CN211385521U

CN211385521U - Wire structure is walked to wire coating robot of formula of embracing

Info

Publication number: CN211385521U
Application number: CN201922269588.1U
Authority: CN
Inventors: 张万青; 黄志建; 赖彬昌
Original assignee: Guangdong Crownpower Electric Power Technology Development Co ltd
Current assignee: Guangdong Crownpower Electric Power Technology Development Co ltd
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2020-09-01
Anticipated expiration: 2029-12-17

Abstract

The utility model provides a close-holding type wire coating robot wiring structure, which comprises two sets of wiring arms and a mounting substrate, wherein the wiring arms comprise wiring pulleys, a bracket, a wiring driving motor and a linkage power assembly; the bottoms of the two sets of routing arms are rotatably connected with the mounting substrate and are symmetrically arranged along the central axis of the mounting substrate in a staggered manner, and the linkage power assembly is linked to drive the two sets of routing arms to synchronously swing outwards or inwards. When two walk the line arm and be the V type and open, hang the coating robot to under the bare electric wire of overhead and walk the position that line pulley minimum is higher than the power line, the linkage power subassembly drives again and walks the line arm and embrace toward base plate axis direction, hangs the robot in the power line, need not the manual work and climb the shaft tower and lay the robot, has avoided operating personnel high altitude construction's danger, has reduced the working strength, has automatic to close to embrace the hanging wire, easy operation, safety, walks the advantage that the line arm linkage swings and keep parallel.

Description

Wire structure is walked to wire coating robot of formula of embracing

Technical Field

The utility model belongs to the technical field of built on stilts bare wire coating, especially, relate to a close wire coating robot of formula of embracing walks line structure.

Background

The bare overhead wire is located outdoors for a long time, lightning strike, rain, wet fog, natural and industrial pollution and the like can cause certain damage to the bare overhead wire, and the bare power line easily causes electric shock accidents, so that the bare overhead wire needs to be protected by performing insulating paint coating operation on the bare overhead wire. At present, an overhead bare wire insulating paint coating robot still needs to manually climb a tower to place and debug before coating operation, and is high in altitude operation, high in difficulty and risk, high in requirements for physical ability and operation capacity of operators, and capable of falling off if careless. Although the unmanned aerial vehicle technology has great progress, the unmanned aerial vehicle technology is mainly applied to the inspection aspect of overhead bare wires at present, and the flight stability and the load capacity of the unmanned aerial vehicle technology cannot meet the requirements of coating operation strength and quality.

Disclosure of Invention

In order to solve the problems in the prior art, the utility model provides a close-holding type wire coating robot wiring structure, which comprises two sets of wiring arms and a mounting substrate, wherein the wiring arms comprise wiring pulleys, a bracket, a wiring driving motor and a linkage power assembly; the bottoms of the two sets of wiring arms are rotatably connected with the mounting substrate and are symmetrically arranged in a staggered mode along the central axis of the mounting substrate, the poking plates are arranged below the wiring arms, and the linkage power assemblies drive the wiring arms to swing through the poking plates at the same time. When walking the line arm and being the V type and open, will coat the robot and hang to the built on stilts bare wire by the suspender under and walk the position that line pulley minimum is higher than the power line, the transmission pinion rack inwards contracts, drives to walk the line arm toward base plate axis direction cohesion, hangs the robot in the power line, and the robot is laid to the artifical climbing shaft tower of no need, has avoided operating personnel high altitude construction's danger, has reduced operation intensity. The linkage power assembly can drive the two sets of wiring arms simultaneously, and the two sets of wiring arms synchronously swing, so that two sides of the robot are kept parallel, and the hanging is prevented from being influenced by the unparallel state. The wiring arm is provided with the quick-mounting mechanism, so that the spray head can be quickly assembled and disassembled, the installation is accurate and firm, and the spray head can be adjusted without manually climbing a tower. The wiring arm support adopts a hollow design, air convection is enhanced, heat dissipation is accelerated, and the service life and the operation stability of the wiring arm are improved.

The utility model discloses a following detailed technical scheme reaches above-mentioned purpose:

a close-holding type wire coating robot routing structure comprises two sets of routing arms and a mounting substrate, wherein each routing arm comprises a routing pulley, a support, a routing driving motor and a linkage power assembly, the support is inverted L-shaped, the bottom of a long rod of the L-shaped support is rotatably mounted on a rotating seat on the mounting substrate through a rotating shaft, a poking plate is arranged at the bottom of a long rod of the support, a strip-shaped sliding groove matched with the poking plate is formed in the mounting substrate, the poking plate is slidably inserted into the sliding groove, the routing driving motor is mounted inside the long rod of the routing support, and a bevel gear is fixedly mounted on a power output shaft of the routing driving motor in an upward mode; the wiring pulley is rotatably arranged at one end of the short rod of the bracket through a rotating shaft, the rotating shaft of the wiring pulley extends towards the turning point direction of the bracket and is provided with a bevel gear, the bevel gear on the rotating shaft of the wiring pulley is vertically intersected and mutually meshed with the bevel gear at the power output end of the wiring driving motor, and the wiring driving motor drives the wiring pulley to rotate through the bevel gear transmission; the two sets of routing arms are symmetrically arranged along the central axis of the upper surface of the mounting substrate in a staggered manner, and one side of each routing arm provided with a routing pulley faces the central axis of the mounting substrate; the linkage power assembly comprises a double-end motor, two transmission toothed plates and two sliding columns, the double-end motor is fixedly installed in the installation base plate, the two power output ends extend towards the length direction of the installation base plate, the end part of each power output end is connected with a gear, the two transmission toothed plates are horizontally and slidably installed in the installation base plate and are respectively meshed with the gears of the power output ends of the double-end motor, the transmission toothed plates at the two ends are installed in a staggered mode, one transmission toothed plate is meshed with the upper part of the gear, the other transmission toothed plate is meshed with the lower part of the gear, the double-end motor drives the transmission toothed plates to slide back and forth along the width direction of the installation; the shifting plate of the bracket is provided with strip-shaped sliding holes for the sliding columns to slide, the two sliding columns respectively penetrate through the sliding holes of the shifting plates of the two sets of wiring arms and then are fixedly installed at the end parts of the two transmission toothed plates, so that the shifting plates can rotate around the sliding columns and the sliding columns can slide in the sliding holes, the wiring arms respectively swing towards the two sides of the installation substrate under the driving of the transmission toothed plates, and when the two transmission toothed plates slide inwards, the wiring arms incline towards the outer side of the installation substrate; the two sets of wiring arms are in a V-shaped layout, when the two transmission toothed plates slide outwards, the wiring arms are embraced towards the direction of the central axis until the side faces of the wiring arms are perpendicular to the mounting substrate, the centers of the two wiring pulleys are arranged in a straight line, and the straight line is parallel to the central axis of the mounting substrate. When walking line arm V type and opening, hang coating robot under the bare electric wire of built on stilts, and power line and base plate are in the coplanar, when the pulley minimum is higher than the power line, start linkage power component drive two arms and embrace, can let walk the line pulley and hang on the overhead electric wire, realize exempting from artifical climbing tower long-range laying coating robot.

Furthermore, a spray head quick connection mechanism is arranged on the outermost wiring arm at one end of the mounting substrate, the spray head quick connection mechanism consists of two circular rings and a flat plate, the diameters of the circular rings are consistent with the diameter of the side face of the wiring pulley, and the two circular rings are arranged in parallel in an overlapping mode, clamped on two sides of the wiring pulley and coaxially and rotatably connected with the wiring pulley; the flat plate is perpendicular to the two circular rings and connected with the outer circles of the two circular rings, and a trapezoidal mortise is arranged at one end, far away from the circular rings, of the flat plate. Through with the quick-witted disect insertion of fishplate bar on the shower nozzle connect the trapezoidal tongue-and-groove of mechanism soon and with the screw fixation, realized the quick assembly disassembly of shower nozzle, the installation is accurate firm. Meanwhile, the quick connection mechanism is coaxially and rotatably connected with the routing pulley, so that the angle of the spray head can be automatically adjusted according to the deformation of the electric wire when the coating robot hangs the wire.

Furthermore, the end face of the bottom of the support is an inclined plane, a rotating shaft connected with the rotating seat of the support is arranged on one side of an acute angle, the rotating shaft is arranged on one side of the acute angle, the other side of the rotating shaft can be provided with the inclined plane, the support can rotate outwards conveniently, the inclined plane can limit the rotation of the support to a certain degree, the rotation amplitude of the support is prevented from being too large, and the support can be supported to a certain degree when the support rotates to the outermost position.

Furthermore, the support of the routing arm is hollow out of the panels on two sides perpendicular to the central axis of the substrate of the coating robot. The direction that the operation of coating machine removed is parallel with coating robot base plate axis, and two support sides of perpendicular to axis adopt the fretwork design, can strengthen the air convection for walk the heat dissipation of line driving motor and bevel gear and promote life-span and the operating stability of walking the line arm.

Furthermore, the routing structure of the clasping type wire coating robot further comprises two marble screws, wherein the two marble screws are respectively and fixedly installed in the installation substrate on one side of the two sliding grooves, and marbles of the two marble screws horizontally protrude into the sliding grooves respectively; the poking plate of the support is provided with clamping holes corresponding to the marble screws, when the two sets of wiring arms are completely embraced, the marbles of the marble screws protrude and are clamped in the clamping holes and the support is fixed, so that the wiring arms can be stably fixed on the robot, and the swinging is avoided when the robot walks.

Drawings

Fig. 1 is a perspective view of a routing structure of a wrap-around wire coating robot.

Fig. 2 is a three-dimensional structure diagram of a routing arm (without a quick-connect mechanism) of a routing structure of a clasping type wire coating robot, wherein a poking plate is hidden.

Fig. 3 is a three-dimensional structure diagram of a routing arm (without a quick-connect mechanism) of a routing structure of a clasping type wire coating robot.

Fig. 4 is a three-dimensional structure diagram of a routing arm (with a quick-connection mechanism) of a routing structure of a clasping type wire coating robot.

Fig. 5 is a top view of the power unit linkage in the mounting substrate.

Fig. 6 is a left side view structural view of the linkage power assembly in the mounting substrate.

Fig. 7 is a schematic perspective view of the routing mechanism installed in the coating robot in the embodiment.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The routing structure of the clasping type wire coating robot as shown in the attached drawings 1-6 comprises two sets of routing arms 1 and a mounting substrate 2, wherein each routing arm 1 comprises a routing pulley 11, a support 12, a routing driving motor 13 and a linkage power assembly 15, the support 12 is in an inverted L shape, the bottom of a long rod of the L-shaped support 12 is rotatably mounted on a rotating seat 21 on the mounting substrate 2 through a rotating shaft, a poking plate 121 is arranged at the bottom of the long rod of the support 12, a strip-shaped sliding groove 22 matched with the poking plate 121 is arranged on the mounting substrate 2, the poking plate 121 is slidably inserted into the sliding groove 22, the routing driving motor 13 is mounted inside the long rod of the routing support 12, and a bevel gear 14 is fixedly mounted on a power output shaft of the routing driving motor 13 and faces upwards; the routing pulley 11 is rotatably mounted at one end of a short rod of the support 12 through a rotating shaft, the rotating shaft of the routing pulley 11 extends towards the turning point direction of the support 12 and is provided with a bevel gear 14, the bevel gear 14 on the rotating shaft of the routing pulley 11 is vertically intersected and mutually meshed with the bevel gear 14 at the power output end of the routing driving motor 13, and the routing driving motor 13 drives the routing pulley 11 to rotate through the transmission of the bevel gear 14; the two sets of routing arms 1 are symmetrically arranged along the central axis of the upper surface of the mounting substrate 2 in a staggered manner, and one side of each routing arm 1 provided with a routing pulley 11 faces the central axis of the mounting substrate 2; the linkage power assembly 15 comprises a double-end motor 151, two transmission toothed plates 152 and two sliding columns 153, the double-end motor 151 is fixedly installed in the installation base plate 2, two power output ends extend towards the length direction of the installation base plate 2, the end part of each power output end is connected with a gear 154, the two transmission toothed plates 152 are horizontally installed in the installation base plate 2 in a sliding mode and are respectively meshed with the gears 154 of the power output ends of the double-end motor 151, the transmission toothed plates 152 at the two ends are installed in a staggered mode, one transmission toothed plate is meshed with the upper portion of the gear 154, the other transmission toothed plate is meshed with the lower portion of the gear 154, the double-end motor 151 drives the transmission toothed plates 152 to slide back and forth along the width direction of the installation base; the poking plate 121 of the bracket 12 is provided with a strip-shaped sliding hole 122 for the sliding of the sliding column 153, the two sliding columns 153 respectively penetrate through the sliding holes 122 of the poking plate 121 of the two sets of routing arms 1 and then are fixedly installed at the end parts of the two transmission toothed plates 152, so that the poking plate 121 can rotate around the sliding columns 153 and the sliding columns 153 can slide in the sliding holes 122, the routing arms 1 respectively swing to the two sides of the installation substrate 2 under the driving of the transmission toothed plates 152, when the two transmission toothed plates 152 slide inwards, the routing arms 1 incline towards the outer side of the installation substrate 2, the two sets of routing arms 1 are in a V-shaped layout, when the two transmission toothed plates 152 slide outwards, the routing arms 1 embrace towards the direction of the central axis until the side surfaces of the routing arms 1 are perpendicular to the installation substrate 2, the centers of the two pulleys 11 are in a linear arrangement, the straight line is parallel to the central axis of the installation substrate 2, when the two arms V-shaped of the routing mechanism are opened, the coating, and the power line and the base plate are in the same plane, when the lowest point of the wiring pulley 11 is higher than the power line, the linkage power assembly 15 drives the two arms to be clasped, and the wiring pulley 11 can be hung on the overhead power line.

As a preferred embodiment, the outermost routing arm 1 at one end of the mounting substrate 2 is provided with a nozzle quick-connection mechanism 16, the nozzle quick-connection mechanism 16 is composed of two circular rings 161 and a flat plate 162, the diameter of the circular ring 161 is the same as that of the side surface of the routing pulley 11, and the two circular rings 161 are arranged in parallel in an overlapping manner, clamped at two sides of the routing pulley 11 and coaxially and rotatably connected with the routing pulley 11; the flat plate 162 is perpendicular to the two circular rings 161 and connected with the outer circle of the two circular rings, a trapezoidal mortise 1621 is arranged at one end, far away from the circular rings 161, of the flat plate 162, and the sprayer is quickly and fixedly installed through the trapezoidal mortise 1621.

As a preferred embodiment, the support 12 of the routing arm 1 and the panels on two sides perpendicular to the central axis of the mounting substrate 2 are hollowed out, the positions of the panels covering the routing driving motor 13 are hollowed out to form pentagons with four rounded corners with opposite vertex angles, the positions of the panels covering the bevel gears 14 are hollowed out to form triangles with two rounded corners.

As a preferred embodiment, the mounting structure further comprises two marble screws 23, wherein the two marble screws 23 are respectively fixedly mounted in the mounting substrate 2 on one side of the two sliding grooves 22, and marbles of the two marble screws horizontally protrude into the sliding grooves 22; the poking plate 121 of the bracket 12 is provided with a clamping hole corresponding to the marble screw 23, and when the two sets of routing arms 1 are completely embraced, the marble of the marble screw 23 protrudes and is clamped in the clamping hole to fix the bracket 12.

As a preferred embodiment, an unmanned aerial vehicle is adopted to drive two lifting slings to cross over an overhead bare wire to be coated, two ends of the same sling are tied on winding wheels 41 symmetrically distributed on two sides of the central axis of the mounting substrate 2 on the ground, a winding motor 42 is started to drive the winding wheels 41 to wind the sling, and therefore the coating robot shown in fig. 7 is lifted and hung below the overhead bare wire as a whole. The subject of this patent is to walk the line mechanism, and the means of considering to lift by crane should have a lot of, so regard unmanned aerial vehicle automatic rolling as an example, do not regard as the content of restriction technical scheme and claim.

The above-mentioned embodiments only represent one embodiment of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A routing structure of a wrap-around wire coating robot is characterized by comprising two sets of routing arms (1) and a mounting substrate (2), the wiring arm (1) comprises a wiring pulley (11), a bracket (12), a wiring driving motor (13) and a linkage power component (15), the support (12) is in an inverted L shape, the bottom of a long rod of the L-shaped support (12) is rotatably arranged on a rotating seat (21) on the mounting base plate (2) through a rotating shaft, a poking plate (121) is arranged at the bottom of the long rod of the support (12), a strip-shaped sliding groove (22) matched with the poking plate (121) is arranged on the mounting base plate (2), the poking plate (121) is slidably inserted into the sliding groove (22), the wiring driving motor (13) is installed inside a long rod of the wiring support (12), and a power output shaft of the wiring driving motor (13) faces upwards and is fixedly provided with a bevel gear (14); the routing pulley (11) is rotatably installed at one end of a short rod of the support (12) through a rotating shaft, the rotating shaft of the routing pulley (11) extends towards the turning point direction of the support (12) and is provided with a bevel gear (14), the bevel gear (14) on the rotating shaft of the routing pulley (11) is vertically crossed with and meshed with the bevel gear (14) at the power output end of the routing driving motor (13), and the routing pulley (11) is driven to rotate by the routing driving motor (13) through the bevel gear (14); the two sets of routing arms (1) are symmetrically arranged along the central axis of the upper surface of the mounting substrate (2) in a staggered manner, and one side of each routing arm (1) provided with a routing pulley (11) faces the central axis of the mounting substrate (2); the linkage power assembly (15) comprises a double-end motor (151), two transmission toothed plates (152) and two sliding columns (153), the double-end motor (151) is fixedly installed in the installation base plate (2), two power output ends extend towards the length direction of the installation base plate (2), the end part of each power output end is connected with a gear (154), the two transmission toothed plates (152) are horizontally and slidably installed in the installation base plate (2) and are respectively meshed with the gears (154) of the power output ends of the double-end motor (151), the transmission toothed plates (152) at two ends are installed in a staggered mode, one transmission toothed plate is meshed with the upper part of the gear (154), the other transmission toothed plate is meshed with the lower part of the gear (154), the transmission toothed plate (152) is driven by the double-end motor (151) to slide back and forth along the width direction of the installation base plate (2), and the two transmission toothed plates (; a shifting plate (121) of the bracket (12) is provided with strip-shaped sliding holes (122) for sliding of the sliding columns (153), the two sliding columns (153) respectively penetrate through the sliding holes (122) of the shifting plate (121) of the two sets of wiring arms (1) and then are fixedly mounted at the end parts of the two transmission toothed plates (152), so that the shifting plate (121) can rotate around the sliding columns (153) and the sliding columns (153) can slide in the sliding holes (122), the wiring arms (1) respectively swing towards two sides of the mounting substrate (2) under the driving of the transmission toothed plates (152), and when the two transmission toothed plates (152) slide inwards, the wiring arms (1) incline towards the outer side of the mounting substrate (2); two sets of wiring arms (1) are in a V-shaped layout, when two transmission toothed plates (152) slide outwards, the wiring arms (1) embrace towards the central axis direction until the side faces of the wiring arms (1) are perpendicular to the mounting substrate (2), the centers of two wiring pulleys (11) are arranged in a straight line, and the straight line is parallel to the central axis of the mounting substrate (2).

2. The routing structure of the clasping type wire coating robot as claimed in claim 1, wherein the outermost routing arm (1) at one end of the mounting substrate (2) is provided with a nozzle quick-connection mechanism (16), the nozzle quick-connection mechanism (16) is composed of two circular rings (161) and a flat plate (162), the diameter of the circular ring (161) is the same as that of the side surface of the routing pulley (11), and the two circular rings (161) are arranged in parallel and overlapped and clamped at two sides of the routing pulley (11) and are coaxially and rotatably connected with the routing pulley (11); the flat plate (162) is perpendicular to the two circular rings (161) and connected with the outer circle of the flat plate, and a trapezoidal mortise (1621) is arranged at one end of the flat plate (162) far away from the circular rings (161).

3. The routing structure of the clasping type wire coating robot as claimed in claim 2, wherein the end surface of the bottom of the bracket (12) is an inclined surface, and a rotating shaft connecting the bracket (12) and the rotating base (21) is arranged at one side of an acute angle.

4. The routing structure of the wrap-around wire coating robot according to any one of claims 1 to 3, wherein the bracket (12) of the routing arm (1) is hollowed out from the panels of two sides perpendicular to the central axis of the mounting substrate (2).

5. The routing structure according to any one of claims 1 to 3, further comprising two marble screws (23), wherein the two marble screws (23) are respectively fixedly mounted in the mounting substrate (2) on one side of the two sliding grooves (22), and the marbles of the two marble screws horizontally protrude into the sliding grooves (22); the poking plate (121) of the support (12) is provided with clamping holes corresponding to the marble screws (23), and when the two sets of routing arms (1) are completely embraced, the marbles of the marble screws (23) protrude and are clamped in the clamping holes and fix the support (12).