CN107907769B - Rail-fixing crawling device - Google Patents
Rail-fixing crawling device Download PDFInfo
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- CN107907769B CN107907769B CN201711361391.XA CN201711361391A CN107907769B CN 107907769 B CN107907769 B CN 107907769B CN 201711361391 A CN201711361391 A CN 201711361391A CN 107907769 B CN107907769 B CN 107907769B
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- swing arm
- power swing
- test wire
- crawler
- probe
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- 230000009193 crawling Effects 0.000 title claims abstract description 22
- 238000012360 testing method Methods 0.000 claims abstract description 79
- 239000000523 sample Substances 0.000 claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 239000012212 insulator Substances 0.000 claims description 13
- 238000009413 insulation Methods 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 239000003292 glue Substances 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 4
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 6
- 238000000034 method Methods 0.000 description 6
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- 230000001174 ascending effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 230000013011 mating Effects 0.000 description 2
- 238000003801 milling Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/025—Measuring very high resistances, e.g. isolation resistances, i.e. megohm-meters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/26—Measuring inductance or capacitance; Measuring quality factor, e.g. by using the resonance method; Measuring loss factor; Measuring dielectric constants ; Measuring impedance or related variables
- G01R27/2688—Measuring quality factor or dielectric loss, e.g. loss angle, or power factor
- G01R27/2694—Measuring dielectric loss, e.g. loss angle, loss factor or power factor
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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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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Electric Cable Installation (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Abstract
The invention discloses a track-fixing crawling device which comprises a circuit breaker, a crawler, an insulating rod and an adjusting trolley, wherein the bottom end of the insulating rod is connected to the adjusting trolley, the top end of the insulating rod is connected with a remote control clamp head, the remote control clamp head is connected to a conducting plate at the top of the circuit breaker in a clamping manner, the crawler is movably connected to the insulating rod, the top of the crawler is connected with a conducting probe, and a conducting contact plate is connected below the remote control clamp head; the lower part of the insulating rod is provided with a wire loading shaft, a first test wire and a second test wire are fixed on the wire loading shaft, the free top ends of the first test wire and the second test wire are fixedly connected to the conductive probe, and the crawler climbs up and down to drive the first test wire and the second test wire to stretch and shrink. The invention has scientific and reasonable design, convenient movement of the adjusting trolley, stable and firm positioning, convenient and quick adjustment of the insulating rod, higher safety of the hanging lead and greatly reduced labor intensity, and is in a fully insulating state during clamping operation.
Description
Technical Field
The invention relates to the technical field of auxiliary equipment for electric power overhead operation, in particular to a rail-fixing crawling device.
Background
The high-altitude operation is a common dangerous operation, taking the power industry as an example, the height of high-voltage power equipment is usually 8-15 meters, when a worker needs to carry out equipment detection maintenance work on the equipment, various grounding wires and test wires need to be hung on the power equipment, and because the types of detection are more, the worker needs to frequently replace the lead wires, and the worker needs to replace the lead wires of different varieties on the same equipment for 3-5 times, so that the detection work can be completed.
The existing method for hanging test leads of power equipment adopts a manual high-altitude hanging mode, adopts modes such as a high-altitude operation vehicle, a telescopic insulating ladder, a scaffold building mode and a manual climbing mode, enables workers to reach a position where the leads need to be hung for manual operation, and has the advantages of good wiring reliability and stability, but has the defects of low working efficiency and high working risk. Secondly, adopt insulator spindle direct connection mode, with anchor clamps, cable direct fixation at the insulator spindle head, by the staff lift the insulator spindle, aim at the position that needs the hitching lead wire, fix anchor clamps on equipment, this kind of method can avoid personnel to ascend a height, but be limited by the strength of people and the bending resistance of insulator spindle, unable adaptation height is higher operation demand, when carrying out the operation of height more than 6 meters, there is the phenomenon that the insulator spindle is difficult to control, in addition, at transformer substation's job site, there is a large amount of electrified equipment, lift the insulator spindle that has the cable by the manual work, there is the risk that the mistake bumps electrified equipment and leads to the accident.
Disclosure of Invention
The invention aims to provide a rail-fixing crawling device, which solves the problems of high operation difficulty and high working strength of manual high-voltage wire hanging in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention relates to a track-fixing crawling device which comprises a circuit breaker, a crawler, an insulating rod and an adjusting trolley, wherein the circuit breaker is supported and placed on a construction site, the bottom end of the insulating rod is movably connected to the adjusting trolley, the top end of the insulating rod is connected with a remote control clamp head, the remote control clamp head is in clamping connection with a conductive plate at the top of the circuit breaker, the crawler is movably connected to the insulating rod, the top of the crawler is connected with a conductive probe, a conductive contact plate is connected below the remote control clamp head, and the crawler moves upwards to drive the conductive probe to be in contact with the conductive contact plate so as to judge whether the conductive plate at the top of the circuit breaker is electrified; the lower part of the insulating rod is provided with a wire loading shaft, a first test wire and a second test wire are fixed on the wire loading shaft, the free top ends of the first test wire and the second test wire are connected to the conductive probe, and the crawler drives the first test wire and the second test wire to extend and shrink when crawling up and down.
Further, four universal wheels convenient to move are installed at the bottom of the adjusting trolley, four corners of the adjusting trolley are connected with four rotatable supporting legs in a hinged mode, the supporting legs are placed on the bottom face near the outer side when the adjusting trolley is fixed, and the supporting legs are placed on the side face of the trolley body in an inward rotating mode when the adjusting trolley moves.
Still further, be provided with the swivelling joint seat on the adjusting trolley, the bottom fixed connection of insulating rod is in on the swivelling joint seat.
Still further, the rotary connecting seat comprises a turbine rotary supporting table and a turbine reducer, the turbine rotary supporting table is connected with a 200W servo motor, and the 200W servo motor drives the turbine rotary supporting table to perform rotary motion in the horizontal direction; the turbine speed reducer is connected with a 400W servo motor, and the 400W servo motor drives the insulating rod to do pitching motion in the vertical direction through the turbine speed reducer.
Still further, the crawler includes four power swing arms, chassis body and control box, the control box passes through bolted connection be in on the chassis body, install in the control box power swing arm drive power supply, power swing arm includes first power swing arm, second power swing arm, third power swing arm and fourth power swing arm, first power swing arm, second power swing arm, third power swing arm and fourth power swing arm are connected respectively in the four corners bottom and the symmetric distribution of chassis body, be connected with first tension spring between second power swing arm and the third power swing arm, be connected with second tension spring between first power swing arm and the fourth power swing arm.
Still further, the power swing arm includes the pendulum arm support, the one end of pendulum arm support is connected with the centering gear who installs in the control box through the bearing, the other end of pendulum arm support is connected with driving motor and drive wheel, driving motor's work end runs through the pendulum arm support back with the drive wheel links together.
Still further, the centering gear is provided with four and respectively with four power swing arms one-to-one, centering gear on the first power swing arm with centering gear on the fourth power swing arm meshes, centering gear on the second power swing arm with centering gear on the third power swing arm meshes.
Still further, two intermeshing centering gears drive the power swing arm that corresponds the connection and move, the power swing arm is with the central line of chassis body is the swing that the axle pair becomes and keep with the insulating rod parallel movement, just the angular velocity is the same in opposite direction when power swing arm moves.
Still further, electrically conductive probe is provided with two side by side, and electrically conductive probe includes probe insulating pad and probe head, two probe insulating pad glues the both ends of second tension spring, the one end fixed connection of probe head is in on the probe insulating pad, be connected with the spool on the probe head, be provided with test wire through wires hole and test wire fixed screw hole on the spool, first test wire and second test wire respectively through connection are in two in the test wire through wires hole, and pass through the screw in the test wire fixed screw hole is screwed fixedly.
Still further, electrically conductive contact plate includes the contact plate bottom plate, the both ends of contact plate bottom plate are provided with electrically conductive contact surface, electrically conductive contact surface glues through the contact plate insulating pad and is in on the contact plate bottom plate, the middle bulge of contact plate bottom plate be provided with insulating rod mating surface and with the mounting hole that the remote control clamp head was connected usefulness.
Compared with the prior art, the invention has the beneficial technical effects that:
the invention relates to a track-fixing crawling device which comprises a circuit breaker, a crawler, an insulating rod and an adjusting trolley, wherein the circuit breaker is supported and placed on a construction site, the bottom end of the insulating rod is movably connected to the adjusting trolley, four supporting legs of the adjusting trolley are opened and fixed on the ground, a remote control clamp head connected with the top end of the insulating rod is clamped and connected to a conducting plate at the top of the circuit breaker, a wire shaft of a first test wire and a wire shaft of a second test wire are arranged on the insulating rod, the free top ends of the first test wire and the wire shaft are connected to a conducting probe, the crawler is movably connected to the insulating rod and can crawl up and down along the insulating rod, the connecting part of the conducting probe and the conducting contact plate connected to the remote control clamp head is driven, and two independent conducting loops are established by the design of the first test wire and the second test wire, so that the requirements of test work such as insulation resistance measurement, loop resistance measurement and the like are met.
The insulating rod is arranged on the adjusting trolley through the rotary connecting seat, and the insulating rod can be controlled to move up and down, pitch and rotate through the rotary connecting seat, so that the operation of erecting the insulating rod and hanging the lead wire is completed in two parts, and the device has the advantages of safety and high efficiency; firstly, the manual operation of personnel is not needed in the lead wire hanging process, so that the labor intensity of the personnel is greatly reduced; secondly, can realize that the insulator spindle does not have lead wire and articulates in advance, the anchor clamps are aimed at equipment with the remote control clamp and press from both sides tightly, and the crawler is in the lower part of insulator spindle, does not take conductive lead wire, and the insulator spindle keeps full insulating state to ground, can bear high voltage power equipment's direct voltage impact, and does not take place to break down, discharge, has effectively avoided anchor clamps to aim at equipment in-process, and misoperation leads to the risk of touching electrified equipment by mistake, improves the security of operation. The stress form of the insulating rod in the lead wire hanging stage is changed from bending resistance to tensile resistance, so that the requirement on the bending strength of the insulating rod is greatly reduced. The crawler crawls up and down along the insulating rod, the conductive contact plate connected on the conductive probe and the remote control clamp head is driven to be connected, two independent conductive loops are established between the first test wire and the second test wire which are fixedly connected with the conductive probe, the requirements of test work such as insulation resistance measurement and loop resistance measurement are met, the first test wire and the second test wire are installed on the wire installation shaft, the crawler can reach the position when climbing downwards, the position is located at a position close to the bottom of the insulating rod, the height is about 1.7 m, and workers can replace the test wires easily and perform routine inspection and the like of the crawler. The invention has the advantages of ingenious conception, scientific and reasonable structural design, convenient movement of the adjusting trolley, stable and firm positioning, convenient and quick adjustment of the insulating rod, higher operation safety of the hanging lead and greatly reduced labor intensity, and the clamp is in a full-insulation state during clamping operation.
Drawings
The invention is further described with reference to the following description of the drawings.
FIG. 1 is a schematic view of a track-laying crawling apparatus according to the present invention;
FIG. 2 is a schematic view of the orbital crawling apparatus according to the present invention climbing to the middle;
FIG. 3 is an enlarged view of a portion of the crawler of the present invention in a wiring position;
FIG. 4 is a schematic view of the external structure of the crawler according to the present invention;
FIG. 5 is a schematic view of the internal structure of the crawler according to the present invention;
FIG. 6 is a schematic view of the explosive structure of the crawler according to the present invention;
FIG. 7 is a schematic diagram of a power swing arm structure according to the present invention;
FIG. 8 is a schematic diagram of a conductive probe structure according to the present invention;
FIG. 9 is a schematic diagram of a conductive contact plate structure according to the present invention;
FIG. 10 is a schematic diagram of a control circuit of the present invention;
reference numerals illustrate: 1. a circuit breaker; 2. remote control clamp head; 3. a crawler; 4. an insulating rod; 5. a first test line; 6. a second test line; 7. adjusting the trolley; 8. a conductive probe; 9. a conductive contact plate;
301. a first powered swing arm; 302. a second powered swing arm; 303. a third power swing arm; 304. a fourth power swing arm; 305. a chassis body; 306. a control box; 307. a first tension spring; 308. a second tension spring; 309. a centering gear; 310. a driving motor; 311. a driving wheel; 312. a bearing; 313. swing arm frame;
801. a probe insulation cushion block; 802. a probe head; 803. a test wire threading hole; 804. and fixing the screw hole by the test wire.
901. A contact plate base plate; 902. insulating cushion blocks of the contact plates; 903. a conductive contact surface; 904. an insulating rod mating surface; 905. and (5) mounting holes.
Detailed Description
As shown in fig. 1-3, the track-setting crawling device comprises a circuit breaker 1, a crawler 3, an insulating rod 4 and an adjusting trolley 7, wherein the circuit breaker 1 is supported and placed on a construction site, the bottom end of the insulating rod 4 is movably connected to the adjusting trolley 7, the top end of the insulating rod 4 is connected with a remote control clamp head 2, the remote control clamp head 2 is in clamping connection with a conductive plate at the top of the circuit breaker 1, the crawler 3 is movably connected to the insulating rod 4, the top of the crawler 3 is connected with a conductive probe 8, a conductive contact plate 9 is connected below the remote control clamp head 2, and the crawler 3 moves upwards to drive the conductive probe 8 to be in contact with the conductive contact plate 9 so as to judge whether the conductive plate at the top of the circuit breaker 1 is electrified or not; the lower part of the insulating rod 4 is provided with a wire loading shaft, a first test wire 5 and a second test wire 6 are fixed on the wire loading shaft, the free top ends of the first test wire 5 and the second test wire 6 are connected to the conductive probe 8, and the crawler 3 drives the first test wire 5 and the second test wire 6 to extend and shrink when crawling up and down. Specifically, the insulating rod 4 is a square glass fiber cloth pipe with the side length of 50mm and the thickness of 3 mm; the circuit breaker 1 adopts an LW10-252B circuit breaker, a first test wire 5 and a second test wire 6 are respectively and fixedly connected with a conductive probe 8, when the crawler 3 climbs to the top end of an insulating rod 4, the conductive probe 8 is in contact connection with a conductive contact plate 9, and the conductive contact plate 9 is connected with a remote control clamp head 2, so that the remote control clamp head 2 is connected with the LW10-252B circuit breaker, a conductive path for testing is established, and the conductive probe, the conductive contact plate and the remote control clamp head are all provided with independent conductive paths, so that the two established conductive paths are independent of each other, and the test requirement of measuring the circuit resistance of the circuit breaker by a current drop method is met.
Four universal wheels convenient to move are installed at the bottom of the adjusting trolley 7, four corners of the adjusting trolley 7 are connected with four rotatable supporting legs in a hinged mode, the supporting legs are placed on the bottom face near the outer side when the adjusting trolley 7 is fixed, and the supporting legs are placed on the side face of the adjusting trolley 7 in an inward rotating mode when the adjusting trolley 7 moves. The adjusting trolley 7 is provided with a rotary connecting seat 701, the bottom of the insulating rod 4 is fixedly connected to the rotary connecting seat 701, and the insulating rod 4 can be controlled to move up and down, pitch and rotate through the rotary connecting seat 701. Specifically, the rotary connection seat 701 includes a turbine rotary support table and a turbine reducer, where the turbine rotary support table is connected to a 200W servo motor, and the 200W servo motor drives the turbine rotary support table to perform a rotary motion in a horizontal direction; the turbine speed reducer is connected with a 400W servo motor, and the 400W servo motor drives the insulating rod 4 to do pitching motion in the vertical direction through the turbine speed reducer.
As shown in fig. 4-7, the crawler 3 includes four power swing arms, a chassis body 305 and a control box 306, the control box 306 is connected to the chassis body 305 through bolts, the power swing arm driving power supply is installed in the control box 306, the power swing arms include a first power swing arm 301, a second power swing arm 302, a third power swing arm 303 and a fourth power swing arm 304, the first power swing arm 301, the second power swing arm 302, the third power swing arm 303 and the fourth power swing arm 304 are respectively connected to the bottom of four corners of the chassis body 305 and are symmetrically distributed, a first tension spring 307 is connected between the second power swing arm 302 and the third power swing arm 303, and a second tension spring 308 is connected between the first power swing arm 301 and the fourth power swing arm 304. Specifically, the first power swing arm 301, the second power swing arm 302, the third power swing arm 303 and the fourth power swing arm 304 have the same structure, and the control box 306 provides a control power supply for the power swing arms; the first tension spring and the second tension spring tighten the two power swing arms connected with the first tension spring and the second tension spring, and provide enough pressing force for the power swing arms to enable the crawler to be clamped on the insulating rod 4, and ensure enough friction force at the same time, so that the crawler can smoothly realize up-down crawling motion.
As shown in fig. 7, the power swing arm includes a swing arm frame 313, one end of the swing arm frame 313 is connected with a centering gear 309 installed in the control box 306 through a bearing 312, the other end of the swing arm frame 313 is connected with a driving motor 310 and a driving wheel 311, a working end of the driving motor 310 penetrates through the swing arm frame 313 and then is connected with the driving wheel 311, the driving motor 310 works to drive the driving wheel 311 to rotate, specifically, a first driving motor, a second driving motor, a third driving motor and a fourth driving motor are correspondingly arranged in the first power swing arm 301, the second power swing arm 302, the third power swing arm 303 and the fourth power swing arm 304, wherein the first driving motor and the second driving motor rotate anticlockwise, and when the third driving motor and the fourth driving motor rotate clockwise, the crawler 3 moves upwards as a whole. The first driving motor and the second driving motor rotate clockwise, and the crawler 3 moves downwards integrally when the third driving motor and the fourth driving motor rotate anticlockwise.
As shown in fig. 5 and 6, the centering gears 309 are provided with four centering gears and are respectively in one-to-one correspondence with the four power swing arms, the centering gears on the first power swing arm 301 are meshed with the centering gears on the fourth power swing arm 304, and the centering gears on the second power swing arm 302 are meshed with the centering gears on the third power swing arm 303. The two centering gears meshed with each other drive the corresponding connected power swing arms to move, the power swing arms swing oppositely by taking the central line of the chassis body 305 as an axis and keep moving parallel to the insulating rod 4, and the angular speeds of the power swing arms are the same and opposite in direction when the power swing arms move.
Specifically, the driving motor 310 adopts a 42mm planetary reduction motor, the main function of the driving motor is to provide the driving force of the crawler 3, the main function of the driving wheel 311 is to provide the friction force required by crawling, the swing arm frame 313 is used for connecting all parts, the connecting mode specifically adopts bolt connection, the middle part of the swing arm frame 313 is connected with the driving motor 310 through four bolts, one end of the swing arm frame in the control box is connected with the bearing 312 through four bolts, and the bolt hole connected with the bearing is designed as a kidney-shaped hole; the bearing 312 specifically adopts an F6805 bearing, and the bolt adopts an M4 countersunk head bolt, wherein the 42mm planetary reduction motor and the countersunk head bolt are standard components. Wherein, the chassis body 305 is made of 6061 aluminum alloy, and the thickness is 14mm; the swing arm frame is made of 6061 aluminum alloy, and the thickness of the swing arm frame is 6mm; the control box is made of 6061 aluminum alloy, the thickness of the control box is 4mm, and all the parts are manufactured in a milling mode.
As shown in fig. 8, two conductive probes 8 are arranged side by side, each conductive probe 8 comprises a probe insulation cushion block 801 and a probe head 802, the two probe insulation cushion blocks 801 are glued at two ends of the second tension spring 308, one end of each probe head 802 is fixedly connected to each probe insulation cushion block 801, a wire mounting shaft is connected to each probe head 802, a test wire threading hole 803 and a test wire fixing screw hole 804 are formed in the wire mounting shaft, and the first test wire 5 and the second test wire 6 are respectively connected in the two test wire threading holes 803 in a penetrating mode and are screwed and fixed through screws in the test wire fixing screw holes 804. Specifically, the probe head 802 is made of pure copper, and is processed in a milling mode, the threading hole of the test wire is used for accommodating the test wire with the wire core diameter within 10mm, and the jackscrew of M6 can be screwed into the fixing screw hole of the test wire to fix the first test wire and the second test wire firmly.
As shown in fig. 9, the conductive contact plate 9 includes a contact plate bottom plate 901, two ends of the contact plate bottom plate 901 are provided with conductive contact surfaces 903, the conductive contact surfaces 903 are glued on the contact plate bottom plate 901 through a contact plate insulating cushion block 902, and a middle protruding portion of the contact plate bottom plate 901 is provided with an insulating rod matching surface 904 and a mounting hole 905 for connecting with the remote control clamp head 2. Specifically, when the conductive contact plates 9 are connected, the conductive contact surfaces 903 are placed on the ground, then screwed into the mounting holes 905 by bolts and mounted below the remote control clamp head 2, and after the connection is completed, the two conductive contact surfaces 903 face down, and the positions of the two conductive contact surfaces correspond to the two conductive probes 8 one by one.
As shown in FIG. 10, which is a schematic diagram of a control circuit of the invention, four 42mm planetary reduction motors are connected in parallel, the driving voltage is 12V, a working mode of voltage and speed regulation is adopted, the control mode is wireless remote control, and the rotating speed and the direction of the four 42mm planetary reduction motors are controlled in a wireless mode, so that the function of regulating the speed and the position of the crawler 3 is achieved. Specifically, the wireless remote control mechanism further comprises a control circuit board and a remote controller, the control circuit board is arranged in the control box 306, when an ascending key of the remote controller is pressed, the four power swing arms start to work, the first driving motor and the second driving motor rotate anticlockwise, meanwhile, the third driving motor and the fourth driving motor rotate clockwise, and the crawler 3 integrally moves upwards; when the ascending key of the remote controller is released, all driving motors stop rotating, and the crawler stops moving. When the descending key of the remote controller is pressed, the first driving motor and the second driving motor rotate clockwise, and meanwhile, the third driving motor and the fourth driving motor rotate anticlockwise, and the whole crawler moves downwards.
The working process of the invention is as follows:
firstly, the track-setting crawling device is transported to a construction site needing to be hung, the circuit breaker 1 is supported and placed on the construction site, four supporting legs of the adjusting trolley 7 are opened and fixed on the ground, the inclination angle of the insulating rod 4 is adjusted, the top end of the adjusting trolley is flush with the top of the circuit breaker 1, the crawler 3 is positioned at the lower part of the insulating rod 4 in an initial state, a worker presses an ascending key of a remote controller, four power swing arms start to work, the first driving motor and the second driving motor rotate anticlockwise, the third driving motor and the fourth driving motor rotate clockwise, and the crawler integrally moves upwards. When the crawler 3 reaches the top of the insulating rod, the top end of the conductive probe 8 is contacted with the conductive contact plate 9, a worker releases the ascending key of the remote controller, all driving motors stop rotating, the crawler stops moving, and the crawler is static on the insulating rod due to friction force. At this time, the staff can perform various detection tests such as dielectric loss test, insulation resistance test, loop resistance test and the like through the first test line 5 and the second test line 6. After the test work is finished, when a worker presses the remote controller descending key, the first driving motor and the second driving motor rotate clockwise, meanwhile, the third driving motor and the fourth driving motor rotate anticlockwise, the whole crawler moves downwards, when the crawler moves to the lower part of the insulating rod, the worker releases the remote controller descending key, the crawler stops moving, and the crawler is static on the insulating rod by friction force. At this time, the staff can carry out the work such as test lead replacement, and the crawler is removed and is received. After all works are completed, the inclination angle and the extension amount of the insulating rod 4 are adjusted through the rotary connecting seat 701, the insulating rod is adjusted to be in a horizontal position, four supporting legs on the adjusting trolley 7 are retracted, and the adjusting trolley can be moved to the next working position for operation.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (7)
1. The utility model provides a device is crawled in orbit determination which characterized in that: including circuit breaker (1), crawler (3), insulator spindle (4) and adjusting trolley (7), circuit breaker (1) supports and places at the job site, the bottom swing joint of insulator spindle (4) is in on adjusting trolley (7), the top of insulator spindle (4) is connected with remote control binding clip (2), remote control binding clip (2) clamp is connected on the current-conducting plate at circuit breaker (1) top, crawler (3) swing joint is in on insulator spindle (4), the top of crawler (3) is connected with conductive probe (8), the below of remote control binding clip (2) is connected with conductive contact plate (9), crawler (3) upwards moves and drives conductive probe (8) with conductive contact plate (9) contact and judge whether the current-conducting plate at circuit breaker (1) top is electrified; a wire loading shaft is arranged at the lower part of the insulating rod (4), a first test wire (5) and a second test wire (6) are fixed on the wire loading shaft, the free top ends of the first test wire (5) and the second test wire (6) are connected to the conductive probe (8), and the crawler (3) drives the first test wire (5) and the second test wire (6) to stretch and shrink when crawling up and down; four universal wheels convenient to move are mounted at the bottom of the adjusting trolley (7), four corners of the adjusting trolley (7) are connected with four rotatable supporting legs in a hinged mode, the supporting legs are placed on the bottom surface near the outer side when the adjusting trolley (7) is fixed, and the supporting legs are placed on the side face of a trolley body of the adjusting trolley (7) in an inward rotating mode when the adjusting trolley (7) moves; the crawler (3) comprises four power swing arms, a chassis body (305) and a control box (306), wherein the control box (306) is connected to the chassis body (305) through bolts, a power swing arm driving power supply is installed in the control box (306), the power swing arms comprise a first power swing arm (301), a second power swing arm (302), a third power swing arm (303) and a fourth power swing arm (304), the first power swing arm (301), the second power swing arm (302), the third power swing arm (303) and the fourth power swing arm (304) are respectively connected to the bottom of four corners of the chassis body (305) and are symmetrically distributed, a first tension spring (307) is connected between the second power swing arm (302) and the third power swing arm (303), and a second tension spring (308) is connected between the first power swing arm (301) and the fourth power swing arm (304); the utility model discloses a test wire fixing device, including probe insulation pad, probe (8), conducting probe fixing device, test wire fixing screw hole (804) are provided with on the dress spool, conducting probe (8) include probe insulation pad (801) and probe head (802), two probe insulation pad (801) glue joint are in the both ends of second tension spring (308), the one end fixed connection of probe head (802) is in on probe insulation pad (801), be connected with dress spool on probe head (802), be provided with test wire through wires hole (803) and test wire fixing screw hole (804) on dress spool, first test wire (5) and second test wire (6) respectively through-connection are in two in test wire through wires holes (803), and pass through the screw in test wire fixing screw hole (804) is screwed fixedly.
2. The orbital crawling apparatus according to claim 1, wherein: the adjusting trolley (7) is provided with a rotary connecting seat (701), and the bottom of the insulating rod (4) is fixedly connected to the rotary connecting seat (701).
3. The orbital crawling apparatus according to claim 2, wherein: the rotary connecting seat (701) comprises a turbine rotary supporting table and a turbine speed reducer, the turbine rotary supporting table is connected with a 200W servo motor, and the 200W servo motor drives the turbine rotary supporting table to perform rotary motion in the horizontal direction; the turbine speed reducer is connected with a 400W servo motor, and the 400W servo motor drives the insulating rod (4) to do pitching motion in the vertical direction through the turbine speed reducer.
4. The orbital crawling apparatus according to claim 1, wherein: the power swing arm comprises a swing arm frame (313), one end of the swing arm frame (313) is connected with a centering gear (309) arranged in the control box (306) through a bearing (312), the other end of the swing arm frame (313) is connected with a driving motor (310) and a driving wheel (311), and the working end of the driving motor (310) penetrates through the swing arm frame (313) and then is connected with the driving wheel (311).
5. The orbital crawling apparatus according to claim 4, wherein: the centering gears (309) are arranged in four and are in one-to-one correspondence with the four power swing arms respectively, the centering gears on the first power swing arm (301) are meshed with the centering gears on the fourth power swing arm (304), and the centering gears on the second power swing arm (302) are meshed with the centering gears on the third power swing arm (303).
6. The orbital crawling apparatus according to claim 5, wherein: the two centering gears meshed with each other drive the power swing arms which are correspondingly connected to move, the power swing arms swing oppositely by taking the central line of the chassis body (305) as an axis and keep parallel movement with the insulating rod (4), and the angular speeds of the power swing arms are the same and opposite in direction when the power swing arms move.
7. The orbital crawling apparatus according to claim 1, wherein: the electric conduction contact plate (9) comprises a contact plate bottom plate (901), electric conduction contact surfaces (903) are arranged at two ends of the contact plate bottom plate (901), the electric conduction contact surfaces (903) are glued on the contact plate bottom plate (901) through contact plate insulating cushion blocks (902), and an insulating rod matching surface (904) and a mounting hole (905) for connecting with the remote control clamp head (2) are arranged on the middle protruding portion of the contact plate bottom plate (901).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711361391.XA CN107907769B (en) | 2017-12-18 | 2017-12-18 | Rail-fixing crawling device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711361391.XA CN107907769B (en) | 2017-12-18 | 2017-12-18 | Rail-fixing crawling device |
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| CN107907769A CN107907769A (en) | 2018-04-13 |
| CN107907769B true CN107907769B (en) | 2024-01-30 |
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| CN108376939B (en) * | 2018-04-18 | 2023-05-26 | 广东电网有限责任公司 | Device for replacing suspension insulator string of power transmission line |
| CN110687405A (en) * | 2019-09-02 | 2020-01-14 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Discharging device and discharging method for direct-current withstand voltage test of seabed oil-filled cable |
| CN110676737B (en) * | 2019-11-15 | 2024-01-09 | 贵州电网有限责任公司 | Movable insulating rod clamping control device |
| CN111262179B (en) * | 2020-03-08 | 2021-06-08 | 广东电网有限责任公司阳江供电局 | Electric power engineering multi-axis positioning electric power equipment maintenance cloud platform and implementation method thereof |
| CN112775197B (en) * | 2020-12-24 | 2022-07-01 | 天津市天锻压力机有限公司 | Skin stretcher for preparing aircraft skin |
| CN112874649B (en) * | 2021-01-21 | 2022-09-30 | 国网安徽省电力有限公司电力科学研究院 | Insulating operation arm for live working of power distribution network |
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