendency workbench (1)
(2), lifting motor (2) is connect with control unit, and its output shaft drive connection has an elevating screw (22), on elevating screw (22)
It is connected with casing (4), described sleeve pipe (4) is connect with the forearm on-of bolt (1203) that preceding arm support (12) bottom is arranged.
7. the suspension running gear on a kind of icing electric wire according to claim 6, which is characterized in that casing (4) from
By holding what is opened up on pendency workbench (1) to be connect with forearm on-of bolt (1203) across (103);
Its axial direction of the lateral wall upper edge of casing (4) is arranged symmetrically there are two the first strip projected parts (401), the first strip projected parts
(401) it is matched with the first strip groove (1031) opened up on the madial wall of perforation (103);
Two the second strip grooves corresponding with the first strip projected parts (401) position are offered on the madial wall of casing (4)
(402);Its axial direction of the lateral wall upper edge of forearm on-of bolt (1203) is arranged symmetrically there are two the second strip projected parts
(5011), the second strip groove (402) is matched with the second strip projected parts (5011).
8. the suspension running gear on a kind of icing electric wire according to claim 2, which is characterized in that forearm and postbrachium are equal
It is connect with pendency workbench (1) by head-rope (3), meanwhile, it is also symmetrical arranged on pendency workbench (1) and is useful for head-rope
(3) the forearm head-rope retractable unit of folding and unfolding and postbrachium head-rope retractable unit, forearm head-rope retractable unit and postbrachium load-bearing
Rope retractable unit is separately mounted in the first mounting hole and third mounting hole.
9. the suspension running gear on a kind of icing electric wire according to claim 8, which is characterized in that forearm head-rope is received
It is identical with the structure of postbrachium head-rope retractable unit to put unit, wherein forearm head-rope retractable unit includes being mounted on the first peace
The spiral turbin generator (19) in hole is filled, the spiral turbin generator (19) connect with control unit, and its output shaft is connected with
Driving wheel (17), driving wheel (17) are connected with driven wheel by transmission belt (16), and the driven wheel is mounted on spiral wheel shaft (14)
On;
There are two winding rolls (1401) for suit on spiral wheel shaft (14), meanwhile, coordinate in the both ends end of spiral wheel shaft (14) and connects
It is connected to bearing (15);
On winding roll (1401), the other end is fixed on preceding arm support (12) one ends wound of head-rope (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810878714.0A CN108695804B (en) | 2018-08-03 | 2018-08-03 | Hanging and traveling device on icing electric wire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810878714.0A CN108695804B (en) | 2018-08-03 | 2018-08-03 | Hanging and traveling device on icing electric wire |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108695804A true CN108695804A (en) | 2018-10-23 |
| CN108695804B CN108695804B (en) | 2020-06-09 |
Family
ID=63851060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810878714.0A Active CN108695804B (en) | 2018-08-03 | 2018-08-03 | Hanging and traveling device on icing electric wire |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108695804B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116537552A (en) * | 2023-05-17 | 2023-08-04 | 禹城市惠鑫新型材料科技有限公司 | Cast in situ concrete vibrating device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2656515B2 (en) * | 1987-12-04 | 1997-09-24 | 株式会社日立製作所 | Mounting device for torsion prevention damper |
| CN101527441A (en) * | 2009-04-22 | 2009-09-09 | 邵威 | Deicer for overhead transmission lines |
| CN101882765A (en) * | 2010-05-11 | 2010-11-10 | 湖南大学 | Traveling mechanism of robot on high voltage transmission line |
| CN203942206U (en) * | 2014-07-03 | 2014-11-12 | 华北电力大学（保定） | One power transmission line inspection robot |
| CN105207158A (en) * | 2015-09-07 | 2015-12-30 | 湖南大学 | High-voltage electric wire deicing robot |
| CN106329391A (en) * | 2016-11-04 | 2017-01-11 | 国网山东省电力公司济南市长清区供电公司 | Circuit inspection robot |
| CN206742815U (en) * | 2017-06-01 | 2017-12-12 | 三峡大学 | Transmission line of electricity obstacle crossing type deicer |
-
2018
- 2018-08-03 CN CN201810878714.0A patent/CN108695804B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2656515B2 (en) * | 1987-12-04 | 1997-09-24 | 株式会社日立製作所 | Mounting device for torsion prevention damper |
| CN101527441A (en) * | 2009-04-22 | 2009-09-09 | 邵威 | Deicer for overhead transmission lines |
| CN101882765A (en) * | 2010-05-11 | 2010-11-10 | 湖南大学 | Traveling mechanism of robot on high voltage transmission line |
| CN203942206U (en) * | 2014-07-03 | 2014-11-12 | 华北电力大学（保定） | One power transmission line inspection robot |
| CN105207158A (en) * | 2015-09-07 | 2015-12-30 | 湖南大学 | High-voltage electric wire deicing robot |
| CN106329391A (en) * | 2016-11-04 | 2017-01-11 | 国网山东省电力公司济南市长清区供电公司 | Circuit inspection robot |
| CN206742815U (en) * | 2017-06-01 | 2017-12-12 | 三峡大学 | Transmission line of electricity obstacle crossing type deicer |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116537552A (en) * | 2023-05-17 | 2023-08-04 | 禹城市惠鑫新型材料科技有限公司 | Cast in situ concrete vibrating device |
| CN116537552B (en) * | 2023-05-17 | 2023-10-20 | 禹城市惠鑫新型材料科技有限公司 | Cast in situ concrete vibrating device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108695804B (en) | 2020-06-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108649515A (en) | A kind of the obstacle detouring deicer and method of high-tension bus-bar | |
| CN208723508U (en) | A kind of obstacle detouring deicer of high-tension bus-bar | |
| CN108695803A (en) | A kind of deicing of high voltage wire robot and de-icing method | |
| CN110112687A (en) | A kind of overhead power transmission conducting wire deicing equipment | |
| CN108695804A (en) | A kind of suspension running gear on icing electric wire | |
| CN104890678A (en) | Hanging type overhead railway vehicle rescuing device | |
| CN208589755U (en) | A kind of deicing of high voltage wire robot | |
| CN106080823A (en) | A kind of imitative Gekko Swinhonis Zu Shipa steel tower robot | |
| CN105947270A (en) | Sheet metal packer | |
| CN112338946B (en) | Friction roller type grabbing device and method | |
| CN204197815U (en) | Truss-beam folding carriage peculiar to vessel | |
| CN201023935Y (en) | Stage belt conveyer hydraulic ribbon winding apparatus | |
| CN206417733U (en) | Auto take-up | |
| CN206051180U (en) | A kind of easy steel wire rope reeling and releasing machine | |
| CN104338794A (en) | Automatic sleeve-loading and unloading and sleeve-transporting integrated device of cold-rolling mill | |
| CN204074813U (en) | Cold-rolling mill automatic on unload sleeve and sleeve transport single unit system | |
| CN111332860A (en) | Power cable pay-off | |
| CN215710774U (en) | Coiling mechanism is used in wire and cable production | |
| CN206250735U (en) | A kind of mining transformer with circuit contractile function | |
| CN212861207U (en) | Connecting structure of carriage and automobile tail plate | |
| CN109066556A (en) | A kind of suspension walking structure on icing electric wire | |
| CN211470604U (en) | Hoisting device for transformer substation | |
| CN105818843B (en) | Flat battery load transferring vehicle | |
| CN108222631B (en) | Electric pole | |
| CN208964282U (en) | Outgoing line managing device for power construction |
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 | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Ge Yuanyuan Inventor after: Zhang Hongji Inventor before: Zhang Hongji Inventor before: Ge Yuanyuan |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |