CN209516283U - A kind of live work robot equipment on the pole - Google Patents

Abstract

The utility model discloses a live working robot equipment on a pole, which aims to provide a kind of automatic connecting and lapping operation of overhead cables, which is not only safe and convenient to operate, but also can ensure the reliable clamping of wire clamps on the pole of overhead cables. Robotic equipment for live working. It includes a wire clamp device, a fixed frame fixed on the pole, a winding wheel set on the fixed frame, a traction rope wound on the winding wheel, an upper bracket set on the upper part of the pole, and an upper bracket set on the upper bracket. The guide wheel on the top, the lifting guide sleeve that slides on the pole, the shaft sleeve that is rotated on the lifting guide sleeve, the rotating frame fixed on the shaft sleeve, and the fixed teeth that are coaxially arranged on the outer surface of the lifting guide sleeve. sleeve, the driving gear meshed with the fixed gear sleeve, the driving motor arranged on the rotating frame for driving the driving gear, the vertical support rod arranged on the rotating frame, the supporting plate arranged on the upper end of the vertical supporting rod and the Vertical guides on the support plate.

Description

A kind of live work robot equipment on the pole

technical field

The utility model relates to cable connection operation equipment, in particular to a live working robot equipment on a pole.

Background technique

At present, the construction of a huge number of parallel trench clamps operating in urban and rural power grids is mostly manually installed, and the construction of the parallel trench clamps on the overhead cables to connect the wires has the following operational difficulties: because the clamps pass through the insulating rod The clamp is lifted close to the overhead cable, and the overhead cable enters the jaw of the clamp, and then the operator manually tightens the connecting bolts to clamp the overhead cable, and because the overhead cable is at a high altitude, the operator manually tightens and grooves the connection of the clamp Bolts are not only difficult to operate, there is a potential safety hazard of electric shock; and the connecting bolts are likely to be untightened, which makes the parallel trench clamp and overhead cable easy to loosen, resulting in increased contact resistance (the larger the resistance, the easier it is to heat), and there are potential safety hazards.

Utility model content

The purpose of this utility model is to provide a robot equipment that can automatically realize the connection and bonding operation of overhead cables, which is not only safe and convenient to operate, but also can ensure that the wire clamps can reliably clamp the rods of overhead cables.

The technical scheme of the utility model is:

A robot equipment for live work on a pole, comprising a wire clamp device, a fixed frame fixed on an electric pole close to the ground surface, a reel mounted on the fixed frame for rotation, and a device for driving the reel to rotate on the fixed frame The rotating motor, the traction rope wound on the winding wheel, the upper bracket arranged on the upper part of the pole, the guide wheel arranged on the upper bracket, the lifting guide sleeve slidingly set on the pole and located above the fixed frame, the rotating The shaft sleeve arranged on the lifting guide sleeve, the rotating frame fixed on the shaft sleeve, the fixed gear sleeve coaxially arranged on the outer surface of the lifting guide sleeve, the driving gear meshed with the fixed gear sleeve, and the rotating frame set on the rotating frame The driving motor for driving the driving gear, the vertical support rod arranged on the rotating frame, the support plate arranged on the upper end of the vertical support rod and the vertical guide rod arranged on the support plate, one end of the traction rope and the winding wire The other end of the traction rope goes around the guide wheel and connects with the lifting guide sleeve; the clamp device includes a mounting plate supported on the support plate, a mounting plate arranged on the mounting plate and matched with the vertical guide rod The vertical guide sleeve, the lower clamping plate located above the mounting plate and connected to the mounting plate through connectors, the clamping plate on the main line and the clamping plate on the branch line above the lower clamping plate, used to drive the clamping on the main line The main line self-locking device for lifting and lowering the plate and the branch line locking device for driving the clamping plate on the branch line to lift up and down.

The live working robot equipment on the pole of this scheme can automatically realize the connecting and lapping operation of overhead cables. It is not only safe and convenient to operate, but also can ensure reliable clamping of overhead cables by wire clamps.

Preferably, the main line self-locking device includes a first guide rod arranged on the upper surface of the lower clamping plate, a first guide hole arranged on the main line clamping plate and corresponding to the first guide rod one-to-one, and a first guide hole for driving The first drive actuator on the main line for the clamping plate to move along the first guide rod, the first guide rod is perpendicular to the upper surface of the lower clamping plate, and the first guide rod passes through the corresponding first guide hole.

Preferably, the first driving actuator includes a first threaded hole arranged on the clamping plate on the main line and passing through the upper and lower surfaces of the clamping plate on the main line, a first screw matched with the first threaded hole, and a first threaded hole arranged on the lower clamping plate. The first drive motor on the top, the first screw rod is parallel to the first guide rod, and the output shaft of the first drive motor is connected to the first screw rod.

Preferably, the self-locking device for the branch line includes a second guide rod arranged on the upper surface of the lower clamping plate, a second guide hole arranged on the clamping plate on the branch line and corresponding to the second guide rod one-to-one, and a second guide hole for driving A second drive actuator for the clamping plate on the branch line to move along the second guide rod, the second guide rod is perpendicular to the upper surface of the lower clamping plate, and the second guide rod passes through the corresponding second guide hole.

Preferably, the second drive actuator includes a second threaded hole arranged on the clamping plate on the branch line and passing through the upper and lower surfaces of the clamping plate on the branch line, a second screw rod matched with the second threaded hole, and a second threaded hole arranged on the lower clamping plate The second drive motor on the top, the second screw rod is parallel to the second guide rod, and the output shaft of the second drive motor is connected with the second screw rod.

As a preference, the upper surface of the lower clamping plate is provided with the lower clamping groove of the main line and the lower clamping groove of the branch line. The axis of the sleeve is perpendicular to each other, and the lower clamping groove of the branch line is located below the clamping plate on the branch line; the lower surface of the clamping plate on the main line is provided with a clamping groove on the main line corresponding to the lower clamping groove of the main line. The lower surface of the upper clamping plate is provided with a branch line clamping groove corresponding to the branch line lower clamping groove.

As preferably, the edge of the lower clamping plate is provided with a reference plate extending outwards, the upper surface of the reference plate is flush with the upper surface of the lower clamping plate, and the reference plate and the lower clamping groove of the branch line are located at opposite sides of the lower clamping groove of the main line. side, the datum plate is located on the outside of the clamping plate on the main line.

Preferably, it also includes at least three guiding devices uniformly distributed around the lifting guide sleeve circumferential direction, the guiding device includes a support arranged on the outer surface of the lifting guide sleeve, a guide rail arranged on the support and extending radially along the lifting guide sleeve, The slider slides along the guide rail, the air cylinder or electric cylinder arranged on the support for pushing the slider and the guide rollers arranged on the slider.

Preferably, the fixing frame includes a hoop, and the hoop is fixed on the pole.

The beneficial effect of the utility model is that the connecting and lapping operation of overhead cables can be automatically realized, which is not only safe and convenient to operate, but also can ensure reliable clamping of overhead cables by wire clips.

Description of drawings

Fig. 1 is a structural schematic diagram of the live working robot equipment of the utility model.

Fig. 2 is a partial enlarged view of A in Fig. 1 .

Fig. 3 is a partial enlarged view of B in Fig. 2 .

FIG. 4 is a schematic diagram of a partial structure in the direction C in FIG. 3 .

In the picture:

Electric pole 1a, overhead cable 1b;

Fixture 1;

Winding wheel 2.1, rotating motor 2.2, traction rope 2.3, upper bracket 2.4, guide wheel 2.5;

Lifting guide sleeve 3;

Guide device 4, support 4.1, guide rail 4.2, slider 4.3, guide roller 4.4, cylinder 4.5;

Shaft sleeve 5;

Swivel frame 6, vertical support rod 6.1, support plate 6.2, vertical guide rod 6.3;

Wire clamp device 7, mounting plate 7.1, vertical guide sleeve 7.2, connector 7.3, lower clamping plate 7.4, main line lower clamping groove 7.41, branch line lower clamping groove 7.42, main line clamping plate 7.5, main line clamping line Groove 7.51, branch line clamping plate 7.6, branch line clamping groove 7.61, main line self-locking device 7.7, first guide rod 7.71, first screw rod 7.72, first drive motor 7.73, branch line locking device 7.8, second guide Rod 7.81, second screw rod 7.82, second drive motor 7.83, reference plate 7.9;

Fixed gear sleeve 8.1, driving gear 8.2, driving motor 8.3.

Detailed ways

In order to make the purposes, technical solutions and advantages of the technical solutions of the present utility model clearer, the technical solutions of the technical solutions of the present utility model are clearly explained and described below in conjunction with the accompanying drawings, but the following examples are only preferred implementations of the present utility model example, not all examples. Based on the examples in the implementation manners, other examples obtained by those skilled in the art without making creative efforts all belong to the protection scope of the present utility model.

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are only used to explain the present solution, and cannot be construed as limiting the present utility model.

These and other aspects of embodiments of the present invention will become apparent with reference to the following description and drawings. In these descriptions and drawings, some specific implementation manners in the embodiments of the present invention are specifically disclosed to represent some ways of implementing the principles of the embodiments of the present invention, but it should be understood that the scope of the embodiments of the present invention Not subject to this restriction. On the contrary, the embodiments of the present invention include all changes, modifications and equivalents falling within the spirit and scope of the appended claims.

In describing the present invention, it should be understood that the terms "thickness", "upper", "lower", "horizontal", "top", "bottom", "inner", "outer", "circumferential" The orientation or positional relationship indicated by etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, use a specific The azimuth structure and operation, therefore can not be construed as the limitation of the present utility model. In the description of the present utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined, and "several" means one or more.

In this utility model, unless otherwise specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrated: it can be mechanically connected, or electrically connected, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components , unless expressly defined otherwise. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model according to specific situations.

Specific embodiment one: as shown in Fig. 1, Fig. 2, Fig. 3, a kind of live working robot equipment on the pole, comprises line clip device 7, fixed frame 1 on the electric pole 1a that is close to the surface of the ground, rotation is arranged on the fixed The reel 2.1 on the frame, the rotating motor 2.2 arranged on the fixed frame for driving the reel to rotate, the traction rope 2.3 wound on the reel, the upper bracket 2.4 arranged on the upper part of the pole, arranged on the upper The guide wheel 2.5 on the bracket, the lifting guide sleeve 3 slidingly set on the electric pole and located above the fixed frame, at least three guide devices evenly distributed around the lifting guide sleeve circumferentially 4, the rotating shaft sleeve 5 arranged on the lifting guide sleeve , the swivel frame 6 fixed on the shaft sleeve, the fixed gear sleeve 8.1 coaxially arranged on the outer surface of the lifting guide sleeve, the driving gear 8.2 meshed with the fixed gear sleeve, and the driving gear arranged on the swivel frame for driving the driving gear Motor 8.3, the vertical support bar 6.1 that is arranged on the swivel frame, the support plate 6.2 that is arranged on the vertical support bar upper end and the vertical guide bar 6.3 that is arranged on the support plate. The fixing frame includes a hoop, and the fixing frame is fixed on the electric pole through the hoop, and the hoop is fixed on the electric pole. In this embodiment, the fixing frame is a metal frame or a plastic frame. The output shaft of the driving motor is connected with the rotating shaft of the driving gear through a coupling. The support plate is arranged horizontally.

In this embodiment, the lifting guide sleeve includes two left and right semi-circular sleeves, which are connected as a whole by bolts; the fixed gear sleeve is composed of left and right semi-circular gear sleeves, and the semi-circular gear sleeve is connected with the lifting guide sleeve through bolts; The shaft sleeve is coaxial with the lifting guide sleeve, and the shaft sleeve is composed of two left and right half shaft sleeves, and the left and right half shaft sleeves are connected as a whole by bolts.

One end of the traction rope 2.3 is connected with the reel, and the other end of the traction rope walks around the guide wheel 2.5 and is connected with the lifting guide sleeve 3. Specifically, the other end of the traction rope goes around the guide wheel first, Extend down and connect with the lifting guide bush.

The guide device 4 includes a support 4.1 arranged on the outer surface of the lifting guide sleeve 3, a guide rail 4.2 arranged on the support and extending radially along the lifting guide sleeve, a slide block 4.3 sliding along the guide rail, and a slide block 4.3 arranged on the support. The cylinder 4.5 or electric cylinder that promotes slide block and guide roller 4.4 that are arranged on the slide block. The guide roller is arranged on the slide block through the rotation of the wheel shaft, and the wheel shaft is perpendicular to the axis of the lifting guide sleeve. In this embodiment, there are two guide rollers in the same guide device, and the two guide rollers are located at the same height.

As shown in Figure 2, Figure 3 and Figure 4, the clamp device 7 includes a mounting plate 7.1 supported on the support plate 6.2, a vertical guide sleeve 7.2 arranged on the mounting plate and matched with the vertical guide rod 6.3, located on the The lower clamping plate 7.4 above the mounting plate and connected to the mounting plate through the connector 7.3, the clamping plate 7.5 on the main line above the lower clamping plate and the clamping plate 7.6 on the branch line are used to drive the clamping plate on the main line up and down The main line self-locking device 7.7 of the lifting and the branch line locking device 7.8 for driving the clamping plate on the branch line to lift up and down.

The upper surface of the lower clamping plate is a horizontal plane. The upper surface of the lower clamping plate is provided with the lower clamping groove 7.41 of the main line and the lower clamping groove 7.42 of the branch line. The lower clamping groove of the main line is parallel to the lower clamping groove of the branch line. The cross section of the lower clamping groove of the main line is arc-shaped. The cross section of the clamping groove on the main line is arc-shaped. The lower clamping groove 7.41 of the main line is located below the clamping plate on the main line, and the length direction of the lower clamping groove of the main line is perpendicular to the axis of the lifting guide sleeve 3 . The lower clamping groove 7.42 of the branch line is located below the clamping plate on the branch line.

The lower surface of the clamping plate 7.5 on the main line is provided with a main line clamping groove 7.51 corresponding to the main line lower clamping groove, and the cross section of the main line clamping groove is arc-shaped. The lower surface of the clamping plate 7.6 on the branch line is provided with a line clamping groove 7.61 corresponding to the lower line clamping groove on the branch line, and the cross section of the line clamping groove on the branch line is arc-shaped.

The edge of the lower clamping plate 7.4 is provided with an outwardly extending reference plate 7.9. The upper surface of the reference plate is flush with the upper surface of the lower clamping plate. On opposite sides, the reference plate is located on the outside of the clamping plate 7.5 on the main line.

The main line self-locking device includes a first guide rod 7.71 arranged on the upper surface of the lower clamping plate, a first guide hole arranged on the main line clamping plate and corresponding to the first guide rod one by one, and a first guide hole for driving the main line. A first drive actuator for the clamping plate to move along the first guide rod. The first guide rod is perpendicular to the upper surface of the lower clamping plate, and the first guide rod passes through the corresponding first guide hole.

The first drive actuator includes a first threaded hole arranged on the clamping plate on the main line and passing through the upper and lower surfaces of the clamping plate on the main line, a first screw 7.72 matched with the first threaded hole, and a screw 7.72 arranged on the lower clamping plate. The first drive motor 7.73. The first drive motor is located below the lower clamping flat plate. The first screw rod is parallel to the first guide rod, and the output shaft of the first driving motor is connected with the first screw rod.

The branch line self-locking device includes a second guide rod 7.81 arranged on the upper surface of the lower clamping plate, a second guide hole arranged on the branch line clamping plate and corresponding to the second guide rod one by one, and a second guide hole for driving the branch line. A second drive actuator for the clamping plate to move along the second guide rod. The second guide rod is perpendicular to the upper surface of the lower clamping plate, and the second guide rod passes through the corresponding second guide hole.

The second drive actuator includes a second screw hole that is arranged on the clamping plate on the branch line and runs through the upper and lower surfaces of the clamping plate on the branch line, a second screw rod 7.82 that matches the second threaded hole, and a screw rod 7.82 that is arranged on the lower clamping plate. The second driving motor 7.83. The second driving motor is positioned under the lower clamping flat plate. The second screw rod is parallel to the second guide rod, and the output shaft of the second driving motor is connected with the second screw rod.

The first guide rod, the first screw rod, the second guide rod and the second screw rod are all located between the lower wire clamping groove of the branch wire and the lower wire clamping groove of the main wire.

The specific work of the live working robot equipment on the pole of the present embodiment is as follows:

First, the branch cable is clamped on the clamp device 7, specifically, the branch cable is placed between the lower clamping groove of the branch line and the clamping groove on the branch line; then, the second driving motor is started to drive the second screw to rotate , through the cooperation of the second screw rod and the second threaded hole, the branch line clamping block is moved down along the second guide rod, so that the branch line cable is reliably clamped between the lower line clamping groove of the branch line and the line clamping groove of the branch line;

The guide device 4 hugs the electric pole 1a through the guide rollers 4.4. Specifically, the cylinder drives the slider to move along the guide rail, so that the guide rollers 4.4 are close to the outer surface of the electric pole, so that the guide rollers of each guide device hold the electric pole tightly; During the sliding process of the lifting guide sleeve along the pole, the guide rollers of the guide device play a guiding role, and the lifting guide sleeve slides smoothly along the pole.

Second, the rotating motor works to drive the winding wheel to rotate, thereby driving the lifting guide sleeve, guiding device, rotating frame and wire clamp device to rise to the set position along the electric pole 1a through the traction rope; then, the driving motor 8.3 works, through The driving gear 8.2 cooperates with the fixed gear sleeve 8.1, thereby driving the rotating frame 6 and the shaft sleeve 5 to rotate around the lifting guide sleeve, so that the reference plate 7.9 is located below the overhead cable 1b on the pole;

Then, the rotating motor works again to drive the winding wheel to rotate, so that the lifting guide sleeve, guiding device, rotating frame and wire clamp device are raised together along the pole 1a through the traction rope, so that the upper surface of the reference plate is against the overhead cable 1b superior;

Then, the drive motor works again, through the cooperation of the driving gear 8.2 and the fixed tooth sleeve 8.1, it drives the rotating frame 6 and the shaft sleeve 5 to rotate around the lifting guide sleeve, so that the overhead cable 1b moves to the main line clamping groove and the main line lower clamping groove Between; then, the first driving motor starts, drives the first screw to rotate, and drives the clamping plate on the main line to move down along the first guide rod through the cooperation of the first screw and the first threaded hole, so that the overhead cable can be reliably clamped on the main line Between the upper clamping trough and the lower clamping trough of the main line; thus realizing the lapping operation of overhead cables.

Fourth, the rotating motor works again to drive the reel to rotate, release the traction rope, and make the lifting guide sleeve, guide device, swivel frame and wire clamp device drop down to the designated position along the pole 1a under the action of their own weight.

The live working robot equipment on the pole of this embodiment can automatically realize the wiring operation of the overhead cable, without the need to lift the wire clip close to the overhead cable through the insulating rod, and make the overhead cable enter the clamp of the wire clip; there is also no need for the operator to manually Tighten the connecting bolts to clamp the overhead cables, which can greatly reduce the difficulty of operation and improve the operation efficiency for the aerial work on the overhead cables, and can effectively solve the problem that the connecting bolts of the cable clamps in the prior art are not tightened. , so that the parallel ditch line clamp and the overhead cable are prone to loosening, causing the contact resistance to increase, and the increase in resistance is likely to generate heat, which has potential safety hazards, and ensures that the line clamp can reliably clamp the overhead cable.

Claims (9)

1. A live working robot equipment on a pole, characterized in that it includes a wire clamp device, a fixed frame fixed on an electric pole close to the ground surface, a winding wheel arranged on the fixed frame for rotation, and is arranged on the fixed frame for The rotating motor that drives the reel to rotate, the traction rope wound on the reel, the upper bracket set on the upper part of the pole, the guide wheel set on the upper bracket, and the sliding sleeve set on the pole and located above the fixed frame The lifting guide sleeve, the shaft sleeve arranged on the lifting guide sleeve, the rotating frame fixed on the shaft sleeve, the fixed gear sleeve coaxially arranged on the outer surface of the lifting guide sleeve, the driving gear meshing with the fixed gear sleeve, The driving motor for driving the driving gear arranged on the rotating frame, the vertical support rod arranged on the rotating frame, the support plate arranged on the upper end of the vertical support rod and the vertical guide rod arranged on the support plate, the fixed The frame is a metal frame or a plastic frame; One end of the traction rope is connected with the reel, and the other end of the traction rope bypasses the guide wheel and is connected with the lifting guide sleeve; The clamp device includes a mounting plate supported on the support plate, a vertical guide sleeve arranged on the mounting plate and matched with the vertical guide rod, a lower clip located above the mounting plate and connected to the mounting plate through a connecting piece line plate, main line clamping plate and branch line clamping plate located above the lower line clamping plate, main line self-locking device for driving the main line clamping plate up and down and for driving the branch line clamping plate up and down Branch line locking device. 2. The robot equipment for live working on poles according to claim 1, wherein the main line self-locking device comprises a first guide rod arranged on the upper surface of the lower clamping plate, a clamping plate set on the main line The first guide hole corresponding to the first guide rod and the first driving actuator for driving the clamping plate on the main line to move along the first guide rod, the first guide rod and the upper clamping plate of the lower clamping plate The surfaces are vertical, and the first guide rod passes through the corresponding first guide hole. 3. The robot equipment for live working on a pole according to claim 2, wherein the first driving actuator includes a first screw thread arranged on the clamping plate on the main line and passing through the upper and lower surfaces of the clamping plate on the main line Hole, the first screw rod matched with the first threaded hole and the first drive motor arranged on the lower clamping plate, the first screw rod is parallel to the first guide rod, the output shaft of the first drive motor and the first screw rod connected. 4. The robot equipment for live working on poles according to claim 1, wherein the branch line self-locking device comprises a second guide rod arranged on the upper surface of the lower line clamping plate, a clamping plate set on the branch line The second guide hole on the top and one-to-one corresponding to the second guide rod and the second drive actuator for driving the clamping plate on the branch line to move along the second guide rod, the second guide rod and the upper clamping plate of the lower clamping plate The surfaces are vertical, and the second guide rod passes through the corresponding second guide hole. 5. The live working robot equipment on a pole according to claim 4, characterized in that, the second drive actuator includes a second screw thread arranged on the clamping plate on the branch line and passing through the upper and lower surfaces of the clamping plate on the branch line hole, the second screw rod matched with the second threaded hole and the second driving motor arranged on the lower clamping plate, the second screw rod is parallel to the second guide rod, and the output shaft of the second driving motor is connected to the second screw rod connected. 6. The robot equipment for live work on poles according to claim 1, wherein the upper surface of the lower clamping plate is provided with a main line clamping slot and a branch line clamping slot, and the main line clamping slot is located on the main line Below the upper clamping plate, and the length direction of the lower clamping groove of the main line is perpendicular to the axis of the lifting guide sleeve, the lower clamping groove of the branch line is located below the clamping plate on the branch line; the lower surface of the clamping plate on the main line is set There is an upper main wire clamping groove corresponding to the main wire lower wire clamping groove, and a branch wire clamping groove corresponding to the branch wire lower wire clamping groove is provided on the lower surface of the branch wire clamping plate. 7. The live working robot equipment on a pole according to claim 6, wherein the edge of the lower clamping plate is provided with a reference plate extending outward, and the upper surface of the reference plate is flush with the upper surface of the lower clamping plate Flat, the reference plate and the lower clamping groove of the branch line are located on the opposite sides of the lower clamping groove of the main line, and the reference plate is located on the outside of the clamping plate on the main line. 8. The robot equipment for live working on poles according to claim 1, further comprising at least three guiding devices uniformly distributed around the circumference of the lifting guide sleeve, the guiding devices comprising a support arranged on the outer surface of the lifting guide sleeve, The guide rail arranged on the support and extending radially along the lifting guide sleeve, the slider sliding along the guide rail, the air cylinder or electric cylinder arranged on the support for pushing the slide block and the guide rollers arranged on the slide block. 9. The robot equipment for live working on a pole according to claim 1, wherein the fixing frame includes a hoop, and the hoop is fixed on the pole.