CN203660421U - Extra high voltage transmission line obstacle cleaning robot - Google Patents

Extra high voltage transmission line obstacle cleaning robot Download PDF

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Publication number
CN203660421U
CN203660421U CN201320811435.5U CN201320811435U CN203660421U CN 203660421 U CN203660421 U CN 203660421U CN 201320811435 U CN201320811435 U CN 201320811435U CN 203660421 U CN203660421 U CN 203660421U
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China
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guide plate
mounted
motor
robot
rod
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CN201320811435.5U
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Chinese (zh)
Inventor
高森
卢刚
郭世照
刘洪正
张春波
高翔
林晓东
吕宁
冯迎春
郭靖华
乔耀华
张钦广
李岐
董学仲
朱涛
周奇
高伟
高海波
高金福
鹿宁
刘秉龙
陈利博
李传森
于晓川
石泷呈
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国家电网公司
国网山东省电力公司检修公司
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Publication of CN203660421U publication Critical patent/CN203660421U/en

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Abstract

The utility model discloses an extra high voltage transmission line obstacle cleaning robot which comprises a casing body. An inner cavity is arranged in the casing body. Four vertical buffer rods are vertically arranged in the inner cavity. The upper end of each vertical buffer rod runs out of the casing body and is respectively provided with a walking wheel motor. Each walking wheel motor is provided with a walking wheel. Each walking wheel is a groove wheel. A mechanical arm is arranged on one side of the casing body. A partition board is horizontally arranged in the inner cavity. A first guide rod is arranged in the inner cavity. A first slide sleeve is movably arranged on the first guide rod. The first slide sleeve is provided with a first nut. A first motor is arranged in the inner cavity. A first screw is arranged on an output shaft of the first motor. The first screw is in thread connection with the first nut. The robot can rapidly and stably across a spacer and an anti-vibration hammer on an overhead line, can easily pass through a linear tower, is convenient for popularization and application, has the ability to replace human beings to remove waste on a transmission line, ensures the safety of the line, and has the advantages of simple and compact structure, low manufacturing cost and convenient operation.

Description

超高压输电线路清障机器人 EHV transmission lines wrecker robot

技术领域 FIELD

[0001] 本实用新型涉及一种超高压输电线路清障机器人。 [0001] The present invention relates to a robot wrecker EHV transmission lines.

背景技术 Background technique

[0002] 现有的输电线路清障机器人至少需装有四根缓冲杆,每根缓冲杆各装有一个行走轮,这种设计是为了方便机器人在输电线路上行走时跨越间隔棒和防振锤等障碍物,使机器人可对整条线路进行清障处理。 [0002] Existing transmission line at least for an wrecker robot with four buffer rod, each of the buffer rod is provided with a respective running wheel, which is designed to facilitate the spacers and vibration across the robot during walking transmission line hammer obstacle, the robot can be processed wrecker whole line. 但是,四个独立的行走轮给机器人的悬挂工作带来了极大的困难,严重阻碍了机器人的推广应用,至使清障机器人至今仍处于试验状态,而无法进行实际应用,因此,目前的清障工作仍全部由人工高空作业完成。 However, four independent traveling wheels to hang the work of robots has brought great difficulties, a serious impediment to the promotion and application of robots, wrecker to make the robot is still in an experimental state, and not the actual application, therefore, the current wrecker still all done by artificial high-altitude operations. 机器人悬挂困难的主要原因是,在实际工作中,输电线路距离地面过高,机器人需要通过大型起吊设备吊装于高空的输电线路上。 The difficulty is mainly due to the suspension of the robot, in practice, the transmission line is too high from the ground, the robot needs through large-scale lifting equipment hoisting of transmission lines in high altitude. 而在整个吊装过程中,一方面,工作人员无法清楚地观察到每个行走轮与输电线路间的具体位置关系,想要将四个行走轮悬挂于同一根输电线路上,工作人员只能凭经验和感觉反复多次尝试悬挂,而且,每次悬挂后,还需绕机器人一周对其作全方位的观察,以尽可能确保四个行走轮均悬挂到位,每次悬挂都需要耗时一小时左右,然而,即使如此,也经常出现有一个或两个行走轮未按要求挂于输电线路上却没被发现的情况,造成运行中的机器人坠毁的事故;另一方面,现有的常用起吊装设备的操控精度较低、力臂较长,无法实现远距离精准操控,就算工作人员能够观察到某个行走轮与线路间未悬挂到位,起吊设备也无法微调以对该行走轮的位置进行调整,而是只能是重新起吊机器人,将四个行走轮一并重新悬挂。 And throughout the lifting process, on the one hand, the staff can not be clearly observed relationship between the specific location of each running wheel and transmission line, you want to walk round four with a hang on transmission lines, only with staff experience and feel repeated attempts suspension, and after each suspension, the robot needs around one week for its full range of observation to ensure that all four running wheels hanging in place, as far as possible every time the suspension will require time-consuming one hour on the other hand, since the conventional common; about, however, even so, there are often one or two running wheels hang in the case of failure to require no transmission line is found, causing the operation of the robot crash accident lower precision control lifting equipment, the longer lever arm, can not achieve long-range precision control, even if a staff can be observed between the wheel suspension and not travel line in place, lifting equipment is able to fine tune the position of the running wheels is adjustment, but it can only be re-lifting robot, the four running wheels hanging together again. 因此,现有的清障机器人的使用成本和危险性较高,工作效率过低。 Therefore, the cost of existing wrecker robot and a higher risk, the working efficiency is too low.

实用新型内容 SUMMARY

[0003] 本实用新型的目的,是提供一种超高压输电线路清障机器人,它不是直接对四个独立的行走轮与输电线路之间实施精确定位悬挂,而是利用引导机构将输电线路快速准确地引导至四个行走轮下,以确保四个行走轮与同一根线路精确悬挂,整个悬挂过程不需要精确观察行走轮与线路间的关系,也不需要起吊设备进行微调,因此,能大幅降低用运行成本和危险性,提高工作效率,使机器人能够真正应用到实际工作中替代人工清障,从而,可解决现有技术的问题。 [0003] The object of the present invention is to provide a robot wrecker EHV transmission lines, it is not between the four running wheels with independent transmission lines precisely positioned hanging directly embodiment, but the use of fast transmission line guide mechanism accurately guided to the four running wheels, in order to ensure that the four running wheels and with a precise line suspension, the suspension process does not require the entire relationship between the running wheel and the precise observation line, the lifting device does not need to be trimmed, can significantly reduce the problem with running costs and risk, improve efficiency, so that the robot can really be applied to the actual work to replace the manual wrecker, thus, can solve the prior art.

[0004] 本实用新型的目的是通过以下技术方案实现的:超高压输电线路清障机器人,包括壳体,壳体内设有内腔,内腔内竖向安装四根竖向缓冲杆,每个竖向缓冲杆的上端穿出壳体外各安装一个行走轮电机,每个行走轮电机上安装一个行走轮,行走轮是槽轮,壳体的一侧安装机械臂,内腔内水平设有隔板,内腔内装有第一导杆,第一导杆上活动安装第一滑套,第一滑套上安装第一螺母,内腔内安装第一电机,第一电机的输出轴上安装第一丝杠,第一丝杠与第一螺母螺纹连接,第一螺母通过连接机构与轮架连接,轮架上安装胀紧轮;壳体的顶部竖向安装竖支架,竖支架上横向设有横支架,横支架的自由端安装外引导板,外弓丨导板的宽度应大于机器人整体高度的三分之一,小于机器人整体高度的二分之一,外引导板的上端与横支架的自由端铰接,外引 [0004] The object of the present invention is achieved by the following technical solution: a robot wrecker EHV transmission lines, comprising a housing equipped with a lumen, the lumen of the vertical rods mounted four vertical buffer, each buffer rod piercing vertical outer housing upper end of each mounting a traveling wheel motor, the motor running wheels mounted on each of a travel wheel, the sheave wheels are running, the robot arm side of the mounting housing, the inner cavity of the horizontal compartment is provided with plate, the inner lumen with a first guide bar, a first guide rod movably mounted a first sleeve, a first nut is mounted on a first sleeve, mounted within the lumen of the first motor mounted on the output shaft of the first motor a screw, a first screw and a first nut is screwed, a first nut is connected by a connecting means with the wheel carrier, the wheel carrier wheel mounted swelling; top vertical erected housing mounting bracket is provided with a transverse vertical supporting frame cross beam, the free end of the mounting bracket horizontal outer guide plate, the width of the outer bow Shu guide plate should be larger than one-third of the overall height of the robot, the robot is less than one-half the overall height, consisting of an upper cross beam and the outer guide plate end of the hinge, the outer primer 板和竖支架分别位于行走轮的两侧,外引导板的内侧安装内引导板,内引导板的下端与外引导板的下端铰接;横支架上安装第二电动推杆,第二电动推杆与横支架铰接,第二电动推杆的活塞杆与内引导板上端铰接;内引导板上沿内引导板的长度方向依次竖向开设四个内引导板槽,内引导板槽与行走轮一一对应配合。 And the vertical bracket plate on each side of the trolley, the guide plate is mounted inside an outer guide plate, the lower end of the inner guide plate and the lower end of the outer guide of the hinge plates; second motor is mounted on the cross beam push rod, the push rod of the second motor hinged to the cross bracket, the second motor pusher rod guide plate and the upper end of the inner hinge; inner guide plate along the longitudinal direction of the guide plate defines four vertically sequentially the guide plate groove, and the guide groove running round a plate to a corresponding mating.

[0005] 为进一步实现本实用新型的目的,还可以采用以下技术方案实现:所述壳体的后侧上安装第二导杆,第二导杆上活动安装配重块,配重块上设有第二螺母,壳体上安装第二电机,第二电机上安装第二丝杠,第二丝杠与第二螺母螺纹连接。 [0005] In order to further achieve the object of the present invention, may also employ the following technical solution: a second guide bar is mounted on a rear side of the housing, the second guide rod is movably mounted with weights, the weights provided a second nut, a second motor mounted on the housing, a second motor mounted on the second screw, a second screw and a second nut screwed. 所述连接机构由转向电机和偏心杆连接构成,转向电机与第一螺母连接,转向电机的输出轴上安装偏心杆,偏心杆的一端安装轮架。 Mounting means connected to said motor and a steering rod connected to the eccentric configuration, the nut is connected with the first steering motor, the steering motor output shaft of the eccentric shaft, the eccentric wheel carrier rod attached to one end. 所述壳体的两侧各水平安装一个横向缓冲杆,每个横向缓冲杆的一端各竖向安装一个行走辊。 Each of said horizontal lateral sides of the housing is mounted a buffer rod, one end of each respective vertical lateral bumper bar mounted a traveling roller. 所述内腔内水平安装转轴,转轴上安装辅助引导板,辅助引导板的上端开设四个辅助引导板槽,四个辅助引导板槽与四个行走轮一一对应配合;转轴上安装拔杆,内腔内安装第一电动推杆,第一电动推杆的一端与壳体铰接,第一电动推杆的活塞杆与拔杆铰接。 The horizontal mounting shaft within the lumen, the auxiliary guide plate mounted on the rotary shaft, the upper end of the auxiliary guide plate defines four auxiliary guide plate groove, four auxiliary grooves and the guide plate correspond with four running wheels; pull rod mounted on the spindle , the first motor is mounted within the lumen of the push rod, the push rod of the first motor and the housing is hinged at one end, the piston rod of the first motor and the push rod is hinged pull rod. 所述外引导板的外侧安装重块。 The outer guide plate outer mounting weight. 所述横支架上安装摄像头。 The lateral cameras installed on the bracket.

[0006] 本实用新型的积极效果在于:它装有引导机构,引导机构具备大面积的并且可以展开的外引导板,方便工作人员在地面上远距离观察到外引导板与线路间的位置关系,只要将外引导板挂于线路上,便可将线路快速准确地引导至四个独立的行走轮下方,确保四个独立的行走轮均与同一根线路悬挂配合,防止机器人意外坠落。 [0006] The positive effects of the present invention in that: it is equipped with the guide means, the guide means comprises a large area and can be deployed outside the guide plate, to facilitate remote observation staff positional relationship between the outer guide plate and the ground line , as long as the outer guide plate hung on the line, the line can be quickly and accurately guided to four independent downward travel wheel, to ensure that all four running wheels with independent suspension and with a line, to prevent the robot falling. 整个悬挂过程无须精确控制,只需将外引导板搭于待悬挂的线路上便已完成了悬挂工作,引导机构会自动调整线路进入四个行走轮的轮槽内。 The whole process does not need precise control of the suspension, the ride just the outer guide plate to be hung on the hanging line work already completed, the guide means will automatically adjust the line to a four wheel groove running wheel. 它还装有辅助引导板,辅助引导板可与引导机构配合,进一步确保输电线路能同时与四个独立的行走轮配合,防止线路超越行走轮移动至行走轮与行走轮电机之间。 It is also fitted with an auxiliary guide plate, the guide plate can be used with the auxiliary guide means, further ensuring the transmission line simultaneously with four independent traveling wheels, to prevent the running wheels to move beyond the line between the running wheels and the traveling wheel motor. 由于吊装过程中一旦引导机构的外引导板与输电线路接触便会在此处形成一个旋转的支点,若机器人重心较低,便会在重力作用下绕该支点摆动,直接影响整个吊装的质量和效率,因此,为解决上述问题,在该机器人的壳体上装有重心调整机构,它可在吊装时将机器人的重心上移,可防止机器人摆动,确保机器人能快速精确悬挂。 Since the outer guide plate lifting process once the guide means in contact with the transmission line will be formed where a rotation fulcrum, when the center of gravity of the robot is low, it will pivot about the fulcrum under the action of gravity, directly affect the quality of the whole lifting and efficiency, therefore, to solve the above problems, with the focus adjusting means on the housing of the robot, which can be moved while lifting the center of gravity of the robot, the robot can be prevented swing robot can quickly and accurately to ensure that the suspension. 它可快速稳定地跨越架空线路上的间隔棒和防振锤,能轻松穿过直线杆塔,在架空线路上几乎不存在对其造成阻碍的物件,可真正实现在整个架空线路上自由移动,便于推广应用,完全有能力替代人工清除输电线路上废物,确保线路安全。 It can be fast and stable across Spacers and Dampers on overhead lines, can easily pass through the straight line tower, almost objects causing obstruction does not exist on overhead lines, it can actually be implemented on the entire overhead lines to move freely, to facilitate application is fully capable of transmission lines replace manual removal of waste, to ensure the safety line. 本实用新型还具有结构简洁紧凑、制造成本低廉和操作方便的优点。 The present invention further has a simple and compact structure, and inexpensive to manufacture and easy for operation.

附图说明 BRIEF DESCRIPTION

[0007] 图1是本实用新型所述超高压输电线路清障机器人的结构示意图,图中引导机构处于开启状态;图2是图1所示机器人悬挂完成后的结构示意图;图3是图2的A向结构示意图;图4是图2的B向结构示意图,图中省略了引导机构、轮架和机械臂。 [0007] FIG. 1 is a schematic structural diagram of a robot wrecker EHV transmission lines of the present invention, the drawing is on the guide mechanism; FIG. 2 is a schematic diagram of the robot after completion of the suspension shown in FIG. 1; FIG. 3 is a diagram 2 a schematic diagram of the structure; FIG. 4 is a schematic diagram B of FIG. 2 to the configuration, a guide mechanism not shown, the robot arm and wheel carrier.

[0008] 附图标记:I壳体2内腔3竖向缓冲杆4行走轮5转向电机6偏心杆7轮架8胀紧轮9第一电机10第一丝杠11第一螺母12第一导杆13第一滑套14隔板15拔杆16第一电动推杆17辅助引导板18竖支架19横支架20外引导板21重块22内引导板23第二电动推杆24摄像头25横向缓冲杆26行走辊27第二导杆28配重块29第二螺母30第二电机31第二丝杠32内引导板槽33辅助引导板槽34行走轮电机35转轴。 [0008] The reference numerals: I lumen housing 2 3 4 buffer rod vertically running wheels 5 a steering motor 6 eccentric rod holder 7 8 9 Swelling first motor 10 of the first gear 11 of the first lead screw nut 12 is first 23 of the second motor 14 the rod 13 of the first sleeve 16 of the first separator 15 stoke electric auxiliary guide rod 17, vertical plate 18 bracket 19 bracket 20 horizontal outer guide plate 22 of the guide 21 weight pusher plate 24 lateral camera 25 buffer rod 26 traveling roller 27 of the second guide bars 28 the counterweight 29 of the second nut screw 30 of the second motor 31 of the second guide plate 32 of the auxiliary guide plate 33 groove 34 groove 35 running round the motor shaft. 具体实施方式 Detailed ways

[0009] 本实用新型所述的超高压输电线路清障机器人包括壳体I。 [0009] The present invention according to EHV transmission lines wrecker robot comprising a housing I. 壳体I内设有内腔2。 2 I equipped with a lumen housing. 内腔2内竖向安装四根竖向缓冲杆3,每个竖向缓冲杆3的上端穿出壳体I外各安装一个行走轮电机34,每个行走轮电机34上安装一个行走轮4,行走轮4是槽轮。 2 lumen vertical rods mounted four vertical cushion 3, the upper end of each vertical rod 3 buffer I of piercing an outer housing each wheel is mounted a traveling motor 34, a traveling wheel 4 is mounted on each motor 34 running wheels , traveling wheels 4 is a sheave. 壳体I的一侧安装机械臂,机械臂可以是现有的能够夹取物品的机械手。 I side of the housing is mounted robotic arm, the robotic arm may be a conventional robot capable of gripping an article. 内腔2内水平设有隔板14。 2 is provided with a horizontal partition plate within the lumen 14. 内腔2内装有第一导杆12,第一导杆12上活动安装第一滑套13,第一滑套13能沿第一导杆12竖向滑动。 2 a first lumen that has the guide bar 12, the guide bar 12 is mounted a first event of the first sleeve 13, 12 of the first sleeve 13 can slide vertically along the first guide bar. 第一滑套13上安装第一螺母11。 The first sleeve 13 is mounted on the first nut 11. 内腔2内安装第一电机9,第一电机9的输出轴上安装第一丝杠10,第一丝杠10与第一螺母11螺纹连接。 2 mounted within a first lumen of the motor 9, the first motor is mounted on the output shaft 9 of the first screw 10, a first screw 10 is connected to the first nut 11 threaded. 第一螺母11通过连接机构与轮架7连接。 The first nut 11 is connected to the connection means 7 via the wheel carrier. 轮架7上安装胀紧轮8,胀紧轮8是槽轮。 Swelling wheel carrier mounted on the wheel 8 7, 8 are swelling sheave wheel. 壳体I的顶部竖向安装竖支架 The top of the vertical housing vertical mounting bracket I

18,竖支架18上横向设有横支架19,横支架19的自由端安装外引导板20。 18, the vertical supporting frame 18 is provided with a transverse cross beam 19, the free end of the cross beam 19 of the outer guide plate 20 is mounted. 为确保外引导板20在高空中有足够的辩识度,便于工作人员将外引导板20搭挂于输电线路上,同时,也为了防止外引导板20过长而造成搭挂时同时搭挂两根输电线路,外引导板20的宽度应大于机器人整体高度的三分之一,小于机器人整体高度的二分之一。 An outer guide plate 20 to ensure adequate identification of the high altitude, will facilitate the work of the outer guide plate 20 is hooked to the transmission lines, but also the outer guide plate 20 in order to prevent excessively long time while the hooking hooked two transmission lines, the width of the outer guide plate 20 should be larger than one third of the overall height of the robot, the robot is less than one-half the overall height. 外引导板20的上端与横支架19的自由端铰接,外引导板20和竖支架18分别位于行走轮4的两侧,即竖支架18、横支架19和外引导板20罩于行走轮4的外周。 The free end of the upper cross beam outer hinge plate 20 of the guide 19, the outer guide plate 20 and the bracket 18 on each side of the vertical running wheels 4, i.e., the vertical bracket 18, the bracket 19 and the lateral outer guide plate 20 to cover running wheels 4 the outer periphery. 外引导板20的内侧安装内引导板22,内引导板22的下端与外引导板20的下端铰接。 The outer guide plate 20 is mounted within the inner guide plate 22, the lower end of the inner guide plate 22 and the outer guide 20 of the lower end of the hinge plate. 横支架19上安装第二电动推杆23,第二电动推杆23与横支架19铰接。 Horizontal mounting bracket 23 on the push rod 19 of the second motor, the second motor 23 and the push rod 19 is hinged cross beam. 第二电动推杆23的活塞杆与内引导板22上端铰接。 The second electric push rod 23 piston rod guide plate 22 and the inner upper hinge. 内引导板22上沿内引导板22的长度方向依次竖向开设四个内引导板槽32。 On the inner guide plate 22 along the longitudinal direction of the guide plate 22 in turn defines four inner vertical groove guide plate 32. 内引导板槽32与行走轮4--对应配合。 The guide plate groove 32 mating with a corresponding running wheels 4--.

[0010] 吊装和悬挂时,先将机器人的壳体I与起吊设备的吊臂连接,利用起吊设备将机器人吊于待悬挂的一根输电线路的斜上方,此时,胀紧轮8如图1所示,位于机器人最下方,使行走轮4处有足够的空间进行悬挂操作;再启动第二电动推杆23,第二电动推杆23通过内引导板22使外引导板20由竖向位置向外展开45度,同时通过起吊设备将机器人由上述输电线路的斜上方向输电线路`倾斜移动靠近,使外引导板20和内引导板22的下端搭挂于该输电线路上;然后,一方面使机器人进一步斜向下移动靠近输电线路,另一方面启动第二电动推杆23反向动作,拉动外引导板20和内引导板22反向移动至如图1所示位置,由内引导板22将输电线路引导至四个独立的行走轮4下方,并进入每个行走轮4的轮槽内,完成悬挂工作,此时,四个行走轮4与四个内引导板槽32对应配合;最后, [0010] When the suspension and lifting, and lifting the boom housing I first device connected to the robot, the robot using lifting equipment to be suspended above the oblique hanging of a transmission line, in which case, as shown in FIG swelling wheel 8 1, the bottom of the robot, so that the traveling wheels 4 have sufficient space for hanging operation; restart second electric push rod 23, push rod 23 of the second motor 22 through the outer guide plate 20 by a vertical guide plate outwardly deployed position 45 degrees, while the lifting apparatus by the robot from the oblique direction of the power transmission line near the transmission line `tilting movement, the lower end of the outer guide plate 20 and the inner guide plate 22 is hooked to the transmission line; then, the robot further aspect obliquely moves downward near transmission lines, on the other hand the second motor start push rod 23 reverse action, pulling the outer guide plate 20 and the inner guide plate 22 moves backward to the position shown in FIG. 1, an inner the guide plate 22 to guide the four separate transmission line downward travel wheel 4, the traveling wheels and wheel into each slot 4, the complete suspension work, time, four four traveling wheels 4 and the guide plate 32 corresponding to the grooves cooperation; and finally, 一方面启动第二电动推杆23使内引导板22与外引导板20闭合复位,防止机器人行走时,内引导板22与输电线路发生磨擦,以及防止内引导板22与输电线路上的间隔棒等发生碰撞,另一方面,启动第一电机9,第一电机9通过第一丝杠10和第一螺母11带动胀紧轮8上移,使胀紧轮8与四个行走轮4配合夹紧输电线路,防止输电线路由行走轮4内滑脱。 On the one hand the second motor start push rod guide plate 23 so that the guide plate 22 and the outer closure 20 is reset, when the robot walks prevented, the guide plate 22 and the transmission line friction occurs, and to prevent the spacers 22 and the inner guide plate transmission line other collision, on the other hand, activates the first motor 9, the first motor 8 wheel 9 move by the first tightening screw 10 and the nut 11 driven by a first swelling the swelling wheel 8 fitted with four running wheels 4 sandwiched transmission lines tight to prevent slippage within the power transmission route running wheels 4. 整个起吊悬挂过程最多耗时20分钟,若工作人员操作熟练,可将起吊悬挂时间缩短至10分钟。 Suspension whole lifting process takes up to 20 minutes, if the operation of skilled staff, lifting may be shortened to 10 minutes hang time. 机器人沿输电线路行走,并通过机械臂将输电线路上的塑料袋等废物清除。 Robot walks along the transmission line, and transmission line through the robot arm and the like plastic waste removal.

[0011] 如图,所述壳体I的后侧上安装第二导杆27,第二导杆27上活动安装配重块28,配重块28可沿第二导杆27滑动。 [0011] As shown, the housing is mounted on the rear side of the second guide bar 27 is I, 27 is mounted on the movable second guide bar counterweight 28, the counterweight 28 can slide along the second guide bar 27. 配重块28上设有第二螺母29。 The counterweight 29 is provided on the second nut 28. 壳体I上安装第二电机30,第二电机30上安装第二丝杠31,第二丝杠31与第二螺母29螺纹连接。 I mounted on a second motor housing 30, a second lead screw 31 mounted on a second motor 30, a second lead screw 31 is connected to the second nut 29 threaded. 在起吊悬挂时,为防止机器人在悬挂过程中摆动,造成机器人由输电线路上脱落,可启动第二电机30,第二电机30通过第二螺母29和第二丝杠31将配重块28提升至壳体I上部,使机器人的重心位于壳体I上移。 When lifting the suspension, in order to prevent the suspension during the swing robot, the robot off caused by the transmission lines, can activate the second motor 30, second motor 30 through the second nut 29 and a second lead screw 31 to lift the counterweight 28 to the upper housing I, shifting the center of gravity of the robot is positioned on the housing I. 悬挂完成后,为确保机器人在输电线路上行走稳定,启动第二电机30将配重块28下移至壳体I下部。 After suspension is complete, to ensure stable walking robot on transmission lines, a second motor 30 starts to move down to the counterweight 28 a lower housing I.

[0012] 为在悬挂过程中,使行走轮4和外引导板20处有足够的空间,以便使悬挂的成功率更高,悬挂时间更短,如图1和2所示,所述连接机构由转向电机5和偏心杆6连接构成。 [0012] In the suspension process of the traveling wheels 4 and the outer guide plate 20 there is sufficient space, so that a higher success rate of the suspension, the suspension time is shorter, as shown in FIGS. 1 and 2, the connecting means connected by a steering motor 5 and the eccentric shaft 6 configured. 转向电机5与第一螺母11连接,转向电机5的输出轴上安装偏心杆6,偏心杆6的一端安装轮架7。 Steering motor 5 and the first nut 11 is connected to the steering output shaft of the motor 5 is mounted eccentric rod 6, the rod end of the eccentric mounting of the wheel carrier 76. 悬挂时,一方面第一螺母11带动胀紧轮8下移至第一螺母11的最下方,另一方面,转向电机5通过偏心杆6带动胀紧轮8旋转,使胀紧轮8进一步下移,从而,加大行走轮4处的空间。 When hanging, one of the first nut 11 is driven to move the wheel 8 swelling the bottom of the first nut 11, on the other hand, the steering motor 5 is driven by the eccentric shaft 6 swelling wheel 8 is rotated, so that the wheel 8 is further lower swelling shift, thereby increasing the space at the traveling wheels 4.

[0013] 为确保机器人在输电线路上行走更加稳定,如图1和图4所示,所述壳体I的两侧各水平安装一个横向缓冲杆25,每个横向缓冲杆25的一端各竖向安装一个行走棍26。 [0013] In order to ensure the robot walk more stably on transmission lines, as shown in FIGS. 1 and 4, each of the horizontal sides of the housing is mounted a transverse I buffer rod 25, each transverse end of the rod 25 of each of the cushioning vertical 26 mounted to a walking stick. 行走辊26与悬挂输电线路下方的一根电线水平配合,确保机器人在输电线路上直立行走,以便于完成清障工作。 Traveling roller 26 is suspended below the transmission line with a fitting horizontal wire, to ensure the robot to walk upright on transmission lines, in order to complete the wrecker.

[0014] 如图1和4所示,所述内腔2内水平安装转轴35。 [0014] 1 and 2, the inner lumen 354 mounting shaft 2 horizontal. 转轴35上安装辅助引导板17。 Auxiliary guide plate 17 mounted on the rotary shaft 35. 如图4所示,辅助引导板17的上端开设四个辅助引导板槽33。 As shown, the upper end 17 of the auxiliary guide plate 4 defines four auxiliary grooves 33 guide plate. 四个辅助引导板槽33与四个行走轮4 一一对应配合。 Four auxiliary guide plate 33 is fitted with four grooves running wheels 4-one correspondence. 转轴35上安装拔杆15,内腔2内安装第一电动推杆16,第一电动推杆16的一端与壳体I铰接,第一电动推杆16的活塞杆与拔杆15铰接。 Mounted on the rotating shaft 35 to pull rod 15, is mounted within the lumen of the first motor 2 pusher 16, one end of the push rod and the first motor housing 16 is hinged I, the first motor and the piston rod 15 to pull the push rod 16 is hinged. 内引导板22引导输电线路向行走轮4的轮槽内靠近的同时,第一电动推杆16通过拔杆15推动辅助引导板17向外倾斜至如图1所示位置,此时,辅助引导板槽33与行走轮4 一一对应配合,辅助引导板17和内引导板22共同引导输电线路进入行走轮4的轮槽内,从而,可确保在外弓I导板20搭挂成功的前提下,悬挂工作一次成功。 While the guide plate 22 guide the transmission line closer to the groove of the running wheel wheel 4, the first motor 16 by pulling the plunger rod 15 pushing the auxiliary guide plate 17 is inclined outwardly to the position shown in Figure 1, this time, the auxiliary guide slot plate 33 and the traveling wheels 4-one correspondence with the auxiliary guide plate 17 and the inner guide plate 22 to enter the common transmission line guide slot running wheels wheel 4, thereby ensuring the outer guide plate 20 the bow I hooked prerequisite for success, suspension of work a success.

[0015] 如图1所示,所述外引导板20的外侧安装重块21。 [0015] As shown in FIG 1, the outer guide plate 20 is mounted outside of the weight 21. 重块21可使外引导板20在重力作用下始终有保持竖向位置的趋势,以便外引导板20能有效将搭挂的输电线路快速引导至行走轮4内。 21 weight outer guide plate 20 can always be held in a vertical position by gravity trend, so that the outer guide plate 20 can effectively be hooked fast transmission line guided into the traveling wheels 4.

[0016] 为方便确认输电线路上废物的位置,以便快速清理,如图1所示,所述横支架19上安装摄像头24。 [0016] To facilitate confirmation of the position of the power transmission line waste, to quickly clean up, shown in Figure 1, the lateral camera 24 is mounted on the bracket 19. 摄像头24可相对横支架19水平360度及俯仰45度转动。 The camera 24 relative lateral horizontal bracket 19 is rotated 360 degrees and tilt 45 degrees.

[0017] 所述竖向缓冲杆3和横向缓冲杆25可以是现有摩托车前轮用的减震杆。 The [0017] vertical buffer rod 3 and the transverse buffer rod 25 may be conventional damper lever motorcycle front wheel.

[0018] 本实用新型所述的技术方案并不限制于本实用新型所述的实施例的范围内。 The [0018] present invention according to the aspect of the present invention is not limited to the scope of the embodiments. 本实用新型未详尽描述的技术内容均为公知技术。 Teachings of the present invention are not exhaustive description of well-known techniques.

Claims (7)

1.超高压输电线路清障机器人,包括壳体(1),壳体(I)内设有内腔(2),内腔(2)内竖向安装四根竖向缓冲杆(3),每个竖向缓冲杆(3)的上端穿出壳体(I)外各安装一个行走轮电机(34),每个行走轮电机(34)上安装一个行走轮(4),行走轮(4)是槽轮,壳体(I)的一侧安装机械臂,其特征在于:内腔(2)内水平设有隔板(14),内腔(2)内装有第一导杆(12),第一导杆(12)上活动安装第一滑套(13),第一滑套(13)上安装第一螺母(11),内腔(2)内安装第一电机(9),第一电机(9)的输出轴上安装第一丝杠(10),第一丝杠(10)与第一螺母(11)螺纹连接,第一螺母(11)通过连接机构与轮架(7 )连接,轮架(7 )上安装胀紧轮(8 );壳体(I)的顶部竖向安装竖支架(18 ),竖支架(18 )上横向设有横支架(19 ),横支架(19 )的自由端安装外引导板(20),夕卜引导板(20)的宽度应大于机器人整体高度的三分之一,小于机器人整体高度 1. robot wrecker EHV transmission lines, comprising a housing (1), the casing (I) equipped with a lumen (2), the inner lumen (2) mounted vertically buffer four vertical bars (3), upper end of each vertical buffer rod (3) of the piercing shell (I) each of the outer wheel is mounted a traveling motor (34), is mounted a running wheel (4), traveling wheels (traveling wheels 4 on each motor (34) ) is a sheave side of the case (I) of the robot arm is mounted, wherein: lumen) (2 provided with a horizontal partition plate (14), a lumen (2) that has the first guide rod (12) a first guide rod (12) movably mounted on the first sleeve (13), a first sleeve (13) mounting a first nut (11), mounted within the lumen (2) a first motor (9), the a motor (9) mounted on the output shaft of the first screw (10), a first screw (10) and the first nut (11) screwed, a first nut (11) to the wheel carrier by the connection mechanism (7) connection, the wheel carrier (7) is mounted swelling wheel (8); the top of the vertical housing (I), a vertical mounting bracket (18), is provided with a transverse cross beam (19), the vertical cross beam support (18) ( 19) mounting an outer free end of the guide plate (20), the width of the guide plate Bu Xi (20) should be greater than one-third of the overall height of the robot, the robot is less than the overall height 的二分之一,外引导板(20)的上端与横支架(19)的自由端铰接,外引导板(20)和竖支架(18)分别位于行走轮(4)的两侧,外引导板(20)的内侧安装内引导板(22),内引导板(22)的下端与外引导板(20)的下端铰接;横支架(19)上安装第二电动推杆(23),第二电动推杆(23 )与横支架(19 )铰接,第二电动推杆(23 )的活塞杆与内弓丨导板(22 )上端铰接;内引导板(22)上沿内引导板(22)的长度方向依次竖向开设四个内引导板槽(32),内引导板槽(32)与行走轮(4) 一一对应配合。 One-half, the outer guide plate (20) and the upper cross beam (19) is hinged the free end of the outer guide plate (20) and the vertical support (18) on each side of the running wheel (4), the outer guide the guide plate (22) of the inner mounting plate (20), the lower end of the inner guide plate (22) and the outer guide plate (20) is hinged the lower end; a second motor mounted push rod (23) on the cross beam (19), the first two electric push rod (23) and the cross beam (19) is hinged, a second electric push rod (23) and the piston rod bow Shu guide (22) the upper end of the hinge; guide plate (22) on the inner edge of the inner guide plate (22 ) in the longitudinal direction successively four inner guide plate defines a vertical groove (32), the guide plate groove (32) with running wheels (4) one to one mating.
2.根据权利要求1所述的超高压输电线路清障机器人,其特征在于:所述壳体(I)的后侧上安装第二导杆(27),第二导杆(27)上活动安装配重块(28),配重块(28)上设有第二螺母(29),壳体(I)上安装第二电机(30),第二电机(30)上安装第二丝杠(31),第二丝杠(31)与第二螺母(29)螺纹连接。 According to claim wrecker EHV transmission lines of the robot 1, wherein: the second guide rod is mounted (27) on a rear side of the housing (I), and (27) on the movable second guide bar mounting a second weight on a mounting screw (28), the counterweight (28) is provided with a second nut (29), the housing (I) is mounted on a second motor (30), a second motor (30) (31), a second screw (31) (29) connected to the second threaded nut.
3.根据权利要求1所述的超高压输电线路清障机器人,其特征在于:所述连接机构由转向电机(5 )和偏心杆(6 )连接构成,转向电机(5 )与第一螺母(11)连接,转向电机(5 )的输出轴上安装偏心杆(6 ),偏心杆(6 )的一端安装轮架(7 )。 The EHV transmission lines wrecker robot according to claim 1, wherein: said connecting means by a steering motor (5) and the eccentric rod (6) connected configuration, the steering motor (5) and the first nut ( 11) is connected to the steering output shaft of the motor (5) mounting the eccentric rod (6), one end of the eccentric rod (6) is mounted a wheel carrier (7).
4.根据权利要求1所述的超高压输电线路清障机器人,其特征在于:所述壳体(I)的两侧各水平安装一个横向缓冲杆(25 ),每个横向缓冲杆(25 )的一端各竖向安装一个行走棍(26)。 According to claim wrecker EHV transmission lines of the robot 1, characterized in that: both sides of the housing (I) each mounting a transverse horizontal buffer rod (25), each transverse buffer rod (25) the end of each vertical mounting a walking stick (26).
5.根据权利要求1所述的超高压输电线路清障机器人,其特征在于:所述内腔(2)内水平安装转轴(35),转轴(35)上安装辅助引导板(17),辅助引导板(17)的上端开设四个辅助引导板槽(33 ),四个辅助引导板槽(33 )与四个行走轮(4 ) 一一对应配合;转轴(35 )上安装拔杆(15),内腔(2)内安装第一电动推杆(16),第一电动推杆(16)的一端与壳体(I)铰接,第一电动推杆(16)的活塞杆与拔杆(15)铰接。 According to claim wrecker EHV transmission lines of the robot 1, wherein: said inner lumen (2) horizontal mounting shaft (35), the shaft (35) mounting the auxiliary guide plate (17), secondary the upper end of the guide plate (17) defines four auxiliary guide plate groove (33), four auxiliary guide plate groove (33) with four running wheels (4) one to one mating; pull rod is mounted (on the shaft 15 (35) ), the first lumen is mounted an electric push rod (16)) (2, one end of a first electric push rod (16) with the housing (I) is hinged, a first motor-driven push rod (16) of the piston rod and pull (15) is hinged.
6.根据权利要求1所述的超高压输电线路清障机器人,其特征在于:所述外引导板(20)的外侧安装重块(21)。 According to claim wrecker EHV transmission lines of the robot 1, wherein: the outside of the outer guide plate (20) is mounted weight (21).
7.根据权利要求1所述的超高压输电线路清障机器人,其特征在于:所述横支架(19)上安装摄像头(24)。 According to claim wrecker EHV transmission lines of the robot 1, wherein: said cross beam (19) mounting the camera (24).
CN201320811435.5U 2013-12-11 2013-12-11 Extra high voltage transmission line obstacle cleaning robot CN203660421U (en)

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CN201320811435.5U CN203660421U (en) 2013-12-11 2013-12-11 Extra high voltage transmission line obstacle cleaning robot

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103618257A (en) * 2013-12-11 2014-03-05 国家电网公司 Extra-high-voltage power transmission line barrier removing robot
CN105835982A (en) * 2016-04-11 2016-08-10 重庆邮电大学 Turning structure of 2D quadruped robot and control method of turning structure

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103618257A (en) * 2013-12-11 2014-03-05 国家电网公司 Extra-high-voltage power transmission line barrier removing robot
CN103618257B (en) * 2013-12-11 2016-04-06 国家电网公司 Extra high voltage network obstacle removing robot
CN105835982A (en) * 2016-04-11 2016-08-10 重庆邮电大学 Turning structure of 2D quadruped robot and control method of turning structure
CN105835982B (en) * 2016-04-11 2017-12-26 重庆邮电大学 The turning structure of 2D quadruped robots

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