CN110224337B - Automatic propelling device for wire clamp of power transmission line - Google Patents
Automatic propelling device for wire clamp of power transmission line Download PDFInfo
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- CN110224337B CN110224337B CN201910557378.4A CN201910557378A CN110224337B CN 110224337 B CN110224337 B CN 110224337B CN 201910557378 A CN201910557378 A CN 201910557378A CN 110224337 B CN110224337 B CN 110224337B
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- wheel
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- clamping
- support plate
- wire clamp
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 24
- 239000000725 suspension Substances 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims description 17
- 238000010276 construction Methods 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000004873 anchoring Methods 0.000 claims description 5
- 230000007547 defect Effects 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 9
- 238000009434 installation Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
- H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
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Abstract
The invention discloses an automatic propelling device for a wire clamp of a power transmission line, which comprises the following components: a support plate; the walking device comprises a driving wheel, a driven wheel and a driving device, wherein the driving wheel and the driven wheel are respectively arranged at two ends of one side of the support plate; the driving device is connected with the driving wheel and used for driving the driving wheel to rotate; the clamping device comprises a clamping wheel, a suspension arm and a clamping force adjusting device; the suspension arm is hinged on the suspension arm pivot on the other side of the support plate, the clamping wheel is rotationally connected to one end of the suspension arm, the clamping wheel is close to the support plate, and a lead passes through the connecting line of the driving wheel and the driven wheel and the clamping wheel; the clamping force adjusting device is arranged on the support plate and is connected with the other end of the suspension arm to adjust the clamping force of the clamping wheel and the wire. The device can provide the thrust not less than 800N to push the wire clamp arranged on the wire forward, thereby avoiding the defects of high labor intensity, low efficiency, high risk coefficient and the like of manual operation.
Description
Technical Field
The invention belongs to the technical field of electric power construction equipment, and particularly relates to an automatic propelling device for a wire clamp of a power transmission line.
Background
In the construction process of the power transmission line, the wire clamp needs to be pushed to the installation position along the wire in the wire anchoring stage, and then the subsequent work can be carried out. In the traditional operation process, the installation of the wire clamp is realized manually. Because the construction is performed on the wire with the smaller diameter, and the pushing force of approximately 800N is required for pushing the wire clamp to move forward along the wire, the labor intensity is high. In addition, the process is high-altitude operation, the operation risk coefficient is high, and great inconvenience is brought to construction. Found by document retrieval, the Chinese patent application number: the CN201710535142.1 and 201820172290.1 patents disclose different types of wire-climbing or inspection robots, which can implement automatic travel of the device on the wire, but the existing design aims to check the safety of the wire, and do not require excessive driving force. Therefore, none of the prior inventions provides sufficient pushing force to push the wire clamp forward.
Disclosure of Invention
The invention aims to overcome the defects of insufficient power of the traditional device, high labor intensity, low efficiency, high risk coefficient and the like of manually installing a wire clamp, and discloses an automatic transmission line wire clamp propelling device which is mainly used for replacing manual clamping in-place work in the transmission line construction process.
In order to achieve the above purpose, the invention adopts the following technical means:
an automatic transmission line wire clamp propelling device, comprising:
the support plate is used for contacting with the wire clamp at one end;
The walking device comprises a driving wheel, a driven wheel and a driving device, wherein the driving wheel and the driven wheel are respectively arranged at two ends of one side of the support plate; the driving device is connected with the driving wheel and used for driving the driving wheel to rotate;
the clamping device comprises a clamping wheel, a suspension arm and a clamping force adjusting device; the suspension arm is hinged on a suspension arm pivot point at the other side of the support plate, the clamping wheel is rotationally connected to one end of the suspension arm, the clamping wheel is close to the support plate, and a channel for a lead to pass through is formed between a connecting wire of the driving wheel and the driven wheel and the clamping wheel; the clamping force adjusting device is arranged on the support plate, and is connected with the other end of the suspension arm and used for adjusting the clamping force of the clamping wheel and the lead;
The remote control device is arranged on the support plate and comprises a battery and a remote control module, the battery supplies power for the driving device and/or the clamping force adjusting device, and the remote control module is used for receiving remote control instructions and controlling the driving device or the clamping force adjusting device to move.
As a further improvement of the invention, the clamping wheel is arranged on the support plate near one end of the driving wheel.
As a further improvement of the invention, the distance between the clamping wheel and the suspension arm fulcrum is smaller than the distance between the other end of the suspension arm and the suspension arm fulcrum.
As a further improvement of the invention, the remote control device is hoisted on the other end of the suspension arm.
As a further improvement of the invention, the driving device comprises a servo motor and a synchronous belt, and the servo motor is electrically connected with a battery; the servo motor drives the driving wheel to rotate through the synchronous belt.
As a further improvement of the invention, the wheel surfaces of the driving wheel, the driven wheel and the clamping wheel are concave and made of rubber.
As a further improvement of the invention, a cover plate is arranged at the opening of the other side of the support plate, and a groove for placing the clamping wheel is formed in the cover plate.
As a further improvement of the invention, the clamping force adjusting device is a push rod motor, an output shaft of the push rod motor is connected with the other end of the suspension arm, and the push rod motor is in control connection through a remote control device.
As a further improvement of the invention, the clamping force adjusting device is a four-bar mechanism, the four-bar mechanism comprises four connecting bars, a rotating screw rod, an adjusting nut and a driving nut, the fulcrum ends of the four connecting bars are connected with the support plate, the output ends of the four connecting bars opposite to the fulcrum ends are connected with the other end of the suspension arm, the connecting ends on two sides of the four connecting bars are connected through the rotating screw rod, and the end parts of the rotating screw rod are connected with the adjusting nut and the driving nut.
As a further improvement of the invention, the clamping force adjusting device is an electromagnetic driving mechanism, and the electromagnetic driving mechanism comprises a driving rod and two electromagnets, wherein one end of the driving rod is connected with the support plate, and the other end of the driving rod is connected with the other end of the suspension arm; the two electromagnets are arranged at the two ends of the driving rod, the magnetic forces of the two electromagnets are opposite, and the two electromagnets are connected through the remote control device.
Compared with the prior art, the invention has the beneficial effects that:
According to the automatic pushing device for the wire clamp of the power transmission line, disclosed by the invention, the pull ring part of the wire clamp can be pushed through wireless remote control operation, the driving wheel and the driven wheel are arranged above the wire, other parts except the driving wheel and the driven wheel are arranged below the cable, the gravity center of the whole device is kept below the cable, stable walking is facilitated, and side turning of the device caused by wind power or cable shaking is avoided. In addition, for adapting to the wire of different specification diameters, the clamping wheel has pressure adjustment mechanism, thereby adjusts clamping force according to the walking state of device, adjusts clamping force adjusting device's flexible volume, makes this device can produce sufficient frictional force with the wire. After all the components are assembled on the ground, the components are hung in the air once, the mooring rope is clamped in, and the cover plate is covered, so that quick installation is realized. The remote control distance is not less than the meter, thereby meeting the daily requirement. The device can provide a thrust force not less than 800N to push the wire clamp mounted on the wire forward, the maximum walking speed is 0.3m/s, and the device can be operated to return after reaching a preset position, so that the defects of high labor intensity, low efficiency, high risk coefficient and the like of manual operation are avoided.
Drawings
Fig. 1 is a front view of a rear drive scheme of a transmission line wire fixture automatic propulsion device of the present invention;
fig. 2 is a front view of a power transmission line wire clamp automatic propulsion device according to the present invention;
Fig. 3 is a side view of a transmission line wire clamp travelling mechanism according to the invention;
FIG. 4 is a schematic diagram of a four bar linkage clamping force adjustment device;
FIG. 5 is a schematic diagram of an electromagnetic clamping force adjustment device;
The device comprises a driven wheel 1, a support plate 2, a suspension arm 3, a suspension arm pivot point 4, a driving wheel 5, a stepping motor 6, a synchronous belt 7, a clamping wheel 8, a battery 9, a remote control module 10, a clamping force adjusting device 11, a wire clamp 12, a screw rod 13, a regulating nut 14, a driving nut 15 and an electromagnet 16.
Detailed Description
The construction and operation of the present invention will be described in further detail with reference to the accompanying drawings.
The invention relates to an automatic propelling device for a wire clamp of a power transmission line, which has two schemes of front driving and rear driving, as shown in fig. 1 and 2.
Example 1
An automatic transmission line wire clamp propelling device, comprising:
The support plate 2, one end of the support plate 2 is used for contacting with the wire clamp 12;
The walking device comprises a driving wheel 5, a driven wheel 1 and a driving device, wherein the driving wheel 5 and the driven wheel 1 are respectively arranged at two ends of one side of the support plate 2; the driving device is connected with the driving wheel 5 and used for driving the driving wheel 5 to rotate;
A clamping device comprising a clamping wheel 8, a boom 3 and a clamping force adjusting device 11; the suspension arm 3 is hinged on the suspension arm pivot 4 at the other side of the support plate 2, the clamping wheel 8 is rotatably connected to one end of the suspension arm 3, the clamping wheel 8 is close to the support plate 2, and a passage for a lead to pass through is formed between the connecting line of the driving wheel 5 and the driven wheel 1 and the clamping wheel 8; the clamping force adjusting device 11 is arranged on the support plate 2, and the clamping force adjusting device 11 is connected with the other end of the suspension arm 3 and used for adjusting the clamping force of the clamping wheel 8 and the lead;
The remote control device is arranged on the support plate 2 and comprises a battery 9 and a remote control module 10, the battery 9 supplies power for the driving device and/or the clamping force adjusting device 11, and the remote control module 10 is used for receiving remote control instructions and controlling the driving device or the clamping force adjusting device 11 to move.
Example 2
The automatic propelling device comprises a support plate 2, and a traveling device, a clamping device, a driving device and a remote control device which are arranged on the support plate 2.
One end of the support plate 2 is used for contacting with the wire clamp 12;
The running gear comprises action wheel 5 and follow driving wheel 1, and the structure is as shown in figure 2, and the wheel face presents sunken form and is made by rubber, is convenient for increase wheel face and wire's area of contact, increases walking frictional force. Wherein the driving wheel 5 is connected with a driving device for providing forward power. And a cover plate is arranged at the opening of the other side surfaces of the driving wheel 5 and the driven wheel 1, so that the falling-off of the driven wheel is avoided after the installation.
As shown in fig. 3, the clamping device consists of a clamping wheel 8, a boom 3 and a clamping force adjusting device 11. In order to increase the friction of the running gear, ensure that the device has enough thrust to push the wire clamp 12 forward, a certain clamping force needs to be provided, so that the friction between the driving wheel 5 and the wire is increased. The clamping wheel 8 is close to the driving wheel 5 and is connected with the remote control module 10 through the suspension arm 3, the clamping force adjusting device 11 and the battery 9, and the distance between the clamping wheel 8 and the suspension arm supporting point 4 is smaller than the distance between the battery 9 and the suspension arm supporting point 4. The gravity of the battery 9 and the remote control module 10 is amplified through the lever action of the suspension arm 3 and then is transmitted to the clamping wheel 8 to play a certain clamping role. The stretching and shrinking amount of the clamping force adjusting device 11 can be adjusted at any time in the running process, so that smooth walking is ensured. The clamping force adjusting device 11 can loosen the clamping wheel 8 during the installation and the disassembly of the device, and the installation and the disassembly are convenient.
The driving device consists of a servo motor and a synchronous belt 7, and the servo motor transmits power to the driving wheel 5 through the synchronous belt 7 so as to drive the device to advance or retreat.
The remote control device consists of a battery 9 and a remote control module 10. The battery 9 is a power source of the device and supplies power to the servo motor and the clamping force adjusting device 11. The remote control module 10 may receive the remote control command and control the servo motor or the clamping force adjusting means 11 to perform the associated remote control action.
The wire clamp 12 is a construction tool in a wire anchoring stage, and has a clamping end and an operating end, wherein the clamping end is provided with double-sided clamping teeth which can be clamped on a wire, and the operating end can control the size of a bayonet of the anchoring end through a connecting rod mechanism, so that the wire is anchored. When the automatic pushing device works, the automatic pushing device pushes against the pull ring part of the operation end to push.
The clamping force adjusting device 11 has three specific configurations, which are described by three embodiments, respectively.
Example 3
The clamping force adjusting device 11 adopts a push rod motor for electric adjustment, an output shaft of the push rod motor is connected with the other end of the suspension arm 3, and the push rod motor is in control connection through a remote control device. The clamping force is adjusted by adjusting the expansion of the push rod motor.
Example 4
The clamping force adjusting device 11 is a four-bar mechanism, the four-bar mechanism comprises four connecting bars, a rotating screw rod 13, an adjusting nut 14 and a driving nut 15, the fulcrum ends of the four connecting bars are connected with the support plate 2, the output ends of the four connecting bars opposite to the fulcrum ends are connected with the other end of the suspension arm 3, the connecting ends on two sides of the four connecting bars are connected through the rotating screw rod 13, and the end parts of the rotating screw rod 13 are connected with the adjusting nut 14 and the driving nut 15. The clamping force adjusting means 11 is manually adjusted using a four bar mechanism, as shown in fig. 4. The rotation of the screw 13 is achieved by rotating the adjusting nut 14 on the screw 13, and the movement of the driving nut 15 on the screw 13 is achieved when the screw 13 rotates, so that the clamping force adjustment is achieved.
Example 5
The clamping force adjusting device 11 is adjusted by electromagnetic driving, the clamping force adjusting device 11 is an electromagnetic driving mechanism, and the electromagnetic driving mechanism comprises a driving rod and two electromagnets 16, wherein one end of the driving rod is connected with the support plate 2, and the other end of the driving rod is connected with the other end of the suspension arm 3; the two electromagnets 16 are arranged at two ends of the driving rod, the magnetic forces of the two electromagnets 16 are opposite, and the two electromagnets 16 are in control connection through a remote control device. As shown in fig. 5. By adjusting the current direction, the two electromagnets 16 attract or repel each other, so that the clamping wheel 8 is released or clamped. The repulsive force adjustment of the electromagnet 16 is realized by adjusting the current, so that the clamping force adjustment is realized.
The working process of the invention is as follows:
1. after the device is assembled on the ground, the clamping force adjusting device 11 is contracted, so that the gap between the clamping wheel 8 and the driving wheel 5 is larger than the diameter of the lead;
2. After the whole device is hoisted in place, the cable is clamped, the pressure between the driving wheel 5 and the lead is regulated by regulating the elongation of the clamping force regulating device 11, so that enough friction force is generated to drive the whole device to move forwards, and the cover plate is covered to prevent the device from falling off;
3. the remote controller sends an instruction to drive the device to move forward, and after the wire clamp 12 is pushed to a designated position, the remote controller returns;
4. the remote control module 10 is provided with a power detection device, and when the electric quantity is lower than a set value, the device automatically triggers a return program to return to a starting point;
5. After the wire clamp 12 is installed, the clamping force adjusting device 11 is adjusted to shrink, so that the gap between the clamping wheel 8 and the driving wheel 5 is larger than the diameter of the wire, the device is hoisted and taken off, and the installation is completed.
The above examples are provided for illustrating the technical aspects of the present invention and are not limited thereto, and although the present invention has been described in detail with reference to the above examples, one skilled in the art may make modifications and equivalents to the specific embodiments of the present invention without departing from the spirit and scope of the present invention, any modifications and equivalents thereof are within the scope of the appended claims.
Claims (10)
1. An automatic propulsion device for a wire clamp of a power transmission line, comprising:
The support plate (2), one end of the support plate (2) is used for contacting with the wire clamp (12);
The walking device comprises a driving wheel (5), a driven wheel (1) and a driving device, wherein the driving wheel (5) and the driven wheel (1) are respectively arranged at two ends of one side of the support plate (2); the driving device is connected with the driving wheel (5) and is used for driving the driving wheel (5) to rotate;
The clamping device comprises a clamping wheel (8), a suspension arm (3) and a clamping force adjusting device (11); the suspension arm (3) is hinged on a suspension arm pivot (4) at the other side of the support plate (2), the clamping wheel (8) is rotatably connected to one end of the suspension arm (3), the clamping wheel (8) is close to the support plate (2), and a channel for a lead to pass through is formed between a connecting line of the driving wheel (5) and the driven wheel (1) and the clamping wheel (8); the clamping force adjusting device (11) is arranged on the support plate (2), and the clamping force adjusting device (11) is connected with the other end of the suspension arm (3) and used for adjusting the clamping force of the clamping wheel (8) and the lead;
The remote control device is arranged on the support plate (2) and comprises a battery (9) and a remote control module (10), the battery (9) is used for supplying power to the driving device and/or the clamping force adjusting device (11), and the remote control module (10) is used for receiving remote control instructions and controlling the driving device or the clamping force adjusting device (11) to move;
The wire clamp (12) is a construction tool in a wire anchoring stage and is provided with a clamping end and an operating end, wherein the clamping end is provided with double-sided clamping teeth which can be clamped on a wire, and the operating end can control the size of a bayonet of the anchoring end through a connecting rod mechanism so as to anchor the wire; when the automatic pushing device works, the automatic pushing device pushes against the pull ring part of the operation end to push.
2. The automatic transmission line wire clamp propelling device according to claim 1, characterized in that the clamping wheel (8) is arranged on the support plate (2) near one end of the driving wheel (5).
3. The automatic transmission line wire clamp propelling device according to claim 1, characterized in that the distance between the clamping wheel (8) and the boom fulcrum (4) is smaller than the distance between the other end of the boom (3) and the boom fulcrum (4).
4. The automatic transmission line wire clamp propelling device according to claim 1 is characterized in that the remote control device is hung on the other end of the suspension arm (3).
5. The automatic transmission line wire clamp propelling device according to claim 1, characterized in that the driving device comprises a servo motor and a synchronous belt (7), and the servo motor is electrically connected with a battery (9); the servo motor drives the driving wheel (5) to rotate through the synchronous belt (7).
6. The automatic transmission line wire clamp propelling device according to claim 1 is characterized in that the wheel surfaces of the driving wheel (5), the driven wheel (1) and the clamping wheel (8) are concave and made of rubber.
7. The automatic transmission line wire clamp propelling device according to claim 1, wherein a cover plate is installed at the opening at the other side of the support plate (2), and a groove for placing the clamping wheel (8) is formed in the cover plate.
8. The automatic transmission line wire clamp propelling device according to any one of claims 1 to 7, characterized in that the clamping force adjusting device (11) is a push rod motor, an output shaft of the push rod motor is connected with the other end of the suspension arm (3), and the push rod motor is in control connection through a remote control device.
9. The automatic transmission line wire clamp propelling device according to any one of claims 1 to 7, wherein the clamping force adjusting device (11) is a four-bar mechanism, the four-bar mechanism comprises four bars, a rotating screw (13), an adjusting nut (14) and a driving nut (15), the fulcrum end of each four bar is connected with the support plate (2), the output end, opposite to the fulcrum end, of each four bar is connected with the other end of the suspension arm (3), the connecting ends on two sides of each four bar are connected through the rotating screw (13), and the end of each rotating screw (13) is connected with the adjusting nut (14) and the driving nut (15).
10. The automatic transmission line wire clamp propelling device according to any one of claims 1 to 7, characterized in that the clamping force adjusting device (11) is an electromagnetic driving mechanism, and the electromagnetic driving mechanism comprises a driving rod and two electromagnets (16), wherein one end of the driving rod is connected with the support plate (2), and the other end of the driving rod is connected with the other end of the suspension arm (3); the two electromagnets (16) are arranged at two ends of the driving rod, the magnetic forces of the two electromagnets (16) are opposite, and the two electromagnets (16) are in control connection through the remote control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910557378.4A CN110224337B (en) | 2019-06-25 | 2019-06-25 | Automatic propelling device for wire clamp of power transmission line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910557378.4A CN110224337B (en) | 2019-06-25 | 2019-06-25 | Automatic propelling device for wire clamp of power transmission line |
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| Publication Number | Publication Date |
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| CN110224337A CN110224337A (en) | 2019-09-10 |
| CN110224337B true CN110224337B (en) | 2024-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910557378.4A Active CN110224337B (en) | 2019-06-25 | 2019-06-25 | Automatic propelling device for wire clamp of power transmission line |
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| Country | Link |
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| CN (1) | CN110224337B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111628446B (en) * | 2020-04-29 | 2021-11-26 | 国网浙江省电力有限公司湖州供电公司 | Intelligent wire clamping device suitable for mechanized construction |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1388765A (en) * | 1972-04-24 | 1975-03-26 | Post Office | Machines for propelling rod or the like |
| CN101570022A (en) * | 2009-06-03 | 2009-11-04 | 湖南大学 | Braking mechanism of overhead line deicing robot |
| CN207409920U (en) * | 2017-09-15 | 2018-05-25 | 国网湖北省电力公司电力科学研究院 | For the nut automatic fastening device of transmission line of electricity |
| CN209844417U (en) * | 2019-06-25 | 2019-12-24 | 西安石油大学 | Automatic propelling device for transmission line lead clamp |
-
2019
- 2019-06-25 CN CN201910557378.4A patent/CN110224337B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1388765A (en) * | 1972-04-24 | 1975-03-26 | Post Office | Machines for propelling rod or the like |
| CN101570022A (en) * | 2009-06-03 | 2009-11-04 | 湖南大学 | Braking mechanism of overhead line deicing robot |
| CN207409920U (en) * | 2017-09-15 | 2018-05-25 | 国网湖北省电力公司电力科学研究院 | For the nut automatic fastening device of transmission line of electricity |
| CN209844417U (en) * | 2019-06-25 | 2019-12-24 | 西安石油大学 | Automatic propelling device for transmission line lead clamp |
Non-Patent Citations (1)
| Title |
|---|
| 针对联排管的管外爬行机器人设计与分析;张子华;何富君;;机械传动(第08期);全文 * |
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