CN110198012B - Self-propelled multifunctional electric power high-voltage line obstacle removing robot - Google Patents
Self-propelled multifunctional electric power high-voltage line obstacle removing robot Download PDFInfo
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- CN110198012B CN110198012B CN201910596721.6A CN201910596721A CN110198012B CN 110198012 B CN110198012 B CN 110198012B CN 201910596721 A CN201910596721 A CN 201910596721A CN 110198012 B CN110198012 B CN 110198012B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 38
- 239000007921 spray Substances 0.000 claims abstract description 28
- 238000003825 pressing Methods 0.000 claims description 17
- 239000000725 suspension Substances 0.000 claims description 12
- 238000010285 flame spraying Methods 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 238000005507 spraying Methods 0.000 claims description 5
- 238000003860 storage Methods 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 238000000926 separation method Methods 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000005520 cutting process Methods 0.000 abstract description 23
- 238000012544 monitoring process Methods 0.000 description 5
- 239000004033 plastic Substances 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- 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 relates to the technical field of overhauling and maintaining of electric power transmission lines, in particular to a self-propelled multifunctional obstacle removing robot for electric power high-voltage lines. Comprises a main frame, a traveling device, an obstacle removing device, a camera and a main motor, wherein the traveling device, the obstacle removing device, the camera and the main motor are arranged on the main frame; the running device comprises a sliding mode and a crossing mode, can be switched freely, and the main motor drives the running device to enable the robot to run along the electric wire in the sliding or crossing mode; the fire-fighting device comprises four groups of cutters, namely an upper cutter, a lower cutter, a left cutter and a right cutter, which are arranged at the front end of the main frame around the circumference of the electric wire, and a fire-fighting device which is arranged at the rear end of the frame, wherein the cutters are driven by a main motor, and the fire-fighting device is provided with a rotatable spray head and can be selectively opened; the camera is mounted on the tool holder. The invention integrates the functions of sliding, crossing, cutting and flaming, improves the walking efficiency and the passing capacity of obstacle equipment, improves the obstacle removing operation capacity and improves the electric obstacle removing efficiency.
Description
Technical Field
The invention relates to the technical field of overhauling and maintaining of electric power transmission lines, in particular to a self-propelled multifunctional obstacle removing robot for electric power high-voltage lines.
Background
With the continuous development of the economy in China, the east-west electric power transmission project is perfected, high-voltage and ultra-high-voltage power transmission lines are more and more, and the geographical environment traversed by the power transmission lines is more and more complex. In the daily operation process of the power transmission line, the situation that plastic garbage scraped by strong wind, kites and other obstacle foreign matters are wound and hung on the electric wires often occurs, and the occurrence of the situations aggravates line vibration, so that the power grid structure is damaged, and even flashover or short circuit hazard is caused. For the above-mentioned obstacles, at present, a line inspection worker climbs onto an electric tower by means of tools such as a rope ladder, a shielding clothes, an insulating rod and the like to remove the nearby obstacles. And the obstacle far away from the electric tower can remove the foreign matters only by hanging a thick rope and repeatedly dragging and rubbing by ground workers. The method requires high-altitude power-on operation of line maintenance workers, has high labor intensity, low efficiency and high risk coefficient, and has high requirements on professional quality of the workers.
CN 201710327991-8 discloses a remote-control fire-spraying power transmission line obstacle removing device, which is used for removing line obstacles in a fire-spraying mode. In practice, the invention has certain design defects, equipment such as a damper and the like often exists on a high-voltage transmission line, and the travelling pulley cannot pass through the equipment and cannot realize free sliding along the line. Meanwhile, the position of the flame thrower is fixed at the lower part, and obstacles such as kite lines on the upper surface or in other directions cannot be effectively removed.
CN 201710328013-5 discloses a remote control cutting obstacle removing device for a power transmission line, which also cannot realize the crossing problem of equipment such as a damper on the line, and meanwhile, a large plastic garbage and other foreign matters cannot be effectively removed by only cutting an obstacle removing method by means of blades, and the cutting blades of the device are fixedly connected to the lower part, so that multi-angle cutting obstacle removing operation cannot be realized, and in reality, obstacles such as kite lines fly in the wind, and the blades fixedly connected to the lower part are difficult to realize multi-angle and multi-directional obstacle removing operation. In addition, the invention only depends on one rotary saw blade, so that obstacles such as kite wires in a free state are difficult to cut off, machine winding is easy to occur, and the walking is impossible.
CN 201510618224-3 discloses a foreign matter remover for a power transmission line, wherein the walking mode adopts two eccentric wheels to drive left and right arms hung on the power transmission line, alternately and reciprocally moves along the axial direction of the power transmission line on the power transmission line, thereby realizing the purpose of crossing equipment such as a damper and removing foreign matter barriers by means of blades arranged on the two arms. But the swing arm walking mode has lower efficiency and poorer equipment balance. Foreign matters are often distributed on the high-voltage line at a position far away from the fixed electric tower, the power supply is insufficient by removing the obstacle through long-distance walking of the swing arm, and when the high-voltage line is obliquely arranged at a large gradient, climbing is difficult to realize only by the walking mode of the swing arm, so that obstacle removing operation cannot be realized at all. Moreover, the device only depends on the swing arm blades distributed left and right to realize cutting of the barrier lines, the cutting efficiency is low, and the barrier distributed in the up-down direction cannot be cleared.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a self-propelled multifunctional electric high-voltage line obstacle removing robot. The invention integrates the functions of sliding, crossing, cutting and flaming, thereby improving the walking efficiency and the passing capacity of barrier equipment; meanwhile, the obstacle removing operation capability is improved, so that the robot can play a role in clearing most of the work, the danger of work of power maintenance workers is reduced, and the electric obstacle removing efficiency is improved.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
a self-propelled multifunctional electric high-voltage line obstacle removing robot comprises a main frame, and a traveling device, an obstacle removing device, a camera and a main motor which are arranged on the main frame; the running device comprises a sliding mode and a crossing mode, can be switched freely, and the main motor drives the running device to enable the robot to run along the electric wire in the sliding or crossing mode; the fire-fighting device comprises four groups of cutters, namely an upper cutter, a lower cutter, a left cutter and a right cutter, which are arranged at the front end of the main frame around the circumference of the electric wire, and a fire-fighting device which is arranged at the rear end of the frame, wherein the cutters are driven by a main motor, and the fire-fighting device is provided with a rotatable spray head and can be selectively opened; the camera is mounted on the tool holder.
The walking device comprises a crossing eccentric disc, a left crossing arm, a right crossing arm, a left suspension wheel, a right suspension wheel and a pinch roller; the left suspension wheel, the right suspension wheel and the pinch roller form triangular clamping, the wire is clamped by clamping force, and the driving motor drives the pinch roller to rotate through belt transmission, so that the robot is driven to slide along the wire.
The left suspension wheel is fixed at one end of a left spanning arm, and the other end of the left spanning arm is connected with a left disc of the spanning eccentric disc; the right suspension wheel is fixed at one end of the right spanning arm, and the other end of the right spanning arm is connected with the right disc of the spanning eccentric disc; the crossing eccentric disc is connected with the main motor through bevel gear transmission, and the main motor drives the crossing eccentric disc to rotate, so that the left crossing arm and the right crossing arm are driven to perform reciprocating crossing actions.
The clutch sliding block, the shifting fork, the electromagnet, the reset spring and the bevel gear are also included; the clutch sliding block is connected with the electromagnet through a shifting fork, and the main motor drives the crossing eccentric disc to rotate through a bevel gear; the electromagnet drives the clutch slide block to act, synchronous rotation and separation of the crossing eccentric disc and the bevel gear are realized, and switching of two running modes of crossing and sliding of the running gear is further completed.
The device also comprises a compression wheel adjusting servo motor, an adjusting screw rod, an adjusting nut and a compression bracket; the pressing wheel is arranged in a pressing wheel mounting groove of the pressing bracket, one end of the pressing bracket is hinged to the cutter bracket, the other end of the pressing bracket is connected with the adjusting nut, the adjusting nut is meshed with the adjusting screw rod, and the adjusting screw rod is connected with the adjusting servo motor; the adjusting servo motor drives the adjusting screw rod to rotate, so that the position of the pressing wheel is adjusted, and the clamping force is flexibly adjusted.
The cutter comprises a rotary blade, a cutter shell and a cutter bracket; the rotary blade is arranged in the cutter shell, the blade is tightly attached to the shell, and the cutter shell is arranged on the cutter bracket; the driving motor drives the rotary blade to rotate through belt transmission.
The flame spraying device comprises a gas storage bottle, a spray head and an adjusting servo motor; the spray head is connected with the gas storage bottle through a gas pipe, the servo motor is adjusted to drive the spray head to rotate, and the flame spraying device can be selectively opened according to requirements.
The belt wheel of the adjusting servo motor is connected with the belt wheel of the spray head through a belt, the spray head is provided with two symmetrical spray nozzles, and the spray head can only do half-circle reciprocating rotation.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the invention, the normal sliding mode is matched with the crossing mode, and under normal conditions, the robot walks on the electric wire in the sliding mode, and when encountering equipment such as a damper, the robot walks in the crossing mode, so that the walking efficiency and the obstacle equipment passing capability of the robot are improved.
(2) The invention is provided with the cutter and the flame spraying device, the advantages of the cutter cutting mode and the flame spraying mode are complementary, the perfect combination is realized, the obstacle removing operation capability of the robot is improved, the robot can be used for most of cleaning work, the danger of work of electric power maintenance workers is reduced, and the electric obstacle removing efficiency is improved.
(3) The invention adopts belt transmission instead of gear transmission at a plurality of positions, and parts with low strength requirement can be replaced by plastic or rubber, thereby greatly reducing the manufacturing cost.
Drawings
FIG. 1 is a schematic perspective view (left side view) of the present invention;
FIG. 2 is a schematic perspective view (right side view) of the present invention;
FIG. 3 is a schematic perspective view (front view) of the present invention;
FIG. 4 is a schematic diagram of an electromagnet and fork structure according to the present invention;
FIG. 5 is a schematic view of the structures of a bevel gear III and a bevel gear IV of the invention;
FIG. 6 is a schematic view of a clutch slider according to the present invention;
FIG. 7 is a schematic view of the bevel gear and spanning eccentric disc configuration of the present invention;
FIG. 8 is a schematic diagram of a return spring structure of the present invention;
FIG. 9 is a schematic illustration of a coasting exercise of the present invention;
FIG. 10 is a schematic diagram of a striding motion of the present invention;
FIG. 11 is a schematic view of a portion of the puck adjustment according to the present invention;
FIG. 12 is a schematic view of a tool configuration of the present invention;
FIG. 13 is a schematic view of a rotary mechanism of a spray head according to the present invention;
fig. 14 is a schematic view of the structures of the bevel gears I and II according to the present invention.
In the figure: 1-main frame 2-main motor 4-bevel gear I5-belt pulley I6-bevel gear II 7-belt pulley II 8-bearing I9-bearing II 10-belt I11-power transmission shaft 12-belt pulley III 13-belt pulley IV 14-belt II 15-pinch roller 16-belt pulley V17-span eccentric disc 18-bearing III 19-bearing IV 20-left span arm 21-right span arm 22-left hanging wheel 23-right hanging wheel 24-clutch slide 25-return spring 26-shift fork 27-electromagnet 28-pinch roller servo motor 29-pinch roller adjusting screw 30-pinch roller adjusting nut 31-pinch roller wheel carrier 32-left cutting tool set 33-right cutting tool set 34-upper cutting tool set 35-lower cutting tool set 36-outer housing 37-rotary blade 38-tool carrier I39-tool carrier II 40-pulley VI 41-pulley VII 42-pulley III 43-pulley IV 44-pulley VIII 45-pulley IX 46-pulley V47-drive shaft I48-pulley X49-bevel gear III 50-drive shaft II 51-bevel gear IV 52-pulley XI 53-pulley XII 54-pulley VI 55-pulley VII 56-gas cylinder 57-spray head 58-gas delivery line 59-spray head adjustment servomotor 60-belt Wheel A61-belt VIII 62-belt wheel B63-monitoring camera 65-electric wire
Detailed Description
The following detailed description of the invention is further illustrative, but is not intended to limit the scope of the invention:
as shown in fig. 1-10, a self-propelled multifunctional electric high-voltage line obstacle removing robot comprises an obstacle removing system, a traveling system and a monitoring system.
The walking system comprises two modes of sliding and crossing, and the walking of the robot on the electric wire is completed by mutual cooperation. In most cases, the robot walks on the electric wire through sliding, and when encountering equipment such as a damper and the like in the movement of the robot, the robot is switched to a crossing mode, the obstacle crossing is completed, and then the robot is switched to a sliding mode to continue walking. The sliding mode is realized as shown in fig. 7, 8, 9, 11 and 14, and the crossing mode is realized as shown in fig. 7, 10 and 14.
The power of the robot for sliding, crossing and cutting tools in four directions is provided by a main motor 2 vertically arranged behind a main frame 1 of the robot, and the power is provided by storage batteries 3 arranged on two sides of the main frame 1 of the robot; the output shaft of the main motor 2 passes through a round hole on the main frame 1 and is fixedly connected with the bevel gear I4, the belt wheel I5 is fixedly connected on the output shaft of the main motor 1, the belt wheel I5 provides a power source for the cutting tool up and down through the belt V46 between the frame 1 and the bevel gear I4, and the power of the left and right tools is provided by belt transmission after being transmitted to the bevel gear II 6 by the bevel gear I4.
The bevel gear I4 is meshed with the bevel gear II 6 arranged on the main frame 1, the rotating shaft of the bevel gear II 6 is of a hollow structure, the other end of the rotating shaft is fixedly connected with the belt pulley II 7, and the rotating shaft of the bevel gear II 6 is supported and arranged on the main frame 1 by the bearing I8 and the bearing II 9 and can rotate relatively.
The belt wheel II 7 is connected with a belt wheel III 12 on the power transmission shaft 11 through a belt I10, four belt wheels are uniformly and fixedly connected on the power transmission shaft 11, the belt wheel III 12 and the belt wheel IV 13 are arranged in the middle, and the belt wheel VIII 44 and the belt wheel IX 45 are arranged on two sides. The belt wheel IV 13 transmits power to the belt wheel V16 through the belt II 14, so that the pinch roller 15 is driven to rotate, and power driving is provided for sliding of the robot. The crossing eccentric disc 17 is supported and installed on the main frame 1 through a bearing III 18 and a bearing IV 19, and the rotating shaft of the crossing eccentric disc 17 is nested into the hollow rotating shaft of the bevel gear II 6, so that coaxial assembly is ensured, and the respective movements are not interfered with each other.
The left and right of the crossing eccentric disc 17 are provided with two discs, the two discs are respectively provided with pin shafts at 180-degree phase angles, the pin shafts respectively form a revolute pair with a left crossing arm 20 and a right crossing arm 21, sliding grooves are formed in the middle of the left and right crossing arms 20 and 21 and are respectively matched with the pin shafts on the main frame 1, the top ends of the crossing arms are provided with a left hanging wheel 22 and a right hanging wheel 23, the hanging wheels are made of insulating materials, and high-voltage electric shock short circuits are prevented.
The interconversion of the robot's crossing and sliding actions is achieved by: the sliding state is the normal state of the robot on the high-voltage line, and the swing arm spanning is only carried out when equipment such as a damper is encountered. One side of the rotating shaft of the crossing eccentric disc 17 is provided with a key groove, a guide flat key is arranged in the key groove, and the crossing eccentric disc 17 and the clutch sliding block 24 are matched through the guide key, so that the coaxial rotation of the two is ensured. A reset spring 25 is arranged between the clutch slide block 24 and the bevel gear II 6, so that the clutch slide block 24 and the bevel gear II 6 are mutually separated from each other, and the robot is in normal sliding; when crossing is needed, the electromagnet 27 drives the shifting fork 26 to enable the clutch sliding block 24 and the bevel gear II 6 to be mutually embedded and matched, so that the bevel gear II 6 and the crossing eccentric disc 17 realize coaxial rotation, and the crossing action is realized.
Regardless of the crossing state or the sliding state, the cutting tools in all directions are always in the cutting state so as to adapt to the cleaning operation of various obstacles. When the robot slides, the electromagnet 27 does not work, the clutch slide block 24 is separated from the cooperation with the rotating shaft of the bevel gear II 6 under the action of the return spring 25, the crossing eccentric disc 17 is not driven in a power mode at the moment, and the pressing wheel 15 enables the pressing wheel 15, the left hanging wheel 22 and the right hanging wheel 23 to clamp the electric wire 65 under the adjustment of the pressing wheel adjusting mechanism. The main motor 2 drives the pinch roller 15 to rotate through belt transmission to rub so as to drive the robot to finish sliding on the electric wire. When the robot needs to span, the control pinch roller 15 is far away from the working position under the adjustment of the adjusting mechanism, meanwhile, the electromagnet 27 acts, the shifting fork 26 drives the clutch sliding block 24 to be matched with the rotating shaft of the bevel gear II 6 to drive the spanning eccentric disc 17 to rotate, and further the left spanning arm 20 and the right spanning arm 21 arranged on the spanning eccentric disc 17 are driven to perform the spanning action, so that the spanning of the robot on the electric wire 65 is completed.
The specific pinch roller adjusting mechanism is shown in fig. 9 and 11, and comprises a pinch roller adjusting servo motor 28, a pinch roller adjusting screw rod 29, a pinch roller adjusting nut 30 and a pinch roller bracket 31. The pinch roller adjusting servo motor 28 is arranged on the main frame 1 through a pin shaft and can rotate around the pin shaft to adjust the angle; the pinch roller adjusting screw rod 29 is mounted on the output shaft of the pinch roller adjusting servo motor 28 through a fixer 32; the pinch roller adjusting nut 30 is mounted on the pinch roller bracket 31 by a pin shaft, and can also rotate around the pin shaft by a corresponding angle. The other end of the pinch roller bracket is arranged on a cutter bracket I38 through a power transmission shaft 11, and the pinch roller 15 is arranged on a pinch roller bracket 31; the moving position of the clamping wheel 15 can be adjusted by adjusting the threaded screw rod, so that the clamping force of the clamping wheel 15 and the left and right hanging wheels 22 and 23 for clamping the electric wire 65 can be adjusted, the clamping friction force can be changed, and the climbing operation requirements of the electric wires with different hanging angles can be met.
The obstacle removing system comprises two modes of cutting and obstacle removing by a cutter and burning and obstacle removing by flame spraying. The cutter cutting barrier is completed by means of cutting cutters circumferentially distributed in four directions of up, down, left and right of the electric wire 65: left cutter set 32, right cutter set 33, upper cutter set 34, lower cutter set 35; the four sets of cutters are identical in structure, as shown in fig. 12, the upper, lower and left three sets of cutters are fixedly connected to a cutter bracket I38, the right cutter set is fixedly connected to a cutter bracket II 39, and the cutter bracket II 39 is fixed on the main frame 1 through a bolt set, so that the electric wire 65 is conveniently detached, and the electric wire 65 is conveniently placed in the middle position of the circumferentially distributed cutters.
The cutter power transmission is shown in fig. 2 and 3 respectively: the power transmission of the left cutter and the right cutter is respectively connected with a belt wheel VIII 44 and a belt wheel IX 45 on the power transmission shaft 11 through a belt III 42 and a belt IV 43 by a belt wheel VI 40 and a belt wheel VII 41; power transmission of the upper and lower cutters: the belt wheel I5 is connected with a belt wheel X48 on a transmission shaft I47 through a belt V46, a bevel gear III 49 is arranged at the other end of the transmission shaft I47, the bevel gear III 49 is meshed with a bevel gear IV 51 on a transmission shaft II 50, the horizontal rotating speed is changed into the vertical rotating speed, the belt wheel XI 52 and the belt wheel XII 53 at the two ends of the transmission shaft II 50 respectively transmit the rotating speed to the upper cutter 34 and the lower cutter 35 through a belt VI 54 and a belt VII 55, so that the blades are driven to rotate, and foreign matters hung on the electric wires 65 are cut off. The scissors structure formed by the cutter shell and the rotary blade ensures that the cutter can effectively cut off foreign matters with higher toughness such as kite lines.
The fire spraying and burning barrier removing structures are shown in figures 1, 2 and 13 respectively; the air cylinder 56 and the spray head 57 are both arranged on the main frame 1, and are connected through an air pipe 58, the spray head is driven by a spray head adjusting servo motor 59, a belt wheel A60 fixedly connected with the output end of the spray head 59 is connected with a belt wheel B62 on the spray head 57 through a belt VIII 61, and power is transmitted to the spray head 57. When the robot walks to a large winding foreign matter such as plastic garbage, the cutting tool cannot be effectively removed, ground control personnel start to start the spray head 57 to spray fire, the spray head adjusting servo motor 59 starts to act, and the spray head 57 is driven to rotate through the transmission system, so that the flame burns the foreign matter to effectively remove the obstacle. In order to avoid interference between the nozzle 57 and the electric wire 65 during rotation, the nozzle 57 is designed to be a symmetrical double-nozzle structure, and the nozzle adjusting servo motor 59 can drive the nozzle to rotate in a forward and reverse direction and in a half-cycle reciprocating direction. The obstacle removing device has the advantages that the two modes of cutting by a cutter and flaming and burning are matched to work, complementary advantages are achieved, different types of obstacles are removed, and the obstacle removing efficiency and the operation capability are effectively improved.
The monitoring system comprises a monitoring camera 63 arranged on the cutter bracket I38, and the monitoring camera 63 can transmit the working condition of the robot to a worker at any time to provide information for control.
The invention combines the normal sliding and the crossing modes, normally walks on the electric wire in a sliding mode, and when encountering equipment such as a damper, the robot is switched to walk in the crossing mode, thereby improving the walking efficiency and the obstacle passing capability of the robot.
The invention is provided with the cutter and the flame spraying device, the advantages of the cutter cutting mode and the flame spraying mode are complementary, the perfect combination is realized, the obstacle removing operation capability of the robot is improved, the robot can be used for most of cleaning work, the danger of work of electric power maintenance workers is reduced, and the electric obstacle removing efficiency is improved.
The invention adopts belt transmission instead of gear transmission at a plurality of positions, and parts with low strength requirement can be replaced by plastic or rubber, thereby greatly reducing the manufacturing cost.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (3)
1. Self-propelled multifunctional electric power high-voltage line removes barrier robot, its characterized in that: the device comprises a main frame, a traveling device, an obstacle removing device, a camera and a main motor, wherein the traveling device, the obstacle removing device, the camera and the main motor are arranged on the main frame; the running device comprises a sliding mode and a crossing mode, can be switched freely, and the main motor drives the running device to enable the robot to run along the electric wire in the sliding or crossing mode; the fire-spraying device is driven by a main motor, and is provided with a rotatable spray head, and the fire-spraying and obstacle-removing device can be selectively opened; the camera is arranged on the cutter frame;
the walking device comprises a crossing eccentric disc, a left crossing arm, a right crossing arm, a left suspension wheel, a right suspension wheel and a pinch roller; the left suspension wheel, the right suspension wheel and the pinch roller form triangular clamping, the wire is clamped by clamping force, and the driving motor drives the pinch roller to rotate through belt transmission, so that the robot is driven to slide along the wire;
the left suspension wheel is fixed at one end of a left spanning arm, and the other end of the left spanning arm is connected with a left disc of the spanning eccentric disc; the right suspension wheel is fixed at one end of the right spanning arm, and the other end of the right spanning arm is connected with the right disc of the spanning eccentric disc; the crossing eccentric disc is connected with the main motor through bevel gear transmission, and the main motor drives the crossing eccentric disc to rotate, so that the left crossing arm and the right crossing arm are driven to perform reciprocating crossing actions;
the clutch sliding block, the shifting fork, the electromagnet, the reset spring and the bevel gear are also included; the clutch sliding block is connected with the electromagnet through a shifting fork, and the main motor drives the crossing eccentric disc to rotate through a bevel gear; the electromagnet drives the clutch slide block to act, so that synchronous rotation and separation of the crossing eccentric disc and the bevel gear are realized, and sliding and crossing switching are realized;
the device also comprises a compression wheel adjusting servo motor, an adjusting screw rod, an adjusting nut and a compression bracket; the pressing wheel is arranged in a pressing wheel mounting groove of the pressing bracket, one end of the pressing bracket is hinged to the cutter bracket, the other end of the pressing bracket is connected with the adjusting nut, the adjusting nut is meshed with the adjusting screw rod, and the adjusting screw rod is connected with the pressing wheel adjusting servo motor; the pressing wheel adjusting servo motor drives the adjusting screw rod to rotate, so that the position of the pressing wheel is adjusted.
2. The self-propelled multifunctional electric high-voltage line obstacle removing robot as set forth in claim 1, wherein: the cutter comprises a rotary blade, a cutter shell and a cutter bracket; the rotary blade is arranged in the cutter shell, the blade is tightly attached to the shell, and the cutter shell is arranged on the cutter bracket; the driving motor drives the rotary blade to rotate through belt transmission.
3. The self-propelled multifunctional electric high-voltage line obstacle removing robot as set forth in claim 1, wherein: the flame spraying device comprises a gas storage bottle, a spray head and a spray head adjusting servo motor; the spray head is connected with the gas storage bottle through a gas pipe, and the spray head is driven to rotate by a spray head adjusting servo motor;
the band pulley of shower nozzle adjustment servo motor passes through the belt and links to each other with the band pulley of shower nozzle, the shower nozzle is equipped with two symmetrical nozzles, and the shower nozzle can only do half circle reciprocating rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910596721.6A CN110198012B (en) | 2019-07-02 | 2019-07-02 | Self-propelled multifunctional electric power high-voltage line obstacle removing robot |
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| CN201910596721.6A CN110198012B (en) | 2019-07-02 | 2019-07-02 | Self-propelled multifunctional electric power high-voltage line obstacle removing robot |
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| CN110198012A CN110198012A (en) | 2019-09-03 |
| CN110198012B true CN110198012B (en) | 2024-02-20 |
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| CN201910596721.6A Active CN110198012B (en) | 2019-07-02 | 2019-07-02 | Self-propelled multifunctional electric power high-voltage line obstacle removing robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112952642A (en) * | 2019-12-11 | 2021-06-11 | 国网山西省电力公司晋中供电公司 | Robot for removing foreign matters on line |
| CN112180976B (en) * | 2020-09-30 | 2022-11-11 | 重庆电子工程职业学院 | Control system and method for intelligent fire-spraying obstacle-removing unmanned aerial vehicle |
| CN112636255B (en) * | 2021-02-03 | 2022-03-11 | 国网山东省电力公司平原县供电公司 | Obstacle clearing device for high-altitude cable |
| CN113277372B (en) * | 2021-07-20 | 2021-09-28 | 骥志(江苏)新能源科技有限公司 | High-efficiency automatic-tightness optical cable tractor for pipe passing device |
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