CN110682327A - Equipotential mechanism for high-voltage transmission line bus drainage line dismantling robot - Google Patents
Equipotential mechanism for high-voltage transmission line bus drainage line dismantling robot Download PDFInfo
- Publication number
- CN110682327A CN110682327A CN201911071448.1A CN201911071448A CN110682327A CN 110682327 A CN110682327 A CN 110682327A CN 201911071448 A CN201911071448 A CN 201911071448A CN 110682327 A CN110682327 A CN 110682327A
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- China
- Prior art keywords
- robot
- plate
- fixedly connected
- equipotential
- conductive roller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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 relates to an equipotential mechanism for a robot for removing a bus drainage wire of a high-voltage transmission line, which comprises a cylindrical conductor, an insulating tube, a cylindrical spiral spring arranged in the insulating tube, a cylindrical guide pillar matched with the inner cavity of the insulating tube, and a clamping groove with an upward notch, wherein the clamping groove comprises a bottom plate and side plates fixedly arranged on two sides of the bottom plate respectively, a conductive roller is arranged in the clamping groove, an annular groove is formed in the wheel surface of the conductive roller, support plates are arranged on two sides of the conductive roller respectively, conductive plates which correspond to the side plates one by one are also arranged in the clamping groove, the conductive roller is electrically connected with the. The equipotential mechanism for the high-voltage transmission line bus drainage wire dismantling robot is large in contact area with the wire, and even if the robot shakes or swings and other unstable conditions, the robot is not easy to separate, so that the equipotential between the body of the robot and the wire is guaranteed, and the safety is high.
Description
Technical Field
The invention relates to an equipotential mechanism for a high-voltage transmission line bus drainage wire dismantling robot, and belongs to the technical field of electric power overhaul robots.
Background
The overhead high-voltage transmission line is an artery of an electric power system, high-voltage transmission cables and towers are densely distributed at each corner, and the running state of the overhead high-voltage transmission line directly determines the safety and benefit of the electric power system. With the technological progress and the modern development of industry and agriculture, the living standard of people is continuously improved, the power consumption is greatly increased, and higher requirements are provided for the safety and the reliability of power supply of a power grid. For this purpose, the high-voltage transmission line must be checked at all times to ensure its proper operation.
At present, a special robot for state inspection of a high-voltage transmission line has appeared, such as a "high-voltage transmission line live working robot" disclosed in the publication No. CN203932812U, the robot includes a body, two working mechanical arms with 5 degrees of freedom, two telescopic arms, an end device, an auxiliary mechanical arm with 6 degrees of freedom, and a robot monitoring system, a traveling wheel mechanism, an equipotential wheel and a transmission line clamping jaw are arranged at the upper end of each telescopic arm, a claw clamp is mounted at the end of the auxiliary mechanical arm, and the robot monitoring system is mounted on the body to control the actions of each working mechanical arm, the telescopic arms, the end device, the auxiliary mechanical arm, the claw clamp, the traveling wheel mechanism, the equipotential wheel and the transmission line clamping jaw. When in live working, people do not need to contact the high-voltage transmission line, so that the safety of the live working is improved.
Because the induction discharge inevitably occurs between the robot and the lead in the operation process of the robot, the safe and stable operation of the robot is threatened. Therefore, the equipotential wheel needs to be designed to enable the robot to have the same potential with the lead, and then the operation is directly carried out on the fault or hidden trouble on the lead. However, in the mode of achieving equipotential operation through the equipotential wheels, if unstable conditions such as vibration of the wires or swinging of the robot occur, the equipotential wheels are prone to being separated from the wires temporarily, so that the robot cannot be guaranteed to be equipotential with the wires at all times, and safety risks exist.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an equipotential mechanism for a high-voltage transmission line bus drainage wire dismantling robot, which has the following specific technical scheme:
the equipotential mechanism for the robot for removing the bus drainage wire of the high-voltage transmission line comprises a cylindrical conductor, an insulating tube, a cylindrical spiral spring arranged in the insulating tube, a cylindrical guide pillar matched with the inner cavity of the insulating tube and a clamping groove with an upward notch, wherein the lower end of the insulating tube is closed, the upper end of the insulating tube is open, the upper end of the conductor is fixedly connected with the lower end of the insulating tube, the lower end of the cylindrical spiral spring is fixedly connected with the lower end of the insulating tube, the lower end of the guide pillar is arranged in the insulating tube, and the lower end of the guide pillar is fixedly connected with the upper end of the cylindrical spiral spring; the clamping groove comprises a bottom plate and side plates fixedly arranged on two sides of the bottom plate respectively, and the upper end of the guide pillar is fixedly connected with the bottom plate; a conductive roller is arranged inside the clamping groove, an annular groove is formed in the wheel surface of the conductive roller, supporting plates are respectively arranged on two sides of the conductive roller, the lower end of each supporting plate is fixedly connected with the bottom plate, and the rotating shaft of the conductive roller is fixedly connected with the upper end of each supporting plate; the inside of the clamping groove is also provided with conducting strips which are in one-to-one correspondence with the side plates, the cross sections of the conducting strips are arc-shaped, and the lower ends of the conducting strips are fixedly connected with the lower ends of the side plates; the conductive roller is electrically connected with the conductor, and the conductive sheet is electrically connected with the conductor.
As an improvement of the above technical scheme, a bolt is arranged outside the conductive plate, a screw hole matched with the bolt is arranged on the side wall of the side plate, the bolt is in threaded connection with the screw hole, the end part of a screw rod in the bolt is arranged between the conductive plate and the side plate which are positioned on the same side, a pressure spring is arranged between the conductive plate and the side plate which are positioned on the same side, the head end of the pressure spring abuts against the middle part of the conductive plate, and the tail end of the pressure spring is fixedly connected with the end part of the screw rod in; the side wall of the side plate is provided with a crack arranged along the length direction of the side plate, one end of the crack extends to the upper end of the side plate, and a space is arranged between the other end of the crack and the lower end of the side plate; the outside of draw-in groove still is provided with the dog with crack one-to-one, be provided with the stay cord between the upper end of dog and conducting strip, the head end of stay cord and the upper end fixed connection of conducting strip, the tail end and the dog fixed connection of the tail end of stay cord passing crack and stay cord.
As an improvement of the technical scheme, the distance between the upper ends of the two side plates is larger than the length of the bottom plate.
As an improvement of the technical scheme, the included angle between the two side plates is x, and x is more than or equal to 30 degrees and less than or equal to 45 degrees.
As an improvement of the technical scheme, the guide post is in clearance fit with the inner cavity of the insulating tube.
The equipotential mechanism for the high-voltage transmission line bus drainage wire dismantling robot has a large contact area with the conducting wire, and is not easy to separate even if the conducting wire is in unstable conditions such as vibration or swinging of the robot, so that the constant equipotential between the body of the robot and the conducting wire is ensured, and the safety is high.
Drawings
FIG. 1 is a schematic structural view of a mobile platform of a high-voltage transmission line bus drainage wire dismantling robot in the prior art;
FIG. 2 is a schematic structural view of an equipotential mechanism for a bus drainage wire dismantling robot for a high-voltage transmission line according to the present invention;
FIG. 3 is a schematic view of the connection between the side plate and the stop according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, a current robot moving platform for removing a bus drainage wire of a high-voltage transmission line is mainly composed of a machine body 40, mechanical arms, a travelling wheel mechanism 20 and other mechanisms, wherein the two mechanical arms are fixed on the machine body 40, the travelling wheel mechanism 20 and an equipotential wheel 30 are installed at the upper end of each mechanical arm, and a motor in the travelling wheel mechanism 20 drives a travelling wheel to rotate, so that the robot is driven to move along a wire 10. The equipotential wheel 30 is in contact with the lead 10, and the equipotential wheel 30 is electrically connected with the body 40, so that the body 40 of the robot is ensured to be in an equipotential working condition. If unstable conditions such as vibration of the conductor 10 or swinging of the robot occur, the equipotential wheels 30 and the conductor 10 are likely to be separated momentarily, so that the robot cannot be guaranteed to be equipotential with the conductor 10 at any moment, and safety risk exists.
Therefore, the equipotential mechanism for the high-voltage transmission line bus bar removal robot is provided between the conductor 10 and the machine body 40, so that the machine body 40 maintains the same high potential as the conductor 10. As shown in fig. 2, the equipotential mechanism for a robot for removing a bus drainage wire of a high-voltage transmission line comprises a cylindrical conductor 51, a tubular insulating tube 52, a cylindrical coil spring 53 arranged inside the insulating tube 52, a cylindrical guide post 54 matched with an inner cavity of the insulating tube 52, and a clamping groove with an upward notch, wherein the lower end of the insulating tube 52 is closed, the upper end of the insulating tube 52 is open, the upper end of the conductor 51 is fixedly connected with the lower end of the insulating tube 52, the lower end of the cylindrical coil spring 53 is fixedly connected with the lower end of the insulating tube 52, the lower end of the guide post 54 is arranged inside the insulating tube 52, and the lower end of the guide post 54 is fixedly connected with the upper end of the cylindrical coil spring 53; the cross section of the clamping groove is in an isosceles trapezoid shape, the clamping groove is arranged above the guide pillar 54, the clamping groove comprises a bottom plate 551 and side plates 552 fixedly arranged on two sides of the bottom plate 551 respectively, and the upper end of the guide pillar 54 is fixedly connected with the bottom plate 551; the conductive roller 56 is arranged in the clamping groove, a circular groove 561 is arranged on the wheel surface of the conductive roller 56, the cross section of the circular groove 561 is arc-shaped, the axial direction of the conductive roller 56 is parallel to the length direction of the bottom plate 551, support plates 562 are respectively arranged on two sides of the conductive roller 56, the lower end of each support plate 562 is fixedly connected with the bottom plate 551, the rotating shaft of the conductive roller 56 is fixedly connected with the upper end of each support plate 562, and the rotating shaft of the conductive roller 56 is rotatably connected with the wheel body of the conductive roller 56; the inside of the clamping groove is also provided with conducting strips 57 which are in one-to-one correspondence with the side plates 552, the two conducting strips 57 are respectively positioned at two sides of the conducting roller 56, the cross section of each conducting strip 57 is arc-shaped, and the lower ends of the conducting strips 57 are fixedly connected with the lower ends of the side plates 552; the conductive roller 56 is electrically connected to the conductor 51, and the conductive sheet 57 is electrically connected to the conductor 51. The lower end of the conductor 51 is fixedly connected with the machine body 40, and the conductor 51 is electrically connected with the machine body 40 to complete the installation of the equipotential mechanism for the high-voltage transmission line bus drainage wire dismantling robot.
When the equipotential mechanism for the high-voltage transmission line bus drainage wire dismantling robot is used, the height of the machine body 40 can be adjusted, so that the annular groove 561 of the conductive roller 56 is in contact with the wire 10; the guide post 54 and the insulating tube 52 can slide relatively, and the cylindrical coil spring 53 can ensure that the annular groove 561 of the conductive roller 56 abuts against the wire 10 under the buffering of the cylindrical coil spring 53. The two conducting strips 57 are respectively positioned at two sides of the wire 10, and the cross section of the conducting strip 57 is arc-shaped, so that the resistance of the wire 10 when being pressed into the space between the two conducting strips 57 is small, and the two conducting strips 57 can be ensured to be in close contact with the wire 10; the conductive plate 57 is made of red copper, has excellent elasticity, and has an arc-shaped cross section, and the annular groove 561 has an arc-shaped cross section, so that the wire 10 can be ensured to be in contact with both the conductive plate 57 and the conductive roller 56 regardless of the diameter of the wire 10 being increased or decreased. In the above process, the wire 10 is contacted by the two conductive sheets 57 and the conductive roller 56 to complete the electrical connection, compared with one contact part between the conventional equipotential wheel 30 and the wire 10, the present invention has three contact parts with a large contact area, and at the same time, even if the wire 10 is vibrated or the robot swings or other unstable conditions, the two conductive sheets 57 and the conductive roller 56 can be in close contact with the wire 10 under the action of the cylindrical coil spring 53, thereby ensuring that the body 40 of the robot and the wire 10 are constantly equipotential. In order to ensure the conductive effect, the conductive roller 56 and the conductive sheet 57 are made of red copper with excellent conductive performance. The insulating tube 52 is insulated, and it is possible to prevent the occurrence of sparks due to friction between the cylindrical coil spring 53 and the insulating tube 52. Further, the guide post 54 is in clearance fit with the inner cavity of the insulating tube 52.
When the diameter of the wire 10 becomes larger or smaller, although the wire 10 can be kept in close contact with the conductive roller 56; however, the elastic force generated by the deformation of the conductive sheet 57 is limited, and needs to be adjusted in time. As shown in fig. 2 and 3, further, a bolt 59 is arranged outside the conductive plate 57, a screw hole adapted to the bolt 59 is arranged on a side wall of the side plate 552, the bolt 59 is in threaded connection with the screw hole, an end of a screw rod in the bolt 59 is arranged between the conductive plate 57 and the side plate 552 which are located on the same side, a pressure spring 591 is arranged between the conductive plate 57 and the side plate 552 which are located on the same side of the conductive roller 56, a head end of the pressure spring 591 abuts against the middle of the conductive plate 57, and a tail end of the pressure spring 591 is fixedly connected with an end of the screw rod in the bolt 59; the side wall of the side plate 552 is provided with a slit 5521 arranged along the length direction of the side plate 552, one end of the slit 5521 extends to the upper end of the side plate 552, and a gap is arranged between the other end of the slit 5521 and the lower end of the side plate 552; the outside of the clamping groove is further provided with stoppers 58 corresponding to the cracks 5521 one by one, a pull rope 581 is arranged between the stoppers 58 and the upper end of the conducting sheet 57 positioned on the same side, the head end of the pull rope 581 is fixedly connected with the upper end of the conducting sheet 57, and the tail end of the pull rope 581 penetrates through the cracks 5521 and the tail end of the pull rope 581 is fixedly connected with the stoppers 58.
When the diameter of the wire 10 becomes large, the conductive pieces 57 located at both sides of the wire 10 can surely be kept in close contact with the wire 10. When the diameter of the wire 10 is reduced, the bolt 59 is rotated so that the distance between the end of the screw in the bolt 59 and the middle of the conductive sheet 57 is reduced, and at this time, the pressing spring 591 is compressed again so that the middle of the conductive sheet 57 is lifted up, thereby enabling the middle of the conductive sheet 57 to be in close contact with the wire 10. The existence of the pressure spring 591 can further ensure that the middle part of the conducting strip 57 can be always in close contact with the lead 10. When the pulling rope 581 is under tension, the pulling rope 581 can drive the stopper 58 to move along the direction defined by the crack 5521, so that the pulling rope 581 can restrict the moving direction of the upper end of the conductive sheet 57; when the middle of the conductive plate 57 is lifted up, the upper end of the conductive plate 57 is restrained by the pull rope 581, so that the conductive plate 57 always keeps the cross section in an arc state, which helps the conductive plate 57 to be capable of tightly pressing against the wire 10 at any time.
The distance between the upper ends of the two side plates 552 is greater than the length of the bottom plate 551. The included angle between the two side plates 552 is x, and x is more than or equal to 30 degrees and less than or equal to 45 degrees. This allows the wire 10 to be easily pressed between the conductive plates 57 without the angle between the side plates 552 being too large, or the conductive plates 57 not being able to fit tightly against the wire 10.
In the above embodiment, the two conductive sheets 57 and the conductive roller 56 can both contact and be electrically connected with the wire 10, the equipotential mechanism for the high-voltage transmission line bus drainage removal robot has a large contact area with the wire 10, and even if the robot shakes or swings or other unstable conditions occur, the two conductive sheets 57 and the conductive roller 56 can be in close contact with the wire 10 at any time, so that the separation is not easy to occur, and therefore, the equipotential between the body 40 of the robot and the wire 10 at any time is ensured, and the safety is high.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. Equipotential mechanism for robot is demolishd to high tension transmission line generating line drainage line, its characterized in that: the insulation structure comprises a cylindrical conductor (51), an insulation tube (52), a cylindrical spiral spring (53) arranged in the insulation tube (52), a cylindrical guide post (54) matched with an inner cavity of the insulation tube (52), and a clamping groove with an upward notch, wherein the lower end of the insulation tube (52) is closed, the upper end of the insulation tube (52) is open, the upper end of the conductor (51) is fixedly connected with the lower end of the insulation tube (52), the lower end of the cylindrical spiral spring (53) is fixedly connected with the lower end of the insulation tube (52), the lower end of the guide post (54) is arranged in the insulation tube (52), and the lower end of the guide post (54) is fixedly connected with the upper end of the cylindrical spiral spring (53); the clamping groove comprises a bottom plate (551) and side plates (552) which are fixedly arranged on two sides of the bottom plate (551) respectively, and the upper end of the guide post (54) is fixedly connected with the bottom plate (551); a conductive roller (56) is arranged in the clamping groove, an annular groove (561) is formed in the wheel surface of the conductive roller (56), supporting plates (562) are respectively arranged on two sides of the conductive roller (56), the lower end of each supporting plate (562) is fixedly connected with a bottom plate (551), and the rotating shaft of the conductive roller (56) is fixedly connected with the upper end of each supporting plate (562); the inside of the clamping groove is also provided with conducting strips (57) which are in one-to-one correspondence with the side plates (552), the cross section of each conducting strip (57) is arc-shaped, and the lower ends of the conducting strips (57) are fixedly connected with the lower ends of the side plates (552); the conductive roller (56) is electrically connected with the conductor (51), and the conductive sheet (57) is electrically connected with the conductor (51).
2. The equipotential mechanism for a robot for removing bus drainage wires of high-voltage transmission lines according to claim 1, further comprising: a bolt (59) is arranged outside the conducting plate (57), a screw hole matched with the bolt (59) is formed in the side wall of the side plate (552), the bolt (59) is in threaded connection with the screw hole, the end part of a screw rod in the bolt (59) is arranged between the conducting plate (57) and the side plate (552) which are positioned on the same side, a pressure spring (591) is arranged between the conducting plate (57) and the side plate (552) which are positioned on the same side, the head end of the pressure spring (591) abuts against the middle part of the conducting plate (57), and the tail end of the pressure spring (591) is fixedly connected with the end part of the screw rod in the bolt (59); the side wall of the side plate (552) is provided with a crack (5521) arranged along the length direction of the side plate (552), one end of the crack (5521) extends to the upper end of the side plate (552), and a gap is arranged between the other end of the crack (5521) and the lower end of the side plate (552); the outside of draw-in groove still is provided with dog (58) with crack (5521) one-to-one, be provided with between the upper end of dog (58) and conducting strip (57) stay cord (581), the head end of stay cord (581) and the upper end fixed connection of conducting strip (57), the tail end of stay cord (581) passes crack (5521) and the tail end and dog (58) fixed connection of stay cord (581).
3. The equipotential mechanism for a robot for removing bus drainage wires of high-voltage transmission lines according to claim 1, further comprising: the distance between the upper ends of the two side plates (552) is larger than the length of the bottom plate (551).
4. The equipotential mechanism for a robot for removing bus drainage wires of high-voltage transmission lines according to claim 3, further comprising: the included angle between the two side plates (552) is x, and x is more than or equal to 30 degrees and less than or equal to 45 degrees.
5. The equipotential mechanism for a robot for removing bus drainage wires of high-voltage transmission lines according to claim 1, further comprising: the guide post (54) is in clearance fit with the inner cavity of the insulating tube (52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911071448.1A CN110682327A (en) | 2019-11-05 | 2019-11-05 | Equipotential mechanism for high-voltage transmission line bus drainage line dismantling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911071448.1A CN110682327A (en) | 2019-11-05 | 2019-11-05 | Equipotential mechanism for high-voltage transmission line bus drainage line dismantling robot |
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| Publication Number | Publication Date |
|---|---|
| CN110682327A true CN110682327A (en) | 2020-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911071448.1A Pending CN110682327A (en) | 2019-11-05 | 2019-11-05 | Equipotential mechanism for high-voltage transmission line bus drainage line dismantling robot |
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| CN (1) | CN110682327A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111498516A (en) * | 2020-04-16 | 2020-08-07 | 牟立兵 | Mechanical arm |
| CN114976995A (en) * | 2022-05-17 | 2022-08-30 | 国网甘肃省电力公司 | Potential transfer stick convenient for exiting equipotential |
| CN115102123A (en) * | 2022-07-14 | 2022-09-23 | 杭州申昊科技股份有限公司 | Transmission line walking deicing robot |
-
2019
- 2019-11-05 CN CN201911071448.1A patent/CN110682327A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111498516A (en) * | 2020-04-16 | 2020-08-07 | 牟立兵 | Mechanical arm |
| CN111498516B (en) * | 2020-04-16 | 2021-08-27 | 山东神力索具有限公司 | Mechanical arm |
| CN114976995A (en) * | 2022-05-17 | 2022-08-30 | 国网甘肃省电力公司 | Potential transfer stick convenient for exiting equipotential |
| CN115102123A (en) * | 2022-07-14 | 2022-09-23 | 杭州申昊科技股份有限公司 | Transmission line walking deicing robot |
| CN115102123B (en) * | 2022-07-14 | 2023-01-24 | 杭州申昊科技股份有限公司 | Transmission line walking deicing robot |
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