A power transmission and distribution line adaptive body turning on and off line robot

Abstract

The application belongs to the field of automatic robots, and provides a power transmission and distribution line adaptive rotary body on-off line robot. The robot comprises a robot main body, two hanging arms are arranged on the robot main body, a walking wheel assembly is arranged on the hanging arm, the top of the hanging arm is a guide block with a guide edge, the guide edges of the two guide blocks are both arranged to be inclined inward and downward, and the hanging arm is further rotationally connected with a rotary guide arm through a reset assembly. A tiger mouth is opened inward at the end of the rotary guide arm. Therefore, the power transmission and distribution line adaptive rotary body on-off line robot in the application realizes autonomous on-line and off-line in the process of on-line and off-line, improves the adaptability to the working environment, and makes the on-line and off-line process more efficient and fast.

Description

Technical Field

[0001] This invention belongs to the field of automated robots, and in particular relates to an adaptive rotating robot for loading and unloading power transmission and distribution lines. Background Technology

[0002] In high-altitude operations on power transmission and distribution lines, such as insulation coating of bare overhead conductors, and line construction and subsequent line maintenance, including clearing tree obstructions and other debris within the safety range of the line, and disconnecting diversion lines, it is necessary to travel along the cable line to carry out construction and operations. Due to the high risks of manual operation, the use of robots is becoming increasingly frequent. Currently, widely used robots need to frequently open and close their swing arms when working on and off the conductors, which is relatively cumbersome, inefficient, and involves complex mechanical control, as well as being large and heavy. Summary of the Invention

[0003] In view of the above problems, the purpose of this invention is to provide an adaptive rotating robot for power transmission and distribution lines, which aims to solve the problem that existing power transmission and distribution line operation robots cannot achieve fully autonomous line hanging and unhanging.

[0004] The present invention adopts the following technical solution:

[0005] The adaptive rotating loading and unloading robot for power transmission and distribution lines includes a robot body with two booms on it. The booms are equipped with a wheel assembly. The top of the booms is a guide block with a guide edge. The guide edges of both guide blocks are inclined inward and downward. The booms are also rotatably connected to a swivel arm via a reset assembly. The end of the swivel arm has a tiger's mouth opening inward.

[0006] Furthermore, each of the booms is equipped with a clamping wheel assembly, which includes an electric push rod. The output shaft of the electric push rod is connected to a base plate via an elastic buffer column, and two clamping wheels are rotatably connected to the base plate.

[0007] Furthermore, the traveling wheel assembly includes a traveling wheel, which is rotatably mounted on the top of the boom, and a traveling motor is mounted at the bottom of the boom. The output shaft of the traveling motor is connected to the traveling wheel via a synchronous belt.

[0008] Furthermore, the reset component is a plunger spring, and the top of the slewing arm is rotatably mounted to the boom via a plug screw, with one end of the plunger spring acting on the slewing arm.

[0009] Furthermore, the boom is also equipped with a conductor position sensing plate that can move with the conductor, and the boom is also equipped with a position sensor for sensing the position of the conductor position sensing plate. A limiting screw that cooperates with the conductor position sensing plate is also provided on the boom near the position sensor.

[0010] Furthermore, the boom is also equipped with a guide frame that cooperates with the slewing arm, and the plunger spring is installed inside the guide frame.

[0011] Furthermore, the side wall of the boom is provided with a strip-shaped hole along its length, and a movable rod is fixedly connected to the base plate. The movable rod passes through the strip-shaped hole and is equipped with a slider.

[0012] The beneficial effects of this invention are as follows: This invention provides an adaptive rotating robot for loading and unloading power transmission and distribution lines. This robot has a relatively simple structure, is lightweight and compact, and is easy to assemble, disassemble, and maintain, with low operating costs. This robot uses a guide block and a rotating arm at the top of the boom to twist the conductor, thereby rotating the overall angle of the robot. The wheels adaptively avoid the conductor, eliminating the need for boom swing control to complete the loading and unloading of conductors. The control is simple, the structure is reliable, and the operation is highly efficient. This robot uses a plunger spring to reset the rotating arm, which is simple and efficient. The robot is equipped with a position sensor to sense the conductor's position. The robot moves according to the signals emitted by the position sensor, thereby achieving automated operation. Attached Figure Description

[0013] Figure 1 This is a partial three-dimensional structural diagram of the adaptive rotating loading and unloading robot for power transmission and distribution lines provided by the present invention. Figure 1 .

[0014] Figure 2 This is a partial three-dimensional structural diagram of the adaptive rotating loading and unloading robot for power transmission and distribution lines provided by the present invention. Figure 2 .

[0015] Figure 3 The present invention describes the working steps of the adaptive rotating loading and unloading robot for power transmission and distribution lines when loading the conductor. Figure 1 .

[0016] Figure 4 The present invention describes the working steps of the adaptive rotating loading and unloading robot for power transmission and distribution lines when loading the conductor. Figure 2 .

[0017] Figure 5 The present invention describes the working steps of the adaptive rotating loading and unloading robot for power transmission and distribution lines when loading the conductor. Figure 3 .

[0018] Figure 6The present invention describes the working steps of the adaptive rotating loading and unloading robot for power transmission and distribution lines when loading the conductor. Figure 4 .

[0019] Figure 7 The present invention describes the working steps of the adaptive rotating loading and unloading robot for power transmission and distribution lines when loading the conductor. Figure 5 .

[0020] Figure 8 The present invention describes the working steps of the adaptive rotating loading and unloading robot for power transmission and distribution lines during the unloading of conductors. Figure 1 .

[0021] Figure 9 The present invention describes the working steps of the adaptive rotating loading and unloading robot for power transmission and distribution lines during the unloading of conductors. Figure 2 .

[0022] Figure 10 The present invention describes the working steps of the adaptive rotating loading and unloading robot for power transmission and distribution lines during the unloading of conductors. Figure 3 .

[0023] Figure 11 The present invention describes the working steps of the adaptive rotating loading and unloading robot for power transmission and distribution lines during the unloading of conductors. Figure 4 .

[0024] Figure 12 The present invention describes the working steps of the adaptive rotating loading and unloading robot for power transmission and distribution lines during the unloading of conductors. Figure 5 .

[0025] Figure 13 The robot provided by this invention is in Figure 11 Schematic diagram of a locally magnified structure in the state Figure 1 .

[0026] Figure 14 The robot provided by this invention is in Figure 11 Schematic diagram of a locally magnified structure in the state Figure 2 . Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention.

[0028] To illustrate the technical solution described in this invention, specific embodiments are described below.

[0029] For ease of explanation, only the parts relevant to the embodiments of the present invention are shown.

[0030] Combination Figure 1 , Figure 3 and Figure 4 As shown, this embodiment provides an adaptive rotating loading and unloading robot for power transmission and distribution lines, including a robot body 1. The robot body 1 is equipped with two booms 2, and the booms 2 are also equipped with a walking wheel assembly 3. The top of the booms 2 is a guide block 21 with a guide edge. The guide edges of the two guide blocks 21 are both inclined inward and downward. The booms 2 are also rotatably connected to a rotating arm 5 through a reset assembly 4. The end of the rotating arm 5 has a tiger's mouth 51 that opens inward. The booms 2 are also equipped with a guide frame 6 that cooperates with the rotating arm 5.

[0031] In this robot, the inclined guide edge on the guide block provides a guiding path for the wire. The robot rises by traction, and after the wire passes through the guide block, the robot twists, and the wire is hooked into the wire-hanging groove formed by the upper end of the guide arm's gripper and the lower part of the walking wheel assembly, thus completing the wire-hanging operation. At this time, the wire also cooperates with the walking wheel assembly. When wire removal is needed, the robot is first pulled upwards, and the wire is half-grabbed into the gripper's gripper between the two guide arms. Then, the robot descends, the gripper's outward pushing action on the wire, the guide arms flip outwards, the robot twists, and finally the guide arms detach from the wire and return to their initial position, thus achieving the wire removal operation. After wire removal, the guide arms fall back under gravity, and the reset component controls the guide arms to return to their initial state, preparing for loading and unloading again. During the wire removal operation, the guide frame constantly controls the swing range of the guide arms, and the reset component can drive the guide arms to reset in time, thus ensuring the stable functioning of the guide arms.

[0032] Combination Figure 1 and Figure 3 As shown, in a preferred configuration, the walking wheel assembly 3 includes a walking wheel 31, which is rotatably mounted on the top of the boom 2. A walking motor 32 is mounted on the bottom of the boom 2, and the output shaft of the walking motor 32 is connected to the walking wheel 31 via a synchronous belt 33. The groove of the walking wheel contacts a guide wire, and the walking motor drives the walking wheel to rotate, thereby enabling the robot to walk. Alternatively, the walking motor can be directly mounted on the top of the boom to directly drive the walking wheel; this solution is also within the scope of this invention.

[0033] Combination Figure 1 As shown, in this structure, the reset component 4 provides a restoring force to the slewing arm. In one specific configuration, the reset component 4 is a plunger spring. The top of the slewing arm 5 is rotatably mounted to the boom 2 via a stop screw 10, and one end of the plunger spring acts on the slewing arm 5. Additionally, there is a guide frame 6 on the side wall of the boom, and the plunger spring is housed within the guide frame 6. The guide frame 6 limits the rotation of the slewing arm 5, improving rotational stability, and the plunger spring drives the slewing arm to reset. Alternatively, the top of the slewing arm 5 can be directly mounted to the boom via a torsion spring, also achieving the reset function.

[0034] Combination Figure 2 , Figure 13 and Figure 14 As shown, in a preferred configuration, the boom 2 is further equipped with a conductor position sensing plate 7 that moves with the conductor. The boom 2 also has a position sensor 8 for sensing the position of the conductor position sensing plate 7. A limiting screw 11, which cooperates with the conductor position sensing plate 7, is located near the position sensor 8 on the boom 2. When the conductor position sensing plate moves with the conductor and reaches the position of the limiting screw, the position sensor detects the conductor position sensing plate. The position sensor determines the position of the conductor based on the position of the conductor position sensing plate and sends a signal in real time. The robot then performs ascending and descending operations based on the signal, thus achieving automated operation.

[0035] When this adaptive rotating robot for power transmission and distribution lines is working, its first task is to attach the conductor. The robot rises, and the conductor first touches the top of the inclined guide edge on the guide block. Then, the conductor moves downwards along the inclined guide edge, while the robot twists until the conductor touches the lowest point of the inclined guide edge. The conductor then returns to its position under the wheels. At this point, the robot's twist angle returns to normal, and the conductor position sensor moves with the conductor and moves away from the limit screw and displacement sensor. The displacement sensor immediately sends a signal, and the robot stops rising, completing the conductor attachment. After the conductor returns to its position under the wheels, the walking motor drives the wheels to rotate, causing the robot to move along the conductor's axis, thus enabling the robot to perform its walking task.

[0036] When the wire unloading operation is about to begin, the robot rises again, and the wire pushes the guide arm outward. The wire position sensor plate also rotates with the wire. When the wire enters the slot on the guide arm, the guide arm automatically resets via the plunger spring. The slot on the guide arm half-grips the wire, and the wire position sensor plate rests against the limit screw again. After the displacement sensor detects the wire position sensor plate, it immediately sends a signal, and the robot begins to descend. The guide arm pushes the wire outward, and the entire robot twists again. When the wire passes the traveling wheel and is above the traveling wheel, the wire disengages from the guide arm, and the robot's twist angle automatically recovers, completing the wire unloading operation.

[0037] In this robot, to ensure stable walking, a preferred structure is combined with... Figure 2 and 3As shown, each of the booms 2 is equipped with a clamping wheel assembly 9. The clamping wheel assembly 9 includes an electric push rod 91. A base plate 93 is connected to the output shaft of the electric push rod 91 via an elastic buffer post 92. Two clamping wheels 94 are rotatably connected to the base plate 93. A strip-shaped hole 22 along the length of the boom 2 is opened on its side wall. A movable rod is also fixed to the base plate. The movable rod passes through the strip-shaped hole 22 and is fitted with a slider 95 to ensure the stability of the two clamping wheels 94 in vertical movement. After the upper guide wire is completed, when the guide wire returns to below the traveling wheel, the output shaft of the electric push rod drives the clamping wheels to move upwards, clamping the guide wire and preventing it from detaching from the traveling wheel. The elastic buffer post 92 provides a buffering effect, maintaining the clamping force of the clamping wheels on the guide wire. Alternatively, the elastic buffer post can be omitted, and the electric push rod can directly drive the clamping wheels; the number of clamping wheels is also variable.

[0038] In summary, this invention provides an adaptive rotating robot for loading and unloading power transmission and distribution lines. This robot has a simple structure, is lightweight and compact, and is easy to assemble, disassemble, and maintain, with low operating costs. The robot uses a guide block and a swivel arm at the top of the boom to twist the conductor, thereby rotating the overall angle of the robot. The wheels adaptively avoid the conductor, eliminating the need for boom swing control to complete the loading and unloading of conductors. The control is simple, the structure is reliable, and the operation is highly efficient. The robot uses a plunger spring to reset the swivel arm, which is simple and efficient. The robot is equipped with a position sensor to sense the conductor's position; the robot moves according to the signals emitted by the position sensor, thus achieving automated operation.

[0039] The above description is merely 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 invention should be included within the protection scope of the present invention.

Claims

1. A self-adaptive rotating loading and unloading robot for power transmission and distribution lines, comprising a robot body with two booms mounted on the robot body, characterized in that, The boom is equipped with a traveling wheel assembly, and the top of the boom has guide blocks with guide edges. The guide edges of both guide blocks are inclined inward and downward. When the wire passes through the guide blocks, the robot twists as a whole. The boom is also rotatably connected to a swivel arm through a reset assembly. The end of the swivel arm has a forked opening. The reset assembly is a plunger spring, and one end of the plunger spring acts on the swivel arm. The boom is also equipped with a wire position sensing plate that can move with the wire, and a position sensor for sensing the position of the wire position sensing plate is also provided on the boom.

2. The adaptive rotating loading and unloading robot for power transmission and distribution lines according to claim 1, characterized in that, Each boom is equipped with a clamping wheel assembly, which includes an electric push rod. The output shaft of the electric push rod is connected to a base plate via an elastic buffer column, and two clamping wheels are rotatably connected to the base plate.

3. The adaptive rotating loading and unloading robot for power transmission and distribution lines according to claim 1 or 2, characterized in that, The traveling wheel assembly includes a traveling wheel, which is rotatably mounted on the top of the boom. A traveling motor is mounted at the bottom of the boom, and the output shaft of the traveling motor is connected to the traveling wheel via a synchronous belt.

4. The adaptive rotating loading and unloading robot for power transmission and distribution lines according to claim 3, characterized in that, The top of the slewing arm is rotatably mounted to the boom via a stop screw.

5. The adaptive rotating loading and unloading robot for power transmission and distribution lines according to claim 4, characterized in that, Limit screws are also installed on the boom near the position sensor.

6. The adaptive rotating loading and unloading robot for power transmission and distribution lines according to claim 5, characterized in that, The boom is also equipped with a guide frame that cooperates with the slewing arm, and the plunger spring is installed inside the guide frame.

7. The adaptive rotating loading and unloading robot for power transmission and distribution lines according to claim 2, characterized in that, The side wall of the boom has a strip-shaped hole along its length, and a movable rod is fixedly connected to the base plate. The movable rod passes through the strip-shaped hole and is equipped with a slider.

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