CN207053048U - A kind of hot line robot independently goes up coil inserting apparatus - Google Patents
A kind of hot line robot independently goes up coil inserting apparatus Download PDFInfo
- Publication number
- CN207053048U CN207053048U CN201720823154.XU CN201720823154U CN207053048U CN 207053048 U CN207053048 U CN 207053048U CN 201720823154 U CN201720823154 U CN 201720823154U CN 207053048 U CN207053048 U CN 207053048U
- Authority
- CN
- China
- Prior art keywords
- robot
- carrying platform
- platform
- bar
- hot line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 66
- 239000000725 suspension Substances 0.000 claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims description 33
- 238000009413 insulation Methods 0.000 claims description 30
- 230000009471 action Effects 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 239000004744 fabric Substances 0.000 claims 1
- 230000008676 import Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 6
- 239000004576 sand Substances 0.000 description 6
- 238000000926 separation method Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000011068 loading method Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
A kind of hot line robot independently goes up coil inserting apparatus, including robot carrying platform, the robot carrying platform includes carrying platform main body, robot fixed platform, telescopic equipotential handgrip, somersault coaster suspension apparatus, insulating cord pusher, balance control device and robot locking device, the robot fixed platform is set in parallel in above the carrying platform main body, and it is connected by fixed platform rotating device with the carrying platform main body, makes robot fixed platform can be with respect to carrying platform body rotation；The upper middle side part of the robot fixed platform is provided with the robot locking device of fixed hot line robot, equipotential handgrip is installed in the carrying platform main body, the equipotential handgrip is laid with carrying platform body normal, the equipotential handgrip is symmetricly set at left and right sides of robot locking device, so that the handgrip face high voltage transmission line of equipotential handgrip, the utility model realizes the whole process of the upper and lower line of hot line robot so that realizes hot line robot and reaches the standard grade overhaul efficiency and practical level.
Description
Technical field
It the utility model is related to overhead transmission line hot line robot, and in particular to one kind is used for overhead transmission line
The autonomous upper coil inserting apparatus of hot line robot.
Background technology
High voltage transmission line refers generally to circuit of the voltage in 220KV or more, maintenance to ultra-high-tension power transmission line and maintenance by
To the limitation of various situations, labor intensity is big by the way of manually overhauling, operating efficiency is low, security risk is higher, carries out defeated
The maintenance of electric line robot can improve operating efficiency, reduce operating risk, therefore ultra-high-tension power transmission line robot arises at the historic moment.
In conventional practice, the robot of the above-mentioned type generally rises to high voltage power transmission by artificial and pull rope drawing
On line, robot pose is then adjusted by operating personnel and hangs mechanical arm to high voltage transmission line.But in hanging process
It is middle to need rotary operation machine people in the horizontal plane, robot arm and high voltage transmission line are staggered, rise to it
Without being hindered by high voltage transmission line above high voltage transmission line, so as to facilitate the hanging wire of robot ambulation wheel and clamping mechanism
Clamping.But be typically that operator rotates hot line robot below robot by drawstring in the prior art, so
And this usually requires the manpower of 5~7 people to perform the operation, and manually-operated stability is poor, it will usually loses time
And manpower, this restrict the scale application of robot.Therefore, need badly and carry out the practical technical research of robot, research and development can
Independently upper offline robot toter, improves robot manipulating task efficiency, reduces labor intensity.
Utility model content
The purpose of this utility model is to solve the deficiencies in the prior art and providing one kind realizes hot line robot
Automatic upper and lower line, it ensure that hot line robot is reached the standard grade overhaul efficiency and practical level, improves robot manipulating task efficiency,
The hot line robot for reducing labor intensity independently goes up coil inserting apparatus.
In order to solve the above-mentioned technical problem, a kind of hot line robot independently upper coil inserting apparatus, including robot delivery
Platform, the robot carrying platform are stretched flat platform 203, can stretched including carrying platform main body 201, robot fixed platform 202, side
Equipotential handgrip 204, somersault coaster suspension apparatus 205, insulating cord pusher 206, balance control device 207 and the machine of contracting
People's locking device 301；
The robot fixed platform 202 is set in parallel in the top of carrying platform main body 201, and by fixed flat
Platform rotating device 210 is connected with the carrying platform main body 201, makes robot fixed platform 202 can be with respect to carrying platform main body
201 rotate；The upper middle side part of the robot fixed platform 202 is provided with the robot locking dress of fixed hot line robot
301 are put, equipotential handgrip 204, the equipotential handgrip 204 and carrying platform master are installed in the carrying platform main body 201
The vertical runs of body 201, the equipotential handgrip 204 are symmetricly set on the left and right sides of robot locking device 301 so that equipotential
The handgrip face high voltage transmission line of handgrip 204；
The carrying platform main body 201 is also symmetrically arranged with main arm in the left and right sides of robot locking device 301
315th, somersault coaster suspension apparatus 205 and insulating cord pusher 206, the somersault coaster suspension apparatus 205 are grabbed with equipotential
Spacing between hand 204 is more than the size of hot line robot, and the main arm 315 is arranged on somersault coaster suspension apparatus
205 outside, and be provided with to be arranged on immediately below high voltage transmission line on main arm 315 and be used for fixed insulation hoisting line 604
Main suspension ring and to the balance control device 207 that is oriented to of insulation hoisting line 604；
The somersault coaster suspension apparatus 205 includes L-shaped suspending rod 306, sliding block 307, torsionspring 308, suspention straight-bar
309 and suspention drive mechanism, the L-shaped suspending rod 306 and suspend in midair straight-bar 309 with high voltage transmission line vertical runs and high pressure it is defeated
Electric wire is placed in directly over L-shaped suspending rod 306 and suspention straight-bar 309, and the L-shaped suspending rod 306 includes guiding bar and and guiding bar
Drive rod provided with an angle, the top of the guiding bar are provided with the guiding suspension ring of spacing insulation pull rope, and the drive rod leads to
Crossing torsionspring 308, with suspention straight-bar 309 be connected shape integral, and the torsionspring 308 causes drive rod with suspending straight-bar in midair
309 are having an angle without external force effect, and the drive rod and suspention straight-bar 309 are provided with sliding block, and the side is stretched flat platform 203
On slide rail is installed, the sliding block is slided by suspending drive mechanism driving in midair in slide rail；
The insulating cord pusher 206 includes insulating cord push rod 305, and it is horizontal that the insulating cord push rod 305 is arranged on push
The movable end of moving device 217, the push traverse displacement unit 217 drive insulating cord push rod 305 to be stretched flat slide rail on platform 203 along side and laid
Path is moved, and the promote-side of the insulating cord push rod 305 is arranged on the surface of the main suspension ring；
Carrying platform reach the standard grade state when, the drive rod is arranged in slide rail, the guiding bar and suspention straight-bar 309 it is flat
OK, the insulating cord push rod 305 is arranged between guiding bar and main suspension ring；
When hot line robot prepares with robot carrying platform released state, the suspention straight-bar 309 is suspending in midair
Enter slide rail under the driving of drive mechanism, drive rod departs from slide rail, and the drive rod supporting guide bar causes guiding bar to be placed in height
Press the guiding suspension ring in the top of power transmission line and guiding bar to be crossed from the side of high voltage transmission line and be arranged on high voltage transmission line
Opposite side, then the promote-side of the insulating cord push rod 305 by the insulation hoisting line 604 between main suspension ring and somersault coaster to outstanding
Hang the promotion of the side of straight-bar 309.
Further, the carrying platform main body 201 is also stretched flat including being symmetricly set on the side of the both sides of carrying platform main body 201
Platform 203, the main arm 315, somersault coaster suspension apparatus 205 and insulating cord pusher 206 are stretched flat platform 203 installed in side
On, the side, which is stretched flat platform 203, stretches mounted platform telescoping device 214 by side and is connected with carrying platform main body 201.Side is stretched flat the flexible dress of platform
214 are put, side is stretched flat platform 203 synchronously can stretch out or retract along carrying platform main body 201 to both sides opposite direction, and retraction can reduce
The overall dimensions of carrying platform, it is overhanging to be easy to hot line robot to separate or dock with carrying platform, while facilitate device
Transport.
Further, the balance control device 207 includes balancing pole 312, on the balancing pole 312 along balancing pole 312
Under be laid with stable steering wheel 311 and lower stable steering wheel 313, the upper stable steering wheel 311 and lower stable steering wheel 313
Match with main suspension ring position.
Further, the robot locking device 301 includes the X axis movement being arranged in robot fixed platform 202
Device and Y-axis mobile device, the X axis mobile device include setting in the X-axis and a pair first of counteragent
Screw nut driven mechanism, the Y-axis mobile device include be arranged on it is in Y-axis and counteragent a pair second
Pacify respectively on the movable end of thick stick nut transmission mechanism, the first screw nut driven mechanism and the second screw nut driven mechanism
Equipped with X axis locating rod that is vertically disposed and highly matching with hot line robot and Y-axis locating rod.
Further, the equipotential handgrip 204 includes telescopic mechanical arm 212, the telescopic mechanical arm 212
One end is arranged in carrying platform main body 201 by mechanical arm rotation unit 211, and convenient crawl is provided with the other end in high pressure
Power transmission line and the handgrip of folding is controlled by mechanical gripper closing device 213, the mechanical arm rotation unit 211 drives can
Flexible mechanical arm 212 rotates so that the handgrip end of mechanical arm is close to robot fixed platform.Equipotential handgrip 204 is mainly protected
It is identical with the current potential of high voltage transmission line 602 to demonstrate,prove carrying platform, hot line robot 1, avoids robot and platform due to electric field electricity
Potential difference causes electronic component to damage, while reduces the volume taken during device transport, retains for robot discrepancy carrying platform
Sufficient space.
Preferably, the fixed platform rotating device 210 includes worm-and-wheel gear 302 and drives worm-and-wheel gear
The electric rotating machine 303 of 302 actions.
Preferably, the suspention drive mechanism uses pinion and rack 310.
Preferably, the angle of the guiding bar and drive rod is 90 degree.
Preferably, the guiding bar is provided with the groove for being easy to insulation pull rope cabling.
The utility model is cleverly realized using equipotential handgrip, somersault coaster suspension apparatus and insulating cord pusher
Hot line robot separates with robot carrying platform, ensures hot line robot in the transmission line of electricity nearest from setting
It can be travelled after independently being reached the standard grade to the position that highway crosses to corresponding job position and carry out upkeep operation, after the completion of upkeep operation again
Coil inserting apparatus can be returned and realize recovery, so substantially increase reach the standard grade overhaul efficiency and the practical level of robot, profit
With the scalable and spinfunction of equipotential handgrip, hot line robot can be caused to cross equipotential handgrip easily, then
Insulation pull rope is cleverly directed to high pressure with insulation hoisting line using somersault coaster suspension apparatus and insulating cord pusher
The homonymy of power transmission line, somersault coaster is unloaded from high voltage transmission line so as to convenient, due to insulation pull rope in itself
In light weight, somersault coaster suspension apparatus is ingenious to utilize torsionspring using L-shaped suspending rod and the different shaft shapes for suspending straight-bar in midair
Connection, the conversion of position of the L-shaped suspending rod with suspending straight-bar in midair is realized, so as to drive insulation pull rope to cross high voltage transmission line, adopted
Make it that the present apparatus is simple in construction with this structure, greatly reduce the complex operation when weight and unloading somersault coaster of device
Degree, robot manipulating task efficiency is improved, reduce labor intensity；Fixed by the robot being rotatably mounted in carrying platform main body
Platform enables hot line robot to move adjustment to any direction relative to high voltage transmission line in robot fixed platform,
It is easy to reaching the standard grade for robot.Method of the present utility model realizes the whole process of the upper and lower line of hot line robot so that real
Show hot line robot to reach the standard grade overhaul efficiency and practical level.
Brief description of the drawings
Fig. 1 is the front view of robot carrying platform.
Fig. 2 is the top view of robot carrying platform.
Fig. 3 is the left view of robot carrying platform.
Fig. 4 is the schematic diagram of robot carrying platform.
Fig. 5 is unmanned plane hanging wire process schematic.
Fig. 6 is somersault coaster hanging wire process schematic.
Fig. 7 (a) is the action schematic diagram of somersault coaster suspension apparatus and insulating cord pusher.
Fig. 7 (b) is the action schematic diagram of somersault coaster suspension apparatus and insulating cord pusher.
Fig. 7 (c) is the action schematic diagram of somersault coaster suspension apparatus and insulating cord pusher.
Fig. 7 (d) is the action schematic diagram of somersault coaster suspension apparatus and insulating cord pusher.
Fig. 8 (a) is hot line robot and robot carrying platform separation process schematic diagram.
Fig. 8 (b) is hot line robot and robot carrying platform separation process schematic diagram.
Fig. 8 (c) is hot line robot and robot carrying platform separation process schematic diagram.
Fig. 8 (d) is hot line robot and robot carrying platform separation process schematic diagram.
Fig. 8 (e) is hot line robot and robot carrying platform separation process schematic diagram.
The structural representation of Fig. 9 hanging wire unmanned planes.
The structural representation of Figure 10 somersault coasters.
The structural representation of Figure 11 vehicular job platforms.
In accompanying drawing, 1- hot line robots, 101- unmanned plane bodies, 102- parabola motors, 103- cranks, the soft companies of 104-
Fitting, 105- slide bars, 106- one-level parabola casees, 107- two level parabola casees, 108- somersault coaster bodies, 109- mobile pulleys,
110- baffle plates, 111- gin wheels, 112- back-moving springs, 113- control suspension ring, 201- carrying platform main bodys, 202- robots consolidate
Fixed platform, 203- sides are stretched flat platform, 204- equipotential handgrips, 205- somersault coaster suspension apparatus, 206- insulating cord pushers,
207- balance control devices, 208-X axial moving devices, 209-Y axial moving devices, 210- fixed platform rotating devices,
211- machinery arm rotation units, 212- mechanical arms, 213- mechanical gripper closing devices, 214- stretch side mounted platform telescoping device, 215-
Suspension apparatus traverse displacement unit, 216- suspension apparatus rotating devices, 217- push traverse displacement units, 301- robots locking device,
302- worm-and-wheel gears, 303- electric rotating machines, 304- screw nut drivens mechanism, 305- insulating cord push rods, the suspention of 306-L shapes
Bar, 3061- guiding bars, 3062- drive rods, 307- sliding blocks, 308- torsionsprings, 309- suspention straight-bars, 310- rack-and-pinion machines
Structure, the upper stable steering wheels of 311-, 312- balancing poles, stable steering wheel under 313-, 314- guide plates, the main arms of 315-, 316- master
Suspension ring, 317- are oriented to suspension ring, and 401- transport vehicles, 402- control rooms, 403- operation casings, 404- job platforms, 405- delivers flat
Platform support frame, 406- horizontal adjusting mechanisms, 407- gear drives, 408- electric rotating machines, 409- storage capstan winches, 410- liftings
Capstan winch, 411- control capstan winches, the cameras of 412- first, 413- second cameras, 501- hanging wire unmanned planes, 502- sand hills, 505-
Unmanned plane during flying path, 506- parachutes, 507- parachute pulling ropes, 601- somersault coasters, 602- high voltage transmission lines, 603- are exhausted
Edge pull rope, 604- insulation hoisting lines.
Embodiment
To make the purpose, technical scheme and advantage that the utility model is implemented clearer, below in conjunction with the utility model
Accompanying drawing in embodiment, the technical scheme in the embodiment of the utility model is further described in more detail.In the accompanying drawings, from beginning
Same or similar element is represented to same or similar label eventually or there is the element of same or like function.With reference to attached
Embodiment of the present utility model is described in detail figure.
As shown in Fig. 1 to 10, including the hanging wire unmanned plane with line-throwing appliance, somersault coaster, machine with auto-lock function
Device people carrying platform and vehicular job platform.
As shown in figure 9, hanging wire unmanned plane is mounted with line-throwing appliance on unmanned plane body 101, line-throwing appliance includes parabola
Motor 102, crank 103, flexible link 104, slide bar 105, one-level parabola case 106 and two level parabola case 107.Unmanned plane body
Parabola motor 102, one-level parabola case 106 and two level parabola case 107 are installed, parabola motor 102 passes through shaft coupling and song on 101
One end connection of handle 103, the other end of crank 103 are connected by flexible link 104 (such as drawstring) with slide bar 105, the soft company
Fitting 104 avoids slide bar 105 stuck in sliding process, and one-level parabola case 106 and two level parabola case 107 connect bottom and set side by side
It is in the font structure of falling E to have opening to be formed, the bottom of one-level parabola case 106 and two level parabola case 107 be provided with run through openend and
The through hole to match with the size of slide bar 105, the slide bar 105 are arranged in the through hole, are arranged on one-level parabola case 106 and two
Can be in institute as one-level parabola case 106 and the chamber door of two level parabola case 107, the slide bar 105 below the opening of level parabola case 107
State in through hole slidably.Parabola motor 102 can open one-level successively by shaft coupling and crank 103 with the motion of moving slide-bar 105
The chamber door of parabola case 106 and two level parabola case 107, so as to which order throws lower insulation pull rope 603.
As shown in Figure 10, somersault coaster includes somersault coaster body 108, mobile pulley 109, baffle plate 110, gin wheel
111st, back-moving spring 112 and control suspension ring 113.Mobile pulley 109 links up with inside installed in somersault coaster body 108, mobile to slide
Wheel 109 can turn round around its central axis, somersault coaster is flexibly moved on high voltage transmission line 602, one end hinge of baffle plate 110
The bottom of somersault coaster body 108 is connected on, right limit can be turned to around the bottom fulcrum of somersault coaster body 108, baffle plate 110
By somersault coaster hook latch behind position, back-moving spring 112 is extension spring, and the one end of back-moving spring 112 connects somersault coaster sheet
Body 108, the other end are connected to the bottom of baffle plate 110, so that the rotation of baffle plate 110 keeps right limit position, ensure somersault coaster
The reliability of hanging wire, fixed pulley mechanism is also equipped with the somersault coaster body 108, and control suspension ring 113 pass through steel wire tightrope
It is connected with baffle plate 110, steel wire tightrope is arranged in fixed pulley mechanism, drives baffle plate 110 counterclockwise by pullling control suspension ring 113
Rotate unlocking, gin wheel 111 by pulley bracket be arranged on somersault coaster body 108 lowermost end, pulley bracket with
The bottom gap of somersault coaster body 108 coordinates, and ensures that pulley bracket can be around 360 ° of rotations of central shaft.
As shown in Figures 1 to 4, robot carrying platform need can carry hot line robot 1 reach the standard grade and can it is separated and
Docking, robot carrying platform includes carrying platform main body 201, robot fixed platform 202, side is stretched flat platform 203, equipotential is grabbed
Hand 204, somersault coaster suspension apparatus 205, insulating cord pusher 206, balance control device 207 and robot locking device
301。
Carrying platform main body 201 is the load carrier of each parts of carrying platform, the snail of the bottom of robot fixed platform 202
Worm and gear mechanism 302 and electric rotating machine 303 connect and compose fixed platform rotating device 210, make robot fixed platform 202 can be around
Central shaft slowly rotates relative to carrying platform main body 201, is easy to the hanging wire of hot line robot 1；
Robot locking device 301 is connected by screw-nut body with robot fixed platform 202, motor and leading screw spiral shell
Parent agency connects and composes X axis mobile device 208, Y-axis mobile device 209, determines the X axis of robot locking device 301
Position bar and Y-axis locating rod can move along X axis and Y-axis, on the one hand limit hot line robot 1 in upper and lower line process
On the other hand position can promote bottom to have in robot fixed platform 202 by X axis locating rod and Y-axis locating rod
The hot line robot 1 of universal wheel is moved freely in robot fixed platform 202, it is ensured that robot center of gravity is in platform
Heart position, improve the stability during reaching the standard grade.
Side is stretched flat platform 203 and is connected by screw nut driven mechanism 304 with carrying platform main body 201, screw nut driven
Mechanism 304 forms side with motor and stretches mounted platform telescoping device 214, and side is stretched flat platform 203 can be along the internal guide rail of carrying platform main body 201
Synchronously stretch out or retract to both sides opposite direction, the overall dimensions of carrying platform can be reduced by retracting, overhanging to be easy to robot and fortune
Carrying platform separates or docking；
The principal security carrying platform of equipotential handgrip 204, hot line robot 1 are identical with the current potential of high voltage transmission line 602,
Robot and platform are avoided because electric field potential difference causes electronic component to damage, while it is also carrying platform and high voltage transmission line
Connecting fulcrum.Equipotential handgrip 204 includes mechanical arm rotation unit 211, mechanical arm 212, mechanical gripper closing device 213,
Mechanical arm 212 is arranged in carrying platform main body 201 by mechanical arm rotation unit 211, and mechanical arm rotation unit 211 is by motor
Driven by worm-and-wheel gear, realize that the storage of equipotential handgrip 204, mechanical arm 212 are telescopic mechanical arm, mechanical arm
Telescoping mechanism be made up of motor screw-nut body, shown mechanical gripper closing device 213 passes through motor driven leading screw
Nut on nut body is moved up and down so as to promote connecting rod mechanism movement to realize the folding of handgrip and the folder to high voltage transmission line
Hold and loosen；
The somersault coaster suspension apparatus 205 includes L-shaped suspending rod 306, sliding block 307, torsionspring 308, suspention straight-bar
309 and pinion and rack 310, the L-shaped suspending rod 306 and suspention straight-bar 309 with high voltage transmission line vertical runs and height
Pressure power transmission line is placed in directly over L-shaped suspending rod 306 and suspention straight-bar 309, and the L-shaped suspending rod 306 includes guiding bar and with drawing
Guide rod is provided with the drive rod of 90 degree of angles, and the top of the guiding bar is provided with the guiding suspension ring 317 of spacing insulation pull rope, described
It is integral that drive rod by torsionspring 308 be connected shape with suspention straight-bar 309, the torsionspring 308 cause drive rod and
Suspention straight-bar 309 is having 90 degree of angles without external force effect, and the guiding bar is parallel with suspention straight-bar 309, the driving
Bar and suspention straight-bar 309 are provided with sliding block, and the side, which is stretched flat on platform 203, is provided with slide rail, and the sliding block passes through rack-and-pinion machine
Structure 310 drives to be slided in slide rail；
Insulating cord pusher 206 includes insulating cord push rod 305, and the insulating cord push rod 305 passes through screw-nut body
With motor connection, motor rotation, which drives screw-nut body to rotate, makes insulating cord push rod 305 be moved along push traverse displacement unit 217.
Somersault coaster suspension apparatus 205, the main function of insulating cord pusher 206 are to suspend somersault in midair when robot passes in and out platform to slide
Car simultaneously pushes it to side, is easy to robot to pass in and out carrying platform；
Balance control device 207 includes upper stable steering wheel 311, balancing pole 312 and lower stable steering wheel 313, balance control
Device 207 processed is stretched flat at the both sides center of platform 203 installed in side, and the hoisting line 604 that insulated when carrying platform is reached the standard grade is led through upper balance
To wheel 311 and lower stable steering wheel 313, capstan winch is coordinated to adjust and keep the aerial statue of carrying platform to balance.
As shown in figure 11, vehicular job platform main function reaches highway for transport carrying platform and robot body
Reach the standard grade a little, and carry comprising the big control system of robot control system, carrying platform control system, job platform control system etc. 3
The integrated control room of system.The present apparatus can set vehicular job platform, can also pass through other load bearing equipments, vehicle-mounted operation horizontal
Platform mainly includes transport vehicle 401, control room 402, operation casing 403, job platform 404 and carrying platform support frame 405, simultaneously
It is equipped with controlling storage capstan winch 409 offline on carrying platform, crab capstan 410 and control capstan winch 411, the first camera 412
It is mainly used in auxiliary observation and positioning in control with second camera 413.
Vehicle-mounted job platform is mounted on transport vehicle 401, control room 402 and 403 integral structure of operation casing, people from
The side of car operates into control room 402, and control room 402 uses glass close to carrying platform side, is easy to observe, operation casing
403 bottoms are connected by horizontal adjusting mechanism 406 with transport vehicle 401, and horizontal adjusting mechanism 406 is to be uniformly distributed in operation casing
Telescoping mechanism on the 403 corner vertical directions of bottom four, when robot reaches the standard grade a little on abrupt slope, transport vehicle 401 and horizontal plane
The telescoping mechanism of horizontal adjusting mechanism 406 is adjusted when having certain inclination angle, job platform 404 thereon is kept in the horizontal plane
Balance；The bottom of job platform 404 is connected by gear drive 407 with operation casing 403, when on transport vehicle 401 with high pressure
Angle is larger between power transmission line, when can not be almost parallel, start electric rotating machine 408 and rotates, drive gear drive 407 and operation
Platform 404 rotates, and adjusts its relative position with high voltage transmission line, until both are substantially parallel；The inside center of job platform 404
Place is mounted with carrying platform support frame 405, and for supporting robot carrying platform, both sides are mounted with 2 storage capstan winches, 1 respectively
Individual crab capstan and 1 control capstan winch, the lifting for carrying platform is reached the standard grade to be controlled with aerial statue.
Concrete construction method is as follows：
1. unmanned plane and somersault coaster hanging wire,
Sand hill 502 is fixed on to the middle part of insulation pull rope 603, parachute 506 is fixed on sand hill 502, by sand hill 502
It is arranged in the one-level parabola case 106 of hanging wire unmanned plane 501, the parachute pulling rope 507 for controlling parachute 506 to open is set
In two level parabola case 107, hanging wire unmanned plane 501 carries sand hill 502, insulation pull rope 603 and parachute 506 and flown along unmanned plane
Walking along the street footpath 505 is flown vertically upward, after flying to the top of high voltage transmission line 602, the flight of change of flight path horizontal.From high voltage power transmission
Line A-B windows fly to B-C windows, open one-level parabola case 106, insulation pull rope 603 and parachute 506 are in sand hill 502
Fallen naturally under Action of Gravity Field.Because the other end of parachute pulling rope 507 is fixed in two level parabola case 107, less than high pressure
The correct position of power transmission line, parachute pulling rope 507 will be tightened and release a parachute 506, at this moment open two level parabola case 107,
Parachute pulling rope 507 is put down, makes the naturally steady landing of insulation pull rope 603, as shown in Fig. 5 I, II, III, IV, completes nothing
Man-machine hanging wire operation.
2nd, somersault coaster hanging wire,
As shown in fig. 6, the one end of insulation pull rope 603 connection somersault coaster 601 that hanging wire unmanned plane 501 is hung up properly, is being stored
The lower traction somersault coaster 601 of the effect of capstan winch 409 is risen at high voltage transmission line, and the other end of somersault coaster 601 control suspension ring 113 are same
Sample is connected by the pull rope 603 that insulate with another storage capstan winch 409, and the both sides of somersault coaster 601 insulation pull rope 603 is being stored
Capstan winch 409 is tightened under acting on, and tightens up insulation pull rope 603 again, and high voltage transmission line 602 will act on somersault coaster baffle plate 110
And make its opening, at this moment high voltage transmission line 602 will slide into the hook of somersault coaster 601.Loosen insulation pull rope 603, coaster is multiple
The position effect of spring 112 resets baffle plate 110, and most somersault coaster 601 is hung on high voltage transmission line 602 and locking at last.
3rd, vehicular job platform and transmission line of electricity positioning adjustment, carrying platform hanging wire,
The traveling of transport vehicle 401 observes camera 412/413 to the high voltage transmission line and highway junctions nearest away from setting
Transmission picture simultaneously makes it as close possible to high voltage transmission line underface, the horizontal tune in initiating task casing 403 bottom four corner
Complete machine structure 406, operation casing 403, which rises the horizontal adjusting mechanism 406 of respective side when being tilted to side, jacks up operation casing
403, until job platform 404 thereon again with plane-parallel；Operate electric rotating machine 408 and drive gear drive 407
Rotate with job platform 404 thereon, until job platform 404 is substantially parallel with high voltage transmission line, make so as to complete vehicular
The positioning and adjustment of industry platform and transmission line of electricity；
Complete foregoing unmanned plane and somersault coaster hanging wire in next step, start after somersault coaster hanging wire crab capstan 410 and
Capstan winch 411 is controlled, capstan winch rotary tightening passes through the insulation hoisting line 604 of somersault coaster gin wheel 111, so that carrying platform
Lifting rises, and starts the controlled motor in carrying platform main body 201 in half space-time, drives the spiral shell of screw nut driven mechanism 304
Mother move out make whole side be stretched flat platform 203 to both sides stretch out, crab capstan 410 continue action traction carrying platform continue on
Rise, the mechanical gripper closing device 213 of equipotential handgrip 204 tightened up when equipotential handgrip 204 reaches high voltage power transmission line position,
Its reliable retention is lived high voltage transmission line, complete the hanging wire operation of carrying platform.Crab capstan 410 and control during whole hanging wire
Capstan winch 411 processed, which coordinates, tightens insulation hoisting line 604, because insulation hoisting line 604 passes through the upper stable steering wheel of carrying platform
311 and lower stable steering wheel 313, therefore rocking during carrying platform hanging wire can be reduced, keep the aerial appearance of carrying platform
State balances.
4th, robot is reached the standard grade, independently separated with carrying platform and butt-joint operation
As shown in Fig. 8 (a)-Fig. 8 (e),
After carrying platform hanging wire, crab capstan 410 continues action, the mechanical arm retractor device 212 of equipotential handgrip 204 is received
Contracting drives carrying platform to continue up, until robot ambulation wheel is higher than plane on high voltage transmission line.Start robot to consolidate
The electric rotating machine 303 of the bottom of fixed platform 202, by worm-and-wheel gear 302 with the clockwise direction of mobile robot fixed platform 202
It is rotated by 90 °, makes robot ambulation wheel parallel to high voltage transmission line, loosens the machine of crab capstan 410 and equipotential handgrip 204 afterwards
Tool arm retractor device 212, make carrying platform it is descending until road wheel hang on high voltage transmission line, complete the work of reaching the standard grade of robot
Industry.
2) robot independently separates and docked (Fig. 9) with carrying platform
Robot also needs to sail out of the specified upkeep operation point of carrying platform arrival after reaching the standard grade, and is sailed after the completion of upkeep operation and backhauls load
Platform simultaneously carries the offline operation of completion by carrying platform.Because robot for overhauling is different from crusing robot, the activity duration is shorter,
When robot carries out upkeep operation, carrying platform, which should be parked on high voltage transmission line, waits, therefore carrying platform also needs energy and machine
Device people independently separation and docking.
After its flow is as shown in figure 9, robot reaches the standard grade, start the controlled motor of the inside of robot fixed platform 202, control
X axis mobile device 208 and the 209 outside lateral movement of Y-axis mobile device, make the pine of robot locking device 301 of carrying platform
Operate machine people.The mechanical arm retractor device 212 of equipotential handgrip 204 away from robot upkeep operation point side extends downwards,
Crab capstan 410 is coordinated to move downward carrying platform, while the machinery of the equipotential handgrip 204 close to upkeep operation point side
The rotation of arm rotation unit 211 makes mechanical arm topple over to side, robot ride to insulating cord pusher 206 and equipotential handgrip
Between 204.Afterwards close to upkeep operation point side equipotential handgrip 204 the spinning reduction of mechanical arm rotation unit 211, machinery
Arm retractor device 212 upwards tighten up and clamp high voltage transmission line by elongation, mechanical gripper closing device 213, makes carrying platform and height
Pressure power transmission line possesses 4 tie points again.
As shown in Fig. 7 (a)-Fig. 7 (d), next start the controlled motor of somersault coaster suspension apparatus 205, pass through gear
Rackwork 310 drives L-shaped suspending rod 306 gently to slip into side in the presence of guide plate 314 to left movement, suspention straight-bar 309
It is stretched flat in the bottom guide track of the both sides of platform 203, controlled motor drives pinion and rack 310 to continue to left movement, until L-shaped is suspended in midair
Torsionspring 308 between bar 306 and suspention straight-bar 309 skids off guide rail, and now L-shaped suspending rod 306 is by the bullet of torsionspring 308
Turned clockwise 90 ° around suspension apparatus rotating device 216 under spring force effect, and it is vertical with suspention straight-bar 309.Start somersault coaster
The storage capstan winch for controlling suspension ring 113 to connect, baffle plate 110 will turn clockwise opening in the presence of the pull rope 603 that insulate, somersault
Coaster departs from high voltage transmission line.Because the insulation pull rope 603 of somersault coaster one end connection passes through L-shaped suspending rod 306, therefore
It will be suspended to the right side of high voltage transmission line in the presence of somersault coaster suspension apparatus 205, now start insulating cord push dress
206 controlled motor is put, drives insulating cord push rod 305 to move right and pushes insulation hoisting line 604 to right side, sailed for robot
From the space (Figure 10) that carrying platform leaves abundance.
Finally start robot, it is rolled carrying platform away from from the bottom row of somersault coaster suspension apparatus 205 and drive towards maintenance
Setting.The offline action of robot is opposite with above-mentioned flow.
Carrying platform is defeated with high pressure all the time when apparatus above configuration and loading method make the robot order sail out of carrying platform
A minimum of three fixed contact points of electric wire, enhance the skyborne stability of platform.In the whole series coil inserting apparatus by vehicle transport to
Setting, upper and lower line process is by corresponding motor and winch control, the security risk during avoiding artificial carrying transport and reaching the standard grade,
Greatly reduce labor intensity.
Finally it is pointed out that above example is only to illustrate the technical solution of the utility model, rather than it is limited
System.Although the utility model is described in detail with reference to the foregoing embodiments, one of ordinary skill in the art should manage
Solution：It can still be modified to the technical scheme described in foregoing embodiments, or which part technical characteristic is entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the utility model
The spirit and scope of technical scheme.
Claims (9)
- A kind of 1. hot line robot independently upper coil inserting apparatus, including robot carrying platform, it is characterised in that：The machine People's carrying platform include carrying platform main body (201), robot fixed platform (202), telescopic equipotential handgrip (204), Somersault coaster suspension apparatus (205), insulating cord pusher (206), balance control device (207) and robot locking device (301)；The robot fixed platform (202) is arranged on the carrying platform main body by fixed platform rotating device (210) (201) on, robot fixed platform (202) is made to be rotated relative to carrying platform main body (201)；The robot fixed platform (202) upper middle side part is provided with the robot locking device (301) of fixed hot line robot, the carrying platform main body (201) equipotential handgrip (204) is symmetrically installed with left and right sides of robot locking device (301), the equipotential is grabbed Hand (204) and carrying platform main body (201) vertical runs, and the handgrip face high voltage transmission line of equipotential handgrip (204)；Side is symmetrically arranged with left and right sides of the carrying platform main body (201) and is stretched flat platform (203), the side is stretched flat platform (203) On be provided with somersault coaster suspension apparatus (205), insulating cord pusher (206) and main arm (315), the somersault coaster hangs Spacing is provided between device for hoisting (205) and equipotential handgrip (204), and the spacing is more than the size of hot line robot, The main arm (315) is arranged on the outside of somersault coaster suspension apparatus (205), and is provided with setting on main arm (315) Entering for the main suspension ring (316) of fixed insulation hoisting line (604) and to insulation hoisting line (604) immediately below high voltage transmission line The balance control device (207) that row is oriented to；The somersault coaster suspension apparatus (205) includes L-shaped suspending rod (306), sliding block (307), torsionspring (308), suspention Straight-bar (309) and suspention drive mechanism, the L-shaped suspending rod (306) and suspention straight-bar (309) cloth vertical with high voltage transmission line If the L-shaped suspending rod (306) includes guiding bar (3061) and the drive rod of an angle is provided with guiding bar (3061) (3062), the top of the guiding bar (3061) is provided with the guiding suspension ring (317) of spacing insulation pull rope (603), the driving It is integral that bar (3062) by torsionspring (308) be connected shape with suspention straight-bar (309), the torsionspring (308) so that Drive rod (3062) is having an angle with suspention straight-bar (309) without external force effect, and the drive rod (3062) and suspention are straight Bar (309) is provided with sliding block (307), and the side, which is stretched flat, to be provided with slide rail and will be provided with certain angle with slide rail on platform (203) Drive rod (3062) imports the guide margin of slide rail with suspention straight-bar (309), and the sliding block (307) is existed by suspending drive mechanism driving in midair Slided in slide rail；The insulating cord pusher (206) includes insulating cord push rod (305), and the insulating cord push rod (305) is arranged on push The movable end of traverse displacement unit (217), it is described to push traverse displacement unit (217) laying parallel with the slide rail, the insulating cord push rod (305) promote-side is arranged between the main suspension ring (316) and somersault coaster；Carrying platform reach the standard grade state when, the drive rod (3062) is arranged in slide rail, and the guiding bar (3061) and suspention are straight Bar (309) is parallel, and the insulating cord push rod (305) is arranged between guiding bar (3061) and main suspension ring (316)；When hot line robot is prepared with robot carrying platform released state, the suspention straight-bar (309) drives in suspention Enter slide rail under the driving of mechanism so that drive rod (3062) departs from slide rail, drive rod (3062) the supporting guide bar (3061) guiding bar (3061) is caused to be placed in the top of high voltage transmission line, and the guiding suspension ring (317) in guiding bar (3061) The opposite side for being arranged on high voltage transmission line (602), the insulating cord push rod (305) are crossed from the side of high voltage transmission line (602) Promote-side the insulation hoisting line (604) between main suspension ring (316) and somersault coaster is pushed to be oriented to one where suspension ring (317) Side.
- 2. hot line robot according to claim 1 independently goes up coil inserting apparatus, it is characterised in that：The side is stretched flat platform (203) mounted platform telescoping device (214) is stretched by side to be connected with carrying platform main body (201).
- 3. hot line robot according to claim 2 independently goes up coil inserting apparatus, it is characterised in that：The balance control Device (207) includes balancing pole (312), and upper stable steering wheel is laid with along above and below balancing pole (312) on the balancing pole (312) (311) and lower stable steering wheel (313), the position of the upper stable steering wheel (311) and lower stable steering wheel (313) is hung with master The position of ring is corresponding.
- 4. hot line robot according to claim 3 independently goes up coil inserting apparatus, it is characterised in that：The robot lock Tight device (301) includes the X axis mobile device (208) and Y-axis mobile device being arranged in robot fixed platform (202) (209), the X axis mobile device (208) include set in the X-axis and counteragent a pair of first feed screw nuts Transmission mechanism, the Y-axis mobile device (209) include being arranged on a pair of second leading screw spiral shells in Y-axis and counteragent It is separately installed with the movable end of female transmission mechanism, the first screw nut driven mechanism and the second screw nut driven mechanism X axis locating rod and Y-axis locating rod vertically disposed and highly match with hot line robot.
- 5. hot line robot according to claim 4 independently goes up coil inserting apparatus, it is characterised in that：The equipotential is grabbed Hand (204) includes telescopic mechanical arm (212), and one end of the mechanical arm (212) is pacified by mechanical arm rotation unit (211) In carrying platform main body (201), it is provided with the other end and conveniently captures in high voltage transmission line and opened by mechanical gripper The handgrip for putting (213) control folding is attached together, the mechanical arm rotation unit (211) drives telescopic mechanical arm (212) rotation, So that the handgrip end of mechanical arm (212) is close to robot fixed platform (202).
- 6. hot line robot according to claim 5 independently goes up coil inserting apparatus, it is characterised in that：The fixed platform Rotating device (210) includes worm-and-wheel gear (302) and drives the electric rotating machine (303) of worm-and-wheel gear (302) action.
- 7. hot line robot according to claim 6 independently goes up coil inserting apparatus, it is characterised in that：The suspention driving Mechanism uses pinion and rack (310).
- 8. hot line robot according to claim 7 independently goes up coil inserting apparatus, it is characterised in that：The guiding bar with The angle of drive rod is 90 degree.
- 9. hot line robot according to claim 8 independently goes up coil inserting apparatus, it is characterised in that：In the guiding bar Provided with the groove for being easy to insulation pull rope cabling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720823154.XU CN207053048U (en) | 2017-07-07 | 2017-07-07 | A kind of hot line robot independently goes up coil inserting apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720823154.XU CN207053048U (en) | 2017-07-07 | 2017-07-07 | A kind of hot line robot independently goes up coil inserting apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207053048U true CN207053048U (en) | 2018-02-27 |
Family
ID=61495266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720823154.XU Withdrawn - After Issue CN207053048U (en) | 2017-07-07 | 2017-07-07 | A kind of hot line robot independently goes up coil inserting apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207053048U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107196233A (en) * | 2017-07-07 | 2017-09-22 | 国网湖南省电力公司带电作业中心 | A kind of hot line robot independently goes up coil inserting apparatus |
| CN111319023A (en) * | 2020-03-11 | 2020-06-23 | 云南电网有限责任公司电力科学研究院 | Overhead conductor inspection robot ejection device |
| CN111872952A (en) * | 2020-07-17 | 2020-11-03 | 国网山东省电力公司栖霞市供电公司 | High tension transmission line walks line robot |
| CN113199489A (en) * | 2021-04-30 | 2021-08-03 | 广东冠能电力科技发展有限公司 | Coating robot |
| CN114905526A (en) * | 2022-05-31 | 2022-08-16 | 广东冠能电力科技发展有限公司 | Go up hanging wire device and coating robot thereof |
-
2017
- 2017-07-07 CN CN201720823154.XU patent/CN207053048U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107196233A (en) * | 2017-07-07 | 2017-09-22 | 国网湖南省电力公司带电作业中心 | A kind of hot line robot independently goes up coil inserting apparatus |
| CN107196233B (en) * | 2017-07-07 | 2018-08-14 | 国网湖南省电力公司带电作业中心 | A kind of autonomous upper coil inserting apparatus of hot line robot |
| CN111319023A (en) * | 2020-03-11 | 2020-06-23 | 云南电网有限责任公司电力科学研究院 | Overhead conductor inspection robot ejection device |
| CN111319023B (en) * | 2020-03-11 | 2022-11-04 | 云南电网有限责任公司电力科学研究院 | Overhead conductor inspection robot ejection device |
| CN111872952A (en) * | 2020-07-17 | 2020-11-03 | 国网山东省电力公司栖霞市供电公司 | High tension transmission line walks line robot |
| CN113199489A (en) * | 2021-04-30 | 2021-08-03 | 广东冠能电力科技发展有限公司 | Coating robot |
| CN114905526A (en) * | 2022-05-31 | 2022-08-16 | 广东冠能电力科技发展有限公司 | Go up hanging wire device and coating robot thereof |
| CN114905526B (en) * | 2022-05-31 | 2024-05-28 | 广东冠能电力科技发展有限公司 | Wire hanging device and coating robot thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107196233B (en) | A kind of autonomous upper coil inserting apparatus of hot line robot | |
| CN207053051U (en) | A kind of hanging wire unmanned plane reached the standard grade for livewire work machine | |
| CN107221874B (en) | A kind of vehicular with hanging wire unmanned plane independently upper coil inserting apparatus and method | |
| CN207053048U (en) | A kind of hot line robot independently goes up coil inserting apparatus | |
| CN107196232B (en) | A kind of hot line robot autonomous upper coil inserting apparatus of vehicular | |
| CN108599007B (en) | Device and method for installing pulley insulating rope on high-voltage line unmanned aerial vehicle | |
| CN209397980U (en) | A kind of article carrying platform and the transport trolley for stereo garage | |
| CN107539888A (en) | Fluid pressure type low pressure shore connection cable lifting conveying long-distance monitorng device and its method of work | |
| CN103171933B (en) | Yarn regiment automatic blanking device for bobbin winder | |
| CN106312998A (en) | Device for assisting robot for overhead transmission line to automatically get on/off line | |
| CN206220602U (en) | Intelligent automobile lifts transfer car(buggy) | |
| CN114837434B (en) | A install auxiliary device fast for glass curtain wall | |
| CN207053049U (en) | A kind of hot line robot independently goes up coil inserting apparatus with vehicular | |
| CN115402909A (en) | Super high-rise inclined double-layer special-shaped curtain wall construction device | |
| CN207053050U (en) | A kind of vehicular with hanging wire unmanned plane independently goes up coil inserting apparatus | |
| CN106564818B (en) | A kind of electric power hanging apparatus | |
| CN207053047U (en) | It is a kind of to be used for vehicular job platform offline on livewire work machine | |
| CN109649456A (en) | A kind of brick transport device for civil buildings construction | |
| CN106315408A (en) | Aerial posture adjusting device for fan mounting and dismounting | |
| CN210392840U (en) | Full-automatic stacking and recycling equipment for safety cone | |
| CN206156676U (en) | Portable hoisting device for engineering | |
| CN105970853B (en) | Flexible lifeline | |
| CN206128755U (en) | Vehicle fixture for intelligent stereo garage | |
| CN206447500U (en) | Autobalance loop wheel machine | |
| CN217263814U (en) | Intelligent crawler-type cable conveyor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180227 Effective date of abandoning: 20180814 |