Special wrench for high-voltage line inspection robot operation

Abstract

The invention discloses a special operation wrench for a high-voltage power line patrol inspection robot. The special operation wrench comprises a wrench head, a wrench arm, a handle and a handle head, which are connected in sequence and integrally shaped like Z; two ratchet mechanisms rotating in opposite directions are respectively arranged on the two ends of the wrench head to form two unidirectional intermittent rotation actions in different directions for transferring unidirectional torque; the wrench head is matched with the cylindrical end of the wrench arm through a radial hole in the middle of the wrench head, and the wrench head is positioned through a spring and a convex point on the other side of the wrench head, so that the wrench head can rotate around the wrench arm to selectively use the ratchet mechanisms in different directions, and the reversing is very convenient; the wrench head can be replaced according to different sizes of bolts or nuts. The handle is connected with the tail end of the wrench arm through a bolt and a thrust bearing, so as to rotate around the axis of the handle; a handle sphere is mounted at the tail end of the handle through threaded connection and forms a movable connection similar to a spherical hinge with a clip of a robot end effector, so that the gesture requirements on the robot end effector is reduced, and the operation of the robot is facilitated.

Description

technical field [0001] The invention relates to a robot operation and hardware tool, in particular to a special wrench for high-voltage line inspection robot operation, which can be used for operations such as dismantling anti-vibration hammers on high-voltage transmission lines, and can also be used as a manual tool. Background technique [0002] High-altitude operations such as daily maintenance of high-voltage transmission lines are basically done manually. These high-altitude operations include adjusting anti-vibration hammers, removing hanging objects on high-voltage lines, and winding pre-twisted wires. Due to the challenging and dangerous nature of such work at heights, the use of robots will be an effective solution to perform these tasks in place of humans. [0003] At present, some high-voltage line inspection robots have been developed at home and abroad, but they often only have the function of moving along the line and lack of operation functions. When adjustin...

AI Technical Summary

Problems solved by technology

However, due to the limitations of driving torque, degree of freedom, working space or configuration, it is difficult for the manipulator arm to directly operate the threaded connection with the end effector, and it is necessary to use a tool such as a wrench like a human being.

[0004] At present, although there are various wrenches for manual use in hardware tools, and because the end effector of the operating arm lacks the dexterity of a human hand, it is difficult for the ordinary wrench used by humans to be used by robots. Therefore, it is necessary to design and develop a suitable wrench. wrench for robot

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