CN204578033U - Climbing deicing robot - Google Patents
Climbing deicing robot Download PDFInfo
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- CN204578033U CN204578033U CN201520285331.4U CN201520285331U CN204578033U CN 204578033 U CN204578033 U CN 204578033U CN 201520285331 U CN201520285331 U CN 201520285331U CN 204578033 U CN204578033 U CN 204578033U
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Abstract
Climbing deicing robot, relate to deicing robot field, solve existing deicing robot exist by manually delivering to steel tower eminence, the problem of single deicing function can only being realized.Comprise the first identical manipulator mechanism of the first identical climbing mechanism of the first identical deicing mechanism of transmission mechanism, two structures and the second deicing mechanism, two structures and the second climbing mechanism, two structures and the second manipulator mechanism, first deicing mechanism and the second deicing mechanism are arranged on the transmission mechanism left and right sides respectively, first climbing mechanism and the second climbing mechanism are arranged on transmission mechanism rear and front end respectively, first manipulator mechanism is arranged on the first climbing mechanism upper end, and the second manipulator mechanism is arranged on the second climbing mechanism upper end.The mode that the utility model adopts pulley and mechanical arm to match realizes obstacle detouring, and structure is simple, and reliability is high, achieves the object that mechanical arm climbing, deicing, obstacle detouring, detection etc. are flexible multi-purpose, decreases the requirement to servicing unit, have more practical significance.
Description
Technical field
The utility model relates to deicing robot technical field, is specifically related to a kind of climbing deicing robot.
Background technology
Along with China's rapid development of economy, high-voltage large-capacity transmission line is built more and more, and the geographical environment that circuit passes through is more complicated, as through large-area reservoir, lake and high and steep mountains, brings a lot of difficulty to line upkeep.And in severe winter and season in the early spring, China Yunnan-Guizhou Plateau, Sichuan and Shanxi one are with and rime and glaze phenomenon often appear in Hubei & Hunan, cause coated by ice of overhead power transmission line, make line oscillation, flashover, burn, even broken string bar, electric network composition is destroyed, and safe operation is subject to serious threat.In case of emergency, tracking person can only be little a part of icing circuit deicing with hot stick or other similar insulating rod, and artificial deicing has very high danger.Serious powerline ice-covering can cause shaft tower to tilt, collapse, break and insulator arc-over and because of uneven icing with do not deice the phenomenons such as caused wire swing the same period, and causes line tripping thus, the accidents such as power failure.Rush to repair very difficult, thus cause system to have a power failure for a long time, cause having a strong impact on to industrial and agricultural production and people's life.
Abroad, the geography of some countries is similar to China to climatic condition, even the situation of some countries is more severe, in order to ensure the reliability of electric power system, improve the efficiency of high voltage transmission line deicing, reduce the loss, the safety of surfaceman, develops a kind of can to substitute or novel device that Some substitute workman carries out deicing operation is the focus of domestic and international correlative study always.The conducting wire deicing method adopted both at home and abroad at present mainly contains heating power deicing and mechanical deicing two class, and for comparatively serious wire icing, generally effective with deicing of manually reaching the standard grade; But artificial deicing efficiency is lower, and there is certain danger.Existing deicing robot is usually because the barrier such as stockbridge damper, wire clamp, suspension clamp, wire jumper on circuit and cannot free-running operation, and this also significantly limit operation interval and the service efficiency of robot.Therefore develop the machinery of deicing safely and effectively, to replace manually carrying out conducting wire deicing, there is good application prospect.
Utility model content
In order to solve that existing deicing robot exists by manually delivering to steel tower eminence, the problem of single deicing function can only being realized, the utility model provides a kind of and climbs deicing robot.
The technical scheme that the utility model adopts for technical solution problem is as follows:
Climbing deicing robot of the present utility model, comprise the first identical manipulator mechanism of two structures and the second manipulator mechanism, also comprise the first identical climbing mechanism of the first identical deicing mechanism of transmission mechanism, two structures and the second deicing mechanism, two structures and the second climbing mechanism;
Described transmission mechanism comprises: the first fixed head, the second fixed head be connected with the first fixed head, the first motor fixing plate be connected with the first fixed head and the second fixed head, the the first motor support plate be connected with the first motor fixing plate, the first motor be connected with the first motor support plate, the first deicing arm rotating shaft on the first fixed head and the second fixed head is fixed on by bearing, the the first deicing arm transmission worm gear coordinated with the first deicing arm rotary shaft hole axle, be connected with first motor and with the first deicing arm geared worm of the first deicing arm transmission worm gear, the second motor fixing plate be connected with the first fixed head and the second fixed head, the the second motor support plate be connected with the second motor fixing plate, the second largest motor be connected with the second motor support plate, the second deicing arm rotating shaft on the first fixed head and the second fixed head is fixed on by bearing, the the second deicing arm transmission worm gear coordinated with the second deicing arm rotary shaft hole axle, be connected with second largest motor and with the second deicing arm geared worm of the second deicing arm transmission worm gear, be fixed on the camera head on the second motor fixing plate, be connected with the first fixed head and the second fixed head and respectively with first motor, camera head, the battery that second largest motor is connected, to be fixed on battery and respectively with first motor, battery, camera head, the controller that second largest motor is connected, first motor and second largest electric machine rotation is controlled by controller, drive the first deicing arm geared worm and the second deicing arm geared worm to rotate simultaneously, drive the first deicing arm transmission worm gear and the second deicing arm transmission worm gear wheel respectively by the first deicing arm geared worm and the second deicing arm geared worm, thus drive the first deicing arm rotating shaft and the second deicing arm rotating shaft to rotate,
Described first deicing mechanism comprises: the deicing arm rotary joint be connected with the second deicing arm rotating shaft or the first deicing arm rotating shaft, be fixed on the 4th motor of deicing arm rotary joint inside, the motor shaft be connected with the 4th motor, the deicing arm axle on deicing arm rotary joint is fixed on by bearing, the deicing arm axle bevel gear coordinated with deicing arm axle hole axle, coordinate with motor axis hole axle and the motor shaft bevel gear engaged with deicing arm axle bevel gear, the deicing arm bearing that the part of stretching out deicing arm rotary joint with deicing arm axle is connected by clutch shaft bearing end cap, be fixed on the deicing arm pole on deicing arm bearing, deicing arm top cover, upper and lower side is separately fixed at the deicing arm top cover axle in deicing arm top cover installing hole, the part that deicing arm top cover is stretched out in described deicing arm top cover axle lower end is arranged on deicing arm pole, be bolted on the second motor and first motor of deicing arm top cover upper and lower side, axle and the deicing arm top cover axle upper end of described second motor are connected, be fixed on the first round guide on deicing arm top cover and the second round guide, the pulley support frame that hole axle coordinates is with the first round guide and the second round guide, upper end is connected with pulley support frame and the leading screw that is connected by the first shaft joint of the axle of lower end and the first motor, be fixed on the first pulley spindle on pulley support frame same side and the 3rd pulley spindle, the first pulley coordinated with the first pulley axis hole axle, the 3rd pulley coordinated with the 3rd pulley axis hole axle, described first pulley and the 3rd pulley are used for grip wire increasing friction force simultaneously, described first pulley and the 3rd pulley move up and down with pulley support frame, be bolted on the pulley motor in deicing arm top cover, the second pulley spindle be connected with pulley motor by shaft coupling, the second pulley coordinated with the second pulley axis hole axle, be fixed on the 3rd motor fixing plate of deicing arm top cover upper side, be bolted on the 3rd motor of the 3rd motor fixing plate upper surface, be fixed on the 3rd motor fixing plate lower surface and the deicing milling cutter be connected with the 3rd motor by shaft coupling, be fixed on the 3rd motor fixing plate lower surface and deicing wedge inside the deicing milling cutter, be fixed on the ultrasonic sensor of deicing arm top cover upper end,
Deicing arm rotary joint in described first deicing mechanism and the second deicing arm rotating shaft are connected, deicing arm rotary joint in described second deicing mechanism and the first deicing arm rotating shaft are connected, and drive deicing arm rotary joint to rotate by the first deicing arm rotating shaft and the second deicing arm rotating shaft; Described first motor, the second motor, the 3rd motor are all connected with battery with the 4th motor; Described first motor, the second motor, ultrasonic sensor, pulley motor, the 3rd motor are all connected with controller with the 4th motor; Control the second motor by controller to rotate, rotated relative to deicing arm pole by the second driven by motor deicing arm top cover simultaneously; Control the first motor rotation by controller and drive screw turns simultaneously, leading screw drives pulley support frame to move up and down along the first round guide and the second round guide; Control pulley motor rotation by controller drives the second pulley spindle to rotate simultaneously, thus drives the second pulley rotation; Control the 3rd motor by controller and rotate the rotation of the milling cutter of drive deicing simultaneously, milling ice cube, the ice groove milled out by the wedge shaped squeeze effect extruding deicing milling cutter of deicing wedge, the icing on cleaning electric wire; By controller, information processing is carried out to the information that ultrasonic sensor collects, realize climbing deicing robot and keep away the barrier on barrier electric wire and the icing on cleaning electric wire;
Described first climbing mechanism comprises: first rotating arm, the first climbing arm steering spindle on first rotating arm is fixed on by bearing, described first climbing arm steering spindle two ends to be stretched out outside first rotating arm and to be fixed on the first fixed head and the second fixed head respectively by the second bearing (ball) cover, the first bevel gear that arm turns to axis hole axle to coordinate is climbed with first, the second bevel gear engaged with the first bevel gear, be bolted on the 5th motor of first rotating arm inside, coordinate with the second bevel gear hole axle and be fixed on the first rotating arm axle on the 5th motor by the second shaft joint, by the first revolute joint that bolt and first rotating arm are fixed, be bolted on the 6th motor of the first revolute joint inside, the the first revolute joint axle be connected with the 6th motor, be bolted on the first support tube on the first revolute joint, the clutch shaft bearing that bore axle coordinates is supported successively with first, first lap, second bearing and the first baffle ring, first sleeve, be fixed on the first back-up ring on the first sleeve, the first fixed cap that Internal and external cycle is connected with the first revolute joint axle and the first sleeve respectively, the first clamp ring be connected with the first fixed cap, described first revolute joint axle is fixedly linked by the first fixed cap and the first clamp ring and the first sleeve, described first sleeve rotates relative to the first support tube, the first revoliving arm be connected with the first sleeve, be bolted on the rotary joint on the first revoliving arm, second turning arm, the second climbing arm steering spindle on the second turning arm is fixed on by bearing, described second turning arm rotates with the second climbing arm steering spindle axis, described second climbing arm steering spindle two ends to be stretched out outside the second turning arm and to be fixed on rotary joint respectively by the 3rd bearing (ball) cover, the third hand tap gear that arm turns to axis hole axle to coordinate is climbed with second, with the 4th bevel gear of third hand tap gears meshing, be bolted on the 7th motor of the second turning arm inside, coordinate with the 4th bevel gear hole axle and be fixed on the 7th motor by the 3rd shaft joint second rotate arm axle, by the second revolute joint that bolt and the second turning arm are fixed, be bolted on the 8th motor of the second revolute joint inside, the the second revolute joint axle be connected with the 8th motor, be bolted on the second support tube on the second revolute joint, the 3rd bearing that bore axle coordinates is supported successively with second, second circle, 4th bearing and the second baffle ring, second sleeve, be fixed on the second back-up ring on the second sleeve, the second fixed cap that Internal and external cycle is connected with the second revolute joint axle and the second sleeve respectively, the second clamp ring be connected with the second fixed cap, described second revolute joint axle is fixedly linked by the second fixed cap and the second clamp ring and the second sleeve, described second sleeve rotates relative to the second support tube, the second revoliving arm be connected with the second sleeve, the manipulator contiguous block be connected with the second revoliving arm, described first manipulator mechanism is arranged on the manipulator contiguous block of the first climbing mechanism upper end, and described second manipulator mechanism is arranged on the manipulator contiguous block of the second climbing mechanism upper end,
Described 5th motor, the 6th motor, the 7th motor are all connected with battery with the 8th motor, and described 5th motor, the 6th motor, the 7th motor are all connected with controller with the 8th motor; Control the 5th motor by controller and rotate drive first rotating arm axle rotation simultaneously, thus drive the second bevel gear to rotate, the first bevel gear is driven to rotate by the engagement of the second bevel gear and the first bevel gear, and then drive the first climbing arm steering axes, first rotating arm is along with the first climbing arm steering spindle axis rotation simultaneously, and climbing mechanism the latter half is overall along with first rotating arm is along the first climbing arm steering spindle axis oscillating; Control the 6th motor rotation by controller drives the first revolute joint axle to rotate simultaneously, thus drives the first sleeve rotating, and then drives the first revoliving arm be connected with the first sleeve to rotate; Control the 7th motor by controller and rotate the rotation of drive simultaneously second rotation arm axle, thus drive the 4th bevel gear to rotate, third hand tap pinion rotation is driven by the engagement of the 4th bevel gear and third hand tap gear, and then drive the second climbing arm steering axes, second turning arm is along with the second climbing arm steering spindle axis rotation simultaneously, and climbing mechanism the first half is overall along with the second turning arm is along the second climbing arm steering spindle axis oscillating; Control the 8th motor rotation by controller drives the second revolute joint axle to rotate simultaneously, thus drives the second sleeve rotating, and then drives the second revoliving arm be connected with the second sleeve to rotate.
The beneficial effects of the utility model are:
1, the mode that the utility model adopts pulley and mechanical arm to match realizes obstacle detouring, and structure is simple, and reliability is high.
2, the utility model deicing robot has the function of climbing steel tower automatically, utilizes mechanical deicing to replace manual method, achieves the object that mechanical arm climbing, deicing, obstacle detouring, detection etc. are flexible multi-purpose, decrease the requirement to servicing unit, have more practical significance.
3, tool selection milling cutter and wedge shaped squeeze ice remover combinationally use, and structure is simple, and the power of needs is little, and deicing is effective.
4, the utility model carries supersonic range finder, can detect the safe distance of high voltage power cable and other object of ground.As run into potential safety hazard, then automatically send alarm signal.
5, the utility model is for solving that power industry deicing difficulty is large, labour intensity is high and the problem such as personal safety provides solution.
6, the utility model has saving of labor, laborsaving, volume is little, power is large, deicing is clean quick, cost is low and the advantage such as environmental protection, brings larger Social benefit and economic benefit by giving the power industry of China.
7, multivariant mechanical arm flexible movements, at crossing insulator, reduce action link during obstacle detouring, improve the operational efficiency of deicing robot during shock-proof block.
8, mechanical arm is by gesture stability, and attitude stability during raising obstacle detouring, guarantee the moving equilibrium of whole mechanism during robot motion, this robot can complete the deicing in wire icing situation and obstacle detouring demand.
Accompanying drawing explanation
Fig. 1 is the structural representation of climbing deicing robot of the present utility model.
Fig. 2 is the structural representation of climbing deicing robot of the present utility model.
Fig. 3 is the structural representation of transmission mechanism.
Fig. 4 is the structural representation of deicing mechanism.
Fig. 5 is the structural representation of deicing mechanism upper end.
Fig. 6 is the structural representation of deicing mechanism lower end.
Fig. 7 is the structural representation that climbing mechanism launches.
Fig. 8 is the structural representation that climbing mechanism the latter half is launched.
Fig. 9 is the structural representation of manipulator mechanism.
Figure 10 is the structural representation of manipulator mechanism inside.
In figure: 1, first fixed head, 2, second fixed head, 3, first deicing arm geared worm, 4, first deicing arm transmission worm gear, 5, first motor fixing plate, 6, first motor, 7, first motor support plate, 8, controller, 9, battery, 10, camera head, 11, second motor fixing plate, 12, second motor support plate, 13, second largest motor, 14, second deicing arm geared worm, 15, second deicing arm transmission worm gear, 16, second deicing arm rotating shaft, 17, first connecting plate, 18, second connecting plate, 19, first deicing arm rotating shaft, 20, deicing arm rotary joint, 21, clutch shaft bearing end cap, 22, deicing arm bearing, 23, deicing arm pole, 24, first motor, 25, first shaft joint, 26, first round guide, 27, first pulley spindle, 28, first pulley, 29, pulley support frame, 30, deicing arm top cover, 31, second motor, 32, ultrasonic sensor, 33, pulley motor, 34, second pulley, 35, 3rd motor, 36, 3rd motor fixing plate, 37, deicing milling cutter, 38, deicing wedge, 39, 3rd pulley, 40, 3rd pulley spindle, 41, second pulley spindle, 42, second round guide, 43, leading screw, 44, deicing arm axle bevel gear, 45, deicing arm axle, 46, motor shaft bevel gear, 46-1, motor shaft, 47, 4th motor, 48, deicing arm top cover axle, 49, second bearing (ball) cover, 50, first bevel gear, 51, first climbing arm steering spindle, 52, second bevel gear, 53, first rotating arm, 54, 5th motor, 55, first revolute joint, 56, 6th motor, 57, first revoliving arm, 58, rotary joint, 59, second turning arm, 60, 7th motor, 61, second revolute joint, 62, 8th motor, 63, second revoliving arm, 64, clutch shaft bearing, 65, manipulator contiguous block, 66, second climbing arm steering spindle, 67, 3rd bearing (ball) cover, 68, first rotating arm axle, 69, first revolute joint axle, 70, first support tube, 71, first lap, 72, second bearing, 73, first baffle ring, 74-1, first back-up ring, 74-2, second back-up ring, 75, first sleeve, 76, first fixed cap, 77, first clamp ring, 78, third hand tap gear, 79, 4th bevel gear, 80, second rotates arm axle, 81, 3rd shaft joint, 82, second revolute joint axle, 83, second support tube, 84, 3rd bearing, 85, second circle, 86, 4th bearing, 87, second baffle ring, 88, second sleeve, 89, second fixed cap, 90, second clamp ring, 91, second shaft joint, 92, 9th motor, 93, first housing, 94, first manipulator end cap, 95, first pawl muscle, 96, first uncus, 97, first pawl, 98, roller, 99, roller shaft, 100, second pawl, 101, second uncus, 102, second pawl muscle, 103, fore bearing end cap, 104, second manipulator end cap, 105, second housing, 106, harmonic speed reducer, 107, first outer shaft, 108, rotating shaft in first, 109, manipulator worm screw, 110, second outer shaft, 111, rotating shaft in second, 112, 4th shaft joint, 113, manipulator worm gear.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
According to the job requirement to climbing deicing robot, during design, must following factors be considered:
(1) have and be suitable for flat segments on flexible circuitry, the running on wheels of climbing and lower slope section or stepping running gear and climbing, stopping power.
(2) there is the obstacle crossing device of swing, rotation, pitching adjustment function.
(3) there is the security alarm ability of malfunction.
(4) because climbing deicing robot is suspended on built on stilts transmission line, during obstacle detouring, should ensure that deicing robot attitude is steady, and keep the safe spacing etc. with other wire and transmission tower metal parts.Therefore, the bulk of all kinds of auxiliary equipment is subject to certain restrictions.
(5) climb deicing robot not only can on built on stilts transmission line autonomous, also by being that wedge extruding ice remover crushes ice cube fast.
(6) enough power supplys entrained by space mounting and detection, record and analyzing and processing instrument are provided.
Consider that above function needs to design climbing deicing robot of the present utility model.As depicted in figs. 1 and 2, climbing deicing robot of the present utility model, comprise: the first manipulator mechanism D1 that identical the first climbing mechanism C1 of identical the first deicing mechanism B1 of transmission mechanism A, two structures and the second deicing mechanism B2, two structures and the second climbing mechanism C2, two structures are identical and the second manipulator mechanism D2, the first manipulator mechanism D1 and the second manipulator mechanism D2 adopt prior art.First deicing mechanism B1 and the second deicing mechanism B2 is arranged on the transmission mechanism A left and right sides respectively, first climbing mechanism C1 and the second climbing mechanism C2 is arranged on transmission mechanism A rear and front end respectively, first manipulator mechanism D1 and the second manipulator mechanism D2 respectively correspondence is arranged on two climbing mechanism C1 and C2 upper end, namely the first manipulator mechanism D1 is arranged on the first climbing mechanism C1 upper end, and the second manipulator mechanism D2 is arranged on the second climbing mechanism C2 upper end.
As shown in Figure 3, transmission mechanism A comprises: the first fixed head 1, second fixed head 2, first deicing arm geared worm 3, first deicing arm transmission worm gear 4, first motor fixing plate 5, first motor 6, first motor support plate 7, controller 8, battery 9, camera head 10, second motor fixing plate 11, second motor support plate 12, second largest motor 13, second deicing arm geared worm 14, second deicing arm transmission worm gear 15, second deicing arm rotating shaft 16, first connecting plate 17, second connecting plate 18 and the first deicing arm rotating shaft 19.
First fixed head 1 and the second fixed head 2 are fixed by the first connecting plate 17 and the second connecting plate 18.First motor 6 and the first motor support plate 7 are fixedly linked, and the first motor support plate 7 and the first motor fixing plate 5 are fixedly linked, and the first motor fixing plate 5 both sides are fixedly linked respectively by screw and the first fixed head 1 and the second fixed head 2; First deicing arm geared worm 3 is fixedly linked with first motor 6, first deicing arm geared worm 3 and the first deicing arm transmission worm gear 4 cooperatively interact, first deicing arm transmission worm gear 4 coordinates with the first deicing arm rotating shaft 19 hole axle, first deicing arm rotating shaft 19 two ends are fixed on the first fixed head 1 and the second fixed head 2 respectively by bearing, and the first deicing arm rotating shaft 19 is for being connected with the second deicing mechanism B2.
Second largest motor 13 and the second motor support plate 12 are fixedly linked, and the second motor support plate 12 and the second motor fixing plate 11 are fixedly linked, and the second motor fixing plate 11 both sides are fixedly linked respectively by screw and the first fixed head 1 and the second fixed head 2; Second deicing arm geared worm 14 is fixedly linked with second largest motor 13, second deicing arm geared worm 14 and the second deicing arm transmission worm gear 15 cooperatively interact, second deicing arm transmission worm gear 15 coordinates with the second deicing arm rotating shaft 16 hole axle, second deicing arm rotating shaft 16 two ends are fixed on the first fixed head 1 and the second fixed head 2 respectively by bearing, and the second deicing arm rotating shaft 16 is for being connected with the first deicing mechanism B1.Battery 9 both sides are fixedly linked with the first fixed head 1 and the second fixed head 2 respectively, controller 8 is fixed on battery 9, camera head 10 is fixed on the second motor fixing plate 11, controller 8 is connected with second largest motor 13 with first motor 6, camera head 10 respectively, and battery 9 is connected with second largest motor 13 with controller 8, first motor 6, camera head 10 respectively.
In transmission mechanism A: control first motor 6 by controller 8 and rotate, drive the first deicing arm geared worm 3 to rotate simultaneously, drive the first deicing arm transmission worm gear 4 to rotate by the first deicing arm geared worm 3 with the drive connection that coordinates of the first deicing arm transmission worm gear 4 thus drive the first deicing arm rotating shaft 19 to rotate, and then driving the second deicing mechanism B2 to rotate; Control second largest motor 13 by controller 8 to rotate, drive the second deicing arm geared worm 14 to rotate simultaneously, drive the second deicing arm transmission worm gear 15 to rotate by the second deicing arm geared worm 14 with the drive connection that coordinates of the second deicing arm transmission worm gear 15 thus drive the second deicing arm rotating shaft 16 to rotate, and then driving the first deicing mechanism B1 to rotate.
In present embodiment, battery 9 is powered for whole climbing deicing robot, adopts environment-friendly storage battery, plays electric power storage and charging effect, for climbing deicing robot provides power for operation.Climbing deicing robot force analysis in inclement weather: due to robot present position compared with high, wind speed large, impact is to a certain degree caused on the stable meeting of robot, robot is rocked around wire rotating, affects the safety of robot and circuit.Because the main movement arm of robot is in a plane, robot entirety is in " pie ", and when having wind, side can be caused stressed comparatively large, and opposite side is stressed less.In the structure of design, battery 9 is positioned at the overall bottom of robot, makes overall center of gravity bottom robot, is conducive to stable center of gravity like this, reduce the impact of windage.
In present embodiment, camera head 10 provides view data for climbing deicing robot pose adjustment, primarily of a wireless camera and a wireless imaging receiver composition, wireless camera can backhaul lines situation video image and can record, whether damage for inspection transmission line electric wire and whether have foreign matter on transmission line electric wire, whether the state can also observing high-tension bus-bar is normal.
As Fig. 4, shown in Fig. 5 and Fig. 6, first deicing mechanism B1 and the second deicing mechanism B2 includes: deicing arm rotary joint 20, clutch shaft bearing end cap 21, deicing arm bearing 22, deicing arm pole 23, first motor 24, first shaft joint 25, first round guide 26, first pulley spindle 27, first pulley 28, pulley support frame 29, deicing arm top cover 30, second motor 31, ultrasonic sensor 32, pulley motor 33, second pulley 34, 3rd motor 35, 3rd motor fixing plate 36, deicing milling cutter 37, deicing wedge 38, 3rd pulley 39, 3rd pulley spindle 40, second pulley spindle 41, second round guide 42, leading screw 43, deicing arm axle bevel gear 44, motor shaft bevel gear 46, deicing arm axle 45, motor shaft 46-1, 4th motor 47 and deicing arm top cover axle 48.First motor 24, second motor 31, the 3rd motor 35 are all connected with the battery 9 in transmission mechanism A with the 4th motor 47, and battery 9 is that the first motor 24, second motor 31, the 3rd motor 35 and the 4th motor 47 are powered.First motor 24, second motor 31, pulley motor 33, the 3rd motor 35 are all connected with the controller 8 in transmission mechanism A with the 4th motor 47, are controlled the first motor 24, second motor 31, pulley motor 33, the 3rd motor 35 and the 4th motor 47 by controller 8.
Deicing arm rotary joint 20 in first deicing mechanism B1 and the deicing arm rotary joint 20 in the second deicing mechanism B2 are fixedly linked with the second deicing arm rotating shaft 16 in transmission mechanism A and the first deicing arm rotating shaft 19 respectively, and the deicing arm rotary joint 20 in the first deicing mechanism B1 and the second deicing mechanism B2 can rotate around the second deicing arm rotating shaft 16 and the first deicing arm rotating shaft 19 respectively.Drive the coordinating of the first deicing arm geared worm 3 and the first deicing arm geared worm 3 and the first deicing arm transmission worm gear 4 by first motor 6, second largest motor 13 drives the second deicing arm geared worm 14 and the second deicing arm geared worm 14 to realize deceleration transmission with the second coordinating of deicing arm transmission worm gear 15, thus drive the first deicing arm rotating shaft 19 and the second deicing arm rotating shaft 16 to rotate, and then deicing arm rotary joint 20 is driven to rotate.
As shown in Figure 6, it is inner that 4th motor 47 is bolted on deicing arm rotary joint 20, motor shaft 46-1 and the 4th motor 47 are fixedly linked, motor shaft bevel gear 46 coordinates with motor shaft 46-1 hole axle, motor shaft bevel gear 46 engages with deicing arm axle bevel gear 44, deicing arm axle bevel gear 44 coordinates with deicing arm axle 45 hole axle, deicing arm axle 45 two ends are fixed on deicing arm rotary joint 20 respectively by bearing, and simultaneously deicing arm axle 45 two ends to be stretched out outside deicing arm rotary joint 20 and are fixed on deicing arm bearing 22 by clutch shaft bearing end cap 21.
As shown in Figure 4, deicing arm pole 23 is fixed on deicing arm bearing 22.As shown in Figure 5, deicing arm top cover axle 48 upper and lower side is separately fixed in the installing hole up and down of deicing arm top cover 30 and upper and lower side stretches out outside installing hole, the deicing arm top cover axle 48 lower end part of stretching out outside deicing arm top cover 30 is arranged on deicing arm pole 23, the axle of deicing arm top cover axle 48 upper end and the second motor 31 is fixedly linked, second motor 31 is bolted on deicing arm top cover 30 upper end, control the second motor 31 by controller 8 to rotate, now the relative deicing arm pole 23 of deicing arm top cover axle 48 is motionless, deicing arm top cover 30 is driven to rotate relative to deicing arm pole 23 by the second motor 31, realize the rotation of deicing mechanism the first half.First motor 24 is bolted on deicing arm top cover 30 lower end, the axle of leading screw 43 lower end and the first motor 24 is fixedly linked by the first shaft joint 25, leading screw 43 upper end is connected with pulley support frame 29, first round guide 26 and the second round guide 42 are all fixed on deicing arm top cover 30, pulley support frame 29 is hole axle with the first round guide 26 and the second round guide 42 and coordinates, by controller 8 control the first motor 24 rotate simultaneously drive leading screw 43 rotate, leading screw 43 drives pulley support frame 29 to move up and down along the first round guide 26 and the second round guide 42.First pulley 28 and the first pulley spindle 27 hole axle coordinate, 3rd pulley 39 and the 3rd pulley spindle 40 hole axle coordinate, first pulley spindle 27 and the 3rd pulley spindle 40 are fixed on pulley support frame 29 same side, first pulley 28 and the 3rd pulley 39 move up and down along with pulley support frame 29, and the first pulley 28 and the 3rd pulley 39 are driven pulley.Pulley motor 33 is bolted in deicing arm top cover 30, second pulley 34 and the second pulley spindle 41 hole axle coordinate, second pulley spindle 41 is connected with pulley motor 33 by shaft coupling, control pulley motor 33 by controller 8 to rotate and drive the second pulley spindle 41 to rotate simultaneously, thus driving the second pulley 34 to rotate, the second pulley 34 is driving wheel.3rd motor fixing plate 36 is fixed on deicing arm top cover 30 upper side, 3rd motor 35 is bolted on the 3rd motor fixing plate 36 upper surface, deicing milling cutter 37 is fixed on the 3rd motor fixing plate 36 lower surface and is connected with the 3rd motor 35 by shaft coupling, control the 3rd motor 35 by controller 8 to rotate and drive deicing milling cutter 37 to rotate simultaneously, deicing wedge 38 is fixed on the 3rd motor fixing plate 36 lower surface and inside deicing milling cutter 37.Ultrasonic sensor 32 is fixed on deicing arm top cover 30 upper end, and ultrasonic sensor 32 is connected with the controller 8 in transmission mechanism A.
Climbing deicing robot by deicing mechanism realize along electric wire walking function: by controller 8 control the first motor 24 rotate simultaneously drive leading screw 43 rotate, leading screw 43 drives pulley support frame 29 to move up along the first round guide 26 and the second round guide 42, thus the first pulley 28 and the 3rd pulley 39 are moved up along with pulley support frame 29, electric wire is mounted between the first pulley 28, second pulley 34, the 3rd pulley 39, and the first pulley 28 and the 3rd pulley 39 play the effect of grip wire, increasing friction force; Control pulley motor 33 by controller 8 to rotate and drive the second pulley spindle 41 to rotate simultaneously thus drive the second pulley 34 to rotate, under the effect of frictional force, climbing deicing robot is walked along electric wire; Control drive motor shaft bevel gears 46 while that the 4th motor 47 rotating by controller 8 to rotate, motor shaft bevel gear 46 engages with deicing arm axle bevel gear 44, thus drive deicing arm axle 45 to rotate, drive deicing arm bearing 22 along deicing arm axle 45 axis oscillating simultaneously, and then drive deicing arm pole 23 along deicing arm axle 45 axis oscillating, realize deicing mechanism overall along deicing arm axle 45 axis oscillating; Control the second motor 31 by controller 8 to rotate, now the relative deicing arm pole 23 of deicing arm top cover axle 48 is motionless, and the second motor 31 drives deicing arm top cover 30 to rotate relative to deicing arm pole 23, realizes the rotation of deicing mechanism the first half.
Climbing deicing robot realizes deicing function by deicing mechanism: when climbing deicing robot and walking along electric wire according to above-mentioned walking process, deicing milling cutter 37 is driven to rotate by the 3rd motor 35, ice cube on milling electric wire, pass behind deicing wedge 38 at deicing milling cutter 37 and extrude the ice groove that deicing milling cutter 37 mills out, utilize the wedge shaped squeeze effect of deicing wedge 38 to cut to pieces icing to cut, by the icing Ex-all on electric wire, thus reach deicing object.
Under the high-voltage line of transmission line and line, object has a safe distance, and 1KV safe following distance is 4 meters; 1 ~ 10KV safe following distance is 6 meters; 35 ~ below 110KV distance is 8 meters; 154 ~ below 220KV distance is 15 meters.If have object in the safe distance of high-voltage line, the arc discharge of high-voltage line may be caused, cause danger, therefore, situation within adopting ultrasonic sensor 32 to monitor high-voltage line safe distance, will give the alarm when detecting that object appears in this safe distance scope, camera head 10 will take the concrete condition of lower object and the video image of backhaul lines situation simultaneously, takes corresponding measure by operator; Climbing deicing robot, when carrying out de-icing work, after the information that controller 8 pairs of ultrasonic sensors 32 collect carries out information processing, makes climbing deicing robot realize keeping away barrier and the line ice coating function of cleaning to large obstacle.
As shown in Figure 7 and Figure 8, the first climbing mechanism C1 and the second climbing mechanism C2 includes: the second bearing (ball) cover 49, first bevel gear 50, first climbing arm steering spindle 51, second bevel gear 52, first rotating arm 53, 5th motor 54, first revolute joint 55, 6th motor 56, first revoliving arm 57, rotary joint 58, second turning arm 59, 7th motor 60, second revolute joint 61, 8th motor 62, second revoliving arm 63, clutch shaft bearing 64, manipulator contiguous block 65, second climbing arm steering spindle 66, 3rd bearing (ball) cover 67, first rotating arm axle 68, first revolute joint axle 69, first support tube 70, first lap 71, second bearing 72, first baffle ring 73, first back-up ring 74-1, second back-up ring 74-2, first sleeve 75, first fixed cap 76, first clamp ring 77, third hand tap gear 78, 4th bevel gear 79, second rotates arm axle 80, 3rd shaft joint 81, second revolute joint axle 82, second support tube 83, 3rd bearing 84, second circle 85, 4th bearing 86, second baffle ring 87, second sleeve 88, second fixed cap 89, second clamp ring 90 and the second shaft joint 91.5th motor 54, the 6th motor 56, the 7th motor 60 are all connected with the battery 9 in transmission mechanism A with the 8th motor 62, and battery 9 is the 5th motor 54, the 6th motor 56, the 7th motor 60 and the 8th motor 62 are powered.5th motor 54, the 6th motor 56, the 7th motor 60 are all connected with the controller 8 in transmission mechanism A with the 8th motor 62, are controlled the 5th motor 54, the 6th motor 56, the 7th motor 60 and the 8th motor 62 by controller 8.
In climbing mechanism the latter half: the first climbing arm steering spindle 51 two ends are fixed on first rotating arm 53 respectively by bearing, the first climbing arm steering spindle 51 two ends to be stretched out outside first rotating arm 53 and to be fixed on respectively by the second bearing (ball) cover 49 in the installing hole of the first fixed head 1 and the second fixed head 2.First bevel gear 50 and first climbs arm steering spindle 51 hole axle and coordinates, second bevel gear 52 engages with the first bevel gear 50, second bevel gear 52 coordinates with first rotating arm axle 68 hole axle, first rotating arm axle 68 is fixed on the 5th motor 54 by the second shaft joint 91, and it is inner that the 5th motor 54 is bolted on first rotating arm 53.First rotating arm 53 and the first revolute joint 55 are bolted, and it is inner that the 6th motor 56 is bolted on the first revolute joint 55, and the first revolute joint axle 69 and the 6th motor 56 are fixedly linked.First support tube 70 is bolted on the first revolute joint 55, clutch shaft bearing 64, first lap 71, second bearing 72, first baffle ring 73 coordinate with the first support tube 70 hole axle successively, are finally fixed by screws on the first sleeve 75 by the first back-up ring 74-1.First fixed cap 76 inner ring and the first revolute joint axle 69 are fixedly linked, and the first fixed cap 76 outer ring and the first sleeve 75 are fixedly linked, and the first clamp ring 77 and the first fixed cap 76 are fixedly linked.First revoliving arm 57 is fixedly linked by screw and the first sleeve 75.
In climbing mechanism the first half: rotary joint 58 is bolted on the first revoliving arm 57.Second climbing arm steering spindle 66 two ends are fixed on the second turning arm 59 respectively by bearing, second climbing arm steering spindle 66 two ends to be stretched out outside the second turning arm 59 and to be fixed in the installing hole of rotary joint 58 respectively by the 3rd bearing (ball) cover 67, second turning arm 59 is along with the second climbing arm steering spindle 66 axis rotation, and climbing mechanism is overall along with the second turning arm 59 is along the second climbing arm steering spindle 66 axis oscillating.Third hand tap gear 78 and second is climbed arm steering spindle 66 hole axle and is coordinated, 4th bevel gear 79 engages with third hand tap gear 78,4th bevel gear 79 and second rotates arm axle 80 hole axle and coordinates, second rotates arm axle 80 is fixed on the 7th motor 60 by the 3rd shaft joint 81, and it is inner that the 7th motor 60 is bolted on the second turning arm 59.Second turning arm 59 and the second revolute joint 61 are bolted, and it is inner that the 8th motor 62 is bolted on the second revolute joint 61, and the second revolute joint axle 82 and the 8th motor 62 are fixedly linked.Second support tube 83 is bolted on the second revolute joint 61,3rd bearing 84, second encloses the 85, the 4th bearing 86, second baffle ring 87 and coordinates with the second support tube 83 hole axle successively, is finally fixed by screws on the second sleeve 88 by the second back-up ring 74-2.Second fixed cap 89 inner ring and the second revolute joint axle 82 are fixedly linked, and the second fixed cap 89 outer ring and the second sleeve 88 are fixedly linked, and the second clamp ring 90 and the second fixed cap 89 are fixedly linked.Second revoliving arm 63 is fixedly linked by screw and the second sleeve 88.Manipulator contiguous block 65 and the second revoliving arm 63 are fixedly linked.
Control the 5th motor 54 by controller 8 to rotate and drive first rotating arm axle 68 to rotate simultaneously, thus drive the second bevel gear 52 to rotate, the first bevel gear 50 is driven to rotate by the engagement of the second bevel gear 52 and the first bevel gear 50, and then drive the first climbing arm steering spindle 51 to rotate, first rotating arm 53 is along with the first climbing arm steering spindle 51 axis rotation simultaneously, and climbing mechanism the latter half is overall along with first rotating arm 53 is along the first climbing arm steering spindle 51 axis oscillating.First revolute joint axle 69 is fixedly linked by the first fixed cap 76 and the first clamp ring 77 and the first sleeve 75, first sleeve 75 is rotated relative to the first support tube 70 by bearing, control the 6th motor 56 by controller 8 to rotate and drive the first revolute joint axle 69 to rotate simultaneously, thus drive the first sleeve 75 to rotate, and then the first revoliving arm 57 be connected with the first sleeve 75 is driven to rotate.
By controller 8 control the 7th motor 60 rotate simultaneously drive second rotate arm axle 80 rotate, thus drive the 4th bevel gear 79 to rotate, third hand tap gear 78 is driven to rotate by the engagement of the 4th bevel gear 79 and third hand tap gear 78, and then drive the second climbing arm steering spindle 66 to rotate, second turning arm 59 is along with the second climbing arm steering spindle 66 axis rotation simultaneously, and climbing mechanism the first half is overall along with the second turning arm 59 is along the second climbing arm steering spindle 66 axis oscillating.Second revolute joint axle 82 is fixedly linked by the second fixed cap 89 and the second clamp ring 90 and the second sleeve 88, second sleeve 88 is rotated relative to the second support tube 83 by bearing, control the 8th motor 62 by controller 8 to rotate and drive the second revolute joint axle 82 to rotate simultaneously, thus drive the second sleeve 88 to rotate, and then the second revoliving arm 63 be connected with the second sleeve 88 is driven to rotate.
In present embodiment, first bevel gear 50, second bevel gear 52, third hand tap gear 78, the 4th bevel gear 79 are for deceleration transmission, 5th motor 54, the 6th motor 56, the 7th motor 60, the 8th motor 62 all adopt stepping motor, for climbing mechanism provides power.
As shown in Figure 9 and Figure 10, the first manipulator mechanism D1 and the second manipulator mechanism D2 can adopt prior art.First manipulator mechanism D1 and the second manipulator mechanism D2 includes: the 9th motor 92, first housing 93, first manipulator end cap 94, first pawl muscle 95, first uncus 96, first pawl 97, roller 98, roller shaft 99, second pawl 100, second uncus 101, second pawl muscle 102, fore bearing end cap 103, second manipulator end cap 104, second housing 105, harmonic speed reducer 106, first outer shaft 107, rotating shaft 108 in first, manipulator worm screw 109, second outer shaft 110, rotating shaft 111 in second, 4th shaft joint 112 and manipulator worm gear 113.9th motor 92 is connected with battery 9 with the controller 8 in transmission mechanism A respectively, is controlled the 9th motor 92 by controller 8, is that the 9th motor 92 is powered by battery 9.
First housing 93 and the second housing 105 are all fixed by screw with the manipulator contiguous block 65 in climbing mechanism, 9th motor 92 two ends are respectively by being bolted on manipulator contiguous block 65, harmonic speed reducer 106 adopts prior art, harmonic speed reducer 106 is fixed between the first housing 93 and the second housing 105 and the first housing 93 and the second housing 105 clamp harmonic speed reducer 106, and harmonic speed reducer 106 is connected with the 9th motor 92.Manipulator worm screw 109 is connected with harmonic speed reducer 106 by the 4th shaft joint 112, and manipulator worm screw 109 is stuck between the first housing 93 and the second housing 105 by bearing, and adopts fore bearing end cap 103 to fix outside manipulator worm screw 109.First pawl muscle 95 is fixed between the first housing 93 and the second housing 105 by the first outer shaft 107, and the first uncus 96 is fixed between the first housing 93 and the second housing 105 by rotating shaft 108 in first.Second pawl muscle 102 is fixed between the first housing 93 and the second housing 105 by the second outer shaft 110, and the second uncus 101 is fixed between the first housing 93 and the second housing 105 by rotating shaft 111 in second.First uncus 96 and the second uncus 101 front end are provided with manipulator worm gear 113, and manipulator worm gear 113 is fan-shaped, and two manipulator worm gears 113 all engage with manipulator worm screw 109 and realize transmission.First pawl 97 is connected with the first uncus 96 with the first pawl muscle 95 by bolt, and the second pawl 100 is connected with the second pawl muscle 102 with the second uncus 101 by bolt.Roller shaft 99 two ends are fixed on the first pawl 97 and the second pawl 100 by screw thread, and roller 98 coordinates with roller shaft 99 hole axle.Close after the first housing 93 and the second housing 105, the first manipulator end cap 94 is fixed rotating shaft 108 upper end in first, the second manipulator end cap 104 is fixed rotating shaft 111 upper end in second, the entirety realizing manipulator mechanism is fixed.
By controller 8 control the 9th motor 92 rotate simultaneously drive harmonic speed reducer 106 do retarded motion, rotation is passed to manipulator worm screw 109, manipulator worm screw 109 is rotated the manipulator worm gear 113 that drive two is fan-shaped simultaneously and rotates, thus drives the open and close movement of the first pawl 97 and the second pawl 100.Manipulator mechanism completes holding action by worm-and-wheel gear direct-drive, in order to increase chucking power, slows down holding action simultaneously, and adopt harmonic speed reducer 106 to slow down, can obtain comparatively big speed ratio, structure is the compactest simultaneously.
The subsidiary component that what climbing deicing robot obstacle detouring technical difficulty was maximum is on span transmission line electric wire, comprises the barriers such as insulator, wire clamp, stockbridge damper and conductor spacer.Therefore, the following function of robot demand fulfillment: obstacle detouring effectively, obstacle detouring process should steadily, obstacle detouring can be in good time servo-actuated after completing.This also just requires that robot should be able to keep attitude steady on line, does not interfere with circuit annex.
Robot will clear the jumps smoothly, first pulley 28 and the 3rd pulley 39 sequentially must complete following 3 actions: first the first manipulator mechanism D1 and the second manipulator mechanism D2 catches electric wire to provide support, first pulley 28 and the 3rd pulley 39 depart from transmission line electricity electric wire and depart from barrier certain angle (when crossing over stockbridge damper and wire clamp, only electric wire need be departed from), then robot propagates across barrier, last first pulley 28 and the 3rd pulley 39 turn back to again on electric wire and become running wheel, this completes an obstacle detouring circulation of robot.For the barrier that the vertical dimension such as insulator, spacer rod is larger, in order to avoid too high carry arm, adopt the mode obstacle detouring of swing arm.Robot of the present utility model adopts arm running on wheels structure, makes in structure more easy, control more easily realizes.Climbing deicing robot moving obstacle-crossing detailed process on electric wire is decomposed:
(1), during clear, two the second pulley 34 taxiway strip mobile robots move ahead.
(2) after touching barrier, leading screw 43 rotates, pulley support frame 29 is driven to move down, first pulley 28 and the 3rd pulley 39 are adjusted downwards, robot entirety is shut down, triggered barrier program, wheel stops operating, and mechanical arm is firmly grasped electric wire and promoted by robot, the second pulley 34 above leaves electric wire toward inner rotary, and now on line, fulcrum is the second pulley 34 trailing wheel below and roller 98; Robot puts down by mechanical arm, and operate after the second pulley 34 loop line below, robot is travelled forward, the second pulley 34 above breaks the barriers.
(3) robot promotes by mechanical arm, the second pulley 34 above goes back in line, mechanical arm reopens and leaves power cord completely, at this moment on line, fulcrum is the second pulley 34 above and the second pulley 34 below, the second pulley 34 above operates together with the second pulley 34 below, and mechanical arm is broken the barriers.
(4) robot promotes by mechanical arm again, and the second pulley 34 below leaves electric wire, and now on line, fulcrum is the second pulley 34 and mechanical arm above, and the second pulley 34 above rotates and the second pulley 34 is below broken the barriers.
(5), after clearing the jumps, obstacle detouring motor reversal, obstacle detouring mechanical arm can reset.
Claims (9)
1. climb deicing robot, comprise identical the first manipulator mechanism (D1) of two structures and the second manipulator mechanism (D2), it is characterized in that, also comprise identical the first climbing mechanism (C1) of identical the first deicing mechanism (B1) of transmission mechanism (A), two structures and the second deicing mechanism (B2), two structures and the second climbing mechanism (C2);
Described transmission mechanism (A) comprising: the first fixed head (1), the second fixed head (2) be connected with the first fixed head (1), the first motor fixing plate (5) be connected with the first fixed head (1) and the second fixed head (2), the the first motor support plate (7) be connected with the first motor fixing plate (5), the first motor (6) be connected with the first motor support plate (7), the first deicing arm rotating shaft (19) on the first fixed head (1) and the second fixed head (2) is fixed on by bearing, the first deicing arm transmission worm gear (4) coordinated with the first deicing arm rotating shaft (19) hole axle, be connected with first motor (6) and the first deicing arm geared worm (3) coordinated with the first deicing arm transmission worm gear (4), the second motor fixing plate (11) be connected with the first fixed head (1) and the second fixed head (2), the the second motor support plate (12) be connected with the second motor fixing plate (11), the second largest motor (13) be connected with the second motor support plate (12), the second deicing arm rotating shaft (16) on the first fixed head (1) and the second fixed head (2) is fixed on by bearing, the second deicing arm transmission worm gear (15) coordinated with the second deicing arm rotating shaft (16) hole axle, be connected with second largest motor (13) and the second deicing arm geared worm (14) coordinated with the second deicing arm transmission worm gear (15), be fixed on the camera head (10) on the second motor fixing plate (11), be connected with the first fixed head (1) and the second fixed head (2) and respectively with first motor (6), camera head (10), the battery (9) that second largest motor (13) is connected, be fixed on battery (9) upper and respectively with first motor (6), battery (9), camera head (10), the controller (8) that second largest motor (13) is connected, first motor (6) and second largest motor (13) rotation is controlled by controller (8), drive the first deicing arm geared worm (3) and the second deicing arm geared worm (14) to rotate simultaneously, drive the first deicing arm transmission worm gear (4) and the second deicing arm transmission worm gear (15) to rotate respectively by the first deicing arm geared worm (3) and the second deicing arm geared worm (14), thus drive the first deicing arm rotating shaft (19) and the second deicing arm rotating shaft (16) to rotate,
Described first deicing mechanism (B1) comprising: the deicing arm rotary joint (20) be connected with the second deicing arm rotating shaft (16) or the first deicing arm rotating shaft (19), be fixed on the 4th motor (47) that deicing arm rotary joint (20) is inner, the motor shaft (46-1) be connected with the 4th motor (47), the deicing arm axle (45) on deicing arm rotary joint (20) is fixed on by bearing, the deicing arm axle bevel gear (44) coordinated with deicing arm axle (45) hole axle, coordinate with motor shaft (46-1) hole axle and the motor shaft bevel gear (46) engaged with deicing arm axle bevel gear (44), the deicing arm bearing (22) that the part of stretching out deicing arm rotary joint (20) with deicing arm axle (45) is connected by clutch shaft bearing end cap (21), be fixed on the deicing arm pole (23) on deicing arm bearing (22), deicing arm top cover (30), upper and lower side is separately fixed at deicing arm top cover axle (48) in deicing arm top cover (30) installing hole, the part that deicing arm top cover (30) is stretched out in described deicing arm top cover axle (48) lower end is arranged on deicing arm pole (23), be bolted on the second motor (31) and first motor (24) of deicing arm top cover (30) upper and lower side, axle and deicing arm top cover axle (48) upper end of described second motor (31) are connected, be fixed on the first round guide (26) on deicing arm top cover (30) and the second round guide (42), the pulley support frame (29) that hole axle coordinates is with the first round guide (26) and the second round guide (42), upper end is connected with pulley support frame (29) and the axle of lower end and the first motor (24) passes through the leading screw (43) that the first shaft joint (25) is connected, be fixed on the first pulley spindle (27) on pulley support frame (29) same side and the 3rd pulley spindle (40), the first pulley (28) coordinated with the first pulley spindle (27) hole axle, the 3rd pulley (39) coordinated with the 3rd pulley spindle (40) hole axle, described first pulley (28) and the 3rd pulley (39) are for grip wire increasing friction force simultaneously, described first pulley (28) and the 3rd pulley (39) move up and down with pulley support frame (29), be bolted on the pulley motor (33) in deicing arm top cover (30), by the second pulley spindle (41) that shaft coupling is connected with pulley motor (33), the second pulley (34) coordinated with the second pulley spindle (41) hole axle, be fixed on the 3rd motor fixing plate (36) of deicing arm top cover (30) upper side, be bolted on the 3rd motor (35) of the 3rd motor fixing plate (36) upper surface, be fixed on the 3rd motor fixing plate (36) lower surface and the deicing milling cutter (37) be connected with the 3rd motor (35) by shaft coupling, be fixed on the 3rd motor fixing plate (36) lower surface and the deicing wedge (38) of close deicing milling cutter (37) inner side, be fixed on the ultrasonic sensor (32) of deicing arm top cover (30) upper end,
Deicing arm rotary joint (20) in described first deicing mechanism (B1) and the second deicing arm rotating shaft (16) are connected, deicing arm rotary joint (20) in described second deicing mechanism (B2) and the first deicing arm rotating shaft (19) are connected, and drive deicing arm rotary joint (20) to rotate by the first deicing arm rotating shaft (19) and the second deicing arm rotating shaft (16); Described first motor (24), the second motor (31), the 3rd motor (35) are all connected with battery (9) with the 4th motor (47); Described first motor (24), the second motor (31), ultrasonic sensor (32), pulley motor (33), the 3rd motor (35) are all connected with controller (8) with the 4th motor (47); Control the second motor (31) by controller (8) to rotate, drive deicing arm top cover (30) to rotate relative to deicing arm pole (23) by the second motor (31) simultaneously; Control the first motor (24) rotation by controller (8) drives leading screw (43) to rotate simultaneously, and leading screw (43) drives pulley support frame (29) to move up and down along the first round guide (26) and the second round guide (42); Control pulley motor (33) rotation by controller (8) drives the second pulley spindle (41) to rotate simultaneously, thus drives the second pulley (34) to rotate; Control the 3rd motor (35) by controller (8) and rotate drive deicing milling cutter (37) rotation simultaneously, milling ice cube, by the ice groove that wedge shaped squeeze effect extruding deicing milling cutter (37) of deicing wedge (38) mills out, the icing on cleaning electric wire; By controller (8), information processing is carried out to the information that ultrasonic sensor (32) collects, realize climbing deicing robot and keep away the barrier on barrier electric wire and the icing on cleaning electric wire;
Described first climbing mechanism (C1) comprising: first rotating arm (53), the first climbing arm steering spindle (51) on first rotating arm (53) is fixed on by bearing, described first climbing arm steering spindle (51) two ends are stretched out first rotating arm (53) outside and are fixed on the first fixed head (1) and the second fixed head (2) respectively by the second bearing (ball) cover (49), the first bevel gear (50) that arm steering spindle (51) hole axle coordinates is climbed with first, the second bevel gear (52) engaged with the first bevel gear (50), be bolted on the 5th motor (54) that first rotating arm (53) is inner, coordinate with the second bevel gear (52) hole axle and be fixed on the first rotating arm axle (68) on the 5th motor (54) by the second shaft joint (91), by the first revolute joint (55) that bolt and first rotating arm (53) are fixed, be bolted on the 6th motor (56) that the first revolute joint (55) is inner, the the first revolute joint axle (69) be connected with the 6th motor (56), be bolted on the first support tube (70) on the first revolute joint (55), the clutch shaft bearing (64) coordinated with the first support tube (70) hole axle successively, first lap (71), second bearing (72) and the first baffle ring (73), first sleeve (75), be fixed on the first back-up ring (74-1) on the first sleeve (75), the first fixed cap (76) that Internal and external cycle is connected with the first revolute joint axle (69) and the first sleeve (75) respectively, the first clamp ring (77) be connected with the first fixed cap (76), described first revolute joint axle (69) is fixedly linked with the first sleeve (75) by the first fixed cap (76) and the first clamp ring (77), described first sleeve (75) rotates relative to the first support tube (70), the first revoliving arm (57) be connected with the first sleeve (75), be bolted on the rotary joint (58) on the first revoliving arm (57), second turning arm (59), the second climbing arm steering spindle (66) on the second turning arm (59) is fixed on by bearing, described second turning arm (59) is rotated with the second climbing arm steering spindle (66) axis, described second climbing arm steering spindle (66) two ends are stretched out the second turning arm (59) outside and are fixed on rotary joint (58) respectively by the 3rd bearing (ball) cover (67), the third hand tap gear (78) that arm steering spindle (66) hole axle coordinates is climbed with second, the 4th bevel gear (79) engaged with third hand tap gear (78), be bolted on the 7th motor (60) that the second turning arm (59) is inner, coordinate with the 4th bevel gear (79) hole axle and be fixed on the 7th motor (60) by the 3rd shaft joint (81) second rotate arm axle (80), by the second revolute joint (61) that bolt and the second turning arm (59) are fixed, be bolted on the 8th motor (62) that the second revolute joint (61) is inner, the the second revolute joint axle (82) be connected with the 8th motor (62), be bolted on the second support tube (83) on the second revolute joint (61), the 3rd bearing (84) coordinated with the second support tube (83) hole axle successively, second circle (85), 4th bearing (86) and the second baffle ring (87), second sleeve (88), be fixed on the second back-up ring (74-2) on the second sleeve (88), the second fixed cap (89) that Internal and external cycle is connected with the second revolute joint axle (82) and the second sleeve (88) respectively, the second clamp ring (90) be connected with the second fixed cap (89), described second revolute joint axle (82) is fixedly linked with the second sleeve (88) by the second fixed cap (89) and the second clamp ring (90), described second sleeve (88) rotates relative to the second support tube (83), the second revoliving arm (63) be connected with the second sleeve (88), the manipulator contiguous block (65) be connected with the second revoliving arm (63), described first manipulator mechanism (D1) is arranged on the manipulator contiguous block (65) of the first climbing mechanism (C1) upper end, and described second manipulator mechanism (D2) is arranged on the manipulator contiguous block (65) of the second climbing mechanism (C2) upper end,
Described 5th motor (54), the 6th motor (56), the 7th motor (60) are all connected with battery (9) with the 8th motor (62), and described 5th motor (54), the 6th motor (56), the 7th motor (60) are all connected with controller (8) with the 8th motor (62), control the 5th motor (54) by controller (8) and rotate drive first rotating arm axle (68) rotation simultaneously, thus drive the second bevel gear (52) to rotate, the first bevel gear (50) is driven to rotate by the second bevel gear (52) and the engagement of the first bevel gear (50), and then drive the first climbing arm steering spindle (51) to rotate, first rotating arm (53) is along with the first climbing arm steering spindle (51) axis rotation simultaneously, climbing mechanism the latter half is overall along with first rotating arm (53) is along the first climbing arm steering spindle (51) axis oscillating, control the 6th motor (56) rotation by controller (8) drives the first revolute joint axle (69) to rotate simultaneously, thus drive the first sleeve (75) to rotate, and then the first revoliving arm (57) be connected with the first sleeve (75) is driven to rotate, control the 7th motor (60) by controller (8) and rotate drive simultaneously second rotation arm axle (80) rotation, thus drive the 4th bevel gear (79) to rotate, third hand tap gear (78) is driven to rotate by the 4th bevel gear (79) and the engagement of third hand tap gear (78), and then drive the second climbing arm steering spindle (66) to rotate, second turning arm (59) is along with the second climbing arm steering spindle (66) axis rotation simultaneously, climbing mechanism the first half is overall along with the second turning arm (59) is along the second climbing arm steering spindle (66) axis oscillating, control the 8th motor (62) rotation by controller (8) drives the second revolute joint axle (82) to rotate simultaneously, thus drive the second sleeve (88) to rotate, and then the second revoliving arm (63) be connected with the second sleeve (88) is driven to rotate.
2. climbing deicing robot according to claim 1, it is characterized in that, described first manipulator mechanism (D1) comprising: the 9th motor (92) be connected with battery (9) with controller (8) respectively, the first housing (93) be connected with manipulator contiguous block (65) and the second housing (105), described 9th motor (92) two ends are respectively by being bolted on manipulator contiguous block (65), be fixed on the harmonic speed reducer (106) be connected between the first housing (93) and the second housing (105) and with the 9th motor (92), by the manipulator worm screw (109) that the 4th shaft joint (112) is connected with harmonic speed reducer (106), described manipulator worm screw (109) to be stuck between the first housing (93) and the second housing (105) by bearing and manipulator worm screw (109) outside adopts fore bearing end cap (103) to fix, the first pawl muscle (95) between the first housing (93) and the second housing (105) is fixed on by the first outer shaft (107), the first uncus (96) between the first housing (93) and the second housing (105) is fixed on by rotating shaft (108) in first, the second pawl muscle (102) between the first housing (93) and the second housing (105) is fixed on by the second outer shaft (110), the second uncus (101) between the first housing (93) and the second housing (105) is fixed on by rotating shaft (111) in second, what be separately positioned on the first uncus (96) and the second uncus (101) front end becomes fan-shaped manipulator worm gear (113), two manipulator worm gears (113) are all engaged with manipulator worm screw (109), by the first pawl (97) that bolt is connected with the first uncus (96) with the first pawl muscle (95), by the second pawl (100) that bolt is connected with the second pawl muscle (102) with the second uncus (101), two ends are fixed on the roller shaft (99) on the first pawl (97) and the second pawl (100) by screw thread, the roller (98) coordinated with roller shaft (99) hole axle, fix (108) upper end of rotating shaft in first and be positioned at the first manipulator end cap (94) outside the first housing (93), fix (111) upper end of rotating shaft in second and be positioned at the second manipulator end cap (104) outside the first housing (93),
Control the 9th motor (92) rotation by controller (8) drives harmonic speed reducer (106) to do retarded motion simultaneously, rotation is passed to manipulator worm screw (109), manipulator worm screw (109) is rotated and drives the rotation of two manipulator worm gears (113) simultaneously, thus drives the open and close movement of the first pawl (97) and the second pawl (100).
3. climbing deicing robot according to claim 1, it is characterized in that, described transmission mechanism (A) also comprises the first connecting plate (17) and the second connecting plate (18), and described first fixed head (1) and the second fixed head (2) are fixedly linked by the first connecting plate (17) and the second connecting plate (18).
4. climbing deicing robot according to claim 1, is characterized in that, described battery (9) is powered for whole climbing deicing robot, adopts environment-friendly storage battery, plays electric power storage and charging effect.
5. climbing deicing robot according to claim 1, it is characterized in that, described camera head (10) provides view data for climbing deicing robot pose adjustment, be made up of wireless camera and wireless imaging receiver, whether wireless camera is used for the video image of backhaul lines situation and can records, normal for inspection electric wire state.
6. climbing deicing robot according to claim 1, it is characterized in that, described 5th motor (54), the 6th motor (56), the 7th motor (60), the 8th motor (62) all adopt stepping motor, for climbing mechanism provides power.
7. climbing deicing robot according to claim 1, it is characterized in that, described first bevel gear (50), the second bevel gear (52), third hand tap gear (78), the 4th bevel gear (79) are for deceleration transmission.
8. climbing deicing robot according to claim 1, it is characterized in that, control pulley motor (33) rotation by controller (8) drive the second pulley spindle (41) to rotate simultaneously thus drive the second pulley (34) to rotate, under the effect of frictional force, climbing deicing robot is walked along electric wire.
9. climbing deicing robot according to claim 1, it is characterized in that, adopt the situation within ultrasonic sensor (32) monitoring high-voltage line safe distance, when detecting that object gives the alarm when appearing in safe distance scope, camera head (10) will take the lower situation of object and the video image of backhaul lines situation simultaneously.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520285331.4U CN204578033U (en) | 2015-05-06 | 2015-05-06 | Climbing deicing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520285331.4U CN204578033U (en) | 2015-05-06 | 2015-05-06 | Climbing deicing robot |
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| CN204578033U true CN204578033U (en) | 2015-08-19 |
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| CN201520285331.4U Expired - Fee Related CN204578033U (en) | 2015-05-06 | 2015-05-06 | Climbing deicing robot |
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| CN105207158A (en) * | 2015-09-07 | 2015-12-30 | 湖南大学 | High-voltage electric wire deicing robot |
| CN105552814A (en) * | 2015-12-17 | 2016-05-04 | 彭冬青 | High-voltage circuit deicing platform |
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| CN105735727A (en) * | 2016-04-24 | 2016-07-06 | 羊丁 | Electric iron tower deicing robot |
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