Multi-functional mobile network wiring live working robot

Abstract

This invention provides a multifunctional mobile live-line working robot for power distribution networks, belonging to the field of power distribution network technology. It includes a main housing, a walking assembly, and a clamping and displacement assembly. The main housing has a first extension arm on its side, connected to a stripping cutter. The walking assembly includes a drive wheel, an auxiliary wheel, and a drive mechanism, with the auxiliary wheel and drive wheel respectively attached to the upper and lower sides of the cable. The clamping and displacement assembly includes a second extension arm and a third extension arm, both connected to hooks and clamps. The horizontal rotation angle range of the third extension arm is 90°–180°. The multifunctional mobile live-line working robot provided by this invention enables the main housing to move along the length of the cable via the walking assembly. The first, second, and third extension arms cooperate to strip the cable and connect lead wires. The third and second extension arms cooperate to enable the main housing to move laterally between adjacent cables.

Description

Technical Field

[0001] This invention belongs to the field of power distribution network technology, and more specifically, relates to a multifunctional mobile power distribution network live-line working robot. Background Technology

[0002] Live-line work on distribution networks has become the most direct and effective means for power supply companies to reduce power outage time and improve power supply reliability and service levels. The main tasks include 10kV live-line disconnection, bolt tightening, tree trimming, grounding ring installation, and surge arrester replacement. However, manual work is labor-intensive and carries high safety risks, making the use of robots to replace these high-risk manual tasks extremely urgent. Currently, live-line work robots are widely used both domestically and internationally.

[0003] Currently, live-line working robots for power distribution networks are all mounted on insulated bucket trucks, which are large and heavy, making them unsuitable for working terrains without roads, confined working spaces, and complex working objects. They are particularly unsuitable for working on the middle phase of lines arranged in a triangular or horizontal pattern, which greatly limits the application scope of live-line working robots for power distribution networks. Summary of the Invention

[0004] The purpose of this invention is to provide a multifunctional mobile live-line working robot for power distribution networks, which aims to enable the robot to move and adjust on power distribution lines.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is: to provide a multifunctional mobile live-line working robot for power distribution networks, comprising:

[0006] The main housing has a first extension arm extending outward on its side, and the free end of the first extension arm is connected to a stripping tool for stripping the cable insulation.

[0007] A walking assembly is located at the top of the main housing. The walking assembly includes a drive wheel, an auxiliary wheel, and a drive mechanism. The drive wheel is connected to the main housing via a fixed frame. The auxiliary wheel is connected to the main housing via a telescopic bracket and is respectively attached to the upper and lower sides of the cable. The drive mechanism drives the drive wheel to rotate so as to move the main housing along the length of the cable.

[0008] The clamping and shifting assembly includes a second extension arm symmetrically arranged with the first extension arm and a third extension arm horizontally rotatably disposed on the main housing. The free ends of the second extension arm and the third extension arm are connected to hooks and clamps. The horizontal rotation angle range of the third extension arm is 90°-180°.

[0009] In another embodiment of this application, the third extension arm includes:

[0010] A rotating connection unit is located inside the main housing. The rotating connection unit includes a connecting column fixed on the main housing and a rotating ring rotatably disposed on the connecting column.

[0011] The lower arm is disposed on the rotating ring, and the lower arm is horizontally arranged and extends to the outside of the main housing;

[0012] The upper arm is hinged to the free end of the lower arm, and a slewing bearing is installed at the end of the upper arm. The hook and the clamp are both located at the upper end of the slewing bearing.

[0013] An adjustment unit includes a slider and an adjustment rod. The slider is slidably mounted on the lower arm, and the two ends of the adjustment rod are respectively hinged to the slider and the upper arm.

[0014] In another embodiment of this application, the upper end of the slewing bearing has a mounting bracket, and the upper end of the mounting bracket is laterally provided with a rotating shaft. The rotating shaft is rotatably connected to the middle part of the L-shaped frame, and the hook and the clamp are respectively located at the two free ends of the L-shaped frame.

[0015] In another embodiment of this application, the fixture includes:

[0016] The fixed section includes two symmetrically arranged fixed plates, both of which are disposed on the L-shaped frame.

[0017] The gripper is located in the gap between the two fixing plates. The gripper includes two symmetrically arranged clamping pieces, the middle of which is hinged to the free end of the fixing plate. The front ends of the two grippers extend out of the fixing plate and cooperate to clamp the cable. The rear ends of the two grippers extend to the middle of the fixing plate.

[0018] The control unit includes a connecting plate, two connecting rods, a worm gear, and a worm. The connecting plate is slidably disposed between the two fixed plates. The two connecting rods are respectively hinged to the rear ends of the two grippers, and the free ends of the two connecting rods are both hinged to the connecting plate. A worm is connected to the side of the connecting plate away from the grippers. The worm gear is rotatably connected between the two fixed plates, and the worm gear is adapted to the worm.

[0019] In another embodiment of this application, the hook and loop includes:

[0020] A fixing part is provided on the L-shaped frame, and the fixing part is semi-circular;

[0021] The movable part is rotatably disposed at one end of the fixed part. The movable part is arc-shaped, and a notch is left between the other end of the movable part and the end of the fixed part.

[0022] In another embodiment of this application, the third extension arm further includes:

[0023] The drive unit includes a rotary motor disposed inside the main housing, a drive gear ring connected to the rotary motor, and a passive gear ring disposed on the rotating ring, wherein the drive gear ring and the passive gear ring are adapted to each other.

[0024] In another embodiment of this application, the peeling tool includes:

[0025] A support plate is rotatably connected to the free end of the first extension arm; the end of the support plate has a positioning block, the positioning block has a first limiting ring clamp, and the inner side of the first limiting ring clamp has a first annular blade; the support plate is also provided with a moving block, the moving block is close to or away from the positioning block along the length direction of the support plate; the moving block has a second limiting ring clamp, and the inner side of the second limiting ring clamp has a second annular blade;

[0026] The power component includes a first screw and a second screw mounted on the support plate; the first screw passes through the movable block and is threadedly connected to the movable block; the second screw is arranged parallel to the first screw, and the second screw passes through the movable block and leaves a gap between the second screw and the movable block.

[0027] Peeling pliers include a first block, a limiting shaft, two clamp bars, and two springs. The first block is threadedly connected to a second screw, and the first block is sleeved on the outside of the first screw with a gap between them. The limiting shaft is located above the second screw, and both clamp bars are hinged to the limiting shaft and are symmetrically arranged. Arc-shaped limiting grooves are formed on opposite sides of the two clamp bars, and a blade is connected to at least one clamp bar, with the tip of the blade extending into the limiting groove. The two springs are respectively located on both sides of the first block and are correspondingly connected to the two clamp bars. The springs are always in a compressed state.

[0028] In another embodiment of this application, an adjustment bracket is provided on the outer side of the clamp bar used to connect the blade body, and the tail end of the blade body is threadedly connected to the adjustment bracket.

[0029] In another embodiment of this application, both sides of the two clamps are provided with outwardly protruding connecting rods, and the first limiting ring clamp and the second limiting ring clamp are provided with limiting holes for engaging the connecting rods.

[0030] In another embodiment of this application, the drive wheel has toothed protrusions evenly distributed circumferentially.

[0031] The beneficial effects of the multifunctional mobile live-line working robot provided by the present invention are as follows: Compared with the prior art, the multifunctional mobile live-line working robot of the present invention can realize the movement of the main housing along the length of the cable by means of the walking component on the main housing; the first extension arm, the second extension arm and the third extension arm work together to strip the cable and connect the lead wires; at the same time, the third extension arm and the second extension arm work together to realize the lateral movement of the main housing between two adjacent cables. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the structure of the multifunctional mobile live-line working robot for power distribution networks provided in an embodiment of the present invention;

[0034] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0035] Figure 3 This is a schematic diagram of the structure of the moving block provided in an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the structure of the peeling forceps provided in the first embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the peeling forceps provided in the second embodiment of the present invention.

[0038] Figure 6 This is a schematic diagram of the fixture provided in an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the walking component provided in an embodiment of the present invention.

[0040] In the diagram: 100, Main housing; 110, Telescopic bracket; 111, Fixed frame; 112, Drive wheel; 113, Auxiliary wheel; 114, Drive motor; 115, Support column; 116, Collar; 117, Main adjusting gear ring; 118, Auxiliary adjusting gear ring; 119, Rotary motor; 120, First extension arm; 121, Support plate; 122, Positioning block; 123, First limiting ring clamp; 124, Moving block; 125, Second limiting ring clamp; 126, Peeling pliers; 127, Side rod; 128, Limiting shaft; 129, First block; 1 30. Support rod; 131. First screw; 132. Second screw; 133. Semi-annular clamp; 134. Limiting hole; 135. Clamping bar; 136. Spring; 137. Blade body; 138. Adjusting frame; 139. Arc rod; 140. Connecting column; 141. Rotating ring; 142. Lower arm; 143. Upper arm; 144. Adjusting rod; 145. Slewing bearing; 146. Clamp; 147. Hook; 150. Clamping plate; 151. Fixing plate; 152. Connecting rod; 153. Connecting plate; 154. Worm gear; 155. Worm. Detailed Implementation

[0041] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0042] Please see Figures 1 to 7 The multifunctional mobile live-line working robot for power distribution networks provided by this invention will now be described. The multifunctional mobile live-line working robot includes a main housing 100, a walking assembly, and a clamping and displacement assembly. The main housing 100 has a first extension arm 120 extending outward on its side, and the free end of the first extension arm 120 is connected to a stripping knife for stripping the insulation of the cable. The walking assembly is located at the top of the main housing 100 and includes a drive wheel 112, an auxiliary wheel 113, and a drive mechanism. The drive wheel 112 is connected to the main housing 100 via a fixed frame 111. The auxiliary wheel 113 is connected to the main housing 100 via a telescopic bracket 110 and is respectively attached to the upper and lower sides of the cable by the drive wheel 112. The drive mechanism drives the drive wheel 112 to rotate so as to move the main housing 100 along the length of the cable. The clamping and displacement assembly includes a second extension arm symmetrically arranged with the first extension arm 120 and a third extension arm horizontally rotatably arranged on the main housing 100. The free ends of the second and third extension arms are connected to hooks 147 and clamps 146. The horizontal rotation angle range of the third extension arm is 90°-180°.

[0043] The multifunctional mobile live-line working robot provided by this invention, compared with the prior art, has a walking component installed on the top of the main housing 100. The driving wheel 112 of the walking component is located below the auxiliary wheel 113. The driving wheel 112 and the auxiliary wheel 113 clamp the cable between them, and at the same time facilitate the fixing of the main housing 100 to the cable. The driving wheel 112 is connected to a driving mechanism. Under the action of the driving mechanism, the driving wheel 112 can rotate and realize the movement of the main housing 100 along the length of the cable by means of the friction between it and the cable, so as to facilitate the inspection and positioning of the cable damage location.

[0044] The main housing 100 has a first extension arm 120, a second extension arm, and a third extension arm on its side. When the main housing 100 is suspended under the cable by means of a traveling assembly, the first extension arm 120 extends to the cable and uses a stripping tool to remove the insulation from the damaged part of the cable. After stripping, the clamp 146 of the second extension arm of the main housing 100 clamps the lead wire and holds the lead wire at the stripped cable location, and fixes it with an insulating clamp or the like.

[0045] When clamping and fixing the lead wire, the clamp 146 of the third extension arm clamps the end of the lead wire and places the lead wire at the stripped part of the cable; the clamp 146 of the second extension arm clamps the insulating clamp and fixes the lead wire through the insulating clamp. After fixing, the clamps 146 on both the third and second extension arms open and detach from the cable.

[0046] The third extension arm rotates around the main housing 100 at an angle of 90°-180°. In addition to being used for the transfer and fixing of the lead wire, it can also be used for the displacement between adjacent cables. After the first cable is connected to the lead wire, the third extension arm is rotated to extend it to the second cable and hooks the second cable through the hook 147 on the third extension arm. Then the main housing 100 is carried onto the second cable. The traveling component of the main housing 100 is detached from the first cable and moves to the second cable with the help of the third extension arm. At the same time, the hook 147 on the second extension arm first contacts the second cable. Under the combined action of the second and third extension arms, the orientation of the main housing 100 is adjusted so that the traveling component of the main housing 100 is in complete contact with the second cable.

[0047] The multifunctional mobile live-line working robot provided by the present invention can move the main housing 100 along the length of the cable by means of a walking component on the main housing 100; the first extension arm 120, the second extension arm and the third extension arm work together to strip the cable and connect the lead wires; at the same time, the third extension arm and the second extension arm work together to enable the main housing 100 to move laterally between two adjacent cables.

[0048] Optionally, the first extension arm 120 and the second extension arm are horizontally rotatably connected to the lower end of the main housing 100.

[0049] Optionally, the main housing 100 is cylindrical, and a 180° opening is provided on the side wall of the main housing 100, through which the third extension arm passes.

[0050] Optionally, the auxiliary wheel 113 can extend or retract via a telescopic component to tighten or loosen the cable. The drive wheel 112 is connected to a drive mechanism, which is a drive motor 114 that drives the drive wheel 112 to rotate. The drive wheel 112 has evenly distributed toothed protrusions around its circumference.

[0051] Grooves are provided in the middle of both the auxiliary wheel 113 and the drive wheel 112 to prevent the cable from coming loose.

[0052] In some possible embodiments, please refer to Figure 1 The third extension arm includes a rotating connection unit, a lower arm 142, an upper arm 143, and an adjustment unit. The rotating connection unit is located inside the main housing 100 and includes a connecting post 140 fixed on the main housing 100 and a rotating ring 141 rotatably disposed on the connecting post 140. The lower arm 142 is disposed on the rotating ring 141, and the lower arm 142 is horizontally disposed and extends to the outside of the main housing 100. The upper arm 143 is hinged to the free end of the lower arm 142, and a slewing bearing 145 is installed at the end of the upper arm 143. A hook 147 and a clamp 146 are both disposed at the upper end of the slewing bearing 145. The adjustment unit includes a slider and an adjustment rod 144. The slider is slidably disposed on the lower arm 142, and the two ends of the adjustment rod 144 are respectively hinged to the slider and the upper arm 143.

[0053] The connecting post 140 is fixed inside the main housing 100 and coincides with the axis of the main housing 100. A rotating ring 141 is sleeved on the outer side of the connecting post 140, and a rotating bearing is provided between the rotating ring 141 and the connecting post 140. The lower arm 142 is fixedly connected to the outer side of the rotating ring 141 and passes through an opening in the side wall of the main housing 100; when the rotating ring 141 rotates around the connecting post 140, the lower arm 142 rotates accordingly.

[0054] An upper arm 143 is connected to the end of the lower arm 142 away from the rotating ring 141, and the upper arm 143 extends upward. A groove is formed on the upper end face of the lower arm 142 along its length, and a slider is installed in the groove and slides along the groove. An adjusting rod 144 is hinged to the upper end of the slider, and the other end of the adjusting rod 144 is hinged to the middle of the upper arm 143. When the slider moves along the groove, the length of the adjusting rod 144 remains unchanged, and the adjusting rod 144 drives the upper arm 143 to rotate around its hinge point with the lower arm 142, so as to adjust the extension direction and extension height of the upper arm 143.

[0055] Optionally, a screw is provided in a groove on the lower side wall, and the slider is threadedly connected to the screw. The movement of the slider is adjusted by rotating the screw.

[0056] Specifically, the structures of the first extension arm 120 and the second extension arm are identical to those of the third extension arm. The difference lies in that the lengths of the lower arm 142 and the upper arm 143 of the third extension arm are shorter than the lengths of the lower arm 142 and the upper arm 143 of the first extension arm 120 and the second extension arm, respectively.

[0057] The upper ends of the first extension arm 120, the second extension arm and the third extension arm are slewing bearings 145, which can achieve horizontal rotation.

[0058] In some possible embodiments, please refer to Figure 1 The upper end of the slewing bearing 145 has a mounting bracket, and the upper end of the mounting bracket has a rotating shaft arranged laterally. The rotating shaft is rotatably connected to the middle part of the L-shaped frame. The hook 147 and the clamp 146 are located at the two free ends of the L-shaped frame, respectively.

[0059] Taking the third extension arm as an example, the upper end of the slewing bearing 145 is provided with a mounting bracket, the upper end of the mounting bracket is provided with a transverse rotating shaft and connected to the L-shaped frame body by means of the rotating shaft, and the rotating shaft is connected to the middle corner of the L-shaped frame body.

[0060] Hooks 147 and clamps 146 are connected to the two ends of the L-shaped frame, respectively.

[0061] A rotary motor is also provided on one side of the rotating shaft. The rotary motor drives the rotating shaft to rotate, thereby driving the L-shaped frame to rotate, so as to adjust the usage status of the hook 147 and the clamp 146.

[0062] Specifically, the mounting brackets, L-shaped frames, hooks 147, and clamps 146 of the second and third extension arms are identical in structure.

[0063] When the first extension arm 120, the second extension arm and the third extension arm are all provided with slewing bearings 145, the ends of the first extension arm 120 and the second extension arm can be fixedly connected to the main housing 100.

[0064] In some possible embodiments, please refer to Figure 1 and Figure 6The clamps 146 on the second and third extension arms include a fixed section, grippers, and a control unit. The fixed section includes two symmetrically arranged fixed plates 151, both of which are mounted on an L-shaped frame. The grippers are located in the gap between the two fixed plates 151 and include two symmetrically arranged clamping plates 150, the middle of which is hinged to the free end of the fixed plate 151. The front ends of the two clamping plates 150 extend out of the fixed plate 151 and cooperate to clamp the cable. The rear ends of the two clamping plates 150 extend to the fixed plate 151. The control unit includes a connecting plate 153, two connecting rods 152, a worm gear 154, and a worm 155. The connecting plate 153 is slidably disposed between two fixed plates 151. The two connecting rods 152 are respectively hinged to the rear ends of the two clamping plates 150, and the free ends of the two connecting rods 152 are both hinged to the connecting plate 153. The worm 155 is connected to the side of the connecting plate 153 away from the clamping plates 150. The worm gear 154 is rotatably connected between the two fixed plates 151, and the worm gear 154 is adapted to the worm 155.

[0065] The clamp 146 is mainly used to clamp the lead wire and the insulated wire clamp. The clamp 146 includes a fixing plate 151 connected to the end of the L-shaped frame. Two fixing plates 151 are spaced apart. A control unit, namely a worm gear structure and a connecting plate 153, is arranged in the gap between the two fixing plates 151.

[0066] The middle portions of the two clamping plates 150 are respectively hinged to the two corners of the fixing plate 151, and the two clamping plates 150 are symmetrically arranged between the two fixing plates 151. The front ends of the two clamping plates 150 extend out of the fixing plate 151 and are used to clamp the cable, and the rear ends of the two clamping plates 150 extend to the middle of the fixing plate 151.

[0067] The rear ends of the two clamping plates 150 are connected to the connecting plate 153 via two connecting rods 152. When the connecting plate 153 is driven by the worm gear, it moves along the length of the fixed plate 151, and the connecting plate 153 drives the connecting rods 152 to move, so as to pull the clamping plates 150 open or close.

[0068] In some possible embodiments, please refer to Figure 1 The hooks 147 on the second and third extension arms include a fixed part and a movable part; the fixed part is located on the L-shaped frame and is semi-circular; the movable part is rotatably located at one end of the fixed part, the movable part is arc-shaped, and there is a gap between the other end of the movable part and the end of the fixed part.

[0069] The hook 147 includes a semi-circular fixing part, which is located at the end of the L-shaped frame away from the clamp 146. The connection point between the fixing part and the movable part is located at the end of the fixing part away from the L-shaped frame. A blocking edge is provided at the connection point, which is located on the outside of the fixing part to restrict the movable part from flipping inward.

[0070] A notch is left between the free end of the moving part and the free end of the fixed part, with the notch facing diagonally downwards. After the walking assembly is connected, the cable is removed from the notch.

[0071] In some possible embodiments, please refer to Figure 1 The third extension arm also includes a drive unit; the drive unit includes a rotary motor 119 located inside the main housing 100, a drive gear ring connected to the rotary motor 119, and a passive gear ring located on the rotating ring 141, the drive gear ring and the passive gear ring being adapted to each other.

[0072] A rotary motor 119 is installed inside the main housing 100. The output end of the rotary motor 119 is connected to a drive gear ring, which engages with a passive gear ring on the end face of the rotating ring 141 to drive the rotating ring 141 to rotate. This allows for adjustment of the extension direction of the third extension arm.

[0073] A support column 115 is also provided inside the main housing 100. The first extension arm 120 and the second extension arm are rotatably connected to the support column 115 via a collar 116. A main adjusting gear ring 117 is provided on the collar 116. Optionally, the rotary motor 119 is a dual-output motor; one side of the dual-output motor is connected to the drive gear ring, and the other side is connected to the auxiliary adjusting gear ring 118, which is connected to the main adjusting gear ring 117.

[0074] The support base of the rotary motor 119 is a liftable structure. When the support base of the rotary motor 119 is raised to the highest point, the drive gear ring of the rotary motor 119 meshes with the driven gear ring; when the support base of the rotary motor 119 is lowered to the lowest point, the auxiliary adjusting gear ring 118 of the rotary motor 119 meshes with the main adjusting gear ring 117 on the collar 116.

[0075] In some possible embodiments, please refer to Figures 1 to 4The peeling tool includes a support plate 121 and a power component; the support plate 121 is rotatably connected to the free end of the first extension arm 120; the end of the support plate 121 has a positioning block 122, the positioning block 122 has a first limiting ring clamp 123, and the inner side of the first limiting ring clamp 123 has a first annular blade; the support plate 121 is also provided with a moving block 124, the moving block 124 is close to or away from the positioning block 122 along the length direction of the support plate 121; the moving block 124 has a second limiting ring clamp 125, and the inner side of the second limiting ring clamp 125 has a second annular blade; the power component includes a first screw 131 and a second screw 132 provided on the support plate 121; the first screw 131 passes through the moving block 124 and is threadedly connected to the moving block 124; the second screw 132 passes through the moving block 124. 4. A gap is left between the first block 129 and the moving block 124; the peeling pliers 126 includes a first block 129, a limiting shaft 128, two clamp rods 135 and two springs 136; the first block 129 is threadedly connected to the second screw 132, and the first block 129 is sleeved on the outside of the first screw 131 with a gap therebetween; the limiting shaft 128 is located above the second screw 132, and the two clamp rods 135 are both hinged to the limiting shaft 128, and the two clamp rods 135 are symmetrically arranged; an arc-shaped limiting groove is opened on the opposite side of the two clamp rods 135, and a blade 137 is connected to at least one clamp rod 135, the tip of the blade 137 extending into the limiting groove; the two springs 136 are respectively located on both sides of the first block 129 and are correspondingly connected to the two clamp rods 135; the springs 136 are always in a compressed state.

[0076] A support plate 121 is connected to the end of the first extension arm 120 via a slewing bearing 145. The support plate 121 is horizontally positioned, and a positioning block 122 is provided at one end of the support plate 121. The positioning block 122 has a first limiting ring clamp 123, which is fixedly positioned and clamps one end of the cable at the point of breakage after the cable breakage is determined, thereby locating the cable breakage point. A moving block 124 is provided on the support plate 121. The moving block 124 can move along the length direction of the support plate 121 under the drive of the first screw 131 to determine the other end of the cable breakage point and determine the stripping length. Specifically, both the first limiting ring clamp 123 and the second limiting ring clamp 125 include two symmetrically arranged semi-annular clamping pieces 133. The clamping pieces 148 move horizontally via a screw or other telescopic component to clamp or open. The corresponding first and second annular blades are each composed of two semi-annular blades, which are respectively disposed in the two semi-annular clamping pieces 133.

[0077] After the length is determined, the first limiting ring clamp 123 and the second limiting ring clamp 125 both clamp the cable, and at the same time, the first annular blade and the second annular blade on the first limiting ring clamp 123 and the second limiting ring clamp 125 cut the insulation of the cable at both ends.

[0078] The clamping bar 135 is movably mounted on the support plate 121 via the first block 129, which is rotatably connected to the second screw 132. Both sides of the first block 129 are connected to the clamping bar 135 via springs 136, and the clamping bar 135 is in a clamped state under the action of the springs 136.

[0079] During stripping, the clamps 135 are opened manually or using other tools to grip the cable, and the extension length of the blade 137 is adjusted to determine the depth to which the blade 137 is inserted into the cable. Then, the second screw 132 is activated to move the stripping clamps 126 from one end to the other, completing the stripping process.

[0080] Optionally, an adjustment bracket 138 is provided on the outside of the clamp bar 135 used to connect the blade body 137, and the tail end of the blade body 137 is threadedly connected to the adjustment bracket 138.

[0081] Optionally, both sides of the two clamping rods 135 are provided with outwardly protruding side rods 127, and the first limiting ring clamp 123 and the second limiting ring clamp 125 are provided with limiting holes 134 for engaging the side rods 127.

[0082] The clamping bar 135 has connecting rods 150 on both sides facing the first limiting ring clamp 123 and the second limiting ring clamp 125. The connecting rods 150 of the two clamping bars 135 are respectively connected to the limiting holes 134 on the two clamping plates 148. When the clamping plates 148 open, they can drive the clamping bar 135 to open.

[0083] Please see Figure 5 Arc-shaped rods 139 are provided on both sides of the first block 129 facing the clamp rod 135. The arc-shaped rods 139 penetrate the clamp rod 135 and are used to limit the clamp rod 135 and strengthen the support strength of the clamp rod 135 to prevent it from shaking.

[0084] Optionally, a support rod 130 is provided between the first block 129 and the limiting shaft 128.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multifunctional mobile live-line working robot for power distribution networks, characterized in that, include: The main housing has a first extension arm extending outward on its side, and the free end of the first extension arm is connected to a stripping tool for stripping the cable insulation. A walking assembly is located at the top of the main housing. The walking assembly includes a drive wheel, an auxiliary wheel, and a drive mechanism. The drive wheel is connected to the main housing via a fixed frame. The auxiliary wheel is connected to the main housing via a telescopic bracket and is respectively attached to the upper and lower sides of the cable. The drive mechanism drives the drive wheel to rotate so as to move the main housing along the length of the cable. The clamping and shifting assembly includes a second extension arm symmetrically arranged with the first extension arm and a third extension arm horizontally rotatably disposed on the main housing. The free ends of the second extension arm and the third extension arm are connected to hooks and clamps. The horizontal rotation angle range of the third extension arm is 90°-180°. The third extension arm includes: A rotating connection unit is located inside the main housing. The rotating connection unit includes a connecting column fixed on the main housing and a rotating ring rotatably disposed on the connecting column. The lower arm is disposed on the rotating ring, and the lower arm is horizontally arranged and extends to the outside of the main housing; The upper arm is hinged to the free end of the lower arm, and a slewing bearing is installed at the end of the upper arm. The hook and the clamp are both located at the upper end of the slewing bearing. An adjustment unit, comprising a slider and an adjustment rod, wherein the slider is slidably disposed on the lower arm, and the two ends of the adjustment rod are respectively hinged to the slider and the upper arm; The third extension arm also includes: The drive unit includes a rotary motor disposed inside the main housing, a drive gear ring connected to the rotary motor, and a driven gear ring disposed on the rotating ring, wherein the drive gear ring and the driven gear ring are adapted to each other. A support column is also provided inside the main housing. The first extension arm and the second extension arm are rotatably connected to the support column by means of a collar. The collar is provided with a main adjusting gear ring. The rotary motor is a dual-output motor; one side of the dual-output motor is connected to the drive gear ring, and the other side is connected to the auxiliary adjustment gear ring, which is connected to the main adjustment gear ring; The support base of the rotary motor is a height-adjustable structure. When the support base of the rotary motor is raised to the highest point, the drive gear ring of the rotary motor meshes with the driven gear ring; when the support base of the rotary motor is lowered to the lowest point, the auxiliary adjusting gear ring of the rotary motor meshes with the main adjusting gear ring on the collar.

2. The multifunctional mobile live-line working robot for power distribution networks as described in claim 1, characterized in that, The upper end of the slewing bearing has a mounting bracket, and the upper end of the mounting bracket is laterally provided with a rotating shaft. The rotating shaft is rotatably connected to the middle part of the L-shaped frame. The hook and the clamp are respectively located at the two free ends of the L-shaped frame.

3. The multifunctional mobile live-line working robot for power distribution networks as described in claim 2, characterized in that, The clamp includes: The fixed section includes two symmetrically arranged fixed plates, both of which are disposed on the L-shaped frame. The gripper is located in the gap between the two fixing plates. The gripper includes two symmetrically arranged clamping pieces, the middle of which is hinged to the free end of the fixing plate. The front ends of the two grippers extend out of the fixing plate and cooperate to clamp the cable. The rear ends of the two grippers extend to the middle of the fixing plate. The control unit includes a connecting plate, two connecting rods, a worm gear, and a worm. The connecting plate is slidably disposed between the two fixed plates. The two connecting rods are respectively hinged to the rear ends of the two grippers, and the free ends of the two connecting rods are both hinged to the connecting plate. A worm is connected to the side of the connecting plate away from the grippers. The worm gear is rotatably connected between the two fixed plates, and the worm gear is adapted to the worm.

4. The multifunctional mobile live-line working robot for power distribution networks as described in claim 2, characterized in that, The hook and loop include: A fixing part is provided on the L-shaped frame, and the fixing part is semi-circular; The movable part is rotatably disposed at one end of the fixed part. The movable part is arc-shaped, and a notch is left between the other end of the movable part and the end of the fixed part.

5. The multifunctional mobile live-line working robot for power distribution networks as described in claim 1, characterized in that, The peeling tool includes: A support plate is rotatably connected to the free end of the first extension arm; the end of the support plate has a positioning block, the positioning block has a first limiting ring clamp, and the inner side of the first limiting ring clamp has a first annular blade; the support plate is also provided with a moving block, the moving block is close to or away from the positioning block along the length direction of the support plate; the moving block has a second limiting ring clamp, and the inner side of the second limiting ring clamp has a second annular blade; The power component includes a first screw and a second screw mounted on the support plate; the first screw passes through the movable block and is threadedly connected to the movable block; the second screw is arranged parallel to the first screw, and the second screw passes through the movable block and leaves a gap between the second screw and the movable block. Peeling pliers include a first block, a limiting shaft, two clamp bars, and two springs. The first block is threadedly connected to a second screw, and the first block is sleeved on the outside of the first screw with a gap between them. The limiting shaft is located above the second screw, and both clamp bars are hinged to the limiting shaft and are symmetrically arranged. Arc-shaped limiting grooves are formed on opposite sides of the two clamp bars, and a blade is connected to at least one clamp bar, with the tip of the blade extending into the limiting groove. The two springs are respectively located on both sides of the first block and are correspondingly connected to the two clamp bars. The springs are always in a compressed state.

6. The multifunctional mobile live-line working robot for power distribution networks as described in claim 5, characterized in that, An adjustment bracket is provided on the outer side of the clamp bar used to connect the blade body, and the tail end of the blade body is threadedly connected to the adjustment bracket.

7. The multifunctional mobile live-line working robot for power distribution networks as described in claim 5, characterized in that, Both sides of the two clamps are provided with outwardly protruding connecting rods, and the first limiting ring clamp and the second limiting ring clamp are provided with limiting holes for engaging the connecting rods.

8. The multifunctional mobile live-line working robot for power distribution networks as described in claim 1, characterized in that, The drive wheel has toothed protrusions evenly distributed around its circumference.

Images