CN110861726A - Pole-climbing system of pole-climbing cooperative robot of power system and pole-climbing method thereof - Google Patents
Pole-climbing system of pole-climbing cooperative robot of power system and pole-climbing method thereof Download PDFInfo
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- CN110861726A CN110861726A CN201911286768.9A CN201911286768A CN110861726A CN 110861726 A CN110861726 A CN 110861726A CN 201911286768 A CN201911286768 A CN 201911286768A CN 110861726 A CN110861726 A CN 110861726A
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- roller
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- 238000000034 method Methods 0.000 title claims abstract description 18
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 80
- 229910052742 iron Inorganic materials 0.000 claims abstract description 40
- 230000009194 climbing Effects 0.000 claims abstract description 29
- 230000009471 action Effects 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 claims description 4
- 230000007306 turnover Effects 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 10
- 230000006872 improvement Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Manipulator (AREA)
Abstract
The invention relates to a pole climbing system of a pole climbing cooperation robot of an electric power system and a pole climbing method thereof, and the pole climbing system comprises an auxiliary device positioned on one side of an electric pole and an active device positioned on the other side of the electric pole, wherein the auxiliary device comprises a pair of auxiliary rollers which are arranged up and down, the roller surfaces of the auxiliary rollers are of a single-sheet hyperboloid structure, U-shaped roller seats are arranged outside the auxiliary rollers, the active device comprises a driving wheel, the wheel surface of the driving wheel is provided with an annular groove matched with the side wall of the electric pole, a self-locking guide rail is arranged between a connecting plate and a bottom plate, and the self-locking guide rail comprises an iron pipe, an iron rod matched. The pole-climbing system of the pole-climbing cooperation robot is high in stability in the pole-climbing process, not prone to lateral movement and high in safety.
Description
Technical Field
The invention relates to a pole-climbing system of a pole-climbing cooperation robot of an electric power system and a pole-climbing method thereof, belonging to the technical field of robots.
Background
The pole is as important base material in electric power system, in electric power system's maintenance process, need climb the pole to the power equipment at pole top and maintain it usually. Electrician needs to climb the wire pole in order to maintain the circuit of wire pole upper end when maintaining, then need climb with the help of pole-climbing instrument, and original climbing mode is for wearing pole-climbing shoe cover on electrician's foot, moves another foot and reciprocates when supporting through foot always, and is very inconvenient and heavy.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a pole-climbing system of a pole-climbing cooperation robot of an electric power system and a pole-climbing method thereof, and the specific technical scheme is as follows:
the pole climbing system of the pole climbing cooperation robot in the electric power system is used for climbing a cylindrical pole and comprises an auxiliary device positioned on one side of the pole and a driving device positioned on the other side of the pole, wherein the auxiliary device comprises a pair of auxiliary rollers which are vertically arranged, the roller surfaces of the auxiliary rollers are of single-sheet double-curved-surface structures, U-shaped roller seats are arranged outside the auxiliary rollers, and the end parts of the roller seats are rotationally connected with the roller shafts of the auxiliary rollers; a connecting plate is arranged between the end parts of the upper roller seat and the lower roller seat, and the end part of the connecting plate is connected with the end part of the roller seat through a bolt; the driving device comprises a driving wheel, an annular groove matched with the side wall of the electric pole is formed in the wheel surface of the driving wheel, a square shaft is arranged in the center of the driving wheel and fixedly connected with the driving wheel, a bottom plate is arranged below the driving wheel, and wheel seats are arranged between the two ends of the square shaft and the bottom plate; a self-locking guide rail is arranged between the connecting plate and the bottom plate, the self-locking guide rail comprises an iron pipe, an iron rod matched with the inner cavity of the iron pipe and an electromagnet fixedly arranged at the head end of the iron pipe, the tail end of the iron pipe is fixedly connected with the connecting plate, the head end of the iron rod is arranged in the iron pipe, and the tail end of the iron rod is fixedly connected with the bottom plate; an electric push rod is further installed between the connecting plate and the bottom plate, and the telescopic end of the electric push rod is connected with the connecting plate through a bolt.
As the improvement of above-mentioned technical scheme, the wheel seat includes backup pad, pivot, gear, spliced pole, bolt, with bolt assorted nut, the lower extreme and the bottom plate fixed connection of backup pad, the tail end of pivot is rotated with the upper end of backup pad and is connected, the head end of pivot and the axle fixed connection of gear, the tail end of spliced pole and the axle fixed connection of gear, the head end of spliced pole is provided with the slot that passes in and out about the tip of confession square shaft, the tip of square shaft is provided with the through-hole with bolt looks adaptation, the lateral wall of spliced pole is provided with the through-hole that just runs through the slot with bolt looks adaptation.
As an improvement of the technical scheme, the inner cavity of the iron pipe is in clearance fit with the iron rod.
The pole climbing method of the pole climbing system of the power system pole climbing cooperation robot is characterized in that an auxiliary device is detached, two auxiliary rollers are installed on one side of an electric pole, a driving wheel is installed on the other side of the electric pole, an electric push rod is started to enable the auxiliary rollers and the driving wheel to clamp the electric pole, and then an electromagnet is electrified to enable an iron pipe and the iron pole to be fixed under the action of magnetic force; the driving wheel is driven by a motor, rotates and carries out climbing operation under the assistance of the two auxiliary rollers.
The invention has the beneficial effects that:
when the pole climbing system of the power system pole climbing cooperation robot is used for pole climbing operation, the two auxiliary rollers and the driving wheel are positioned with the electric pole through three points, and the contact areas between the auxiliary rollers and the driving wheel and the electric pole are large; the self-locking guide rail ensures that the driving wheel, the auxiliary roller and the electric pole are locked in the pole climbing process, and cannot be loosened; the pole-climbing system of the pole-climbing cooperation robot is high in stability in the pole-climbing process, not prone to lateral movement and high in safety.
Drawings
Fig. 1 is a schematic structural diagram of a pole-climbing system of a pole-climbing cooperative robot in an electric power system according to the present invention;
FIG. 2 is a schematic view of the arrangement of the auxiliary roller, the driving wheel and the electric pole according to the present invention;
fig. 3 is a schematic structural view of the wheel seat of 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 and 2, the pole-climbing cooperation robot pole-climbing system for the power system comprises a pole 10 for climbing a cylindrical pole, and an auxiliary device located on one side of the pole 10 and a driving device located on the other side of the pole 10, wherein the auxiliary device comprises a pair of auxiliary rollers 21 arranged up and down, the roller surface of the auxiliary roller 21 is of a single-blade hyperboloid structure, a U-shaped roller seat 22 is arranged outside the auxiliary roller 21, and the end of the roller seat 22 is rotatably connected with the roller of the auxiliary roller 21; a connecting plate 23 is arranged between the end parts of the upper and lower roller seats 22, and the end part of the connecting plate 23 is connected with the end part of the roller seat 22 through a bolt; the driving device comprises a driving wheel 31, wherein a wheel surface of the driving wheel 31 is provided with an annular groove 311 matched with the side wall of the electric pole 10, the cross section of the annular groove 311 is arched, the center of the driving wheel 31 is provided with a square shaft 312, the square shaft 312 is fixedly connected with the driving wheel 31, a bottom plate 40 is arranged below the driving wheel 31, and a wheel seat 70 is arranged between two ends of the square shaft 312 and the bottom plate 40; a self-locking guide rail 50 is arranged between the connecting plate 23 and the bottom plate 40, the self-locking guide rail 50 comprises an iron pipe 51, an iron rod 52 matched with the inner cavity of the iron pipe 51 and an electromagnet 53 fixedly arranged at the head end of the iron pipe 51, the tail end of the iron pipe 51 is fixedly connected with the connecting plate 23, the head end of the iron rod 52 is arranged in the iron pipe 51, and the tail end of the iron rod 52 is fixedly connected with the bottom plate 40; an electric push rod 60 is further installed between the connecting plate 23 and the bottom plate 40, and the telescopic end of the electric push rod 60 is connected with the connecting plate 23 through a bolt.
The pole-climbing method of the pole-climbing cooperation robot pole-climbing system of the power system is as follows: the auxiliary device is disassembled, the end part of the connecting plate 23 is connected with the end part of the roller seat 22 through a bolt, the telescopic end of the electric push rod 60 is connected with the connecting plate 23 through a bolt, and the assembling and disassembling can be carried out more quickly by adopting the bolt connection, so that the operation is simple and convenient, and the working efficiency is high; then two auxiliary rollers 21 are installed on one side of the electric pole 10, the driving wheel 31 is installed on the other side of the electric pole 10, the electric push rod 60 is started, the roller seat 22 moves towards the bottom plate 40 under the pushing of the electric push rod 60, and the iron pipe 51 and the iron rod 52 have guiding and limiting functions. The tension between the roller block 22 and the base plate 40 can be acquired using a force sensor. When the auxiliary roller 21 and the driving wheel 31 clamp the electric pole 10, the electromagnet 53 is electrified to enable the iron pipe 51 and the iron pole 52 to be fixedly adsorbed under the action of magnetic force, so that the auxiliary roller 21 or the driving wheel 31 can be prevented from being separated from the electric pole 10 in the subsequent pole climbing process. The driving wheel 31 is driven by a motor, and the driving wheel 31 rotates and performs climbing operation by means of friction force with the aid of the two auxiliary rollers 21. In the above process, the two auxiliary rollers 21 and the contact portion between the driving wheel 31 and the electric pole 10 form an isosceles triangle, which makes the pole climbing process highly stable, uniformly stressed, and not easy to shift laterally. Because the pole climbing process mainly depends on the friction force between the driving wheel 31 and the electric pole 10, the contact area between the annular groove 311 and the side wall of the electric pole 10 is large, the action area of the friction force is large, and the stability of pole climbing is improved; the roller surface of the auxiliary roller 21 is of a single-sheet hyperboloid structure, although the contact area between the roller surface of the auxiliary roller 21 and the electric pole 10 is smaller compared with the annular groove 311, the two auxiliary rollers 21 only have an auxiliary effect, and a large contact area is not needed; the roller surface of the auxiliary roller 21 is of a single-sheet hyperboloid structure, so that the diameter of the electric pole 10 is increased or reduced at any time, a sufficient contact area can be kept between the roller surface of the auxiliary roller 21 and the electric pole 10 all the time, the auxiliary roller 21 does not need to be replaced when the electric pole 10 with different diameters climbs, only the driving wheel 31 needs to be replaced, operation is convenient, and time is saved. The self-locking guide rail 50 ensures that the driving wheel 31, the auxiliary roller 21 and the electric pole 10 are locked in the pole climbing process, so that the pole climbing process is not loosened and the stability is ensured.
Further, as shown in fig. 3, the wheel seat 70 includes a support plate 71, a rotating shaft 72, a gear 73, a connecting column 74, a bolt 75, and a nut 76 matched with the bolt 75, the lower end of the support plate 71 is fixedly connected with the bottom plate 40, the tail end of the rotating shaft 72 is rotatably connected with the upper end of the support plate 71, the head end of the rotating shaft 72 is fixedly connected with the shaft of the gear 73, the tail end of the connecting column 74 is fixedly connected with the shaft of the gear 73, the head end of the connecting column 74 is provided with a slot for the end of the square shaft 312 to go in and out from top to bottom, the end of the square shaft 312 is provided with a through hole matched with the bolt 75, and the side wall of the connecting column 74 is provided with a through.
A motor can be used for driving one of the gears 73, the gear 73 drives the connecting column 74 to rotate, the square shaft 312 rotates along with the rotation of the connecting column 74 due to the fact that the connecting column 74 and the square shaft 312 are pinned by the bolt 75, and the square shaft 312 rotates to drive the driving wheel 31 to rotate. When the driving wheel 31 needs to be replaced, the nut 76 is removed, the bolt 75 is pulled out, and the end of the square shaft 312 is pulled out from the slot, so that the driving wheel 31 is removed. Then another driving wheel 31 is replaced, the end part of the square shaft 312 in the driving wheel 31 is inserted into the slot, then the rod part of the bolt 75 is inserted into the through hole and then is in threaded connection with the nut 76 outside the connecting column 74, and thus, the fixed installation of the driving wheel 31 is completed. The operation of the installation and the disassembly of the driving wheel 31 is simple and convenient, and the implementation effect is good.
Further, the inner cavity of the iron pipe 51 is in clearance fit with the iron rod 52.
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 (4)
1. Pole-climbing system of power system pole-climbing cooperation robot for climbing cylindric pole (10), its characterized in that: the device comprises an auxiliary device positioned on one side of an electric pole (10) and a driving device positioned on the other side of the electric pole (10), wherein the auxiliary device comprises a pair of auxiliary rollers (21) which are arranged up and down, the roller surface of each auxiliary roller (21) is of a single-sheet hyperboloid structure, a U-shaped roller seat (22) is arranged outside each auxiliary roller (21), and the end part of each roller seat (22) is rotationally connected with a roller of each auxiliary roller (21); a connecting plate (23) is arranged between the end parts of the upper and lower roller seats (22), and the end part of the connecting plate (23) is connected with the end part of the roller seat (22) through a bolt; the driving device comprises a driving wheel (31), an annular groove (311) matched with the side wall of the electric pole (10) is formed in the wheel surface of the driving wheel (31), a square shaft (312) is arranged in the center of the driving wheel (31), the square shaft (312) is fixedly connected with the driving wheel (31), a bottom plate (40) is arranged below the driving wheel (31), and a wheel seat (70) is arranged between the two ends of the square shaft (312) and the bottom plate (40); a self-locking guide rail (50) is arranged between the connecting plate (23) and the bottom plate (40), the self-locking guide rail (50) comprises an iron pipe (51), an iron rod (52) matched with the inner cavity of the iron pipe (51) and an electromagnet (53) fixedly arranged at the head end of the iron pipe (51), the tail end of the iron pipe (51) is fixedly connected with the connecting plate (23), the head end of the iron rod (52) is arranged inside the iron pipe (51), and the tail end of the iron rod (52) is fixedly connected with the bottom plate (40); an electric push rod (60) is further installed between the connecting plate (23) and the bottom plate (40), and the telescopic end of the electric push rod (60) is connected with the connecting plate (23) through a bolt.
2. The power system pole-climbing cooperative robot pole-climbing system according to claim 1, wherein: wheel seat (70) include backup pad (71), pivot (72), gear (73), spliced pole (74), bolt (75), with bolt (75) assorted nut (76), the lower extreme and bottom plate (40) fixed connection of backup pad (71), the tail end of pivot (72) rotates with the upper end of backup pad (71) to be connected, the head end of pivot (72) and the axle fixed connection of gear (73), the tail end of spliced pole (74) and the axle fixed connection of gear (73), the head end of spliced pole (74) is provided with the slot that supplies the upper and lower business turn over of the tip of square shaft (312), the tip of square shaft (312) is provided with the through-hole with bolt (75) looks adaptation, the lateral wall of spliced pole (74) is provided with the through-hole that just runs through the slot with bolt (75) looks adaptation.
3. The power system pole-climbing cooperative robot pole-climbing system according to claim 1, wherein: the inner cavity of the iron pipe (51) is in clearance fit with the iron rod (52).
4. A pole climbing method of a pole climbing cooperation robot pole climbing system of an electric power system according to any one of claims 1 to 3, characterized in that: the auxiliary device is disassembled, then two auxiliary rollers (21) are installed on one side of the electric pole (10), the driving wheel (31) is installed on the other side of the electric pole (10), the electric push rod (60) is started to enable the auxiliary rollers (21) and the driving wheel (31) to clamp the electric pole (10), and then the electromagnet (53) is electrified to enable the iron pipe (51) and the iron pole (52) to be fixed under the action of magnetic force; the driving wheel (31) is driven by a motor, and the driving wheel (31) rotates and carries out climbing operation under the assistance of the two auxiliary rollers (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911286768.9A CN110861726A (en) | 2019-12-14 | 2019-12-14 | Pole-climbing system of pole-climbing cooperative robot of power system and pole-climbing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911286768.9A CN110861726A (en) | 2019-12-14 | 2019-12-14 | Pole-climbing system of pole-climbing cooperative robot of power system and pole-climbing method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN110861726A true CN110861726A (en) | 2020-03-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911286768.9A Pending CN110861726A (en) | 2019-12-14 | 2019-12-14 | Pole-climbing system of pole-climbing cooperative robot of power system and pole-climbing method thereof |
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| CN (1) | CN110861726A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232080A (en) * | 2020-03-12 | 2020-06-05 | 国网安徽省电力有限公司电力科学研究院 | Surrounding type pole-climbing robot |
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| JPH01141185A (en) * | 1987-11-27 | 1989-06-02 | Fujikura Ltd | Travel device for steel frame structure |
| CN101214412A (en) * | 2008-01-15 | 2008-07-09 | 东南大学 | Scroll cable detecting robot |
| CN104353225A (en) * | 2014-11-18 | 2015-02-18 | 郑州轻工业学院 | Self-locking type pole-climbing robot |
| CN106314583A (en) * | 2016-09-18 | 2017-01-11 | 三峡大学 | Articulated-type rod climbing detection robot |
| CN106965868A (en) * | 2017-01-23 | 2017-07-21 | 南京邮电大学 | A kind of pneumatic software climbing level robot |
| CN107933727A (en) * | 2017-12-22 | 2018-04-20 | 郑州龙威电子科技有限公司 | A kind of climbing level robot |
| CN110001812A (en) * | 2019-04-10 | 2019-07-12 | 安徽省一步高智能装备有限责任公司 | A kind of climbing level robot |
| CN209189325U (en) * | 2018-09-30 | 2019-08-02 | 国家电网有限公司 | Encircle creeping-type insulator deashing robot |
| CN110086122A (en) * | 2018-08-23 | 2019-08-02 | 卢丹丹 | A kind of power transmission line maintenance tool conveying climbing platforms |
-
2019
- 2019-12-14 CN CN201911286768.9A patent/CN110861726A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01141185A (en) * | 1987-11-27 | 1989-06-02 | Fujikura Ltd | Travel device for steel frame structure |
| CN101214412A (en) * | 2008-01-15 | 2008-07-09 | 东南大学 | Scroll cable detecting robot |
| CN104353225A (en) * | 2014-11-18 | 2015-02-18 | 郑州轻工业学院 | Self-locking type pole-climbing robot |
| CN106314583A (en) * | 2016-09-18 | 2017-01-11 | 三峡大学 | Articulated-type rod climbing detection robot |
| CN106965868A (en) * | 2017-01-23 | 2017-07-21 | 南京邮电大学 | A kind of pneumatic software climbing level robot |
| CN107933727A (en) * | 2017-12-22 | 2018-04-20 | 郑州龙威电子科技有限公司 | A kind of climbing level robot |
| CN110086122A (en) * | 2018-08-23 | 2019-08-02 | 卢丹丹 | A kind of power transmission line maintenance tool conveying climbing platforms |
| CN209189325U (en) * | 2018-09-30 | 2019-08-02 | 国家电网有限公司 | Encircle creeping-type insulator deashing robot |
| CN110001812A (en) * | 2019-04-10 | 2019-07-12 | 安徽省一步高智能装备有限责任公司 | A kind of climbing level robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232080A (en) * | 2020-03-12 | 2020-06-05 | 国网安徽省电力有限公司电力科学研究院 | Surrounding type pole-climbing robot |
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