CN215149143U - Live working robot - Google Patents
Live working robot Download PDFInfo
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- CN215149143U CN215149143U CN202120776753.7U CN202120776753U CN215149143U CN 215149143 U CN215149143 U CN 215149143U CN 202120776753 U CN202120776753 U CN 202120776753U CN 215149143 U CN215149143 U CN 215149143U
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- insulating
- lifting mechanism
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- 230000003028 elevating effect Effects 0.000 claims abstract description 17
- 238000004804 winding Methods 0.000 claims description 15
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 230000005684 electric field Effects 0.000 abstract description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000009413 insulation Methods 0.000 description 3
- 230000000630 rising effect Effects 0.000 description 3
- 238000005034 decoration Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model discloses a live working robot, which comprises a robot body and a lifting mechanism; elevating system includes insulating rope and receive and releases drive assembly, the one end of insulating rope is fixed one side of robot, insulating rope receive and releases drive assembly and locates robot's opposite side, the other end of insulating rope is controlled by insulating rope receives and releases drive assembly, makes insulating rope can receive and release. This embodiment is through setting up elevating system on the robot, can be under the condition that need not to tighten up insulating rope, utilize the frictional force between indent wheel and the insulating rope, can easily realize the lift of robot, have simple structure, safe and reliable, application scope is wide, degree of automation is high, advantages such as easy operation, and do not need the manual work to deliver to the operation position with electrified work robot, the intensity of labour who has alleviateed the operation personnel, make operation personnel and high-tension electric field keep apart completely, furthest guarantees operation personnel's safety.
Description
Technical Field
The utility model relates to an electric power system automation technical field especially relates to a live working robot.
Background
In order to improve the automation level and safety of hot-line work and reduce the labor intensity of operators and the harm of strong electromagnetic fields to the operators, the research on hot-line work robots, such as japan, spain, usa, canada, france, etc., has been conducted in many countries since the 80 s of the last century. In 2002, a prototype machine of a high-voltage live working robot product is also developed in China, and the high-voltage live working robot which can meet the requirements of field working environments to the maximum extent is developed according to the technical requirements of live working of 10kV lines in China and the characteristics of the working environments at present.
However, in the case of transporting the electric working robot to the working position, it is generally necessary for the worker to transport the electric working robot to the line working position, or to modify the general-purpose insulating boom car so as to transport the electric working robot to the line working position. However, the first method still requires manual operation, and has certain danger; the volume of insulating arm car is great in the second mode, and application scope is little, and when the position of circuit below was narrower, just can't use insulating arm car, causes the use difficulty.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a technical problem that will solve provides a live working robot, and simple structure, application scope are wide, degree of automation is high, safe and reliable, can send live working robot to circuit operation position automatically.
In order to achieve the purpose, the embodiment of the utility model provides a live working robot, which is characterized by comprising a robot body and a lifting mechanism;
elevating system includes insulating rope and receive and releases drive assembly, the one end of insulating rope is fixed one side of robot, insulating rope receive and releases drive assembly and locates robot's opposite side, the other end of insulating rope is controlled by insulating rope receives and releases drive assembly, makes insulating rope can receive and release.
As an improvement of the scheme, the insulating rope winding and unwinding driving assembly comprises a first inner concave wheel, a second inner concave wheel and a motor, the motor drives the first inner concave wheel and the second inner concave wheel to rotate, the other end of the insulating rope is sequentially wound on the first inner concave wheel and the second inner concave wheel, and a compression module is fixed on one side of the insulating rope, which is wound on the first inner concave wheel and the second inner concave wheel.
As an improvement of the above scheme, the compressing module includes a compressing block, a compressing spring and a rotating shaft, one end of the compressing block is fixed on the robot body through the rotating shaft, and the other end of the compressing block exerts pressure on the insulating rope wound on the first concave wheel and the second concave wheel through the action of the compressing spring, so that the insulating rope is tightly pressed on the first concave wheel and the second concave wheel.
As an improvement of the scheme, the insulating rope winding and unwinding driving assembly further comprises a guide wheel, and the other end of the insulating rope is sequentially wound on the guide wheel, the first concave wheel and the second concave wheel.
As an improvement of the scheme, the insulating rope winding and unwinding driving assembly further comprises a balance weight, and the balance weight is further arranged at the other end of the insulating rope after the other end of the insulating rope finally bypasses the second concave wheel so as to provide friction force for the insulating rope.
As an improvement of the proposal, the weight and the friction coefficient of the counterweight meet mu3＝k×m1(ii) a Wherein, mu3Denotes the coefficient of friction, m, of the counterweight1Representing the weight of the counterweight, k is a constant.
As an improvement of the above scheme, the lifting mechanism includes a first lifting mechanism and a second lifting mechanism, and the first lifting mechanism and the second lifting mechanism are arranged in parallel on two sides of the robot body.
Compared with the prior art, the embodiment of the utility model provides a pair of live working robot's beneficial effect lies in: through setting up elevating system on the robot, can utilize the frictional force between indent wheel and the insulating rope under the condition that need not to tighten up insulating rope, can easily realize rising and the decline of robot, have advantages such as simple structure, use are convenient, and need not to occupy the position of circuit below, can be applicable to the circuit operation under the multiple environment, application scope is wide. Simultaneously, this live working robot degree of automation is high, easy operation, can send live working robot to circuit operation position automatically, drive the robot body through elevating system and rise, make the robot be close to the wire and be convenient for carry out all kinds of operations, rethread elevating system drive the robot body after the operation finishes descends and breaks away from the wire, do not need the manual work to send live working robot to the operation position, safe and reliable has alleviateed operating personnel's intensity of labour, make operating personnel and high-tension electric field keep apart completely, furthest guarantees operating personnel's safety.
Drawings
Fig. 1 is a schematic structural diagram of a preferred embodiment of a live working robot provided by the present invention;
wherein, 1, the robot body; 2. a lifting mechanism; 3. an insulating cord; 4. a first concave wheel; 5. a second internally concave wheel; 6. a motor; 7. a compression block; 8. a compression spring; 9. a rotating shaft; 10. a guide wheel; 11. and (4) balancing weight.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present application, the terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first," "second," "third," etc. may explicitly or implicitly include one or more of the features. In the description of the present application, "a plurality" means two or more unless otherwise specified.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In the description of the present application, it is to be noted that, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the present invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the present invention, and the specific meanings of the terms in the present application will be understood to those skilled in the art in a specific context.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a preferred embodiment of a live working robot provided by the present invention. The live working robot comprises a robot body 1 and a lifting mechanism 2;
elevating system 2 includes insulating rope 3 and insulating rope and receive and releases drive assembly, the one end of insulating rope 3 is fixed one side of robot 1, insulating rope receive and releases drive assembly and locates robot 1's opposite side, the other end of insulating rope 3 is controlled by insulating rope receives and releases drive assembly, makes insulating rope 3 can receive and release.
Specifically, the utility model provides a take motor people includes robot and elevating system, elevating system includes insulating rope and insulating rope receive and releases drive assembly, wherein, the one end of insulating rope is fixed in one side of robot through fixed anchor point, insulating rope receive and releases drive assembly and locates the opposite side of robot, fixed anchor point and insulating rope receive and release drive assembly establish respectively in the relative both sides of robot, and the other end of insulating rope is controlled by insulating rope receive and release drive assembly after bypassing the wire, drive insulating rope through insulating rope receive and release drive assembly, make insulating rope can receive and release, when the insulating rope that lies in the robot outside is received short, drive the robot and rise; when the insulating rope positioned outside the robot body is lengthened, the robot body is driven to descend.
The insulating rope can be used as a weight and a friction force generating body, and the robot body can be lifted or lowered by driving of the lifting mechanism. Meanwhile, the insulating rope can enable the robot to form enough insulating strength with the ground so as to realize live working.
The utility model provides a pair of live working robot sets up elevating system on the robot, can utilize the frictional force between indent wheel and the insulating rope under the condition that need not to tighten up the insulating rope, can easily realize rising and decline of robot, has advantages such as simple structure, use convenience, and need not the position of occupation circuit below, can be applicable to the circuit operation under the multiple environment, and application scope is wide. And simultaneously, the utility model provides a pair of live working robot, degree of automation is high, and is simple in operation, can send live working robot to circuit operation position automatically, it rises to drive the robot body through elevating system, make the robot be close to the wire and be convenient for develop all kinds of operations, rethread elevating system drive robot body descends and breaks away from the wire after the operation finishes, do not need the manual work to send live working robot to the operation position, safety and reliability, the intensity of labour who has alleviateed the operation personnel, make operation personnel and high-tension electric field keep apart completely, furthest guarantees operation personnel's safety.
In another preferred embodiment, the insulation rope winding and unwinding driving assembly comprises a first concave wheel 4, a second concave wheel 5 and a motor 6, the motor 6 drives the first concave wheel 4 and the second concave wheel 5 to rotate, the other end of the insulation rope 3 is sequentially wound on the first concave wheel 4 and the second concave wheel 5, and a compression module is fixed on one side of the first concave wheel 4 and one side of the second concave wheel 5 on which the insulation rope 3 is wound.
Specifically, the insulating rope winding and unwinding driving assembly comprises a first inner concave wheel, a second inner concave wheel and a motor, the other end of the insulating rope firstly bypasses the first inner concave wheel and then bypasses the second inner concave wheel, and a pressing module is fixed on one side of each of the first inner concave wheel and the second inner concave wheel, so that the insulating rope can be tightly pressed on the inner concave wheel to form enough friction force; when first indent wheel and the equal reversal of second indent wheel for the insulating rope that is located the robot body outside lengthens, thereby drives the robot body and descends.
Preferably, the pressing module includes a pressing block 7, a pressing spring 8 and a rotating shaft 9, one end of the pressing block 7 is fixed on the robot body 1 through the rotating shaft 9, and the other end of the pressing block 7 applies pressure to the insulating rope wound on the first concave wheel 4 and the second concave wheel 5 through the action of the pressing spring 8, so that the insulating rope 3 is pressed on the first concave wheel 4 and the second concave wheel 5.
Specifically, the one end of compact heap is fixed on the robot body through the pivot to this compact heap can revolve around the pivot, is convenient for adjust the elasticity of compact heap, makes the compact heap can apply sufficient pressure, and the other end of compact heap is to twining through pressure spring's effect exert pressure around the insulating rope on first concave wheel and second concave wheel, makes insulating rope sticiss on first concave wheel and second concave wheel, in order to provide sufficient frictional force.
Preferably, the insulating rope winding and unwinding driving assembly further comprises a guide wheel 10, and the other end of the insulating rope 3 is sequentially wound on the guide wheel 10, the first concave wheel 4 and the second concave wheel 5.
Specifically, the other end of the insulating rope firstly leads the insulating rope into the groove of the first concave wheel through the guide wheel according to a preset direction, and after the insulating rope bypasses the first concave wheel, the insulating rope bypasses the second concave wheel, so that the friction force between the concave wheel and the insulating rope is ensured to be a design value.
For example, let the weight of the robot body be m0Then the friction force f provided by each concave wheel0Is composed of
The robot body can be ensured to stably ascend or descend under the driving of friction force. The friction coefficient between the pressing block and the insulating rope is mu1The pressure of the compact is f1The coefficient of friction between the insulating rope and the inner concave wheel is mu2The pressure between the insulating rope and the inner concave wheel is f2Wherein f is2Is f1And f0Is a vector sum of
From the above, the friction force F between the pressing block and the insulating rope1＝f1×μ1The friction force between the insulating rope and the inner concave wheel is F2＝f2×μ2When the friction force f provided by each concave wheel is larger than0Satisfy f0＝F1+F2The robot can be driven by the insulating rope to ascend or descend under the action of friction force.
Preferably, the insulating rope winding and unwinding driving assembly further comprises a counterweight 11, and the other end of the insulating rope finally bypasses the second concave wheel and then is provided with a counterweight so as to provide friction force for the insulating rope.
Preferably, the weight and the friction coefficient of the counterweight satisfy mu3＝k×m1(ii) a Wherein, mu3Denotes the coefficient of friction, m, of the counterweight1Representing the weight of the counterweight, k is a constant.
Specifically, the other end of the insulating rope finally bypasses the second concave wheel and then is provided with a balance weight, so that sufficient tension is provided for the insulating rope, and further, sufficient friction force is provided on the insulating rope. Weight and friction coefficient mu of the counterweight3Satisfy a linear relationship within a certain range, i.e. mu3＝k×m1. When the weight m of the counterweight is increased1The friction between the concave wheel and the insulating rope can be improved.
It should be noted that, the weight of counter weight can be tested out through the experiment, guarantees in the time of in-service use that the counter weight just can go up and down under suitable weight with electric work robot.
The embodiment of the utility model provides a through setting up elevating system on the robot, can utilize the frictional force between indent wheel and the insulating rope under the condition that need not to tighten up insulating rope, can easily realize that the robot rises and descends, have simple structure, use advantage such as convenient, safe and reliable.
In still another preferred embodiment, the lifting mechanism includes a first lifting mechanism and a second lifting mechanism, and the first lifting mechanism and the second lifting mechanism are disposed in parallel on both sides of the robot body.
Specifically, the lifting mechanism comprises a first lifting mechanism and a second lifting mechanism;
the first lifting mechanism comprises a first insulating rope and a first insulating rope winding and unwinding driving assembly, one end of the first insulating rope is fixed to one side of the robot body, the first insulating rope winding and unwinding driving assembly is arranged on the other side of the robot body, and the other end of the first insulating rope is controlled by the first insulating rope winding and unwinding driving assembly, so that the first insulating rope can be wound and unwound;
the second lifting mechanism comprises a second insulating rope and a second insulating rope winding and unwinding driving assembly, one end of the second insulating rope is fixed to one side of the robot body, the second insulating rope winding and unwinding driving assembly is arranged on the other side of the robot body, and the other end of the second insulating rope is controlled by the second insulating rope winding and unwinding driving assembly, so that the second insulating rope can be wound and unwound;
the first lifting mechanism and the second lifting mechanism are arranged on two sides of the robot body in parallel, so that the robot body can ascend or descend stably.
The embodiment of the utility model provides a live working robot through setting up elevating system on the robot body, can utilize the frictional force between indent wheel and the insulating rope under the condition that need not to tighten up insulating rope, can easily realize rising and decline of robot, has advantages such as simple structure, use are convenient, and need not the position of occupation circuit below, can be applicable to the circuit operation under the multiple environment, and application scope is wide. Simultaneously, this live working robot degree of automation is high, easy operation, can send live working robot to circuit operation position automatically, drive the robot body through elevating system and rise, make the robot be close to the wire and be convenient for carry out all kinds of operations, rethread elevating system drive the robot body after the operation finishes descends and breaks away from the wire, do not need the manual work to send live working robot to the operation position, safe and reliable has alleviateed operating personnel's intensity of labour, make operating personnel and high-tension electric field keep apart completely, furthest guarantees operating personnel's safety.
The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations are also considered as the protection scope of the present invention.
Claims (7)
1. A live working robot is characterized by comprising a robot body and a lifting mechanism;
elevating system includes insulating rope and receive and releases drive assembly, the one end of insulating rope is fixed one side of robot, insulating rope receive and releases drive assembly and locates robot's opposite side, the other end of insulating rope is controlled by insulating rope receives and releases drive assembly, makes insulating rope can receive and release.
2. The live working robot according to claim 1, wherein the insulating rope winding and unwinding driving assembly comprises a first concave wheel, a second concave wheel and a motor, the motor drives the first concave wheel and the second concave wheel to rotate, the other end of the insulating rope is wound on the first concave wheel and the second concave wheel in sequence, and a compression module is fixed on each of the first concave wheel and the second concave wheel on the side where the insulating rope is wound.
3. The live working robot according to claim 2, wherein the pressing module includes a pressing block, a pressing spring, and a rotating shaft, one end of the pressing block is fixed to the robot body through the rotating shaft, and the other end of the pressing block applies pressure to the insulating rope wound around the first inner sheave and the second inner sheave through the action of the pressing spring, so that the insulating rope is pressed against the first inner sheave and the second inner sheave.
4. The live working robot according to claim 2, wherein the insulating cord unwinding and winding drive assembly further comprises a guide wheel, and the other end of the insulating cord is wound on the guide wheel, the first concave wheel and the second concave wheel in this order.
5. The live working robot according to claim 2 or 4, wherein the insulating rope take-up and pay-off driving assembly further comprises a counterweight, and the other end of the insulating rope finally bypasses the second concave wheel and is provided with the counterweight so as to provide friction for the insulating rope.
6. An electric working robot according to claim 5, characterized in that the weight and friction coefficient of the weight satisfy μ3＝k×m1(ii) a Wherein, mu3To representCoefficient of friction of counterweight, m1Representing the weight of the counterweight, k is a constant.
7. The live working robot according to claim 6, wherein the lifting mechanism includes a first lifting mechanism and a second lifting mechanism, and the first lifting mechanism and the second lifting mechanism are disposed in parallel on both sides of the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120776753.7U CN215149143U (en) | 2021-04-15 | 2021-04-15 | Live working robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120776753.7U CN215149143U (en) | 2021-04-15 | 2021-04-15 | Live working robot |
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| Publication Number | Publication Date |
|---|---|
| CN215149143U true CN215149143U (en) | 2021-12-14 |
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|---|---|---|---|
| CN202120776753.7U Active CN215149143U (en) | 2021-04-15 | 2021-04-15 | Live working robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146652A (en) * | 2021-04-15 | 2021-07-23 | 南方电网科学研究院有限责任公司 | Live working robot |
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2021
- 2021-04-15 CN CN202120776753.7U patent/CN215149143U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146652A (en) * | 2021-04-15 | 2021-07-23 | 南方电网科学研究院有限责任公司 | Live working robot |
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