A power transmission line operation robot

Abstract

The present invention is applicable to the field of power transmission line operation robots, and provides a power transmission line operation robot, including a bracket, the bracket is fixedly connected to a maintenance machine, and also includes: a support seat, fixedly connected to the bracket, the support seat is connected to a driving mechanism, the driving mechanism can rotate continuously, a limiting roller is provided on one side of the driving mechanism, both ends of the limiting roller are rotatably connected to a rotating seat, the rotating seat is slidably connected to the support seat, and the limiting roller can clamp the power transmission line together with the driving mechanism; an adjustment mechanism, connected between the rotating seat and the support seat; a clearing mechanism, rotatably connected to the support seat; a balancing mechanism, connected to the bracket, and the balancing mechanism includes a driving member and a clamping assembly. This power transmission line operation robot drives the entire device to move on the power transmission line by continuously rotating through the driving mechanism.

Description

Technical Field

[0001] The invention belongs to the field of power transmission line operation robots, and in particular relates to a power transmission line operation robot. Background Art

[0002] Since transmission lines and tower accessories are exposed to the wild for a long time, they will be affected by continuous mechanical tension, electrical flashover, and material aging, resulting in damage such as broken strands, wear, and corrosion. If they are not repaired and replaced in time, the original minor damage and defects may expand. The line inspection robot can cross the hardware on the line, such as suspension clamps, shock-absorbing hammers, spacers, shielding rings, etc., and automatically walk along the line to detect the aging of the cables.

[0003] Existing operating robots have complex structures, unstable centers of gravity, are difficult to control, have poor line-grasping capabilities, and are prone to falling off, thus causing danger and losses, and are very inconvenient to use.

[0004] In order to avoid the above technical problems, it is necessary to provide a power transmission line operation robot to overcome the above defects in the prior art. Summary of the invention

[0005] The object of the present invention is to provide a power transmission line operation robot, aiming to solve the problems of the existing operation robots, such as complex structure, unstable center of gravity, difficult control and poor line grasping ability.

[0006] The present invention is implemented as follows: a power transmission line operation robot comprises a bracket, the bracket is fixedly connected to a maintenance machine, and further comprises:

[0007] A support seat is fixedly connected to the bracket, the support seat is connected to a driving mechanism, the driving mechanism can rotate continuously, a limiting roller is arranged on one side of the driving mechanism, both ends of the limiting roller are rotatably connected to a rotating seat, the rotating seat is slidably connected to the support seat, and the limiting roller can clamp the power transmission line together with the driving mechanism;

[0008] An adjusting mechanism, connected between the rotating seat and the supporting seat, and used for adjusting the preload force between the limiting roller and the transmission line;

[0009] A cleaning mechanism is rotatably connected to the support seat, and is used to clean dirt on the surface of the transmission line. At the same time, driven by the driving mechanism, the cleaning mechanism can shake the dirt off the surface of the transmission line through continuous oscillation;

[0010] The balancing mechanism is connected to the bracket, and the balancing mechanism includes a driving member and a clamping assembly. The driving member can drive the clamping assembly to slide along the surface of the bracket, and the clamping assembly is used to elastically clamp the power transmission line.

[0011] According to a further technical solution, the driving mechanism comprises a motor and a driving roller, wherein the driving roller is rotatably connected to the support seat, the motor is fixedly connected to the support seat, and the output shaft of the motor is connected to the driving roller.

[0012] According to a further technical solution, the adjustment mechanism includes a guide rod, a No. 1 spring and a thrust assembly, wherein the guide rod is fixedly connected to the side end surface of the support seat, and the guide rod is slidably connected to the rotating seat, the No. 1 spring is sleeved on the outside of the guide rod, and the thrust assembly can push the No. 1 spring to elastically expand and contract.

[0013] According to a further technical solution, the thrust assembly includes a frame and a threaded rod, the frame is arranged on one side of the limiting roller, and the guide rods are connected through the side walls of the frame, the threaded rod is rotatably connected to the support seat, and the threaded rod is threadedly connected to the frame.

[0014] A further technical solution is that the cleaning mechanism includes a scraper, a connecting rod and a No. 2 spring. The support seat is rotatably connected to the two scrapers through an elastic torsion spring. The two opposite surfaces of the two scrapers are both arc-shaped surfaces. Each scraper is rotatably connected to a connecting rod. The two connecting rods are rotatably connected. The No. 2 spring is connected between the two connecting rods. One end of the driving roller is fixedly connected to a cam, and the cam abuts against a connecting rod.

[0015] According to a further technical solution, the clamping assembly includes a sliding seat, two arc-shaped connecting rods, a No. 3 spring and two arc-shaped tubes;

[0016] The two arc-shaped connecting rods are both rotatably connected with the sliding seat, the third spring is connected between the two arc-shaped connecting rods, and each arc-shaped connecting rod is rotatably connected with an arc-shaped tube.

[0017] According to a further technical solution, the driving member is a rotating rod, on which two sections of threads in opposite directions are arranged, and each section of the threads is connected to a sliding seat.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] The present invention provides a power transmission line operation robot, which passes the power transmission line between the limiting roller and the driving mechanism, the limiting roller elastically clamps the power transmission line, and the driving mechanism continuously rotates to drive the entire device to move on the power transmission line, and the preload force between the limiting roller and the power transmission line can be adjusted by the adjusting mechanism;

[0020] The present invention provides a power transmission line operation robot. When a driving mechanism drives the entire device to move on the power transmission line, the clamping assembly is used to elastically clamp adjacent power transmission lines, thereby ensuring the stability of the entire device. The driving member drives the clamping assembly to slide along the surface of the bracket, thereby adjusting the spacing between the clamping assemblies.

[0021] The present invention provides a power transmission line operation robot. When a driving mechanism drives the entire device to move on the power transmission line, a cleaning mechanism is used to clean dirt on the surface of the power transmission line. At the same time, driven by the driving mechanism, the cleaning mechanism can shake the dirt off the surface of the power transmission line through continuous oscillation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 for Figure 1 Schematic diagram of the enlarged structure of the A area in the middle;

[0024] Figure 3 for Figure 1 Cross-sectional view in the BB direction;

[0025] Figure 4 for Figure 1 Schematic diagram of the enlarged structure of the middle C region;

[0026] Figure 5 It is a schematic diagram of the connection between the support seat, the limiting roller and the driving roller;

[0027] Figure 6 It is a schematic diagram of the structure of the scraper.

[0028] In the accompanying drawings: bracket 1, supporting seat 2, driving mechanism 3, motor 31, driving roller 32, limiting roller 4, rotating seat 5, adjusting mechanism 6, guide rod 61, No. 1 spring 62, thrust assembly 63, frame 631, threaded rod 632, cleaning mechanism 7, scraper 71, connecting rod 72, No. 2 spring 73, balancing mechanism 8, driving member 81, clamping assembly 82, sliding seat 821, two arc-shaped connecting rods 822, No. 3 spring 823, arc-shaped tube 824, and maintenance machine 9. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0030] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0031] like Figure 1 and Figure 5 As shown, a power transmission line operation robot provided by the present invention includes a bracket 1, to which a maintenance machine 9 is fixedly connected, and further includes:

[0032] The support seat 2 is fixedly connected to the bracket 1, and the support seat 2 is connected to a driving mechanism 3, and the driving mechanism 3 can rotate continuously. A limiting roller 4 is provided on one side of the driving mechanism 3, and both ends of the limiting roller 4 are rotatably connected to a rotating seat 5, and the rotating seat 5 is slidably connected to the support seat 2. The limiting roller 4 can clamp the power transmission line together with the driving mechanism 3;

[0033] An adjusting mechanism 6, connected between the rotating seat 5 and the supporting seat 2, the adjusting mechanism 6 is used to adjust the preload force between the limiting roller 4 and the transmission line;

[0034] A cleaning mechanism 7 is rotatably connected to the support base 2. The cleaning mechanism 7 is used to clean dirt on the surface of the transmission line. At the same time, driven by the driving mechanism 3, the cleaning mechanism 7 can shake off the dirt from the surface of the transmission line through continuous oscillation;

[0035] The balancing mechanism 8 is connected to the bracket 1, and includes a driving member 81 and a clamping assembly 82. The driving member 81 can drive the clamping assembly 82 to slide along the surface of the bracket 1, and the clamping assembly 82 is used to elastically clamp the power transmission line.

[0036] This power transmission line operation robot passes the power transmission line between the limiting roller 4 and the driving mechanism 3. The limiting roller 4 elastically clamps the power transmission line, and the driving mechanism 3 continuously rotates to drive the entire device to move on the power transmission line. The preload force between the limiting roller 4 and the power transmission line can be adjusted by the adjusting mechanism 6.

[0037] When the driving mechanism 3 drives the entire device to move on the transmission line, the clamping assembly 82 is used to elastically clamp the adjacent transmission lines, thereby ensuring the stability of the entire device. The driving member 81 drives the clamping assembly 82 to slide along the surface of the bracket 1, thereby adjusting the spacing between the clamping assemblies 82;

[0038] When the driving mechanism 3 drives the entire device to move on the transmission line, the cleaning mechanism 7 is used to clean the dirt on the surface of the transmission line. At the same time, driven by the driving mechanism 3, the cleaning mechanism 7 can shake the dirt off the surface of the transmission line through continuous oscillation.

[0039] In the embodiment of the present invention, Figure 1 As shown, as a preferred embodiment of the present invention, the driving mechanism 3 includes a motor 31 and a driving roller 32, the driving roller 32 is rotatably connected to the support base 2, the motor 31 is fixedly connected to the support base 2, and the output shaft of the motor 31 is connected to the driving roller 32; the driving roller 32 is driven to rotate by the motor 31, the driving roller 32 and the limiting roller 4 clamp the transmission line, and the driving roller 32 drives the entire device to move on the transmission line.

[0040] In the embodiment of the present invention, Figure 2 As shown, as a preferred embodiment of the present invention, the adjustment mechanism 6 includes a guide rod 61, a No. 1 spring 62 and a thrust assembly 63, the guide rod 61 is fixedly connected to the side end surface of the support seat 2, and the guide rod 61 is slidably connected to the rotating seat 5, the No. 1 spring 62 is sleeved on the outside of the guide rod 61, and the thrust assembly 63 can push the No. 1 spring 62 to elastically expand and contract;

[0041] The guide rod 61 is used to guide and limit the rotating seat 5, and the No. 1 spring 62 pushes the limiting roller 4 and the driving roller 32 to elastically clamp the power transmission line.

[0042] In the embodiment of the present invention, Figure 2 As shown, as a preferred embodiment of the present invention, the thrust assembly 63 includes a frame 631 and a threaded rod 632, the frame 631 is arranged on one side of the limiting roller 4, and the guide rods 61 are connected through the side walls of the frame 631, the threaded rod 632 is rotatably connected to the support seat 2, and the threaded rod 632 is threadedly connected to the frame 631; the threaded rod 632 is rotated by hand, and the threaded rod 632 drives the frame 631 to slide along the guide rod 61, and the preload force of the No. 1 spring 62 is adjusted through the frame 631.

[0043] In the embodiment of the present invention, Figure 3 and Figure 6 As shown, as a preferred embodiment of the present invention, the cleaning mechanism 7 includes a scraper 71, a connecting rod 72 and a No. 2 spring 73. The support seat 2 is rotatably connected to the two scrapers 71 through an elastic torsion spring. The two opposite surfaces of the two scrapers 71 are both arc-shaped surfaces. Each scraper 71 is rotatably connected to a connecting rod 72. The two connecting rods 72 are rotatably connected. The No. 2 spring 73 is connected between the two connecting rods 72. One end of the driving roller 32 is fixedly connected to a cam 74, and the cam 74 abuts against a connecting rod 72. The dirt on the surface of the transmission line is scraped off by the two scrapers 71 to prevent the dirt from hindering the advancement of the device. The driving roller 32 drives the cam 74 to rotate, and the cam 74 pushes the connecting rod 72. Under the transmission action of the two connecting rods 72, the two scrapers 71 vibrate continuously, thereby shaking off the dirt on the scraper 71 and the surface of the transmission line.

[0044] In the embodiment of the present invention, Figure 4 As shown, as a preferred embodiment of the present invention, the clamping assembly 82 includes a sliding seat 821, two arc-shaped connecting rods 822, a third spring 823 and two arc-shaped tubes 824;

[0045] The two arc-shaped connecting rods 822 are rotatably connected to the sliding seat 821, the third spring 823 is connected between the two arc-shaped connecting rods 822, and each arc-shaped connecting rod 822 is rotatably connected to an arc-shaped tube 824;

[0046] The power transmission lines on both sides of the power transmission line under maintenance are clamped by the clamping assembly 82, thereby ensuring the stability of the entire device; under the action of the No. 3 spring 823, the two arc-shaped connecting rods 822 drive the corresponding arc-shaped tubes 824 to clamp the power transmission lines.

[0047] In the embodiment of the present invention, Figure 1 As shown, as a preferred embodiment of the present invention, the driving member 81 is a rotating rod, on which are provided two sections of threads in opposite directions, each section of threads is connected to a sliding seat 821; the rotating rod is rotated by hand, and the rotating rod drives the two sliding seats 821 to move relative to or towards each other, thereby adjusting the distance between the two clamping components 82.

[0048] This power transmission line operation robot passes the power transmission line between the limiting roller 4 and the driving roller 32. The limiting roller 4 elastically clamps the power transmission line, and the driving roller 32 is driven to rotate by the motor 31, and the driving roller 32 drives the entire device to move on the power transmission line;

[0049] The threaded rod 632 is rotated by hand, and the threaded rod 632 drives the frame 631 to slide along the guide rod 61, and the preload force of the first spring 62 is adjusted through the frame 631, thereby adjusting the preload force between the limit roller 4 and the transmission line;

[0050] When the driving roller 32 drives the entire device to move on the transmission line, the transmission lines on both sides of the inspection transmission line are clamped by the clamping assembly 82, thereby ensuring the stability of the entire device; under the action of the third spring 823, the two arc-shaped connecting rods 822 drive the corresponding arc-shaped tubes 824 to clamp the transmission line;

[0051] The rotating rod is rotated by hand, and the rotating rod drives the two sliding seats 821 to move relative to or towards each other, thereby adjusting the distance between the two clamping components 82;

[0052] When the driving roller 32 drives the entire device to move on the transmission line, the dirt on the surface of the transmission line is scraped off by the two scrapers 71, thereby preventing the dirt from hindering the advancement of the device; the driving roller 32 drives the cam 74 to rotate, and the cam 74 pushes the connecting rod 72. Under the transmission action of the two connecting rods 72, the two scrapers 71 continue to vibrate, thereby shaking off the dirt on the scrapers 71 and the surface of the transmission line.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0054] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A power transmission line operation robot, comprising a bracket, to which a maintenance machine is fixedly connected, characterized in that: Also includes: A support seat is fixedly connected to the bracket, the support seat is connected to a driving mechanism, the driving mechanism can rotate continuously, a limiting roller is arranged on one side of the driving mechanism, both ends of the limiting roller are rotatably connected to a rotating seat, the rotating seat is slidably connected to the support seat, and the limiting roller can clamp the power transmission line together with the driving mechanism; An adjusting mechanism, connected between the rotating seat and the supporting seat, and used for adjusting the preload force between the limiting roller and the transmission line; A cleaning mechanism is rotatably connected to the support seat, and is used to clean dirt on the surface of the transmission line. At the same time, driven by the driving mechanism, the cleaning mechanism can shake the dirt off the surface of the transmission line through continuous oscillation; A balancing mechanism connected to the bracket, the balancing mechanism comprising a driving member and a clamping assembly, the driving member can drive the clamping assembly to slide along the surface of the bracket, and the clamping assembly is used to elastically clamp the power transmission line; The driving mechanism comprises a motor and a driving roller, wherein the driving roller is rotatably connected to the support seat, the motor is fixedly connected to the support seat, and the output shaft of the motor is connected to the driving roller; The adjustment mechanism includes a guide rod, a No. 1 spring and a thrust assembly, wherein the guide rod is fixedly connected to the side end surface of the support seat, and the guide rod is slidably connected to the rotating seat, the No. 1 spring is sleeved on the outside of the guide rod, and the thrust assembly can push the No. 1 spring to elastically expand and contract; The thrust assembly includes a frame and a threaded rod, the frame is arranged on one side of the limiting roller, and the guide rods are connected through the side wall of the frame, the threaded rod is rotatably connected to the support seat, and the threaded rod is threadedly connected to the frame; The cleaning mechanism includes a scraper, a connecting rod and a second spring. The support seat is rotatably connected to two scrapers through an elastic torsion spring. The two opposite surfaces of the two scrapers are both arc-shaped surfaces. Each scraper is rotatably connected to a connecting rod. The two connecting rods are rotatably connected. The second spring is connected between the two connecting rods. One end of the driving roller is fixedly connected to a cam, and the cam abuts against a connecting rod. The clamping assembly includes a sliding seat, two arc-shaped connecting rods, a No. 3 spring and two arc-shaped tubes; The two arc-shaped connecting rods are both rotatably connected with the sliding seat, the third spring is connected between the two arc-shaped connecting rods, and each arc-shaped connecting rod is rotatably connected with an arc-shaped tube.

2. The power transmission line operation robot according to claim 1, characterized in that: The driving member is a rotating rod, on which two sections of threads in opposite directions are arranged, and each section of the threads is connected to a sliding seat.

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