CN113612153B - Automatic on-line robot - Google Patents
Automatic on-line robot Download PDFInfo
- Publication number
- CN113612153B CN113612153B CN202110524278.9A CN202110524278A CN113612153B CN 113612153 B CN113612153 B CN 113612153B CN 202110524278 A CN202110524278 A CN 202110524278A CN 113612153 B CN113612153 B CN 113612153B
- Authority
- CN
- China
- Prior art keywords
- plate
- guide
- rope
- fixed
- rope winding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to an automatic online robot, which is characterized in that: including backup pad, shell body, rotor plate, medium plate, front bezel, fixed barrel, serving roll, servo motor, shower nozzle elevating system and walking wheel, vertical relative setting of medium plate and front bezel and fixing respectively in the bottom of backup pad, the rotor plate rotate and connect the top in the backup pad, medium plate and front bezel between the level be fixed with two fixed barrels, each swing joint has a serving roll on two fixed barrels, connect two serving roll respectively for first serving roll and second serving roll on two fixed barrels, first serving and second serving respectively the winding be connected with an insulating rope, the one end of two insulating ropes is passed the backup pad respectively and is linked to each other with the couple. By adopting the structure, the high-altitude cable climbing device can climb to the upper line at any lower part of the high-altitude cable, and plays a role in increasing the practical performance.
Description
Technical Field
The invention relates to the technical field of high-altitude cable detection and maintenance, in particular to an automatic on-line robot.
Background
With the development of economic construction in China and the improvement of the national production level, robots already have each link of our lives. With the continuous improvement of facilities on our body, the aloft work on the body is more and more under the background, wherein a lot of aloft cable ropes are related to the work, such as aloft line detection and outdoor line maintenance, all of which are carried by electricians to ladders, the top ends of the ladders hook the cables by hooks, and the lower companions hold the ladders, so that the detection and maintenance are carried out on one section; sometimes, the kite is wound on a power line, and most of the kites are smashed down by using longer wood poles; it is also sometimes necessary for a worker to transfer tools between the two cable racks.
Because many cables have high voltage, although electricians are trained and know safe working methods, the electricians cannot completely avoid dangerous accidents, and are influenced by ladder transportation, the working range of one place for ladder transportation is limited, even personnel fall down possibly, and a great deal of manpower and time are wasted when ladders are transported back and forth; when the kite is wound on the electric wire, the kite is difficult to be taken down by using a wood pole, if the electric wire is far away from the ground, the kite is only discarded, and other articles are also carelessly wound on the electric wire.
Therefore, it is important to design an online robot which can be lifted by using a hook, but the existing hook is not provided with a safety function, so that the hook is easy to be unhooked in the lifting or moving process, and once the hook is unhooked, the equipment falls from the air, so that unnecessary loss is caused.
Disclosure of Invention
The invention aims to provide an automatic on-line robot, which is characterized in that a safety pin is arranged at the opening position of a hook-shaped part, and the safety pin prevents a hook from being separated from a high-altitude cable in the process of moving or pulling and stressing, so that equipment and the hook are prevented from falling from the air, unnecessary loss is reduced, and the function of increasing the practical performance is achieved.
In order to solve the technical problem, the invention provides an automatic on-line robot, which is characterized in that: the automatic spraying device comprises a supporting plate, an outer shell, a rotating plate, a middle plate, a front plate, a fixed barrel, a rope drum, a servo motor, a spray head lifting mechanism and walking wheels, wherein the middle plate and the front plate are vertically arranged oppositely and are respectively fixed at the bottom of the supporting plate, the front plate is positioned right below the right end of the supporting plate, the outer shell is fixed at two sides of the supporting plate and is respectively and fixedly connected with the middle plate and the front plate, the rotating plate is rotatably connected at the top of the supporting plate, a hollow upright column is vertically arranged at the top of each of the left end and the right end of the rotating plate, an installation box body is respectively arranged at the upper end of each of the two hollow upright columns, the two walking wheels are respectively arranged on the two installation box bodies, the two walking wheels are positioned on the same horizontal line and are symmetrically arranged with the center of the rotating plate, walking wheel driving motors are arranged in the hollow upright columns, and are connected with the walking wheels through worm and gear assemblies arranged in the installation box bodies, the sprayer is connected to one side of a hollow upright post through a sprayer lifting mechanism, two fixed barrels are horizontally fixed between the middle plate and the front plate, a rope winding barrel is movably connected to each fixed barrel, the inner diameter of each rope winding barrel is matched with the outer diameter of each fixed barrel, the two rope winding barrels connected to the two fixed barrels are respectively a first rope winding barrel and a second rope winding barrel, the left end of each first rope winding barrel is close to the middle plate, the right end of each second rope winding barrel is close to the front plate, two servo motors are arranged and fixed on the middle plate respectively, the two servo motors are respectively connected with the first rope winding barrel and the second rope winding barrel through transmission components, the first rope winding barrel and the second rope winding barrel are respectively wound and connected with an insulating rope, and the two insulating ropes are respectively wound and unwound through the rotation of the first rope winding barrel and the second rope winding barrel, one end of each of the two insulation ropes penetrates through the supporting plate to be connected with the hook, and the supporting plates on the front side and the rear side of the rotating plate are respectively provided with a protective side plate.
Further: the middle plate is fixed in the middle section of the outer shell, the front plate is fixed at the right end of the outer shell, and the left end of the outer shell is fixed with the rear plate.
And further: the transmission assembly comprises a transition plate, a first transmission rod, a second transmission rod, a first gear sleeve, a second gear sleeve, a first gear, a second gear and a turbine box, the transition plate is fixed at the bottom of a support plate between a middle plate and a front plate, the transition plate is parallel to the middle plate and the front plate, the first transmission rod is rotatably connected between the middle plate and the transition plate, the second transmission rod penetrates through the transition plate and is movably connected with the transition plate, two ends of the second transmission rod are rotatably connected to the middle plate and the front plate respectively, two servo motors are respectively connected with the turbine box through a speed reducer, the two servo motors are respectively connected with the first transmission rod and the second transmission rod through the turbine box, the first gear sleeve is sleeved on the first transmission rod and rotates along with the first transmission rod, the second gear sleeve is sleeved on the second transmission rod between the transition plate and the front plate and rotates along with the first transmission rod, the first gear sleeve is fixed at the left end of the first rope winding drum and is connected with the right end of the second rope winding drum.
And further: the inner wall of the first rope winding drum is provided with first internal connection threads, the outer wall, facing the right end of the first rope winding drum, of the fixed drum body connected with the first rope winding drum is provided with first external connection threads matched with the first internal connection threads, the first rope winding drum is connected onto the fixed drum body through the matching of the first internal connection threads and the first external connection threads, the inner wall of the second rope winding drum is provided with second internal connection threads, the outer wall, facing the left end of the second rope winding drum, of the fixed drum body connected with the second rope winding drum is provided with second external connection threads matched with the second internal connection threads, and the second rope winding drum is connected onto the other fixed drum body through the matching of the second internal connection threads and the second external connection threads.
And further: the left end and the right end of the transition plate are respectively provided with a first guide wheel and a second guide wheel, the rotating central axes of the first guide wheel and the second guide wheel are parallel to the rotating central axes of the first rope winding drum and the second rope winding drum, the left end of the transition plate is also provided with a third guide wheel, the rotating central axis of the third guide wheel is vertical to the rotating central axis of the first guide wheel, the left end of the middle plate is also provided with a fourth guide wheel, a first guide column is detachably connected to a support plate above the fourth guide wheel, a second guide column is detachably connected to a support plate above the second guide wheel, through holes for penetrating insulating ropes are formed in the centers of the first guide column and the second guide column, one end of the insulating rope wound on the first rope winding drum sequentially winds the first guide wheel, the third guide wheel and the fourth guide wheel and penetrates through the support plate, and one end of the insulating rope wound on the second rope winding drum winds the first guide wheel and penetrates through the first guide column; the outer walls of the lower end of the first guide post and the lower end of the second guide post are provided with third external threads, and threaded through holes matched with the third external threads are formed in the positions, corresponding to the first guide post and the second guide post, of the supporting plate.
And further: the rotary plate is characterized in that arc-shaped guide through grooves are formed in positions, corresponding to the first guide post and the second guide post, of the rotary plate, the first guide post and the second guide post penetrate through the rotary plate along the arc-shaped guide through grooves, a circular through hole is formed in the center of the rotary plate, a connecting threaded hole is formed in the position, facing the circular through hole, of the support plate, the rotary plate is rotatably connected to the top of the support plate through the positioning column, the positioning column penetrates through the circular through hole and is connected into the connecting threaded hole, the positioning column is formed by integrally connecting a limiting portion, a cylindrical portion and a threaded portion from top to bottom, the threaded portion is connected into the connecting threaded hole, the rotary plate is connected to the cylindrical portion through the circular through hole and is limited to the top of the support plate through the limiting portion, the rotary plate rotates around the cylindrical portion, an arc-shaped groove is further formed in the support plate on one side of the connecting threaded hole, teeth are arranged on the inner wall of the arc-shaped groove, a rotary servo motor is provided with rotary teeth, the output shaft end of a small gear extending into the arc-shaped groove, and the small gear is connected with the inner wall of the arc-shaped gear.
And further: couple include the connecting block, connect the movable part at the connecting block both ends, set up in the movable part bottom and rather than the hook-shaped portion, safety pin, insulating rope fixed roller and the supporting roller that fuses, the movable part be provided with the direction extension towards one side of connecting block, the connecting block towards the position of both sides movable part all seted up with direction extension assorted guide way, the direction extension stretch into to the connecting block and reciprocate along the guide way from the guide way, the bottom at connecting block both ends respectively be provided with a supporting roller, supporting roller along with the direction extension together reciprocate, insulating rope fixed roller be provided with two, two insulating rope fixed roller detachably respectively connect on the hook-shaped portion of both sides, the upper and lower both ends of hook-shaped portion open position be provided with safety pin installation department and safety pin fixed part respectively, the safety pin installation department on offer the insertion through-hole that is used for inserting the safety pin, the safety pin fixed part under the insertion through-hole on seted up the locking hole, the lower extreme of safety pin pass safety pin installation department and insert in the locking hole along inserting the through-hole.
And further: the front side wall and the rear side wall of the left end and the right end of the connecting block are provided with second guide grooves which are mutually communicated, wherein the second guide groove on one side is internally and vertically movably connected with a sliding block, the supporting idler wheel is connected on the supporting rotating shaft and rotates along with the supporting rotating shaft, the supporting rotating shaft extends into the connecting block from the second guide groove on the other side and is fixed on the sliding block, and the sliding block is connected with a guide extending part extending into the connecting block through a horizontally arranged connecting plate; the connecting plate is characterized in that a connecting hole for accommodating the spring is formed in the connecting block right above the connecting plate, the upper end of the connecting hole is flush with the top of the connecting plate, the top of the connecting plate is also detachably connected with a cap for sealing the connecting hole, and the two ends of the spring are respectively contacted with the inner wall of the cap and the top of the connecting plate.
And further: the bottom of the hook-shaped part is provided with a through groove, the insulating rope fixing idler wheel is detachably connected in the through groove through a fixing pin, and two side walls of the bottom of the hook-shaped part are provided with mounting holes for mounting the fixing pin.
And further: the sprayer lifting mechanism comprises a sprayer lifting motor, a lower fixing plate, an upper fixing plate, a lead screw, guide columns, a hinge seat and a hinge, wherein the lower fixing plate is horizontally arranged and fixed on one side of a hollow upright column, the upper fixing plate is positioned right above the lower fixing plate, the lead screw is rotatably connected between the upper fixing plate and the lower fixing plate, the guide columns are respectively fixed between the lower fixing plate and the upper fixing plate on two sides of the lead screw, the hinge seat is movably connected to the lead screw through a guide cylinder, the sprayer is movably connected to the guide columns through the hinge and is connected with the hinge seat, and the sprayer lifting motor is installed at the bottom of the lower fixing plate and is connected with the lead screw.
After adopting the structure, the invention has the beneficial effects that: according to the invention, the safety pin is arranged at the opening position of the hook-shaped part, and the hook is prevented from being separated from a high-altitude cable in the process of moving or pulling and stressing through the safety pin, so that equipment and the hook are prevented from falling from the air, unnecessary loss is reduced, and the function of increasing the practical performance is achieved; in addition, the rope winding drum can translate when the rope winding drum is used for winding an insulating rope in a rotating mode through the design of the external threads on the outer wall of the fixing drum body and the internal threads on the inner wall of the rope winding drum, so that the purpose of flatly winding the rope is achieved, and rope knotting is prevented.
Drawings
The invention is described in further detail below with reference to the drawings and the detailed description.
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a perspective view of fig. 1 with the outer case removed.
Fig. 3 is a front view structural diagram of fig. 1 with the outer shell removed.
Fig. 4 is a top view structural view of fig. 2 with the support plate removed.
Fig. 5 is an enlarged view of a in fig. 4.
Fig. 6 is an enlarged view of B in fig. 4.
Fig. 7 is a structural view of the hook.
Fig. 8 is a plan view structural view of the head lifting mechanism.
Fig. 9 isbase:Sub>A cross-sectional view taken alongbase:Sub>A-base:Sub>A of fig. 8.
Detailed Description
As shown in fig. 1, 2, 3 and 4, the automatic on-line robot comprises a support plate 11, an outer shell 1, a rotating plate 2, a middle plate 12, a front plate 13, a fixed cylinder 17, a rope drum, a servo motor 15, a nozzle 7, a nozzle lifting mechanism and a traveling wheel 5, wherein the middle plate and the front plate are vertically arranged oppositely and are respectively fixed at the bottom of the support plate, the front plate is positioned right below the right end of the support plate, the outer shell is fixed at two sides of the support plate and is respectively fixedly connected with the middle plate and the front plate, the middle plate is fixed in the middle section of the outer shell, the front plate is fixed at the right end of the outer shell, a rear plate is fixed at the left end of the outer shell, the rotating plate is rotatably connected to the top of the support plate, a hollow upright column 4 is vertically arranged at the top of each of the left end and the right end of the rotating plate, a mounting box 25 is respectively arranged at the upper ends of the two hollow columns, the two installation boxes are respectively provided with a travelling wheel, the two travelling wheels are positioned on the same horizontal line and are symmetrically arranged by the center of the rotating plate, a travelling wheel driving motor 31 is arranged in the hollow upright post, the travelling wheel driving motor is connected with the travelling wheel through a worm gear assembly 33 arranged in the installation boxes, the nozzle is connected to one side of the hollow upright post through a nozzle lifting mechanism, two fixed barrels are horizontally fixed between the middle plate and the front plate, the two fixed barrels are respectively and movably connected with a rope winding barrel, the inner diameter of the rope winding barrel is matched with the outer diameter of the fixed barrel, the two rope winding barrels connected to the two fixed barrels are respectively a first rope winding barrel 16-1 and a second rope winding barrel 16-2, the left end of the first rope winding barrel is close to the middle plate, and the right end of the second rope winding barrel is close to the front plate, the two servo motors are respectively fixed on the middle plate and are respectively connected with a first rope winding drum 16-1 and a second rope winding drum 16-2 through transmission components, the first rope winding drum and the second rope winding drum are respectively wound and connected with an insulating rope 8, the two insulating ropes are respectively wound and released through rotation of the first rope winding drum and the second rope winding drum, one ends of the two insulating ropes are respectively connected with a hook 9 after penetrating through the supporting plate, and the supporting plates on the front side and the rear side of the rotating plate are respectively provided with a protective side plate 10. During the lift, fix the couple on high altitude cable earlier, then start servo motor and drive first serving drum and second serving drum and rotate, rise through the mode of first serving drum and second serving drum winding two insulating ropes. By adopting the structure, the invention can climb to the upper line below any position of the high-altitude cable by utilizing the matching of the hook and the rope winding drum, thereby playing a role in increasing the practical performance.
The transmission assembly as shown in fig. 2, 3 and 4 includes a transition plate 21, a first transmission rod, a second transmission rod 22, a first gear sleeve 23-1, a second gear sleeve 23-2, a first gear 18-1, a second gear 18-2 and a turbine box 35, the transition plate is fixed at the bottom of the support plate between the middle plate and the front plate, the transition plate is parallel to the middle plate and the front plate, the first transmission rod is rotatably connected between the middle plate and the transition plate, the second transmission rod passes through the transition plate and is movably connected therewith, two ends of the second transmission rod are rotatably connected to the middle plate and the front plate, two servo motors are connected to the turbine box through a speed reducer 34, the two servo motors are respectively connected to the first transmission rod and the second transmission rod through the turbine box, the first gear sleeve is sleeved on the first transmission rod and rotates therewith, the second gear sleeve is sleeved on the second transmission rod between the transition plate and the front plate and rotates therewith, the first gear sleeve is fixed to the left end of the first gear sleeve and is connected to the right end of the first gear sleeve, and the first gear sleeve is connected to the right end of the first gear sleeve and connected to the second gear sleeve.
The inner wall of the first rope winding drum is provided with first internal connection threads, the outer wall, facing the right end of the first rope winding drum, of the fixed drum body connected with the first rope winding drum is provided with first external connection threads matched with the first internal connection threads, the first rope winding drum is connected onto the fixed drum body through the matching of the first internal connection threads and the first external connection threads, the inner wall of the second rope winding drum is provided with second internal connection threads, the outer wall, facing the left end of the second rope winding drum, of the fixed drum body connected with the second rope winding drum is provided with second external connection threads matched with the second internal connection threads, and the second rope winding drum is connected onto the other fixed drum body through the matching of the second internal connection threads and the second external connection threads. According to the rope winding drum, the external threads on the outer wall of the fixing drum body and the internal threads on the inner wall of the rope winding drum are designed, so that the rope winding drum can translate when the insulating rope is wound in a rotating mode, the purpose of flatly winding the rope is achieved, and rope knotting is prevented.
As shown in fig. 2, 3 and 4, a first guide wheel 20 and a second guide wheel 36 are respectively arranged at the left end and the right end of the transition plate, the rotation central axes of the first guide wheel and the second guide wheel are parallel to the rotation central axes of the first rope winding drum and the second rope winding drum, a third guide wheel 19 is further arranged at the left end of the transition plate, the rotation central axis of the third guide wheel is perpendicular to the rotation central axis of the first guide wheel, a fourth guide wheel 38 is further arranged at the left end of the middle plate, a first guide column 14-1 is detachably connected to a support plate above the fourth guide wheel, a second guide column 14-2 is also detachably connected to a support plate above the second guide wheel, through holes for passing through insulating ropes are formed at the centers of the first guide column and the second guide column, one end of the insulating rope wound on the first rope winding drum sequentially passes through the first guide wheel, the third guide wheel and the fourth guide wheel and passes through the first guide column, and one end of the second rope wound on the second rope winding drum passes through the first guide wheel; the outer walls of the lower end of the first guide post and the lower end of the second guide post are provided with third external threads, and threaded through holes matched with the third external threads are formed in the positions, corresponding to the first guide post and the second guide post, of the supporting plate.
As shown in fig. 2, 3 and 8, the rotating plate has arc-shaped guiding through grooves 2-1 formed at positions corresponding to the first guiding post and the second guiding post, the first guiding post and the second guiding post pass through the rotating plate along the arc-shaped guiding through grooves, a circular through hole is formed in the center of the rotating plate, a connecting threaded hole is formed in a position on the supporting plate opposite to the circular through hole, the rotating plate is rotatably connected to the top of the supporting plate through a positioning post 37, the positioning post passes through the circular through hole and is connected into the connecting threaded hole, the positioning post is formed by integrally connecting a limiting part, a cylindrical part and a threaded part from top to bottom, the threaded part is connected into the connecting threaded hole, the rotating plate is connected to the cylindrical part through the circular through hole and is limited at the top of the supporting plate through the limiting part, the rotating plate rotates around the cylindrical part, an arc-shaped groove is further formed in the supporting plate at one side of the connecting threaded hole, teeth 11-1 are formed in the inner wall of the arc-shaped groove, a rotating servo motor 3 is mounted on the rotating plate right above the arc-shaped groove, an output shaft of the rotating servo motor passes through the arc-shaped groove and extends into the inner wall of the arc-shaped groove, and an output shaft of a small gear, and a small gear is mounted on the small gear, and a small gear.
The hook shown in fig. 7 comprises a connecting block 9-1, a movable part 9-2 connected to two ends of the connecting block 9-1, a hook part 9-3 arranged at the bottom of the movable part and integrally connected with the movable part, a safety pin 9-4, insulating rope fixing rollers and supporting rollers 9-6, wherein a guide extending part is arranged on one side of the movable part facing the connecting block, guide grooves matched with the guide extending part are formed in the positions of the connecting block facing the movable parts on two sides, the guide extending part extends into the connecting block from the guide grooves and moves up and down along the guide grooves, the supporting rollers 9-6 are respectively arranged at the bottom of two ends of the connecting block, the supporting rollers move up and down along with the guide extending part, the insulating rope fixing rollers are provided with two insulating rope fixing rollers, the two insulating rope fixing rollers are detachably connected to the hook parts on two sides respectively, a safety pin fixing part and a safety pin fixing part are arranged at the upper end and the lower end of the opening position of the hook part respectively, an insertion through hole for inserting the safety pin is formed in the safety pin mounting part, a locking hole is formed in the safety pin fixing part under the insertion through hole, and the safety pin passes through the installation part and is connected into the locking through hole. According to the invention, the safety pin is arranged at the opening position of the hook-shaped part, and the hook is prevented from being separated from a high-altitude cable in the moving or pulling stress process through the safety pin, so that equipment and the hook are prevented from falling from the air, and unnecessary loss is reduced.
As shown in fig. 7, the front and rear side walls at the left and right ends of the connecting block are provided with second guide grooves which are communicated with each other, wherein, the second guide groove at one side is internally and vertically movably connected with a sliding block 9-5, the supporting roller is connected on the supporting rotating shaft and rotates along with the supporting rotating shaft, the supporting rotating shaft extends into the connecting block from the second guide groove at the other side and is fixed on the sliding block, and the sliding block is connected with a guide extending part extending into the connecting block through a connecting plate which is horizontally arranged; the connecting block right above the connecting plate is internally provided with a connecting hole for containing a spring, the upper end of the connecting hole is flush with the top of the connecting plate, the top of the connecting plate is also detachably connected with a cap 9-7 for sealing the connecting hole, and two ends of the spring are respectively contacted with the inner wall of the cap and the top of the connecting plate.
As shown in fig. 7, a through groove is formed at the bottom of the hook-shaped portion, the insulating rope fixing roller is detachably connected in the through groove through a fixing pin, and mounting holes 9-3-1 for mounting the fixing pin are formed in two side walls of the bottom of the hook-shaped portion.
The nozzle lifting mechanism shown in fig. 7 and 8 includes a nozzle lifting motor 6, a lower fixing plate 32, an upper fixing plate 29, a screw rod, a guide post 28, a hinge seat 27 and a hinge 30, the lower fixing plate is horizontally disposed and fixed on one side of a hollow upright, the upper fixing plate is located right above the lower fixing plate, the screw rod is rotatably connected between the upper fixing plate and the lower fixing plate, a guide post is respectively fixed between the lower fixing plate and the upper fixing plate on both sides of the screw rod, the hinge seat is movably connected to the screw rod through a guide cylinder, the nozzle is connected to the hinge seat through the hinge, and the nozzle lifting motor is mounted at the bottom of the lower fixing plate and connected to the screw rod.
When the high-altitude cable lifting device works, one ends of two insulating ropes are fixed on two rope winding drums in an upper line robot, then two insulating rope fixing rollers fixed with the other ends of the insulating ropes are respectively installed in the through grooves, then the supporting rollers at the bottoms of the two ends of the connecting block are placed on a high-altitude cable through the insulating rod, the supporting rollers can roll along the high-altitude cable, the safety pin is installed into the opening of the hook-shaped portion through a tool arranged at the front end of the insulating rod, the high-altitude cable is always left in the hook-shaped portion to prevent unhooking, then the servo motor is started to enable the rotating plate to rotate, so that the two walking wheels installed at the tops of the two ends of the rotating plate are staggered with the two supporting rollers by a certain angle, the two walking wheels cannot collide with the high-altitude cable in the lifting process, then the rope winding drums are started to lift the upper line robot, the sliding block can move upwards along the second guide groove to utilize the connecting plate to compress the spring, when the two walking wheels are higher than the high-altitude cable, the servo motor is started reversely to enable the two walking wheels to return to be connected to the high-altitude cable, and the spring can push the connecting plate to enable the high-altitude cable to be disconnected from the high-altitude cable.
Claims (10)
1. The utility model provides an automatic online robot which characterized in that: comprises a supporting plate (11), an outer shell (1), a rotating plate (2), a middle plate (12), a front plate (13), a fixed cylinder (17), a rope drum, a servo motor (15), a spray head (7), a spray head lifting mechanism and traveling wheels (5), wherein the middle plate and the front plate are vertically arranged oppositely and are respectively fixed at the bottom of the supporting plate, the front plate is positioned right below the right end of the supporting plate, the outer shell is fixed at two sides of the supporting plate and is respectively and fixedly connected with the middle plate and the front plate, the rotating plate is rotatably connected at the top of the supporting plate, a hollow upright post (4) is respectively vertically arranged at the top of the left end and the right end of the rotating plate, the upper ends of the two hollow upright posts are respectively provided with an installation box body (25), the two installation box bodies are respectively provided with a traveling wheel, the two traveling wheels are positioned on the same horizontal line and are symmetrically arranged by the center of the rotating plate, a traveling wheel driving motor (31) is arranged in the hollow upright post, the traveling wheel driving motor is connected with the traveling wheels through a worm wheel component (33) arranged in the installation box body, the spray head is connected with one side of the hollow upright post through the spray head lifting mechanism, two fixed plates are horizontally, two fixed cylinders are movably connected with the rope drum body, the inner diameter of the rope drum (1-16), the rope drum is respectively, the inner diameter of the first fixed cylinder and the second rope drum is matched with the rope drum and the second rope drum (16), the left end of the first rope winding drum is close to the middle plate, the right end of the second rope winding drum is close to the front plate, the two servo motors are arranged and fixed on the middle plate respectively, the two servo motors are connected with the first rope winding drum (16-1) and the second rope winding drum (16-2) through transmission assemblies respectively, the first rope winding drum and the second rope winding drum are respectively wound and connected with an insulating rope (8), the two insulating ropes are respectively wound and retracted through rotation of the first rope winding drum and the second rope winding drum, one ends of the two insulating ropes are respectively connected with a hook (9) through a support plate, and a protective side plate (10) is arranged on each support plate on the front side and the rear side of the rotating plate.
2. An automatic threading robot according to claim 1, characterized in that: the middle plate is fixed in the middle section of the outer shell, the front plate is fixed at the right end of the outer shell, and the left end of the outer shell is fixed with the rear plate.
3. An automatic threading robot according to claim 1, characterized in that: the transmission assembly comprises a transition plate (21), a first transmission rod, a second transmission rod (22), a first gear sleeve (23-1), a second gear sleeve (23-2), a first gear (18-1), a second gear (18-2) and a turbine box (35), wherein the transition plate is fixed at the bottom of a supporting plate between the middle plate and the front plate, the transition plate, the middle plate and the front plate are parallel to each other, the first transmission rod is rotatably connected between the middle plate and the transition plate, the second transmission rod penetrates through the transition plate and is movably connected with the transition plate, two ends of the second transmission rod are rotatably connected to the middle plate and the front plate respectively, two servo motors are connected with the turbine box respectively through a speed reducer (34), the two servo motors are connected with the first transmission rod and the second transmission rod respectively through the turbine box, the first gear sleeve is sleeved on the first transmission rod and rotates along with the first transmission rod, the second gear sleeve is sleeved on the second transmission rod between the transition plate and the front plate and rotates along with the second transmission rod, the first gear sleeve is fixed at the left end of the first gear sleeve and is connected with the first gear sleeve, and the right end of the first gear sleeve is connected with the first gear sleeve, and the second gear sleeve.
4. An automatic threading robot according to claim 3, characterized in that: the inner wall of the first rope winding drum is provided with first internal connection threads, the outer wall, facing the right end of the first rope winding drum, of the fixed drum body connected with the first rope winding drum is provided with first external connection threads matched with the first internal connection threads, the first rope winding drum is connected onto the fixed drum body through the matching of the first internal connection threads and the first external connection threads, the inner wall of the second rope winding drum is provided with second internal connection threads, the outer wall, facing the left end of the second rope winding drum, of the fixed drum body connected with the second rope winding drum is provided with second external connection threads matched with the second internal connection threads, and the second rope winding drum is connected onto the other fixed drum body through the matching of the second internal connection threads and the second external connection threads.
5. An automatic threading robot according to claim 3, characterized in that: a first guide wheel (20) and a second guide wheel (36) are respectively arranged at the left end and the right end of the transition plate, the rotation central axes of the first guide wheel and the second guide wheel are parallel to the rotation central axes of the first rope winding drum and the second rope winding drum, a third guide wheel (19) is further arranged at the left end of the transition plate, the rotation central axis of the third guide wheel is perpendicular to the rotation central axis of the first guide wheel, a fourth guide wheel (38) is also arranged at the left end of the middle plate, a first guide column (14-1) is detachably connected onto a support plate above the fourth guide wheel, a second guide column (14-2) is also detachably connected onto a support plate above the second guide wheel, through holes for penetrating through the insulation ropes are formed in the centers of the first guide column and the second guide column, one end of the insulation rope wound on the first rope winding drum sequentially winds around the first guide wheel, the third guide wheel and the fourth guide wheel and penetrates through the support plate, and one end of the second rope wound on the second rope winding drum passes through the second guide wheel; the outer walls of the lower end of the first guide post and the lower end of the second guide post are provided with third external threads, and threaded through holes matched with the third external threads are formed in the positions, corresponding to the first guide post and the second guide post, of the supporting plate.
6. An automatic threading robot according to claim 5, characterized in that: the rotary plate is characterized in that arc-shaped guide through grooves (2-1) are formed in positions, corresponding to the first guide post and the second guide post, of the rotary plate, the first guide post and the second guide post penetrate through the rotary plate along the arc-shaped guide through grooves, a circular through hole is formed in the center of the rotary plate, a connecting threaded hole is formed in a position, facing the circular through hole, of the support plate, the rotary plate is rotatably connected to the top of the support plate through a positioning post (37), the positioning post penetrates through the circular through hole and is connected into the connecting threaded hole, the positioning post is formed by integrally connecting a limiting portion, a cylindrical portion and a threaded portion from top to bottom, the threaded portion is connected into the connecting threaded hole, the rotary plate is connected to the cylindrical portion through the circular through hole and is limited to the top of the support plate through the limiting portion, the rotary plate rotates around the cylindrical portion, an arc-shaped groove is further formed in the support plate on one side of the connecting threaded hole, teeth (11-1) are arranged on the inner wall of the arc-shaped groove, rotary plate above the arc-shaped groove is provided with rotary servo motor (3), an output shaft end of a small gear, and an output shaft of the small gear is connected to the small gear.
7. An automatic threading robot according to claim 1, characterized in that: the hook comprises a connecting block (9-1), a movable part (9-2) connected to two ends of the connecting block (9-1), a hook-shaped part (9-3) arranged at the bottom of the movable part and integrally connected with the movable part, a safety pin (9-4), insulating rope fixing rollers and supporting rollers (9-6), wherein the movable part is provided with a guide extending part towards one side of the connecting block, the connecting block is provided with guide grooves matched with the guide extending part towards the positions of the movable parts on two sides, the guide extending part extends into the connecting block from the guide grooves and moves up and down along the guide grooves, the bottom of two ends of the connecting block is respectively provided with one supporting roller (9-6), the supporting rollers move up and down along with the guide extending part, the insulating rope fixing rollers are provided with two insulating rope fixing rollers which are detachably connected to the hook-shaped parts on two sides respectively, a safety pin mounting part and a safety pin fixing part are arranged at the upper end and the lower end of the opening of the hook-shaped part, an insertion through hole for inserting the safety pin is arranged on the fixing part, and the safety pin passes through the locking through hole and is connected into the locking pin fixing part.
8. An automatic threading robot according to claim 7, characterized in that: the front side wall and the rear side wall of the left end and the right end of the connecting block are provided with second guide grooves which are mutually communicated, wherein the second guide groove on one side is internally and vertically movably connected with a sliding block (9-5), the supporting roller is connected on the supporting rotating shaft and rotates along with the supporting rotating shaft, the supporting rotating shaft extends into the connecting block from the second guide groove on the other side and is fixed on the sliding block, and the sliding block is connected with a guide extending part extending into the connecting block through a horizontally arranged connecting plate; a connecting hole for containing the spring is formed in the connecting block right above the connecting plate, the upper end of the connecting hole is flush with the top of the connecting plate, the top of the connecting plate is also detachably connected with a cap (9-7) for sealing the connecting hole, and two ends of the spring are respectively contacted with the inner wall of the cap and the top of the connecting plate.
9. An automatic threading robot according to claim 7, characterized in that: the bottom of the hook-shaped part is provided with a through groove, the insulating rope fixing roller is detachably connected in the through groove through a fixing pin, and two side walls of the bottom of the hook-shaped part are provided with mounting holes (9-3-1) for mounting the fixing pin.
10. An automatic threading robot according to claim 1, characterized in that: the sprayer lifting mechanism comprises a sprayer lifting motor (6), a lower fixing plate (32), an upper fixing plate (29), a lead screw, guide pillars (28), a hinge seat (27) and a hinge (30), wherein the lower fixing plate is horizontally arranged and fixed on one side of a hollow upright column, the upper fixing plate is positioned right above the lower fixing plate, the lead screw is rotatably connected between the upper fixing plate and the lower fixing plate, the guide pillars are respectively fixed between the lower fixing plate and the upper fixing plate on two sides of the lead screw, the hinge seat is movably connected onto the guide pillars through a guide cylinder, the sprayer is connected with the hinge seat through the hinge, and the sprayer lifting motor is installed at the bottom of the lower fixing plate and connected with the lead screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110524278.9A CN113612153B (en) | 2021-05-13 | 2021-05-13 | Automatic on-line robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110524278.9A CN113612153B (en) | 2021-05-13 | 2021-05-13 | Automatic on-line robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113612153A CN113612153A (en) | 2021-11-05 |
| CN113612153B true CN113612153B (en) | 2023-03-03 |
Family
ID=78336439
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110524278.9A Active CN113612153B (en) | 2021-05-13 | 2021-05-13 | Automatic on-line robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113612153B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117301116B (en) * | 2023-10-09 | 2024-04-26 | 湖南南铜集团有限公司 | A arm for cable is accomodate |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0633549A2 (en) * | 1993-07-02 | 1995-01-11 | Matsushita Electric Industrial Co., Ltd. | Simulator for producing various living environments mainly for visual perception |
| CN105048336A (en) * | 2015-06-03 | 2015-11-11 | 武汉大学 | Automatic up-and-down device of line patrol robot of strain tower |
| CN106992469A (en) * | 2017-05-31 | 2017-07-28 | 长沙理工大学 | A kind of hot line maintenance robot and its upper and lower line control method |
| EP3376068A1 (en) * | 2017-03-16 | 2018-09-19 | Korea Advanced Institute of Science and Technology | Dual-mode transmission mechanism based on twisted string actuation |
| CN110733018A (en) * | 2019-10-23 | 2020-01-31 | 长沙理工大学 | Butt-joint type wire feeding and discharging mechanism for electric power robot and application method of butt-joint type wire feeding and discharging mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142049B (en) * | 2016-08-18 | 2017-09-29 | 国网湖南省电力公司带电作业中心 | Hot line robot |
-
2021
- 2021-05-13 CN CN202110524278.9A patent/CN113612153B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0633549A2 (en) * | 1993-07-02 | 1995-01-11 | Matsushita Electric Industrial Co., Ltd. | Simulator for producing various living environments mainly for visual perception |
| CN105048336A (en) * | 2015-06-03 | 2015-11-11 | 武汉大学 | Automatic up-and-down device of line patrol robot of strain tower |
| EP3376068A1 (en) * | 2017-03-16 | 2018-09-19 | Korea Advanced Institute of Science and Technology | Dual-mode transmission mechanism based on twisted string actuation |
| CN106992469A (en) * | 2017-05-31 | 2017-07-28 | 长沙理工大学 | A kind of hot line maintenance robot and its upper and lower line control method |
| CN110733018A (en) * | 2019-10-23 | 2020-01-31 | 长沙理工大学 | Butt-joint type wire feeding and discharging mechanism for electric power robot and application method of butt-joint type wire feeding and discharging mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113612153A (en) | 2021-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113612153B (en) | Automatic on-line robot | |
| CN211475301U (en) | Liftable and stable monitoring rod of being convenient for maintenance | |
| CN208135836U (en) | A kind of maintenance of telecommunication line is stepped on going up and down | |
| CN114314179B (en) | Well cable conductor winding and unwinding devices | |
| CN216332385U (en) | Cross locking type robot for climbing telegraph pole | |
| CN211173018U (en) | A operation platform for inserted lift scaffold | |
| CN215378261U (en) | Rope winding and unwinding lifting mechanism for automatic on-line robot | |
| CN210101827U (en) | Transformer overhaul robot | |
| CN113879418A (en) | Cross locking type robot for climbing telegraph pole | |
| CN112523488A (en) | Construction hanging basket with parking safety device for electric-based construction | |
| CN218952754U (en) | Spliced safety ladder cage | |
| CN106988596B (en) | Electric power tower | |
| CN216918183U (en) | Winding mechanism for automatic on-line spraying robot | |
| CN111111041A (en) | Power supply company uses high altitude construction safety device convenient to adjust working range | |
| CN113363863B (en) | Automatic pole-climbing insulating platform with rotation and translation functions | |
| CN219753914U (en) | Hanging basket with quick locking structure | |
| CN218434711U (en) | Electric system high-voltage test lifting device | |
| CN111391360B (en) | Vertical glass steel storage tank apparatus for producing | |
| CN215705815U (en) | A unwrapping wire equipment for subway contact net overhauls | |
| CN112600124B (en) | Overhead line erecting machine and using method thereof | |
| CN219863986U (en) | Electric erecting device for building scaffold | |
| CN220594692U (en) | Quick detach quick-assembly type fills electric pile | |
| CN220392976U (en) | Transmission and transformation engineering construction line conveying device | |
| CN214299052U (en) | Safety hoisting platform for mounting power equipment | |
| CN219279429U (en) | Transformer substation overhauling device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |