CN108297067A - A kind of conducting wire walking robot of rope lifting - Google Patents
A kind of conducting wire walking robot of rope lifting Download PDFInfo
- Publication number
- CN108297067A CN108297067A CN201810282450.2A CN201810282450A CN108297067A CN 108297067 A CN108297067 A CN 108297067A CN 201810282450 A CN201810282450 A CN 201810282450A CN 108297067 A CN108297067 A CN 108297067A
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- rope
- conducting wire
- walking robot
- gear
- actuating unit
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- 230000009184 walking Effects 0.000 title claims abstract description 99
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 238000000034 method Methods 0.000 claims description 17
- 230000006835 compression Effects 0.000 claims description 16
- 238000007906 compression Methods 0.000 claims description 16
- 230000004888 barrier function Effects 0.000 claims description 10
- 239000004020 conductor Substances 0.000 claims description 9
- 230000007423 decrease Effects 0.000 claims 2
- 230000000630 rising effect Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 12
- 230000005611 electricity Effects 0.000 description 12
- 230000006872 improvement Effects 0.000 description 7
- 238000007689 inspection Methods 0.000 description 7
- 230000008439 repair process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000005056 compaction Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 235000009470 Theobroma cacao Nutrition 0.000 description 1
- 244000240602 cacao Species 0.000 description 1
- 230000034303 cell budding Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of conducting wire walking robot of rope lifting of the present invention, it is characterised in that：Including rack, lifting gear and running gear；The lifting gear is set to the frame underside, the lifting gear includes rope, lifting drive mechanism, turntable and compressing member, the running gear is set on the upside of the rack, and the running gear includes rotating arm, revolving power mechanism, traveling wheel, walking actuating unit, clamping arm, contact roller and compresses actuating unit.With being lifted by rope, and remote control can be carried out, catch conducting wire automatically, stable advantage of walking on conducting wire.
Description
Technical field
The present invention relates to field of electrical equipment, and in particular to conducting wire walking robot.
Background technology
Transmission line of electricity is the key link that electric energy transmits in power grid, and transmission line of electricity is normal, safely operation is to avoid power grid
The important leverage of accident, it is related analysis shows, conducting wire, ground wire it is stranded and damage be the major reason for leading to circuit unplanned outage
One of, therefore transmission line of electricity is maked an inspection tour and is repaired, accident is eliminated in budding state, to ensure transmission line of electricity safety and
Stable operation has a very important significance.
Currently, being maked an inspection tour mainly to transmission line of electricity has two methods of ground range estimation and helicopter aerial survey, ground range estimation
It is carried out, transmission line of electricity is observed using naked eyes or telescope, due to residing for transmission line of electricity by way of artificial line walking
The limitation of the conditions such as position is managed, artificial line walking precision is low, labor intensity is big, and there are blind areas；Helicopter can carry a variety of instruments
Equipment carries out aerial survey to transmission line of electricity, and precision and efficiency are higher, but due to being influenced by the conditions such as regional geography, weather are maked an inspection tour,
There are security risks, and line walking is costly.Mainly have and manually repair to the reparation of transmission line of electricity (including deicing, remove obstacles, repair)
Multiple and machine repairs two methods, and manual amendment is climbed on transmission line of electricity by staff, then various by manual operation
Tool is repaired, but the restorative procedure labor intensity is big, dangerous high, and inefficiency；Machine reparation is by leading
Various fix tools (including ice removal, arm of removing obstacles, flame gun etc.) are installed on line walking robot, then are remotely controlled by ground staff
Repair is carried out, but it is difficult to meet that the restorative procedure requires height, existing conducting wire walking robot to conducting wire walking robot
Requirement, and how by there is also great difficulties in conducting wire robotic conveyance to conducting wire.
The long, wide coverage for China's transmission line of electricity mileage, a big chunk circuit needs original by high mountain great river
The areas such as forest, manual inspection repair big etc. the actual conditions of difficulty, also with being constantly progressive for robot technology, using base
Carry out indirect labor's inspection in line walking, the repair robot of robot technology, repair and manual inspection, reparation is gradually replaced to have become
For trend of the times.This improves operating personnel's working condition, improves operation water for improving power department automated job degree
It is flat, and improve operation quality and have great importance, to ensureing that it is positive that the good operation of China's transmission line of electricity plays the role of.
Therefore, how existing conducting wire walking robot is improved, so that it is overcome the problems, such as above-mentioned, is ability
A field technique personnel problem urgently to be resolved hurrily.
Invention content
It is an object of the present invention to provide one kind catching conducting wire, and the row of smooth running automatically with remote control
Walking apparatus.
It is another object of the present invention to provide one kind to be lifted by rope, and can carry out remote control, automatically
Conducting wire is caught, the conducting wire walking robot for stable rope lifting of walking on conducting wire.
The present invention's further an object is that provide a kind of easy to operate, efficient and safe and reliable conducting wire vehicle with walking machine
The working method of device people.
To achieve the above objectives, the technical solution adopted by the present invention is：A kind of conducting wire walking robot of rope lifting,
It is characterized in that：Including rack, lifting gear and running gear；
The lifting gear is set to the frame underside, and the lifting gear includes rope, lifting drive mechanism, turntable
And compressing member, the rope are set between the turntable and the compressing member, the lifting drive mechanism is fixedly installed on institute
It states in rack, the turntable is fixedly installed in the lifting drive mechanism, and the compressing member is set in the rack, described
Lifting drive mechanism drives the turntable rotation and suppresses the rope always by the compressing member, makes the walking robot
It is lifted along the rope；
The running gear is set on the upside of the rack, and the running gear includes rotating arm, revolving power mechanism, row
It walks wheel, walking actuating unit, clamping arm, contact roller and compresses actuating unit, the rotating arm is rotatably dispose in the rack,
The revolving power mechanism drives the rotating arm rotation, the traveling wheel to be rotatably dispose on the upside of the rotating arm, the row
Force mechanisms of walking about drive the traveling wheel rotation, the clamping arm to be rotatably dispose on the downside of the rotating arm, the compression rotation
Dynamic to be set on the clamping arm, the compression actuating unit drives the clamping arm rotation；The traveling wheel passes through the rotation
The rotation of pivoted arm can deviate or position abuts conducting wire, and the contact roller is inclined by the rotation cocoa of the rotating arm and the clamping arm
From or position abut the conducting wire.
As an improvement, the compressing member is detachably arranged in the rack, and the compressing member can the relatively described rope
Suo Jinhang is rotated.Rope is facilitated to be wound into turntable, in addition the rotatable setting of compressing member will be between original compressing member and rope
Sliding friction is transformed to rolling friction, (i.e. maximum negative in order to reach identical maximum static friction force between rope and turntable
Weight), force of rolling friction is far smaller than force of sliding friction, and to realize that rope and compressing member wear smaller, the heat of generation is also more
It is few.
It is further improved, the lifting gear further includes leading lockwheel, and the lockwheel of leading is rotatably dispose in the rack, institute
It states and leads lockwheel and be located above the turntable and the alignment center of turntable position, the rope, which passes through, described leads lockwheel.Lead lockwheel
Setting rope can be made to remain center, play the role of balance and stability.
Preferably, being fixedly installed shaft on the rotating arm, the shaft is rotatably dispose in the rack, described
With one heart and it is fixedly installed on first gear in shaft, is fixedly installed second gear on the revolving power mechanism, described first
Gear and second gear engagement, the revolving power mechanism pass through the second gear, the first gear and described turn
The cooperation of axis drives the rotating arm to rotate.The type of drive is simple and reliable.
Preferably, the walking actuating unit is fixedly installed on the rotating arm, it is solid on the walking actuating unit
Surely it is provided with ring flange, the walking actuating unit drives the ring flange rotation, the traveling wheel to be fixedly installed on institute with one heart
It states on ring flange, bearing is provided between the traveling wheel and the walking actuating unit.The same type of drive simply may be used
It leans on, and is equivalent to and actuating unit of walking is integrated into traveling wheel (integrated morphology of similar storage battery back wheels of vehicle and motor),
Structure is more reasonable, compact, beautiful.
As an improvement, the traveling wheel includes limiting section, flange portion, wire portion and bearing portion successively from outside to inside, it is described
Limiting section extends to the periphery, limits the conducting wire and is detached from the traveling wheel, and the flange portion is used to be fixedly connected with the ring flange,
And the limiting section and the wire portion are seamlessly transitted, the wire portion is in concave shape, for accommodating the conducting wire, the bearing
Portion surrounds the walking actuating unit, and the bearing elastic conjunction is between the bearing portion and the walking actuating unit.It should
The traveling wheel of structure using relatively reliable, more stablize by operation, and assembly is more convenient.
Preferably, offering threaded hole in the flange portion, screw is installed in the threaded hole, the traveling wheel is logical
Screw is crossed to be fixedly installed on the ring flange；It opens up fluted on the bearing portion, clamp spring is arranged in the groove, it is described
Clamp spring limits the bearing and slides axially.Above-mentioned connection and fixed form are common structure, simple and reliable for structure, can be met
Use demand.
Preferably, being fixedly installed third gear on the clamping arm, the third gear is rotatably dispose in the machine
On frame, the 4th gear, the third gear and the 4th gear engagement are fixedly installed on the compression actuating unit, it is described
Cooperation of the actuating unit by the 4th gear and the third gear is compressed, the clamping arm is driven to rotate.The driving side
Formula is simple and reliable.
Further preferably, the traveling wheel, the walking actuating unit, the clamping arm, the contact roller and the pressure
Tight actuating unit is two groups, and is symmetrically disposed on the rack both sides.Two groups of setting operation is more steady, and can increase
It bears a heavy burden.
As an improvement, being additionally provided with manipulation rope in the rack, the manipulation rope extends to ground.In uphill process,
Facilitate and manipulates conducting wire walking robot, it can be accurately on " extension " to conducting wire.
A kind of working method of conducting wire walking robot, which is characterized in that include the following steps：
Step A：First rope one end is fixed, then the rope other end is pulled up to conductor height, and bypasses conducting wire, finally will
The rope other end is pulled to ground；
Step B：By the rope other end across turntable and compressing member, then the rope other end fixed；
Step C：Start lifting drive mechanism, conducting wire walking robot is made to increase along rope, is led until traveling wheel is higher than
Line；Traveling wheel and contact roller are in far from lead location in uphill process；
Step D：Start revolving power mechanism, rotating arm guiding line is made to overturn, until traveling wheel is located at right over conducting wire；
Step E：It is again started up lifting drive mechanism, conducting wire walking robot is made to decline along rope, until traveling wheel connects
Touch conducting wire；
Step F：Start and compress actuating unit, clamping arm guiding line is made to overturn, until contact roller is located at immediately below conducting wire simultaneously
Contact the conducting wire；
Step G：Release the fixation of rope ends；
Step H：Start walking actuating unit, making conducting wire walking robot, rope is walked on conducting wire in tow；
Step I：When needing to decline, stops walking actuating unit, rope ends are tensed respectively, and be separately fixed at conducting wire
On ground immediately below walking robot；
Step J：Start revolving power mechanism and compress actuating unit, so that rotating arm and clamping arm is overturn far from conducting wire, directly
It is in traveling wheel and contact roller far from lead location；
Step K：Start lifting drive mechanism, so that conducting wire walking robot is declined along rope, until conducting wire running machine
People reaches ground；
Step L：The fixation of rope ends is released, conducting wire walking robot takes out from rope, and from conducting wire last time rope closing
Rope.
Preferably, above-mentioned steps A is realized using following steps：
Step A1：Rope one end is fixed；
Step A2：The rope other end is fixed into one light rope, the length gently restricted is not less than the length of rope；
Step A3：The light rope other end is fixed on unmanned plane；
Step A4：Unmanned plane rises to conductor height, and bypasses conducting wire, and the light rope other end is pulled to ground；
Step A5：By drawing the light rope other end, the rope other end is pulled up to conductor height, and bypass conducting wire, finally
The rope other end is pulled to ground.
As an improvement, in above-mentioned steps D and E, in terrestrial operation control wire, so that traveling wheel is in right over conducting wire and connect
Touch conducting wire.
It is further improved, in above-mentioned steps H, conducting wire walking robot starts pressure when walking encounters barrier on conducting wire
Tight actuating unit makes clamping arm to one side to overturn of separate conducting wire, until the vertical range of contact roller distance of wire is more than barrier
Height, continue on until traveling wheel clears the jumps, be again started up compression actuating unit, clamping arm guiding line is made to overturn,
Until contact roller is located at immediately below conducting wire and contacts the conducting wire.
Preferably, the barrier in above-mentioned steps includes rope, when conducting wire walking robot has multiple traveling wheels,
All traveling wheels cross rope, so that rope is located at conducting wire walking robot rearmost and are pulled.
Compared with prior art, structural advantages of the invention are：It, can be straight along rope by the setting of lifting gear
Connecing will lead conducting wire walking robot " hanging " to lead location then by the overturning of rotating arm in running gear and clamping arm
On line walking robot " extension " to conducting wire, finally by the rotation of traveling wheel and the compression of contact roller, carried out in conducting wire stable
It advances.It is worth mentioning that the conducting wire walking robot of this programme can be with plug-in various inspections and fix tool, to realize difference
Function；Manned function even can be made it have by the heavy burden of increase lifting gear.
Compared with prior art, method advantage of the invention is：Operating personnel need to only stand on the ground and can complete
Lifting, walking of conducting wire walking robot etc. all work, and operation is more convenient, efficiency also higher, it is often more important that behaviour
Make safer for personnel, avoids the danger climbed.
Description of the drawings
Fig. 1,2 be according to a preferred embodiment of the present invention walking states when dimensional structure diagram；
Fig. 3,4 be according to a preferred embodiment of the present invention jacking condition when dimensional structure diagram；
Fig. 5 be according to a preferred embodiment of the present invention in traveling wheel and contact roller in walking states and the position of conducting wire
Set relation schematic diagram；
Fig. 6 be according to a preferred embodiment of the present invention in traveling wheel and contact roller in jacking condition and the position of conducting wire
Set relation schematic diagram；
Fig. 7 is the half sectional view of middle according to a preferred embodiment of the present invention traveling wheel and walking actuating unit；
Fig. 8 is the explosive view of middle according to a preferred embodiment of the present invention traveling wheel and walking actuating unit；
Fig. 9 is the half sectional view of traveling wheel middle according to a preferred embodiment of the present invention；
Stereochemical structure when Figure 10 is setting manipulation rope below rack middle according to a preferred embodiment of the present invention is illustrated
Figure；
Figure 11 is the embodiment one that can replace lifting gear in a preferred embodiment of the present invention；
Figure 12 is the embodiment two that can replace lifting gear in a preferred embodiment of the present invention；
Specific implementation mode
It is described below for disclosing the present invention so that those skilled in the art can realize the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.
As shown in Fig. 1~10, a preferred embodiment of the present invention includes rack 1, lifting gear 2 and running gear 3.Its
Concrete structure is as follows：
Lifting gear 2 is set to 1 downside of rack, and lifting gear 2 includes rope 21, lifting drive mechanism 22,23 and of turntable
Compressing member 24, rope 21 are set between turntable 23 and compressing member 24, and lifting drive mechanism 22 is fixedly installed in rack 1, are turned
Disk 23 is fixedly installed in lifting drive mechanism 22, and compressing member 24 is set in rack 1,22 structure driving disc 23 of lifting drive machine
It rotates and rope 21 is suppressed by compressing member 24 always, walking robot is made to be lifted along rope 21.Wherein, compressing member 24 is removable
That unloads is set in rack 1, and compressing member 24 can relative rope 21 rotated.As an improvement, lifting gear 2 further includes leading lock
Wheel 25, leads lockwheel 25 and is rotatably dispose in rack 1, leads lockwheel 25 and is located at 23 top of turntable and 23 center of alignment turntable, rope
Rope 21 passes through and leads lockwheel 25.It is noted that the lifting gear of the present embodiment can use the radial compaction lifting gear of Figure 11
2 ' replace, and can also be replaced with the axial compression lifting gear 2 " of Figure 12, due to radial compaction lifting gear 2 ' and axial compression
There is concrete structure in the patent that lifting gear 2 " is applied before the applicant, description is not repeated herein.
Running gear 3 is set to 1 upside of rack, and running gear 3 includes rotating arm 31, revolving power mechanism 32, traveling wheel
33, walking actuating unit 34, clamping arm 35, contact roller 36 and compression actuating unit 37, rotating arm 31 are rotatably dispose in rack 1
On, revolving power mechanism 32 drives rotating arm 31 to rotate, and traveling wheel 33 is rotatably dispose in 31 upside of rotating arm, actuating unit of walking
34 driving traveling wheels 33 rotate, and clamping arm 35 is rotatably dispose in 31 downside of rotating arm, and contact roller 36 is rotatably dispose in clamping arm 35
On, it compresses actuating unit 37 and clamping arm 35 is driven to rotate；Traveling wheel 33 can be far from conducting wire 100 or position by the rotation of rotating arm 31
Above conducting wire 100, contact roller 36 can be far from conducting wire 100 or positioned at conducting wire 100 by the rotation of rotating arm 31 and clamping arm 35
Lower section.
The type of drive of wherein each rotational structure is as follows：Shaft 311,311 turns of shaft are fixedly installed on rotating arm 31
It is dynamic to be set in rack 1, with one heart and it is fixedly installed on first gear 312 in shaft 311, is fixedly installed on revolving power mechanism 32
There are second gear 313, first gear 312 and second gear 313 to engage, revolving power mechanism 32 passes through second gear 313, first
The cooperation of gear 312 and shaft 411, driving rotating arm 41 rotate.Walking actuating unit 34 is fixedly installed on rotating arm 41, row
It walks about and is fixedly installed ring flange 331 on force mechanisms 34, walking 34 driving flange disk 331 of actuating unit rotation, traveling wheel 33 is same
The heart is fixedly installed on ring flange 331, and bearing 333 is provided between traveling wheel 33 and walking actuating unit 34.On clamping arm 35
It is fixedly installed third gear 351, third gear 351 is rotatably dispose in rack 1, is compressed and is fixedly installed on actuating unit 36
4th gear 352, third gear 351 and the engagement of the 4th gear 352, compress actuating unit 36 and pass through the 4th gear 352 and third
The cooperation of gear 351, driving clamping arm 35 rotate.
In addition, design is optimized in the traveling wheel 33 of the present embodiment, specifically：Traveling wheel 33 includes successively from outside to inside
Limiting section 33a, flange portion 33b, wire portion 33c and bearing portion 33d, limiting section 33a extend to the periphery, and limitation conducting wire 100 is detached from
Traveling wheel, flange portion 33b seamlessly transit limiting section 33a and wire portion 33c, wire portion for being fixedly connected with ring flange 331
33c is in concave shape, and for accommodating conducting wire 100, bearing portion 33d surrounds walking actuating unit 34, and 333 elastic conjunction of bearing is in bearing
Between portion 33d and walking actuating unit 34.
As conventional selection, threaded hole is offered on flange portion 33b, screw 332 is installed in threaded hole, and traveling wheel 33 is logical
The nail of spiral shell 332 is crossed to be fixedly installed on ring flange 331；It opens up fluted on bearing portion 33d, clamp spring 334, clamp spring is arranged in groove
334 limitation bearings 333 slide axially.Traveling wheel 33, walking actuating unit 34, clamping arm 35, contact roller 36 and compression power
Mechanism 37 is two groups, and is symmetrically disposed on 1 both sides of rack.
In order to easy to control, manipulation rope 4 is additionally provided in rack 1, manipulation rope 4 extends to ground.
The working method of the present embodiment, includes the following steps：
Step A：First rope one end is fixed, then the rope other end is pulled up to conductor height, and bypasses conducting wire, finally will
The rope other end is pulled to ground；
Step B：By the rope other end across turntable and compressing member, then the rope other end fixed；
Step C：Start lifting drive mechanism, conducting wire walking robot is made to increase along rope, is led until traveling wheel is higher than
Line；Traveling wheel and contact roller are in far from lead location in uphill process；
Step D：Start revolving power mechanism, rotating arm guiding line is made to overturn, until traveling wheel is located at right over conducting wire；
Step E：It is again started up lifting drive mechanism, conducting wire walking robot is made to decline along rope, until traveling wheel connects
Touch conducting wire；
Step F：Start and compress actuating unit, clamping arm guiding line is made to overturn, until contact roller is located at immediately below conducting wire simultaneously
Contact the conducting wire；
Step G：Release the fixation of rope ends；
Step H：Start walking actuating unit, making conducting wire walking robot, rope is walked on conducting wire in tow；
Step I：When needing to decline, stops walking actuating unit, rope ends are tensed respectively, and be separately fixed at conducting wire
On ground immediately below walking robot；
Step J：Start revolving power mechanism and compress actuating unit, so that rotating arm and clamping arm is overturn far from conducting wire, directly
It is in traveling wheel and contact roller far from lead location；
Step K：Start lifting drive mechanism, so that conducting wire walking robot is declined along rope, until conducting wire running machine
People reaches ground；
Step L：The fixation of rope ends is released, conducting wire walking robot takes out from rope, and from conducting wire last time rope closing
Rope.
Above-mentioned steps A is realized using following steps：
Step A1：Rope one end is fixed；
Step A2：The rope other end is fixed into one light rope, the length gently restricted is not less than the length of rope；
Step A3：The light rope other end is fixed on unmanned plane；
Step A4：Unmanned plane rises to conductor height, and bypasses conducting wire, and the light rope other end is pulled to ground；
Step A5：By drawing the light rope other end, the rope other end is pulled up to conductor height, and bypass conducting wire, finally
The rope other end is pulled to ground.
In above-mentioned steps D and E, in terrestrial operation control wire, traveling wheel is enable to be in simultaneously contact wire right over conducting wire.
In above-mentioned steps H, conducting wire walking robot starts when walking encounters barrier on conducting wire and compresses actuating unit,
Make clamping arm to one side to overturn of separate conducting wire, until the vertical range of contact roller distance of wire is more than the height of barrier, continuation
Traveling clears the jumps until traveling wheel, is again started up compression actuating unit, so that clamping arm guiding line is overturn, until contact roller position
Immediately below conducting wire and contact the conducting wire.
Barrier in above-mentioned steps includes rope, when conducting wire walking robot has multiple traveling wheels, all walkings
Wheel crosses rope, so that rope is located at conducting wire walking robot rearmost and is pulled.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these variation and
Improvement is both fallen in the range of claimed invention.The present invention claims protection domain by appended claims and its
Equivalent defines.
Claims (15)
1. a kind of conducting wire walking robot of rope lifting, it is characterised in that：Including rack, lifting gear and running gear；
The lifting gear is set to the frame underside, and the lifting gear includes rope, lifting drive mechanism, turntable and pressure
Tight part, the rope are set between the turntable and the compressing member, and the lifting drive mechanism is fixedly installed on the machine
On frame, the turntable is fixedly installed in the lifting drive mechanism, and the compressing member is set in the rack, the lifting
Actuating unit drives turntable rotation and suppresses the rope always by the compressing member, make the walking robot along
The rope lifting；
The running gear is set on the upside of the rack, and the running gear includes rotating arm, revolving power mechanism, walking
Wheel, walking actuating unit, clamping arm, contact roller and compression actuating unit, the rotating arm are rotatably dispose in the rack, institute
Stating revolving power mechanism drives the rotating arm rotation, the traveling wheel to be rotatably dispose on the upside of the rotating arm, the walking
Actuating unit drives the traveling wheel rotation, the clamping arm to be rotatably dispose on the downside of the rotating arm, the contact roller rotation
It is set on the clamping arm, the compression actuating unit drives the clamping arm rotation；The traveling wheel passes through the rotation
The rotation of arm can deviate or abut the conducting wire, and the contact roller can be deviateed by the rotation of the rotating arm and the clamping arm
Or abut the conducting wire.
2. a kind of conducting wire walking robot of rope lifting according to claim 1, it is characterised in that：The compressing member can
Dismounting is set in the rack, and the compressing member can be rotated relative to the rope.
3. a kind of conducting wire walking robot of rope lifting according to claim 2, it is characterised in that：The lifting gear
Further include leading lockwheel, the lockwheel of leading is rotatably dispose in the rack, and the lockwheel of leading is located above the turntable and is aligned
The center of turntable position, the rope lead lockwheel across described.
4. a kind of conducting wire walking robot of rope lifting according to claim 1, it is characterised in that：On the rotating arm
Be fixedly installed shaft, the shaft is rotatably dispose in the rack, in the shaft with one heart and be fixedly installed on the first tooth
It takes turns, second gear, the first gear and second gear engagement, the rotation is fixedly installed on the revolving power mechanism
Cooperation of the force mechanisms by the second gear, the first gear and the shaft is rotated, the rotating arm is driven to rotate.
5. a kind of conducting wire walking robot of rope lifting according to claim 1, it is characterised in that：The walking power
Mechanism is fixedly installed on the rotating arm, and ring flange, the walking engine are fixedly installed on the walking actuating unit
Structure drives the ring flange rotation, the traveling wheel to be fixedly installed on one heart on the ring flange, the traveling wheel and the row
It walks about and is provided with bearing between force mechanisms.
6. a kind of conducting wire walking robot of rope lifting according to claim 5, it is characterised in that：The traveling wheel from
Outer includes limiting section, flange portion, wire portion and bearing portion successively in, and the limiting section extends to the periphery, limits the conducting wire
It is detached from the traveling wheel, the flange portion seamlessly transits the limiting section and described lead for being fixedly connected with the ring flange
Line portion, the wire portion are in concave shape, and for accommodating the conducting wire, the bearing portion surrounds the walking actuating unit, described
Bearing elastic conjunction is between the bearing portion and the walking actuating unit.
7. a kind of conducting wire walking robot of rope lifting according to claim 6, it is characterised in that：In the flange portion
Threaded hole is offered, screw is installed in the threaded hole, the traveling wheel is fixedly installed on by screw on the ring flange；
It opens up fluted on the bearing portion, is arranged with clamp spring in the groove, the clamp spring limits the bearing and slides axially.
8. a kind of conducting wire walking robot of rope lifting according to claim 1, it is characterised in that：On the clamping arm
It is fixedly installed third gear, the third gear is rotatably dispose in the rack, fixed on the compression actuating unit to set
It is equipped with the 4th gear, the third gear and the 4th gear engagement, the compression actuating unit pass through the 4th gear
With the cooperation of the third gear, the clamping arm is driven to rotate.
9. a kind of conducting wire walking robot of rope lifting according to claim 1, it is characterised in that：The traveling wheel,
The walking actuating unit, the clamping arm, the contact roller and the compression actuating unit are two groups, and are symmetrically disposed on
The rack both sides.
10. a kind of conducting wire walking robot of rope lifting according to claim 1 to 9 any claim, feature
It is：Manipulation rope is additionally provided in the rack, the manipulation rope extends to ground.
11. a kind of working method of conducting wire walking robot, which is characterized in that include the following steps：
Step A：First rope one end is fixed, then the rope other end is pulled up to conductor height, and bypasses conducting wire, finally by rope
The other end is pulled to ground；
Step B：By the rope other end across turntable and compressing member, then the rope other end fixed；
Step C：Start lifting drive mechanism, conducting wire walking robot is made to increase along rope, until traveling wheel is higher than conducting wire；On
Traveling wheel and contact roller are in far from lead location during rising；
Step D：Start revolving power mechanism, rotating arm guiding line is made to overturn, until traveling wheel is located at right over conducting wire；
Step E：It is again started up lifting drive mechanism, conducting wire walking robot is made to decline along rope, until traveling wheel contact is led
Line；
Step F：Start and compress actuating unit, clamping arm guiding line is made to overturn, until contact roller is located at immediately below conducting wire and contacts
The conducting wire；
Step G：Release the fixation of rope ends；
Step H：Start walking actuating unit, making conducting wire walking robot, rope is walked on conducting wire in tow；
Step I：When needing to decline, stop walking actuating unit, rope ends are tensed respectively, and is separately fixed at conducting wire walking
On ground immediately below robot；
Step J：Start revolving power mechanism and compress actuating unit, so that rotating arm and clamping arm is overturn far from conducting wire, Zhi Daohang
It walks wheel and contact roller is in far from lead location；
Step K：Start lifting drive mechanism, so that conducting wire walking robot is declined along rope, until conducting wire walking robot arrives
Up to ground；
Step L：The fixation of rope ends is released, conducting wire walking robot takes out from rope, and from conducting wire last time rope closing rope.
12. a kind of working method of conducting wire walking robot according to claim 1, it is characterised in that：Above-mentioned steps A is adopted
It is realized with following steps：
Step A1：Rope one end is fixed；
Step A2：The rope other end is fixed into one light rope, the length gently restricted is not less than the length of rope；
Step A3：The light rope other end is fixed on unmanned plane；
Step A4：Unmanned plane rises to conductor height, and bypasses conducting wire, and the light rope other end is pulled to ground；
Step A5：By drawing the light rope other end, the rope other end is pulled up to conductor height, and bypass conducting wire, it finally will rope
The rope other end is pulled to ground.
13. a kind of working method of conducting wire walking robot according to claim 1, it is characterised in that：Above-mentioned steps D and
In E, in terrestrial operation control wire, traveling wheel is enable to be in simultaneously contact wire right over conducting wire.
14. a kind of working method of conducting wire walking robot according to claim 1, it is characterised in that：Above-mentioned steps H
In, conducting wire walking robot starts when walking encounters barrier on conducting wire and compresses actuating unit, makes clamping arm to far from conducting wire
One side to overturn, until contact roller distance of wire vertical range be more than barrier height, continue on until traveling wheel is crossed
Barrier is again started up compression actuating unit, and clamping arm guiding line is made to overturn, until contact roller is located at immediately below conducting wire and contacts
The conducting wire.
15. a kind of working method of conducting wire walking robot according to claim 1, it is characterised in that：In above-mentioned steps
Barrier include rope, when conducting wire walking robot have multiple traveling wheels when, all traveling wheels cross rope, make rope position
It is pulled in conducting wire walking robot rearmost.
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|---|---|---|---|
| CN201810282450.2A CN108297067B (en) | 2018-04-02 | 2018-04-02 | Wire walking robot with lifting rope |
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