CN117301097A - A high-voltage wire maintenance robot - Google Patents
A high-voltage wire maintenance robot Download PDFInfo
- Publication number
- CN117301097A CN117301097A CN202311592101.8A CN202311592101A CN117301097A CN 117301097 A CN117301097 A CN 117301097A CN 202311592101 A CN202311592101 A CN 202311592101A CN 117301097 A CN117301097 A CN 117301097A
- Authority
- CN
- China
- Prior art keywords
- assembly
- adjusting device
- voltage wire
- telescopic cylinder
- height adjusting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a high-voltage wire maintenance robot which comprises an operating device, a mechanical arm, a control system and a camera, wherein the operating device is arranged on the mechanical arm, the control system is used for controlling and connecting the operating device, the mechanical arm and the camera, the high-voltage wire maintenance robot further comprises a height adjusting device, the lower part of the mechanical arm is connected with a moving assembly, the moving assembly is movably arranged on the height adjusting device, the height adjusting device is connected with a horizontal adjusting device matched with the moving assembly, the height adjusting device is arranged on a limiting platform, a telescopic support frame for positioning is arranged on the limiting platform, and a travelling device is arranged at the lower part of the limiting platform. The height adjusting device is matched with the horizontal adjusting device, the position of the mechanical arm is adjusted, the high-voltage wire range which can be covered by the operating device on the mechanical arm is wider, the limiting platform is used for supporting the height adjusting device, and the telescopic support frame is matched with the limiting platform to provide better support for the height adjusting device.
Description
Technical Field
The invention relates to the technical field of power maintenance, in particular to a high-voltage wire overhaul robot.
Background
The power equipment is just like an automobile, and only if daily maintenance is performed, the service life can be prolonged, the occurrence of faults is reduced, and the electricity safety is ensured. At present, traditional power distribution network operation is mainly carried out by the manual work, and most of the work is that the worker wears insulating clothes to stand in the high-altitude insulating bucket to carry out wire stripping operation, and the insulating operation rod is also used for carrying out power distribution network live working in partial areas. However, the distribution network is usually compact in circuit, the distance between phases is small, and short circuit is easy to occur when operators work in live line, so that accidents such as personal injury and death are caused. Meanwhile, the operation mode has the advantages of overlarge labor intensity, low working efficiency and high operation danger coefficient, and the distribution network lines in partial areas and the geographical conditions are bad, so that related live working is difficult to develop, and accordingly, the lines have to be overhauled and maintained under the condition of power failure, and serious influence is caused on industrial production and living experience of residents. Particularly, a 10kv power transmission and distribution line used outdoors has complex environment and is more likely to generate various faults.
The existing full-autonomous distribution network live working robot in electric power operation not only can enable the robot to replace people to perform live working on a distribution network, but also can greatly improve the working efficiency, and meanwhile the danger is reduced to the minimum. However, under the condition of complex maintenance road conditions, such as the maintenance of wires with crops such as grains on the periphery, wires which are far away from the road and are not suitable for walking on the lower road surface, wires with complex road conditions in hills and mountains, and the like, the maintenance still needs to be performed manually, and the risk coefficient is high.
The working robot suitable for multiple scenes and the working method thereof disclosed in the Chinese invention patent with publication number of CN116945209A in the prior art comprise a positioning frame, wherein a driving mechanism is arranged in the positioning frame, the bottom surface of the positioning frame is provided with the positioning mechanism, one side of a fixing piece is provided with a lifting mechanism, one side of a lifting plate is slidably provided with a fixing table, the bottom of the fixing table is internally provided with an adjusting mechanism, when a wire arranged on a designated telegraph pole needs to be maintained through the device, the device is sleeved on the surface of the telegraph pole through two driving wheels arranged in the positioning frame, and the driving wheels in two rotating grooves are driven to rotate through two first rotating shafts and second rotating shafts which rotate in the same direction of the driving device, so that the device is controlled to lift on the surface of the telegraph pole. Although this patent solves the problem that when a part of robots are installed on the engineering truck for operation and use, the engineering truck cannot enter for maintenance when the maintained telegraph pole line is installed beside some steep slopes and hills. But this patent can only be serviced for a small distance beside the pole, and when it is required to be serviced far from the pole, the designated location is still not reached with this patent. The master-slave teleoperation robot system and method disclosed in the Chinese patent publication No. CN 116572217A comprise: the device comprises an insulation lifting mechanism, an aerial working mechanism, a ground control mechanism, a vision system and a working tool; the high-altitude operation mechanism comprises a high-altitude operation mechanical arm and a high-altitude mechanical arm main hand, and the high-altitude operation mechanical arm and the high-altitude mechanical arm main hand adopt a master-slave control mode; the vision system is used for collecting the information of the working tool, the information of the working object and the information of the working position, and transmitting the obtained information to the ground control mechanism, the ground control mechanism comprises a ground operation master and virtual reality equipment, the ground operation master and the aerial working mechanical arm adopt a master-slave control mode, and the action control of the aerial working mechanical arm can be realized by operating the ground operation master; the virtual reality device can form a corresponding virtual scene based on information acquired by the vision system, and can control the movement of the vision system to realize the switching of the visual angles. Although the patent can complete live working maintenance, the application of the patent still has a certain limitation of maintenance range under the condition of complex road conditions or no road beside.
Disclosure of Invention
Aiming at the defects in the background technology, the invention provides a high-voltage wire maintenance robot, which solves the problems of high risk coefficient of high-voltage wire maintenance under the condition of complex road conditions in the prior art and small maintenance range of the existing maintenance device.
The technical scheme of the invention is realized as follows:
the utility model provides a high-voltage wire overhauls robot, including operating means, the arm, control system and camera, operating means installs on the arm, control system control connection operating means, arm and camera, still include high adjusting device, the lower part of arm is connected with the removal subassembly, the activity of removal subassembly sets up on high adjusting device, be connected with on the high adjusting device with remove subassembly complex horizontal adjustment device, high adjusting device sets up on spacing platform, be equipped with the telescopic bracket that is used for the location on the spacing platform, spacing platform's lower part is equipped with running gear.
Further, the movable assembly comprises a movable plate, a movable motor is arranged on the movable plate and is connected with the movable plate through a control system, an output shaft of the movable motor is connected with a rod piece through a gear pair, and rollers are connected to two ends of the rod piece.
Further, the height adjusting device comprises a vertical telescopic cylinder, a limiting plate matched with the horizontal adjustment is arranged on the upper portion of the vertical telescopic cylinder, and a movable wheel connected with the lower portion of the vertical telescopic cylinder.
Further, the horizontal adjusting device comprises a horizontal track assembly, one end of the horizontal track assembly is hinged to the upper portion of the vertical telescopic cylinder, the free end of the horizontal track assembly is rotatably connected with an oblique telescopic cylinder, and the other end of the oblique telescopic cylinder is hinged to the vertical telescopic cylinder.
Further, the horizontal track assembly comprises at least two H-shaped frames in sliding fit, and track grooves matched with the mechanical arms are formed in the H-shaped frames.
Further, the H-shaped frame comprises a connecting pipe, two ends of the connecting pipe are connected with rectangular pipes, a limiting block is connected to the inner wall of one end of each rectangular pipe, and a sliding block is connected to the outer wall of the other end of each rectangular pipe.
Further, spacing platform includes base box and spacing platform, is connected with lifting unit between base box and the spacing platform, is equipped with the control assembly who is used for controlling lifting unit in the base box.
Further, lifting assembly includes U template and slide bar, and the interactive setting of slide bar is in the U template, and the upper portion of slide bar is connected on spacing bench, and the U template is connected on the base box.
Further, the control assembly comprises a rotating shaft, two ends of the rotating shaft are fixedly connected with inclined supporting rods, the other ends of the inclined supporting rods are hinged to the sliding rods, the middle of the rotating shaft is connected with a turbine, and the turbine is matched with a worm connected to the control motor.
Further, the telescopic support frame comprises at least two connecting plates, the connecting plates are arranged on the bottom box in a sliding mode, adjustable telescopic columns are connected to the connecting plates, and support bases are connected to the lower portions of the adjustable telescopic columns.
Further, the running gear includes damper and walking wheel, and damper connects the lower part at the base box, is equipped with the axletree on the damper, and the walking wheel rotates to be connected on the axletree.
The beneficial effects of the invention are as follows:
1. the height adjusting device is matched with the horizontal adjusting device to adjust the position of the mechanical arm, so that the operating device on the mechanical arm can cover a wider range of high-voltage wires, the problem that the existing device cannot directly modify the high-voltage wires due to remote positions of the wires or other reasons is solved, the limiting platform is used for supporting the height adjusting device, the telescopic support frame is matched with the limiting platform to provide better support for the height adjusting device, and the traveling device is convenient to move the device to a designated position.
2. The moving assembly is used for controlling the movement of the roller through the moving motor and controlling the position of the mechanical arm, so that the mechanical arm can move in the horizontal direction conveniently, and the operating device can reach the designated position.
3. The height adjusting device adopts the vertical telescopic cylinder to adjust the height, so that the position of the mechanical arm can be conveniently adjusted, and further, the maintenance of high-voltage wires at different heights can be realized.
4. The horizontal track assembly adopts an H-shaped frame, and the movable wheels can move in the track grooves on the H-shaped frame conveniently. The H-shaped frame adopts the telescopic frame, so that the height adjustment of the vertical telescopic cylinder can be matched, the length of the H-shaped frame is prolonged, and the maintenance range of the operating device is enlarged.
5. The bottom box is connected with the limiting platform through the telescopic component, and the control component controls the telescopic piece to control the height of the limiting platform, and the higher the limiting platform is, the better the supporting effect on the vertical telescopic cylinder is.
6. The telescopic support frames are symmetrically arranged on two sides of the limiting platform, so that the contact area between the limiting platform and the ground is enlarged, and the stability of the limiting platform is improved.
7. The damping component is arranged on the walking device, so that vibration damage to the device in the moving process can be reduced, and the safety is higher.
Drawings
In order to more clearly illustrate the embodiments of the present invention, the drawings that are required for the description of the embodiments will be briefly described below, it being apparent that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a limiting platform according to the present invention;
FIG. 3 is a schematic diagram of a control assembly according to the present invention;
FIG. 4 is a schematic view of the horizontal track assembly of the present invention;
fig. 5 is a schematic structural view of a rectangular tube according to the present invention.
In the figure: 1. the device comprises a supporting base, 2, an adjustable telescopic column, 3, a connecting plate, 4, a bottom box, 4-1, a limiting hole, 4-2, a track hole, 5, a control component, 5-1, an inclined strut, 5-2, a rotating shaft, 5-3, a turbine, 5-4, a worm, 5-5, a control motor, 6, a lifting component, 6-1, a U-shaped track plate, 6-2, a sliding rod, 7, a limiting table, 8, a vertical telescopic cylinder, 9, a locating plate, 10, a moving component, 11, a mechanical arm, 12, an operating device, 13, a horizontal track component, 13-1, an H-shaped frame, 13-11, a rectangular pipe, 13-12, a sliding block, 13-13, a limiting block, 13-14, a connecting pipe, 13-2, a track groove, 14, an inclined telescopic cylinder, 15, a limiting frame, 16, a travelling wheel, 17, an axle, 18 and a damping component.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, embodiment 1, a high-voltage wire maintenance robot, including operating device 12, arm 11, control system and camera, operating device 12 is preferably can dismantle wire stripping and installation device of being connected with arm 11, and operating device 12 installs on arm 11, and operating device 12 cooperates with arm 11, can realize a plurality of angular adjustment of operating device 12, is convenient for adapt to various high-voltage wires, and operating device 12 is preferably insulating material in arm 11, conveniently carries out the wire maintenance, improves maintenance efficiency. The control system controls and connects the operating device 12, the mechanical arm 11 and the camera, and the camera can monitor the damaged positions of the operating device 12 and the high-voltage power line, so that the operating device 12 can reach the designated position more accurately. Still include high adjusting device, high adjusting device is used for adjusting the height of arm 11, and then makes this device adapt to current five meters, eight meters and ten meters of high-voltage wire apart from ground, and application scope is wider, accords with the maintenance of uninterrupted power supply more. The lower part of the mechanical arm 11 is connected with a moving assembly 10, and the moving assembly 10 drives the mechanical arm 11 to move, so that the mechanical arm 11 can be moved to other vehicles such as other stair cars, and the high-voltage wire maintenance device can be suitable for high-voltage wires in various occasions.
In this embodiment, the moving component 10 is movably disposed on the height adjusting device, and a limit step groove matched with the moving component 10 is disposed on the top of the height adjusting device, and is used for limiting the initial position of the moving device, so as to prevent the moving component 10 from moving out of the height adjusting device during use, and affect the safety of the device. And be connected with on the adjusting device with remove subassembly 10 complex level adjustment device, remove subassembly 10 and remove along level adjustment device, adjust the position of arm 11 after the device is fixed, realize the maintenance of many electric wires different positions, maintenance efficiency is high. The height adjusting device is arranged on a limiting platform, and the limiting platform is used for providing support for the height adjusting device and avoiding the phenomenon that the gravity center of the mechanical arm 11 is unstable after moving through the moving assembly 10. The limiting platform is provided with a telescopic support frame for positioning, and the telescopic support frame is used for increasing the contact area between the device and the ground, so that the stability of the device is increased. The lower part of the limiting platform is provided with a traveling device. The height adjusting device is matched with the horizontal adjusting device to adjust the position of the mechanical arm 11, so that the operating device 12 on the mechanical arm 11 can cover a wider range of high-voltage wires, the problem that the existing device cannot directly modify the high-voltage wires due to the remote position of the wires or other reasons is solved, the limiting platform is used for supporting the height adjusting device, the telescopic support frame is matched with the limiting platform to provide better support for the height adjusting device, and the traveling device is convenient to move the device to a designated position.
As shown in fig. 1, in embodiment 2, a high-voltage wire maintenance robot is different from the technical scheme in embodiment 1 in that the moving assembly 10 includes a moving plate, a moving motor is disposed on the moving plate, the moving motor is controlled and connected by a control system, an output shaft of the moving motor is connected with a rod through a gear pair, and two ends of the rod are connected with rollers. The movable motor drives the rod piece to rotate through the gear pair, and then drives the roller to move. The moving assembly 10 controls the movement of the roller through the moving motor, and is used for controlling the position of the mechanical arm 11, so that the mechanical arm 11 can conveniently move in the horizontal direction, and the operating device 12 can reach the designated position. The moving motor drives the roller to roll, so that the mechanical arm 11 can be separated from a limit step groove at the upper part of the height adjusting device, and the mechanical arm 11 can conveniently move on the horizontal adjusting device. The robot arm 11 is provided on a moving plate, and the moving plate moves close to the leveling device during traveling.
In this embodiment, the height adjusting device includes vertical telescopic cylinder 8, and vertical telescopic cylinder 8 is the telescopic cylinder preferably, and vertical telescopic cylinder 8's upper portion is equipped with and adjusts complex limiting plate with the level, and the limiting plate is used for restricting horizontal adjusting device's direction of rotation, and the lower part of vertical telescopic cylinder 8 is connected with the removal wheel. The movable wheel is arranged at the lower part of the vertical telescopic cylinder 8, so that the vertical telescopic cylinder 8 and the limiting platform can be separated, the device can be spliced in a modularized manner, the application range is wider, the multiple functions of one machine can be realized conveniently, and the use cost is reduced. The limiting platform can fix the position of the height adjusting device, so that the stability of the height adjusting device in the use process is ensured while the vertical direction adjusting device can be supported.
In this embodiment, the horizontal adjustment device includes a horizontal rail assembly 13, one end of the horizontal rail assembly 13 is hinged on the upper portion of the vertical telescopic cylinder 8, the upper portion of the vertical telescopic cylinder 8 is connected with a hinged plate, and the horizontal rail assembly 13 is hinged on the hinged plate through a hinge shaft, so that the horizontal rail assembly 13 rotates around the hinge shaft. The free end of the horizontal track component 13 is rotatably connected with an oblique telescopic cylinder 14, and the other end of the oblique telescopic cylinder 14 is hinged on the vertical telescopic cylinder 8. The oblique telescopic cylinder 14 is preferably an air cylinder, one end of the air cylinder is hinged on the horizontal track assembly 13, and the other end of the air cylinder is hinged in the middle of the vertical telescopic cylinder 8. When the device is used, the free end of the horizontal rail assembly 13 is driven to move upwards by extension of the air cylinder until the other end of the horizontal rail assembly 13 is contacted with the positioning plate 9, the positioning plate 9 and the hinged plate are matched with the horizontal rail assembly 13, and after the moving assembly 10 moves out of the height adjusting device, a height drop and a middle buffer support transferred to the horizontal rail assembly 13 from the limit step groove are arranged.
The other structures are the same as those of embodiment 1.
As shown in fig. 4 and 5, in embodiment 3, a high-voltage wire maintenance robot is different from the technical solution of embodiment 2 in that the horizontal rail assembly 13 includes at least two H-shaped frames 13-1 in sliding fit, and rail grooves 13-2 in matching with the mechanical arms 11 are provided on the H-shaped frames 13-1. The two H-shaped frames 13-1 are in sliding fit to realize length adjustment, so that the horizontal track assembly 13 can be conveniently adjusted in height when the height adjusting device is used for adjusting the height. In the use process, the oblique telescopic cylinder 14 is extended to drive the H-shaped frame 13-1 to move upwards so as to be vertical to the height adjusting device. The H-shaped frames 13-1 are used together, so that the connection stability of the horizontal track assembly 13 is ensured while the horizontal length can be controlled, and the expansion and contraction of the two H-shaped frames 13-1 in the use process are not influenced.
In this embodiment, the H-shaped frame 13-1 includes a connecting pipe 13-14, the connecting pipe 13-14 is preferably a circular pipe, two ends of the connecting pipe 13-14 are connected with a rectangular pipe 13-11, an inner wall at one end of the rectangular pipe 13-11 is connected with a limiting block 13-13, and an outer wall at the other end of the rectangular pipe 13-11 is connected with a sliding block 13-12. The rectangular pipes 13-11 can be provided with the limiting blocks 13-13 or the sliding blocks 13-12 according to the requirements, the sliding blocks 13-12 are arranged on the outer walls of the rectangular pipes 13-11, the sliding blocks 13-12 can slide in the adjacent rectangular pipes 13-11 conveniently, the limiting blocks 13-13 are arranged on the inner walls of the rectangular pipes 13-11, the positions of the limiting blocks 13-13 can be limited, and the adjacent rectangular pipes 13-11 are prevented from being separated in the sliding process. When there are only two H-shaped frames 13-1, only the limiting block 13-13 needs to be arranged on the rectangular tube 13-11 of one H-shaped frame 13-1, only the sliding block 13-12 needs to be arranged on the other H-shaped frame 13-1, when there are three or more H-shaped frames 13-1, only one of the sliding blocks 13-12 or the limiting block 13-13 is arranged on the two H-shaped frames 13-1 at two ends, and the two sliding blocks 13-12 and the limiting block 13-13 need to be arranged on the middle H-shaped frame 13-1 to be matched with the adjacent rectangular tube 13-11. The horizontal rail assembly 13 adopts an H-shaped frame 13-1, so that the moving wheel can move in a rail groove 13-2 on the H-shaped frame 13-1 conveniently. The H-shaped frame 13-1 adopts a telescopic frame, so that the height adjustment of the vertical telescopic cylinder 8 is convenient to match, the length of the H-shaped frame 13-1 is prolonged, and the maintenance range of the operating device 12 is enlarged.
Specifically, two ends of the oblique telescopic cylinder 14 are respectively provided with a U-shaped adapter plate, one U-shaped adapter plate rotates at the middle part of the vertical telescopic cylinder 8 through a connecting shaft, the other U-shaped track plate 6-1 is fixed on a connecting pipe 13-14 at the free end of the H-shaped frame 13-1, the oblique telescopic cylinder 14 stretches to drive the free end of the H-shaped frame 13-1 to move upwards, and when the oblique telescopic cylinder 14 stretches to a certain length, the H-shaped frame 13-1 is arranged for the vertical telescopic cylinder 8; after reaching the horizontal position, when the limit position is not reached between the two H-shaped frames 13-1, whether the oblique telescopic cylinder 14 is stretched or not can be selected according to actual requirements, and the application range is wide. When the vertical telescopic cylinder 8 stretches, the two H-shaped frames 13-1 are driven to slide relatively, so that the length of the horizontal track assembly 13 is prolonged, and after the height is adjusted in place, the telescopic cylinder is adjusted according to actual requirements.
The other structures are the same as those of embodiment 2.
As shown in fig. 2, embodiment 4, a high-voltage wire overhauling robot, which is different from embodiment 3 in technical scheme, the limit platform includes a bottom box 4 and a limit table 7, a through hole matched with a height adjusting device is arranged in the middle of the limit table 7, a lifting assembly 6 is connected between the bottom box 4 and the limit table 7, the lifting assembly 6 is arranged at four corner positions of the bottom box 4 and the limit table 7, a control assembly 5 for controlling the lifting assembly 6 is arranged in the bottom box 4, and the left control assembly 5 and the right control assembly 5 respectively control the lifting of the two lifting assemblies 6. The bottom box 4 is a bottom supporting structure, a limiting frame 15 for limiting the height adjusting device is arranged on the upper portion of the bottom box 4, the limiting frame 15 is detachably connected to the upper portion of the bottom box 4 through a corner plate, and the limiting frame 15 is preferably a rectangular clamp. The rectangular clamp is fixed on the upper part of the bottom box 4 through a corner plate and is used for limiting the position of the height adjusting device. The bottom box 4 is connected with the limiting platform 7 through the telescopic component, and the height of the limiting platform 7 is controlled by the telescopic component controlled by the control component 5, and the higher the limiting platform 7 is, the better the supporting effect on the vertical telescopic cylinder 8 is.
In this embodiment, the lifting assembly 6 includes a U-shaped track plate 6-1 and a sliding rod 6-2, the sliding rod 6-2 is interactively disposed in the U-shaped track plate 6-1, the upper portion of the sliding rod 6-2 is connected to a limiting table 7, and the U-shaped track plate 6-1 is connected to the bottom case 4. The two control components 5 are symmetrically arranged on the two connected U-shaped track plates 6-1, the symmetrically arranged U-shaped track plates 6-1 are arranged at opposite positions of the openings, and the sliding rod 6-2 abuts against the bottom of the U-shaped track plates 6-1 at the control line of the control components 5 and slides up and down along the U-shaped track plates 6-1.
As shown in fig. 3, in this embodiment, the control assembly 5 includes a rotating shaft 5-2, two ends of the rotating shaft 5-2 are fixedly connected with a diagonal brace 5-1, the other end of the diagonal brace 5-1 is hinged on a sliding rod 6-2, a turbine 5-3 is connected to the middle of the rotating shaft 5-2, and the turbine 5-3 is matched with a worm 5-4 connected to the control motor 5-5. One end of the inclined strut 5-1 is hinged on the sliding rod 6-2, and the inclined strut 5-1 controls the sliding rod 6-2 to slide up and down in the U-shaped track plate 6-1, so that the height of the limiting table 7 is adjusted. The other end of the diagonal brace 5-1 is fixedly connected to a rotating shaft 5-2, the rotating shaft 5-2 is rotatably arranged in a bottom box 4, a limiting hole 4-1 matched with the rotating shaft 5-2 is formed in the bottom box 4, a turbine 5-3 is connected to the rotating shaft 5-2, and the turbine 5-3 is matched with a worm 5-4 connected to a control motor 5-5.
Specifically, the control motor 5-5 is connected to the worm 5-4 and matched with two turbines 5-3 symmetrically arranged, the two turbines 5-3 are connected with rotating shafts 5-2, and the rotating shafts 5-2 control the inclined stay bars 5-1 to rotate. When the motor 5-5 is controlled to rotate, the worm 5-4 drives the turbine 5-3 to rotate, then the turbine 5-3 drives the inclined support rod 5-1 to move, and the inclined support rod 5-1 drives the sliding rod 6-2 to move up and down, so that the limit table 7 connected with the sliding rod 6-2 is driven to move up and down.
In this embodiment, the telescopic support frame includes two at least connecting plates 3, and two connecting plates 3 symmetry set up the both sides of base case 4, and connecting plate 3 slip setting is on base case 4, is connected with adjustable telescopic column 2 on the connecting plate 3, and adjustable telescopic column 2 is the telescopic cylinder preferably, and the lower part of adjustable telescopic column 2 is connected with support base 1. The support base 1 is preferably a round table, the minimum diameter of the round table is larger than the diameter of the telescopic cylinder, and the round table can improve the contact area between the telescopic cylinder and the ground. The both sides of the bottom box 4 are all provided with track holes 4-2 matched with the connecting plate 3, the connecting plate 3 slides in the track holes 4-2, the bottom box 4 is provided with pin holes, the connecting plate 3 is provided with a plurality of holes corresponding to the pin holes, the bottom box 4 is provided with limiting pins for fixing the connecting plate 3 and the bottom box 4, and the limiting pins penetrate through the pin holes of the bottom box 4 and the corresponding holes on the connecting plate 3 to fix the connecting plate 3 on the bottom box 4 for fixing the position of the connecting plate 3.
In this embodiment, the running gear includes a shock-absorbing assembly 18 and a running wheel 16, the shock-absorbing assembly 18 is connected to the lower part of the bottom case 4, an axle 17 is disposed on the shock-absorbing assembly 18, and the running wheel 16 is rotatably connected to the axle 17. The damping assembly 18 comprises a damping box shell, the damping box shell is connected to the lower portion of the bottom box 4, a damping spring is arranged in the damping box shell, the axle 17 penetrates through the damping box shell, one end of the damping spring abuts against a connecting column at the lower portion of the bottom box 4, and the other end of the damping spring is progressive on the axle 17. The shock-absorbing box shell is provided with a strip-shaped hole which is convenient for the axle 17 to do shock-absorbing movement. The axle 17 is vertically welded with a limit round bar, and the damping spring is sleeved on the limit round bar.
The other structures are the same as those of embodiment 3.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (11)
1. The utility model provides a high-voltage wire overhauls robot, includes operating means (12), arm (11), control system and camera, and operating means (12) are installed on arm (11), and operating means (12), arm (11) and camera, its characterized in that are connected in control system control: the mechanical arm comprises a mechanical arm body, and is characterized by further comprising a height adjusting device, wherein the lower part of the mechanical arm body (11) is connected with a moving assembly (10), the moving assembly (10) is movably arranged on the height adjusting device, the height adjusting device is connected with a horizontal adjusting device matched with the moving assembly (10), the height adjusting device is arranged on a limiting platform, a telescopic support frame for positioning is arranged on the limiting platform, and a walking device is arranged at the lower part of the limiting platform.
2. The high voltage wire service robot of claim 1, wherein: the movable assembly (10) comprises a movable plate, a movable motor is arranged on the movable plate and is connected with the movable plate through a control system, an output shaft of the movable motor is connected with a rod piece through a gear pair, and rollers are connected to two ends of the rod piece.
3. The high voltage wire service robot according to claim 1 or 2, wherein: the height adjusting device comprises a vertical telescopic cylinder (8), a limiting plate matched with the horizontal adjustment is arranged on the upper portion of the vertical telescopic cylinder (8), and a movable wheel connected with the lower portion of the vertical telescopic cylinder (8).
4. The high voltage wire service robot of claim 3, wherein: the horizontal adjusting device comprises a horizontal track assembly (13), one end of the horizontal track assembly (13) is hinged to the upper portion of the vertical telescopic cylinder (8), an inclined telescopic cylinder (14) is rotatably connected to the free end of the horizontal track assembly (13), and the other end of the inclined telescopic cylinder (14) is hinged to the vertical telescopic cylinder (8).
5. The high voltage wire service robot of claim 4, wherein: the horizontal track assembly (13) comprises at least two H-shaped frames (13-1) in sliding fit, and track grooves (13-2) matched with the mechanical arms (11) are formed in the H-shaped frames (13-1).
6. The high voltage wire service robot of claim 5, wherein: the H-shaped frame (13-1) comprises a connecting pipe (13-14), two ends of the connecting pipe (13-14) are connected with rectangular pipes (13-11), a limiting block (13-13) is connected to the inner wall of one end of each rectangular pipe (13-11), and a sliding block (13-12) is connected to the outer wall of the other end of each rectangular pipe (13-11).
7. The high-voltage wire maintenance robot according to any one of claims 4 to 6, wherein: the limiting platform comprises a bottom box (4) and a limiting table (7), a lifting assembly (6) is connected between the bottom box (4) and the limiting table (7), and a control assembly (5) for controlling the lifting assembly (6) is arranged in the bottom box (4).
8. The high voltage wire service robot of claim 7, wherein: the lifting assembly (6) comprises a U-shaped track plate (6-1) and a sliding rod (6-2), the sliding rod (6-2) is interactively arranged in the U-shaped track plate (6-1), the upper part of the sliding rod (6-2) is connected to the limiting table (7), and the U-shaped track plate (6-1) is connected to the bottom box (4).
9. The high voltage wire service robot of claim 8, wherein: the control assembly (5) comprises a rotating shaft (5-2), two ends of the rotating shaft (5-2) are fixedly connected with inclined supporting rods (5-1), the other ends of the inclined supporting rods (5-1) are hinged to sliding rods (6-2), a turbine (5-3) is connected to the middle of the rotating shaft (5-2), and the turbine (5-3) is matched with a worm (5-4) connected to the control motor (5-5).
10. The high voltage wire service robot of claim 9, wherein: the telescopic support frame comprises at least two connecting plates (3), the connecting plates (3) are arranged on the bottom box (4) in a sliding mode, the connecting plates (3) are connected with adjustable telescopic columns (2), and the lower portions of the adjustable telescopic columns (2) are connected with support bases (1).
11. The high-voltage wire maintenance robot according to any one of claims 7 to 9, characterized in that: the walking device comprises a damping assembly (18) and a walking wheel (16), wherein the damping assembly (18) is connected to the lower portion of the bottom box (4), an axle (17) is arranged on the damping assembly (18), and the walking wheel (16) is rotatably connected to the axle (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311592101.8A CN117301097A (en) | 2023-11-27 | 2023-11-27 | A high-voltage wire maintenance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311592101.8A CN117301097A (en) | 2023-11-27 | 2023-11-27 | A high-voltage wire maintenance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117301097A true CN117301097A (en) | 2023-12-29 |
Family
ID=89237605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311592101.8A Withdrawn CN117301097A (en) | 2023-11-27 | 2023-11-27 | A high-voltage wire maintenance robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117301097A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119001549A (en) * | 2024-08-12 | 2024-11-22 | 广州工程技术职业学院 | Circuit wiring fault detection device and method |
-
2023
- 2023-11-27 CN CN202311592101.8A patent/CN117301097A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119001549A (en) * | 2024-08-12 | 2024-11-22 | 广州工程技术职业学院 | Circuit wiring fault detection device and method |
| CN119001549B (en) * | 2024-08-12 | 2025-05-13 | 广州工程技术职业学院 | Circuit wiring fault detection device and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109301753B (en) | It is a kind of along overhead transmission line walk climbing robot | |
| CN111764613A (en) | High-altitude equipment installation device in rail traveling area of rail transit engineering and construction method | |
| CN112499532A (en) | Electric power engineering salvagees combined operation car | |
| CN219863986U (en) | Electric erecting device for building scaffold | |
| CN108789355B (en) | Broken strand repairing robot mechanism suitable for long-distance operation | |
| CN106002876A (en) | A multi-dimensional rotating maintenance platform | |
| CN206878378U (en) | A kind of crusing robot running gear | |
| CN210957525U (en) | Portable insulator spindle centre gripping controlling device | |
| CN107332143B (en) | A small transformer auxiliary platform for urban distribution network | |
| CN207863978U (en) | A kind of tunnel arch Mobile workbench | |
| CN107017583B (en) | Cable cross street laying apparatus | |
| CN110676737B (en) | Movable insulating rod clamping control device | |
| CN210101827U (en) | A substation maintenance robot | |
| CN110294036A (en) | A kind of track driving mechanism of stair climbing robot | |
| CN221971215U (en) | A power installation and maintenance platform | |
| CN112693536A (en) | Four-wheel driving robot for overhauling and climbing iron tower and operation method thereof | |
| CN223109545U (en) | Conductor resetting device for emergency repair of broken power line poles | |
| CN221343623U (en) | A self-driving chassis for a micro crane | |
| CN221126736U (en) | An operating table for electrical equipment maintenance | |
| CN222976337U (en) | Building construction platform convenient to remove | |
| CN219144877U (en) | Special temporary cable support for overhaul of thermal power plant | |
| CN223724118U (en) | A power facility maintenance device | |
| CN222007253U (en) | Electric power facility maintenance device | |
| CN220580932U (en) | Ladder stand with anti-drop function for aircraft maintenance | |
| CN218732776U (en) | Power supply line obstacle cleaning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20231229 |
|
| WW01 | Invention patent application withdrawn after publication |