CN113120790B - Electrified dismouting robot of damper based on unmanned aerial vehicle assists line - Google Patents
Electrified dismouting robot of damper based on unmanned aerial vehicle assists line Download PDFInfo
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- CN113120790B CN113120790B CN202110283792.8A CN202110283792A CN113120790B CN 113120790 B CN113120790 B CN 113120790B CN 202110283792 A CN202110283792 A CN 202110283792A CN 113120790 B CN113120790 B CN 113120790B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D3/00—Portable or mobile lifting or hauling appliances
- B66D3/04—Pulley blocks or like devices in which force is applied to a rope, cable, or chain which passes over one or more pulleys, e.g. to obtain mechanical advantage
- B66D3/06—Pulley blocks or like devices in which force is applied to a rope, cable, or chain which passes over one or more pulleys, e.g. to obtain mechanical advantage with more than one pulley
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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
- 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
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F19/00—Hoisting, lifting, hauling or pushing, not otherwise provided for
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to an unmanned aerial vehicle-assisted online charged robot for disassembling and assembling a damper, which comprises a robot main body, a traction rope and a hoisting pulley block, wherein the hoisting pulley block is provided with a connecting mechanism connected with an unmanned aerial vehicle, the traction rope comprises a lifting section and a traction section, and the traction section is arranged on the hoisting pulley block; the invention has the advantages that: hang the hoist and mount assembly pulley to the target conductor through unmanned aerial vehicle, then pull the robot main part through the haulage rope and realize going on the production line, because unmanned aerial vehicle hangs the hoist and mount assembly pulley to suitable wire or ground wire, broken the limitation that sets up the anchor point on cross arm or ground wire at present, strong adaptability, the effect personnel need not to step on the tower, accomplish the action of going on the production line of robot with the help of hoist and mount pulley and haulage rope on ground, improve workman intensity of labour, it has obvious effect to improve the security, it need not to rely on lifting device to go on the production line conveniently, wide manpower and materials are saved to application scope, mobility is good.
Description
Technical Field
The invention relates to an unmanned aerial vehicle-assisted online robot for disassembling and assembling an electrified vibration damper.
Background
With the development of society and the progress of science and technology, the demand on power supply is larger and larger, whether the industry or the civil use, the tolerance on power failure is lower and lower, particularly, a high-voltage transmission line above 110kV is used as a main line for power transmission, once the power is cut off, great economic loss can be caused to the society, and the general overhaul of the high-voltage transmission line is established under the live-line operation. The manual live working method is a traditional maintenance method, but the danger is obvious, so that a high-voltage transmission line working robot with various purposes is created, the most common method at present is a line inspection robot, operators are replaced to enter a high-voltage live environment to complete inspection tasks of wires and fittings, the damper is used as a commonly-used necessary fitting for high-voltage transmission, the damper is acted by wind power in the actual use process, the conditions of mechanical fatigue, loss, displacement and the like are avoided, and frequent maintenance and replacement are needed.
At present, in the power grid maintenance operation, the inspection, the displacement, the replacement and other contents of the damper need to be completed in an electrified way often, an operator needs to wear shielding equipment and tools to climb a wire for carrying out electrified maintenance operation, the operation space is narrow, the danger coefficient is large, the labor intensity is high, at present, most wire robots in the power industry adopt a scheme of directly hoisting an insulating rope to be hoisted to the upper line, the hoisting rope is fixed on a robot main body, the operation difficulty of actions such as rope releasing, rope tying and the like is high, at present, a hoisting pulley block of the power robot is mainly fixed above a cross arm insulator or on the ground, the use environment is relatively limited, the upper line channel and the lower line channel of the robot are limited, and the field adaptability is poor.
Disclosure of Invention
The invention aims to provide a vibration damper electrified dismounting robot based on unmanned aerial vehicle assisted online, which can ensure that an online channel of the robot is not influenced by the use environment and improve the online efficiency of the robot.
In order to solve the technical problems, the invention is realized by the following technical scheme: the utility model provides an electrified dismouting robot of damper based on supplementary online of unmanned aerial vehicle, includes robot main part, haulage rope and hangs the hoist and mount assembly pulley on the wire, be equipped with the coupling mechanism who links to each other with unmanned aerial vehicle on the hoist and mount assembly pulley to and rotate the spring bolt of connecting on the hoist and mount assembly pulley, be equipped with first torsional spring on the spring bolt, coupling mechanism is connected with the spring bolt linkage, when coupling mechanism links to each other with unmanned aerial vehicle the spring bolt is accomodate on the hoist and mount assembly pulley, when coupling mechanism and unmanned aerial vehicle separation the spring bolt resets under the effect of first torsional spring and with hoist and mount assembly pulley locking on the wire, the haulage rope includes one section and the promotion section that links to each other with robot main part to and one section will promote the section of pulling on the assembly pulley, it installs on promoting the section to pull section detachable, it sets up on the hoist and mount assembly pulley to pull the section.
Preferably, the robot main body comprises a nacelle and a working platform convenient for the electrified disassembly and assembly of the damper, the working platform is detachably mounted on the nacelle, and the nacelle is provided with an adjusting piece for controlling the aerial posture of the robot main body.
Preferably, the working platform comprises a walking mechanism; the nacelle includes with running gear joint complex joint portion to and be used for restricting the limit lock pole of running gear walking, limit lock pole rotates through the pivot to be connected in joint portion, limit lock pole's top is equipped with the go-between that links to each other with the promotion section, be equipped with the second torsional spring in the pivot, when limit lock pole receives the ascending pulling force of promotion section work platform locking this moment on the nacelle with the running gear butt of limit lock pole, when limit lock pole not receive the promotion section effect limit lock pole under the effect of second torsional spring and with running gear separation this moment work platform and nacelle break away from.
Preferably, running gear includes support and walking wheel, the walking wheel sets up on the support, the support sets up on the bottom plate, be equipped with the circular arc portion with walking wheel butt on the spacing locking lever.
Preferably, the clamping portion comprises a first clamping block, a second clamping block and a cross rod arranged between the first clamping block and the second clamping block, clamping grooves matched with the limiting locking rods are formed in the first clamping block and the second clamping block, and the adjusting piece is arranged on the cross rod.
Preferably, the weight of the traction section is not greater than the weight of the lifting section.
Preferably, the hoisting pulley block comprises a suspension body suspended on the wire and a traction part fixed with the traction rope, the traction part is arranged at the bottom end of the suspension body, the connecting mechanism is arranged at the top end of the suspension body, and the lock tongue is arranged in the middle of the suspension body.
Preferably, coupling mechanism includes the connecting axle and sets up the connecting piece on the connecting axle, be equipped with vertical through-hole on the suspension body, the connecting axle sets up in vertical through-hole, the bottom of connecting axle is equipped with the limiting plate that prevents the connecting axle and drop, be equipped with the chain that links to each other with the spring bolt on the limiting plate.
Preferably, the connecting piece is including setting up the nut on the connecting axle to and the rings of setting on the nut, nut and rings formula structure as an organic whole.
Preferably, the traction part comprises a fixed frame and a fixed pulley arranged on the fixed frame, the fixed frame is provided with a threaded sleeve, and the suspension body is provided with a screw rod matched with the threaded sleeve.
In conclusion, the invention has the advantages that: the hoisting pulley block is hung on a target conductor by an unmanned aerial vehicle, then the robot main body is pulled by a traction rope to realize the line-up, the unmanned aerial vehicle hangs the hoisting pulley block on a proper conductor or a ground line, the limitation of setting an anchor point on a cross arm or the ground line at present is broken, the adaptability is strong, an operator does not need to climb a tower, the line-up and line-down actions of the robot are completed on the ground by the hoisting pulley and the traction rope, the labor intensity of workers is improved, the safety is improved, the line-up and line-down are convenient without depending on hoisting equipment, the application range is wide, manpower and material resources are saved, the maneuverability is good, the operation limitation of the line-up of the electric robot is solved, secondly, a spring bolt is arranged on the hoisting pulley block, the linkage with the spring bolt is realized by a connecting mechanism, when the connecting mechanism is subjected to the pulling force of the unmanned aerial vehicle, the spring bolt is accomodate on the hoist and mount assembly pulley this moment, can ensure accurate the hanging to the wire on the hoist and mount assembly pulley, when unmanned aerial vehicle and coupling mechanism separate, this moment, coupling mechanism is not tensile effect, coupling mechanism resets, the spring bolt resets under the effect of first torsional spring, the spring bolt locks the hoist and mount assembly pulley on the wire this moment, thereby the fixed quality of hoist and mount assembly pulley when the robot main part pulls the upline has been guaranteed, finally, set the haulage rope into promotion section and traction section, and promote the section and set to dismantling with traction section and be connected, the weight of whole hoist and mount assembly pulley when lifting by crane has been reduced, guarantee that unmanned aerial vehicle can steady take off, and can pull the promotion section to the hoist and mount assembly pulley through traction section, the security performance when lifting by crane has been guaranteed.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic structural diagram of an electrified vibration damper dismounting robot based on unmanned aerial vehicle-assisted online;
FIG. 2 is a schematic view of the robot main body of the present invention;
FIG. 3 is a schematic structural diagram of a robot main body according to the present invention;
FIG. 4 is a schematic view of a structure in which a hoisting pulley block is suspended on a wire according to the present invention;
fig. 5 is a partial schematic view of a lifting pulley block in the present invention.
Reference numerals:
1 robot main part, 11 nacelle, 12 work platform, 2 hoist and mount assembly pulleys, 21 suspended body, 22 traction portion, 23 vertical through-hole, 24 mount, 25 fixed pulleys, 26 swivel nut, 27 screw rod, 3 haulage rope, 31 promotion section, 32 traction section, 4 coupling mechanism, 41 connecting axle, 42 connecting piece, 43 limiting plate, 44 chains, 45 nuts, 46 rings, 5 spring bolts, 50 first torsional springs, 6 running gear, 61 support, 62 walking wheels, 7 joint portion, 70 spacing locking lever, 71 first fixture block, 72 second fixture block, 73 horizontal pole, 74 regulating part, 75 draw-in groove, 76 second torsional springs, 77 connecting ring.
Detailed Description
As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, an electrified dismouting robot of damper based on supplementary online of unmanned aerial vehicle, including robot main part 1, haulage rope 3 and hang hoist and mount assembly pulley 2 on the wire, be equipped with the coupling mechanism 4 that links to each other with unmanned aerial vehicle on the hoist and mount assembly pulley 2 to and rotate the spring bolt 5 of connecting on hoist and mount assembly pulley 2, be equipped with first torsional spring 50 on the spring bolt 5, coupling mechanism 4 is connected with the linkage of spring bolt 5, and when coupling mechanism 4 links to each other with unmanned aerial vehicle, spring bolt 5 is accomodate on hoist and mount assembly pulley 2 under coupling mechanism's pulling force effect, and when coupling mechanism 4 and unmanned aerial vehicle separation, spring bolt 5 resets under the effect of first torsional spring 50, and with hoist and mount assembly pulley 2 locking on the wire, haulage rope 3 includes one section of promotion section 31 that links to each other with robot main part 1 to and one section of traction section 32 that will promote section 31 and pull to hoist and mount assembly pulley 2, traction section 32 detachable installs on promotion section 31, traction section 32 sets up on hoist and mount assembly 2.
The hoisting pulley block 2 is hung on a target conductor by an unmanned aerial vehicle, then the robot main body 1 is pulled by a traction rope 3 to realize the on-line, the unmanned aerial vehicle hangs the hoisting pulley block 2 on a proper conductor or a ground wire, the limitation of setting an anchor point on a cross arm or a ground wire at present is broken, the adaptability is strong, an operator does not need to climb a tower, the on-line and off-line actions of the robot are completed on the ground by the aid of the hoisting pulley and the traction rope 3, the labor intensity of workers is improved, the safety is obviously improved, the on-line and off-line are convenient without depending on hoisting equipment, the application range is wide, manpower and material resources are saved, the maneuverability is good, the operation limitation of the on-line of the electric robot is solved, secondly, the spring bolt 5 is arranged on the hoisting pulley block 2, the linkage is realized by the connecting mechanism 4 and the spring bolt 5, when the connecting mechanism 4 is under the tension of the unmanned aerial vehicle, at this moment, the spring bolt 5 is accommodated on the hoisting pulley block 2, the accurate suspension of the hoisting pulley block 2 to the wire can be ensured, when the unmanned aerial vehicle is separated from the connecting mechanism 4, at this moment, the connecting mechanism 4 is not under the tensile force effect, the connecting mechanism 4 is reset, the spring bolt 5 is reset under the effect of the first torsion spring 50, the spring bolt 5 locks the hoisting pulley block 2 on the wire at this moment, thereby the fixed quality of the hoisting pulley block 2 when the robot main body 1 is pulled to be on line is ensured, finally, the traction rope 3 is set into the lifting section 31 and the traction section 32, and the lifting section 31 and the traction section 32 are set to be detachably connected, the weight of the whole hoisting pulley block 2 during hoisting is reduced, the stable takeoff of the unmanned aerial vehicle is ensured, the lifting section 31 can be pulled to the hoisting pulley block 2 through the traction section 32, and the safety performance during hoisting is ensured.
The robot main body 1 comprises a nacelle 11 and a working platform 12 which is convenient for the electrified disassembly and assembly of a damper, the working platform 12 in the embodiment is the prior art, the working platform 12 is detachably mounted on the nacelle 11, the nacelle 11 is provided with a regulating piece 74 for controlling the aerial attitude of the robot main body 1, the robot main body 1 is arranged into a structure of the nacelle 11 and the working platform 12, the nacelle 11 can increase the contact area between the working platform 12 and the lifting section 31 and improve the stability of the working platform 12 during the on-line and off-line processes, secondly, the working platform 12 and the nacelle 11 are arranged into a detachably connected structure, the separation and combination actions between the robot and the nacelle can be completed, when the working platform 12 is hoisted to a lead, the working platform 12 can run on the lead, the lifting device has the advantages that different application occasions are met, the air posture of the robot main body 1 in the lifting process can be effectively controlled, the working platform 12 can be accurately and efficiently hung on a wire, the adjusting piece 74 in the embodiment is an adjusting ring and the adjusting ring is movably connected to the nacelle 11, the adjusting ring is connected with an adjusting pull rope, during operation, the position of the adjusting ring on the nacelle 11 is controlled through the adjusting pull rope, the stability of the nacelle 11 is guaranteed, and the adjustment is convenient.
The working platform 12 comprises a traveling mechanism 6, the nacelle 11 comprises a clamping portion 7 in clamping fit with the traveling mechanism 6 and a limiting lock rod 70 for limiting traveling of the traveling mechanism 6, the limiting lock rod 70 is rotatably connected to the clamping portion 7 through a rotating shaft, a connecting ring 77 connected with the lifting section 31 is arranged at the top end of the limiting lock rod 70, a second torsion spring 76 is arranged on the rotating shaft, when the limiting lock rod 70 is subjected to upward pulling force of the lifting section 31, the limiting lock rod 70 is abutted to the traveling mechanism 6, the working platform 12 is locked on the nacelle 11, when the limiting lock rod 70 is not subjected to the action of the lifting section 31, the limiting lock rod 70 is abutted to the second torsion spring 76 and separated from the traveling mechanism 6, the working platform 12 is separated from the nacelle 11, locking of the nacelle 11 and the working platform 12 can be achieved, specifically, when the lifting section 31 is connected with the limiting lock rod 70, the lifting section 31 pulls the limiting lock rod 70 to move upward, at the moment, the limiting lock rod 70 is opened to be abutted to the traveling wheel 62 to lock the limiting, the working platform 12 is fixed on the traveling mechanism 6, after the lifting mechanism 6 is put on the wire, the lifting section 31, the lifting section 70 is released, the tether of the working platform, the working platform is separated from the working platform, and the lifting rope can be replaced, and the suspending rope of the nacelle 12, and the suspending rope can be replaced, and the suspending platform.
The walking mechanism 6 comprises a support 61 and a walking wheel 62, the walking wheel 62 is arranged on the support 61, the support 61 is arranged on a bottom plate, an arc portion abutted against the walking wheel 62 is arranged on a limit lock rod 70, the walking mechanism 6 is arranged into the support 61 and the walking wheel 62, the support 61 can realize that the walking wheel 62 is stably installed on the bottom plate, different supports 61 can be arranged according to different application environments, the adaptability is good, secondly, the arc portion is arranged to ensure the locking force of the limit lock rod 70 on the walking wheel 62, a motor matched with the walking wheel 62 is further arranged on the support 61 in the embodiment, the specific connecting structure is the prior art, detailed description is not provided in the embodiment, the clamping portion 7 comprises a first clamping block 71, a second clamping block 72 and a cross rod 73 arranged between the first clamping block 71 and the second clamping block 72, clamping grooves 75 matched with the limit lock rod 70 are formed in the first clamping block 71 and the second clamping block 72, the regulating piece 74 is arranged on the cross rod 73, the clamping portion 7 is arranged into a structure of the first clamping block 71, the second clamping block 72 and the cross rod 73, the clamping block 72 and the clamping block 72 are arranged, the clamping mechanism is convenient to regulate the walking wheel 62, the lifting of the pod 11, the lifting speed of the pod 11, the pod is convenient, the pod lifting mechanism, the pod lifting process of the pod is convenient, and the pod lifting mechanism, and the pod lifting of the pod is convenient to control pod 11, and the pod is convenient.
The weight of pulling section 32 is not more than the weight of lifting section 31, the weight that will pull section 32 sets to the weight that is not more than lifting section 31, because pull section 32 needs and hoist and mount assembly pulley 2 synchronous lifting on the wire, consequently, the holistic weight of section 32 is pulled in the great reduction of needs, the quality that unmanned aerial vehicle promoted has been guaranteed, and lifting section 31 needs to promote robot main part 1, consequently, need increase whole lifting section 31's weight, ensure the security performance when lifting, pull section 32 in this embodiment adopts light insulating haulage rope 3, only need draw during pulling gently and draw and pull section 32, make lifting section 31 hang hoist and mount assembly pulley 2 and just can realize the replacement, pull section 32 in this embodiment passes through bolt assembly detachable and installs on lifting section 31 in addition, it is concrete, all be equipped with on pulling section 32 and lifting section 31 and connect with bolt assembly matched with joint, bolt assembly installs and dismantles conveniently, connect reliably.
The hoist and mount assembly pulley 2 is including hanging the body 21 that hangs on the wire to and the traction part 22 fixed with haulage rope 3, traction part 22 sets up in the bottom that hangs the body 21, coupling mechanism sets up on the top that hangs the body, the spring bolt sets up at the middle part that hangs the body, sets hoist and mount assembly pulley 2 to hanging body 21 and traction part 22, fixes hoist and mount assembly pulley 2 on the wire through hanging body 21, can increase the stress point of whole hoist and mount assembly pulley 2 among the hoist and mount process, and traction part 22 makes things convenient for haulage rope 3's fixed, enables to hang stress point and pulls stress point mutually independent, and both do not receive the interference, have improved the security performance of hoist and mount.
Connecting mechanism 4 includes connecting axle 41 and the connecting piece 42 of setting on connecting axle 41, be equipped with vertical through-hole 23 on the suspension body 21, connecting axle 41 sets up in vertical through-hole 23, the bottom of connecting axle 41 is equipped with the limiting plate 43 that prevents connecting axle 41 and drop, be equipped with the chain 44 that links to each other with spring bolt 5 on the limiting plate 43, set connecting mechanism 4 to connecting axle 41 and connecting piece 42, link to each other with unmanned aerial vehicle through connecting piece 42, when connecting piece 42 receives the ascending pulling force of unmanned aerial vehicle, connecting piece 42 drives connecting axle 41 and upwards moves in the vertical through-hole 23 of suspension body 21 this moment, connecting axle 41 drives chain 44 pulling spring bolt 5 and rotates, make spring bolt 5 accomodate in suspension body 21, at this moment, suspension body 21 does not receive on the wire that can be quick suspension of spring bolt 5's restriction, when suspension body 21 hangs the wire, unmanned aerial vehicle and connecting piece 42 separation, connecting piece 42 does not pull the effect this moment, connecting piece 42 descends because of gravity, spring bolt 5 also does not receive the effort of chain 44 this moment, spring bolt 5 resets under the effect of first torsional spring 50, thereby guaranteed that suspension body 21 locks on the wire, guaranteed that robot body 1 is last fixed line of suspension body 21, the fixed quality of suspension body is set up and when unmanned aerial vehicle lifting and lifting quality has improved the safety of suspension body 21, unmanned aerial vehicle lifting and has improved the suspension body is improved the lifting quality.
Connecting piece 42 is including setting up nut 45 on connecting axle 41, and set up rings 46 on nut 45, nut 45 and rings 46 formula structure as an organic whole, set nut 45 and rings 46 with connecting piece 42, rings 46 can be quick realization and unmanned aerial vehicle be connected, the fixed quality of connecting piece 42 when guaranteeing unmanned aerial vehicle lifts by crane, nut 45 can be quick realization connecting piece 42 fixed with connecting axle 41's installation, secondly, set nut 45 and rings 46 formula structure into, can simplify the mounting process between rings 46 and the nut 45, improve the joint strength between rings 46 and the nut 45, avoid lifting by crane the separation of in-process rings 46 and nut 45, the security performance when lifting by crane has been improved, traction portion 22 includes mount 24 and the fixed pulley 25 that sets up on mount 24, be equipped with swivel nut 26 on the mount 24, be equipped with on the suspension body 21 with swivel nut 26 matched with screw 27, set traction portion 22 into the structure of mount 24 and fixed pulley 25, realize the installation of locating wheel through 24 fixed, guaranteed the pulling effect of haulage rope 3, screw 27 can realize with swivel nut 24 with suspension body 21, the mount 24 is reliable to rock.
The above description is only an embodiment of the present invention, but the technical features of the present invention are not limited thereto, and any changes or modifications within the technical field of the present invention by those skilled in the art are covered by the claims of the present invention.
Claims (6)
1. The utility model provides an electrified dismouting robot of damper based on unmanned aerial vehicle assists line, its characterized in that: the unmanned aerial vehicle is characterized by comprising a robot main body, a traction rope and a hoisting pulley block hung on a lead, wherein the hoisting pulley block is hung on a target lead through the unmanned aerial vehicle, and then the robot main body is pulled through the traction rope to realize the on-line operation; the unmanned aerial vehicle is characterized in that a connecting mechanism connected with the unmanned aerial vehicle and a spring bolt rotatably connected to the hoisting pulley block are arranged on the hoisting pulley block, a first torsion spring is arranged on the spring bolt, the connecting mechanism is in linkage connection with the spring bolt, when the connecting mechanism is connected with the unmanned aerial vehicle, the spring bolt is accommodated on the hoisting pulley block under the action of the tension of the connecting mechanism, when the connecting mechanism is separated from the unmanned aerial vehicle, the spring bolt resets under the action of the first torsion spring and locks the hoisting pulley block on a wire, the traction rope comprises a lifting section connected with a robot body and a traction section for drawing the lifting section onto the hoisting pulley block, the traction section is detachably mounted on the lifting section, and the traction section is arranged on the hoisting pulley block;
the hoisting pulley block comprises a suspension body suspended on a lead and a traction part fixed with a traction rope, the traction part is arranged at the bottom end of the suspension body, the connecting mechanism is arranged at the top end of the suspension body, and the lock tongue is arranged in the middle of the suspension body;
the connecting mechanism comprises a connecting shaft and a connecting piece arranged on the connecting shaft, a vertical through hole is formed in the suspension body, the connecting shaft is arranged in the vertical through hole, a limiting plate for preventing the connecting shaft from falling off is arranged at the bottom end of the connecting shaft, and a chain connected with the lock tongue is arranged on the limiting plate; the connecting piece comprises a nut arranged on the connecting shaft and a hanging ring arranged on the nut, and the nut and the hanging ring are of an integrated structure;
the traction part comprises a fixed frame and a fixed pulley arranged on the fixed frame, the fixed frame is provided with a threaded sleeve, and the suspension body is provided with a screw rod matched with the threaded sleeve.
2. The electrified dismouting robot of damper based on unmanned aerial vehicle assists online according to claim 1 characterized in that: the robot main body comprises a nacelle and a working platform convenient for the electrified disassembly and assembly of the vibration damper, the working platform is detachably mounted on the nacelle, and a regulating piece for controlling the aerial posture of the robot main body is arranged on the nacelle.
3. The unmanned aerial vehicle-assisted online robot for electrified disassembly and assembly of the damper based on the unmanned aerial vehicle as claimed in claim 2, characterized in that: work platform includes running gear, the nacelle includes with running gear joint complex joint portion to and be used for restricting the spacing locking lever of running gear walking, spacing locking lever rotates through the pivot and connects in joint portion, the top of spacing locking lever is equipped with the go-between that links to each other with the promotion section, be equipped with the second torsional spring in the pivot, when spacing locking lever receives the ascending pulling force of promotion section, spacing locking lever and running gear butt, when spacing locking lever does not receive the promotion section to act on, spacing locking lever separates with running gear under the effect of second torsional spring.
4. The electrified dismouting robot of damper based on unmanned aerial vehicle assists online according to claim 3 characterized in that: the walking mechanism comprises a support and walking wheels, the walking wheels are arranged on the support, the support is arranged on the bottom plate, and an arc portion abutted against the walking wheels is arranged on the limiting lock rod.
5. The electrified dismouting robot of damper based on unmanned aerial vehicle assists online according to claim 4, characterized in that: the clamping portion comprises a first clamping block, a second clamping block and a cross rod arranged between the first clamping block and the second clamping block, clamping grooves matched with the limiting locking rods are formed in the first clamping block and the second clamping block, and the adjusting piece is arranged on the cross rod.
6. The electrified dismouting robot of damper based on unmanned aerial vehicle assists online according to claim 1 characterized in that: the weight of the traction section is not greater than the weight of the lifting section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110283792.8A CN113120790B (en) | 2021-03-17 | 2021-03-17 | Electrified dismouting robot of damper based on unmanned aerial vehicle assists line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110283792.8A CN113120790B (en) | 2021-03-17 | 2021-03-17 | Electrified dismouting robot of damper based on unmanned aerial vehicle assists line |
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| CN113120790B true CN113120790B (en) | 2022-10-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN206412696U (en) * | 2017-02-10 | 2017-08-15 | 四川中飞赛维航空科技有限公司 | A kind of insulation coaster that construction is carried based on rotor wing unmanned aerial vehicle |
| CN107221874B (en) * | 2017-07-07 | 2018-08-17 | 国网湖南省电力公司带电作业中心 | A kind of vehicular with hanging wire unmanned plane independently upper coil inserting apparatus and method |
| CN108599007B (en) * | 2018-03-29 | 2020-07-24 | 武汉大学 | Device and method for installing pulley insulating rope on high-voltage line unmanned aerial vehicle |
| CN210693254U (en) * | 2019-08-13 | 2020-06-05 | 浙江铂创机器人科技有限公司 | Auxiliary wire loading and unloading device for electric robot |
| CN110788870B (en) * | 2019-11-05 | 2021-05-07 | 长沙理工大学 | Power distribution overhead line grounding wire hanging robot and operation method thereof |
| CN111251287B (en) * | 2020-03-13 | 2021-04-06 | 哈尔滨工程大学 | High-voltage transmission line maintenance robot lifting rope catching device and method |
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