CN202014061U - Broken-strand crimping operation robot mechanism for ultrahigh voltage power transmission line - Google Patents

Broken-strand crimping operation robot mechanism for ultrahigh voltage power transmission line Download PDF

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Publication number
CN202014061U
CN202014061U CN2011200566340U CN201120056634U CN202014061U CN 202014061 U CN202014061 U CN 202014061U CN 2011200566340 U CN2011200566340 U CN 2011200566340U CN 201120056634 U CN201120056634 U CN 201120056634U CN 202014061 U CN202014061 U CN 202014061U
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CN
China
Prior art keywords
screw
line
fingers
crimping
ring
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Expired - Lifetime
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CN2011200566340U
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Chinese (zh)
Inventor
王洪光
刘爱华
何立波
景凤仁
凌烈
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Priority to CN2011200566340U priority Critical patent/CN202014061U/en
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Publication of CN202014061U publication Critical patent/CN202014061U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

The utility model relates to a robot for repairing a power transmission line, in particular to a broken-strand crimping operation robot mechanism for an ultrahigh voltage power transmission line. The robot mechanism comprises a front line-straining device, a front walking and clamping mechanism, a front arm, an electrical appliance box body, a crimping arm, a rear arm, a rear walking and clamping mechanism and a rear line-straining device, wherein one end of the front arm and one end of the rear arm are fixedly connected with the electrical appliance box body respectively, the other ends are hinged with the front walking and clamping mechanism and the rear walking and clamping mechanism respectively, and the front line-straining device and the rear line-straining device are arranged at the outer sides of the front walking and clamping mechanism and the rear walking and clamping mechanism respectively; one end of the crimping arm is fixedly connected with the electrical appliance box body, and the other end is a crimping end and is located between the front walking and clamping mechanism and the rear walking and clamping mechanism. The broken-strand crimping operation robot mechanism has advantages that the climbing angle is large, the safety protectiveness is good, the obstacle-navigation time is short and the obstacle-navigation process is simple, the line-straining process is simple and effective, the wearing to the line is small, the effect of crimping of the broken strand is good, the personal safety is improved, the labor intensity can be reduced, and the efficiency is improved.

Description

Disconnected strand of crimping work machine robot mechanism of extra high voltage network
Technical field
The utility model relates to the transmission line repair robot, disconnected strand of crimping work machine robot mechanism of specifically a kind of extra high voltage network.
Background technology
Transmission line is the very important part of electric power system.Transmission line since its be in for a long time open-air open-air under, the environment of operation is very poor, is subjected to the influence of various natural conditions.Transmission line can cause the material embrittlement under the long term of multiple stress, and lightning stroke flashover, outside destroy etc. also can cause the conductive line surfaces damage; Especially by the sea reach easier corrosion of power transmission line of industrial area, cause defectives such as transmission line cracks, disconnected thigh.The damage of overhead transmission line, disconnected strand gently then reduce ampacity, and be heavy then cause the broken string accident, influences the safe operation of circuit.Therefore, in case find lead damage, disconnected thigh, should handle immediately.
At present, power department mainly is manually disconnected strand to be studied for a second time courses one has flunked in disconnected burst of measure that adopt the back of transmission line.Because disconnected strand position is in the central authorities of circuit in a grade, need people's outlet to go operation, the time of smoothing out with the fingers line, winding operation is long, labour intensity is big, and is dangerous high, therefore, need develop strand equipment of repairing that can break fast replaces manually the disconnected thigh of transmission line being repaired, raise the efficiency, alleviate personnel labor intensity, guarantee the safe operation of transmission line.
The utility model content
The efficient that exists is low, labour intensity big, dangerous high problem in order to solve disconnected burst of artificial reparation, and the purpose of this utility model is to provide a kind of extra high voltage network disconnected strand of crimping work machine robot mechanism.This robot mechanism is repaired automatically to disconnected strand, raises the efficiency, and alleviates personnel labor intensity, improves personal safety.
The purpose of this utility model is achieved through the following technical solutions:
Smooth out with the fingers before the utility model comprises line apparatus, preceding walking clipping mechanism, forearm, electrical equipment casing, crimping arm, postbrachium, back walking clipping mechanism and after smooth out with the fingers line apparatus, wherein an end of forearm and postbrachium is fixed in respectively on the electrical equipment casing, the other end is hinged with preceding walking clipping mechanism and back walking clipping mechanism respectively, the outside of preceding walking clipping mechanism and back walking clipping mechanism smooth out with the fingers before being respectively equipped with line apparatus and after smooth out with the fingers line apparatus; One end of described crimping arm is fixed on the electrical equipment casing, the other end be pressure connection terminal, preceding walking clipping mechanism and the back walking clipping mechanism between.
Wherein: smooth out with the fingers before described line apparatus with after to smooth out with the fingers the structure of line apparatus identical, comprise that folding motor, fixed head, first leading screw, the first left screw, left guide pin bushing, left guide rod, a left side smooth out with the fingers line device, right guide rod, right guide pin bushing, the right side and smooth out with the fingers the line device and the first right screw, wherein the folding motor is installed in the outside of fixed head, be provided with first leading screw that is connected with the output shaft of folding motor in the inboard of fixed head, be threaded on this first leading screw first left screw, the first right screw, left guide pin bushing and right guide pin bushing are installed in rotation on respectively on the first left screw, the first right screw; One end of described left guide rod links to each other with left guide pin bushing, and the other end is connected with a left side and smoothes out with the fingers the line device, and an end of right guide rod links to each other with right guide pin bushing, and the other end is connected with the right side and smoothes out with the fingers the line device, and a described left side is smoothed out with the fingers line device and the right side and smoothed out with the fingers the line device and be rotationally connected by rotation axis; It is identical with right structure of smoothing out with the fingers the line device that the line device is smoothed out with the fingers on a described left side, comprise pedestal, overcoat, outer ring, inner ring, fore-set, the 3rd spring, compressing tablet, triggering sheet and retainer ring, wherein pedestal and guide rod are affixed, on pedestal, be provided with retainer ring, overcoat is fixed on the pedestal, the outer ring is installed in rotation in the endoporus that overcoat and retainer ring form, and described inner ring and outer ring Joint along the circumferential direction are evenly equipped with a plurality of line guide pillars of smoothing out with the fingers on inner ring and inner surface that transmission line contacts; Described fore-set can reciprocatingly be placed in the hole of pedestal, is arranged with the 3rd spring on the fore-set, and the 3rd spring is fixed by the compressing tablet that is installed on the pedestal; One end of described fore-set passes, is connected in the groove that the outer ring outer surface offers by overcoat, and the other end passes, is provided with the triggering sheet by compressing tablet; Described overcoat, outer ring and inner ring are semicircle, are respectively equipped with butt joint post and column sleeve on two sections of outer ring and pedestal; The thread rotary orientation at the described first leading screw two ends is opposite, and the rotation direction of the first left screw and the first right screw is identical with the thread rotary orientation of the first leading screw link; All be connected with catch on the end face of described left guide pin bushing, right guide pin bushing and rotation axis.
Described crimping arm comprises bracing frame, moving sets, connector, regulating spring and compression bonding apparatus, wherein an end of bracing frame is fixed on the electrical equipment casing, the other end links to each other with an end of connector by moving sets, and the other end of connector is connected with compression bonding apparatus by regulating spring; Described compression bonding apparatus comprises crimping motor, carriage, second leading screw, the second right screw, the second left screw, moves seat, slide block, guide rail and C type folder, wherein carriage is connected with the other end of connector by regulating spring, be provided with the crimping motor in the outside of carriage, in the carriage respectively upper and lower settings second leading screw and guide rail are arranged; One end of described second leading screw links to each other with the output shaft of crimping motor, the second left screw and the second right screw are threaded on second leading screw, be connected with respectively on the second left screw and the second right screw and move seat, each moves last each affixed slide block, moving the C type of also respectively installing on the seat at each presss from both sides, along moving back and forth on the guide rail, two C type folders open or closure about drive, realize the crimping to disconnected strand road with slide block for the second left screw, the second right screw and mobile seat separately; Described C type folder is two, moves on the seat relative to being installed in two, all has groove on the inwall of each C type folder, be provided with second spring in the groove, one end of this second spring is fixed on the inwall of C type folder, and the other end is provided with slurcam, this slurcam and the C type ring butt that is installed on the C type folder; The thread rotary orientation at the described second leading screw two ends is opposite, and the rotation direction of the second left screw and the second right screw is identical with the thread rotary orientation of the second leading screw link.
Walking clipping mechanism is identical with the structure of back walking clipping mechanism before described, comprise right clip, gentle rope, reel, wheel carrier, left clip and road wheel, it is hinged that wheel carrier in preceding walking clipping mechanism and the back walking clipping mechanism passes through first hinge and second hinge and forearm and postbrachium respectively, and right clip, reel, left clip and road wheel are installed on the wheel carrier respectively; One end of described gentle rope is wrapped on the reel, and the other end is divided into two strands, is connected to right clip and left clip; Described right clip is identical with the structure of left clip, comprises the first half jaws, elevating arc, the second half jaw and first springs, and wherein the first half jaws are connected by elevating arc with the second half jaws, is provided with first spring between the first half jaws and the second half jaws; The two ends of described gentle rope are connected to a jaw in right clip and the left clip respectively.
Advantage of the present utility model and good effect are:
1. it is simple, effective to smooth out with the fingers line process.It is the helix canoe that the utility model makes full use of the power transmission line thigh, along with power transmission line thigh spiral winding direction rotates continuously, smoothes out with the fingers line guide pillar groove along the line and rotates, and can effectively disconnected strand of deviating from wire casing be got into original wire casing position, reaches the purpose of smoothing out with the fingers line.
2. little to the wearing and tearing of circuit.The line guide pillar of smoothing out with the fingers of the present utility model adopts nylon material, and it is low to have a coefficient of friction, the characteristics that resistance to wear is good.In the course of the work, smooth out with the fingers the line guide pillar and contact with disconnected strand, groove along the line rotates in the shape of a spiral, and the thigh that will break is got into original position, and it is little to rub, little to the damage of circuit.
3. disconnected burst crimping is effective.Compression bonding apparatus on the utility model has not only increased crimp strength after carrying out crimping to disconnected strand, guarantees that disconnected strand is no longer scattered, but also can guarantee the current strength of conducting electricity, and avoids electric energy loss.
4. raising personal safety.The utility model replacement workman outlet is implemented to smooth out with the fingers line pressure and is connect operation, has reduced danger, has improved personal safety.
5. alleviate personnel labor intensity.The utility model replaces workman's outlet that disconnected strand is implemented to smooth out with the fingers line and crimping after circuit takes place disconnected strand, can alleviate personnel's labour intensity, raises the efficiency.
6. ramp angle is big.The chucking power that the utility model makes full use of road wheel front and back clip increases the normal pressure of road wheel and power transmission line, thereby increases frictional force, is easy to climb the more gradient of wide-angle, 45 ° of maximum climbing circuit angles.
7. anti-off-line, security protection is good.The utility model in the process of walking; four clips of forward and backward arm are clamped line from the below of power transmission line; also there are two clips to clamp power transmission line during obstacle detouring; the jaw of clip and road wheel form enclosed construction; make robot mechanism prevent in walking and obstacle detouring process that robot ambulation from taking turns and deviate from, play the safeguard protection effect from power transmission line.
8. obstacle detouring time weak point and obstacle detouring process are simple.The mode that the utility model adopts road wheel directly to open barrier is come leaping over obstacles, and the obstacle detouring action is simple, need not to adjust in addition the attitude of car body, can directly cross over stockbridge damper, aluminium hydraulic pressed connecting pipe on the extra high voltage network.
Description of drawings
Fig. 1 is a perspective view of the present utility model;
The perspective view that Fig. 2 smoothes out with the fingers line apparatus for preceding (back) among Fig. 1;
Fig. 3 smoothes out with the fingers the front view of line apparatus for preceding (back) among Fig. 1;
Fig. 4 is the right internal view of smoothing out with the fingers the line device among Fig. 3;
Fig. 5 is the structural representation of preceding (back) walking clipping mechanism among Fig. 1;
Fig. 6 is the structural representation of crimping arm among Fig. 1;
Fig. 7 a is the structural front view of compression bonding apparatus among Fig. 6;
Fig. 7 b is the vertical view of Fig. 7 a;
Fig. 8 a is the front view of C type folder among Fig. 7 b;
Fig. 8 b is the left view of Fig. 8 a;
Fig. 9 is an extra high voltage network environment schematic diagram;
Figure 10 a smoothes out with the fingers one of flow chart of line and crimping for the utility model robot;
Figure 10 b smooth out with the fingers for the utility model robot line and crimping flow chart two;
Figure 10 c smooth out with the fingers for the utility model robot line and crimping flow chart three;
Figure 10 d smooth out with the fingers for the utility model robot line and crimping flow chart four;
Figure 10 e smooth out with the fingers for the utility model robot line and crimping flow chart five;
Figure 10 f smooth out with the fingers for the utility model robot line and crimping flow chart six;
Wherein: 1 smoothes out with the fingers line apparatus before being, 2 is preceding walking clipping mechanism, and 3 is first hinge, 4 is forearm, and 5 is the electrical equipment casing, and 6 are the crimping arm, 7 is postbrachium, and 8 is second hinge, and 9 is the back walking clipping mechanism, 10 smooth out with the fingers line apparatus after being, 11 are the folding motor, and 12 is fixed head, 13 is copper sheathing, and 14 is first leading screw, and 15 is the first left screw, 16 is left guide pin bushing, and 17 is left guide rod, and 18 for smoothing out with the fingers the line device in the right side, 19 is retainer ring, and 20 for smoothing out with the fingers the line device in a left side, and 21 is rotation axis, 22 is right guide rod, and 23 is right guide pin bushing, and 24 is the second right screw, 25 is right clip, and 26 are gentle rope, and 27 is reel, 28 is wheel carrier, and 29 is left clip, and 30 is road wheel, 31 is the first half jaws, and 32 is elevating arc, and 33 is the second half jaws, 34 is first spring, and 35 is bracing frame, and 36 is moving sets, 37 is connector, and 38 is regulating spring, and 39 is compression bonding apparatus, 40 are the crimping motor, and 41 is carriage, and 42 is second leading screw, 43 is the second right screw, and 44 for moving seat, and 45 is slide block, 46 is guide rail, and 47 are C type folder, and 48 is left C type ring, 49 is right C type ring, and 50 is the second left screw, and 51 is slurcam, 52 is second spring, 53 is support, and 54 is pedestal, and 55 is overcoat, 56 is the outer ring, 57 is inner ring, and 58 are the butt joint post, and 59 is column sleeve, 60 for smoothing out with the fingers the line guide pillar, 61 is fore-set, and 62 is the 3rd spring, and 63 is compressing tablet, 64 for triggering sheet, 65 is catch, and 66 is power transmission line, and 67 is first stockbridge damper, 68 is aluminium hydraulic pressed connecting pipe, and 69 is second stockbridge damper.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1, smooth out with the fingers before the utility model comprises line apparatus 1, preceding walking clipping mechanism 2, forearm 4, electrical equipment casing 5, crimping arm 6, postbrachium 7, back walking clipping mechanism 9 and after smooth out with the fingers line apparatus 10, wherein an end of forearm 4 and postbrachium 7 is fixed in respectively on the electrical equipment casing 5, the other end of forearm 4 links to each other with preceding walking clipping mechanism 2 by first hinge 3, the other end of postbrachium 7 joins by second hinge 8 and back walking clipping mechanism 9, before the outside of preceding walking clipping mechanism 2 and back walking clipping mechanism 7 is respectively equipped with, smooth out with the fingers line apparatus 1 and after smooth out with the fingers line apparatus 10; One end of described crimping arm 6 is fixed on the electrical equipment casing 5, the other end be pressure connection terminal, preceding walking clipping mechanism 2 and the back walking clipping mechanism 7 between.
Shown in Fig. 2~4, before smooth out with the fingers line apparatus 1 with after to smooth out with the fingers the structure of line apparatus 10 identical, comprise folding motor 11, fixed head 12, copper sheathing 13, first leading screw 14, the first left screw 15, left side guide pin bushing 16, left side guide rod 17, line device 20 is smoothed out with the fingers on a left side, rotation axis 21, right guide rod 22, right guide pin bushing 23, line device 18 is smoothed out with the fingers on the right side, first right screw 24 and the support 53, wherein fixed head 12 is the rectangle frame structure, be connected with copper sheathing 13 on two inwalls of fixed head 12 short transverses, the two ends of first leading screw 14 are supported by two copper sheathings 13, wherein an end is passed by fixed head 12, be connected with the output shaft of folding motor 11 on being fixed in fixed head 12, drive by folding motor 11, with the output shaft rotation of folding motor 11.First left screw 15, the first right screw 24 that has been threaded on first leading screw 14 lays respectively at the two ends of first leading screw 14; The thread rotary orientation at described first leading screw 14 two ends is opposite, and an end is left-handed, and the other end is dextrorotation, and the rotation direction of the first left screw 15 and the first right screw 24 is identical with the thread rotary orientation of first leading screw, 14 links; When first leading screw 14 rotates, can outwards move inwards or simultaneously simultaneously.Left side guide pin bushing 16 and right guide pin bushing 23 are installed in rotation on respectively on first left screw 15, the first right screw 24, left side guide pin bushing 16 is identical with the structure of right guide pin bushing 23, one end of left side guide pin bushing 16 and right guide pin bushing 23 is connected with the first right screw 24 with the first left screw 15 respectively, guide pin bushing self is rotatable, and the other end of left guide pin bushing 16 and right guide pin bushing 23 links to each other with right guide rod 22 with left guide rod 17 respectively.One end of left side guide rod 17 links to each other with left guide pin bushing 16, can slide in left guide pin bushing 16, and the other end is connected with a left side and smoothes out with the fingers line device 20; One end of right guide rod 22 links to each other with right guide pin bushing 23, can slide in right guide pin bushing 23, and the other end is connected with the right side and smoothes out with the fingers line device 18.A left side is smoothed out with the fingers line device 20 and is smoothed out with the fingers line device 18 with the right side and be installed in tandem on the rotation axis 21, and the moving axis 21 that can rotate respectively rotates.
A left side is smoothed out with the fingers line device 20 and is comprised pedestal 54, overcoat 55, outer ring 56, inner ring 57, fore-set 61, the 3rd spring 62, compressing tablet 63, triggers sheet 64 and retainer ring 19, wherein an end of pedestal 54 and left guide rod 17 are affixed and link to each other by rotation axis 21 with the pedestal that smoothes out with the fingers in the line device 18 on the right side, and the other end of pedestal 54 is a free end; One side at pedestal 54 is connected with retainer ring 19, overcoat 55 is fixed on the pedestal 54, outer ring 56 is installed in rotation in the endoporus of overcoat 55 and retainer ring 19 formation, described inner ring 57 and outer ring 56 Joints along the circumferential direction are evenly equipped with a plurality of line guide pillars 60 of smoothing out with the fingers on inner ring 57 and inner surface that transmission line contacts.Fore-set 61 can reciprocatingly be placed in the hole of pedestal 54, and an end that is arranged with the 3rd spring 62, the three springs 62 on the fore-set 61 is connected to the radially extension on the fore-set 61, and the other end is fixing by the compressing tablet 63 that is installed on the pedestal 54; One end of described fore-set 61 passes, is connected in the groove that outer ring 56 outer surfaces offer by overcoat 55, and the other end is passed, is provided with by compressing tablet 63 and triggers sheet 64.Overcoat 55, outer ring 56 and inner ring 57 are semicircle, are respectively equipped with butt joint post 58 and column sleeve 59 on two sections of outer ring 56 and pedestal 54, and promptly smooth out with the fingers on the pedestal section of line device 20 on a left side, and a side is provided with butt joint post 58, and opposite side is provided with column sleeve 59; Accordingly, smooth out with the fingers on the pedestal section of line device 18 on the right side, and a side is provided with column sleeve 59, and opposite side is provided with butt joint post 58, and butt joint post 58 inserts in the column sleeve 59 when two are smoothed out with the fingers the line device and close.In like manner, smooth out with the fingers on the outer ring section of line device 20 on a left side, and a side is provided with butt joint post 58, and opposite side is provided with column sleeve 59; Accordingly, smooth out with the fingers on the outer ring section of line device 18 on the right side, and a side is provided with column sleeve 59, and opposite side is provided with butt joint post 58, and butt joint post 58 inserts in the column sleeve 59 when two are smoothed out with the fingers the line device and close.Line device 18 and a left side are smoothed out with the fingers in the right side, and to smooth out with the fingers the structure of line device 20 identical.
All be connected with catch 65 on the end face of left side guide pin bushing 16, right guide pin bushing 23 and rotation axis 21.Be connected with support 53 on the fixed head 12, preceding smooth out with the fingers line apparatus 1 with after smooth out with the fingers line apparatus 10 support 53 by separately be installed in respectively before the outside of walking clipping mechanism 2 and back walking clipping mechanism 7.
As shown in Figure 6, crimping arm 6 comprises bracing frame 35, moving sets 36, connector 37, regulating spring 38 and compression bonding apparatus 39, wherein an end (lower end) of bracing frame 35 is fixed on the electrical equipment casing 5, the other end (upper end) links to each other with an end (lower end) of connector 37 by moving sets 36, and the other end of connector 37 (upper end) is connected with compression bonding apparatus 39 by regulating spring 38.
Shown in Fig. 7 a~7b, compression bonding apparatus 39 comprises crimping motor 40, carriage 41, second leading screw, 42, second right screw 43, the second left screw 50, mobile seat 44, slide block 45, guide rail 46 and two C types folders 47, wherein carriage 41 is connected with the other end of connector 37 by regulating spring 38, be connected with crimping motor 40 in the outside of carriage 41, in the carriage 41 respectively upper and lower settings second leading screw 42 and guide rail 46 are arranged; One end of described second leading screw 42 is passed, is linked to each other with the output shaft of crimping motor 40 by carriage 41, is driven by crimping motor 40, with the output shaft rotation of crimping motor 40.The thread rotary orientation at the second left screw 50 and second right screw 43, the second leading screws, 42 two ends of being threaded on second leading screw 42 is opposite, and the rotation direction of the second left screw 50 and the second right screw 43 is identical with the thread rotary orientation of the second leading screw link; When second leading screw 42 rotates, can outwards move inwards or simultaneously simultaneously.Be connected with respectively on the second left screw 50 and the second right screw 43 and move seat 44, each moves each affixed slide block 45 on the seat 44, move the C type of also respectively installing on the seat 44 at each and press from both sides 47, the second left screw, 50, the second right screw 43 and mobile seat separately 44 with slide block 45 along moving back and forth on the guide rail 46, two C type folders open or closure about drive, realize the crimping to disconnected strand road.Two C type folders 47 relatively are installed in two and move on the seat 44, shown in Fig. 8 a~8b, all have groove on the inwall of each C type folder 47, are provided with second spring 52 in the groove, and an end of this second spring 52 is fixed on the inwall of C type folder, and the other end is provided with slurcam 51; Be positioned on the C type folder in left side left C type ring 48 be installed, be positioned at the slurcam 51 that is equipped with on the C type folder on right side on 49, two C types folders of right C type ring respectively with left C type ring 48 and right C type ring 49 butts.
As shown in Figure 5, preceding walking clipping mechanism 2 is identical with the structure of back walking clipping mechanism 9, comprise right clip 25, gentle rope 26, reel 27, wheel carrier 28, left clip 29 and road wheel 30, preceding walking clipping mechanism 2 is hinged with forearm 4 and postbrachium 7 by first hinge 3 and second hinge 8 respectively with the wheel carrier 28 in the walking clipping mechanism 9 of back, and right clip 25, reel 27, left clip 29 and road wheel 30 are installed in respectively on the wheel carrier 28; Reel 27 is by being installed in volume on the wheel carrier 28 to motor-driven, and road wheel 30 is driven by the movable motor that is installed on the wheel carrier 28.Described right clip 25 is identical with the structure of left clip 29, comprise the first half jaws 31, elevating arc 32, the second half jaw 33 and first springs 34, wherein the first half jaws 31 are connected by a pair of elevating arc 32 with the second half jaws 33, are provided with first spring 34 between the first half jaws 31 and the second half jaws 33.One end of described gentle rope 26 is wrapped on the reel 27, and the other end is divided into two strands, is connected to a jaw in right clip 25 and the left clip 29 respectively.
Operation principle of the present utility model is:
Walking on power transmission line 66: movable motor work, ground-engaging wheel 30 rotates, and realization road wheel 30 is walked on power transmission line 66.
Clamp/unclamp: the reel machine operation, reel 27 is rotated, drive gentle rope 26 tensions on it, spur the first half jaws 31 of right clip 25 and left clip 29 the second half jaws 33 an end respectively outwards, make the other end of jaw inwardly rotate, thereby clamp power transmission line 66 around the gear shaft of elevating arc 32; The counter-rotating of reel motor drives reel 27 backward rotation, and the gentle rope 26 on it is unclamped, and jaw rotates around elevating arc 32 under the effect of first spring 34 of one end, gets back to the position of initial opening, thereby realizes unclamping power transmission line.
Obstacle detouring: when running into obstacles such as stockbridge damper, aluminium hydraulic pressed connecting pipe 68 when the road wheel in the robot forearm 4 30, the right clip 25 and the left clip 29 of forearm unclamp, two road wheels 30 in forearm 4 and the postbrachium 7 are driven by separately movable motor jointly, make the road wheel 30 in the forearm 4 directly open barrier; During road wheel 30 leaping over obstacles in the forearm 4, forearm 4 rotates around first hinge 3, makes road wheel 30 in the forearm 4 easily more to the tops of barrier; Pass through from the barrier top, behind arrival barrier the place ahead, the right clip 25 of forearm 4 and left clip 29 clamp again; After the road wheel of forearm surmounted obstacles, two road wheels 30 in forearm 4 and the postbrachium 7 walked on, and the road wheel 30 in the postbrachium 7 directly breaks the barriers in the same way.
Smooth out with the fingers line: when robot ambulation is located to disconnected thigh, robot halts, after this, 11 work of folding motor, first leading screw 14 is rotated, and first left screw 15, the first right screw 24 that drives on it moves left and right guide pin bushing 16,23 effects by being connected with the first left and right screw 15,24 respectively simultaneously inwards, drive left and right guide rod 17,22 and left and right line device 20,18 moving axis 21 that rotates of smoothing out with the fingers rotates inwards, realize left and right closure of smoothing out with the fingers line device 20,18.Left and right smooth out with the fingers line device 20,18 closures after, inner ring 57 and outer ring 56 closures all have one to smooth out with the fingers line guide pillar 60 in the groove of inner ring 57 between two strands.After smoothing out with the fingers the line apparatus closure, robot continues walking forward, smoothes out with the fingers the line guide pillar and can move along the wire casing of spiral type, and impel the rotation of spinning of inner ring 57 and outer ring 56, smooth out with the fingers under the squeezing action of line guide pillar in both sides for disconnected strand, get back to original wire casing position, realized like this to disconnected strand smooth out with the fingers the line operation.
Crimping: after line has been smoothed out with the fingers by robot, the moving sets 36 of crimping arm 6 rises, drive connector 37, regulating spring 38, compression bonding apparatus 39 rise to the power transmission line place, 40 work of crimping motor, driving second leading screw 42 rotates, second left screw 50, the second right screw 43 is moved inwards, drive simultaneously with affixed mobile seat 44, the slide block 45 of the second left and right screw 50,43 and move inwards along guide rail 46, make at last to be installed in left and right C type ring 48,49 closures that move in the seat 44, realize crimping disconnected strand road.
After a disconnected strand of crimping Work robot reached the standard grade, all on power transmission line 66, after movable motor powered on, ground-engaging wheel 30 rotated two road wheels 30 in the forward and backward arm 4,7 of robot, robot is advanced on power transmission line 66 or retreats; When power transmission line 66 angles were big, reel driven by motor reel 27 rotated, and the gentle rope 26 of tension makes the right clip 25 of two couples in forearm 4 and the postbrachium 7, left clip 29 clamp power transmission lines 66, increases normal pressure, the power transmission line of the wide-angle of being convenient to creep.
Road wheel 30 in the disconnected thigh crimping Work robot forearm 4 stops in the right edge of the hammer body of first stockbridge damper 67, and right clip 25, the left clip 29 of forearm 4 are opened, and road wheel 30 in the forearm 4 and the road wheel 30 in the postbrachium 7 drive robot again and advance; After the road wheel in the forearm 4 30 is run into first stockbridge damper 67, forearm 4 rotates around first hinge 3, rotate to an angle, simultaneously under the common drive of road wheel 30 in forearm 4 and the road wheel 30 in the postbrachium 7, road wheel 30 in the forearm 4 passes through from first stockbridge damper, 67 tops, after arriving the another side of first stockbridge damper 67, the right clip 25 of forearm 4, left clip 29 be clamp again.Road wheel 30 in the forearm 4 and the road wheel in the postbrachium 7 30 continues to drive the online walking of robots, and the road wheel 30 in postbrachium 7 stops after running into the right edge of hammer body of first stockbridge damper 67, and right clip 25, the left clip 29 of postbrachium unclamp; After this, road wheel in the postbrachium 7 30 is crossed over first stockbridge damper 67, and the leap process is identical with road wheel 30 leap processes in the forearm 4.
After road wheel is all crossed over first stockbridge damper 67 before and after the robot, walk on, when arriving disconnected burst of place, robot halts.After this, 11 work of folding motor, first leading screw 14 is rotated, the first left and right screw 15,24 that drives on it moves simultaneously inwards, left and right guide pin bushing 16,23 effects by being connected respectively with the first left and right screw 15,24, drive left and right guide rod 17,22 and left and right line device 20,18 moving axis 21 that rotates of smoothing out with the fingers rotates inwards, realize left and right closure of smoothing out with the fingers line device 20,18.Left and right smooth out with the fingers line device 20,18 closures after, inner ring 57 and outer ring 56 closures all have one to smooth out with the fingers line guide pillar 60 in the groove of inner ring 57 between two strands.After smoothing out with the fingers the line apparatus closure, robot continues walking forward, smoothes out with the fingers the line guide pillar and can move along the wire casing of spiral type, and impel the rotation of spinning of inner ring 57 and outer ring 56, smooth out with the fingers under the squeezing action of line guide pillar in both sides for disconnected strand, get back to original wire casing position, realized so disconnected strand an of side smoothed out with the fingers the line operation.
After this, 11 work of robot folding motor, first leading screw 14 is rotated, the first left and right screw 15,24 that drives on it outwards moves simultaneously, left and right guide pin bushing 16,23 effects by being connected respectively with the first left and right screw 15,24, drive left and right guide rod 17,22 and left and right line device 20,18 moving axis 21 that rotates of smoothing out with the fingers outwards rotates, realize that the left and right line device 20,18 of smoothing out with the fingers opens.Robot continues walking forward, and front and back wheel all halts behind the disconnected thigh by the opposite opposite side.Then, the trailing wheel outside smooth out with the fingers the line apparatus closure, robot retreats the line of smoothing out with the fingers that carries out disconnected strand of opposite side, it is closed and smooth out with the fingers line process and smooth out with the fingers the line closure and smooth out with the fingers line process identical with the line apparatus of smoothing out with the fingers of forearm to smooth out with the fingers line apparatus.
After robot has smoothed out with the fingers two sections disconnected strand,, find two disconnected strands broken end position by the information of multisensor, robot ambulation, make crimping arm 6 be in the broken end position under.After this, the moving sets 36 of crimping arm 6 rises, drive connector 37, regulating spring 38, compression bonding apparatus 39 rise to the power transmission line place, 40 work of crimping motor, drive second leading screw 42 and rotate, the second left and right screw 50,43 is moved inwards, drive simultaneously with affixed mobile seat 44, the slide block 45 of second left and right sides screw 50,43 and move inwards along guide rail 46, make at last to be installed in left and right C type ring 48,49 closures that move in the seat 44, realize crimping disconnected strand road.
After crimping finishes, crimping motor 40 work of crimping arm 6 drive second leading screw 42 and rotate, and the second left and right screw 50,43 is outwards moved, drive simultaneously with affixed mobile seat 44, the slide block 45 of second left and right sides screw 50,43 and outwards move, realize opening along guide rail 46.After this, moving sets 36 descends, and drive connector 37, regulating spring 38, compression bonding apparatus 39 drop to robot casing place, and robot turns back to the shaft tower place, and whole crimping process finishes.
After crimping finishes, crimping motor 40 work of crimping arm 6, driving second leading screw 42 rotates, the second left and right screw 50,43 is outwards moved, drive the mobile seat 44 that C type ring is installed simultaneously and be opened to certain position, under the effect of second spring, 52 elastic force, a C type ring that promotes in the C type folder 47 enters in the mobile seat 44, uses in order to crimping next time.
After the crimping, disconnected strand of crimping Work robot crossed the aluminium hydraulic pressed connecting pipe 68 and second stockbridge damper 69 on the power transmission line 66 by aforesaid operations again.

Claims (10)

1. disconnected strand of crimping work machine robot mechanism of an extra high voltage network, it is characterized in that: smooth out with the fingers line apparatus (1) before comprising, preceding walking clipping mechanism (2), forearm (4), electrical equipment casing (5), crimping arm (6), postbrachium (7), back walking clipping mechanism (9) and after smooth out with the fingers line apparatus (10), wherein an end of forearm (4) and postbrachium (7) is fixed in respectively on the electrical equipment casing (5), the other end is hinged with preceding walking clipping mechanism (2) and back walking clipping mechanism (9) respectively, the outside of preceding walking clipping mechanism (2) and back walking clipping mechanism (7) smooth out with the fingers before being respectively equipped with line apparatus (1) and after smooth out with the fingers line apparatus (10); One end of described crimping arm (6) is fixed on the electrical equipment casing (5), and the other end is pressure connection terminal, is positioned between preceding walking clipping mechanism (2) and the back walking clipping mechanism (7).
2. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 1, it is characterized in that: smooth out with the fingers before described line apparatus (1) with after to smooth out with the fingers the structure of line apparatus (10) identical, comprise folding motor (11), fixed head (12), first leading screw (14), the first left screw (15), left side guide pin bushing (16), left side guide rod (17), line device (20) is smoothed out with the fingers on a left side, right guide rod (22), right guide pin bushing (23), the line device (18) and the first right screw (24) are smoothed out with the fingers in the right side, wherein folding motor (11) is installed in the outside of fixed head (12), be provided with first leading screw (14) that is connected with the output shaft of folding motor (11) in the inboard of fixed head (12), the first left screw (15) has been threaded on this first leading screw (14), the first right screw (24), left guide pin bushing (16) and right guide pin bushing (23) are installed in rotation on the first left screw (15) respectively, on the first right screw (24); One end of described left guide rod (17) links to each other with left guide pin bushing (16), the other end is connected with a left side and smoothes out with the fingers line device (20), one end of right guide rod (22) links to each other with right guide pin bushing (23), the other end is connected with the right side and smoothes out with the fingers line device (18), and a described left side is smoothed out with the fingers line device (20) and the right side and smoothed out with the fingers line device (18) and be rotationally connected by rotation axis (21).
3. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 2, it is characterized in that: it is identical that the structure of line device (20) and the right side smoothing out with the fingers line device (18) is smoothed out with the fingers on a described left side, comprise pedestal (54), overcoat (55), outer ring (56), inner ring (57), fore-set (61), the 3rd spring (62), compressing tablet (63), trigger sheet (64) and retainer ring (19), wherein pedestal (54) is affixed with guide rod, on pedestal (54), be provided with retainer ring (19), overcoat (55) is fixed on the pedestal (54), outer ring (56) is installed in rotation in the endoporus of overcoat (55) and retainer ring (19) formation, described inner ring (57) and outer ring (56) Joint along the circumferential direction are evenly equipped with a plurality of line guide pillars (60) of smoothing out with the fingers on inner ring (57) and inner surface that transmission line contacts; Described fore-set (61) can reciprocatingly be placed in the hole of pedestal (54), is arranged with the 3rd spring (62) on the fore-set (61), and the 3rd spring (62) is fixing by the compressing tablet (63) that is installed on the pedestal (54); One end of described fore-set (61) passes, is connected in the groove that outer ring (56) outer surface offers by overcoat (55), and the other end is passed, is provided with by compressing tablet (63) and triggers sheet (64); Described overcoat (55), outer ring (56) and inner ring (57) are semicircle, are respectively equipped with butt joint post (58) and column sleeve (59) on two sections of outer ring (56) and pedestal (54).
4. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 2, it is characterized in that: the thread rotary orientation at described first leading screw (14) two ends is opposite, and the rotation direction of the first left screw (15) and the first right screw (24) is identical with the thread rotary orientation of the first leading screw link; All be connected with catch (65) on the end face of described left guide pin bushing (16), right guide pin bushing (23) and rotation axis (21).
5. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 1, it is characterized in that: described crimping arm (6) comprises bracing frame (35), moving sets (36), connector (37), regulating spring (38) and compression bonding apparatus (39), wherein an end of bracing frame (35) is fixed on the electrical equipment casing (5), the other end links to each other with an end of connector (37) by moving sets (36), and the other end of connector (37) is connected with compression bonding apparatus (39) by regulating spring (38).
6. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 5, it is characterized in that: described compression bonding apparatus (39) comprises crimping motor (40), carriage (41), second leading screw (42), the second right screw (43), the second left screw (50), move seat (44), slide block (45), guide rail (46) and C type folder (47), wherein carriage (41) is connected with the other end of connector (37) by regulating spring (38), be provided with crimping motor (40) in the outside of carriage (41), in the carriage (41) respectively upper and lower settings second leading screw (42) and guide rail (46) are arranged; One end of described second leading screw (42) links to each other with the output shaft of crimping motor (40), the second left screw (50) and the second right screw (43) are threaded on second leading screw (42), be connected with respectively on the second left screw (50) and the second right screw (43) and move seat (44), each moves seat (44) and goes up each affixed slide block (45), move the C type of also respectively installing on the seat (44) at each and press from both sides (47), the second left screw (50), the second right screw (43) and mobile seat (44) separately with slide block (45) along moving back and forth on the guide rail (46), two C type folders open or closure about drive, realize the crimping to disconnected strand road.
7. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 6, it is characterized in that: described C type folder (47) is two, move on the seat (44) relative to being installed in two, all have groove on the inwall of each C type folder (47), be provided with second spring (52) in the groove, one end of this second spring (52) is fixed on the inwall of C type folder, and the other end is provided with slurcam (51), this slurcam (51) and the C type ring butt that is installed on the C type folder.
8. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 6, it is characterized in that: the thread rotary orientation at described second leading screw (42) two ends is opposite, and the rotation direction of the second left screw (50) and the second right screw (43) is identical with the thread rotary orientation of the second leading screw link.
9. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 1, it is characterized in that: walking clipping mechanism (2) is identical with the structure of back walking clipping mechanism (9) before described, comprise right clip (25), gentle rope (26), reel (27), wheel carrier (28), left side clip (29) and road wheel (30), preceding walking clipping mechanism (2) is hinged with forearm (4) and postbrachium (7) by first hinge (3) and second hinge (8) respectively with the wheel carrier (28) in the back walking clipping mechanism (9), right clip (25), reel (27), left side clip (29) and road wheel (30) are installed in respectively on the wheel carrier (28); One end of described gentle rope (26) is wrapped on the reel (27), and the other end is divided into two strands, is connected to right clip (25) and left clip (29).
10. by disconnected strand of crimping work machine robot mechanism of the described extra high voltage network of claim 9, it is characterized in that: described right clip (25) is identical with the structure of left clip (29), comprise the first half jaws (31), elevating arc (32), the second half jaw (33) and first springs (34), wherein the first half jaws (31) are connected by elevating arc (32) with the second half jaws (33), are provided with first spring (34) between the first half jaws (31) and the second half jaws (33); The two ends of described gentle rope (26) are connected to a jaw in right clip (25) and the left clip (29) respectively.
CN2011200566340U 2011-03-04 2011-03-04 Broken-strand crimping operation robot mechanism for ultrahigh voltage power transmission line Expired - Lifetime CN202014061U (en)

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CN102646944A (en) * 2012-04-12 2012-08-22 东北大学 Broken strand repairing and wire smoothening device of super-high-voltage power transmission line
CN102655314A (en) * 2011-03-04 2012-09-05 中国科学院沈阳自动化研究所 Broken strand crimping work robot mechanism of super-high-voltage power transmission line
CN104218488A (en) * 2014-08-22 2014-12-17 国家电网公司 Method for repairing high voltage transmission line with manipulator and end effector of manipulator for repairing high voltage transmission line
CN105928450A (en) * 2016-05-20 2016-09-07 浙江大学 Automatic detection device of position of steel pipe in cable splicing sleeve
CN106058721A (en) * 2016-06-29 2016-10-26 南昌大学 Ground wire clamp fixture of overhead transmission line inspection robot
CN111740236A (en) * 2020-08-04 2020-10-02 广东电网有限责任公司东莞供电局 Electric power rescue robotic arm
CN111799748A (en) * 2020-06-17 2020-10-20 李效东 Quick binding device of cable interface for hydroelectric power generation

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102655314A (en) * 2011-03-04 2012-09-05 中国科学院沈阳自动化研究所 Broken strand crimping work robot mechanism of super-high-voltage power transmission line
CN102655314B (en) * 2011-03-04 2015-01-14 中国科学院沈阳自动化研究所 Broken strand crimping work robot mechanism of super-high-voltage power transmission line
CN102646944A (en) * 2012-04-12 2012-08-22 东北大学 Broken strand repairing and wire smoothening device of super-high-voltage power transmission line
CN102646944B (en) * 2012-04-12 2014-12-31 东北大学 Broken strand repairing and wire smoothening device of super-high-voltage power transmission line
CN104218488A (en) * 2014-08-22 2014-12-17 国家电网公司 Method for repairing high voltage transmission line with manipulator and end effector of manipulator for repairing high voltage transmission line
CN105928450A (en) * 2016-05-20 2016-09-07 浙江大学 Automatic detection device of position of steel pipe in cable splicing sleeve
CN105928450B (en) * 2016-05-20 2018-07-27 浙江大学 Steel pipe Position automatic detection device in a kind of cable splice pipe
CN106058721A (en) * 2016-06-29 2016-10-26 南昌大学 Ground wire clamp fixture of overhead transmission line inspection robot
CN111799748A (en) * 2020-06-17 2020-10-20 李效东 Quick binding device of cable interface for hydroelectric power generation
CN111740236A (en) * 2020-08-04 2020-10-02 广东电网有限责任公司东莞供电局 Electric power rescue robotic arm

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