An overhead line access emergency power supply operation robot

Abstract

The application discloses an overhead line access emergency power supply operation robot, which comprises a hoisting device, a pair of wire laying arms capable of swinging to the same side is arranged on the hoisting device, a lifting device is arranged on one side of the hoisting device, a lifting turnover device is arranged on the lifting device, a wiring device is arranged on one side of the lifting turnover device close to the wire laying arms, a rotating disc device is slidably connected to the other side of the lifting turnover device, a wire clamp device is arranged between the rotating disc device and the wiring device, and the wire clamp device is rotationally connected with the rotating disc device; two wire clamp plates capable of being opened and closed are arranged on the wire clamp device, a stripping device and a thickness detection unit are arranged on the two wire clamp plates respectively; automatic up and down hanging is realized through the hoisting device and the two wire laying arms, and automatic stripping and automatic wiring are realized through the stripping device and the wiring device; and the problem that power supply to the distribution network line of the transformer substation cannot be restored in time when the emergency power supply vehicle cannot enter the transformer substation due to irreversible resistance is solved.

Description

Technical Field

[0001] This invention relates to the field of power maintenance equipment, and in particular to a robot for connecting emergency power supplies to overhead lines. Background Technology

[0002] When a substation experiences a power outage, emergency power restoration is necessary for all downstream distribution lines to prevent widespread blackouts. Currently, emergency power restoration typically involves emergency generator trucks restoring power to the substation. However, in extreme weather conditions, such as heavy rains causing flooding or earthquakes that damage roads, these emergency generator trucks may be unable to reach the substation in time to provide power.

[0003] It is evident that existing technologies still need improvement and enhancement. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide an overhead line access emergency power supply operation robot, which can restore power to the substation distribution network lines in a timely manner when emergency power generation vehicles cannot enter the substation, and does not need to consider the terrain when performing power restoration operations.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An overhead line connection emergency power supply operation robot includes a winch device with a pair of cable-carrying arms that can swing to the same side. A lifting device is located on one side of the winch device, and a tilting device is mounted on the lifting device. A wiring device is located on the tilting device near the cable-carrying arms. A turntable device is slidably connected to the other side of the tilting device. A wire clamp device is located between the turntable device and the wiring device, and the wire clamp device is rotatably connected to the turntable device. The wire clamp device has two openable wire clamp plates, each equipped with a stripping device and a thickness detection unit.

[0007] In the aforementioned overhead line emergency power supply operation robot, the lifting device includes a lifting rail, a first drive unit is provided at the bottom of the lifting rail, a lifting screw is provided on the lifting rail and is drivenly connected to the first drive unit, a detection frame is provided on one side of the lifting rail along its length, and a positioning detection unit is provided at both ends of the detection frame; the flipping device includes a sliding frame, the sliding frame is slidably connected to the lifting rail, and the sliding frame is drivenly connected to the lifting screw through a slider; the positioning detection unit is used to detect the positioning status of the slider.

[0008] In the overhead line access emergency power supply operation robot, the flipping device further includes a flipping frame, one end of which is hinged to the sliding frame, and at least one telescopic unit is provided between the other end of the flipping frame and the sliding frame; the turntable device is slidably connected to the flipping frame, and the wiring device is connected to the flipping frame.

[0009] In the overhead line access emergency power supply operation robot, the wiring device includes a first horizontal sliding frame, a second drive unit is provided on one side of the first horizontal sliding frame, the second drive unit is drivenly connected to the first horizontal sliding frame, two wiring clamps are provided opposite to each other on the first horizontal sliding frame, and the wiring clamps are drivenly connected to the first horizontal sliding frame; a wiring cable is connected to any of the wiring clamps.

[0010] In the overhead line connection emergency power supply operation robot, the wiring clamp plate is provided with a wire clamping groove, and the wire clamping groove is provided with several anti-slip protrusions.

[0011] In the overhead line access emergency power supply operation robot, the turntable device includes a rotating component, a control box, and a third drive unit. The rotating component is provided with a first wire passage groove that opens upwards. The third drive unit is connected to the rotating component in a transmission manner. The control box and the wire clamp device are respectively provided on both sides of the rotating component. The control box is provided with a second wire passage groove corresponding to the first wire passage groove.

[0012] In the overhead line access emergency power supply operation robot, the wire clamp device further includes a second horizontal sliding frame, and the two wire clamp plates are respectively connected to the second horizontal sliding frame in a transmission manner; a fourth drive unit is provided on one side of the second horizontal sliding frame and is connected to it in a transmission manner.

[0013] In the overhead line access emergency power supply operation robot, the stripping device is inclined toward the thickness detection unit; the wire clamp plate opposite to the stripping device is provided with multiple protrusions so that when the stripping device rotates to strip the outer skin, it can drive the turntable device to slide linearly along the flipping frame.

[0014] In the overhead line access emergency power supply operation robot, the stripping device includes a sliding box, a fifth drive unit, and a cutter head. The sliding box is set on the line clamp plate, and a sliding groove is provided inside the sliding box. The cutter head is slidably connected to the sliding groove through a sliding part. The fifth drive unit is set on one side of the sliding box, and the fifth drive unit is drivenly connected to the sliding part.

[0015] In the overhead line access emergency power supply operation robot, the top of each of the two cable-carrying arms is provided with a cable-carrying wheel, and a liftable cable-pressing mechanism is provided on one of the cable-carrying arms below the cable-carrying wheel, while a liftable braking mechanism is provided on the other cable-carrying arm below the cable-carrying wheel.

[0016] Beneficial effects:

[0017] This invention provides a robot for connecting overhead power lines to emergency power supplies. A winch device, in conjunction with two cable-carrying arms, is used to attach the robot to the distribution network line. During attachment, the two arms are tilted outwards to one side, and then simultaneously move towards the distribution network line as they approach, thus completing the attachment. The wiring device moves synchronously with the cable-carrying arms to the distribution network line to reach a preset clamping position. The turntable, wiring device, and clamping device are integrated into a flipping device, saving installation space. Initially, the turntable, wiring device, and clamping device are folded to avoid interference with the distribution network line during attachment and to reduce wind resistance during attachment. When the clamping device moves to the preset stripping position, a lifting device raises it below the distribution network line. Then, the flipping device moves the clamping device towards the distribution network line, gradually bringing it closer until the distribution network line is between the two clamping plates. The lifting and flipping components improve the stripping efficiency. The stripping device offers flexibility in use, allowing adjustment of the stripping angle based on factors such as the bending angle, tilt angle, and wire diameter of the distribution network line to improve stripping accuracy. During stripping, a thickness detection unit monitors the outer sheath thickness, and the stripping device adjusts its cutting depth accordingly. The distribution network line is clamped between two clamping plates to prevent wobbling during stripping. A turntable drives the stripping device to rotate, performing a circular cut on the outer sheath of the distribution network line, thus achieving the stripping action. Once the stripping device completes the stripping operation, creating a bare conductor section, a wiring arm moves a connector to the position of the bare conductor. The connector then clamps the bare conductor and connects it to external power supply equipment, enabling rapid restoration of power to the distribution network line. This invention eliminates the need to consider terrain during restoration operations, solving the problem of emergency generators being unable to access substation distribution networks due to irreversible forces, thus preventing timely restoration of power. Attached Figure Description

[0018] Figure 1 A schematic diagram of the overall structure of the overhead line emergency power supply operation robot provided by the present invention. Figure 1 ;

[0019] Figure 2 A schematic diagram of the overall structure of the overhead line emergency power supply operation robot provided by the present invention. Figure 2 ;

[0020] Figure 3 A schematic diagram of the assembly structure of the turntable device, the wire clamp device, and the wiring device in the overhead line access emergency power supply operation robot provided by the present invention. Figure 1 ;

[0021] Figure 4 This invention provides a schematic diagram of the assembly structure of the winch device, the front cable-tracing arm, and the rear cable-tracing arm in the overhead line access emergency power supply operation robot. Figure 2 ;

[0022] Figure 5 This invention provides a schematic diagram of the assembly structure of the winch device, the front cable-tracing arm, and the rear cable-tracing arm in the overhead line access emergency power supply operation robot. Figure 3 .

[0023] Key component symbols: 1-Winding device, 2-Cable arm, 3-Lifting device, 4-Tilting device, 5-Connecting device, 6-Turntable device, 7-Wire clamp device, 8-Stripping device, 9-Thickness detection unit, 100-Distribution network line, 11-Winding unit, 12-Wire hanging frame, 21-Wire pressing mechanism, 22-Brake mechanism, 23-Cable wheel, 24-Cable frame, 25-Swing arm cylinder, 31-Lifting rail, 32-First drive unit, 33-Lifting screw. 34-Detection frame, 35-Position detection unit, 41-Sliding frame, 42-Flipping frame, 43-Telescopic unit, 44-Slider, 51-First horizontal sliding frame, 52-Second drive unit, 53-Wire clamp, 54-Anti-slip protrusion, 61-Rotating assembly, 62-Control box, 63-Third drive unit, 64-First wire guide groove, 65-Second wire guide groove, 71-Wire clamp, 72-Second horizontal sliding frame, 73-Fourth drive unit, 711-Protrusion. Detailed Implementation

[0024] This invention provides a robot for connecting emergency power supplies to overhead power lines. To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the following detailed description, with reference to the accompanying drawings and embodiments, further illustrates the invention. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention.

[0025] In the description of this invention, it should be understood that the terms "middle," "inner side," "outer side," etc., indicate the orientation or positional relationship of this invention based on the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0026] Please see Figures 1 to 5 This invention provides an overhead line connection emergency power supply operation robot, including a winch device 1, a pair of cable-carrying arms 2 that can swing to the same side on the winch device 1, a lifting device 3 on one side of the winch device 1, a lifting and tilting device 4 on the lifting device 3, a wiring device 5 on the tilting device 4 near the cable-carrying arms 2, a turntable device 6 slidably connected to the other side of the tilting device 4, a wire clamp device 7 between the turntable device 6 and the wiring device 5, and the wire clamp device 7 being rotatably connected to the turntable device 6; the wire clamp device 7 is provided with two openable and closable wire clamp plates 71, and the two wire clamp plates 71 are respectively provided with a stripping device 8 and a thickness detection unit 9.

[0027] In practical use, the winch device 1, in conjunction with two cable-carrying arms 2, is used to hang the robot onto the distribution network line 100. During hanging, the two cable-carrying arms 2 are tilted outwards to one side, and then simultaneously move towards the distribution network line 100 as they approach it, thus completing the hanging of the overhead line connection emergency power supply robot. The wiring device 5 moves synchronously with the cable-carrying arms 2 towards the distribution network line 100 to achieve the preset clamping position. The turntable device 6, wiring device 5, and wire clamp device 7 are integrated into the flipping device 4, saving installation space. Device 5 and wire clamp device 7 are initially folded to avoid interference with the distribution network line 100 during hanging and to reduce the wind resistance area when hanging. When wire clamp device 7 moves to the preset stripping position, lifting device 3 raises wire clamp device 7 to below the distribution network line 100. Then, flipping device 4 flips wire clamp device 7 towards the distribution network line 100, gradually bringing wire clamp device 7 closer to the distribution network line 100 until the distribution network line 100 enters between the two wire clamp plates 71. The lifting and flipping components raise the stripping device. The stripping device 8 offers flexibility in use, allowing adjustment of the stripping angle based on factors such as the bending angle, tilt angle, and wire diameter of the distribution network line 100 to improve stripping accuracy. During stripping, the thickness detection unit 9 detects the outer sheath thickness of the distribution network line 100, and the stripping device 8 adjusts the cutting depth accordingly. The distribution network line 100 is clamped between two clamping plates 71 to prevent shaking during stripping. The turntable device 6 drives the stripping device 8 to rotate, thereby performing a circular cut on the outer sheath of the distribution network line 100, thus achieving... When stripping the insulation of the distribution network line 100, once the stripping device 8 has completed the stripping operation and formed a bare conductor section on the distribution network line 100, the wiring arm 2 drives the connection device 5 to move to the position of the bare conductor. Then, the connection device 5 clamps the bare conductor and connects it to the external power supply equipment, allowing the distribution network line 100 to be quickly restored to power. This invention does not require consideration of terrain during the restoration operation and solves the problem that emergency power generation vehicles cannot restore power to the substation distribution network line 100 in a timely manner when they cannot enter the substation due to irreversible force.

[0028] In this embodiment, the thickness detection unit 9 is an ultrasonic sensor, a photoelectric sensor, etc. It emits penetrating light sources or sound waves such as infrared light, laser, and ultrasonic waves to the distribution network line 100 through the ultrasonic sensor or photoelectric sensor, thereby detecting the thickness of the outer sheath of the distribution network line 100.

[0029] In one embodiment, the winch device 1 includes a frame, with winch units 11 respectively arranged on both sides of the frame. A traction belt is installed inside each winch unit 11. A cable hanging frame 12 is arranged above the frame. One end of the traction belt is connected to the winch unit 11, and the other end of the traction belt passes around the cable hanging frame 12 and connects to the frame. A front cable-running arm 2 and a rear cable-running arm 2 are respectively arranged on both sides of the frame. In use, the cable hanging frame 12 is transported to the power distribution line 100 by a drone, and then the two winch units 11... Simultaneously, the winding traction belt raises the overhead line emergency power connection operation robot to below the distribution network line 100. The simultaneous winding and unwinding of the two winch units 11 makes the hanging of the overhead line emergency power connection operation robot more stable. It should be noted that the two cable arms 2 need to be kept in a state of being flipped out to one side during the hanging process to ensure that they do not interfere with the distribution network line 100. When the two cable arms 2 approach the distribution network line 100, the two cable arms 2 will simultaneously flip towards the distribution network line 100 so that the two cable arms 2 are suspended on the distribution network line 100.

[0030] It should be noted that the hoisting unit 11 is an existing hoisting structure, and its working principle and specific structure are existing technologies, which will not be described in detail here.

[0031] like Figures 1 to 5 As shown, the lifting device 3 further includes a lifting track 31, a first drive unit 32 is provided at the bottom of the lifting track 31, a lifting screw 33 is provided on the lifting track 31 and is pulsatorically connected to the first drive unit 32, a detection frame 34 is provided on one side of the lifting track 31 along its length, and a position detection unit 35 is provided at both ends of the detection frame 34; the flipping device 4 includes a sliding frame 41, the sliding frame 41 is slidably connected to the lifting track 31, and the sliding frame 41 is pulsatorically connected to the lifting screw 33 through a slider 44; the position detection unit 35 is used to detect the position of the slider 44; in use, the first drive unit 32 drives the lifting screw 33 to rotate, thereby driving the sliding frame 41 to slide along the lifting track 31, thereby adjusting the lifting height of the peeling device 8; and during the lifting process, the sliding frame 41 performs distance detection through the detection frame 34, and the two position detection units 35 determine the position of the slider 44, thereby providing feedback control to the first drive unit 32 and improving the control accuracy of the lifting device 3.

[0032] It should be noted that the first drive unit 32 can be an existing motor structure such as a servo motor or a stepper motor; the position detection unit 35 can be an existing position sensor such as an infrared sensor or a photoelectric gate, which will not be described in detail here.

[0033] like Figures 1 to 5As shown, the flipping device 4 further includes a flipping frame 42, one end of which is hinged to the sliding frame 41, and at least one telescopic unit 43 is provided between the other end of the flipping frame 42 and the sliding frame 41; the turntable device 6 is slidably connected to the flipping frame 42, and the wiring device 5 is connected to the flipping frame 42; in use, the flipping frame 42 is pushed and pulled by the telescopic unit 43, causing the flipping frame 42 to flip up and down around the sliding frame 41, thereby adjusting the relative clamping position of the wire clamp device 7 and the distribution network line 100; the above-mentioned configuration improves the flexibility of the stripping device 8 in use, allowing the stripping angle of the stripping device 8 to be adjusted according to factors such as the bending angle, tilt angle, and wire diameter of the distribution network line 100, thereby improving the stripping accuracy.

[0034] In this embodiment, the telescopic unit 43 includes two units, and the two telescopic units 43 are arranged side by side; the above arrangement makes the pushing and pulling action of the flipping component more stable; it should be noted that the telescopic unit 43 can be an existing device with telescopic function such as an electric telescopic rod or a cylinder, which will not be described in detail here.

[0035] like Figures 1 to 5 As shown, the wiring device 5 further includes a first horizontal sliding frame 51. A second drive unit 52 is provided on one side of the first horizontal sliding frame 51. The second drive unit 52 is pulsatorically connected to the first horizontal sliding frame 51. Two wiring clamps 53 are arranged opposite to each other on the first horizontal sliding frame 51. The wiring clamps 53 are pulsatorically connected to the first horizontal sliding frame 51. A wiring cable is connected to any of the wiring clamps 53. In use, the second drive unit 52 drives the two wiring clamps 53 to slide relative to each other on the first horizontal sliding frame 51, thereby achieving the clamping action of the bare conductor. When the bare conductor is clamped between the two wiring clamps 53, it will be connected to the wiring cable, that is, connected to the external power supply equipment through the wiring cable, thereby realizing the action of quickly restoring power to the distribution network line 100.

[0036] In this embodiment, the first horizontal sliding frame 51 is provided with a lead screw that is connected to the second drive unit 52 for transmission, and the two terminal clamps 53 are respectively provided with lead screw nuts with opposite threads; the opening and closing action between the two terminal clamps 53 is realized by providing two lead screw nuts with opposite threads; it should be noted that the second drive unit 52 is an existing motor structure such as a servo motor or a stepper motor.

[0037] To aid understanding, the following example illustrates the following: One end of the wiring cable can be connected to any wiring clamp 53, and the other end can be directly connected to the emergency power generation vehicle. Emergency power supply can be completed simply by adjusting the length of the wiring cable according to the actual site requirements.

[0038] In this embodiment, the wiring clamp 53 is made of a conductive material, such as, but not limited to, metal, conductive rubber, and other conductive materials.

[0039] like Figures 1 to 5 As shown, the connector clamp 53 is further provided with a wire clamping groove, and the wire clamping groove is provided with a plurality of anti-slip protrusions 54; the wire clamping groove increases the contact area between the connector clamp 53 and the bare wire, and the anti-slip protrusions 54 prevent slippage between the connector clamp 53 and the bare wire during clamping, thereby avoiding poor contact between the connector clamp 53 and the bare wire.

[0040] like Figures 1 to 5 As shown, the turntable device 6 further includes a rotating assembly 61, a control box 62, and a third drive unit 63. The rotating assembly 61 is provided with a first wire passage groove 64 opening upwards. The third drive unit 63 is connected to the rotating assembly 61 in a transmission manner. The control box 62 and the wire clamp device 7 are respectively disposed on both sides of the rotating assembly 61. The control box 62 is provided with a second wire passage groove 65 corresponding to the first wire passage groove 64. In use, the distribution network line 100 is inserted into the first wire passage groove 64 and the second wire passage groove 65. The third drive unit 63 drives the rotating assembly 61 to rotate, thereby synchronously driving the control box 62 and the wire clamp device 7 to rotate, so that the stripping device 8 can perform a circumferential cut on the distribution network line 100.

[0041] In this embodiment, the rotating component 61 includes a horseshoe gear and a transmission gear set. The third drive unit 63 causes the horseshoe gear to rotate through the transmission gear set, and the horseshoe gear then drives the wire clamp device 7 and the control box 62 to rotate.

[0042] It should be noted that the third drive unit 63 can be an existing motor structure such as a servo motor or a stepper motor, which will not be described in detail here.

[0043] like Figures 1 to 5 As shown, the wire clamp device 7 further includes a second horizontal sliding frame 72, and the two wire clamp plates 71 are respectively connected to the second horizontal sliding frame 72 in a transmission manner; a fourth drive unit 73 is provided on one side of the second horizontal sliding frame 72 and is connected to it in a transmission manner; the fourth drive unit 73 drives the two wire clamp plates 71 to perform relative opening and closing movements through the second horizontal sliding frame 72. When the stripping device 8 performs stripping operation, the two wire clamp plates 71 clamp the distribution network line 100, so that the distribution network line 100 can remain stable during stripping and there will be no problem of the distribution network line 100 shaking.

[0044] In this embodiment, the second horizontal sliding frame 72 is provided with a lead screw that is connected to the fourth drive unit 73 for transmission, and the two wire clamps 71 are respectively provided with lead screw nuts with opposite threads; the opening and closing action between the two wire clamps 71 is realized by providing two lead screw nuts with opposite threads; it should be noted that the fourth drive unit 73 is an existing motor structure such as a servo motor or a stepper motor.

[0045] like Figures 1 to 5 As shown, the peeling device 8 is further inclined toward the thickness detection unit 9; the wire clamp plate 71 opposite to the peeling device 8 is provided with a plurality of protrusions 711, so that when the peeling device 8 rotates to peel the outer skin, it can drive the turntable device 6 to slide linearly along the flipping frame 42.

[0046] During operation, the stripping device 8 is tilted towards the thickness detection unit 9. Even if the stripping device 8 forms a certain angle with the distribution network line 100, when the stripping device 8 contacts the outer sheath of the distribution network line 100, the stripping device 8 will be damped by the outer sheath during the cutting process. This damping action forms a reverse thrust on the stripping device 8. Furthermore, by setting multiple protrusions 711 on the line clamp 71, a damping difference is formed between the two line clamps 71, that is, the vibration frequencies of the two are different. As a result, the turntable device 6 slides away from the starting cutting position of the distribution network line 100 under the damping action of the stripping device 8, that is, it slides on the flipping frame 42. This drives the stripping device 8 to perform a circumferential cutting along the length of the distribution network line 100, increasing the stripping range of the outer sheath. The entire process can complete the large-area stripping of the outer sheath without the need for manual adjustment of the position of the stripping device 8, which is convenient for the staff to perform subsequent power connection work.

[0047] like Figures 1 to 5 As shown, the stripping device 8 further includes a sliding box, a fifth drive unit, and a cutter head. The sliding box is mounted on the wire clamp plate 71, and a sliding groove is provided inside the sliding box. The cutter head is slidably connected to the sliding groove via a sliding part. The fifth drive unit is located on one side of the sliding box and is drively connected to the sliding part. In use, the fifth drive unit drives the sliding part to slide within the sliding groove, thereby adjusting the distance between the cutter head and the distribution network line 100, i.e., adjusting the cutting depth of the cutter head on the distribution network line 100. The length of the sliding groove can be set according to the actual degrees of freedom. The longer the sliding groove, the greater the adjustable range of the cutter head position.

[0048] It should be noted that the fifth drive unit can be an existing motor structure such as a servo motor or a stepper motor, which will not be described in detail here.

[0049] like Figures 1 to 5As shown, furthermore, each of the two cable-carrying arms 2 is equipped with a cable-carrying wheel 23 at its top. A liftable cable-pressing mechanism 21 is provided on one cable-carrying arm 2 below the cable-carrying wheel 23, and a liftable braking mechanism 22 is provided on the other cable-carrying arm 2 below the cable-carrying wheel 23. When the overhead line emergency power supply operation robot needs to move, the cable-pressing mechanism 21 presses against the cable-carrying wheel 23 until it abuts against the bottom of the distribution network line 100, clamping the distribution network line 100 between the cable-carrying wheel 23 and the cable-pressing mechanism 21, thereby improving the stability of the overhead line emergency power supply operation robot during movement. To avoid problems such as jumping and slipping during movement; when the overhead line emergency power supply operation robot is performing stripping operations, the braking mechanism 22 presses against the cable wheel 23 until the braking mechanism 22 is against the bottom of the distribution network line 100, so that the distribution network line 100 is clamped between the cable wheel 23 and the braking mechanism 22. Through the cable pressing mechanism 21 and the braking mechanism 22 working together with the two cable wheels 23, the overhead line emergency power supply operation robot can be relatively fixed on the distribution network line 100, which can cancel the damping thrust generated by the stripping device 8 during the stripping operation, and improve the stability of the overhead line emergency power supply operation robot during operation.

[0050] In this embodiment, the cable routing arm 2 further includes a swing arm cylinder 25, a cable routing frame 24, and a travel motor. The cable routing wheel 23 and the travel motor are respectively disposed on the top of the cable routing frame 24, and the travel motor is hygienically connected to the cable routing wheel 23. The bottoms of the cable routing frame 24 and the swing arm cylinder 25 are respectively hinged to the frame. The telescopic end of the swing arm cylinder 25 is hinged to the outer side of the cable routing frame 24. The wire pressing mechanism 21 includes a first swing frame, a first slider 44, and a first lifting unit. The first lifting unit is disposed on the cable routing frame 24. The first slider 44 is hygienically connected to the first lifting unit. The first swing frame is rotatably connected to the first slider 44. Pressure rollers are respectively disposed on both sides of the first swing frame, and the two pressure rollers are located below the two sides of the first cable routing wheel 23.

[0051] In use, the swing arm cylinder 25 adjusts the swing amplitude of the cable tray 24 to move the cable tray 23 closer to or further away from the power distribution line 100. The cable tray 23 is driven by a travel motor to move on the power distribution line 100. When the overhead line is connected to the emergency power supply and the robot needs to move, the first lifting unit drives the first slider 44 to rise below the first cable tray 23 until both pressure rollers press against the bottom of the power distribution line 100. When the power distribution line 100 is deformed or has a slope, the first swing arm adjusts the angle between itself and the first slider 44 according to the bending angle of the power distribution line 100, so that the pressure rollers can always be in contact with the power distribution line 100.

[0052] In this embodiment, the wire pressing mechanism 21 includes a second swing frame, a second slider 44, and a second lifting unit. The second lifting unit is disposed on the wire guide frame 24. The second slider 44 is connected to the second lifting unit in a transmission manner. The second swing frame is rotatably connected to the second slider 44. A detachable brake block is disposed on the second swing frame. The brake block is located below the wire guide wheel 23.

[0053] In use, when the overhead line emergency power supply operation robot is performing stripping operations, the second lifting unit drives the second slider 44 to rise below the cable guide wheel 23 until the brake block presses against the bottom of the distribution network line 100, creating significant damping between the brake block and the distribution network line 100. This prevents displacement between the cable guide arm 2 and the distribution network line 100 during operation. When the distribution network line 100 deforms or has a slope, the second swing frame adjusts the angle between itself and the second slider 44 according to the bending angle of the distribution network line 100, ensuring that the brake block remains in contact with the distribution network line 100 at all times.

[0054] In summary, the hoisting device 1, in conjunction with two cable-carrying arms 2, is used to hang the robot onto the distribution network line 100. During hanging, the two cable-carrying arms 2 are tilted outwards to one side, and then simultaneously move towards the distribution network line 100 as they approach it, thus completing the hanging of the robot for connecting the overhead line to the emergency power supply. The wiring device 5 moves synchronously with the cable-carrying arms 2 towards the distribution network line 100 to achieve the preset clamping position. The turntable device 6, wiring device 5, and clamping device 7 are integrated into the flipping device 4, saving installation space. Initially, the clamping device 5 and the wire clamping device 7 are folded to avoid interference with the distribution network line 100 during hanging and to reduce the wind resistance area when hanging. When the wire clamping device 7 moves to the preset stripping position, the lifting device 3 raises the wire clamping device 7 to below the distribution network line 100. Then, the flipping device 4 flips the wire clamping device 7 towards the distribution network line 100, gradually bringing the wire clamping device 7 closer to the distribution network line 100 until the distribution network line 100 enters between the two wire clamping plates 71. The lifting and flipping components raise the stripping device. 8. The stripping angle of the stripping device 8 can be adjusted according to factors such as the bending angle, tilt angle, and wire diameter of the distribution network line 100 to improve stripping accuracy. During stripping, the thickness detection unit 9 detects the outer sheath thickness of the distribution network line 100, and the stripping device 8 adjusts the corresponding cutting amount according to the outer sheath thickness. The distribution network line 100 is clamped between two wire clamps 71 to prevent shaking during stripping. The turntable device 6 drives the stripping device 8 to rotate, thereby performing a ring cut on the outer sheath of the distribution network line 100, thus achieving… When stripping the insulation of the distribution network line 100, once the stripping device 8 has completed the stripping operation and formed a bare conductor section on the distribution network line 100, the wiring arm 2 drives the connection device 5 to move to the position of the bare conductor. Then, the connection device 5 clamps the bare conductor and connects it to the external power supply equipment, allowing the distribution network line 100 to be quickly restored to power. This invention does not require consideration of terrain during the restoration operation and solves the problem that emergency power generation vehicles cannot restore power to the substation distribution network line 100 in a timely manner when they cannot enter the substation due to irreversible force.

[0055] It is understood that those skilled in the art can make equivalent substitutions or modifications to the technical solution and inventive concept of the present invention, and all such substitutions or modifications should fall within the protection scope of the appended claims.

Claims

1. A robot for connecting emergency power supplies to overhead power lines, characterized in that, The device includes a winch with a pair of cable-carrying arms that can swing to the same side. A lifting device is located on one side of the winch, and the lifting device has a tilting mechanism that can be raised and lowered. A wiring device is located on the tilting mechanism near the cable-carrying arms. A turntable is slidably connected to the other side of the tilting mechanism. A wire clamp is located between the turntable and the wiring device, and the wire clamp is rotatably connected to the turntable. The wire clamp has two openable and closable wire clamp plates, each equipped with a stripping device and a thickness detection unit. The lifting device includes a lifting rail, and a first drive unit is located at the bottom of the lifting rail. A lifting screw, which is connected to the first drive unit, is installed on the lifting rail. A detection frame is installed along the length of one side of the lifting rail, and a positioning detection unit is installed at each end of the detection frame. The flipping device includes a sliding frame, which is slidably connected to the lifting rail. The sliding frame is connected to the lifting screw via a slider. The positioning detection unit is used to detect the positioning status of the slider. The flipping device also includes a flipping frame, one end of which is hinged to the sliding frame. At least one telescopic unit is installed between the other end of the flipping frame and the sliding frame. The turntable device is slidably connected to the flipping frame, and the wiring device is connected to the flipping frame.

2. The overhead line emergency power supply operation robot according to claim 1, characterized in that, The wiring device includes a first horizontal sliding frame, a second drive unit is provided on one side of the first horizontal sliding frame, the second drive unit is drivenly connected to the first horizontal sliding frame, two wiring clamps are provided opposite to each other on the first horizontal sliding frame, and the wiring clamps are drivenly connected to the first horizontal sliding frame; a wiring cable is connected to either of the wiring clamps.

3. The overhead line emergency power supply operation robot according to claim 2, characterized in that, The connector plate is provided with a wire clamping groove, and the wire clamping groove is provided with several anti-slip protrusions.

4. The overhead line emergency power supply operation robot according to claim 1, characterized in that, The turntable device includes a rotating assembly, a control box, and a third drive unit. The rotating assembly is provided with a first wire guide groove that opens upwards. The third drive unit is connected to the rotating assembly in a transmission manner. The control box and the wire clamp device are respectively provided on both sides of the rotating assembly. The control box is provided with a second wire guide groove corresponding to the first wire guide groove.

5. The overhead line emergency power supply operation robot according to claim 1, characterized in that, The wire clamp device also includes a second horizontal sliding frame, and the two wire clamp plates are respectively connected to the second horizontal sliding frame in a transmission manner; a fourth drive unit is provided on one side of the second horizontal sliding frame and is connected to it in a transmission manner.

6. The overhead line emergency power supply operation robot according to claim 1, characterized in that, The peeling device is inclined toward the thickness detection unit; the wire clamp plate opposite to the peeling device is provided with a plurality of protrusions so that the peeling device can drive the turntable to slide linearly along the flipping frame when it rotates to peel off the outer skin.

7. The overhead line emergency power supply operation robot according to claim 6, characterized in that, The peeling device includes a sliding box, a fifth drive unit, and a cutter head. The sliding box is disposed on the wire clamp plate and has a sliding groove inside. The cutter head is slidably connected to the sliding groove through a sliding part. The fifth drive unit is disposed on one side of the sliding box and is drivenly connected to the sliding part.

8. The overhead line emergency power supply operation robot according to claim 1, characterized in that, Each of the two cable routing arms is provided with a cable routing wheel at its top. A liftable cable pressing mechanism is provided on one of the cable routing arms below the cable routing wheel, and a liftable brake mechanism is provided on the other cable routing arm below the cable routing wheel.

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