CN112531568A - Wire diameter self-adaptive cable obstacle clearing robot - Google Patents
Wire diameter self-adaptive cable obstacle clearing robot Download PDFInfo
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- CN112531568A CN112531568A CN202011534608.4A CN202011534608A CN112531568A CN 112531568 A CN112531568 A CN 112531568A CN 202011534608 A CN202011534608 A CN 202011534608A CN 112531568 A CN112531568 A CN 112531568A
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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 relates to a wire diameter self-adaptive cable obstacle clearing robot, which comprises a travelling mechanism, wherein the travelling mechanism clamps a cable, and moves along the length direction of the cable, the walking mechanism is provided with a barrier removing and shearing mechanism which is used for carrying out the operation of shearing the barrier on the cable, when the robot is actually used for removing obstacles, a maintainer clamps the running mechanism of the robot on the cable and starts the obstacle removing and shearing mechanism, so that the obstacle removing robot can move and cut while walking to clear obstacles, this walking robot can make the robot regard as the removal guide with the cable when implementing the operation of removing obstacles to the cable, when can realizing cleaing away the reliability to the cable barrier, clears away efficiency also higher, avoids the robot to produce the loss problem that the collision caused with the cable moreover.
Description
Technical Field
The invention relates to the technical field of power equipment tools, in particular to a wire diameter self-adaptive cable obstacle clearing robot.
Background
In the power industry, great energy is needed to maintain cable equipment, the cable equipment does not need to ascend when maintained aiming at low-level power equipment on the ground, and the maintenance operation is relatively simple; however, when power equipment for high altitude, for example, high altitude cable is in actual maintenance, maintenance operation is difficult relatively, and among the prior art, there is some unmanned aerial vehicle and can implement the long-range operation of removing obstacles in high altitude to the cable, and during unmanned aerial vehicle operation of removing obstacles, need do accurate flight control to unmanned aerial vehicle for it is difficult during the operation of removing obstacles to the cable, causes the damage of maintenance equipment very easily moreover, and in actual operation, the maintenance operation of cable is comparatively difficult.
Disclosure of Invention
The purpose of the invention is: the utility model provides a line diameter self-adaptation cable robot of removing obstacles, can improve the convenient degree of maintaining the cable, improve the efficiency that the cable was maintained, reduce the maintenance cost.
In order to achieve the purpose, the invention adopts the technical scheme that:
the wire diameter self-adaptive cable obstacle clearing robot comprises a traveling mechanism, wherein the traveling mechanism clamps a cable and moves along the length direction of the cable, an obstacle clearing and shearing mechanism is arranged on the traveling mechanism, and the obstacle clearing and shearing mechanism is used for shearing obstacles on the cable.
The invention also has the following features:
the obstacle clearing and shearing mechanism comprises a shearing tool rest, wherein shearing tools are arranged on the shearing tool rest, a plurality of groups of shearing tools are arranged on the shearing tool rest, and the shearing regions enclosed by the shearing tool rests are of columnar structures and are parallel to the traveling direction of the traveling mechanism in the axial direction.
The shearing knives are arranged in three groups along the shearing knife rest, and the included angles of the adjacent shearing knives are arranged at 120 degrees.
The shearing knife comprises a fixed blade and a swinging blade, one ends of the swinging blade and the fixed blade are in sawtooth structures, the fixed blade and the swinging blade form sliding fit, and the driving mechanism drives the swinging blade to slide on the fixed blade.
The fixed blade is provided with a swing disc, the disc surface of the swing disc is provided with a swing rod, the swing rod and the rotation center of the swing disc are arranged concentrically, the swing rod is connected with one side of the swing blade, and a driving mechanism drives the swing disc to rotate.
The swing blade is provided with a waist-shaped through hole, the swing disc is arranged in the waist-shaped through hole, the swing disc is coplanar with the swing blade, one side of the swing disc is eccentrically connected with the belt wheel, and the belt wheel is connected with a rotating shaft belt wheel of the driving motor through a belt.
And covers are arranged on the outer sides of the fixed blade and the swinging blade and detachably connected with the cutting knife rest.
The walking mechanism comprises a walking support plate, two groups of walking grooved wheels are arranged on the walking support plate, clamping openings for clamping cables are formed between the two groups of walking grooved wheels at intervals, the distance between the two groups of walking grooved wheels is adjustable, the two groups of walking grooved wheels are connected with a power mechanism, and the walking support plate is fixed with the shearing tool rest.
The two groups of walking grooved wheels are respectively arranged on the first sliding block and the second sliding block, the first sliding block and the second sliding block are respectively arranged on the walking support plate in a sliding mode, a first nut is arranged on the first sliding block, a second nut is arranged on the second sliding block, a screw rod is arranged in the first nut and the second nut, two sections of thread sections are arranged on the screw rod, the thread turning directions are opposite, the two sections of thread sections are respectively matched with the first nut and the second nut, and the screw rod is connected with a first motor.
The two groups of walking grooved wheels are respectively arranged on respective wheel carriers, the wheel carriers are vertically and slidably arranged on a first sliding block and a second sliding block, the first sliding block and the second sliding block are respectively provided with a floating bolt, the floating bolts are vertical and are in sliding fit with the wheel carriers, one end of each floating bolt, extending out of the wheel carrier, is provided with a floating spring, the floating bolts are provided with adjusting nuts, and two ends of each floating spring are respectively abutted against the adjusting nuts and the wheel carriers.
A cable barrier removing method using the wire diameter adaptive cable barrier removing robot, comprising the steps of:
firstly, lifting a wire diameter self-adaptive cable obstacle clearing robot to the side position of a cable by a power maintainer through a handheld insulating rod;
secondly, two groups of travelling grooved wheels of the travelling mechanism are respectively arranged at two sides of the cable, a first motor of the travelling mechanism is started, the two groups of travelling grooved wheels clamp the cable, and a power mechanism is started, so that the two groups of travelling grooved wheels rotate, and the travelling mechanism moves along the cable;
thirdly, starting a driving mechanism of the obstacle clearing and shearing mechanism to enable a fixed blade and a swinging blade of the shearing knife to present relatively swinging shearing actions so as to carry out shearing operation on the obstacle;
and fourthly, after the obstacle is cleared, starting the traveling mechanism to reset the traveling mechanism, and moving the self-adaptive cable obstacle clearing robot out of the cable by holding the insulating rod by hand.
Compared with the prior art, the invention has the beneficial effects that: this robot is when the operation of actually removing obstacles, put the running gear card of this robot on the cable with maintainer, start the mechanism of removing obstacles and cutting, make the robot that removes obstacles present the action of limit walking limit shearing, in order to implement the operation of clearing away to the barrier, this running robot is when implementing the operation of removing obstacles to the cable, can make the robot regard as the removal guide with the cable, can realize clearing away the reliability to the cable barrier when, it is also higher to clear away efficiency, and avoid the loss problem that robot and cable production collision caused.
Drawings
FIG. 1 is a schematic structural diagram of a wire diameter adaptive cable barrier removing robot;
FIGS. 2 and 3 are schematic structural diagrams of two visual angles of the wire diameter adaptive cable barrier removing robot after the wire diameter adaptive cable barrier removing robot moves out of the insulating rod;
FIG. 4 is a schematic structural view of the obstacle clearing and shearing mechanism;
FIG. 5 is a schematic view of the structure of the shearing blade in the obstacle clearing shearing mechanism;
FIG. 6 is a schematic view of the oscillating blade in the scissors blade;
FIG. 7 is a schematic cross-sectional view of an oscillating blade in the scissors blade;
FIG. 8 is a schematic view of the structure of the traveling mechanism;
fig. 9 and 10 are two view structure diagrams of a single group of walking sheaves in the walking mechanism.
Detailed Description
The invention will be further explained with reference to fig. 1 to 10:
the wire diameter self-adaptive cable obstacle clearing robot comprises a travelling mechanism 100, wherein the travelling mechanism 100 clamps a cable and moves along the length direction of the cable, an obstacle clearing and shearing mechanism 200 is arranged on the travelling mechanism 100, and the obstacle clearing and shearing mechanism 200 is used for carrying out shearing operation on obstacles on the cable;
when the robot is used for actual obstacle clearing operation, a maintainer holds the insulating rod 300 by hand, the walking mechanism 100 of the robot is clamped on a cable, the obstacle clearing and shearing mechanism 200 is started, so that the obstacle clearing robot can move and shear while walking to clear obstacles;
all electric control equipment A of the robot are arranged on the insulating rod 300, so that the opening and closing and overhauling operations are facilitated.
As a preferred scheme of the present invention, the obstacle clearing and shearing mechanism 200 includes a shearing tool holder 210, a plurality of groups of shearing tools 220 are disposed on the shearing tool holder 210, and the shearing regions enclosed by the plurality of groups of shearing tool holders 210 are in a cylindrical structure and the axial direction of the shearing regions is parallel to the traveling direction of the traveling mechanism 100;
the obstacle clearing and shearing mechanism 200 includes a plurality of shearing knives 220, and the shearing knives 220 are enclosed to form a cylindrical structure, so that the shearing surface of the shearing knives 220 is cylindrical, and when the shearing knives 220 travel along the cable, the space where the cable is located can be covered to the maximum extent, and thus, obstacles on the cable can be accurately and reliably cleared.
More specifically, three groups of the shearing knives 220 are arranged along the shearing knife rest 210, and the included angles between adjacent shearing knives 220 are 120 degrees;
the shearing surfaces of the three groups of shearing knives 220 can cover the circumferential space of the cable in all directions so as to clear all barriers where the cable is located.
Specifically, when the obstacle clearing operation is performed, the cutting blade 220 includes a fixed blade 221 and a swinging blade 222, one end of each of the swinging blade 222 and the fixed blade 221 is in a zigzag structure, the fixed blade 221 and the swinging blade 222 form a sliding fit, and a driving mechanism drives the swinging blade 222 to slide on the fixed blade 221;
when the driving mechanism drives the swing blade 222, the swing blade 222 is slid on the fixed blade 221, and the swing blade 222 and the serration structure at one end of the fixed blade 221 perform a cutting operation on an obstacle.
When the swinging blade 222 is swung, the swinging blade 222 is provided with a swinging disk 223, the disk surface of the swinging disk 223 is provided with a swinging rod 2231, the swinging rod 2231 is concentrically arranged with the rotation axis of the swinging disk 223, the swinging rod 2231 is connected with one side of the swinging blade 222, and the driving mechanism drives the swinging disk 223 to rotate.
More specifically, the oscillating blade 222 is provided with a waist-shaped through hole 2221, the oscillating disc 223 is arranged in the waist-shaped through hole 2221, the oscillating disc 223 is coplanar with the oscillating blade 222, one side of the oscillating disc 223 is eccentrically connected with the center of the belt pulley 224, and the belt pulley 224 is connected with a rotating shaft belt pulley of the driving motor 225 through a belt.
In order to constrain the swing blade 222 so that the swing blade 222 swings in the constrained space to ensure the cutting effect of the swing blade 222 and the fixed blade 221, a cover 226 is further disposed on the outer sides of the fixed blade 221 and the swing blade 222, and the cover 226 and the cutting blade holder 210 are detachably connected.
Preferably, the traveling mechanism 100 includes a traveling support plate 110, two sets of traveling sheaves 120 are disposed on the traveling support plate 110, a clamping opening for clamping a cable is formed between the two sets of traveling sheaves 120 at intervals, an interval between the two sets of traveling sheaves 120 is adjustable, the two sets of traveling sheaves 120 are both connected to a power mechanism, and the traveling support plate 110 is fixed to the cutting tool holder 210.
The two groups of traveling grooved wheels 120 are respectively arranged on a first slider 121 and a second slider 122, the first slider 121 and the second slider 122 are respectively arranged on the traveling support plate 110 in a sliding manner, a first nut is arranged on the first slider 121, a second nut is arranged on the second slider 122, a screw rod 123 is arranged in the first nut and the second nut, two sections of thread sections are arranged on the screw rod 123, the thread turning directions are opposite, the two sections of thread sections are respectively matched with the first nut and the second nut, and the screw rod 123 is connected with a first motor 124;
when the robot moves along the cable, the first motor 124 is started to enable the two groups of walking grooved wheels 120 to approach, so that the cable is clamped, and the power mechanism is started and is a motor to enable the two groups of walking grooved wheels 120 to reliably move along the cable.
The following describes how the traveling mechanism 100 is adapted to stable traveling of cables with different diameters, the two sets of traveling sheaves 120 are respectively disposed on respective wheel frames 125, the wheel frames 125 are vertically and slidably disposed on the first and second sliders 121 and 122, the first and second sliders 121 and 122 are respectively provided with floating bolts 126, the floating bolts 126 are vertical and are in sliding fit with the wheel frames 125, one end of the floating bolt 126 extending out of the wheel frame 125 is provided with a floating spring 127, the floating bolt 126 is provided with an adjusting nut 128, and two ends of the floating spring 127 are respectively abutted against the adjusting nut 128 and the wheel frame 125;
the robot is hung on a cable, so that the cable is clamped in a clamping opening formed between the two groups of walking grooved wheels 120, the compression amount of the floating spring 127 is adjusted by adjusting the adjusting nut 128, the distance between the two groups of walking grooved wheels 120 is further adjusted, when the robot is matched and pressed with the cable, the two groups of walking grooved wheels 120 can float to a certain extent to be matched with the walking operation of the cable with different diameters, and the passing performance of the robot for the cables with different diameters is enhanced;
by starting the first motor 124, the two groups of walking grooved wheels 120 are close to each other, elastic clamping of the cable is further implemented, and the power mechanism is started, so that the two groups of walking grooved wheels 120 can be effectively clamped on the cable when the cable with different diameters walks, and stable walking of the cable is ensured.
A cable barrier removing method using the wire diameter adaptive cable barrier removing robot, comprising the steps of:
firstly, lifting a wire diameter self-adaptive cable obstacle clearing robot to the side position of a cable by a power maintenance worker through a handheld insulating rod 300;
secondly, two groups of travelling grooved wheels 120 of the travelling mechanism 100 are respectively arranged at two sides of the cable, a first motor 124 of the travelling mechanism 100 is started, the two groups of travelling grooved wheels 120 clamp the cable, and a power mechanism is started, so that the two groups of travelling grooved wheels 120 rotate, and the travelling mechanism 100 moves along the cable;
thirdly, starting a driving mechanism of the obstacle clearing and shearing mechanism 200 to enable the fixed blade 221 and the swinging blade 222 of the shearing knife 220 to present a relatively swinging shearing action so as to carry out the shearing operation on the obstacle;
and fourthly, after the obstacle is cleared, starting the travelling mechanism 100, so that the travelling mechanism 100 is reset, and moving the self-adapting cable diameter obstacle clearing robot out of the cable by holding the insulating rod 300 by hand.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
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 (10)
1. Line footpath self-adaptation cable clearance barrier robot, its characterized in that: the cable cutting device comprises a travelling mechanism (100), wherein the travelling mechanism (100) clamps a cable and moves along the length direction of the cable, an obstacle clearing and cutting mechanism (200) is arranged on the travelling mechanism (100), and the obstacle clearing and cutting mechanism (200) is used for cutting obstacles on the cable.
2. The wire diameter adaptive cable barrier clearing robot of claim 1, wherein: clearance obstacles is sheared mechanism (200) including cutting off knife rest (210), it cuts off sword (220) to be provided with on knife rest (210) to cut off, it sets up the multiunit to cut off sword (220) to be located on cutting off knife rest (210), the shearing region that multiunit was cut off knife rest (210) and is enclosed presents the column structure and axial direction and running direction parallel with running gear (100).
3. The wire diameter adaptive cable barrier clearing robot of claim 2, wherein: three groups of shearing knives (220) are arranged along the shearing knife rest (210), and the included angles of the adjacent shearing knives (220) are arranged at 120 degrees.
4. The wire diameter adaptive cable wrecker robot of claim 3, wherein: the cutting knife (220) comprises a fixed blade (221) and a swinging blade (222), one ends of the swinging blade (222) and the fixed blade (221) are in a sawtooth-shaped structure, the fixed blade (221) and the swinging blade (222) form sliding fit, and a driving mechanism drives the swinging blade (222) to slide on the fixed blade (221).
5. The wire diameter adaptive cable barrier clearing robot according to claim 4, wherein: the swinging blade (222) is provided with a swinging disc (223), the disc surface of the swinging disc (223) is provided with a swinging rod (2231), the swinging rod (2231) is arranged at the rotating center of the swinging disc (223), the swinging rod (2231) is connected with one side of the fixed blade (221), and a driving mechanism drives the swinging disc (223) to rotate.
6. The wire diameter adaptive cable barrier clearing robot of claim 5, wherein: a waist-shaped through hole (2221) is formed in the swinging blade (222), the swinging disc (223) is arranged in the waist-shaped through hole (2221), the swinging disc (223) is coplanar with the swinging blade (222), one side of the swinging disc (223) is eccentrically connected with a belt wheel (224), and the belt wheel (224) is connected with a rotating shaft belt wheel of a driving motor (225) through a belt;
the outer sides of the fixed blade (221) and the swinging blade (222) are also provided with covers (226), and the covers (226) and the shearing tool holders (210) form detachable connection.
7. The wire diameter adaptive cable barrier clearing robot of claim 2, wherein: the walking mechanism (100) comprises a walking support plate (110), two groups of walking grooved wheels (120) are arranged on the walking support plate (110), clamping ports for clamping cables are formed between the two groups of walking grooved wheels (120) at intervals, the distance between the two groups of walking grooved wheels (120) is adjustable, the two groups of walking grooved wheels (120) are connected with a power mechanism, and the walking support plate (110) is fixed with a shearing tool rest (210).
8. The wire diameter adaptive cable wrecker robot of claim 7, wherein: the two groups of walking grooved wheels (120) are respectively arranged on a first sliding block (121) and a second sliding block (122), the first sliding block (121) and the second sliding block (122) are respectively arranged on a walking support plate (110) in a sliding mode, a first nut is arranged on the first sliding block (121), a second nut is arranged on the second sliding block (122), a screw rod (123) is arranged in the first nut and the second nut, two sections of thread sections are arranged on the screw rod (123), the thread turning directions of the two sections of thread sections are opposite, the two sections of thread sections are respectively matched with the first nut and the second nut, and the screw rod (123) is connected with a first motor (124).
9. The wire diameter adaptive cable barrier clearing robot of claim 8, wherein: the two groups of walking grooved wheels (120) are respectively arranged on a wheel carrier (125), the wheel carrier (125) is vertically and slidably arranged on a first sliding block (121) and a second sliding block (122), floating bolts (126) are respectively arranged on the first sliding block (121) and the second sliding block (122), the floating bolts (126) are vertical and are in sliding fit with the wheel carrier (125), a floating spring (127) is arranged at one end, extending out of the wheel carrier (125), of each floating bolt (126), an adjusting nut (128) is arranged on each floating bolt (126), and two ends of each floating spring (127) are respectively abutted against the adjusting nut (128) and the wheel carrier (125).
10. A cable obstacle removing method is characterized by comprising the following steps: the cable obstacle removing method uses the wire diameter adaptive cable obstacle removing robot of any one of claims 1 to 9, and the method comprises the following steps:
firstly, lifting a wire diameter self-adaptive cable obstacle clearing robot to the side position of a cable by a power maintenance worker through a handheld insulating rod (300);
secondly, two groups of walking grooved wheels (120) of the walking mechanism (100) are respectively arranged at two sides of the cable, a first motor (124) of the walking mechanism (100) is started, the two groups of walking grooved wheels (120) clamp the cable, and a power mechanism is started, so that the two groups of walking grooved wheels (120) rotate, and the walking mechanism (100) moves along the cable;
thirdly, starting a driving mechanism of the obstacle clearing and removing mechanism (200) to enable a fixed blade (221) and a swinging blade (222) of a removing knife (220) to present a relatively swinging cutting action, and implementing the cutting operation on the obstacle;
and fourthly, after the obstacle is cleared, starting the traveling mechanism (100) to reset the traveling mechanism (100), and moving the self-adaptive cable diameter cable obstacle clearing robot out of the cable by holding the insulating rod (300).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011534608.4A CN112531568B (en) | 2020-12-23 | 2020-12-23 | Wire diameter self-adaptive cable obstacle removing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011534608.4A CN112531568B (en) | 2020-12-23 | 2020-12-23 | Wire diameter self-adaptive cable obstacle removing robot |
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| Publication Number | Publication Date |
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| CN112531568A true CN112531568A (en) | 2021-03-19 |
| CN112531568B CN112531568B (en) | 2022-03-25 |
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| CN202011534608.4A Active CN112531568B (en) | 2020-12-23 | 2020-12-23 | Wire diameter self-adaptive cable obstacle removing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114950800A (en) * | 2022-05-07 | 2022-08-30 | 三亚摩根兰德科技发展有限公司 | Wire coating robot |
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| KR20030018780A (en) * | 2001-08-31 | 2003-03-06 | 이민기 | Walking robot to carry heavy weight |
| CN104882822A (en) * | 2015-06-02 | 2015-09-02 | 国家电网公司 | Automatic transmission line cleaning device |
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| CN112531568B (en) | 2022-03-25 |
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