A net sealing robot locking anchoring device

Abstract

The application discloses a sealing network robot locking anchoring device, which comprises a robot main body, a rotating shaft, a hanging wheel and a brake block arranged on one side of the robot main body, the rotating shaft penetrates through the hanging wheel and is rotationally connected with the hanging wheel, a limiting head is arranged at one end of the rotating shaft away from the robot main body, the brake block is rotationally connected with a limiting door at one side of the brake block away from the robot main body, the limiting door is provided with a long hole and a through hole, the rotating shaft penetrates through the long hole, the limiting door is located between the hanging wheel and the limiting head, and the limiting head is abutted against one side of the limiting door away from the hanging wheel, so that the wire is limited below the hanging wheel through the limiting door, the through hole is arranged above the limiting head, and the robot main body is provided with a driving mechanism for driving the brake block to move so that the brake block is abutted against or separated from the wire. The application provides a sealing network robot locking anchoring device which has the functions of locking and unlocking the limiting door.

Description

Technical Field

[0001] The present invention relates to the technical field of network sealing robots, and in particular to a locking and anchoring device for a network sealing robot. Background Art

[0002] At present, with the increasingly serious air pollution situation, the operating environment of transmission lines is also deteriorating, and the corrosion rate of ground wires is accelerating exponentially. Therefore, the workload of replacing ground wires is also increasing exponentially year by year.

[0003] To improve network closure operations and minimize safety risks, our company has invested significant human and financial resources, pooled wisdom, and collaborated with professionals from multiple departments and trades to develop an intelligent network closure robot. This robot can replace manual labor in replacing ground wires and sealing networks. It can also be used to install new conductors and seal networks, eliminating potential risks of personal injury and equipment damage, saving significant manpower, material resources, and land investment. It can also complete network closures and crossings in a relatively short period of time, achieving significant economic and social benefits.

[0004] The network sealing robot has been used in the power transmission management departments and construction units of various power supply companies, greatly increasing the safety and reliability of construction. It completes the replacement of the ground wire of the line in a shorter operation cycle, generating huge economic benefits and playing a revolutionary and positive role in line operation!

[0005] When the existing network-sealing robot is in use, in order to prevent the network-sealing robot from moving on the wire, a locking and anchoring device needs to be provided on the network-sealing robot. Specifically, the existing network-sealing robot locking and anchoring device includes a robot body, and a hanging wheel, a driving wheel, and a brake block are provided on one side of the robot body. The brake block is slidably connected to the robot body. When the network-sealing robot walks on the wire, the hanging wheel hangs on the upper side of the wire, the driving wheel presses on the lower side of the wire and drives the network-sealing robot forward or backward, and the brake block is located on the lower side of the wire. In order for the wire to come out from between the driving wheel and the hanging wheel, a limit gate is provided on the side of the driving wheel and the hanging wheel away from the robot body. The existing network-sealing robot locking and anchoring device does not have the function of locking or unlocking the limit gate. When the existing network-sealing robot walks on the wire, the operator needs to use corresponding tools to operate the fasteners on the limit gate to fix the limit gate to one side of the driving wheel and the hanging wheel to prevent the limit gate from rotating while the network-sealing robot is walking and causing the network-sealing robot to fall. After the network sealing robot is used, the operator needs to use the corresponding tools to operate the fasteners to unlock the limit door and rotate the limit door, so as to facilitate the removal of the wire from between the driving wheel and the hanging wheel, and then remove the wire from the network sealing robot, thereby reducing the efficiency of the network sealing robot in hanging and removing the wire, and wasting time and effort for the operator. Summary of the Invention

[0006] In order to solve the shortcoming that the existing locking and anchoring device of the network sealing robot does not have the function of locking and unlocking the limit door, the present invention proposes a locking and anchoring device of the network sealing robot with the function of locking and unlocking the limit door.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] The brake block is connected to the limit door at one end of the rotating shaft away from the robot body, and the brake block is rotatably connected to the limit door at one end of the rotating shaft away from the robot body, and the limit door is provided with a long hole and a through hole, and the through hole is connected to the long hole and is located above the long hole, the rotating shaft passes through the long hole, the limit door is located between the hanging wheel and the limit head, and the limit head abuts against the side of the limit door away from the hanging wheel to limit the wire below the hanging wheel through the limit door. When the rotating shaft is located in the long hole, the limit door is in a locked state, and the robot body is provided with a driving mechanism for driving the brake block to move so that the brake block and the wire abut or disengage; the driving mechanism drives the brake block to move downward, and the brake block drives the limit door to move downward, and when the limit head and the through hole coincide, the driving mechanism stops moving, and the limit door is in an unlocked state, and the limit door can be rotated downward to open the limit door. During the rotation of the limit door, the limit head passes through the through hole.

[0009] Through the above-mentioned settings, the locking and anchoring device of the network sealing robot has the function of locking and unlocking the limit door, which saves the operator more effort and makes the robot body more efficient in hanging and unhanging the line. Specifically, a controller electrically connected to the drive mechanism is provided on the robot body. The controller can be set as MCU. When hanging the line, the operator sends a command to the drive mechanism through the controller, and the drive mechanism drives the brake block to move downward, and the brake block drives the limit door to move downward. At this time, the limit head moves upward relative to the long hole, and the through hole moves toward the limit head. When the limit head and the through hole coincide with each other, the drive mechanism stops moving, and the limit door is in an unlocked state. At this time, the limit door can be rotated downward and opened. During the rotation of the limit door, the limit head passes through the through hole. Specifically, the limit door rotates to the side away from the robot body, so that the limit door leaves the hanging wheel, so that the robot body can be hung on the wire through the hanging wheel. The hanging wheel abuts against the upper side of the wire. At this time, the brake block is located on the lower side of the wire. Then the limit door is rotated upward. The limit door is in a locked state, and the limit head prevents the limit door from opening, so that the wire is always located between the limit door and the robot body, and then the wire is always located at the lower side of the hanging wheel, so that the hanging wire can move stably along the wire. During the network sealing process, when the robot body needs to be locked and anchored on the wire, the controller drives the brake block to continue to move upward through the driving mechanism, so that the brake block is pressed upward on the lower side of the wire, and under the action of the friction between the wire and the brake block, the robot body is fixed on the wire. When de-line is required, the controller drives the brake block downward through the driving mechanism, and makes the through hole and the limit head coincide, turns the limit door downward and opens the limit door, so that the wire can leave from the bottom side of the hanging wheel, removes the robot body from the wire, and completes the de-line operation.

[0010] In the present application, the operator does not need to use tools to unlock and lock the limit door, which improves efficiency and saves effort. At the same time, the driving mechanism for controlling the brake block is used to lock and unlock the limit door, which increases the compactness of the structure.

[0011] Furthermore, a first annular limiting groove is provided along the outer circumference of the idler pulley, the cross section of the first annular limiting groove is C-shaped, and a V-shaped groove is provided on the upper side of the brake block.

[0012] Furthermore, a slide groove is provided on one side of the robot body, a sliding seat is slidably connected in the slide groove, the sliding seat and the brake block are fixedly connected, and the driving mechanism includes a screw rod passing through the sliding seat and threadedly connected to the sliding seat, and a motor connected to the screw rod.

[0013] Furthermore, the brake block is fixedly connected to the first bracket, the first bracket is slidably connected to the second bracket, the first bracket is fixedly connected to the connecting plate, the connecting plate is connected to the second bracket through a first spring, the second bracket is provided with a driving wheel for abutting the lower side of the wire, the second bracket is provided with a driving motor, the driving motor is connected to the driving wheel, and the upper edge of the driving wheel is at a height higher than the upper edge of the brake block.

[0014] Furthermore, a second annular limiting groove is provided along the outer circumference of the driving wheel, and the cross section of the second annular limiting groove is C-shaped.

[0015] Furthermore, the sliding seat includes a seat body and a rotating body rotatably connected to the seat body. Avoidance openings are provided on the upper and lower sides of the seat body. The screw rod passes through the rotating body and the avoidance opening. The screw rod and the rotating body are threadedly connected. A mounting groove is provided on the upper side of the seat body. A damping block is provided at the lower end of the mounting groove. The damping block and the upper side of the rotating body are abutted. An adjusting bolt is threadedly connected to the upper end of the mounting groove. A second spring is provided between the adjusting bolt and the damping block.

[0016] Furthermore, the seat body and the brake shoe are an integrally formed structure.

[0017] Furthermore, gear teeth are provided on the outer side of the rotating body, and a transmission wheel is rotatably connected to one side of the seat body, and the transmission wheel meshes with the rotating body through the gear teeth. A support plate is fixedly connected to one side of the robot body, and the support plate is rotatably connected to a driven gear for meshing with the transmission wheel. The driven gear is arranged on the upper side of the transmission wheel, and the upper side of the driven gear is rotatably connected to the transmission rod through a connecting rod. The robot body is fixedly connected with a U-shaped connecting buckle with an opening upward, and a guide plate is provided between the connecting buckle and the driven gear. The guide plate is fixedly connected to the robot body, and the end of the transmission rod away from the connecting rod is rotatably connected to a pin, which passes through the guide plate and is slidably connected to the guide plate. One end of the pin passes through one end of the connecting buckle and is slidably connected to the connecting buckle. When the brake block abuts against the wire, the driven gear and the transmission wheel mesh.

[0018] Furthermore, the brake block is rotatably connected to the limit door via a hinge. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the locking and anchoring device of the network sealing robot in an embodiment.

[0020] Figure 2 This is a schematic diagram of the locking and anchoring device of the network sealing robot after hiding the limit door and hinge in the embodiment.

[0021] Figure 3 It is a cross-sectional view of the locking and anchoring device of the network sealing robot in the embodiment.

[0022] Figure 4 for Figure 3 Enlarged view of point A.

[0023] Figure 5 Schematic diagram of the robot body anchored on the wire.

[0024] Figure 6 This is a schematic diagram of the motor driving the transmission wheel to rotate.

[0025] Figure 7 This is a schematic diagram of how the motor drives the pin to move through the screw rod and closes the connecting buckle.

[0026] Figure 8 This is a schematic diagram of the driving wheel driving the robot body to move on the wire. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be further specifically described below through embodiments and in conjunction with the accompanying drawings.

[0028] See also Figures 1 to 8 The limit gate 15 is provided with a long hole 151 and a through hole 152, and the rotating shaft 12 passes through the long hole 151, and the limit gate 15 is located between the hanging wheel 13 and the limit head 121, and the limit head 121 abuts against the side of the limit gate 15 away from the hanging wheel 13, so as to limit the wire 21 to the bottom of the hanging wheel 13 through the limit gate 15. When the rotating shaft 12 is located in the long hole 151, the limit gate 15 is in a locked state, and the robot body 11 is provided with a driving mechanism 16 for driving the brake block 14 to move so that the brake block 14 and the wire 21 abut or disengage.

[0029] Through the above-mentioned setting, the locking and anchoring device of the sealing robot has the function of locking and unlocking the limit gate 15, which saves the operator more effort and makes the robot body 11 more efficient in hanging and unhanging the line. Specifically, the robot body 11 is provided with a controller electrically connected to the drive mechanism 16. The controller can be set as an MCU. When hanging the line, the operator sends a command to the drive mechanism 16 through the controller, and the drive mechanism 16 drives the brake block 14 to move downward, and the brake block 14 drives the limit gate 15 to move downward. At this time, the limit head 121 moves upward relative to the long hole 151, and the through hole 152 moves toward the limit head 121. When the limit head 121 and the through hole 152 coincide with each other, the drive mechanism 16 stops moving, and the limit gate 15 In the unlocked state, the limit door 15 can be rotated downward to open the limit door 15. During the rotation of the limit door 15, the limit head 121 passes through the through hole 152. Specifically, the limit door 15 rotates to the side away from the robot body 11, so that the limit door 15 leaves the hanging wheel 13, so that the robot body 11 can be hung on the wire 21 through the hanging wheel 13. The hanging wheel 13 abuts the upper side of the wire 21. At this time, the brake block 14 is located on the lower side of the wire 21. Then the limit door 15 is rotated upward, and the limit door 15 is close to The hanging wheel 13 is rotated, and the limit head 121 passes through the through hole 152. The rotating shaft 12 is located at the upper end of the long hole 151. Then, the driving mechanism 16 is driven by the controller to drive the brake block 14 to move upward. The brake block 14 drives the limit door 15 to move upward. The rotating shaft 12 slides into the long hole 151 from the upper end of the long hole 151. The limit head 121 and the through hole 152 are staggered. The limit door 15 is located between the limit head 121 and the hanging wheel 13. The limit door 15 is in a locked state. The limit head 121 prevents the limit door 15 from opening, thereby allowing the wire 2 to be moved upward. 1 is always located between the limit gate 15 and the robot body 11, thereby ensuring that the wire 21 is always located below the hanging wheel 13, allowing the hanging wire to move stably along the wire 21. During the net sealing process, when it is necessary to lock and anchor the robot body 11 to the wire 21, the controller drives the brake block 14 upward through the drive mechanism 16, thereby causing the brake block 14 to press upward against the below of the wire 21. Under the action of the friction between the wire 21 and the brake block 14, the robot body 11 is fixed to the wire 21. When it is necessary to decouple, the controller drives the brake block 14 downward through the drive mechanism 16, causing the through hole 152 and the limit head 121 to coincide, and then rotates the limit gate 15 downward and opens it, allowing the wire 21 to leave the below of the hanging wheel 13, removing the robot body 11 from the wire 21, and completing the decoupling operation.

[0030] In the present application, the operator does not need to use tools to unlock and lock the limit door 15, which improves efficiency and saves labor. At the same time, the driving mechanism 16 that controls the brake block 14 is used to lock and unlock the limit door 15, which increases the compactness of the structure.

[0031] As an implementation method, a first annular limiting groove 131 is provided along the outer circumference of the idler wheel 13 , the cross section of the first annular limiting groove 131 is C-shaped, and a V-shaped groove 141 is provided on the upper side of the brake block 14 .

[0032] Through the above-mentioned arrangement, the hanging wheel 13 can move on the wires 21 with different outer diameters, and the wire 21 is not easily detached from the hanging wheel 13. In addition, when the brake block 14 is pressed against the lower side of the wire 21, the wire 21 is partially stuck in the V-shaped groove 141. On the one hand, the contact area between the brake block 14 and the wire 21 is increased. On the other hand, the wire 21 is not easily detached from the brake block 14, making the anchoring effect more stable.

[0033] As an implementation method, a slide groove 111 is provided on one side of the robot body 11, and a sliding seat 112 is slidably connected in the slide groove 111. The sliding seat 112 is fixedly connected to the brake block 14, and the driving mechanism 16 includes a screw rod 161 passing through the sliding seat 112 and threadedly connected to the sliding seat 112, and a motor 162 connected to the screw rod 161.

[0034] Through the above arrangement, when the motor 162 drives the screw rod 161 to rotate, the screw rod 161 and the sliding seat 112 rotate relative to each other. When the screw rod 161 and the sliding seat 112 are threadedly connected, the sliding seat 112 moves along the screw rod 161, that is, the sliding seat 112 drives the brake block 14 to move upward or downward along the slide groove 111.

[0035] As an implementation method, the brake shoe 14 is fixedly connected to a first bracket 142, the first bracket 142 is slidably connected to a second bracket 143, the first bracket 142 is fixedly connected to a connecting plate 144, the connecting plate 144 is connected to the second bracket 143 through a first spring 145, the second bracket 143 is provided with a driving wheel 1431 for abutting the lower side of the wire 21, the second bracket 143 is provided with a driving motor 1432, the driving motor 1432 is connected to the driving wheel 1431, and the upper edge of the driving wheel 1431 is at a height higher than the upper edge of the brake shoe 14.

[0036] Through the above arrangement, the driving mechanism 16 that controls the brake block 14 can be used to control the raising and lowering of the driving wheel 1431, thereby further increasing the compactness of the structure. Specifically, after the robot body 11 is hung on the wire 21, the wire 21 is located above the driving wheel 1431. Under the action of the driving mechanism 16, the brake block 14 drives the driving wheel 1431 to move upward and press against the lower side of the wire 21 through the first bracket 142, the connecting plate 144, the first spring 145, and the second bracket 143. During this process, the second bracket 143 slides downward relative to the first bracket 142, and the first spring 145 extends. The first spring 145 provides an upward thrust to the driving wheel 1431, causing the driving wheel 1431 to press against the wire 21. After the driving mechanism 16 stops, see Figure 8 At this time, the brake shoe 14 and the wire 21 have not yet made contact. The controller sends a command to the driver 1432, which drives the drive wheel 1431 to rotate. Under the action of the drive wheel 1431, the robot body 11 moves along the wire 21 to perform the net sealing operation. When it is necessary to anchor the robot body 11 on the wire 21, the driver 1432 stops running, and the robot body 11 stops moving on the wire 21. Then, the drive mechanism 16 continues to drive the brake shoe 14 upward until the brake shoe 14 is pressed tightly against the wire 21. Figure 5 At this time, the first spring 145 is further extended, thereby increasing the pressure between the driving wheel 1431 and the wire 21, further enhancing the anchoring effect.

[0037] As an implementation method, a second annular limiting groove 1433 is provided along the outer circumference of the driving wheel 1431 , and the cross section of the second annular limiting groove 1433 is C-shaped.

[0038] Through the above arrangement, the fit between the driving wheel 1431 and the wire 21 is increased. When the driving wheel 1431 is squeezed on the wire 21, the lower side of the wire 21 is pressed against the bottom of the second annular limiting groove 1433, so that when the driving wheel 1431 moves along the wire 21, the driving wheel 1431 and the wire 21 are not easily disengaged.

[0039] As an implementation, the sliding seat 112 includes a seat body 1121, a rotating body 1122 rotatably connected within the seat body 1121, and avoidance openings 1123 are provided on both the upper and lower sides of the seat body 1121. The screw rod 161 passes through the rotating body 1122 and the avoidance opening 1123, and the screw rod 161 and the rotating body 1122 are threadedly connected. The upper side of the seat body 1121 is provided with a mounting groove 1124, and the lower end of the mounting groove 1124 is provided with a damping block 1125, which abuts the upper side of the rotating body 1122. The upper end of the mounting groove 1124 is threadedly connected with an adjusting bolt 1126, and a second spring 1127 is provided between the adjusting bolt 1126 and the damping block 1125. The seat body and the brake block are integrally formed.

[0040] Through the above arrangement, when the motor 162 rotates too far, a buffer protection can be formed for the motor 162. Specifically, under the action of the second spring 1127, the damping block 1125 is pressed against the rotating body 1122. Under the action of the friction between the damping block 1125 and the rotating body 1122, the rotating body 1122 and the base 1121 cannot easily rotate relative to each other. When the motor 162 drives the screw rod 161 to rotate, the screw rod 161 and the rotating body 1122 rotate relative to each other. The rotating body 1122 will drive the brake block 14 to move upward or downward along the screw rod 161 through the base 1121. When the brake block 14 presses upward, the brake block 14 will stop the rotating body 1122 from rotating. When the wire 21 is connected, or when it moves downward to the end of the slide groove 111, the brake block 14 cannot continue to move, that is, the rotating body 1122 will not be able to continue to move along the screw rod 161, that is, the rotating body 1122 and the screw rod 161 will not be able to rotate relative to each other. At this time, the screw rod 161 will rotate synchronously with the rotating body 1122, and the rotating body 1122 and the seat body 1121 will rotate relative to each other, that is, the rotating body 1122 will overcome the friction force of the damping block 1125 and rotate, thereby preventing the motor 162 from being overloaded and damaged.

[0041] As an implementation method, the outer side of the rotating body 1122 is provided with gear teeth, one side of the seat body 1121 is rotatably connected to the transmission wheel 11211, and the transmission wheel 11211 is meshed with the rotating body 1122 through the gear teeth. One side of the robot body 11 is fixedly connected to the support plate 113, and the support plate 113 is rotatably connected to the driven gear 114 for meshing with the transmission wheel 11211. The driven gear 114 is provided on the upper side of the transmission wheel 11211, and the upper side of the driven gear 114 is rotatably connected to the transmission rod 1142 through the connecting rod 1141. The robot body 1 1 is fixedly connected to a U-shaped connecting buckle 115 with an upward opening. A guide plate 116 is provided between the connecting buckle 115 and the driven gear 114. The guide plate 116 is fixedly connected to the robot body 11. The end of the transmission rod 1142 away from the connecting rod 1141 is rotatably connected to the latch 117. The latch 117 passes through the guide plate 116 and is slidably connected to the guide plate 116. One end of the latch 117 passes through one end of the connecting buckle 115 and is slidably connected to the connecting buckle 115. When the brake block 14 and the wire 21 abut, the driven gear 114 and the transmission wheel 11211 engage.

[0042] Through the above arrangement, the connecting buckle 115 can be opened and closed by the driving motor 1432. Specifically, when closing the net, it is generally necessary to first anchor the robot body 11 to the wire 21, and then connect the object to be towed to the connecting buckle 115. The existing connecting buckle 115 is generally open or closed. The existing open connecting buckle 115 has the risk of the towed object being detached, while the existing closed connecting buckle 115 has the disadvantage of being difficult to connect the towed object. In the present application, the connecting buckle 115 can be opened and closed by the driving motor 1432. When the connecting buckle 115 is open, it is convenient to connect or disconnect the towed object. When the connecting buckle 115 is closed, it prevents the towed object from being detached.

[0043] Specifically, under the action of the driving mechanism 16, the brake block 14 is pressed against the lower side of the wire 21, see Figure 6 , thereby achieving the anchoring of the robot body 11 and preventing the robot body 11 from moving on the wire 21 when the towed object is connected or removed. In this process, the transmission wheel 11211 moves upward following the base 1121. When the brake block 14 abuts the wire 21, the transmission wheel 11211 and the driven gear 114 engage. Figure 5 and Figure 6 At this time, the connecting buckle 115 is in the open state, and the towed object can be hung on the connecting buckle 115. Figure 6 and Figure 7 As the motor 162 continues to rotate, the rotating body 1122 will rotate synchronously with the screw rod 161, and drive the driven gear 114 to rotate through the transmission wheel 11211. When the driven gear 114 rotates, the driven gear 114 drives the pin 117 to move toward the other end of the connecting buckle 115 through the connecting rod 1141 and the transmission rod 1142. When the distance between the connecting rod 1141 and the connecting buckle 115 is the shortest, the motor 162 stops. At this time, the pin 117 basically closes the connecting buckle 115, which can prevent the towed object from being unhooked. Then the motor 162 rotates in the opposite direction. At this time, due to the movement space under the base 1121, under the action of the damping block 1125, the rotating body 1122 and the base 1121 are relatively fixed. As the screw rod 161 and the rotating body 1122 rotate relative to each other, the rotating body 1122 drives the brake shoe 14 to move downward along the screw rod 161 through the base 1121, so that the brake shoe 14 and the wire 21 are disengaged. Figure 8At this time, the driving wheel 1431 is still pressed against the lower side of the wire 21. Under the action of the motor 162, the driving wheel 1431 drives the towed object to move along the wire 21 through the robot body 11 until the towed object moves to the target location. When the towed object needs to be unhooked, the motor 162 rotates to make the brake block 14 move upward and abut against the wire 21. At this time, the transmission wheel 11211 and the driven gear 114 are re-engaged. As the screw rod 161 continues to rotate, the screw rod 161 will overcome the resistance of the damping block 1125 and drive the rotating body 1122 to rotate. The rotating body 1122 drives the driven gear 114 to rotate through the transmission wheel 11211. The driven gear 114 drives the connecting rod 1141 to gradually move away from the connecting buckle 115, so that the latch 117 gradually opens the connecting buckle 115. When the connecting rod 1141 is located on the side of the driven gear 114 away from the connecting buckle 115, the latch 117 opens the connecting buckle 115. Figure 5 After motor 162 stops running, the towed object can be easily removed from connector 115. A distance sensor (not shown) can be provided at the other end of connector 115, facing latch 117. The distance sensor is electrically connected to motor 162, and the movement of latch 117 is monitored by monitoring the distance between latch 117 and the distance sensor. When connector 115 needs to be closed, latch 117 approaches the sensor and the distance approaches zero, completing the closure of connector 115 and stopping motor 162. When connector 115 needs to be opened, latch 117 moves away from the sensor and the distance increases. When the distance increases to a preset value, motor 162 stops.

[0044] As an implementation method, the brake block 14 is rotatably connected to the limiting door 15 via a hinge 146 .

[0045] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all such improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A locking and anchoring device for a network sealing robot, characterized in that: The brake shoe is rotatably connected to the said hanging wheel, and the limit switch is provided with a limit switch for the said robot body. The driving mechanism drives the brake block to move downward, and the brake block drives the limit door to move downward. When the limit head and the through hole coincide, the driving mechanism stops moving, and the limit door is in an unlocked state. The limit door can be rotated downward and opened. During the rotation of the limit door, the limit head passes through the through hole.

2. A locking and anchoring device for a network sealing robot according to claim 1, characterized in that: A first annular limiting groove is provided along the outer circumference of the idler pulley, the cross section of the first annular limiting groove is C-shaped, and a V-shaped groove is provided on the upper side of the brake block.

3. The locking and anchoring device of a network sealing robot according to claim 1, characterized in that: A slide groove is provided on one side of the robot body, a sliding seat is slidably connected in the slide groove, the sliding seat and the brake block are fixedly connected, and the driving mechanism includes a screw rod passing through the sliding seat and threadedly connected to the sliding seat, and a motor connected to the screw rod.

4. The locking and anchoring device of a network sealing robot according to claim 3, characterized in that: The brake shoe is fixedly connected to a first bracket, the first bracket is slidably connected to a second bracket, the first bracket is fixedly connected to a connecting plate, the connecting plate is connected to the second bracket through a first spring, the second bracket is provided with a driving wheel for abutting the lower side of the wire, the second bracket is provided with a driving motor, the driving motor is connected to the driving wheel, and the upper edge of the driving wheel is at a height higher than the upper edge of the brake shoe.

5. The locking and anchoring device of a network sealing robot according to claim 4, characterized in that: A second annular limiting groove is provided along the outer circumference of the driving wheel, and the cross section of the second annular limiting groove is C-shaped.

6. The locking and anchoring device of a network-sealing robot according to claim 4, characterized in that: The sliding seat includes a seat body and a rotating body rotatably connected to the seat body, and avoidance openings are provided on the upper and lower sides of the seat body. The screw rod passes through the rotating body and the avoidance opening, and the screw rod and the rotating body are threadedly connected. A mounting groove is provided on the upper side of the seat body, and a damping block is provided at the lower end of the mounting groove. The damping block abuts against the upper side of the rotating body, and an adjusting bolt is threadedly connected to the upper end of the mounting groove, and a second spring is provided between the adjusting bolt and the damping block.

7. The locking and anchoring device of a network sealing robot according to claim 6, characterized in that: The seat body and the brake shoe are an integrally formed structure.

8. The locking and anchoring device of a network-sealing robot according to claim 6, characterized in that: The transmission gear is a gear which is connected to the gear train by a toothed connection between the guide rail and the gear train, and the toothed connection between the guide rail and the gear train is connected with the toothed connection between the guide rail and the gear train.

9. A locking and anchoring device for a network-sealing robot according to any one of claims 1 to 8, characterized in that: The brake block is rotatably connected to the limiting door via a hinge.

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