CN112003224B - Robot is patrolled and examined in electrified deicing of high-voltage line - Google Patents
Robot is patrolled and examined in electrified deicing of high-voltage line Download PDFInfo
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- CN112003224B CN112003224B CN202010920440.4A CN202010920440A CN112003224B CN 112003224 B CN112003224 B CN 112003224B CN 202010920440 A CN202010920440 A CN 202010920440A CN 112003224 B CN112003224 B CN 112003224B
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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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/16—Devices for removing snow or ice from lines or cables
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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 discloses a high-voltage line electrified deicing inspection robot, belongs to the technical field of electric power deicing, and solves the problems that the angle of a deicing robot device of the conventional device is inconvenient to adjust and the deicing efficiency is reduced; the technical characteristics are as follows: the deicing device comprises a base and a supporting arm, wherein the supporting arm is fixedly arranged on the base, a lifting assembly used for fixing a high-voltage wire is arranged on the supporting arm, a deicing mechanism is arranged on the base, and a displacement mechanism used for adjusting the position of the deicing mechanism is arranged between the deicing mechanism and the base; the embodiment of the invention is provided with the anti-falling assembly, the anti-falling assembly is arranged to limit the clamping arm, so that the phenomenon that the high-voltage wire falls off in the clamping process of the high-voltage wire is avoided, the deicing is ensured to be smoothly carried out, the deicing efficiency is improved, meanwhile, the position of the deicing mechanism is flexible and adjustable, the deicing speed is improved, the inclination angle of the clamping ring is convenient to adjust, and the deicing range is further expanded.
Description
Technical Field
The invention relates to the technical field of electric power deicing, in particular to a high-voltage line electrified deicing inspection robot.
Background
In the electric power field, the high-voltage line freezes in winter and influences the accident frequent occurrence of transmission of electricity and pressure outage electric wire, at present, current high-voltage line defroster structural design is unreasonable, not only deicing effect is relatively poor, work efficiency is low, moreover, deicing in-process leads to the fact the damage to the high-voltage line easily, moreover, current high-voltage line defroster is when using, the outage operation will be carried out earlier, then the mode that adopts artifical climbing places high-voltage line defroster on the high-voltage line and carries out the high-voltage line deicing, danger coefficient is high like this, deicing efficiency has been reduced simultaneously.
Chinese patent CN208190207U discloses a high-voltage line electrified deicing inspection robot, which structurally comprises a deicing arm fixing head, a deicing arm obstacle crossing shaft, a front driving deicing wheel, a safety lock, a balance middle wheel, a ground foot, a spring-in type lower shoulder strap port, a deicing robot device, a rear driving wheel, a wheel cover, a heat dissipation port, a data transmission port, a spring-in type upper shoulder strap port and an upper cover.
Disclosure of Invention
The invention aims to provide an electrified deicing inspection robot for a high-voltage wire, which comprises a base and a supporting arm, wherein the supporting arm is fixedly arranged on the base, a lifting assembly used for fixing the high-voltage wire is arranged on the supporting arm, a deicing mechanism is arranged on the base, and a displacement mechanism used for adjusting the position of the deicing mechanism is arranged between the deicing mechanism and the base, so that the problems that the angle of a deicing robot device of the conventional device is inconvenient to adjust and the deicing efficiency is reduced are solved.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a robot is patrolled and examined in electrified deicing of high-voltage line, includes base and support arm, and fixed mounting has the support arm on the base, is provided with the promotion subassembly that is used for fixed high-voltage line on the support arm, is provided with deicing mechanism on the base, is provided with the displacement mechanism who adjusts deicing mechanism position between deicing mechanism and the base.
As a further scheme of the invention: still be provided with fixture on the support arm, fixture and hoisting component are connected, and hoisting component includes first servo motor and first screw rod, and vertical spacing groove has been seted up at the top of support arm, and vertical spacing inslot is equipped with first screw rod, rotates through the bearing between the bottom of first screw rod and the support arm to be connected, the first servo motor of top fixedly connected with of first screw rod, and first servo motor passes through mounting bracket fixed mounting at the top of support arm.
As a still further scheme of the invention: the clamping mechanism comprises a clamping cavity, the clamping cavity is sleeved on the first screw rod, the first screw rod and the clamping cavity are connected through threads, a first hydraulic cylinder is fixedly mounted in the clamping cavity, a telescopic end of the first hydraulic cylinder is fixedly connected with a hinged seat, the upper side and the lower side of the hinged seat are symmetrically hinged with two clamping arms respectively, the middle of each clamping arm is rotatably connected with the inner wall of the clamping cavity, and one end, away from the hinged seat, of each clamping arm is hinged with a clamping plate.
As a still further scheme of the invention: the clamping cavity is internally provided with an anti-falling assembly used for limiting the clamping arm, the anti-falling assembly comprises a positioning piece and a first hinge groove, the positioning piece is fixedly connected with the side wall of the clamping cavity through a bolt, the bottom of the positioning piece is fixedly provided with the first hinge groove, the first hinge groove is internally provided with a first buffer spring and a first hinge block, one end of the first buffer spring is fixedly connected with the first hinge block, the first hinge block is hinged with the clamping arm, the clamping cavity is internally provided with a vertical positioning plate used for limiting the hinge seat, and the vertical positioning plate is connected with the hinge seat in a sliding manner.
As a still further scheme of the invention: the displacement mechanism comprises a second servo motor and a second screw rod, the second servo motor is fixedly installed on the base, the output end of the second servo motor is connected with the second screw rod in an interference fit mode, the other end of the second screw rod is rotatably connected with the side wall of the supporting arm through a bearing, a first thread block is sleeved outside the second screw rod, the first thread block and the second screw rod are connected through threads, and a horizontal positioning plate is fixedly connected to the upper portion of the first thread block.
As a still further scheme of the invention: horizontal positioning plate's last fixed surface installs the second pneumatic cylinder, the flexible end of second pneumatic cylinder articulates there is the push rod, the push rod slope sets up, and the push rod keeps away from that the flexible end of second pneumatic cylinder articulates there is articulated piece of second, articulated piece movable mounting of second articulates at the second and articulates the inslot, articulated groove fixed mounting of second is on the lifter plate, lifter plate and deicing mechanism fixed connection, the inslot of second hinge still is provided with the second buffer spring who is used for protecting the articulated piece of second, the one end of second buffer spring and the lateral wall fixed connection in second hinge groove, the articulated piece of other end fixedly connected with second of second buffer spring, sliding connection between lifter plate and the horizontal positioning plate.
As a still further scheme of the invention: deicing mechanism includes the deicing chamber, and deicing intracavity fixed mounting has third servo motor, and third servo motor's output end fixedly connected with third screw rod, and the outside cover of third screw rod is equipped with second screw thread piece, passes through threaded connection between third screw rod and the second screw thread piece, and fixed mounting third pneumatic cylinder on the second screw thread piece, and the flexible end of third pneumatic cylinder articulates there is the swing arm, and the one end and the second screw thread piece of swing arm rotate to be connected, the other end fixedly connected with snap ring of swing arm.
As a still further scheme of the invention: the inner wall equipartition of snap ring has a plurality ofly to remove the ice-cube, has seted up the heating chamber in the ice-cube, installs the electrical heating stick in the heating chamber, and the outer wall that removes the ice-cube is provided with the deicing brush.
In conclusion, the beneficial effects of the invention are as follows: the embodiment of the invention is provided with the anti-falling assembly, the anti-falling assembly is arranged to limit the clamping arm, so that the phenomenon that the high-voltage wire falls off in the clamping process of the high-voltage wire is avoided, the deicing is ensured to be smoothly carried out, the deicing efficiency is improved, meanwhile, the position of the deicing mechanism is flexible and adjustable, the deicing speed is improved, the inclination angle of the clamping ring is convenient to adjust, and the deicing range is further expanded.
Drawings
Fig. 1 is a schematic structural diagram of the invention.
Fig. 2 is a schematic structural diagram of the base of the present invention.
Fig. 3 is a schematic structural diagram of a clamping mechanism in the invention.
Fig. 4 is a partially enlarged schematic view of a in fig. 3.
Fig. 5 is a schematic structural diagram of a positioning element of the present invention.
FIG. 6 is a schematic diagram of a clamping chamber according to the present invention.
Fig. 7 is a schematic structural diagram of a deicing mechanism in the invention.
Fig. 8 is a schematic structural view of a snap ring in the invention.
Fig. 9 is a schematic structural diagram of ice removing in the invention.
In the figure: 1-base, 2-supporting arm, 3-vertical limiting groove, 4-protective cover, 5-first screw, 6-first servo motor, 7-clamping cavity, 8-first hydraulic cylinder, 9-vertical positioning plate, 10-clamping arm, 11-hinging seat, 12-positioning piece, 13-clamping plate, 14-first hinging groove, 15-first buffer spring, 16-first hinging block, 17-second servo motor, 18-second screw, 19-deicing mechanism, 20-first thread block, 21-horizontal positioning plate, 22-lifting plate, 23-second hydraulic cylinder, 24-push rod, 25-second hinging block, 26-second hinging groove, 27-second buffer spring, 28-deicing cavity, 29-third servo motor, 30-a third screw, 31-a second thread block, 32-a swing arm, 33-a third hydraulic cylinder, 34-a snap ring, 35-a deicing block, 36-a heating cavity and 37-a deicing brush.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1-2, in the embodiment of the invention, the inspection robot for electrified deicing of a high-voltage wire comprises a base 1 and a support arm 2, wherein the support arm 2 is fixedly installed on the base 1, a lifting assembly for fixing the high-voltage wire is arranged on the support arm 2, a deicing mechanism 19 is arranged on the base 1, and a displacement mechanism for adjusting the position of the deicing mechanism 19 is arranged between the deicing mechanism 19 and the base 1;
the supporting arm 2 is further provided with a clamping mechanism, the clamping mechanism is connected with a lifting assembly, the lifting assembly comprises a first servo motor 6 and a first screw 5, the top of the supporting arm 2 is provided with a vertical limiting groove 3, the first screw 5 is arranged in the vertical limiting groove 3, the bottom of the first screw 5 is rotatably connected with the supporting arm 2 through a bearing, the top of the first screw 5 is fixedly connected with the first servo motor 6, and the first servo motor 6 is fixedly arranged at the top of the supporting arm 2 through a mounting frame;
as shown in fig. 3 and 6, the clamping mechanism includes a clamping cavity 7, the clamping cavity 7 is sleeved on the first screw 5, the first screw 5 and the clamping cavity 7 are connected through threads, a first hydraulic cylinder 8 is fixedly installed in the clamping cavity 7, a hinge base 11 is fixedly connected to the telescopic end of the first hydraulic cylinder 8, two clamping arms 10 are symmetrically hinged to the upper side and the lower side of the hinge base 11 respectively, the middle of each clamping arm 10 is rotatably connected with the inner wall of the clamping cavity 7, and a clamping plate 13 is hinged to one end of each clamping arm 10 away from the hinge base 11;
as shown in fig. 4-5, an anti-falling assembly for limiting the clamping arm 10 is further disposed in the clamping cavity 7, the anti-falling assembly includes a positioning member 12 and a first hinge groove 14, the positioning member 12 is fixedly connected to a sidewall of the clamping cavity 7 through a bolt, the bottom of the positioning member 12 is fixedly mounted with the first hinge groove 14, a first buffer spring 15 and a first hinge block 16 are mounted in the first hinge groove 14, one end of the first buffer spring 15 is fixedly connected to the first hinge block 16, and the first hinge block 16 is hinged to the clamping arm 10;
the anti-drop subassembly set up realized spacing to clamping arm 10, and then avoided appearing the phenomenon that drops to high-voltage line clamping process in-process high-voltage line, guaranteed going on smoothly of deicing, improved the efficiency of deicing.
Meanwhile, when the high-voltage wire needs to be clamped, the first hydraulic cylinder 8 is started, the first hydraulic cylinder 8 drives the hinge base 11 to move, so that the hinge base 11 drives the clamping arm 10 to rotate, and the clamping arm 10 drives the clamping plate 13 to move, clamping and limiting of the high-voltage wire are achieved, and falling off of the high-voltage wire is avoided;
a vertical positioning plate 9 for limiting the hinge seat 11 is arranged in the clamping cavity 7, and the vertical positioning plate 9 is connected with the hinge seat 11 in a sliding manner;
when the position of the clamping mechanism needs to be adjusted, the first servo motor 6 is started, and the first servo motor 6 drives the first screw rod 5 to rotate, so that the first screw rod 5 drives the clamping mechanism to move up and down, and the position of the clamping mechanism is adjusted.
Example 2
As shown in fig. 1-2, in the embodiment of the invention, the inspection robot for electrified deicing of a high-voltage wire comprises a base 1 and a support arm 2, wherein the support arm 2 is fixedly installed on the base 1, a lifting assembly for fixing the high-voltage wire is arranged on the support arm 2, a deicing mechanism 19 is arranged on the base 1, and a displacement mechanism for adjusting the position of the deicing mechanism 19 is arranged between the deicing mechanism 19 and the base 1;
the supporting arm 2 is further provided with a clamping mechanism, the clamping mechanism is connected with a lifting assembly, the lifting assembly comprises a first servo motor 6 and a first screw 5, the top of the supporting arm 2 is provided with a vertical limiting groove 3, the first screw 5 is arranged in the vertical limiting groove 3, the bottom of the first screw 5 is rotatably connected with the supporting arm 2 through a bearing, the top of the first screw 5 is fixedly connected with the first servo motor 6, and the first servo motor 6 is fixedly arranged at the top of the supporting arm 2 through a mounting frame;
as shown in fig. 3 and 6, the clamping mechanism includes a clamping cavity 7, the clamping cavity 7 is sleeved on the first screw 5, the first screw 5 and the clamping cavity 7 are connected through threads, a first hydraulic cylinder 8 is fixedly installed in the clamping cavity 7, a hinge base 11 is fixedly connected to the telescopic end of the first hydraulic cylinder 8, two clamping arms 10 are symmetrically hinged to the upper side and the lower side of the hinge base 11 respectively, the middle of each clamping arm 10 is rotatably connected with the inner wall of the clamping cavity 7, and a clamping plate 13 is hinged to one end of each clamping arm 10 away from the hinge base 11;
meanwhile, when the high-voltage wire needs to be clamped, the first hydraulic cylinder 8 is started, the first hydraulic cylinder 8 drives the hinge base 11 to move, so that the hinge base 11 drives the clamping arm 10 to rotate, and the clamping arm 10 drives the clamping plate 13 to move, clamping and limiting of the high-voltage wire are achieved, and falling off of the high-voltage wire is avoided;
a vertical positioning plate 9 for limiting the hinge seat 11 is arranged in the clamping cavity 7, and the vertical positioning plate 9 is connected with the hinge seat 11 in a sliding manner;
when the position of the clamping mechanism needs to be adjusted, the first servo motor 6 is started, and the first servo motor 6 drives the first screw rod 5 to rotate, so that the first screw rod 5 drives the clamping mechanism to move up and down, and the position of the clamping mechanism is adjusted.
The displacement mechanism comprises a second servo motor 17 and a second screw 18, the second servo motor 17 is fixedly arranged on the base 1, the output end of the second servo motor 17 is connected with the second screw 18 in an interference fit manner, the other end of the second screw 18 is rotatably connected with the side wall of the support arm 2 through a bearing, a first thread block 20 is sleeved outside the second screw 18, the first thread block 20 is in threaded connection with the second screw 18, and a horizontal positioning plate 21 is fixedly connected to the upper part of the first thread block 20;
when the position of the deicing mechanism 19 needs to be adjusted transversely, the second servo motor 17 is started, the second servo motor 17 drives the second screw rod 18 to rotate, so that the second screw rod 18 drives the first thread block 20 and the horizontal positioning plate 21 to move, and the deicing mechanism 19 moves transversely;
a second hydraulic cylinder 23 is fixedly installed on the upper surface of the horizontal positioning plate 21, a push rod 24 is hinged to the telescopic end of the second hydraulic cylinder 23, the push rod 24 is arranged in an inclined mode, a second hinge block 25 is hinged to one end, away from the telescopic end of the second hydraulic cylinder 23, of the push rod 24, the second hinge block 25 is movably installed in a second hinge groove 26, the second hinge groove 26 is fixedly installed on the lifting plate 22, the lifting plate 22 is fixedly connected with the deicing mechanism 19, a second buffer spring 27 used for protecting the second hinge block 25 is further arranged in the second hinge groove 26, one end of the second buffer spring 27 is fixedly connected with the side wall of the second hinge groove 26, and the other end of the second buffer spring 27 is fixedly connected with the second hinge block 25;
sliding connection between lifter plate 22 and the horizontal location board 21, horizontal location board 21 set up to have realized spacing to lifter plate 22, has avoided coming off of deicing mechanism 19 and lifter plate 22.
When the position of the deicing mechanism 19 needs to be adjusted longitudinally, the second hydraulic cylinder 23 is started, the second hydraulic cylinder 23 drives the push rod 24 and the second hinge block 25 to move, so that the second hinge block 25 pushes the lifting plate 22 and the second hinge groove 26 to move up and down, and the height of the deicing mechanism 19 is adjusted.
Example 3
As shown in fig. 1-2, in the embodiment of the invention, the inspection robot for electrified deicing of a high-voltage wire comprises a base 1 and a support arm 2, wherein the support arm 2 is fixedly installed on the base 1, a lifting assembly for fixing the high-voltage wire is arranged on the support arm 2, a deicing mechanism 19 is arranged on the base 1, and a displacement mechanism for adjusting the position of the deicing mechanism 19 is arranged between the deicing mechanism 19 and the base 1;
the supporting arm 2 is further provided with a clamping mechanism, the clamping mechanism is connected with a lifting assembly, the lifting assembly comprises a first servo motor 6 and a first screw 5, the top of the supporting arm 2 is provided with a vertical limiting groove 3, the first screw 5 is arranged in the vertical limiting groove 3, the bottom of the first screw 5 is rotatably connected with the supporting arm 2 through a bearing, the top of the first screw 5 is fixedly connected with the first servo motor 6, and the first servo motor 6 is fixedly arranged at the top of the supporting arm 2 through a mounting frame;
as shown in fig. 3 and 6, the clamping mechanism includes a clamping cavity 7, the clamping cavity 7 is sleeved on the first screw 5, the first screw 5 and the clamping cavity 7 are connected through threads, a first hydraulic cylinder 8 is fixedly installed in the clamping cavity 7, a hinge base 11 is fixedly connected to the telescopic end of the first hydraulic cylinder 8, two clamping arms 10 are symmetrically hinged to the upper side and the lower side of the hinge base 11 respectively, the middle of each clamping arm 10 is rotatably connected with the inner wall of the clamping cavity 7, and a clamping plate 13 is hinged to one end of each clamping arm 10 away from the hinge base 11;
as shown in fig. 4-5, an anti-falling assembly for limiting the clamping arm 10 is further disposed in the clamping cavity 7, the anti-falling assembly includes a positioning member 12 and a first hinge groove 14, the positioning member 12 is fixedly connected to a sidewall of the clamping cavity 7 through a bolt, the bottom of the positioning member 12 is fixedly mounted with the first hinge groove 14, a first buffer spring 15 and a first hinge block 16 are mounted in the first hinge groove 14, one end of the first buffer spring 15 is fixedly connected to the first hinge block 16, and the first hinge block 16 is hinged to the clamping arm 10;
the anti-drop subassembly set up realized spacing to clamping arm 10, and then avoided appearing the phenomenon that drops to high-voltage line clamping process in-process high-voltage line, guaranteed going on smoothly of deicing, improved the efficiency of deicing.
Meanwhile, when the high-voltage wire needs to be clamped, the first hydraulic cylinder 8 is started, the first hydraulic cylinder 8 drives the hinge base 11 to move, so that the hinge base 11 drives the clamping arm 10 to rotate, and the clamping arm 10 drives the clamping plate 13 to move, clamping and limiting of the high-voltage wire are achieved, and falling off of the high-voltage wire is avoided;
a vertical positioning plate 9 for limiting the hinge seat 11 is arranged in the clamping cavity 7, and the vertical positioning plate 9 is connected with the hinge seat 11 in a sliding manner;
when the position of the clamping mechanism needs to be adjusted, the first servo motor 6 is started, and the first servo motor 6 drives the first screw rod 5 to rotate, so that the first screw rod 5 drives the clamping mechanism to move up and down, and the position of the clamping mechanism is adjusted.
The displacement mechanism comprises a second servo motor 17 and a second screw 18, the second servo motor 17 is fixedly arranged on the base 1, the output end of the second servo motor 17 is connected with the second screw 18 in an interference fit manner, the other end of the second screw 18 is rotatably connected with the side wall of the support arm 2 through a bearing, a first thread block 20 is sleeved outside the second screw 18, the first thread block 20 is in threaded connection with the second screw 18, and a horizontal positioning plate 21 is fixedly connected to the upper part of the first thread block 20;
when the position of the deicing mechanism 19 needs to be adjusted transversely, the second servo motor 17 is started, the second servo motor 17 drives the second screw rod 18 to rotate, so that the second screw rod 18 drives the first thread block 20 and the horizontal positioning plate 21 to move, and the deicing mechanism 19 moves transversely;
a second hydraulic cylinder 23 is fixedly installed on the upper surface of the horizontal positioning plate 21, a push rod 24 is hinged to the telescopic end of the second hydraulic cylinder 23, the push rod 24 is arranged in an inclined mode, a second hinge block 25 is hinged to one end, away from the telescopic end of the second hydraulic cylinder 23, of the push rod 24, the second hinge block 25 is movably installed in a second hinge groove 26, the second hinge groove 26 is fixedly installed on the lifting plate 22, the lifting plate 22 is fixedly connected with the deicing mechanism 19, a second buffer spring 27 used for protecting the second hinge block 25 is further arranged in the second hinge groove 26, one end of the second buffer spring 27 is fixedly connected with the side wall of the second hinge groove 26, and the other end of the second buffer spring 27 is fixedly connected with the second hinge block 25;
sliding connection between lifter plate 22 and the horizontal location board 21, horizontal location board 21 set up to have realized spacing to lifter plate 22, has avoided coming off of deicing mechanism 19 and lifter plate 22.
When the position of the deicing mechanism 19 needs to be adjusted longitudinally, the second hydraulic cylinder 23 is started, the second hydraulic cylinder 23 drives the push rod 24 and the second hinge block 25 to move, so that the second hinge block 25 pushes the lifting plate 22 and the second hinge groove 26 to move up and down, and the height of the deicing mechanism 19 is adjusted.
As shown in fig. 7, the deicing mechanism 19 includes a deicing chamber 28, a third servo motor 29 is fixedly installed in the deicing chamber 28, an output end of the third servo motor 29 is fixedly connected with a third screw rod 30, a second thread block 31 is sleeved outside the third screw rod 30, the third screw rod 30 and the second thread block 31 are connected through threads, a third hydraulic cylinder 33 is fixedly installed on the second thread block 31, a telescopic end of the third hydraulic cylinder 33 is hinged with a swing arm 32, one end of the swing arm 32 is rotatably connected with the second thread block 31, and the other end of the swing arm 32 is fixedly connected with a snap ring 34;
as shown in fig. 8-9, a plurality of ice removing blocks 35 are uniformly distributed on the inner wall of the clamping ring 34, a heating cavity 36 is formed in each ice removing block 35, an electric heating rod is installed in each heating cavity 36, and an ice removing brush 37 is arranged on the outer wall of each ice removing block 35.
During the use, open third servo motor 29, third servo motor 29 drives third screw rod 30 and rotates, and third screw rod 30 drives second screw block 31 and removes, and then makes second screw block 31 drive swing arm 32 and swing arm 32 position and remove, and the electrical heating stick starts simultaneously, heats the deicing to the interior high-voltage line of snap ring 34.
A protective cover 4 for protecting the deicing mechanism 19 is fixedly arranged on the base 1, and the bottom of the protective cover 4 is fixed on the base 1.
In summary, the working principle of the invention is as follows: during the use, open third servo motor 29, third servo motor 29 drives third screw rod 30 and rotates, and third screw rod 30 drives second screw block 31 and removes, and then makes second screw block 31 drive swing arm 32 and swing arm 32 position and remove, and the electrical heating stick starts simultaneously, heats the deicing to the interior high-voltage line of snap ring 34.
When the position of the deicing mechanism 19 needs to be adjusted longitudinally, the second hydraulic cylinder 23 is started, the second hydraulic cylinder 23 drives the push rod 24 and the second hinge block 25 to move, so that the second hinge block 25 pushes the lifting plate 22 and the second hinge groove 26 to move up and down, and the height of the deicing mechanism 19 is adjusted.
When the position of the deicing mechanism 19 needs to be adjusted transversely, the second servo motor 17 is started, the second servo motor 17 drives the second screw rod 18 to rotate, so that the second screw rod 18 drives the first thread block 20 and the horizontal positioning plate 21 to move, and the deicing mechanism 19 moves transversely.
When the position of the clamping mechanism needs to be adjusted, the first servo motor 6 is started, and the first servo motor 6 drives the first screw rod 5 to rotate, so that the first screw rod 5 drives the clamping mechanism to move up and down, and the position of the clamping mechanism is adjusted.
The embodiment of the invention is provided with the anti-falling assembly, the anti-falling assembly is arranged to limit the clamping arm 10, so that the phenomenon that the high-voltage wire falls off in the process of clamping the high-voltage wire is avoided, the deicing is ensured to be smoothly carried out, the deicing efficiency is improved, meanwhile, the position of the deicing mechanism 19 is flexibly adjustable, the deicing speed is improved, the inclination angle of the clamp ring 34 is convenient to adjust, and the deicing range is further expanded.
Although several embodiments and examples of the present invention have been described for those skilled in the art, these embodiments and examples are presented as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in other various ways, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. A high-voltage line electrified deicing inspection robot comprises a base (1) and a support arm (2), wherein the support arm (2) is fixedly mounted on the base (1), and is characterized in that a lifting assembly used for fixing a high-voltage line is arranged on the support arm (2), a deicing mechanism (19) is arranged on the base (1), and a displacement mechanism used for adjusting the position of the deicing mechanism (19) is arranged between the deicing mechanism (19) and the base (1); the supporting arm (2) is also provided with a clamping mechanism; the clamping mechanism comprises a clamping cavity (7); an anti-falling assembly used for limiting the clamping arm (10) is further arranged in the clamping cavity (7), the anti-falling assembly comprises a positioning piece (12) and a first hinge groove (14), the positioning piece (12) is fixedly connected with the side wall of the clamping cavity (7) through a bolt, the bottom of the positioning piece (12) is fixedly provided with the first hinge groove (14), a first buffer spring (15) and a first hinge block (16) are arranged in the first hinge groove (14), one end of the first buffer spring (15) is fixedly connected with the first hinge block (16), and the first hinge block (16) is hinged with the clamping arm (10); the clamping mechanism is connected with the lifting assembly, the lifting assembly comprises a first servo motor (6) and a first screw (5), a vertical limiting groove (3) is formed in the top of the supporting arm (2), the first screw (5) is arranged in the vertical limiting groove (3), the bottom of the first screw (5) is rotatably connected with the supporting arm (2) through a bearing, the top of the first screw (5) is fixedly connected with the first servo motor (6), and the first servo motor (6) is fixedly installed on the top of the supporting arm (2) through an installation frame; the clamping cavity (7) is sleeved on the first screw (5), the first screw (5) is connected with the clamping cavity (7) through threads, a first hydraulic cylinder (8) is fixedly mounted in the clamping cavity (7), a telescopic end of the first hydraulic cylinder (8) is fixedly connected with a hinged seat (11), the upper side and the lower side of the hinged seat (11) are symmetrically hinged with two clamping arms (10) respectively, the middle of each clamping arm (10) is rotatably connected with the inner wall of the clamping cavity (7), and one end, away from the hinged seat (11), of each clamping arm (10) is hinged with a clamping plate (13).
2. The electrified deicing inspection robot according to claim 1, characterized in that a vertical positioning plate (9) used for limiting the hinged base (11) is arranged in the clamping cavity (7), and the vertical positioning plate (9) is in sliding connection with the hinged base (11).
3. The electrified deicing inspection robot according to any one of claims 1-2, characterized in that the displacement mechanism comprises a second servo motor (17) and a second screw (18), the second servo motor (17) is fixedly mounted on the base (1), the output end of the second servo motor (17) is connected with the second screw (18) in an interference fit manner, the other end of the second screw (18) is rotatably connected with the side wall of the support arm (2) through a bearing, a first thread block (20) is sleeved outside the second screw (18), the first thread block (20) is connected with the second screw (18) through threads, and a horizontal positioning plate (21) is fixedly connected to the upper portion of the first thread block (20).
4. The electrified deicing inspection robot according to claim 3, characterized in that a second hydraulic cylinder (23) is fixedly mounted on the upper surface of the horizontal positioning plate (21), a push rod (24) is hinged to the telescopic end of the second hydraulic cylinder (23), the push rod (24) is obliquely arranged, and the one end that the flexible end of second pneumatic cylinder (23) was kept away from in push rod (24) articulates there is articulated piece (25) of second, articulated piece (25) movable mounting is in articulated groove (26) of second, articulated groove (26) fixed mounting of second is on lifter plate (22), lifter plate (22) and deicing mechanism (19) fixed connection, still be provided with second buffer spring (27) that are used for protecting articulated piece (25) of second in articulated groove (26) of second, the one end of second buffer spring (27) and the lateral wall fixed connection in articulated groove (26) of second, the other end fixed connection of second buffer spring (27) articulates piece (25) of second.
5. The electrified deicing inspection robot according to claim 4, characterized in that the lifting plate (22) and the horizontal positioning plate (21) are slidably connected.
6. The electrified deicing inspection robot according to any one of claims 1-2, characterized in that the deicing mechanism (19) comprises a deicing cavity (28), a third servo motor (29) is fixedly mounted in the deicing cavity (28), a third screw (30) is fixedly connected to an output end of the third servo motor (29), a second thread block (31) is sleeved outside the third screw (30), the third screw (30) is in threaded connection with the second thread block (31), a third hydraulic cylinder (33) is fixedly mounted on the second thread block (31), a swing arm (32) is hinged to a telescopic end of the third hydraulic cylinder (33), one end of the swing arm (32) is rotatably connected with the second thread block (31), and a clamping ring (34) is fixedly connected to the other end of the swing arm (32).
7. The inspection robot for electrified deicing of high-voltage wires according to claim 6, characterized in that a plurality of ice removing blocks (35) are uniformly distributed on the inner wall of the clamping ring (34), a heating cavity (36) is formed in each ice removing block (35), an electric heating rod is installed in each heating cavity (36), and a deicing brush (37) is arranged on the outer wall of each ice removing block (35).
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| CN202010920440.4A CN112003224B (en) | 2020-09-04 | 2020-09-04 | Robot is patrolled and examined in electrified deicing of high-voltage line |
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| CN202010920440.4A CN112003224B (en) | 2020-09-04 | 2020-09-04 | Robot is patrolled and examined in electrified deicing of high-voltage line |
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| CN112003224B true CN112003224B (en) | 2021-08-03 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113206969B (en) * | 2021-04-15 | 2022-11-18 | 广东胜通和科技服务有限公司 | Communication auxiliary equipment for fixing mobile television telephone |
| CN114024279B (en) * | 2021-11-10 | 2023-09-12 | 国网辽宁省电力有限公司铁岭供电公司 | High-voltage line deicing device based on dead weight bending for power engineering |
| CN115940034B (en) * | 2023-03-03 | 2023-06-16 | 天津滨电电力工程有限公司 | High-voltage cable joint armor layer stripping and cutting robot |
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| CN112003224A (en) | 2020-11-27 |
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