CN204068162U - Removing ice of power transmission line robot - Google Patents
Removing ice of power transmission line robot Download PDFInfo
- Publication number
- CN204068162U CN204068162U CN201420388468.8U CN201420388468U CN204068162U CN 204068162 U CN204068162 U CN 204068162U CN 201420388468 U CN201420388468 U CN 201420388468U CN 204068162 U CN204068162 U CN 204068162U
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- China
- Prior art keywords
- timing belt
- deicing
- arm
- transmission line
- synchronous pulley
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Abstract
The utility model belongs to mechanical field, particularly Maintenance of Electric Transmission Line field, and specifically relate to a kind of Novel sports form removing ice of power transmission line robot, it comprises: arm mechanism, deicing mechanism and Timing Belt car body; Described Timing Belt car body comprises: Timing Belt, two driving synchronous pulleys, two the first driven synchronous pulleys, two the second driven synchronous pulleys, limiting plate, Г template and direct current machines, described Timing Belt is surrounded on and drives on synchronous pulley, the first driven synchronous pulley and the second driven synchronous pulley, arm mechanism, deicing mechanism and Timing Belt car combine by removing ice of power transmission line robot dexterously, adopt two motors to drive deicing mechanism and Timing Belt car respectively, and rely on the feature obstacle avoidance of the discrete crawl cable of arm.Robot overall volume is little, structure is simple, quality gently, easily controls, and experiment proves that this kind of constructed machine people has good obstacle climbing ability and deicing effect.Patrolling and examining and deicing of transmission line can be applied to.
Description
Technical field
The utility model belongs to mechanical field, particularly Maintenance of Electric Transmission Line field, specifically relates to a kind of Novel sports form removing ice of power transmission line robot.
Background technology
Transmission line be responsible for electric power conveying important task, the stable sound development of national economy and the fail safe of its operation closely bound up.China is for ensureing existing transmission line safe and reliable operation, and a large amount of human and material resources of annual input are made regular check on and maintenance it.Under special bad weather in the winter time, freezing sleet can cause transmission line accumulated snow and icing, causes the accidents such as line tripping, causes economy of large scale to lose.The achievement in research of our comprehensive line inspection robot and de-icing method aspect for this reason, devises the robot with certain obstacle climbing ability and polling transmission line, deicing function.
At present, typical polling transmission line deicing robot is divided into wheeled, arm-type and wheel arm is hybrid.The power line damage detection device car-like robots that Canadian HQ LineROVer remote operated vehicle and Japanese Sato company produce typically wheeledly patrols and examines deicing robot, and they do not have obstacle climbing ability, are only applicable to running deicing between shaft tower.The autonomous crusing robot of cantilever of beautiful N1TRC company development is arm-type crusing robot comparatively early, and its obstacle climbing ability is relatively strong, walks finite rate at cable upstream.The inspection robot for ultra-high voltage power transmission lines that the LineScout robot of people's developments such as Serge and Shenyang automation research are developed is the representative hybrid transmission line polling robot of wheel arm, the barrier such as stockbridge damper, wire barrel can be crossed over, but control comparatively complicated.
Summary of the invention
The purpose of this utility model to provide a kind of removing ice of power transmission line robot, solve existing removing ice of power transmission line robot to there is obstacle climbing ability difference, control complicated technical problem, the application can link up, stably realize functions such as " walking-obstacle detouring-deicing ", realize the attached ice of high efficiency removal transmission line, and structure is simple, it is convenient to control.
To achieve these goals, the technical scheme that the utility model adopts is removing ice of power transmission line robot, and it comprises: arm mechanism, deicing mechanism and Timing Belt car body; Described Timing Belt car body comprises: Timing Belt, two driving synchronous pulleys, two the first driven synchronous pulleys, two the second driven synchronous pulleys, limiting plate, Г template and direct current machines, described Timing Belt is surrounded on and drives on synchronous pulley, the first driven synchronous pulley and the second driven synchronous pulley, direct current machine drives synchronous pulley by the synchronous pulley on it through deceleration synchronization band and deceleration synchronization band wheel drive two, and two drive synchronous pulley to drive the first driven synchronous pulley and the second driven synchronous pulley motion; Described deceleration synchronization belt wheel and driving synchronous pulley are connected as one by jackscrew; Described arm mechanism is uniform respectively on the Timing Belt of Timing Belt car body, and described Timing Belt car body is provided with deicing mechanism.
Described arm mechanism is 9.
Described arm mechanism comprises: pillar, two monodactyles, locating part, scroll wheel, connecting axle and springs; The support of described pillar and locating part composition arm mechanism; Described two monodactyles to be arranged on support and to be connected with U-shaped, described connecting axle one end is connected with U-shaped by screw thread through position-limiting drum, the other end interts little axle, two scroll wheels are respectively equipped with in little axle both sides, connecting axle interts the rotation of the laterally inserted limit stick restriction connecting axle in one end of little axle in locating part endoporus, and connecting axle is provided with spring.
The square column part of described locating part inserts Timing Belt, and with bolt, both is linked together.
Described arm mechanism relies on two monodactyles to contact with power transmission line, and its cyclic dispersion captures power transmission line, is point-like contacts; Namely, when arm mechanism turns to vertical position with Timing Belt, on the downside of the limiting plate in the scroll wheel incision Timing Belt car body of arm mechanism, the connecting axle of arm mechanism moves down, and arm mechanism closes; When arm mechanism moves to the other end of limiting plate, scroll wheel departs from limiting plate, and arm is opened under the action of the spring automatically.
Described deicing mechanism comprises: drive direct current machine, driven wheel, two driven gears, fixed head, O type groove, guide link, positioning tube, Rotational Cylindrical, connecting rod, deicing arm and tups; Gear is fixed on fixed mount by bolt and bearing; " O " type groove is screwed on gear, and described 0 type groove can move at gear; The guide link be connected with " O " type groove is through position-limiting drum, and its two ends are threaded with positioning tube and " O " type groove; Rotational Cylindrical lower end is inserted in positioning tube, and upper end through hole is installed with connecting rod; Two aluminium sheet compositions have the deicing arm of certain angle, and connecting rod is threaded with deicing arm; U-shaped of Timing Belt car body provides fulcrum for deicing arm, and described deicing arm is provided with tup; It is anterior that deicing drives direct current machine to be positioned at Timing Belt body inner side, and it is sent to deicing arm by gear train and connecting rod, and deicing arm straps moves tup motion.
The course of work of the present utility model is as follows: arm mechanism is uniformly distributed on the Timing Belt of Timing Belt car body, direct current machine drives synchronous pulley by the synchronous pulley on it through deceleration synchronization band and deceleration synchronization band wheel drive two, two drive synchronous pulley to drive the first driven synchronous pulley and the second driven synchronous pulley motion, thus driving Timing Belt motion, Timing Belt drives the handle mechanism motion arranged on it; When arm mechanism turns to vertical position with Timing Belt, on the downside of the limiting plate of the scroll wheel incision Timing Belt car body of arm mechanism, the connecting axle of arm mechanism moves down, and arm mechanism closes; When arm mechanism moves to the other end of limiting plate, scroll wheel departs from limiting plate, and two monodactyles are opened under the action of the spring automatically; Robot captures power transmission line by arm circulation and completes movement; The power being positioned at the deicing drive motors of Timing Belt body inner side front portion is sent to deicing arm by gear train and connecting rod, and deicing arm straps moves tup, makes tup traverse, completes removing ice of power transmission line.
The invention has the advantages that: arm mechanism, deicing mechanism and Timing Belt car combine by removing ice of power transmission line robot dexterously, adopt two motors to drive deicing mechanism and Timing Belt car respectively, and rely on the feature obstacle avoidance of the discrete crawl cable of arm.Robot overall volume is little, structure is simple, quality gently, easily controls, and experiment proves that this kind of constructed machine people has good obstacle climbing ability and deicing effect.Patrolling and examining and deicing of transmission line can be applied to.
Accompanying drawing explanation
Fig. 1 structural representation of the present invention;
Fig. 2 side structure cross-sectional schematic of the present invention;
Fig. 3 plan structure schematic diagram of the present invention;
Fig. 4 arm mechanism schematic diagram of the present invention;
Fig. 5 deicing of the present invention drives transmission schematic diagram;
In figure: 1, tup, 2, deicing arm, 3, side plate, 4, Timing Belt, 5, connecting rod, 6, Г template, 7, limiting plate, 8, deceleration synchronization band, 9, drive synchronous pulley, 10, direct current machine, 11, second driven synchronous pulley, 12, deicing drive motors, 13, driven wheel, 14, first driven synchronous pulley, 15, pawl arm is in robot position on the whole, 16, fastener, 17, deceleration synchronization belt wheel, 18, gear, 19, Rotational Cylindrical, 20, guide link, 21, connecting axle, 22, locating part, 23, spring, 24, U-shaped, 25, monodactyle, 26, pillar, 27, limit stick, 28, scroll wheel, 29, little axle, 30, fixed mount, 31, bolt, 32, " O " type groove, 33, screw, 34, position-limiting drum, 35, positioning tube.
Embodiment:
In order to understand this removing ice of power transmission line robot further, be described as follows below in conjunction with accompanying drawing.
Arm mechanism, deicing mechanism and Timing Belt car body combine by dexterously, adopt two motors to drive deicing mechanism and Timing Belt car body respectively; Timing Belt car body comprises Timing Belt 4, two and drives synchronous pulley 9, two the first driven synchronous pulleys 14, two the second driven synchronous pulleys 11, limiting plate 7, Г template 6 and direct current machines 10, described Timing Belt 4 is surrounded on and drives on the driven synchronous pulley 14 of synchronous pulley 9, first and the second driven synchronous pulley 11, direct current machine 10 drives two to drive synchronous pulley 9, two to drive synchronous pulley 9 to drive the first driven synchronous pulley 14 and the second driven synchronous pulley 11 to move by the synchronous pulley on it through deceleration synchronization band 8 and deceleration synchronization belt wheel 17; Described deceleration synchronization belt wheel 17 and driving synchronous pulley 9 are connected as one by jackscrew; Г template 6 stuck part 16 is limited on side plate 3, and fixing outside side plate by jackscrew; Limiting plate 7 can adjust position up and down; In arm mechanism, the square column part of locating part 22 inserts Timing Belt 4, and with bolt, both is linked together; Monodactyle 25 contacts with power transmission line; Two pillars 26 and locating part 22 form the support of arm mechanism.Little axle 29 is interted in connecting axle 21 lower end, and two scroll wheels 28 are respectively equipped with in little axle both sides, and the top of connecting axle 21 is connected with U-shaped 24 by screw thread, and the laterally inserted limit stick 27 in downside limits the rotation of connecting axle in locating part 22 endoporus; When arm mechanism turns to vertical position with Timing Belt, the scroll wheel 28 of arm mechanism is cut on the downside of the limiting plate 7 in Timing Belt car body, connecting axle 21 times movements of arm mechanism, and arm mechanism closes; When arm mechanism moves to the other end of limiting plate 7, scroll wheel 28 departs from limiting plate, and arm is automatically opened under the effect of spring 23; The arm mechanism cyclic dispersion of robot captures power transmission line, and band motor vehicles bodies moves forward.Gear 18 in described deicing mechanism is fixed on fixed mount 30 by bolt 31 and bearing, and " O " type groove 32 is fixed on gear 18 with screw 33, and guide link 20 is through position-limiting drum 34, and its two ends are threaded with positioning tube 35 and " O " type groove 32.Rotational Cylindrical 19 lower end is inserted in positioning tube 35, and upper end through hole is installed with connecting rod 5.Two aluminium sheet compositions have the deicing arm 2 of certain angle, and connecting rod 5 is threaded with deicing arm (2).U-shaped 3 is that deicing arm 2 provides a fulcrum on car body.The turnover being positioned at the deicing drive motors (12) of Timing Belt body inner side front portion moves through gear train and connecting rod is sent to tup (1), and makes tup traverse, completes removing ice of power transmission line.
Claims (6)
1. removing ice of power transmission line robot, it comprises: arm mechanism, deicing mechanism and Timing Belt car body, described Timing Belt car body comprises: Timing Belt (4), two drive synchronous pulley (9), two the first driven synchronous pulleys (14), two the second driven synchronous pulleys (11), limiting plate (7), Г template (6) and direct current machine (10), described Timing Belt (4) is surrounded on and drives synchronous pulley (9), on first driven synchronous pulley (14) and the second driven synchronous pulley (11), direct current machine (10) drives two to drive synchronous pulley (9) by the synchronous pulley on it through deceleration synchronization band (8) and deceleration synchronization belt wheel (17), two drive synchronous pulley (9) to drive the first driven synchronous pulley (14) and the motion of the second driven synchronous pulley (11), described deceleration synchronization belt wheel (17) and driving synchronous pulley (9) are connected as one by jackscrew, described arm mechanism is uniform respectively on the Timing Belt (4) of Timing Belt car body, and described Timing Belt car body is provided with deicing mechanism.
2. removing ice of power transmission line robot according to claim 1, is characterized in that: described arm mechanism is 9.
3. removing ice of power transmission line robot according to claim 1, is characterized in that: described arm mechanism comprises: pillar (26), two monodactyles (25), locating part (22), scroll wheel (28), connecting axle (21) and springs (23); The support of described pillar (26) and locating part (22) composition arm mechanism; Described two monodactyles to be arranged on support and to be connected with U-shaped (24), described connecting axle (21) one end is connected with U-shaped (24) by screw thread through position-limiting drum, the other end interts little axle (29), two scroll wheels (28) are respectively equipped with in little axle (29) both sides, the rotation of the laterally inserted limit stick in one end (27) restriction connecting axle in locating part (22) endoporus of the interspersed little axle of connecting axle (21), connecting axle is provided with spring (23).
4. removing ice of power transmission line robot according to claim 3, is characterized in that: the square column part of described locating part (22) inserts Timing Belt (4), and with bolt, both is linked together.
5. the removing ice of power transmission line robot according to claim 1 or 3, is characterized in that: described arm mechanism relies on two monodactyles (25) to contact with power transmission line, and its cyclic dispersion captures power transmission line, is point-like contacts; Namely when arm mechanism turns to vertical position with Timing Belt, limiting plate (7) downside in scroll wheel (28) the incision Timing Belt car body of arm mechanism, the connecting axle (21) of arm mechanism moves down, and arm mechanism closes; When arm mechanism moves to the other end of limiting plate (7), scroll wheel (28) departs from limiting plate, and arm is automatically opened under the effect of spring (23).
6. removing ice of power transmission line robot according to claim 1, is characterized in that: described deicing mechanism comprises: drive direct current machine (12), driven wheel (13), two driven gears (18), fixed head (30), O type groove (32), guide link (20), positioning tube (35), Rotational Cylindrical (19), connecting rod (5), deicing arm (2) and tups (1); Gear (18) is fixed on fixed mount (30) by bolt (31) and bearing; " O " type groove (32) screw (33) is fixed on gear (18), and described O type groove can be mobile at gear (18); The guide link (20) be connected with " O " type groove (32) is through position-limiting drum (34), and its two ends are threaded with positioning tube (35) and " O " type groove (32); Rotational Cylindrical (19) lower end is inserted in positioning tube (35), and upper end through hole is installed with connecting rod (5); Two aluminium sheet compositions have the deicing arm (2) of certain angle, and connecting rod 5 is threaded with deicing arm (2); U-shaped (3) of Timing Belt car body provide fulcrum for deicing arm (2), and described deicing arm is provided with tup (1); It is anterior that deicing drives direct current machine (12) to be positioned at Timing Belt body inner side, and it is sent to deicing arm by gear train and connecting rod, and deicing arm straps moves tup (1) motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420388468.8U CN204068162U (en) | 2014-07-11 | 2014-07-11 | Removing ice of power transmission line robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420388468.8U CN204068162U (en) | 2014-07-11 | 2014-07-11 | Removing ice of power transmission line robot |
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| Publication Number | Publication Date |
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| CN204068162U true CN204068162U (en) | 2014-12-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201420388468.8U Expired - Fee Related CN204068162U (en) | 2014-07-11 | 2014-07-11 | Removing ice of power transmission line robot |
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| CN (1) | CN204068162U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105633898A (en) * | 2016-03-29 | 2016-06-01 | 国家电网公司 | High-voltage line cable deicing equipment |
| CN106078679A (en) * | 2016-06-23 | 2016-11-09 | 陈晨 | A kind of mountain area high-voltage electric power circuit upkeep operation intelligent robot |
| CN107097207A (en) * | 2017-06-16 | 2017-08-29 | 桂林电子科技大学 | Can obstacle detouring Wire walking robot and its moving obstacle-crossing method |
| CN107706812A (en) * | 2017-10-20 | 2018-02-16 | 广州公孙策信息科技有限公司 | A kind of municipal electric inspection process device |
| CN112091924A (en) * | 2020-08-07 | 2020-12-18 | 西南石油大学 | Wheel-arm hybrid reconfigurable robot |
-
2014
- 2014-07-11 CN CN201420388468.8U patent/CN204068162U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105633898A (en) * | 2016-03-29 | 2016-06-01 | 国家电网公司 | High-voltage line cable deicing equipment |
| CN105633898B (en) * | 2016-03-29 | 2018-02-02 | 国家电网公司 | A kind of high-voltage line cable deicing equipment |
| CN106078679A (en) * | 2016-06-23 | 2016-11-09 | 陈晨 | A kind of mountain area high-voltage electric power circuit upkeep operation intelligent robot |
| CN106078679B (en) * | 2016-06-23 | 2018-09-18 | 罗军 | A kind of mountain area high-voltage electric power circuit upkeep operation intelligent robot |
| CN107097207A (en) * | 2017-06-16 | 2017-08-29 | 桂林电子科技大学 | Can obstacle detouring Wire walking robot and its moving obstacle-crossing method |
| CN107097207B (en) * | 2017-06-16 | 2023-08-29 | 桂林电子科技大学 | Obstacle surmounting walking wire robot and obstacle surmounting walking method thereof |
| CN107706812A (en) * | 2017-10-20 | 2018-02-16 | 广州公孙策信息科技有限公司 | A kind of municipal electric inspection process device |
| CN112091924A (en) * | 2020-08-07 | 2020-12-18 | 西南石油大学 | Wheel-arm hybrid reconfigurable robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141231 Termination date: 20150711 |
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| EXPY | Termination of patent right or utility model |