CN110011263A - A kind of cable line walking snow removal machine people - Google Patents
A kind of cable line walking snow removal machine people Download PDFInfo
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- CN110011263A CN110011263A CN201910373117.7A CN201910373117A CN110011263A CN 110011263 A CN110011263 A CN 110011263A CN 201910373117 A CN201910373117 A CN 201910373117A CN 110011263 A CN110011263 A CN 110011263A
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- 238000007689 inspection Methods 0.000 abstract description 10
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- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- IWZSHWBGHQBIML-ZGGLMWTQSA-N (3S,8S,10R,13S,14S,17S)-17-isoquinolin-7-yl-N,N,10,13-tetramethyl-2,3,4,7,8,9,11,12,14,15,16,17-dodecahydro-1H-cyclopenta[a]phenanthren-3-amine Chemical compound CN(C)[C@H]1CC[C@]2(C)C3CC[C@@]4(C)[C@@H](CC[C@@H]4c4ccc5ccncc5c4)[C@@H]3CC=C2C1 IWZSHWBGHQBIML-ZGGLMWTQSA-N 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
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Classifications
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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
A kind of cable line walking snow removal machine people disclosed by the invention, including cabinet, cabinets cavity is equipped in the cabinet, the two cabinet pair inner cavities for being equipped with bilateral symmetry in the cabinet and being communicated with the cabinets cavity, cross-line device is equipped in the cabinets cavity, cross-line device upper end is hinged with rocker arrangement lower end, the cross-line device is hinged with symmetrical two mechanical arms, the mechanical arm lower end of the left and right sides is rotatably connected to intracavitary lifting device in the cabinet pair, the mechanical arm upper end of the left and right sides is rotatably connected to snow removing machinery arm respectively, the snow removing machinery arm of the left and right sides is mutually slidably connected respectively with rocker arrangement two sides upper end；The present invention provides a kind of inspection robot that can be worked normally on accumulated snow cable, which is able to achieve autonomous cross-line and cable detection function, while having more efficient continuous snow removal function.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of cable line walking snow removal machine people.
Background technique
Traditional cable inspection robot can not work also on accumulated snow cable and can not remove the snow, and traditional cable snow-removing device can not
Autonomous cross-line needs that snow-removing device is manually transferred to another cable by a cable, and efficiency is lower, high labor cost, and
Line walking detection can not be carried out to cable.A kind of device that can solve the above problem that the present invention illustrates.
Summary of the invention
Technical problem: traditional cable inspection robot can not work also on accumulated snow cable and can not remove the snow, and traditional cable
Snow-removing device can not autonomous cross-line lead to that efficiency of cleaning snow is lower, high labor cost.
To solve the above problems, this example devises a kind of cable line walking snow removal machine people, a kind of cable line walking of this example is removed
Avenge robot, including cabinet is equipped with cabinets cavity in the cabinet, be equipped in the cabinet bilateral symmetry and in the cabinet
Two cabinet pair inner cavities that chamber communicates, the cabinets cavity upper inside walls are equipped with through-hole on the cabinet of perforation, in the cabinet pair
Inner wall is equipped with the cabinet small through hole of perforation on chamber, is equipped with cross-line device in the cabinets cavity, cross-line device upper end is hinged
There is rocker arrangement, the cross-line device is hinged with symmetrical two mechanical arms, starts the cross-line device drive and states machinery
Arm completes the movement of the cross-line between different cables, and starting the mechanical arm can be such that cable line walking snow removal machine people puts down on cable
It moves, the mechanical arm lower end of the left and right sides is rotatably connected to intracavitary lifting device in the cabinet pair, described in starting
Cable line walking snow removal machine people can be promoted at the cable in high-altitude by lifting device, the mechanical arm upper end of the left and right sides
It is rotatably connected to snow removing machinery arm respectively, nearly symmetrical centre one end of the snow removing machinery arm rest of the left and right sides and the rocker arm fill
It sets upper end to be mutually slidably connected respectively, when the cross-line device drives rocker arrangement movement, the rocker arrangement can be by band
Moving the snow removing machinery arm makes it turn to suitable operating position to carry out Snow removing.
Wherein, the cross-line device includes being rotationally connected in the cabinets cavity and camshaft that front and back extends, described
Cam shaft rear end is connected by power be fixed on the cabinets cavity after inner wall motor, the camshaft front end is fixedly connected with convex
It takes turns, piston rod is hinged on the cam, the cam is equipped with cam path, the low pair of difference in the cam path of the left and right sides
It is connected with small runner, the left side small runner is hinged with left follower lever, and the right side small runner is hinged with the left follower lever
Long right follower lever.
It may be preferred that the motion angle for actuating travel on the left of the cam is 70 degree, motion angle for return travel is 90 degree, angle of repose is
20 degree, the motion angle for actuating travel on right side is 70 degree, motion angle for return travel is 90 degree, angle of repose is 20 degree.
Wherein, the mechanical arm includes the mechanical arm housing hinged with the left follower lever or the right follower lever, described
Mechanical arm housing upper end is pierced by wall surface on the upside of the cabinets cavity, before the machinery arm housing both sides of the face have been respectively fixedly connected with
The mechanical arm axle for extending afterwards and being located at below the left follower lever or the right follower lever, in the machinery arm axle and the cabinet
Cavity wall rotation connection, the machinery arm housing is interior to be equipped with mechanical arm housing cavity, the mechanical arm housing cavity rotation connection
The main motor shaft for having front and back to extend and be located at below the left follower lever, the main motor shaft rear end in left side have been connected by power solid
The main motor of inner wall after the mechanical arm housing cavity is fixedly connected with compound belt wheel, left side institute on the main motor shaft
It states and is connected with transmission belt between compound belt wheel and the right side compound belt wheel, before being rotatably connected in the mechanical arm housing cavity
Extend and run through afterwards the cable runner shaft of the mechanical arm housing cavity, and the cable runner shaft is located on the compound belt wheel
Side, is fixedly connected with the belt wheel in the mechanical arm housing cavity on the cable runner shaft, the belt wheel with it is described multiple
Main synchronous belt is connected between crossed belt wheel, cable runner shaft front end is fixedly connected with before the mechanical arm housing cavity
End outside and the cable runner with circumferential groove, the cable runner circumferential direction are equipped with 16 cable runner holes, and the cable turns
Sliding block is slidably connected in wheel bore, the sliding block is fixedly connected with friction hemisphere far from center of circle one end, and the sliding block is close to the center of circle
Spring is connected between one end and cable runner hole bottom surface, the machinery arm housing is equipped with far from central side is located at the electricity
Photographing module below cable runner, the photographing module are mainly used for Cables for Dam Observation situation, start the main motor and drive left and right
The composite band wheel of two sides rotates, and passes motion to the cable runner shaft, institute by the main synchronous belt, the belt wheel
It states cable runner shaft and drives the cable runner, to realize that cable line walking snow removal machine people moves on cable.
It may be preferred that cable is placed in the groove on the downside of the cable runner, so that cable line walking snow removal machine people be made to hang
On cable, the friction hemisphere and conductive cable contacts provide cable line walking snow removal machine people mobile required friction on cable
Power, when there is accumulated snow on cable, the sliding block in spring force effect is snowed and is penetrated, enable the friction hemisphere with
Cable directly contacts, to make cable line walking snow removal machine people normal movement on accumulated snow cable.
Wherein, by taking the lifting device of left side as an example, the lifting device includes being rotationally connected with cabinet pair inner cavity
And the small band wheel shaft that front and back extends, small pulley, the small pulley and the compound belt wheel are fixedly connected on the small band wheel shaft
Between be connected with small synchronous belt on front side of the transmission belt, be fixedly connected on the small band wheel shaft positioned at the small pulley
The worm gear of front side, the intracavitary lifting shaft for being rotatably connected to left and right and extending in the cabinet pair are fixedly connected on the lifting shaft
The worm screw of connection, the lifting runner being fixedly connected on the left of the worm screw on the lifting shaft, institute are engaged with the worm gear
It states lifting runner and is equipped with rope fastening hole, the rope fastening hole is threaded with rope fixing head, starts the main motor
The lifting shaft is passed motion to by transmission, to drive the lifting runner to realize wiring movement, to complete cable
Line walking snow removal machine people by ground to aerial cables elevating movement.
Wherein, the snow removing machinery arm includes the snow removing machinery arm housing with cable runner shaft rotation connection, described
Snow removing machinery arm inner cavity is equipped in cable runner shaft, the snow removing machinery arm housing is fixedly connected with positioned at the snow removing machinery arm
Secondary pulley on rear side of inner cavity, snow removing machinery arm inner cavity are rotatably connected to front and back and extend and be located above the cable runner shaft
Snow removing runner shaft, the snow removing runner shaft extends forwardly into the front end outer side, is fixedly connected on the snow removing runner shaft
The intracavitary execution belt wheel in the snow removing machinery arm, is connected with upper synchronous between the execution belt wheel and the secondary pulley
Band, the snow removing runner shaft front end are fixedly connected with the snow removing runner positioned at snow removing machinery arm inner cavity front end outer side, starting
The main motor drives the snow removing runner rotation by transmission.
Wherein, the rocker arrangement includes the main piston cylinder of inner wall after being fixed on the cabinets cavity, the cabinets cavity
Inner wall is fixedly connected with symmetrical piston cylinder afterwards, is equipped with main piston inner cavity, the main piston inner cavity in the main piston cylinder
Main piston head is inside slidably connected, main piston head lower end is fixedly connected with to be slidably connected with main piston inner cavity lower end surface
Main piston rod, the main piston rod lower end is hinged with the piston rod upper end, wall at left and right sides of the main piston inner cavity
Face is provided with main piston cylinder through-hole, piston cavity is equipped in the piston cylinder, by taking the piston cavity of left side as an example, in the piston
Wall surface is provided with piston cylinder through-hole on the right side of chamber, is connected with pipeline between the piston cylinder through-hole and the main piston cylinder through-hole, described
Pipeline is equipped with solenoid valve, slidably connects piston head in the piston cavity, the piston head upper surface be fixedly connected with
The piston rod that the piston cavity upper surface is slidably connected, the piston rod are hinged with slide cartridge, the slide cartridge and the snow breaker
Tool arm housing is slidably connected close to one end of symmetrical centre, starts the motor, drives the piston rod to moving up by transmission
It is dynamic, so that the snow removing machinery arm housing be pushed to rotate down the snow removing runner shaft.
The beneficial effects of the present invention are: the present invention provides a kind of line walking machines that can be worked normally on accumulated snow cable
People, the inspection robot are able to achieve autonomous cross-line and cable detection function, while having more efficient continuous snow removal function.
Detailed description of the invention
The present invention is described in detail by following specific embodiments and drawings for ease of explanation,.
Fig. 1 is the overall structure diagram of cable line walking snow removal machine people of the invention a kind of；
Fig. 2 is the structural schematic diagram in direction " A-A " of Fig. 1；
Fig. 3 is the structural schematic diagram in direction " B-B " of Fig. 1；
Fig. 4 is the structural schematic diagram in direction " C-C " of Fig. 2；
Fig. 5 is the structural schematic diagram in direction " D-D " of Fig. 1；
Fig. 6 is the structural schematic diagram in direction " E-E " of Fig. 1.
Specific embodiment
Below with reference to Fig. 1-Fig. 6, the present invention is described in detail, for sake of convenience, now provides to hereafter described orientation
As follows: hereafter described front-rear direction up and down is consistent with the front-rear direction up and down of Fig. 1 projection relation itself.
The present invention relates to a kind of cable line walking snow removal machine people, are mainly used in high-tension cable line walking and high-tension cable snow removing
Work, below in conjunction with attached drawing of the present invention, the present invention will be further described:
A kind of cable line walking snow removal machine people of the present invention, including cabinet 11, the cabinet 11 is interior to be equipped with cabinets cavity 55,
The two cabinet pair inner cavities 57 for being equipped with bilateral symmetry in the cabinet 11 and being communicated with the cabinets cavity 55, the cabinets cavity
55 upper inside walls are equipped with through-hole 54 on the cabinet of perforation, and inner wall is equipped with the cabinet small through hole of perforation on cabinet pair inner cavity 57
56, the cabinets cavity 55 is interior to be equipped with cross-line device 901, and 901 upper end of cross-line device is hinged with rocker arrangement 905, described
Cross-line device 901 is hinged with symmetrical two mechanical arms 902, and starting the cross-line device 901 drive, to state mechanical arm 902 complete
At the cross-line movement between different cables, starting the mechanical arm 902 can be such that cable line walking snow removal machine people puts down on cable
It moves, 902 lower end of the mechanical arm of the left and right sides is rotatably connected to the lifting device 903 in cabinet pair inner cavity 57,
Starting the lifting device 903 can be promoted to cable line walking snow removal machine people at the cable in high-altitude, the institute of the left and right sides
It states 902 upper end of mechanical arm and is rotatably connected to snow removing machinery arm 904 respectively, the snow removing machinery arm 904 of the left and right sides is close to right
Title center one end is mutually slidably connected respectively with 905 upper end of rocker arrangement, when the cross-line device 901 drives the rocker arm to fill
When setting 905 movement, the rocker arrangement 905 can will drive the snow removing machinery arm 904 that it is made to turn to suitable operating position
To carry out Snow removing.
According to embodiment, cross-line device 901 is described in detail below, the cross-line device 901 includes rotation connection
In the camshaft 31 that in the cabinets cavity 55 and front and back extends, 31 rear end of camshaft, which has been connected by power, is fixed on the case
The motor 62 of inner wall after intracoelomic cavity 55,31 front end of camshaft are fixedly connected with cam 25, are hinged with work on the cam 25
Connecting rod 30 is filled in, the cam 25 is equipped with cam path 24, and low pair is connected with small runner respectively in the cam path 24 of the left and right sides
23, the left side small runner 23 is hinged with left follower lever 22, and it is long that the right side small runner 23 is hinged with the left follower lever 22
Right follower lever 32,.
Valuably, the motion angle for actuating travel in 25 left side of cam is 70 degree, motion angle for return travel is 90 degree, angle of repose is
20 degree, the motion angle for actuating travel on right side is 70 degree, motion angle for return travel is 90 degree, angle of repose is 20 degree.
According to embodiment, mechanical arm 902 is described in detail below, the mechanical arm 902 includes driven with the left side
The mechanical arm housing 21 of bar 22 or the right follower lever 32 hingedly, 21 upper end of the machinery arm housing are pierced by the cabinets cavity 55
Upside wall surface, it is described machinery 21 both sides of the face of arm housing be respectively fixedly connected with front and back extend and be located at the left follower lever 22 or
The mechanical arm axle 60 of 32 lower section of right follower lever, the machinery arm axle 60 are rotatablely connected with 55 inner wall of cabinets cavity, institute
State and be equipped with mechanical arm housing cavity 58 in mechanical arm housing 21, the mechanical arm housing cavity 58 be rotatably connected to front and back extend and
Main motor shaft 59 positioned at left 22 lower section of follower lever, 59 rear end of the main motor shaft in left side, which has been connected by power, is fixed on institute
The main motor 61 of inner wall after mechanical arm housing cavity 58 is stated, is fixedly connected with compound belt wheel 19, left side on the main motor shaft 59
It is connected with transmission belt 20 between the compound belt wheel 19 and the right side compound belt wheel 19, turns in the mechanical arm housing cavity 58
The dynamic cable runner shaft 48 for being connected with front and back and extending and running through the mechanical arm housing cavity 58, and the cable runner shaft 48
Above the compound belt wheel 19, it is fixedly connected on the cable runner shaft 48 in the mechanical arm housing cavity 58
Belt wheel 52, is connected with main synchronous belt 53 between the belt wheel 52 and the compound belt wheel 19,48 front end of cable runner shaft is solid
Surely the cable runner 41 positioned at 58 front end outer side of mechanical arm housing cavity and with circumferential groove, the cable runner are connected with
41 circumferential directions are equipped with 16 cable runner holes 45, and sliding block 43 is slidably connected in cable runner hole 45, and the sliding block 43 is remote
Be fixedly connected with friction hemisphere 42 from center of circle one end, the sliding block 43 close to center of circle one end and 45 bottom surface of cable runner hole it
Between be connected with spring 44, the machinery arm housing 21 is equipped with the photographing module for being located at 41 lower section of cable runner far from central side
69, the photographing module 69 is mainly used for Cables for Dam Observation situation, starts the main motor 61 and drives the described compound of the left and right sides
Belt wheel 19 rotates, and passes motion to the cable runner shaft 48, the cable by the main synchronous belt 53, the belt wheel 52
Runner shaft 48 drives the cable runner 41, to realize that cable line walking snow removal machine people moves on cable.
Valuably, cable is placed in the groove of 41 downside of cable runner, so that cable line walking snow removal machine people be made to hang
On cable, the friction hemisphere 42 and conductive cable contacts provide cable line walking snow removal machine people mobile required friction on cable
Power, when there is accumulated snow on cable, the sliding block 43 is in 44 elastic force of spring effect is snowed and penetrated, so that the friction hemisphere
42 can directly contact with cable, to make cable line walking snow removal machine people normal movement on accumulated snow cable.
According to embodiment, lifting device 903 is described in detail below, by taking the lifting device 903 of left side as an example, institute
Stating lifting device 903 includes being rotationally connected with the small band wheel shaft 63 that cabinet pair inner cavity 57 and front and back extend, the small pulley
It is fixedly connected with small pulley 64 on axis 63, is connected between the small pulley 64 and the compound belt wheel 19 positioned at the transmission belt
The small synchronous belt 18 of 20 front sides is fixedly connected with the worm gear 17 positioned at 64 front side of small pulley, institute on the small band wheel shaft 63
It states and is rotatably connected to the lifting shaft 12 that left and right extends in cabinet pair inner cavity 57, be fixedly connected with and the snail on the lifting shaft 12
Wheel 17 engages the worm screw 16 of connection, and the lifting runner 13 positioned at 16 left side of worm screw is fixedly connected on the lifting shaft 12,
The lifting runner 13 is equipped with rope fastening hole 15, and the rope fastening hole 15 is threaded with rope fixing head 14, starts
The main motor 61 passes motion to the lifting shaft 12 by transmission, so that the lifting runner 13 be driven to realize wiring fortune
It is dynamic, to complete cable line walking snow removal machine people by the elevating movement on ground to aerial cables.
According to embodiment, snow removing machinery arm 904 is described in detail below, the snow removing machinery arm 904 includes and institute
The snow removing machinery arm housing 40 of the rotation connection of cable runner shaft 48 is stated, is equipped with snow removing machinery arm inner cavity in the cable runner shaft 48
65, the snow removing machinery arm housing 40 is fixedly connected with the secondary pulley 47 positioned at 65 rear side of snow removing machinery arm inner cavity, described
Snow removing machinery arm inner cavity 65 is rotatably connected to the snow removing runner shaft 50 that front and back extends and is located at 48 top of cable runner shaft, institute
It states snow removing runner shaft 50 and extends forwardly into 65 front end outer side, be fixedly connected on the snow removing runner shaft 50 and be located at described remove
The execution belt wheel 51 in mechanical arm inner cavity 65 is avenged, is connected with synchronous belt between the execution belt wheel 51 and the secondary pulley 47
49, snow removing 50 front end of runner shaft is fixedly connected with the snow removing runner positioned at 65 front end outer side of snow removing machinery arm inner cavity
46, start the main motor 61 and drives the snow removing runner 46 to rotate by transmission.
According to embodiment, rocker arrangement 905 is described in detail below, the rocker arrangement 905 includes being fixed on institute
The main piston cylinder 28 of inner wall after cabinets cavity 55 is stated, inner wall is fixedly connected with symmetrical piston cylinder after the cabinets cavity 55
34, the main piston cylinder 28 is interior to be equipped with main piston inner cavity 29, slidably connects main piston head 27, institute in the main piston inner cavity 29
It states 27 lower end of main piston head and is fixedly connected with the main piston rod 26 being slidably connected with 29 lower end surface of main piston inner cavity, the master
26 lower end of piston rod is hinged with 30 upper end of piston rod, and 29 left and right sides wall surface of main piston inner cavity is provided with main piston
Cylinder through-hole 66, the piston cylinder 34 is interior to be equipped with piston cavity 35, by taking the piston cavity 35 of left side as an example, the piston cavity 35
Right side wall surface is provided with piston cylinder through-hole 68, is connected with pipeline between the piston cylinder through-hole 68 and the main piston cylinder through-hole 66
67, the pipeline 67 is equipped with solenoid valve 33, slidably connects piston head 36 in the piston cavity 35, on the piston head 36
End face is fixedly connected with the piston rod 37 being slidably connected with 35 upper surface of piston cavity, and the piston rod 37 is hinged with slide cartridge
39, the slide cartridge 39 is slidably connected with the snow removing machinery arm housing 40 close to one end of symmetrical centre, starts the motor 62,
The piston rod 37 is driven to move up by transmission, so that the snow removing machinery arm housing 40 be pushed to make the snow removing runner shaft
50 rotate down.
It is carried out specifically below in conjunction with use step of the Fig. 1 to Fig. 6 to one of this paper cable line walking snow removal machine people
It is bright:
When beginning, left follower lever 22 is horizontally situated and is located at the remote place of stopping of the cam 25, and right follower lever 32 is located at level
Position and it is located at cam 25 and closely stops place, mechanical arm housing 21 is located at vertical position, snow removing machinery arm housing 40 and level presence
Certain angle and snow removing runner shaft 50 are located at 41 top of cable runner.
It is first that rope and rope fixing head 14 is fixed when going up and down inspection robot, then rope fixing head 14 is consolidated with rope
Determine the threaded connection of hole 15, start main motor 61, small pulley 64 is driven by main motor shaft 59, compound belt wheel 19, small synchronous belt 18
Rotation, small pulley 64 drive worm gear 17 to rotate by small band wheel shaft 63, and worm gear 17 passes motion to worm screw 16 by engagement, rise
Drop axis 12 drives worm screw 16 to rotate to realize that wiring moves, and the inspection robot completed between ground and aerial cables goes up and down fortune
It is dynamic,
For inspection robot when moving on cable, starting main motor 61 drives compound 19 turns of belt wheel of left side by main motor shaft 59
Dynamic, the compound belt wheel 19 in left side passes motion to the compound belt wheel 19 in right side by transmission belt 20, and compound belt wheel 19 passes through main synchronization
Band 53 passes motion to belt wheel 52, and belt wheel 52 drives the rotation of cable runner 41 to realize the movement on cable.
When cross-line, stop main motor 61, starting motor 62 by camshaft 31 with moving cam 25 rotationally clockwise, by
It is less than motion angle for return travel in motion angle for actuating travel, when cam 25 rotates clockwise, small runner 23 immediately enters backhaul and the right side is driven
Bar 32 need to just enter rise in place's movement a period of time of closely stopping, and therefore, cam 25 first drives left follower lever 22 to move right, and makes
It obtains left side mechanical arm housing 21 and rotates clockwise trend, and the cable runner 41 due to left side and conductive cable contacts limit left side
Mechanical arm housing 21 rotates, therefore the practical drive cabinet 11 of above-mentioned movement rotates counterclockwise, convex when right follower lever 32 enters rise
Wheel 25 pushes right follower lever 32 to move right, to drive right side mechanical arm housing 21 to rotate clockwise, when cam 25 is clockwise
When turning to 90 degree, motor 62 is stalled, and starting main motor 61 drives inspection robot to move forward, when right-side cable runner 41
When above next cable, main motor 61 is stalled, and starting motor 62 is reversed to 90 degree, makes right-side cable runner 41 and electricity
After cable contact, motor 62 continues to reverse to 180 degree, and the mechanical arm housing 21 in the left and right sides is made to complete fortune contrary to the above
Dynamic, starting main motor 61 drives inspection robot to move forward, main when left-side cable runner 41 is located above next cable
Motor 61 stalls, and starting motor 62 rotates clockwise 90 degree, and the mechanical arm housing 21 in the left and right sides is made to return to vertical position, thus
Complete cross-line movement.
When snow removing, starting motor 62 is rotated counterclockwise, and drives main piston rod 26 to move up main piston head 27, main piston head 27
The draught head generated with main piston inner cavity 29 is passed in piston cavity 35 by pipeline 67, to push piston head 36, piston rod
37, slide cartridge 39, snow removing machinery arm housing 40 drive snow removing runner shaft 50 to be pivotally lowered into operating position, and solenoid valve 33 closes at this time
It closes, motor 62 is rotated clockwise to initial position, starts main motor 61, passes through main motor shaft 59, compound belt wheel 19, main synchronous belt
53, belt wheel 52, cable runner shaft 48, secondary pulley 47, upper synchronous belt 49, execution belt wheel 51, snow removing runner shaft 50 drive cable to turn
Wheel shaft 48 rotates, to realize snow removing movement.
The beneficial effects of the present invention are: the present invention provides a kind of line walking machines that can be worked normally on accumulated snow cable
People, the inspection robot are able to achieve autonomous cross-line and cable detection function, while having more efficient continuous snow removal function.
In the above manner, those skilled in the art can be made within the scope of the invention according to operating mode it is various
Change.
Claims (8)
1. a kind of cable line walking snow removal machine people, including cabinet；
Cabinets cavity, two casees for being equipped with bilateral symmetry in the cabinet and communicating with the cabinets cavity are equipped in the cabinet
Body pair inner cavity, the cabinets cavity upper inside walls are equipped with through-hole on the cabinet of perforation, and inner wall is equipped with and passes through on cabinet pair inner cavity
Logical cabinet small through hole；
Cross-line device is equipped in the cabinets cavity, cross-line device upper end is hinged with rocker arrangement, the cross-line device hinge
Symmetrical two mechanical arms are connected to, starts the cross-line device and drives and state mechanical arm and complete cross-line between different cables
Movement, starting the mechanical arm can be such that cable line walking snow removal machine people translates on cable；
The mechanical arm lower end of the left and right sides is rotatably connected to intracavitary lifting device in the cabinet pair, described in starting
Cable line walking snow removal machine people can be promoted at the cable in high-altitude by lifting device；
The mechanical arm upper end of the left and right sides is rotatably connected to snow removing machinery arm, the snow removing machinery arm of the left and right sides respectively
It is mutually slidably connected respectively close to symmetrical centre one end with the rocker arrangement upper end, when the cross-line device drives the rocker arm dress
When setting movement, the rocker arrangement can will drive the snow removing machinery arm that it is made to turn to suitable operating position to remove
Avenge work.
2. a kind of cable line walking snow removal machine people as described in claim 1, it is characterised in that: the cross-line device includes rotation
It is connected to the camshaft that in the cabinets cavity and front and back extends, the cam shaft rear end, which has been connected by power, is fixed on the cabinet
The motor of inner wall behind inner cavity；
The camshaft front end is fixedly connected with cam, and piston rod is hinged on the cam, and the cam is equipped with cam path,
Low pair is connected with small runner respectively in the cam path of the left and right sides, and the left side small runner is hinged with left follower lever, right side
The small runner is hinged with the long right follower lever of the left follower lever.
3. a kind of cable line walking snow removal machine people as claimed in claim 2, it is characterised in that: the rise fortune on the left of the cam
Dynamic angle is 70 degree, motion angle for return travel is 90 degree, angle of repose is 20 degree, and the motion angle for actuating travel on right side is 70 degree, backhaul
Movement angle is 90 degree, angle of repose is 20 degree.
4. a kind of cable line walking snow removal machine people as claimed in claim 1 or 2, it is characterised in that: the mechanical arm include with
The mechanical arm housing of the left follower lever or the right follower lever hingedly, the machinery arm housing upper end are pierced by the cabinets cavity
Upside wall surface, the machinery arm housing both sides of the face have been respectively fixedly connected with front and back and have extended and be located at the left follower lever or described
Mechanical arm axle below right follower lever, the machinery arm axle and the cabinets cavity inner wall are rotatablely connected, the machinery arm housing
It is interior to be equipped with mechanical arm housing cavity；
The mechanical arm housing cavity is rotatably connected to the main motor shaft that front and back extends and is located at below the left follower lever, left side
The main motor shaft rear end be connected by power be fixed on the mechanical arm housing cavity after inner wall main motor, the main motor
It is fixedly connected with compound belt wheel on axis, is connected with transmission belt between the left side compound belt wheel and the right side compound belt wheel, institute
It states and is rotatably connected to the cable runner shaft that front and back extends and runs through the mechanical arm housing cavity in mechanical arm housing cavity, and institute
It states cable runner shaft to be located above the compound belt wheel, be fixedly connected on the cable runner shaft positioned at the mechanical arm housing
Interior intracavitary belt wheel is connected with main synchronous belt between the belt wheel and the compound belt wheel；
Cable runner shaft front end is fixedly connected with positioned at the mechanical arm housing cavity front end outer side and with circumferential groove
Cable runner, the cable runner circumferential direction are equipped with 16 cable runner holes, and the cable runner slidably connects sliding block in hole,
The sliding block is fixedly connected with friction hemisphere far from center of circle one end, and the sliding block is close to center of circle one end and the cable runner bottom hole
Spring is connected between face, the machinery arm housing is equipped with the photographing module being located at below the cable runner far from central side,
The photographing module is mainly used for Cables for Dam Observation situation.
5. a kind of cable line walking snow removal machine people as described in claim 1 or 4, it is characterised in that: cable is placed in the cable
In groove on the downside of runner, so that cable line walking snow removal machine people be made to hang on cable, the friction hemisphere is mentioned with conductive cable contacts
Current supply cable line walking snow removal machine people mobile required frictional force on cable, when there is accumulated snow on cable, the sliding block is described
Spring force effect enables the friction hemisphere directly to contact with cable, to make cable line walking snow breaker in snowing and penetrating
Device people normal movement on accumulated snow cable.
6. a kind of cable line walking snow removal machine people as described in claim 1 or 4, it is characterised in that: with the left side lifting dress
It is set to example, the lifting device includes being rotationally connected with the small band wheel shaft that cabinet pair inner cavity and front and back extend, the small band
It is fixedly connected with small pulley on wheel shaft, is connected on front side of the transmission belt between the small pulley and the compound belt wheel
Small synchronous belt, the worm gear being fixedly connected on the small band wheel shaft on front side of the small pulley；
It is intracavitary in the cabinet pair to be rotatably connected to the lifting shaft for controlling and extending, it is fixedly connected with and the snail on the lifting shaft
Wheel engages the worm screw of connection, the lifting runner being fixedly connected on the left of the worm screw on the lifting shaft, and the lifting turns
Wheel is equipped with rope fastening hole, and the rope fastening hole is threaded with rope fixing head.
7. a kind of cable line walking snow removal machine people as described in claim 1 or 4, it is characterised in that: the snow removing machinery arm packet
The snow removing machinery arm housing with cable runner shaft rotation connection is included, is equipped in snow removing machinery arm in the cable runner shaft
Chamber, the snow removing machinery arm housing are fixedly connected with the secondary pulley on rear side of snow removing machinery arm inner cavity；
Snow removing machinery arm inner cavity is rotatably connected to the snow removing runner shaft that front and back extends and is located above the cable runner shaft,
The snow removing runner shaft extends forwardly into the front end outer side, is fixedly connected on the snow removing runner shaft positioned at the snow breaker
Intracavitary execution belt wheel in tool arm is connected with synchronous belt, the snow removing runner between the execution belt wheel and the secondary pulley
Axis front end is fixedly connected with the snow removing runner positioned at snow removing machinery arm inner cavity front end outer side.
8. a kind of cable line walking snow removal machine people as described in claim 1 or 4, it is characterised in that: the rocker arrangement includes
It is fixed on the main piston cylinder of inner wall after the cabinets cavity, inner wall is fixedly connected with symmetrical piston after the cabinets cavity
Cylinder, is equipped with main piston inner cavity in the main piston cylinder, intracavitary in the main piston to slidably connect main piston head, the main piston
Head lower end is fixedly connected with the main piston rod being slidably connected with main piston inner cavity lower end surface, the main piston rod lower end and institute
Piston rod upper end is stated to be hinged；
Wall surface is provided with main piston cylinder through-hole at left and right sides of the main piston inner cavity, piston cavity is equipped in the piston cylinder, with a left side
For piston cavity described in side, wall surface is provided with piston cylinder through-hole, the piston cylinder through-hole and the master on the right side of the piston cavity
Pipeline is connected between piston cylinder through-hole, the pipeline is equipped with solenoid valve, slidably connects piston head in the piston cavity,
The piston head upper surface is fixedly connected with the piston rod being slidably connected with the piston cavity upper surface, and the piston rod is hinged
There is slide cartridge, the slide cartridge is slidably connected with the snow removing machinery arm housing close to one end of symmetrical centre.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910373117.7A CN110011263B (en) | 2019-05-06 | 2019-05-06 | A kind of cable line walking snow removal machine people |
| GBGB1911390.1A GB201911390D0 (en) | 2019-05-06 | 2019-08-09 | A cable line patrol snow removal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910373117.7A CN110011263B (en) | 2019-05-06 | 2019-05-06 | A kind of cable line walking snow removal machine people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110011263A true CN110011263A (en) | 2019-07-12 |
| CN110011263B CN110011263B (en) | 2019-11-19 |
Family
ID=67175842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910373117.7A Active CN110011263B (en) | 2019-05-06 | 2019-05-06 | A kind of cable line walking snow removal machine people |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110011263B (en) |
| GB (1) | GB201911390D0 (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11299027A (en) * | 1998-04-14 | 1999-10-29 | Fujii Denko Co Ltd | Self-running gondola |
| DE202005018756U1 (en) * | 2005-12-01 | 2006-02-09 | Rohrer, Emil | Deicer for power supply line, has housing driven along flow cable by impeller, and defrosting device attached in housing for defrosting ice layer on cable by mechanical effect such as by oppressive rolls pressing against each other |
| CN201918685U (en) * | 2010-12-13 | 2011-08-03 | 青岛大学 | Obstacle-spanning deicing device for transmission line |
| CN203839819U (en) * | 2014-05-09 | 2014-09-17 | 哈尔滨工程大学 | Obstacle surmounting mechanical arm suitable for power transmission line inspection robot |
| CN104332893A (en) * | 2014-11-17 | 2015-02-04 | 武汉科技大学 | Mechanical arm of high-voltage line patrol robot |
| CN104917130A (en) * | 2015-07-15 | 2015-09-16 | 东北大学 | Line patrol deicing robot and obstacle crossing method thereof |
| CN107086494A (en) * | 2017-06-22 | 2017-08-22 | 国网山东省电力公司枣庄供电公司 | One kind removes Bird's Nest device and method of work |
-
2019
- 2019-05-06 CN CN201910373117.7A patent/CN110011263B/en active Active
- 2019-08-09 GB GBGB1911390.1A patent/GB201911390D0/en not_active Ceased
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11299027A (en) * | 1998-04-14 | 1999-10-29 | Fujii Denko Co Ltd | Self-running gondola |
| DE202005018756U1 (en) * | 2005-12-01 | 2006-02-09 | Rohrer, Emil | Deicer for power supply line, has housing driven along flow cable by impeller, and defrosting device attached in housing for defrosting ice layer on cable by mechanical effect such as by oppressive rolls pressing against each other |
| CN201918685U (en) * | 2010-12-13 | 2011-08-03 | 青岛大学 | Obstacle-spanning deicing device for transmission line |
| CN203839819U (en) * | 2014-05-09 | 2014-09-17 | 哈尔滨工程大学 | Obstacle surmounting mechanical arm suitable for power transmission line inspection robot |
| CN104332893A (en) * | 2014-11-17 | 2015-02-04 | 武汉科技大学 | Mechanical arm of high-voltage line patrol robot |
| CN104917130A (en) * | 2015-07-15 | 2015-09-16 | 东北大学 | Line patrol deicing robot and obstacle crossing method thereof |
| CN107086494A (en) * | 2017-06-22 | 2017-08-22 | 国网山东省电力公司枣庄供电公司 | One kind removes Bird's Nest device and method of work |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110011263B (en) | 2019-11-19 |
| GB201911390D0 (en) | 2019-09-25 |
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Effective date of registration: 20240522 Address after: H1-1 North International Building Materials Logistics City, Yongning County, Yinchuan City, Ningxia Hui Autonomous Region, 750101 Patentee after: Su Hongyan Country or region after: China Patentee after: Zhang Xindong Address before: No. 2-31 Chantou, Luxiu Village, Huashui Town, Dongyang City, Jinhua City, Zhejiang Province, 322100 Patentee before: Dongyang Ayu Machinery Technology Co.,Ltd. Country or region before: China |
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