CN116073280B - Damper righting processing robot and use method - Google Patents
Damper righting processing robot and use method Download PDFInfo
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- CN116073280B CN116073280B CN202310348650.4A CN202310348650A CN116073280B CN 116073280 B CN116073280 B CN 116073280B CN 202310348650 A CN202310348650 A CN 202310348650A CN 116073280 B CN116073280 B CN 116073280B
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- 238000012545 processing Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 46
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 28
- 229910052782 aluminium Inorganic materials 0.000 claims description 28
- 230000003287 optical effect Effects 0.000 claims description 11
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 238000007689 inspection Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 8
- 229910000838 Al alloy Inorganic materials 0.000 description 5
- 238000005265 energy consumption Methods 0.000 description 4
- 230000001965 increasing effect Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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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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- 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
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/14—Arrangements or devices for damping mechanical oscillations of lines, e.g. for reducing production of sound
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Abstract
The invention belongs to a high-voltage power line maintenance tool, and particularly relates to a damper righting processing robot and a use method thereof. The robot comprises a travelling mechanism, a damper lifting device, a damper bolt fastening device, an electric control box and a frame, wherein the frame is arranged on the electric control box, two groups of travelling mechanisms, the damper lifting device and the damper bolt fastening device which are arranged between the two groups of travelling mechanisms are arranged on the frame, and the travelling mechanisms are used for realizing the movement of the robot on an overhead ground wire; the damper lifting device is used for lifting and fixing the damper; the damper bolt fastening device is used for loosening or tightening bolts on the damper. The invention can realize the normal work of the damper, and the damper lifting device and the damper bolt fastening device have simple structure, low degree of freedom and convenient control; the running mechanism works reliably, does not slip, and can realize stable obstacle surmounting.
Description
Technical Field
The invention belongs to a high-voltage power line maintenance tool, and particularly relates to a damper righting processing robot and a use method thereof.
Background
The high-voltage power line overhead ground wire is provided with the anti-vibration hammer, and after long-term operation, due to various reasons, some anti-vibration hammers can run, sometimes the running position is far away from the tower, when the line is electrified, an operator hangs the galloping operation, the safety distance to an electrified wire is possibly insufficient, the physical energy consumption of the operator is large, and potential safety hazards exist; or under the condition that the sag of the overhead ground wire is too large, even if the line is in power failure, the operation of galloping or hanging a ladder cannot be performed, the generating operation efficiency is low, and meanwhile, the economic loss is caused.
Disclosure of Invention
Aiming at the problems, the invention aims to provide the damper positioning processing robot and the use method thereof, which are used for resetting the damper running on the overhead ground wire, thereby realizing live working, reducing the times and time of power failure and increasing the economic benefit; when power failure occurs, the operation can be performed without hanging a ladder, so that the physical energy consumption of operators is reduced, the safety is improved, and the labor productivity is improved.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides a damper positioning processing robot, which comprises a travelling mechanism, a damper lifting device, a damper bolt fastening device, an electric control box and a rack, wherein the rack is arranged on the electric control box, and two groups of travelling mechanisms, the damper lifting device and the damper bolt fastening device which are arranged between the two groups of travelling mechanisms are arranged on the rack; the travelling mechanism is used for realizing the movement of the robot on the overhead ground wire; the damper lifting device is used for lifting and fixing the damper; the damper bolt fastening device is used for loosening or tightening bolts on the damper; the electric control box is used for controlling the running mechanism, the damper lifting device and the damper bolt fastening device to act.
In one possible implementation, the travelling mechanism comprises a travelling wheel driving motor, travelling wheels, a pinch roller device, a linear guide rail and a pinch roller lifting driving device, wherein the travelling wheel driving motor is arranged at the top of the frame, an output end is connected with the travelling wheels, the linear guide rail is arranged on the frame along the vertical direction and is positioned below the travelling wheels, the pinch roller device is in sliding connection with the linear guide rail, the pinch roller lifting driving device is arranged at the bottom of the frame, the output end is connected with the pinch roller device, and the pinch roller lifting driving device is used for driving the pinch roller device to lift and is matched with the travelling wheels to clamp the overhead ground wire.
In one possible implementation manner, the pinch roller device comprises a pinch roller, a pinch roller tension spring, a pinch roller support, a guide rail sliding block and a pinch roller lifting seat, wherein the pinch roller lifting seat is in sliding connection with the linear guide rail through the guide rail sliding block, the top of the pinch roller lifting seat is hinged with two pinch roller supports which are arranged in a V shape, the two pinch roller supports are connected through the pinch roller tension spring, and the tops of the two pinch roller supports are respectively connected with the two pinch rollers in a rotating way;
in one possible implementation manner, the pinch roller lifting driving device comprises a pinch roller electric push rod and a pinch roller electric push rod mounting seat, wherein the pinch roller electric push rod mounting seat is arranged at the bottom of the frame, the pinch roller electric push rod is arranged on the pinch roller electric push rod mounting seat, and the output end is hinged with the bottom of the pinch roller lifting seat.
In one possible implementation manner, the damper lifting device comprises a damper lifting fork, a lifting fork lifting pulley and a lifting driving mechanism, wherein the lifting fork lifting pulley is in sliding connection with the frame along the vertical direction, the damper lifting fork is arranged on the lifting fork lifting pulley, and the damper lifting fork is provided with a V-shaped groove for lifting the damper; the lifting driving mechanism is arranged at the bottom of the frame, the output end of the lifting driving mechanism is connected with the lifting fork lifting pulley or the damper lifting fork, and the lifting driving mechanism is used for driving the lifting fork lifting pulley and the damper lifting fork to lift.
In one possible implementation manner, the lifting fork lifting pulley comprises a lifting fork lifting pulley body and four pulley wheels arranged on two sides of the lifting fork lifting pulley body, wherein the four pulley wheels are movably connected with the frame;
the lifting driving mechanism comprises a lifting electric push rod and a lifting electric push rod support, wherein the lifting electric push rod support is arranged at the bottom of the frame, the tail part of the lifting electric push rod is fixed on the lifting electric push rod support, and the telescopic end of the lifting electric push rod is connected with the lifting fork of the damper.
In one possible implementation manner, an image adopting device positioned above the damper lifting device is arranged on the rack;
the image adopting device comprises a camera bracket and a camera arranged on the camera bracket, wherein the camera is used for identifying the damper and positioning the bolt.
In one possible implementation, the damper bolt fastening device is located outside the damper lifting device;
the damper bolt fastening device comprises an electric wrench, a double-optical-axis linear sliding table and an aluminum profile support, wherein the aluminum profile support is arranged on the frame, the double-optical-axis linear sliding table is arranged on the aluminum profile support, and the electric wrench is arranged on the double-optical-axis linear sliding table.
In one possible implementation manner, the dual-optical axis linear sliding table comprises a screw rod, an optical axis, a sliding table motor, a sliding table sliding block and a sliding table fixing seat, wherein the sliding table fixing seat is arranged on the aluminum profile support, the screw rod and the optical axis are arranged on the sliding table fixing seat in parallel and are arranged in an upward inclined manner, the sliding table sliding block is in threaded connection with the screw rod and is in sliding connection with the optical axis, the sliding table motor is arranged at the end part of the sliding table fixing seat, the output end of the sliding table motor is connected with the screw rod, and the sliding table motor is used for driving the screw rod to rotate;
the electric wrench comprises an electric wrench motor and a universal socket connected with the output end of the electric wrench motor, and the electric wrench motor is arranged on the sliding table sliding block.
Another embodiment of the present invention provides a method for using the damper right-position processing robot as described above, including the steps of:
step A, preparing before operation:
selecting a universal sleeve of an electric wrench in a proper range according to the type of the damper to be subjected to righting; the front side compression wheel device and the rear side compression wheel device are fallen to the lowest end position, the damper lifting device is fallen to the lower end position, and the sliding table sliding block of the damper bolt fastening device is arranged at the lowest end position;
step B, hoisting the robot on the overhead ground wire, and after the robot is successfully wound, lifting the front and rear hold-down wheel devices, wherein the front and rear hold-down wheel devices hold down the overhead ground wire;
step C, driving the travelling wheel to move the robot through the travelling wheel driving motor, wherein the robot is ready to surmount the obstacle before driving to the damper:
the front-side pinch roller device is fallen down, and after the travelling wheel at the front side passes over the damper, the front-side pinch roller device is lifted and the overhead ground wire is pinched;
the pressing wheel device at the rear side is fallen, after the travelling wheel at the rear side passes over the damper, the pressing wheel device at the rear side is lifted and presses the overhead ground wire, and the damper is over the obstacle;
step D, the mobile robot moves in a line inspection mode until the damper slides;
step E, lifting and dragging the damper:
controlling a damper lifting fork of a damper lifting device to lift, and simultaneously fine-adjusting the travelling wheels back and forth until the damper lifting fork lifts the damper;
controlling the robot to move forwards, and driving the damper to slide forwards by the damper lifting device to move to a correct position to stop moving;
step F: starting the fastening work of the damper bolt:
the dual-optical axis linear sliding table is controlled to move obliquely upwards by driving a sliding table motor of the dual-optical axis linear sliding table, and meanwhile, the travelling wheels are finely adjusted back and forth until the universal sleeve is completely sleeved on the hexagon head of the damper bolt, the electric wrench motor is used for controlling the electric wrench to rotate, the damper bolt is screwed, and after the fastening work is completed, the dual-optical axis linear sliding table retreats the electric wrench;
step G: returning the robot, and repeatedly executing the step C to finish obstacle crossing work of the damper;
step H: and (5) all the pinch roller devices fall down, and the robot is hoisted down.
The invention has the following advantages and beneficial effects: the invention provides a damper positioning processing robot, which enables the robot to move along a ground line and cross damper obstacles through a travelling mechanism, provides advancing power for the moving operation of the damper, has reliable working, does not slip, and can realize stable obstacle crossing; the damper bolt fastening device is used for loosening or tightening bolts on the damper, the damper lifting device is used for lifting and fixing the damper, the damper bolt fastening device is convenient for loosening or tightening the damper, and is used for dragging the damper to move on an overhead ground wire, the damper lifting device and the damper bolt fastening device are simple in structure, low in degree of freedom and convenient to control; the invention can realize the normal work of the damper, is convenient and quick to operate, reduces the physical energy consumption of operators, increases the safety and improves the labor productivity.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
fig. 1 is a schematic view showing the overall structure of a damper positioning processing robot according to the present invention;
FIG. 2 is a schematic view of the robot walking mechanism of the present invention;
FIG. 3 is a schematic view of the pinch roller of the travel mechanism of the present invention in a pinch state;
fig. 4 is a schematic view showing a lifting state of the damper lifting device according to the present invention;
fig. 5 is a schematic structural view of a damper lifting device according to the present invention;
FIG. 6 is a schematic view of the lifting block of the lifting device according to the present invention;
fig. 7 is a schematic structural view of a damper bolt-fastening apparatus according to the present invention;
FIG. 8 is a second schematic view of a damper bolt-tightening apparatus according to the present invention;
fig. 9 is a schematic operation view of a damper bolt-fastening apparatus according to the present invention;
in the figure: 1-a travelling mechanism; 2-a damper lifting device; 3-damper bolt fastening means; 4-an electrical control box; 5-a frame; 11-a road wheel drive motor; 12-travelling wheels; 13-a pinch roller; 14-a pinch roller tension spring; 15-a pinch roller bracket; 16-linear guide rail; 17-a pinch roller electric push rod; 18-an aluminum profile frame; 19-a guide rail slide block; 110-a pinch roller lifting seat; 21-a damper lifting fork; 22-lifting fork lifting pulleys; 221-pulley wheels; 222-pulley wheel shoulder screws; 23-a camera support; 24-lifting device aluminum profiles; 25-lifting the electric push rod; 26-lifting the electric push rod bracket; 31-an electric wrench; 311-universal sleeve; 312-an electric wrench motor; 32-a double-optical axis linear sliding table; 321-screw rod; 322-optical axis; 323-a slipway motor; 324-a sliding table slide block; 33-aluminium alloy support.
Detailed Description
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The invention provides a damper positioning processing robot which resets a damper running on an overhead ground wire, can realize live working, reduces power failure times and time, increases economic benefits and improves labor productivity. Referring to fig. 1, the damper positioning processing robot comprises a travelling mechanism 1, a damper lifting device 2, a damper bolt fastening device 3, an electric control box 4 and a frame 5, wherein the frame 5 is arranged on the electric control box 4, and two groups of travelling mechanisms 1, the damper lifting device 2 and the damper bolt fastening device 3 which are arranged between the two groups of travelling mechanisms 1 are arranged on the frame 5; the two groups of travelling mechanisms 1 are positioned right above the electric control box 4 and are used for realizing the movement of the robot on the overhead ground wire and crossing obstacles; the damper bolt fastening device 3 is used for loosening or tightening bolts on the damper; the damper lifting device 2 is used for lifting and fixing the damper, is convenient for the damper bolt fastening device 3 to loosen or screw the damper, and is used for dragging the damper to move on the overhead ground wire; the electric control box 4 is internally provided with a single chip microcomputer control system which is used for controlling the running mechanism 1, the damper lifting device 2, the damper bolt fastening device 3 and the wire clamping device 5 to act.
Referring to fig. 1, in the embodiment of the present invention, the frame 5 adopts a square frame structure made of aluminum profiles, and has light weight. Specifically, the frame 5 includes two crossbeams that set up from top to bottom, set up perpendicularly in the aluminium alloy frame 18 of two crossbeams both ends and set up perpendicularly in the lifting device aluminium alloy 24 of intermediate position, the lower extreme of two sets of aluminium alloy frames 18 is connected with the top both sides of electric control box 4. The two groups of travelling mechanisms 1 are respectively arranged on the aluminum profile frames 18 on two sides, and the balance of the whole robot is improved by adopting a front-back symmetrical arrangement mode. The damper lifter 2 is provided on the lifter aluminum profile 24 at the intermediate position, and the damper bolt tightening device 3 is provided outside the damper lifter 2 in the left-right direction.
Referring to fig. 2 and 3, in the embodiment of the present invention, the travelling mechanism 1 includes a travelling wheel driving motor 11, a travelling wheel 12, a pinch roller device, a linear guide rail 16 and a pinch roller lifting driving device, wherein the travelling wheel driving motor 11 is disposed on top of an aluminum profile frame 18, and an output end is connected with the travelling wheel 12, and the travelling wheel driving motor 11 drives the travelling wheel 12 to rotate, so as to realize movement on an overhead ground wire. The linear guide rail 16 is disposed on the aluminum profile frame 18 in the vertical direction and is located below the traveling wheel 12. The pinch roller device is in sliding connection with the linear guide rail 16, the pinch roller lifting driving device is arranged at the bottom of the aluminum profile frame 18, the output end of the pinch roller lifting driving device is connected with the pinch roller device, and the pinch roller lifting driving device is used for driving the pinch roller device to lift and is matched with the travelling wheel 12 to clamp the overhead ground wire.
Specifically, the travelling wheel 12 is provided with a V-shaped groove for being arranged on an overhead ground wire so as to realize that the robot is hung on the overhead ground wire and moves along the line; the travelling wheel drive motor 11 is connected with the travelling wheel 12 and provides power for the movement of the travelling wheel 12; the travelling wheel driving motor 11 drives the travelling wheel 12 to walk on the overhead ground wire and cross the damper obstacle, and the pinch roller device is matched with the travelling wheel 12 to clamp the overhead ground wire, so that friction force is increased and safety is improved.
In the embodiment of the invention, the pinch roller device comprises a pinch roller 13, a pinch roller tension spring 14, a pinch roller bracket 15, a guide rail slide block 19 and a pinch roller lifting seat 110, wherein one side of the pinch roller lifting seat 110 is connected with the guide rail slide block 19 through a bolt, and the guide rail slide block 19 is in sliding connection with a linear guide rail 16 to form a moving pair. The top of pinch roller elevating seat 110 is articulated with two pinch roller brackets 15 that are V type and arrange, is connected through pinch roller extension spring 14 between two pinch roller brackets 15, and the top of two pinch roller brackets 15 is connected with two pinch rollers 13 rotation respectively, and the diameter of two pinch rollers 13 equals, just is less than the diameter of walking wheel 12, and the axis parallel arrangement of pinch roller 13 and the axis of walking wheel 12 just is located the axis both sides of walking wheel 12 respectively. The two pressing wheels 13 and the travelling wheels 12 form a clamping potential, so that the friction force of the travelling wheels 12 and the safety of the robot are improved. The pressing force is provided according to the deformation amount of the tension spring 14 of the pressing wheel, and at the same time, a cushioning effect can be provided for the pressing wheel 13, as shown in fig. 3.
In this embodiment, the pinch roller lifting driving device includes a pinch roller electric putter 17 and a pinch roller electric putter mount pad, wherein the pinch roller electric putter mount pad sets up in the bottom of aluminium alloy frame 18, and pinch roller electric putter 17 installs on the pinch roller electric putter mount pad, and the output articulates with the bottom of pinch roller lifting seat 110, and pinch roller electric putter 17 goes up and down along linear guide 16 through the pinch roller 13 on flexible drive pinch roller lifting seat 110.
In the embodiment of the invention, the robot is enabled to move along a ground line and cross the damper obstacle through the travelling mechanism 1, and forward power is provided for the moving operation of the damper; the compression wheel device is matched with the driving wheel to clamp the ground wire, so that friction force is increased and safety is improved; the running mechanism 1 works reliably, does not slip, and can realize stable obstacle surmounting.
Referring to fig. 4 and 5, in the embodiment of the present invention, the damper lifting device 2 includes a damper lifting fork 21, a lifting fork lifting pulley 22 and a lifting driving mechanism, wherein the lifting fork lifting pulley 22 is slidably connected with the frame 5 in a vertical direction, the damper lifting fork 21 is connected to one side of the lifting fork lifting pulley 22 through a bolt, the damper lifting fork 21 is provided with two V-shaped grooves for lifting the damper, and two ends of the damper are lifted through the two V-shaped grooves; the lifting driving mechanism is arranged at the bottom of the frame 5, and the output end of the lifting driving mechanism is connected with the lifting fork lifting pulley 22 or the damper lifting fork 21, and the lifting driving mechanism is used for driving the lifting fork lifting pulley 22 and the damper lifting fork 21 to lift.
Further, referring to fig. 6, the lifting fork lifting pulley 22 includes a lifting fork lifting pulley body and four pulley wheels 221, the four pulley wheels 221 are mounted on both sides of the lifting fork lifting pulley body by pulley wheel shoulder screws 222, and the four pulley wheels 221 are embedded in grooves on both sides of the lifting device aluminum profile 24 and can move up and down in the grooves of the lifting device aluminum profile 24.
In this embodiment, the lifting driving mechanism includes a lifting electric putter 25 and a lifting electric putter support 26, wherein the lifting electric putter support 26 is mounted at the bottom of the aluminum profile 24 of the lifting device, the tail of the lifting electric putter 25 is fixed on the lifting electric putter support 26, the telescopic end of the lifting electric putter 25 is connected with the damper lifting fork 21, and the lifting electric putter 25 provides power for the vertical movement of the damper lifting fork 21.
Further, an image adopting device positioned above the damper lifting device 2 is arranged on the frame 5; referring to fig. 4, the image taking device includes a camera bracket 23 and a camera disposed on the camera bracket 23, wherein the camera is used for identifying the damper and positioning the bolt.
In the embodiment of the invention, the damper lifting device 2 has the advantages of simple structure, low degree of freedom, convenient control, realization of lifting and fixing of the damper, convenient loosening or tightening of the damper by the damper bolt fastening device 3, and completion of dragging the damper to move on an overhead ground wire.
Referring to fig. 7 to 9, in the embodiment of the present invention, the damper bolt fastening device 3 includes an electric wrench 31, a dual-optical axis linear sliding table 32, and an aluminum profile bracket 33, wherein the aluminum profile bracket 33 is disposed on the frame 5, the dual-optical axis linear sliding table 32 is disposed on the aluminum profile bracket 33, the electric wrench 31 is disposed on the dual-optical axis linear sliding table 32, the dual-optical axis linear sliding table 32 drives the electric wrench 31 to advance or retract, and the electric wrench 31 can complete tightening or loosening of a bolt.
In the embodiment of the invention, the double-optical-axis linear sliding table 32 comprises a screw rod 321, an optical axis 322, a sliding table motor 323, a sliding table sliding block 324 and a sliding table fixing seat, wherein the sliding table fixing seat is arranged on the aluminum profile bracket 33, the screw rod 321 and the optical axis 322 are arranged on the sliding table fixing seat in parallel and are arranged in an upward inclined manner, the sliding table sliding block 324 is in threaded connection with the screw rod 321 and is in sliding connection with the optical axis 322, and the screw rod 321 and the optical axis 322 respectively provide power and direction for the movement of the sliding table sliding block 324. The slip table motor 323 sets up in the tip of slip table fixing base, and the output is connected with lead screw 321, and slip table motor 323 is used for driving lead screw 321 and rotates, and lead screw 321 drives slip table slider 324 and removes along optical axis 322. The electric wrench 31 includes an electric wrench motor 312 and a universal socket 311 connected to an output end of the electric wrench motor 312, the electric wrench motor 312 is disposed on a slide table slider 324, and an operation end of the universal socket 311 is inclined upward for tightening or loosening a bolt of a damper lifted by the damper lifting device 2. The universal sleeve 311 of the electric wrench 31 is driven by the sliding table slide block 324 to align with the bolt on the damper. The socket cap 311 has a socket cap structure for aligning with the external hexagon of the bolt, and the electric wrench motor 312 drives the socket cap 311 to rotate, thereby loosening or tightening the bolt on the damper, as shown in fig. 9.
In the embodiment of the invention, the damper bolt fastening device 3 has the advantages of simple structure, low degree of freedom, convenient control and accurate completion of loosening or tightening of the bolts on the damper.
According to the overhead ground wire damper righting robot, the robot moves along a ground wire line and spans damper barriers through the travelling mechanism, advancing power is provided for moving operation of the damper, and the hold-down wheel device is matched with the driving wheel to clamp the ground wire, so that friction force is increased, and safety is improved; the damper bolt fastening device is used for loosening or tightening a bolt on the damper, the damper lifting device is used for lifting and fixing the damper, the damper bolt fastening device is convenient for loosening or tightening the damper, and the damper is used for dragging and moving on an overhead ground wire. The damper positioning processing robot can realize damper positioning work, and the damper lifting device and the damper bolt fastening device are simple in structure, low in degree of freedom and convenient to control. The running mechanism works reliably, does not slip, and can realize stable obstacle surmounting.
Based on the above design concept, another embodiment of the present invention provides a method for using the damper right position processing robot in any of the above embodiments, the method comprising the steps of:
step A, preparing before operation:
for the damper type to be subjected to the righting process, a universal socket 311 of the electric wrench 31 of a proper range is selected; the front side compression wheel device and the rear side compression wheel device are fallen to the lowest end position, the damper lifting device 2 is fallen to the lower end position, and the sliding table sliding block 324 of the damper bolt fastening device 3 is arranged at the lowest end position;
step B, hoisting the robot on the overhead ground wire, and after the robot is successfully wound, lifting the front and rear compacting wheel devices to compact the overhead ground wire;
step C, the robot is moved by driving the travelling wheel 12 through the travelling wheel driving motor 11, and the robot is ready to surmount the obstacle before driving to the damper:
the front hold-down wheel device is dropped, and after the front travelling wheel 12 passes over the damper, the front hold-down wheel device is lifted and the overhead ground wire is held down;
the rear hold-down wheel device is fallen, after the travelling wheel 12 at the rear passes over the damper, the rear hold-down wheel device is lifted and the overhead ground wire is held down, and the damper is over the obstacle;
step D, the mobile robot moves in a line inspection mode until the damper slides;
step E, lifting and dragging the damper:
controlling the damper lifting fork 21 of the damper lifting device 2 to lift, and simultaneously fine-adjusting the travelling wheel 12 back and forth until the damper lifting fork 21 lifts the damper;
the robot is controlled to move forwards, the damper lifting device 2 drives the damper to slide forwards, and the damper is moved to a correct position to stop moving;
step F: starting the fastening work of the damper bolt:
the sliding table motor 323 of the double-optical-axis linear sliding table 32 is driven to control the electric wrench 31 to move obliquely upwards, and meanwhile, the travelling wheel 12 is finely adjusted back and forth until the universal sleeve 311 is completely sleeved on the hexagon head of the damper bolt, the electric wrench motor 312 is used for controlling the electric wrench 31 to rotate, the damper bolt is screwed, and after the fastening work is completed, the double-optical-axis linear sliding table 32 withdraws the electric wrench 31;
step G: returning the robot, and repeatedly executing the step C to finish obstacle crossing work of the damper;
step H: and (5) all the pinch roller devices fall down, and the robot is hoisted down.
The overhead ground wire damper righting robot is reasonable in structure, quick to install and convenient to use, resets the damper running on the overhead ground wire, can perform live working, reduces the power failure times and time, and increases economic benefits; when power failure occurs, the operation can be performed without hanging a ladder, so that the physical energy consumption of operators is reduced, the safety is improved, and the labor productivity is improved.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (4)
1. The vibration damper positioning processing robot is characterized by comprising a travelling mechanism (1), a vibration damper lifting device (2), a vibration damper bolt fastening device (3), an electric control box (4) and a frame (5), wherein the frame (5) is arranged on the electric control box (4), and two groups of travelling mechanisms (1) and the vibration damper lifting device (2) and the vibration damper bolt fastening device (3) which are arranged between the two groups of travelling mechanisms (1) are arranged on the frame (5); the travelling mechanism (1) is used for realizing the movement of the robot on an overhead ground wire; the vibration damper lifting device (2) is used for lifting and fixing the vibration damper; the damper bolt fastening device (3) is used for loosening or tightening a bolt on the damper; the electric control box (4) is used for controlling the running mechanism (1), the damper lifting device (2) and the damper bolt fastening device (3) to act;
the travelling mechanism (1) comprises a travelling wheel driving motor (11), travelling wheels (12), a pinch roller device, a linear guide rail (16) and a pinch roller lifting driving device, wherein the travelling wheel driving motor (11) is arranged at the top of the frame (5), the output end of the travelling wheel driving motor is connected with the travelling wheels (12), the linear guide rail (16) is arranged on the frame (5) along the vertical direction and is positioned below the travelling wheels (12), the pinch roller device is in sliding connection with the linear guide rail (16), the pinch roller lifting driving device is arranged at the bottom of the frame (5), the output end of the pinch roller lifting driving device is connected with the pinch roller device, and the pinch roller device is matched with the travelling wheels (12) to clamp overhead ground wires;
the pressing wheel device comprises a pressing wheel (13), a pressing wheel tension spring (14), pressing wheel brackets (15), a guide rail sliding block (19) and a pressing wheel lifting seat (110), wherein the pressing wheel lifting seat (110) is in sliding connection with the linear guide rail (16) through the guide rail sliding block (19), the top of the pressing wheel lifting seat (110) is hinged with the two pressing wheel brackets (15) which are arranged in a V shape, the two pressing wheel brackets (15) are connected through the pressing wheel tension spring (14), and the tops of the two pressing wheel brackets (15) are respectively in rotary connection with the two pressing wheels (13);
the damper lifting device (2) comprises a damper lifting fork (21), a lifting fork lifting pulley (22) and a lifting driving mechanism, wherein the lifting fork lifting pulley (22) is in sliding connection with the frame (5) along the vertical direction, the damper lifting fork (21) is arranged on the lifting fork lifting pulley (22), and the damper lifting fork (21) is provided with a V-shaped groove for lifting the damper; the lifting driving mechanism is arranged at the bottom of the frame (5), and the output end of the lifting driving mechanism is connected with the lifting fork lifting pulley (22) or the damper lifting fork (21) and is used for driving the lifting fork lifting pulley (22) and the damper lifting fork (21) to lift;
the lifting fork lifting pulley (22) comprises a lifting fork lifting pulley body and four pulley wheels (221) arranged on two sides of the lifting fork lifting pulley body, and the four pulley wheels (221) are movably connected with the frame (5);
the lifting driving mechanism comprises a lifting electric push rod (25) and a lifting electric push rod bracket (26), wherein the lifting electric push rod bracket (26) is arranged at the bottom of the frame (5), the tail part of the lifting electric push rod (25) is fixed on the lifting electric push rod bracket (26), and the telescopic end of the lifting electric push rod (25) is connected with the damper lifting fork (21);
the damper bolt fastening device (3) is positioned outside the damper lifting device (2);
the damper bolt fastening device (3) comprises an electric wrench (31), a double-optical-axis linear sliding table (32) and an aluminum profile support (33), wherein the aluminum profile support (33) is arranged on the frame (5), the double-optical-axis linear sliding table (32) is arranged on the aluminum profile support (33), and the electric wrench (31) is arranged on the double-optical-axis linear sliding table (32);
the pressing wheel lifting driving device comprises a pressing wheel electric push rod (17) and a pressing wheel electric push rod mounting seat, wherein the pressing wheel electric push rod mounting seat is arranged at the bottom of the frame (5), the pressing wheel electric push rod (17) is mounted on the pressing wheel electric push rod mounting seat, and the output end of the pressing wheel electric push rod mounting seat is hinged with the bottom of the pressing wheel lifting seat (110);
the frame (5) comprises two cross beams which are arranged up and down, an aluminum profile frame (18) which is vertically arranged at two ends of the two cross beams, and a lifting device aluminum profile (24) which is vertically arranged in the middle position, wherein the lower ends of the two groups of aluminum profile frames (18) are connected with two sides of the top of the electric control box (4); the damper lifting device (2) is arranged on the lifting device aluminum profile (24) at the middle position; the linear guide rail (16) is arranged on the aluminum profile frame (18) along the vertical direction.
2. The damper positioning processing robot according to claim 1, wherein the frame (5) is provided with an image taking device located above the damper lifting device (2);
the image adopting device comprises a camera bracket (23) and a camera arranged on the camera bracket (23), wherein the camera is used for identifying the damper and positioning the bolt.
3. The damper positioning processing robot according to claim 1, wherein the dual-optical axis linear sliding table (32) comprises a screw rod (321), an optical axis (322), a sliding table motor (323), a sliding table sliding block (324) and a sliding table fixing seat, wherein the sliding table fixing seat is arranged on the aluminum profile support (33), the screw rod (321) and the optical axis (322) are arranged on the sliding table fixing seat in parallel and are arranged in an upward inclined manner, the sliding table sliding block (324) is in threaded connection with the screw rod (321) and is in sliding connection with the optical axis (322), the sliding table motor (323) is arranged at the end part of the sliding table fixing seat, the output end of the sliding table motor (323) is connected with the screw rod (321), and the sliding table motor (323) is used for driving the screw rod (321) to rotate;
the electric wrench (31) comprises an electric wrench motor (312) and a universal socket (311) connected with the output end of the electric wrench motor (312), and the electric wrench motor (312) is arranged on the sliding table sliding block (324).
4. A method of using the damper-setting handling robot of any one of claims 1-3, comprising the steps of:
step A, preparing before operation:
a universal socket (311) of an electric wrench (31) of a proper range is selected for the type of damper to be processed in the right position; the front side compression wheel device and the rear side compression wheel device are fallen to the lowest end position, the damper lifting device (2) is fallen to the lower end position, and a sliding table sliding block (324) of the damper bolt fastening device (3) is arranged at the lowest end position;
step B, hoisting the robot on the overhead ground wire, and after the robot is successfully wound, lifting the front and rear hold-down wheel devices, wherein the front and rear hold-down wheel devices hold down the overhead ground wire;
step C, driving a travelling wheel (12) through a travelling wheel driving motor (11) to move the robot, wherein the robot is ready to surmount the obstacle before driving to the damper:
the front-side pinch roller device is fallen down, and after the front-side travelling wheel (12) passes over the damper, the front-side pinch roller device is lifted and the overhead ground wire is pinched;
the rear hold-down wheel device is fallen, after the travelling wheel (12) at the rear passes over the damper, the rear hold-down wheel device is lifted and the overhead ground wire is held down, and the damper is over the obstacle;
step D, the mobile robot moves in a line inspection mode until the damper slides;
step E, lifting and dragging the damper:
controlling a damper lifting fork (21) of the damper lifting device (2) to lift, and fine-adjusting the travelling wheel (12) back and forth until the damper lifting fork (21) lifts the damper;
the robot is controlled to move forwards, and the damper lifting device (2) drives the damper to slide forwards and move to a correct position to stop moving;
step F: starting the fastening work of the damper bolt:
a sliding table motor (323) for driving the double-optical-axis linear sliding table (32) controls the electric wrench (31) to move obliquely upwards, and simultaneously fine-adjusts the travelling wheel (12) back and forth until the universal sleeve (311) is completely sleeved on the hexagon head of the damper bolt, the electric wrench motor (312) controls the electric wrench (31) to rotate, the damper bolt is screwed, and after the fastening work is completed, the double-optical-axis linear sliding table (32) withdraws the electric wrench (31);
step G: returning the robot, and repeatedly executing the step C to finish obstacle crossing work of the damper;
step H: and (5) all the pinch roller devices fall down, and the robot is hoisted down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310348650.4A CN116073280B (en) | 2023-04-04 | 2023-04-04 | Damper righting processing robot and use method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310348650.4A CN116073280B (en) | 2023-04-04 | 2023-04-04 | Damper righting processing robot and use method |
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| CN116073280B true CN116073280B (en) | 2023-06-27 |
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| CN206323064U (en) * | 2016-05-18 | 2017-07-11 | 国网吉林省电力有限公司白城供电公司 | A kind of overhead transmission line Shockproof hammer restorer executing agency |
| CN108927644A (en) * | 2018-07-19 | 2018-12-04 | 沈彦南 | A kind of hinge type damper attaching/detaching apparatus and method |
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| JP4416181B2 (en) * | 2004-03-30 | 2010-02-17 | 関西電力株式会社 | Torsion prevention damper remover for overhead power transmission lines |
| CN103895015B (en) * | 2014-03-24 | 2016-03-30 | 上海大学 | A kind of split type active obstacle travelling robot |
| CN105790151B (en) * | 2014-12-24 | 2017-10-20 | 中国科学院沈阳自动化研究所 | A kind of positioning stockbridge damper resets Working mechanism |
| CN207967776U (en) * | 2017-12-25 | 2018-10-12 | 南昌大学 | A kind of ultra-high-tension power transmission line inspection robot compression driving forearm |
| CN108927643B (en) * | 2018-07-19 | 2021-01-12 | 沈彦南 | Device and method for disassembling and assembling sea horse type damper |
| CN114583616A (en) * | 2022-04-18 | 2022-06-03 | 贵州电网有限责任公司 | Walking obstacle crossing mechanism walking obstacle crossing mechanism of ice observation robot for power transmission line |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN206323064U (en) * | 2016-05-18 | 2017-07-11 | 国网吉林省电力有限公司白城供电公司 | A kind of overhead transmission line Shockproof hammer restorer executing agency |
| CN108927644A (en) * | 2018-07-19 | 2018-12-04 | 沈彦南 | A kind of hinge type damper attaching/detaching apparatus and method |
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