CN209169816U - A kind of high voltage transmission line live work robot - Google Patents
A kind of high voltage transmission line live work robot Download PDFInfo
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- CN209169816U CN209169816U CN201821786301.1U CN201821786301U CN209169816U CN 209169816 U CN209169816 U CN 209169816U CN 201821786301 U CN201821786301 U CN 201821786301U CN 209169816 U CN209169816 U CN 209169816U
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- stockbridge damper
- joint
- transmission line
- crawl
- stockbridge
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Abstract
A kind of high voltage transmission line live work robot, it includes traveling wheel, locating wheel, electric pushrod, job platform, job platform rotary joint, stockbridge damper places clamping jaw, stockbridge damper places rotary joint, stockbridge damper crawl clamping jaw, stockbridge damper crawl telescopic joint, stockbridge damper crawl rotary joint, stockbridge damper crawl translation joint, twists stockbridge damper bolt joint, twists stockbridge damper telescopic joint, twists stockbridge damper lifting joint, control cabinet, holder.The hot line robot is applied to ultra-high-tension power transmission line maintenance field and the multiple stockbridge dampers of quick-replaceable may be implemented, reduce the labor intensity of staff, significantly improve the overhaul efficiency of ultra-high-tension power transmission line by using the robot.
Description
Technical field
The utility model is mainly concerned with power system transmission line inspection operation automation field, and it is defeated to refer in particular to a kind of high pressure
Electric line hot line robot.
Background technique
Stockbridge damper is one of shockproof fitting important in ultra-high-tension power transmission line, but since it is chronically exposed to natural environment
Under, the influence of the bad weather conditions such as long-term wind-engaging, rain, snow, the case where leading to its corrosion deformation or tup fracture, happens occasionally,
The stockbridge damper damage of especially old overhead transmission line road is got worse, so that the work of replacement stockbridge damper is very frequent.
Using the method manually replaced, not only labor intensity is high, low efficiency, and there are huge security risks.
With the continuous development of robot technology, there is the hot line robot with replacement stockbridge damper function,
Although charged for replacement stockbridge damper may be implemented, the every last line of robot can only replace one, and between mesh the first two shaft tower
The stockbridge damper of installing is all at more than one, therefore its application has certain limitation.
Notification number is that the document of 102644245 B of CN discloses a kind of intelligent overhaul robot for bridge, to solve existing skill
The low problem of the large-sized objects external coating maintenance efficiency such as art Bridge.It includes main body, is connected with paint delivery tube in main body,
Main body is equipped with coating stenciling head.The connection of the main body of described paint delivery tube one end and robot, the other end then can be with coating
Feedway connection, the feedway of the coating can be fixed work station, it is also possible to be various moveable coating
Supply car, ship etc. ensure that endlessly coating source.Although allowing machine using the characteristic of climbing robot in the prior art
Device people is climbed automatically onto various objects especially bridge, and the coating stenciling head above set is then used for coating spary to object table
Paint delivery tube is taken the self weight set and can also reduce robot itself on other objects, the more conducively progress of spary work by face,
Such as in the occasion work for being equipped with column on to bridge floor, paint delivery tube pile warp can be fixed on the top of column again with machine
People is attached, but the robot for overhauling is fairly simple, can not use under complex environment.
The document of 108347005 A of Publication No. CN is related to a kind of upkeep operation robot, for overhauling transmission line of electricity,
It include: hollow mainframe box, the mainframe box includes external conductive casing；Running gear, including supporting element and traveling wheel, the support
Part is connected to the mainframe box, and the traveling wheel is rotatably connected to the supporting element, and can walk along transmission line of electricity
To drive transmission line of electricity described in the upkeep operation Robot to move, the running gear is by the mainframe box and the transmission of electricity
Route electrically conducts；And inspection of line device, it is connect with the mainframe box, for checking the transmission line of electricity；Controller is set to
It is connect in the mainframe box and with the inspection of line device, completes transmission line of electricity inspection for controlling the line unit.Though
The upkeep operation robot of the right literature instead of artificial livewire work can eliminate people by direct operation on the high-voltage line of electrification
Work steps on tower livewire work risk, improves operating efficiency, guarantees to complete equipotential live-line maintenance operation under not power-off condition, but the inspection
Repairing Work robot cannot achieve equipotential tour.
Utility model content
For technical problem of the existing technology, the utility model devise a kind of movement flexibly, high degree of automation,
The operation is stable and the hot line robot that can complete to replace multiple stockbridge damper tasks.
In order to solve the above technical problems, the utility model uses following technical scheme:
A kind of high voltage transmission line live work robot, it include traveling wheel, locating wheel, electric pushrod, job platform,
Job platform rotary joint, stockbridge damper place clamping jaw, stockbridge damper places rotary joint, stockbridge damper crawl clamping jaw, stockbridge damper crawl
Telescopic joint, stockbridge damper crawl rotary joint, stockbridge damper crawl translation joint, stubborn stockbridge damper bolt joint, stubborn stockbridge damper are flexible
Stockbridge damper lifting joint, control cabinet, holder are twisted in joint, and the electric pushrod is placed on control cabinet, is connected with locating wheel；
The job platform rotary joint is placed on control cabinet, is connected with job platform；The stockbridge damper is placed rotary joint and is placed in
On job platform, clamping jaw is placed with stockbridge damper and is connected；The stockbridge damper crawl translation joint is placed on job platform, with stockbridge damper
Rotary joint is grabbed to be connected；The stockbridge damper crawl telescopic joint is placed on stockbridge damper crawl rotary joint, is grabbed with stockbridge damper
Clamping jaw is connected；The stubborn stockbridge damper lifting joint is placed on job platform, is connected with stubborn stockbridge damper telescopic joint；It is described twist it is shockproof
Hammer telescopic joint is connected with stubborn stockbridge damper bolt joint；The holder be placed in control cabinet on, be installed with high-definition camera with it is red
Outer video camera.
The traveling wheel can freely walk on high voltage transmission line；Locating wheel is located at below transmission line of electricity, is pushed away by electronic
Bar makes locating wheel and traveling wheel clamps transmission line of electricity jointly, and position does not occur when guaranteeing robot in operation by external force
Variation.
The robot shells are made of metallic aluminium, that is, mitigate the weight of robot, and robot can be made defeated with high pressure
Electric line equipotential.
Entire job platform can be rotated 180 degree by the job platform rotary joint, guarantee the major part of stockbridge damper always
Towards shaft tower.
The stockbridge damper places rotary joint and is connected with multiple stockbridge dampers placement clamping jaw, carries robot multiple anti-
Shake hammer is for replacing.
The robot is differentiated in conjunction with by way of shockproof the high-definition camera and thermal camera being loaded in holder
The damaged condition of hammer.High-definition camera is used to observe the appearance of stockbridge damper, and thermal camera is used to observe the work temperature of stockbridge damper
Degree.
As the utility model further improvements in methods: the stubborn stockbridge damper bolt joint of the robot is installed with electricity
Flow sensor judges whether bolt is tightened by measuring the size of electric current.
As the utility model further improvements in methods: not only having for the stubborn stockbridge damper bolt joint of the robot is each
The flexibility in a direction also has certain elastic telescopic ability, guarantees to twist bolt joint in no the case where being directed at bolt completely
Under, it can also easily twist bolt.
As the utility model further improvements in methods: the robot stockbridge damper crawl rotary joint, stockbridge damper are grabbed
It makes even and moves joint equipped with close to switching, guarantee stockbridge damper crawl, which is pressed from both sides, smoothly can place placement from clamping jaw from stockbridge damper or grab anti-
Shake hammer.
As the utility model further improvements in methods: the robot and monitoring computer are logical by wireless bridge
Letter, then control centre is sent by internet by collected data information by monitoring computer.
Compared with the prior art, the advantages of the utility model are:
1, it is artificial complete by being substituted with machine to provide a kind of high voltage transmission line live work robot for the utility model
At the work of replacement stockbridge damper, the personal safety of related operating personnel has been ensured.
2, the utility model provides a kind of high voltage transmission line live work robot, and hammer wiring passes through last line just
Multiple stockbridge dampers can continuously be replaced, hence it is evident that improve labor efficiency, effectively solve the problems, such as the current livewire work shortage of professionals.
3, the utility model provides a kind of high voltage transmission line live work robot, according to shockproof on route between shaft tower
Hammer quantity determines the quantity that stockbridge damper is carried needed for robot, and design principle is simple, precisely reliable, runs smoothly, can be extensive
In work applied to replacement stockbridge damper, greatly improve the safe operation reliability of power grid, have it is good economical and
Social benefit.
Detailed description of the invention
Fig. 1 is the schematic diagram of the high voltage transmission line live work robot of the utility model；
Fig. 2 is the structural schematic diagram of the ultra-high-tension power transmission line stockbridge damper of the utility model；
Fig. 3 is the high voltage transmission line live work robot manipulating task flow chart of the utility model.
Marginal data
1, traveling wheel 2, locating wheel
3, electric pushrod 4, job platform
5, job platform rotary joint 6, stockbridge damper place clamping jaw
7, stockbridge damper places rotary joint 8, stockbridge damper grabs clamping jaw
9, stockbridge damper crawl telescopic joint 10, stockbridge damper grab rotary joint
11, stockbridge damper crawl translation joint 12, stubborn stockbridge damper bolt joint
13, it twists stockbridge damper telescopic joint 14, twist stockbridge damper lifting joint
15, cabinet 16.1, stockbridge damper 1 are controlled
16.11, stockbridge damper microcephaly 16.12, hammer wiring
16.13, fixing seat 16.14, stockbridge damper major part
16.15, stockbridge damper bolt 16.2, stockbridge damper 2
17, holder.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
The technical solution of the utility model embodiment is clearly and completely described in the attached drawing of type embodiment.Obviously, described
Embodiment is a part of the embodiment of the utility model, instead of all the embodiments.Based on described the utility model
Embodiment, those of ordinary skill in the art's every other embodiment obtained, fall within the protection scope of the utility model.
Embodiment
As shown in Figure 1 and Figure 2, a kind of high voltage transmission line live work robot of the utility model include traveling wheel 1,
Locating wheel 2, electric pushrod 3, job platform 4, job platform rotary joint 5, stockbridge damper place clamping jaw 6, stockbridge damper places rotation
Joint 7, stockbridge damper crawl clamping jaw 8, stockbridge damper crawl telescopic joint 9, stockbridge damper crawl rotary joint 10, stockbridge damper crawl translation
Joint 11 twists stockbridge damper bolt joint 12, twists stockbridge damper telescopic joint 13, twists stockbridge damper lifting joint 14, control cabinet 15, cloud
Platform 17.Traveling wheel 1 is fixed on one end on column, and the column other end is connected with control cabinet 15, and electric pushrod 3 is placed in control cabinet
On 15, it is connected with locating wheel 2, so that locating wheel 2 and traveling wheel 1 is clamped transmission line of electricity jointly by controlling electric pushrod 3, guarantee machine
Device people in operation by external force when position do not change；
Job platform rotary joint 5 is placed on control cabinet, is connected with job platform 4, is passed through job platform rotary joint 5
Entire job platform 4 can be rotated 180 degree by the rotation of itself；
Stockbridge damper is placed rotary joint 7 and is placed on job platform 4, places clamping jaw 6 with stockbridge damper and is connected, stockbridge damper placing clamp
Pawl 6 has multiple, and robot body is allow to carry multiple stockbridge dampers for replacing.
Robot stockbridge damper grabs rotary joint 10, stockbridge damper crawl translation joint 11 is equipped with close to switch, guarantees shockproof
Hammer crawl folder smoothly can place placement or crawl stockbridge damper from clamping jaw 6 from stockbridge damper；Stockbridge damper crawl translation joint 11 is placed in
On job platform 4, it is connected with stockbridge damper crawl 10 one end of rotary joint, stockbridge damper grabs 10 other end of rotary joint and stockbridge damper
It grabs telescopic joint 9 to be connected, stockbridge damper crawl clamping jaw 8 is placed on stockbridge damper crawl telescopic joint 9, by control cabinet 15
Controller, control stockbridge damper crawl translation joint 11, stockbridge damper grab the fortune of rotary joint 10, stockbridge damper crawl telescopic joint 9
It is dynamic, make stockbridge damper crawl clamping jaw 8 easily crawl, placement stockbridge damper.
Stockbridge damper crawl translation, rotation, telescopic joint make the light crawl of stockbridge damper crawl clamping jaw 8, place stockbridge damper；It twists anti-
Shake hammer lifting joint 14 is placed on job platform 4, is connected with stubborn 13 one end of stockbridge damper telescopic joint, is twisted stockbridge damper telescopic joint 13
The other end is connected with stubborn stockbridge damper bolt joint 12, twists stockbridge damper bolt joint 12 and is installed with current sensor, by measuring electricity
The size of stream judges whether bolt is tightened, and twists the flexibility for not only having all directions in stockbridge damper bolt joint 12, also has one
Fixed elastic telescopic ability guarantees to twist stockbridge damper bolt joint 12 in the case where no bolt of alignment completely, can also be light
Twist bolt；Holder 17 is placed on control cabinet 15, is inside installed with the high definition camera and observation stockbridge damper of observation stockbridge damper appearance
The infrared camera of operating temperature.
The utility model provides a kind of stockbridge damper replacing options of high voltage transmission line live work robot, selects first
Certain fixed two adjacent shaft tower determine the number that stockbridge damper is carried needed for robot further according to the stockbridge damper quantity between shaft tower on route
Amount.High definition camera and infrared camera that the robot carries will acquire the heat condition and appearance information of stockbridge damper, lead to
It crosses wireless bridge communication and passes to monitoring computer, whether ground handling operator judges robot according to the information sent back
The stockbridge damper should be replaced.If necessary to replace, then sequentially include the following steps:
Step 1: by controller in control cabinet, control stockbridge damper crawl telescopic joint and stockbridge damper crawl translation joint
Movement cooperation, so that stockbridge damper crawl clamping jaw is protruded into the hammer wiring and seat that is fixedly clamped；
Step 2: by controller in control cabinet, controlling the fortune for twisting stockbridge damper telescopic joint and stubborn stockbridge damper lifting joint
Dynamic cooperation makes to twist stockbridge damper bolt joint alignment stockbridge damper bolt and unscrew to stockbridge damper can be made smoothly to be removed；
Step 3: by controller in control cabinet, control stockbridge damper grabs telescopic joint, stockbridge damper grabs rotary joint,
Stockbridge damper crawl translation joint and stockbridge damper place the coordinated movement of various economic factors of rotary joint, put the stockbridge damper on stockbridge damper crawl clamping jaw
Enter stockbridge damper to place in clamping jaw；
Step 4: stockbridge damper place clamping jaw along hammer wiring moved to stockbridge damper both ends the both ends that make it withstand stockbridge damper with
Guarantee that it securely catches stockbridge damper；
Step 5: stockbridge damper is grabbed after clamping jaw unclamps stockbridge damper and is placed on separately with stockbridge damper placement rotary joint cooperation taking-up
One stockbridge damper places the new stockbridge damper of clamping jaw;
Step 6: whether the stockbridge damper major part that ground operation personnel judgement is installed at present is towards shaft tower, if it is not, logical
It crosses job platform rotary joint and job platform is rotated into 180 degree；
Step 7: identical as the method for removing stockbridge damper, by controller in control cabinet, control stockbridge damper places rotation
Joint, stockbridge damper grab clamping jaw, stockbridge damper grabs telescopic joint, stockbridge damper crawl rotary joint, stockbridge damper grab translation joint,
The coordinated movement of various economic factors for twisting stockbridge damper bolt joint, twisting stockbridge damper telescopic joint, twisting stockbridge damper lifting joint, is attached to line for new stockbridge damper
On the road;
Step 8: whether all stockbridge dampers detect replacement and finish on ground operation personnel confirmation transmission line of electricity, if need
The stockbridge damper of detection, then robot marches at next stockbridge damper to be detected, such as needs to change, then repeats the above steps.
Above are merely preferred embodiments of the utility model, the protection scope of the utility model is not limited merely to above-mentioned
Embodiment, technical solution belonging to the idea of the present invention belong to the protection scope of the utility model.It should be pointed out that pair
For those skilled in the art, several improvements and modifications without departing from the principle of the utility model,
It should be regarded as the protection scope of the utility model.
Claims (6)
1. a kind of high voltage transmission line live work robot, it is characterised in that: it includes traveling wheel (1), locating wheel (2), electricity
Dynamic push rod (3), job platform (4), job platform rotary joint (5), stockbridge damper places clamping jaw (6), stockbridge damper is placed rotation and closed
Section (7), stockbridge damper crawl clamping jaw (8), stockbridge damper crawl telescopic joint (9), stockbridge damper crawl rotary joint (10), stockbridge damper are grabbed
It makes even and moves joint (11), twist stockbridge damper bolt joint (12), twist stockbridge damper telescopic joint (13), twist stockbridge damper lifting joint
(14), cabinet (15), holder (17) are controlled, the electric pushrod (3) is placed in control cabinet (15), is connected with locating wheel (2)；
The job platform rotary joint (5) is placed in control cabinet (15), is connected with job platform (4)；The stockbridge damper places rotation
Turn joint (7) to be placed on job platform (4), places clamping jaw (6) with stockbridge damper and be connected；Stockbridge damper crawl translation joint (11)
It is placed on job platform (4), is connected with stockbridge damper crawl rotary joint (10)；Stockbridge damper crawl telescopic joint (9) is placed in
Stockbridge damper grabs on rotary joint (10), is connected with stockbridge damper crawl clamping jaw (8)；Stubborn stockbridge damper lifting joint (14) is placed in
On job platform (4), it is connected with stubborn stockbridge damper telescopic joint (13)；The stubborn stockbridge damper telescopic joint (13) and stubborn stockbridge damper spiral shell
Bolt joint (12) is connected；The holder (17) is placed in control cabinet (15).
2. a kind of high voltage transmission line live work robot according to claim 1, it is characterised in that: the traveling wheel
(1) it freely walks on high voltage transmission line；The locating wheel (2) is located at below transmission line of electricity, makes to position by electric pushrod (3)
Wheel (2) and traveling wheel (1) clamp transmission line of electricity jointly.
3. a kind of high voltage transmission line live work robot according to claim 1, it is characterised in that: the high pressure is defeated
The shell of electric line hot line robot is made of metallic aluminium.
4. a kind of high voltage transmission line live work robot according to claim 1, it is characterised in that: the operation horizontal
Platform rotary joint (5) rotates 180 degree by itself rotation, by entire job platform 4.
5. a kind of high voltage transmission line live work robot according to claim 1, it is characterised in that: the stockbridge damper
Rotary joint (7) are placed to be connected with multiple stockbridge dampers placement clamping jaw (6).
6. a kind of high voltage transmission line live work robot according to claim 1, it is characterised in that: the holder
(17) high definition camera and infrared camera are equipped with.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821786301.1U CN209169816U (en) | 2018-11-01 | 2018-11-01 | A kind of high voltage transmission line live work robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821786301.1U CN209169816U (en) | 2018-11-01 | 2018-11-01 | A kind of high voltage transmission line live work robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209169816U true CN209169816U (en) | 2019-07-26 |
Family
ID=67336179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821786301.1U Active CN209169816U (en) | 2018-11-01 | 2018-11-01 | A kind of high voltage transmission line live work robot |
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| Country | Link |
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| CN (1) | CN209169816U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109193465A (en) * | 2018-11-01 | 2019-01-11 | 国网河南省电力公司西峡县供电公司 | A kind of high voltage transmission line live work robot and stockbridge damper replacing options |
| CN112171637A (en) * | 2020-09-24 | 2021-01-05 | 中国矿业大学 | Robot cable walking mechanism and method for underground cable inspection |
| CN114614397A (en) * | 2022-04-25 | 2022-06-10 | 国网山东省电力公司烟台供电公司 | Live working robot capable of eliminating heating defect of overhead transmission line drainage plate through intermediate potential and operation method of live working robot |
-
2018
- 2018-11-01 CN CN201821786301.1U patent/CN209169816U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109193465A (en) * | 2018-11-01 | 2019-01-11 | 国网河南省电力公司西峡县供电公司 | A kind of high voltage transmission line live work robot and stockbridge damper replacing options |
| CN112171637A (en) * | 2020-09-24 | 2021-01-05 | 中国矿业大学 | Robot cable walking mechanism and method for underground cable inspection |
| CN114614397A (en) * | 2022-04-25 | 2022-06-10 | 国网山东省电力公司烟台供电公司 | Live working robot capable of eliminating heating defect of overhead transmission line drainage plate through intermediate potential and operation method of live working robot |
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