WO2014012196A1 - 更换绝缘子串带电作业机械手 - Google Patents

更换绝缘子串带电作业机械手 Download PDF

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Publication number
WO2014012196A1
WO2014012196A1 PCT/CN2012/001488 CN2012001488W WO2014012196A1 WO 2014012196 A1 WO2014012196 A1 WO 2014012196A1 CN 2012001488 W CN2012001488 W CN 2012001488W WO 2014012196 A1 WO2014012196 A1 WO 2014012196A1
Authority
WO
WIPO (PCT)
Prior art keywords
clamp
lamp
insulator string
rope
pin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2012/001488
Other languages
English (en)
French (fr)
Inventor
张军六
陈志勇
张念军
黄宗泽
王进平
马兴誉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHANXI GREAT WALL ELECTRICAL AND MECHANICAL RESEARCH INSTITUTE
Taiyuan Power Supply Co of State Grid Shanxi Electric Power Co Ltd
State Grid Corp of China SGCC
Original Assignee
SHANXI GREAT WALL ELECTRICAL AND MECHANICAL RESEARCH INSTITUTE
Taiyuan Power Supply Co of State Grid Shanxi Electric Power Co Ltd
State Grid Corp of China SGCC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SHANXI GREAT WALL ELECTRICAL AND MECHANICAL RESEARCH INSTITUTE, Taiyuan Power Supply Co of State Grid Shanxi Electric Power Co Ltd, State Grid Corp of China SGCC filed Critical SHANXI GREAT WALL ELECTRICAL AND MECHANICAL RESEARCH INSTITUTE
Priority to US14/130,232 priority Critical patent/US9221178B2/en
Publication of WO2014012196A1 publication Critical patent/WO2014012196A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P6/00—Restoring or reconditioning objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING
    • B25B7/00—Pliers; Other hand-held gripping tools with jaws on pivoted limbs; Details applicable generally to pivoted-limb hand tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING
    • B25B7/00—Pliers; Other hand-held gripping tools with jaws on pivoted limbs; Details applicable generally to pivoted-limb hand tools
    • B25B7/18—Adjusting means for the operating arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B25J1/12—Manipulators positioned in space by hand having means for attachment to a support stand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/5313—Means to assemble electrical device

Definitions

  • the invention belongs to a power transmission engineering, and particularly relates to a manipulator for replacing an insulator on a power transmission line. Background technique
  • the power transmission lines using the insulator strings are all high-voltage lines. The higher the voltage, the larger the power supply area. The more you want to stop the power line.
  • the replacement of insulator strings with live power is the key to solving the problem of power transmission.
  • the current W-locker is mounted on a few meters of insulated rods, and the electrician holds the cantilever. To insert the clamp-type locker into the bowl under the foot of the insulator string, the projection area of the W pin is only 8mmX 9mm, and there is no alignment mechanism. It takes several times to successfully take out, which takes time. Laborious.
  • the pin 8 can be disassembled accurately and reliably at one time.
  • the robot threaded the screw 28 to the end of the insulating rod 26, and hung the insulating rod 26 with the reverse chain C, and hung it on the ground rail.
  • the two electricians jointly control: Positioning the electrician to control the reverse chain (, lifting the insulation rod 26, aligning the robot's bowl head card 2 with the head of the bowl A; disassembling the electrician to control the manipulator's clamp 5 disassembly and assembly pin ⁇
  • the replacement insulator string live working robot consists of a positioning mechanism, a pin mechanism, a transmission mechanism and a working condition display lamp.
  • the positioning mechanism holder 1 has a bowl head card 2 at one end.
  • the bowl head card 2 has a U shape, and the mouth of the bowl is in the shape of a figure, which can guide the robot to the working position.
  • the U-shaped bottom is equipped with a flat lamp 31, and the U-shaped side is equipped with a vertical lamp 3.
  • the switch 32 of the position lamp 3 illuminates both to indicate that the condition is in place.
  • the pin mechanism clamp 5 is fixed to the other end of the bracket 1.
  • the clamp 5 is a half-plier body formed by a fixed jaw 6 and a fixed clamp 15 , and a half-plier body integrally formed with the movable jaw 16 and the movable jaw 10, and is hinged by the clamp shaft 7 .
  • the end of the movable tongs 10 has a loop 11 with a bungee cord 21, and a movable pliers 10 has a hole in the middle thereof, and a positioning bolt 8 is inserted therein to adjust the spacing of the fixed jaw 6 and the movable jaw 16 to accommodate The required clamping width for the W pin.
  • the movable jaw 10 also has a limit screw 9 for defining the closing distance between the fixed jaw 6 and the movable jaw 16.
  • the fixed clamp has 15 shafts with a shaft 13; the middle hinge is connected with a bolt 8.
  • Fixed pliers, 15, moving pliers, 10 Between the adjustment bolts 8 and the limit compression springs 12; the movement of the jaws 16 is limited by the movable jaws 10.
  • the fixed pliers put the 15 end of the limited position lamp 14.
  • the bracket 1 has a threaded handle 28 in the middle.
  • the bracket 1 has side panels 4 on the upper and lower sides.
  • the two side plates 4 each have two mutually parallel slides 29: two support jaws 7 at both ends; the other two support the shaft 13 at both ends. 4 slides 29 parallel to the bottom of the bracket 1, the length from the beginning to the right jaw 6, the movable jaw 16 into the bowl A can clamp the W pin B; retreat to exit the bowl A, and after exiting Leave an appropriate spacing E between them.
  • the hand wheel end of the transmission insulating rod 26 is provided with two wheel seats 25.
  • the outer one is equipped with a tightening reel 24, and the tightening reel 24 is connected with the elastic cord 21, and the moving pliers 10 can be pulled to clamp the W pin B; when the tightening reel 24 loosens the tight cord 21, the limit compression spring 12 The elastic force causes the movable jaw 10 to release the W pin B.
  • the inner wheel base 25 is provided with a pulley 23, and the advancing and retracting rope 22 is passed around the pulley 23, and the two ends are respectively connected to the arm 19 and the retracting arm 20.
  • the wheel base 25 is tilted along the insulating rod 26 to adjust the tightness of the elastic string 21 and the advance and retreat rope 22.
  • a T-shaped three-armed rod 17 is hinged: "T-shaped one horizontal” half is the input arm 19; the other half is the retracting arm 20; “T-shaped vertical” is the shifting fork 18, and its end has a U shape
  • the fork is slidably engaged with the pliers shaft 7, and the pliers shaft 7 can be pulled forward and backward, pulling the retracting rope 22 to connect to one side of the arm 19, the shifting fork 18 to the clamp 5 to the bowl head A; pulling the advancing and retracting rope 22 to the side of the retracting arm 20 ,
  • the fork 18 sets the clamp 5 away from the bowl A.
  • the insulating rod 26 is provided with a hanging ring 27 which is positionable along its axial direction and is connected to the reverse chain C hook via an insulating rope.
  • the working condition display lamp manipulator has four working condition display lights: the positioning mechanism is equipped with two, one is the flat position lamp 31, which is mounted on the bottom surface of the vertical ground of the U-shaped bowl head card 2; the other is the vertical position lamp 3, which is mounted The upper plane of the bowl-shaped head card 2 is adjacent to one side of the clamp 5.
  • the flat position lamp 31 is lit, the robot is in the horizontal direction; when the vertical position lamp 3 is lit, the manipulator is in the vertical direction; at this time, the clamp 5 is just aligned with the W pin ⁇ , which is easy to disassemble.
  • the clamp 5 also has two operating condition indicators: one is the clamp lamp 30, which is mounted on the end of the bowl head A of the slide 29 where the clamp shaft 7 is located; the other is the limit light 14 which is mounted on the end of the fixed clamp 15 .
  • the clamp lamp lights up; when the fixed jaw 6 and the movable jaw 16 clamp half of the W pin B, the W pin B pin tip spacing F is reduced to be smaller than the bowl head A.
  • the lock width G is set, the limit lamp 14 is illuminated.
  • the four operating condition indicators are composed of a battery 34, a signal lamp 33, and a switch 32 to form an intensive module.
  • the disassembly and assembly electrician holds the insulation rod 26, moves forward and backward to move left and right, and the two cooperate to make the bowl head card 2 just hold the bowl head A.
  • the visual flat position lamp 31 and the vertical position lamp 3 are both lit, it indicates that the robot has been working properly. Bit.
  • the disassembly and assembly electrician pulls the arm 19, and the fork 18 pushes the clamp 5 into the bowl head A, so that the fixed jaw 6 and the movable jaw 16 are in the clamping position.
  • the tensioning pulley 24 is operated, and the movable jaw 10 is pulled by the elastic cord 21, and the movable jaw 16 and the fixed jaw 6 are clamped to the W pin B.
  • the W pin B is reliably pinched from the bowl head A.
  • the arm 20 is pulled, and the clamp 5 sandwiches the W pin B and is withdrawn from the bowl A.
  • the insulating rod 26 is retracted, the reel 24 is loosened, the W pin B is removed, and the disassembly is completed.
  • the positive pin 8 is placed between the movable jaw 16 and the fixed jaw 6. Tighten the reel 24, pull the movable pliers 10, and clamp the pin 8.
  • Use the reverse chain (:, insulated wire to hang the insulating rod 26, position the electrician, disassemble the electrician to coordinate control, so that the robot operation is in place, the flat lamp 31, the vertical position lamp 3 is illuminated.
  • Pull the arm 19, the clamp 5 Insert the W pin B into the bowl head A.
  • the clamp lamp 30 is lit, the two pin tips of the W pin B have extended the lock of the bowl head A.
  • Pull the retracting arm 20 the clamp 5 is taken out of the bowl head A, the insulating rod 26 is retracted, and the loading is completed.
  • the advantages of replacing the insulator string live working robot are: Replace the insulator string without power failure, and ensure the social production and people's living. Pure mechanical manipulator with simple structure and reliable operation. High accuracy, saving time and effort.
  • Figure 1 is a schematic diagram of the structure of a live working robot for replacing an insulator string
  • Figure 2 is a schematic diagram of the structure of the mechanical clamp clamp for replacing the insulator string
  • Figure 3 is a circuit diagram of the operating condition indicator light.
  • the fixed jaw 6 and the movable jaw 16 are symmetrical: length 30 mm; tip thickness 2 mm, root thickness 5 mm; tip height 7 ram, root height 9 mra, both close to the thickness of W lock B 8 ⁇ ;
  • the holding surface has anti-slip teeth; after clamping the W lock B, the clamping space formed by the fixed jaw 6 and the movable jaw 16 can accommodate half of the *lock 8.
  • the movable tongs draws 10 diameters of 9 paintings, 7 strokes and 110 legs.
  • the fixed clamp has 15 diameters of 9 inches, a tip diameter of 8 mm, and a length of 90.
  • the tightening reel 24 uses the current electrician tightening reel.
  • Insulation rod 26 and its hanging insulation rope are selected from current electrician.
  • Elastic rope 21, the advancing and retracting rope 22 is an insulated rope with a diameter of 8 inches.
  • Pulley 23 uses current electrician supplies.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Electric Cable Installation (AREA)

Abstract

一种更换绝缘子串带电作业机械手，由定位机构、夹销机构、传动机构和工况显示灯组成。机械手由绝缘杆（26）在水平面内支承作业，由绝缘绳吊挂在垂直面内支承作业。定位机构可以准确握住碗头（A），由平位灯（31）、垂位灯（3）显示到位。夹销机构可以夹住W销（B）进行拆装。传动机构可以传动夹销机构实现夹钳（5）的夹持、放松、进、退。夹钳（5）到位、夹紧由钳位灯（30）、限位灯（14）显示。该机械手可以不停电更换绝缘子串，结构简单，工作可靠，准确性高，省时省力。用于高压线路维修。

Description

更换绝缘子串带电作业机械手
技术领域
本发明属输紀电工程， 特别涉及一种更换输电线路上的绝缘子的机械手。 背景技术
使用绝缘子串的送电线路都是高压线路， 电压越高供电区域越大， 越是希 望不要停电维修线路。 带电更换绝缘子串是髙压送电需要解决的技术关键。 现 行 W销的取锁器， 装在数米长的绝缘杆上， 靠电工手握悬臂作业。 要把这种夹 钳式取锁器横着视线插入绝缘子串铁脚下的碗头内， 因 W销的夹持方向投影面 积只有 8mmX 9mm， 又无对准机构， 需要多次才能成功取出， 耗时费力。
发明内容
更换绝缘子串带电作业机械手用定位机构使定钳口 6、 动钳口 16准确对准 1?销8， 用传动机构可靠地平移定钳口 6、 动钳口 16, 可靠地夹紧 W销 B, 从而 一次便可准确可靠地拆装 销8。机械手通过螺紋把 28拧在绝缘杆 26端头，并 用倒链 C吊住绝缘杆 26, 挂在地线横担上。 两电工共同操控： 定位电工操控倒 链 (， 升降绝缘杆 26， 使机械手的碗头卡 2对准碗头 A的颈部； 拆装电工操控 机械手的夹钳 5拆装 销^
更换绝缘子串带电作业机械手由定位机构、 夹销机构、 传动机构和工况显 示灯四部分组成。
定位机构托座 1一端有碗头卡 2。 碗头卡 2呈 U形， ϋ形口端呈八字， 可 把机械手导向工作位置。 U形底装有平位灯 31， U形一边装有垂位灯 3， 当机械 手处于工作位置时， 碗头卡 2的内表面正好贴住碗头 Α, 先后接通平位灯 31、 垂位灯 3的开关 32点亮二者， 以示工况到位。
夹销机构夹钳 5固定在托座 1的另一端。 夹钳 5由定钳口 6、 定钳把 15 成一体的半钳体，和动钳口 16、动钳把 10成一体的半钳体，用钳轴 7铰连而成。 动钳把 10的把端有绳环 11， 拴有松紧绳 21， 动钳把 10的中部有孔， 内穿调位螺栓 8， 用以调节定钳口 6、 动钳口 16的间距， 适应 W销所需的 夹持宽度。动钳把 10还有限位螺钉 9,用以限定定钳口 6与动钳口 16的闭合间 距。 定钳把 15把端有把轴 13; 中部铰连调位螺栓 8。 定钳把 15、 动钳把 10之 间， 调位螺栓 8外套限位压簧 12; 通过动钳把 10限定动钳口 16的工位。 定钳 把 15的把端有限位灯 14。
托座 1中间有螺紋把 28。 托座 1上下两侧有侧板 4。 两侧板 4各有两条互 相平行的滑道 29:两条支承钳轴 7两端；另两条支承把轴 13两端。 4条滑道 29 平行托座 1底面， 长度起迄正好使定钳口 6、 动钳口 16进能进入碗头 A夹住 W 销 B; 退能退出碗头 A， 并在退出后二者之间留有适当间距 E。
传动机构绝缘杆 26的手持端装有俩轮座 25。 靠外的一个装有紧线轮 24, 紧线轮 24与松紧绳 21相连，可以拉动动钳把 10夹紧 W销 B; 紧线轮 24松放松 紧绳 21时， 限位压簧 12的弹力使动钳把 10松开 W销 B。靠里的轮座 25装有滑 轮 23， 进退绳 22绕过滑轮 23, 两头分别与进臂 19、 退臂 20相连。 沿绝缘杆 26窜动轮座 25， 可以调节松紧绳 21、进退绳 22的紧度。在嫁纹把 28上铰连一 丁字形三臂杆 17: "丁字一横"一半是进臂 19; 另一半是退臂 20; "丁字一竖" 是拨叉 18， 其端头有 U形叉与钳轴 7滑动配合， 可以拔动钳轴 7进退， 拉动进 退绳 22连接进臂 19的一边，拨叉 18把夹钳 5拨向碗头 A;拉动进退绳 22连接 退臂 20的一边， 拨叉 18把夹钳 5拨离碗头 A。 绝缘杆 26装有可沿其轴向调位 的挂环 27， 经绝缘绳与倒链 C挂钩相连。
工况显示灯机械手有四个工况显示灯： 定位机构装有两个， 一个是平位灯 31， 装于 U形碗头卡 2的垂直地面的底面； 另一个是垂位灯 3,装于 ϋ形碗头卡 2的上平面靠近夹钳 5的一边。 平位灯 31点亮时， 机械手水平方向到位； 垂位 灯 3点亮时， 机械手垂直方向到位； 这时夹钳 5正好对准 W销 Β， 可行拆装。夹 钳 5也有两工况显示灯： 一个是钳位灯 30, 装于钳轴 7所处滑道 29的近碗头 A 一端； 另一个是限位灯 14， 装于定钳把 15端头。 当夹钳 5深入碗头 A到位时， 钳位灯点亮显示； 当定钳口 6、 动钳口 16夹住一半 W销 B, 使 W销 B销梢口间 距 F缩小到小于碗头 A的锁口宽度 G时， 限位灯 14点亮显示。 四个工况显示灯均由电池 34、 信号灯 33、 开关 32组成集约化模块。
拆 W销 B时， 上塔前先据夹持 W销 B的所需宽度， 通过调节调位螺栓 8调 定动钳口 16与定钳口 6的间距， 然后合套组装妥机械手， 调试夹钳 5、 三臂杆 17动作灵活可靠。 遵照带电作业规程进行作业准备。 上塔后， 吊机械手上塔。 用绝缘绳拴住绝缘杆 26， 再拴在倒链 C的吊钩上， 倒链 C再挂在地线横担等上 方的铁塔构件上。 定位电工操控倒链 C， 升降绝缘杆 26。 拆装电工手握绝缘杆 26， 进退左右移动， 二人配合使碗头卡 2正好夹住碗头 A, 目视平位灯 31、 垂 位灯 3均点亮时， 表明机械手已处作业正位。拆装电工拉动进臂 19， 拔叉 18将 夹钳 5推入碗头 A, 使定钳口 6、 动钳口 16处于夹持态势。 操作紧线轮 24, 通 过松紧绳 21， 拉动动钳把 10, 使动钳口 16、 定钳口 6夹住 W销 B。 因紧线轮 24 有锁紧功能， W销 B会可靠地从碗头 A中夹出。拉动退臂 20,夹钳 5夹着 W销 B, 从碗头 A中退出。 收回绝缘杆 26, 松放紧线轮 24, 取下 W销 B,拆销完毕。
装 W销 B时， 动钳口 16、 定钳口 6之间， 放正 销8。 打紧紧线轮 24， 拉 动动钳把 10， 夹紧 ??销8。 用倒链 (：、 绝缘绳吊挂好绝缘杆 26,定位电工、 拆装 电工协同调控， 使机械手作业到位， 平位灯 31、 垂位灯 3点亮显示。 拉动进臂 19， 夹钳 5夹着 W销 B进入碗头 A， 当钳位灯 30点亮显示时， W销 B的两销梢 已伸出碗头 A的锁口。 松放紧线轮 24， W销 B因自身弹力张开， 靠两销梢卡在 碗头 A内。 拉动退臂 20, 夹钳 5退出碗头 A， 收回绝缘杆 26， 装销完毕。
更换绝缘子串带电作业机械手的优点是： 不停电更换绝缘子串， 保证社会 生产、 人民生活用电。 纯机械式机械手， 结构简单， 工作可靠。 准确性高， 作 业省时省力。
附图说明
图 1是更换绝缘子串带电作业机械手结构原理图；
图 2是更换绝缘子串带电作业机械手夹钳结构原理图；
图 3是工况显示灯线路图。
具体实施方式
针对现行 W销 B的尺寸，定钳口 6、动钳口 16同形对称：长 30mm;尖厚 2mm， 根厚 5mm; 尖高 7ram， 根高 9mra， 均接近 W锁 B的厚度 8瞧； 夹持面有防滑齿； 夹住 W锁 B后， 定钳口 6、 动钳口 16形成的抱合空间能容纳半个 *锁8。 动钳 把 10根径 9画， 梢径 7画， 长 110腿。 定钳把 15根径 9誦， 梢径 8mm, 长 90讓。
紧线轮 24选用现行电工紧线轮。 绝缘杆 26及其吊挂绝缘绳选用现行电工 实用品。 松紧绳 21、 进退绳 22选用直径 8誦的绝缘绳。 滑轮 23选用现行电工 实用品。

Claims

权利要求
1、 一种更换绝缘子串带电作业机械手， 由绝缘杆在水平面内支撑作业， 由 绝缘绳吊挂在垂直面内支撑作业， 由紧线轮通过松紧绳操控夹钳夹持 W销， 由 进退绳操控夹钳进退， 其特征是： a、 机械手由定位机构、 夹销机构、 传动机构 和工况显示灯四部分组成； b、托座（1 )一端有碗头卡（2)，另一端有夹钳（5)， 中间有螺纹把（28)、 钳位灯（30); 螺紋把（28)与绝缘杆（26)相连； c、 螺 纹把（28)上铰连三臂杆（17); d、 绝缘杆（26)用轮坐（25)装有滑轮（23)、 紧线轮 （24)、 挂环 （27); e、 三臂杆 （Π) 的拔叉（18)与夹钳（5) 的钳轴 ( 7)滑动配合； f、 进退绳 （22)—端与三臂杆（17) 的进臂 （19)相连， 另 一端绕过滑过（23)与退臂 （20)相连； g、 紧线轮（24)经松紧绳 (21 )与夹 钳（5) 的绳环（11 )相连。
2、 根据权利要求 1 所述的更换绝缘子串带电作业机械手， 其特征是： 托 座 （1 )上下两侧有侧板 （4)， 两侧板（4)上各有两条互相平行的滑道（29)。
3、 根据权利要求 1所述的更换绝缘子串带电作业机械手， 其特征是： 碗 头卡（2)呈 U形， U形口端呈八字， U形底装有平位灯（31 ), U形一个边上装 有垂位灯 （3)。
4、 根据权利要求 1所述的更换绝缘子串带电作业机械手， 其特征是： 夹 钳（5)有定钳口 （6)、 定钳把 （15)成一体的半钳体， 和动钳口 （16)、 动钳 把（10)成一体的半钳体， 用钳轴（7)铰连而成； 动钳把 ( 10) 的把端有绳环
( 11 ); 中部有孔， 内穿调位螺栓（8)， 还有限位螺钉（9); 定钳把（15)把端 有把轴 （13)， 中部铰连调位螺栓（8); 定钳把（15)、 动钳把（10)之间， 调 位螺栓（8)外套限位压簧（12); 定钳把（15) 的把端有限位灯（14)。
5、 根据权利要求 1所述的更换绝缘子串带电作业机械手， 其特征是： 四个 工况显示灯均由电池（34)、 信号灯 （33)、 触动开关（32) 串联组成。
PCT/CN2012/001488 2012-07-16 2012-11-05 更换绝缘子串带电作业机械手 Ceased WO2014012196A1 (zh)

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