CN201389853Y - Robot for installation of lighting rod lightning shielding failure on high-tension line - Google Patents
Robot for installation of lighting rod lightning shielding failure on high-tension line Download PDFInfo
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- CN201389853Y CN201389853Y CN200920083816U CN200920083816U CN201389853Y CN 201389853 Y CN201389853 Y CN 201389853Y CN 200920083816 U CN200920083816 U CN 200920083816U CN 200920083816 U CN200920083816 U CN 200920083816U CN 201389853 Y CN201389853 Y CN 201389853Y
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- tension line
- control system
- electromagnet
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Abstract
The utility model discloses a robot for installation of a lighting rod lightning shielding failure on a high-tension line and relates to a robot used for installation of a lighting rod lightning shielding failure on a high-tension line in the electric power industry. The robot consists of a case, a walking mechanism A, a flexible working mechanism B and a wireless control system C. The walking mechanism consists of a battery, a motor, a reduction gearbox, a driving wheel and a balancing wheel. The flexible working mechanism B comprises an electromagnet, a fork, an electric torque wrench, a gear box, a universal joint, a sleeve and the like. The wireless control system C comprises a remote controller, a remote control switch, an electromagnetic relay and the like; and all mechanisms are arranged inside the case. A worker can control the robot to walk forwards on a lighting wire and to stop after transmitting the lighting rod to a preset position by operating a wireless remote controller; the robot can automatically screw a lock bolt of the lighting rod tightly, install the lighting rod on the lighting wire, separate from the lock bolt and finally turn back; and the robot can complete the installation work of the lighting rod using the bolt for locking a wire clamp, with tightly fixed and reliable installation, no-easy loosing as well as safe and reliable use.
Description
Technical field
The utility model relates to a kind of robot that is used for the installation of the anti-shock arrester on the power industry high voltage transmission line.
Background technology
In power industry, although high voltage transmission line has all been installed lightning conducter, the electrical network tripping operation power outage that it is struck by lightning and causes comes the first place that various unexpected factors cause electrical network tripping operation power outage always.Particularly near the high-tension line tower bar in some high voltage transmission line highway section, suffer frequently that in thunderstorm season thunderbolt causes electrical network tripping operation power outage, it is to due to the thunderbolt.
Nearly 2 years, existing several high-voltage line anti-shock arrester products on the market, its mounting means has nothing in common with each other.The prestressed spring of taking that has clamps, the employing bolt locking that has.Which kind of but no matter form, all need it is installed on the lightning conducter in the scope apart from high-tension line tower bar 15-50 rice.
Traditional installation exercise mode: the workman climbs up cat head along the high-tension line tower bar, driving is hung on cat head and be installed on the lightning conducter with bottle gouard moved by hands, the workman takes advantage of a driving to advance to preposition again, installs on lightning conducter, then takes advantage of driving to turn back to the high-voltage line cat head.There are two problems in this mounting means: the one, and dangerous big, because driving is heavier, high-tension line tower bar difficulty up and down not only, and in the local meeting generation of the lightning conducter that repeatedly is struck by lightning corrosion, aging, its intensity decreases, if the lightning conducter fracture will fatal crass's accident take place; The 2nd, the cost height, not only the manufacturing cost of driving itself is higher, and whenever employs the driving installation exercise No. one time, and its charge is also higher, has surpassed the price of anti-shock arrester itself.
In sum, the installation question of high-voltage line anti-shock arrester has become the bottleneck that its product promotion is used, and urgent need will be developed light and handy, the easy to operate mounting robot of weight, replaces traditional artificial installation exercise.
From disclosed technology as can be known: Han Dong invention automatic installation apparatus of anti-shock arrester .CN101308997 and the invention automatic installation apparatus of anti-shock arrester .CN201163706 of Nanjing Juming Electric Power Science ﹠ Technology Co., Ltd. belong to same automatic installation apparatus of anti-shock arrester.Its at be: the installation exercise that utilizes the high-voltage line anti-shock arrester that prestressed spring clamps wire clamp.Though the mounting means of this lightning rod is comparatively simple, but owing to answer the clamping force of spring limited in advance, particularly pass through long Exposure to Sunlight wind and weather, expand with heat and contract with cold, after spring corrosion and the stress fatigue, the elastic force of spring descends, cause wire clamp loosening, lightning rod is fixing tightly not to slide on lightning conducter, has influenced lightning protection effect.
Existing " a kind of automatic installation apparatus of anti-shock arrester " (China Patent No. 200820087226) comprises base and the line mechanism of walking that is installed on the base, manipulator mechanism and controller: walk line mechanism and comprise motor, the synchronous pulley that links to each other with motor, and the synchronous cabling wheel that links to each other with synchronous pulley, the cabling wheel is fixed on the support synchronously; Manipulator mechanism comprises the electromagnet that is arranged with limit spring, push rod, bearing, backbone block and by two support bars and two mechanical arms that mechanical hand lever is formed: push-rod frame is located on two bearings, one end of push rod is connected with backbone block, one end of two support bars is hinged on backbone block one end, and an end of the other end and mechanical hand lever is hinged, and the other end of mechanical hand lever is hinged on the bearing; Electromagnet one end is provided with a slide block, and push rod is provided with stopper slot, and slide block can slide in stopper slot; Also be arranged with a back-moving spring on the push rod.
Summary of the invention
The purpose of this utility model is at above-mentioned present situation, aims to provide a kind of installment work that replaces manually finishing with the lightning rod of bolt locking cable clamp, installs fastening reliably, is difficult for the robot for mounting anti-detour lightning lightning rod on high-tension line that becomes flexible.
The implementation of the utility model purpose is, robot for mounting anti-detour lightning lightning rod on high-tension line, form by cabinet, walking mechanism A, the B of flexible working mechanism and wireless control system C, case lid connects the formation cabinet with screw and base plate, walking mechanism A, the B of flexible working mechanism and wireless control system C are installed in the cabinet, the battery driven motor of walking mechanism, motor drives driving wheel, stabilizer by reduction box, active pulley concial disk, V belt, driven pulley concial disk, and the V-type groove is arranged in the middle of driving wheel and the stabilizer; The electric torque spanner of the B of flexible working mechanism and gear-box engagement, gear-box is installed on the base plate, square shaft one end and gear-box engagement, the other end and universal joint are in the same place with muff coupling, electromagnet is installed on the gear-box, shift fork one end and electromagnet are bound up, and the other end and universal joint mesh together; Wireless control system C comprises Digiplex, remote control switch, electromagnetic relay; Remote control switch, electromagnetic relay are installed on the base plate, and power-supply battery, motor, electric torque spanner, electromagnet are formed radio control circuit by connecting wire.
When using the utility model, earlier move the utility model to the high-voltage line cat head, driving wheel and stabilizer by it are hung it on lightning conducter, and lightning conducter is enclosed in the enclosure space that the V-type groove of driving wheel and stabilizer and bearing spider, case lid form, and adjust and fix bearing block.The lightning rod of not locking is enclosed within on the lightning conducter, be placed on the utility model front, two end supports is on the spring base of the utility model case lid, allow wire clamp open a low-angle, and with clamping screw and engage sleeves of the present utility model, lightning rod by remote controller remote control the utility model band advances together, stop after arriving the precalculated position, the remote control electric torque wrench turns the clamping screw of lightning rod, stop after tightening, the remote control electromagnet sucks, and stirs sleeve and separates with clamping screw, remote control the utility model retreats, and returns the high-tension line tower bar.
The utlity model has following characteristics:
1, adopts flexible working mechanism to make robot can tighten the clamping screw of lightning rod automatically, and after tightening, return smoothly;
2, robot walks on lightning conducter and remains balance;
3, the self-protection scheme is arranged, can not cause robot vibration, the accident that causes it to fall from lightning conducter;
4, self-relief scheme is arranged, when the wireless control system fault can't be returned the high-tension line tower masthead, can directly it be pulled back from afar with rope.
Description of drawings
Fig. 1 is the utility model structural representation,
Fig. 2 is a flexible working mechanism structure schematic diagram,
Fig. 3 is the walking mechanism structural representation,
Fig. 4 is the control circuit schematic diagram,
Fig. 5 is the utility model working state figure.
The specific embodiment
With reference to Fig. 1,2,3, the utility model is made up of cabinet, walking mechanism A, the B of flexible working mechanism and wireless control system C.Case lid connects the formation cabinet with screw 11 and base plate 1.Walking mechanism A, the B of flexible working mechanism and wireless control system C are installed in the cabinet, can effectively prevent the damage main parts size.Battery press strip 6 is fixed on the base plate 1 by set bolt 3.Electromagnet 17 is installed on the electromagnet mount pad 16, and electromagnet mount pad 16 is installed on the gear-box 18 by screw 33.Motor 2 is installed on the base plate 1 by motor base (frame) 29.Connect by attachment screw 11 between case lid and the base plate.
With reference to Fig. 2, the electric torque spanner 23 of the B of flexible working mechanism and gear-box 18 engagements, gear-box 18 is installed on the base plate 1, square shaft 19 1 ends and gear-box 18 engagements, the other end and universal joint 20 and sleeve 21 are bound up; Electromagnet 17 is installed on the gear-box 18, and shift fork 12 1 ends and electromagnet 17 are bound up, and the other end and universal joint 20 mesh together.Stay thimble 38 is fixed on the base 1 by backguy screw rod 24.Clamping screw thrust baffle 25 is used for the clamping screw of thrust lightning rod.Postive stop baffle 13, limit pull rod 14, spacing support bar 15 limit the translational displacement of shift fork 12.Shift fork 12 is bound up by bolt 35, nut 34 and electromagnet 17.Postive stop baffle 13 is by locking nut 36 lockings.Electric torque spanner 23 is fixed on the base plate 1 by fixing press strip 22.Postive stop baffle 37 links together with gear-box 18.
The utility model can be tightened the clamping screw of lightning rod automatically, and the key of returning smoothly after tightening is to have adopted the B of flexible working mechanism.Its reason is: electric torque spanner 23 passes to sleeve 21 with its moment of torsion, and sleeve turns the lightning rod clamping screw and reaches the locking requirement; Automatically adjust radial and axial offset deviation by universal joint 20 and square shaft, can not produce and interfere the interlocking phenomenon with clamping screw; After tightening clamping screw, sleeve stops operating, and electromagnet traction shift fork is stirred the universal joint axial translation, drives sleeve and separates with clamping screw.
With reference to Fig. 3,4, wireless control system C comprises Digiplex, remote control switch, electromagnetic relay, remote control switch, electromagnetic relay are installed on the base plate 1, and power-supply battery 5, motor 2, electric torque spanner 23, electromagnet 17 are formed radio control circuit by connecting wire.Wireless control system C can control four tunnel loads respectively, one tunnel control the utility model 42 advances, stops, one tunnel control sleeve 21 is tightened the lightning rod clamping screw, is stopped, one tunnel control sleeve 21 separates with the lightning rod clamping screw, one tunnel control the utility model 42 returns, stops, and each road has auto-lock function, can independent conducting and disconnection, work alone.
With reference to Fig. 5; the utility model 42 is hung on lightning conducter 41 by driving wheel and stabilizer; and lightning conducter is enclosed in the enclosure space that the V-type groove of driving wheel and stabilizer and bearing spider, case lid form; like this, can guarantee robot in turning the clamping screw process, can be because of the impact load of electric torque spanner; cause robot vibration; cause its accident of falling from lightning conducter, energy self-protection, safe in utilization.Adjust again and fix bearing block, the lightning rod 40 of not locking is enclosed within on the lightning conducter, be placed on the utility model front, two end supports is on the spring base of robot case lid, allow wire clamp open a low-angle, and with clamping screw and engage sleeves of the present utility model, just change by the remote controller telemotor, lightning rod by drive wheel the utility model band advances together, stop after arriving the precalculated position, the remote control electric torque wrench turns the clamping screw of lightning rod, stops after tightening, the remote control electromagnet sucks, and stirs sleeve and separates with clamping screw; By the counter-rotating of remote controller telemotor, retreat again, return the high-tension line tower bar by drive wheel the utility model.
The utility model is walked on lightning conducter 41, the key that walking can remain balance is, main parts size is arranged on the base plate, remain center of gravity of the present utility model between two wheels and lightning conducter below, this scheme of hanging has automatic balance function.
It on the stay thimble 38 a long safety rope of 50 meters, both can accurately control on lightning conducter, the walk distance of 15-50 rice of robot, be convenient to lightning rod is installed in the position of regulation, in the time of can preventing that again robot from can't return the high-tension line tower masthead because of the wireless control system fault, the workman can directly pull back it with rope from afar.
The research of high-voltage line anti-shock arrester is just rise in nearly 2 years, and the task of top priority is the difficult problem that solves in its installation process.From now on, also can run into the dismounting problem of inefficacy lightning rod.Till that time, can install on the basis of the present utility model, camera is installed on case lid at this, in control circuit, add the wireless visible control system, can see clearly, control and adjust box spanner and clamping screw accurately meshes, remote control electric spanner counter-rotating again, the promptly dismountable lightning rod that had lost efficacy.In addition, increase the lightning rod that a manipulator can be caught inefficacy again, can together return with the utility model.
Owing to increased camera and wireless visible control system, when robot walks, can see the surface condition of the relevant facilities such as insulator on the high-voltage line clearly on lightning conducter, robot also can bear the part line walking work on the high-voltage line till that time.Therefore, it can be developed into the robot that to install, dismantle lightning rod, inspection robot etc. with intelligent diagnostics function.
Claims (5)
1, robot for mounting anti-detour lightning lightning rod on high-tension line, it is characterized in that forming by cabinet, walking mechanism A, the B of flexible working mechanism and wireless control system C, case lid connects the formation cabinet with screw and base plate, walking mechanism A, the B of flexible working mechanism and wireless control system C are installed in the cabinet, the battery driven motor of walking mechanism, motor drives driving wheel, stabilizer by reduction box, active pulley concial disk, V belt, driven pulley concial disk, and the V-type groove is arranged in the middle of driving wheel and the stabilizer; The electric torque spanner of the B of flexible working mechanism and gear-box engagement, gear-box is installed on the base plate, square shaft one end and gear-box engagement, the other end and universal joint are in the same place with muff coupling, electromagnet is installed on the gear-box, shift fork one end and electromagnet are bound up, and the other end and universal joint mesh together; Wireless control system C comprises Digiplex, remote control switch, electromagnetic relay; Remote control switch, electromagnetic relay are installed on the base plate, and power-supply battery, motor, electric torque spanner, electromagnet are formed radio control circuit by connecting wire.
2, robot for mounting anti-detour lightning lightning rod on high-tension line according to claim 1 is characterized in that clamp nut (32) is fastened on belt pulley on the driving wheel main shaft (39).
3, robot for mounting anti-detour lightning lightning rod on high-tension line according to claim 1 is characterized in that shift fork (12) is bound up by bolt (35), nut (34) and electromagnet (17).
4, robot for mounting anti-detour lightning lightning rod on high-tension line according to claim 1 is characterized in that postive stop baffle (37) and gear-box (18) link together.
5, robot for mounting anti-detour lightning lightning rod on high-tension line according to claim 1 is characterized in that installing camera on case lid, add the wireless visible control system in wireless control system C.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920083816U CN201389853Y (en) | 2009-02-25 | 2009-02-25 | Robot for installation of lighting rod lightning shielding failure on high-tension line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200920083816U CN201389853Y (en) | 2009-02-25 | 2009-02-25 | Robot for installation of lighting rod lightning shielding failure on high-tension line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201389853Y true CN201389853Y (en) | 2010-01-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200920083816U Expired - Fee Related CN201389853Y (en) | 2009-02-25 | 2009-02-25 | Robot for installation of lighting rod lightning shielding failure on high-tension line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201389853Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105390991A (en) * | 2015-12-22 | 2016-03-09 | 广东科凯达智能机器人有限公司 | Power transmission line bolt tightening robot and pose control method |
| CN106002920A (en) * | 2016-06-22 | 2016-10-12 | 国网山东省电力公司电力科学研究院 | Anti-shielding-failure lightning rod automatic loading and unloading robot system and loading and unloading method |
| CN107658770A (en) * | 2017-10-20 | 2018-02-02 | 广东电网有限责任公司湛江供电局 | A kind of dismounting platform of switch cabinet current transformer |
| CN110814723A (en) * | 2019-11-22 | 2020-02-21 | 南阳金牛电气有限公司 | Automatic assembly device and packaging process for lightning arrester |
-
2009
- 2009-02-25 CN CN200920083816U patent/CN201389853Y/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105390991A (en) * | 2015-12-22 | 2016-03-09 | 广东科凯达智能机器人有限公司 | Power transmission line bolt tightening robot and pose control method |
| CN105390991B (en) * | 2015-12-22 | 2018-08-03 | 广东科凯达智能机器人有限公司 | A kind of transmission line of electricity Screw Tightening Machines device people and posture control method |
| CN106002920A (en) * | 2016-06-22 | 2016-10-12 | 国网山东省电力公司电力科学研究院 | Anti-shielding-failure lightning rod automatic loading and unloading robot system and loading and unloading method |
| CN106002920B (en) * | 2016-06-22 | 2018-09-07 | 国网山东省电力公司电力科学研究院 | Anti-shock arrester automatic loading and unloading machine people system and handling method |
| CN107658770A (en) * | 2017-10-20 | 2018-02-02 | 广东电网有限责任公司湛江供电局 | A kind of dismounting platform of switch cabinet current transformer |
| CN110814723A (en) * | 2019-11-22 | 2020-02-21 | 南阳金牛电气有限公司 | Automatic assembly device and packaging process for lightning arrester |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100127 Termination date: 20110225 |