CN114629056B - Mobile distribution network live working robot - Google Patents
Mobile distribution network live working robot Download PDFInfo
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- CN114629056B CN114629056B CN202210389211.3A CN202210389211A CN114629056B CN 114629056 B CN114629056 B CN 114629056B CN 202210389211 A CN202210389211 A CN 202210389211A CN 114629056 B CN114629056 B CN 114629056B
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- 238000009826 distribution Methods 0.000 title claims abstract description 92
- 230000007246 mechanism Effects 0.000 claims abstract description 256
- 238000003825 pressing Methods 0.000 claims abstract description 17
- 238000005520 cutting process Methods 0.000 claims description 35
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 206010040844 Skin exfoliation Diseases 0.000 description 63
- 239000007787 solid Substances 0.000 description 24
- 238000006073 displacement reaction Methods 0.000 description 16
- 230000006835 compression Effects 0.000 description 9
- 238000007906 compression Methods 0.000 description 9
- 238000004804 winding Methods 0.000 description 7
- 230000001054 cortical effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000017105 transposition Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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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
- H02G1/14—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for joining or terminating cables
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C11/00—Trolleys or crabs, e.g. operating above runways
- B66C11/08—Trolleys or crabs, e.g. operating above runways with turntables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C21/00—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/08—Runners; Runner bearings
-
- 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
-
- 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
- H02G1/12—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for removing insulation or armouring from cables, e.g. from the end thereof
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mobile distribution network live working robot, which comprises: a robot body; a hoist assembly comprising: the hoisting mechanism comprises a winch, a rope and a hook, wherein the winch is arranged on the robot body; the traveling mechanism comprises a rotating ring, a rotating ring driving mechanism, two traveling upright posts, traveling wheels, a wheel adjusting mechanism and a pressing wheel, wherein the rotating ring is rotatably arranged at the top of the robot body, the rotating ring driving mechanism can drive the rotating ring to rotate, the two traveling upright posts are symmetrically arranged on the rotating ring, the traveling wheels are rotatably arranged at the top of the traveling upright posts, the wheel adjusting mechanism is arranged on the traveling upright posts, the pressing wheel is arranged on the wheel adjusting mechanism, the wheel adjusting mechanism can drive the pressing wheel to move up and down along the height direction, and the traveling wheels are wheels with motors. The invention can realize the forward and backward movement adjustment of the robot through the running mechanism, thereby meeting the requirement of the operation position.
Description
Technical Field
The invention relates to a mobile distribution network live working robot, and belongs to the technical field of distribution network drainage wire connection.
Background
The live working of the distribution network becomes the most direct and effective means for reducing the power failure time, improving the power supply reliability and the service level of a power supply enterprise, and the main working projects are 10kV live disconnection and connection, bolt tightening, branch pruning, grounding ring installation, lightning arrester replacement and the like. However, the manual operation has high labor intensity and high safety risk, and the adoption of robots to replace manual high-risk operation has very urgent demands. At present, a distribution network live working robot is commonly adopted at home and abroad for operation. However, the existing distribution network live working robots are all mounted on the insulating arm vehicle, have large volume and heavy weight, are difficult to be applied to road-free working terrains, narrow working spaces and complex working objects, are particularly inconvenient to develop the working in the middle of the triangular arrangement or horizontal arrangement lines, and greatly limit the application range of the distribution network live working robots. In order to solve the problem, the applicant has developed a portable power distribution network live-wire connection drainage wire robot to work (application number 2021114865717), however, in practical application, the applicant finds that the robot can only realize fixed-point work, cannot adjust the position of the robot according to the requirement, and needs to be improved.
Disclosure of Invention
Based on the above, the invention provides a mobile distribution network live working robot, which can realize the mobile adjustment of the robot on a distribution network line so as to overcome the defects in the prior art.
The technical scheme of the invention is as follows: a mobile distribution network live working robot, comprising:
A robot body;
A hoist assembly comprising:
The hoisting mechanism comprises a winch, a rope and a hook, wherein the winch is arranged on the robot body, one end of the rope is connected with the winch, and the other end of the rope is connected with the hook;
The traveling mechanism comprises a rotating ring, a rotating ring driving mechanism, two traveling upright posts, traveling wheels, a wheel adjusting mechanism and a pressing wheel, wherein the rotating ring is rotatably arranged at the top of the robot body, the rotating ring driving mechanism can drive the rotating ring to rotate, the two traveling upright posts are symmetrically arranged on the rotating ring, the traveling wheels are rotatably arranged at the top of the traveling upright posts, the wheel adjusting mechanism is arranged on the traveling upright posts, the pressing wheel is arranged on the wheel adjusting mechanism, the wheel adjusting mechanism can drive the pressing wheel to move up and down along the height direction, and the traveling wheels are wheels with motors.
In one example, the wheel adjusting mechanism comprises an adjusting screw rod, an adjusting driving motor and an adjusting sliding block, the adjusting screw rod is rotatably arranged on the walking upright post, the adjusting sliding block is sleeved on the adjusting screw rod, and the pressing wheel is arranged on the adjusting sliding block.
In one example, the number of the walking wheels is one, the number of the compacting wheels is two, and the two compacting wheels are respectively positioned at two sides below the walking wheels.
In one example, the robot further comprises:
The rotating assembly comprises a rotating table, a rotating cross arm and a rotating driving mechanism, wherein the rotating table can be rotatably arranged at the bottom of the robot body, the rotating cross arm is fixed on the rotating table, and the rotating driving mechanism can drive the rotating table to rotate;
The peeling assembly comprises a peeling lifting mechanism, a wire inlet rotating mechanism, a wire clamping mechanism and a cortex circular cutting mechanism, wherein the peeling lifting mechanism is arranged at one end of the rotating cross arm, the wire inlet rotating mechanism is arranged on the peeling lifting mechanism, the wire clamping mechanism is arranged on the wire inlet rotating mechanism, and the cortex circular cutting mechanism is arranged on the wire clamping mechanism;
the hanging clamp assembly comprises a bearing bottom plate, a triaxial moving mechanism, a clamping fixing mechanism and a screwing and clamping mechanism, wherein the bearing bottom plate is arranged at the other end of the rotating cross arm, the triaxial moving mechanism is arranged on the bearing bottom plate, the clamping fixing mechanism is arranged on the triaxial moving mechanism, the screwing and clamping mechanism is arranged on the bearing bottom plate and located below the clamping fixing mechanism, and the screwing and clamping mechanism is used for screwing a nut to fix a drainage wire clamp on the clamping fixing mechanism on a distribution network line.
In one example, the wire feeding rotating mechanism comprises a rotating support, a rotating gear and a rotating driving mechanism, wherein the rotating support is arranged on the peeling lifting mechanism, an opening channel through which a wire can pass is formed in the rotating support, the rotating gear is rotatably installed in the opening channel, the rotating gear is formed by connecting a main rotating tooth and a bridge crossing tooth, and the rotating driving mechanism can drive the rotating gear to rotate.
In one example, the incoming line rotating mechanism further comprises rotary rings fixedly arranged on two end faces of the rotating gear, the radius of the rotary rings is smaller than that of the rotating gear, and the rotary support is provided with rotary convex strips for installing the rotary rings.
In one example, the wire clamping mechanism comprises a clamping support, a clamping driving mechanism, a positive and negative screw rod, a guide shaft, a first clamping block and a second clamping block, wherein the clamping support is fixedly arranged at the end part of the rotary gear, the positive and negative screw rod and the guide shaft are arranged on the clamping support in the same direction, the first clamping block and the second clamping block can be respectively arranged on two sides of the positive and negative screw rod and can be movably arranged on the guide shaft in a penetrating manner, and the clamping driving mechanism can drive the positive and negative screw rod to rotate, so that the first clamping block and the second clamping block are mutually close to or far away from each other.
In one example, the cortical ring cutting mechanism includes a ring cutting support, a ring cutting driving mechanism, and a cutter, wherein the ring cutting support is disposed on the first clamping block or the second clamping block, the cutter is disposed on the ring cutting support, and the ring cutting driving mechanism can drive radial feeding of the cutter.
In one example, the clamping mechanism comprises a clamping bracket, two clamping jaws and a clamping driving mechanism, wherein the clamping bracket is fixedly arranged on the triaxial moving mechanism, the two clamping jaws are arranged on the clamping bracket, and the clamping driving mechanism can drive the two clamping jaws to move between a loosening state and a clamping state.
In one example, the screwing and clamping mechanism comprises a screwing and clamping lifting mechanism, a screwing and clamping support, a screwing and clamping sleeve and a screwing and clamping driving mechanism, wherein the screwing and clamping lifting mechanism is arranged on the bearing bottom plate, the screwing and clamping support is arranged on the screwing and clamping lifting mechanism, the screwing and clamping sleeve is rotatably arranged on the screwing and clamping support, and the screwing and clamping driving mechanism can drive the screwing and clamping sleeve to rotate.
The beneficial effects of the invention are as follows:
After the invention is adopted, when in operation, an operator ties the rope and the lower end of the hook, uses the operating rod to lift the hook and load the hook at the position to be operated, and simultaneously connects the hung rope to a winch in the case. Starting a winch, judging the specific position of a distribution network cable (a wire) through a multi-camera, driving a rotating ring to rotate through a rotating ring driving mechanism when the standby robot body rises to a position close to the distribution network cable, enabling left and right travelling wheels to horizontally rotate by a certain angle, avoiding the distribution network cable, continuously lifting a certain height, reversely rotating the rotating ring when the rim parts of the left and right travelling wheels exceed the distribution network cable, enabling the left and right travelling wheels to rotate to the upper part of the distribution network cable, slightly lowering the robot body, enabling the travelling wheels to be hung on the distribution network cable, simultaneously, driving a pressing wheel to move upwards through a wheel adjusting mechanism until the pressing wheel is tightly propped against the distribution network cable, and enabling the bottom of the travelling wheels to be in close contact with the distribution network cable at the moment, so that the travelling wheels can be adjusted in a forward and backward movement mode, and the operation position requirement is met.
In addition, the invention refers to the traditional manual live line connection flow line operation flow, and provides the mobile distribution network live line operation robot and the operation method thereof, which fully exert the technical advantages of the robot in the aspects of ensuring the operation safety, reducing the labor intensity, improving the working efficiency and the like, intelligently upgrade the power distribution network operation and detection equipment, promote the improvement of the intelligent operation and detection level of the distribution network, improve the power supply reliability and meet the civil power demand.
The invention integrates the functions of line feeding and discharging and live working, has simple operation, is suitable for insulating distribution lines with different voltage levels, replaces operators to finish the work of connecting and drainage lines, can finish the live connection and drainage lines without the need of the operators to get on a tower, improves the reliability of power supply, reduces the labor intensity and the danger, and greatly improves the efficiency of operation, maintenance and overhaul of the distribution network while ensuring the safety of the operators.
Drawings
FIG. 1 is a schematic diagram of a mobile distribution network live working robot at one view angle;
FIG. 2 is a schematic diagram of a mobile distribution network live working robot from another perspective;
FIG. 3 is a schematic view of a lifting assembly;
FIG. 4 is a schematic view of a lifting mechanism;
FIG. 5 is a schematic view of the running gear from a perspective;
FIG. 6 is a schematic view of the running gear from another perspective;
FIG. 7 is a schematic view of the dehider assembly from a perspective;
FIG. 8 is a schematic view of a peeling elevator mechanism;
FIG. 9 is a schematic view of the dehider assembly (with the dehider lift removed);
FIG. 10 is a schematic view of an incoming line rotation mechanism (excluding the housing of the swivel mount);
FIG. 11 is a schematic view of a swivel mount;
FIG. 12 is a schematic view of a wire clamping mechanism and a cortical ring cutting mechanism;
FIG. 13 is a schematic illustration of a wire clamping mechanism and a cortical ring cutting mechanism;
FIG. 14 is a schematic view of the hanging clip assembly from a perspective;
FIG. 15 is a schematic view of the hanging clip assembly from another perspective;
FIG. 16 is a schematic view of a clip mechanism;
FIG. 17 is a schematic view of the screw clamp mechanism from a perspective;
FIG. 18 is a schematic view of the screw clamp mechanism from another perspective;
FIG. 19 is a schematic view of a screw clamp lift mechanism;
Reference numerals illustrate:
1, a robot body;
2, rotating the assembly;
A 21 rotating table, 22 rotating the cross arm;
3, hanging the assembly;
31 a hoisting mechanism;
311 windlass, 312 winding rope and 313 hook;
32 running gear;
321, 322 walking columns, 323 walking wheels, 324 wheel adjusting mechanisms and 325 compression wheels;
3241 adjusting screw, 3242 adjusting driving motor, 3243 adjusting slider;
4, peeling assembly;
41 peeling lifting mechanism;
411 peeling support, 412 peeling screw, 413 peeling nut, 414 peeling guide rail, 415 peeling slide block, 416 peeling driving motor;
42 incoming line rotating mechanism;
421 rotation support, 422 rotation gear, 423 rotation driving mechanism, 424 driving gear, 425 rotation ring;
4211 rotating convex strips;
4221 main rotary teeth, 4222 gap bridge teeth;
43 a wire clamping mechanism;
431 clamping support, 432 clamping driving mechanism, 433 positive and negative screw rod, 434 guiding shaft, 435 first clamping block, 436 second clamping block, 437 clamping convex strip;
44 cortex circular cutting mechanism
441 Annular cutting support, 442 annular cutting driving mechanism, 443 cutter;
5 hanging clamp components;
51a load floor;
A 52 triaxial movement mechanism;
521 An X-axis displacement platform, 522Z-axis displacement platform, 523Y-axis displacement platform;
53 clamping mechanism;
531 clamping the support, 532 clamping the clamping jaw, 533 clamping the lead screw, 534 clamping the driving motor, 535 clamping the slider, 536 clamping the connecting rod;
54 a twisting and clamping mechanism;
541 screw-clamping lifting mechanism, 542 screw-clamping support, 543 screw-clamping sleeve, 544 screw-clamping driving mechanism;
5411 lifting guide rail, 5412 lifting screw, 5413 lifting driving motor, 5414 lifting slide block.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the invention, which is therefore not limited to the specific embodiments disclosed below.
Referring to fig. 1 to 19, a mobile distribution network live working robot of the present embodiment includes a robot body 1, a rotating assembly 2, a lifting assembly 3, a peeling assembly 4 and a hanging assembly 5.
The robot body 1 plays a supporting role and is mainly used for supporting and mounting parts such as the rotating assembly 2, the lifting assembly 3, the peeling assembly 4, the hanging clamp assembly 5 and the like. In this embodiment, the robot body 1 has a box structure with an opening at the upper end.
The rotating assembly 2 is mainly used for installing the peeling assembly 4 and the hanging clamp assembly 5 and realizing the rotating transposition of the peeling assembly and the hanging clamp assembly. The rotating assembly 2 comprises a rotating table 21, a rotating cross arm 22 and a rotating driving mechanism, the rotating table 21 is rotatably arranged at the bottom of the robot body 1, the rotating cross arm 22 is fixed on the rotating table 21, and the rotating driving mechanism can drive the rotating table 21 to rotate, so that the rotating transposition of the peeling assembly 4 and the hanging clamp assembly 5 is realized. In this embodiment, two ends of the rotating cross arm 22 symmetrically extend out of the rotating table 21 by a certain distance, and the rotation driving mechanism may be a rotation driving motor.
The hanging component 3 is mainly used for upwards moving the robot body 1, the peeling component 4 and the hanging clamp component 5 and can move along a distribution network line. The lifting assembly comprises a lifting mechanism 31 and a running mechanism 32, wherein the lifting mechanism 31 comprises a winch 311, a winding rope 312 and a hook 313, the winch 311 is arranged on the robot body 1, one end of the winding rope 312 is connected with the winch 311, and the other end is connected with the hook 313. The running mechanism 32 comprises a rotating ring 321, a rotating ring driving mechanism, two running upright posts 322, running wheels 323, a wheel adjusting mechanism 324 and a compression wheel 325, wherein the rotating ring 321 is rotatably arranged at the top of the robot body 1, a winding rope 312 and a hook 313 are positioned in the ring, the rotating ring driving mechanism can drive the rotating ring 321 to rotate, the two running upright posts 322 are symmetrically arranged on the rotating ring 321, the running wheels 323 are rotatably arranged at the top of the running upright posts 322, the wheel adjusting mechanism 324 is arranged on the running upright posts 322, the compression wheel 325 is arranged on the wheel adjusting mechanism 324, the wheel adjusting mechanism 324 can drive the compression wheel 325 to move up and down along the height direction, the height position of the compression wheel 325 is adjusted, the running wheels 323 are wheels with motors, and a storage battery can be arranged in the robot body 1. In operation, an operator ties the rope 312 to the lower end of the hook 313, lifts the hook using the lever, loads the hook on the position to be operated, and connects the suspended rope 312 to the hoist 311 in the casing. The winch 311 is started, the specific position of the distribution network cable (wire) is judged through the multi-camera, when the standby robot body 1 rises to a position close to the distribution network cable, the rotating ring 321 is driven to rotate through the swivel driving mechanism, so that the left traveling wheel 323 and the right traveling wheel 323 horizontally rotate for a certain angle, the distribution network cable is avoided, the winch is lifted for a certain height, when the rim parts of the left traveling wheel 323 and the right traveling wheel 323 exceed the distribution network cable, the rotating ring 321 is reversely rotated, the left traveling wheel 323 and the right traveling wheel 323 rotate to the upper part of the distribution network cable, the robot body 1 is slightly lowered, the traveling wheel 323 is suspended on the distribution network cable, meanwhile, the wheel adjusting mechanism 324 drives the compression wheel 325 to move upwards until the compression wheel 325 is propped against the distribution network cable, at the moment, the bottom of the traveling wheel 323 is in close contact with the distribution network cable, and the traveling wheel 323 can move forwards and backwards after rotating.
In this embodiment, two winders 311 are symmetrically installed on the robot body 1, two winding ropes 312 corresponding to the two winders 311 are connected with the hook 313, and two suspension wire mechanisms 32 are symmetrically installed on two opposite sides of the robot body 1, so as to ensure the stability of the robot body 1 in winding and unwinding. In this embodiment, a servo motor is disposed in the hoist 311, and drives a worm wheel in the hoist 311 and a worm to rotate the hoist 311, so as to wind and unwind the rope 312, thereby realizing the ascending and descending of the robot body 1.
In this embodiment, the wheel adjusting mechanism 324 includes an adjusting screw 3241, an adjusting driving motor 3242 and an adjusting slider 3243, the adjusting screw 3241 is rotatably mounted on the walking column 322, the adjusting slider 3243 is sleeved on the adjusting screw 3241, and the pinch roller 325 is mounted on the adjusting slider 3243. Along with the rotation of the adjusting screw 3241 driven by the adjusting driving motor 3242, the adjusting slider 3243 can drive the pinch roller 325 to move up and down.
In this embodiment, the number of the traveling wheels 323 is one, the number of the pinch rollers 325 is two, and the two pinch rollers 325 are respectively located at two sides below the traveling wheels 323. Specifically, a travelling wheel 323 is installed on each travelling column 322, two hold-down wheels 325 are preferred, the wheel diameter of each hold-down wheel 325 is smaller than that of each travelling wheel 323, the lower part of a distribution network cable can be wrapped by the wheel diameter of each hold-down wheel 325, and the distance between each hold-down wheel 325 and each travelling wheel 323 can be better adjusted by the structure, so that the reliable and tight contact with the distribution network cable is ensured.
In this embodiment, a gyroscope is further installed on the robot body 1, and the output data of the gyroscope is analyzed and calculated to perform speed compensation control on the two groups of winches 311, so as to realize stable lifting of the robot.
In this embodiment, the winding rope 312 may be an insulating rope to ensure the safety during live working.
The stripping assembly 4 is mainly used for stripping (stripping insulation layer) of the distribution network line. The peeling assembly 4 comprises a peeling lifting mechanism 41, a wire inlet rotating mechanism 42, a wire clamping mechanism 43 and a cortex circular cutting mechanism 44, wherein the peeling lifting mechanism 41 is arranged at one end of the rotary cross arm 22, the wire inlet rotating mechanism 42 is arranged on the peeling lifting mechanism 41, the wire clamping mechanism 43 is arranged on the wire inlet rotating mechanism 42, and the cortex circular cutting mechanism 44 is arranged on the wire clamping mechanism 43. Under the working condition, the wire feeding rotary mechanism 42 is driven by the peeling lifting mechanism 41 to move up to the position to be wired on the distribution network line, then the distribution network line is clamped by the wire clamping mechanism 43, the wire feeding rotary mechanism 42 is driven by the guiding clamping mechanism to rotate, the distribution network line is peeled by the cortex circular cutting mechanism 44, the wire clamping mechanism 43 loosens the distribution network line after the peeling is completed, and the wire feeding rotary mechanism 42 is driven by the peeling lifting mechanism 41 to move down to the position below the distribution network line.
In this embodiment, the peeling lifting mechanism 41 includes a peeling support 411, a peeling screw 412, a peeling nut 413, a peeling guide rail 414, a peeling slider 415 and a peeling driving motor 416, where the peeling support 411 is installed at an upper portion of one end of the rotating cross arm 22, the peeling screw 412 is rotatably installed on the peeling support 411, the peeling nut 413 is sleeved on the peeling screw 412, the peeling guide rail 414 is vertically installed on the peeling support 411, and the peeling slider 415 is movably installed on the peeling guide rail 414 and connected with the peeling nut 413, and drives the peeling slider 415 to move up and down along the peeling guide rail 414 along with the rotation of the peeling driving motor 416 driving the peeling screw 412.
In this embodiment, the incoming line rotating mechanism 42 includes a rotating support 421, a rotating gear 422 and a rotating driving mechanism 423, the rotating support 421 is mounted on the peeling slider 415, an opening channel through which a wire can pass is provided on the rotating support 421, the rotating gear 422 is rotatably mounted in the opening channel, the rotating gear 422 is formed by connecting a main rotating tooth 4221 and a gap bridge tooth 4222, and the rotating driving mechanism 423 can drive the rotating gear 422 to rotate. In the working state, the rotary support 421 moves up and down along with the peeling lifting mechanism 41, and the rotary driving mechanism 423 can drive the rotary gear 422 to rotate in the shaft opening channel. The rotation driving mechanism 423 may be a rotation driving motor, an output shaft of the rotation driving motor is connected with the driving gear 424, the driving gear 424 is meshed with the rotation gear 422, and the rotation driving motor rotates to drive the rotation gear 422 to rotate in the shaft opening channel. When the incoming line rotating mechanism 42 is moved upwards to the position where the distribution network line is to be connected, the gap bridge teeth 4222 are opened, so that the opening channel can be pushed upwards to the position where the line is to be connected through the peeling lifting mechanism 41, and the distribution network line is located at the center of the rotating gear 422.
In this embodiment, the incoming line rotating mechanism 42 further includes a rotating ring 425, the rotating ring 425 is fixedly mounted on two end surfaces of the rotating gear 422, the radius of the rotating ring 425 is smaller than that of the rotating gear 422, and the rotating support 421 is provided with a rotating protruding strip 4211 for mounting the rotating ring 425, so as to limit the rotating gear 422 from being separated from the opening channel. In operation, the swivel ring 425 can rotate synchronously with the rotary gear 422 and drive the wire clamping mechanism 43 to rotate.
In this embodiment, the wire clamping mechanism 43 includes a clamping support 431, a clamping driving mechanism 432, a positive and negative screw rod 433, a guiding shaft 434, a first clamping block 435 and a second clamping block 436, the clamping support 431 is fixedly installed at the end of the rotary ring 425, the positive and negative screw rod 433 and the two guiding shafts 434 are installed on the clamping support 431 in the same direction, the first clamping block 435 and the second clamping block 436 can be installed on two sides of the positive and negative screw rod 433 respectively and movably penetrate through the guiding shaft 434, and the clamping driving mechanism 432 can drive the positive and negative screw rod 433 to rotate, so that the first clamping block 435 and the second clamping block 436 are close to or far away from each other. The clamp drive mechanism 432 may be a clamp drive motor. The forward and reverse lead screw and the two guide shafts 434 are horizontally disposed and perpendicular to the axial direction of the open channel. Under the operating condition, when the position of the distribution network line to be wired is sleeved at the right center of the rotary gear 422, the clamping driving motor rotates to drive the positive and negative screw rods 433 to rotate, so as to drive the first clamping blocks 435 and the second clamping blocks 436 to be close to each other and tightly pressed on the distribution network line, and then the rotary driving motor rotates to drive the rotary gear 422 to rotate, so that the gap bridge teeth 4222 are automatically closed in rotation, and the guiding placing and compacting operation is completed.
In this embodiment, the skin layer ring cutting mechanism 44 includes a ring cutting support 441, a ring cutting driving mechanism 442 and a cutter 43, the ring cutting support 441 is mounted on the first clamping block 435 or the second clamping block 436, the cutter 43 is mounted on the ring cutting support 441, and the ring cutting driving mechanism 442 can drive radial feeding of the cutter 43. The ring cutting drive mechanism 442 may be a ring cutting electric push rod. The cutter 43 is suspended above the outer circumference of the wire, and the ring cutter support 441 can move and rotate synchronously with the first clamp block 435 or the second clamp block 436. In the working state, when the first clamping block 435 and the second clamping block 436 are pressed outside the wire and rotate, the cutting knife 43 is driven to synchronously rotate, and the insulating layer is gradually cut in a circular manner until the bare wire is exposed, so that the peeling treatment of the insulating layer of the wire can be realized.
In this embodiment, the opposite inner sides of the first clamping block 435 and the second clamping block 436 are arc grooves, and a plurality of clamping ribs 437 are arranged in the arc grooves at intervals, so as to conveniently and firmly clamp the wire, thereby improving the peeling effect.
In this embodiment, a U-shaped opening is formed in the first clamping block 435, the circular cutting support 441 is installed in the U-shaped opening, the cutter 43 is installed at an upper position of the U-shaped opening, and a notch is formed in the corresponding second clamping block 436, so that the cutter 43 can be radially fed. In this embodiment, a metal sensor is disposed at the end of the cutter 43 to avoid miscut of the metal wire inside the insulated wire.
The hanging clamp assembly 5 is mainly used for installing and fixing the drainage wire clamp. The hanging clamp assembly 5 comprises a bearing bottom plate 51, a triaxial moving mechanism 52, a clamping mechanism 53 and a screwing mechanism 54, wherein the bearing bottom plate 51 is arranged at the other end of the rotary cross arm 22, the triaxial moving mechanism 52 is arranged on the bearing bottom plate 51, the clamping mechanism 53 is arranged on the triaxial moving mechanism 52, the screwing mechanism 54 is arranged on the bearing bottom plate 51 and is positioned below the clamping mechanism 53, and the screwing mechanism 54 is used for screwing a nut to fix a drainage clamp on the clamping mechanism 53 on a distribution network line. Under the operating condition, after the insulating layer of distribution network junction is skinned to skinning subassembly 4, rotate driving mechanism can drive the rotation 180 of revolving stage 21 to realize skinning subassembly 4 and hang the rotation transposition of pressing from both sides subassembly 5, move solid clamp mechanism 53 by triaxial moving mechanism 52 this moment, make the drainage fastener cover that holds on the solid clamp mechanism 53 locate on the distribution network line, the nut on the drainage fastener is screwed up to the rethread control screw clamp mechanism 54, can realize that the drainage fastener is fixed on the installation on the distribution network line.
In this embodiment, the clamping mechanism 53 includes a clamping bracket 531, two clamping jaws 532, and a clamping driving mechanism, the clamping bracket 531 is mounted on the triaxial moving mechanism 52, the two clamping jaws 532 are movably mounted on the clamping bracket 531, and the clamping driving mechanism can drive the two clamping jaws 532 to move between a releasing state and a clamping state. In the clamped state, the two clamping jaws 532 can clamp the drain wire clamp.
In this embodiment, the solid clamping driving mechanism further includes a solid clamping screw 533, a solid clamping driving motor 534, a solid clamping slider 535 and two solid clamping connecting rods 536, the solid clamping screw 533 is rotatably installed on the solid clamping bracket 531, the solid clamping driving motor 534 is installed on the solid clamping bracket 531, the solid clamping slider 535 is sleeved on the solid clamping screw 533, one ends of the two solid clamping connecting rods 536 are hinged on the solid clamping slider 535, the other ends of the two solid clamping connecting rods 536 are hinged with one ends of the solid clamping jaw 532, the middle parts of the two solid clamping jaws 532 are hinged on the solid clamping bracket 531, and the solid clamping slider 535 moves up and down along the solid clamping screw 533 along with the rotation of the solid clamping driving motor 534, so that the solid clamping connecting rods 536 can be pushed to drive the two solid clamping jaws 532 to act.
In this embodiment, a strip-shaped opening is provided at an upper portion of one of the clamping jaws 532, and a top end of the other clamping jaw 532 can extend into the strip-shaped opening in the clamping state, so as to ensure stability of the clamping jaw 532 in the clamping state.
In this embodiment, the screwing mechanism 54 includes a screwing lifting mechanism 541, a screwing support 542, a screwing barrel 543, and a screwing driving mechanism 544, the screwing lifting mechanism 541 is mounted on the load floor 51, the screwing support 542 is mounted on the screwing lifting mechanism 541, the screwing barrel 543 is rotatably mounted on the screwing support 542, and the screwing driving mechanism 544 can drive the screwing barrel 543 to rotate. In the working state, the screwing support 542 can be driven to move up and down by the screwing lifting mechanism 541, so that the screwing sleeve 543 is driven to move up and down, and the screwing driving mechanism 544 can drive the screwing sleeve 543 to rotate, so that screwing of the nut on the drainage wire clamp is realized. The screw drive 544 may be a screw drive motor.
In this embodiment, the screwing and lifting mechanism 541 includes a lifting guide rail 5411, a lifting screw 5412, a lifting driving motor 5413 and a lifting slider 5414, where the lifting guide rail 5411 is installed on the load-bearing bottom plate 51, the lifting screw 5412 is rotatably installed on the lifting guide rail 5411, the lifting driving motor 5413 is installed on the lifting guide rail 5411 and can drive the lifting screw 5412 to rotate, the lifting slider 5414 is sleeved on the lifting screw 5412, the screwing and clamping support 542 is installed on the lifting slider 5414, and the lifting slider 5414 synchronously drives the screwing and clamping support 542 to move up and down along with the rotation of the lifting driving motor 5413, so as to realize the lifting and lifting movement of the screwing and clamping sleeve 543.
In this embodiment, the three-axis moving mechanism 52 includes an X-axis displacement platform 521, a Z-axis displacement platform 522 and a Y-axis displacement platform 523, the X-axis displacement platform 521 is mounted on the carrying base plate 51, the Z-axis displacement platform 522 is mounted on the X-axis displacement platform 521, the Y-axis displacement platform 523 is mounted on the Z-axis displacement platform 522, the clamping bracket 531 is mounted on the Y-axis displacement platform 523, and the position of the clamping bracket 531 in the three-dimensional space can be adjusted by the three-axis moving mechanism 52. The X-axis displacement platform 521, the Z-axis displacement platform 522 and the Y-axis displacement platform 523 all adopt screw rod sliding structures, and the X-axis displacement platform comprises shaft bases, shaft screws, shaft guide rails, shaft sliding blocks and shaft motors, wherein the shaft screws and the shaft guide rails are arranged between the two shaft bases, the shaft sliding blocks are sleeved on the shaft screws and the shaft guide rails, and the shaft motors can drive the rotation of the shaft screws so as to drive the movement of the shaft sliding blocks.
The invention provides an operation method of a mobile distribution network live working robot, which comprises the following steps:
(1) In operation, an operator ties the rope 312 to the lower end of the hook 313, lifts the hook 313 by using an operation lever, loads the hook on a work place, and connects the suspended rope 312 to the hoist 311 in the casing. The winch 311 is started, the specific position of the distribution network cable (wire) is judged through the multi-camera, when the standby robot body 1 rises to a position close to the distribution network cable, the rotating ring 321 is driven to rotate through the swivel driving mechanism, so that the left traveling wheel 323 and the right traveling wheel 323 horizontally rotate for a certain angle, the distribution network cable is avoided, the winch is lifted for a certain height, when the rim parts of the left traveling wheel 323 and the right traveling wheel 323 exceed the distribution network cable, the rotating ring 321 is reversely rotated, the left traveling wheel 323 and the right traveling wheel 323 rotate to the upper part of the distribution network cable, the robot body 1 is slightly lowered, the traveling wheel 323 is suspended on the distribution network cable, meanwhile, the wheel adjusting mechanism 324 drives the compression wheel 325 to move upwards until the compression wheel 325 is propped against the distribution network cable, at the moment, the bottom of the traveling wheel 323 is in close contact with the distribution network cable, and the traveling wheel 323 can move forwards and backwards after rotating.
(2) The rotary table 21 is driven by the rotary driving mechanism to rotate, so that the peeling assembly 4 is positioned below the wiring position of the distribution network line, and when the position of the peeling assembly is not positioned right below the wiring position, the peeling assembly can be movably adjusted through the travelling wheel 323.
(3) The wire feeding rotary mechanism 42 is driven by the peeling lifting mechanism 41 to move up to a position to be wired on the distribution network line, then the distribution network line is clamped by the wire clamping mechanism 43, the wire feeding rotary mechanism 42 is driven by the guiding clamping mechanism to rotate, the distribution network line is peeled by the cortex circular cutting mechanism 44, the wire clamping mechanism 43 releases the distribution network line after the peeling is completed, and the wire feeding rotary mechanism 42 is driven by the peeling lifting mechanism 41 to move down to the position below the distribution network line. In this embodiment, when the wire feeding rotation mechanism 42 moves up to the position where the wire distribution line is to be wired, the gap bridge teeth 4222 are opened, the opening channel is pushed up to the position where the wire distribution line is to be wired by the peeling lifting mechanism 41, the wire distribution line is at the center of the rotation gear 422, then the front and back screw rods 433 are driven to rotate by the rotation of the clamping driving motor, the first clamping block 435 and the second clamping block 436 are driven to be close to each other and pressed on the wire distribution line, then the rotation gear 422 is driven to rotate by the rotation driving motor, the gap bridge teeth 4222 are automatically closed when rotating, the guiding placement and pressing operation is completed, the cutter 43 gradually cuts the insulating layer at the position where the wire distribution line is to be wired until the bare wire is exposed in the rotating process, the first clamping block 435 and the second clamping block 436 are loosened, the rotation driving motor drives the rotation gear 422 to rotate to an initial position, and then the peeling lifting mechanism 41 drives the wire distribution line 42 to move down and separate from the wire distribution line.
(4) The rotary table 21 is driven to rotate by the rotary driving mechanism, so that the hanging clamp assembly 5 is positioned below the wiring position of the distribution network line. In this embodiment, the rotation driving mechanism drives the rotation table 21 to rotate 180 ° to realize the exchange of the positions of the hanging clamp assembly 5 and the peeling assembly 4.
(5) The three-axis moving mechanism 52 moves the fixing clamp mechanism 53 and clamps the drainage wire at the position to be wired of the distribution network line, then the screwing clamp mechanism 54 moves upwards and screws nuts on the drainage wire clamps, so that the drainage wire clamps are fixed on the distribution network line, and after the fixing clamp is completed, the drainage wire clamps are loosened. In this embodiment, the position of the fixing clip support 531 in the three-dimensional space is adjusted by the three-axis moving mechanism 52, so that the drainage clip clamped on the fixing clip support 531 is transversely sleeved on the distribution network line, the peeling position is located, the screwing clip support 542 is driven by the screwing clip lifting mechanism 541 to move upwards until the screwing clip tube 543 is sleeved on the nut of the drainage clip, then the screwing clip tube 543 is driven by the screwing clip driving mechanism 544 to rotate, screwing of the nut on the drainage clip is achieved, fixing installation of the drainage clip is achieved, after the fixing clip is completed, the screwing clip lifting mechanism 541 drives the screwing clip tube 543 to move downwards to the initial position, and the fixing clip mechanism 53 loosens the drainage clip.
(6) The pinch roller 325 is driven to move downwards for a certain distance by the wheel adjusting mechanism 324, then the winch 311 is started to enable the robot body 1 to move upwards for a small distance, the rotating ring 321 is driven to rotate by the rotating ring driving mechanism, the left and right travelling wheels 323 horizontally rotate for a certain angle, the distribution network cable is avoided, the robot continues to move downwards to the ground, and finally the hook 313 is taken down.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. The utility model provides a portable net live working robot that joins in marriage which characterized in that includes:
A robot body;
A hoist assembly comprising:
The hoisting mechanism comprises a winch, a rope and a hook, wherein the winch is arranged on the robot body, one end of the rope is connected with the winch, and the other end of the rope is connected with the hook;
The traveling mechanism comprises a rotating ring, a rotating ring driving mechanism, two traveling upright posts, traveling wheels, a wheel adjusting mechanism and a pressing wheel, wherein the rotating ring is rotatably arranged at the top of the robot body, the rotating ring driving mechanism can drive the rotating ring to rotate, the two traveling upright posts are symmetrically arranged on the rotating ring, the traveling wheels are rotatably arranged at the top of the traveling upright posts, the wheel adjusting mechanism is arranged on the traveling upright posts, the pressing wheel is arranged on the wheel adjusting mechanism, the wheel adjusting mechanism can drive the pressing wheel to move up and down along the height direction, and the traveling wheels are wheels with motors.
2. The mobile distribution network live working robot of claim 1, wherein the wheel adjusting mechanism comprises an adjusting screw, an adjusting driving motor and an adjusting slide block, the adjusting screw is rotatably arranged on the walking upright post, the adjusting slide block is sleeved on the adjusting screw, and the pressing wheel is arranged on the adjusting slide block.
3. The mobile distribution network live working robot of claim 2, wherein one travelling wheel is provided, two pressing wheels are provided, and the two pressing wheels are respectively positioned on two sides below the travelling wheel.
4. The mobile distribution network live working robot of claim 1, further comprising:
The rotating assembly comprises a rotating table, a rotating cross arm and a rotating driving mechanism, wherein the rotating table can be rotatably arranged at the bottom of the robot body, the rotating cross arm is fixed on the rotating table, and the rotating driving mechanism can drive the rotating table to rotate;
The peeling assembly comprises a peeling lifting mechanism, a wire inlet rotating mechanism, a wire clamping mechanism and a cortex circular cutting mechanism, wherein the peeling lifting mechanism is arranged at one end of the rotating cross arm, the wire inlet rotating mechanism is arranged on the peeling lifting mechanism, the wire clamping mechanism is arranged on the wire inlet rotating mechanism, and the cortex circular cutting mechanism is arranged on the wire clamping mechanism;
the hanging clamp assembly comprises a bearing bottom plate, a triaxial moving mechanism, a clamping fixing mechanism and a screwing and clamping mechanism, wherein the bearing bottom plate is arranged at the other end of the rotating cross arm, the triaxial moving mechanism is arranged on the bearing bottom plate, the clamping fixing mechanism is arranged on the triaxial moving mechanism, the screwing and clamping mechanism is arranged on the bearing bottom plate and located below the clamping fixing mechanism, and the screwing and clamping mechanism is used for screwing a nut to fix a drainage wire clamp on the clamping fixing mechanism on a distribution network line.
5. The mobile distribution network live working robot of claim 4, wherein the incoming line rotating mechanism comprises a rotating support, a rotating gear and a rotating driving mechanism, the rotating support is arranged on the peeling lifting mechanism, an opening channel through which a wire can pass is formed in the rotating support, the rotating gear is rotatably installed in the opening channel, the rotating gear is formed by connecting a main rotating tooth and a bridge tooth, and the rotating driving mechanism can drive the rotating gear to rotate.
6. The mobile distribution network live working robot of claim 5, wherein the incoming line rotating mechanism further comprises rotating rings fixedly arranged on two end faces of the rotating gear, the radius of the rotating rings is smaller than that of the rotating gear, and the rotating support is provided with rotating protruding strips for installing the rotating rings.
7. The mobile distribution network live working robot of claim 4, wherein the wire clamping mechanism comprises a clamping support, a clamping driving mechanism, a positive and negative screw rod, a guide shaft, a first clamping block and a second clamping block, the clamping support is fixedly arranged at the end part of the rotary gear, the positive and negative screw rod and the guide shaft are arranged on the clamping support in the same direction, the first clamping block and the second clamping block can be respectively arranged on two sides of the positive and negative screw rod and can be movably arranged on the guide shaft in a penetrating manner, and the clamping driving mechanism can drive the positive and negative screw rod to rotate, so that the first clamping block and the second clamping block are close to or far away from each other.
8. The mobile distribution network live working robot of claim 7, wherein the skin layer ring cutting mechanism comprises a ring cutting support, a ring cutting driving mechanism and a cutter, wherein the ring cutting support is arranged on the first clamping block or the second clamping block, the cutter is arranged on the ring cutting support, and the ring cutting driving mechanism can drive radial feeding of the cutter.
9. The mobile distribution network live working robot of claim 4, wherein the clamping mechanism comprises a clamping bracket, two clamping jaws and a clamping driving mechanism, the clamping bracket is fixedly arranged on the triaxial moving mechanism, the two clamping jaws are arranged on the clamping bracket, and the clamping driving mechanism can drive the two clamping jaws to move between a loosening state and a clamping state.
10. The mobile distribution network live working robot of claim 4, wherein the clamping mechanism comprises a clamping lifting mechanism, a clamping support, a clamping sleeve and a clamping driving mechanism, the clamping lifting mechanism is arranged on the bearing bottom plate, the clamping support is arranged on the clamping lifting mechanism, the clamping sleeve is rotatably arranged on the clamping support, and the clamping driving mechanism can drive the clamping sleeve to rotate.
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| CN202210389211.3A CN114629056B (en) | 2022-04-13 | 2022-04-13 | Mobile distribution network live working robot |
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| CN115085086B (en) * | 2022-07-25 | 2024-07-09 | 广东电网有限责任公司 | Light-weight efficient portable support for installing power grid operation robot |
| CN117937128A (en) * | 2024-01-09 | 2024-04-26 | 深圳带电科技发展有限公司 | Drainage earthing device of portable adjustment |
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