CN109346986A - Robot for high-voltage hot-line work takes firer's tool automatically - Google Patents
Robot for high-voltage hot-line work takes firer's tool automatically Download PDFInfo
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- CN109346986A CN109346986A CN201811383348.8A CN201811383348A CN109346986A CN 109346986 A CN109346986 A CN 109346986A CN 201811383348 A CN201811383348 A CN 201811383348A CN 109346986 A CN109346986 A CN 109346986A
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- screw
- robot
- firer
- takes
- consumption material
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- 230000007246 mechanism Effects 0.000 claims abstract description 116
- 239000000463 material Substances 0.000 claims abstract description 35
- 230000003028 elevating effect Effects 0.000 claims abstract description 14
- 230000007704 transition Effects 0.000 claims description 29
- 238000007667 floating Methods 0.000 claims description 19
- 239000007787 solid Substances 0.000 claims description 3
- 230000003447 ipsilateral effect Effects 0.000 abstract description 3
- 238000009413 insulation Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000000873 masking effect Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Manipulator (AREA)
Abstract
The present invention provides a kind of robot for high-voltage hot-line work to take firer's tool automatically, including screw-driving module, elevating mechanism, takes fire consumption material fixed mechanism, cable fixing mechanism and bracket；Screw-driving module is arranged on bracket by elevating mechanism, it cable fixing mechanism and takes fire consumption material fixed mechanism and is arranged above screw-driving module, cable fixing mechanism and to take fire consumption material fixed mechanism affixed with bracket, cable fixing mechanism, which is located at, takes fire consumption material fixed mechanism side, and to be located at bracket ipsilateral with fire consumption material fixed mechanism is taken for screw-driving module.The problems such as a kind of robot for high-voltage hot-line work of the present invention takes firer's tool automatically, solves traditional operation personnel using hand-operated tools completion livewire work and takes fire and other tasks, there is large labor intensity, and operating efficiency is low and automatization level is low.
Description
Technical field
The invention belongs to robotic technology fields, take firer automatically more particularly, to a kind of robot for high-voltage hot-line work
Tool.
Background technique
In high voltage power distribution field, robot application takes firer in high-voltage hot-line work and makees mature case not yet.Electrification is made
Industry is the important means of power equipment test, maintenance, transformation, it reduces loss of outage, guarantees power grid to improve power supply reliability
Safety is made that tremendous contribution.The technical level and qualification of operator, weather conditions, security protection are used in livewire work
Tool etc. requires very strict.Due to worrying security risk, lacking suitable personal safe protection's apparatus and the training of livewire work technology
Not enough etc., some areas limit the livewire work content of distribution line to instruction, cause distribution line power failure operation frequent,
Distribution reliability index cannot be completed, so that very huge economic loss is brought to electric power enterprise, to people's lives and production band
Big inconvenience is carried out.Aerial lift device with insulated arm medial potential working method is widely used in operation field at present, and operator uses hand
Power driven tools complete livewire work and take fire and other tasks, there is following defect:
1. large labor intensity, operating efficiency is low, and automatization level is low.
2. operator directly contacts high-voltage conducting wires, there are security risks.
3. the protection of artificial live-working safety, masking require very strict, it slightly will appear short circuit current without paying attention to, cause
Great safety accident causes human casualty accident.Artificial livewire work has its difficult and limitation, therefore stronger using having
Safety and the robot of adaptability be equipped with to take firer automatically and have and replace artificial carrying out taking fiery task in altitude hot-line operation
Be it is very necessary, meet research.
Summary of the invention
In view of this, solving tradition the present invention is directed to propose a kind of robot for high-voltage hot-line work takes firer's tool automatically
Operator completes livewire work using hand-operated tools and takes fire and other tasks, there is large labor intensity, operating efficiency is low
And automatization level it is low the problems such as, operator directly contact high-voltage conducting wires, there are security risks.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
Robot for high-voltage hot-line work takes firer's tool automatically, including screw-driving module, elevating mechanism, takes fire consumption material and fix
Mechanism, cable fixing mechanism and bracket；
The screw-driving module is arranged on the bracket by the elevating mechanism, the cable fixing mechanism and takes
Fire consumption material fixed mechanism is arranged above the screw-driving module, the cable fixing mechanism and takes fire consumption material fixed mechanism
Affixed with the bracket, the cable fixing mechanism takes fire consumption material fixed mechanism side, the screw-driving mould positioned at described
Block takes fire consumption material fixed mechanism to be located at the bracket ipsilateral with described.
Further, the screw-driving module includes automatic tightening mechanism and relocation mechanism, the automatic tightening mechanism
And relocation mechanism passes through mounting rack and the elevating mechanism is affixed, the automatic tightening mechanism is connect with the relocation mechanism,
The relocation mechanism is arranged immediately below the cable fixing mechanism.
Further, the relocation mechanism includes multiple floating tightening mechanisms and the shell structure that can insulate, Duo Gesuo
It states floating tightening mechanism to be rotatably arranged on side by side in the shell structure, each floating tightening mechanism runs through the shell
Structure, each floating tightening mechanism are connect with the automatic tightening mechanism, and the shell structure and the peace pivoted frame are solid
It connects.
Further, the floating tightening mechanism includes transition axis, screw sleeve, bushing and elastic device, the screw
Sleeve by square groove and the transition axis connection, be equipped at the top of the screw sleeve can with the groove of screw fit, it is described
Transition axis one end is slidably arranged in inside the square groove, and the transition axis other end is connect with the automatic tightening mechanism, institute
It states elastic device one end to connect with the screw sleeve bottom, the elastic device other end and the transition axis are affixed, described
Bushing is set in the screw sleeve outer wall, and the lining is set on inside the shell structure.
Further, the elastic device is set on the transition axis.
Further, the elastic device is spring.
Further, the automatic tightening mechanism includes multiple automatic tightening axis, and each automatic tightening axis is and institute
It is affixed to state transition axis, each automatic tightening axis outer wall is affixed with the mounting rack.
Compared with the existing technology, a kind of robot for high-voltage hot-line work of the present invention takes firer's tool with following automatically
Advantage:
(1) present invention cooperation robot can be automatically performed in livewire work work and take firer's work, participate in without artificial, work
Making personnel can be far from hazardous environment.
(2) structure of the invention, which is suitble to carry robot, uses, and robot loads after this product can easily clamping lead be simultaneously
Fire is smoothly taken to line, process simply and readily controls.
(3) main component is all made of insulation processing in the present invention, improves the safety in the robot course of work.
(4) automatic screwing device can realize moment of torsion control in the present invention, it is ensured that the reliability and consistency of screw-driving work.
(5) kit is loaded and unloaded for robot using fast replacing device in the present invention, is convenient for cabling, reduced unnecessary dry
It relates to, improves the safety in the course of work.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is that robot for high-voltage hot-line work described in the embodiment of the present invention takes firer's lamps structure schematic diagram automatically；
Fig. 2 takes the screw-driving module in firer's tool for robot for high-voltage hot-line work described in the embodiment of the present invention automatically
Structural schematic diagram；
Fig. 3 takes the relocation mechanism structure in firer's tool for robot for high-voltage hot-line work described in the embodiment of the present invention automatically
Schematic diagram；
Fig. 4 is that the fire consumption material of taking that robot for high-voltage hot-line work described in the embodiment of the present invention is taken automatically in firer's tool is fixed
Mechanism structure schematic diagram；
Fig. 5 takes the cable fixing mechanism in firer's tool for robot for high-voltage hot-line work described in the embodiment of the present invention automatically
Structural schematic diagram；
Fig. 6 is that the supporting structure that robot for high-voltage hot-line work described in the embodiment of the present invention is taken automatically in firer's tool is illustrated
Figure.
Description of symbols:
1- screw-driving module；2- elevating mechanism；3- takes fire consumption material fixed mechanism；4- cable fixing mechanism；5- bracket；6-
Automatic tightening mechanism；7- relocation mechanism；8- mounting rack；9- shell；10- end cap；11- transition axis；12- screw sleeve；13- lining
Set；14- spring；15- clamps actuator；16- insulation finger；17- clamps actuator；18- insulation gripping block；19- rack body；
20- insulation transition plates.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
Robot for high-voltage hot-line work take automatically firer tool, as shown in Figure 1, include screw-driving module 1, elevating mechanism 2,
Take fire consumption material fixed mechanism 3, cable fixing mechanism 4 and bracket 5；
It is all with take fire consumption material and lead and there is the component of contact to make using isolation material.Contactless but adjacent portion
Part uses insulation board transition, ensures insulation effect to the full extent, improves safety.
Screw-driving module 1 is arranged on bracket 5 by elevating mechanism 2, cable fixing mechanism 4 and takes the fixed machine of fire consumption material
Structure 3 is arranged at the top of screw-driving module 1, cable fixing mechanism 4 and affixed with bracket 5, line of taking fire consumption material fixed mechanism 3
Cable fixed mechanism 4, which is located at, takes 3 side of fire consumption material fixed mechanism, screw-driving module 1 and takes fire consumption material fixed mechanism 3 and is located at bracket
5 is ipsilateral.
Bracket 5 is welded with the manufacture craft connect using metal plate bending, simple and reliable for structure, and production easy to process and batch are raw
It produces, it is low in cost.
What screw-driving module 1 was responsible for taking screw in fire consumption material tightens work；Elevating mechanism 2 is for realizing screw-driving mould
The lifting of block 1 is tightened module and is taken after the completion of work for taking to tighten module arrival after fire consumption material feeding and tighten position and tighten
The separation of fire consumption material；Take fixation work when fire consumption material fixed mechanism 3 is responsible for taking fire consumption material feeding；Cable fixing mechanism 4 is for drawing
The fixed work of cable after fire consumption material is taken in line insertion；Bracket is for installing with upper module and mechanism.The system operatio is simple, automatically
Change horizontal height, robot precise and high efficiency can be cooperated to complete to take firer's work in high-voltage hot-line work work, main component is all made of
Insulation processing improves safety.
As shown in Fig. 2, screw-driving module 1 includes automatic tightening mechanism 6 and relocation mechanism 7, automatic tightening mechanism 6 and floating
Motivation structure 7 is affixed by mounting rack 8 and elevating mechanism 2, and automatic tightening mechanism 6 is connect with relocation mechanism 7, and relocation mechanism 7 is set
It sets immediately below cable fixing mechanism 4, power can be conducted to the screw taken on fire consumption material by relocation mechanism 7；Mounting rack 8 loads certainly
Dynamic tightening mechanism 6 and floating framework 7.
As shown in figure 3, relocation mechanism 7 includes multiple floating tightening mechanisms and the shell structure that can be insulated, the present embodiment
Two floating tightening mechanisms of middle setting, multiple floating tightening mechanisms are rotatably arranged in shell structure side by side, and each floating is tightened
Mechanism runs through shell structure, and each floating tightening mechanism is connect with automatic tightening mechanism 6, and shell structure and peace pivoted frame 8 are solid
It connects.
Elevating mechanism 2 includes lifting actuator.It is provided by the lifting that lifting actuator is responsible for screw-driving module 1 dynamic
Power.
Taking fire consumption material fixed mechanism 3 includes clamping actuator 15 and insulation finger 16.Insulation finger 16 can with take fire consumption material
On structure cooperation will take fire consumption material and be fixedly clamped；Power is provided by clamping actuator 17 for pinching action.
Cable fixing mechanism 4 includes clamping actuator 17 and insulation gripping block 18.Insulating blanked clamper is driven by clamping actuator 17
Tight block 18 clamps lead.
Shell structure includes shell 9 and end cap 10, and the top of shell 9 is arranged in end cap, and multiple floating tightening mechanisms are all provided with
It sets in the inside of shell 9.
Floating tightening mechanism includes transition axis 11, screw sleeve 12, bushing 13 and elastic device 14, and screw sleeve 12 passes through
Square groove is connect with transition axis 11, and being equipped at the top of screw sleeve 12 can be with the groove of screw fit, the sliding of 11 one end of transition axis
It is arranged inside square groove, 11 other end of transition axis is connect with automatic tightening mechanism 6,14 one end of elastic device and screw sleeve 12
Bottom connection, 14 other end of elastic device and transition axis 11 are affixed, and bushing 13 is set in 12 outer wall of screw sleeve, and bushing 13 is arranged
Inside shell structure.Elastic device 14 is set on transition axis 11, and elastic device 14 is spring, and transition axis 11 is by automatic tightening
The rotation of axis is transferred to screw sleeve 12；Bushing 13 plays bearing guiding role to screw sleeve 12；Spring is responsible for screw set
Cylinder 12 provides float function.
Automatic tightening mechanism 6 include multiple automatic tightening axis, each automatic tightening axis is affixed with transition axis 11, it is each from
Dynamic tightening axle outer wall is affixed with mounting rack 8, and automatic tightening axis provides power for screw-driving；Relocation mechanism 7 is responsible for realizing it
The float function of screwing sleeve；Mounting rack tightens module 1 for installing fixing screws, and attaches it to lifting actuator
On.
Bracket 5 includes rack body 19 and insulation transition plates 20, and insulation transition plates 20 is arranged on rack body 19, lifting
Mechanism 2 takes fire consumption material fixed mechanism 3 and cable fixing mechanism 4 is arranged in insulation transition plates 20, and the setting of rack body 19 exists
Insulation 20 side of transition plates.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. robot for high-voltage hot-line work takes firer's tool automatically, it is characterised in that: including screw-driving module (1), elevating mechanism
(2), fire consumption material fixed mechanism (3), cable fixing mechanism (4) and bracket (5) are taken；
The screw-driving module (1) is arranged on the bracket (5) by the elevating mechanism (2), the fixed machine of the cable
It structure (4) and takes fire consumption material fixed mechanism (3) and is arranged above the screw-driving module (1), the cable fixing mechanism (4)
And to take fire consumption material fixed mechanism (3) affixed with the bracket (5), the cable fixing mechanism (4), which is located at, described takes fire consumption material
Fixed mechanism (3) side, the screw-driving module (1) and the fire consumption material fixed mechanism (3) of taking are located at the bracket (5) together
Side.
2. robot for high-voltage hot-line work according to claim 1 takes firer's tool automatically, it is characterised in that: the screw is twisted
Tight module (1) includes automatic tightening mechanism (6) and relocation mechanism (7), and the automatic tightening mechanism (6) and relocation mechanism (7) are equal
Affixed by mounting rack (8) and the elevating mechanism (2), the automatic tightening mechanism (6) connect with the relocation mechanism (7),
Relocation mechanism (7) setting is immediately below the cable fixing mechanism (4).
3. robot for high-voltage hot-line work according to claim 2 takes firer's tool automatically, it is characterised in that: the floating engine
Structure (7) includes multiple floating tightening mechanisms and the shell structure that can insulate, and multiple floating tightening mechanisms rotate side by side to be set
It sets in the shell structure, each floating tightening mechanism runs through the shell structure, each floating tightening machine
Structure is connect with the automatic tightening mechanism (6), and the shell structure and the peace pivoted frame (8) are affixed.
4. robot for high-voltage hot-line work according to claim 3 takes firer's tool automatically, it is characterised in that: described float is twisted
Tight mechanism includes transition axis (11), screw sleeve (12), bushing (13) and elastic device (14), and the screw sleeve (12) passes through
Square groove is connect with the transition axis (11), be equipped at the top of the screw sleeve (12) can with the groove of screw fit, it is described
Transition axis (11) one end is slidably arranged in inside the square groove, transition axis (11) other end and the automatic tightening mechanism
(6) it connects, described elastic device (14) one end is connect with screw sleeve (12) bottom, elastic device (14) other end
Affixed with the transition axis (11), the bushing (13) is set in screw sleeve (12) outer wall, bushing (13) setting
Inside the shell structure.
5. robot for high-voltage hot-line work according to claim 4 takes firer's tool automatically, it is characterised in that: the elasticity dress
(14) are set to be set on the transition axis (11).
6. taking firer's tool automatically according to the described in any item robot for high-voltage hot-line work of claim 4 or 5, it is characterised in that:
The elastic device (14) is spring.
7. taking firer's tool automatically according to the described in any item robot for high-voltage hot-line work of claim 4 or 5, it is characterised in that:
The automatic tightening mechanism (6) includes multiple automatic tightening axis, and each automatic tightening axis is solid with the transition axis (11)
It connects, each automatic tightening axis outer wall is affixed with the mounting rack (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811383348.8A CN109346986B (en) | 2018-11-20 | 2018-11-20 | Automatic fire-setting tool for high-voltage live working robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811383348.8A CN109346986B (en) | 2018-11-20 | 2018-11-20 | Automatic fire-setting tool for high-voltage live working robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109346986A true CN109346986A (en) | 2019-02-15 |
| CN109346986B CN109346986B (en) | 2024-01-30 |
Family
ID=65316614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811383348.8A Active CN109346986B (en) | 2018-11-20 | 2018-11-20 | Automatic fire-setting tool for high-voltage live working robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109346986B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6325749B1 (en) * | 1996-10-18 | 2001-12-04 | Kabushiki Kaisha Yaskawa Denki | Robot vehicle for hot-line job |
| CN205692990U (en) * | 2016-06-20 | 2016-11-16 | 国网天津静海供电有限公司 | One is charged takes fire tool kit |
| CN206834354U (en) * | 2017-06-07 | 2018-01-02 | 国网天津市电力公司 | Special for powered Da Huo robots takes live wire folder |
| JP2018183022A (en) * | 2017-04-21 | 2018-11-15 | 日東精工株式会社 | Support fitting for wiring duct and rotating robot including the same |
| CN209016555U (en) * | 2018-11-20 | 2019-06-21 | 清研同创机器人（天津）有限公司 | Robot for high-voltage hot-line work takes firer's tool automatically |
-
2018
- 2018-11-20 CN CN201811383348.8A patent/CN109346986B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6325749B1 (en) * | 1996-10-18 | 2001-12-04 | Kabushiki Kaisha Yaskawa Denki | Robot vehicle for hot-line job |
| CN205692990U (en) * | 2016-06-20 | 2016-11-16 | 国网天津静海供电有限公司 | One is charged takes fire tool kit |
| JP2018183022A (en) * | 2017-04-21 | 2018-11-15 | 日東精工株式会社 | Support fitting for wiring duct and rotating robot including the same |
| CN206834354U (en) * | 2017-06-07 | 2018-01-02 | 国网天津市电力公司 | Special for powered Da Huo robots takes live wire folder |
| CN209016555U (en) * | 2018-11-20 | 2019-06-21 | 清研同创机器人（天津）有限公司 | Robot for high-voltage hot-line work takes firer's tool automatically |
Non-Patent Citations (1)
| Title |
|---|
| 李稳;邹德华;刘夏清;李游;严宇;刘兰兰;龙洋;: "输电线路带电紧固螺栓机器人的研制", 高压电器, no. 07, pages 147 - 152 * |
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| CN109346986B (en) | 2024-01-30 |
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