CN108695804B - Hanging and traveling device on icing electric wire - Google Patents
Hanging and traveling device on icing electric wire Download PDFInfo
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- CN108695804B CN108695804B CN201810878714.0A CN201810878714A CN108695804B CN 108695804 B CN108695804 B CN 108695804B CN 201810878714 A CN201810878714 A CN 201810878714A CN 108695804 B CN108695804 B CN 108695804B
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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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
Abstract
The invention provides a suspension walking device on an icing wire, which comprises a suspension workbench, wherein the suspension workbench is provided with a workbench suspension unit, a front arm lifting unit and a rear arm lifting unit, and the front arm lifting unit and the rear arm lifting unit are symmetrically arranged by taking the vertical axis of the suspension workbench as a center; wherein, the forearm lifting unit is connected with a forearm in a control way; the rear arm lifting unit is connected with a rear arm in a control way; the front arm, the rear arm and the workbench suspension unit are all suspended on a high-voltage wire; this structure can provide the power of following the electric wire walking when realizing reliably hanging on the electric wire that has the icicle, is difficult to skid, hangs unit and the mutual noninterference of walking unit work each other moreover.
Description
Technical Field
The invention relates to the technical field of deicing of high-voltage electric wires, in particular to a suspension walking device on an icing electric wire.
Background
The safety and stability of power transmission are important guarantees for maintaining national production and life. The deicing of the high-voltage electric wire is an important work of electric power inspection operation in winter, but the deicing operation of the high-voltage electric wire has the characteristics of high danger and high difficulty and is not suitable for manual operation, so that the best method is to adopt robot deicing.
There are a number of line aids on high voltage lines, such as conductor spacers, suspension clamps, dampers, etc., which are typical obstacles for de-icing robots that travel along high voltage lines. Therefore, for the development of the high-voltage wire deicing robot, the problem to be solved firstly is to realize safe and reliable traveling and obstacle crossing.
The deicing robot can bring much convenience to the deicing work if the deicing robot can walk on the electric wire with the icicles stably and reliably, but due to the characteristic that the two ends of the electric wire are closed and the uncertainty of the icicles diameter caused by the uncertainty of the icing thickness, the work of developing the robot capable of walking on the icing electric wire is difficult.
Disclosure of Invention
The invention aims to provide a suspension walking device on an iced electric wire, which can realize reliable suspension on the electric wire with icicles, provides power for walking along the electric wire, is not easy to slip, and the suspension module and the walking module work independently without interference.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention provides a suspension walking device on an icing wire, which comprises a suspension workbench, wherein the suspension workbench is provided with a workbench suspension unit, a front arm lifting unit, a rear arm lifting unit and a control unit, and the front arm lifting unit and the rear arm lifting unit are symmetrically arranged by taking the vertical axis of the suspension workbench as a center; the control unit is respectively connected with the workbench suspension unit, the front arm lifting unit and the rear arm lifting unit;
wherein, the forearm lifting unit is connected with a forearm in a control way; the rear arm lifting unit is connected with a rear arm in a control way; the front arm and the rear arm are both connected with the suspension workbench.
Preferably, the overhanging working table comprises an overhanging working table body, the overhanging working table body is of a convex structure, three mounting holes are formed in the large end of the convex structure, and the mounting holes are a first mounting hole, a second mounting hole and a third mounting hole respectively, wherein the first mounting hole and the third mounting hole are identical in structure and are symmetrically arranged by taking the second mounting hole as a center;
the workbench suspension unit is arranged in the second mounting hole and comprises an electromagnet arranged at the bottom of the second mounting hole, a pull rod is arranged above the electromagnet, and the pull rod and the electromagnet are coaxially arranged;
the upper end of the pull rod is connected with a clasping body, the clasping body comprises two clasping claws, one ends of the two clasping claws are opened, the other ends of the two clasping claws are hinged, and the connecting positions of the two clasping claws are provided with torsional springs so that the two clasping claws are in a normally open state;
the lower end of the pull rod has ferromagnetism and interacts with an electromagnet, and the electromagnet is connected with the control unit.
Preferably, the rear arm comprises a rear arm support, a rear arm clamping unit is installed on the rear arm support, the rear arm clamping unit comprises a rear arm screw motor, the rear arm screw motor is connected with the control unit and is connected with a first bidirectional screw through belt transmission, and the first bidirectional screw is installed in a first open slot formed in the rear arm support;
a first sliding groove is formed in the side wall of the first open groove, the forming direction of the first sliding groove is consistent with the moving direction of the first bidirectional screw rod, and meanwhile, a first clamping part is connected in the first sliding groove;
the first clamping part is composed of clamping part bodies with the same structure, the clamping part bodies are in an I-shaped structure, first sliding lugs are arranged on two sides of the lower end of the I-shaped structure, and the first sliding lugs are arranged in first sliding grooves;
the upper ends of the two I-shaped structures and the side walls of the opposite sides of the two I-shaped structures are both provided with first semicircular grooves, and the bottoms of the first semicircular grooves are provided with rear arm walking units;
first lead screw nuts are installed at the lower ends of the two I-shaped structures, and the two first lead screw nuts are respectively connected with the two ends of a first bidirectional lead screw in a matched mode to achieve opening or closing of the first clamping portion.
Preferably, the rear arm walking unit comprises a plurality of rollers, the rollers are uniformly distributed at the bottom of the first semicircular groove, the rollers are connected with a roller motor arranged on the first clamping part, and the roller motor is connected with the control unit; meanwhile, the outer surface of the roller is attached to the outer surface of the high-voltage wire.
Preferably, the front arm comprises a front arm support, and a front arm clamping unit, a front arm walking unit and a lifting cohesion unit are arranged on the front arm support; wherein the content of the first and second substances,
the lifting embracing unit comprises a special-shaped embracing body, the special-shaped embracing body comprises two special-shaped embracing claws, one ends of the two special-shaped embracing claws are opened, the other ends of the two special-shaped embracing claws are hinged, a front arm pull rod is connected to the joint, a driving screw rod is connected in the front arm pull rod in a matched mode, the driving screw rod is in driving connection with a motor installed on a front arm frame, and the motor is connected with the control unit;
the forearm clamping unit comprises a forearm lead screw motor, the forearm lead screw motor is connected with the control unit and is connected with a second bidirectional lead screw through belt transmission, and the second bidirectional lead screw is arranged in a second open slot formed in the forearm support;
a second sliding groove is formed in the side wall of the second open groove, the forming direction of the second sliding groove is consistent with the moving direction of the second bidirectional screw rod, and meanwhile, a second clamping part is connected in the second sliding groove;
the second clamping part is composed of clamping part bodies with the same structure, the clamping part bodies are in an I-shaped structure, second sliding lugs are arranged on two sides of the lower end of the I-shaped structure, and the second sliding lugs are installed in second sliding grooves;
the side walls of the upper ends and the opposite sides of the two I-shaped structures are respectively provided with a second semicircular groove, and the bottoms of the second semicircular grooves are provided with forearm walking units;
the lower ends of the two I-shaped structures are provided with second lead screw nuts, and the two second lead screw nuts are respectively connected with two ends of a second bidirectional lead screw in a matched manner to realize the opening or closing of the clamping part;
the front arm walking unit comprises a plurality of spring nail wheels uniformly distributed at the bottom of the second semicircular groove, the spring nail wheels are in driving connection with a driving motor arranged on the front arm frame, and the driving motor is connected with the control unit;
simultaneously, the spring nail wheel includes the wheel body, be the array along its circumference direction on the surface of wheel body and seted up the mounting hole, install the spring in the mounting hole, the free end of spring is connected with the nail, the point portion of nail is towards the outside.
Preferably, forearm lift unit and postbrachium lift unit structure are the same, and wherein, forearm lift unit is connected with control unit including installing the elevator motor on the workstation that dangles, and its output shaft drive is connected with lifting screw, and the cooperation is connected with the sleeve pipe on the lifting screw, the sleeve pipe is connected with the forearm separation and reunion bolt that the forearm frame bottom set up.
Preferably, the free end of the sleeve passes through a through hole formed in the suspension workbench and is connected with a front arm clutch bolt;
the outer side wall of the sleeve is symmetrically provided with two first strip-shaped bulges along the axial direction of the sleeve, and the first strip-shaped bulges are matched with first strip-shaped grooves formed in the inner side wall of the through hole;
two second strip-shaped grooves corresponding to the first strip-shaped bulges are formed in the inner side wall of the sleeve; two second strip-shaped bulges are symmetrically arranged on the outer side wall of the front arm clutch bolt along the axial direction of the front arm clutch bolt, and the second strip-shaped grooves are matched with the second strip-shaped bulges.
Preferably, the front arm and the rear arm are connected with the suspension workbench through bearing ropes, meanwhile, a front arm bearing rope retracting unit and a rear arm bearing rope retracting unit for retracting the bearing ropes are symmetrically arranged on the suspension workbench, and the front arm bearing rope retracting unit and the rear arm bearing rope retracting unit are respectively installed in the first installation hole and the third installation hole.
Preferably, the front arm bearing rope winding and unwinding unit and the rear arm bearing rope winding and unwinding unit are identical in structure, wherein the front arm bearing rope winding and unwinding unit comprises a winding wheel motor arranged in the first mounting hole, the winding wheel motor is connected with the control unit, an output shaft of the winding wheel motor is connected with a driving wheel in a matching manner, the driving wheel is connected with a driven wheel through a transmission belt, and the driven wheel is arranged on a winding shaft;
two winding reels are sleeved on the reel shaft, and meanwhile, bearings are connected to the end parts of the two ends of the reel shaft in a matching way;
one end of the bearing rope is wound on the winding roll, and the other end of the bearing rope is fixed on the front arm support.
Compared with the prior art, the invention has the beneficial effects that:
according to the suspension walking device on the icing wire, when the front arm walks forwards, the front arm lifting unit enables the front arm to fall off from the high-voltage wire, and the rear arm lifting unit controls the rear arm to be suspended on the high-voltage wire; the suspension working table is suspended on the high-voltage wire by the working table suspension unit, when the rear arm walks forwards, the same way as that of the front arm, and when the structure walks, the suspension working table is suspended on the high-voltage wire through two points, so that the walking stability is realized; meanwhile, the structure can provide power for walking along the electric wire while realizing reliable suspension on the electric wire with the icicle, is not easy to slip, and the suspension unit and the walking unit work independently without interference.
Furthermore, the opening or closing of the embracing body is realized through the electromagnetic action between the electromagnet and the pull rod, and further the suspension or the release of the high-voltage wire by the workbench suspension unit is realized.
Furthermore, the bidirectional screw rod is driven by the driving motor, and the clamping part is driven by the bidirectional screw rod to hang or release the high-voltage wire.
Furthermore, the rollers are matched with the outer surface of the high-voltage wire, and the driving motor drives the rollers to move, so that the rear arm can walk on the high-voltage wire.
Furthermore, the front arm is provided with a second clamping part like the rear arm, but the second clamping part is not used as a suspension bearing structure, but a lifting cohesion module is added, the lifting cohesion module is not simply used for cohesion suspension of a high-voltage wire, and the second clamping part and the spring nail wheel are required to be basically free from vertical downward force, so that the walking module and the suspension module can work independently and are not interfered with each other.
Furthermore, the front arm and the rear arm are connected with the suspension workbench through the bearing ropes, and the structure ensures that the suspension workbench has better stability when being suspended.
Drawings
FIG. 1 is a perspective view showing the overall structure of a suspended running gear;
FIG. 2 is a front view of the overall structure of the suspended running gear;
FIG. 3 is a schematic structural view of the overhanging table;
FIG. 4 is a schematic structural view of the rear arm;
FIG. 5 is a schematic structural view of the forearm;
FIG. 6 is a schematic structural diagram of a forearm lifting and embracing unit;
FIG. 7 is a front view of the forearm;
FIG. 8 is a sectional view B-B;
FIG. 9 is a schematic structural view of a load-bearing line retracting unit;
fig. 10 is a schematic structural view of a forearm lifting unit;
FIG. 11 is a view showing an operating state of the suspension traveling unit;
FIG. 12 is a second state of operation of the suspended running gear;
FIG. 13 is a third operational state diagram of the suspended running gear;
wherein, 1, the suspension workbench 101, the suspension workbench body 102, the fourth mounting hole 103, the through hole 1031, the first strip-shaped groove 104, the spike 105, the arc-shaped groove 106, the first round bar 107, the clamping body 2, the lifting motor 3, the bearing rope 4, the sleeve 401, the first strip-shaped protrusion 402, the second strip-shaped groove 5, the rear arm frame 501, the rear arm clutch bolt 5011, the second strip-shaped protrusion 502, the first sliding chute 6, the high-voltage wire 7, the first clamping part 701, the first sliding lug 702, the first semicircular groove 7b, the second clamping part 8, the roller 8b, the spring nail wheel 8b01, the wheel body 8b02, the nail 8b03, the spring 9, the clasping claw 10, the special-shaped clasping claw 1001, the arc-shaped section 1002, the first straight line section 1003, the second straight line section 11, the first straight line section 12, the front arm frame, the first electromagnet round bar 1202, the front arm clutch bolt 13, the pulley 14, the winding wheel axle 1401, the winding wheel 15, the bearing 16, the, The device comprises a conveyor belt 17, a driving wheel 18, an electromagnet 19, a winding wheel motor 20, a front arm pull rod 21, a pull rod 22, a lifting screw 23, a rear arm screw motor 24, a belt transmission 25, a first bidirectional screw 26, a first screw nut 27, a roller motor 28, an icicle 29, a driving screw 30, a motor 31, a coupler 32 and a driving motor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-3, the hanging walking device on the icing electric wire provided by the invention comprises a hanging workbench 1, wherein a workbench hanging unit, a front arm lifting unit, a rear arm lifting unit, a front arm bearing rope retracting unit, a rear arm bearing rope retracting unit and a control unit are arranged on the hanging workbench 1, and the control unit is respectively connected with the front arm bearing rope retracting unit, the rear arm bearing rope retracting unit, the front arm lifting unit, the rear arm lifting unit and the workbench hanging unit.
The control unit has basic functions of storing, calculating and sending control pulses, such as a DSP2812 chip;
the suspension workbench 1 comprises a suspension workbench body 101, the suspension workbench body 101 is of a convex structure, three mounting holes are formed in the large end of the convex structure and respectively comprise a first mounting hole, a second mounting hole and a third mounting hole, the first mounting hole and the third mounting hole are identical in structure, and the second mounting hole is arranged in a central symmetry mode.
The big end part of the convex structure is provided with an arc groove 105, and a plurality of raised spikes 104 are arranged in the arc groove 105.
The working table suspension unit is arranged in the second mounting hole, and in the process of advancing and crossing obstacles, a front arm or a rear arm needs to be loosened sometimes, so that reliable two-point suspension needs to be realized, and the working table suspension unit is required to perform auxiliary suspension, so that the deicing robot can work stably.
The workbench hanging unit comprises an electromagnet 18 arranged at the bottom of the second mounting hole, a clamping body 107 is arranged above the electromagnet 18, the clamping body 107 comprises a cylindrical structure, the cylindrical structure is fixed on the side wall of the second mounting hole through a connecting rod, meanwhile, a through hole is formed in the center of the cylindrical structure, the through hole is connected with a pull rod 21 in a matched mode, and the pull rod 21, the clamping body 107 and the electromagnet 18 are coaxially arranged; the clamping body 107 is used for restricting the freedom of movement of the pull rod 21 so that the pull rod can only move up and down.
The upper end of pull rod 21 is connected with the body of embracing, the body of embracing includes two embracing claws 9, two the one end of embracing claw 9 opens, and the other end is articulated to be connected to, simultaneously to two first round bars 106 have been arranged for central symmetry to the junction of two embracing claws 9, the surface of first round bar 106 is tangent with the surface of embracing claw 9.
The joint of the two embracing claws 9 is provided with a torsion spring, so that the two embracing claws 9 are in a normally open state.
Meanwhile, two second limiting bulges are symmetrically arranged on the side wall of the pull rod 21, after the electromagnet 18 is powered off, the embracing claw 9 is opened under the action of the torsion spring, meanwhile, the pull rod 21 can receive upward pulling force, and if the limit bulges do not block, the pull rod 21 and the embracing claw 9 can be popped out and fall off.
The lower end of the pull rod 21 is ferromagnetic and interacts with the second electromagnet 18.
The electromagnet 18 is connected with a control unit for controlling the closing or opening of the embracing body 9.
A fourth mounting hole 102 is formed in the small end of the convex structure, and a front arm lifting unit and a rear arm lifting unit which are symmetrically arranged are arranged in the fourth mounting hole 102, wherein the front arm lifting unit and the rear arm lifting unit are identical in structure;
specifically, the front arm lifting unit is taken as an example:
the forearm lifting unit includes elevator motor 2, elevator motor 2 installs in fourth mounting hole 102, and elevator motor 2 is connected with the control unit, and its output shaft drive is connected with lifting screw 22, and lifting screw 22's free end passes perforation 103 of seting up on the workstation body 101 of dangling and is connected with the forearm.
Meanwhile, the lifting screw 22 is sleeved with a sleeve 4, and the sleeve is arranged in the through hole 103.
As shown in fig. 4, the rear arm includes a rear arm support 5 having a square structure, a rear arm clamping unit is mounted on the rear arm support 5, the rear arm clamping unit includes a rear arm screw motor 23, the rear arm screw motor 23 is mounted in a mounting cavity formed in the rear arm support 5, the rear arm screw motor 23 is connected to a control unit, the rear arm screw motor is connected to a first bidirectional screw 25 through a belt transmission 24, the first bidirectional screw 25 is mounted in an open slot formed in the rear arm support 5, and the mounting cavity is disposed below the open slot.
Meanwhile, a first sliding groove 502 is formed in the side wall of the open groove, the forming direction of the first sliding groove 502 is consistent with the moving direction of the first bidirectional screw 25, and meanwhile, a first clamping portion 7 is connected in the first sliding groove 502.
The first clamping portion 7 is composed of clamping portion bodies with the same structure, the clamping portion bodies are in an I-shaped structure, first sliding lugs 701 are arranged on two sides of the lower end of the I-shaped structure, and the first sliding lugs 701 are matched with the first sliding grooves 502.
Meanwhile, a first lead screw nut 26 is installed in the middle of the lower end of the I-shaped structure, and the first lead screw nut 26 is connected with a first bidirectional lead screw 25 in a matched mode.
The closing or opening of the two clamp body is achieved by the rear arm screw motor 23 driving the first bidirectional screw 25.
First semicircular grooves 702 are formed in the side walls of the opposite sides of the upper ends of the two I-shaped structures, and rear arm walking units are installed at the bottoms of the first semicircular grooves 702.
The rear arm walking unit comprises a plurality of rollers 8, the rollers 8 are uniformly distributed at the bottom of the first semicircular groove 702 and are driven by roller motors 27 arranged at the middle section of the I-shaped structure.
The gyro wheel 8 is the rubber material, and its generating line is the semicircle of indent, and semicircular radius less than or equal to high tension line 6's radius, when two clamping part bodies of clamping part 7 move in opposite directions and press from both sides high tension line 6 when pressing from both sides tightly in the middle of semicylinder groove 702, high tension line 6 is hugged closely to the generating line of gyro wheel 8, if gyro wheel 8 rotated this moment, then can drive the trailing arm along high tension line 6 motion.
The bottom of the rear arm support 5 is provided with a transition section, a rear arm clutch bolt 501 is arranged in the transition section, and the rear arm clutch bolt 501 is inserted into the sleeve 4.
As shown in fig. 5-8, the front arm comprises a front arm support 12, and a front arm clamping unit, a front arm walking unit and a lifting cohesion unit are arranged on the front arm support 12, wherein the front arm clamping unit is used for pushing the walking module to the frozen electric wire and then enabling the walking module to cling to the surface of the icicle 28 on the electric wire 6; the forearm walking unit is used for providing power for advancing along the wire; the lifting and embracing unit is used for embracing the surface of the icicle 28 on the electric wire 6.
The lifting embracing unit comprises a special-shaped embracing body, the special-shaped embracing body is connected with a front arm pull rod 20, a driving screw 29 is connected in the front arm pull rod 20 in a matched mode, the driving screw 29 is in driving connection with a motor 30 installed on the front arm frame 12, the motor 30 is connected with the control unit, and a coupler 31 is arranged on an output shaft of the motor 30.
Two second round bars 1201 are symmetrically arranged with the special-shaped cohesive body as a center.
The special-shaped embracing body comprises two special-shaped embracing claws 10, one ends of the two special-shaped embracing claws 10 are opened, the other ends of the two special-shaped embracing claws 10 are hinged to each other, and meanwhile, a torsional spring is arranged at the joint so that the two special-shaped embracing claws 10 are in a normally open state under the condition of not receiving other external forces.
The outer surface of the shaped embracing claw 10 is tangent to the outer surface of the second round bar 1201 in the closed state.
The equidistant center line of the cross section of the special-shaped clasping claw 10 is divided into three sections, namely an arc section 1001, a first straight line section 1002 and a second straight line section 1003, the arc section 1001 is a quarter arc, the first straight line section 1002 is tangent to the arc section 1001, an included angle between the second straight line section 1003 and the first straight line section 1002 is an obtuse angle, and the two special-shaped clasping claws 10 are hinged at the tail end of the second straight line section 1003.
The structural characteristics of the lifting cohesion unit have the advantage that only the motor 30 is required to drive the screw 29 to drive the forearm pull rod 20 to descend, so that two actions can be completed, wherein one action is cohesion of the special-shaped cohesion claw 10, and the other action is descent and close to the upper surface of the icicle, so that the control logic is simplified, and the complexity of the use of components is reduced.
The front arm clamping unit and the rear arm clamping unit have the same structure, and specifically comprise a front arm lead screw motor arranged on the front arm frame 12, wherein the front arm lead screw motor is connected with a second bidirectional lead screw through belt transmission, and the second bidirectional lead screw is arranged in an open slot formed in the front arm frame 12.
Meanwhile, a second chute is formed in the side wall of an open slot formed in the front arm support 12, and a second clamping portion 7b is connected in the second chute in a matching manner.
The second clamping portion 7b is composed of clamping portion bodies with the same structure, the clamping portion bodies are in an I-shaped structure, second sliding lugs are arranged on two sides of the lower end of the I-shaped structure, and the second sliding lugs are matched with the second sliding grooves.
Meanwhile, a second lead screw nut is installed in the middle of the lower end of the I-shaped structure and matched with a second bidirectional lead screw.
The second bidirectional screw is driven by a front arm screw motor to realize the closing or opening of the two clamping part bodies.
And a second semicircular groove is formed in the side wall of the upper end of the I-shaped structure, and a forearm walking unit is arranged at the bottom of the second semicircular groove.
The forearm walking unit comprises a spring pin wheel 8b and a driving motor 32, the driving motor 32 is connected with the control unit, and an output shaft of the driving motor is in driving connection with the spring pin wheel 8; the spring nail wheels 8b are arranged in a plurality and are uniformly distributed in semicircular grooves in the second clamping portion 7 b.
The forearm utilizes spring pin wheel 8b as the drive wheel, because the antiskid ability of spike point on the ice surface and the clamp force of second clamping part 7b, fine solution the easy problem of skidding on icicle 28, simultaneously because the structural feature of second clamping part 7b and spring pin wheel 8b, it has wider suitability to the different diameters of icicle 28.
The front arm is provided with the second clamping part 7b like the rear arm, but the second clamping part 7b is not used as a suspension bearing structure, but a lifting cohesion module is added, the lifting cohesion module is not used for simply cohesion suspension of a high-voltage wire, and the second clamping part 7b and the spring nail wheel 8b are required to be basically free from vertical downward force, so that the walking module and the suspension module work independently and are not interfered with each other. Because the irregular embracing claw 10 needs to be hung on the upper edge of the icicle, the diameter of the icicle is uncertain, and the clamping part 7b and the spring nail wheel 8b are not stressed by vertical downward force, so that the embracing claw needs to move up and down after embracing so as to be attached to the upper edge of the icicle, and the suspension is realized.
As shown in fig. 9, two first strip-shaped protrusions 401 are symmetrically arranged on the outer side wall of the sleeve 4 along the axial direction thereof, and the first strip-shaped protrusions 401 are matched with the first strip-shaped grooves 1031 formed on the inner side wall of the through hole 103;
two second strip-shaped grooves 402 corresponding to the first strip-shaped bulges 401 are formed on the inner side wall of the sleeve 4; two second strip-shaped bulges 5011 are symmetrically arranged on the outer side wall of the front arm clutch bolt 1203 along the axial direction of the front arm clutch bolt, and the second strip-shaped groove 402 is matched with the second strip-shaped bulges 5011. The improved design is to restrict the freedom of rotation of the sleeve 4, the rear arm clutch bolt 501 and the front arm clutch bolt 1202 around the respective axes, and to avoid the rotation of the front and rear arms during the lifting process.
A front arm bearing rope retracting unit and a rear arm bearing rope retracting unit are respectively arranged in the first mounting hole and the third mounting hole, and are respectively connected with a front arm or a rear arm through bearing ropes; this structure has guaranteed that the workstation 1 that dangles possesses better stability when hanging.
Wherein, forearm bearing rope receive and releases the same with rear arm bearing rope receive and release unit's structure, and forearm bearing rope receives and releases the unit as the example, specifically:
as shown in fig. 10, the forearm bearing rope winding and unwinding unit includes a winding wheel motor 19 installed in the first mounting hole, the winding wheel motor 19 is connected with the control unit, an output shaft of the winding wheel motor is connected with a driving wheel 17 in a matching manner, the driving wheel 17 is connected with a driven wheel through a transmission belt 16, and the driven wheel is installed on the winding wheel shaft 14.
Two reels 1401 are fitted on the reel shaft 14, and bearings 15 are fitted to both end portions of the reel shaft 14.
Two winding reels 1401 are wound with a bearing rope 3, and the free end of the bearing rope 3 is fixed on the front arm support 12.
Meanwhile, a pulley 13 is arranged between the reel shaft 14 and the front arm frame 12, and the bearing rope 3 is wound on the reel 1401 through the pulley 13.
Because the forearm has no autonomous power, the stress condition of the clutch bolt 1203 of the forearm is worse when the forearm gets over obstacles, and the length of the sleeve 4 has special requirements, the forearm preferably has autonomous power, and further, the forearm needs to have the capability of walking on an iced wire and also needs to have reliable suspension performance. According to the common knowledge, two ends of a high-voltage wire are connected with a high-voltage iron tower, and a barrier such as a spacer bar is usually installed in the middle of the high-voltage wire, so that the high-voltage wire belongs to a linear path with two closed ends and the barrier in the middle, and therefore, a suspension bearing structure and a driving structure of the deicing robot are required to be capable of being caught on the high-voltage wire and being separated from the high-voltage wire in both installation and obstacle crossing, namely, the high-voltage wire is required to be of an open structure.
In general, the diameter of the icicles on the icing wire is variable, and the icicles have smooth surfaces. The above problems must be solved to achieve reliable driving and suspension on icy high voltage lines.
As shown in fig. 11 to 13, preparation before obstacle crossing:
when a camera which is arranged on the front arm and connected with the control unit detects that an obstacle exists in the front, obstacle crossing operation is executed, the rear arm moves along the electric wire 6 at first, the distance between the front arm and the rear arm is adjusted to reach the state after the step 4 is finished, then the front bearing rope winding and unwinding module and the rear bearing rope winding and unwinding module start winding, so that the front bearing rope 3 and the rear bearing rope 3 are shortened, the suspension workbench 1 rises, when the suspension workbench rises to a proper position, the lifting motor 2 of the front arm lifting module and the rear arm lifting module is started, the sleeve 4 is driven to rise towards one end far away from the lifting motor 2 along the lifting lead screw 22, the sleeve 4 is connected with the clutch bolt on the front arm and the rear arm, and then the electromagnet 18 of the workbench suspension module is started.
Obstacle crossing:
the clamping of the front arm and the holding of the irregular holding claw 10 of the front arm on the electric wire icicle 28 are released, then the front arm lifting module is started to drive the front arm to descend, then the rear arm roller motor 27 is started to drive the rear arm to advance, because the clutch bolt 501 of the rear arm and the sleeve 4 of the rear arm lifting module are in a connection state at the moment, the suspension workbench 1 is also driven to advance until the holding claw 9 of the suspension workbench 1 contacts with an obstacle, then the front arm lifting module drives the front arm to ascend to the position where the clamping part 7 of the front arm can clamp the icicle 28 on the high-voltage electric wire 6 opposite to the obstacle, then the front arm advances for a certain distance which is larger than the size of the suspension workbench 1 along the direction of the high-voltage electric wire 6, then the lifting motor 2 of the rear arm lifting module is started, the sleeve 4 is driven to descend along the lifting screw 22 towards one end close to the lifting motor 2, and the sleeve 4, then the electromagnet 18 of the worktable suspension module is closed, the embracing claw 9 of the worktable suspension module is separated to release the embracing, the rear bearing rope is extended, the front bearing rope is shortened, the overhanging worktable 1 is moved to a position just crossing the obstacle, then the electromagnet 18 of the worktable suspension module is opened, the embracing claw 9 of the worktable suspension module is caused to embrace and buckle on the high-voltage wire 6, then the clamping of the rear arm is released, the rear arm lifting module is started to lead the rear arm to descend, then the front arm continues to advance, the overhanging worktable 1 and the rear arm are pulled to advance together through the front bearing rope 3 until the rear arm also completely crosses the obstacle, then the rear arm lifting module is started, the rear arm is driven to ascend to a position where the rear arm clamping part 7 can clamp the high-voltage wire 6, then the rear arm is clamped, the lifting motor 2 of the rear arm lifting module is started, the driving sleeve 4 descends towards one end close to the lifting motor 2 along the lifting screw 22, the sleeve 4 is separated from the clutch bolt 501 on the rear arm, then the electromagnet 18 of the workbench suspension module is closed, the embracing claws of the workbench suspension module are separated to release the embracing, and the deicing robot can cross the obstacle.
It should be noted that, according to the process and the geometric principle of the obstacle crossing manner described above, the minimum condition that the obstacle crossing of the trailing arm needs to satisfy is that, in the process from the time when the sleeve 4 rises to the limit state along the lift screw 22 to the time when the sleeve falls to the limit state, one half of the amount of change in the component of the sleeve 4 in the front-rear direction is equal to or greater than the size of the trailing arm in the front-rear direction.
Clamping the forearm:
and starting the front arm lead screw motor to drive the two second clamping part bodies of the front arms to move towards each other until the spring pin wheels 8b in the two second clamping part bodies clamp the icicles 28 on the electric wires 6. In the clamping process, the stroke control method for the second clamping part 7b is that when the second sensing module arranged on the forearm lead screw motor detects that the load of the forearm lead screw motor is increased to a set threshold value, the clamping is determined to be in place, the forearm lead screw motor is turned off at the same time, and the two second clamping part bodies do not move any more. The principle here is that during the clamping of the front arm, the tips of the nails on the spring nail wheel 8b closest to the electric wire icicles 28 first contact the icicles 28, these nails start to compress the springs 8b03 at the tail, the elastic force generated by the compression of the springs 8b03 causes the load of the front arm lead screw motor to increase, in practice, a load threshold can be set according to the clamping force required for the spring nail wheel 8b to roll along the icicles 28 without slipping easily, and when the load increases to this threshold, the second clamping part 7b does not move any further.
The special-shaped holding claw of the forearm holds the electric wire icicle:
and starting a motor 30 of the forearm lifting and embracing module to drive the forearm pull rod 20 to descend, embracing the special-shaped embracing claw 10, and then continuously driving the forearm pull rod 20 to descend by the motor 30 until the special-shaped embracing claw 10 is tightly attached to the upper edge of the icicle 28. The stroke control method when the special-shaped embracing claw 10 descends is that when the first induction module arranged on the motor 30 detects that the load of the main shaft of the motor 30 is suddenly increased to a set threshold value, the special-shaped embracing claw 10 is determined to descend to the right position, the motor 30 is turned off, and the special-shaped embracing claw 10 does not descend any more. The principle here is that when the specially-shaped holding claw 10 descends to the upper edge of the ice column 28, the pressure of the contact surface is transmitted to the spindle of the motor 30 through the specially-shaped holding claw 10, the forearm pull rod 20 and the lead screw 29, at this time, the spindle of the motor 30 continues to rotate, so that the specially-shaped holding claw 10 cannot descend continuously, the resistance increases suddenly, the spindle load of the motor 30 increases suddenly, and this characteristic can be used as a signal for descending to the right position.
And starting a driving motor 32 of the front arm walking module, driving the spring nail wheel 8b to rotate so as to drive the front arm to advance, meanwhile, starting a winding wheel motor 19 of the bearing rope winding and unwinding module corresponding to the front arm, unwinding a winding wheel 14, extending the bearing rope 3 to adapt to the advance of the front arm, and determining the advancing distance of the front arm according to actual requirements.
Claims (8)
1. The hanging walking device on the icing electric wire is characterized by comprising a suspension workbench (1), wherein a workbench hanging unit, a front arm lifting unit, a rear arm lifting unit and a control unit are arranged on the suspension workbench (1), and the front arm lifting unit and the rear arm lifting unit are symmetrically arranged by taking the vertical axis of the suspension workbench (1) as a center; the control unit is respectively connected with the workbench suspension unit, the front arm lifting unit and the rear arm lifting unit;
wherein, the forearm lifting unit is connected with a forearm in a control way; the rear arm lifting unit is connected with a rear arm in a control way, and the front arm and the rear arm are both connected with the suspension workbench (1);
the suspension workbench (1) comprises a suspension workbench body (101), the suspension workbench body (101) is of a convex structure, three mounting holes are formed in the large end of the convex structure and respectively comprise a first mounting hole, a second mounting hole and a third mounting hole, the first mounting hole and the third mounting hole are identical in structure and are symmetrically arranged by taking the second mounting hole as a center;
the workbench suspension unit is arranged in the second mounting hole and comprises an electromagnet (18) arranged at the bottom of the second mounting hole, a pull rod (21) is arranged above the electromagnet (18), and the pull rod (21) and the electromagnet (18) are coaxially arranged;
the upper end of the pull rod (21) is connected with a clasping body, the clasping body comprises two clasping claws (9), one ends of the two clasping claws (9) are opened, the other ends of the two clasping claws are hinged, and the connecting part of the two clasping claws (9) is provided with a torsion spring, so that the two clasping claws (9) are in a normally open state;
the lower end of the pull rod (21) has ferromagnetism and interacts with the electromagnet (18), and the electromagnet (18) is connected with the control unit.
2. The hanging and traveling device on the icing wire according to claim 1, wherein the rear arm comprises a rear arm support (5), a rear arm clamping unit is mounted on the rear arm support (5), the rear arm clamping unit comprises a rear arm lead screw motor (23), the rear arm lead screw motor (23) is connected with the control unit and is connected with a first bidirectional lead screw (25) through a belt transmission (24), and the first bidirectional lead screw (25) is mounted in a first open slot formed in the rear arm support (5);
a first sliding chute (502) is formed in the side wall of the first open slot, the forming direction of the first sliding chute (502) is consistent with the moving direction of the first bidirectional screw (25), and meanwhile, a first clamping part (7) is connected in the first sliding chute (502);
the first clamping part (7) is composed of clamping part bodies with the same structure, each clamping part body is of an I-shaped structure, first sliding lugs (701) are arranged on two sides of the lower end of each I-shaped structure, and the first sliding lugs (701) are installed in first sliding grooves (502);
the upper ends of the two I-shaped structures and the side walls of the opposite sides of the two I-shaped structures are both provided with a first semicircular groove (702), and the bottom of the first semicircular groove (702) is provided with a rear arm walking unit;
first lead screw nuts (26) are installed at the lower ends of the two I-shaped structures, and the first lead screw nuts (26) are respectively connected with the two ends of a first bidirectional lead screw (25) in a matched mode to achieve opening or closing of the first clamping portion.
3. The hanging walking device on the icing wire according to claim 2, wherein the rear arm walking unit comprises a plurality of rollers (8), the rollers (8) are uniformly distributed at the bottom of the first semicircular groove (702), the rollers (8) are connected with a roller motor (27) arranged on the first clamping part (7), and the roller motor (27) is connected with the control unit; meanwhile, the outer surface of the roller (8) is attached to the outer surface of the high-voltage wire (6).
4. The hanging and walking device on the icing electric wire is characterized in that a front arm comprises a front arm support (12), and a front arm clamping unit, a front arm walking unit and a lifting cohesion unit are arranged on the front arm support (12); wherein the content of the first and second substances,
the lifting embracing unit comprises a special-shaped embracing body, the special-shaped embracing body comprises two special-shaped embracing claws (10), one ends of the two special-shaped embracing claws (10) are opened, the other ends of the two special-shaped embracing claws are hinged, the hinged joint is connected with a front arm pull rod (20), a driving lead screw (29) is connected in the front arm pull rod (20) in a matched manner, the driving lead screw (29) is in driving connection with a motor (30) arranged on a front arm frame (12), and the motor (30) is connected with the control unit;
the forearm clamping unit comprises a forearm lead screw motor, the forearm lead screw motor is connected with the control unit and is connected with a second bidirectional lead screw through belt transmission, and the second bidirectional lead screw is arranged in a second open slot formed in the forearm support (12);
a second sliding groove is formed in the side wall of the second open groove, the forming direction of the second sliding groove is consistent with the moving direction of the second bidirectional screw rod, and meanwhile, a second clamping part (7b) is connected in the second sliding groove;
the second clamping part (7b) is composed of clamping part bodies with the same structure, the clamping part bodies are I-shaped structures, second sliding lugs are arranged on two sides of the lower end of each I-shaped structure, and the second sliding lugs are installed in second sliding grooves;
the side walls of the upper ends and the opposite sides of the two I-shaped structures are respectively provided with a second semicircular groove, and the bottoms of the second semicircular grooves are provided with forearm walking units;
the lower ends of the two I-shaped structures are provided with second lead screw nuts, and the two second lead screw nuts are respectively connected with two ends of a second bidirectional lead screw in a matched manner to realize the opening or closing of the clamping part;
the forearm walking unit comprises a plurality of spring nail wheels (8b) uniformly distributed at the bottom of the second semicircular groove, the spring nail wheels (8b) are in driving connection with a driving motor (32) arranged on the front arm support (12), and the driving motor (32) is connected with the control unit;
simultaneously, spring nail wheel (8b) includes wheel body (8b01), be the array along its circumferential direction on the surface of wheel body (8b01) and seted up the mounting hole, install spring (8b03) in the mounting hole, the free end of spring (8b03) is connected with nail (8b02), the point portion of nail (8b02) is towards the outside.
5. The hanging and traveling device on the icing electric wire is characterized in that a front arm lifting unit and a rear arm lifting unit are identical in structure, wherein the front arm lifting unit comprises a lifting motor (2) installed on a suspension workbench (1), the lifting motor (2) is connected with a control unit, an output shaft of the lifting motor is in driving connection with a lifting lead screw (22), a sleeve (4) is connected onto the lifting lead screw (22) in a matching mode, and the sleeve (4) is connected with a front arm clutch bolt (1203) arranged at the bottom of a front arm support (12).
6. The hanging walking device on the icing electric wire according to claim 5, characterized in that the free end of the sleeve (4) passes through a through hole (103) arranged on the hanging workbench (1) to be connected with a forearm clutch bolt (1203);
two first strip-shaped bulges (401) are symmetrically arranged on the outer side wall of the sleeve (4) along the axial direction of the sleeve, and the first strip-shaped bulges (401) are matched with first strip-shaped grooves (1031) formed in the inner side wall of the through hole (103);
two second strip-shaped grooves (402) corresponding to the first strip-shaped bulges (401) are formed in the inner side wall of the sleeve (4); two second strip-shaped protrusions (5011) are symmetrically arranged on the outer side wall of the front arm clutch bolt (1203) along the axial direction of the front arm clutch bolt, and the second strip-shaped grooves (402) are matched with the second strip-shaped protrusions (5011).
7. The hanging and traveling device for the icing electric wire according to claim 1, wherein the front arm and the rear arm are both connected with the suspension workbench (1) through the bearing rope (3), meanwhile, a front arm bearing rope winding and unwinding unit and a rear arm bearing rope winding and unwinding unit for winding and unwinding the bearing rope (3) are further symmetrically arranged on the suspension workbench (1), and the front arm bearing rope winding and unwinding unit and the rear arm bearing rope winding and unwinding unit are respectively installed in the first installation hole and the third installation hole.
8. The hanging and traveling device for the icing electric wire according to claim 7, wherein the front arm bearing rope winding and unwinding unit and the rear arm bearing rope winding and unwinding unit are identical in structure, the front arm bearing rope winding and unwinding unit comprises a winding wheel motor (19) installed in a first installation hole, the winding wheel motor (19) is connected with a control unit, an output shaft of the winding wheel motor is connected with a driving wheel (17) in a matching mode, the driving wheel (17) is connected with a driven wheel through a transmission belt (16), and the driven wheel is installed on a winding wheel shaft (14);
two winding reels (1401) are sleeved on the winding reel (14), and meanwhile, bearings (15) are connected to the two end parts of the winding reel (14) in a matching way;
one end of the bearing rope (3) is wound on the winding roll (1401), and the other end is fixed on the front arm support (12).
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 |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810878714.0A CN108695804B (en) | 2018-08-03 | 2018-08-03 | Hanging and traveling device on icing electric wire |
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| CN108695804A CN108695804A (en) | 2018-10-23 |
| CN108695804B true CN108695804B (en) | 2020-06-09 |
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| 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 |
| CN101882765B (en) * | 2010-05-11 | 2012-08-22 | 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 |
| CN105207158B (en) * | 2015-09-07 | 2017-08-08 | 湖南大学 | A kind of deicing of high voltage wire robot |
| CN106329391B (en) * | 2016-11-04 | 2017-11-24 | 国网山东省电力公司济南市长清区供电公司 | A kind of circuit inspection robot |
| CN206742815U (en) * | 2017-06-01 | 2017-12-12 | 三峡大学 | Transmission line of electricity obstacle crossing type deicer |
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