CN109346986B - Automatic fire-setting tool for high-voltage live working robot - Google Patents
Automatic fire-setting tool for high-voltage live working robot Download PDFInfo
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- CN109346986B CN109346986B CN201811383348.8A CN201811383348A CN109346986B CN 109346986 B CN109346986 B CN 109346986B CN 201811383348 A CN201811383348 A CN 201811383348A CN 109346986 B CN109346986 B CN 109346986B
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- fire
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- fixing mechanism
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- 230000007246 mechanism Effects 0.000 claims abstract description 107
- 238000007667 floating Methods 0.000 claims description 40
- 230000007704 transition Effects 0.000 claims description 29
- 239000000463 material Substances 0.000 abstract description 9
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 230000003028 elevating effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000009826 distribution Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002407 reforming Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000003466 welding Methods 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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Abstract
The invention provides an automatic fire-setting tool of a high-voltage live working robot, which comprises a screw tightening module, a lifting mechanism, a fire-setting consumable fixing mechanism, a cable fixing mechanism and a bracket; screw tightening module passes through elevating system setting on the support, and cable fixed establishment and take fire consumptive material fixed establishment all set up in screw tightening module top, and cable fixed establishment and take fire consumptive material fixed establishment all with the support rigid coupling, cable fixed establishment is located and takes fire consumptive material fixed establishment side, and screw tightening module is located the support homonymy with taking fire consumptive material fixed establishment. The automatic fire-setting tool for the high-voltage live working robot solves the problems that a traditional operator finishes live working fire setting and other tasks by using a manual tool, and the automatic fire-setting tool has high labor intensity, low working efficiency, low automation level and the like.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an automatic fire-setting tool for a high-voltage live working robot.
Background
In the field of high-voltage power distribution, the robot is applied to high-voltage live working and is in a fire-carrying work state. Live working is an important means for testing, overhauling and reforming power equipment, and makes great contribution to improving the power supply reliability, reducing power failure loss and ensuring the safety of a power grid. Live working is very demanding on the skill level and proficiency of operators, climatic conditions, safety gear etc. Because of the potential safety hazard, lack of proper personal safety protection tools, insufficient live working technical training and the like, the live working content of the distribution line is limited in part of areas, so that the distribution line is frequently subjected to power failure operation, and the distribution reliability index cannot be completed, thereby bringing great economic loss to power enterprises and great inconvenience to people living and production. At present, an intermediate potential operation method of an insulating arm vehicle is widely adopted on an operation site, an operator uses a manual tool to complete live working fire and other tasks, and the method has the following defects:
1. the labor intensity is high, the operation efficiency is low, and the automation level is low.
2. Operators directly contact the high-voltage wires, and potential safety hazards exist.
3. The safety protection and shielding requirements of the manual live working are very strict, short-circuit current can occur when people do not pay attention to the manual live working, serious safety accidents are caused, and personal casualties are caused. The manual live working has the difficulty and limitation, so that the robot with stronger safety and adaptability is matched with an automatic fire-taking tool to replace manual fire-taking tasks in the high-altitude live working, which is very necessary and meets the requirement of time development.
Disclosure of Invention
In view of the above, the invention aims to provide an automatic fire-setting tool for a high-voltage live working robot, which solves the problems of high labor intensity, low working efficiency, low automation level and the like in the traditional method that operators use manual tools to finish live working fire setting and other tasks, and potential safety hazards exist in the method that operators directly contact high-voltage wires.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
the automatic fire-setting tool of the high-voltage live working robot comprises a screw tightening module, a lifting mechanism, a fire-setting consumable fixing mechanism, a cable fixing mechanism and a bracket;
the screw tightening module is arranged on the support through the lifting mechanism, the cable fixing mechanism and the fire taking consumable fixing mechanism are all arranged above the screw tightening module, the cable fixing mechanism and the fire taking consumable fixing mechanism are all fixedly connected with the support, the cable fixing mechanism is located on the side face of the fire taking consumable fixing mechanism, and the screw tightening module and the fire taking consumable fixing mechanism are located on the same side of the support.
Further, the screw tightening module comprises an automatic tightening mechanism and a floating mechanism, wherein the automatic tightening mechanism and the floating mechanism are fixedly connected with the lifting mechanism through mounting frames, the automatic tightening mechanism is connected with the floating mechanism, and the floating mechanism is arranged under the cable fixing mechanism.
Further, the floating mechanism comprises a plurality of floating tightening mechanisms and a shell structure capable of being insulated, the floating tightening mechanisms are arranged on the shell structure in parallel in a rotating mode, each floating tightening mechanism penetrates through the shell structure, each floating tightening mechanism is connected with the automatic tightening mechanism, and the shell structure is fixedly connected with the mounting frame.
Further, the floating tightening mechanism comprises a transition shaft, a screw sleeve, a bushing and an elastic device, wherein the screw sleeve is connected with the transition shaft through a square groove, a groove matched with a screw is formed in the top of the screw sleeve, one end of the transition shaft is slidably arranged inside the square groove, the other end of the transition shaft is connected with the automatic tightening mechanism, one end of the elastic device is connected with the bottom of the screw sleeve, the other end of the elastic device is fixedly connected with the transition shaft, the bushing is sleeved on the outer wall of the screw sleeve, and the bushing is arranged inside the shell structure.
Further, the elastic device is sleeved on the transition shaft.
Further, the elastic device is a spring.
Further, the automatic tightening mechanism comprises a plurality of automatic tightening shafts, each automatic tightening shaft is fixedly connected with the transition shaft, and the outer wall of each automatic tightening shaft is fixedly connected with the mounting frame.
Compared with the prior art, the automatic fire-setting tool for the high-voltage live working robot has the following advantages:
(1) The invention can automatically complete the fire-building work in live working work by matching with the robot, does not need manual participation, and can lead staff to be far away from dangerous environments.
(2) The structure of the invention is suitable for carrying robots, the robots can easily clamp the lead after carrying the product and smoothly put on the wiring, and the process is simple and easy to control.
(3) The main components in the invention are all insulated, so that the safety of the robot in the working process is improved.
(4) The automatic tightening machine can realize torque control and ensure the reliability and consistency of screw tightening operation.
(5) The quick-change device is used for the robot to assemble and disassemble the whole tool, so that wiring is convenient, unnecessary interference is reduced, and safety in the working process is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic view of an automatic fire-setting tool of a high-voltage live working robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a screw tightening module in an automatic hot-line tool of a high-voltage live working robot according to an embodiment of the present invention;
FIG. 3 is a schematic view of a floating mechanism in an automatic fire-setting tool of a high-voltage live working robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a fire-taking consumable fixing mechanism in an automatic fire-taking tool of a high-voltage live working robot according to an embodiment of the invention;
fig. 5 is a schematic structural diagram of a cable fixing mechanism in an automatic fire-setting tool of a high-voltage live working robot according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a support structure in an automatic fire-setting tool of a high-voltage live working robot according to an embodiment of the invention.
Reference numerals illustrate:
1-a screw tightening module; 2-a lifting mechanism; 3-a fire-setting consumable fixing mechanism; 4-a cable fixing mechanism; 5-a bracket; 6-an automatic tightening mechanism; 7-a floating mechanism; 8-mounting frames; 9-a housing; 10-end caps; 11-a transition shaft; 12-a screw sleeve; 13-a bushing; 14-elastic means; 15-a clamping actuator; 16-insulating fingers; 17-a clamping actuator; 18-insulating clamping blocks; 19-a stent body; 20-insulating transition plate.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1, the automatic fire-setting tool of the high-voltage live working robot comprises a screw tightening module 1, a lifting mechanism 2, a fire-setting consumable fixing mechanism 3, a cable fixing mechanism 4 and a bracket 5;
all parts contacting with the fire-making consumable parts and the lead wires are made of insulating materials. The insulating plate is used for transition of non-contact but adjacent parts, so that the insulating effect is ensured to the greatest extent, and the safety is improved.
Screw tightening module 1 sets up on support 5 through elevating system 2, and cable fixed establishment 4 and take fire consumptive material fixed establishment 3 all set up in screw tightening module 1 top, and cable fixed establishment 4 and take fire consumptive material fixed establishment 3 all with support 5 rigid coupling, cable fixed establishment 4 is located and takes fire consumptive material fixed establishment 3 sides, and screw tightening module 1 is located support 5 homonymy with taking fire consumptive material fixed establishment 3.
And the bracket 5 adopts a sheet metal bending and welding manufacturing process, has a simple and reliable structure, is convenient to process and manufacture and mass production, and has low cost.
The screw tightening module 1 is responsible for tightening screws in the fire-making consumable materials; the lifting mechanism 2 is used for lifting the screw tightening module 1, and separating the tightening module from the fire-taking consumable after the tightening module reaches the tightening position after the fire-taking consumable is fed and the tightening work is completed; the fire-taking consumable fixing mechanism 3 is responsible for fixing the fire-taking consumable during feeding; the cable fixing mechanism 4 is used for fixing the cable after the lead wire is inserted into the fire-making consumable; the bracket is used for installing the modules and the mechanisms. The system is simple to operate, high in automation level and capable of being matched with a robot to accurately and efficiently complete the fire-building work in high-voltage live working, and the safety is improved due to the fact that the main components are insulated.
As shown in fig. 2, the screw tightening module 1 comprises an automatic tightening mechanism 6 and a floating mechanism 7, wherein the automatic tightening mechanism 6 and the floating mechanism 7 are fixedly connected with the lifting mechanism 2 through a mounting frame 8, the automatic tightening mechanism 6 is connected with the floating mechanism 7, the floating mechanism 7 is arranged under the cable fixing mechanism 4, and the floating mechanism 7 can transmit power to screws on fire-making consumables; the mounting frame 8 is loaded with the automatic tightening mechanism 6 and the floating mechanism 7.
As shown in fig. 3, the floating mechanism 7 includes a plurality of floating tightening mechanisms and a housing structure capable of insulating, in this embodiment, two floating tightening mechanisms are provided, the plurality of floating tightening mechanisms are arranged on the housing structure in parallel in a rotating manner, each floating tightening mechanism penetrates through the housing structure, each floating tightening mechanism is connected with the automatic tightening mechanism 6, and the housing structure is fixedly connected with the mounting frame 8.
The lifting mechanism 2 includes a lifting actuator. The lifting actuator is responsible for powering the lifting of the screw tightening module 1.
The fire-extinguishing consumable fixing mechanism 3 comprises a clamping actuator 15 and an insulating finger 16. The insulating finger 16 can be matched with a structure on the fire-making consumable to clamp and fix the fire-making consumable; the clamping action is powered by the clamp actuator 15.
The cable fixing mechanism 4 includes a clamp actuator 17 and an insulating clamp block 18. The insulating clamping block 18 is driven by the clamping actuator 17 to clamp the lead.
The shell structure includes shell 9 and end cover 10, and the end cover sets up the top at shell 9, and a plurality of floating screw down mechanism all set up the inside at shell 9.
The floating screwing mechanism comprises a transition shaft 11, a screw sleeve 12, a bushing 13 and an elastic device 14, wherein the screw sleeve 12 is connected with the transition shaft 11 through a square groove, a groove capable of being matched with a screw is formed in the top of the screw sleeve 12, one end of the transition shaft 11 is slidably arranged in the square groove, the other end of the transition shaft 11 is connected with the automatic screwing mechanism 6, one end of the elastic device 14 is connected with the bottom of the screw sleeve 12, the other end of the elastic device 14 is fixedly connected with the transition shaft 11, the bushing 13 is sleeved on the outer wall of the screw sleeve 12, and the bushing 13 is arranged inside the shell structure. The elastic device 14 is sleeved on the transition shaft 11, the elastic device 14 is a spring, and the transition shaft 11 transmits the rotation of the automatic tightening shaft to the screw sleeve 12; the bushing 13 plays a supporting and guiding role on the screw sleeve 12; the spring is responsible for providing a floating function for the screw sleeve 12.
The automatic tightening mechanism 6 comprises a plurality of automatic tightening shafts, each automatic tightening shaft is fixedly connected with the transition shaft 11, the outer wall of each automatic tightening shaft is fixedly connected with the mounting frame 8, and the automatic tightening shafts provide power for screw tightening; the floating mechanism 7 is responsible for realizing the floating function of the screw sleeve on the floating mechanism; the mounting frame is used for mounting fixing screws to screw the module 1 and mounting the module on the lifting actuator.
The bracket 5 comprises a bracket body 19 and an insulating transition plate 20, wherein the insulating transition plate 20 is arranged on the bracket body 19, and the lifting mechanism 2, the fire taking consumable fixing mechanism 3 and the cable fixing mechanism 4 are arranged on the insulating transition plate 20, and the bracket body 19 is arranged on the side surface of the insulating transition plate 20.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (3)
1. Automatic tool of taking fire of high-voltage live working robot, its characterized in that: the device comprises a screw tightening module (1), a lifting mechanism (2), a fire-setting consumable fixing mechanism (3), a cable fixing mechanism (4) and a bracket (5);
the screw tightening module (1) is arranged on the support (5) through the lifting mechanism (2), the cable fixing mechanism (4) and the fire taking consumable fixing mechanism (3) are arranged above the screw tightening module (1), the cable fixing mechanism (4) and the fire taking consumable fixing mechanism (3) are fixedly connected with the support (5), the cable fixing mechanism (4) is positioned on the side face of the fire taking consumable fixing mechanism (3), and the screw tightening module (1) and the fire taking consumable fixing mechanism (3) are positioned on the same side of the support (5);
the screw tightening module (1) comprises an automatic tightening mechanism (6) and a floating mechanism (7), wherein the automatic tightening mechanism (6) and the floating mechanism (7) are fixedly connected with the lifting mechanism (2) through a mounting frame (8), the automatic tightening mechanism (6) is connected with the floating mechanism (7), and the floating mechanism (7) is arranged under the cable fixing mechanism (4);
the floating mechanism (7) comprises a plurality of floating tightening mechanisms and a shell structure capable of insulating, the floating tightening mechanisms are arranged on the shell structure in parallel in a rotating mode, each floating tightening mechanism penetrates through the shell structure, each floating tightening mechanism is connected with the automatic tightening mechanism (6), and the shell structure is fixedly connected with the mounting frame (8);
the floating screwing mechanism comprises a transition shaft (11), a screw sleeve (12), a bushing (13) and an elastic device (14), wherein the screw sleeve (12) is connected with the transition shaft (11) through a square groove, a groove capable of being matched with a screw is formed in the top of the screw sleeve (12), one end of the transition shaft (11) is slidably arranged in the square groove, the other end of the transition shaft (11) is connected with the automatic screwing mechanism (6), one end of the elastic device (14) is connected with the bottom of the screw sleeve (12), the other end of the elastic device (14) is fixedly connected with the transition shaft (11), the bushing (13) is sleeved on the outer wall of the screw sleeve (12), and the bushing (13) is arranged in the shell structure;
the automatic tightening mechanism (6) comprises a plurality of automatic tightening shafts, each automatic tightening shaft is fixedly connected with the transition shaft (11), and the outer wall of each automatic tightening shaft is fixedly connected with the mounting frame (8).
2. The automatic hot-line work robot hot-line tool according to claim 1, wherein: the elastic device (14) is sleeved on the transition shaft (11).
3. The automatic hot-line work robot hot-line tool according to any one of claims 1 or 2, characterized in that: the elastic device (14) is a spring.
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 CN109346986A (en) | 2019-02-15 |
| CN109346986B true CN109346986B (en) | 2024-01-30 |
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| 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 |
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| Country | Link |
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| 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 (2)
| 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.2017,(第07期),147-152，158. * |
| 输电线路带电紧固螺栓机器人的研制;李稳;邹德华;刘夏清;李游;严宇;刘兰兰;龙洋;;高压电器(第07期);147-152，158 * |
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| CN109346986A (en) | 2019-02-15 |
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