CN115986624B - Live working obstacle clearance robot for power transmission and distribution line - Google Patents
Live working obstacle clearance robot for power transmission and distribution line Download PDFInfo
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- CN115986624B CN115986624B CN202211688259.0A CN202211688259A CN115986624B CN 115986624 B CN115986624 B CN 115986624B CN 202211688259 A CN202211688259 A CN 202211688259A CN 115986624 B CN115986624 B CN 115986624B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 52
- 230000007246 mechanism Effects 0.000 claims abstract description 172
- 238000004140 cleaning Methods 0.000 claims abstract description 30
- 238000007599 discharging Methods 0.000 claims abstract description 25
- 230000004888 barrier function Effects 0.000 claims description 22
- 230000008859 change Effects 0.000 claims description 22
- 230000001360 synchronised effect Effects 0.000 claims description 17
- 238000002955 isolation Methods 0.000 claims description 11
- 230000001681 protective effect Effects 0.000 claims description 11
- 230000010405 clearance mechanism Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 238000004804 winding Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 4
- 235000005770 birds nest Nutrition 0.000 description 3
- 238000012876 topography Methods 0.000 description 3
- 235000005765 wild carrot Nutrition 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 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
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The invention relates to a live working obstacle clearance robot for a power transmission and distribution line, which has the innovation points that: the robot comprises a machine body, and an automatic wire feeding and discharging mechanism, a walking locking mechanism and a main control mechanism which are arranged on the machine body, wherein the main control mechanism controls the robot to integrally realize wire feeding and wire discharging through the automatic wire feeding and discharging mechanism, and after the robot finishes wire feeding, the robot realizes locking of wire walking and hovering through the walking locking mechanism; the robot is characterized in that the robot body is also provided with an obstacle cleaning assembly, and the obstacle cleaning assembly is any one of an on-line obstacle cleaning mechanism for cleaning an on-line obstacle, a cross arm obstacle cleaning mechanism for cleaning an on-cross arm obstacle and a tree obstacle cleaning mechanism for cleaning a tree obstacle, or is provided with any two of the obstacle cleaning mechanisms at the same time, or is provided with three cleaning mechanisms at the same time. The invention not only can automatically go on and off line and hover and lock, but also can freely combine and flexibly configure different obstacle clearing mechanisms, so that the invention is applicable to obstacle clearing of different types.
Description
Technical Field
The invention relates to an obstacle clearance robot, in particular to a live working obstacle clearance robot for a power transmission and distribution line.
Background
The existing outdoor power transmission and distribution lines often suffer from different types of barriers, and the specific conditions are as follows:
First, outdoor power transmission and distribution lines often receive the puzzlement of tree barrier, the transmission of electricity work of power transmission and distribution lines is influenced easily to the faster trees of growth, the branch and leaf of growth too fast can cause alternate short circuit or single phase ground fault to power transmission and distribution lines, present tree barrier clearance operation divide into manual clearance and the automatic clearance of tree barrier clearance robot, and manual clearance is not only work efficiency low, still there is great security risk, and current tree barrier clearance robot's cutting efficiency is low, can't accomplish huge tree barrier clearance work entirely, also can only clear up the peripheral tree barrier of power transmission and distribution lines generally, and the tree barrier that is close to power transmission and distribution lines edge is then difficult to clear up, can't clear up the tree barrier.
Second, outdoor power transmission and distribution lines often receive the winding puzzlement of kite line, fish tape or film bag, and current clearance such barrier can only rely on the manual clearance of live working car or unmanned aerial vehicle flaming to handle or ground long-range laser clearance barrier, and manual clearance is not only work efficiency low, and receives the influence of topography and topography moreover to the operational environment requires highly, exists great security risk, and laser clearance barrier expense is high, the accuracy is low, and unmanned aerial vehicle flaming has the damage to the wire and has the requirement to the wind speed when flying.
Third, the both ends cross arm of transmission and distribution line is that the bird likes the place of taking nest and ann home, and the bird has adapted current bird ware that drives, and the existence of nest influences power supply safety, and current clearance such barrier only can rely on live working car or artifical pole climbing operation manual work clearance work inefficiency, has the requirement to operational environment topography equally to still there is great security risk.
Therefore, when the outdoor power transmission and distribution line is affected by tree barriers, or other foreign matters such as kite lines or film bags are wound on the line, or bird nests are arranged on the cross arm, the manual cleaning mode is mostly adopted for cleaning the barriers, and the manual cleaning mode is low in working efficiency and has a large safety risk.
Therefore, the obstacle clearing robot for the outdoor power transmission and distribution line is also developed in the market at present, but the obstacle clearing robot in the market can only clear up the obstacle, has single function and can not realize the expansion in function, meanwhile, the cutting range and the cutting distance are limited, the obstacle at the periphery of the power transmission and distribution line can be cleared up, the obstacle near the edge of the power transmission and distribution line is difficult to clear up, and the obstacle can not be cleared up. And some products also need live working vehicles or other large auxiliary machinery during construction, and cannot be suitable for mountains, hills, lakes and other terrains. The existing Qinghai-Tibet robots on the market have low efficiency and require 20 minutes for branches of about 5 cm.
Disclosure of Invention
The purpose of the invention is that: the live working obstacle clearance robot not only can automatically go on and off line and hover and lock, but also can freely combine and flexibly configure different obstacle clearance mechanisms, so that the live working obstacle clearance robot is applicable to power transmission and distribution lines with different types of obstacle clearance.
In order to achieve the above purpose, the technical scheme of the invention is as follows: an electrified operation obstacle clearing robot for a power transmission and distribution line comprises a machine body, an automatic line feeding and discharging mechanism, a walking locking mechanism and a main control mechanism which are arranged on the machine body,
The main control mechanism controls the robot to integrally realize line feeding and line discharging through the automatic line feeding and discharging mechanism, and after the robot finishes line feeding, the robot realizes locking of line walking and hovering through the walking locking mechanism;
the machine body is also provided with an obstacle clearing assembly, the obstacle clearing assembly is any one clearing mechanism of an on-line obstacle clearing mechanism for clearing on-line obstacles, a cross arm obstacle clearing mechanism for clearing on-cross arm obstacles and a tree obstacle clearing mechanism for clearing tree obstacles, or is provided with any two clearing mechanisms at the same time, or is provided with three clearing mechanisms at the same time,
When the obstacle clearing assembly is any one clearing mechanism, the robot can clear one type of obstacle in the on-line obstacle, the cross arm obstacle and the tree obstacle matched with the robot,
When the obstacle clearing assembly is any two clearing mechanisms, the robot can clear two types of obstacles in the line, the cross arm and the tree which are matched with the robot,
When the obstacle clearing assembly is provided with three clearing mechanisms simultaneously, the robot can clear three different types of obstacles such as on-line obstacles, cross arm obstacles and tree obstacles simultaneously.
In the above technical scheme, automatic line mechanism of going up and down includes flexible variant string ware, insulating string, drum motor, flexible variant string ware seat and balanced assembly pulley, the both ends of organism are equipped with flexible variant string ware seat respectively, and bear the flexible variant string ware that corresponds on every flexible variant string ware seat, the drum is established on the organism, and the power take off shaft and the drum transmission of drum motor are connected, it has two sets of insulating string ropes to wind on the drum to two sets of insulating string ropes and the balanced assembly pulley sliding fit who is equipped with on the organism, and two sets of insulating string rope's free ends pass flexible variant string ware seat respectively simultaneously, can dismantle with a flexible variant string ware and be connected, the drum motor is connected with main control mechanism's corresponding link electricity.
After unreeling the two groups of insulating hanging ropes, winding the free ends on the wires and fixing the wires on a flexible variant hanging rope device, wherein the main control mechanism controls a wire coil motor to drive the wire coil to act so as to wind the insulating hanging ropes and realize wire feeding, and the variant of the flexible variant hanging rope device is in a ring shape so that the robot is integrally hung on the wires; the main control mechanism controls the wire coil motor to drive the wire coil to act, so that the insulating hanging rope is unreeled, and the flexible variant hanging rope device variant is free, so that the whole robot is separated from the wire, and the wire is fed.
In the above technical scheme, flexible variant string ware includes the variant spring, protects and keeps apart the wire sleeve and stick together the seat, the one end of variant spring is fixed on the seat that sticks together, and protects and keep apart the wire sleeve suit in the periphery of variant spring, the free end that insulating string was hung the rope passes the hole of variant spring after being connected with the seat that sticks together, when insulating string tightens up the variant spring and protection keep apart the wire sleeve variant and hang the dress on the wire for annular, and stick together the bottom butt of seat on flexible variant string ware seat.
In the above technical scheme, the balance pulley block comprises guide wheels, balance pulleys and balance pulley guide rails, the guide wheels are arranged at the two ends of the machine body and at the bottom of the flexible variant rope hanging device seat, the balance pulley guide rails are arranged in the middle of the machine body, the balance pulleys are in sliding fit with the balance pulley guide rails, one group of insulating hanging ropes are simultaneously in sliding fit with the guide wheels at the bottom of the flexible variant rope hanging device seat, the guide wheels at one end of the machine body and one pulley on the smooth pulley, and the other group of insulating hanging ropes are simultaneously in sliding fit with the guide wheels at the bottom of the other flexible variant rope hanging device seat, the guide wheels at the other end of the machine body and the other pulley on the smooth pulley.
In the technical proposal, the walking locking mechanism comprises an opening and closing walking change gear, an opening and closing arm, an opening and closing motor, a walking motor, an opening and closing arm locking unit, a hovering walking change gear locking unit and a camera,
The machine body is provided with two groups of rotating shafts which are arranged in parallel and are rotationally connected with the machine body, the two groups of opening and closing arms are respectively connected with the corresponding rotating shafts, gears are arranged at the end parts of the two ends of the opening and closing arms, the two groups of opening and closing arms are meshed through the gears, the machine body is provided with an opening and closing motor, the output shaft of the opening and closing motor is provided with a worm, one rotating shaft is provided with a worm wheel, the worm is in transmission connection with the worm wheel, the two ends of the opening and closing arms are respectively provided with an opening and closing running change gear which is rotationally connected with the worm wheel, the machine body is provided with a camera, the camera is electrically connected with the corresponding connecting end of the main control mechanism,
The outer side of each opening and closing arm is also respectively provided with a walking motor, two synchronous pulleys connected through synchronous belt transmission are arranged on the opening and closing arm, the two opening and closing walking change gears are respectively connected with the corresponding synchronous pulleys in a transmission manner, a power output shaft of the walking motor is connected with one synchronous pulley in a transmission manner, the top of the opening and closing arm is provided with two opening and closing arm locking units which are interlocked after the opening and closing arms are closed, and a hovering walking change gear locking unit which locks the opening and closing walking change gears is arranged on the machine body.
In the above technical scheme, on-line obstacle clearance mechanism includes base station, rotating electrical machines, rotary disk, gangbar, adjusts slide, extension spring, cutting motor and flexible cutting dish, the base station is fixed on the organism, the rotating electrical machines is installed in the side of base station, and the power take off shaft and the rotary disk transmission of rotating electrical machines are connected, the rotary disk passes through gangbar and base station sliding fit's regulation slide and is connected, be equipped with the motor mounting panel rather than rotating to be connected on the regulation slide, and the both ends of extension spring are connected with regulation slide and motor mounting panel respectively, the cutting motor is installed on the motor mounting panel, and flexible cutting dish suit is on the power take off shaft of cutting motor, still be equipped with on-line image acquisition's first camera on the walking locking mechanism, first camera, rotating electrical machines and cutting motor are connected with main control mechanism's corresponding link electricity respectively.
In the above technical scheme, cross arm barrier clearance mechanism includes unable adjustment base, a plurality of insulating tube, manipulator, second camera and a plurality of rotary joint, unable adjustment base fixes the bottom at organism one end, and a plurality of insulating tubes link into foldable integral structure through corresponding rotary joint, and the insulating tube of head is equipped with manipulator and second camera, and the insulating tube of afterbody is rotated with unable adjustment base through a rotary joint and is connected, the second camera is established on unable adjustment base and is connected with the corresponding link electricity of main control mechanism.
In the technical proposal, the tree obstacle cleaning mechanism comprises a circumferential rotation unit, a vertical arm, a cutting control mechanism, a direct current power supply, a saw cutting unit, a cross arm up-down rotation mechanism, an auxiliary manipulator, a cross arm and a third camera, wherein the circumferential rotation unit is arranged at the bottom of the machine body, the top of the vertical arm is assembled with the circumferential rotation unit, the cross arm is assembled with the lower part of the vertical arm through the cross arm up-down rotation mechanism, the direct current power supply provides power for the saw cutting unit,
The two cross arms are arranged in parallel on the cross arm up-down rotating mechanism, the cutting control mechanism and the direct current power supply are arranged at one ends of the two cross arms, the electric saw cutting unit and the auxiliary manipulator are arranged up-down and are arranged at the other ends of the two cross arms, a third camera is further arranged on the electric saw cutting unit, and the electric saw cutting unit and the third camera are respectively and electrically connected with corresponding connecting ends of the cutting control mechanism.
In the above technical scheme, the circumference rotary unit includes gear motor, ring gear and main rotary disk, main rotary disk installs in the bottom of organism and rotates rather than being connected, the ring gear suit is on main rotary disk, gear motor installs on the organism, and the last gear that is equipped with of gear motor's power output shaft meshes with the ring gear, the top of erectting the arm is connected with main rotary disk can be dismantled.
In the technical scheme, the horizontal arm up-down rotating mechanism comprises a horizontal arm fixing plate, a horizontal arm rotating motor, a horizontal arm rotating limiting table, a vertical arm fixing plate and an arc-shaped rack, wherein two horizontal arms penetrate through and are fixed on the horizontal arm fixing plate in parallel, the horizontal arm rotating motor and the horizontal arm rotating limiting table are arranged in the horizontal arm fixing plate, the horizontal arm rotating limiting table is located between the two horizontal arms, the vertical arm is provided with the vertical arm fixing plate, the arc-shaped rack is fixed in the vertical arm fixing plate, and a gear arranged on a power output shaft of the horizontal arm rotating motor is meshed with the arc-shaped rack.
The invention has the positive effects that: after the live working obstacle clearance robot for the power transmission and distribution line is adopted, the live working obstacle clearance robot comprises a machine body, an automatic line feeding and discharging mechanism, a walking locking mechanism and a main control mechanism which are arranged on the machine body,
The main control mechanism controls the robot to integrally realize line feeding and line discharging through the automatic line feeding and discharging mechanism, and after the robot finishes line feeding, the robot realizes locking of line walking and hovering through the walking locking mechanism;
the machine body is also provided with an obstacle clearing assembly, the obstacle clearing assembly is any one clearing mechanism of an on-line obstacle clearing mechanism for clearing on-line obstacles, a cross arm obstacle clearing mechanism for clearing on-cross arm obstacles and a tree obstacle clearing mechanism for clearing tree obstacles, or is provided with any two clearing mechanisms at the same time, or is provided with three clearing mechanisms at the same time,
When the obstacle clearing assembly is any one clearing mechanism, the robot can clear one type of obstacle in the on-line obstacle, the cross arm obstacle and the tree obstacle matched with the robot,
When the obstacle clearing assembly is any two clearing mechanisms, the robot can clear two types of obstacles in the line, the cross arm and the tree which are matched with the robot,
When the obstacle cleaning assembly is provided with three cleaning mechanisms at the same time, the robot can simultaneously clean three different types of obstacles such as on-line obstacles, cross arm obstacles and tree obstacles;
the obstacle clearance robot has the automatic wire feeding and discharging mechanism and the walking locking mechanism, so that the robot can be controlled to integrally realize wire feeding and wire discharging through the automatic wire feeding and discharging mechanism, and after the robot finishes wire feeding, the robot can realize locking of wire walking and hovering through the walking locking mechanism;
the obstacle clearing robot can be provided with any one clearing mechanism of an on-line obstacle clearing mechanism for clearing an on-line obstacle, a cross arm obstacle clearing mechanism for clearing an on-cross arm obstacle and a tree obstacle clearing mechanism for clearing a tree obstacle, or any two clearing mechanisms or three clearing mechanisms are arranged at the same time, so that the proper obstacle clearing mechanism can be freely selected or combined according to the actual obstacle clearing environment;
The obstacle clearance robot can functionally expand on one device, can clear different types of obstacles, so that the obstacle clearance robot is multifunctional and multipurpose, replaces a manual obstacle clearance mode with low traditional efficiency and high personal safety risk coefficient, is not like the obstacle clearance robot in the prior art, can only clear a single obstacle, can automatically go on line, does not need to be additionally provided with a live working vehicle or other large auxiliary machinery, can be suitable for all terrains including but not limited to mountains, hills, lakes and other terrains, can automatically walk to a fault point, is convenient to use, is convenient to maintain, is efficient and safe, and meanwhile has the advantages of being capable of automatically going on line, hovering and locking, freely combining and flexibly configuring different obstacle clearance mechanisms, being applicable to different types of obstacles and the like.
Drawings
FIG. 1 is a schematic diagram of the structure of an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 with the housing removed;
FIG. 3 is a rear view of FIG. 1;
FIG. 4 is a schematic view of the structure of the automatic winding and unwinding mechanism and the walk locking mechanism of the present invention (with a side plate of the machine body removed);
FIG. 5 is a schematic perspective view of FIG. 4;
FIG. 6 is a schematic view of the structure of the walk-behind locking mechanism of the present invention (open state);
FIG. 7 is a schematic view of the structure of the hover-removed walk-changing wheel locking unit of FIG. 6;
FIG. 8 is a schematic view of the other state of FIG. 7 (closed state);
FIG. 9 is a schematic perspective view of an on-line obstacle clearing mechanism according to the invention;
fig. 10 is a schematic structural view of the vertical rotation mechanism of the cross arm of the present invention.
Detailed Description
The invention is further illustrated, but not limited, by the following examples in connection with the accompanying drawings.
As shown in fig. 1 to 10, the live working obstacle clearance robot for the power transmission and distribution line comprises a machine body 1, an automatic wire feeding and discharging mechanism 2, a walking locking mechanism 3 and a main control mechanism 4 which are arranged on the machine body 1,
The main control mechanism 4 controls the robot to integrally realize line feeding and line discharging through the automatic line feeding and discharging mechanism 2, and after the robot finishes line feeding, the robot realizes locking of line feeding and line traveling and hovering through the traveling locking mechanism 3;
the machine body 1 is also provided with an obstacle clearing assembly, the obstacle clearing assembly is any one clearing mechanism of an on-line obstacle clearing mechanism 5 for clearing on-line obstacles, a cross arm obstacle clearing mechanism 6 for clearing on-cross arm obstacles and a tree obstacle clearing mechanism 7 for clearing tree obstacles, or is provided with any two clearing mechanisms at the same time, or is provided with three clearing mechanisms at the same time,
When the obstacle clearing assembly is any one clearing mechanism, the robot can clear one type of obstacle in the on-line obstacle, the cross arm obstacle and the tree obstacle matched with the robot,
When the obstacle clearing assembly is any two clearing mechanisms, the robot can clear two types of obstacles in the line, the cross arm and the tree which are matched with the robot,
When the obstacle clearing assembly is provided with three clearing mechanisms simultaneously, the robot can clear three different types of obstacles such as on-line obstacles, cross arm obstacles and tree obstacles simultaneously.
As shown in fig. 3 and 4, in order to realize automatic wire feeding and discharging, the automatic wire feeding and discharging mechanism 2 comprises a flexible variant rope hanger 21, an insulating rope 22, a wire coil 23, a wire coil motor 24, a flexible variant rope hanger seat 25 and a balancing pulley block 26, two ends of the machine body 1 are respectively provided with the flexible variant rope hanger seats 25, each flexible variant rope hanger seat 25 carries a corresponding flexible variant rope hanger 21, the wire coil 23 is arranged on the machine body 1, a power output shaft of the wire coil motor 24 is in transmission connection with the wire coil 23, two groups of insulating rope hangers 22 are wound on the wire coil 23, the two groups of insulating rope hangers 22 are in sliding fit with the balancing pulley block 26 arranged on the machine body 1, simultaneously the free ends of the two groups of insulating rope hangers 22 respectively penetrate through the flexible variant rope hanger seats 25 and are detachably connected with one flexible variant rope hanger 21, the wire coil 24 is electrically connected with the corresponding connecting end of the main control mechanism 4,
The free ends of the two groups of insulating hanging ropes 22 are wound on the wires after being unreeled and then fixed on the flexible variant hanging rope device 21, the main control mechanism 4 controls the wire coil motor 24 to drive the wire coil 23 to act, so that the insulating hanging ropes 22 are wound and the wires are wound, and the flexible variant hanging rope device 21 is in a ring shape, so that the robot is integrally hung on the wires.
The automatic online and offline process of the robot is as follows: before winding, the wire is paid out firstly, the free ends of the two groups of insulating hanging ropes 22 can be wound around the wires of the power transmission and distribution line by using an unmanned aerial vehicle, then the two groups of insulating hanging ropes 22 are fixed on corresponding flexible variant hanging rope device seats 25, at the moment, the wire coil motor 24 is driven to wind the two groups of insulating hanging ropes 22 and wind the insulating hanging ropes on the wire coil 23, meanwhile, the machine body 1 is driven to rise to the wires, the whole flexible variant hanging rope device 21 becomes a ring shape, the automatic winding of the robot is completed, after the walking locking mechanism 3 is hung, the flexible variant hanging rope device is maintained in a loose state, and a certain space exists between the periphery of the flexible variant hanging rope device and the wires, the flexible variant hanging rope device is deformed into a ring structure when being lifted, the flexible variant hanging rope device can be hung on the wires, and the machine body 1 can be automatically reset and suspended on the wires to walk due to the high tension of the flexible variant hanging rope device when the machine body is walked.
Of course, if the wire coil motor 24 is driven to rotate reversely, the two groups of insulating hanging ropes 22 are unreeled from the wire coil 23, and automatic wire-discharging of the robot is completed.
As shown in fig. 5, in order to make the structure more reasonable, the flexible variant rope hanger 21 includes a variable spring 211, a protective isolation net 212 and a lump seat 213, one end of the variable spring 211 is fixed on the lump seat 213, the protective isolation net 212 is sleeved on the periphery of the variable spring 211, the free end of the insulating hanging rope 22 passes through an inner hole of the variable spring 211 and then is connected with the lump seat 213, when the insulating hanging rope 22 is tightened, the variable spring 211 and the protective isolation net 212 are in a ring shape and are hung on a wire, and the bottom of the lump seat 213 is abutted on the flexible variant rope hanger seat 25. The designed variable spring 211 has the following advantages: the protective isolation sleeve net 212 has the functions of being capable of deforming, enabling the protective isolation sleeve net to be deformed into an annular structure, hanging the protective isolation sleeve net on a wire, and being convenient for the machine body 1 to walk because the protective isolation sleeve net is high in tension and capable of automatically resetting and suspending on the wire: first, the insulating hanging rope 22 and the variable spring 211 are prevented from being wound; and secondly, the friction between the insulating hanging rope and the conducting wire is prevented from being too large, and the subsequent wire falling of the lump seat 213 is inconvenient.
As shown in fig. 4, in order to prevent the robot from tilting left and right during the automatic winding and unwinding process, the balance pulley block 26 includes a guide wheel 261, a balance pulley 262 and a balance pulley guide 263, both ends of the machine body 1 and the bottom of the flexible variant rope hanger seat 25 are provided with guide wheels 261, the middle part of the machine body 1 is provided with a balance pulley guide 263, the balance pulley 262 is in sliding fit with the balance pulley guide 263, one group of insulating hanging ropes 22 is simultaneously in sliding fit with the guide wheel 261 at the bottom of one flexible variant rope hanger seat 25, one pulley 261 at one end of the machine body 1 and one pulley on the smooth pulley 262, and the other group of insulating hanging ropes 22 is simultaneously in sliding fit with the guide wheel 261 at the bottom of the other flexible variant rope hanger seat 25, the guide wheel 261 at the other end of the machine body 1 and the other pulley on the smooth pulley 262.
As shown in fig. 4, 5,6, 7, 8, in order to enable the robot to walk freely on the wire, the walking locking mechanism 3 includes an opening and closing walking change gear 31, an opening and closing arm 32, an opening and closing motor 33, a walking motor 34, an opening and closing arm locking unit 35, a hovering walking change gear locking unit 36 and a camera 39,
The machine body 1 is provided with two groups of rotating shafts 37 which are arranged in parallel and are rotationally connected with the machine body 1, the two groups of opening and closing arms 32 are respectively connected with the corresponding rotating shafts 37, gears are arranged at the end parts of the two ends of the opening and closing arms 32, the two groups of opening and closing arms 32 are meshed through the gears, the machine body 1 is provided with an opening and closing motor 33, the output shaft of the opening and closing motor 33 is provided with a worm, one rotating shaft 37 is provided with a worm wheel which is in transmission connection with the worm wheel, the two ends of the opening and closing arms 32 are respectively provided with an opening and closing running change gear 31 which is rotationally connected with the opening and closing arms, the machine body 1 is provided with a camera 39, the camera 39 is electrically connected with the corresponding connecting end of the main control mechanism 4,
The outside of every switching arm 32 still is equipped with walking motor 34 respectively, be equipped with two synchronous pulleys 38 that pass through synchronous belt drive connection on the switching arm 32, and two switching walking change gears 31 respectively with corresponding synchronous pulleys 38 transmission connection, the power take off shaft and the synchronous pulley 38 transmission connection of walking motor 34, the top of switching arm 32 is equipped with the switching arm locking unit 35 that the interlocking was carried out after two switching arms 32 were closed, be equipped with on the organism 1 to the walking change gear locking unit 36 that hovers of switching walking change gear 31 locking.
The walking working process of the robot is as follows: as shown in fig. 7, the opening and closing motor 33 is driven, the power output by the opening and closing motor 33 drives the rotating shaft 37 to rotate under the action of the worm gear and worm, and meanwhile, the gears on the two groups of opening and closing arms 32 are meshed to complete the opening of the two groups of opening and closing arms, as shown in fig. 8, if the opening and closing motor 33 is driven in a reverse direction, the wires are clamped into the grooves of the two groups of opening and closing traveling change gears 31 after the two groups of opening and closing arms are closed, the traveling motor 34 is driven to act, and the traveling motor 34 drives one synchronous pulley 38 to rotate and drives the other synchronous pulley 38 to follow under the action of the synchronous belt, so that the robot can travel on the line.
As shown in fig. 9, in order to facilitate cleaning of on-line obstacles, such as kite lines, fish lines or other obstacles such as film bags, the on-line obstacle cleaning mechanism 5 comprises a base 51, a rotating motor 52, a rotating disc 53, a linkage rod 54, an adjusting slide seat 55, a tension spring 56, a cutting motor 57 and a flexible cutting disc 58, wherein the base 51 is fixed on the machine body 1, the rotating motor 52 is mounted on the side surface of the base 51, a power output shaft of the rotating motor 52 is in transmission connection with the rotating disc 53, the rotating disc 53 is connected with the adjusting slide seat 55 in sliding fit with the base 51 through the linkage rod 54, motor mounting plates 59 in rotary connection with the adjusting slide seat 55 are arranged on the adjusting slide seat 55, two ends of the tension spring 56 are respectively connected with the adjusting slide seat 55 and the motor mounting plates 59, the cutting motor 57 is mounted on the motor mounting plates 59, the flexible cutting disc 58 is sleeved on the power output shaft of the cutting motor 57, a first camera 50 for on-line image acquisition is further arranged on the walking locking mechanism 3, and the first camera 50, the rotating motor 52 and the cutting motor 57 are respectively electrically connected with corresponding connection ends of the mechanism 4.
The working process of the invention for cleaning the on-line obstacle is as follows: the first camera 50 can collect pictures of the on-line obstacles, and feed back the pictures to the display interface in real time through the main control mechanism 4, so that the real-time condition of the on-line obstacles can be observed, the rotating motor 52 is driven to drive the rotating disc 53 to rotate, the adjusting sliding seat 55 can be driven to slide up and down on the base 51 under the action of the linkage rod 54 due to the fact that the rotating disc 53 is an eccentric disc, the cutting angle of the cutting disc 53 is adjusted, and the motor mounting plate 59 is automatically reset under the action of the pulling force of the tension spring 56, the cutting motor 57 is driven to drive the flexible cutting disc 58 to rotate, and the on-line obstacles are cut in real time. In summary, after the machine body of the present invention is lifted up to the wire, the flexible cutting disc 58 has a little pressure by the action of the tension spring 56, presses on the wire, and also has an action of adapting to the elevation angle of the wire, and is driven by the direct current gear motor, so that the flexible cutting disc can slide back and forth and cut the obstacle on the wire. Since the cutting disc of the present invention is a flexible cutting disc, the benefits of such a design are: the cutting disc disclosed by the invention is only used for cleaning the on-line obstacles, and the wire cannot be damaged.
As shown in fig. 4 and 5, in order to facilitate cleaning of the cross arm obstacle, for example, a bird nest and other obstacles, the cross arm obstacle cleaning mechanism 6 includes a fixed base 61, a plurality of insulating tubes 62, a manipulator 63, a second camera 64 and a plurality of rotary joints 65, the fixed base 61 is fixed at the bottom of one end of the machine body 1, the plurality of insulating tubes 62 are connected into a foldable integral structure through the corresponding rotary joints 65, the manipulator 63 and the second camera 64 are mounted on the insulating tube 62 at the head, the insulating tube 62 at the tail is rotatably connected with the fixed base 61 through one rotary joint 65, and the second camera 64 is electrically connected with the corresponding connecting end of the main control mechanism 4. The rotary joint 65 comprises a motor and a deformation mechanism which is in transmission connection with a motor shaft and can enable the insulating tube 62 to extend and retract in different states. The robot 63 includes a gripper and a driving mechanism for driving the gripper to grasp.
The working process of the invention for clearing the cross arm obstacle is as follows: the second camera 64 may collect pictures of the cross arm obstacle and feed back the pictures to the display interface in real time through the main control mechanism 4, so that the real-time condition of the obstacle on the cross arm can be observed, and the insulating tube 62 may be deformed from a folded state to an extended state under the action of the rotary joint 65, so that the obstacle on the cross arm is grabbed (cleaned) by the manipulator 63.
As shown in fig. 2, 3, 4 and 5, for facilitating the cleaning of the tree obstacle, the tree obstacle cleaning mechanism 7 comprises a circumferential rotation unit 71, a vertical arm 72, a cutting control mechanism 73, a direct current power supply 74, a saw cutting unit 75, a cross arm up-and-down rotation mechanism 76, an auxiliary manipulator 77, a cross arm 78 and a third camera 79, wherein the circumferential rotation unit 71 is arranged at the bottom of the machine body 1, the top of the vertical arm 72 is assembled with the circumferential rotation unit 71, the cross arm 78 is assembled with the lower part of the vertical arm 72 through the cross arm up-and-down rotation mechanism 76, the direct current power supply 74 provides power for the saw cutting unit 75,
The two cross arms 78 are arranged in parallel on the cross arm up-down rotating mechanism 76, the cutting control mechanism 73 and the direct current power supply 74 are arranged at one ends of the two cross arms 78, the electric saw cutting unit 75 and the auxiliary manipulator 77 are arranged up and down and are arranged at the other ends of the two cross arms 78, the electric saw cutting unit 75 is further provided with a third camera 79, and the electric saw cutting unit 75 and the third camera 79 are respectively and electrically connected with corresponding connecting ends of the cutting control mechanism 73.
The tree obstacle cleaning mechanism 7 of the invention can clean the tree obstacle of 2.8 meters below the outdoor distribution line and 2.5 meters at the left side and the right side, and the specific cleaning process of the tree obstacle is as follows: according to the actual position of the tree barrier, the vertical arm 72 is rotated by the circumferential rotation unit 71, so that the auxiliary manipulator 77 approaches the tree barrier and is attached to the outer wall of one side of the tree barrier,
The cutting control mechanism 73 outputs a control signal, the cross arm up-down rotating mechanism 76 can drive the cross arm 78 to rotate up and down, and further the up-down height of the electric saw blade of the electric saw cutting unit 75 is adjusted.
As shown in fig. 5, in order to make the structure more reasonable, the circumferential rotation unit 71 includes a gear motor 711, a gear ring 712, and a main rotating disc 713, the main rotating disc 713 is mounted at the bottom of the machine body 1 and is rotationally connected with the same, the gear ring 712 is sleeved on the main rotating disc 713, the gear motor 711 is mounted on the machine body 1, and a gear provided on a power output shaft of the gear motor 711 is engaged with the gear ring 712, and the top of the vertical arm 72 is detachably connected with the main rotating disc 713.
The specific rotation process of the vertical arm 72 is as follows: the gear motor 711 is driven to work, and the gear ring on the power output shaft of the gear motor 711 drives the main rotating disc 713 to rotate along with the gear ring 712, so that the vertical arm 72 connected with the main rotating disc 713 rotates along with the main rotating disc, and the rotation of the vertical arm 72 in the circumferential direction is realized.
As shown in fig. 10, in order to adjust the height of the electric saw 77 vertically, the vertical arm rotating mechanism 76 includes a horizontal arm fixing plate 761, a horizontal arm rotating motor 762, a horizontal arm rotating limiting table 763, a vertical arm fixing plate 764, and an arc rack 765, two horizontal arms 78 pass through and are fixed on the horizontal arm fixing plate 761 in parallel, the horizontal arm fixing plate 761 is provided with the horizontal arm rotating motor 762 and the horizontal arm rotating limiting table 763, the horizontal arm rotating limiting table 763 is located between the two horizontal arms 78, the vertical arm 72 is provided with the vertical arm fixing plate 764, the arc rack 765 is fixed in the vertical arm fixing plate 764, and a gear provided on a power output shaft of the horizontal arm rotating motor 762 is meshed with the arc rack 765.
The specific process of the invention for adjusting the height of the electric saw is as follows: the cross arm rotating motor 762 is driven to act, the arc-shaped rack 765 arranged on the cross arm fixing plate 761 rotates around a gear on a power output shaft of the cross arm rotating motor 762, so that the cross arm 78 on the cross arm fixing plate 761 rotates, when the cross arm 78 abuts against the cross arm rotating limiting table 763, the cross arm 78 is limited to rotate downwards, otherwise, when the cross arm rotating limiting table 763 abuts against, the cross arm 78 is limited to rotate upwards.
The main control mechanism 4 and the cutting control mechanism 73 are respectively used for controlling different motor actions and acquiring image videos acquired by different cameras.
The main control mechanism 4 comprises a power supply, a signal exchange module (communication module), a motor control module and an image transmission module, wherein the signal exchange module (communication module), the motor control module and the image transmission module are connected with the single chip microcomputer, the upper part of the robot, namely a motor positioned on the machine body, is electrically connected with the corresponding motor control module, and the camera is electrically connected with the image transmission module.
The cutting control mechanism 73 takes a singlechip as a core, a signal exchange module (a communication module), a motor control module and an image transmission module which are connected with the singlechip are electrically connected, a motor of the tree barrier cleaning mechanism 7 is electrically connected with the motor control module, and a camera is electrically connected with the image transmission module of the cutting control mechanism 73.
The working process of the invention is as follows: the main control mechanism 4 is in communication connection with an upper computer, the camera 39 is in communication connection with a display device, the real-time picture acquired by the camera 39 is displayed through the display device,
And (3) line feeding: before winding, firstly paying off, namely driving the wire coil motor 24 to act, unreeling two groups of insulating hanging ropes 22 from the wire coil 23, bypassing the free ends of the two groups of insulating hanging ropes 22 by using an unmanned aerial vehicle and fixing the two groups of insulating hanging ropes on corresponding flexible variant hanging rope device seats 25, at the moment, driving the wire coil motor 24, winding the two groups of insulating hanging ropes 22 on the wire coil 23, and simultaneously driving the machine body 1 to rise to the wire 8, closing the variable springs 211 and the protective isolation net sleeve 212, and enabling the whole flexible variant hanging rope device 21 to be in a ring shape, thereby completing automatic winding of the robot;
Hanging and walking: the opening and closing motor 33 is driven to act, the power output by the opening and closing motor 33 drives the rotating shaft 37 to rotate under the action of the worm gear and worm, meanwhile, the gears on the two groups of opening and closing arms 32 are meshed to finish the opening of the two groups of opening and closing arms, if the opening and closing motor 33 is driven reversely, the wires 8 are clamped into the grooves after the two groups of opening and closing traveling change gears 31 are closed after the two groups of opening and closing arms 32 are closed, real-time pictures collected by the camera 39 can be confirmed, the whole robot is accurately hoisted on the wires through the opening and closing traveling change gears 31, after the traveling locking mechanism 3 is hung, the two groups of opening and closing arms 32 are interlocked through the action of the opening and closing arm locking unit 35, the flexible variant rope hanging device is maintained in a loose state, and a certain space exists between the periphery of the flexible variant rope hanging device and the wires, so that the machine body 1 can conveniently travel on the wires.
The walking motor 34 is driven to act, the walking motor 34 drives one synchronous pulley 38 to rotate and drives the other synchronous pulley 38 to follow up under the action of the synchronous belt, so that the robot can walk on the line; the machine body 1 ensures that the whole robot is hovered at the current position by a hovering walking change gear locking unit 36 and does not shake on the wire.
According to the type of the actual obstacle on site, selecting a corresponding obstacle clearing structure to clear:
Clearing up tree barriers: the tree obstacle clearing mechanism 7 of the invention can clear the tree obstacle of 2.8 meters below the outdoor distribution line and 2.5 meters at the left side and the right side, the cutting control mechanism 73 is in communication connection with an upper computer, the camera 39, the first camera 50, the second camera 64 and the third camera 79 are in communication connection with a display device,
According to the actual position of the tree obstacle obtained by the third camera 79, the vertical arm 72 rotates through the circumferential rotation unit 71 to drive the gear motor 711 to work, the gear ring on the power output shaft of the gear motor 711 drives the main rotating disc 713 to rotate along with the gear ring 712, and then the vertical arm 72 connected with the main rotating disc 713 rotates along with the gear ring, so that the rotation of the vertical arm 72 in the circumferential direction is realized, the auxiliary manipulator 77 is close to the tree obstacle and is attached to the outer wall of one side of the tree obstacle,
The height of the electric saw is adjusted to drive the cross arm rotating motor 762 to act, the arc-shaped rack 765 arranged on the cross arm fixing plate 761 rotates around the gear on the power output shaft of the cross arm rotating motor 762, so that the electric saw cutting unit 75 is ensured to be close to the outer wall of the other side of the tree obstacle, the electric saw cutting unit 75 and the auxiliary mechanical arm 78 can be simultaneously attached to the periphery of the tree, and a clamping force can be formed,
The cutting control mechanism 73 receives the instruction sent by the upper computer and outputs a control signal to control the electric saw cutting unit 75 to act, and the tree obstacle clearing mechanism can clear peripheral branches and clear tree obstacles.
Clearing the on-line obstacle: the first camera 50 is in communication connection with a display device, and a real-time picture acquired by the first camera 50 can be displayed on the display device.
The first camera 50 can collect pictures of the on-line obstacles and feed back the pictures to the display interface in real time through the main control mechanism (including a power supply) 4, so that the real-time condition of the on-line obstacles can be observed, the rotating motor 52 is driven to drive the rotating disc 53 to rotate, the rotating disc 53 is an eccentric disc, the adjusting sliding seat 55 can be driven to slide up and down on the base 51 under the action of the linkage rod 54, the cutting angle of the cutting disc 53 is adjusted, the motor mounting plate 59 is automatically reset under the action of the pulling force of the tension spring 56, the cutting motor 57 is driven to drive the flexible cutting disc 58 to rotate, and the on-line obstacles are cut in real time. Such as kite lines, fishing lines, or film bags, among other obstacles.
Clearing cross arm obstacle: the second camera 64 is communicatively coupled to a display device,
The second camera 64 may collect pictures of the cross arm obstacle, and feed back the pictures to the display interface in real time through the main control mechanism (including the power supply) 4, so that the real-time situation of the obstacle on the cross arm can be observed, and the insulating tube 62 may be deformed from the folded state to the extended state under the action of the rotary joint 65, so that the manipulator 63 may be used to grasp (clean) the obstacle on the cross arm, for example, other obstacles such as a bird nest.
When the robot completes cleaning any obstacle, the wire coil motor 24 is driven to rotate reversely, the two groups of insulating hanging ropes 22 are unreeled from the wire coil 23, automatic offline of the robot is completed, the free ends of the two groups of insulating hanging ropes 22 are detached from the lump seat 213, and the insulating hanging ropes are wound to complete all actions.
The obstacle clearance robot has the automatic wire feeding and discharging mechanism and the walking locking mechanism, so that the robot can be controlled to integrally realize wire feeding and wire discharging through the automatic wire feeding and discharging mechanism, and after the robot finishes wire feeding, the robot can realize locking of wire walking and hovering through the walking locking mechanism;
the obstacle clearing robot can be provided with any one clearing mechanism of an on-line obstacle clearing mechanism for clearing an on-line obstacle, a cross arm obstacle clearing mechanism for clearing an on-cross arm obstacle and a tree obstacle clearing mechanism for clearing a tree obstacle, or any two clearing mechanisms or three clearing mechanisms are arranged at the same time, so that the proper obstacle clearing mechanism can be freely selected or combined according to the actual obstacle clearing environment;
The obstacle clearance robot can clear different types of obstacles on one device and functionally expand, the intelligent obstacle clearance robot adopts the intelligent tree obstacle saw, the intelligent high-speed flexible cutting disc and the intelligent multi-angle telescopic mechanical arm solve various obstacles on a line, so that the robot is multifunctional and multipurpose, replaces the traditional manual obstacle clearance mode with low efficiency and high personal safety risk coefficient, is different from the manual obstacle clearance mode in the prior art, can realize single obstacle clearance, can automatically perform online and electrified operation at the same time, does not need to be additionally provided with an electrified operation vehicle or other large auxiliary machinery, can be suitable for all terrains including but not limited to terrains such as hills, lakes and the like, can automatically walk to a fault point, is convenient to use, is convenient to maintain subsequently, is efficient and safe, and meanwhile, has the advantages of being capable of automatically logging on and off the line, locking, freely combining and flexibly configuring different obstacle clearance mechanisms, being applicable to different types of obstacle clearance and the like.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (7)
1. Live working obstacle clearance robot of transmission and distribution line, its characterized in that: comprises a machine body (1), an automatic wire feeding and discharging mechanism (2), a walking locking mechanism (3) and a main control mechanism (4) which are arranged on the machine body (1),
The main control mechanism (4) controls the robot to integrally realize line feeding and line discharging through the automatic line feeding and discharging mechanism (2), and after the robot finishes line feeding, the robot realizes locking of line walking and hovering through the walking locking mechanism (3);
The machine body (1) is also provided with an obstacle clearing assembly, the obstacle clearing assembly is any one clearing mechanism of an on-line obstacle clearing mechanism (5) for clearing on-line obstacles, a cross arm obstacle clearing mechanism (6) for clearing on-cross arm obstacles and a tree obstacle clearing mechanism (7) for clearing tree obstacles, or is provided with any two clearing mechanisms at the same time, or is provided with three clearing mechanisms at the same time,
When the obstacle clearing assembly is any one clearing mechanism, the robot can clear one type of obstacle in the on-line obstacle, the cross arm obstacle and the tree obstacle matched with the robot,
When the obstacle clearing assembly is any two clearing mechanisms, the robot can clear two types of obstacles in the line, the cross arm and the tree which are matched with the robot,
The obstacle clearing assembly is provided with three clearing mechanisms simultaneously, the robot can clear three different types of obstacles such as on-line obstacles, cross arm obstacles and tree obstacles simultaneously,
The automatic wire feeding and discharging mechanism (2) comprises a flexible variant rope hanging device (21), insulating hanging ropes (22), a wire coil (23), a wire coil motor (24), a flexible variant rope hanging device seat (25) and a balance pulley block (26), wherein the two ends of the machine body (1) are respectively provided with the flexible variant rope hanging device seat (25), each flexible variant rope hanging device seat (25) is provided with a corresponding flexible variant rope hanging device (21), the wire coil (23) is arranged on the machine body (1), a power output shaft of the wire coil motor (24) is in transmission connection with the wire coil (23), the wire coil (23) is wound with two groups of insulating hanging ropes (22), the two groups of insulating hanging ropes (22) are in sliding fit with the balance pulley block (26) arranged on the machine body (1), simultaneously the free ends of the two groups of insulating hanging ropes (22) respectively penetrate through the flexible variant rope hanging device seat (25) to be detachably connected with one flexible variant rope hanging device seat (21), the wire coil motor (24) is electrically connected with a corresponding connecting end of the main control mechanism (4),
The free ends of the two groups of insulating hanging ropes (22) are wound on the lead and then fixed on a flexible variant hanging rope device (21), the main control mechanism (4) controls a wire coil motor (24) to drive a wire coil (23) to act, the insulating hanging ropes (22) are wound and the lead is wound, the flexible variant hanging rope device (21) is shaped like a ring, so that the machine body (1) is integrally hung on the lead,
The balance pulley block (26) comprises a guide wheel (261), a balance pulley (262) and a balance pulley guide rail (263), both ends of the machine body (1) and the bottom of the flexible variant rope hanging device seat (25) are respectively provided with the guide wheel (261), the middle part of the machine body (1) is provided with the balance pulley guide rail (263), the balance pulley (262) is in sliding fit with the balance pulley guide rail (263), one group of insulating hanging ropes (22) are simultaneously in sliding fit with the guide wheel (261) at the bottom of the flexible variant rope hanging device seat (25), the guide wheel (261) at one end of the machine body (1) and one pulley on the smooth pulley (262), the other group of insulating hanging ropes (22) are simultaneously in sliding fit with the guide wheel (261) at the bottom of the other flexible variant rope hanging device seat (25) and the guide wheel (261) at the other end of the machine body (1) and the other pulley on the smooth pulley (262),
The walking locking mechanism (3) comprises an opening-closing walking change gear (31), an opening-closing arm (32), an opening-closing motor (33), a walking motor (34), an opening-closing arm locking unit (35), a hovering walking change gear locking unit (36) and a camera (39),
Two groups of rotating shafts (37) which are arranged in parallel and are rotationally connected with the machine body (1) are arranged on the machine body (1), two groups of opening and closing arms (32) are respectively connected with the corresponding rotating shafts (37), gears are arranged at the end parts of the two ends of the opening and closing arms (32), the two groups of opening and closing arms (32) are meshed through the gears, an opening and closing motor (33) is arranged on the machine body (1), a worm is arranged on an output shaft of the opening and closing motor (33), a worm wheel is arranged on one rotating shaft (37) and is in transmission connection with the worm wheel, opening and closing running change gears (31) which are rotationally connected with the opening and closing arms are respectively arranged at the two ends of the opening and closing arms (32), a camera (39) is arranged on the machine body (1), and the camera (39) is electrically connected with a corresponding connecting end of a main control mechanism (4),
The outside of every switching arm (32) still is equipped with walking motor (34) respectively, be equipped with two synchronous pulleys (38) that are connected through the hold-in range transmission on switching arm (32), and two switching walking change gears (31) are connected with corresponding synchronous pulleys (38) transmission respectively, the power take off shaft and the transmission of a synchronous pulley (38) of walking motor (34) are connected, the top of switching arm (32) is equipped with switching arm locking unit (35) that interlock is carried out after switching arm (32) are closed, be equipped with on organism (1) hover walking change gear locking unit (36) to switching walking change gear (31) locking.
2. The live working obstacle clearing robot for a power transmission and distribution line according to claim 1, wherein: the flexible variant rope hanging device (21) comprises a variable spring (211), a protective isolation net sleeve (212) and a lump seat (213), one end of the variable spring (211) is fixed on the lump seat (213), the protective isolation net sleeve (212) is sleeved on the periphery of the variable spring (211), the free end of an insulating hanging rope (22) penetrates through an inner hole of the variable spring (211) and then is connected with the lump seat (213), the variable spring (211) and the protective isolation net sleeve (212) are hung on a guide wire in a ring shape when the insulating hanging rope (22) is tightened, and the bottom of the lump seat (213) is abutted to the flexible variant rope hanging device seat (25).
3. The live working obstacle clearing robot for a power transmission and distribution line according to claim 1, wherein: the on-line obstacle cleaning mechanism (5) comprises a base (51), a rotating motor (52), a rotating disc (53), a linkage rod (54), an adjusting sliding seat (55), a tension spring (56), a cutting motor (57) and a flexible cutting disc (58), wherein the base (51) is fixed on a machine body (1), the rotating motor (52) is installed on the side face of the base (51), a power output shaft of the rotating motor (52) is in transmission connection with the rotating disc (53), the rotating disc (53) is connected with the adjusting sliding seat (55) in sliding fit with the base (51) through the linkage rod (54), motor mounting plates (59) in rotary connection with the adjusting sliding seat (55) are arranged on the adjusting sliding seat (55), two ends of the tension spring (56) are respectively connected with the adjusting sliding seat (55) and the motor mounting plates (59), the cutting motor (57) is installed on the motor mounting plates (59), the flexible cutting disc (58) is sleeved on the power output shaft of the cutting motor (57), a first motor (50) for on-line image acquisition is further arranged on the walking mechanism (3), and the first motor (50), the first motor (50) is in sliding seat and the corresponding electric motor (50) are connected with a camera shooting end (4) respectively.
4. The live working obstacle clearing robot for a power transmission and distribution line according to claim 1, wherein: cross arm barrier clearance mechanism (6) are including unable adjustment base (61), a plurality of insulating tube (62), manipulator (63), second camera (64) and a plurality of rotary joint (65), unable adjustment base (61) are fixed in the bottom of organism (1) one end, and a plurality of insulating tube (62) link into foldable integral structure through rotary joint (65) that correspond, and manipulator (63) and second camera (64) are equipped with to insulating tube (62) of head, and insulating tube (62) of afterbody are connected through rotary joint (65) and unable adjustment base (61) rotation, second camera (64) are installed on unable adjustment base (61) and are connected with main control mechanism (4) corresponding link electricity.
5. The live working obstacle clearing robot for a power transmission and distribution line according to claim 1, wherein: the tree obstacle cleaning mechanism (7) comprises a circumferential rotation unit (71), a vertical arm (72), a cutting control mechanism (73), a direct current power supply (74), an electric saw cutting unit (75), a cross arm up-down rotation mechanism (76), an auxiliary manipulator (77), a cross arm (78) and a third camera (79), wherein the circumferential rotation unit (71) is arranged at the bottom of the machine body (1), the top of the vertical arm (72) is assembled with the circumferential rotation unit (71), the cross arm (78) is assembled with the lower part of the vertical arm (72) through the cross arm up-down rotation mechanism (76), the direct current power supply (74) provides power for the electric saw cutting unit (75),
Two xarm (78) parallel arrangement are on rotary mechanism (76) about the xarm, cutting control mechanism (73) and DC power supply (74) establish the one end at two xarm (78), electric saw cutting unit (75) and auxiliary manipulator (77) are arranging about and establish the other end at two xarm (78), still be equipped with third camera (79) on electric saw cutting unit (75), and electric saw cutting unit (75) and third camera (79) are connected with the corresponding link electricity of cutting control mechanism (73) respectively.
6. The live working obstacle clearing robot for a power transmission and distribution line according to claim 5, wherein: the circumferential rotation unit (71) comprises a gear motor (711), a gear ring (712) and a main rotation disk (713), wherein the main rotation disk (713) is installed at the bottom of the machine body (1) and is rotationally connected with the machine body, the gear ring (712) is sleeved on the main rotation disk (713), the gear motor (711) is installed on the machine body (1), a gear arranged on a power output shaft of the gear motor (711) is meshed with the gear ring (712), and the top of the vertical arm (72) is detachably connected with the main rotation disk (713).
7. The live working obstacle clearing robot for a power transmission and distribution line according to claim 5, wherein: the horizontal arm up-down rotating mechanism (76) comprises a horizontal arm fixing plate (761), a horizontal arm rotating motor (762), a horizontal arm rotating limiting table (763), a vertical arm fixing plate (764) and an arc-shaped rack (765), wherein two horizontal arms (78) penetrate through and are fixed on the horizontal arm fixing plate (761) in parallel, the horizontal arm rotating motor (762) and the horizontal arm rotating limiting table (763) are arranged in the horizontal arm fixing plate (761), the horizontal arm rotating limiting table (763) is located between the two horizontal arms (78), the vertical arm (72) is provided with a vertical arm fixing plate (764), the arc-shaped rack (765) is fixed in the vertical arm fixing plate (764), and a gear arranged on a power output shaft of the horizontal arm rotating motor (762) is meshed with the arc-shaped rack (765).
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| CN202211558222 | 2022-12-06 | ||
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| CN202211688259.0A Active CN115986624B (en) | 2022-12-06 | 2022-12-27 | Live working obstacle clearance robot for power transmission and distribution line |
| CN202211699315.0A Active CN115812459B (en) | 2022-12-06 | 2022-12-28 | Tree obstacle cleaning assembly of power transmission and distribution line |
| CN202211697421.5A Active CN115912236B (en) | 2022-12-06 | 2022-12-28 | Online walking assembly of obstacle clearance robot |
| CN202211699333.9A Active CN115832944B (en) | 2022-12-06 | 2022-12-28 | On-line obstacle cleaning assembly for power transmission and distribution line |
| CN202211696968.3A Active CN115882386B (en) | 2022-12-06 | 2022-12-28 | Obstacle clearing bearing platform for power transmission and distribution line |
| CN202310064208.9A Pending CN116581684A (en) | 2022-12-06 | 2023-01-16 | Cross arm obstacle cleaning assembly of power transmission and distribution line |
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| CN202211699315.0A Active CN115812459B (en) | 2022-12-06 | 2022-12-28 | Tree obstacle cleaning assembly of power transmission and distribution line |
| CN202211697421.5A Active CN115912236B (en) | 2022-12-06 | 2022-12-28 | Online walking assembly of obstacle clearance robot |
| CN202211699333.9A Active CN115832944B (en) | 2022-12-06 | 2022-12-28 | On-line obstacle cleaning assembly for power transmission and distribution line |
| CN202211696968.3A Active CN115882386B (en) | 2022-12-06 | 2022-12-28 | Obstacle clearing bearing platform for power transmission and distribution line |
| CN202310064208.9A Pending CN116581684A (en) | 2022-12-06 | 2023-01-16 | Cross arm obstacle cleaning assembly of power transmission and distribution line |
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| CN116137432B (en) * | 2023-04-17 | 2023-07-14 | 江苏瑞禧智能电力科技有限公司 | Ice cleaning machine for power transmission cable |
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| CN108772843B (en) * | 2018-06-11 | 2022-06-17 | 陕西合阳风动工具有限责任公司 | Dangerous area observation and control robot for mine exploitation |
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| CN110073832B (en) * | 2019-05-07 | 2023-10-20 | 浙江亚特电器股份有限公司 | Trunk side branch pruning manipulator |
| CN110073831B (en) * | 2019-05-07 | 2023-11-28 | 浙江亚特电器股份有限公司 | Arm support device for trunk side branch pruning manipulator |
| CN210258835U (en) * | 2019-06-12 | 2020-04-07 | 广州穗能通综合能源有限责任公司 | Manipulator and unmanned operation system for line construction |
| CN110364961B (en) * | 2019-07-16 | 2021-01-05 | 合肥工业大学 | Cable barrier-removing robot |
| CN110707600B (en) * | 2019-11-29 | 2024-09-06 | 贵州电网有限责任公司 | Two arm high pressure transmission line inspection robots based on in-wheel motor |
| CN211992958U (en) * | 2020-03-16 | 2020-11-24 | 国网安徽省电力有限公司阜阳供电公司 | High-voltage equipment insulating sheath clearing device |
| CN111375843B (en) * | 2020-05-07 | 2023-10-03 | 山东钢铁股份有限公司 | Fly shovel formula steel billet cutting end face residue clearing device |
| CN111615944B (en) * | 2020-06-12 | 2022-10-21 | 刘洪伟 | A sanitation instrument for pruning small-size afforestation bush |
| CN113796224B (en) * | 2021-09-29 | 2023-06-16 | 广东冠能电力科技发展有限公司 | Robot for removing tree obstacle |
| CN114123080B (en) * | 2021-12-23 | 2022-11-01 | 徐州鹏程电气有限公司 | Intelligent robot arm for overhauling and maintaining high-voltage line in remote area |
| CN217642410U (en) * | 2022-05-10 | 2022-10-21 | 天勤科技有限公司 | Automatic line feeding and discharging device for power transmission and distribution line operation robot |
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2022
- 2022-12-27 CN CN202211688259.0A patent/CN115986624B/en active Active
- 2022-12-28 CN CN202211699315.0A patent/CN115812459B/en active Active
- 2022-12-28 CN CN202211697421.5A patent/CN115912236B/en active Active
- 2022-12-28 CN CN202211699333.9A patent/CN115832944B/en active Active
- 2022-12-28 CN CN202211696968.3A patent/CN115882386B/en active Active
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- 2023-01-16 CN CN202310064208.9A patent/CN116581684A/en active Pending
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115912236A (en) | 2023-04-04 |
| CN115986624A (en) | 2023-04-18 |
| CN115882386A (en) | 2023-03-31 |
| CN115912236B (en) | 2024-08-09 |
| CN115832944B (en) | 2024-08-30 |
| CN115882386B (en) | 2024-08-13 |
| CN115812459A (en) | 2023-03-21 |
| CN115812459B (en) | 2024-08-13 |
| CN116581684A (en) | 2023-08-11 |
| CN115832944A (en) | 2023-03-21 |
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