CN109066556A - A kind of suspension walking structure on icing electric wire - Google Patents
A kind of suspension walking structure on icing electric wire Download PDFInfo
- Publication number
- CN109066556A CN109066556A CN201810877903.6A CN201810877903A CN109066556A CN 109066556 A CN109066556 A CN 109066556A CN 201810877903 A CN201810877903 A CN 201810877903A CN 109066556 A CN109066556 A CN 109066556A
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- unit
- obvolvent
- shaped
- walking
- electric wire
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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
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Abstract
Suspension walking structure on a kind of icing electric wire provided by the invention, including cantilever crane, clamping unit, walking unit, lifting obvolvent unit and control unit are provided on the cantilever crane, wherein control unit is separately connected clamping unit, walking unit and lifting obvolvent unit；The first mounting hole and mounting groove being arranged in juxtaposition are offered on cantilever crane, wherein lifting obvolvent unit is mounted in the first mounting hole, and clamping unit is mounted in mounting groove, and walking unit is mounted on clamping unit；This structure can provide the power along electric wire walking, 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 high-tension line maintenance technology fields, and in particular to the suspension walking structure on a kind of icing electric wire.
Background technique
The safety and stability of power Transmission is to maintain the important leverage of national product life.China has wide high-tension electricity
Transport net, in every winter, high-tension bus-bar can generate certain threat and difficulty to power Transmission and electric inspection process after freezing, high
The deicing and inspection operation of piezoelectric wire have the characteristics that high-risk is highly difficult, are not suitable for the method using manual work, therefore most
Good method is using robot manipulating task.
There is the routes auxiliary equipment such as a large amount of lead spacer, suspension clamp, damper on high-tension line, for edge
For deicing robot and crusing robot that high-tension bus-bar is advanced, these are all typical barriers.Therefore for high-voltage electricity
The research and development of line deicing robot, 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 and inspection work bring many conveniences, however the feature closed at both ends due to electric wire, uncertain along with icing thickness are made
At icicle diameter it is uncertain so as to become comparison tired for this work of robot that research and development can walk on icing electric wire
It is difficult.
Summary of the invention
The purpose of the present invention is to provide the suspension walking structures on a kind of icing electric wire, can be in the electric wire for having icicle
While upper realization is reliably hung, the power along electric wire walking 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 that:
Suspension walking structure on a kind of icing electric wire provided by the invention, including cantilever crane are provided with folder on the cantilever crane
Tight unit, walking unit, lifting obvolvent unit and control unit, wherein control unit is separately connected clamping unit, walking unit
With lifting obvolvent unit；
The first mounting hole and mounting groove being arranged in juxtaposition are offered on cantilever crane, wherein lifting obvolvent unit is mounted on first
In mounting hole, clamping unit is mounted in mounting groove, and walking unit is mounted on clamping unit.
Preferably, lifting obvolvent unit includes special-shaped pseudoconjugant, and special-shaped pseudoconjugant includes two special-shaped obvolvent pawls, and two different
One end of shape obvolvent pawl is opened, other end articulated connection, which is connected with pull rod, the free end connection of the pull rod
There is driving lead screw, the driving lead screw is connect with the motor for being mounted on the first mounting hole bottom, and motor is connect with control unit；Together
When, the opening and closing direction of two special-shaped obvolvent pawls is vertical with the direction of travel of cantilever crane.
Preferably, installation is there are two round bar on the side wall of the first mounting hole, during two round bars with the special-shaped pseudoconjugant are
The heart is arranged symmetrically, meanwhile, two round bars are tangent with the outer surface of two special-shaped obvolvent pawls respectively.
Preferably, special-shaped obvolvent pawl includes arc section, first straight line section and second straight line section, wherein first straight line section
One end and the tangent connection of arc section, the other end of first straight line section is connect with one end of second straight line section, and folder between the two
Angle is obtuse angle, the other end articulated connection of the second straight line section of two special-shaped obvolvent pawls.
Preferably, clamping unit includes spindle motor, and spindle motor is mounted on the second mounting hole opened up below mounting groove
Interior, the spindle motor is connected with two-way lead screw by V belt translation, and the two-way lead screw is mounted in mounting groove；The side of mounting groove
Offer sliding slot on wall, sliding slot to open up direction consistent with the direction of motion of two-way lead screw；Folder is connected in the sliding slot
Tight portion.
Preferably, clamping section is made of the identical clamping section ontology of two structures, and the clamping section ontology is I-shaped knot
Structure, the lower end two sides of the I-shaped structure are provided with sliding lug, and the sliding lug is matched with sliding slot；
The lower end middle position of I-shaped structure is mounted on feed screw nut, and the both ends of two-way lead screw are respectively and described in two
Feed screw nut is cooperatively connected；
Semi-circular recesses are offered on the upper end side wall of I-shaped structure, two semi-circular recesses are arranged in opposite directions, combine shape
It is matched at borehole structure with icicle；
Each the bottom of a semicircular groove is provided with walking unit.
Preferably, walking unit includes spring nail wheel and driving motor, and driving motor is mounted on clamping section, output shaft
It is connect with spring nail wheel；
The spring nail wheel is provided with multiple, is evenly arranged on the bottom of semi-circular recesses.
Preferably, spring nail wheel includes wheel body, is offered along its circumferential direction in array on the outer surface of the wheel body
Mounting hole, is equipped with spring in the mounting hole, and the free end of the spring is connected with nail, and the tip of the nail is towards outer
Side.
Compared with prior art, the beneficial effects of the present invention are:
Suspension walking structure on a kind of icing electric wire provided by the invention passes through liter when walking forward on icicle
The structure is suspended on high-tension bus-bar by drop obvolvent unit and clamping unit, meanwhile, by walking unit to forward on icicle
It walks, the lifting obvolvent module in the structure is not simple obvolvent suspension to high-tension bus-bar, it makes clamping unit and walking unit
Not by power straight down, so that walking unit and suspension unit be made to work independently from each other not by interfering with each other；Meanwhile this structure
The power along electric wire walking can be provided, it is not easy to skid while realizing reliable suspension on the electric wire for have icicle.
Further, by the effect between lead screw and pull rod, the opening or closure of anisotropic pseudoconjugant, Jin Ershi are realized
Suspension or releasing of the lifting pseudoconjugant to high-tension bus-bar are showed.
Further, two-way lead screw is driven by driving motor, and then drives clamping section to high-voltage electricity by two-way lead screw
The suspension or releasing of line.
Further, suiting by spring nail wheel and high-tension bus-bar outer surface, while idler wheel is driven by driving motor
Movement, and then realize walking of the postbrachium on high-tension bus-bar.
Detailed description of the invention
Fig. 1 is the overall structure stereoscopic schematic diagram for hanging walking structure；
Fig. 2 is the integrally-built main view for hanging walking structure；
Fig. 3 is B-B cross-sectional view；
Fig. 4 is the structural schematic diagram of cantilever crane；
Fig. 5 is the structural schematic diagram for going up and down obvolvent unit；
Fig. 6 is the structural schematic diagram of clamping unit；
Fig. 7 is the structural schematic diagram of spring nail wheel；
Fig. 8 is the cross-sectional view of spring nail wheel；
Wherein, 1, cantilever crane 2, special-shaped obvolvent pawl 3, pull rod 4, driving lead screw 5, motor 6, driving motor 7, clamping section 8, spring
Nail wheel 9, high-tension bus-bar 10, icicle 11, shaft coupling 12, round bar 13, spindle motor 14, V belt translation 15, two-way lead screw 101, first
Mounting hole 102, mounting groove 103, the second mounting hole 104, sliding slot 201, arc section 202, first straight line section 203, second straight line section
701, lug 702, feed screw nut 703, semi-circular recesses 801, wheel body 802, nail 803, spring.
Specific embodiment
With reference to the accompanying drawing, the present invention is described in more detail.
As shown in Figure 1-Figure 3, the suspension walking structure on a kind of icing electric wire provided by the invention, including cantilever crane 1, it is described
Clamping unit, walking unit, lifting obvolvent unit and control unit are provided on cantilever crane, wherein control unit is separately connected folder
Then tight unit, walking unit and lifting obvolvent unit, the electric wire that clamping unit is used to push walking module to freeze make to walk
Module is tightly attached to 10 surface of icicle on electric wire 9；Walking unit is used to provide the power advanced along electric wire；Obvolvent unit is gone up and down to use
10 surface of icicle on holding electric wire 9.Specifically:
As shown in figure 4, cantilever crane 1 is rectangular parallelepiped structure, the first mounting hole 101 and mounting groove are offered in rectangular parallelepiped structure
102, wherein lifting obvolvent unit is mounted in the first mounting hole 101, and clamping unit is mounted in mounting groove 102, and it is single to walk
Member is mounted on clamping unit.
Control unit has basic storage, calculating and the function of sending control pulse, such as DSP2812 chip；
Going up and down obvolvent unit includes special-shaped pseudoconjugant, and special-shaped pseudoconjugant is connected with pull rod 3, is provided with drive in the pull rod 3
Dynamic lead screw 4, the driving lead screw 4 are connect with the motor 5 being mounted in the first mounting hole 101, and motor 5 is connect with control unit,
Shaft coupling 11 is provided on its output shaft.
As shown in figure 5, special-shaped pseudoconjugant includes two special-shaped obvolvent pawls 2, one end of two special-shaped obvolvent pawls 2 is opened, separately
One end articulated connection, meanwhile, the junction is provided with torsional spring, so that two special-shaped obvolvent pawls 2 are not by the feelings of other external force
Normally open is under condition；Meanwhile the opening and closing direction of two special-shaped obvolvent pawls 2 is vertical with the direction of travel of cantilever crane.
There are two round bars 12 for installation on the side wall of first mounting hole 101, and two round bars are centered on the special-shaped pseudoconjugant
It is arranged symmetrically, meanwhile, for special-shaped obvolvent pawl 2 in closed state, outer surface and the outer surface of two round bars 12 are tangent.
The equidistant middle line of the cross section of special-shaped obvolvent pawl 2 is divided into three sections, respectively arc section 201,202 and of first straight line section
Second straight line section 203, the arc section 201 are quarter circular arc structure, the first straight line section 202 and the arc section
201 is tangent, and the angle between the second straight line section 203 and the first straight line section 202 is obtuse angle, two special-shaped obvolvent pawls 2
It is articulated and connected in the end of the second straight line section 203.
The advantage for going up and down the structure feature of obvolvent unit is, it is only necessary to which motor 5 drives lead screw 4 that pull rod 3 is driven to decline, just
Can complete two movement, one be special-shaped obvolvent pawl 2 obvolvent, the other is after obvolvent special-shaped obvolvent pawl 2 decline and it is tight
Icicle upper surface is pasted, the complexity that this uses simplified control logic and reduction component is highly beneficial.
As shown in fig. 6, clamping unit includes spindle motor 13, spindle motor 13 is mounted on to be opened up below mounting groove 102
In second mounting hole 103, the spindle motor 13 is connected with two-way lead screw 15 by V belt translation 14, and the two-way lead screw 15 is installed
In mounting groove 102.
Meanwhile sliding slot 104 is offered on the side wall of mounting groove 102, the fortune for opening up direction Yu two-way lead screw 15 of sliding slot 104
Dynamic direction is consistent；Clamping section 7 is connected in the sliding slot 104.
Clamping section 7 is made of the identical clamping section ontology of two structures, and the clamping section ontology is I-shaped structure, described
The lower end two sides of I-shaped structure are provided with sliding lug 701, and the sliding lug 701 is matched with sliding slot 104.
Meanwhile the lower end middle position of each I-shaped structure is mounted on feed screw nut 702, the both ends of two-way lead screw 15
It is cooperatively connected respectively with two feed screw nuts 702.
The closure or opening of two clamping section ontologies are realized by the two-way lead screw 15 of the driving of spindle motor 13.
Semi-circular recesses 703 are offered in the opposite one side wall in the upper end of two I-shaped structures, the semicircle is recessed
The combination of slot 703 forms borehole structure and matches with icicle 10.
The bottom of each semi-circular recesses 703 is provided with walking unit；Walking unit includes spring nail wheel 8 and drives
Dynamic motor 6, driving motor 6 are connect with control unit, and output shaft is connect with spring nail wheel 8；The spring nail wheel 8 is provided with more
It is a, it is evenly arranged in semi-circular recesses 703.
As shown in Figure 7, Figure 8, spring nail wheel 8 includes wheel body 801, along its circumferential direction on the outer surface of the wheel body 801
Mounting hole is offered in array, spring 803 is installed in the mounting hole, the free end of the spring 803 is connected with nail
802, the tip of the nail 802 is towards outside.
The structure is using spring nail wheel 8 as driving wheel, since nail tip is in the skid resistance of ice face and the folder of clamping section 7
Clamp force is easy the problem of skidding on very good solution icicle 10, simultaneously because the design feature of clamping section 7 and spring nail wheel 8,
It has broad applicability to the different-diameter of icicle 10.
The structure makes clamping section 7 and spring nail wheel 8 substantially not by power straight down by increasing lifting obvolvent module,
To make walking module and suspension module work independently from each other not by interfering with each other.Since what special-shaped obvolvent pawl 2 needed to hang is
The upper edge of icicle, and icicle diameter be it is uncertain, to make clamping section 7 and spring nail wheel 8 not by power straight down, just need
Wanting obvolvent pawl must can also move up and down after obvolvent to be bonded with edge on icicle, realize suspension.
The course of work:
Two clamping section ontologies are driven to move toward one another, until the spring nail wheel 8 in two clamping section ontologies clamps high-voltage electricity
Icicle 10 on line 9；In clamping process, it is for the stroke control method of clamping section 7:
When the second induction module being arranged on spindle motor 13 detects that the load of clamping section increases to the threshold value of setting,
Identification has clamped in place, simultaneously closes off spindle motor 13, two clamping section ontologies no longer move.Here principle is: pressing from both sides
In tight process, icicle 10 is contacted at first with the nail tip of the immediate part nail of electric wire icicle 10 in spring nail wheel 8, this
A little nails start to compress the spring 803 of tail portion, and the elastic force that the compression of spring 803 generates causes the load of clamping section to increase,
In practical application, clamping force required for skidding is less likely to occur to set when can roll according to spring nail wheel 8 along icicle 10
Load threshold, when load increases to this threshold value, clamping section 7 does not continue to move.
The motor 5 of lifting obvolvent module is opened, drives 3 downlink of pull rod, special-shaped 2 obvolvent of obvolvent pawl, then motor 5 continues to drive
Dynamic 3 downlink of pull rod, until special-shaped obvolvent pawl 2 is close to the upper edge of icicle 10.Stroke control method when special-shaped 2 downlink of obvolvent pawl
It is:
When the first induction module being arranged on motor 5 detects that the main shaft load of motor 5 increases to the threshold value of setting suddenly
When, identification has declined in place, closes motor 5, and special-shaped obvolvent pawl 2 does not continue to downlink.Here principle is: when special-shaped obvolvent
Pawl 2 drops to the upper edge for starting to contact icicle 10, and the pressure of contact surface can be transmitted by special-shaped obvolvent pawl 2, pull rod 3 and lead screw 4
To the main shaft of motor 5, the main shaft of motor 5, which continues rotation, at this time can not make special-shaped obvolvent pawl 2 continue to decline, and resistance increases suddenly
Greatly, the main shaft load of motor 5 will increase suddenly, and this feature can serve as the signal fallen into place.
Start the driving motor 6 of walking unit, driving spring nail wheel 8 rotates, so that forearm be driven to advance.
Claims (8)
1. the suspension walking structure on a kind of icing electric wire, which is characterized in that including cantilever crane (1), be provided on the cantilever crane (1)
Clamping unit, walking unit, lifting obvolvent unit and control unit, wherein control unit is separately connected clamping unit, walking list
Member and lifting obvolvent unit；
The first mounting hole (101) and mounting groove (102) being arranged in juxtaposition are offered on cantilever crane (1), wherein lifting obvolvent unit peace
In the first mounting hole (101), clamping unit is mounted in mounting groove (102), and walking unit is mounted on clamping unit.
2. the suspension walking structure on a kind of icing electric wire according to claim 1, which is characterized in that lifting obvolvent unit
Including special-shaped pseudoconjugant, special-shaped pseudoconjugant includes two special-shaped obvolvent pawls (2), and one end of two special-shaped obvolvent pawls (2) is opened, separately
One end articulated connection, the handover junction are connected with pull rod (3), and the free end of the pull rod (3) is connected with driving lead screw (4),
Driving lead screw (4) connect with the motor (5) for being mounted on the first mounting hole (101) bottom, and motor (5) and control unit connect
It connects；Meanwhile the opening and closing direction of two special-shaped obvolvent pawls (2) is vertical with the direction of travel of cantilever crane.
3. the suspension walking structure on a kind of icing electric wire according to claim 2, which is characterized in that the first mounting hole
(101) there are two round bar (12), two round bars to be arranged symmetrically centered on the special-shaped pseudoconjugant for installation on side wall, meanwhile,
Two round bars (12) are tangent with the outer surface of two special-shaped obvolvent pawls (2) respectively.
4. the suspension walking structure on a kind of icing electric wire according to claim 2, which is characterized in that special-shaped obvolvent pawl
It (2) include arc section (201), first straight line section (202) and second straight line section (203), wherein the one of first straight line section (202)
End and arc section (201) tangent connection, the other end of first straight line section (202) are connect with one end of second straight line section (203), and
Angle between the two is obtuse angle, the other end articulated connection of the second straight line section (203) of two special-shaped obvolvent pawls (2).
5. the suspension walking structure on a kind of icing electric wire according to claim 1, which is characterized in that clamping unit includes
Spindle motor (13), spindle motor (13) are mounted in the second mounting hole (103) opened up below mounting groove (102), the silk
Thick stick motor (13) is connected with two-way lead screw (15) by V belt translation (14), and the two-way lead screw (15) is mounted on mounting groove (102)
It is interior；It is offered on the side wall of mounting groove (102) sliding slot (104), the movement for opening up direction Yu two-way lead screw (15) of sliding slot (104)
Direction is consistent；Clamping section (7) are connected in the sliding slot (104).
6. the suspension walking structure on a kind of icing electric wire according to claim 5, which is characterized in that clamping section (7) by
The identical clamping section ontology composition of two structures, the clamping section ontology is I-shaped structure, the lower end of the I-shaped structure
Two sides are provided with sliding lug (701), and the sliding lug (701) matches with sliding slot (104)；
The lower end middle position of I-shaped structure offers feed screw nut (702), and the both ends of two-way lead screw (15) are respectively with two
A feed screw nut (702) is threadedly coupled；
It being offered on the upper end side wall of I-shaped structure semi-circular recesses (703), two semi-circular recesses (703) are arranged in opposite directions,
Combination forms borehole structure and matches with icicle (10)；
Each semi-circular recesses (703) bottom is provided with walking unit.
7. the suspension walking structure on a kind of icing electric wire according to claim 6, which is characterized in that walking unit includes
Spring nail wheel (8) and driving motor (6), driving motor (6) are mounted on clamping section (7), and output shaft and spring nail wheel (8) are even
It connects；
The spring nail wheel (8) is provided with multiple, is evenly arranged on the bottom of semi-circular recesses (703).
8. the suspension walking structure on a kind of icing electric wire according to claim 7, which is characterized in that spring nail wheel (8)
Including wheel body (801), mounting hole, the peace are offered in array along its circumferential direction on the outer surface of the wheel body (801)
Dress is equipped with spring (803) in hole, and the free end of the spring (803) is connected with nail (802), the point of the nail (802)
Portion is towards outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810877903.6A CN109066556B (en) | 2018-08-03 | 2018-08-03 | Hanging and traveling structure on icing electric wire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810877903.6A CN109066556B (en) | 2018-08-03 | 2018-08-03 | Hanging and traveling structure on icing electric wire |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109066556A true CN109066556A (en) | 2018-12-21 |
| CN109066556B CN109066556B (en) | 2020-12-18 |
Family
ID=64831395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810877903.6A Active CN109066556B (en) | 2018-08-03 | 2018-08-03 | Hanging and traveling structure on icing electric wire |
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| Country | Link |
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| CN (1) | CN109066556B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112003224A (en) * | 2020-09-04 | 2020-11-27 | 湖南理工职业技术学院 | Robot is patrolled and examined in electrified deicing of high-voltage line |
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| CN201415716Y (en) * | 2009-06-12 | 2010-03-03 | 中国电力科学研究院 | Robot walking device capable of surmounting lead obstacles |
| WO2010111326A1 (en) * | 2009-03-24 | 2010-09-30 | Tung Huynh | Power line de-icing apparatus |
| CN105071291A (en) * | 2015-07-31 | 2015-11-18 | 洛阳理工学院 | Obstacle crossing clamping mechanism for deicing obstacle removing mechanical apparatus |
| CN205791204U (en) * | 2016-05-25 | 2016-12-07 | 山东大学 | Adapt to the envelop-type inspection robot structure of single conductor |
| CN106684798A (en) * | 2016-12-29 | 2017-05-17 | 三峡大学 | Inclinable deicing robot |
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2018
- 2018-08-03 CN CN201810877903.6A patent/CN109066556B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010111326A1 (en) * | 2009-03-24 | 2010-09-30 | Tung Huynh | Power line de-icing apparatus |
| CN201415716Y (en) * | 2009-06-12 | 2010-03-03 | 中国电力科学研究院 | Robot walking device capable of surmounting lead obstacles |
| CN105071291A (en) * | 2015-07-31 | 2015-11-18 | 洛阳理工学院 | Obstacle crossing clamping mechanism for deicing obstacle removing mechanical apparatus |
| CN205791204U (en) * | 2016-05-25 | 2016-12-07 | 山东大学 | Adapt to the envelop-type inspection robot structure of single conductor |
| CN106684798A (en) * | 2016-12-29 | 2017-05-17 | 三峡大学 | Inclinable deicing robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112003224A (en) * | 2020-09-04 | 2020-11-27 | 湖南理工职业技术学院 | Robot is patrolled and examined in electrified deicing of high-voltage line |
| CN112003224B (en) * | 2020-09-04 | 2021-08-03 | 湖南理工职业技术学院 | Robot is patrolled and examined in electrified deicing of high-voltage line |
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| Publication number | Publication date |
|---|---|
| CN109066556B (en) | 2020-12-18 |
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