CN208015233U - A kind of overhead line inspection obstacle removing robot - Google Patents
A kind of overhead line inspection obstacle removing robot Download PDFInfo
- Publication number
- CN208015233U CN208015233U CN201820149341.9U CN201820149341U CN208015233U CN 208015233 U CN208015233 U CN 208015233U CN 201820149341 U CN201820149341 U CN 201820149341U CN 208015233 U CN208015233 U CN 208015233U
- Authority
- CN
- China
- Prior art keywords
- wheel
- corner brace
- aluminum corner
- motor
- main shaft
- 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.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 23
- 238000005520 cutting process Methods 0.000 claims abstract description 9
- 238000005485 electric heating Methods 0.000 claims abstract description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 62
- 229910052782 aluminium Inorganic materials 0.000 claims description 60
- 229910000831 Steel Inorganic materials 0.000 claims description 35
- 239000010959 steel Substances 0.000 claims description 35
- 230000009184 walking Effects 0.000 claims description 23
- 239000004411 aluminium Substances 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 210000001699 lower leg Anatomy 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 3
- 238000010438 heat treatment Methods 0.000 claims description 3
- 208000019901 Anxiety disease Diseases 0.000 claims 1
- 230000036506 anxiety Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 6
- 230000007246 mechanism Effects 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 6
- 238000009413 insulation Methods 0.000 description 5
- 125000006850 spacer group Chemical group 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 3
- 239000010931 gold Substances 0.000 description 3
- 229910052737 gold Inorganic materials 0.000 description 3
- 238000002844 melting Methods 0.000 description 3
- 230000008018 melting Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 241001589086 Bellapiscis medius Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241000357293 Leptobrama muelleri Species 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 240000000528 Ricinus communis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004995 multiple fission Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 239000002985 plastic film Substances 0.000 description 1
- 229920006255 plastic film Polymers 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a kind of overhead line inspection obstacle removing robot, including machine shelf, one end of the machine shelf is equipped with across part and walks to take turns crossing frame, the other end of the machine shelf is equipped with lifting supporting plate part, the side of the lifting supporting plate part is equipped with electric heating cutting member, and battery is equipped on the lifting supporting plate part；Using resistance wire fusing scheme, not only speed is fast, also safety, and no open fire generation would not jeopardize under line or periphery trees, greenhouse etc.；The design of lifting working platform has cracked the halfway problem of removing, can not only across obstacle, moreover it is possible to effectively cut off foreign matter.
Description
Technical field
The utility model is related to power transmission line apparatus field more particularly to a kind of overhead line inspection obstacle removing robots.
Background technology
Transmission line of electricity is run outside all the year round, and the drifts object such as advertising cloth, greenhouse film, balloon, kite, which is often wrapped in, leads
On line, ground wire, safety of the twister as removed entail dangers to circuit not in time.Lead at present, find to have on ground wire it is general after twister
Take led in livewire work personnel's equipotential, ground wire is manually purged, low pressure, which also has, utilizes aerial lift device with insulated arm compounding practice bar
Be purged, original foreign matter sweep-out method will worker's electrification and high-rise working, it is dangerous larger.In recent years have and sprayed using unmanned plane
Fire removes foreign matter, but open fire is removed there are risk, the peaces such as trees, greenhouse under possible entail dangers to line or below adjacent lines
Entirely.If electric discharge causes conducting wire damage is stranded to rely solely on ground staff's tour very after overhead transmission line grounded-line wound foreign matter
Hardly possible finds defect.
Utility model content
The purpose of this utility model is that in view of the above shortcomings of the prior art, provides a kind of overhead line inspection and remove obstacles
Robot disclosure satisfy that the conducting wire and ground wire of certain specification range, and the gold installed on the conducting wires such as energy spanning spacers, stockbridge damper
Tool, while can positive lock when removing obstacles work.
To achieve the above object, the utility model uses following technical solution：
The utility model provides a kind of overhead line inspection obstacle removing robot, including machine shelf, and the one of the machine shelf
End is equipped with across part and walks to take turns crossing frame, and the other end of the machine shelf is equipped with lifting supporting plate part, the lifting supporting plate part
Side electric heating cutting member is installed, battery is installed on the lifting supporting plate part；
The part of crossing over includes motor cabinet, and the side of the motor cabinet is equipped with motor, and the motor includes across motor, rises
Drop motor and movable motor, the battery are electrically connected with the motor；
Lever plate is pulled in the other side of the motor cabinet equipped with first, and described first, which pulls thick stick, pulls one end by across tommy bar bolt and the
One, which pulls thick stick connecting plate, is connected, and described first, which pulls thick stick, pulls the other end by pulling thick stick connecting plate across tommy bar bolt with second and being connected, leap
Tommy bar bolt pulls lever plate with the leap motor of both sides and described first respectively across the motor cabinet and is connected, in the leap
Under the drive of motor, described first pulls thick stick connecting plate and described second to pull thick stick connecting plate to pull tie point that thick stick is pulled with described first be circle
The heart is rotated at angle.
Further, it is described walk to take turns crossing frame include two walking parts, two walking parts are separately positioned on described first
The both ends of synchronous belt；
The walking part includes round steel main shaft, and round steel main shaft one end is connected by bushing with wheel carrier fixed seat is walked,
The round steel main shaft other end is connected by bushing with bearing, and the bearing is connected with the first synchronizing wheel, and described first is same
It is cased with first synchronous belt on step wheel；
Monosymmetric in the middle part of the round steel main shaft is equipped with the first nervous wheel, the second nervous wheel and guide roller；
In the middle part of the round steel main shaft set there are two it is spaced walk wheel seat, it is the described first nervous wheel, described second nervous
Wheel and the guide roller are arranged between walking wheel seat described in two, the first nervous wheel be arranged it is described walk wheel seat upside,
The guide roller be arranged it is described walk wheel seat downside, the second nervous wheel setting is in the described first nervous wheel and the conducting wire
Between wheel.
Further, main shaft wheel is also cased on the round steel main shaft, the main shaft wheel is arranged in walking wheel seat described in two
Portion, walk described in side wheel carrier fixed seat and the round steel main shaft mutually from one end be connected with movable motor by the second synchronizing wheel
It connects, the second synchronous belt is cased in second synchronizing wheel, the movable motor rotation drives the second synchronizing wheel rotation, institute
It states the rotation of the second synchronizing wheel and drives the round steel main axis, the round steel main shaft drives the main shaft wheel rotation, to drive
Described first nervous wheel, the second nervous wheel and guide roller rotation.
Further, the machine shelf include spaced first aluminum corner brace, fourth angle aluminium, the second aluminum corner brace, third aluminum corner brace and
Mould spur rack, first aluminum corner brace and fourth angle aluminium interval and be symmetrical arranged, second aluminum corner brace, the third aluminum corner brace and
Described first aluminum corner brace in mould spur rack one end is connected, second aluminum corner brace, the third aluminum corner brace and the mould spur rack
The described fourth angle aluminium of the other end be connected, the mould spur rack is arranged in first aluminum corner brace and the fourth angle aluminium
Portion, second aluminum corner brace and the third aluminum corner brace are arranged in the both sides of the mould spur rack, the mould spur rack and described second
It is equipped with slideway steel between aluminum corner brace and the third aluminum corner brace.
Further, the lifting supporting plate part includes rectangular supporting plate, and the quadrangle of the rectangular supporting plate bottom surface is equipped with cylinder
First foot is followed closely, and the rectangular positive side of supporting plate is connected with rectangular crus secunda nail, the crus secunda nail and the rectangular support
Mutually the middle part from side is equipped with the 5th aluminum corner brace to plate, and the 5th aluminum corner brace is connected with the mould spur rack, the slideway steel and institute
Crus secunda nail is stated to be connected；The lifting motor drives mould spur rack back and forth movement along vertical direction, to drive
Supporting plate is stated along slideway steel back and forth movement along vertical direction.
Further, the electric heating cutting member includes the electric hot plate of two strips, and two electric hot plates are connected at angle
It connects, the contact jaw of two electric hot plates is equipped with gear, and the side of two electric hot plate contact jaws is equipped with 12V motors, described
12V motors are connected by gear bolt with the electric hot plate, and two adjacent sides of the electric hot plate are equipped with heating wire, described
12V motors drive two electric hot plate rotations, to make two electric hot plates open or close；The battery and 12V electricity
Machine and the electric hot plate are electrically connected；The electric hot plate is equipped with camera.
Further, further include remote controler, the remote controler is equipped with wireless receiving module, the motor, the 12V motors
With equal admission controller and wireless transmitter module on the camera.
The beneficial effects of the utility model are：1) foreign matter of conducting wire cleaning winding in lightweight robotic is utilized；
2) using resistance wire fusing scheme, not only speed is fast, also safety, and no open fire generation would not jeopardize under line or week
Side trees, greenhouse etc.；
3) design of lifting working platform has cracked the halfway problem of removing, can not only across obstacle, moreover it is possible to effectively
Cut off foreign matter.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of overhead line inspection obstacle removing robot；
Fig. 2 is the structural schematic diagram across part；
Fig. 3 is to walk to take turns the structural schematic diagram of crossing frame；
Fig. 4 is the structural schematic diagram of machine shelf；
Fig. 5 is the structural schematic diagram of lifting supporting plate part；
Fig. 6 is the structural schematic diagram of electric heating cutting member；
Fig. 7 is the structural schematic diagram of remote controler.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with the accompanying drawings and implement
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only explaining this
Utility model is not used to limit the utility model.
Referring to Fig. 1, a kind of overhead line inspection obstacle removing robot, including machine shelf 3, one end peace of the machine shelf 3
Equipped with crossing over part 1 and walking to take turns crossing frame 2, the other end of the machine shelf 3 is equipped with lifting supporting plate part 5, the lifting supporting plate part 5
Side electric heating cutting member 4 is installed, battery 6 is installed on the lifting supporting plate part 5；
Referring to Fig. 2, described include motor cabinet 101 across part 1, the side of the motor cabinet 101 is equipped with motor 102, institute
It includes crossing over motor, lifting motor and movable motor to state motor 102, and the battery 6 is electrically connected with the motor 102；
Lever plate 103 is pulled in the other side of the motor cabinet 101 equipped with first, and described first, which pulls thick stick, pulls 103 one end and pass through leap
Tommy bar bolt 104 pulls thick stick connecting plate 105 with first and is connected, described first pull thick stick pull 103 other ends by across tommy bar bolt 104 with
Second, which pulls thick stick connecting plate 106, is connected, and passes through the motor cabinet 101 to cross over motor with the described of both sides respectively across tommy bar bolt 104
Lever plate 103 is pulled with described first to be connected, under the drive across motor, described first pulls thick stick connecting plate 105 and described
Two, which pull thick stick connecting plate 106, pulls thick stick using described first and pulls 103 tie point and rotated at angle as the center of circle.
It pulls thick stick connecting plate 106 that is, enabling to first to pull thick stick connecting plate 105 and second across motor and lifts or fall, and due to
First, which pulls thick stick connecting plate 105 and second, pulls thick stick connecting plate 106 and is connected respectively with guide roller 219, to pull thick stick connecting plate 105 when first
When pulling thick stick connecting plate 106 with second and lifting or fall, to drive guide roller 219 to lift or fall, to make the overhead transmission line patrol
Examine the action that obstacle removing robot completes throwing over barrier.
Referring to Fig. 3, it is described walk to take turns crossing frame 2 include two walking parts 21, two walking parts 21 are separately positioned on
The both ends of first synchronous belt 22；
The walking part 21 includes round steel main shaft 211, and described 211 one end of round steel main shaft is consolidated by bushing 212 with wheel carrier is walked
Reservation 213 is connected, and 211 other end of round steel main shaft is connected by bushing 212 with bearing 214, the bearing 214 with
First synchronizing wheel 215 is connected, and first synchronous belt 22 is cased in first synchronizing wheel 215；
The monosymmetric of 211 middle part of the round steel main shaft is equipped with first the 217, second nervous wheel 218 of nervous wheel and conducting wire
Wheel 219；
The middle part of the round steel main shaft 211 set there are two it is spaced walk wheel seat 216, it is the described first nervous wheel 217, described
Second nervous wheel 218 and the guide roller 219 are arranged between walking wheel seat 216 described in two, and the described first nervous wheel 217 is set
Set it is described walk wheel seat 216 upside, the guide roller 219 be arranged it is described walk wheel seat 216 downside, the second nervous wheel
218 settings are between the described first nervous wheel 217 and the guide roller 219.
Also it is cased with main shaft wheel 220 on the round steel main shaft 211, the setting of the main shaft wheel 220 walks wheel seat 216 described in two
Middle part, walk described in side wheel carrier fixed seat 213 and 211 phase of round steel main shaft from one end by the second synchronizing wheel 223 with
Movable motor 222 is connected, and the second synchronous belt 221 is cased in second synchronizing wheel 223, and the movable motor 222 rotates
Second synchronizing wheel 223 is driven to rotate, the rotation of the second synchronizing wheel 223 drives the round steel main shaft 211 to rotate, the circle
Steel main shaft 211 drives the main shaft wheel 220 to rotate, to drive the described first nervous wheel 217, the second nervous wheel, 218 and
The guide roller 219 rotates.
That is, the rotation of movable motor 222 is to drive the first nervous wheel 217, the second nervous wheel 218 and the conducting wire
219 rotation of wheel, to the action for making the overhead line inspection obstacle removing robot complete to move forward or back.
Referring to Fig. 4, the machine shelf 3 includes spaced first aluminum corner brace 301, fourth angle aluminium 304, the second aluminum corner brace
302, third aluminum corner brace 303 and mould spur rack 306, first aluminum corner brace 301 and the fourth angle aluminium 304 are spaced and are symmetrical arranged,
Second aluminum corner brace 302, the third aluminum corner brace 303 and described 306 one end of mould spur rack first aluminum corner brace 301 are connected,
Described 304 phase of fourth angle aluminium of the other end of second aluminum corner brace 302, the third aluminum corner brace 303 and the mould spur rack 306
Connection, the mould spur rack 306 are arranged at the middle part of first aluminum corner brace 301 and the fourth angle aluminium 304, described second jiao
Aluminium 302 and the third aluminum corner brace 303 are arranged in the both sides of the mould spur rack 306, the mould spur rack 306 and described second
It is equipped with slideway steel 305 between aluminum corner brace 302 and the third aluminum corner brace 303.
Referring to Fig. 5, the lifting supporting plate part 5 includes rectangular supporting plate 501, the quadrangle of 501 bottom surface of rectangular supporting plate is equal
Equipped with cylindrical first foot nail 502,501 positive side of the rectangular supporting plate is connected with rectangular crus secunda nail 504, and described the
Two feet nail 504 and middle part of 501 phase of rectangular supporting plate from side equipped with the 5th aluminum corner brace 503, the 5th aluminum corner brace 503 with it is described
Mould spur rack 306 is connected, and the slideway steel 305 is connected with crus secunda nail 504；The lifting motor drives the mould
The back and forth movement along vertical direction of spur rack 306, to drive the supporting plate 501 along the slideway steel 305 along vertical side
To back and forth movement.
Referring to Fig. 6, the electric heating cutting member 4 includes the electric hot plate 401 of two strips, two electric hot plates 401
It is connected at angle, the contact jaws of two electric hot plates 401 is equipped with gear 403, two 401 contact jaws of the electric hot plate
Side is equipped with 12V motors 404, and the 12V motors 404 are connected by gear bolt 402 with the electric hot plate 401, described in two
The adjacent side of electric hot plate 401 is equipped with heating wire 405, and the 12V motors 404 drive two electric hot plates 401 to rotate, from
And two electric hot plates 401 is made to open or close；The battery 6 is electrical connected with the 12V motors 404 and the electric hot plate 401
It connects；The electric hot plate 401 is equipped with camera.
That is, electric hot plate 401 generates heat after being powered, advertising cloth, greenhouse film, balloon, kite can be made by high temperature melting, it can
Speed is cleared up to improve, it is disposable to remove in place.
Referring to Fig. 7, further including remote controler 7, the remote controler 7 is equipped with wireless receiving module, the motor 102, institute
State equal admission controller and wireless transmitter module on 12V motors and the camera.
The movement of the overhead line inspection obstacle removing robot can be controlled by remote controler 7.
1) walking and obstacle-overpass mechanism：Inspection and obstacle removing robot in grounded-line, it is necessary to can meet in certain specification range
Conducting wire, the gold utensil walking on ground wire, and can install on the conducting wires such as spanning spacers, stockbridge damper, while the energy when removing obstacles work
Positive lock.
The walking of the overhead line inspection obstacle removing robot and barrier getting over mechanism use two groups of traveling wheel mechanisms, and control row
Walk the controller with barrier getting over mechanism.There are two traveling wheel, walking mechanism is rotatably dispose in rack for walking and barrier getting over mechanism design,
Walking mechanism can be rotated by controller in rack, so that one of traveling wheel is detached from and is higher than conducting wire, anti-to cross
The barriers such as vibration hammer, and have the advantages that stability is good, simple in structure.Two groups of castors by a movable motor and one across
Motor is more acted to drive, ensures quickly to walk on conducting wire, can voluntarily clear the jumps when encountering barrier；In order to increase
Climbing capacity and the speed of travel are designed with self-tightening type auxiliary wheel and coordinate two groups of movable pulley walkings；In order to ensure to work as robot manipulating task
When it is reliable and stable, robot devises the retaining mechanism of lift, and retaining mechanism can rise top to conducting wire when needed, protect
The work opportunity device people that removes obstacles is demonstrate,proved not tumble.It works at the same time platform and is designed as lifting structure, it wants platform when spanning spacers to be in most
Lower position, normal walking or platform is in extreme higher position when removing obstacles do not stay " tail " substantially after cutting off foreign matter.
Robot running gear will guarantee to walk on single grounded-line and multiple fission conductor, also to cross conductor spacer, prevent
The gold utensils such as shake hammer, compare by kinds of schemes, it is believed that fill up enough power than multigroup wheel lifting obstacle detouring, three-wheel using the wide wheel of big wheel footpath
Or cross wheel rolling obstacle detouring is simply steady, considers to have finally chosen the aluminium alloy that wheel footpath is 30mm, wheel width is 5mm from practicability
Or traveling wheel of the nylon wheel as robot.It is set using motor combination traveling wheel integration with reliability to ensure to stablize
Meter, not only reliable transmission also improve efficiency, also than adding Gearbox design weight light using conventional motors, to control robot
Overall weight.
2) clearing mechanism：There is the foreign matter wound on conducting wire, ground wire generally relatively light, is mostly plastic film, advertising cloth, screening
Screened postive or kite etc. are hot-melted scheme, design 300 millimeters long is equipped with resistance wire by comparing testing using resistance wire
It clamps arm and is carried out at the same time high temperature melting to clamp foreign matter, cleaning speed can be improved, it is disposable to remove in place.
3) power configuration：Select 12V100min, rated moment:3.5Kg.cm, rated current:The motor of 750mA.Using
TunePower is as power autonomous power supply.
4) remote control and reception device：Robot uses double frequency codec chip, position sensor, microprocessor, multichannel
The components such as drive module can control robot ambulation, locking and prune job, patrol and detection.Remote controler frequency range 315MHZ, transmitting
Power≤500MW.Image transmitting frequency range 5.8GHZ, transmission power≤400MW ,≤27dBm.Operating voltage 12V-24V, remote control
The effective emission control distance of device is≤1000M.Image reception≤2000M.Image monitor and remote controler are mating, reception device
It is also attached to video report to receive, ground staff is facilitated to receive the vision signal commander's prune job being wirelessly transferred in grounded-line or inspection
Grounded-line.
A kind of operating method of overhead line inspection obstacle removing robot, includes the following steps：
S1, lifting
Two hanging points of Hoisting tackle fasten small guide rope respectively, and place damp proof insulation rope, such as consider damp proof insulation rope
It is heavier can also first be placed on coaster small guide rope again by small guide rope come transmit place damp proof insulation rope.Marline and moisture-proof
Insulating cord length should be extraordinarily 15 meters of grounded-line terrain clearance 2；
Unmanned plane carries guide rope ascends to heaven from side will throw to the other side, weight to grounded-line top with small weight fag end
Driving guide rope, quickly decentralization is imported overturning Hoisting tackle in grounded-line by ground staff's traction to ground；
It passes the damp proof insulation rope of 12 millimeters of band again by the guide rope on Hoisting tackle, then is passed by coaster by insulating cord
Robot is passed at conducting wire or ground wire；
It when to conducting wire or ground wire height and position, is placed on and leads, on ground wire under the control of tricing line, wait robots to fall and leading ground
Blocking mechanism is locked when on line again；
Consider that cooperation unmanned plane dispensing guide rope transmission overturning coaster recycles and guides wire saws damp proof insulation rope on coaster
Lifting point is arranged on the job platform of robot in the needs of transfer robot, facilitates lift adjustment when across obstacle.
Hook turns over release mechanism：Hoisting tackle is transferred at grounded-line using guiding marline and voluntarily slides into grounded-line, and one will side
Just it imports, two will hook reliably；It to be disengaged from grounded-line before withdrawing, also to have reversed stretch ring in the reverse design of hook point
For being to disengage rope, the Hoisting tackle with turn over function is ultimately formed.
S2, it removes obstacles
Robot, by the first interim clamping and positioning of all or part of foreign matter, while starting high temperature melting using scissors-type mechanical arm
Or laser cutting, the general object that drifts about can be removed quickly；
Wireless video devices in robot may help ground staff to carry out effectively cleaning foreign matter, and can facilitate ground
The damage situations of personnel inspection grounded-line；
S3, it recalls
Before recalling robot, first led by ground staff by pulling transmission rope hoisting machine people disengaging, ground wire, then slowly
Robot is put into ground；
It after robot is put into ground, then pulls reversed restrict of overturning coaster and slowly puts down coaster, and withdraw guide rope.
By being led in unmanned plane transfer robot, the ground wire operational method that remove obstacles it is feasible, ascend a height without trackman, band
Electric operation, can be to avoid the generation of high falling and electric shock accidents.
Unmanned plane transfer robot not only can be launched precisely, also improve operational security, avoid high-rise working and band
Electric operation.
Although unmanned plane cooperation robot is to remove obstacles use for grounded-line foreign matter, but this method can be applied to more exist
In grounded-line in inspection and upkeep operation.
The embodiment of the utility model above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the utility model patent range therefore be interpreted as.It should be pointed out that for the ordinary skill of this field
For personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these belong to this
The protection domain of utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (7)
1. a kind of overhead line inspection obstacle removing robot, it is characterised in that：Including machine shelf (3), one end of the machine shelf (3)
It is equipped with across part (1) and walks to take turns crossing frame (2), the other end of the machine shelf (3) is equipped with lifting supporting plate part (5), described
The side of lifting supporting plate part (5) is equipped with electric heating cutting member (4), and battery (6) is equipped on the lifting supporting plate part (5)；
The part (1) of crossing over includes motor cabinet (101), and the side of the motor cabinet (101) is equipped with motor (102), the motor
(102) include crossing over motor, lifting motor and movable motor, the battery (6) is electrically connected with the motor (102)；
Lever plate (103) is pulled in the other side of the motor cabinet (101) equipped with first, described first pull thick stick pull (103) one end by across
More tommy bar bolt (104) pulls thick stick connecting plate (105) with first and is connected, and described first, which pulls thick stick, pulls (103) other end by crossing over tommy bar
Bolt (104) pulls thick stick connecting plate (106) with second and is connected, across tommy bar bolt (104) pass through the motor cabinet (101) respectively with both sides
It is described pull lever plate (103) across motor with described first and be connected, under the drive across motor, described first pulls thick stick
Connecting plate (105) and described second pull thick stick connecting plate (106) using described first pull thick stick pull (103) tie point be the center of circle at angle turn
It is dynamic.
2. a kind of overhead line inspection obstacle removing robot according to claim 1, it is characterised in that：It is described to walk to take turns crossing frame
(2) including two walking parts (21), two walking parts (21) are separately positioned on the both ends of the first synchronous belt (22)；
The walking part (21) includes round steel main shaft (211), and described round steel main shaft (211) one end is by bushing (212) and walks wheel
Frame fixed seat (213) is connected, and round steel main shaft (211) other end is connected by bushing (212) with bearing (214), institute
It states bearing (214) with the first synchronizing wheel (215) to be connected, first synchronous belt is cased on first synchronizing wheel (215)
(22)；
Monosymmetric first anxiety that is equipped in the middle part of the round steel main shaft (211) is taken turns (217), the second nervous wheel (218) and is led
Line wheel (219)；
In the middle part of the round steel main shaft (211) set there are two it is spaced walk wheel seat (216), the described first nervous wheel (217), institute
It states the second nervous wheel (218) and the guide roller (219) is arranged between walking wheel seat (216) described in two, described first is nervous
Take turns (217) setting it is described walk wheel seat (216) upside, the guide roller (219) setting it is described walk wheel seat (216) under
Side, the described second nervous wheel (218) setting is between the described first nervous wheel (217) and the guide roller (219).
3. a kind of overhead line inspection obstacle removing robot according to claim 2, it is characterised in that：The round steel main shaft
(211) also it is cased with main shaft wheel (220) on, the middle part of wheel seat (216), side are walked in main shaft wheel (220) setting described in two
It is described walk wheel carrier fixed seat (213) and the round steel main shaft (211) mutually from one end pass through the second synchronizing wheel (223) and walking electricity
Machine (222) is connected, and the second synchronous belt (221) is cased on second synchronizing wheel (223), and the movable motor (222) turns
It is dynamic to drive the second synchronizing wheel (223) rotation, the second synchronizing wheel (223) rotation that the round steel main shaft (211) is driven to turn
Dynamic, the round steel main shaft (211) drives main shaft wheel (220) rotation, to drive the described first nervous wheel (217), described
Second nervous wheel (218) and the guide roller (219) rotation.
4. a kind of overhead line inspection obstacle removing robot according to claim 1, it is characterised in that：The machine shelf (3)
Including spaced first aluminum corner brace (301), fourth angle aluminium (304), the second aluminum corner brace (302), third aluminum corner brace (303) and mould straight-tooth
Item (306), first aluminum corner brace (301) and the fourth angle aluminium (304) are spaced and are symmetrical arranged, second aluminum corner brace (302),
The third aluminum corner brace (303) is connected with described first aluminum corner brace (301) in described mould spur rack (306) one end, described second jiao
Aluminium (302), the third aluminum corner brace (303) are connected with the described fourth angle aluminium (304) of the other end of the mould spur rack (306)
It connecing, the mould spur rack (306) setting is at the middle part of first aluminum corner brace (301) and the fourth angle aluminium (304), and described second
Aluminum corner brace (302) and the third aluminum corner brace (303) setting in the both sides of the mould spur rack (306), the mould spur rack (306) with
It is equipped with slideway steel (305) between second aluminum corner brace (302) and the third aluminum corner brace (303).
5. a kind of overhead line inspection obstacle removing robot according to claim 4, it is characterised in that：The lifting supporting plate part
(5) include rectangular supporting plate (501), the quadrangle of rectangular supporting plate (501) bottom surface is equipped with cylindrical first foot nail (502), institute
It states rectangular supporting plate (501) positive side and is connected with rectangular crus secunda nail (504), the crus secunda nail (504) and the side
Shape supporting plate (501) is mutually equipped with the 5th aluminum corner brace (503), the 5th aluminum corner brace (503) and the mould spur rack from the middle part of side
(306) it is connected, the slideway steel (305) is connected with crus secunda nail (504)；The lifting motor drives the mould straight
Rack (306) back and forth movement along vertical direction, to drive the supporting plate (501) along the slideway steel (305) along perpendicular
Histogram is to back and forth movement.
6. a kind of overhead line inspection obstacle removing robot according to claim 1, it is characterised in that：The electric heating cutting member
(4) include two strips electric hot plate (401), two electric hot plates (401) are connected at angle, two electric hot plates
(401) contact jaw is equipped with gear (403), and the side of two electric hot plate (401) contact jaws is equipped with 12V motors (404), institute
It states 12V motors (404) by gear bolt (402) to be connected with the electric hot plate (401), two electric hot plates (401) are adjacent
Side be equipped with heating wire (405), the 12V motors (404) drive two electric hot plates (401) rotations, to make two
A electric hot plate (401) is opened or is closed；The battery (6) and the 12V motors (404) and the electric hot plate (401) electrical phase
Connection；The electric hot plate (401) is equipped with camera.
7. a kind of overhead line inspection obstacle removing robot according to claim 6, it is characterised in that：It further include remote controler
(7), the remote controler (7) is equipped with wireless receiving module, on the motor (102), the 12V motors and the camera
Admission controller and wireless transmitter module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820149341.9U CN208015233U (en) | 2018-01-29 | 2018-01-29 | A kind of overhead line inspection obstacle removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820149341.9U CN208015233U (en) | 2018-01-29 | 2018-01-29 | A kind of overhead line inspection obstacle removing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208015233U true CN208015233U (en) | 2018-10-26 |
Family
ID=63883621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820149341.9U Active CN208015233U (en) | 2018-01-29 | 2018-01-29 | A kind of overhead line inspection obstacle removing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208015233U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108110676A (en) * | 2018-01-29 | 2018-06-01 | 国家电网公司 | A kind of overhead line inspection obstacle removing robot |
| CN110705526A (en) * | 2019-10-25 | 2020-01-17 | 云南电网有限责任公司电力科学研究院 | Unmanned aerial vehicle-based tree obstacle clearing method, device and system |
| CN111478225A (en) * | 2020-05-30 | 2020-07-31 | 孙媛媛 | Impurity removing device for power transmission line |
| CN111969482A (en) * | 2020-07-27 | 2020-11-20 | 国网福建省电力有限公司 | Hot-melting type ground wire foreign matter remover |
| CN113809686A (en) * | 2021-11-05 | 2021-12-17 | 国家电网有限公司 | Electric wire foreign matter removing device for power transmission tower in severe terrain |
-
2018
- 2018-01-29 CN CN201820149341.9U patent/CN208015233U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108110676A (en) * | 2018-01-29 | 2018-06-01 | 国家电网公司 | A kind of overhead line inspection obstacle removing robot |
| CN108110676B (en) * | 2018-01-29 | 2020-05-12 | 国家电网公司 | Overhead line inspection and obstacle removal robot |
| CN110705526A (en) * | 2019-10-25 | 2020-01-17 | 云南电网有限责任公司电力科学研究院 | Unmanned aerial vehicle-based tree obstacle clearing method, device and system |
| CN110705526B (en) * | 2019-10-25 | 2023-08-08 | 云南电网有限责任公司电力科学研究院 | Tree obstacle clearing method, device and system based on unmanned aerial vehicle |
| CN111478225A (en) * | 2020-05-30 | 2020-07-31 | 孙媛媛 | Impurity removing device for power transmission line |
| CN111478225B (en) * | 2020-05-30 | 2021-05-25 | 朱荣茂 | Impurity removing device for power transmission line |
| CN111969482A (en) * | 2020-07-27 | 2020-11-20 | 国网福建省电力有限公司 | Hot-melting type ground wire foreign matter remover |
| CN113809686A (en) * | 2021-11-05 | 2021-12-17 | 国家电网有限公司 | Electric wire foreign matter removing device for power transmission tower in severe terrain |
| CN113809686B (en) * | 2021-11-05 | 2023-10-20 | 国家电网有限公司 | Wire foreign matter removing device for power transmission tower in dangerous terrain |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208015233U (en) | A kind of overhead line inspection obstacle removing robot | |
| CN108110676A (en) | A kind of overhead line inspection obstacle removing robot | |
| CN201075610Y (en) | Aerial circuit over barrier polling robot | |
| CN106992469A (en) | A kind of hot line maintenance robot and its upper and lower line control method | |
| CN105846352B (en) | Adapt to the inspection robot mechanical structure and its obstacle-detouring method of solid conductor | |
| CN102097765B (en) | Running state inspection method of high voltage line | |
| CN107265329A (en) | A kind of special guide pulley of unmanned plane | |
| CN206105824U (en) | Electric operating robot | |
| CN102136696A (en) | Transmission line patrolling or deicing robot | |
| CN102975191A (en) | Line-walking robot system for overhead transmission line | |
| CN108297067B (en) | Wire walking robot with lifting rope | |
| CN202910857U (en) | Overhead transmission circuit inspection robot system | |
| CN102110959B (en) | Walking device for intelligently inspecting running state of high voltage line | |
| CN204021041U (en) | A kind of traveling gear for overhead power transmission line crusing robot | |
| CN106505468A (en) | Processing method for foreign body on the line of fall apparatus for work and wire of double-end pulley | |
| CN201918666U (en) | Intelligent routing inspection travelling device for running status of high-voltage line | |
| CN102110960A (en) | Intelligent walking mechanism for inspecting operating condition of high-voltage line | |
| CN201910595U (en) | Intelligent tour inspection traveling mechanism for operating state of high-voltage lines | |
| CN206595631U (en) | A kind of transmission line of electricity servicing unit | |
| CN106871827B (en) | Portable power transmission line arc sag detection device | |
| CN211254901U (en) | Flexible rail elevator | |
| CN108899803B (en) | Electrified overhead cable travelling crane | |
| CN202930832U (en) | Line patrol robot for power transmission line | |
| CN102110961B (en) | Intelligent patrol inspection system of operation state of high-voltage line | |
| CN201853971U (en) | Mobile robot suitable for inspection for large-span power transmission lines |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |