CN205701224U - Overhead transmission line automatic spraying robot - Google Patents
Overhead transmission line automatic spraying robot Download PDFInfo
- Publication number
- CN205701224U CN205701224U CN201620346107.6U CN201620346107U CN205701224U CN 205701224 U CN205701224 U CN 205701224U CN 201620346107 U CN201620346107 U CN 201620346107U CN 205701224 U CN205701224 U CN 205701224U
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- Prior art keywords
- transmission line
- overhead transmission
- control system
- mechanical arm
- mobile body
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Abstract
The utility model discloses a kind of overhead transmission line automatic spraying robot, it includes control system and mobile body, and described mobile body is provided with power supply, running gear and paint finishing；Paint finishing includes air pressure tank, insulation paint can and spray head, spray head is designed as mechanical arm, the paw of this mechanical arm is provided with closed containing cavity, insullac in insulation paint can is transported in this closed containing cavity by pressure, and the nozzle of spray head is arranged on the paw of mechanical arm and radially surrounding overhead transmission line is arranged.During work, the paw of mechanical arm ring under control of the control system is located at outside overhead transmission line, it is not necessary to the situation bothering and will not occurring locking of artificial sheathed installation, automaticity and functional reliability are higher.And, cannot spray just in case spray head breaks down, it is not necessary to disconnect the power supply of overhead transmission line, only need to control mechanical arm and leave overhead transmission line, then spray head is keeped in repair, easy to use and do not affect power generation.
Description
Technical field
This utility model relates to overhead transmission line insulation processing field, specifically overhead transmission line certainly
Dynamic spray robot.
Background technology
The overhead transmission line laid in early days, commonly used bare wire form, to save construction cost, exists
Bigger potential safety hazard.At present, the mode of Circuits System commonly used hand spray insullac is executed
Work, to improve insulating properties and the security performance of exposed overhead transmission line.Hand spray insullac exists
Efficiency of construction is low, working security is low, speed is slow and the shortcoming of insulation effect concordance difference.
Have that efficiency of construction is low, working security is low, speed is slow to solve hand spray insullac
Problem, Chinese patent 201220165449X discloses a kind of overhead bare conductor insulating spray equipment,
It includes overhead bare conductor (1) and walking suspension bracket (6), is respectively arranged with in walking suspension bracket (6)
Accumulator (7), traction electric machine (8), automatically controlled air pump (14) and coatings tank (15), in walking
The front end of suspension bracket (6) is fixedly installed front suspension rod (5), is fixedly installed on the top of front suspension rod (5)
There is front-end bearing pedestal (3), front-end bearing pedestal (3) is movably set with front axle (4), in front axle (4)
On be fixedly installed front positive transport wheel (2), front positive transport wheel (2) is recessed by the walking on wheel face
Groove activity is walked on overhead bare conductor (1), the output shaft of traction electric machine (8) and gear drive machine
The input of structure (9) is mechanically connected, the outfan of gear drive (9) be fixedly installed on before
Driving gear engagement on wheel shaft (4), is fixedly installed rear suspension bar in the rear end of walking suspension bracket (6),
Rear bearing block (13) it is fixedly installed, movable setting in rear bearing block (13) on the top of rear suspension bar
Having hind axle, driven road wheel (12) after being provided with on hind axle, rear driven road wheel (12) is led to
The walking groove activity on wheel face of crossing is walked on overhead bare conductor (1), in walking suspension bracket (6)
Rear end is fixedly installed swallow-tail form support (17), and two ends at swallow-tail form support (17) are provided with
Coatings nozzle (18), two coatings nozzles (18) are arranged on the two of overhead bare conductor (1)
Side, is provided with V-arrangement protective cover (19), coatings nozzle (18) on coatings nozzle (18)
Connected with coatings tank (15) by paint delivery tube (16).At overhead bare conductor (1)
Being provided with remote controller on the ground of lower section, this remote controller realizes being arranged on leading in walking suspension bracket (6)
Draw motor (8) and the remote control of automatically controlled air pump (14).
This overhead bare conductor insulating spray equipment, owing to its two coatings nozzle (18) is arranged
Both sides in overhead bare conductor (1), it is impossible to overhead bare conductor (1) is carried out omnibearing spraying,
Spraying effect is poor.And, its front positive transport wheel (2) and rear driven road wheel (12) do not set
Put hold-down mechanism, phenomenon can be reversed during spray equipment climbing, even can lead from aerial bare time serious
Line is thrown on (1), and functional reliability is poor.
Chinese patent 201310662729 discloses a kind of squash type overhead power transmission line high-viscosity insulating paint certainly
Dynamic spraying teleoperator, it includes that moving body, described moving body top are provided with driving wheel (3)
With return idler (4), also include onboard control system (18), power module (8), motor driver
(7), hold down gag (19), spraying motor (16), insulation paint can (12), travelling gear system (14),
Leading screw (3) and spray head (2), described spray head (2) and hold down gag (19) are positioned at described shifting
Motor vehicles bodies rear portion, described spraying motor (16), insulation paint can (12), travelling gear system (14),
Described moving body bottom is located at by screw mandrel (3), and described onboard control system (18) passes through wireless data sending
Unit and ground control system communication；Moving body is the skeleton of spray robot, be power module (8),
Motor driver (7), onboard control system (18), the installation carrier of hold down gag (19)；Mobile
Suspension driving means that car body consists of driving wheel (3) and return idler (4), two from
The suspension slave unit that dynamic roller (4) forms is suspended on overhead power transmission line (1) and distribution wire,
Described power module (8) includes using high-performance lithium ion rechargeable battery or other rechargeable batteries, for spray
It is coated with motor (16), movable motor (21), motor driver (7) and onboard control system (18) to carry
For required electric power, and driven with spraying motor (16), movable motor (21), motor by electric lines of force (1)
Dynamic device (7) is connected with onboard control system (18).Hold down gag (19) end is arranged on locomotive
On body, upper end contacts with electric lines of force (1).It is pressed on electric lines of force (1) with driving wheel (3) simultaneously
On, provide certain thrust for robot ambulation, prevent robot from overhead power transmission line (1) and joining
Slip on net wire.Spray head (2) is connected with moving body through being mechanically connected, electric lines of force (1)
The heart passes from which, and spray head (2) uses two halves symmetry frame for movement, is front and back respectively arranged with three and is mutually 120 °
Or the spring of four mutual configurations in 90 °, roller devices, by regulation its length and pressure, it is achieved
Spray head (2) passes along adjustment and the electric lines of force (1) of electric lines of force radial direction from spray head structure centre,
Spray head (2) inwall has 5 °～the leaning angle of 15 ° at electric lines of force direction of travel, uniform be arranged on
Electric lines of force shower nozzle radially imports insullac, sprays with all thickness and average rate realizing insullac.
This automatic spraying teleoperator, although spray head (2) is uniform is arranged on electric lines of force radially,
Overhead power transmission line can be carried out the spraying of Omnibearing even, but due to its spray head (2) use spring and
Roller devices is sheathed to be arranged on outside overhead power transmission line, and structure is complicated, install trouble, is susceptible to fault
And locking is on overhead power transmission line, automatization and functional reliability are poor；And, once spray head (2)
Locking of breaking down, on overhead transmission line, can only first disconnect the power supply of overhead transmission line, then from
Pull down spray head (2) on overhead transmission line, use very inconvenient and affect power generation.And
And, although it is provided with hold down gag (19), but only mentions that hold down gag (19) end is arranged on movement
On car body, upper end contacts with electric lines of force (1), is pressed on electric lines of force (1) with driving wheel (3) simultaneously
On.From figure, hold down gag is push rod shape, i.e. simply arrange a top in driving wheel (3) bottom
Live the push rod of electric lines of force (1) downside.The hold down gag (19) of this structure, if top is the tightest,
Not only driving wheel (3) does not walks also can damage electric lines of force (1), if top is the most loose, the most just rises not
To pressuring action.And, the driving wheel (3) being only pointed to moving body rear portion compresses, spraying
It is positioned at moving body anterior return idler (4) during robot climbing and can even depart from electric power to layback
Line (1), functional reliability is poor.
In view of existing spray equipment or the drawbacks described above of spray robot, applicant is to spray robot
Carry out in-depth study, then have this case to produce.
Utility model content
The purpose of this utility model is to provide a kind of automaticity and higher built on stilts defeated of functional reliability
Electric line automatic spraying robot.
To achieve these goals, this utility model adopts the following technical scheme that
Overhead transmission line automatic spraying robot, including control system and mobile body, described control
System includes ground control system and the aircraft mounted control system being arranged on described mobile body, described machine
Borne control system realizes data interaction and communication by wireless data sending unit and described ground control system；
It is additionally provided with power supply on described mobile body, drives described mobile body to walk on overhead transmission line
Running gear and be the paint finishing of overhead transmission line spray insulation paint；It is described Running System by power supply
System, described paint finishing and described aircraft mounted control system are powered；Institute is controlled by described aircraft mounted control system
State running gear and the work of described paint finishing；Described running gear is provided with walking unit and and this journey
The road wheel walking unit compresses the compressing unit of overhead transmission line jointly；
Described paint finishing includes air pressure tank, insulation paint can, pipeline and is arranged at described mobile body
The spray head of rear side, by defeated between gas outlet and the air inlet of described insulation paint can of described air pressure tank
Trachea connects and is provided with High-pressure air valve on described appendix；Described spray head is designed as mechanical arm,
The paw of this mechanical arm is provided with closed containing cavity, and this closed containing cavity offers input port, described insullac
It is connected and in described pipeline by described pipeline between delivery outlet and the input port of described closed containing cavity of bucket
On be provided with electromagnetic valve, by described control system control described mechanical arm paw leave built on stilts defeated
Electric line or ring are located at outside overhead transmission line, and the nozzle of described spray head is arranged at described mechanical arm
Paw on, and when the paw ring of described mechanical arm be located at overhead transmission line outer time, described spraying
The radially surrounding overhead transmission line of nozzle of head is arranged.
Described compressing unit includes that at least one is positioned at the contact roller below overhead transmission line and this is pressed
Bearing up pulley is pressed in the elastic compression mechanism on the downside of overhead transmission line.
The road wheel of described walking unit has front walking wheel and rear walking wheel, and described contact roller has one,
This contact roller medium position between described front walking wheel and rear walking wheel on fore-and-aft direction.
Described elastic compression mechanism includes the company that compression spring and the wheel shaft with described contact roller are coaxially disposed
Bar, described connecting rod has the articulated section being hinged with described mobile body, and this hinge point is in described company
Between the two ends of bar；One end of described compression spring is fixedly mounted on described mobile body and is positioned at institute
Stating the lower section of connecting rod, the other end of described compression spring is connected to one end of described connecting rod, described compression
The wheel shaft of wheel is articulated in the other end of described connecting rod.
Described mobile body has hook, and described hook has hook portion and bar portion, the hook portion of described hook
Exceeding described mobile body, bar subordinate's end of described hook is connected with described connecting rod described compression spring
One end be hinged.
The race of described front walking wheel, described rear walking wheel and described contact roller is V-structure.
The top of described mobile body is provided with image unit, and this image unit with described airborne control is
System is connected.
The front side of described mobile body is provided with the second mechanical arm, controls institute by described control system
State the paw of the second mechanical arm and leave overhead transmission line or ring is located at outside overhead transmission line, described
The clear of the rubbish for clearing up on overhead transmission line or dirt it is provided with on the paw of the second mechanical arm
Reason brush.
After using such scheme, overhead transmission line automatic spraying robot of the present utility model, work
Time, ground control system send work order, control running gear and spray by aircraft mounted control system
Painting system works, running gear drive mobile body to walk at overhead transmission line, by paint finishing
For overhead transmission line spray insulation paint.In this utility model, spray head is designed as mechanical arm, this
The paw of mechanical arm is provided with closed containing cavity, and this closed containing cavity offers input port, and insulate the defeated of paint can
It is connected by pipeline between outlet and the input port of closed containing cavity and on pipeline, is provided with electromagnetic valve, logical
Cross control system to control the paw of mechanical arm and leave overhead transmission line or ring is located at overhead transmission line
Outward, the nozzle of spray head is arranged on the paw of mechanical arm, and when the paw ring of mechanical arm is located at
When overhead transmission line is outer, the radially surrounding overhead transmission line of this nozzle is arranged.In this utility model
Spray head, during work, the paw of mechanical arm ring under control of the control system is located at overhead power transmission
Outside circuit, it is not necessary to the trouble of artificial sheathed installation and the situation of locking will not occur, automaticity and
Functional reliability is higher, and the radially surrounding overhead transmission line of nozzle is arranged, can be to overhead transmission line
Road carries out omnibearing spraying.And, cannot spray just in case spray head breaks down, it is not necessary to disconnect frame
The power supply of empty transmission line of electricity, only need to send instruction by ground control system, controls mechanical arm and leaves
Overhead transmission line, then spray head is keeped in repair, very easy to use and not affect electric power raw
Produce.
As further improving, by elastic compression, contact roller is pressed in overhead transmission line by mechanism
Downside, can make contact roller be pressed on the downside of overhead transmission line all the time with suitable dynamics, thus
Ensure that spray robot can set up on overhead transmission line securely, will not retreat during climbing.
As further improving, contact roller be positioned on fore-and-aft direction front walking wheel and rear walking wheel it
Between medium position, front walking wheel can be compressed with rear walking wheel by a contact roller simultaneously.
As further improving, the race of front walking wheel, rear walking wheel and contact roller is V-structure,
It is adaptable to the overhead transmission line in the most collinear footpath.
As further improving, image unit is set on the top of mobile body, single by this shooting
Unit can monitor the working condition of running gear and paint finishing in real time, and data pass to ground control system
System, is done corresponding process by surface personnel according to the data passed back.
As further improving, in the front side of mobile body, the second mechanical arm is set, at the second machine
The cleaning brush of the rubbish for clearing up on overhead transmission line or dirt it is provided with on the paw of tool arm,
Thus before spraying, overhead transmission line can be cleared up, improve spraying effect.
Accompanying drawing explanation
Fig. 1 is Facad structure schematic diagram of the present utility model；
Fig. 2 is structure schematic diagram of the present utility model；
Fig. 3 is perspective view of the present utility model；
Fig. 4 is the perspective view of another angle of this utility model；
Fig. 5 is control principle schematic diagram of the present utility model.
Detailed description of the invention
Overhead transmission line automatic spraying robot of the present utility model, as Figure 1-5, including controlling
System 100 and mobile body 200, control system 100 includes ground control system 11 and is arranged at moving machine
Aircraft mounted control system 12 on body 200, aircraft mounted control system 12 is controlled with ground by wireless data sending unit
System 11 realizes data interaction and communicates.
It is additionally provided with accumulator 300 on mobile body 200, drives mobile body 200 at overhead transmission line
On 400 walking running gear 500 and be the paint finishing of overhead transmission line 400 spray insulation paint
600.It is that running gear 500, paint finishing 600 and aircraft mounted control system 12 are powered by accumulator 300；
Running gear 500 and the work of paint finishing 600 is controlled by aircraft mounted control system 12.
Mobile body 200 has mounting platform 21 and installs backboard 22, and mounting platform 21 is horizontally disposed with, peace
Dress backboard 22 is vertically connected at the side that mounting platform 21 is paralleled with overhead transmission line 400.Accumulator
300 middle parts being installed on mounting platform 21.
In this utility model, for the ease of statement, set mobile body 200 along overhead transmission line 400
The front of walking is front, i.e. be front with the arrow direction in Fig. 1, with front opposing to be after.
With the one side shown in Fig. 1 as front, with the one side shown in Fig. 2 as the back side.
Running gear 500 is provided with walking unit 51 and the common clamping frame of road wheel with this walking unit 51
The compressing unit 52 of empty transmission line of electricity 400.
Walking unit 51 includes being respectively arranged in direct current generator 511, the front walking wheel installed on backboard 22
512, rear walking wheel 513 and gear train, direct current generator 511, front walking wheel 512 and rear walking wheel 513 are pacified
Being loaded on the front installing backboard 22, gear train is installed on the back side installing backboard 22.Gear train bag
Include driving gear 514, travelling gear the 515, first driven gear 516 and the second driven gear 517, directly
Stream motor 511 output shaft connect driving gear 514, travelling gear 515 respectively with driving gear 514,
First driven gear 516 and the second driven gear 517 are meshed, and the first driven gear 516 and second is driven
The wheel shaft of gear 517 connects front walking wheel 512 and the wheel shaft of rear walking wheel 513 respectively.Front walking wheel 512
It is respectively equipped with for being set up in V shaped wheel groove on overhead transmission line 400 with rear walking wheel 513.
Compressing unit 52 includes that at least one is positioned at the contact roller 521 below overhead transmission line and by this
Contact roller 521 is pressed in the elastic compression mechanism on the downside of overhead transmission line 400.Contact roller 521 is provided with voltage supply
It is located at the V shaped wheel groove on the downside of overhead transmission line 400.In the present embodiment, contact roller 521 has one, this
Contact roller 521 medium position between front walking wheel 512 and rear walking wheel 513 on fore-and-aft direction.
Certainly, it is possible to be respectively front walking wheel 512 and contact roller and elastic compression mechanism are set with rear walking wheel 513.
Elastic compression mechanism includes the connecting rod that compression spring 522 and the wheel shaft with contact roller 521 are coaxially disposed
523, backboard 22 to be installed and offers vertically arranged strip through-hole 221, the bottom of strip through-hole 221 has
Extension diameter section, connecting rod 523 is actively located in strip through-hole 221, and the first end of connecting rod 523 extend out to install
The front of backboard 22, the second end of connecting rod 523 extend out to install the back side of backboard 22, the of connecting rod 523
Having between one end and the second end and carry out hinged articulated section with installation backboard 22, this hinge point is in bar
On correct position between the two ends up and down of shape through hole 221；Compression spring 522 is positioned at installs backboard 22
The back side, the lower end of compression spring 522 is fixedly mounted on the lower section installing on backboard 22 and being positioned at connecting rod 523,
The upper end of compression spring 522 is connected to the second end of connecting rod 523, and the wheel shaft of contact roller 521 is articulated in connecting rod
First end of 523.
Mobile body 200 has hook 23, and hook 23 has hook portion 231 and bar portion 232, the hook portion of hook
231 exceed installation backboard 22, and the top in the bar portion 232 of hook offers spacing hole along its length
2321, it is respectively provided on two sides with out pertusate installation sheet before and after spacing hole 2321, a pin is (in figure
Not shown) pass the perforation of these two installation sheets and be actively located in spacing hole 2321.The bar of hook
Lower end, portion 232 is hinged with the second end of connecting rod 523.
Paint finishing 600 includes air pressure tank 61, insulation paint can 62 and is arranged at the rear side of mobile body 200
Spray head 63, air pressure tank 61 and insulation paint can 62 are mounted on mounting platform 21 being divided into accumulator
Both sides before and after 300.
(figure is not shown by appendix between gas outlet and the air inlet of insulation paint can 62 of air pressure tank 61
Go out) connect and on this appendix, be provided with High-pressure air valve (not shown)；Spray head 63 is designed as machine
Tool arm, the paw 631 of this mechanical arm is provided with closed containing cavity in having U-shaped groove, and paw 631,
This closed containing cavity offers input port, the delivery outlet of insulation paint can 62 and the input port of this closed containing cavity it
Between connected by pipeline (not shown) and on this pipeline, be provided with electromagnetic valve (not shown),
Control the paw 631 of mechanical arm by control system 100 and leave overhead transmission line 400 or ring is located at
Outside overhead transmission line 400.The nozzle 6311 of spray head 63 is uniformly distributed in the U-shaped groove of paw 631
On cell wall, in the present embodiment, nozzle 6311 uses atomizer, the number of nozzle 6311 to be 6-8,
When paw 631 ring of mechanical arm be located at overhead transmission line 400 outer time, each nozzle 6311 edge respectively
Radially spray to overhead transmission line 400.In order to ensure that overhead transmission line 400 is corresponding to U-shaped slot opening
The position at place also can be sprayed onto, and must adjust the injection side being arranged at the nozzle 6311 at U-shaped slot opening
To, it enables the radial spray along overhead transmission line 400.
Mechanical arm in this utility model uses known mechanical arm, is controlling as long as it can meet
Realize the paw 631 of mechanical arm under the control of instruction and leave overhead transmission line 400 or ring is located at built on stilts
Transmission line of electricity 400 is outer.
Overhead transmission line automatic spraying robot of the present utility model, operation principle is as follows:
During installation, workman is sling whole spray robot by hook 23, and now hook 23 is by connecting rod 523
The second end upwards carry, compression spring 522 is pulled upwardly stretches, and contact roller 512 is to the bottom, it is simple to workman
Front walking wheel 512 and rear walking wheel 513 are set up in overhead transmission line 400, current line travelling wheel 512 He
Rear walking wheel 513 has set up, and unclamps hook 23, and now the second end of connecting rod 523 is by compression spring 522
Restoring force pull down, contact roller 512 is upwards pressed on the downside of overhead transmission line 400, thus complete
Become the installment work of spray robot.During dismounting, workman slings whole flush coater again by hook 23
Device people, so that it may unclamping compression 512 and unload whole spray robot, installing/dismounting process is the simplest.
During work, ground control system 11 sends work order to airborne control by wireless data sending unit
System 12, aircraft mounted control system 12 is according to setting sequencing contro running gear 500 and paint finishing 600 work
Make.Specifically:
Direct current generator 511 obtains control signal and starts working, and the output shaft of direct current generator 511 drives actively
Gear 514 rotates, and driving gear 514 drives the first driven gear 516 He respectively by travelling gear 515
Second driven gear 517 rotates, thus drives front walking wheel 512 and rear walking wheel 513 at overhead transmission line
Walking on road 400, the mobile body 200 of final realization is walked on overhead transmission line 400.
During initial condition, the paw 631 of spray head 63 is in leaving state, i.e. whole mechanical arm is receipts
The state of returning, leaves overhead transmission line 400.When spray head 63 obtain control signal start working time, spray
The paw 631 of coating head 63 stretches out ring and is located at outside overhead transmission line 400.Connect air pressure tank 61 and insullac
The High-pressure air valve on appendix between bucket 62 obtains control signal and starts working, and air pressure tank 61 exports height
Body of calming the anger gives insulation paint can 62, applies pressure to the insullac in insulation paint can 62, now connects insulation
The electromagnetic valve on pipeline between the closed containing cavity of paint can 62 and paw 631 obtains control signal and starts work
Making, under pressure, the insullac in insulation paint can 62 is pressed towards the closed containing cavity of paw 631, then
Ejected by nozzle 6311, thus realize overhead transmission line 400 is sprayed.When without spraying
Or bursty state is when needing to make spray head 63 regain, by ground control system 11 by wireless data sending unit
Send work order to reset regain to aircraft mounted control system 12, control mechanical arm.
Further, this utility model can also be provided with image unit on the top installing backboard 22,
This image unit is connected with aircraft mounted control system 12.Running System can be monitored in real time by this image unit
System and the working condition of paint finishing, and data are passed to ground control system, by surface personnel
Corresponding process is done according to the data passed back.
Further, this utility model can also be provided with the second mechanical hand in the front side installing backboard 22
Arm, controls the paw of the second mechanical arm by control system and leaves overhead transmission line or ring is located at frame
Outside empty transmission line of electricity, the paw of the second mechanical arm is provided with for clearing up on overhead transmission line
Rubbish or the cleaning brush of dirt, thus before spraying, overhead transmission line can be cleared up, improve spray
It is coated with effect.
Above in conjunction with embodiment, this utility model is described in detail, but reality of the present utility model
The mode of executing is not limited merely to above-mentioned form, and those skilled in the art can be according to prior art to this reality
Making various forms of deformation with novel, these belong to protection domain of the present utility model.
Claims (8)
1. overhead transmission line automatic spraying robot, including control system and mobile body, described control system includes ground control system and the aircraft mounted control system being arranged on described mobile body, and described aircraft mounted control system realizes data interaction and communication by wireless data sending unit and described ground control system；Power supply, the running gear driving described mobile body to walk on overhead transmission line and the paint finishing for overhead transmission line spray insulation paint it is additionally provided with on described mobile body；It is that described running gear, described paint finishing and described aircraft mounted control system are powered by power supply；Described running gear and the work of described paint finishing is controlled by described aircraft mounted control system；Described running gear is provided with walking unit and jointly compresses the compressing unit of overhead transmission line with this road wheel walking unit；It is characterized in that:
Described paint finishing includes air pressure tank, insulation paint can, pipeline and is arranged at the spray head of rear side of described mobile body, is connected by appendix and is provided with High-pressure air valve on described appendix between the gas outlet of described air pressure tank and the air inlet of described insulation paint can；Described spray head is designed as mechanical arm, the paw of this mechanical arm is provided with closed containing cavity, this closed containing cavity offers input port, it is connected by described pipeline between the delivery outlet of described insulation paint can and the input port of described closed containing cavity and is provided with electromagnetic valve on described pipeline, leave overhead transmission line by the paw of the described control system described mechanical arm of control or ring is located at outside overhead transmission line, the nozzle of described spray head is arranged on the paw of described mechanical arm, and when outside the paw ring of described mechanical arm is located at overhead transmission line, the radially surrounding overhead transmission line of nozzle of described spray head is arranged.
Overhead transmission line automatic spraying robot the most according to claim 1, it is characterised in that: described compressing unit includes that at least one is positioned at the contact roller below overhead transmission line and this contact roller is pressed in the elastic compression mechanism on the downside of overhead transmission line.
Overhead transmission line automatic spraying robot the most according to claim 2, it is characterized in that: the road wheel of described walking unit has front walking wheel and rear walking wheel, described contact roller has one, this contact roller medium position between described front walking wheel and rear walking wheel on fore-and-aft direction.
4. according to the overhead transmission line automatic spraying robot described in Claims 2 or 3, it is characterized in that: described elastic compression mechanism includes the connecting rod that compression spring and the wheel shaft with described contact roller are coaxially disposed, described connecting rod has the articulated section being hinged with described mobile body, and this hinge point is between the two ends of described connecting rod；One end of described compression spring is fixedly mounted on described mobile body and is positioned at the lower section of described connecting rod, and the other end of described compression spring is connected to one end of described connecting rod, and the wheel shaft of described contact roller is articulated in the other end of described connecting rod.
Overhead transmission line automatic spraying robot the most according to claim 4, it is characterized in that: described mobile body has hook, described hook has hook portion and bar portion, the hook portion of described hook exceeds described mobile body, and bar subordinate's end of described hook is connected with described connecting rod has one end of described compression spring to be hinged.
Overhead transmission line automatic spraying robot the most according to claim 3, it is characterised in that: the race of described front walking wheel, described rear walking wheel and described contact roller is V-structure.
Overhead transmission line automatic spraying robot the most according to claim 1, it is characterised in that: the top of described mobile body is provided with image unit, and this image unit end is connected with described aircraft mounted control system.
Overhead transmission line automatic spraying robot the most according to claim 1, it is characterized in that: the front side of described mobile body is provided with the second mechanical arm, leave overhead transmission line by the paw of described control system described second mechanical arm of control or ring is located at outside overhead transmission line, the paw of described second mechanical arm is provided with the cleaning brush of the rubbish for clearing up on overhead transmission line or dirt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620346107.6U CN205701224U (en) | 2016-04-22 | 2016-04-22 | Overhead transmission line automatic spraying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620346107.6U CN205701224U (en) | 2016-04-22 | 2016-04-22 | Overhead transmission line automatic spraying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205701224U true CN205701224U (en) | 2016-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620346107.6U Withdrawn - After Issue CN205701224U (en) | 2016-04-22 | 2016-04-22 | Overhead transmission line automatic spraying robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105728239A (en) * | 2016-04-22 | 2016-07-06 | 泉州智勇达电气有限责任公司 | Automatic spraying robot for overhead transmission line |
| CN106890759A (en) * | 2017-03-06 | 2017-06-27 | 南通中港涂装设备有限公司 | Round-the-clock Anti-icing of Transmission Lines paint spraying robot |
| CN106972403B (en) * | 2017-03-28 | 2018-08-03 | 河南工业职业技术学院 | A kind of ultra-high-tension power transmission line repair apparatus |
| CN113500606A (en) * | 2021-06-03 | 2021-10-15 | 武汉露能科技有限公司 | Gas-electric hybrid drive modularized power transmission line operation robot |
| CN114472024A (en) * | 2022-01-26 | 2022-05-13 | 南京汉启智能科技有限公司 | Charged insulation coating robot and automatic wire feeding and discharging method |
| CN115051293A (en) * | 2022-06-08 | 2022-09-13 | 西安工业大学 | Coating robot for insulation transformation of overhead line |
-
2016
- 2016-04-22 CN CN201620346107.6U patent/CN205701224U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105728239A (en) * | 2016-04-22 | 2016-07-06 | 泉州智勇达电气有限责任公司 | Automatic spraying robot for overhead transmission line |
| CN106890759A (en) * | 2017-03-06 | 2017-06-27 | 南通中港涂装设备有限公司 | Round-the-clock Anti-icing of Transmission Lines paint spraying robot |
| CN106972403B (en) * | 2017-03-28 | 2018-08-03 | 河南工业职业技术学院 | A kind of ultra-high-tension power transmission line repair apparatus |
| CN113500606A (en) * | 2021-06-03 | 2021-10-15 | 武汉露能科技有限公司 | Gas-electric hybrid drive modularized power transmission line operation robot |
| CN113500606B (en) * | 2021-06-03 | 2023-05-09 | 武汉露能科技有限公司 | Gas-electricity hybrid drive modularized power transmission line operation robot |
| CN114472024A (en) * | 2022-01-26 | 2022-05-13 | 南京汉启智能科技有限公司 | Charged insulation coating robot and automatic wire feeding and discharging method |
| CN115051293A (en) * | 2022-06-08 | 2022-09-13 | 西安工业大学 | Coating robot for insulation transformation of overhead line |
| CN115051293B (en) * | 2022-06-08 | 2023-11-10 | 西安工业大学 | Coating robot for insulation transformation of overhead line |
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| C14 | Grant of patent or utility model | ||
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161123 Effective date of abandoning: 20171222 |