CN110364961B - Cable barrier-removing robot - Google Patents
Cable barrier-removing robot Download PDFInfo
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- CN110364961B CN110364961B CN201910643866.7A CN201910643866A CN110364961B CN 110364961 B CN110364961 B CN 110364961B CN 201910643866 A CN201910643866 A CN 201910643866A CN 110364961 B CN110364961 B CN 110364961B
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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 cable obstacle clearing robot which is used for obstacle clearing operation of an overhead transmission line and comprises an electric cabinet, a clamping unit, a traveling unit and an obstacle clearing unit, wherein the electric cabinet is used for control of a power output mechanism in each unit and transmission of signals, the clamping unit is positioned at the top of the electric cabinet, the overhead transmission line is clamped in a lateral hanging wire clamping mode, the cable obstacle clearing robot is integrally hung on the overhead transmission line, the traveling unit is used for driving the cable obstacle clearing robot to travel along the length direction of the overhead transmission line, and the obstacle clearing unit is arranged at the top of the electric cabinet and positioned on one side of the traveling direction of the cable obstacle clearing robot. The overhead power transmission line is clamped in a lateral hanging wire clamping mode, and the cable obstacle clearing robot is integrally hung on the overhead power transmission line, so that the hanging wire operation is quick and convenient, and the clamping effect is good; can realize on overhead transmission line advancing the in-process that the surrounding of barrier is amputated and cut off crushing, the clearance barrier is efficient, effectual.
Description
Technical Field
The invention relates to an electric power overhaul tool, in particular to a cable obstacle clearing robot.
Background
With the development of social economy, the scale of an electric power system is continuously enlarged, the requirements on the safe operation and the power supply reliability of an electric transmission line are continuously improved due to the large expansion of an ultrahigh voltage and large-capacity electric power line, and currently, an overhead electric transmission line is mostly adopted to transport electric power for realizing long-distance power supply. However, although the overhead transmission line has advantages such as small investment and high construction speed, the larger the capacity of the line to transmit electric power and the longer the transmission distance, the higher the voltage requirement for the line, and various failures and safety accidents are very likely to occur in the ultra-high voltage power transmission environment.
Therefore, the safety guarantee of the power transmission line is paid more and more attention, so that the inspection and maintenance work of the power transmission line is more and more important, and for the maintenance problem of the power transmission line, some obstacles such as kite lines, floating plastic bags, branches around cables and the like usually exist around the line, so that the power transmission environment of the power transmission line is greatly influenced. Aiming at the problems, the traditional obstacle clearing operation is that a maintenance worker rises to the height of the electric wire through the elevator for maintenance, the danger coefficient is high, and the efficiency is low.
Meanwhile, due to the fact that the attachment and the attachment positions of the obstacles on the overhead transmission line are random, the types of the obstacles are various, higher requirements are provided for obstacle clearing operation, a large amount of manpower and material resources need to be input, the obstacle clearing effect is poor, high-efficiency and high-frequency obstacle clearing operation cannot be achieved, and therefore normal work of the overhead transmission line is affected.
Therefore, it is desirable to provide a novel cable-clearing robot to solve the above problems.
Disclosure of Invention
The invention aims to provide a cable obstacle clearing robot, which can realize comprehensive clearing of obstacles on an overhead power transmission line and improve the obstacle clearing work efficiency and the obstacle clearing effect.
In order to solve the technical problems, the invention adopts a technical scheme that: the cable obstacle clearing robot is used for obstacle clearing operation of an overhead transmission line and comprises an electric cabinet, a clamping unit, a traveling unit and an obstacle clearing unit;
the clamping unit is positioned at the top of the electric cabinet, clamps the overhead transmission line in a lateral wire hanging clamping mode, and enables the cable obstacle clearing robot to be integrally hung on the overhead transmission line;
the advancing unit is arranged above the clamping unit and used for driving the cable obstacle clearing robot to advance along the length direction of the overhead transmission line;
the obstacle removing unit is arranged on one side of the advancing unit and used for continuous circumferential obstacle removing operation of the overhead transmission line.
Furthermore, the clamping unit comprises an electric push rod fixed in the electric cabinet and a clamping assembly arranged at the top of the electric cabinet;
the clamping components are connected to two sides of the output end of the electric push rod, and the electric push rod drives the clamping components to move up and down.
Furthermore, the clamping assembly comprises a fixed seat fixed on the top surface of the electric cabinet, a push rod penetrating through the fixed seat and swing rods rotatably connected to two sides of the fixed seat;
the middle part of the swing rod is rotatably connected with a connecting rod, and the other end of the connecting rod is rotatably connected to two sides of the top of the push rod;
and a clamping roller is arranged at the top of each oscillating bar.
Further, the advancing unit comprises an advancing motor fixedly mounted at the top of the electric control box, a roller frame plate and a plurality of advancing rollers rotatably connected to the roller frame plate;
the travelling roller is positioned right above the clamping unit;
and the output shaft end of the travelling motor is in transmission connection with the shaft end of the travelling roller through a first synchronous belt wheel transmission mechanism.
Furthermore, the number of the running rollers is two, and the axes of the two running rollers are positioned in the same horizontal plane.
Further, the running roller is an arc-shaped groove roller, and an adhesive coating layer is arranged on the arc-shaped surface.
Furthermore, the obstacle clearing unit comprises a mounting frame plate fixed at the top of the electric control box, a rotating motor, a rotating assembly arranged on one side of the mounting frame plate and a cutter head assembly arranged on the rotating assembly;
and the output end of the rotating motor is in transmission connection with the power input end of the rotating assembly through a second synchronous belt transmission mechanism.
Furthermore, the rotating assembly comprises a gear frame plate, a plurality of small gears rotatably connected in the gear frame plate, and a gear ring sleeved on the outer side of the small gears;
the gear ring is in inner meshing connection with each pinion;
the shaft end of one of the pinions is the power input end of the rotating assembly.
Further, the gear ring is of a C-shaped structure;
and the same side of the mounting frame plate and the gear frame plate is provided with a U-shaped notch matched with the opening of the gear ring.
Furthermore, the tool bit assembly comprises a plurality of inner tool assemblies fixed on the outer side surface of the gear ring and a plurality of outer tool assemblies fixed on the outer side surface of the mounting frame plate;
the outer knife assembly is located on the outer side of the inner knife assembly.
The invention has the following beneficial effects:
1. according to the invention, the advancing unit is arranged above the clamping unit, so that lateral wire hanging is realized, and the wire hanging operation is quick and convenient; the clamping of the overhead transmission line in the obstacle clearing robot is realized through the matching of the clamping unit and the advancing unit, and the clamping effect is good; the obstacle clearing robot can move back and forth on the overhead transmission line through the advancing unit, the whole structure is compact, and the advancing is stable;
2. the clamping unit adopts the electric push rod and the link mechanism to realize the up-and-down movement of the two clamping rollers and complete the approaching and separating of the two clamping rollers and the two advancing rollers, so that the overhead transmission line is clamped and released, the structure is simple, the action is rapid and reliable, and the working efficiency is higher;
3. the rotating assembly adopts the gear ring with the opening, and simultaneously meshes for transmission through the pinions fixed by the four rotating shafts, so that the gear ring is sleeved outside the overhead transmission line and rotates around the overhead transmission line, and the cutter head assembly can continuously and circumferentially clear obstacles along the length direction of the overhead transmission line, so that the obstacles are completely cleared, and the effect is good; in addition, the four gears are simultaneously in meshing transmission with the gear ring, so that the continuity and the stability of transmission can be ensured;
4. the cutter head assembly adopts the inner layer cutter set and the outer layer cutter set, the axial blades and the radial blades are arranged on the two layers of cutter sets, and the two groups of blades rotate relatively, so that surrounding cutting, cutting and crushing of obstacles on the overhead power transmission line are realized, the obstacles can be discharged in time, the obstacle removing operation is continuously and smoothly carried out, and the obstacle removing efficiency is high and the effect is good.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a second schematic perspective view of the present invention;
FIG. 3 is a schematic structural view of the clamping unit;
fig. 4 is a schematic perspective view of the obstacle removing unit;
FIG. 5 is a schematic perspective view of the transmission assembly;
fig. 6 is a schematic perspective view of the gear rack plate;
FIG. 7 is a schematic view showing the assembled relationship of the pinion and the ring gear;
FIG. 8 is a perspective view of the cutting head assembly;
FIG. 9 is a perspective view of the inner cutter head assembly;
fig. 10 is a schematic perspective view of the outer cutter head assembly.
In the figure: 1 electric control box, 11 box body, 12 mounting base plate, 13 battery pack, 14 wireless controller, 2 clamping unit, 21 electric push rod, 22 clamping component, 221 fixing seat, 222 push rod, 223 swing rod, 224 connecting rod, 225 clamping roller, 226 connecting block, 3 advancing unit, 31 advancing motor, 32 roller frame plate, 33 advancing roller, 34 first synchronous belt wheel transmission mechanism, 35 guide plate, 4 obstacle clearing unit, 41 mounting frame plate, 42 rotating assembly, 421 gear frame plate, 4211 first mounting plate, 4212 second mounting plate, 4213 tool rest stand column, 422 pinion, 423 gear ring, 43 tool bit assembly, 431 inner tool bit assembly, 4311 inner tool bit, 4312 axial inner blade, 4313 radial inner blade, 432 outer tool bit assembly, 4321 axial outer tool bit, 4322 axial outer blade, 4323 radial outer tool bit, 4324 radial outer blade, 44 rotating motor, 45 second synchronous pulley transmission mechanism and 5 camera.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Referring to fig. 1 and 2, a cable obstacle clearing robot for clearing obstacles on an overhead transmission line includes an electric cabinet 1, a clamping unit 2, a traveling unit 3, and an obstacle clearing unit 4.
The electric cabinet 1 is used for controlling the power output mechanism in each unit and transmitting signals. The box body 11 of the electric cabinet 1 is a shell structure with an open top made of light insulating materials (such as PVC), and the top of the box body 11 is connected with a mounting substrate 12 through bolts. The battery pack 13 and the wireless controller 14 are installed inside the box body 11, and the battery pack 13 adopts a lithium battery to provide power for each electric appliance component in the device. The wireless controller 14 is used for performing wireless signal transmission with a mobile communication device (such as a mobile phone, a tablet computer, etc.), controlling the start and stop of each power source device in the device and wirelessly transmitting electrical signals of other devices, and is a commercially available product, and will not be described herein.
The clamping unit 2 is located at the top of the electric cabinet 1, clamps the overhead power transmission line in a lateral wire hanging clamping mode, and enables the cable obstacle clearing robot to be integrally hung on the overhead power transmission line. As shown in fig. 3, the clamping unit 2 includes an electric push rod 21 fixed in the electric cabinet 1, and a clamping assembly 22 located at the top of the electric cabinet 1. The electric push rod 21 is vertically arranged in the box body 11, and the base of the electric push rod is fixedly connected to the top surface of the box body 11 through bolts.
The clamping assembly 22 is connected to two sides of the output end of the electric push rod 21, and the clamping assembly 22 includes a fixed seat 221 bolted to the top surface of the electric cabinet 1, a push rod 222 penetrating through the fixed seat 221, and a swing rod 223 rotatably connected to two sides of the fixed seat 221. The bottom pin of the push rod 222 is connected to the top of the electric push rod 21 and vertically penetrates through the fixed seat 221. The top of push rod 222 is connected with connecting block 226, and in this embodiment, T type spout has been seted up to the bottom surface center department of connecting block 226, and the top surface fixedly connected with slider of push rod 222 realizes the detachable connection of connecting block 226 at push rod 22 top in the slider embedding T type spout to in the installation of component 22 on mounting substrate 12 of step up.
The two swing links 223 are both of a V-shaped link structure and are symmetrically arranged on both sides of the push rod 222. The bottoms of the two swing rods 223 are respectively and rotatably connected to the side surfaces of the fixed seat 221, the top of each swing rod 223 is provided with a clamping roller 225, the middle part of each swing rod 223 is rotatably connected with a connecting rod 224, and the other end of each connecting rod 224 is rotatably connected to one side of the connecting block 226.
The electric push rod 21 drives the push rod 222 to move up and down in the fixed seat 211, and pushes the two swing rods 223 to swing through the transmission action of the connecting rod 224, so that the two clamping rollers 225 synchronously approach/leave, and the two clamping rollers 225 move up/down, and the clamping/releasing process of the clamping unit 2 on the overhead transmission line is completed.
The advancing unit 3 is arranged above the clamping unit 2 and used for driving the cable obstacle clearing robot to advance along the length direction of the overhead transmission line. As shown in fig. 1 and 2, the traveling unit 3 includes a traveling motor 31 fixedly installed at the top of the electric cabinet 1, a roller frame plate 32, and two traveling rollers 33 rotatably connected to the roller frame plate 32. The roller frame plate 32 is fixed to the top side of the mounting base plate 12 by welding or screwing. Two running rollers 33 rotate and are connected in the homonymy of roller frame plate 32 to be located clamping unit 2 directly over, and the axis of two running rollers 33 is located same horizontal plane, so that the robot can hang steadily under self action of gravity after two running rollers 33 hang and locate overhead transmission line. When the electric push rod 21 pushes the two clamping rollers 225 to move upwards, the overhead transmission line can be reliably clamped between the two traveling rollers 33 and the two clamping rollers 225, and a certain clamping force is provided.
Preferably, the running roller 33 adopts arc slot type running roller, presss from both sides tight running roller 225 and adopts V type slot type running roller, all is provided with the rubber coating layer on two running rollers 33 and two tight running roller 225's of clamp, both multiplicable tight back running roller 33 and overhead transmission line insulating layer between the surface frictional force of clamp again can avoid pressing from both sides tightly and advance the in-process and cause the damage to overhead transmission line insulating layer surface.
Preferably, the guide plate 35 is fixedly arranged at the top of the side surface of the roller frame plate 32, and the middle part of the rotating shaft of the advancing roller 33 is rotatably connected in the guide plate 35, so that the rotating shaft of the advancing roller 33 is more stably and reliably installed. Meanwhile, the outer side face of the guide plate 35 is in sliding contact with the inner end side face of the advancing roller 33 or the distance of the inner end side face of the guide plate is not larger than 10mm, and the bottom end of the guide plate 35 extends to the lower portion of the lowest position of the top point of the clamping roller 225, so that when the obstacle removing robot is used for laterally hanging wires, the overhead transmission line can be rapidly positioned under the two advancing rollers 33, and rapid hanging of the robot is achieved.
The output shaft end of the traveling motor 31 is in transmission connection with the shaft end of the traveling roller 33 through a first synchronous pulley transmission mechanism 34. The first timing pulley gear 34 includes three first timing pulleys, a first timing belt, and two first tension pulleys. The three shaft ends are respectively and fixedly connected with the output shaft end of the advancing motor 31 and the shaft ends of the two advancing rollers 33 and are driven by a first synchronous belt. The upper part and the lower part of the middle section of the first synchronous belt are respectively provided with a first tensioning wheel bracket which is connected with the roller frame plate 32 through bolts, and bolt holes of the first tensioning wheel bracket are kidney-shaped holes so that the position of the first tensioning wheel bracket on the roller frame plate 32 can be adjusted. The two first tensioning wheels respectively rotate on the two first tensioning wheel brackets and are used for tensioning and adjusting the first synchronous belt.
The obstacle removing unit 4 is arranged at the top of the electric cabinet 1, is positioned on one side of the traveling direction of the cable obstacle removing robot and is used for continuous circumferential obstacle removing operation of the overhead transmission line. As shown in fig. 4, the obstacle clearing unit 4 includes a mounting frame plate 41 fixed to the top of the electric cabinet 1, a rotating motor 44, a rotating assembly 42 provided at one side of the mounting frame plate 41, and a cutter head assembly 43 mounted on the rotating assembly 42. The mounting frame plate 41 has an L-shaped structure, the bottom of the vertical section of which is bolted to the top side of the mounting base plate 12 by angle iron, and the top horizontal section of which is bolted to the top of the roller frame plate 32 by angle iron, so as to increase the structural stability of the mounting frame plate 41. The rotary motor 44 is a stepping servo motor, which facilitates numerical control of motor rotation parameters.
As shown in fig. 5, the rotating assembly 42 includes a rack plate 421, four pinions 422 rotatably connected in the rack plate 421, and a ring gear 423 sleeved outside the pinions 422. As shown in fig. 6, the gear frame plate 421 includes a first mounting plate 4211 bolted to the outer side surface of the mounting frame plate 41, and a second mounting plate 4212 bolted to the side surface of the first mounting plate 4211. Second mounting disc 4212 and first mounting disc 4211 parallel arrangement, second mounting disc 4212 and first mounting disc 4211 are discoid, and the diameter of first mounting disc 4211 is greater than the diameter of second mounting disc 4212. Four evenly distributed tool rest stand columns 4213 are fixedly arranged on the side surface of the second mounting disc 4212 far away from the second mounting disc 4211.
As shown in fig. 7, four pinion gears 422 are rotatably coupled between the second mounting plate 4212 and the first mounting plate 4211, and the four pinion gears 422 are evenly distributed about the axis of the carrier plate 421. The gear ring 423 is sleeved outside the four pinions 422 and simultaneously meshed with the four pinions 422, and the outer diameter of the gear ring 423 is not larger than that of the first mounting plate 4211.
The shaft end of one of the pinions 422 is the power input end of the rotating assembly 42, and the output end of the rotating motor 44 is in transmission connection with the power input end through the second synchronous belt transmission mechanism 45. The second synchronous belt transmission mechanism 45 includes a second synchronous belt wheel fixedly connected to the output shaft end of the rotating motor 44, a double synchronous belt wheel fixedly connected to the power input end, and a third synchronous belt wheel fixed to one shaft end of the pinion 422, wherein the double synchronous belt wheel is in transmission connection with the second synchronous belt wheel through a second synchronous belt and in transmission connection with the third synchronous belt wheel through a third synchronous belt. The side of the mounting frame plate 41 is bolted with a second tensioning wheel bracket, and the bolt hole of the second tensioning wheel bracket is a waist-shaped hole, so that the position of the second tensioning wheel bracket on the mounting frame plate 41 can be adjusted. The second tensioning wheel support is rotatably connected with a second tensioning wheel, and the second tensioning wheel is located on one side of a third synchronous belt and used for tensioning and adjusting the third synchronous belt.
Preferably, the ring gear 423 is of a C-shaped structure, and the same side of the mounting frame plate 41 and the gear frame plate 421 is provided with a U-shaped notch matched with the opening of the ring gear 423, so that the overhead power transmission line can enter the inside of the ring gear 423 through the U-shaped notch, and the ring gear 423 can rotate around the overhead power transmission line. Because the gear ring 423 is in mesh transmission with the four pinions 422 at the same time, when the opening of the gear ring 423 is located at the meshing position of one of the pinions 422, the other three pinions 422 can still perform mesh transmission reliably, and the continuity and the smoothness of the transmission are effectively ensured.
Because the rotating motor 44 adopts a stepping servo motor, the control program arranged in the wireless controller 14 is provided with that the rotating motor 44 only rotates in a whole circle, and the number of the whole circle rotating turns in each rotating period unit and the transmission ratio between the pinion 422 and the gear ring 423 are reciprocal, so that the opening on the gear ring 423 is always positioned at the position of the U-shaped notch when the rotating motor 44 stops rotating every time, and the overhead transmission line can be smoothly moved out after the device stops operating.
As shown in fig. 8, the cutter head assembly 43 includes four inner cutter assemblies 431 fixed to the outer side surface of the gear ring 423 and distributed uniformly, and four outer cutter assemblies 432 fixed to the outer side surface of the mounting frame plate 41 and distributed uniformly, wherein each of the inner cutter assemblies 431 and the outer cutter assemblies 432 is in an L-shaped structure, and the outer cutter assemblies 432 surround the outer sides of the inner cutter assemblies 431. The rotary motor 44 drives the pinion gear 422 to rotate through the second synchronous belt transmission mechanism 45, and the pinion gear 422 drives the gear ring 423 to rotate through meshing transmission, so that the rotation of the inner knife assembly 431 is realized. The relative rotation between the inner knife assembly 43 and the outer knife assembly 432 realizes the overall clearing of the obstacles in the length direction and the circumferential direction of the overhead transmission line and the cutting and discharging of the obstacles.
As shown in fig. 9, the inner blade assembly 431 includes an inner blade holder 4311 bolted to the outer side surface of the ring gear 423, an axially inner blade 4312 fixedly attached to the inner blade holder 4311, and a radially inner blade 4313, respectively. The inner cutter holder 4311 is an L-shaped structure, the axial inner cutter 4312 is bolted to the outer side surface of the inner cutter holder 4311 perpendicularly to the radial inner cutter 4313, the length direction of the axial inner cutter 4312 is parallel to the axis of the gear ring 423, and the length direction of the radial inner cutter 4313 is parallel to the radial direction of the gear ring 423.
As shown in fig. 10, the outer knife assembly 432 includes an axially outer knife holder 4321 bolted to the side of the mounting frame plate 41, an axially outer knife blade 4322 fixedly attached to the axially outer knife holder 4321, a radially outer knife holder 4323 attached between the end of the axially outer knife holder 4321 and the end of the knife holder column 4213, and a radially outer knife blade 4324 fixedly attached to the radially outer knife holder 4323. The axial outer blade 4322 is bolted to the inner surface of the axial outer holder 4321, and the longitudinal direction thereof is parallel to the axis of the ring gear 423. The radially outer blade 4324 is bolted to the inner side surface of the radially outer holder 4323, and the longitudinal direction thereof is parallel to the radial direction of the ring gear 423.
Preferably, install camera 5 on the top surface of mounting substrate 12, can advance and the clearance barrier in-process at the clearance barrier robot, carry out the real-time camera along the way to the overhead transmission line after the clearance barrier to directly convey to in the mobile communication equipment through wireless transmission, the maintenance personnel of being convenient for in time, observe the clearance barrier condition clearly.
Further, threaded connection or bolted connection have insulating bar in the bottom of box 11, and the electric power maintainer of being convenient for will send the robot that removes obstacles to overhead transmission line on.
When the high-altitude high-voltage transmission line is used, a working object is a 10kV overhead transmission line with the diameter of 20-26mm, the high-altitude high-voltage transmission line is suitable for high-altitude environments, and the specific use process is as follows:
(1) debugging before use:
(1.1) the electric power maintainer starts a power supply system in the robot through a switch to enable each electric element in the robot to be in a standby state, and the electric power maintainer is in wireless connection with a wireless controller 14 and a camera 5 in the electric cabinet 1 respectively by utilizing handheld mobile communication equipment. At the moment, the internal program of the robot is started, the electric push rod 21 pulls the push rod 222 to move upwards, so that the two swing rods 223 are opened outwards at the same time, and the two clamping rollers 225 are at the lowest positions;
(1.2) selecting a cable test piece with the same diameter as that of the overhead transmission line to be inspected, and placing the cable test piece between the two clamping rollers 225 and the two advancing rollers 33;
(1.3) starting a clamping process through the mobile communication equipment, wherein the output shaft end of the electric push rod 21 pushes the push rod 222 to move downwards to the lowest stroke point position, and the two connecting rods 224 pull the two swing rods 223 to rotate relatively at the same time, so that the clamping roller 225 gradually approaches to the advancing roller 33 and clamps the cable test piece;
(1.4) pulling the cable test piece, and if certain resistance exists, enabling the two advancing rollers 33 to rotate, so that the used clamping requirement is met;
(1.5) starting a releasing process through the mobile communication equipment, wherein the output shaft end of the electric push rod 21 moves upwards to the highest stroke point position at the moment, so that the two swing rods 223 open outwards at the same time, the two clamping rollers 225 are positioned at the lowest position again, the clamping on the cable test piece is released, and the device is recovered to a standby state;
and (1.6) after the cable test piece is removed, the robot is debugged.
(2) The device articulates on overhead transmission line:
(2.1) the electric power overhaul personnel carries the debugged robot to enter a live tower pole, the insulating operating rod is held by hands to lift the robot to one side of the overhead transmission line to be inspected, and the overhead transmission line enters a U-shaped notch on the side surface of the mounting frame plate 41;
(2.2) when the overhead power transmission line abuts against the side face of the guide plate 35, the insulating operation rod is loosened, and the robot is hung on the overhead power transmission line under the action of self gravity;
(2.3) starting the clamping process by the mobile communication equipment, the two clamping rollers 225 approach the two traveling rollers 33 again and reliably clamp the overhead transmission line, and the clamping surfaces of the two traveling rollers 33 naturally form frictional contact with the surface of the overhead transmission line.
(3) The robot carries out the operation of removing obstacles on overhead transmission line:
the electric power overhaul personnel start the advancing process through the mobile communication equipment, and at the moment, the advancing motor 31 in the advancing unit 3 and the rotating motor 44 in the obstacle clearing unit 4 work;
the traveling motor 31 drives the two forward traveling rollers 33 to rotate in the same direction through the first synchronous pulley transmission mechanism 34, and the forward traveling rollers 33 linearly travel forward along the overhead power line due to frictional contact with the surface of the overhead power line.
Meanwhile, the rotary motor 44 drives the pinion gear 422 to rotate through the second timing pulley transmission 45, and the pinion gear 422 drives the ring gear 423 to rotate through meshing transmission, thereby achieving rotation of the inner cutter assembly 431. The inner knife assembly 43 and the outer knife assembly 432 rotate relatively to each other, so that the overall clearing of obstacles in the length direction and the circumferential direction of the overhead transmission line and the cutting and discharging of the obstacles are realized.
Real-time picture wireless transmission that camera 5 was shot to mobile communication equipment in, the electric power maintainer of being convenient for looks over and analyzes the clearance barrier result.
(4) Removing the robot from the overhead power line:
after the obstacle is cleared, the maintainer starts a return process through the mobile communication equipment, at the moment, the traveling motor 31 rotates reversely, and the robot moves linearly along the overhead transmission line to return to the starting point;
the maintainer holds the insulating operating rod and starts the releasing process, so that the two clamping rollers 225 are far away from the two advancing rollers 33, and the overhead transmission line is clamped;
and finally, retracting the robot or carrying out the next round of obstacle clearing operation through the insulating operating rod.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. The utility model provides a cable robot of removing obstacles for overhead transmission line's operation of removing obstacles which characterized in that: comprises an electric cabinet (1), a clamping unit (2), a traveling unit (3) and a barrier clearing unit (4);
the clamping unit (2) is positioned at the top of the electric cabinet (1), clamps the overhead transmission line in a lateral hanging wire clamping mode, and enables the cable obstacle clearing robot to be integrally hung on the overhead transmission line;
the advancing unit (3) is arranged above the clamping unit (2) and used for driving the cable obstacle clearing robot to advance along the length direction of the overhead transmission line;
the obstacle clearing unit (4) is arranged on one side of the travelling unit (3) and is used for continuous circumferential obstacle clearing operation of the overhead transmission line;
the obstacle clearing unit (4) comprises a mounting frame plate (41) fixed to the top of the electric cabinet (1), a rotating motor (44), a rotating assembly (42) arranged on one side of the mounting frame plate (41), and a cutter head assembly (43) arranged on the rotating assembly (42);
the rotating assembly (42) comprises a gear rack plate (421), a plurality of small gears (422) rotatably connected in the gear rack plate (421), and a gear ring (423) sleeved on the outer side of the small gears (422);
the gear ring (423) is in mesh connection with each pinion (422);
the shaft end of one of the pinions (422) is the power input end of the rotating assembly (42);
the cutter head assembly (43) comprises a plurality of inner cutter assemblies (431) fixed on the outer side face of the gear ring (423) and a plurality of outer cutter assemblies (432) fixed on the outer side face of the mounting frame plate (41);
the inner cutter assembly (431) comprises an inner cutter holder (4311) which is bolted to the outer side face of the gear ring (423), an axial inner blade (4312) and a radial inner blade (4313) which are fixedly connected to the inner cutter holder (4311) respectively;
the outer knife assembly (432) is positioned on the outer side of the inner knife assembly (431), and the outer knife assembly (432) comprises an axial outer knife rest (4321) which is bolted to the side face of the mounting frame plate (41), an axial outer knife blade (4322) which is fixedly connected to the axial outer knife rest (4321), a radial outer knife rest (4323) which is connected between the end part of the axial outer knife rest (4321) and the end part of a knife rest stand column (4213), and a radial outer knife blade (4324) which is fixedly connected to the radial outer knife rest (4323);
the output end of the rotating motor (44) is in transmission connection with the power input end of the rotating assembly (42) through a second synchronous belt transmission mechanism (45).
2. A cable-clearing robot as claimed in claim 1, characterized in that: the clamping unit (2) comprises an electric push rod (21) fixed in the electric cabinet (1) and a clamping assembly (22) positioned at the top of the electric cabinet (1);
the clamping assembly (22) is connected to two sides of the output end of the electric push rod (21), and the electric push rod (21) drives the clamping assembly (22) to move up and down.
3. A cable-clearing robot as claimed in claim 2, characterized in that: the clamping assembly (22) comprises a fixed seat (221) fixed on the top surface of the electric cabinet (1), a push rod (222) penetrating through the fixed seat (221), and swing rods (223) rotatably connected to two sides of the fixed seat (221);
the middle part of the swing rod (223) is rotatably connected with a connecting rod (224), and the other end of the connecting rod (224) is rotatably connected to two sides of the top of the push rod (222);
the top of each swing rod (223) is provided with a clamping roller (225).
4. A cable-clearing robot as claimed in claim 1, characterized in that: the advancing unit (3) comprises an advancing motor (31) fixedly arranged at the top of the electric cabinet (1), a roller frame plate (32) and a plurality of advancing rollers (33) rotatably connected to the roller frame plate (32);
the travelling roller (33) is positioned right above the clamping unit (2);
the output shaft end of the travelling motor (31) is in transmission connection with the shaft end of the travelling roller (33) through a first synchronous pulley transmission mechanism (34).
5. A cable clearing robot according to claim 4, characterized in that: the number of the travelling rollers (33) is two, and the axes of the two travelling rollers (33) are positioned in the same horizontal plane.
6. A cable clearing robot according to claim 4, characterized in that: the advancing roller (33) is an arc groove roller, and an adhesive coating layer is arranged on the arc surface.
7. A cable-clearing robot as claimed in claim 1, characterized in that: the gear ring (423) is of a C-shaped structure;
the same sides of the mounting frame plate (41) and the gear frame plate (421) are provided with U-shaped notches matched with the openings of the gear rings (423).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN113644590B (en) * | 2021-05-25 | 2022-10-25 | 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 |
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