CN111993385A - Power line operation walking robot - Google Patents
Power line operation walking robot Download PDFInfo
- Publication number
- CN111993385A CN111993385A CN202010868442.3A CN202010868442A CN111993385A CN 111993385 A CN111993385 A CN 111993385A CN 202010868442 A CN202010868442 A CN 202010868442A CN 111993385 A CN111993385 A CN 111993385A
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- CN
- China
- Prior art keywords
- motor
- walking robot
- power line
- electric
- box body
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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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- 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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- 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)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a power line operation walking robot, wherein a power tool box is arranged at the top of a box body, mechanical arms are symmetrically arranged on two sides of the box body, each mechanical arm comprises a cantilever and an electric telescopic rod, first motors on two sides inside the box body are connected with one end of each cantilever, a second motor is arranged at the other end of each cantilever and connected with the bottom of each electric telescopic rod, a walking mechanism is arranged at the top of each electric telescopic rod and comprises a connecting frame fixed on each electric telescopic rod, a third motor is connected with the bottom of each connecting frame, a roller is sleeved on one side inside each connecting frame through a rotating shaft, a fourth motor drives the rotating shaft to rotate, the top of each connecting frame is connected with a protection frame, the bottom of each protection frame is hinged with a rotating plate, and a fifth motor is connected with the rotating. This walking robot can realize the leap between the electric wire conveniently, possesses the function of carrying electric power tool case simultaneously, makes this walking robot of electric power personnel accessible transport the multiplexer utensil and carries out quick maintenance.
Description
Technical Field
The invention relates to the technical field of power equipment, in particular to a power line operation walking robot.
Background
An electric power line refers to a line used to transmit electric energy between a power plant, a substation, and an electric power consumer. It is an important component of a power supply system and is responsible for the task of delivering and distributing electrical energy.
When carrying out electric power circuit and overhauing now, stand on the electric power circuit through the power workman, overhaul the investigation section by section along the electric power circuit, because carry out the operation at the high altitude, very dangerous, life danger will take place carelessly a little, and a plurality of workman generally carry out the operation simultaneously, even like this, work efficiency still is not high, wastes time and energy, and power workman still need carry a plurality of instruments, and is very inconvenient. At present, manufacturers develop inspection walking robots, such as chinese patent with publication number CN103972821B and publication number 2015.11.11, i.e., a high-voltage transmission line live working robot, which realizes walking and maintenance on a high-voltage line through a working mechanical arm, an auxiliary mechanical arm and a walking wheel, but can only operate on a single line, and does not have the function of carrying a tool box, so that the efficiency is low, and electric power personnel cannot effectively and quickly perform line maintenance.
Disclosure of Invention
The invention provides a power line operation walking robot, which can conveniently realize crossing among power lines, has the function of carrying a power tool box, does not need power personnel to carry tools, and enables the power personnel to carry out quick maintenance on transport tools through the walking robot.
The technical scheme of the invention is as follows:
a power line operation walking robot comprises a box body, wherein a power tool box is arranged at the top of the box body, mechanical arms are symmetrically arranged on two sides of the box body, each mechanical arm comprises a cantilever and an electric telescopic rod, first motors are arranged on two sides of the inside of the box body, output shafts of the first motors penetrate through the side wall of the box body and are connected with one end of the cantilever, a second motor is arranged at the other end of the cantilever, output shafts of the second motors are connected with the bottom of the electric telescopic rods, a walking mechanism is arranged at the top of the electric telescopic rods and comprises a connecting frame fixed on the electric telescopic rods, a third motor is arranged at the top of the electric telescopic rods, an output shaft of the third motor is connected with the bottom of the connecting frame, a rotating shaft is rotatably connected to one side of the inside of the connecting frame, and a roller wheel is sleeved on, the novel motor protection device is characterized in that a fourth motor used for driving the rotating shaft to rotate is fixed on one side of the outer portion of the connecting frame, a protection frame is connected to the top of the connecting frame, a rotating plate is hinged to the bottom of the protection frame, a fifth motor is arranged on the protection frame, and an output shaft of the fifth motor is connected with the rotating plate through a pull rope.
Further, the middle of the bottom of the box body is rotatably connected with a ball body, the lower surface of the ball body is fixedly connected with a swing rod, and one end, far away from the ball body, of the swing rod is connected with a balance weight plate through threads. When the walking robot carries out line crossing, the box body is in a horizontal position under the action of the weight plate connected with the ball body through the swing rod, and then the electric power tool box is in the horizontal position.
Further, the inside of box is provided with the battery, the battery is connected with first motor, second motor, electric telescopic handle, third motor, fourth motor, fifth motor electricity.
Furthermore, the output shaft of the second motor is connected with a first gear, a second gear is fixed at the bottom of the electric telescopic rod, and the second gear is meshed with the first gear.
Further, a mounting groove is formed in the top of the connecting frame, a connecting rod is arranged at the top of the protection frame, and one end of the connecting rod is inserted into the mounting groove and fixedly connected through a screw. The protection frame and the connecting frame are convenient to detach, so that different rollers can be replaced, and the power cable is suitable for power cables with different wire diameters.
Further, an output shaft of the fourth motor penetrates through the side wall of the connecting frame through a bearing and is fixedly connected with the rotating shaft through a coupler.
Further, the roller is provided with a groove.
Further, an insulating sleeve is arranged inside the groove.
Furthermore, the surface of the rotating shaft is coated with an insulating coating, so that the electromagnetic field on the surface of the power cable is prevented from influencing the operation of the fifth motor through the rotating shaft, and the effect of safety protection can be achieved.
Further, the top of box is fixed with the installation frame, the electric power tool case is placed in the installation frame and carries out spacing fixed through the bolt.
The working principle is as follows: when the walking robot is hung on a power cable, the walking robot can be placed on the power line through the roller grooves on the walking mechanisms on the two sides, then the fifth motor is driven, the fifth motor pulls the rotating plate through the pull rope, so that the rotating plate is closed and returns to the position below the roller, the rotating plate can prevent the walking robot in the power line operation from sliding out of the power line, and at the moment, the fourth motor is driven to rotate the roller, so that the walking motion of the walking robot on the power line is realized; when the electric power tower is required to span from one electric wire to another electric wire or span a supporting structure of the electric wire on the electric power tower, the fifth motor of one mechanical arm reversely rotates, so that the rotating plate rotates to be opened under the action of gravity, the electric telescopic rod is driven to extend at the moment, the roller is separated from the electric wire, then the position of the electric telescopic rod and the direction of the traveling mechanism rotated by the third motor can be adjusted by the aid of the first motor rotating cantilever and the second motor, under the synergistic action of the three parts, the traveling mechanism spans to the other electric wire or spans the supporting structure of the electric wire on the electric power tower, the electric telescopic rod is shortened, a groove of the roller falls on the electric power cable, then the fifth motor is driven to drive the rotating plate to rotate through the pull rope to return to the lower part of the roller, and then the other mechanical arm spans from one electric wire to the other electric wire or spans the supporting structure of the electric wire on the, under the effect that the spheroid passes through the weight plate that the pendulum rod is connected, the box is in horizontal position, and then makes power tool case be in horizontal position, accomplishes strideing across between the electric wire, can make the interior instrument of power tool case of power personnel use on many electric wires, need not power personnel and carry the instrument, makes this walking robot of power personnel accessible carry out the transport tool and utensil and carry out quick maintenance.
The invention has the beneficial effects that:
1. the walking robot can walk on a power line, and meanwhile, the weight disc can ensure that a power tool box or other substituted power line maintenance appliances are in a horizontal position, so that power personnel can conveniently perform power line operation, and the efficiency is improved.
2. The walking robot can freely span between different power lines and also can span a supporting structure of a wire on a power tower, so that the problem that a plurality of workers need to carry out power overhaul operation simultaneously is solved, and the operation cost is saved.
3. The roller of the walking robot can be freely replaced, so that the use of different power lines is met, and meanwhile, the walking robot for the operation of the power lines can be prevented from sliding out of the power lines under the action of the rotating plate, so that the safety coefficient is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a traveling mechanism;
FIG. 3 is a schematic top view of the structure of the traveling mechanism;
in the figure: 1-box body, 2-electric tool box, 3-cantilever, 4-electric telescopic rod, 5-first motor, 6-second motor, 7-first gear, 8-second gear, 9-connecting frame, 10-third motor, 11-rotating shaft, 12-roller, 13-groove, 14-fourth motor, 15-protective frame, 16-rotating plate, 17-fifth motor, 18-pull rope, 19-storage battery, 20-ball body, 21-swing rod, 22-counterweight disk, 23-mounting groove and 24-connecting rod.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
Example 1:
as shown in fig. 1-3, a power line operation walking robot comprises a box body 1, a power tool box 2 is arranged at the top of the box body 1, mechanical arms are symmetrically arranged at two sides of the box body 1, each mechanical arm comprises a cantilever 3 and an electric telescopic rod 4, first motors 5 are arranged at two sides inside the box body 1, an output shaft of each first motor 5 penetrates through the side wall of the box body 1 and is connected with one end of the cantilever 3, a second motor 6 is arranged at the other end of the cantilever 3, an output shaft of each second motor 6 is connected with a first gear 7, a second gear 8 is fixed at the bottom of each electric telescopic rod 4, the second gear 8 is meshed with the first gear 7, a walking mechanism is arranged at the top of each electric telescopic rod 4, the walking mechanism comprises a connecting frame 9 fixed on the electric telescopic rod 4, a third motor 10 is arranged at the top of each electric telescopic rod 4, an output shaft of the third, the inside one side of link 9 is rotated and is connected with pivot 11, gyro wheel 12 has been cup jointed in the pivot 11, gyro wheel 12 is provided with recess 13, the inside of recess 13 is provided with insulating cover, outside one side of link 9 is fixed with and is used for driving pivot 11 pivoted fourth motor 14, the output shaft of fourth motor 14 passes the lateral wall of link 9 through the bearing, and pass through shaft coupling and pivot 11 fixed connection, the top of link 9 is connected with fender bracket 15, the bottom of fender bracket 15 articulates there is rotor plate 16, be equipped with fifth motor 17 on the fender bracket 15, the output shaft of fifth motor 17 passes through stay cord 18 and is connected with rotor plate 16.
The storage battery 19 is arranged in the box body 1, and the storage battery 19 is electrically connected with the first motor 5, the second motor 6, the electric telescopic rod 4, the third motor 10, the fourth motor 14 and the fifth motor 17.
In this embodiment, a ball 20 is rotatably connected to the middle of the bottom of the box 1, a swing rod 21 is fixedly connected to the lower surface of the ball 20, and a weight plate 22 is screwed to one end of the swing rod 21 away from the ball 20. When the walking robot crosses the line, the ball 20 is in the horizontal position under the action of the balance weight disc 22 connected with the swing rod 21, and the box body 1 and the electric power tool box 2 are in the horizontal position.
In this embodiment, mounting groove 23 has been seted up at the top of link 9, and the top of fender bracket 15 is equipped with connecting rod 24, and the one end of connecting rod 24 is inserted in mounting groove 23 and is connected through screw fixed connection, makes things convenient for the disconnect of protection 15 and link 9 to change different gyro wheels 12, adapt to the electric power cable of different footpaths.
In this embodiment, the surface of the rotating shaft 11 is coated with an insulating coating, so as to prevent the electromagnetic field on the surface of the power cable from affecting the operation of the fifth motor 17 through the rotating shaft 11, and thus, the effect of safety protection can be achieved. Meanwhile, the exposed part of the structure is coated with an insulating coating, so that the safety protection is enhanced.
In this embodiment, a mounting frame is fixed to the top of the box 1, and the power tool box 2 is placed in the mounting frame and fixed in a limited manner by bolts, so that other power line maintenance tools can be replaced on the mounting frame.
The working principle of the invention is as follows:
when the walking robot is hung on a power cable, the walking robot can be placed on the power line through the grooves 13 of the rollers 12 on the walking mechanisms on the two sides, then the fifth motor 17 is driven, the fifth motor 17 pulls the rotating plate 16 through the pull rope 18 to enable the rotating plate 16 to be closed and return to the lower part of the rollers 12, the rotating plate 16 can prevent the walking robot in the operation of the power line from sliding out of the power line, and at the moment, the fourth motor 14 is driven to enable the rollers 12 to rotate, so that the walking motion of the walking robot on the power line is realized; when the electric wire needs to cross from one electric wire to another electric wire or cross the supporting structure of the electric wire on the electric tower, the fifth motor 17 of one mechanical arm rotates reversely, the rotating plate 16 rotates and opens under the action of gravity, at the moment, the electric telescopic rod 4 is driven to extend, the roller 12 is separated from the electric wire, then the cantilever 3 can be rotated by the first motor 5, the position of the electric telescopic rod 4 is adjusted by the second motor 6, the direction of the traveling mechanism is rotated by the third motor 10, under the synergistic action of the three parts, the traveling mechanism crosses to another electric wire or crosses the supporting structure of the electric wire on the electric tower, the electric telescopic rod 4 is shortened, the groove 13 of the roller 12 falls on the electric cable, then the fifth motor 17 is driven to drive the rotating plate 16 to rotate by the pull rope 18 and return to the lower part of the roller 12, then the other mechanical arm crosses from one electric wire to another electric wire or crosses the supporting structure of the electric wire on the electric tower in the same way, under the action of a balance weight disc 22 connected with the ball body 20 through the swing rod 21, the box body 1 is in a horizontal position, so that the power tool box 2 is in a horizontal position, the crossing between the electric wires is completed, power personnel on the electric wires can use tools in the power tool box 2, the power personnel do not need to carry tools, and the power personnel can carry out transportation of the tool for quick maintenance through the walking robot.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A power line operation walking robot, characterized in that: the electric tool box comprises a box body, wherein an electric tool box is arranged at the top of the box body, mechanical arms are symmetrically arranged on two sides of the box body, each mechanical arm comprises a cantilever and an electric telescopic rod, first motors are arranged on two inner sides of the box body, output shafts of the first motors penetrate through the side wall of the box body and are connected with one end of each cantilever, a second motor is arranged at the other end of each cantilever, output shafts of the second motors are connected with the bottom of the electric telescopic rods, a walking mechanism is arranged at the top of each electric telescopic rod and comprises a connecting frame fixed on the electric telescopic rods, a third motor is arranged at the top of each electric telescopic rod, an output shaft of the third motor is connected with the bottom of the connecting frame, a rotating shaft is rotatably connected to one inner side of the connecting frame, a roller is sleeved on the rotating shaft, and a fourth motor for driving the rotating shaft to rotate is fixed, the top of link is connected with the fender bracket, the bottom of fender bracket articulates there is the rotor plate, be equipped with the fifth motor on the fender bracket, the output shaft of fifth motor pass through the stay cord with the rotor plate is connected.
2. The electric power line working walking robot according to claim 1, characterized in that: the middle of the bottom of the box body is rotatably connected with a ball body, the lower surface of the ball body is fixedly connected with a swing rod, and one end, far away from the ball body, of the swing rod is in threaded connection with a balance weight plate.
3. The electric power line working walking robot according to claim 1, characterized in that: the storage battery is arranged in the box body and is electrically connected with the first motor, the second motor, the electric telescopic rod, the third motor, the fourth motor and the fifth motor.
4. The electric power line working walking robot according to claim 1, characterized in that: the output shaft of the second motor is connected with a first gear, a second gear is fixed at the bottom of the electric telescopic rod, and the second gear is meshed with the first gear.
5. The electric power line working walking robot according to claim 1, characterized in that: the mounting groove has been seted up at the top of link, the top of fender bracket is equipped with the connecting rod, the one end of connecting rod inserts in the mounting groove and through screw fixed connection.
6. The electric power line working walking robot according to claim 1, characterized in that: and an output shaft of the fourth motor penetrates through the side wall of the connecting frame through a bearing and is fixedly connected with the rotating shaft through a coupler.
7. The electric power line working walking robot according to claim 1, characterized in that: the roller is provided with a groove.
8. The electric power line working walking robot according to claim 7, characterized in that: an insulating sleeve is arranged inside the groove.
9. The electric power line working walking robot according to claim 1, characterized in that: the surface of the rotating shaft is coated with an insulating coating.
10. The electric power line working walking robot according to claim 1, characterized in that: the top of box is fixed with the installation frame, the electric power tool case is placed in the installation frame and carries out spacing fixed through the bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010868442.3A CN111993385A (en) | 2020-08-26 | 2020-08-26 | Power line operation walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010868442.3A CN111993385A (en) | 2020-08-26 | 2020-08-26 | Power line operation walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111993385A true CN111993385A (en) | 2020-11-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010868442.3A Pending CN111993385A (en) | 2020-08-26 | 2020-08-26 | Power line operation walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111993385A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113193513A (en) * | 2021-05-08 | 2021-07-30 | 国网河北省电力有限公司石家庄市鹿泉区供电分公司 | Power line suspension device |
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| CN202678898U (en) * | 2012-05-30 | 2013-01-16 | 哈尔滨工程大学 | Deicing robot for transmission line |
| JP2013158147A (en) * | 2012-01-30 | 2013-08-15 | Chugoku Electric Power Co Inc:The | Scaffold |
| CN109855610A (en) * | 2019-03-11 | 2019-06-07 | 黄河水利职业技术学院 | A kind of Geological Engineering construction computer surveying instrument |
| CN209896574U (en) * | 2019-04-10 | 2020-01-03 | 问洋铭 | High-altitude line sliding operation platform |
| CN110829266A (en) * | 2019-11-26 | 2020-02-21 | 长沙理工大学 | Power transmission line online electricity taking rolling obstacle crossing robot and application method thereof |
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2020
- 2020-08-26 CN CN202010868442.3A patent/CN111993385A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1658460A (en) * | 2005-03-18 | 2005-08-24 | 山东大学 | Robot of autonomous moving along 110KV transmission line and its working method |
| WO2008000677A1 (en) * | 2006-06-29 | 2008-01-03 | Abb Research Ltd | A self-propelled inspection apparatus |
| CN201544221U (en) * | 2009-10-26 | 2010-08-11 | 中国科学院沈阳自动化研究所 | Swing type wheel arm paw composite inspection robot mechanism |
| CN102074915A (en) * | 2010-12-09 | 2011-05-25 | 山东电力研究院 | Split line moving platform |
| JP2013158147A (en) * | 2012-01-30 | 2013-08-15 | Chugoku Electric Power Co Inc:The | Scaffold |
| CN202678898U (en) * | 2012-05-30 | 2013-01-16 | 哈尔滨工程大学 | Deicing robot for transmission line |
| CN109855610A (en) * | 2019-03-11 | 2019-06-07 | 黄河水利职业技术学院 | A kind of Geological Engineering construction computer surveying instrument |
| CN209896574U (en) * | 2019-04-10 | 2020-01-03 | 问洋铭 | High-altitude line sliding operation platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113193513A (en) * | 2021-05-08 | 2021-07-30 | 国网河北省电力有限公司石家庄市鹿泉区供电分公司 | Power line suspension device |
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Application publication date: 20201127 |
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