CN112025695A

CN112025695A - Novel climbing deicing robot

Info

Publication number: CN112025695A
Application number: CN202011099799.6A
Authority: CN
Inventors: 刘洋; 范世涛; 王宁; 信德龙; 黄维唯
Original assignee: Liaoning Technical University
Current assignee: Liaoning Technical University
Priority date: 2020-10-15
Filing date: 2020-10-15
Publication date: 2020-12-04

Abstract

The invention discloses a novel climbing deicing robot which can solve the complex problems of high deicing risk coefficient, low efficiency and the like of the existing manual tower climbing on the premise of meeting the requirement of stable running on an electric wire. The robot comprises a motor driving device, a traveling device, a quick cleaning device, a machine body device and a mechanical arm device. The good cooperation of running gear, fuselage device and motor drive can guarantee that the robot carries out steady walking, and running gear includes the walking unit of a plurality of actionable electric wires, can promote the stability ability of structure. The mechanical arm device is responsible for treating fixed garbage on the electric wire and assisting the quick cleaning device to quickly remove ice. The novel climbing deicing robot saves manpower and financial resources, can meet daily cleaning work of high-voltage transmission lines, and has the characteristics of high efficiency, low cost and danger avoidance.

Description

Novel climbing deicing robot

Technical Field

The invention relates to the field of robots, in particular to a novel climbing deicing robot, and belongs to a novel robot which replaces human beings to deice on electric wires to carry out dangerous work.

Background

The electric network guarantees the normal electricity utilization of thousands of households, in winter, due to the fact that the weather is cold, rain, snow, fog and the like can be condensed on the lead of the electric network to form ice columns which cover the surface of the lead, the electric network can be damaged due to ice and snow in winter every year, in foreign countries, the geographical and weather conditions of some countries are similar to those of China, and even the conditions of some countries are worse. At present, the lead deicing methods adopted at home and abroad mainly comprise thermal deicing and mechanical deicing, and for severe electric wire icing, manual online deicing is most effective generally, but the manual deicing efficiency is lower, and the method has certain danger. The existing robot on the market can not freely run due to obstacles such as vibration dampers, wire clamps, suspension wire clamps, wire jumpers and the like on a line, so that the working interval and the use efficiency of the robot are greatly limited. Therefore, the safe and effective deicing machine is developed to replace manpower to perform wire deicing, and has a good application prospect.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide a novel climbing deicing robot which can deice on an electric wire, has high working efficiency, cannot damage the electric wire and can work stably.

In order to achieve the purpose, the invention provides the following technical scheme:

a novel climbing deicing robot, comprising: the quick cleaning device comprises a front oscillator (10) and a rear oscillator (11). The front-back oscillator (10) and the cleaning brush (11) are arranged in the foremost working area of the whole equipment through an assembling link and are used for carrying out on-line deicing operation; the rear section combination part of the front and rear oscillators (10) is connected with the motor (8), and the cleaning brush (11) is driven to work efficiently and stably under the driving action of the motor (8); the front end of the cleaning brush (11) is provided with a brush with moderate hardness, so that the electric wire is prevented from being damaged and the loss is reduced on the premise of ensuring the stable operation of deicing.

The mechanical arm device comprises a mechanical arm (2), a mechanical short arm (3), a hydraulic telescopic rod (4) and a mechanical arm strut (5), and the mechanical arm device is integrally installed above a machine body (6). The mechanical arm support (5) is arranged on the machine body (6) and used for fixing the mechanical arm device and maintaining stability; the hydraulic telescopic rod (4) is positioned at the center of the mechanical arm device, has small size, can be randomly stretched and contracted under control, improves the working range of the mechanical arm device and improves the working efficiency; the hydraulic telescopic rod (5) and the hydraulic cylinder (11) are arranged between the driven sliding rod (2) and the palm disc (10) to ensure that the expandable finger in a compressed state is stretched again, so that the equipment can be ensured to be always in an initial state; the mechanical short arm (3) is arranged between the mechanical arm (2) and the hydraulic telescopic rod (4), so that the mechanical arm can be bent, and the normal deicing work of the robot is ensured. The manipulator (2) is connected with the mechanical short arm (3), the manipulator (2) is controlled through control to perform deicing work, and the auxiliary cleaning brush (11) performs deicing cleaning work.

The walking device comprises an adsorption hand (1), a walking mechanism (7) and a walking unit (9). The adsorption hand (1) is arranged at the front end of the integral device, is connected with the machine body (6) and bears the main stable equipment work, and an adsorption head at the front end is provided with a sensor which has a guiding function and ensures that the robot is always adsorbed on a power line, so that the rapid plot device can continue to work stably; the travelling mechanism (7) is connected with the motor (8), the lower end of the travelling mechanism is combined with the travelling unit (9), and the stability and the travelling of the whole equipment are maintained through the driving action of the motor (8) and the continuous work of the travelling unit; the walking unit (9) is arranged at the lower end of the walking mechanism (7), and the robot is guaranteed to perform good advancing work under proper control by receiving the driving action of the motor (8).

The motor driving device comprises a motor (8) and provides a driving function for the whole device; the fuselage device comprises a fuselage (6) which has the functions of protecting the main body and fixing other equipment.

By last, with present manual work deicing and temperature deicing's work efficiency, not only consuming time and difficultly, can not guarantee the safety of personnel's work and the integrity of electric wire moreover, as the supplementary clear special application of electric wire, a novel climbing deicing robot technically says that this equipment is a manifestation of electromechanical combination, and along with present internal dangerous work auxiliary machinery of replacing is using on a large scale, under the prerequisite that the internal electric wire netting is gradually expanding development, has stronger representativeness, practicality.

Drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive efforts. In the drawings:

FIG. 1 is a schematic structural view of the present invention as a whole;

FIG. 2 is a schematic front view of the main body structure of the present invention;

in fig. 2, an adsorption hand (1), a manipulator (2), a mechanical short arm (3), a hydraulic telescopic rod (4), a mechanical arm pillar (5), a machine body (6), a traveling mechanism (7), a motor (8), a traveling unit (9), a front-back swing device (10) and a cleaning brush (11).

Detailed Description

The novel climbing deicing robot of the invention is described in detail with reference to fig. 2. The quick cleaning device comprises a front oscillator (10), a rear oscillator (10) and a cleaning brush (11), and is characterized in that the front oscillator (10) and the rear oscillator (10) drive the cleaning brush (11) to perform quick cleaning action under the guarantee of the driving action of a motor (8), so that the deicing efficiency is improved; the cleaning brush (11) is internally provided with the moderate hairbrush, so that the cleaning work is convenient, simple and efficient, and the loss of the electric wire is avoided. The use of the driven slide bar (2) reduces some complex interlocking driven mechanical structures, so that the whole device is not complicated. The walking device comprises an adsorption hand (1), a walking mechanism (7) and a walking unit (9), and is characterized in that the adsorption hand (1) is combined with a machine body (6) and performs an affinity interaction with an electric wire under the control to ensure the normal walking of the robot, and a corresponding sensor is arranged in the adsorption head at the front end to facilitate the identification of the electric wire, so as to guide the robot to walk; the lower end of the walking mechanism (7) is combined with the walking unit (9), and the walking mechanism performs mechanical walking operation under the driving action of the motor (8) to ensure the stable work of the robot. Meanwhile, the machine body (6), the motor (8) and the adsorption hand (1) which maintain the stability of the machine body are correspondingly matched, so that the smooth work of the machine body is ensured; the mechanical arm device comprises a mechanical arm (2), a mechanical short arm (3), a hydraulic telescopic rod (4) and a mechanical arm strut (5), and is characterized in that the mechanical arm (2) is combined with the mechanical short arm (3) to improve the curvature of the mechanical arm device, so that the mechanical arm device can conveniently and timely work at a correct deicing position, and the problem of time waste caused by manual deicing is avoided; the invention is integrally operated under the mutual combination of the fast plot device, the walking device, the motor driving device, the machine body device and the mechanical arm device.

The tail end of the machine body (6) is provided with the damage sensor matched with the tail end of the machine body, so that the problems in the operation process can be known, the working conditions of all devices can be checked immediately, all working conditions of equipment can be well known, and the working efficiency can be correspondingly improved.

The utility model provides a novel climbing deicing robot is dangerous with the artifical deicing of greatly reduced, improves deicing efficiency, will high degree have solved the problem of consuming time power and unable assurance manual work security in the electric wire deicing working process. Thereby replacing the common deicing method or the manual deicing method.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The utility model provides a novel climbing deicing robot which characterized in that: the device comprises a motor driving device, a traveling device, a quick cleaning device, a machine body device and a mechanical arm device; the motor drive device comprises a motor (8); the walking device comprises an adsorption hand (1), a walking mechanism (7) and a walking unit (9); a quick cleaning device comprising a front and rear oscillator (10), a cleaning brush (11); the mechanical arm device comprises a mechanical arm (2), a mechanical short arm (3), a hydraulic telescopic rod (4) and a mechanical arm strut (5); fuselage device, fuselage device includes fuselage (6), links to each other with other devices as main fixing device, guarantees a novel climbing deicing robot's stability.

2. The novel climbing deicing robot as claimed in claim 1, wherein the robot body (6) is combined with a walking device, a motor driving device, a quick cleaning device and a mechanical arm device, so that the robot can be guaranteed to work stably; the motor (8) is arranged in the machine body (6), and power transmission is carried out through a gear to control the whole walking device.

3. The novel climbing deicing robot according to claim 1, wherein the walking device comprises an adsorption hand (1), a walking mechanism (7) and a walking unit (9); the adsorption hand (1) is characterized in that the adsorption hand is adsorbed on an electric wire, is connected with the machine body (6) and has the function of guiding and stabilizing the machine body; the travelling mechanism (7) is characterized by being combined with the motor (8) and conducting the driving action of the motor (8) to the travelling unit (9); the walking unit (9) is characterized in that the walking unit is in contact with the electric wire, and the robot is adjusted and kept stable in the advancing process.

4. A novel climbing deicing robot according to claim 1, characterized in that said quick cleaning device comprises a front and rear oscillator (10), a cleaning brush (11); front and rear dilators (10); the front and back oscillator (10) is characterized in that under the driving action of the motor (8), the front and back oscillator (10) moves back and forth to drive the cleaning brush (11) to deice the electric wire, and the deicing effect is ensured through stable oscillation.

5. The novel climbing deicing robot according to claim 1, wherein the mechanical arm device comprises a mechanical hand (2), a mechanical short arm (3), a hydraulic telescopic rod (4) and a mechanical arm support (5); the mechanical arm strut (5) is characterized by being connected with the hydraulic telescopic rod (4) and the machine body (6); the hydraulic telescopic rod (4) is characterized in that the mechanical short arm (3) is controlled to stretch through hydraulic stretching, so that the manipulator (2) can control a good cleaning distance.