CN110364961A - A kind of cable obstacle removing robot - Google Patents
A kind of cable obstacle removing robot Download PDFInfo
- Publication number
- CN110364961A CN110364961A CN201910643866.7A CN201910643866A CN110364961A CN 110364961 A CN110364961 A CN 110364961A CN 201910643866 A CN201910643866 A CN 201910643866A CN 110364961 A CN110364961 A CN 110364961A
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- Prior art keywords
- transmission line
- unit
- traveling
- overhead transmission
- clamping
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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 invention discloses a kind of cable obstacle removing robots, operation of removing obstacles for overhead transmission line, including electric cabinet, clamping unit, traveling unit, it removes obstacles unit, the electric cabinet is for the control of each unit internally-powered output mechanism and the transmission of signal, the clamping unit is located at the top of electric cabinet, overhead transmission line is clamped by the way of the clamping of lateral hanging wire and is hung on cable obstacle removing robot integrally on overhead transmission line, the traveling unit is used to that cable obstacle removing robot to be driven to advance along the length direction of overhead transmission line, the unit of removing obstacles is set to the top of electric cabinet, and it is located at the side of cable obstacle removing robot direction of travel.The present invention clamps overhead transmission line in such a way that lateral hanging wire clamps and is hung on cable obstacle removing robot integrally on overhead transmission line, and hanging wire is swift and convenient to operate, good clamping effect；The circular excision and cutting that barrier can be realized in the traveling process on overhead transmission line crush, and removing obstacles, high-efficient, effect is good.
Description
Technical field
The present invention relates to a kind of electric power overhaul toolings, more particularly to a kind of cable obstacle removing robot.
Background technique
With the development of the social economy, the continuous expansion of electric system scale, super-pressure and large-capacity power route
It substantially extends, transmission line safety operation and the requirement of power supply reliability is continuously improved, to realize power supply at a distance, at present
Overhead transmission line transporting power is mostly used greatly.However, although overhead transmission line has, to invest small, construction speed fast etc. excellent
Point, but when the capacity that its route transmits electric power is bigger, the distance of conveying is longer, it is also higher to the voltage requirement of route,
Under the transmission of electricity environment of super-pressure, extremely it is easy to cause various failures and safety accident.
In this way, transmission line safety protection is also got growing concern for, thus the inspection dimension of transmission line of electricity
Repair that work is also more important, for the maintenance problem of transmission line of electricity, it is usually online around can have some barriers, such as kite
The barriers such as line, the polybag of floating, branch around cable, produce large effect to the transmission of electricity environment of transmission line of electricity.
For these problems, traditional operation of removing obstacles is that maintenance worker is repaired by the height that elevator is raised to electric wire, danger system
Number is higher, and efficiency is lower.
Simultaneously as there are randomness, the classifications of barrier for the attachment of barrier and attachment position on overhead transmission line
Multiplicity, to operation of removing obstacles, more stringent requirements are proposed, needs to put into a large amount of manpower and material resources, and it is ineffective to remove obstacles, and can not achieve
Efficiently, the operation of removing obstacles of high frequency time, to affect the normal work of overhead transmission line.
Therefore it is urgent to provide a kind of novel cable obstacle removing robots to solve the above problems.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of cable obstacle removing robots, can be realized on overhead transmission line
Barrier makes an overall screening, and improves the working efficiency removed obstacles and effect of removing obstacles.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of cable obstacle removing robot is provided,
For the operation of removing obstacles of overhead transmission line, including electric cabinet, clamping unit, unit of advancing, unit of removing obstacles；
The clamping unit is located at the top of electric cabinet, clamps overhead transmission line by the way of the clamping of lateral hanging wire, and
It is hung on cable obstacle removing robot integrally on overhead transmission line；
The traveling unit is set to the top of clamping unit, for driving cable obstacle removing robot along overhead transmission line
Length direction is advanced；
The unit of removing obstacles is set to the side of traveling unit, and the continuous circumferential direction for overhead transmission line is removed obstacles operation.
Further, the clamping unit includes the electric pushrod being fixed in electric cabinet, the clamping at the top of electric cabinet
Component；
The clamping component is connected to the two sides of output end of electric push rod, moves down in the electric pushrod driving clamping component
It is dynamic.
Further, the clamping component includes the fixing seat for being fixed on electric cabinet top surface, through pushing away in fixing seat
Bar, the swing rod for being rotationally connected with fixing seat two sides；
Connecting rod is rotatably connected in the middle part of the swing rod, the other end of connecting rod is rotationally connected with the top two sides of push rod；
Clamping roller is provided at the top of each swing rod.
Further, the traveling unit includes traveling motor, the roller frame plate, rotation being fixedly installed at the top of electric cabinet
Several traveling rollers being connected on roller frame plate；
The traveling roller is located at the surface of clamping unit；
The output shaft end of the traveling motor and the shaft end of traveling roller are connected by the transmission of the first synchronous pulley driving mechanism
It connects.
Further, the quantity of the traveling roller is two, and the axis of two traveling rollers is located at same level
It is interior.
Further, the traveling roller is arc groove roller, and encapsulated layer is provided on arcwall face.
Further, the unit of removing obstacles includes the installation frame plate being fixed at the top of electric cabinet, rotating electric machine, is set to peace
The cutter head assembly shelving the runner assembly of plate side, being installed on runner assembly；
The output end of the rotating electric machine and the power intake of runner assembly are driven by the second synchronous belt drive mechanism
Connection.
Further, the runner assembly include gear frame plate, several pinion gears being rotationally connected in gear frame plate,
The gear ring being sheathed on the outside of pinion gear；
The gear ring is connect with each pinion gear internal messing；
The shaft end of one of pinion gear is the power intake of runner assembly.
Further, the gear ring is " C " type structure；
It is described installation frame plate, gear frame plate the same side offer the U type slot to match with the opening of gear ring.
Further, the cutter head assembly includes several the interior knife assemblies for being fixed on gear ring lateral surface, is fixed on installation
Several outer knife assemblies of frame plate lateral surface；
The outer knife assembly is located at the outside of interior knife assembly.
Beneficial effects of the present invention are as follows:
1. the present invention realizes that lateral hanging wire, hanging wire are swift and convenient to operate by the way that traveling unit is arranged above clamping unit；
By the cooperation of clamping unit and traveling unit, clamping of the overhead transmission line in obstacle removing robot, good clamping effect are realized；It is logical
It crosses traveling unit and realizes round-trip of the obstacle removing robot on overhead transmission line, compact overall structure is advanced steady；
2. clamping unit of the present invention realizes moving up and down for two clamping rollers using electric pushrod and link mechanism,
Complete two clamp between rollers and two traveling rollers it is close with separate, thus being clamped and being released to overhead transmission line
It puts, structure is simple, is swift in motion reliable, working efficiency is higher；
3. runner assembly of the invention uses the gear ring with opening, and is nibbled simultaneously by the fixed pinion gear of four shafts
Transmission is closed, it can be achieved that gear ring is sheathed on outside overhead transmission line and rotates around overhead transmission line, so that cutter head assembly energy
Enough length directions along overhead transmission line carry out continuous circumferential operation of removing obstacles, and remove obstacles comprehensively thoroughly, effect is good；In addition, four teeth
Wheel simultaneously with gear ring engaged transmission, it is ensured that the continuity and stationarity of transmission；
4. cutter head assembly of the invention uses inside and outside double layered cutter group, and two layers of knife group is respectively provided with axial blade and radial knife
Piece, two groups of blades relatively rotate, and realize circular the excision and cutting crushing of barrier on overhead transmission line, enable barrier and
When be discharged, ensure that operation of removing obstacles is continuous, swimmingly carries out, removing obstacles, high-efficient, effect is good.
Detailed description of the invention
Fig. 1 is one of schematic perspective view of the invention；
Fig. 2 is the two of schematic perspective view of the invention；
Fig. 3 is the structural schematic diagram of the clamping unit；
Fig. 4 is the schematic perspective view of the unit of removing obstacles；
Fig. 5 is the schematic perspective view of the transmission component；
Fig. 6 is the schematic perspective view of the gear frame plate；
Fig. 7 is the assembly relation schematic diagram of the pinion gear and gear ring；
Fig. 8 is the schematic perspective view of the cutter head assembly；
Fig. 9 is the schematic perspective view of the interior cutter head assembly；
Figure 10 is the schematic perspective view of the outer cutter head assembly.
In figure: 1 electric cabinet, 11 cabinets, 12 installation base plates, 13 battery packs, 14 wireless controllers, 2 clamping units, 21 electronic
Push rod, 22 clamping components, 221 fixing seats, 222 push rods, 223 swing rods, 224 connecting rods, 225 clamp roller, 226 link blocks, 3 travelings
Unit, 31 traveling motors, 32 roller frame plates, 33 traveling rollers, 34 first synchronous pulley driving mechanisms, 35 directing plates, 4 are removed obstacles list
Member, 41 installation frame plates, 42 runner assemblies, 421 gear frame plates, 4,211 first mounting discs, 4,212 second mounting discs, 4213 knife rests are vertical
Column, 422 pinion gears, 423 gear rings, 43 cutter head assemblies, cutter head assembly in 431, knife rest, 4312 axial inner blades, 4313 in 4311
Radial inner blade, 432 outer cutter head assemblies, the outside knife rest of 4321 axis, the outside blade of 4322 axis, the outside knife rest of 4323 diameters, 4324 diameters
Outside blade, 44 rotating electric machines, 45 second synchronous pulley driving mechanisms, 5 cameras.
Specific embodiment
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Please refer to Fig. 1 and Fig. 2, a kind of cable obstacle removing robot, for the operation of removing obstacles of overhead transmission line, including electric cabinet
1, clamping unit 2, traveling unit 3, unit 4 of removing obstacles.
Electric cabinet 1 is for the control of each unit internally-powered output mechanism and the transmission of signal.The cabinet 11 of electric cabinet 1 is light
Open-topped shell structure made of matter insulating materials (such as PVC), the top bolt of cabinet 11 are connected with installation base plate 12.Case
The inside of body 11 is equipped with battery pack 13 and wireless controller 14, and battery pack 13 uses lithium battery, is each electric appliance component in device
Power supply is provided.Wireless controller 14 is used to carry out wireless signal transmission, control with mobile communication equipment (such as mobile phone, tablet computer)
The start and stop of each power source and the wireless transmission of other devices electric signal in device processed, wireless controller are existing commercially available production
Product do not repeat herein.
Clamping unit 2 is located at the top of electric cabinet 1, clamps overhead transmission line by the way of the clamping of lateral hanging wire, and make
Cable obstacle removing robot is integrally hung on overhead transmission line.As shown in figure 3, the clamping unit 2 includes being fixed on electric cabinet 1
Interior electric pushrod 21, the clamping component 22 positioned at 1 top of electric cabinet.Electric pushrod 21 vertical setting, bottom in cabinet 11
Seat is bolted to connection on the top surface of cabinet 11.
Clamping component 22 is connected to the two sides of 21 output end of electric pushrod, and clamping component 22 includes being bolted in electric cabinet
The fixing seat 221 of 1 top surface, through in fixing seat 221 push rod 222, be rotationally connected with the swing rods 223 of 221 two sides of fixing seat.
The base pins of push rod 222 are connected to the top of electric pushrod 21, and extend vertically through fixing seat 221.The top of push rod 222 is connected with
Link block 226 in the present embodiment, offers T-type sliding slot, the top surface of push rod 222 is fixedly connected at the bottom center of link block 226
There is sliding block, sliding block is embedded in T-type sliding slot, realizes link block 226 in the detachable connection at 22 top of push rod, in order to step up group
Installation of the part 22 on installation base plate 12.
Two swing rods 223 are " V " type link mechanism, and are symmetrical arranged in the two sides of push rod 222.Two swing rods 223
Bottom is rotationally connected with the side of fixing seat 221 respectively, and the top of each swing rod 223 is provided with a clamping roller 225, swing rod
223 middle part is rotatably connected to connecting rod 224, and the other end of connecting rod 224 is rotationally connected with the side of link block 226.
21 driving push rod 222 of electric pushrod moves up and down in fixing seat 211, by the transmission effect of connecting rod 224, pushes
The swing of two swing rods 223, realize two clamping rollers 225 synchronize it is close/synchronize separate and two clamping rollers 225
Up/down it is mobile, complete clamping/release process of the clamping unit 2 on overhead transmission line.
Traveling unit 3 is set to the top of clamping unit 2, for driving cable obstacle removing robot along the length of overhead transmission line
Direction is spent to advance.As depicted in figs. 1 and 2, traveling unit 3 includes traveling motor 31, the roller for being fixedly installed in 1 top of electric cabinet
Frame plate 32, two traveling rollers 33 being rotationally connected on roller frame plate 32.What the use of roller frame plate 32 was welded or was threadedly coupled
Mode is fixed on the top surface side of installation base plate 12.Two traveling rollers 33 are rotationally connected with the ipsilateral of roller frame plate 32, and position
Axis in the surface of clamping unit 2, and two traveling rollers 33 is located in the same horizontal plane, so that obstacle removing robot passes through
After two traveling rollers 33 hang on overhead transmission line, robot can smoothly be hung under self gravitation effect.It is electronic to push away
It, can be by overhead transmission line reliable retention in two traveling rollers 33 and two when bar 21 pushes two clamping rollers 225 to move up
Between a clamping roller 225, and provide certain clamping force.
Preferably, traveling roller 33 uses arc-shaped groove-type roller, clamps roller 225 and uses V-groove formula roller, two travelings
It is provided with encapsulated layer on the clamping face of roller 33 and two clamping rollers 225, can both increase traveling roller 33 and frame after clamping
Frictional force between empty power transmission line surface of insulating layer, and can avoid in clamping and traveling process to overhead power transmission line insulating layer table
It causes to damage in face.
Preferably, the side top of roller frame plate 32 is fixedly installed directing plate 35, turns in the middle part of the shaft of traveling roller 33
It is dynamic to be connected in directing plate 35, so that the shaft installation of traveling roller 33 is more reliable and more stable.The lateral surface of directing plate 35 simultaneously
Interior end side surface sliding contact or distance with traveling roller 33 are not more than 10mm, and the bottom end of directing plate 35 extends to clamping roller
The lower section of 225 top point extreme lower positions, when hanging wire lateral so as to obstacle removing robot, overhead transmission line can quickly be positioned at two rows
Into the underface of roller 33, the quick mounting of robot is realized.
The output shaft end of traveling motor 31 and the shaft end of traveling roller 33 are driven by the first synchronous pulley driving mechanism 34
Connection.First synchronous pulley driving mechanism 34 includes three the first synchronous pulleys, the first synchronous belt, two the first tensioning wheels.Three
A shaft end being respectively fixedly connected in the output shaft end of traveling motor 31 and two traveling rollers 33, and synchronize and bring by first
Row transmission.It is respectively arranged with and is bolted in the first tensioning wheel on roller frame plate 32 above and below first synchronous belt middle section
The bolt hole of bracket, the first tension pulley support is waist-shaped hole, so as to position tune of first tension pulley support on roller frame plate 32
It is whole.Two the first tensioning wheels are rotated in respectively on two the first tension pulley supports, and the tensioning for the first synchronous belt is adjusted.
Unit 4 of removing obstacles is set to the top of electric cabinet 1, and is located at the side of cable obstacle removing robot direction of travel, is used for
The continuous circumferential direction of overhead transmission line is removed obstacles operation.As shown in figure 4, unit 4 of removing obstacles includes the mounting rack for being fixed on 1 top of electric cabinet
Plate 41, rotating electric machine 44, the runner assembly 42 for being set to installation 41 side of frame plate, the cutter head assembly being installed on runner assembly 42
43.Installation frame plate 41 is L-type structure, and vertical section bottom is bolted by angle bar part in the top surface side of installation base plate 12,
Its top horizontal section is bolted by angle bar part in the top of roller frame plate 32, to increase the stable structure of installation frame plate 41
Property.Rotating electric machine 44 uses step servomotor, controls convenient for the NC postprocessing of motor rotational parameters.
As shown in figure 5, runner assembly 42 includes gear frame plate 421, four small teeth being rotationally connected in gear frame plate 421
Wheel 422, the gear ring 423 for being sheathed on 422 outside of pinion gear.As shown in fig. 6, gear frame plate 421 includes being bolted in mounting rack
The first mounting disc 4211 on 41 lateral surface of plate is bolted the second mounting disc 4212 in 4211 side of the first mounting disc.The
Two mounting discs 4212 are arranged in parallel with the first mounting disc 4211, and the second mounting disc 4212 and the first mounting disc 4211 are disk
Shape, and the diameter of the first mounting disc 4211 is greater than the diameter of the second mounting disc 4212.Second mounting disc 4212 is far from the second installation
There are four uniformly distributed knife rest columns 4213 for fixed setting on the side of disk 4211.
As shown in fig. 7, four pinion gears 422 are rotationally connected between the second mounting disc 4212 and the first mounting disc 4211,
And four pinion gears 422 are uniformly distributed around the axis of gear frame plate 421.Gear ring 423 is sheathed on the outer of four pinion gears 422
Portion, and internal messing is connect simultaneously with four pinion gears 422, and the outer diameter of gear ring 423 is not more than the diameter of the first mounting disc 4211.
The shaft end of one of pinion gear 422 be runner assembly 42 power intake, the output end of rotating electric machine 44 with
The power intake is sequentially connected by the second synchronous belt drive mechanism 45.Second synchronous belt drive mechanism 45 includes being fixedly connected
In 44 output shaft end of rotating electric machine the second synchronous pulley, be fixedly connected on power intake double synchronous pulleys, be fixed on one
The third synchronous pulley of a 422 shaft end of pinion gear, double synchronous pulleys are connect by the second synchronous belt with the second synchronous belt pulley transmission,
It is connect by third synchronous belt with third synchronous belt pulley transmission.The side bolt of installation frame plate 41 is connected with the second tensioning wheel branch
Frame, the bolt hole of the second tension pulley support are waist-shaped hole, so that position of second tension pulley support on installation frame plate 41 adjusts.
The second tensioning wheel is rotatably connected on second tension pulley support, the second tensioning wheel is located at the side of third synchronous belt, is used for third
The tensioning of synchronous belt is adjusted.
Preferably, gear ring 423 is " C " type structure, installs frame plate 41, the same side of gear frame plate 421 offers and gear ring
The U type slot that 423 opening matches, enables overhead transmission line to enter the inside of gear ring 423, and tooth by U type slot
Circle 423 can be rotated around overhead transmission line.Due to gear ring 423 and four pinion gears 422 simultaneously engaged transmission, when gear ring 423
When opening is located in one of the position of engagement of pinion gear 422, the other three pinion gear 422 still is able to reliably be engaged
The continuity and stationarity of transmission has been effectively ensured in transmission.
Since rotating electric machine 44 uses step servomotor, it is provided in the control program built in wireless controller 14
Rotating electric machine 44 only does circumferential rotation type, and the circle number of circumferential rotation type and pinion gear 422, gear ring 423 in each rotation period unit
Between transmission ratio be mutually inverse, when guaranteeing that rotating electric machine 44 stops operating every time, the opening on gear ring 423 is always positioned at U
The position of type groove mouth, so that overhead transmission line can be smoothly moved out after device stops operation.
As shown in figure 8, the cutter head assembly 43 includes being fixed on 423 lateral surface of gear ring and equally distributed four interior knife groups
Part 431 is fixed on installation 41 lateral surface of frame plate and equally distributed four outer knife assemblies 432, interior to arrive component 431 and outer knife assembly
432 are of an L-shaped structure, and outer knife assembly 432 is enclosed in the outside of interior knife assembly 431.Rotating electric machine 44 passes through the second synchronous belt
The rotation of 45 driving pinion 422 of transmission mechanism, pinion gear 422 are rotated by engaged transmission driven gear ring 423, thus knife in realizing
The rotation of component 431.Relative rotation between interior knife assembly 43 and outer knife assembly 432, realize overhead transmission line length direction and
Comprehensive removing of barrier and the cutting and discharge of barrier on circumferencial direction.
As shown in figure 9, interior knife assembly 431 includes the interior knife rest 4311 being bolted on 423 lateral surface of gear ring, consolidates respectively
Surely axial inner blade 4312, the radial inner blade 4313 being connected on interior knife rest 4311.Interior knife rest 4311 is L-type structure, axial
Inner blade 4312 and radial inner blade 4313 are perpendicularly bolted on the lateral surface of interior knife rest 4311, axial inner blade
4312 length direction is parallel with the axis of gear ring 423, and the length direction and gear ring 423 of radial inner blade 4313 are radial parallel.
As shown in Figure 10, outer knife assembly 432 include be bolted in installation 41 side of frame plate on the outside knife rest 4321 of axis,
The outside blade 4322 of axis that is fixedly connected on the outside knife rest 4321 of axis is connected to outside 4321 end of knife rest of axis and knife rest column
The outside knife rest 4323 of diameter between 4213 ends, the outside blade 4324 of diameter being fixedly connected on the outside knife rest 4323 of diameter.It is axial
Outer blade 4322 is bolted on outside 4321 medial surface of knife rest of axis, and length direction is parallel with the axis of gear ring 423.It is radial
Outer blade 4324 is bolted on the medial surface of the outside knife rest 4323 of diameter, and length direction and gear ring 423 is radial parallel.
Preferably, camera 5 is installed on the top surface of installation base plate 12, it can be in obstacle removing robot traveling and process of removing obstacles
In, real-time photography on the way is carried out to the overhead transmission line after removing obstacles, and mobile communication equipment is conveyed directly to by wireless transmission
In, easy access personnel are timely, clearly observe situation of removing obstacles.
Further, the bottom thread of cabinet 11 connects or has been bolted insulating bar, is convenient for electric power overhaul personnel
Obstacle removing robot is sent to overhead transmission line.
In the use of the present invention, target is the 10kV overhead transmission line in 20-26mm diameter range, it is suitable for high-altitude
Environment, specific use process is as follows:
(1) preceding debugging is used:
(1.1) electric power overhaul personnel make each electrical member in robot by the power supply system in switch starting robot
Part is in standby, and using in hand-held mobile communication equipment and electric cabinet 1 wireless controller 14, camera 5 respectively without
Line connection.Robot interior program starts at this time, and electric pushrod 21 pulls push rod 222 to move up, and makes two swing rods 223 simultaneously
It is flared out, two clamping rollers 225 are in extreme lower position；
(1.2) the cable test specimen with overhead transmission line same diameter to be inspected is chosen, two clamping rollers 225 are placed in
Between two traveling rollers 33；
(1.3) clamping process is started by mobile communication equipment, the output shaft end of electric pushrod 21 pushes push rod 222 at this time
It is moved downward to minimum stroke point position, two connecting rods 224 pull two swing rods 223 to relatively rotate simultaneously, make to clamp roller 225
It moves closer to traveling roller 33 and clamps cable test specimen；
(1.4) cable test specimen is pulled, certain resistance then meets so that two traveling rollers 33 rotate if it exists
The clamping requirement used；
(1.5) release process is started by mobile communication equipment, the output shaft end of electric pushrod 21 is moved upward at this time
Highest stroke point position, makes two swing rods 223 while being flared out, and two clamping rollers 225 are again at extreme lower position, releases
Clamping to cable test specimen, device restore to standby mode；
(1.6) after removing cable test specimen, robot debugging is completed.
(2) device mounts on overhead transmission line:
(2.1) robot that electric power overhaul personnel carry after debugging enters in electrification tower bar, holds insulating bar and incite somebody to action this
Robot is lifted to the side of overhead transmission line to be inspected, and overhead transmission line is made to enter the U-type groove for installing 41 side of frame plate
In mouthful；
(2.2) when overhead transmission line is resisted against on the side of directing plate 35, insulating bar is unclamped, then robot is certainly
Under body gravity, it is articulated on overhead transmission line；
(2.3) clamping process is started by mobile communication equipment, then two clamping rollers 225 are again adjacent to two traveling rollers
Wheel 33, and overhead transmission line reliable retention is lived, and the surface of the clamping faces of two traveling rollers 33 and overhead transmission line is naturally
Form CONTACT WITH FRICTION.
(3) robot carries out operation of removing obstacles on overhead transmission line:
Electric power overhaul personnel start advance process by mobile communication equipment, at this time the traveling motor 31 in traveling unit 3
And the rotating electric machine 44 removed obstacles in unit 4 works；
Traveling motor 31 drives two by the first synchronous pulley driving mechanism 34 and moves ahead and rotate in same direction into roller 33, then before
Traveling roller 33 is advanced due to the CONTACT WITH FRICTION between overhead transmission line surface along overhead transmission line straight forward.
Meanwhile rotating electric machine 44 is rotated by 45 driving pinion 422 of the second synchronous pulley driving mechanism, pinion gear 422
It is rotated by engaged transmission driven gear ring 423, to realize the rotation of interior knife assembly 431.Interior knife assembly 43 and outer knife assembly 432
Between relatively rotate, realize comprehensive removing of barrier on overhead transmission line length direction and circumferencial direction and barrier
Cutting and discharge.
The real-time pictures that camera 5 is shot are wirelessly transmitted in mobile communication equipment, check convenient for electric power overhaul personnel and
Analyze result of removing obstacles.
(4) robot is removed from overhead transmission line:
After removing obstacles, service personnel starts return course by mobile communication equipment, and traveling motor 31 reversely turns at this time
It moves, then Robot overhead transmission line linear movement return to origin position；
Service personnel holds insulating bar, and starts release process, then two clamping rollers 225 are far from two traveling rollers
Wheel 33, and release the clamping to overhead transmission line；
Finally, robot is withdrawn or is carried out the operation of removing obstacles of next round by insulating bar.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of cable obstacle removing robot, the operation of removing obstacles for overhead transmission line, it is characterised in that: including electric cabinet (1), folder
Hold unit (2), traveling unit (3), unit of removing obstacles (4)；
The clamping unit (2) is located at the top of electric cabinet (1), clamps overhead transmission line by the way of the clamping of lateral hanging wire,
And it is hung on cable obstacle removing robot integrally on overhead transmission line；
The traveling unit (3) is set to the top of clamping unit (2), for driving cable obstacle removing robot along overhead transmission line
Length direction advance；
The unit of removing obstacles (4) is set to the side of traveling unit (3), and the continuous circumferential direction for overhead transmission line is removed obstacles operation.
2. a kind of cable obstacle removing robot according to claim 1, it is characterised in that: the clamping unit (2) includes solid
Due to the electric pushrod (21) in electric cabinet (1), the clamping component (22) at the top of electric cabinet (1)；
The clamping component (22) is connected to the two sides of electric pushrod (21) output end, and the electric pushrod (21) drives clamping group
Part (22) moves up and down.
3. a kind of cable obstacle removing robot according to claim 2, it is characterised in that: the clamping component (22) includes solid
Due to electric cabinet (1) top surface fixing seat (221), through in fixing seat (221) push rod (222), be rotationally connected with fixation
The swing rod (223) of seat (221) two sides；
It is rotatably connected to connecting rod (224) in the middle part of the swing rod (223), the other end of connecting rod (224) is rotationally connected with push rod
(222) top two sides；
It is provided at the top of each swing rod (223) and clamps roller (225).
4. a kind of cable obstacle removing robot according to claim 1, it is characterised in that: the traveling unit (3) includes solid
Dingan County loaded at the top of electric cabinet (1) traveling motor (31), roller frame plate (32), be rotationally connected with roller frame plate (32) if on
Dry traveling roller (33)；
The traveling roller (33) is located at the surface of clamping unit (2)；
The output shaft end of the traveling motor (31) and the shaft end of traveling roller (33) pass through the first synchronous pulley driving mechanism
(34) it is sequentially connected.
5. a kind of cable obstacle removing robot according to claim 4, it is characterised in that: the quantity of the traveling roller (33)
It is two, and the axis of two traveling rollers (33) is located in the same horizontal plane.
6. a kind of cable obstacle removing robot according to claim 4, it is characterised in that: the traveling roller (33) is arc
Grooved roller wheel, and encapsulated layer is provided on arcwall face.
7. a kind of cable obstacle removing robot according to claim 1, it is characterised in that: the unit of removing obstacles (4) includes solid
Installation frame plate (41), rotating electric machine (44) at the top of electric cabinet (1), the runner assembly for being set to installation frame plate (41) side
(42), the cutter head assembly (43) being installed on runner assembly (42)；
The output end of the rotating electric machine (44) and the power intake of runner assembly (42) pass through the second synchronous belt drive mechanism
(45) it is sequentially connected.
8. a kind of cable obstacle removing robot according to claim 7, it is characterised in that: the runner assembly (42) includes tooth
Wheel frame plate (421), is sheathed on pinion gear (422) outside at several pinion gears (422) being rotationally connected in gear frame plate (421)
The gear ring (423) of side；
The gear ring (423) connect with each pinion gear (422) internal messing；
The shaft end of one of pinion gear (422) is the power intake of runner assembly (42).
9. a kind of cable obstacle removing robot according to claim 8, it is characterised in that: the gear ring (423) is " C " type knot
Structure；
It is described installation frame plate (41), gear frame plate (421) the same side offer match with the opening of gear ring (423) it is U-shaped
Notch.
10. a kind of cable obstacle removing robot according to claim 8, it is characterised in that: the cutter head assembly (43) includes
It is fixed on several interior knife assemblies (431) of gear ring (423) lateral surface, is fixed on outside several of installation frame plate (41) lateral surface
Knife assembly (432)；
The outer knife assembly (432) is located at the outside of interior knife assembly (431).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910643866.7A CN110364961B (en) | 2019-07-16 | 2019-07-16 | Cable barrier-removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910643866.7A CN110364961B (en) | 2019-07-16 | 2019-07-16 | Cable barrier-removing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110364961A true CN110364961A (en) | 2019-10-22 |
| CN110364961B CN110364961B (en) | 2021-01-05 |
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| CN201910643866.7A Active CN110364961B (en) | 2019-07-16 | 2019-07-16 | Cable barrier-removing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112531568A (en) * | 2020-12-23 | 2021-03-19 | 合肥工业大学 | Wire diameter self-adaptive cable obstacle clearing robot |
| CN113612159A (en) * | 2021-09-09 | 2021-11-05 | 国家电网有限公司 | Circuit walking device |
| CN113644590A (en) * | 2021-05-25 | 2021-11-12 | 国网河北省电力有限公司邯郸供电分公司 | Multifunctional aerial operation vehicle for power transmission line |
-
2019
- 2019-07-16 CN CN201910643866.7A patent/CN110364961B/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112531568A (en) * | 2020-12-23 | 2021-03-19 | 合肥工业大学 | Wire diameter self-adaptive cable obstacle clearing robot |
| CN113644590A (en) * | 2021-05-25 | 2021-11-12 | 国网河北省电力有限公司邯郸供电分公司 | Multifunctional aerial operation vehicle for power transmission line |
| CN113612159A (en) * | 2021-09-09 | 2021-11-05 | 国家电网有限公司 | Circuit walking device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110364961B (en) | 2021-01-05 |
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