CN118117488A - A self-lifting and rotating robot with a hanging telescopic insulating bucket and a control method thereof - Google Patents
A self-lifting and rotating robot with a hanging telescopic insulating bucket and a control method thereof Download PDFInfo
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- CN118117488A CN118117488A CN202410303093.9A CN202410303093A CN118117488A CN 118117488 A CN118117488 A CN 118117488A CN 202410303093 A CN202410303093 A CN 202410303093A CN 118117488 A CN118117488 A CN 118117488A
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- crawling
- sliding
- pole
- insulating bucket
- self
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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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- 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
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- 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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明公开一种悬挂伸缩式绝缘斗的抱杆自升降旋转机器人及控制方法，包括抱杆自升降旋转机器人，以及悬挂在机器人上的伸缩式绝缘斗。所述的抱杆自升降旋转机器人包括：推紧部、爬行部、搭载部、控制系统。所述伸缩式绝缘斗包括上半身绝缘斗和下半身围栏。所述推紧部通过爬行部与搭载部连接，所述控制系统与推紧部、爬行部、搭载部电性连接，所述控制系统控制所述推紧部夹紧或松开电杆。本发明中，通过机器人将绝缘斗自动升至作业高空，避免了现有技术中高空吊装费时费力，且存在安全隐患，有效提高带电作业效率，节约偏远地区作业的宝贵时间，伸缩式绝缘斗可方便野外背负携带，减轻人员劳动强度。The present invention discloses a pole-holding self-lifting and rotating robot with a telescopic insulating bucket suspended thereon and a control method, comprising a pole-holding self-lifting and rotating robot and a telescopic insulating bucket suspended thereon. The pole-holding self-lifting and rotating robot comprises: a pushing part, a crawling part, a carrying part, and a control system. The telescopic insulating bucket comprises an upper body insulating bucket and a lower body fence. The pushing part is connected to the carrying part through the crawling part, the control system is electrically connected to the pushing part, the crawling part, and the carrying part, and the control system controls the pushing part to clamp or release the pole. In the present invention, the insulating bucket is automatically lifted to the working height by the robot, which avoids the time-consuming and labor-intensive high-altitude hoisting in the prior art and the potential safety hazards, effectively improves the efficiency of live-line operations, saves precious time for operations in remote areas, and the telescopic insulating bucket can be conveniently carried on the back in the field, reducing the labor intensity of personnel.
Description
Technical Field
The invention relates to the technical field of power distribution network equipment, in particular to a holding pole self-lifting rotary robot for a suspension telescopic insulating bucket and a control method.
Background
The national network company is greatly pushing the distribution network to operate without power failure, so that the power supply reliability and service quality of users are improved. The power failure phenomenon is avoided as much as possible when the power distribution network overhauls, maintains and reforms.
The high-altitude live working in China has the main advantages that the lifting is convenient and fast, the maneuverability is high by means of the insulating arm car to finish the working with the duty ratio of more than 90%, but the insulating arm car is huge in size and cannot be in place under the limitation of complex terrains and traffic in hills, mountains, farmlands and alleys.
The existing insulating platform, insulating scaffold, insulating centipede cat ladder and the like can be utilized without being limited by terrains, so that effective measures in the working environment of an insulating bucket arm vehicle cannot be used at present, but before the equipment works, electricians are required to install the insulating platform, the insulating scaffold, the insulating centipede cat ladder is inspected to be qualified and then works, the insulating platform, the insulating scaffold and the insulating centipede cat ladder are required to be disassembled after being completed, the whole process is very complicated in steps, time and labor are wasted during installation and removal, the cost is high, and civil disputes such as young seedling claims and the like are easily caused by occupying farmland cultivated land. Meanwhile, the equipment is heavy, the labor intensity is high when the equipment is carried on the back in the field, and a plurality of inconveniences are brought to the maintenance work of the power distribution network.
The existence of the problems makes a plurality of areas become hot-line operation dead areas, and severely restricts the development of uninterrupted operation of the distribution network. Therefore, aiming at the pain points of the distribution network uninterrupted operation equipment in the complex terrain environment, development of automatic equipment is needed to effectively improve the operation efficiency and reduce the labor intensity of operators.
The invention provides a holding pole self-lifting rotary robot of a suspension telescopic insulating bucket and a control method, and aims to solve the technical problems.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a holding rod self-lifting rotary robot of a suspension telescopic insulating bucket and a control method.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a hold pole self-elevating rotary robot of suspension telescopic insulating bucket, includes pushing away tight portion, portion of crawling, carrying on portion, telescopic insulating bucket and pole, pushing away tight portion and crawling portion one end and linking to each other through fixed pin axle, the other end links to each other through quick-release round pin axle, pushes away tight portion and crawling portion centre gripping pole jointly and reciprocate along its axial, carrying on portion and crawling portion link to each other to can dismantle with telescopic insulating bucket and be connected.
Preferably, the pushing part comprises two symmetrically arranged mounting plates, the two mounting plates are fixed through a connecting frame, a battery pack, a system control module and a telescopic push rod assembly are respectively arranged between the two mounting plates, the output end of the telescopic push rod assembly is connected with a double-row V-shaped movable rubber wheel set, the double-row V-shaped movable rubber wheel set is connected with a sliding block through a sliding connecting rod, the sliding block is connected with a sliding track frame installed on the mounting plate in a sliding mode, a fixing ring is arranged on the sliding connecting rod, and a photoelectric switch is arranged on the sliding track frame.
Preferably, the telescopic push rod assembly comprises a first trapezoidal screw fixing block, a second trapezoidal screw fixing block, a sliding pipe fixing bushing and a pushing operation motor, wherein the first trapezoidal screw fixing block, the second trapezoidal screw fixing block, the sliding pipe fixing bushing and the pushing operation motor are arranged on the mounting plate, the first trapezoidal screw fixing block and the second trapezoidal screw fixing block are connected with the trapezoidal screw through rolling bearings and plane bearings, the trapezoidal screw is connected with the pushing operation motor through a first gear set, a sliding nut is connected with the trapezoidal screw in a threaded mode, a sliding nut fixing sleeve is arranged on the sliding nut, the sliding pipe fixing bushing is connected with the sliding pipe in a sliding mode, a spring limiting sleeve is arranged on the inner wall of the sliding pipe, a plurality of limiting openings are formed in the side wall of the sliding pipe along the axial direction of the sliding pipe, limiting pins are arranged in the limiting openings, the sliding nut fixing sleeve is connected with the sliding pipe in a sliding mode, and the sliding nut fixing sleeve is fixedly connected with the limiting pins, and a spring is arranged between the sliding nut fixing sleeve and the spring limiting sleeve.
Preferably, the two sides of the sliding pipe fixing bushing are provided with the proximity switch fixing blocks, and the proximity switch fixing blocks are provided with the proximity switch.
Preferably, an annular pressure sensor is mounted on the planar bearing.
Preferably, the crawling part comprises a driving crawling part and a driven crawling part, the driving crawling part and the driven crawling part are connected through a connecting pipe and a main shaft connecting pipe to achieve up-down distribution, the driven crawling part comprises a second upper mounting plate and a second lower mounting plate, the second upper mounting plate and the second lower mounting plate are fixed through a short supporting frame, and a lower crawling rubber wheel is connected to the short supporting frame in a rotating mode.
Preferably, the initiative portion of crawling includes first mounting panel and first mounting panel down, first mounting panel and first mounting panel down pass through the support frame fixed, the support frame is connected with upper strata respectively and crawls the rubber wheel in lower floor through the axis of rotation, upper strata crawl the rubber wheel and the rubber wheel coaxial coupling has the sprocket that crawls down, the sprocket passes through the chain to be linked to each other, the support frame is connected with the operation motor of crawling through the motor cabinet, the output of operation motor of crawling is connected with the third bevel gear, the third bevel gear meshes respectively has first bevel gear and second bevel gear, first bevel gear and second bevel gear are coaxial fixed with the rubber wheel of crawling on the upper strata.
Preferably, the carrying part comprises a hanging plate, one side of the hanging plate is connected with a plurality of hanging grooves, the other side of the hanging plate is respectively connected with an upper connecting plate and a lower connecting plate, the upper connecting plate is connected with a main shaft connecting pipe through a bearing, the lower connecting plate is connected with a rotary operation motor through a rotary support, the output end of the rotary operation motor drives a worm through a second gear set, the worm is rotatably arranged on the rotary support, the worm is meshed with a worm wheel arranged on the main shaft connecting pipe, and the lower connecting plate is connected with the main shaft connecting pipe through a thrust needle bearing.
Preferably, the telescopic insulating bucket comprises a lower body insulating bucket, an upper body fence and a hook corresponding to the hook groove, wherein a plurality of sliding grooves are formed in the inner wall of the lower body insulating bucket, sliding vertical rods are connected in the sliding grooves in a sliding mode, the sliding vertical rods are fixed with the upper body fence, butterfly-shaped lock catches are arranged on the sliding grooves, and the sliding vertical rods are connected with butterfly-shaped lock catch hooks through cushion blocks.
A control method of a pole self-lifting rotary robot of a suspension telescopic insulating bucket comprises the following steps:
S1, pushing the electric pole tightly: after the pole is embraced by the pole self-lifting rotary robot, the pole is tightly propped against the double-row V-shaped movable rubber wheel set at the front end of the sliding pushing mechanism of the pushing part, the sliding pipe continues to stretch and compress the compression spring and the annular pressure sensor at the rear end, the double-row V-shaped movable rubber wheel set and the real-time pressure data of the pole are input into the control chip through the annular pressure sensor, the control program outputs a control signal corresponding to the pressure signal to control the sliding pushing mechanism to execute a tightly propping or loosening instruction, the annular pressure sensor detects and controls the pressure value, and the sliding pipe of the sliding pushing mechanism stretches and contracts to enable the double-row V-shaped movable rubber wheel set at the front end of the pole to tightly hold the pole with the double-row active crawling rubber wheel set of the crawling part;
s2, hanging an insulating bucket: the robot is located at the height of the electric pole about 1 meter from the ground, the upper body fence is located at the maximum retraction position, and 3 hooks at the installation end of the telescopic insulating bucket are quickly hung into hook grooves at the outer side of the hanging plate of the carrying part.
S3, stretching the fence: the operation personnel enter the insulating bucket, one hand holds the upper body fence and lifts the upper body fence to the highest position, 4 butterfly lock hooks at the lower part of the upper body fence are aligned with 4 butterfly locks in the inner cavity of the insulating bucket of the lower body, the other hand rotates the butterfly lock to 90 degrees for locking, screwing of all 4 butterfly locks is manually completed, and fixing of the upper body fence and the insulating bucket of the lower body is completed.
S4, crawling along the rod: the system control module compares the pressure value transmitted to the AVR module by the annular pressure sensor with a preset pressure interval in the AVR module, if the pressure value F Pressing is positioned in the preset pressure interval (between F 1 and F 2), the control system controls the crawling part to drive the telescopic insulating bucket to load and lift from bottom to top, and can hover at any (operation) height on the electric pole; otherwise, the sliding pushing mechanism is adjusted, and continuous comparison is carried out according to the pressure value F Pressing ; the control system is in communication connection with the clamping operation motor and the crawling operation motor, and can control the clamping operation motor and the crawling operation motor to hover at any height of the electric pole; the method comprises the following steps: when the crawling operation motor rotates, the double-row active crawling rubber wheel sets rotate in the same direction at the same time to push the robot to crawl along the electric pole, an execution device of the crawling part is the crawling operation motor, an operator sends ascending, descending or hovering instructions through the remote controller, and after receiving the instructions, a wireless module of the control module outputs corresponding control signals to the crawling operation motor to realize ascending, descending or hovering of the robot along the electric pole;
S5, rotating around the shaft: the rotary operation motor is a rotary operation executing device, the control system is in communication connection with the rotary operation motor, an operator sends forward rotation and reverse rotation instructions through the remote controller, a wireless module of the control module receives the instructions and outputs corresponding control signals to the rotary operation motor, the carrying part rotates around a main shaft connecting pipe of the crawling part within a range of 120 degrees, the worm and gear is matched with the main shaft connecting pipe to have a self-locking function, the rotary operation motor is controlled according to actual operation requirements, the insulating bucket can be adjusted to an optimal operation position, and self-locking parking is realized.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the invention, the weight of the hung telescopic insulating bucket can be lifted to the working high altitude through the crawling part, so that the problems of time and labor waste and potential safety hazard in high altitude lifting in the prior art are avoided, the live working efficiency is effectively improved, the precious time of remote area operation is saved, and the labor intensity of personnel is reduced;
(2) According to the invention, the pushing end of the pushing part and the crawling end of the crawling part are always encircling the clasping electric pole, so that the robot can provide enough clasping force when working aloft, and the friction force generated between the robot and the electric pole is enough to support the load of all equipment and the gravity of overhaulers, so that the equipment is prevented from sliding off;
(3) According to the invention, the pushing frame and the crawling frame are made of carbon fiber plates, so that the overall weight of the equipment can be reduced, and the equipment has high strength. Meanwhile, the upper mounting plate is inwards sunken towards one end of the electric pole to form an arc-shaped curved surface and is matched with the matching surface of the electric pole, and one end of the upper mounting plate, which is far away from the electric pole, is outwards protruded to form a V-shaped structure, so that the load bearing strength of the whole crawling structure is improved;
(4) According to the invention, the fixed of the diameter-variable electric pole can be realized through the sliding support of the pushing part, the electric push rod and the waist-shaped rubber wheel, meanwhile, the pressure data can be transmitted to the control system in real time through the compression spring and the pressure sensor, and the electric push rod is controlled by the control system to execute the pushing or loosening instruction, so that the operation stability of the pushing part is improved;
(5) The fence highly meets the safety guarantee requirements of general personnel, and the operators can feel stability and operation suitability subjectively. Similarly, after the operation is completed, the fence can descend to the lowest position along the inner wall of the fixed bucket and is fixed, and the fence is contracted to the minimum state, so that the overall height of the equipment is reduced, and the equipment is convenient to carry on back during transportation;
(6) The holding pole self-lifting rotary robot and the telescopic insulating bucket are two separated components, are independently carried, can be directly hung in and mounted, and are simple and light in operation and improved in mounting safety. Because the hooks act simultaneously, the telescopic insulating bucket cannot swing in the air;
(7) The shrinkage type insulating bucket is an integrated composite insulating bucket, is of an integral structure free of assembly, has no metal joint and has obvious light weight effect; the operator is arranged in the insulating bucket, so that the position of the stepping point of the foot is not required to be concerned; the whole fence can greatly increase the safety feeling of overhead operation.
Drawings
In order to more particularly and intuitively illustrate an embodiment of the present invention or a technical solution in the prior art, a brief description of the drawings is provided below, which are required to be used in the description of the embodiment or the prior art.
Fig. 1 is a schematic diagram of a robot structure of a boom self-lifting rotary robot and a control method for suspending a telescopic insulation bucket according to an embodiment of the present invention;
Fig. 2 is a schematic structural diagram of a robot suspension telescopic insulating bucket with a pole self-lifting rotary robot and a control method for the robot suspension telescopic insulating bucket according to an embodiment of the invention;
fig. 3 is a schematic diagram of a robot pole-holding operation of a pole-holding self-lifting rotary robot and a control method for suspending a telescopic insulating bucket according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a pushing part of a telescopic self-lifting rotary robot with a boom hanging a telescopic insulating bucket in a maximum retraction state (with a mounting plate on the top removed);
fig. 5 is a schematic structural diagram of a pushing-out state of a pushing-out part of a holding pole self-lifting rotary robot (with a mounting plate on the top removed) of a telescopic insulating bucket according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a pushing part push rod assembly of a pole self-lifting rotary robot for suspending a telescopic insulating bucket according to an embodiment of the present invention;
Fig. 7 is a schematic diagram of a crawling part structure of a pole self-lifting rotary robot for suspending a telescopic insulating bucket according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a crawling part active crawling part structure of a crawling part self-lifting rotary robot of a boom of a suspended telescopic insulating bucket according to an embodiment of the invention;
Fig. 9 is a schematic view of a crawling part driven crawling part structure of a boom self-lifting rotary robot for suspending a telescopic insulating bucket according to an embodiment of the present invention;
Fig. 10 is a schematic structural view of a carrying part of a boom self-lifting rotary robot for suspending a telescopic insulation bucket according to an embodiment of the present invention;
Fig. 11 is a schematic structural diagram of an electric control rotating mechanism of a carrying part of a holding pole self-lifting rotating robot for suspending a telescopic insulating bucket according to an embodiment of the present invention; ;
fig. 12 is a schematic view of a telescopic insulating bucket structure of a boom self-lifting rotary robot for suspending a telescopic insulating bucket according to an embodiment of the present invention (a fence is in a maximum stretching state);
Fig. 13 is a schematic view of a telescopic insulating bucket structure of a boom self-lifting rotary robot with a telescopic insulating bucket (a fence is in a maximum retraction state) according to an embodiment of the present invention;
fig. 14 is an enlarged schematic view of a latch structure of a boom self-lifting rotary robot of fig. 12 marked a of a telescopic insulating bucket according to an embodiment of the present invention;
FIG. 15 is a system block diagram of a control method for a boom self-lifting rotary robot and control method for a suspended telescopic insulation bucket according to an embodiment of the present invention;
fig. 16 is a schematic control flow diagram of a boom self-lifting rotary robot and a control method for suspending a telescopic insulation bucket according to an embodiment of the invention.
In the figure: holding pole self-lifting rotary robot 100
Pushing part 1, crawling part 2, carrying part 3, telescopic insulating bucket 4, fixed pin 5, quick-release pin 6 and electric pole 7
Mounting plate 101, sliding track frame 102, connecting frame 103, trapezoidal screw first fixing block 104, trapezoidal screw second fixing block 105, sliding tube fixing bushing 106, proximity switch fixing block 107, proximity switch 108, rolling bearing 109, plane bearing 110, sliding connecting rod 111, slider 112, fixing ring 113, photoelectric switch 114, double-row V-shaped movable rubber wheel set 115, battery pack 116, system control module 117, trapezoidal screw 118, sliding tube 119, annular pressure sensor 120, sliding nut 121, sliding nut fixing sleeve 122, limiting pin 123, spring 124, spring limiting sleeve 125, pushing operation motor 126, first gear set 127
A driving crawling part 21, a driven crawling part 22, a connecting pipe 23 and a main shaft connecting pipe 24
First upper mounting plate 211, first lower mounting plate 212, supporting frame 213, chain 214, sprocket 215, rotation shaft 216, crawling operation motor 217, motor base 218, first bevel gear 219, second bevel gear 2110, third bevel gear 2111, upper crawling rubber wheel 2112, lower crawling rubber wheel 2113
Second upper mounting plate 221, second lower mounting plate 222, short support 223, driven crawling rubber wheel set 224
Suspension plate 301, upper connection plate 302, lower connection plate 303, hooking groove 304, bearing 305, rotary bracket 306, rotary working motor 307, second gear set 308, worm 309, worm wheel 310, thrust needle bearing 311
Lower body insulating bucket 401, upper body fence 402, couple 403, spout 404, butterfly lock catch 405, butterfly lock catch couple 406, cushion 407, and sliding upright 408.
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.
Referring to fig. 1, 2 and 3, a pole self-lifting rotary robot for suspending a telescopic insulating bucket and a control method thereof, comprising a pole self-lifting rotary robot 100, a telescopic insulating bucket 4 suspended on the robot and an electric pole 7. The pole self-lifting rotary robot 100 includes: a pushing part 1, a crawling part 2, a carrying part 3 and a control system. One end of the pushing part 1 is hinged with one end of the crawling part 2 through a fixed pin shaft 5, the pushing part 1 can be opened and closed around the fixed pin shaft 5, and the other end of the pushing part 1 is fixed with the other end of the crawling part 2 through a quick-release pin shaft 6 to form a pole 7 structure. The telescopic insulating bucket 5 is suspended outside the mounting portion 4.
Referring to fig. 4, the pushing part 1 includes a pushing frame and a sliding pushing mechanism disposed in the pushing frame, 2 mounting plates 101 (for more clearly showing the structure, the top surface is hidden in fig. 4), 2 sliding track frames 102 and connecting frames 103 symmetrically arranged at the edges along the symmetry line of the mounting plates 101, a trapezoidal screw first fixing block 104 coaxially mounted along the symmetry line of the mounting plates 101, a trapezoidal screw second fixing block 105, and a sliding tube fixing bushing 106 to form the pushing frame of the pushing part 1. The sliding pushing mechanism shown in fig. 4 is in the maximum retraction state, 2 proximity switch fixing blocks 107 are arranged on two sides of the sliding tube fixing bushing 106, and the maximum retraction position of the sliding pushing mechanism is controlled through the proximity switch 108 fixed in the middle;
Referring to fig. 5, a sliding link 111, a double-row V-shaped movable rubber wheel set 115, a pushing operation motor 126, and a telescopic push rod assembly form a sliding pushing mechanism of the pushing part 1. Two ends of the sliding connecting rod 111 are respectively provided with 1 sliding block 112 through 2 fixed rings 113, the sliding blocks 112 at the two ends of the sliding connecting rod 111 slide along a slideway, and the double-row V-shaped movable rubber wheel set 115 in the middle of the sliding connecting rod 111 is controlled to keep horizontal movement. The end of the sliding rail frame 102 near the side of the electric pole is provided with a photoelectric switch 114, the sliding pushing mechanism shown in fig. 5 is in a maximum pushing state, and the photoelectric switch 114 controls the maximum pushing position of the sliding pushing mechanism.
Referring to fig. 6, the telescopic push rod assembly includes a trapezoidal screw 118, a sliding tube 119, an annular pressure sensor 120, a sliding nut 121, a sliding nut fixing sleeve 122, a limiting pin 123, a spring 124, and a spring limiting sleeve 125.
The trapezoidal screw 118 is rotatably fixed to the trapezoidal screw first fixing block 104 and the trapezoidal screw second fixing block 105 by two rolling bearings 109 shown in fig. 4, and a pushing operation motor 126 is installed on the left side of the trapezoidal screw first fixing block 104 and the trapezoidal screw second fixing block 105. The gear set 127 on the trapezoidal screw 118 is arranged between the first fixed block 104 and the trapezoidal screw second fixed block 105, and the first gear set 127 receives the torque force provided by the tightening operation motor 126 to generate rotary motion.
The slide nut 121 screwed on the trapezoidal screw 118 is limited by the limiting pin 123, converts the rotational movement of the trapezoidal screw 118 into an axial horizontal movement, and transmits the axial horizontal movement to the slide tube 119 through the slide nut fixing sleeve 122. The middle part of the sliding connecting rod 111 is inserted into a through hole of the sliding pipe 119 near the front end of the electric pole 7 to form stable connection, and the sliding connecting rod 111 axially and horizontally slides along with the sliding pipe 119.
The spring limiting sleeve 125 is fixedly assembled in the rear end of the sliding pipe 119, the spring 124 is positioned between the sliding nut 121 and the spring limiting sleeve 125, receives pressure generated by axial horizontal movement of the sliding nut 121, and synchronously transmits a pressure value to the annular pressure sensor 120.
Preferably, the battery pack 116 and the system control module 117 of the present embodiment are mounted on the mounting plate 101 in electrical connection with the tightening operation motor 126 and the annular pressure sensor 120.
Referring to fig. 7, the crawling part 2 includes a driving crawling part 21, a driven crawling part 22, a connection pipe 23, and a spindle connection pipe 24. The initiative crawling part 21 is assembled with the driven crawling part 21 through the connecting pipe 23 and the main shaft connecting pipe 24, so that the stress span of the crawling part 2 can be prolonged, and the stability of crawling operation of the holding pole is enhanced.
Referring to fig. 8, the active crawling part 21 includes: the first upper mounting plate 211, the first lower mounting plate 212, the supporting frame 213, the chain 214, the sprocket 215, the rotating shaft 216, the crawling operation motor 217, the motor base 218, the first bevel gear 219, the second bevel gear 2110, the third bevel gear 2111, the upper crawling rubber wheel 2112 and the lower crawling rubber wheel 2113.
The first upper mounting plate 211, the first lower mounting plate 212 and the supporting frames 213 form a crawling frame of the active crawling part 21, the first upper mounting plate 211 is fixedly connected with the first lower mounting plate 212 through a plurality of supporting frames 213, in this embodiment, six supporting frames 213 are taken as an example, gaps are reserved between the adjacent supporting frames 213, the first upper mounting plate 211 is inwards sunken towards one end of the electric pole 7 to form an arc-shaped curved surface, one end of the first upper mounting plate 211 far away from the electric pole 7 is outwards protruded to form a V-shaped structure, the arc-shaped curved surface is used for adapting to the circular outer wall of the electric pole 7, the V-shaped structure is used for enhancing the strength of a member, the first lower mounting plate 212 is identical to the first upper mounting plate 211, three supporting frames 213 are symmetrically arranged on the left side and the right side of the crawling frame, and are respectively numbered as a first left supporting frame, a second supporting frame, a third left supporting frame, a first supporting frame, a second supporting frame, a third supporting frame and a third supporting frame are respectively arranged along one end far away from the electric pole 7, wherein a set of installation position of a rubber crawling wheel set is formed between the second left supporting frame and the third left supporting frame, and another set of installation position of the rubber crawling wheel set is formed between the second right supporting frame and the third supporting frame; namely, two groups of 4 crawling wheel groups are symmetrically arranged at the middle of the crawling frame; the double-row active crawling rubber wheel set is formed.
2 Crawling rubber wheels arranged on the left side and the upper layer and the lower layer are rotatably connected between the third left support frame and the second left support frame through a rotating shaft 216, wherein a second bevel gear 219 is fixedly connected at the end part of the rotating shaft 216 of the crawling rubber wheel 2112 on the upper layer,
2 Crawling rubber wheels arranged on the right side and arranged on the upper and lower layers are rotationally connected between the third right supporting frame and the second right supporting frame through a rotating shaft 216, wherein a second bevel gear 2110 is fixedly connected at the end part of the rotating shaft 216 of the crawling rubber wheel 2112 on the right side,
The end parts of the 2 upper crawling rubber wheels 2112 and the 2 lower crawling rubber wheels 2113 are fixedly connected with chain wheels 215, the two chain wheels 215 on the upper and lower layers are synchronously driven by a chain 214,
The crawling operation motor 217 is fixedly connected to the top of the first lower mounting plate 212 through a motor seat 218, the output end of the crawling operation motor is fixedly connected with a first bevel gear 2111, a second bevel gear 219 is meshed with the first bevel gear 2111 for transmission, a third bevel gear 2110 is symmetrical and meshed with the first bevel gear 2111 for transmission, and the second bevel gear 219 and the third bevel gear 2110 are staggered and do not contact with each other in space; when the crawling operation motor 217 rotates, the first bevel gear 2111, the second bevel gear 219 and the third bevel gear 2110 on the motor shaft are driven to synchronously rotate, meanwhile, the 2 upper crawling rubber wheels 2112 are driven to synchronously rotate, and the 2 lower crawling rubber wheels 2113 are driven to synchronously rotate through the transmission of the chain 214. The electric pole 7 is lifted by the active crawling part 21.
The crawling operation motor 217 has a power-off braking function, and when the power is off under unexpected conditions, the crawling operation motor 217 can be automatically locked, so that the holding pole self-lifting rotary robot 100 hovers on the electric pole 7, and the life safety of constructors in the telescopic insulating bucket 4 is guaranteed to the greatest extent.
Referring to fig. 9, the driven crawling portion 22 includes a driven crawling frame and a driven crawling rubber wheel set. The second upper mounting plate 221, the second lower mounting plate 222 and 4 short support frames are fixedly connected to form a driven crawling frame. The second upper mounting plate and the second lower mounting plate are inwards sunken to form an arc-shaped curved surface towards one end of the electric pole, and one end far away from the electric pole is outwards protruded to form a V-shaped structure.
The short support frame of 4 is about crawling the frame mid department symmetry and arranging, forms 2 symmetrical rubber and crawl a line the wheel installation position to the symmetry rotates and installs 2 driven rubber wheels 224 of crawling, and driven rubber wheel group is along pole 7 lift in step along the initiative wheelset of crawling.
Referring to fig. 10, the mounting portion 3 includes a suspension mechanism and an electrically controlled rotation mechanism. The hanging mechanism comprises a hanging plate 301, an upper connecting plate 302 and a lower connecting plate 303 arranged at two ends of the hanging plate 301, and 3 hanging hook grooves 304 arranged at the outer side of the hanging plate 301. The upper connecting plate 302 is rotatably sleeved with the main shaft connecting pipe 24 through a rolling bearing 305, and the lower connecting plate 303 is rotatably sleeved with the main shaft connecting pipe 24 through a plane bearing 311. The suspension mechanism of the mounting portion 3 is rotatable around the spindle connection pipe 24.
Referring to fig. 11, the electric control rotation mechanism of the mounting portion 3 includes a rotation bracket 306, a rotation operation motor 307 mounted on the rotation bracket 306, a second gear set 308, a worm 309, and a worm wheel 310 fixed on the shaft connection pipe 24 to be engaged with the worm 309.
The rotation operation motor 307 drives the second gear set 308 to rotate, and drives the worm 309 to rotate on its own axis while rotating around the worm wheel 310 fixed to the spindle connection pipe 24. The rotation of the mounting part 3 around the main shaft connection pipe 24 is realized by the transmission of the rotation bracket 306 to the lower connection plate 303. The worm gear has a self-locking function, and stops driving of the rotating operation motor 307, so that the mounting part can be stopped at any position and self-locked.
Referring to fig. 12, 13 and 14, the telescopic insulating bucket 4 includes: the lower body insulating hopper 401 and the upper body movable fence 402 embedded in the inner cavity of the insulating hopper can slide in a telescopic manner along the insulating hopper wall through handheld operation of the movable fence 402. Fig. 12 shows the upper body displacement rail 402 of the embodiment in a maximum tension position
In this embodiment, 3 hooks 403 are assembled on the outer side of the mounting end of the lower body insulating bucket 401, the relative position of the hooks is the same as that of the outer 3 hook grooves 304 of the mounting portion 3 suspension plate 301, and the 3 hooks 403 can be quickly hung into the inner 3 hook grooves 304, so that the telescopic insulating bucket 4 and the holding pole self-lifting rotary robot 100 can be easily hung and mounted.
Two end surfaces of the inner cavity of the lower half insulating bucket 401 are respectively provided with 2 sliding grooves 404, and the outer end surface of the lower half insulating bucket is provided with a butterfly lock catch 405.
Two ends of the upper fence 402 are respectively provided with 2 sliding uprights 408, the sliding uprights are limited in 4 sliding grooves 404, and the upper fence can slide up and down and be positioned.
The A mark is the locking state of the butterfly lock catch 405 and the butterfly lock catch hook 406.
Fig. 12 shows the upper body rail 402 of the embodiment in a maximally retracted position, the bottom of the upper body rail 402 being in contact with the bottom of the cavity of the lower body insulating bucket 401.
The upper fence 402 is a lightweight frame structure, two ends of the upper fence are respectively provided with 2 sliding vertical rods, the lower end of the upper fence is provided with a butterfly lock catch hook 406, and the upper fence is matched and locked with 4 butterfly lock catches 405 in the inner cavity of the insulating bucket.
The butterfly lock catch hook 406 is assembled at the lower end of the sliding upright rod 408 of the upper body fence 402 through the cushion block 407, and when the upper body fence 402 moves up to the highest position, the butterfly lock catch 405 is rotated to 90 degrees and can be locked and fixed with the butterfly lock catch hook 406.
Referring to fig. 15, the control system includes a system control module 117 and a battery pack 116, wherein the control module 117 includes an AVR module (single-chip microcomputer), an MCU module (single-chip microcomputer), a DC-DC module (voltage converter), and a wireless communication module, the wireless communication module is in communication connection with an external remote control device, and the power supply is electrically connected with the DC-DC module; the control module is in communication connection with the clamping operation motor 126 and the crawling operation motor 217, the rotating operation motor 307 is in communication connection with the MCU module (single chip microcomputer), the pressure sensor 120 is in communication connection with the AVR module (single chip microcomputer),
Referring to fig. 16, F Pressing is the pressure between the double-row V-shaped movable rubber wheel set 115 and the electric pole 7, F 1 is the set minimum pressure, F 2 is the set maximum pressure, and from the safety point of view, when the pressure between the double-row V-shaped movable rubber wheel set 115 and the electric pole 7 is within the specified pressure interval, that is, between F 1 and F 2, the operator is allowed to issue a climbing or descending instruction through the remote controller, and the control module is in communication connection with the remote controller through the wireless communication module.
The control method comprises the following steps:
S1, pushing the electric pole tightly: after the pole-holding self-lifting rotary robot 100 embraces the pole 7, a double-row V-shaped movable rubber wheel set 115 at the front end of a sliding pushing mechanism of the pushing part 1 pushes against the pole 7, a sliding pipe 119 continues to extend and compress a compression spring 124 and an annular pressure sensor 120 at the rear end, the double-row V-shaped movable rubber wheel set 115 and the pole 7 are input into a control chip in real time through the annular pressure sensor 120, a control program outputs a control signal corresponding to the pressure signal to control the sliding pushing mechanism to execute a pushing or loosening instruction, the annular pressure sensor 120 detects and controls a pressure value, and a sliding pipe 119 of the sliding pushing mechanism stretches and contracts to enable the double-row V-shaped movable rubber wheel set 115 at the front end of the sliding pipe to hold the pole with a double-row active crawling rubber wheel set of the crawling part 2;
s2, hanging an insulating bucket: the robot 100 is at a height of about 1m from the ground of the pole 7, and the upper body fence 402 is at the maximum retracted position, and the 3 hooks 403 at the mounting end of the telescopic insulating bucket 4 are quickly hung into the hook grooves 304 at the outer side of the hanging plate 301 of the carrying part 3.
S3, stretching the fence: the operator enters the insulating bucket 401, holds the upper body fence 402 by one hand, lifts the upper body fence to the highest position, 4 butterfly lock hooks 406 at the lower part of the upper body fence 402 are aligned with 4 butterfly locks 405 in the inner cavity of the lower body insulating bucket 401, rotates the butterfly locks 405 to 90 degrees by the other hand to lock, and manually completes screwing of all 4 butterfly locks, thereby completing fixation of the upper body fence 402 and the lower body insulating bucket 401.
S4, crawling along the rod: the control module 117 compares the pressure value transmitted to the AVR module by the annular pressure sensor 120 with a preset pressure interval in the AVR module, if the pressure value F Pressing is positioned in the preset pressure interval (between F 1 and F 2), the control system controls the crawling part to drive the telescopic insulating bucket to load and lift from bottom to top, and can hover at any (operation) height on the electric pole 7; otherwise, the sliding pushing mechanism is adjusted, and continuous comparison is carried out according to the pressure value; the control system is in communication connection with the clamping operation motor 126 and the crawling operation motor 217, and can control the clamping operation motor 126 and the crawling operation motor 217 to hover at any height of the electric pole 7; the method comprises the following steps: when the crawling operation motor 217 rotates, the double-row active crawling rubber wheel sets simultaneously rotate in the same direction to push the holding pole self-lifting rotary robot 100 to climb along the electric pole 7, an executing device of the crawling part 2 is the crawling operation motor 217, an operator sends ascending, descending or hovering instructions through a remote controller, and a wireless module of the control module outputs corresponding control signals to the crawling operation motor 217 after receiving the instructions, so that the holding pole self-lifting rotary robot 100 ascends, descends or hovers along the electric pole 7;
S5, rotating around the shaft: the rotary operation motor 307 is a rotary operation executing device, the control system is in communication connection with the rotary operation motor 307, an operator sends forward rotation and reverse rotation instructions through a remote controller, a wireless module of the control module receives the instructions and outputs corresponding control signals to the rotary operation motor 307, the carrying part 4 rotates around the main shaft connecting pipe 24 of the crawling part 3 within a range of 120 degrees, the worm and gear is matched with the worm and gear to have a self-locking function, the rotary operation motor 307 is controlled according to actual operation requirements, the insulating bucket can be adjusted to an optimal operation position, and self-locking parking is realized.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (10)
1. The utility model provides a hold pole self-elevating rotary robot of suspension telescopic insulating fill, includes pushing away tight portion (1), portion of crawling (2), carries on portion (3), telescopic insulating fill (4) and pole (7), its characterized in that, pushing away tight portion (1) and crawling portion (2) one end and passing through fixed pin axle (5) and link to each other, the other end passes through quick-release round pin axle (6) and links to each other, pushes away tight portion (1) and portion of crawling (2) centre gripping pole (7) jointly and follow its axial and reciprocate, carries on portion (3) and crawling portion (2) and link to each other to can dismantle with telescopic insulating fill (4) and be connected.
2. The pole self-lifting rotary robot of the suspension telescopic insulating bucket according to claim 1, wherein the pushing part (1) comprises two symmetrically arranged mounting plates (101), the two mounting plates (101) are fixed through a connecting frame (103), a battery pack (116), a system control module (117) and a telescopic push rod assembly are respectively arranged between the two mounting plates (101), the output end of the telescopic push rod assembly is connected with a double-row V-shaped movable rubber wheel set (115), the double-row V-shaped movable rubber wheel set (115) is connected with a sliding block (112) through a sliding connecting rod (111), the sliding block (112) is connected with a sliding track frame (102) arranged on the mounting plate (101) in a sliding mode, a fixed ring (113) is arranged on the sliding connecting rod (111), and a photoelectric switch (114) is arranged on the sliding track frame (102).
3. The self-lifting rotary robot for hanging the telescopic insulating bucket according to claim 2, wherein the telescopic push rod assembly comprises a trapezoidal screw first fixing block (104), a trapezoidal screw second fixing block (105), a sliding pipe fixing bushing (106) and a pushing operation motor (126) which are arranged on the mounting plate (101), the trapezoidal screw first fixing block (104) and the trapezoidal screw second fixing block (105) are connected with a trapezoidal screw (118) through a rolling bearing (109) and a plane bearing (110), the trapezoidal screw (118) is connected with the pushing operation motor (126) through a first gear set (127), a sliding nut (121) is connected to the trapezoidal screw (118) in a threaded manner, a sliding nut fixing sleeve (122) is arranged on the sliding nut (121), a sliding pipe (119) is connected to the sliding pipe fixing bushing (106) in a sliding manner, a spring limiting sleeve (125) is arranged on the inner wall of the sliding pipe (119), a plurality of limiting openings are formed in the side wall of the sliding pipe (119) along the axial direction of the sliding pipe, limiting openings are provided with limiting pins (123), and the sliding nut fixing sleeve (122) is connected with the sliding nut fixing sleeve (122) in a sliding mode.
4. The pole self-lifting rotary robot of the suspended telescopic insulating bucket according to claim 3, wherein proximity switch fixing blocks (107) are arranged on two sides of the sliding pipe fixing bushing (106), and proximity switches (108) are arranged on the proximity switch fixing blocks (107).
5. The pole self-lifting rotary robot of a suspended telescopic insulating bucket of claim 4, wherein the planar bearing (110) is provided with an annular pressure sensor (120).
6. The pole self-lifting rotary robot of the suspension telescopic insulating bucket according to claim 5, wherein the crawling part (2) comprises a driving crawling part (21) and a driven crawling part (22), the driving crawling part (21) and the driven crawling part (22) are connected through a connecting pipe (23) and a main shaft connecting pipe (24) to achieve vertical distribution, the driven crawling part (22) comprises a second upper mounting plate (221) and a second lower mounting plate (222), the second upper mounting plate (221) and the second lower mounting plate (222) are fixed through a short supporting frame (223), and a lower crawling rubber wheel (2113) is rotationally connected on the short supporting frame (223).
7. The pole self-lifting rotary robot of the suspended telescopic insulating bucket according to claim 6, wherein the active crawling part (21) comprises a first upper mounting plate (211) and a first lower mounting plate (212), the first upper mounting plate (211) and the first lower mounting plate (212) are fixed through a supporting frame (213), the supporting frame (213) is respectively connected with an upper crawling rubber wheel (2112) and a lower crawling rubber wheel (2113) through a rotating shaft (216), the upper crawling rubber wheel (2112) and the lower crawling rubber wheel (2113) are coaxially connected with a sprocket (215), the sprocket (215) is connected with a chain (214), the supporting frame (213) is connected with a crawling operation motor (217) through a motor seat (218), the output end of the crawling operation motor (217) is connected with a third bevel gear (2111), the third bevel gear (2111) is respectively meshed with a first bevel gear (219) and a second bevel gear (2110), and the first bevel gear (219) and the second bevel gear (2110) are coaxially fixed with the upper crawling rubber wheel (2112).
8. The pole self-lifting rotary robot of the suspended telescopic insulating bucket according to claim 7, wherein the carrying part (3) comprises a suspension plate (301), one side of the suspension plate (301) is connected with a plurality of hooking grooves (304), the other side of the suspension plate is respectively connected with an upper connecting plate (302) and a lower connecting plate (303), the upper connecting plate (302) is connected with a main shaft connecting pipe (24) through a bearing (305), the lower connecting plate (303) is connected with a rotary operation motor (307) through a rotary bracket (306), an output end of the rotary operation motor (307) drives a worm (309) through a second gear set (308), the worm (309) is rotatably arranged on the rotary bracket (306), the worm (309) is meshed with a worm wheel (310) arranged on the main shaft connecting pipe (24), and the lower connecting plate (303) is connected with the main shaft connecting pipe (24) through a thrust needle bearing (311).
9. The pole self-lifting rotary robot of the suspended telescopic insulating bucket according to claim 8, wherein the telescopic insulating bucket (4) comprises a lower body insulating bucket (401), an upper body fence (402) and a hook (403) corresponding to the hook groove (304), a plurality of sliding grooves (404) are formed in the inner wall of the lower body insulating bucket (401), sliding upright rods (408) are slidably connected in the sliding grooves (404), the sliding upright rods (408) are fixed with the upper body fence (402), butterfly-shaped lock catches (405) are arranged on the sliding grooves (404), and the sliding upright rods (408) are connected with butterfly-shaped lock catch hooks (406) through cushion blocks (407).
10. The pole self-lifting rotary robot of a suspended telescopic insulating bucket and the control method thereof according to claim 9, wherein the control method comprises the following steps:
S1, pushing the electric pole tightly: after the pole-holding self-lifting rotary robot (100) surrounds the pole (7), a double-row V-shaped movable rubber wheel set (115) at the front end of a sliding pushing mechanism of the pushing part (1) pushes against the pole (7), a sliding pipe (119) continues to stretch and compress a compression spring (124) and an annular pressure sensor (120) at the rear end, the double-row V-shaped movable rubber wheel set (115) and the pole (7) are input into a control chip through the annular pressure sensor (120) according to real-time pressure data, a control program outputs a control signal corresponding to the pressure signal to control the sliding pushing mechanism to execute a pushing or loosening instruction, and the pressure value is detected and controlled through the annular pressure sensor (120), so that the double-row V-shaped movable rubber wheel set (115) at the front end of the sliding pushing mechanism and the double-row active crawling rubber wheel set of the crawling part (2) clamp the pole;
S2, hanging an insulating bucket: the pole self-lifting rotary robot (100) is located at the height of the pole (7) about 1 meter away from the ground, the upper body fence (402) is located at the maximum retraction position, and 3 hooks (403) at the installation end of the telescopic insulating bucket (4) are quickly hung into hook grooves (304) in the outer side of a hanging plate (301) of the carrying part (3).
S3, stretching the fence: the operator gets into insulating fill (401), and a handheld upper body rail (402) rises to the highest position, and 4 butterfly-shaped lock catch hooks (406) of upper body rail (402) lower part are aligned with 4 butterfly-shaped lock catches 405 of lower body insulating fill (401) inner chamber, and rotatory butterfly-shaped lock catches (405) of another hand are to 90 locking to manual completion is screwed of all 4 butterfly-shaped lock catches, accomplishes the fixed of upper body rail (402) and lower body insulating fill (401).
S4, crawling along the rod: the system control module (117) compares the pressure value transmitted to the AVR module by the annular pressure sensor (120) with a preset pressure interval in the AVR module, if the pressure value F Pressing is positioned in the preset pressure interval (between F 1 and F 2), the control system controls the crawling part to drive the telescopic insulating bucket to lift from bottom to top and hover at any (operation) height on the electric pole 7; otherwise, the sliding pushing mechanism is adjusted, and continuous comparison is carried out according to the pressure value F Pressing ; the control system is in communication connection with the clamping operation motor (126) and the crawling operation motor (217), and can control the clamping operation motor (126) and the crawling operation motor (217) to realize hovering at any height of the electric pole (7); the method comprises the following steps: when the crawling operation motor (217) rotates, the double-row active crawling rubber wheel sets rotate in the same direction at the same time, the holding pole self-lifting rotary robot (100) is pushed to crawl along the electric pole (7), an executing device of the crawling part (2) is the crawling operation motor (217), an operator sends ascending, descending or hovering instructions through a remote controller, and after receiving the instructions, a wireless module of the control module outputs corresponding control signals to the crawling operation motor (217), so that the holding pole self-lifting rotary robot (100) ascends, descends or hovers along the electric pole (7);
S5, rotating around the shaft: the rotary operation motor (307) is a rotary operation executing device, the control system is in communication connection with the rotary operation motor (307), an operator sends forward rotation and reverse rotation instructions through the remote controller, a wireless module of the control module outputs corresponding control signals to the rotary operation motor (307) after receiving the instructions, the carrying part (4) rotates around a main shaft connecting pipe (24) of the crawling part (3) within a range of 120 degrees, the worm and gear is matched with the worm and gear to have a self-locking function, the rotary operation motor (307) is controlled according to actual operation requirements, the insulating bucket can be adjusted to an optimal operation position, and self-locking parking is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410303093.9A CN118117488A (en) | 2024-03-18 | 2024-03-18 | A self-lifting and rotating robot with a hanging telescopic insulating bucket and a control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410303093.9A CN118117488A (en) | 2024-03-18 | 2024-03-18 | A self-lifting and rotating robot with a hanging telescopic insulating bucket and a control method thereof |
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| CN118117488A true CN118117488A (en) | 2024-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410303093.9A Pending CN118117488A (en) | 2024-03-18 | 2024-03-18 | A self-lifting and rotating robot with a hanging telescopic insulating bucket and a control method thereof |
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| CN (1) | CN118117488A (en) |
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