A pre-twisted wire protection strip installation robot for overhead power lines

Abstract

The present invention discloses a preformed wire protective strip installation robot for overhead power lines, comprising: The preformed wire end clamping mechanism includes an end frame, an upper half flange, a driving wheel assembly, and an end clamping assembly; The preformed wire pressing mechanism includes a pressing frame, a first ring assembly rotatably mounted on the pressing frame, and a first rotation driving mechanism for driving the first ring assembly to rotate; The preformed wire winding mechanism includes a winding frame, a second ring assembly rotatably mounted on the winding frame, and a second rotation driving mechanism for driving the second ring assembly to rotate. The installation robot of the present invention can automatically walk to the position where the preformed wire needs to be installed on the cable, and automatically wind and wrap the preformed wire around the cable. It has a high degree of automation, can greatly improve the working efficiency of preformed wire winding, brings convenience to the staff, basically eliminates the need for manual operation by the staff, and reduces the operation risk coefficient of the staff.

Description

Technical Field

[0001] The present invention relates to the technical field of power maintenance tools, and in particular to a robot for installing preformed armor rods on overhead power lines. Background Art

[0002] Preformed armor rods are generally made of aluminum-magnesium alloy or steel-cored aluminum stranded wire, and are a kind of plastic material with relatively high strength. They are pre-twisted by several single-strand spiral metal wires. According to the cross-sectional size of the wire, the spiral metal wire with a specified inner diameter is rotated in the spiral direction to form a tubular cavity. The preformed armor rod is spirally coated on the outer layer of the wire. Under the action of the wire tension, the spiral rotates, and the greater the anchoring force - the grip force on the wire is.

[0003] The installation of preformed armor rods on overhead power lines has always been a difficult point. It requires maintenance workers to carry several preformed armor rods several meters long and climb from the ground to the top of the electric tower. And at high altitude, like a stuntman, straddle on a single transmission line and move little by little to the damaged position. The whole operation process is very dangerous. And there is no special tool for installing preformed armor rods, which completely depends on the installation skills and work experience of the workers. The traditional installation method requires several groups of preformed armor rods to be manually wound one by one, one by one, and one pitch by one. And the preformed armor rod has a large elastic force. The "one-hand grab" process widely used in manual operation is very laborious. The preformed armor rod is relatively long and has a large strength. It is not easy to wind by pure manual work, and the operation time is long. For workers with low skill levels, it is difficult to find the best stress point, which is likely to cause the failure of the first installation, and it is also easy to have problems such as the preformed armor rod repair strips crossing each other or the end face being uneven after installation, or large winding gaps, unbeautiful appearance, insufficient crimping and fastening, etc. When using a screwdriver to perform "prying and prying" operations on the end of the preformed armor rod, there is also a possibility of damaging the wire. In addition, during the later use process, the end of the preformed armor rod repair strip is easy to spread and shift, and in severe cases, even the phenomenon of high-altitude falling objects will occur. For example, the Chinese invention patent application (publication number: CN 105048362 A, publication date: November 11, 2015) discloses a preformed armor rod winding tool and winding method for repairing transmission wires. This solution is more time-saving and labor-saving compared with the existing technology of manually winding preformed armor rods. It not only reduces the working intensity of the operators, but also improves the work efficiency. At the same time, when this tool rotates and winds the preformed armor rod, it can also reduce the winding gap of the preformed armor rod and improve the process quality.

[0004] To a certain extent, this solution is indeed more time-saving and labor-saving compared with pure manual work. However, when the winding tool of this solution is specifically used, it still requires the staff to rotate the handle to realize the winding work of the preformed armor rod on the cable, and it cannot achieve automatic operation, and the work efficiency is still relatively low. Summary of the Invention

[0005] The object of the present invention is to provide a preformed wire protector installation robot for overhead power lines to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A preformed wire protector installation robot for overhead power lines, comprising:

[0008] A preformed wire end clamping mechanism, including an end frame, an upper half flange, a driving wheel assembly and an end clamping assembly. The upper end of the end frame is integrally provided with a lower half flange, and the upper half flange is assembled on the upper end of the lower half flange; a plurality of driving wheel assemblies for driving the preformed wire end clamping mechanism to move along the cable and a plurality of end clamping assemblies for clamping the ends of the preformed wire are distributed and installed on the inner circumferences of the upper half flange and the lower half flange;

[0009] A preformed wire pressing mechanism, including a pressing frame, a first ring component rotatably installed on the pressing frame and a first rotation driving mechanism for driving the first ring component to rotate. A plurality of pressing wheel assemblies for rotating and rubbing the ends of the preformed wire are distributed and installed on the inner circumference of the first ring component;

[0010] A preformed wire winding mechanism, including a winding frame, a second ring component rotatably installed on the winding frame and a second rotation driving mechanism for driving the second ring component to rotate. A plurality of clip positioning assemblies for pulling the preformed wire and a plurality of positioning wheel assemblies for rolling and moving along the cable are distributed and installed on the inner circumference of the second ring component;

[0011] The front end of the end frame is docked with the pressing frame through a first transverse telescopic element, and the front end of the pressing frame is docked with the winding frame through a second transverse telescopic element.

[0012] As a further solution of the present invention, the right end of the lower half flange is docked with the right end of the upper half flange through a first telescopic element, and the first telescopic element is used to drive the closing or separation between the upper half flange and the lower half flange.

[0013] As a further solution of the present invention, the first ring component includes an upper half ring one and a lower half ring one. The right end of the lower half ring one is docked with the right end of the upper half ring one through a second telescopic element, and the second telescopic element is used to drive the closing or separation between the upper half ring one and the lower half ring one;

[0014] The second ring component includes an upper half ring two and a lower half ring two. The right end of the lower half ring two is docked with the right end of the upper half ring two through a third telescopic element, and the third telescopic element is used to drive the closing or separation between the upper half ring two and the lower half ring two.

[0015] As a further solution of the present invention, semi-circular step grooves I are provided on the rear end faces of the upper semi-circular ring I and the lower semi-circular ring I, and semi-circular step protrusions I are provided on the front end faces of the upper semi-circular ring I and the lower semi-circular ring I;

[0016] A pressing frame semi-circular housing is integrally provided at the upper end of the pressing frame. The pressing frame semi-circular housing is fixedly installed with a pressing frame semi-circular end cover through bolts. A rear semi-circular wear-resistant sleeve I for cooperating with the semi-circular step groove I is fixedly installed on the inner side wall of the pressing frame semi-circular housing, and a front semi-circular wear-resistant sleeve I for cooperating with the semi-circular step protrusion I is fixedly installed on the inner side wall of the pressing frame semi-circular end cover;

[0017] The structure of the present invention is reasonably designed. The pressing frame semi-circular housing is in sliding cooperation with the semi-circular step groove I through the rear semi-circular wear-resistant sleeve I, and the pressing frame semi-circular end cover is in sliding cooperation with the semi-circular step protrusion I through the front semi-circular wear-resistant sleeve I, so as to stably limit the entire ring assembly I, and the ring assembly I can rotate relative to the pressing frame.

[0018] Semi-circular step grooves II are provided on the rear end faces of the upper semi-circular ring II and the lower semi-circular ring II, and semi-circular step protrusions II are provided on the front end faces of the upper semi-circular ring II and the lower semi-circular ring II;

[0019] A winding frame semi-circular housing is integrally provided at the upper end of the winding frame. The winding frame semi-circular housing is fixedly installed with a winding frame semi-circular end cover through bolts. A rear semi-circular wear-resistant sleeve II for cooperating with the semi-circular step groove II is fixedly installed on the inner side wall of the winding frame semi-circular housing, and a front semi-circular wear-resistant sleeve II for cooperating with the semi-circular step protrusion II is fixedly installed on the inner side wall of the winding frame semi-circular end cover.

[0020] As a further solution of the present invention, the rotation driving mechanism I includes a rotation driving motor I. The rotation driving motor I is fixedly installed on the pressing frame, and a driving gear I is fixedly installed at the output end of the rotation driving motor I;

[0021] Tooth blocks I are distributed on the circumferential outer walls of the upper semi-circular ring I and the lower semi-circular ring I. After the upper semi-circular ring I and the lower semi-circular ring I are closed, a gear ring I is formed. The gear ring I is meshed and connected with the driving gear I; when the rotation driving motor I is started, the driving gear I can be driven to rotate, and the rotating driving gear I can drive the gear ring I formed by closing the upper semi-circular ring I and the lower semi-circular ring I to rotate.

[0022] The rotation driving mechanism II includes a rotation driving motor II. The rotation driving motor II is fixedly installed on the winding frame, and a driving gear II is fixedly installed at the output end of the rotation driving motor II;

[0023] Tooth blocks two are distributed on the circumferential outer walls of the upper semi-ring two and the lower semi-ring two. After the upper semi-ring two and the lower semi-ring two are closed, a tooth ring two is formed, and the tooth ring two is meshed and connected with the driving gear two.

[0024] As a further solution of the present invention, the driving wheel assembly includes a driving support seat, a driving telescopic element, a driving wheel frame, a driving wheel and a driving motor. The end of the driving support seat is fixedly installed on the circumferential inner wall of the upper semi-flange or the lower semi-flange. A driving telescopic element is fixedly installed on the driving support seat. The telescopic end of the driving telescopic element is fixedly connected with the driving wheel frame. A driving wheel for contacting the cable is rotatably installed on the driving wheel frame. A driving motor is also fixedly installed on the side wall of the driving wheel frame, and the output end of the driving motor is drivingly connected with the shaft end of the driving wheel. By extending or shortening the driving telescopic element, the driving wheel is controlled to press against, lean on or disengage from the cable.

[0025] As a further solution of the present invention, the end clamping assembly and the clip positioning assembly have the same structural settings. The end clamping assembly includes a clip support seat, a clip telescopic element, a clamping block and a limiting clip frame. The end of the clip support seat is fixedly installed on the circumferential inner wall of the upper semi-flange, the lower semi-flange, the upper semi-ring two or the lower semi-ring two. A clip telescopic element is fixedly installed on the clip support seat, and the telescopic end of the clip telescopic element is fixedly connected with the clamping block;

[0026] A pair of limiting clip frames are also fixedly installed on the clip support seat. The end of the limiting clip frame has a limiting block, and the limiting block cooperates with the clamping block to clamp the preformed strand.

[0027] As a further solution of the present invention, the pressing wheel assembly and the positioning wheel assembly have the same structural settings. The positioning wheel assembly includes a roller support seat, a roller telescopic element, a roller wheel frame and a roller. The end of the roller support seat is fixedly installed on the circumferential inner wall of the upper semi-ring one, the lower semi-ring one, the upper semi-ring two or the lower semi-ring two. A roller telescopic element is fixedly installed on the roller support seat, and the telescopic end of the roller telescopic element is fixedly connected with the roller wheel frame. A roller for contacting the cable is rotatably installed on the roller wheel frame.

[0028] As a further solution of the present invention, lifting rings are also fixedly installed on the side walls of the end frame, the pressing frame and the winding frame. By providing the lifting rings, it is convenient to lift the entire installation robot to the high-altitude position where the cable is located.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 1. The installation robot of the present invention can pre-clamp each preformed wire before use. During use, driven by the driving wheel assembly, it can automatically walk to the part of the cable where the preformed wire needs to be installed and automatically wind and wrap the preformed wire around the cable. It has a high degree of automation, can greatly improve the working efficiency of preformed wire winding, brings convenience to the staff, basically eliminates the need for manual operation by the staff, and reduces the operation risk coefficient of the staff;

[0031] 2. In the installation robot of the present invention, the closing or disengagement of the upper semi-flange and the lower semi-flange can be electrically controlled, and the closing or disengagement of the first ring component and the second ring component can also be controlled, which is convenient for sleeving the installation robot onto the cable and is easy to operate;

[0032] 3. The installation robot of the present invention is provided with a driving wheel assembly. Through the driving wheel assembly, not only can the entire installation robot be driven to walk along the cable, but also the cable can be clamped tightly when necessary to play a braking role, eliminating the need for an additional braking structure, which is beneficial to reducing the weight of the equipment;

[0033] 4. In the installation robot of the present invention, the preformed wire winding mechanism is provided with a plurality of clip positioning components for pulling the preformed wire and a plurality of positioning wheel components for rolling and walking along the cable. The positioning wheel components cooperate with the driving wheel assembly to make the central axes of the flange ring, the first ring component and the second ring component coincide with the central axis of the cable, playing a role of stable support and ensuring the subsequent winding of the preformed wire can be completed; the clamping force of the clamping block of the clip positioning component on the preformed wire is relatively small, or the clamping block does not apply a clamping force to the preformed wire. During the winding process of the preformed wire, the preformed wire can slide relative to the clip positioning component. Such a setting can further ensure the winding and wrapping effect of the preformed wire;

[0034] 5. In the installation robot of the present invention, the pressing wheel assembly can not only press the preformed wire, but also twist the end of the preformed wire to ensure that the entire preformed wire can be well wound around the cable, basically eliminating the need for manual operation. The overall structure design is reasonable, which can not only simplify the complexity of the equipment structure, but also is beneficial to reducing the overall weight of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a three-dimensional structural schematic diagram when the present invention is installed with the cable;

[0036] Figure 2 is a three-dimensional structural schematic diagram of the first perspective after the present invention is assembled with the cable;

[0037] Figure 3 is a three-dimensional structural schematic diagram of the second perspective after the present invention is assembled with the cable;

[0038] Figure 4Schematic perspective view of the clamping mechanism at the end of the preformed wire in the present invention;

[0039] Figure 5 Schematic perspective view of the clamping mechanism at the end of the preformed wire in the present invention when it is opened;

[0040] Figure 6 This is the present invention Figure 5 Enlarged structural schematic view of part A;

[0041] Figure 7 Schematic perspective view of the driving wheel assembly in the present invention;

[0042] Figure 8 Schematic side view of the driving wheel assembly in the present invention;

[0043] Figure 9 Schematic perspective view of the end clamping assembly in the present invention;

[0044] Figure 10 Schematic side view of the end clamping assembly in the present invention;

[0045] Figure 11 Schematic perspective view of the first perspective of the preformed wire pressing mechanism in the present invention;

[0046] Figure 12 Schematic perspective view of the preformed wire pressing mechanism in the present invention when it is opened;

[0047] Figure 13 This is the present invention Figure 12 Enlarged structural schematic view of part C;

[0048] Figure 14 Schematic sectional view of the preformed wire pressing mechanism in the present invention;

[0049] Figure 15 Schematic perspective view of the second perspective of the preformed wire pressing mechanism in the present invention;

[0050] Figure 16 Schematic perspective view of the preformed wire pressing mechanism in the present invention after hiding the semi - ring end cover of the pressing frame;

[0051] Figure 17 Schematic perspective view of the first perspective of the preformed wire winding mechanism in the present invention;

[0052] Figure 18 Schematic perspective view of the preformed wire winding mechanism in the present invention when it is opened;

[0053] Figure 19 This is the present invention Figure 18 Enlarged structural schematic view of part B;

[0054] Figure 20 It is a schematic cross-sectional structure diagram of the preformed strand winding mechanism in the present invention;

[0055] Figure 21 It is a schematic three-dimensional structure diagram of the preformed strand winding mechanism in the present invention from a second perspective;

[0056] Figure 22 It is a schematic three-dimensional structure diagram of the preformed strand winding mechanism in the present invention after hiding the half-ring end cover of the winding frame.

[0057] In the figure: 100 - cable, 200 - preformed strand, 300 - preformed strand end clamping mechanism, 400 - preformed strand pressing mechanism, 500 - preformed strand winding mechanism, 600 - lifting ring, 700 - first lateral telescopic element, 800 - second lateral telescopic element, 1 - end frame, 11 - lower half flange, 111 - flange insertion convex part, 12 - upper half flange, 13 - first telescopic element, 2 - driving wheel assembly, 21 - driving support seat, 22 - driving telescopic element, 23 - driving wheel frame, 24 - driving wheel, 25 - driving motor, 3 - end clamping assembly, 31 - clip support seat, 32 - limiting clip frame, 33 - limiting block, 34 - clip telescopic element, 35 - clamping block, 4 - pressing frame, 41 - half-ring housing of the pressing frame, 411 - half-ring end cover of the pressing frame, 412 - first rear half-ring wear-resistant sleeve, 413 - first front half-ring wear-resistant sleeve, 42 - first rotating driving motor, 43 - first driving gear, 5 - first upper half-ring, 51 - first lower half-ring, 52 - second telescopic element, 53 - first ring insertion convex part, 54 - first half-ring step groove, 55 - first half-ring step convex part, 6 - pressing wheel assembly, 7 - winding frame, 71 - half-ring housing of the winding frame, 711 - half-ring end cover of the winding frame, 712 - second rear half-ring wear-resistant sleeve, 713 - second front half-ring wear-resistant sleeve, 72 - second rotating driving motor, 73 - second driving gear, 8 - second upper half-ring, 81 - second lower half-ring, 82 - third telescopic element, 83 - second ring insertion convex part, 84 - second half-ring step groove, 85 - second half-ring step convex part, 9 - positioning wheel assembly, 91 - roller support seat, 92 - roller telescopic element, 93 - roller frame, 94 - roller, 10 - clip positioning assembly. Detailed implementation manners

[0058] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0059] Please refer to Figures 1 - 22, a preformed wire protective strip installation robot for overhead power lines, comprising: a preformed wire end clamping mechanism 300, including an end frame 1, an upper half flange 12, a driving wheel assembly 2 and an end clamping assembly 3. The upper end of the end frame 1 is integrally provided with a lower half flange 11, and the upper half flange 12 is assembled on the upper end of the lower half flange 11. After the upper half flange 12 and the lower half flange 11 are closed, a flange ring is formed; a plurality of driving wheel assemblies 2 for driving the preformed wire end clamping mechanism 300 to move along the cable 100 and a plurality of end clamping assemblies 3 for clamping the ends of the preformed wire 200 are distributed and installed on the inner circumferences of the upper half flange 12 and the lower half flange 11;

[0060] A preformed wire pressing mechanism 400, including a pressing frame 4, a first ring assembly rotatably installed on the pressing frame 4, and a first rotation driving mechanism for driving the first ring assembly to rotate. The first ring assembly can be closed or disengaged, and a plurality of pressing wheel assemblies 6 for twisting the ends of the preformed wire 200 are distributed and installed on the inner circumference of the first ring assembly;

[0061] A preformed wire winding mechanism 500, including a winding frame 7, a second ring assembly rotatably installed on the winding frame 7, and a second rotation driving mechanism for driving the second ring assembly to rotate. The second ring assembly can be closed or disengaged, and a plurality of clip positioning assemblies 10 for pulling the preformed wire 200 and a plurality of positioning wheel assemblies 9 for rolling and moving along the cable 100 are distributed and installed on the inner circumference of the second ring assembly;

[0062] The front end of the end frame 1 is butted with the pressing frame 4 through a first transverse telescopic element 700. In this embodiment, the first transverse telescopic element 700 can adopt a multi-stage electric telescopic cylinder. The front end of the pressing frame 4 is butted with the winding frame 7 through a second transverse telescopic element 800. In this embodiment, the second transverse telescopic element 800 can adopt a common telescopic rod with a locking function in the prior art to adjust the distance between the pressing frame 4 and the winding frame 7. Lifting rings 600 are also fixedly installed on the side walls of the end frame 1, the pressing frame 4 and the winding frame 7. By providing the lifting rings 600, it is convenient to lift the entire installation robot to the high-altitude position where the cable is located.

[0063] The working principle of the present invention is as follows: In the initial state, the upper half flange 12 and the lower half flange 11 are disengaged, and both the ring component one and the ring component two are in a disengaged state. Each preformed strand 200 is sequentially passed through the corresponding clip positioning component 10 and the corresponding end clamping component 3. The end of the preformed strand 200 is clamped by the end clamping component 3, and the preformed strand 200 is clamped by the clip positioning component 10. The clip positioning component 10 only applies a preset clamping force to the preformed strand 200. When the winding tension of the preformed strand 200 is relatively large, the preformed strand 200 can slide relative to the clip positioning component 10, while the other end of the preformed strand 200 is in a cantilever state without external force applied.

[0064] Then, the upper half flange 12, the ring component one, and the ring component two are all sleeved onto the cable 100. Then, the upper half flange 12 and the lower half flange 11 are closed. At the same time, the ring component one and the ring component two are driven to close.

[0065] Next, each driving wheel assembly 2 acts to wrap around the cable 100, and each positioning wheel assembly 9 also acts to wrap around the cable 100, so that the central axes of the flange ring, the ring component one, and the ring component two coincide with the central axis of the cable 100.

[0066] Then, the driving wheel assembly 2 starts to operate, driving the entire installation robot to move forward along the cable 100. When the robot walks to the position where the preformed strand 200 needs to be installed, the driving wheel assembly 2 stops operating.

[0067] Next, the cable 100 is clamped by the driving wheel assembly 2. At this time, the preformed strand end clamping mechanism 300 and the cable 100 are in a clamped state. Although each positioning wheel assembly 9 still wraps around the cable 100, the positioning wheel assembly 9 is in a point contact state with the cable 100, and the friction force is very small, which does not affect the rotation of the ring component two. At this time, the positioning wheel assembly 9 only plays a positioning and supporting role. With the cooperation of the positioning wheel assembly 9 and the driving wheel assembly 2, the central axes of the flange ring, the ring component one, and the ring component two coincide with the central axis of the cable 100.

[0068] Next, the rotation driving mechanism two drives the entire ring component two and each clip positioning component 10 to rotate, and first completely wraps and winds the preformed strand 200 around the cable 100 between the end frame 1 and the winding frame 7.

[0069] After the above winding operation is completed, each pressing wheel assembly 6 acts and presses against the wound preformed wire 200. Then, the first lateral telescopic element 700 is activated and begins to gradually extend. At the same time, the first rotation drive mechanism also starts to drive the entire first ring assembly to rotate. Each pressing wheel assembly 6 can play the role of pressing and rotating and rubbing. During this process, on the one hand, the preformed wire winding mechanism 500 can gradually wind the preformed wire 200 onto the cable 100. On the other hand, the preformed wire pressing mechanism 400 can synchronously press and rotate and rub the wound preformed wire 200 to ensure that the preformed wire 200 is tightly wrapped around the cable 100.

[0070] After all the preformed wire 200 is wound, the clamp positioning assembly 10 of the preformed wire winding mechanism 500 disengages from the preformed wire 200. The rotating pressing wheel assembly 6 can continue to press and rotate and rub the preformed wire 200 at the end, and can completely press and wrap the preformed wire 200 at the end around the cable 100. Then, the first rotation drive mechanism and the second rotation drive mechanism stop working.

[0071] Finally, the positioning wheel assembly 9 resets and disengages from the cable 100. The pressing wheel assembly 6 no longer presses against the preformed wire 200 and only remains in contact with the wound preformed wire. Similarly, the pressing wheel assembly 6 is in a point contact state with the cable 100 and the friction force is very small. Then, the first lateral telescopic element 700 contracts, the preformed wire pressing mechanism 400 and the preformed wire winding mechanism 500 reset. At this time, the first lateral telescopic element 700 still has a preset contraction stroke. Then, the end clamping assembly 3 releases the rear end of the preformed wire 200, and the driving wheel assembly 2 slightly loosens the cable 100 (but still wraps around the cable 100). The driving wheel assembly 2 starts to operate and drives the entire installation robot to walk backward along the cable 100. When the preformed wire pressing mechanism 400 reaches the rear end position of the preformed wire 200, the driving wheel assembly 2 continues to clamp the cable 100, and the pressing wheel assembly 6 continues to press against the preformed wire 200. Then, the first rotation drive mechanism drives the entire first ring assembly to rotate in the reverse direction, and each pressing wheel assembly 6 presses and rotates and rubs the preformed wire 200 at the rear end. After processing, the winding work is completed.

[0072] As a specific solution of the present invention, please refer to Figure 5 , the right end of the lower half flange 11 is docked with the right end of the upper half flange 12 through the first telescopic element 13. The first telescopic element 13 is used to drive the closing or disengagement between the upper half flange 12 and the lower half flange 11. Obviously, the first telescopic element 13 in this embodiment can adopt an electric telescopic cylinder.

[0073] To ensure that the lower half flange 11 can stably remain in a closed state with the upper half flange 12, a flange insertion convex portion 111 is further provided at the left end of the lower half flange 11, and a flange insertion groove for cooperating with the flange insertion convex portion 111 is provided at the left end of the upper half flange 12.

[0074] Among them, please refer to Figure 12 , the first ring component includes an upper half ring 5 and a lower half ring 51. The right end of the lower half ring 51 is docked with the right end of the upper half ring 5 through a second telescopic element 52. The second telescopic element 52 is used to drive the closing or disengagement between the upper half ring 5 and the lower half ring 51. Obviously, the second telescopic element 52 in this embodiment can also adopt an electric telescopic cylinder;

[0075] Similarly, to ensure that the lower half ring 51 can stably remain in a closed state with the upper half ring 5, a ring insertion convex portion one 53 is further provided at the left end of the lower half ring 51, and a ring insertion groove one for cooperating with the ring insertion convex portion one 53 is provided at the left end of the upper half ring 5.

[0076] Please refer to Figure 18 , the second ring component includes an upper half ring 8 and a lower half ring 81. The right end of the lower half ring 81 is docked with the right end of the upper half ring 8 through a third telescopic element 82. The third telescopic element 82 is used to drive the closing or disengagement between the upper half ring 8 and the lower half ring 81. Obviously, the third telescopic element 82 in this embodiment can also adopt an electric telescopic cylinder.

[0077] Similarly, to ensure that the lower half ring 81 can stably remain in a closed state with the upper half ring 8, a ring insertion convex portion two 83 is further provided at the left end of the lower half ring 81, and a ring insertion groove two for cooperating with the ring insertion convex portion two 83 is provided at the left end of the upper half ring 8.

[0078] As a specific implementation, please refer to Figures 13 - 14 , semi-circular step grooves one 54 are provided on the rear end faces of both the upper half ring 5 and the lower half ring 51, and semi-circular step convex portions one 55 are provided on the front end faces of both the upper half ring 5 and the lower half ring 51;

[0079] A pressing frame semi-ring housing 41 is integrally provided at the upper end of the pressing frame 4. The pressing frame semi-ring housing 41 is fixedly installed with a pressing frame semi-ring end cover 411 through bolts. A rear semi-circular wear-resistant sleeve one 412 for cooperating with the semi-circular step groove one 54 is fixedly installed on the inner side wall of the pressing frame semi-ring housing 41, and a front semi-circular wear-resistant sleeve one 413 for cooperating with the semi-circular step convex portion one 55 is fixedly installed on the inner side wall of the pressing frame semi-ring end cover 411.

[0080] In this embodiment, the above structure is reasonably designed. The semi-circular housing 41 of the pressing frame is slidably engaged with the first semi-circular step groove 54 through the rear semi-circular wear-resistant sleeve 412, and the semi-circular end cover 411 of the pressing frame is slidably engaged with the first semi-circular step protrusion 55 through the front semi-circular wear-resistant sleeve 413. Thus, the entire first ring assembly can be stably limited, and the first ring assembly can rotate relative to the pressing frame 4.

[0081] To supply power to the components installed on the first ring assembly, the first ring assembly can be made of insulating material. The front semi-circular wear-resistant sleeve 413 and the rear semi-circular wear-resistant sleeve 412 can be made of metal conductive wear-resistant sleeves, and corresponding arc-shaped conductive sheets can be fixedly installed at the first semi-circular step groove 54 and the first semi-circular step protrusion 55. Even if the first ring assembly rotates, it can play a good role in power conduction.

[0082] Among them, please refer to Figures 19 - 20 , semi-circular step grooves 84 are provided on the rear end faces of the upper semi-ring 8 and the lower semi-ring 81, and semi-circular step protrusions 85 are provided on the front end faces of the upper semi-ring 8 and the lower semi-ring 81;

[0083] A winding frame semi-circular housing 71 is integrally provided at the upper end of the winding frame 7. The winding frame semi-circular housing 71 is fixedly installed with a winding frame semi-circular end cover 711 through bolts. A rear semi-circular wear-resistant sleeve 712 for cooperating with the semi-circular step groove 84 is fixedly installed on the inner side wall of the winding frame semi-circular housing 71, and a front semi-circular wear-resistant sleeve 713 for cooperating with the semi-circular step protrusion 85 is fixedly installed on the inner side wall of the winding frame semi-circular end cover 711. In this embodiment, the assembly structure principle of the second ring assembly is basically similar to that of the aforementioned first ring assembly, and will not be elaborated here.

[0084] In the embodiment of the present invention, please refer to Figures 14 - 16 , the first rotation drive mechanism includes a first rotation drive motor 42. The first rotation drive motor 42 is fixedly installed on the pressing frame 4, and a first driving gear 43 is fixedly installed at the output end of the first rotation drive motor 42; Tooth blocks 1 are distributed on the circumferential outer walls of the upper semi-ring 5 and the lower semi-ring 51. After the upper semi-ring 5 and the lower semi-ring 51 are closed, a first gear ring is formed, and the first gear ring is meshed with the first driving gear 43.

[0085] The working principle of the first rotation drive mechanism is as follows: When it is necessary to drive the upper semi-ring 5 and the lower semi-ring 51 to rotate, the first rotation drive motor 42 is started, driving the first driving gear 43 to rotate. The rotating first driving gear 43 can drive the first gear ring formed by closing the upper semi-ring 5 and the lower semi-ring 51 to rotate.

[0086] In the embodiment of the present invention, please refer to Figures 20 - 22, the second rotation driving mechanism includes a second rotation driving motor 72 which is fixedly installed on the winding rack 7, and a second driving gear 73 is fixedly installed at the output end of the second rotation driving motor 72; tooth blocks 2 are distributed on the circumferential outer walls of the upper half ring 8 and the lower half ring 81, and after the upper half ring 8 and the lower half ring 81 are closed, a second gear ring is formed, and the second gear ring is meshed and connected with the second driving gear 73.

[0087] In this embodiment, the working principle of the second rotation driving mechanism is basically the same as that of the first rotation driving mechanism, and will not be elaborated here.

[0088] As a specific solution of the present invention, please refer to Figures 7 - 8 , the driving wheel assembly 2 includes a driving support base 21, a driving telescopic element 22, a driving wheel frame 23, a driving wheel 24 and a driving motor 25. The end of the driving support base 21 is fixedly installed on the circumferential inner wall of the upper half flange 12 or the lower half flange 11. A driving telescopic element 22 is fixedly installed on the driving support base 21. Obviously, the driving telescopic element 22 can also be an electric telescopic cylinder. The telescopic end of the driving telescopic element 22 is fixedly connected with the driving wheel frame 23. A driving wheel 24 for contacting the cable 100 is rotatably installed on the driving wheel frame 23. A driving motor 25 is also fixedly installed on the side wall of the driving wheel frame 23, and the output end of the driving motor 25 is drivingly connected with the shaft end of the driving wheel 24. Obviously, the driving motor 25 can be a torque motor, which can apply a "braking torque" when the driving wheel assembly 2 clamps the cable 100 to ensure stable clamping.

[0089] The working principle of the driving wheel assembly 2 is as follows: by extending or shortening the driving telescopic element 22, the driving wheel 24 is controlled to press against, lean on or disengage from the cable 100;

[0090] When the entire installation robot needs to drive and move along the cable 100, each driving telescopic element 22 adjusts the extended length so that each driving wheel 24 leans on the cable 100. Then, the driving motor 25 rotates forward or backward, and the entire installation robot can be driven to move forward or backward along the cable 100.

[0091] As a specific solution of the present invention, please refer to Figures 9 - 10 , the end clamping assembly 3 and the clip positioning assembly 10 have the same structural settings. The end clamping assembly 3 includes a clip support base 31, a clip telescopic element 34, a clamping block 35 and a limiting clip frame 32. The end of the clip support base 31 is fixedly installed on the circumferential inner walls of the upper half flange 12, the lower half flange 11, the upper half ring 8 or the lower half ring 81. A clip telescopic element 34 is fixedly installed on the clip support base 31. The telescopic end of the clip telescopic element 34 is fixedly connected with the clamping block 35. Obviously, the clip telescopic element 34 can be an electric telescopic cylinder;

[0092] A pair of limiting clip holders 32 are also fixedly installed on the clip support base 31. The end of the limiting clip holder 32 has a limiting block 33, and the limiting block 33 cooperates with the clamping block 35 to clamp the preformed strand 200.

[0093] The working principle of the end clamping assembly 3 is as follows: The rear end of the preformed strand 200 is passed between the limiting block 33 and the clamping block 35. By the elongation of the clip telescopic element 34, the clamping block 35 approaches the limiting block 33, thereby clamping the rear end of the preformed strand 200. During the process of the installation robot winding the preformed strand 200, the rear end of the preformed strand 200 remains in a stable clamped state.

[0094] When the clip positioning assembly 10 is specifically used, the clamping force of the clamping block 35 of the clip positioning assembly 10 on the preformed strand 200 is relatively small, or the clamping block 35 does not apply a clamping force to the preformed strand 200. During the winding process of the preformed strand 200, the preformed strand 200 can slide relative to the clip positioning assembly 10. Such a setting can further ensure the winding and coating effect of the preformed strand 200.

[0095] As a specific solution of the present invention, please refer to Figures 12 - 13 、 Figures 18 - 19 , the pressing wheel assembly 6 and the positioning wheel assembly 9 have the same structural settings, but their installation angles are different. The positioning wheel assembly 9 includes a roller support base 91, a roller telescopic element 92, a roller holder 93, and a roller 94. The end of the roller support base 91 is fixedly installed on the circumferential inner wall of the upper half ring 5, the lower half ring 51, the upper half ring 8, or the lower half ring 81. A roller telescopic element 92 is fixedly installed on the roller support base 91. The telescopic end of the roller telescopic element 92 is fixedly connected to the roller holder 93. A roller 94 for contacting the cable 100 is rotatably installed on the roller holder 93. Obviously, the roller telescopic element 92 can adopt an electric telescopic cylinder.

[0096] The working principle of the positioning wheel assembly 9 is as follows: By the elongation or shortening of the roller telescopic element 92, the roller 94 is controlled to abut against or move away from the cable 100. The positioning wheel assembly 9 cooperates with the driving wheel assembly 2, which can make the central axes of the flange ring, the first ring assembly, and the second ring assembly coincide with the central axis of the cable 100, playing a role of stable support and ensuring that the subsequent winding of the preformed strand 200 can be completed.

[0097] When the pressing wheel assembly 6 is specifically used, by the elongation or shortening of the roller telescopic element 92 of the pressing wheel assembly 6, the roller 94 of the pressing wheel assembly 6 is controlled to abut against or move away from the wound preformed strand 200. Cooperating with the first rotation driving mechanism, the wound preformed strand 200 can be pressed and rubbed, ensuring that the entire preformed strand 200 can be well wound on the cable 100, and basically no manual operation is required.

[0098] In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only relational terms determined for the convenience of describing the structural relationships of various components or elements of the present invention, and do not specifically refer to any component or element in the present invention. They should not be construed as limiting the present invention.

Claims

1. A preformed wire protector installation robot for overhead power lines, characterized in that, Comprising: The preformed strand end clamping mechanism (300) includes an end frame (1), an upper half flange (12), a driving wheel assembly (2), and an end clamping assembly (3). The upper end of the end frame (1) is integrally provided with a lower half flange (11), and the upper end of the lower half flange (11) is assembled with the upper half flange (12); a plurality of driving wheel assemblies (2) for driving the preformed strand end clamping mechanism (300) to travel along the cable (100) and a plurality of end clamping assemblies (3) for clamping the ends of the preformed strands (200) are distributed and installed within the circumferential inner circles of the upper half flange (12) and the lower half flange (11); The preformed strand pressing mechanism (400) includes a pressing frame (4), a first ring assembly rotatably installed on the pressing frame (4), and a first rotation driving mechanism for driving the first ring assembly to rotate. A plurality of pressing wheel assemblies (6) for twisting the ends of the preformed strands (200) are distributed and installed within the circumferential inner circle of the first ring assembly; The preformed strand winding mechanism (500) includes a winding frame (7), a second ring assembly rotatably installed on the winding frame (7), and a second rotation driving mechanism for driving the second ring assembly to rotate. A plurality of clip positioning assemblies (10) for pulling the preformed strands (200) and a plurality of positioning wheel assemblies (9) for rolling and traveling along the cable (100) are distributed and installed within the circumferential inner circle of the second ring assembly; The end clamping assembly (3) and the clip positioning assembly (10) have the same structural settings. The end clamping assembly (3) includes a clip support seat (31), a clip telescopic element (34), a clamping block (35), and a limiting clip holder (32). The end of the clip support seat (31) is fixedly installed on the circumferential inner wall of the upper half flange (12), the lower half flange (11), the upper half ring two (8), or the lower half ring two (81). A clip telescopic element (34) is fixedly installed on the clip support seat (31), and the telescopic end of the clip telescopic element (34) is fixedly connected to the clamping block (35); A pair of limiting clip holders (32) are also fixedly installed on the clip support seat (31). The end of the limiting clip holder (32) has a limiting block (33), and the limiting block (33) cooperates with the clamping block (35) to clamp the preformed strand (200); The pressing wheel assembly (6) and the positioning wheel assembly (9) have the same structural settings. The positioning wheel assembly (9) includes a roller support seat (91), a roller telescopic element (92), a roller frame (93), and a roller (94). The end of the roller support seat (91) is fixedly installed on the circumferential inner wall of the upper half ring one (5), the lower half ring one (51), the upper half ring two (8), or the lower half ring two (81). A roller telescopic element (92) is fixedly installed on the roller support seat (91), the telescopic end of the roller telescopic element (92) is fixedly connected to the roller frame (93), and a roller (94) for contacting the cable (100) is rotatably installed on the roller frame (93); The front end of the said end frame (1) is docked with the pressing frame (4) through the first lateral telescopic element (700), and the front end of the pressing frame (4) is docked with the winding frame (7) through the second lateral telescopic element (800).

2. The installation robot for preformed armor rods of overhead power lines according to claim 1, wherein The right end of the said lower half flange (11) is docked with the right end of the upper half flange (12) through the first telescopic element (13), and the first telescopic element (13) is used to drive the closing or disengagement between the upper half flange (12) and the lower half flange (11).

3. The installation robot for preformed armor rods of overhead power lines according to claim 2, wherein, The first ring assembly includes the upper half ring one (5) and the lower half ring one (51). The right end of the lower half ring one (51) is docked with the right end of the upper half ring one (5) through the second telescopic element (52), and the second telescopic element (52) is used to drive the closing or disengagement between the upper half ring one (5) and the lower half ring one (51); The second ring assembly includes the upper half ring two (8) and the lower half ring two (81). The right end of the lower half ring two (81) is docked with the right end of the upper half ring two (8) through the third telescopic element (82), and the third telescopic element (82) is used to drive the closing or disengagement between the upper half ring two (8) and the lower half ring two (81).

4. The installation robot for preformed armor rods of overhead power lines according to claim 3, characterized in that, The rear end faces of the upper half ring one (5) and the lower half ring one (51) are both provided with the first semi-circular step grooves (54), and the front end faces of the upper half ring one (5) and the lower half ring one (51) are both provided with the first semi-circular step protrusions (55); The upper end of the said pressing frame (4) is integrally provided with a pressing frame semi-ring housing (41). The pressing frame semi-ring housing (41) is fixedly installed with a pressing frame semi-ring end cover (411) through bolts. The inner side wall of the pressing frame semi-ring housing (41) is fixedly installed with a rear semi-circular wear-resistant sleeve one (412) for cooperating with the first semi-circular step groove (54), and the inner side wall of the pressing frame semi-ring end cover (411) is fixedly installed with a front semi-circular wear-resistant sleeve one (413) for cooperating with the first semi-circular step protrusion (55); The rear end faces of the upper half ring two (8) and the lower half ring two (81) are both provided with the second semi-circular step grooves (84), and the front end faces of the upper half ring two (8) and the lower half ring two (81) are both provided with the second semi-circular step protrusions (85); The upper end of the said winding frame (7) is integrally provided with a winding frame semi-ring housing (71). The winding frame semi-ring housing (71) is fixedly installed with a winding frame semi-ring end cover (711) through bolts. The inner side wall of the winding frame semi-ring housing (71) is fixedly installed with a rear semi-circular wear-resistant sleeve two (712) for cooperating with the second semi-circular step groove (84), and the inner side wall of the winding frame semi-ring end cover (711) is fixedly installed with a front semi-circular wear-resistant sleeve two (713) for cooperating with the second semi-circular step protrusion (85).

5. The installation robot for preformed armor rods of overhead power lines according to claim 4, characterized in that, The first rotation driving mechanism includes a first rotation driving motor (42). The first rotation driving motor (42) is fixedly installed on the pressing frame (4), and the output end of the first rotation driving motor (42) is fixedly installed with a first driving gear (43); Tooth blocks one are distributed on the circumferential outer walls of the upper semi-ring one (5) and the lower semi-ring one (51). After the upper semi-ring one (5) and the lower semi-ring one (51) are closed, a first toothed ring is formed, and the first toothed ring is meshed and connected with the first driving gear (43). The second rotation driving mechanism includes a second rotation driving motor (72). The second rotation driving motor (72) is fixedly installed on the winding machine frame (7), and a second driving gear (73) is fixedly installed at the output end of the second rotation driving motor (72). Tooth blocks two are distributed on the circumferential outer walls of the upper semi-ring two (8) and the lower semi-ring two (81). After the upper semi-ring two (8) and the lower semi-ring two (81) are closed, a second toothed ring is formed, and the second toothed ring is meshed and connected with the second driving gear (73).

6. The installation robot for preformed armor rods of overhead power lines according to claim 1, wherein, The driving wheel assembly (2) includes a driving support seat (21), a driving telescopic element (22), a driving wheel frame (23), a driving wheel (24), and a driving motor (25). The end of the driving support seat (21) is fixedly installed on the circumferential inner wall of the upper semi-flange (12) or the lower semi-flange (11). The driving telescopic element (22) is fixedly installed on the driving support seat (21). The telescopic end of the driving telescopic element (22) is fixedly connected with the driving wheel frame (23). A driving wheel (24) for contacting the cable (100) is rotatably installed on the driving wheel frame (23). The driving motor (25) is also fixedly installed on the side wall of the driving wheel frame (23), and the output end of the driving motor (25) is drivingly connected with the shaft end of the driving wheel (24).

7. The installation robot for preformed armor rods of overhead power lines according to claim 1, characterized in that Lifting rings (600) are also fixedly installed on the side walls of the end machine frame (1), the pressing machine frame (4), and the winding machine frame (7).

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