CN218040529U

CN218040529U - Light self-traction wire feeding and discharging insulation coating robot

Info

Publication number: CN218040529U
Application number: CN202222430305.9U
Authority: CN
Inventors: 杨大伟; 彭代茂
Original assignee: Wuhan Ronghui Diantong Technology Co ltd
Current assignee: Wuhan Ronghui Diantong Technology Co ltd
Priority date: 2022-09-14
Filing date: 2022-09-14
Publication date: 2022-12-13
Anticipated expiration: 2032-09-14

Abstract

The utility model discloses a light self-traction up-and-down insulation coating robot, which comprises a robot host, an overhead bare conductor insulation coating device, a conductor outer diameter measuring device and a self-discharging hanger, wherein the robot host comprises a traveling mechanism, a hoisting mechanism and a pushing mechanism; the utility model has the advantages that through the integrated design of the winch mechanism and the charging barrel in the robot host, the space is saved, the weight is reduced, the reliability of the whole structure is increased, and the whole structure is more compact; the swing of the two arms and the rotation of the two travelling wheels can be completed by using one swing arm push rod and one travelling motor, so that the weight of the whole machine is reduced, and the control is optimized; and the two groups of hoisting mechanisms are respectively positioned at the left and right corners at the two ends of the bottom of the robot main machine, and the balance point of the hoisting mechanisms is positioned at the central position between the two swing arms in the walking mechanism, so that the machine is more stable and safer when running on a wire, and the high-altitude operation balance is better.

Description

Light self-traction up-down insulation coating robot

Technical Field

The utility model relates to a transmission and distribution lines safety fortune dimension technical field specifically is a light-duty self-traction line feeding and discharging insulation coating robot.

Background

The insulating coating robot is a special operation robot for the insulation transformation of an overhead bare conductor, is a product combining robot technology and new material technology, can automatically walk on the overhead bare conductor to finish the insulating material coating operation on the overhead bare conductor, can effectively solve the power supply safety problems in cities, densely populated areas, forests, water areas and other high-risk areas, but most of the existing insulating coating robots are hung by a dipper worker, and a small number of the existing insulating coating robots are thrown and crossed to get on and off the line, so that the manual getting on and off the line is low in efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem of overcoming the defects of the prior art and provides a light self-traction wire feeding and discharging insulation coating robot which is suitable for old distribution network lines with thinner wire diameter or too long erection time; the problem that manual wire hanging is needed in the prior art is solved; the problems that the operation of threading and threading is complex and the efficiency is low in a mesh belt threading mode are solved.

In order to achieve the above object, the utility model provides a following technical scheme: a light self-traction up-down wire insulation coating robot comprises a robot host, an overhead bare conductor insulation coating device, a conductor outer diameter measuring device and a self-unloading lifting appliance, wherein the robot host comprises a travelling mechanism, two groups of winding mechanisms and two groups of material pushing mechanisms, the travelling mechanism is positioned at the top of the robot host, the two groups of winding mechanisms are respectively positioned at the left corner and the right corner of two ends of the bottom of the robot host, the material pushing mechanisms are positioned at the bottom of one side of the robot host, and a material barrel is arranged at the bottom of the robot host;

the walking mechanism comprises an arm connecting plate, swing arms are symmetrically installed on two sides of two ends of the arm connecting plate, the bottoms of the swing arms are hinged to the top of the robot host, a swing arm push rod is hinged to the top of the robot host, the output end of the swing arm push rod is hinged to one end of a group of swing arms, the tops of one ends of two groups of swing arms are fixedly and rotatably connected with walking wheels, the other ends of the shaft portions of the two groups of walking wheels are respectively sleeved with a chain wheel and a double-row chain wheel, the chain wheel and the double-row chain wheel are in chain transmission through a chain, one end of one group of swing arms is provided with a walking motor, the output end of the walking motor is provided with a driving chain wheel, and the driving chain wheel is in chain transmission through the outer sides of the chain and the double-row chain wheel;

the winding mechanism comprises an optical shaft, a reciprocating screw rod and a winding shaft, the optical shaft, the reciprocating screw rod and the winding shaft are sequentially arranged at the corners of one end of the robot host from top to bottom, a winding motor is arranged at one end of the bottom of the robot host, the output end of the winding motor is connected with the winding shaft, synchronizing wheels are sleeved on one side of the shaft part of the winding shaft and one side of the reciprocating screw rod, a synchronous belt is sleeved on the outer sides of the two groups of synchronizing wheels, a reciprocating slide block is sleeved on the outer sides of the reciprocating screw rod and the optical shaft, and two groups of guide wheels are rotatably connected with the top of the reciprocating slide block in a fixed-shaft manner;

pushing equipment includes screw-nut, screw-nut is located robot host one side, screw-nut's the outside is equipped with pushes away the material gear, screw-nut's inside is equipped with ball, one side of ball is equipped with pushes away the material piston, one side of robot host is equipped with linear bearing, linear bearing's inside cover is equipped with the direction optical axis, ball extends to the inside of feed cylinder, the corner of robot host bottom one end is equipped with and pushes away the material motor, it passes through drive gear and pushes away the transmission of material gear engagement, the common cover in one side in the ball and the direction optical axis outside is equipped with the connecting plate.

Preferably, the bottom of the two groups of swing arms mounted on the arm connecting plate is integrally provided with two groups of inclined plates, the four groups of inclined plates are respectively hinged with the insides of the four groups of strip-shaped through holes formed in the top of the robot host, and swing arms are driven to deflect through swing arm push rods, so that the walking wheels can be moved onto a wire for relative transfer of the upper wire and the lower wire of the robot.

Preferably, limiting discs are symmetrically arranged on two sides of the reel to limit the winding position of the lifting rope, correspond to the reciprocating screw rod and are matched with the reciprocating slide block to move left and right, and therefore the lifting rope is smoothed out, and the winding is smoother.

Preferably, the bottom is equipped with reciprocal screw-nut in the reciprocal slider, and reciprocal screw-nut and reciprocal lead screw looks adaptation, the slide opening has been seted up at the top in the reciprocal slider, and slide opening and optical axis sliding connection, through the round trip movement of reciprocal lead screw, drive the reciprocal slider and remove about to smooth out the rope operation to the lifting rope, make its coiling more neat, receive and release the line more stable.

Preferably, the guide optical axis is located outside the barrel, and the guide optical axis is slidably connected with the linear bearing.

Preferably, a U-shaped motor frame is installed on one side of the pushing motor, the U-shaped motor frame is fixedly connected with the robot host, a transmission gear arranged at the output end of the pushing motor is located inside the U-shaped motor frame, the pushing motor is installed on one side of the U-shaped motor frame, and the pushing motor drives the transmission gear to drive the pushing gear to rotate, so that the ball screw is driven to rotate, the pushing piston is driven to move back and forth, and pushing is achieved.

Compared with the prior art, the beneficial effects of the utility model are that: the light self-traction up-and-down wire insulation coating robot saves space, reduces weight, increases the reliability of the whole structure and makes the whole structure more compact by the integrated design of the winding mechanism and the charging barrel in the robot host; the swing of the two arms and the rotation of the two travelling wheels can be completed by using one swing arm push rod and one travelling motor, so that the weight of the whole machine is reduced, the control is optimized, manual on-off of the line is not needed, and the operation efficiency is higher; and the two groups of hoisting mechanisms are respectively positioned at the left and right corners at the two ends of the bottom of the robot main machine, and the balance point of the hoisting mechanisms is positioned at the central position between the two swing arms in the walking mechanism, so that the machine is more stable and safer when running on a wire, and the high-altitude operation balance is better.

Drawings

Fig. 1 is a perspective view of the present invention;

fig. 2 is a schematic view of a three-dimensional structure of the robot host of the present invention;

FIG. 3 is a schematic view of the traveling mechanism of the present invention;

fig. 4 is a schematic structural view of the hoisting mechanism of the present invention;

FIG. 5 is a schematic view of the pushing mechanism of the present invention;

fig. 6 is a left side view of the present invention;

fig. 7 is a right side view of the robot host of the present invention;

fig. 8 is a top view of the pushing mechanism of the present invention.

In the figure: 1. an aerial bare conductor insulation coating device; 2. a wire outer diameter measuring device; 3. self-unloading lifting appliances; 4. a traveling mechanism; 41. an arm connecting plate; 42. swinging arms; 43. a swing arm push rod; 44. a traveling wheel; 45. a sprocket; 46. double-row chain wheels; 47. a chain; 48. a traveling motor; 49. a drive sprocket; 5. a hoisting mechanism; 51. an optical axis; 52. a reciprocating screw rod; 53. a reel; 54. a hoisting motor; 55. a synchronizing wheel; 56. a synchronous belt; 57. a reciprocating slide block; 58. a guide wheel; 6. a material pushing mechanism; 61. a feed screw nut; 62. a pusher gear; 63. a ball screw; 64. a pusher piston; 65. a linear bearing; 66. guiding the optical axis; 67. a material pushing motor; 68. a connecting plate; 7. a barrel.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Referring to fig. 1-8, the present invention provides an embodiment: a light self-traction up-down wire insulation coating robot comprises a robot host, an overhead bare conductor insulation coating device 1, a conductor outer diameter measuring device 2 and a self-unloading lifting appliance 3, wherein the robot host comprises a traveling mechanism 4, two groups of winding mechanisms 5 and two groups of pushing mechanisms 6, the traveling mechanism 4 is positioned at the top of the robot host, the two groups of winding mechanisms 5 are respectively positioned at the left corner and the right corner of the two ends of the bottom of the robot host, the pushing mechanisms 6 are positioned at the bottom of one side of the robot host, and a charging barrel 7 is arranged at the bottom of the robot host;

the traveling mechanism 4 comprises an arm connecting plate 41, swing arms 42 are symmetrically arranged on two sides of two ends of the arm connecting plate 41, the bottoms of the swing arms 42 are hinged to the top of the robot main machine, a swing arm push rod 43 is hinged to the top of the robot main machine, the output end of the swing arm push rod 43 is hinged to one end of one swing arm 42, the tops of one ends of the two groups of swing arms 42 are fixedly connected with traveling wheels 44 in a shaft-rotating mode, the other ends of the shaft portions of the two groups of traveling wheels 44 are respectively sleeved with a chain wheel 45 and a duplex chain wheel 46, the chain wheel 45 and the duplex chain wheel 46 are in chain transmission through a chain 47, one end of the group of swing arms 42 is provided with a traveling motor 48, the output end of the traveling motor 48 is provided with a driving chain wheel 49, the driving chain wheel 49 is in chain transmission with the outer side of the duplex chain wheel 46 through the chain, two groups of inclined plates are integrally arranged at the bottoms of the two groups of swing arms arranged on the arm connecting plate 41, the four groups of inclined plates are respectively hinged to the insides of four groups of strip-shaped through holes formed in the top of the robot main machine, the swing arms 43 drive the swing arms 42 to shift, so that the swing arms 42, the swing arms are used for the robot main machine to move the traveling wheels 44 to move onto a wire and perform related transfer;

the winding mechanism 5 comprises an optical axis 51, a reciprocating lead screw 52 and a scroll 53, the optical axis 51, the reciprocating lead screw 52 and the scroll 53 are sequentially arranged at the corner of one end of the robot host from top to bottom, a winding motor 54 is arranged at one end of the bottom of the robot host, the output end of the winding motor 54 is connected with the scroll 53, synchronizing wheels 55 are sleeved on one side of the shaft part of the scroll 53 and one side of the reciprocating lead screw 52, a synchronous belt 56 is sleeved on the outer sides of the two synchronizing wheels 55 together, a reciprocating slide block 57 is sleeved on the outer sides of the reciprocating lead screw 52 and the optical axis 51 together, two guide wheels 58 are rotatably connected to the top of the reciprocating slide block 57 in a fixed-axis manner, limiting discs are symmetrically arranged on two sides of the scroll 53 to limit the winding position of the lifting rope and correspond to the reciprocating lead screw 52 so as to match the reciprocating slide block 57 to move left and right, so as to smooth the lifting rope, a reciprocating nut is arranged at the bottom in the reciprocating slide block 57 and matched with the reciprocating lead screw 52, a slide hole is arranged at the top in the reciprocating slide block 57 and is connected with the optical axis 51 to rotate by the scroll 53 and drive the reciprocating lead screw 52 to move left and right, and the reciprocating lead screw 51 to drive the reciprocating guide rope to move by the reciprocating lead screw 51, and the reciprocating slide block 55 and the reciprocating lead screw 58 to drive the reciprocating lead screw to move;

the material pushing mechanism 6 comprises a screw nut 61, the screw nut 61 is located on one side of a robot host, a material pushing gear 62 is arranged on the outer side of the screw nut 61, a ball screw 63 is arranged inside the screw nut 61, a material pushing piston 64 is arranged on one side of the ball screw 63, a linear bearing 65 is arranged on one side of the robot host, a guide optical shaft 66 is sleeved inside the linear bearing 65, the ball screw 63 extends into the material cylinder 7, a material pushing motor 67 is arranged at a corner of one end of the bottom of the robot host, the material pushing motor 67 is in meshing transmission with the material pushing gear 62 through a transmission gear, a connecting plate 68 is sleeved on the ball screw 63 and one side of the outer side of the guide optical shaft 66 together to prevent the ball screw 63 from rotating, the guide optical shaft 66 is located outside the material cylinder 7 and is in sliding connection with the linear bearing 65, the guide optical shaft 66 is connected with one end of the ball screw 63 through the connecting plate 68 to perform radial limiting on the guide optical shaft, a U-shaped motor frame is installed on one side of the motor 67, the U-shaped motor frame is fixedly connected with the robot host, the transmission gear arranged at the output end of the material pushing motor 67, and the material pushing motor 67 is installed inside the U-shaped motor frame.

The working principle is as follows: in the light self-traction wire feeding and discharging insulation coating robot;

the winding mechanism 5 is used for winding and unwinding a lifting rope and adjusting the operation height of the robot host, wherein the lifting rope penetrates between the two groups of guide wheels 58 and is driven by a winding motor 54 to drive the reel 53 to rotate, and the lifting rope on the reel can be wound and unwound, so that the robot host is adjusted to a specified height, in the rotating process of the reel 53, the reciprocating screw rod 52 is driven to rotate through the transmission of the two groups of synchronous wheels 55 and the synchronous belt 56, the reciprocating slide block 57 is driven to move left and right through the limit of the optical axis 51 to drive the guide wheels 58 to move, and therefore the lifting rope is smoothed out, the winding is more tidy, and the winding and unwinding are more stable;

when the coating robot needs to be transferred, firstly, a lifting rope is wound through the winding mechanism 5, the robot host is lifted to a specified height, at the moment, the travelling wheels 44 are higher than the position of a wire, then the two groups of swing arms 42 and the arm connecting plate 41 are driven by the swing arm push rods 43 to deflect, the swing arms are completed, the robot descends, the two groups of travelling wheels 44 are hung on the wire, the driving chain wheel 49 is driven to rotate through the driving of the travelling motor 48, the double-row chain wheel 46 is driven to rotate through the driving chain wheel 49 and the chain thereon, and therefore the two groups of travelling wheels 44 are driven to synchronously rotate on the wire through chain transmission of the double-row chain wheel 46, the chain 47 and the chain wheel 45, and the robot host is driven to travel to the specified position on the wire;

the pushing mechanism 6 is used for pushing the paint in the material cylinder 7, wherein the driving of the pushing motor 67 drives the transmission gear thereon to rotate, so as to drive the pushing gear 62 to rotate, the pushing gear 62 drives the screw nut 61 to rotate, the radial limiting is performed on the ball screw 63 through the guiding optical axis 66 and the connecting plate 68, so that the ball screw 63 drives the pushing piston 64 to move back and forth in the material cylinder 7, and the pushing is realized.

Note: the utility model mainly aims at protecting the host machine of the light self-traction up-and-down insulation coating robot, and comprises a traveling mechanism 4 transferred on the wire, a hoisting mechanism 5 used for winding and unwinding a lifting rope and a material pushing mechanism 6 used for pushing the material in a material cylinder, wherein the overhead bare wire insulation coating device 1, the wire outer diameter measuring device 2 and the self-discharging hanger 3 belong to the whole machine component part and have made independent application; the aerial bare conductor insulation coating device 1 and the pushing mechanism 6 are respectively positioned at the left side and the right side of the robot host, and the balance point of the aerial bare conductor insulation coating device is still positioned at the central position between the two swing arms 42 in the traveling mechanism 4, so that the aerial work is ensured to be operated stably.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like indicate orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and simplicity of description, rather than to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" should be interpreted broadly, for example, as either a fixed connection or a detachable connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

Claims

1. The utility model provides a light-duty self-traction is on business turn over line insulation coating robot, includes robot host computer, built on stilts bare conductor insulation coating device (1), wire external diameter measuring device (2) and self-discharging hoist (3), its characterized in that: the robot main machine comprises a traveling mechanism (4), two groups of winding mechanisms (5) and a material pushing mechanism (6), wherein the traveling mechanism (4) is positioned at the top of the robot main machine, the two groups of winding mechanisms (5) are arranged, the two groups of winding mechanisms (5) are respectively positioned at the left corner and the right corner of the two ends of the bottom of the robot main machine, the material pushing mechanism (6) is positioned at the bottom of one side of the robot main machine, and a material barrel (7) is arranged at the bottom of the robot main machine;

running gear (4) are including arm connecting plate (41), swing arm (42) are installed to the bilateral symmetry at arm connecting plate (41) both ends, and the bottom of swing arm (42) all articulates with the top of robot, the top of robot articulates there is swing arm push rod (43), the output of swing arm push rod (43) is articulated mutually with the one end of a set of swing arm (42), and the top of two sets of swing arm (42) one end is all decided the axle and is rotated and be connected with walking wheel (44), and the other end of two sets of walking wheel (44) axial region is overlapped respectively and is equipped with sprocket (45) and double sprocket (46), sprocket (45) and double sprocket (46) carry out chain drive through chain (47), and a set of the one end of swing arm (42) is equipped with walking motor (48), the output of walking motor (48) is equipped with driving sprocket (49), and driving sprocket (49) carry out chain drive through the outside of chain and double sprocket (46);

the winding mechanism (5) comprises an optical shaft (51), a reciprocating screw rod (52) and a winding shaft (53), the optical shaft (51), the reciprocating screw rod (52) and the winding shaft (53) are sequentially arranged at the corner of one end of the robot host from top to bottom, a winding motor (54) is arranged at one end of the bottom of the robot host, the output end of the winding motor (54) is connected with the winding shaft (53), synchronizing wheels (55) are sleeved on one side of the shaft part of the winding shaft (53) and one side of the reciprocating screw rod (52), a synchronous belt (56) is sleeved on the outer sides of the two groups of synchronizing wheels (55), a reciprocating slide block (57) is sleeved on the outer sides of the reciprocating screw rod (52) and the optical shaft (51), and two groups of guide wheels (58) are rotatably connected to the top of the reciprocating slide block (57) in a fixed-axis manner;

pushing equipment (6) include screw-nut (61), screw-nut (61) are located robot host computer one side, the outside of screw-nut (61) is equipped with pushes away material gear (62), the inside of screw-nut (61) is equipped with ball screw (63), one side of ball screw (63) is equipped with pushes away material piston (64), one side of robot host computer is equipped with linear bearing (65), the inside cover of linear bearing (65) is equipped with direction optical axis (66), ball screw (63) extend to the inside of feed cylinder (7), the corner of robot host computer bottom one end is equipped with pushes away material motor (67), push away material motor (67) through drive gear with push away material gear (62) meshing transmission, ball screw (63) and the common cover in one side in direction optical axis (66) outside are equipped with connecting plate (68).

2. The light self-traction wire-loading and wire-unloading insulation coating robot as claimed in claim 1, wherein: the bottom of the two groups of swing arms mounted on the arm connecting plate (41) is integrally provided with two groups of inclined plates, and the four groups of inclined plates are respectively hinged with the insides of the four groups of strip-shaped through holes formed in the top of the robot main machine.

3. The light self-traction wire-loading and wire-unloading insulation coating robot as claimed in claim 1, wherein: and limiting discs are symmetrically arranged on two sides of the reel (53).

4. The light self-traction wire-up and wire-down insulation coating robot of claim 1, wherein: reciprocating screw rod nuts are arranged at the bottom in the reciprocating sliding block (57) and are matched with the reciprocating screw rods (52), sliding holes are formed in the top in the reciprocating sliding block (57) and are in sliding connection with the optical axis (51).

5. The light self-traction wire-up and wire-down insulation coating robot of claim 1, wherein: the guide optical axis (66) is located outside the charging barrel (7), and the guide optical axis (66) is connected with the linear bearing (65) in a sliding mode.

6. The light self-traction wire-up and wire-down insulation coating robot of claim 1, wherein: a U-shaped motor frame is installed on one side of the material pushing motor (67), the U-shaped motor frame is fixedly connected with the robot host, and a transmission gear arranged at the output end of the material pushing motor (67) is located inside the U-shaped motor frame.