CN110328676A - A kind of full-automatic crusing robot of high-voltage line - Google Patents
A kind of full-automatic crusing robot of high-voltage line Download PDFInfo
- Publication number
- CN110328676A CN110328676A CN201910665904.9A CN201910665904A CN110328676A CN 110328676 A CN110328676 A CN 110328676A CN 201910665904 A CN201910665904 A CN 201910665904A CN 110328676 A CN110328676 A CN 110328676A
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- CN
- China
- Prior art keywords
- gear
- electric pushrod
- fixed plate
- driving
- mandril
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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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
Abstract
The invention discloses a kind of full-automatic crusing robot of high-voltage line, including ground mechanism of car, the ground mechanism of car includes the car body that the left and right sides is equipped with Athey wheel；The car body, which is equipped with, places frame mechanism, is equipped with pole-climbing mechanism on the placement frame mechanism, is equipped with Pa Xian mechanism in the pole-climbing mechanism；The placement frame mechanism includes support board, and the car body is set there are two vertical plate, is equipped with a horizontal concrete chute on each vertical plate, one end of each vertical plate is extended with a strip plate, is equipped with vertical chute on each strip plate；The support board is located between two vertical plates, and one end two sides of the support board are equipped with the first pillar across horizontal concrete chute, other end two sides are equipped with the second pillar across vertical chute；The first electric pushrod and the first pillar of support board two sides are hinged there are two setting side by side on the car body；The full-automatic crusing robot of the high-voltage line is not only simple in structure, and carries out the inspection work of high-tension cable automatically.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of full-automatic crusing robots of high-voltage line.
Background technique
High voltage power transmission is generally transmitted frequently with the overhead line mode of steel tower carrying, using high pressure and super-pressure overhead power transmission line
It is the major way of long range transmission & distribution electric power.Power line and shaft tower attachment are chronically exposed to field, because by lasting machinery
Power, it is electrical dodge iron, the influence of material aging and be easy to produce stranded, abrasion, corrosion equivalent damage, such as repair replacement not in time, it is former
This small breakage and defect may expand, and eventually lead to major accident, cause the power failure and huge economic damage of large area
It loses.Current transmission pressure inspection, maintenance method be generally ground ocular estimate.Ocular estimate uses manual inspection, this method labor
Fatigue resistance is big, and working efficiency and detection accuracy are low, poor reliability；The development of inspection robot technology is the inspection of high voltage transmission line
It looks into work and provides new technological means.
Summary of the invention
(1) technical problems to be solved
The object of the present invention is to provide a kind of full-automatic crusing robots of high-voltage line, are not only simple in structure, and automatic
Carry out the inspection work of high-tension cable.
(2) technical solution
To achieve the above object, the invention provides the following technical scheme: a kind of full-automatic crusing robot of high-voltage line, including
Ground mechanism of car, the ground mechanism of car include the car body that the left and right sides is equipped with Athey wheel；The car body is equipped with rack machine
Structure is equipped with pole-climbing mechanism on the placement frame mechanism, is equipped with Pa Xian mechanism in the pole-climbing mechanism；The placement frame mechanism
It is set side by side along the vertical direction including support board, on the car body there are two vertical plate, it is horizontal sliding that one is equipped on each vertical plate
Slot, one end of each vertical plate are extended with a strip plate along the vertical direction, are equipped with vertical chute on each strip plate；It is described
Support board is located between two vertical plates, and one end two sides of the support board are equipped with the first pillar across horizontal concrete chute, another
Two sides are held to be equipped with the second pillar across vertical chute；First electric pushrod there are two being set side by side on the car body, two first
The telescopic end of electric pushrod is hinged with the first pillar of support board two sides respectively；The support board is in one end close to the first pillar
It is extended with protrusive board along perpendicular to support board direction, edge is set electronic there are two second side by side perpendicular to support board direction on the protrusive board
The telescopic end of push rod, second electric pushrod is fixedly installed with pressing plate.
Through the above technical solutions, the full-automatic inspection machine man-hour of the high-voltage line, operator controls ground mechanism of car
It carries pole-climbing mechanism and Pa Xian mechanism comes below pylon, and make the strip plate on car body close to pylon, connect
The first electric pushrod stretch out, slide the first pillar of support board along horizontal concrete chute, while the second pillar is along vertical sliding
Slot upward sliding, until support board standing, then the second electric pushrod stretches out, and band dynamic pressure plate leaves pole-climbing mechanism；At this point,
The booting of pole-climbing mechanism, pole-climbing mechanism catches the bar construction on pylon to climb upwards, wants inspection when pole-climbing mechanism climbs to
High-voltage line below after, Pa Xian mechanism is sent to high-voltage line, Pa Xian mechanism grab high-voltage line to high-voltage line carry out inspection；It connects
Control pole-climbing mechanism climb down and entered on support board from pylon, then control the second electric pushrod shrinkage band dynamic pressure
Plate compresses pole-climbing mechanism, and ground mechanism of car carrying pole-climbing mechanism is gone under the terminal pylon of high-tension cable inspection, weight
Multiple aforesaid operations, which to wait in the climbing to pylon of pole-climbing mechanism, withdraws the Pa Xian mechanism for completing inspection.The high pressure
The full-automatic crusing robot of line is more safe and reliable compared to manual inspection, and routing inspection efficiency is high.
In further technical solution, the pole-climbing mechanism includes the cabinet for being placed on support board, the cabinet
Two sides set side by side there are two for climbing clip claw assembly；The opening of the cabinet is equipped with case lid, sets on the case lid
There is connecting rod telescopic component, the connecting rod telescopic component is equipped with the clamp assemblies fixed for Pa Xian mechanism；
The clip claw assembly includes the pedestal for being rotatably connected on body side, and the cabinet is equipped with for driving pedestal to turn
Dynamic first motor；First mechanical arm and the second motor for driving first mechanical arm to rotate are installed on the pedestal；
In the first mechanical arm far from pedestal one end be equipped with second mechanical arm and for drive second mechanical arm rotate
Third motor in one end far from first mechanical arm is equipped with the first coverboard in the second mechanical arm and for driving the
4th motor of one coverboard rotation；Second coverboard is installed, first coverboard is in the second coverboard of direction on first coverboard
Face on it is symmetrical hinged there are two first connecting rod and two second connecting rods, be respectively hinged with a clamping jaw bar on two first connecting rods, two
A second connecting rod is respectively hinged on the shaft of clamping jaw bar；First coverboard is equipped with third on the medium line of two first connecting rods
Electric pushrod, the telescopic end of the third electric pushrod are equipped with the rack gear that two sides are equipped with engaging tooth, two first connecting rods with
The hinged one end of first coverboard is equipped with the cam tooth being engaged with rack；When the rack gear moves back and forth, driven by cam tooth
First connecting rod rotation；The middle position of second coverboard is equipped with positioning runner along rack movement direction, and the rack gear is equipped with
Protrude into the positioning protrusion in the positioning runner；
The connecting rod telescopic component includes bottom base, link assembly, top base, and the bottom base is rotatably connected on case lid
On, the case lid is equipped with the rotating electric machine for driving bottom base to rotate；One end of the link assembly is mounted on bottom base
Interior, the top base is mounted on the other end of link assembly；The bottom base is equipped with the 4th to stretch for drive link component
Electric pushrod.
Through the above technical solutions, Pa Xian mechanism is fixed on clamp assemblies first, is then controlled when pole-climbing mechanism works
Four clip claw assembly alternations are made to send Pa Xian mechanism to high-voltage line.When wherein clip claw assembly works, first is controlled first
Motor, pedestal, the second motor, first mechanical arm, third motor, second mechanical arm, the 4th motor, so that the steel of pylon
Muscle is located between two clamping jaw bars, then controls third electric pushrod and stretches out, and drives first by the cooperation of rack gear and cam tooth
Link rotatable, first connecting rod make two clamping jaw bars clamp reinforcing bar under the action of second connecting rod, are needing to unclamp steel when rotating
When muscle, control third electric pushrod is retracted.After Pa Xian mechanism is sent to high-voltage line, controls connecting rod telescopic component will be climbed
Line mechanism is sent out；When wherein connecting rod telescopic component works, when controlling the 4th electric pushrod stretching in bottom base, link assembly band
Dynamic top base stretches out, and when the 4th electric pushrod of control is shunk, link assembly drives top base to retract.It will be climbed in connecting rod telescopic component
After line mechanism sends out and climbs line gear grips high-voltage line, clamp assemblies unclamp Pa Xian mechanism.
In further technical solution, the clamp assemblies include the fixed plate being mounted on top base and for driving
The clamping motor of dynamic fixed plate rotation；The fixed plate is arranged in parallel with top base；One end of the fixed plate is along perpendicular to solid
Fixed board direction is extended with baffle, and the other end of the fixed plate is hinged with the first hook；The left side of the fixed plate is hinged side by side
There are two left hook, right side, hingedly there are two right hooks side by side；The left hook and right hook are symmetricly set on the two of fixed plate
Side；The fixed plate is equipped with for driving the first hook, two left hooks, two right hook difference on the face towards top base
The driving assembly rotated around the articulated shaft of itself and fixed plate.
Through the above technical solutions, by clamping the position of motor control fixed plate, and then being adjusted when clamp assemblies work
It swashes the position of line mechanism positioned at fixed plate, then controls driving assembly and drive the first hook, two left hooks, two right hooks
It is rotated rotating around the articulated shaft of itself and fixed plate, to realize the clamp or release to Pa Xian mechanism.
In further technical solution, the driving component includes the first top being slidably connected along fixed plate length direction
Bar, edge are slidably connected at two left mandrils and two right mandrils in fixed plate perpendicular to the first mandril direction；Described first hangs
One end that hook stretches to top base, which is equipped with, is provided along its length first sliding groove, and first mandril, which is equipped with, is located at first sliding groove
The first interior pin；Two left hooks are equipped with the first from left sliding slot in the one end for stretching to top base along its length, left mandril
One end is equipped with the left pin in the first from left sliding slot；Two right hooks are all provided with along its length in the one end for stretching to top base
There is a right sliding slot, one end of right mandril is equipped with the right pin in a right sliding slot；The other end of first mandril
It is equipped with second sliding slot along perpendicular to the first mandril direction, is rotatably connected to the first tooth at second sliding slot position in the fixed plate
Wheel, the eccentric position of the first gear are equipped with the first pillar with second sliding slot cooperation for driving the first mandril to move back and forth
Body；The other end of the left mandril is equipped with the second from left sliding slot, is rotatably connected to a left side at the second from left runner position in the fixed plate
Gear, the eccentric position of the left gear are equipped with the left pillar with the cooperation of the second from left sliding slot for driving left mandril to move back and forth；Institute
The other end for stating right mandril is equipped with right two sliding slots, is rotatably connected to right gear at right two runner positions in the fixed plate,
The eccentric position of the right gear is equipped with the right pillar with right two sliding slots cooperation for driving right mandril to move back and forth；The fixation
The intermediate gear engaged with left gear and right gear is respectively rotatably connected on plate between left gear and right gear, wherein
Intermediate gear close to the first mandril is engaged with first gear；It is rotatably connected between two intermediate gears in the fixed plate
Gear is driven, an eccentric pillar is respectively provided on two intermediate gears, is equipped with intermediate bar, the sliding tooth between two eccentric pillars
The driving pillar being rotatablely connected with intermediate bar is equipped at the eccentric position of wheel；The fixed plate is equipped with clamping electric pushrod, institute
The telescopic end for stating clamping electric pushrod is equipped with the drive rack engaged with driving gear.
Through the above technical solutions, control clamping electric pushrod drives drive rack to retract, driving when driving assembly works
The sliding tooth wheel rotation that rack drives engage drives two by intermediate bar and two eccentric pillars when sliding tooth wheel rotates
Intermediate gear rotation, one of intermediate gear rotate when by left gear, left pillar, the second from left sliding slot, left mandril, left pin,
The first from left sliding slot drives left hook to open, and is driven by right gear, right pillar, right two sliding slots, right mandril, right pin, a right sliding slot
Right hook opens；Another intermediate gear rotates at the same time, passes through first while driving left hook and right hook opens
Gear, the first pillar, second sliding slot, the first mandril, the first pin, first sliding groove drive the first hook to open；Similarly needing
It is electronic that first hook, two left hooks, two right hooks rotate control clamping when clamping rotating around the articulated shaft of itself and fixed plate
Push rod drives drive rack to stretch out.
In further technical solution, the Pa Xian mechanism includes that section is rectangular first sleeve and is slidably connected
The second casing in first sleeve electronic is pushed away equipped with the telescopic end is fixedly connected with first sleeve the 5th in second casing
Bar；The first sleeve is equipped with the first lanyard component, and second casing is equipped with the second lanyard component；The first sleeve
On the first camera for acquiring high-voltage line video flowing is equipped between the first lanyard component and the second lanyard component.
Through the above technical solutions, being existed when Pa Xian mechanism works by the first lanyard component and the climbing of the second lanyard component
On high-voltage line, when Pa Xian mechanism advances, controls the first lanyard component and the second lanyard component and successively replace high tension lead, and
The second casing is controlled by the 5th electric pushrod to stretch out or retract in first sleeve, and Pa Xian mechanism can be realized on high-voltage line
Advance；And the video that high-voltage line is shot by the first camera, when operating to the ground when breakage needs to overhaul occurs in high-voltage line
Personnel issue signal.
In further technical solution, the first lanyard component and the second lanyard modular construction are identical including lower platen
And upper platen, the length direction on the platen along first sleeve set that there are two side plates side by side；Two are hinged on two side plates
A 6th electric pushrod, the telescopic end of four the 6th electric pushrods are hinged on the lower surface of upper platen, the upper platen with
Lower platen is arranged in parallel；One of them the 6th electric pushrod and side plate hinged end are equipped with rotation gear, and the lower platen is equipped with
7th electric pushrod, the telescopic end of the 7th electric pushrod are equipped with the rotated rack engaged with rotation gear；The upper platen
On be equipped with section be U-shaped clamping part, and for drive clamping part rotate the 5th motor；The side of the clamping part is set
There are multiple edges perpendicular to the 9th electric pushrod of the direction arrangement of upper platen, the telescopic end of the 9th electric pushrod is equipped with upper pressure
Tight plate；L shape connecting rod is hinged in the clamping part, the upper end of the L shape connecting rod is hinged with briquetting, the lower end of the L shape connecting rod
Dynamic trough is provided along its length along being equipped with；The bottom of the clamping part is equipped with the 8th electric pushrod, and the described 8th electronic pushes away
The telescopic end of bar is equipped with the power pillar being inserted into the dynamic trough.
Through the above technical solutions, control the 9th is electronic first pushes away when the first lanyard component and the second lanyard component operation
Bar is stretched out with pressure plate, is then opened by the upper end that the position of pole-climbing mechanism controls clamping part makes high-voltage line be located at clamping part
At mouthful, then controls the retraction of the 9th electric pushrod and high-voltage line is limited in clamping part；It retracts, leads to controlling the 8th electric pushrod
Crossing power pillar, dynamic trough, L shape connecting rod drives briquetting to compress high-voltage line, similarly presses when controlling the 8th electric pushrod and stretching out
Block unclamps high-voltage line.The stretching or retraction for wherein controlling the 7th electric pushrod can be by the cooperations of rotated rack and rotation gear
It realizes the inclination angle of the 6th electric pushrod, and then realizes the adjusting of error angle between upper platen and lower platen, pass through the 6th electricity of control
The stretching or retraction of dynamic push rod, and then realize the adjusting of distance between upper platen and lower platen；In addition when Pa Xian mechanism is in high pressure
When advance encounters the barrier on high-voltage line on line, the 9th electric pushrod of the first lanyard component first, which stretches out, drives pressure plate
Clamping part upper end opening is opened, the 8th electric pushrod is then controlled and shrinks, high-voltage line is released into the first lanyard component；Control the
5th motor of two lanyard components rotates, and so that high-voltage line is detached from the first lanyard component, at this time the 5th motor of the first lanyard component
Also it is rotating, is being directed at high-voltage line between the pressure plate and clamping part of the first lanyard component, in the 5th electricity of the second lanyard component
Machine passes through the 7th electric pushrod, rotated rack, rotation gear, the 6th electricity after driving first sleeve and the second sleeve rotating 180 degree
The expansion fit of dynamic push rod, is re-introduced into high-voltage line in the first lanyard component, and the 9th electric pushrod is shunk, and makes cable again
It snaps into the clamping part of the first lanyard component, barrier is between the first lanyard component and the second lanyard component at this time, at this moment
The 9th electric pushrod on second lanyard component, which stretches out, drives pressure plate to open clamping part upper end opening, then controls the 8th
Electric pushrod is shunk, and high-voltage line is released the second lanyard component, the 5th motor rotation of the first lanyard component of control makes high-voltage line
It is detached from the second lanyard component, the 5th motor of the second lanyard component is also rotating at this time, and high-voltage line is made to be directed at the second lanyard component
Pressure plate and clamping part between, drive first sleeve and the second sleeve rotating 180 degree in the 5th motor of the first lanyard component
Afterwards by the 7th electric pushrod, rotated rack, the expansion fit for rotating gear, the 6th electric pushrod, it is again introduced into high-voltage line
Into the second lanyard component, the obstacle detouring of Pa Xian mechanism is completed at this time, is moved on.
(3) beneficial effect
Compared with prior art, technical solution of the present invention has the advantage that
The full-automatic inspection machine man-hour of the high-voltage line, operator control ground mechanism of car and carry pole-climbing mechanism and climb line
Mechanism comes below pylon, and makes the strip plate on car body close to pylon, and then the first electric pushrod stretches out,
Slide the first pillar of support board along horizontal concrete chute, while the second pillar is along vertical chute upward sliding, until loading
Plate standing, then the second electric pushrod stretches out, and band dynamic pressure plate leaves pole-climbing mechanism；At this point, pole-climbing mechanism is switched on, climbing pole machine
Structure catches the bar construction on pylon to climb upwards, will after pole-climbing mechanism climbs to below the high-voltage line for wanting inspection
Pa Xian mechanism is sent to high-voltage line, and Pa Xian mechanism grabs high-voltage line and carries out inspection to high-voltage line；Then pole-climbing mechanism is controlled from height
Voltage cable tower is climbed down and is entered on support board, is then controlled the second electric pushrod shrinkage band dynamic pressure plate and is compressed pole-climbing mechanism,
Ground mechanism of car carrying pole-climbing mechanism is gone under the terminal pylon of high-tension cable inspection, is repeated aforesaid operations and is made pole-climbing
In mechanism climbing to pylon, waits and withdraw the Pa Xian mechanism for completing inspection.The full-automatic crusing robot of the high-voltage line
It is more safe and reliable compared to manual inspection, and routing inspection efficiency is high.
Detailed description of the invention
Fig. 1 is three-dimensional structure diagram of the invention；
Fig. 2 is structure chart when ground mechanism of car of the present invention sends out pole-climbing mechanism；
Fig. 3 is the structure chart of ground mechanism of car of the present invention；
Fig. 4 is the structure chart that ground mechanism of car of the present invention sends out state；
Fig. 5 is the three-dimensional structure diagram of pole-climbing mechanism of the present invention；
Fig. 6 is pole-climbing mechanism of the present invention structure chart when sending out Pa Xian mechanism；
Fig. 7 is the part-structure figure of pole-climbing mechanism of the present invention；
Fig. 8 is the three-dimensional structure diagram of clip claw assembly of the present invention；
Fig. 9-11 is the structure chart of clamp assemblies of the present invention；
Figure 12-18 is the structure chart of Pa Xian mechanism of the present invention.
Specific embodiment
It please refers to shown in Fig. 1-18, a kind of full-automatic crusing robot of high-voltage line, including ground mechanism of car 1a, the ground
Mechanism of car 1a includes the car body 101 that the left and right sides is equipped with Athey wheel 102；The car body 101, which is equipped with, places frame mechanism, described to put
It sets and pole-climbing mechanism 2a is installed on frame mechanism, Pa Xian mechanism 3a is installed on the pole-climbing mechanism 2a；The placement frame mechanism packet
Support board 5 is included, is set side by side along the vertical direction on the car body 101 there are two vertical plate 4a, is equipped with one on each vertical plate 4a
Horizontal concrete chute 4a1, one end of each vertical plate 4a are extended on strip plate a 4b, each strip plate 4b along the vertical direction and are all provided with
There is vertical chute 4b1；The support board 5 is located between two vertical plate 4a, and one end two sides of the support board 5 are equipped with across water
The first pillar 5a of smooth slot 4a1, other end two sides are equipped with the second pillar 5b across vertical chute 4b1；On the car body 101
It is set side by side there are two the first electric pushrod 8, the telescopic end of two the first electric pushrods 8 is convex with the first of 5 two sides of support board respectively
Column 5a is hinged；The support board 5 is being extended with protrusive board 7a, institute perpendicular to 5 direction of support board close to one end of the first pillar 5a edge
It states and is set side by side along perpendicular to 5 direction of support board there are two the second electric pushrod 7 on protrusive board 7a, second electric pushrod 7 is stretched
Contracting end is fixedly installed with pressing plate 6.
The pole-climbing mechanism 2a includes the cabinet 2a1 for being placed on support board 5, and the two sides of the cabinet 2a1 are simultaneously
Arrange the clip claw assembly there are two setting for climbing；The opening of the cabinet 2a1 is equipped with case lid 2a2, and the case lid 2a2 is equipped with
Connecting rod telescopic component, the connecting rod telescopic component are equipped with the clamp assemblies fixed for Pa Xian mechanism 3a.
The clip claw assembly includes the pedestal 12a for being rotatably connected on the side cabinet 2a1, and the cabinet 2a1, which is equipped with, to be used for
Drive the first motor 12b of pedestal 12a rotation；First mechanical arm 12 is installed and for driving first on the pedestal 12a
The second motor 12c that mechanical arm 12 rotates；The second machinery is installed in one end far from pedestal 12a in the first mechanical arm 12
Arm 11a and third motor 11 for driving second mechanical arm 11a to rotate, the second mechanical arm 11a are upper separate first
One end of mechanical arm 12 is equipped with the first coverboard 10a and the 4th motor 11b for driving the first coverboard 10a to rotate；It is described
Second coverboard 10 is installed, the first coverboard 10a is symmetrically hinged on the face towards the second coverboard 10 on first coverboard 10a
Respectively it is hinged with a clamping jaw bar 10d on two first connecting rod 10b and two second connecting rods 10c, two first connecting rod 10b, two
Two connecting rod 10c are respectively hinged on the shaft of clamping jaw bar 10d；The first coverboard 10a is on the medium line of two first connecting rod 10b
Equipped with third electric pushrod 10e, the telescopic end of the third electric pushrod 10e is equipped with the rack gear 10f that two sides are equipped with engaging tooth,
Two first connecting rod 10b are equipped with the cam tooth 10g engaged with rack gear 10f in one end hinged with the first coverboard 10a；The tooth
When 10f is moved back and forth, passes through cam tooth 10g and drive first connecting rod 10b rotation；The middle position of second coverboard 10 is along tooth
The 10f direction of motion is equipped with positioning runner 10h, and the rack gear 10f is equipped with the positioning protrusion protruded into the positioning runner 10h
10i。
The connecting rod telescopic component includes bottom base 17a, link assembly 18, top base 15, and the bottom base 17a rotation connects
It connects on case lid 2a2, the case lid 2a2 is equipped with the rotating electric machine 14 for driving bottom base 17a to rotate；The link assembly
18 one end is mounted in bottom base 17a, and the top base 15 is mounted on the other end of link assembly 18；The bottom base 17a
Equipped with the 4th electric pushrod 17 to stretch for drive link component 18.
The clamp assemblies include the fixed plate 16 being mounted on top base 15 and for driving fixed plate 16 to rotate
Clamp motor 40；The fixed plate 16 is arranged in parallel with top base 15；One end of the fixed plate 16 is along perpendicular to fixed plate 16
Direction is extended with baffle 16a, and the other end of the fixed plate 16 is hinged with the first hook 24；The left side of the fixed plate 16 is side by side
It is hinged that there are two left hook 24a, right side, hingedly there are two right hook 24b side by side；The left hook 24a and right hook 24b are symmetrical
The two sides of fixed plate 16 are set；The fixed plate 16 on the face towards top base 15 be equipped with for drive first hook 24,
The driving assembly that two left hook 24a, two right hook 24b are rotated rotating around the articulated shaft of itself and fixed plate 16.
The driving component includes the first mandril 18 being slidably connected along 16 length direction of fixed plate, along perpendicular to the first top
The two left mandril 18a and two right mandril 18b that 18 direction of bar is slidably connected in fixed plate 16；First hook 24 stretches to
One end of top base 15, which is equipped with, is provided along its length first sliding groove 241, and first mandril 18 is equipped with sliding positioned at first
The first pin 181 in slot 241；Two left hook 24a are equipped with the first from left in the one end for stretching to top base 15 along its length
Sliding slot 24a1, one end of left mandril 18a are equipped with the left pin 18a1 in the first from left sliding slot 24a1；Two right hook 24b exist
The one end for stretching to top base 15 is equipped with one sliding slot 24b1 of the right side along its length, and one end of right mandril 18b is equipped with positioned at institute
State the right pin 18b1 in one sliding slot 24b1 of the right side；The other end edge of first mandril 18 is equipped with perpendicular to 18 direction of the first mandril
Second sliding slot 182 is rotatably connected to first gear 19, first tooth in the fixed plate 16 at 182 position of second sliding slot
The eccentric position of wheel 19 is equipped with the first convex column 191 with the cooperation of second sliding slot 182 for driving the first mandril 18 to move back and forth；
The other end of the left mandril 18a is equipped with the second from left sliding slot 18a2, turns at the position the second from left sliding slot 18a2 in the fixed plate 16
Dynamic to be connected with left gear 19a, the eccentric position of the left gear 19a, which is equipped with, to be cooperated with the second from left sliding slot 18a2 for driving left mandril
The left pillar 19a1 that 18a is moved back and forth；The other end of the right mandril 18b is equipped with two sliding slot 18b2 of the right side, the fixed plate 16
On right gear 19b is rotatably connected at right two positions sliding slot 18b2, the eccentric position of the right gear 19b is equipped with and the right side two is sliding
Right pillar 19b1 of the slot 18b2 cooperation for driving right mandril 18b to move back and forth；On left gear 19a and the right side in the fixed plate 16
The intermediate gear 20 engaged with left gear 19a and right gear 19b is respectively rotatably connected between gear 19b, wherein close
The intermediate gear 20 of first mandril 18 is engaged with first gear 19；It is rotated between two intermediate gears 20 in the fixed plate 16
It is connected with driving gear 21, an eccentric pillar 20a is respectively provided on two intermediate gears 20, is equipped between two eccentric pillar 20a
Intermediate bar 22 is equipped with the driving pillar 21a that is rotatablely connected with intermediate bar 22 at the eccentric position of the driving gear 21；It is described solid
Fixed board 16 is equipped with clamping electric pushrod 23, and the telescopic end of the clamping electric pushrod 23 is equipped with the drive engaged with driving gear 21
Carry-over bar 24.
The Pa Xian mechanism 3a includes that section is rectangular first sleeve 25 and is slidably connected in first sleeve 25
Second casing 33, interior the 5th electric pushrod 33a being fixedly connected equipped with telescopic end with first sleeve 25 of second casing 33；Institute
First sleeve 25 is stated equipped with the first lanyard component 25a, second casing 33 is equipped with the second lanyard component 33b；Described
First for acquiring high-voltage line video flowing is equipped on sleeve between the first lanyard component 25a and the second lanyard component 33b
Camera 32.
The first lanyard component 25a and the second lanyard component 33b structure are identical including lower platen 26a and upper platen
26b, the length direction on the platen along first sleeve 25 set that there are two side plate 26a1 side by side；It is hinged on two side plate 26a1
There are two the 6th electric pushrod 29, the telescopic end of four the 6th electric pushrods 29 is hinged on the lower surface of upper platen 26b, institute
Upper platen 26b and lower platen 26a is stated to be arranged in parallel；One of them the 6th electric pushrod 29 is equipped with rotation with the hinged end side plate 26a1
Gear 27, the lower platen 26a are equipped with the 7th electric pushrod 28, and the telescopic end of the 7th electric pushrod 28 is equipped with and rotation
The rotated rack 26 that gear 27 engages；The clamping part 31 that section is U-shaped is installed, and for driving on the upper platen 26b
The 5th motor 30 that clamping part 31 rotates；The side of the clamping part 31 is equipped with multiple edges perpendicular to the direction cloth of upper platen 26b
The telescopic end of the 9th electric pushrod 38 set, the 9th electric pushrod 38 is equipped with upper pressure plate 39；Hinge in the clamping part 31
It is connected to L shape connecting rod 36, the upper end of the L shape connecting rod 36 is hinged with briquetting 37, and the lower end edge of the L shape connecting rod 36 is equipped with along its length
It spends direction and is equipped with dynamic trough 36a；The bottom of the clamping part 31 is equipped with the 8th electric pushrod 35, the 8th electric pushrod 35
Telescopic end is equipped with the power pillar 35a being inserted into the dynamic trough 36a.
The full-automatic inspection machine man-hour of the high-voltage line is to be controlled by wireless remote control, wherein in car body 101
It is equipped with the second camera 9 for shooting ground mechanism of car 1a working environment, cabinet 2a1 is equipped with for shooting pole-climbing mechanism
The third camera 13 of 2a working environment；Operator is acquired by remote control platform and second camera 9, third camera 13
The remote control of picture progress robot；Specifically: control ground mechanism of car 1a, which carries pole-climbing mechanism 2a and Pa Xian mechanism 3a, to be come
Below to pylon, and make the strip plate 4b on car body 101 close to pylon, then the first electric pushrod 8 stretches out,
Slide the first pillar 5a of support board 5 along horizontal concrete chute 4a1, while the second pillar 5b slides up along vertical chute 4b1
Dynamic, until 5 standing of support board, then the second electric pushrod 7 stretches out, and band dynamic pressure plate 6 leaves pole-climbing mechanism 2a；At this point, climbing
Linkage 2a booting controls four clip claw assemblies and alternately the bar construction on pylon is caught to climb upwards, when pole-climbing mechanism
After 2a is climbed to below the high-voltage line for wanting inspection, Pa Xian mechanism 3a is sent to high-voltage line, Pa Xian mechanism 3a grabs high-voltage line pair
High-voltage line carries out inspection；Then control pole-climbing mechanism 2a is climbed down from pylon and is entered on support board 5, then controls the
Two electric pushrods, 7 shrinkage band dynamic pressure plate 6 compresses pole-climbing mechanism 2a, and ground mechanism of car 1a carrying pole-climbing mechanism 2a goes to high-voltage electricity
Under the terminal pylon of cable inspection, repeats aforesaid operations and make in pole-climbing mechanism 2a climbing to pylon, waiting will
The Pa Xian mechanism 3a for completing inspection is withdrawn.The full-automatic crusing robot of the high-voltage line is more safe and reliable compared to manual inspection,
And routing inspection efficiency is high.
Wherein, when pole-climbing mechanism 2a works, Pa Xian mechanism 3a is fixed on clamp assemblies first, then controls four folders
Claw assembly alternation send Pa Xian mechanism 3a to high-voltage line.When wherein clip claw assembly works, first motor is controlled first
12b, pedestal 12a, the second motor 12c, first mechanical arm 12, third motor 11, second mechanical arm 11a, the 4th motor 11b, make
The reinforcing bar for obtaining pylon is located between two clamping jaw bar 10d, then controls third electric pushrod 10e and stretches out, passes through rack gear
The cooperation of 10f and cam tooth 10g drives first connecting rod 10b rotation, and first connecting rod 10b makes two clamping jaw bar 10d exist when rotating
Reinforcing bar is clamped under the action of second connecting rod 10c, when needing to unclamp reinforcing bar, control third electric pushrod 10e is retracted.When climbing
After line mechanism 3a is sent to high-voltage line, controls connecting rod telescopic component sends out Pa Xian mechanism 3a；Wherein connecting rod telescopic component work
When making, when controlling the 4th electric pushrod 17 in bottom base 17a and stretching out, link assembly 18 drives top base 15 to stretch out, control the
When four electric pushrods 17 are shunk, link assembly 18 drives top base 15 to retract.Pa Xian mechanism 3a is sent out in connecting rod telescopic component
And after Pa Xian mechanism 3a high tension lead, clamp assemblies unclamp Pa Xian mechanism 3a.Here when clamp assemblies work, pass through clamping electricity
Machine 40 controls the position of fixed plate 16, and then adjusts and be located at fixed plate 16 and swash the position of line mechanism 3a, then control clamping electricity
Dynamic push rod 23 drives drive rack 24 to retract, and drive rack 24 drives the driving gear 21 engaged to rotate, and drives gear 21
Two intermediate gears 20 are driven to rotate by intermediate bar 22 and two bias pillar 20a when rotation, one of intermediate gear 20
Pass through left gear 19a, left pillar 19a1, the second from left sliding slot 18a2, left mandril 18a, left pin 18a1, the first from left sliding slot 24a1 when rotation
Drive left hook 24a to open, by right gear 19b, right pillar 19b1, two sliding slot 18b2 of the right side, right mandril 18b, right pin 18b1,
One sliding slot 24b1 of the right side drives right hook 24b to open；Another intermediate gear 20 rotates at the same time, drive left hook 24a with
Pass through first gear 19, the first pillar 5a, second sliding slot 182, the first mandril 18, the first pin while right hook 24b opens
181, first sliding groove 241 drives the first hook 24 to open；Similarly 24, two left hook 24a, two right extensions are linked up in needs first
Hook 24b rotates control clamping electric pushrod 23 when clamping rotating around the articulated shaft of itself and fixed plate 16 and drive rack 24 is driven to stretch out
?.
Wherein, when Pa Xian mechanism 3a works, by the first lanyard component 25a and the second lanyard component 33b climbing in high pressure
On line, when Pa Xian mechanism 3a advances, control the first lanyard component 25a and the second lanyard component 33b successively replaces high tension lead,
And the second casing 33 is controlled by the 5th electric pushrod 33a to stretch out or retract in first sleeve 25, can be realized and climb line machine
Structure 3a advances on high-voltage line；And the video that high-voltage line is shot by the first camera 32, when damaged need occurs in high-voltage line
Operator issues signal to the ground when maintenance.Here it is first when the first lanyard component 25a and the second lanyard component 33b works
First the 9th electric pushrod 38 of control is stretched out with pressure plate 39, is then made by the position that pole-climbing mechanism 2a controls clamping part 31
High-voltage line is located at the upper end opening of clamping part 31, then controls the retraction of the 9th electric pushrod 38 for high-voltage line and is limited in clamping part
In 31；It is retracted controlling the 8th electric pushrod 35, drives briquetting 37 will by power pillar 35a, dynamic trough 36a, L shape connecting rod 36
High-voltage line compresses, and similarly when controlling the 8th electric pushrod 35 and stretching out, briquetting 37 unclamps high-voltage line.Wherein control the 7th is electronic pushes away
The stretching or retraction of bar 28 can realize the inclination angle of the 6th electric pushrod 29 by the cooperation of rotated rack 26 and rotation gear 27,
And then realize the adjusting of error angle between upper platen 26b and lower platen 26a, by the stretching or contracting that control the 6th electric pushrod 29
It returns, and then realizes the adjusting of distance between upper platen 26b and lower platen 26a.
In addition when Pa Xian mechanism 3a advances the barrier encountered on high-voltage line on high-voltage line, the first lanyard group first
The 9th electric pushrod 38 of part 25a, which stretches out, drives pressure plate 39 to open 31 upper end opening of clamping part, and it is electronic then to control the 8th
Push rod 35 is shunk, and high-voltage line is released the first lanyard component 25a；The 5th motor 30 rotation for controlling the second lanyard component 33b, makes
High-voltage line is detached from the first lanyard component 25a, and the 5th motor 30 of the first lanyard component 25a is also rotating at this time, makes high-voltage line pair
Between the pressure plate 39 and clamping part 31 of the first lanyard component 25a of standard, the is driven in the 5th motor 30 of the second lanyard component 33b
Pass through the 7th electric pushrod 28, rotated rack 26, rotation gear the 27, the 6th after sleeve 25 and the second casing 33 rotation 180 degree
The expansion fit of electric pushrod 29 is re-introduced into high-voltage line in the first lanyard component 25a, and the 9th electric pushrod 38 is shunk,
Snap into cable again in the clamping part 31 of the first lanyard component 25a, barrier is in the first lanyard component 25a and second at this time
Between lanyard component 33b, at this moment the 9th electric pushrod 38 on the second lanyard component 33b, which stretches out, drives pressure plate 39 that will clamp
31 upper end opening of portion is opened, and is then controlled the 8th electric pushrod 35 and is shunk, and high-voltage line is released the second lanyard component 33b, control
The 5th motor 30 of first lanyard component 25a rotates, and so that high-voltage line is detached from the second lanyard component 33b, at this time the second lanyard component
The 5th motor 30 of 33b is also rotating, and is directed at high-voltage line between the pressure plate 39 and clamping part 31 of the second lanyard component 33b,
Pass through the 7th electricity after the 5th motor 30 of the first lanyard component 25a drives first sleeve 25 and the second casing 33 rotation 180 degree
Dynamic push rod 28, rotated rack 26, rotation gear 27, the 6th electric pushrod 29 expansion fit, so that high-voltage line is re-introduced into the
In two lanyard component 33b, the obstacle detouring of Pa Xian mechanism 3a is completed at this time, is moved on.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of full-automatic crusing robot of high-voltage line, including ground mechanism of car, the ground mechanism of car are set including the left and right sides
There is the car body of Athey wheel；It is characterized in that, the car body, which is equipped with, places frame mechanism, pole-climbing is installed on the placement frame mechanism
Mechanism is equipped with Pa Xian mechanism in the pole-climbing mechanism；The placement frame mechanism includes support board, along vertical side on the car body
To being set side by side there are two vertical plate, it is equipped with a horizontal concrete chute on each vertical plate, one end of each vertical plate is along vertical side
To a strip plate is extended with, vertical chute is equipped on each strip plate；The support board is located between two vertical plates, described
One end two sides of support board, which are equipped with, to be equipped with across the first pillar of horizontal concrete chute, other end two sides across the second convex of vertical chute
Column；Set side by side on the car body there are two the first electric pushrod, the telescopic end of two the first electric pushrods respectively with support board two
First pillar of side is hinged；The support board is being extended with protrusive board perpendicular to support board direction close to one end of the first pillar edge,
Along setting side by side perpendicular to support board direction, there are two the second electric pushrod, the telescopic ends of second electric pushrod on the protrusive board
It is fixedly installed with pressing plate.
2. the full-automatic crusing robot of high-voltage line according to claim 1, which is characterized in that the pole-climbing mechanism includes using
In the cabinet being placed on support board, the two sides of the cabinet set side by side there are two for climbing clip claw assembly；The case
The opening of body is equipped with case lid, and the case lid is equipped with connecting rod telescopic component, and the connecting rod telescopic component is equipped with for climbing line
The fixed clamp assemblies of mechanism；
The clip claw assembly includes the pedestal for being rotatably connected on body side, and the cabinet is equipped with for driving pedestal to rotate
First motor；First mechanical arm and the second motor for driving first mechanical arm to rotate are installed on the pedestal；It is described
Second mechanical arm is installed and the third for driving second mechanical arm to rotate in one end far from pedestal in first mechanical arm
Motor is equipped with the first coverboard and for driving first shell in one end far from first mechanical arm in the second mechanical arm
4th motor of plate rotation；Second coverboard is installed, first coverboard is in the face towards the second coverboard on first coverboard
It is upper symmetrical hinged to be respectively hinged with a clamping jaw bar on two first connecting rods there are two first connecting rod and two second connecting rods, two the
Two connecting rods are respectively hinged on the shaft of clamping jaw bar；It is electronic that first coverboard is equipped with third on the medium line of two first connecting rods
Push rod, the telescopic end of the third electric pushrod are equipped with the rack gear that two sides are equipped with engaging tooth, and two first connecting rods are with first
The hinged one end of coverboard is equipped with the cam tooth being engaged with rack；When the rack gear moves back and forth, first is driven by cam tooth
Link rotatable；The middle position of second coverboard is equipped with positioning runner along rack movement direction, and the rack gear is equipped with and protrudes into
Positioning protrusion in the positioning runner；
The connecting rod telescopic component includes bottom base, link assembly, top base, and the bottom base is rotatably connected on case lid, institute
Case lid is stated equipped with the rotating electric machine for driving bottom base to rotate；One end of the link assembly is mounted in bottom base, institute
State the other end that top base is mounted on link assembly；The bottom base is equipped with the 4th to stretch for drive link component and electronic pushes away
Bar.
3. the full-automatic crusing robot of high-voltage line according to claim 2, which is characterized in that the clamp assemblies include peace
Fixed plate on top base and the clamping motor for driving fixed plate to rotate；The fixed plate is parallel with top base
Setting；One end of the fixed plate is extended with baffle along perpendicular to fixed plate direction, and the other end of the fixed plate is hinged with the
One hook；The left side of the fixed plate is hinged side by side, and there are two left hook, right side, hingedly there are two right hooks side by side；The left extension
Hook and right hook are symmetricly set on the two sides of fixed plate；The fixed plate is equipped on the face towards top base for driving first
The driving assembly that hook, two left hooks, two right hooks are rotated rotating around the articulated shaft of itself and fixed plate.
4. the full-automatic crusing robot of high-voltage line according to claim 3, which is characterized in that the driving component includes edge
The first mandril that fixed plate length direction is slidably connected, along two be slidably connected at perpendicular to the first mandril direction in fixed plate
Left mandril and two right mandrils；One end that first hook stretches to top base, which is equipped with, is provided along its length first sliding groove,
First mandril is equipped with the first pin being located in first sliding groove；Two left hooks are in the one end for stretching to top base along its length
Degree direction is equipped with the first from left sliding slot, and one end of left mandril is equipped with the left pin in the first from left sliding slot；Two right hooks are being stretched
It is equipped with a right sliding slot along its length to one end of top base, one end of right mandril is equipped in a right sliding slot
Right pin；The other end of first mandril is equipped with second sliding slot along perpendicular to the first mandril direction, in the fixed plate
First gear is rotatably connected at second sliding slot position, the eccentric position of the first gear is equipped with to be used for second sliding slot cooperation
The first convex column for driving the first mandril to move back and forth；The other end of the left mandril is equipped with the second from left sliding slot, the fixed plate
On be rotatably connected to left gear at the second from left runner position, the eccentric position of the left gear is equipped with to be used for the cooperation of the second from left sliding slot
The left pillar for driving left mandril to move back and forth；The other end of the right mandril is equipped with right two sliding slots, on the right side in the fixed plate
Right gear is rotatably connected at two runner positions, the eccentric position of the right gear, which is equipped with, to be cooperated with right two sliding slots for driving the right side
The right pillar that mandril moves back and forth；One and left gear are respectively rotatably connected in the fixed plate between left gear and right gear
The intermediate gear engaged with right gear, wherein the intermediate gear close to the first mandril is engaged with first gear；The fixed plate
On driving gear is rotatably connected between two intermediate gears, an eccentric pillar is respectively provided on two intermediate gears, two are partially
It is equipped with intermediate bar between cardiac prominence column, is equipped with the driving pillar being rotatablely connected with intermediate bar at the eccentric position of the driving gear；
The fixed plate is equipped with clamping electric pushrod, and the telescopic end of the clamping electric pushrod is equipped with the driving engaged with driving gear
Rack gear.
5. the full-automatic crusing robot of high-voltage line according to claim 1, which is characterized in that the Pa Xian mechanism includes cutting
Face is rectangular first sleeve and the second casing being slidably connected in first sleeve, is equipped in second casing flexible
Hold the 5th electric pushrod being fixedly connected with first sleeve；The first sleeve be equipped with the first lanyard component, described second set
Pipe is equipped with the second lanyard component；It is equipped between the first lanyard component and the second lanyard component for adopting in the first sleeve
Collect the first camera of high-voltage line video flowing.
6. the full-automatic crusing robot of high-voltage line according to claim 5, which is characterized in that the first lanyard component and
Identical second lanyard modular construction includes lower platen and upper platen, and the length direction on the platen along first sleeve is set side by side
There are two side plates；Hinged there are two the 6th electric pushrod on two side plates, the telescopic end of four the 6th electric pushrods is hinged
On the lower surface of upper platen, the upper platen is arranged in parallel with lower platen；One of them the 6th electric pushrod and side plate are hinged
End is equipped with rotation gear, and the lower platen is equipped with the 7th electric pushrod, and the telescopic end of the 7th electric pushrod is equipped with and rotation
The rotated rack of rotating disk engagement；The clamping part that section is U-shaped is installed, and for driving clamping part to turn on the upper platen
The 5th dynamic motor；The side of the clamping part is equipped with the 9th electric pushrod that multiple edges are arranged perpendicular to the direction of upper platen,
The telescopic end of 9th electric pushrod is equipped with upper pressure plate；L shape connecting rod is hinged in the clamping part, the L shape connecting rod
Upper end is hinged with briquetting, and the lower end edge of the L shape connecting rod, which is equipped with, is provided along its length dynamic trough；The bottom of the clamping part
Equipped with the 8th electric pushrod, the telescopic end of the 8th electric pushrod is equipped with the power pillar being inserted into the dynamic trough.
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| CN113084824A (en) * | 2021-03-09 | 2021-07-09 | 丁晓 | Intelligent inspection robot for power failure of power grid |
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