CN107591737A - For installing the robot of stockbridge damper - Google Patents
For installing the robot of stockbridge damper Download PDFInfo
- Publication number
- CN107591737A CN107591737A CN201710984462.5A CN201710984462A CN107591737A CN 107591737 A CN107591737 A CN 107591737A CN 201710984462 A CN201710984462 A CN 201710984462A CN 107591737 A CN107591737 A CN 107591737A
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- CN
- China
- Prior art keywords
- arm
- stockbridge damper
- actuating unit
- positive
- screw mandrel
- 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.)
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Abstract
The invention discloses a kind of robot for being used to install stockbridge damper,Including the first motor,Clamp actuating unit and mechanical arm,Clamp actuating unit and the first motor is connected,Clamping actuating unit is also connected with mechanical arm clamps the clamp nut of stockbridge damper and fastening bolt for driving mechanical arm,Mechanical arm includes the first arm for clamping the fastening nut of stockbridge damper and the second arm that the clamp nut of stockbridge damper is clamped and can be tightened clamp nut,First arm and the second arm, which are arranged on, to be clamped below actuating unit and is socketed on across the both ends of clamping actuating unit thereon,First arm and the second arm do open and close movement as clamping actuating unit is rotated along the long axis direction for clamping actuating unit,When installment work is carried out,First motor driven clamps actuating unit and rotated,Clamp actuating unit rotation and then drive the first arm and the second arm to do closing movement and respectively clamp the clamp nut of the fastening nut of stockbridge damper and stockbridge damper.
Description
Technical field
The present invention relates to stockbridge damper erecting device field, and in particular to a kind of robot for being used to install stockbridge damper.
Background technology
Damper, set to reduce wire because wind-force heaves out vibration.High-tension overhead line bar position is higher, span compared with
Greatly, when wire is acted on by wind-force, it may occur that vibration.During conductor vibration, the condition of work at wire suspension is the most unfavorable.By
In multiple vibration, because of periodically bending fatigue rupture can occur for wire.When overhead transmission line span is more than 120 meters, typically adopt
With damper vibrationproof.
When installation, worker needs to climb to high-altitude and carries out installation exercise stockbridge damper, operation have certain difficulty and
Risk.Sometimes operation also need to operator take coaster high-altitude install, the air-flow in high-altitude is big, coaster drive operator
Drift, and waste time and energy back and forth in high-altitude.
The content of the invention
It is an object of the invention to provide a kind of robot for being used to install stockbridge damper, solves high-altitude installation stockbridge damper installation
Waste time and energy, increase installer installation risk the problem of.
The present invention is achieved through the following technical solutions：
For installing the robot of stockbridge damper, including the first motor, clamping actuating unit and mechanical arm, actuating unit is clamped
It is connected with the first motor, clamps actuating unit and be also connected the clamp nut of stockbridge damper and tight with mechanical arm for driving mechanical arm
Fixing bolt clamps, mechanical arm include the first arm for clamping the fastening nut of stockbridge damper and the clamp nut of stockbridge damper is clamped and
The second arm that clamp nut can be tightened, the first arm and the second arm, which are arranged on, to be clamped below actuating unit and is socketed on across it
On clamping actuating unit both ends, the first arm and the second arm are rotated along the length for clamping actuating unit with clamping actuating unit
Direction of principal axis does open and close movement, and when installment work is carried out, the first motor driven clamps actuating unit and rotated, and clamps actuating unit and rotates
And then the first arm and the second arm is driven to do closing movement and respectively clamp the clamp nut of the fastening nut of stockbridge damper and stockbridge damper.
Stockbridge damper is suspended on high-voltage line by the present invention first in installation process, then is placed on actuating unit is clamped
The top of high-voltage line, the first arm and the second arm of mechanical arm are individually positioned at the fastening nut and clamp nut of stockbridge damper, opened
Dynamic first motor, the first motor driven clamp actuating unit drive the first arm and the second arm respectively by the fastening nut of stockbridge damper and
Clamp nut inwardly clamps, then is tightened the clamp nut of stockbridge damper by the second arm, realizes the installation of stockbridge damper.
First arm is provided with the fixture of the binding nut of fixed rotation stockbridge damper, the position of fixture and the folder of stockbridge damper
The position of tight nut corresponds, and the position that fixture is corresponded on the second arm is provided with binding nut for rotating stockbridge damper
The position of revolving part, the position of revolving part and the binding nut of stockbridge damper is corresponded, and driving rotation is additionally provided with the second arm
The second motor that part rotates, revolving part and the second motor are connected.
Drive the first arm and the second arm respectively that the fastening nut of stockbridge damper and clamp nut is inside when clamping actuating unit
During clamping, the fixture of the first arm fixes binding nut, and the revolving part on the second arm fixes to clamp nut, starts the second electricity
Machine, the revolving part rotation on the second arm is driven, revolving part drives binding nut to rotate, so as to tighten stockbridge damper.
Fixture is the first sleeve with the nut form fit of the fishbolt of stockbridge damper, and revolving part includes and stockbridge damper
Binding nut form fit second sleeve and tumbler, second sleeve is arranged on tumbler, and tumbler is set
On the second arm and tumbler and the second motor are connected.
Clamping actuating unit includes fixed seat and positive/negative thread screw mandrel, and positive/negative thread screw mandrel is through fixed seat and is fixed on
In reservation, fixed seat is completely isolated by the plus thread unit of positive/negative thread screw mandrel and left-hand thread unit, and the first arm is socketed in positive and negative
On the left-hand thread unit of threaded screw rod, the second arm is socketed on the plus thread unit of positive/negative thread screw mandrel.
First arm is provided with first support, the left-hand thread unit socket of first support and positive/negative thread screw mandrel, and the second arm is set
It is equipped with second support, the plus thread unit socket of second support and positive/negative thread screw mandrel.
Clamp the first slide bar and the second cunning that actuating unit also includes being set in parallel in the both sides of positive/negative thread screw mandrel respectively
Bar, the first slide bar, the second slide bar is parallel with positive/negative thread screw mandrel and is each attached in fixed seat, and first support is socketed in simultaneously
On the left-hand thread unit of two slide bars and positive/negative thread screw mandrel, second support be socketed in the second slide bar and positive/negative thread screw mandrel simultaneously
On plus thread unit.
First support includes the first contact jaw and the second contact jaw, and the first contact jaw is socketed in below positive/negative thread screw mandrel,
Second contact jaw is socketed in below the second slide bar；Second support includes the 3rd contact jaw and the 4th contact jaw, the 3rd contact jaw set
It is connected on below positive/negative thread screw mandrel, the 4th contact jaw is socketed in below the second slide bar.
Also include walking mechanism, the walking mechanism includes at least two road wheel, overhead gage and lower baffle plate, and installation is shockproof
During hammer, at least two road wheel is separately positioned on the both sides of high-voltage line and also cross overhead gage and lower baffle plate, at least two walking
Wheel is connected with the 3rd motor.
The present invention compared with prior art, has the following advantages and advantages：
The present invention can realize that the machine of stockbridge damper is installed by the first motor, clamping actuating unit and mechanical arm, very greatly
Degree replaces manually, reducing the danger of manual operation.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding the embodiment of the present invention, forms one of the application
Point, do not form the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is schematic structural view of the invention.
Fig. 2 is another implementation figure of the present invention.
Fig. 3 is the mechanical arm figure of the present invention.
Mark and corresponding parts title in accompanying drawing：
The motors of 1- first, 2- positive/negative thread screw mandrels, the arms of 3- first, the sleeves of 31- first, 32- first supports, the arms of 4- second,
41- second sleeves, 42- second supports, the slide bars of 5- first, the slide bars of 6- second, 7- overhead gages, 8- road wheels, the motors of 9- the 3rd,
10th, high-voltage line, 11- stockbridge dampers.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and accompanying drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment 1
As shown in figure 1, when being installed, by positive/negative thread screw mandrel 2 across insulation set on high-voltage line 10, positive/negative thread
Screw mandrel 2 is connected with the first motor 1, and the plus thread unit of positive/negative thread screw mandrel 2 is socketed with the first arm 3, its left-hand thread unit road street
There is the second arm 4, the fastening nut of the fixture face stockbridge damper 11 of the first arm 3, the revolving part face stockbridge damper 11 of the second arm 4
Clamp nut, start the first motor 1, positive/negative thread screw mandrel 2, which rotates, causes the first arm 3 and the second arm 4 to do closing movement, will be shockproof
The fastening bolt of hammer 11 is clamped, and the second motor is also associated with the second arm 4, starts the second motor, the revolving part of the second arm 4 will be tight
Gu nut is tightened.In order to consolidate positive/negative thread screw mandrel 2 across on high-voltage line 10, positive/negative thread screw mandrel 2 can be arranged on
In fixed plate, fixing board card is connected on high-voltage line 10.In implementation, as long as height can be arranged on by what positive/negative thread screw mandrel 2 consolidated
On line ball 10, there are many structures to realize in the prior art, therefore repeat no more.
Embodiment 2
As shown in Fig. 2 the first arm 3 is provided with the fixture of the binding nut of fixed rotation stockbridge damper 11, the position of fixture
Put and corresponded with the position of the binding nut of stockbridge damper 11, the position that fixture is corresponded on the second arm 4 is provided with for shockproof
The position of the revolving part of the binding nut of hammer 11, the position of revolving part and the binding nut of stockbridge damper 11 corresponds, the second arm 4
On be additionally provided with driving revolving part rotate the second motor, revolving part and the second motor are connected.
Fixture is the first sleeve 31 with the nut form fit of the fishbolt of stockbridge damper 11, and revolving part is included with preventing
The second sleeve 41 and tumbler of the binding nut form fit of shake hammer 11, second sleeve 41 are arranged on tumbler, are turned
Dynamic device is arranged on the second arm 4 and tumbler and the second motor are connected.
Clamp the first slide bar 5 and second that actuating unit also includes being set in parallel in the both sides of positive/negative thread screw mandrel 2 respectively
Slide bar 6, the first slide bar 5, the second slide bar 6 is parallel with positive/negative thread screw mandrel 2 and is each attached in fixed seat, and first support 32 is simultaneously
It is socketed on the left-hand thread unit of the second slide bar 6 and positive/negative thread screw mandrel 2, second support 42 while is socketed in the and of the second slide bar 6
On the plus thread unit of positive/negative thread screw mandrel 2.
As shown in figure 3, first support 32 includes the first contact jaw and the second contact jaw, the first contact jaw is socketed in positive and negative spiral shell
The lower section of line screw mandrel 2, the second contact jaw are socketed in the lower section of the second slide bar 6；Second support 42 includes the 3rd contact jaw and the 4th contact
End, the 3rd contact jaw are socketed in the lower section of positive/negative thread screw mandrel 2, and the 4th contact jaw is socketed in the lower section of the second slide bar 6.
Embodiment 3
Similar with embodiment 1, in addition to walking mechanism, the walking mechanism includes at least two road wheel 8, the and of overhead gage 7
Lower baffle plate, when installing stockbridge damper 11, at least two road wheel 8 is separately positioned on the both sides of high-voltage line 10 and also cross overhead gage 7
And lower baffle plate, at least two road wheel 8 are connected with the 3rd motor 9 it is contemplated herein that only realizing the drive of road wheel 8 with a motor.
On the basis of embodiment 1, to walking mechanism in robotic equipment, during implementation, robotic asssembly can also be given again
Control system causes robot to replace manually installed stockbridge damper completely.Current robot also needs to add manually-operated part
It is operated.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., all should include
Within protection scope of the present invention.
Claims (8)
1. the robot for installing stockbridge damper, it is characterised in that including the first motor (1), actuating unit and mechanical arm are clamped,
Clamp actuating unit and the first motor (1) is connected, clamping actuating unit is also connected with mechanical arm will be shockproof for driving mechanical arm
The clamp nut and fastening bolt for hammering (11) into shape clamp, and mechanical arm includes the first arm for clamping the fastening nut of stockbridge damper (11)
(3) the second arm (4) that and by the clamp nut of stockbridge damper (11) clamps and clamp nut can be tightened, the first arm (3) and the
Two arms (4) be arranged on clamp actuating unit below and be socketed on across thereon clamping actuating unit both ends, the first arm (3) and
Second arm (4) does open and close movement as clamping actuating unit is rotated along the long axis direction for clamping actuating unit, and installment work is entered
During row, the first motor (1), which drives, clamps actuating unit rotation, clamps actuating unit and rotates and then drive the first arm (3) and second
Arm (4) does closing movement and respectively clamps the clamp nut of the fastening nut of stockbridge damper (11) and stockbridge damper (11).
2. the robot according to claim 1 for being used to install stockbridge damper, it is characterised in that the first arm (3) is provided with solid
Determine the fixture of the binding nut of stockbridge damper (11), a pair of the position 1 of the binding nut of the position of fixture and stockbridge damper (11)
Should, the position that fixture is corresponded on the second arm (4) is provided with the revolving part of the binding nut for stockbridge damper (11), revolving part
The position of the binding nut of position and stockbridge damper (11) corresponds, and is additionally provided with what driving revolving part rotated on the second arm (4)
Second motor, revolving part and the second motor are connected.
3. according to claim 2 be used to install the robot of stockbridge damper, it is characterised in that fixture is and stockbridge damper
(11) the first sleeve (31) of the nut form fit of fishbolt, revolving part include the binding nut shape with stockbridge damper (11)
The second sleeve (41) and tumbler, second sleeve (41) of shape matching are arranged on tumbler, and tumbler is arranged on the
On two arms (4) and tumbler and the second motor are connected.
4. the robot according to claim 1 for being used to install stockbridge damper, it is characterised in that clamping actuating unit is included admittedly
Reservation and positive/negative thread screw mandrel (2), positive/negative thread screw mandrel (2) is through fixed seat and is fixed in fixed seat, and fixed seat will be positive and negative
The plus thread unit and left-hand thread unit of threaded screw rod (2) are completely isolated, and the first arm (3) is socketed in positive/negative thread screw mandrel (2)
On left-hand thread unit, the second arm (4) is socketed on the plus thread unit of positive/negative thread screw mandrel (2).
5. according to claim 4 be used to install the robot of stockbridge damper, it is characterised in that the first arm (3) is provided with the
The left-hand thread unit socket of one support (32), first support (32) and positive/negative thread screw mandrel (2), the second arm (4) are provided with second
The plus thread unit socket of support (42), second support (42) and positive/negative thread screw mandrel (2).
6. the robot according to claim 5 for being used to install stockbridge damper, it is characterised in that clamping actuating unit also includes
The first slide bar (5) and the second slide bar (6) of the both sides of positive/negative thread screw mandrel (2), the first slide bar (5), are set in parallel in respectively
Two slide bars (6) are parallel with positive/negative thread screw mandrel (2) and are each attached in fixed seat, first support (32) while are socketed in the second cunning
On the left-hand thread unit of bar (6) and positive/negative thread screw mandrel (2), second support (42) while it is socketed in the second slide bar (6) and positive and negative
On the plus thread unit of threaded screw rod (2).
7. according to claim 6 be used to install the robot of stockbridge damper, it is characterised in that first support (32) includes the
One contact jaw and the second contact jaw, the first contact jaw are socketed in below positive/negative thread screw mandrel (2), and the second contact jaw is socketed in second
Below slide bar (6)；Second support (42) includes the 3rd contact jaw and the 4th contact jaw, and the 3rd contact jaw is socketed in positive/negative thread silk
Below bar (2), the 4th contact jaw is socketed in below the second slide bar (6).
8. the robot according to claim 1 for being used to install stockbridge damper, it is characterised in that also including walking mechanism, institute
Stating walking mechanism includes at least two road wheel (8), overhead gage (7) and lower baffle plate, when stockbridge damper (11) are installed, at least two walking
Wheel (8) is separately positioned on the both sides of high-voltage line (10) and also cross overhead gage (7) and lower baffle plate, at least two road wheel (8) and
3rd motor (9) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710984462.5A CN107591737A (en) | 2017-10-20 | 2017-10-20 | For installing the robot of stockbridge damper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710984462.5A CN107591737A (en) | 2017-10-20 | 2017-10-20 | For installing the robot of stockbridge damper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107591737A true CN107591737A (en) | 2018-01-16 |
Family
ID=61053752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710984462.5A Pending CN107591737A (en) | 2017-10-20 | 2017-10-20 | For installing the robot of stockbridge damper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107591737A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108718054A (en) * | 2018-06-06 | 2018-10-30 | 陕西理工大学 | Novel shockproof hammer resets machine centering rotating device and its application method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01177816A (en) * | 1987-12-31 | 1989-07-14 | Kayaba Ind Co Ltd | Device for snow-attachment resisting ring of aerial transmission line |
| 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 |
| CN106984951A (en) * | 2017-03-28 | 2017-07-28 | 国网福建省电力有限公司泉州供电公司 | A kind of damper bolt disassembly device |
-
2017
- 2017-10-20 CN CN201710984462.5A patent/CN107591737A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01177816A (en) * | 1987-12-31 | 1989-07-14 | Kayaba Ind Co Ltd | Device for snow-attachment resisting ring of aerial transmission line |
| 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 |
| CN106984951A (en) * | 2017-03-28 | 2017-07-28 | 国网福建省电力有限公司泉州供电公司 | A kind of damper bolt disassembly device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108718054A (en) * | 2018-06-06 | 2018-10-30 | 陕西理工大学 | Novel shockproof hammer resets machine centering rotating device and its application method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180116 |