CN109659861B - Two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation - Google Patents
Two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation Download PDFInfo
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- CN109659861B CN109659861B CN201910141530.0A CN201910141530A CN109659861B CN 109659861 B CN109659861 B CN 109659861B CN 201910141530 A CN201910141530 A CN 201910141530A CN 109659861 B CN109659861 B CN 109659861B
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- 238000001514 detection method Methods 0.000 abstract description 8
- 238000007689 inspection Methods 0.000 description 15
- 230000005540 biological transmission Effects 0.000 description 6
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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
- 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 discloses a two-degree-of-freedom movement mechanism suitable for 10kv power distribution operation, which comprises an inner shell, a clamping mechanism, a driving mechanism, a rotating mechanism, an outer shell and a limiting mechanism, wherein the clamping mechanism is arranged in the inner shell and comprises more than two inner rollers I and a pressing component, one inner roller is rotatably arranged on the inner wall of the inner shell, the pressing component is arranged above the inner roller I, the pressing component and the inner roller I are matched to clamp or loosen a cable, the driving mechanism is arranged in the inner shell, the driving mechanism drives the inner roller I to rotate, the rotating mechanism is arranged on the outer wall of the inner shell, the rotating mechanism drives the outer shell to rotate around the inner shell, the limiting mechanism is arranged between the inner shell and the outer shell, and the limiting mechanism is used for limiting the axial movement between the inner shell and the outer. The two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation is high in flexibility, can be convenient for detecting the condition of a cable more comprehensively by detection equipment, and can also adapt to various working environments.
Description
Technical Field
The invention relates to a cable climbing device, in particular to a two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation.
Background
Electric power is an essential element in our lives. Each link from electricity generation to electricity transmission is extremely important, and any link that has made an error may cause a huge hidden trouble. The high-voltage overhead power transmission mode is a main mode of power transmission in China, and the power utilization stability of thousands of households can be ensured only by ensuring the safety of high-voltage power transmission. However, high voltage wires are generally distributed in the field, and are exposed to wind, sun, rain and the like all the year round, and the surface of the high voltage wires is easily damaged. Also, the cable ages and ages naturally. If the potential safety hazard cannot be timely eliminated, power failure may be caused. Once a large area of power failure occurs, various social security problems can be caused, and immeasurable economic influence is caused to the society.
In summary, the task of periodically checking the high voltage is imperative, and ensuring the safety of power transmission is also one of ensuring social safety. There are three main ways of cable detection today: firstly, manually carrying out pedestrian inspection; secondly, helicopter routing inspection; and thirdly, a cable inspection robot is developed to inspect.
Manual hiking inspection, which is a very traditional way of inspection. The manual hiking inspection is not only low in efficiency, but also high in labor intensity. Workers stand below the cable and rely on instruments such as a telescope to carry out rough observation, so that many hidden dangers are difficult to find, even some important hidden dangers can be missed, and the condition of missed detection is caused. Moreover, the detection mode is greatly influenced by the terrain, and the manual inspection is almost impossible when some special terrains, such as valleys, are encountered. Helicopter inspection is a method for detecting a cable by a helicopter by carrying camera equipment. Compared with manual inspection, the device has the advantages of high efficiency, high precision and the like. However, the method has high cost and poor economy, is greatly influenced by weather, and is very dangerous when the helicopter is driven to fly at low altitude in strong wind. With the development of the robot technology, the cable inspection robot has the different military prominence in the field of cable inspection. Whether domestic or foreign, many scientific research teams are involved in the development of cable inspection robots and achieve remarkable results.
The cable line inspection robot can flexibly walk on the cable line, and effective detection can be carried out on the cable line by utilizing the camera device and the sensor carried on the body of the robot. The staff only need with the machine install on the cable with stand-by ware detects after finishing take off the machine can, greatly alleviateed workman's intensity of labour. The probability of missed detection and false detection is greatly reduced. Compared with helicopter routing inspection, the system greatly improves the economy. Therefore, cable routing inspection is the most effective way to ensure power transmission. But it is low with its assorted climbing cable robot flexibility ratio, and the finished product is few, climbs the cable mode single, can only carry out the climbing of a direction, and work efficiency is low.
Disclosure of Invention
The invention aims to provide a two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation, which has high flexibility, can facilitate detection equipment to detect the condition of a cable more comprehensively, and can also adapt to various working environments.
In order to achieve the purpose, the invention provides the following technical scheme:
a two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation, which comprises an inner shell, a clamping mechanism, a driving mechanism, a rotating mechanism, an outer shell and a limiting mechanism, the clamping mechanism is arranged in the inner shell and comprises more than two inner rollers I and a pressing component, one inner roller is rotatably arranged on the inner wall of the inner shell, the pressing component is arranged above the first inner roller, the pressing assembly and the inner roller are matched to clamp or loosen a cable, the driving mechanism is arranged in the inner shell, the driving mechanism drives the inner roller to rotate, the rotating mechanism is arranged on the outer wall of the inner shell, the outer shell is arranged outside the inner shell, the rotating mechanism drives the outer shell to rotate around the inner shell, the limiting mechanism is arranged between the inner shell and the outer shell, the limiting mechanism is used for limiting the axial movement between the inner shell and the outer shell and is used for supporting the outer shell to rotate on the periphery of the inner shell.
Preferably, the compressing assembly comprises more than two inner rollers II, more than two inner rollers III and a screw rod, two ends of each inner roller II are respectively hinged with one end of a rocker I, two ends of each inner roller III are respectively hinged with one end of a rocker II, the other ends of the rocker I and the rocker II are respectively hinged with the inner wall of the inner shell, the two adjacent inner rollers II are respectively connected through a long connecting rod, two ends of the long connecting rod are respectively hinged with the inner rollers II, the two adjacent rocker I and the rocker II are respectively hinged with a short connecting rod I and a short connecting rod II, the short connecting rod I and the short connecting rod II are connected through a connecting joint, the screw rod is connected with the inner shell through threads, and the lower end of the screw rod penetrates through the inner shell and is connected with the connecting joint through a bearing.
Preferably, actuating mechanism includes motor one, turbine reduction gear, driving gear, driven gear, motor one is fixed on the inner shell inner wall, motor one and turbine reduction gear connection, the driving gear is installed on the output at turbine reduction gear both ends, driven gear installs the both ends at one of them interior running roller one respectively, the driving gear is connected with driven gear meshing.
Preferably, the rotating mechanism comprises a second motor, a coupler and an outer gear, the second motor is fixed on the outer wall of the inner shell, the second motor is connected with the coupler, the output end of the coupler is fixedly connected with the outer gear, a gear ring is arranged on the inner wall of the outer shell, and the outer gear is connected with the gear ring in a meshed mode.
Preferably, stop gear includes outer running roller, annular spout, outer running roller has more than three, outer running roller is installed on the shell inner wall, the annular spout sets up on the inner shell outer wall, outer running roller sets up in annular spout.
Preferably, one end of the screw rod, which is far away from the connecting knot, is provided with a rotating handle.
Preferably, the inner shell is composed of two inner half shells, one end of each of which is connected by a hinge, and the other end of each of which is connected by a bolt.
Preferably, the housing is composed of two outer half shells, one end of which is connected by a hinge and the other end of which is connected by a bolt.
Preferably, the screw rod is a saw-tooth screw rod.
Compared with the prior art, the invention has the beneficial effects that:
1) the multi-hinge clamping mechanism is adopted to clamp the cable, and after the cable is clamped, the cable can be prevented from being clamped tightly due to self-locking of the sawtooth-shaped screw rod.
2) Adopt inside and outside double-shelled form, stable in structure can realize different motion modes, along cable rectilinear motion alone, rotate around the cable alone, and the compound motion of these two kinds of motions in addition facilitates for cable operation.
3) The double motors are driven, the two motors do not interfere with each other in work, the mutual interference of movement is realized, and the operation is convenient.
Drawings
FIG. 1 is a schematic structural diagram of a two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation in an embodiment of the invention;
FIG. 2 is a schematic view of the drive mechanism and clamping mechanism of an embodiment of the present invention;
FIG. 3 is an elevation view of a portion of a clamping mechanism in an embodiment of the present invention;
FIG. 4 is a schematic partial structural diagram I of a two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation in the embodiment of the invention;
FIG. 5 is a schematic diagram of a partial structure of a two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation according to an embodiment of the present invention;
FIG. 6 is a side view of a two degree-of-freedom motion mechanism suitable for 10kv power distribution operation in an embodiment of the present invention;
in the figure, 1, an inner shell, 2, a clamping mechanism, 201, a first inner roller, 202, a second inner roller, 203, a zigzag screw rod, 204, a first rocker, 205, a second rocker, 206, a third rocker, 207, a long connecting rod, 208, a first short connecting rod, 209, a second short connecting rod, 210, a connecting joint, 211, a rotating handle, 3, a driving mechanism, 301, a first motor, 302, a turbine reducer, 303, a driving gear, 304, a driven gear, 4, an outer shell, 5, a rotating mechanism, 501, a second motor, 502, a coupler, 503, an outer gear, 504, a gear ring, 6, an outer roller, 7, an annular chute, 8 and a cable.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, a two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation includes an inner shell 1, a clamping mechanism 2, a driving mechanism 3, an outer shell 4, a rotating mechanism 5, and a limiting mechanism, where the inner shell 1 is composed of two inner half shells, one end of each of the two inner half shells is connected through a hinge, and the other end is connected through a bolt. The housing 4 is composed of two outer half shells, one end of which is connected by a hinge and the other end of which is connected by a bolt. The outer shell 4 is disposed outside the inner shell 1.
A clamping mechanism 2 is provided within the inner housing 1 for clamping the cable. The clamping mechanism 2 comprises more than two first inner rollers 201 and a pressing assembly, wherein the first inner rollers 201 are rotatably installed on the inner wall of the inner shell 1, the pressing assembly is arranged above the first inner rollers 201, and the pressing assembly and the first inner rollers 201 are matched to clamp or loosen the cable 8. The pressing assembly comprises more than two inner roller wheels 202, more than two inner roller wheels 206 and a screw rod 203, two ends of each inner roller wheel 202 are hinged with one end of a rocker 204, two ends of each inner roller wheel 206 are hinged with one end of a rocker 205, the other ends of the rocker 204 and the rocker 205 are hinged with the inner wall of the inner shell 1, the two adjacent inner roller wheels 202 are connected through a long connecting rod 207, two ends of the long connecting rod 207 are hinged with the inner roller wheels 202, the rocker one and the rocker 205 adjacent to the rocker 205 are hinged with a short connecting rod 208 and a short connecting rod 209, the short connecting rod 208 and the short connecting rod 209 are connected through a connecting joint 210, and the connecting joint 210 is hinged with the short connecting rod 208 and the short connecting rod 209. The screw rod 203 is connected with the inner shell 1 through threads, the lower end of the screw rod 203 penetrates through the inner shell 1 to be connected with the connecting knot 210 through a bearing, and the screw rod 203 is a sawtooth-shaped screw rod. One end of the screw rod 203 far away from the connecting knot 210 is provided with a rotating handle 211. Rotate rotatory handle 211, lead screw 203 rotates along with rotatory handle 211, and carry out the removal of vertical direction, simultaneously, lead screw 203 drives and connects knot 210 and reciprocate, connect knot 210 and drive two rockers 205 and one of them rocker through short connecting rod one 208 and short connecting rod two 209 and rotate respectively, long connecting rod 207 drives other rocker one and rotates, at rocker one 204 and two 205 rotation in-process of rocker, two 202 and three 206 of interior running roller rotate from top to bottom thereupon, thereby realize the removal of two 202 and three 206 of interior running roller in vertical direction, then reach the effect of clamping cable through cooperating with interior running roller one 201.
The driving mechanism 3 is arranged in the inner shell 1, the driving mechanism 3 drives the inner roller wheel 201 to rotate, the driving mechanism 3 comprises a motor 301, a turbine speed reducer 302, a driving gear 303 and a driven gear 304, the motor 301 is fixed on the inner wall of the inner shell 1, the motor 301 is connected with the turbine speed reducer 302, the driving gear 303 is installed at the output ends of two ends of the turbine speed reducer 302, the driven gear 304 is respectively installed at two ends of one of the inner roller wheels 201, and the driving gear 303 is meshed with the driven gear 304.
Limiting mechanism sets up between inner shell 1 and shell 4, and limiting mechanism is used for the restriction to take place axial displacement between inner shell 1 and the shell 4, and is used for supporting the shell and rotates at the inner shell periphery. Stop gear includes outer running roller 6, annular spout 7, and outer running roller 6 has more than three, and outer running roller 6 is installed on 4 inner walls of shell, and annular spout 7 sets up on 1 outer wall of inner shell, and outer running roller 6 sets up in annular spout 7. The outer roller 6 can also be arranged on the outer wall of the inner shell 1, the annular chute 7 is arranged on the inner wall of the outer shell, and the outer roller 6 is arranged in the annular chute 7. The rotating mechanism 5 is arranged on the outer wall of the inner shell 1, and the rotating mechanism 5 drives the outer shell 4 to rotate. The rotating mechanism 5 comprises a second motor 501, a coupler 502 and an outer gear 503, the second motor 501 is fixed on the outer wall of the inner shell 1, the second motor 501 is connected with the coupler 502, the output end of the coupler 502 is fixedly connected with the outer gear 503, the inner wall of the outer shell 4 is provided with a gear ring 504, and the outer gear 503 is in meshing connection with the gear ring 504.
The working principle and the using method are as follows: the sawtooth type screw rod 203 is rotated by rotating the rotating handle 211, so that the inner roller wheel II 202 moves to the uppermost part of the inner shell 1, and the cable 8 is arranged at the center of the inner shell 1. And rotating the sawtooth-shaped lead screw 203 again to enable the second inner roller 202 to move downwards until the second inner roller touches the cable 8, clamping the cable 8 together with the first inner roller 201, closing the inner shell 1 and fastening through bolts. Then, the outer shell 4 is installed, the outer roller 6 on the outer shell is aligned with the annular sliding groove 7 on the outer wall of the inner shell 1, the outer gear 503 is meshed with the gear ring 504 on the inner wall of the outer shell 4, and then the two parts of the outer shell 4 are connected through bolts. When the device needs to move along the cable direction, the first motor 301 works, the first motor drives the driving gear 303 and the driven gear 304 to rotate through the turbine speed reducer 302, and the first inner roller 201 rotates along with the first motor, so that the device is driven to move along the cable direction. When a rotational motion about the cable 8 is required, the second motor 501 operates to transmit the rotation to the external gear 503 via the coupling 502, and the external gear 503 engages with the ring gear 504 on the outer case 4, so that the outer case 4 rotates about the cable 8 and the inner case 1 rotates along with the outer case 4. The device can be moved both in the cable advance direction and in a rotational movement around the cable.
The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the present invention as defined in the accompanying claims.
Claims (9)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910141530.0A CN109659861B (en) | 2019-02-26 | 2019-02-26 | Two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation |
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| CN201910141530.0A CN109659861B (en) | 2019-02-26 | 2019-02-26 | Two-degree-of-freedom motion mechanism suitable for 10kv power distribution operation |
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| CN109659861B true CN109659861B (en) | 2020-06-02 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111697756B (en) * | 2020-06-22 | 2021-12-07 | 黄建国 | Driving mechanism for live cable inspection device |
| CN114228997B (en) * | 2020-12-29 | 2024-05-07 | 国网山东省电力公司蒙阴县供电公司 | High-altitude cable sheath detection method |
| GB2614534B (en) * | 2021-12-30 | 2024-11-06 | British Telecomm | Apparatus for telecommunications cables |
| CN114803964B (en) * | 2022-05-17 | 2024-03-19 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
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