CN108808542A - A kind of broken strand of power transmission line repair robot mechanism - Google Patents

A kind of broken strand of power transmission line repair robot mechanism Download PDF

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Publication number
CN108808542A
CN108808542A CN201710311412.0A CN201710311412A CN108808542A CN 108808542 A CN108808542 A CN 108808542A CN 201710311412 A CN201710311412 A CN 201710311412A CN 108808542 A CN108808542 A CN 108808542A
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CN
China
Prior art keywords
winding
elevating
gear
transmission line
rotating
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Granted
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CN201710311412.0A
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Chinese (zh)
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CN108808542B (en
Inventor
王洪光
刘爱华
常勇
凌烈
姜勇
宋屹峰
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Priority to CN201710311412.0A priority Critical patent/CN108808542B/en
Publication of CN108808542A publication Critical patent/CN108808542A/en
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/14Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for joining or terminating cables

Abstract

The invention belongs to broken strand of power transmission line recovery technique fields, specifically a kind of broken strand of power transmission line repair robot mechanism.Including fix tool, electrical appliance box body, forearm, postbrachium, preceding running gear and rear running gear, wherein forearm and postbrachium are respectively arranged at the forward and backward side of electrical appliance box body, the end of the forearm and postbrachium is connected separately with preceding running gear and rear running gear, and the fix tool is set on electrical appliance box body and between forearm and postbrachium.The present invention can automatically be repaired to stranded, improve efficiency, mitigate personnel labor intensity, improve personal safety.

Description

A kind of broken strand of power transmission line repair robot mechanism
Technical field
The invention belongs to broken strand of power transmission line recovery technique field, specifically a kind of broken strand of power transmission line repairs machine Robot mechanism.
Background technology
Transmission line of electricity is the particularly important component part of electric system.Transmission line of electricity due to its be chronically at open field it Under, the environment of operation is very poor, is influenced by various natural conditions.Transmission line of electricity can cause under the long term of a variety of stress Material embrittlement, and lightning stroke flashover, external force destruction etc. can also cause conductive line surfaces to be damaged;Especially by the sea and the transmission of electricity of industrial area Line is easier the defects of being corroded, causing transmission line of electricity to crack, is stranded.Damaging, being stranded for overhead transmission line, gently then reduces Current-carrying capacity, it is heavy then cause line-outage contingency, influence the safe operation of circuit.It therefore, should be immediately once finding that conducting wire damages, is stranded Processing.
Currently, the measure that power department uses after broken strand of power transmission line is mainly manually studied for a second time courses one has flunked to stranded.Due to Stranded position is in the center of circuit in one grade, and people's outlet is needed to go operation, smooth out with the fingers line, time for winding operation it is long, labour is strong Degree is big, and dangerous high, therefore, it is necessary to develop can quickly carry out the equipment of stranded reparation to replace manually to broken strand of power transmission line It is repaired, improves efficiency, mitigate personnel labor intensity, it is ensured that the safe operation of transmission line of electricity.
Invention content
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of broken strand of power transmission line repair robot mechanisms.The machine Structure can automatically be repaired to stranded, improve efficiency, mitigate personnel labor intensity, improve personal safety.
To achieve the goals above, the present invention uses following technical scheme:
A kind of broken strand of power transmission line repair robot mechanism, including fix tool, electrical appliance box body, forearm, postbrachium, preceding walking Device and rear running gear, wherein forearm and postbrachium are respectively arranged at the forward and backward side of electrical appliance box body, the end of the forearm and postbrachium End has been rotatably coupled preceding running gear and rear running gear respectively, the fix tool be set on electrical appliance box body and Between forearm and postbrachium.
The preceding running gear includes traveling wheel, travel driving motor and walking wheeling supporting frame, wherein wheeling supporting frame of walking It is connected by the upper end of horizontal positioned passive rotary joint and forearm, the wheel shaft of the traveling wheel is installed in rotation on walking On wheeling supporting frame, the travel driving motor is mounted on walking wheeling supporting frame and the wheel shaft of output shaft and the traveling wheel It is connected;
Running gear is identical as the preceding running gear structure after described.
The fix tool includes that winding mechanism, elevating mechanism and rotating mechanism, wherein winding mechanism and elevating mechanism are solid Even, it realizes that rising or falling for winding mechanism, the elevating mechanism are connected with rotating mechanism by elevating mechanism, passes through whirler Structure can realize the rotation of winding mechanism and elevating mechanism.
The winding mechanism includes winding mechanism driving device, supporting rack, rolling bearing, line roller and winding frame, wherein propping up Support and rolling bearing are the loop configuration with opening, and support frame as described above is connect with the elevating mechanism, the rolling tooth Wheel is set to the inside of supporting rack and is slidably connected with supporting rack, and the winding mechanism driving device is mounted on described It is sequentially connected on supporting rack and with rolling bearing, the winding mechanism driving device drives the rolling bearing along supporting rack Make circumferential movement, the line roller and winding frame are connected with the rolling bearing.
The winding mechanism driving device includes that motor a, gear a and electric machine support a, the motor a pass through electric machine support a On support frame as described above, the output shaft of the motor a is connect with gear a, and the gear a is engaged with rolling bearing.
The winding mechanism driving device is two groups, and the both sides of support frame as described above are equipped with through-hole, winding mechanism described in two groups Driving device is sequentially connected in the through hole of support frame as described above both sides with the rolling bearing.
The elevating mechanism includes elevating mechanism driving device, lifting nut, screw support shaft, bearing block, leading screw, leads Rail, sliding block and rotating mechanism link, winding mechanism link and link, wherein leading screw and guide rail are vertically arranged, The upper and lower end of the leading screw is rotatably coupled with winding mechanism link and link respectively, the upper and lower end point of the guide rail Be not fixedly connected with winding mechanism link and link, the lifting nut is connect with threads of lead screw, and with the rotation Mechanism is rotatably coupled, the elevating mechanism driving device be mounted on the rotating mechanism on, and with the lifting nut Be sequentially connected, the sliding block is mounted on rotating mechanism link and is slidably connected with guide rail, the rotating mechanism link with The rotating mechanism connection.
The upper end of the lifting nut is sequentially connected with the elevating mechanism driving device, and lower end is equipped with screw support shaft, The screw support shaft is rotatably coupled by bearing and bearing block, and the bearing block is connect with the rotating mechanism, described The locking nut a and locking nut b being threaded on leading screw below the lifting nut.
The elevating mechanism driving device includes motor c, the first synchronous pulley, the second synchronous pulley and synchronous belt, wherein Motor c be mounted on the rotating mechanism on and output shaft connect with the first synchronous pulley, second synchronous pulley with it is described Lifting nut is connected and is connect with the first synchronous belt pulley transmission by synchronous belt.
The rotating mechanism includes motor d, gear c, fixed plate and gear d, and wherein motor d is mounted on the electrical appliance box body On, and output shaft is connect with gear c, and the fixed plate is installed in rotation on by sliding bearing on the electrical appliance box body, The gear d is connected with fixed plate and is engaged with gear c, and the elevating mechanism is mounted on the peace that the fixed plate is equipped with It fills on hole.
The invention has the advantages that and advantageous effect:
1. it is simple, effective that the present invention smoothes out with the fingers line process.
2. the effect of the stranded reparation of the present invention is good.
3. the present invention improves personal safety.The present invention replaces worker's outlet implementation to smooth out with the fingers wire crimp operation, reduces danger, carries High personal safety.
4. the present invention mitigates personnel labor intensity.The present invention is after circuit generation is stranded, instead of worker's outlet to stranded reality It applies and smoothes out with the fingers line and crimping, the labor intensity of personnel can be mitigated, improve efficiency.
5. the present invention may span across the obstacles such as stockbridge damper, aluminium hydraulic pressed connecting pipe, broken strand of power transmission line repair in one grade is realized.
Description of the drawings
Fig. 1 is the structural diagram of the present invention;
Fig. 2 is the structural schematic diagram of preceding running gear in the present invention;
Fig. 3 is the structural schematic diagram of fix tool in the present invention;
Fig. 4 is one of the structural schematic diagram of winding mechanism in the present invention;
Fig. 5 is the second structural representation of winding mechanism in the present invention;
Fig. 6 is the structural schematic diagram of elevating mechanism in the present invention;
Fig. 7 is the structural schematic diagram of rotating mechanism in the present invention.
Wherein:1 is winding mechanism, and 101 be motor a, and 102 be gear a, and 103 be electric machine support a, and 104 be motor b, 105 It is electric machine support b for gear b, 106,107 be supporting rack, and 108 be rolling bearing, and 109 be line roller, and 110 be winding frame, and 2 be to rise Descending mechanism, 201 be motor c, and 202 be the first synchronous pulley, and 203 be the second synchronous pulley, and 204 be synchronous belt, and 205 be lifting silk Mother, 206 be screw support shaft, and 207 be bearing block, and 208 be locking nut a, and 209 be locking nut b, and 210 be leading screw, and 211 are Guide rail, 212 be sliding block, and 213 be rotating mechanism link, and 214 be winding mechanism link, and 215 be link, and 3 be whirler Structure, 301 be motor d, and 302 be gear c, and 303 be fixed plate, and 304 be sliding bearing, and 305 be gear d, and 10 be fix tool, 20 For electrical appliance box body, 30 be forearm, and 40 be postbrachium, and 50 be preceding running gear, and 501 be traveling wheel, and 502 be travel driving motor, 503 It is rear running gear for wheeling supporting frame of walking, 60.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples.
As shown in Figure 1, a kind of broken strand of power transmission line repair robot mechanism provided by the invention, including fix tool 10, Electrical appliance box body 20, forearm 30, postbrachium 40, preceding running gear 50 and rear running gear 60, wherein forearm 30 and postbrachium 40 are set respectively It is placed in the forward and backward side of electrical appliance box body 20, the end of the forearm 30 and postbrachium 40 is connected separately with preceding running gear 50 and rear row Walking apparatus 60, the fix tool 10 are set on electrical appliance box body 20 and between forearm 30 and postbrachium 40.
As shown in Fig. 2, the preceding running gear 50 includes traveling wheel 501, travel driving motor 502 and walking wheeling supporting frame 503, wherein walking wheeling supporting frame 503 is connect by a horizontal positioned passive rotary joint with the upper end of forearm 30, the row The wheel shaft for walking wheel 501 is installed in rotation on walking wheeling supporting frame 503, and the travel driving motor 502 is mounted on traveling wheel On supporting rack 503 and the wheel shaft of output shaft and the traveling wheel 501 is connected.
Running gear 60 is identical as 50 structure of preceding running gear after described, 40 structure phase of the forearm 30 and postbrachium Together, the rear running gear 60 is connect by another horizontal positioned passive rotary joint with the upper end of postbrachium 40.
As shown in figure 3, the fix tool 10 includes winding mechanism 1, elevating mechanism 2 and rotating mechanism 3, wherein wrapping machine Structure 1 is connected with elevating mechanism 2, and rising or falling for winding mechanism 1 is realized by elevating mechanism 1.The elevating mechanism 2 and rotation Mechanism 3 is connected, and the rotation of winding mechanism 1 and elevating mechanism 2 can be realized by rotating mechanism 3.
As shown in Figure 4, Figure 5, the winding mechanism 1 includes winding mechanism driving device, supporting rack 107, rolling bearing 108, line roller 109 and winding frame 110, wherein supporting rack 107 and rolling bearing 108 are the loop configuration with opening, described Supporting rack 107 is connect with the elevating mechanism 2, the rolling bearing 108 be set to the inside of supporting rack 107 and with support Frame 107 is slidably connected.The winding mechanism driving device be mounted on support frame as described above 107 on and with rolling bearing 108 It is sequentially connected, the winding mechanism driving device drives the rolling bearing 108 to make circumferential movement, the line along supporting rack 107 Roller 109 and winding frame 110 are respectively fixedly connected in the both sides with the rolling bearing 108.
The winding mechanism driving device can be one group or two groups.
In the present embodiment, the winding mechanism driving device is two groups, and the both sides of support frame as described above 107 are equipped with through-hole, two The group winding mechanism driving device is sequentially connected in the through hole of 107 both sides of support frame as described above with the rolling bearing 108.
Winding mechanism driving device described in one of which includes motor a101, gear a102 and electric machine support a103, wherein Motor a101 is mounted on the side of support frame as described above 107 by electric machine support a103 in the horizontal direction, and the motor a101's is defeated Shaft is connect with gear a102, and the gear a102 is engaged in the through hole of 107 side of support frame as described above with rolling bearing 108.
Winding mechanism driving device described in another set includes motor b104, gear b105 and electric machine support b106, described Motor b104 is mounted on the other side of support frame as described above 107 by electric machine support b106 in the horizontal direction, the motor b104's Output shaft is connect with gear b105, and the gear b105 is nibbled in the through hole of 107 other side of support frame as described above with rolling bearing 108 It closes.
Support frame as described above 107 is 270 degree of annulus, and embedded ring-shaped slide guide rail, the rolling bearing 108 are 270 degree Ring gear, and be slidably connected with the ring-shaped slide guide rail.
The motor a101 and motor b104 realizes rolling bearing by same-direction-driving moving gear a102 and gear b105 respectively 108 along supporting rack 107 circular-rotation, since winding frame 110 and line roller 109 and rolling bearing 108 are connected, and then realize winding The circular-rotation of frame 110 and line roller 109.
As shown in fig. 6, the elevating mechanism 2 includes elevating mechanism driving device, lifting nut 205, screw support shaft 206, bearing block 207, leading screw 210, guide rail 211, sliding block 212 and rotating mechanism link 213, winding mechanism link 214 and Link 215, wherein leading screw 210 and guide rail 211 are vertically arranged, the upper and lower end of the leading screw 210 respectively with wrapping machine Structure link 214 and link 215 are rotatably coupled, the upper and lower end of the guide rail 211 respectively with winding mechanism link 214 are fixedly connected with link 215.The lifting nut 205 is threadedly coupled with leading screw 210, and can with the rotating mechanism 3 It rotationally connects, the elevating mechanism driving device is mounted on the rotating mechanism 3, and is passed with the lifting nut 205 Dynamic connection, the sliding block 212 are mounted on rotating mechanism link 213 and are slidably connected with guide rail 211, the rotating mechanism Link 213 is connect with the rotating mechanism 3.The winding mechanism link 214 is connected with the winding mechanism 1.
The upper end of the lifting nut 205 is sequentially connected with the elevating mechanism driving device, and lower end is supported equipped with screw Axis 206, the screw support shaft 206 are rotatably coupled by bearing and bearing block 207, the bearing block 207 and the rotation Rotation mechanism 3 connects.Locking nut a208 and lock positioned at 205 lower section of the lifting nut are threaded on the leading screw 210 Tight nut b209, the screw support shaft 206 limits 205 vertical direction of lifting nut by bearing and moves, and utilizes locking screw Female a208 and locking nut b209 are locking.
The elevating mechanism driving device includes motor c201, the first synchronous pulley 202, the second synchronous pulley 203 and same Band 204 is walked, wherein motor c201 is mounted on the rotating mechanism 3 and output shaft is connect with the first synchronous pulley 202, institute The second synchronous pulley 203 is stated to be connected with the lifting nut 205 and be driven by synchronous belt 204 and the first synchronous pulley 202 Connection.Second synchronous pulley 203 and lifting nut 205 are coaxial.
The motor c201 drives the rotation of the first synchronous pulley 202, and the second synchronous pulley 203 is driven by synchronous belt 204 Rotation to realize the rotation of the lifting nut 205, and then realizes the rising or decline of leading screw 210.Due to guide rail 211 It is connected with leading screw 210 by link 215 and winding mechanism link 214, therefore realizes guide rail 211 simultaneously along sliding block 212 The movement of rising either decline guide rail 211 ensure that leading screw 210 rises or the stationarity of descending motion.Due to wrapping machine Structure 1 is connected by winding mechanism link 214 and elevating mechanism 2, and then realizes the rising or decline of winding mechanism 1.
As shown in fig. 7, the rotating mechanism 3 includes motor d301, gear c302, fixed plate 303 and gear d305, wherein Motor d301 is mounted on electrical appliance box body 20, and output shaft is connect with gear c302, and the fixed plate 303 passes through sliding bearing 304 are installed in rotation on electrical appliance box body 20, and the gear d305 is connected with fixed plate 303 and is engaged with gear c302. The fixed plate 303 is equipped with the mounting hole being connect with the elevating mechanism 2, and the elevating mechanism 2 is mounted on the fixed plate On mounting hole on 303.
The motor d301 drives fixed plate 303 to rotate, because of sliding bearing by gear c 302 and gear d305 transmissions 304 are mounted on electrical appliance box body 20, and are connected with fixed plate 303, and then realize circle of the fixed plate 303 along electrical appliance box body 20 Week rotation.Since elevating mechanism 2 and winding mechanism 1 are connected with fixed plate 303, it is achieved that elevating mechanism 2 and winding mechanism 1 Circular-rotation.
The operation process of the present invention is as follows:
The first step:By the one ends wound of aluminium wire on winding supporting rack 110, then aluminium wire is sequentially smoothed out with the fingers on online roller 109.
Second step:Robot reaches the standard grade, and stranded repair mechanism walks along transmission line of electricity, runs to stranded stopping nearby.
Third walks:Elevating mechanism 2 rises, and it is attached that 107 center of circle of supporting rack of winding mechanism 1 is in transmission line of electricity center location Closely.
4th step:Robot advances at a slow speed, while motor a101 and motor b104 drive rolling bearing 108 in supporting rack 107 inner peripherys rotate, band moving-wire roller 109 and winding 110 circular-rotation of frame, and then realize winding of the aluminium wire in transmission line of electricity.
5th step:Behind stranded all winding loop lines road of transmission line of electricity, elevating mechanism 2 declines, and winding mechanism 1 drops to Below transmission line of electricity, rotating mechanism 3 drives elevating mechanism 2 and the rotation of 1 contiguous circumferential of winding mechanism, realizes line roller 109 and winding The continuous of 110 liang of end lines of frame is twisted, and aluminium wire end is avoided to unclamp.

Claims (10)

1. a kind of broken strand of power transmission line repair robot mechanism, which is characterized in that including fix tool (10), electrical appliance box body (20), forearm (30), postbrachium (40), preceding running gear (50) and rear running gear (60), wherein forearm (30) and postbrachium (40) It is respectively arranged at the forward and backward side of electrical appliance box body (20), the end of the forearm (30) and postbrachium (40) is rotatably coupled respectively There are preceding running gear (50) and rear running gear (60), the fix tool (10) is set on electrical appliance box body (20) and position Between forearm (30) and postbrachium (40).
2. broken strand of power transmission line repair robot according to claim 1 mechanism, which is characterized in that the preceding running gear (50) include traveling wheel (501), travel driving motor (502) and walking wheeling supporting frame (503), wherein wheeling supporting frame of walking (503) it is connect with the upper end of forearm (30) by horizontal positioned passive rotary joint, the wheel shaft of the traveling wheel (501) can turn It is mounted in walking wheeling supporting frame (503) dynamicly, the travel driving motor (502) is mounted on walking wheeling supporting frame (503), And the wheel shaft of output shaft and the traveling wheel (501) is connected;
Running gear (60) is identical as preceding running gear (50) structure after described.
3. broken strand of power transmission line repair robot according to claim 1 mechanism, which is characterized in that the fix tool (10) include that winding mechanism (1), elevating mechanism (2) and rotating mechanism (3), wherein winding mechanism (1) and elevating mechanism (2) are solid Even, realize that rising or falling for winding mechanism (1), the elevating mechanism (2) are solid with rotating mechanism (3) by elevating mechanism (1) Even, the rotation of winding mechanism (1) and elevating mechanism (2) can be achieved by rotating mechanism (3).
4. broken strand of power transmission line repair robot according to claim 3 mechanism, which is characterized in that the winding mechanism (1) include winding mechanism driving device, supporting rack (107), rolling bearing (108), line roller (109) and winding frame (110), wherein Supporting rack (107) and rolling bearing (108) are the loop configuration with opening, support frame as described above (107) and the elevator Structure (2) connect, the rolling bearing (108) be set to the inside of supporting rack (107) and with supporting rack (107) slideably Connection, the winding mechanism driving device are mounted on support frame as described above (107) and are sequentially connected with rolling bearing (108), The winding mechanism driving device drives the rolling bearing (108) to make circumferential movement, the line roller along supporting rack (107) (109) it is connected with the rolling bearing (108) with winding frame (110).
5. broken strand of power transmission line repair robot according to claim 4 mechanism, which is characterized in that the winding mechanism drives Dynamic device includes motor a (101), gear a (102) and electric machine support a (103), and the motor a (101) passes through electric machine support a (103) it is mounted on support frame as described above (107), the output shaft of the motor a (101) is connect with gear a (102), the gear a (102) it is engaged with rolling bearing (108).
6. broken strand of power transmission line repair robot according to claim 4 mechanism, which is characterized in that the winding mechanism drives Dynamic device is two groups, and the both sides of support frame as described above (107) are equipped with through-hole, and winding mechanism driving device is in the support described in two groups The through hole of frame (107) both sides is sequentially connected with the rolling bearing (108).
7. broken strand of power transmission line repair robot according to claim 3 mechanism, which is characterized in that the elevating mechanism (2) include elevating mechanism driving device, lifting nut (205), screw support shaft (206), bearing block (207), leading screw (210), Guide rail (211), sliding block (212) and rotating mechanism link (213), winding mechanism link (214) and link (215), Middle leading screw (210) and guide rail (211) are vertically arranged, and the upper and lower end of the leading screw (210) is connect with winding mechanism respectively Frame (214) and link (215) are rotatably coupled, the upper and lower end of the guide rail (211) respectively with winding mechanism link (214) be fixedly connected with link (215), the lifting nut (205) is threadedly coupled with leading screw (210), and with the rotation Rotation mechanism (3) is rotatably coupled, the elevating mechanism driving device be mounted on the rotating mechanism (3) on, and with it is described Lifting nut (205) be sequentially connected, the sliding block (212) be mounted on rotating mechanism link (213) on and with guide rail (211) It is slidably connected, the rotating mechanism link (213) connect with the rotating mechanism (3).
8. broken strand of power transmission line repair robot according to claim 7 mechanism, which is characterized in that the lifting nut (205) upper end is sequentially connected with the elevating mechanism driving device, and lower end is equipped with screw support shaft (206), the screw branch Support axis (206) is rotatably coupled by bearing and bearing block (207), and the bearing block (207) connects with the rotating mechanism (3) It connects, locking nut a (208) and the locking screw being threaded on the leading screw (210) below the lifting nut (205) Female b (209).
9. broken strand of power transmission line repair robot according to claim 7 mechanism, which is characterized in that the elevating mechanism drives Dynamic device includes motor c (201), the first synchronous pulley (202), the second synchronous pulley (203) and synchronous belt (204), wherein electricity Machine c (201) is mounted on the rotating mechanism (3) and output shaft is connect with the first synchronous pulley (202), and described second is same Belt wheel (203) is walked to be connected with the lifting nut (205) and be driven by synchronous belt (204) and the first synchronous pulley (202) Connection.
10. broken strand of power transmission line repair robot according to claim 3 mechanism, which is characterized in that the rotating mechanism (3) include motor d (301), gear c (302), fixed plate (303) and gear d (305), wherein motor d (301) is mounted on described On electrical appliance box body (20), and output shaft is connect with gear c (302), and the fixed plate (303) can by sliding bearing (304) Be rotatably mounted on the electrical appliance box body (20), the gear d (305) and fixed plate (303) be connected and with gear c (302) it engages, the elevating mechanism (2) is mounted on the mounting hole that the fixed plate (303) is equipped with.
CN201710311412.0A 2017-05-05 2017-05-05 Power transmission line broken strand repairing robot mechanism Active CN108808542B (en)

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CN109586208A (en) * 2018-12-13 2019-04-05 杭州申昊科技股份有限公司 A kind of crusing robot under substation
CN109698475A (en) * 2019-01-25 2019-04-30 武汉大学 A kind of aerial high-voltage power transmission line hot line robot
CN111128480A (en) * 2019-11-29 2020-05-08 汪逸凡 Cable protection layer winding robot
CN111431084A (en) * 2020-03-29 2020-07-17 南京电博机器人技术有限公司 Conductor broken strand repairing method based on snakelike wire climbing robot
CN113067291A (en) * 2021-03-01 2021-07-02 武汉大学 Live working robot for repairing broken strand wire by wire protection strip

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CN204927773U (en) * 2015-09-01 2015-12-30 国家电网公司 A stranded conductor device for insulated wire overhauls
CN105552792A (en) * 2016-01-28 2016-05-04 国家电网公司 Insulation repair device of high-voltage circuit
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CN102039590A (en) * 2009-10-13 2011-05-04 中国科学院沈阳自动化研究所 Double-arm four-wheel polling robot mechanism
JP2011151940A (en) * 2010-01-21 2011-08-04 Chugoku Electric Power Co Inc:The Movable auxiliary device for midair stunt machine
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Publication number Priority date Publication date Assignee Title
CN109586208A (en) * 2018-12-13 2019-04-05 杭州申昊科技股份有限公司 A kind of crusing robot under substation
CN109698475A (en) * 2019-01-25 2019-04-30 武汉大学 A kind of aerial high-voltage power transmission line hot line robot
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CN111128480B (en) * 2019-11-29 2021-07-27 汪逸凡 Cable protection layer winding robot
CN111431084A (en) * 2020-03-29 2020-07-17 南京电博机器人技术有限公司 Conductor broken strand repairing method based on snakelike wire climbing robot
CN113067291A (en) * 2021-03-01 2021-07-02 武汉大学 Live working robot for repairing broken strand wire by wire protection strip
CN113067291B (en) * 2021-03-01 2021-11-02 武汉大学 Live working robot for repairing broken strand wire by wire protection strip

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