CN110198012A - A kind of self-propelled multifunctional power high voltage route block removing robot - Google Patents
A kind of self-propelled multifunctional power high voltage route block removing robot Download PDFInfo
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- CN110198012A CN110198012A CN201910596721.6A CN201910596721A CN110198012A CN 110198012 A CN110198012 A CN 110198012A CN 201910596721 A CN201910596721 A CN 201910596721A CN 110198012 A CN110198012 A CN 110198012A
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- 230000033001 locomotion Effects 0.000 claims description 7
- 238000003860 storage Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000005520 cutting process Methods 0.000 abstract description 23
- 230000004888 barrier function Effects 0.000 abstract description 10
- 238000012423 maintenance Methods 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 14
- 238000012544 monitoring process Methods 0.000 description 5
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- 230000009471 action Effects 0.000 description 1
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- 210000003746 feather Anatomy 0.000 description 1
- 230000005173 gliding motility Effects 0.000 description 1
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Classifications
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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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Abstract
The present invention relates to electric power transmission line maintenance and maintenance technology field more particularly to a kind of self-propelled multifunctional power high voltage route block removing robot.Including mainframe and rack-mounted running gear, failure eliminating device, camera and main motor；The running gear includes to slide, across two ways, can free switching, main motor drives running gear to make to walk on Robot electric wire in a manner of sliding or cross over；The failure eliminating device is included in mainframe front end and four groups of upper and lower, left and right cutter is circumferentially arranged around electric wire, is mounted on the flame device of rear end of rack, and cutter is driven by main motor, and flame device is equipped with rotation sprayer, and flame block removing alternative is opened；Camera is installed on the tool rack.The present invention integrate slide, leap, cutting, flame it is multi-functional, improve wheel efficiency and barrier devices handling capacity, while improving block removing work capacity, improve electric power block removing efficiency.
Description
Technical field
The present invention relates to electric power transmission line maintenance and maintenance technology field more particularly to a kind of self-propelled multifunctional electric power
High-tension line block removing robot.
Background technique
With the continuous development of China's economy, the West-to-East Electricity Transmission Project is constantly improve, and high pressure, extra high voltage network are more next
More, the geographical environment that transmission line of electricity passes through is all the more complicated.Often occur being scraped by strong wind during transmission line of electricity day-to-day operation
The obstacles foreign matters such as plastic garbage, the kite risen wind situation about being suspended on electric wire, and the appearance of these situations exacerbates route vibration
It is dynamic, it causes electric network composition to damage, even results in flashover or short circuit harm.For above-mentioned barrier, currently, mostly by line maintenance work
People climbs by tools such as rope ladder, screening clothing and insulating bars onto pylon, and neighbouring barrier is removed.And farther out apart from pylon
Barrier can only by hang hawser rope, pull friction mode repeatedly by surfaceman and remove foreign matter.These methods need
Line maintenance worker's altitude hot-line operation, operating personnel's large labor intensity, low efficiency, danger coefficient is high, to worker's specialized capability
It is required that very high.
CN 201710327991-8 discloses a kind of transmission line of electricity failure eliminating device for being remotely controlled flame, clear by flame mode
Except circuitry obstacle object, which is placed in below route, realizes movement on the line by walking coaster.The invention exists
There are certain design drawback in practice, high voltage transmission line road is usually present the equipment such as stockbridge damper, and this walking coaster cannot
Enough by these equipment, the art skating along realizing will be unable to.Meanwhile flame projector position is fixed on lower part, for above or
The barriers such as the kite string in other directions can not effectively remove.
CN 201710328013-5 discloses a kind of transmission line of electricity failure eliminating device of remote control cutting, which equally can not
Realize to leap the problems of the equipment such as stockbridge damper on route, at the same rely only on blade cut a kind of block removing method still can not effectively clearly
Except the cutting blade of the foreign matters such as biggish plastic garbage, and described device is fixed on lower section, multi-angle cutting block removing cannot achieve
Operation, and the barriers such as kite string dance in the air with the wind in reality, the blade for being fixed on lower section is difficult to realize multi-angle, multi-direction block removing
Operation.And the barriers such as the kite string in a rotating saw blade free state very difficult to cut off are relied only in invention, easily there is machine
Device winding, the consequence that can not be walked.
CN 201510618224-3 discloses a kind of electric line foreign matter remover, and walking manner uses two bias
Wheel drive is suspended on the left and right arms on transmission of electricity electric wire, alternately reciprocal on power transmission line axially to advance along power transmission line, realizes and crosses over
The equipment such as stockbridge damper remove foreign matter obstacle by the blade being set in two-arm.But this swing arm walking manner, efficiency is lower,
Balance of plant is poor.Foreign matter is often distributed in the fixed pylon of distance on high-tension line compared with distant location, passes through the long-distance walking of swing arm
It goes block removing to will cause power supply deficiency, and when encountering the diagonally disposed high-voltage line of heavy grade, is only difficult by swing arm walking manner
Realization is climbed, and cannot achieve block removing operation at all.And the device relies solely on the swing arm blade realization of left and right distribution to obstacle
The cutting of object line, cutting efficiency is lower, cannot achieve removing operation for the obstacle of upper and lower direction distribution.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of self-propelled multifunctional power high voltage route block removing machine
People.The present invention integrate slide, leap, cutting, flame it is multi-functional, improve wheel efficiency and barrier devices handling capacity；
Block removing work capacity is improved simultaneously, so that robot can be competent at the removing work of the overwhelming majority, reduces electric power maintenance worker
The risk of work improves electric power block removing efficiency.
In order to achieve the above object, the present invention is implemented with the following technical solutions:
A kind of self-propelled multifunctional power high voltage route block removing robot, including mainframe and rack-mounted row
Walking apparatus, failure eliminating device, camera and main motor；The running gear includes to slide, across two ways, can free switching,
Main motor drives running gear to make to walk on Robot electric wire in a manner of sliding or cross over；The failure eliminating device is included in master
Four groups of upper and lower, left and right cutter is circumferentially arranged around electric wire in front end of rack, is mounted on the flame device of rear end of rack, cutter is by leading
Motor driven, flame device are equipped with rotation sprayer, and flame block removing alternative is opened；Camera is installed on the tool rack.
The running gear includes crossing over eccentric disc, left cross arm, right cross arm, left suspension sheave, right suspension sheave and pinch roller；
Left suspension sheave, right suspension sheave and pinch roller form triangle clamping, clamp electric wire by chucking power, active motor is driven by V belt translation and pressed
Wheel rotation, and then Robot electric wire is driven to slide.
The left suspension sheave is fixed on one end of left cross arm, and the left other end across arm and leap bias disk of facing left are connected；
The right suspension sheave is fixed on one end of right cross arm, and the right other end across arm is connected with across the right disk of eccentric disc；Across bias
Disk is connected with main motor by Bevel Gear Transmission, and main motor drive drives left cross arm and the right side across eccentric disc spins
Cross arm is made back and forth across movement.
It further include clutch slider, fork, electromagnet, reset spring and bevel gear；Clutch slider passes through fork and electromagnetism
Iron phase connects, and main motor is driven by bevel gear across eccentric disc spins；Electromagnet drives clutch slider movement, realizes across eccentric
Disk and the synchronous rotary of bevel gear with separate, and then complete the switching that two kinds of walking manners were crossed over and slided to running gear.
Further include contact roller adjustment servo motor, adjustment screw rod, adjusting nut, compress bracket；Pinch roller is mounted on compression branch
In the pinch roller mounting groove of frame, the one end for compressing bracket is hinged on knives rack, and the other end is connected with adjusting nut, adjusting nut
It is engaged with adjustment screw rod, adjustment screw rod is connected with adjustment servo motor；It adjusts servo motor and drives adjustment screw rod rotation, and then adjust
Chucking power is adjusted flexibly in the position of seamless bearing up pulley, realization.
The cutter includes rotating blade, cutter shell and knives rack；Rotating blade is mounted in cutter shell, blade
It is fitted closely with shell, cutter shell is mounted on knives rack；Active motor drives rotating blade rotation by V belt translation.
The flame device includes storage cylinder, spray head and adjustment servo motor；Spray head is connect with storage cylinder by appendix,
Servo motor driving spray head rotation is adjusted, flame device can selectively unlock according to demand.
The belt wheel of the adjustment servo motor is connected by belt with the belt wheel of spray head, and the spray head is equipped with symmetrical two
Nozzle, spray head are only capable of doing half cycle reciprocating rotary.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention slides normality cooperates with across mode, and robot is in a manner of sliding in electric wire under normal circumstances
Upper walking is switched to and is walked across mode when encountering the equipment such as stockbridge damper, and the wheel efficiency and obstacle for improving robot are set
Standby handling capacity.
(2) present invention is equipped with cutter and flame device simultaneously, and knife is cut to have complementary advantages with baked wheaten cake two ways, perfect combination,
The block removing work capacity of robot is improved, so that robot can be competent at the removing work of the overwhelming majority, reduces electric power maintenance
The risk of worker's work, improves electric power block removing efficiency.
(3) many places of the present invention use V belt translation and plastics or rubber can be used in non-geared drive, the not high part of intensity requirement
Glue replaces, and greatly reduces manufacturing cost.
Detailed description of the invention
Fig. 1 is schematic diagram of the three-dimensional structure (left view)；
Fig. 2 is schematic diagram of the three-dimensional structure (right view)；
Fig. 3 is schematic diagram of the three-dimensional structure (facing)；
Fig. 4 is electromagnet of the present invention and fork pulling structure schematic diagram；
Fig. 5 is IV structural schematic diagram of bevel gear III of the present invention and bevel gear；
Fig. 6 is clutch slider structural schematic diagram of the present invention；
Fig. 7 is bevel gear of the present invention and crosses over eccentric disc structural schematic diagram；
Fig. 8 is offsetting spring structure schematic diagram of the present invention；
Fig. 9 is gliding motility schematic diagram of the present invention；
Figure 10 is that the present invention crosses over movement schematic diagram；
Figure 11 is pinch roller adjustment member structural schematic diagram of the present invention；
Figure 12 is cutter structure schematic diagram of the present invention；
Figure 13 is spray head rotating mechanism structural schematic diagram of the present invention；
Figure 14 is bevel gear I of the present invention and bevel gear II structural schematic diagram.
In figure: I 6- bevel gear of 1- mainframe 2- main motor 3- battery 4- I 5- belt wheel of bevel gear, II 7- belt wheel II
I 9- bearing of 8- bearing, II 10- belt, I IV 14- belt of 11- power transmission shaft 12- III 13- belt wheel of belt wheel, II 15- is compressed
It is left across the right cross arm 22- of III 19- bearing of eccentric disc 18- bearing, the IV left cross arm 21- of 20- to take turns V 17- of 16- belt wheel
The right suspension sheave 24- clutch slider 25- reset spring 26- shift fork 27- electromagnet 28- contact roller servo electricity of suspension sheave 23-
Machine 29- contact roller adjusts screw rod 30- contact roller adjusting nut 31- and compresses the left cutting tool group 33- right cut of wheel support 32-
Cutting tool group 36- cutter shell 37- rotating blade 38- knives rack I under cutting tool group 35- on cutter tool group 34-
VIII 45- belt wheel of 39- knives rack II 40- belt wheel, VI 41- belt wheel, VII 42- belt, III 43- belt, IV 44- belt wheel, Ⅸ 46-
IV 52- belt wheel of belt V 47- transmission shaft, I 48- belt wheel, Ⅹ 49- bevel gear, III 50- transmission shaft, II 51- bevel gear, Ⅺ 53-
Ⅻ 54- belt of belt wheel, VI 55- belt, VII 56- storage cylinder 57- spray head 58- air delivering pipeline 59- spray head adjusts servo motor
VIII 62- belt wheel B 63- monitoring camera 65- electric wire of 60- belt wheel A 61- belt
Specific embodiment
Specific embodiments of the present invention will be further explained below, but is not intended to limit the scope of the invention:
As Figure 1-10 shows, a kind of self-propelled multifunctional power high voltage route block removing robot, including block removing system, walking
System and monitoring system.
Above-mentioned running gear includes sliding and crossing over two ways, and cooperate the walking for completing robot on electric wire.
Robot is walked on electric wire by sliding in most cases, when encountering the equipment such as stockbridge damper in robot motion, is switched to
Across mode, across obstacle is completed, the mode of sliding is then switched to and walks on.The realization for sliding mode is respectively as schemed
7, shown in 8,9,11,14, across mode realization as shown in Fig. 7,10,14.
The power of the sliding of robot, leap and four direction cutting tool is by being vertically installed in robot mainframe 1
The main motor 2 at rear provides, and power supply is provided by the battery 3 for being installed on 1 two sides of robot body frame；The output shaft of main motor 2 is worn
The circular hole on mainframe 1 is crossed, is connected with bevel gear I 4, belt wheel I 5 is fixed on 1 output shaft of main motor, in rack 1 and bevel gear I
Between 4, by belt V 46 to power source is provided to cutting tool above and below, left and right cutter power is passed belt wheel I 5 by bevel gear I 4
It is provided after passing bevel gear II 6 through V belt translation.
Bevel gear I 4 is meshed transmission with the bevel gear II 6 being installed on mainframe 1, and II 6 rotary shaft of bevel gear is hollow
Structure, the rotary shaft other end are connected belt wheel II 7, and the rotary shaft of bevel gear II 6 is installed on host by bearing I 8, the bearing of bearing II 9
On frame 1, it can relatively rotate.
Belt wheel II 7 is connect by belt I 10 with the belt wheel III 12 on power transmission shaft 11, uniformly solid on power transmission shaft 11
Even four belt wheels, in centre, belt wheel VIII 44, belt wheel Ⅸ 45 are arranged on both sides for belt wheel III 12, belt wheel IV 13.Belt wheel IV 13 passes through skin
Band II 14 imparts power to belt wheel V 16, and then contact roller 15 is driven to rotate, and slides offer power drive to robot.Across
More eccentric disc 17 is installed on mainframe 1 by bearing III 18, the bearing of bearing IV 19, and nested across the rotary shaft of eccentric disc 17
To II 6 hollow rotary shaft of bevel gear, and guarantee concentric assembly, each autokinesis is non-interference.
Across two disks of left and right arrangement of eccentric disc 17, be respectively disposed with pin shaft in 180 degree phase angle on two disks, respectively with a left side across
More arm 20, right cross arm 21 form revolute, be provided among left and right cross arm 20,21 sliding slot respectively with the pin shaft on mainframe 1
Cooperation is equipped with left suspension sheave 22, right suspension sheave 23 on cross arm top, and suspension sheave is manufactured by isolation material, prevents high pressure from getting an electric shock
Short circuit.
Robot is crossed over and the mutual conversion of slide action is that alternating is accomplished by the following way: sliding state is robot
Normality on high-voltage line just carries out swing arm leap when only encountering the equipment such as stockbridge damper.Across the one of 17 rotary shaft of eccentric disc
Side is provided with keyway, is disposed with dive key in keyway, is realized by feather key across eccentric disc 17, clutch slider 24 and is cooperated, protected
Both cards coaxial rotating.It is equipped with reset spring 25 between clutch slider 24 and bevel gear II 6, makes clutch slider 24 and bevel gear II
6 cooperation is mutually disengaged, and robot, which is in the normal state, to be slided；When needing to cross over, shift fork 26 is driven to make clutch by electromagnet 27
The mutually embedded cooperation of sliding block 24 and bevel gear II 6 makes bevel gear II 6 and realizes coaxial rotating across eccentric disc 17, realize across
More act.
It either crosses over or sliding state, respectively cut state is in always to cutting tool, to adapt to various obstacles
The removing operation of object.When robot slides, electromagnet 27 does not work, and clutch slider 24 is detached under the effect of reset spring 25 and cone
The unpowered driving of eccentric disc 17, adjustment of the contact roller 15 in contact roller adjustment mechanism are crossed in the cooperation of II 6 rotary shaft of gear at this time
Under, make contact roller 15, left and right suspension sheave 22,23 threes clamp electric wire 65.Main motor 2 is rotated through V belt translation driving contact roller 15
Friction band mobile robot is completed to slide on electric wire.When robot needs to cross over, manipulation contact roller 15 is adjusted in adjustment mechanism
Lower separate working position, while electromagnet 27 acts, and drives clutch slider 24 and II 6 rotary shaft of bevel gear to cooperate through shift fork 26, band
It is dynamic to be rotated across eccentric disc 17, and then drive to be set to across the left and right cross arm 20,21 on eccentric disc 17 and carry out across dynamic
Make, completes leap of the robot on electric wire 65.
Specific contact roller adjustment mechanism is as shown in Fig. 9,11, including contact roller adjusts servo motor 28, and contact roller adjusts silk
Bar 29, contact roller adjusting nut 30 compress wheel support 31.Contact roller adjusts servo motor 28 and is installed on mainframe 1 by pin shaft
On, adjustment angle can be rotated around pin shaft；Contact roller adjustment screw rod 29 is installed on contact roller by fixator 32 and adjusts servo motor
28 output shaft；Contact roller adjusting nut 30 is installed on by pin shaft and is compressed on wheel support 31, can also rotate respective angles around pin shaft.
It compresses the wheel support other end to be installed on knives rack I 38 by power transmission shaft 11, contact roller 15 is installed on compression wheel support
On 31；Can adjust the shift position of pinch wheels 15 by adjusting threaded screw rod, realize contact roller 15 and left and right suspension sheave 22,
23 clamp the clamping force adjustment of electric wire 65 jointly, to change grip friction power, adapt to the working uphill of different pendency angle electric wires
Demand.
Block removing system includes that cutter cutting block removing and flame burn block removing two ways.Cutter cuts block removing by circumferential point
Cloth is completed in the cutting tool of the upper and lower, left and right four direction of electric wire 65: left cutting tool group 32, right cutting tool group
33, upper cutting tool group 34, lower cutting tool group 35；Four groups of cutter structures are identical, as shown in figure 12, upper and lower, three groups left
Cutter is fixed on knives rack I 38, and right cutter group is fixed on knives rack II 39, and knives rack II 39 is fixed on by bolt group
It is easy to disassemble on mainframe 1, electric wire 65 is put into circumferentially distributed cutter middle position to facilitate.
Cutter power transmission difference is as shown in Figure 2,3: the power transmission of left and right cutter is respectively by belt wheel VI 40, belt wheel VII
41 are connected with each other by belt wheel VIII 44, the belt wheel Ⅸ 45 on belt III 42, belt IV 43 and power transmission shaft 11；Upper and lower cutter
Power transmitting: it is connected by belt V 46 with the belt wheel Ⅹ 48 on transmission shaft I 47 by belt wheel I 5, I 47 other end of transmission shaft is set
There is bevel gear III 49, the bevel gear IV 51 on bevel gear III 49 and transmission shaft II 50 is intermeshed, and horizontal direction revolving speed is changed into
Vertically to revolving speed, by the belt wheel Ⅺ 52 at II 50 both ends of transmission shaft, belt wheel Ⅻ 53 by belt VI 54, belt VII 55 respectively by revolving speed
Upper and lower cutter 34,35 is passed to, so that blade be driven to rotate, cutting is suspended on the foreign matter of electric wire 65.Cutter shell and rotating knife
The scissor construction that piece is constituted guarantees that cutter can effectively cut off such as higher foreign matter of kite string toughness.
Flame burning block removing structure is respectively as shown in Fig. 1,2,13；Storage cylinder 56 and spray head 57 are all set on mainframe 1,
The two is connected by appendix 58, and spray head rotation is driven by spray head adjustment servo motor 59, and the connected belt wheel A60 of 59 output ends is logical
It crosses belt VIII 61 to connect with the belt wheel B62 on spray head 57, imparts power to spray head 57.When robot ambulation to such as plastic garbage
When etc. larger wound foreign matter, cutting tool can not be removed effectively, and ground controller starts to start 57 flame of spray head, spray head adjustment
Servo motor 59 starts to act, and rotates through above-mentioned transmission system drives spray head 57, makes the effective block removing of flame incineration foreign matter.To avoid
Spray head 57 is interfered with electric wire 65 when rotated, and spray head 57 is designed as symmetric double nozzle structure, and spray head adjusts servo motor 59
Spray head can be driven to do positive and negative rotation half cycle reciprocating rotary.Block removing burns two ways cooperating by cutter cutting and flame, real
Now have complementary advantages, reach the removing to inhomogeneity barrier, effectively increases block removing efficiency and work capacity.
The monitoring system includes the monitoring camera 63 being arranged on knives rack I 38, and monitoring camera 63 can be by machine
The working condition of device people is constantly transferred to staff, provides information for manipulation.
Integrate slide, leap, cutting, flame it is multi-functional, the present invention slides normality to be cooperated with across mode, normally
In the case of robot walked on electric wire in a manner of sliding, when encountering the equipment such as stockbridge damper, switch to and walk across mode,
Improve the wheel efficiency and barrier devices handling capacity of robot.
The present invention is equipped with cutter and flame device simultaneously, and knife cuts and burns two ways mutual supplement with each other's advantages, and perfect combination improves
The block removing work capacity of robot reduces electric power maintenance worker so that robot can be competent at the removing work of the overwhelming majority
The risk of work improves electric power block removing efficiency.
Many places of the present invention use V belt translation and plastics or rubber generation can be used in non-geared drive, the not high part of intensity requirement
It replaces, greatly reduces manufacturing cost.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of self-propelled multifunctional power high voltage route block removing robot, it is characterised in that: including mainframe and be mounted on
Running gear, failure eliminating device, camera and main motor in rack；The running gear includes to slide, across two ways, can
Free switching, main motor drive running gear to make to walk on Robot electric wire in a manner of sliding or cross over；The block removing dress
It sets and is included in mainframe front end around electric wire circumferential direction setting four groups of upper and lower, left and right cutter, be mounted on the flame dress of rear end of rack
It sets, cutter is driven by main motor, and flame device is equipped with rotation sprayer, and flame block removing alternative is opened；Camera is mounted on
On toolframe.
2. a kind of self-propelled multifunctional power high voltage route block removing robot according to claim 1, it is characterised in that: institute
Stating running gear includes across eccentric disc, left cross arm, right cross arm, left suspension sheave, right suspension sheave and pinch roller；Left suspension sheave,
Right suspension sheave and pinch roller form triangle clamping, clamp electric wire by chucking power, and active motor drives pinch roller to rotate by V belt translation, into
And Robot electric wire is driven to slide.
3. a kind of self-propelled multifunctional power high voltage route block removing robot according to claim 2, it is characterised in that: institute
State one end that left suspension sheave is fixed on left cross arm, the left other end across arm and leap bias disk of facing left are connected；The right suspension
Wheel is fixed on one end of right cross arm, and the right other end across arm is connected with across the right disk of eccentric disc；Across eccentric disc and main motor
It is connected by Bevel Gear Transmission, main motor drives across eccentric disc spins, and then it is past to drive left cross arm to make with right cross arm
It is multiple to cross over movement.
4. a kind of self-propelled multifunctional power high voltage route block removing robot according to claim 2, it is characterised in that: also
Including clutch slider, fork, electromagnet, reset spring and bevel gear；Clutch slider is connected by fork with electromagnet, main electricity
Machine is driven by bevel gear across eccentric disc spins；Electromagnet drives clutch slider movement, realizes and crosses over eccentric disc and bevel gear
Synchronous rotary with separate, realize the switching sliding and cross over.
5. a kind of self-propelled multifunctional power high voltage route block removing robot according to claim 2, it is characterised in that: also
Including contact roller adjustment servo motor, adjustment screw rod, adjusting nut, compress bracket；Pinch roller is mounted on the pinch roller peace for compressing bracket
In tankage, the one end for compressing bracket is hinged on knives rack, and the other end is connected with adjusting nut, adjusting nut and adjustment screw rod
Engagement, adjustment screw rod are connected with adjustment servo motor；It adjusts servo motor and drives adjustment screw rod rotation, and then adjust contact roller
Position.
6. a kind of self-propelled multifunctional power high voltage route block removing robot according to claim 1, it is characterised in that: institute
Stating cutter includes rotating blade, cutter shell and knives rack；Rotating blade is mounted in cutter shell, and blade is close with shell
Fitting, cutter shell are mounted on knives rack；Active motor drives rotating blade rotation by V belt translation.
7. a kind of self-propelled multifunctional power high voltage route block removing robot according to claim 1, it is characterised in that: institute
Stating flame device includes storage cylinder, spray head and adjustment servo motor；Spray head is connect with storage cylinder by appendix, adjustment servo electricity
Machine drives spray head rotation.
8. a kind of self-propelled multifunctional power high voltage route block removing robot according to claim 1, it is characterised in that: institute
The belt wheel for stating adjustment servo motor is connected by belt with the belt wheel of spray head, and the spray head is equipped with symmetrical two nozzles, spray head
It is only capable of doing half cycle reciprocating rotary.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910596721.6A CN110198012B (en) | 2019-07-02 | 2019-07-02 | Self-propelled multifunctional electric power high-voltage line obstacle removing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910596721.6A CN110198012B (en) | 2019-07-02 | 2019-07-02 | Self-propelled multifunctional electric power high-voltage line obstacle removing robot |
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| CN110198012A true CN110198012A (en) | 2019-09-03 |
| CN110198012B CN110198012B (en) | 2024-02-20 |
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| CN201910596721.6A Active CN110198012B (en) | 2019-07-02 | 2019-07-02 | Self-propelled multifunctional electric power high-voltage line obstacle removing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112180976A (en) * | 2020-09-30 | 2021-01-05 | 重庆电子工程职业学院 | Control system and method for intelligent fire-spraying obstacle-removing unmanned aerial vehicle |
| CN112636255A (en) * | 2021-02-03 | 2021-04-09 | 国网山东省电力公司平原县供电公司 | Obstacle clearing device for high-altitude cable |
| CN113277372A (en) * | 2021-07-20 | 2021-08-20 | 骥志(江苏)新能源科技有限公司 | High-efficiency automatic-tightness optical cable tractor for pipe passing device |
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