CN107020487B - Manipulator for disassembling and assembling vibration damper bolt - Google Patents
Manipulator for disassembling and assembling vibration damper bolt Download PDFInfo
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- CN107020487B CN107020487B CN201710192169.5A CN201710192169A CN107020487B CN 107020487 B CN107020487 B CN 107020487B CN 201710192169 A CN201710192169 A CN 201710192169A CN 107020487 B CN107020487 B CN 107020487B
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- damper
- bolt
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- clamping jaw
- push rod
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- 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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator for disassembling and assembling a vibration damper bolt, which comprises an automatic vibration damper bolt assembling and disassembling assembly, a vibration damper clamping and positioning assembly, wherein the vibration damper clamping and positioning assembly comprises an arc-shaped or L-shaped rocker arm, an electric push rod for clamping jaws, two clamping jaws and a positioning platform which are symmetrically arranged left and right are arranged at the lower part of the rocker arm, the electric push rod is connected to the rocker arm, one end of one clamping jaw of the two clamping jaws is hinged to the push rod of the electric push rod, the clamping jaw connected with the electric push rod drives the other clamping jaw to fold or unfold through a gear, and the positioning platform for supporting the vibration damper is arranged below the clamping jaw; the automatic assembling and disassembling component for the bolts of the damper comprises an arc-shaped or L-shaped rocker arm, an electric sliding table, a sleeve shaft, an extension sleeve and a fixing frame. The manipulator for disassembling and assembling the bolts of the vibration damper can realize the electrified automatic assembly and disassembly of the vibration damper, avoid manual equipotential operation, greatly improve the safety of work and reduce the labor intensity.
Description
Technical Field
The invention relates to a device for disassembling and assembling bolts of a damper, in particular to a manipulator for disassembling and assembling bolts of the damper.
Background
When the overhead transmission line is acted by stable and small breeze, more than one airflow vortex with certain frequency changing up and down alternately is generated on the leeward side of the ground wire, and the airflow vortex makes the overhead transmission line subjected to the impact force alternating up and down. When the alternating frequency of the airflow vortex is equal to the natural frequency of the overhead wire, resonance occurs in the vertical plane, that is, vibration of the overhead wire is caused. The breeze vibration of the overhead line is the harmful vibration which often occurs, and has great threat to the safe operation of the line. The vibration causes the 'fatigue' phenomenon of the overhead line, which causes strand breakage and even wire breakage of the overhead line. In order to prevent the aeolian vibration of the overhead line, after the diameter of the overhead line and the local wind speed are combined, the position where fatigue is most likely to occur near the wire clamp of the overhead line is found through calculation, and a certain number of vibration dampers are installed. When the wire vibrates, the heavy hammers at the two ends of the vibration damper move up and down relatively due to inertia, so that the vibration energy of the overhead wire is consumed, the amplitude of the overhead wire is reduced, the vibration is limited in a non-dangerous range, and the fatigue and strand breakage of the overhead wire is avoided.
However, after the damper is installed, the damper is damaged and displaced due to various reasons, but cannot play a role in vibration isolation, and even can damage and break an overhead line. Thus, a damaged or displaced damper must be replaced as quickly as possible. At present, live working or power failure is mainly carried out, and the traditional working mode is that personnel take a lead ground wire galloping car to be led out for maintenance.
The traditional maintenance mode has the following defects:
(1) The main process of replacing the damper requires delicate operation, and the conventional ground potential operation tool cannot meet the operation requirement. Therefore, at present, an equipotential operation mode is generally adopted, and an operator enters an electric field for equipotential maintenance operation. Firstly, the equipotential operation has larger danger, the labor intensity of the operating personnel is extremely high, the requirements on the quality of the operating personnel are higher, and the operation risk is high; and secondly, due to the fact that part of compact towers and wires are vertically arranged or crossed, live working space is insufficient, working requirements cannot be met, and power failure treatment is needed.
(2) The power failure operation also has the defects of high labor intensity of operating personnel and high operation risk. In addition, if the power failure is handled, firstly, the reliability of power supply is affected, and secondly, because the power failure is brought into planned management, the burstiness and timeliness of defect handling and the planned performance of power failure can generate contradiction, so that the defect of the damper cannot be handled in time, and the risk that the defect continues to develop and further the safe operation of a line is endangered exists.
In addition, the ground wire hardware has the defects of bolt looseness, nut falling and the like due to the effects of breeze vibration and the like, the hardware and replacement are required to be carried out in time, otherwise, the hardware is easy to generate heat, and serious accidents such as insulator string falling, ground wire falling and the like can happen to serious people.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a manipulator for disassembling and assembling a vibration damper bolt, which can realize hot-line work, can accurately disassemble and assemble the vibration damper bolt and realize transportation of the vibration damper.
A manipulator for disassembling and assembling a vibration damper bolt comprises a vibration damper bolt automatic assembling and disassembling assembly, a vibration damper clamping and positioning assembly, wherein the vibration damper clamping and positioning assembly comprises an arc-shaped or L-shaped rocker arm, an electric push rod for clamping jaws is arranged at the lower part of the rocker arm, two clamping jaws and a positioning platform are symmetrically arranged left and right, the electric push rod is connected to the rocker arm, one end of one of the two clamping jaws is hinged to the push rod of the electric push rod, the clamping jaw connected with the electric push rod drives the other clamping jaw to fold or unfold through a gear, and the positioning platform for supporting the vibration damper is arranged below the clamping jaw; the utility model discloses an automatic handling subassembly of damper bolt, including the rocking arm of arc or L type, electronic slip table, the quill, telescopic sleeve and mount, the mount sets up in the lower extreme of rocking arm, electronic slip table and the parallel arrangement of upper and lower floor of quill, the slider has on the guide rail of electronic slip table, the shift fork, be provided with reset spring between slider and shift fork, the quill of electronic slip table below is driven by electric spanner, that the quill is relative with damper centre gripping and locating component sets up in telescopic sleeve, shift fork on the electronic slip table links to each other with telescopic sleeve and drives telescopic sleeve and be reciprocating motion along the quill, telescopic sleeve still rotates under the drive of quill, damper bolt automatic handling subassembly and damper centre gripping and locating component's rocking arm articulates together, be provided with the electric putter that is used for promoting the rocking arm motion between damper bolt automatic handling subassembly's rocking arm and hinge seat, be provided with the electric putter that is used for promoting the rocking arm motion between damper centre gripping and locating component's rocking arm and hinge seat.
The manipulator for disassembling and assembling the anti-vibration hammer bolt comprises a left component and a right component, wherein the left component and the right component are respectively an automatic anti-vibration hammer bolt assembling and disassembling component and an anti-vibration hammer clamping and positioning component, and the automatic anti-vibration hammer bolt assembling and disassembling component and the anti-vibration hammer clamping and positioning component are hinged through the centers of two rocker arms and respectively realize two folding/unfolding states through two electric push rods.
The automatic assembling and disassembling assembly for the anti-vibration hammer bolt moves along a guide rail on the electric sliding table through a motor driving sliding block on the electric sliding table, a shifting fork is pushed/pulled back, the shifting fork drives a telescopic sleeve to perform telescopic action, and an electric wrench assembly drives a sleeve shaft to rotate so as to provide torque for screwing/disassembling the anti-vibration hammer bolt, so that the screwing/disassembling function of the anti-vibration hammer bolt is realized.
Damper centre gripping and locating component pass through electric putter's flexible, drive the clamping jaw motion rather than linking to each other, and the clamping jaw drives the gear motion rather than linking to each other again to drive another clamping jaw motion, thereby realize that clamping jaw component opens and shuts, through the location platform that is located the clamping jaw below, realize damper's centre gripping and locate function when installation/dismantlement simultaneously, and can realize the carrying function of damper after the dismantlement.
When the vibration damper is dismounted, the vibration damper bolt dismounting manipulator opens the vibration damper bolt automatic dismounting assembly and the vibration damper clamping and positioning assembly of the manipulator, clamps the left side and the right side of a wire clamp of the vibration damper (the left side and the right side refer to the two side surfaces of the wire clamp in the vertical wire direction) by two clamping jaws of the vibration damper clamping and positioning assembly, supports the lower part of the vibration damper wire clamp by a positioning platform of the vibration damper clamping and positioning assembly, then starts a rocker arm of the vibration damper bolt automatic dismounting assembly of the manipulator, folds the rocker arm relative to the vibration damper clamping and positioning assembly, then starts an electric sliding table motor, a shifting fork moves, a shifting fork drives an expansion sleeve to move forwards, and leads the expansion sleeve to align with a nut (bolt) on the vibration damper wire clamp, starts an electric wrench, drives a sleeve shaft to rotate, and realizes the dismounting of the bolt, the disassembly is finished, the automatic assembling and disassembling assembly of the damper bolt is realized by utilizing the electric push rod, the clamping and positioning assembly is opened, the damper clamping and positioning assembly drives the damper to leave together, the disassembly of the damper is realized, during the installation of the damper, the damper is clamped in the two clamping jaws of the damper clamping and positioning assembly, the damper is supported on the positioning platform, the bolt is pre-installed in the telescopic sleeve of the automatic assembling and disassembling assembly of the damper bolt, then the manipulator is conveyed to a lead to be installed, the damper is clamped into the lead, then the electric push rod is started, the automatic assembling and disassembling assembly of the damper bolt is folded relative to the damper clamping and positioning assembly, the electric wrench of the automatic assembling and disassembling assembly of the damper bolt is started, the rotary sleeve shaft drives the telescopic sleeve to rotate, and the installation and the screwing of the bolt are realized. After the installation, the electric push rod of the vibration damper clamping and positioning assembly is started firstly, so that the clamping jaw loosens the vibration damper wire clamp, and then the electric push rods on the two rocker arms are started, so that the two assemblies of the manipulator are relatively opened, and the vibration damper is conveniently moved away.
The front ends of the two clamping jaws are arranged into opposite hook-shaped structures.
The front ends of the clamping jaws are arranged to be in the opposite hook-shaped structures, so that the vibration-proof hammer wire clamp can be held when the vibration-proof hammer wire clamp is clamped, the clamping force is greatly improved, and the sliding is avoided.
The lower part of the rocker arm of the damper clamping and positioning assembly is provided with a gear and a clamping jaw which are arranged on the support frame, the support frame is locked on the rocker arm, the electric push rod is fixed on the support frame through a connecting piece, and the positioning platform is locked on the support frame.
The support frame comprises a horizontally placed U-shaped frame body, vertical plates perpendicular to the U-shaped edge are arranged at the U-shaped bottom of the U-shaped frame body and the end part of the U-shaped edge, the vertical plates at the U-shaped bottom and the vertical plates on the U-shaped edge extend reversely, and the gear and the clamping jaw are arranged on the inner side of the U-shaped groove.
The support frame with the structure can be used for conveniently mounting the gear and the clamping jaw and can also play a role in protecting the gear.
The connection relationship between the gear and the clamping jaw is as follows: a clamping jaw is connected with a gear to realize simultaneous movement, and the two gears are in meshing transmission.
Each clamping jaw and the gear are arranged into an integral structure, the clamping jaw connected with the electric push rod moves under the pushing of the electric push rod, so that the gear connected with the clamping jaw is driven to move, the gear drives the other gear to move, and then the clamping jaw is driven to move by the driven gear, so that the clamping jaws are synchronously opened and closed.
The articulated seat of two rocking arms articulated including upper and lower two, the piece is used for installing the pin joint on going up, the piece is used for installing electric putter down, is provided with the through-hole that is used for embracing the installation with two articulated seats on upper and lower two.
When in use, the device for dismounting the damper bolt is locked on a support by an upper sheet and a lower sheet.
In summary, compared with the prior art, the invention has the following advantages:
the manipulator for disassembling and assembling the bolts of the vibration damper can realize the electrified automatic assembly and disassembly of the vibration damper, avoid manual equipotential operation, greatly improve the safety of work and reduce the labor intensity.
Drawings
FIG. 1 is a schematic view of the damper clamping and positioning assembly of the present invention in a closed position.
FIG. 2 is a schematic view of the damper clamping and positioning assembly of the present invention in an expanded state.
Fig. 3 is a schematic view of a manipulator for attaching and detaching a bolt of a damper according to the present invention.
Fig. 4 is a schematic view showing a partial operation state of the damper bolt attaching/detaching robot.
Fig. 5 is a schematic view showing a partially opened state of the damper bolt attaching/detaching robot.
Fig. 6 is a schematic view showing another operation state of a part of the hammer bolt attaching and detaching robot according to the present invention.
Description of reference numerals 1 automatic assembling and disassembling assembly for damper bolts 2 damper clamping and positioning assembly 3 rocker arm 4 electric push rod 5 clamping jaw 6 positioning platform 7 gear 8 electric sliding table 9 sleeve shaft 10 telescopic sleeve 11 fixed mount 12 slider 13 shift fork 14 reset spring 15 electric wrench 16 support frame 17 hinge base.
Detailed Description
The present invention will be described in more detail with reference to examples.
Example 1
A kind of mechanical arm for disassembling and assembling the bolt of damper as shown in fig. 1-6, including the automatic assembling and disassembling assembly 1 of the bolt of damper, damper grip and locating assembly 2, damper grip and locating assembly include arc or L-shaped rocker arm 3, the inferior part of the rocker arm has electric push rods 4 for clamping jaw, two clamping jaws 5 and locating platforms 6 that the bilateral symmetry sets up, the electric push rod is connected to rocker arm, one clamping jaw one end of two clamping jaws hinges on the push rod of the electric push rod, the clamping jaw linking with electric push rod drives another clamping jaw to close or open the movement through the gear 7, there is locating platform used for supporting damper below the clamping jaw; damper bolt auto-control handling subassembly rocker arm including arc or L type, electronic slip table 8, quill 9, stretch telescopic sleeve 10 and mount 11, the mount sets up in the lower extreme of rocker arm, electronic slip table and quill lower floor parallel arrangement, slider 12 has on electronic slip table's the guide rail, shift fork 13, be provided with reset spring 14 between slider and shift fork, the quill of electronic slip table below is driven by electric spanner 15, that the quill is relative with damper centre gripping and locating component sets up in telescopic sleeve, shift fork on the electronic slip table links to each other with telescopic sleeve and drives telescopic sleeve and be reciprocating motion along the quill, telescopic sleeve still rotates under the drive of quill, damper bolt auto-control handling subassembly and damper centre gripping and locating component's rocker arm articulate together, be provided with the electric putter that is used for promoting the rocker arm motion between damper bolt auto-control handling subassembly's rocker arm and hinge seat, be provided with the electric putter that is used for promoting the rocker arm motion between damper centre gripping and locating component's rocker arm and hinge seat. The front ends of the two clamping jaws are arranged into opposite hook-shaped structures. The gear and the clamping jaw arranged on the lower portion of the rocker arm of the damper clamping and positioning assembly are arranged on the support frame 16, the support frame is locked on the rocker arm, the electric push rod is fixed on the support frame through the connecting piece, and the positioning platform is locked on the support frame. The connection relationship between the gear and the clamping jaw is as follows: a clamping jaw is connected with a gear to realize simultaneous movement, and the two gears are in meshing transmission. The articulated seat of two rocking arms articulated including upper and lower two, the piece is used for installing the pin joint on going up, the piece is used for installing electric putter down, is provided with the through-hole that is used for embracing the installation with two articulated seats 17 on upper and lower two.
The parts not described in the present embodiment are the same as those in the prior art.
Claims (6)
1. The utility model provides a manipulator is used in dismouting of damper bolt which characterized in that: the automatic assembling and disassembling device comprises an automatic assembling and disassembling assembly of an anti-vibration hammer bolt and an anti-vibration hammer clamping and positioning assembly, wherein the anti-vibration hammer clamping and positioning assembly comprises an arc-shaped or L-shaped rocker arm, an electric push rod for clamping jaws, two clamping jaws and a positioning platform which are symmetrically arranged left and right are arranged at the lower part of the rocker arm, the electric push rod is connected to the rocker arm, one end of one clamping jaw in the two clamping jaws is hinged to the push rod of the electric push rod, the clamping jaw connected with the electric push rod drives the other clamping jaw to fold or unfold through a gear, and the positioning platform for supporting the anti-vibration hammer is arranged below the clamping jaw; the utility model discloses an automatic loading and unloading subassembly of damper bolt, including the rocking arm of arc or L type, electronic slip table, the quill, stretch telescopic sleeve and mount, the mount sets up in the lower extreme of rocking arm, electronic slip table and the parallel arrangement of upper and lower floor of quill, the slider has on the guide rail of electronic slip table, the shift fork, be provided with reset spring between slider and shift fork, the quill of electronic slip table below is driven by electric spanner, that the quill is relative with damper centre gripping and locating component sets up in telescopic sleeve, shift fork on the electronic slip table links to each other with telescopic sleeve and drives telescopic sleeve and be reciprocating motion along the quill, telescopic sleeve still rotates under the drive of quill, damper bolt automatic loading and unloading subassembly is in the same place with damper centre gripping and locating component's rocking arm articulates, be provided with the electric putter that is used for promoting the rocking arm motion between damper bolt automatic loading and unloading subassembly's rocking arm and hinge seat, be provided with the electric putter that is used for promoting the rocking arm motion between damper centre gripping and locating component's rocking arm and hinge seat.
2. The manipulator for attaching and detaching a bolt of a damper according to claim 1, characterized in that: the front ends of the two clamping jaws are arranged into opposite hook-shaped structures.
3. The manipulator for attaching and detaching a bolt of a damper according to claim 2, characterized in that: the gear and the clamping jaw which are arranged on the lower portion of the rocker arm of the damper clamping and positioning assembly are arranged on the supporting frame, the supporting frame is locked on the rocker arm, the electric push rod is fixed on the supporting frame through the connecting piece, and the positioning platform is locked on the supporting frame.
4. The manipulator for attaching and detaching a bolt of a damper according to claim 3, characterized in that: the support frame comprises a horizontally placed U-shaped frame body, vertical plates perpendicular to the U-shaped edge are arranged at the U-shaped bottom of the U-shaped frame body and the end part of the U-shaped edge, the vertical plates at the U-shaped bottom and the vertical plates on the U-shaped edge extend reversely, and the gear and the clamping jaw are arranged on the inner side of the U-shaped groove.
5. The manipulator for attaching and detaching a bolt of a damper according to claim 4, characterized in that: the connection relationship between the gear and the clamping jaw is as follows: a clamping jaw is connected with a gear to realize simultaneous movement, and the two gears are meshed for transmission.
6. The manipulator for attaching and detaching a bolt of a damper according to any one of claims 1 to 4, characterized in that: the articulated seat of two rocking arms articulated including upper and lower two, the piece is used for installing the pin joint on going up, the piece is used for installing electric putter down, is provided with the through-hole that is used for embracing the installation with two articulated seats on upper and lower two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192169.5A CN107020487B (en) | 2017-03-28 | 2017-03-28 | Manipulator for disassembling and assembling vibration damper bolt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192169.5A CN107020487B (en) | 2017-03-28 | 2017-03-28 | Manipulator for disassembling and assembling vibration damper bolt |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107020487A CN107020487A (en) | 2017-08-08 |
| CN107020487B true CN107020487B (en) | 2023-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710192169.5A Active CN107020487B (en) | 2017-03-28 | 2017-03-28 | Manipulator for disassembling and assembling vibration damper bolt |
Country Status (1)
| Country | Link |
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| CN (1) | CN107020487B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107528257B (en) * | 2017-09-05 | 2023-06-20 | 国网宁夏电力公司吴忠供电公司 | Power transmission line damper position adjusting device |
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| CN102136690A (en) * | 2010-12-29 | 2011-07-27 | 北京深浪电子技术有限公司 | Automatic dismounting device of transmission line damper |
| CN102581606A (en) * | 2012-03-07 | 2012-07-18 | 武汉大学 | Mounting and dismantling device for dampers of high-voltage transmission lines |
| CN202687475U (en) * | 2012-06-20 | 2013-01-23 | 宁波远景汽车零部件有限公司 | Gear type locking mechanism |
| CN205600267U (en) * | 2016-04-28 | 2016-09-28 | 天合富奥汽车安全***（长春）有限公司 | Automatic screw up device |
| CN106356760A (en) * | 2016-09-18 | 2017-01-25 | 武汉大学 | End-of-arm tooling and methods for mounting and dismounting high-voltage wire dampers by robot |
| CN206689682U (en) * | 2017-03-28 | 2017-12-01 | 国网福建省电力有限公司泉州供电公司 | A kind of damper dismounting manipulator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102210076A (en) * | 2009-08-20 | 2011-10-05 | 预制管线产品公司 | Multi-response vibration damper assembly |
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2017
- 2017-03-28 CN CN201710192169.5A patent/CN107020487B/en active Active
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| CN102136690A (en) * | 2010-12-29 | 2011-07-27 | 北京深浪电子技术有限公司 | Automatic dismounting device of transmission line damper |
| CN102581606A (en) * | 2012-03-07 | 2012-07-18 | 武汉大学 | Mounting and dismantling device for dampers of high-voltage transmission lines |
| CN202687475U (en) * | 2012-06-20 | 2013-01-23 | 宁波远景汽车零部件有限公司 | Gear type locking mechanism |
| CN205600267U (en) * | 2016-04-28 | 2016-09-28 | 天合富奥汽车安全***（长春）有限公司 | Automatic screw up device |
| CN106356760A (en) * | 2016-09-18 | 2017-01-25 | 武汉大学 | End-of-arm tooling and methods for mounting and dismounting high-voltage wire dampers by robot |
| CN206689682U (en) * | 2017-03-28 | 2017-12-01 | 国网福建省电力有限公司泉州供电公司 | A kind of damper dismounting manipulator |
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| CN107020487A (en) | 2017-08-08 |
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