CN111730611A - Mechanical structure of high-voltage transmission line inspection robot - Google Patents
Mechanical structure of high-voltage transmission line inspection robot Download PDFInfo
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- CN111730611A CN111730611A CN202010430091.8A CN202010430091A CN111730611A CN 111730611 A CN111730611 A CN 111730611A CN 202010430091 A CN202010430091 A CN 202010430091A CN 111730611 A CN111730611 A CN 111730611A
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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
- 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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- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention provides a mechanical structure of a high-voltage transmission line inspection robot, which comprises a travelling mechanism, an intermediate mechanism, an obstacle crossing mechanism, a pressing mechanism, a line sag adjusting mechanism and a supporting mechanism, wherein the travelling mechanism is arranged on the intermediate mechanism; the two groups of walking mechanisms comprise walking wheels consisting of two half wheels, wherein the two half wheels are respectively a driving wheel and a driven wheel; the obstacle crossing mechanism is used for driving the driving wheel and the driven wheel to be separated or connected; an intermediate mechanism is arranged between the two groups of travelling mechanisms and comprises an intermediate wheel consisting of two half wheels and a mechanism for driving the two half wheels to be separated or connected; the pressing mechanism comprises a pressing wheel and a mechanism for driving the pressing wheel to press the power transmission line upwards or move downwards; the line sag adjusting mechanism is positioned below the obstacle crossing mechanism and used for adjusting the vertical position of the travelling mechanism. The robot also comprises a foreign matter removing module and a deicing module, and lays a foundation for the development of the multifunctional robot. The invention can stably run on the transmission line and effectively cross obstacles, and has simple and novel structure and small volume.
Description
Technical Field
The invention belongs to the technical field of power transmission line inspection robots, and particularly relates to a mechanical structure of a high-voltage power transmission line inspection robot.
Background
The power grid is one of the important infrastructures of the country, supports the national economic development and plays an irreplaceable role in the current society. The power transmission line is used as a main carrier of power transmission, large-range optimal configuration of power resources is realized, and the power transmission line is one of important guarantees of power communication. In recent years, with the vigorous development of power transmission engineering in China, the scale of a power transmission line is now compared with that of the power transmission line. However, the larger the transmission line size is, the higher the complexity is, and the higher the accident rate is, and the accident of the transmission line can cause the interruption of power communication, which directly affects the life of people and may even cause irreparable loss.
The reasons for the conventional power transmission line accidents mainly include the following points:
(1) sustained mechanical tension, material aging, etc.;
(2) weather effects including rain, snow, freezing disasters, etc.;
(3) other potential factors, such as foreign body entanglement and other uncontrollable factors;
(4) human factors, improper operation and unqualified quality.
These reasons are liable to cause damages such as abrasion, corrosion and strand breakage of the transmission line, and in order to avoid serious accidents, the power department must periodically inspect the transmission line. The current line patrol means are mainly three, namely manual walking line patrol, ship and vehicle line patrol and helicopter flying line patrol. (1) Manual walking line patrol: the transmission line is mainly patrolled and examined through the manpower, but because most transmission line are in complicated mountain land topography, patrolled and examined the line and brought very big inconvenience to the manual work, patrolled and examined inefficiency, operating personnel's safety can not be ensured simultaneously. (2) Line patrol of marine vehicles: due to the limitation of natural factors, vehicles cannot directly reach the areas of many power transmission lines, so that the marine vehicles rarely use for line patrol. (3) Helicopter flight patrols the line: the helicopter flies to the transmission line and is synchronous with the trend of the transmission line, and workers on the helicopter observe the transmission line by using an airborne camera and record the condition and the position of a fault point. Although the inspection efficiency and the detection precision of the line inspection are improved to a certain extent, the cost of the line inspection is quite high, and the requirements on workers are high.
With the continuous development of the robot technology, scientists design an aerial inspection robot to perform routine inspection maintenance on the power transmission line. The transmission line usually has obstacles such as stockbridge dampers, strain clamps, towers and the like, and the inspection robot needs to be capable of crossing the obstacles and crawling and detecting on the transmission line at a certain speed. The robot patrols and examines not only can carry out the circuit work of patrolling and examining reliably, patrols the efficiency and the precision of line and obtains very big improvement moreover, has reduced a large amount of manpower and materials spending, the operation of guarantee transmission line safety. Therefore, the aerial patrol robot becomes a focus of research in the patrol field.
The mechanical design function requirement of the line patrol robot comprises the following steps:
(1) the robot can stably walk on the power transmission line;
(2) the robot can independently and safely cross the obstacles on the power transmission line;
(3) the robot has certain climbing capacity;
(4) the freedom degree of the robot is as low as possible, and the operation and the control are convenient;
(5) on the premise of providing enough space for a power supply, a controller, a detector and the like and ensuring the overall mechanical strength of the robot, the robot has the advantages of small volume and light weight as far as possible.
The obstacles are as follows:
(1) pole tower: in the transmission line, a tower is arranged at intervals for supporting the conducting wire and ensuring that the conducting wire and the conducting wire have enough safety distance.
(2) A vibration damper: the transmission line can generate periodic vibration under the influence of wind power. The vibration damper is arranged on the power transmission line and can be used for absorbing wind vibration energy so as to reduce the vibration effect of the power transmission line. The stockbridge damper is generally installed near a tower and has the size of about 300mm in length and 40mm in height.
(3) Insulator: the insulator is used for connecting wires and cables and is an obstacle to be overcome in the moving process of the robot.
(4) Suspension clamp: the suspension clamp is used for fixing the transmission line on an insulator string of a linear tower or suspending the transmission line on the linear tower, and the length of the suspension clamp is about 300 mm.
Disclosure of Invention
The invention aims to provide a mechanical structure of a high-voltage transmission line inspection robot, which can stably run on a transmission line and effectively cross obstacles, and has the advantages of simple and novel structure and small volume.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mechanical structure of a high-voltage transmission line inspection robot comprises a travelling mechanism, an intermediate mechanism, an obstacle crossing mechanism, a pressing mechanism, a line sag adjusting mechanism and a supporting mechanism; the two groups of walking mechanisms comprise walking wheels consisting of two half wheels, wherein the two half wheels are respectively a driving wheel and a driven wheel, and the driving wheel is connected with a motor; the obstacle crossing mechanism is used for driving the driving wheel and the driven wheel to be separated or connected; an intermediate mechanism is arranged between the two groups of travelling mechanisms and is used for keeping the balance of the robot together with the other travelling mechanism when one travelling mechanism is opened to cross an obstacle, and the intermediate mechanism comprises an intermediate wheel consisting of two half wheels and a mechanism for driving the two half wheels to be separated or connected; the pressing mechanism comprises a pressing wheel and a mechanism for driving the pressing wheel to press the power transmission line upwards or move downwards; the line sag adjusting mechanism is positioned below the obstacle crossing mechanism and used for adjusting the vertical position of the travelling mechanism; the supporting mechanism is used for supporting the travelling mechanism, the intermediate mechanism, the obstacle crossing mechanism, the pressing mechanism and the line sag adjusting mechanism.
Furthermore, the travelling mechanism comprises two travelling mechanism supporting arms with bearing seats and respectively positioned at two sides of the travelling wheel, and the shafts of the driving wheel and the driven wheel are respectively connected with the bearing seats of the travelling mechanism supporting arms at the adjacent side; the shaft of the driving wheel passes through the bearing with the seat and is connected with the rotating shaft of the motor, and the motor seat of the motor is fixed on the supporting seat of the walking mechanism; the driving wheel or the driven wheel is provided with a coupling.
Furthermore, the obstacle crossing mechanism comprises a bidirectional screw rod, a guide rod and an obstacle crossing mechanism supporting seat; nuts are arranged on the travelling mechanism supporting seats, and two sections of screw rods with different rotation directions of the bidirectional screw rods respectively penetrate through the left travelling mechanism supporting seat and the right travelling mechanism supporting seat and the nuts thereof; two ends of the obstacle crossing mechanism supporting seat are provided with bearings with seats, the bearings with seats are respectively connected with two ends of a bidirectional screw rod, and one end of the bidirectional screw rod is connected with a motor; the guide rod passes through the two walking mechanism supporting seats, two ends of the guide rod are fixed on the obstacle crossing mechanism supporting seat, and the walking mechanism supporting seat can slide along the guide rod.
Furthermore, the intermediate mechanism comprises two intermediate arms respectively positioned at two sides of the intermediate wheel, an intermediate mechanism supporting seat, a spring, two gears meshed with each other and a motor; the shafts of the two half wheels of the middle wheel are respectively connected with the bearing with a seat adjacent to the middle arm at the near side; a spring is connected between the two middle arms; the two side middle arms are respectively connected with the two gears, the shafts of the gears are connected with the bearings with the seats on the middle mechanism supporting seat, and the motor is connected with the shaft of one of the gears.
Furthermore, the pressing mechanism comprises a pressing wheel, an upper supporting seat and a lower supporting seat; the pinch roller is positioned below the travelling wheel; two bearings with seats are respectively arranged on the upper support seat and positioned on two sides of the pressing wheel, and shafts on two sides of the pressing wheel are respectively connected with the bearings with seats on two sides; a nut and a guide rod are arranged below the upper supporting seat; the screw motor is fixed on the lower support seat, a screw of the screw motor is connected with a nut, and the guide rod penetrates through the lower support seat and can move up and down along the lower support seat; the lower support frame is fixed on the obstacle crossing mechanism support seat.
Furthermore, the line sag adjusting mechanism comprises an electromagnet arranged on the supporting mechanism, and a connecting rod connected with a sliding rod of the electromagnet is arranged at the bottom of the obstacle crossing mechanism supporting seat.
The device further comprises a burning clearing mechanism, a burning clearing mechanism and a burning control mechanism, wherein the burning clearing mechanism comprises a first speed reducing motor with a horizontal motor shaft, a second speed reducing motor with a vertical motor shaft, an ignition device and an oil supply device; the motor base of the second speed reducing motor is installed on the motor shaft of the first speed reducing motor, and the ignition device and the oil supply device are installed on the motor shaft of the second speed reducing motor.
Further, the robot further comprises a scissors shearing mechanism which is arranged right in front of the robot and comprises a furling mechanism and a scissors mechanism; the furling mechanism is positioned below the scissors mechanism and comprises a pair of furling rods distributed at an angle of 30 degrees.
The robot is characterized by further comprising deicing mechanisms, wherein the deicing mechanisms are respectively arranged on the left arm and the right arm of the front arm of the robot and are positioned on two sides of the power transmission line; the deicing mechanism comprises a rotary table, a supporting frame and a plurality of blades, the blades are circumferentially and uniformly fixed on the rotary table, and the rotary table is fixed on the supporting frame and rotates relative to the supporting frame.
Has the advantages that: (1) the invention relates to a three-arm type travelling mechanism, wherein each travelling wheel is formed by combining two half wheels, and free obstacle crossing can be realized by controlling the separation or combination of the two half wheels; (2) the wire sag adjusting mechanism can ensure that the inspection robot is clamped on the cable, solve the problem of wire sag, ensure enough climbing capacity and improve the working performance of the inspection robot; the pressing mechanism can increase the friction force between the wheels and the power transmission line, and the robot is ensured to have certain climbing capacity; (4) the middle arm is provided with a middle wheel which plays a role in stabilizing the gravity center in the obstacle crossing process; (4) the invention has various functional modules, can solve various problems on the high-voltage transmission line, improves the maintenance efficiency and promotes the development of national economy.
Drawings
FIG. 1 is a schematic structural view of a traveling mechanism;
FIG. 2 is a schematic diagram of an obstacle crossing process of the robot;
FIG. 3 is a schematic structural view of the front and rear wheel obstacle crossing mechanisms;
FIG. 4 is a schematic view of an intermediate mechanism;
FIG. 5 is a schematic view of the pressing mechanism;
FIG. 6 is a schematic view of a thread sag adjustment mechanism;
FIG. 7 is a schematic view of the overall structure of the robot;
FIG. 8 is a schematic view of a burner module;
FIG. 9 is a schematic view of a vertical rotation structure;
FIG. 10 is a schematic view of a bushing connection;
FIG. 11 is a schematic view of the left-right turning device;
FIG. 12 is a schematic view of an ignition arrangement;
FIG. 13 is a schematic view of a layout of an oil supply device;
FIG. 14 is a schematic view of a scissors cut clearance module design installation;
FIG. 15 is a schematic view of a de-icing mechanism;
fig. 16 is an overall assembly view of the robot.
Detailed Description
The inspection robot is a typical mechatronic product and comprises a mechanical structure, a motion control system, a wireless transmission system, a detection system and a power supply system. The mechanical structure is the structural foundation of the whole system and mainly comprises a walking mechanism, an obstacle crossing mechanism, a pressing mechanism, a line sag adjusting mechanism and a supporting mechanism. And the motion control system, the wireless transmission system, the detection system and the power supply system belong to an electrical system. The electric system related to the inspection robot in the invention is innovated, and the embodiment only describes the mechanical structure.
The power source of the inspection robot is driven by a direct current servo motor. According to the fact that the transmission lines are long distances, the line patrol robot designed in the invention adopts wheel type rolling. Because the power transmission line has certain slope, in order to avoid because of the slope is great, the frictional force that drive wheel and power transmission line produced is less than robot self gravity and the gliding. The invention designs the pressing mechanism, increases the friction force between the wheels and the power transmission line, and ensures that the robot has certain climbing capacity.
The obstacle crossing process is the most important link in the moving process of the robot. In the obstacle crossing process, the robot needs to be ensured to stably run on the high-voltage transmission line and effectively cross the obstacle. The invention can install a camera on the robot, which can be used for line patrol and observing and identifying obstacles encountered in front of the robot, and can realize obstacle crossing of the robot under the control of the control system. The walking wheel of the inspection robot is the highest point of the whole body, so that the whole robot is positioned below the insulator. When the obstacle is crossed, the obstacle crossing action is completed through the arm opening and closing mechanism. Such as the most common vibration dampers, can also be used to overcome obstacles using this method.
In order to simplify the control system, the width of the two half wheels required to be opened and the distance required to be advanced when crossing the obstacle are designed according to the maximum size of the obstacle. Considering the stability of the robot when crossing obstacles and the gravity borne by the wheels, the three-arm type inspection robot is designed.
The obstacle crossing process has great relation with the reasonable structural design of the three arms. The rightmost arm of the robot is defined as the forearm, the middle arm is called the middle arm, and the leftmost arm is called the rear arm. Three arms are provided with 3 pairs of walking wheels, and the walking motors drive the walking wheels to rotate so as to drive the robot to advance at a constant speed.
When the camera on the robot observes an obstacle in front, the robot first stops moving forward, as shown in fig. 2 (a). The front screw motor drives the screw to rotate to drive the front arm to separate, and when the distance to be opened can pass through the barrier, the screw stops rotating. At this time, the rear pinch roller motor drives the rear pinch roller to be matched with the rear travelling wheel to pinch the power transmission line, and the rear travelling wheel motor drives the robot to move forwards, so that the barrier passes through the middle of the front arm, as shown in fig. 2 (b). After the front arm crosses the obstacle, the lead screw motor drives the lead screw to rotate reversely, the front arm is closed, and obstacle crossing action of the front arm is completed. And the motor of the rear pinch roller rotates reversely to enable the pinch roller to return to the initial position.
When the forearm is closed, the robot continues to advance. When the middle arm of the robot is close to the obstacle, the gear motor drives the gear to drive the middle arm to be separated, and the front walking wheel motor and the rear walking wheel motor drive the robot to move forwards, as shown in fig. 2 (c). After the obstacle is passed, the gear motor drives the gear to rotate reversely, and the middle arm is closed. The rear arm is in the same obstacle-crossing manner as the front arm, as shown in fig. 2 (d). Finally, the robot completes obstacle crossing as a whole, as shown in fig. 2 (e).
The invention designs a three-arm type inspection robot. The staggered obstacle of the mechanical arm is realized by adopting the principle that the nut moves on the bidirectional screw rod in a quick and bidirectional manner. The driving wheels are arranged on the front arm and the rear arm, the middle wheel is arranged on the middle arm, and the middle wheel plays a role in stabilizing the gravity center in the obstacle crossing process, so that the whole structure of the robot is light.
The application designs a mechanical body structure of inspection robot, it mainly comprises running gear, hinders mechanism, hold-down mechanism, line sag adjustment mechanism and supporting mechanism etc. more. And designing the line patrol robot according to the actual sizes of the power transmission lines and the obstacles.
1. Traveling mechanism
The walking mechanism is one of basic mechanisms of the inspection robot, and has two groups. The main function is to realize the operation of the robot on the high-voltage transmission line. Two groups of independent drives can realize the flexible movement of the robot. The concrete structure is as shown in figure 1, constitute a wheel by two half wheels, are action wheel 1.2 and follow driving wheel 1.1 respectively, are connected by the plum blossom shaft coupling between, are equipped with area seat bearing 1.7 on the walking wheel support arm 1.5, and action wheel 1.2 is driven by motor 1.3, and motor cabinet 1.4 of motor 1.3 is fixed in walking wheel support arm 1.5. In order to increase the contact area of the wheels and the power transmission line and improve the efficiency and safety in the routing inspection process, the wheels are designed to be similar to V-shaped grooves. The V-shaped groove is made of polyurethane rubber, so that friction between the wheels and the wire can be increased, slipping during walking is reduced, and abrasion of the wheels to the wire can be reduced. Under the drive of the motor, the driving wheel 1.2 drives the driven wheel 1.1 to rotate, and the two sides of the two half wheels are provided with the roller sheets 1.6, so that the robot can stably move forward on a power transmission line and cannot be out of line.
2. Obstacle crossing mechanism
The front and rear wheel obstacle crossing mechanisms are shown in fig. 3. Nut 2.4 is fixed in walking wheel support arm 1.5, and lead screw 2.3 passes nut 2.4 and walking wheel supporting seat 1.5, and the both ends of lead screw 2.3 are connected and are crossed the tape seat bearing 2.6 guide arm 2.5 on the mechanism supporting seat 2.7 of hindering and pass walking wheel support arm 1.5, and its both ends are fixed in and are crossed obstacle mechanism supporting seat 2.7, and obstacle mechanism supporting seat 2.7 bottom is equipped with connecting rod 2.8. The obstacle crossing action of the mechanical arm is completed by adopting the principle that two nuts 2.4 move on a bidirectional screw rod in a rapid and bidirectional mode. The middle is used as a boundary, and two sides of the lead screw 2.3 are designed into different rotating directions. Under the drive of the motor 2.1, the screw rod 2.3 rotates to drive the two nuts 2.4 to move in opposite directions, and the driving wheel 1.2 and the driven wheel 1.1 are driven to be separated, so that the purpose of avoiding obstacles is achieved. After crossing over the barrier, the motor 2.1 drives the screw rod 2.3 to rotate reversely, the nut 2.4 drives the two arms to move back, the two half wheels are connected again, and the driving wheel motor continues to drive the robot to move forward.
3. Intermediate mechanism
Fig. 4 is an intermediate mechanism. When the front and rear walking wheel supporting arms 1.5 are opened to cross the obstacle, the mechanism can stabilize the gravity center of the robot and ensure the stable forward movement of the robot. The structure of the device comprises a gear 3.6, a middle arm 3.3, a spring 3.4 and the like. The gear 3.6 is composed of two half wheels, and the shafts of the two half wheels are respectively connected with the bearings 3.2 with seats on the middle arms 3.3 at two sides. A spring 3.4 is connected between the middle arms 3.3 at the two sides. The intermediate arms 3.3 on both sides are fixed with two gears 3.6 which are meshed with each other respectively. The shaft of the gear 3.6 is fixedly connected with a bearing with a seat on the supporting seat 3.8 of the intermediate mechanism. The motor 3.7 is connected to one of the gears 3.6. Under the drive of the motor 3.7, the gear 3.6 rotates to drive the middle two half wheels to do relative motion, thereby avoiding the barrier. After crossing the obstacle, the motor rotates reversely, the two middle half wheels are jointed again, and obstacle crossing of the middle mechanism is completed.
4. Pressing mechanism
The pressing mechanism is mainly used when the robot crosses an obstacle. Compress tightly high tension line through pinch roller and walking wheel cooperation, increase the frictional force between walking wheel and the line, realize that the other end can drive the whole forward motion of robot, avoid the walking wheel to skid on the line, even the off-line. When the power transmission line slope is great, also use hold-down mechanism to compress tightly the power transmission line, increase the frictional force between walking wheel and the line, avoid the wheel phenomenon such as idle running, skidding to appear.
The pressing mechanism comprises a pressing wheel 4.1, an upper supporting seat 4.7 and a lower supporting seat 4.5; the pinch roller 4.1 is positioned below the walking wheel; two bearings with seats 4.2 which are respectively positioned at two sides of the pressing wheel 4.1 are arranged on the upper supporting seat 4.7, and shafts at two sides of the pressing wheel 4.1 are respectively connected with the bearings with seats 4.2 at two sides; a nut 4.4 and four guide rods 4.3 are arranged below the upper support seat 4.7; a screw rod motor 4.6 is fixed on the lower support seat 4.5, a screw rod of the screw rod motor is connected with a nut 4.4, and a guide rod 4.3 penetrates through the lower support seat 4.5 and can move up and down along the lower support seat 4.5; the lower support frame 4.5 is fixed on a support seat 2.7 of the obstacle crossing mechanism.
Under the drive of the screw motor 4.6, the nut 4.4 moves on a motor shaft of the screw motor 4.6 to drive the pressing wheel 4.1 to move upwards to press the wires. The motor rotates reversely, the nut moves downwards, and the pressing wheel is driven to move downwards. The diameter range that can be used to compact the wire is 16mm-30 mm.
5. Line sag adjusting mechanism
The thread sag adjusting mechanism comprises an electromagnet 5 arranged on a supporting mechanism 9, and a connecting rod 2.8 at the bottom of a supporting seat 2.7 of the obstacle crossing mechanism is connected with a sliding rod of the electromagnet 5. The obstacle crossing mechanism can be controlled to vertically move up and down for a certain distance, as shown in fig. 6. The supporting mechanism 9 is of a rectangular structure with an opening at the upper part, the electromagnet 5 is arranged on a bottom plate of the supporting mechanism 9, guide rods 11 are respectively arranged on top plates at two sides of the supporting mechanism 9, and the obstacle crossing mechanism supporting seat 2.7 penetrates through the guide rods 11 and can slide along the guide rods 11. The line grabbing device has the function of preventing the problem that the line cannot be grabbed again after the mechanical arm is staggered to avoid the obstacle due to line aging and overlarge line sag.
6. Integral assembly of inspection robot
Based on the main mechanisms of the line patrol robot, the mechanisms are virtually assembled by utilizing a solidworks assembly module to obtain a general structural schematic diagram of the line patrol robot, and numbers 1-6 respectively represent a walking mechanism, an intermediate mechanism, a pressing mechanism, a line sag adjusting mechanism, an obstacle crossing mechanism and a supporting structure as shown in fig. 7. The robot has a total of 3 pairs of arms, a front arm, a middle arm and a rear arm. And 3, the arms are matched with each other, and tasks such as line patrol, obstacle crossing and the like are completed on the power transmission line.
7. Fire clearing mechanism
The fire clearing mechanism comprises an ignition device 7.1, a left-right rotating structure 7.2, an up-down rotating structure 7.3 and an oil supply device 7.4, and the overall structure of the fire clearing mechanism is shown in fig. 8. The fire clearing mechanism is a main clearing device and is responsible for clearing all combustible and inflammable foreign matters.
The device is characterized in that the two speed reducing motors are vertically arranged to realize the multi-degree-of-freedom rotation function. The igniter is controlled by an electromagnet in a remote control mode, and the electromagnetic valve and the electromagnet are controlled by the same controller so as to achieve synchronization of ignition and oil injection. Meanwhile, in order to optimize the combustion rate of the gasoline and improve the cleaning efficiency, the thickened gasoline used by the device replaces the common gasoline. The module has the advantages of simple operation, high speed, thorough foreign matter removal and the like. Meanwhile, the device is only suitable for combustible foreign matters, so that other working modules are required to be matched.
The invention relates to a fire cleaning module which comprises four parts, namely an up-down rotating structure, a left-right rotating structure, an ignition device and an oil supply device, and the overall structure of the fire cleaning module is shown in figure 8.
7.1, up-down rotating structure
In the design of the foreign matter removing device for the power transmission line, in order to enlarge the working range of the removing device and improve the working efficiency, the upper and lower rotational degrees of freedom and the left and right rotational degrees of freedom are added for the burning module. Wherein the up-down rotation mechanism is shown in fig. 9.
The up-down rotating structure is composed of a speed reducing motor 7.1.1, a motor base 7.1.2, a reinforcing rod 7.1.3, a rolling bearing 7.1.5, a bearing end cover 7.1.6 and two shaft sleeves 7.1.4. The axle center of a motor shaft of the speed reducing motor is parallel to the bottom surface of the case and is vertical to the left wall of the case, the speed reducing motor is arranged on a motor support, the motor support is connected with the bottom of the case through four screws, and the motor shaft is phi 6. Because the motor shaft is in a cantilever structure and extends outwards for a long time, a reinforcing rod is additionally arranged under the motor shaft and is installed on a motor bracket through a screw, and the tail end of the reinforcing rod is matched with the motor shaft through a bearing, so that the purpose of increasing the strength of the up-and-down rotating structure is achieved by utilizing the structure.
In order to realize that the up-and-down rotating structure can stably and reliably rotate under the driving of the motor, the design adopts a shaft sleeve design as shown in fig. 10.
The structure is that two step-shaped shaft sleeves are arranged on a shaft, planes shown in the figure are respectively milled on the great circles of the shaft sleeves to be connected with an upper bracket, and the shaft sleeves are fastened through screws. Two threaded holes are drilled in the small circles of the two shaft sleeves, two matched holes are drilled in the corresponding positions of the shaft, and the shaft sleeves are connected through set screws to limit the axial rotation and the axial movement of the shaft sleeves relative to the shaft.
7.2 left-right rotating structure
The left-right rotating structure is connected with the lower up-down rotating structure through an L-shaped bracket, and the structural schematic diagram is shown in fig. 11. The structure consists of a worm gear speed reducing motor 7.2.1, a motor base 7.2.2, a shaft sleeve 7.2.3, three support columns 7.2.4 and corresponding rolling bearings.
A motor shaft of the speed reducing motor is perpendicular to a large circle milling plane of the shaft sleeve in the up-and-down rotating structure in the front. The shaft is connected with the shaft sleeve through a set screw to limit the axial movement and the axial rotation of the shaft sleeve relative to the shaft. The shaft sleeve is connected with the upper igniter bracket through two screws.
Also, three stepped shafts are installed above the motor bracket because of strength concerns. The three stepped shafts are distributed on a circle concentric with the motor shaft and are distributed in 120-degree equal distribution, and the stepped shafts are connected with the motor support through threads. The upper end of the stepped shaft is provided with a rolling bearing, a raceway opposite to the bearing is milled at a proper position below the igniter support, and the requirements on the surface roughness of the two sides of the raceway are high. The three stepped shafts and the bearing play a role of auxiliary support and do not block rotation, so that the strength of the structure is skillfully enhanced.
7.3 ignition device
The ignition device consists of an igniter and a push-pull electromagnet, and the structural layout and installation are shown in figure 12.
The working environment requirements such as large high-altitude wind speed, distance between foreign matters and the cleaning device and the like are considered. The igniter flame needs to have wind-proof capability and be capable of being ejected for a certain distance. In view of the above requirements, the igniter is a BS-220 high-temperature flame gun.
7.4 oil supply device
The oil supply device consists of a hydraulic oil cylinder 7.4.4, a manual ball valve 7.4.3, a right-angle elbow 7.4.5, a quick-change connector 7.4.2 and an electromagnetic valve 7.4.1. The structural layout is shown in fig. 13.
8. Shearing mechanism of scissors
The scissors shearing module comprises a furling mechanism 8.1, scissors 8.2, an electromagnet 8.3 and a bracket 8.4. The device is arranged right in front of the robot and is mainly responsible for foreign matters in a certain range right below the power transmission line. Foreign matters are collected by the collecting mechanism, and the scissors are controlled by the electromagnet to cut the foreign matters which are difficult to remove or cannot be removed by a fire burning method. The module improves the reliability of foreign matter removal to a certain extent due to the existence of the furling mechanism.
8.1, furling mechanism
The furling mechanism is composed of two pairs of furling rods and a bracket, and the material is 45 steel, as shown in figure 14. Two groups of rod pieces are arranged right below the scissors and distributed at an angle of 30 degrees. The rod piece and the rod piece are connected with the bracket through threads, so that the rod piece and the bracket can be detached, and the portability of the cleaning device is improved.
The existence of the furling mechanism greatly increases the working range of the shearing mechanism and effectively improves the foreign matter removal efficiency.
8.2 shearing mechanism
The shearing mechanism consists of scissors, an electromagnet and a bracket. The bracket is fixed on the bottom plate of the machine box, one side of the scissors and the electromagnet are fixed on the bracket according to the figure 14, and the push-pull rod of the electromagnet and the other end of the scissors form a notch to be matched. The electromagnet push-pull action drill is changed into a shear shearing action, so that the shearing work is completed.
9. Deicing mechanism
The deicing mechanism designed by the invention is shown in fig. 15, and the structure consists of 8 blades 9.1, a rotating disc 9.2 and a supporting frame 9.3. The blade is made into an inclined shape, so that the tangential force of the blade can be increased, and ice is easily broken. The left arm and the right arm of the front arm of the robot are respectively provided with the deicing mechanism which is positioned on two sides of the power transmission line, so that a good deicing effect can be achieved. In order to avoid the interference between the two deicing mechanisms, the deicing mechanisms are installed in a staggered mode.
The robot body structure needs to provide enough space to install the foreign substance removal module and the deicing module. Since the objects and time points of action of the two modules are different, it is impossible to come online at the same time. Therefore, only the installation position is required to be left at the front walking mechanism of the robot. For the reader's convenience, the present application will mount the two modules on the front and rear arms, respectively, as shown in fig. 16. From the above motion simulation and dynamics simulation of the inspection robot, it can be seen that in order to make the robot operate more stably on the high-voltage power transmission line, it is necessary to ensure that the robot is symmetrical on both sides as much as possible, and the weight is uniformly distributed on both sides of the power transmission line.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and all equivalent substitutions or substitutions made on the above-mentioned embodiments are included in the scope of the present invention.
Claims (9)
1. A mechanical structure of a high-voltage transmission line inspection robot is characterized by comprising a travelling mechanism, an intermediate mechanism, an obstacle crossing mechanism, a pressing mechanism, a line sag adjusting mechanism and a supporting mechanism; the two groups of walking mechanisms comprise walking wheels consisting of two half wheels, wherein the two half wheels are respectively a driving wheel and a driven wheel, and the driving wheel is connected with a motor; the obstacle crossing mechanism is used for driving the driving wheel and the driven wheel to be separated or connected; an intermediate mechanism is arranged between the two groups of travelling mechanisms and is used for keeping the balance of the robot together with the other travelling mechanism when one travelling mechanism is opened to cross an obstacle, and the intermediate mechanism comprises an intermediate wheel consisting of two half wheels and a mechanism for driving the two half wheels to be separated or connected; the pressing mechanism comprises a pressing wheel and a mechanism for driving the pressing wheel to press the power transmission line upwards or move downwards; the line sag adjusting mechanism is positioned below the obstacle crossing mechanism and used for adjusting the vertical position of the travelling mechanism; the supporting mechanism is used for supporting the travelling mechanism, the intermediate mechanism, the obstacle crossing mechanism, the pressing mechanism and the line sag adjusting mechanism.
2. The mechanical structure of the high-voltage power transmission line inspection robot as claimed in claim 1, wherein the travelling mechanism comprises two travelling mechanism supporting arms with pedestal bearings and respectively positioned at two sides of the travelling wheel, and shafts of the driving wheel and the driven wheel are respectively connected with the pedestal bearings of the adjacent side travelling mechanism supporting arms; the shaft of the driving wheel passes through the bearing with the seat and is connected with the rotating shaft of the motor, and the motor seat of the motor is fixed on the supporting seat of the walking mechanism; the driving wheel or the driven wheel is provided with a coupling.
3. The mechanical structure of the high-voltage transmission line inspection robot as claimed in claim 2, wherein the obstacle crossing mechanism comprises a bidirectional screw rod, a guide rod and an obstacle crossing mechanism support seat; nuts are arranged on the travelling mechanism supporting seats, and two sections of screw rods with different rotation directions of the bidirectional screw rods respectively penetrate through the left travelling mechanism supporting seat and the right travelling mechanism supporting seat and the nuts thereof; two ends of the obstacle crossing mechanism supporting seat are provided with bearings with seats, the bearings with seats are respectively connected with two ends of a bidirectional screw rod, and one end of the bidirectional screw rod is connected with a motor; the guide rod passes through the two walking mechanism supporting seats, two ends of the guide rod are fixed on the obstacle crossing mechanism supporting seat, and the walking mechanism supporting seat can slide along the guide rod.
4. The mechanical structure of the high-voltage power transmission line inspection robot according to claim 1, wherein the intermediate mechanism comprises two intermediate arms respectively positioned at two sides of an intermediate wheel, an intermediate mechanism supporting seat, a spring, two gears meshed with each other and a motor; the shafts of the two half wheels of the middle wheel are respectively connected with the bearing with a seat adjacent to the middle arm at the near side; a spring is connected between the two middle arms; the two side middle arms are respectively connected with the two gears, the shafts of the gears are connected with the bearings with the seats on the middle mechanism supporting seat, and the motor is connected with the shaft of one of the gears.
5. The mechanical structure of the high-voltage power transmission line inspection robot according to claim 3, wherein the pressing mechanism comprises a pressing wheel, an upper supporting seat and a lower supporting seat; the pinch roller is positioned below the travelling wheel; two bearings with seats are respectively arranged on the upper support seat and positioned on two sides of the pressing wheel, and shafts on two sides of the pressing wheel are respectively connected with the bearings with seats on two sides; a nut and a guide rod are arranged below the upper supporting seat; the screw motor is fixed on the lower support seat, a screw of the screw motor is connected with a nut, and the guide rod penetrates through the lower support seat and can move up and down along the lower support seat; the lower support frame is fixed on the obstacle crossing mechanism support seat.
6. The mechanical structure of the high-voltage transmission line inspection robot as claimed in claim 3, wherein the line sag adjusting mechanism comprises an electromagnet arranged on the supporting mechanism, and a connecting rod connected with a sliding rod of the electromagnet is arranged at the bottom of the obstacle crossing mechanism supporting seat.
7. The mechanical structure of the high-voltage transmission line inspection robot according to claim 1, further comprising a fire clearing mechanism, wherein the fire clearing mechanism comprises a first speed reducing motor with a horizontal motor shaft, a second speed reducing motor with a vertical motor shaft, an ignition device and an oil supply device; the motor base of the second speed reducing motor is installed on the motor shaft of the first speed reducing motor, and the ignition device and the oil supply device are installed on the motor shaft of the second speed reducing motor.
8. The mechanical structure of the high-voltage transmission line inspection robot as claimed in claim 1, further comprising a scissors shearing mechanism, which is arranged right in front of the robot and comprises a furling mechanism and a scissors mechanism; the furling mechanism is positioned below the scissors mechanism and comprises a pair of furling rods distributed at an angle of 30 degrees.
9. The mechanical structure of the high-voltage transmission line inspection robot as claimed in claim 1, further comprising deicing mechanisms, wherein the deicing mechanisms are respectively mounted on the left arm and the right arm of the front arm of the robot and are positioned on two sides of the transmission line; the deicing mechanism comprises a rotary table, a supporting frame and a plurality of blades, the blades are circumferentially and uniformly fixed on the rotary table, and the rotary table is fixed on the supporting frame and rotates relative to the supporting frame.
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| CN113376637A (en) * | 2021-06-30 | 2021-09-10 | 海南电网有限责任公司白沙供电局 | Power grid line tree obstacle measuring device |
| CN113659485A (en) * | 2021-08-23 | 2021-11-16 | 南京荟聪网络科技有限公司 | Walking obstacle crossing mechanism of power transmission cable inspection robot and obstacle crossing method thereof |
| CN114243567A (en) * | 2022-01-11 | 2022-03-25 | 兴能电力建设有限公司 | Intelligent power maintenance device |
| CN114336486A (en) * | 2021-12-02 | 2022-04-12 | 国网江苏省电力有限公司盐城供电分公司 | Snow removal control system for unmanned aerial vehicle |
| CN115026791A (en) * | 2022-08-12 | 2022-09-09 | 天津滨电电力工程有限公司 | Just, formula distribution station hangs rail formula robot running gear dismantles |
| CN115902548A (en) * | 2022-11-23 | 2023-04-04 | 国网江苏省电力有限公司镇江供电分公司 | Overhead line insulator detection robot in transformer substation and obstacle crossing method of overhead line insulator detection robot |
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| CN115902548A (en) * | 2022-11-23 | 2023-04-04 | 国网江苏省电力有限公司镇江供电分公司 | Overhead line insulator detection robot in transformer substation and obstacle crossing method of overhead line insulator detection robot |
| CN115902548B (en) * | 2022-11-23 | 2023-09-22 | 国网江苏省电力有限公司镇江供电分公司 | Overhead wire insulator detection robot in transformer substation and obstacle crossing method of overhead wire insulator detection robot |
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