A split-type grounding wire hanging and removing robot and a grounding wire hanging and removing method thereof

Abstract

The present invention discloses a mother-and-child split-type grounding wire hanging and removing robot and a grounding wire hanging and removing method thereof, comprising a hoisting mechanism, which is detachably connected to an upper and lower hanging clamping mechanism through a chain mechanism, and the hoisting mechanism is detachably connected to the upper and lower hanging clamping mechanism through a power supply mechanism, a first rotating mechanism is provided on one side of the upper and lower hanging clamping mechanism, a first telescopic mechanism is provided on the output end of the first rotating mechanism, a first clamping part that can be opened and closed is provided on the output end of the first telescopic mechanism, a second rotating mechanism is provided on one side of the first clamping part, a second telescopic mechanism is provided on the output end of the second rotating mechanism, and a second clamping part that can be opened and closed is provided on the output end of the second telescopic mechanism, one end of the grounding wire extends in sequence along the length direction of the first telescopic mechanism and the length direction of the second telescopic mechanism, and the grounding wire is electrically connected to the upper and lower hanging clamping mechanism, the first clamping part and the second clamping part respectively; the above arrangement reduces the load load of the robot on the distribution network line.

Description

Technical Field

[0001] The present invention relates to the technical field of automated robots, and in particular to a parent-child split-type grounding wire hanging and removing robot and a grounding wire hanging and removing method thereof. Background Art

[0002] At present, the maintenance work of distribution network lines requires maintenance personnel to conduct electrical testing and grounding operations on the distribution network lines in advance. However, the existing distribution network lines usually adopt the method of manually hanging the ground wire when doing grounding operations. During the hanging process, maintenance personnel need to climb onto the distribution network lines to complete the wiring operations. Therefore, the current grounding method has a very high operational risk, the operational safety of maintenance personnel is difficult to guarantee, and the overall operation is difficult and the operation efficiency is low.

[0003] It can be seen that the existing technology still needs to be improved and enhanced. Summary of the Invention

[0004] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a split-type grounding wire hanging and removing robot with a main and a sub-machine, which can automatically complete the hanging and grounding of the distribution network line, avoid the accident risks of manual operation, and have high operating efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A split-type hanging and detaching grounding wire robot of a mother-and-child machine comprises a hoisting mechanism, an upper and lower hanging and clamping mechanism and a grounding wire, the hoisting mechanism being detachably connected to the upper and lower hanging and clamping mechanism through a chain mechanism, the hoisting mechanism being detachably connected to the upper and lower hanging and clamping mechanism through a power supply mechanism, a first rotating mechanism being provided on one side of the upper and lower hanging and clamping mechanism, a first telescopic mechanism being provided on the output end of the first rotating mechanism, a first clamping part being opened and closed being provided on the output end of the first telescopic mechanism, a second rotating mechanism being provided on one side of the first clamping part, a second telescopic mechanism being provided on the output end of the second rotating mechanism, a second clamping part being opened and closed being provided on the output end of the second telescopic mechanism, one end of the grounding wire extends in sequence along the length direction of the first telescopic mechanism and the length direction of the second telescopic mechanism, and the grounding wire is electrically connected to the upper and lower hanging and clamping mechanism, the first clamping part and the second clamping part respectively.

[0007] In the described parent-child split-type grounding wire hanging and removing robot, the interlocking mechanism includes an interlocking frame, on which is provided at least one locking member for locking and connecting the upper and lower hanging clamping mechanisms; the interlocking frame is also provided with a swing arm driving mechanism that is transmission-connected to the first rotating mechanism.

[0008] In the described mother-and-child split-type grounding wire hanging and removing robot, the swing arm drive mechanism includes a swing arm motor and a first pair of wheels, and the first pair of wheels are arranged at the output end of the swing arm motor; the first rotating mechanism includes a rotating seat and a rotating clutch, and a worm part and a swing arm worm gear are respectively provided in the rotating seat, and the worm part is connected to the swing arm worm gear for transmission, one end of the first telescopic mechanism is connected to one side wheel surface of the swing arm worm gear, and the bottom of the worm part is connected to the output end of the rotating clutch, and the input end of the rotating clutch is provided with a second pair of wheels that can be connected to the first pair of wheels for transmission.

[0009] In the described mother-and-child split-type grounding wire hanging and removing robot, the locking part includes a clamping claw unit and a servo part, the clamping claw unit is arranged at the top of the interlocking frame, the servo part is arranged inside the interlocking frame, and the servo part is transmission-connected to the clamping claw unit; the bottom of the upper and lower hanging clamping mechanism is provided with a locking seat that cooperates with the clamping claw unit.

[0010] In the described parent-child split-type grounding wire hanging and removing robot, the power supply mechanism includes a control unit and a power supply socket, the control unit is arranged in the interlocking frame or the hoisting mechanism, the power supply socket is arranged at the top of the interlocking frame, and the power supply socket is electrically connected to the control unit; the bottom of the upper and lower hanging clamping mechanism is provided with a power socket that cooperates with the power supply socket.

[0011] In the described split-type grounding wire hanging and removing robot, an electric shock receiving part is provided on the top of the interlocking frame, and the electric shock receiving part is electrically connected to the control unit, and an electric shock sensing part is provided at the bottom of the upper and lower hanging clamping mechanism, which is cooperated with the electric shock receiving part; an in-position switch electrically connected to the control unit is provided on one side of the clamping unit in the interlocking frame, and the in-position switch is transmission connected to the clamping unit.

[0012] In the described parent-child split-type grounding wire hanging and removing robot, the upper and lower hanging clamping mechanisms, the first clamping part and the second clamping part are all provided with a wire clamping seat, a clamping opening is provided in the wire clamping seat, a first clamping block is provided on one side of the clamping opening, and a second clamping block is provided on the other side of the clamping opening, the wire clamping seat is located below the second clamping block and is provided with a transverse movement mechanism, and the transverse movement mechanism is transmission-connected to the second clamping block; first in-position detection units are respectively provided at the openings of the clamping opening on both sides of the wire clamping seat; touch pressure frames that can be raised and lowered are respectively provided on both sides of the wire clamping seat between the first clamping block and the second clamping block, and a second in-position detection unit for detecting the in-position status of the touch pressure frame is provided on the touch pressure frame.

[0013] In the described mother-and-child split-type grounding wire hanging and removing robot, the structures of the first telescopic mechanism and the second telescopic mechanism are consistent; the first telescopic mechanism includes a sleeve rod, in which the telescopic rod is slidably connected, and a rolling conveying part is provided on the sleeve rod along its length direction, and the rolling conveying part is transmission-connected to the telescopic rod; one end of the sleeve rod is connected to the output end of the first rotating mechanism or the second rotating mechanism, and the end of the telescopic rod away from the first rotating mechanism or the second rotating mechanism is connected to the first clamping part or the second clamping part.

[0014] In the described split-type grounding wire hanging and removing robot, the rolling transmission part includes a rolling motor and a transmission belt. The rolling motor is arranged on one side of the first rotating mechanism or the second rotating mechanism, and a rolling rod is provided at the output end of the rolling motor; a guide mechanism is provided at one end of the sleeve rod away from the first rotating mechanism or the second rotating mechanism, and the two ends of the transmission belt are respectively wound around the rolling rod and the guide mechanism; a transmission groove connected to the belt body of the transmission belt is provided on the telescopic rod along its length direction.

[0015] The present invention also provides a method for hanging and removing a grounding wire, which specifically includes the following steps:

[0016] When performing the hanging operation, the free end of the hoisting rope in the hoisting mechanism is pre-hung on the target distribution network line through the external hanging device;

[0017] The hoisting mechanism is interlocked and fixed with the upper and lower hanging clamping mechanisms through the interlocking mechanism, and the hoisting rope is reeled in by the hoisting mechanism so that the upper and lower hanging clamping mechanisms are moved closer to the target distribution network line;

[0018] When the upper and lower hanging clamping mechanisms reach the preset positions, the power supply mechanism supplies energy to the upper and lower hanging clamping mechanisms, so that the upper and lower hanging clamping mechanisms are clamped on the target distribution network line. Subsequently, the positions of the first clamping part and the second clamping part are adjusted by the first rotating mechanism, the first telescopic mechanism, the second rotating mechanism, and the second telescopic mechanism, so that the first clamping part and the second clamping part are close to the adjacent distribution network line and the grounding operation is completed;

[0019] The interlocking state between the hoisting mechanism and the upper and lower hanging clamping mechanisms is released through the interlocking mechanism, and the hoisting rope is unwound through the hoisting mechanism, thereby completing the recovery action of the hoisting mechanism;

[0020] When the hanging operation is carried out, the hoisting rope is reeled in by the hoisting mechanism, so that the hoisting mechanism is moved closer to the upper and lower hanging clamping mechanism, and the hoisting mechanism is re-interlocked and fixed with the upper and lower hanging clamping mechanism by the locking mechanism;

[0021] The power supply mechanism supplies energy to the upper and lower hanging clamping mechanism, so that the upper and lower hanging clamping mechanism, the first clamping part and the second clamping part release the distribution network line, and the first rotating mechanism, the first telescopic mechanism, the second rotating mechanism and the second telescopic mechanism adjust the first clamping part and the second clamping part back to their initial positions;

[0022] The winch rope is unwound through the winch mechanism, thereby completing the recovery action of the upper and lower hanging clamping mechanisms and the winch mechanism.

[0023] Beneficial effects:

[0024] The present invention provides a mother-and-child split type ground wire hanging and removing robot. When in use, the hoisting mechanism is used in advance to drive the upper and lower hanging clamping mechanisms to climb toward the bottom of the distribution network line. At this time, the hoisting mechanism and the upper and lower hanging clamping mechanisms are connected and fixed by a chain mechanism. When the upper and lower hanging clamping mechanisms reach the preset positions, power is supplied to the upper and lower hanging clamping mechanisms through the power supply mechanism to clamp and fix the distribution network line in the upper hanging clamping groove. At the same time, the first rotating mechanism, the first telescopic mechanism, the second rotating mechanism and the second telescopic mechanism adjust the clamping positions of the first clamping part and the second clamping part, so that the first clamping part and the second clamping part also synchronously clamp the adjacent distribution network lines, so that all the distribution network lines are connected to the ground wire at the same time. After the clamping operation is completed, the chain mechanism performs a releasing action to make the hoisting mechanism and The upper and lower hanging clamping mechanisms are separated, and at this time the winch mechanism performs the unwinding action, so that the winch mechanism gradually moves away from the upper and lower hanging clamping mechanisms, that is, the winch mechanism gradually retracts to the ground, and the entire retraction action is completed until the winch mechanism is retracted to the ground. During the retraction process of the winch mechanism, the power supply mechanism will be separated from the upper and lower hanging clamping mechanisms, thereby disconnecting the power supply source of the upper and lower hanging clamping mechanisms, so that the upper and lower hanging clamping mechanisms, the first clamping part and the second clamping part can always be kept in a clamping state, avoiding the problem of malfunction of the upper and lower hanging clamping mechanisms and / or the first clamping part and / or the second clamping part; by setting the winch mechanism and the upper and lower hanging clamping mechanisms as split structures, the retraction action of the winch mechanism can be realized, which effectively reduces the load load of the upper and lower hanging clamping mechanisms on the distribution network line, and effectively improves the safety of the device when in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The overall structure of the parent-child split type ground wire hanging and removing robot provided by the present invention is shown in FIG. Figure 1 ;

[0026] Figure 2 The overall structure of the parent-child split type ground wire hanging and removing robot provided by the present invention is shown in FIG. Figure 2 ;

[0027] Figure 3This is a schematic diagram of the assembly structure of the upper and lower hanging and clamping mechanisms and the first rotating mechanism in the split-type grounding wire hanging and removing robot provided by the present invention;

[0028] Figure 4 This is a schematic diagram of the assembly structure of the interlocking mechanism and the hoisting mechanism in the split-type grounding wire hanging and removing robot provided by the present invention;

[0029] Figure 5 Schematic diagram of the disassembly structure of the interlocking mechanism and the hoisting mechanism in the split-type grounding wire hanging and removing robot provided by the present invention Figure 1 ;

[0030] Figure 6 Schematic diagram of the disassembly structure of the interlocking mechanism and the hoisting mechanism in the split-type grounding wire hanging and removing robot provided by the present invention Figure 2 ;

[0031] Figure 7 This is a structural diagram of the upper and lower hanging and clamping mechanisms of the split-type grounding wire hanging and removing robot provided by the present invention;

[0032] Figure 8 Schematic diagram of the disassembly structure of the upper and lower hanging clamping mechanism of the split-type hanging and removing grounding wire robot provided by the present invention Figure 1 ;

[0033] Figure 9 Schematic diagram of the disassembly structure of the upper and lower hanging clamping mechanism of the split-type hanging and removing grounding wire robot provided by the present invention Figure 2 ;

[0034] Figure 10 Schematic diagram of the disassembly structure of the first rotating mechanism and the first telescopic mechanism in the split-type grounding wire hanging and removing robot provided by the present invention Figure 1 ;

[0035] Figure 11 Schematic diagram of the disassembly structure of the first rotating mechanism and the first telescopic mechanism in the split-type grounding wire hanging and removing robot provided by the present invention Figure 2 ;

[0036] Figure 12 Schematic diagram of the disassembly structure of the first clamping part and the second rotating mechanism in the split-type grounding wire hanging and removing robot provided by the present invention Figure 1 ;

[0037] Figure 13 Schematic diagram of the disassembly structure of the first clamping part and the second rotating mechanism in the split-type grounding wire hanging and removing robot provided by the present invention Figure 2 .

[0038] Figure 14 This is a control flow chart of the method for hanging and removing the grounding wire provided by the present invention.

[0039] Main component symbol description: 1-upper and lower hanging clamping mechanism, 11-clamping opening, 12-locking seat, 13-electric shock sensing part, 14-guide rod, 15-rope threading hole, 16-clamping seat, 17-first clamping block, 18-second clamping block, 19-transverse movement mechanism, 110-touch pressure frame, 111-second in-place detection unit, 112-first in-place detection unit, 2-hoisting mechanism, 21-hoisting box, 22-counterweight connecting rod, 23-hoisting part, 24-driving part, 3-chaining mechanism, 31-chaining frame, 32-locking piece, 321-clamping claw unit, 322-servo part, 33-electric shock receiving part, 34-in-place switch, 35-sleeve part, 36-swing arm driving mechanism, 361-swing arm motor, 36 2-first pair of wheels, 4-power supply mechanism, 41-control unit, 42-power supply socket, 43-power socket, 5-first rotating mechanism, 51-rotating seat, 52-worm gear part, 521-rotating clutch, 522-second pair of wheels, 53-swing arm worm gear, 6-first telescopic mechanism, 61-sleeve rod, 62-telescopic rod, 63-rolling transmission part, 64-rolling motor, 65-transmission belt, 66-motor seat, 67-rolling rod, 68-transmission groove, 69-guide mechanism, 691-sleeve frame, 692-ground guide rod, 7-first clamping part, 8-second rotating mechanism, 81-rotating joint, 9-second telescopic mechanism, 10-second clamping part, 101-first winder, 102-second winder. DETAILED DESCRIPTION

[0040] The present invention provides a split-type grounding wire hanging and removing robot with a mother-and-child machine and a method for hanging and removing grounding wires. To make the objectives, technical solutions, and effects of the present invention more clear and explicit, the present invention is further described in detail below with reference to the accompanying drawings and examples. 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.

[0041] In the description of the present invention, it should be understood that the terms "middle," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the drawings and are intended solely to facilitate and simplify the description of the present invention. Furthermore, the terms "first," "second," and "third" are used solely for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features.

[0042] See also Figures 1 to 13The present invention provides a mother-and-child split-type hanging and detaching grounding wire robot, comprising a hoisting mechanism 2, an upper and lower hanging and clamping mechanism 1 and a ground wire, the hoisting mechanism 2 being detachably connected to the upper and lower hanging and clamping mechanism 1 through a chain mechanism 3, the hoisting mechanism 2 being detachably connected to the upper and lower hanging and clamping mechanism 1 through a power supply mechanism 4, a first rotating mechanism 5 is provided on one side of the upper and lower hanging and clamping mechanism 1, a first telescopic mechanism 6 is provided on the output end of the first rotating mechanism 5, a first clamping part 7 that can be opened and closed is provided on the output end of the first telescopic mechanism 6, a second rotating mechanism 8 is provided on one side of the first clamping part 7, a second telescopic mechanism 9 is provided on the output end of the second telescopic mechanism 9, a second clamping part 10 that can be opened and closed is provided on the output end of the second telescopic mechanism 9, one end of the ground wire extends in sequence along the length direction of the first telescopic mechanism 6 and the length direction of the second telescopic mechanism 9, and the ground wire is electrically connected to the upper and lower hanging and clamping mechanism 1, the first clamping part 7 and the second clamping part 10 respectively.

[0043] In actual application, this split-type ground wire hanging and removing robot is divided into upper line operation and lower line operation. The specific working process is as follows:

[0044] During the hanging operation, the free end of the hoisting rope is hung on the distribution network line in advance using the hanging frame, and then the hoisting mechanism 2 is used to perform the winding operation. The upper and lower hanging clamping mechanism 1 and the hoisting mechanism 2 are synchronously climbed toward the bottom of the distribution network line. At this time, the hoisting mechanism 2 and the upper and lower hanging clamping mechanism 1 are connected and fixed by the chain mechanism 3. When the upper and lower hanging clamping mechanism 1 reaches the preset position, the upper and lower hanging clamping mechanism 1 is powered by the power supply mechanism 4 to clamp the distribution network line in the upper hanging clamping groove. At the same time, the first rotating mechanism 5, the first telescopic mechanism 6, the second rotating mechanism 8 and the second telescopic mechanism 9 adjust the clamping position of the first clamping part 7 and the second clamping part 10, so that the first clamping part 7 and the second clamping part 10 also synchronously clamp the adjacent distribution network lines, so that all distribution network lines are connected to the ground wire at the same time. After the clamping operation is completed, the chain mechanism 3 performs the release action. The winch mechanism 2 is separated from the upper and lower hanging clamping mechanism 1. At this time, the winch mechanism 2 performs the unwinding action, so that the winch mechanism 2 gradually moves away from the upper and lower hanging clamping mechanism 1, that is, the winch mechanism 2 is gradually recovered to the ground, until the winch mechanism 2 is recovered to the ground and the entire recovery action is completed. During the recovery process of the winch mechanism 2, the power supply mechanism 4 will be separated from the upper and lower hanging clamping mechanism 1, thereby disconnecting the power supply source of the upper and lower hanging clamping mechanism 1, so that the upper and lower hanging clamping mechanism 1, the first clamping part 7 and the second clamping part 10 can always be kept in the clamping state, avoiding the problem of malfunction of the upper and lower hanging clamping mechanism 1 and / or the first clamping part 7 and / or the second clamping part 10; by setting the winch mechanism 2 and the upper and lower hanging clamping mechanism 1 as a split structure, the recovery action of the winch mechanism 2 can be realized, which effectively reduces the load load of the upper and lower hanging clamping mechanism 1 on the distribution network line, and effectively improves the safety of the device when in use.

[0045] During the lowering operation, the winch mechanism 2 re-executes the winding action and gradually approaches the bottom of the upper and lower hanging clamping mechanism 1. When the winch mechanism 2 reaches the preset position, the interlocking mechanism 3 is used to re-interlock the upper and lower hanging clamping mechanism 1 with the winch mechanism 2. At the same time, the power supply mechanism 4 also synchronously completes the electrical connection with the upper and lower hanging clamping mechanism 1, so that the upper and lower hanging clamping mechanism 1, the first clamping part 7 and the second clamping part 10 perform the releasing action to separate the device from each distribution network line. After the releasing action is completed, the winch mechanism 2 performs the unwinding action to recycle the upper and lower hanging clamping mechanism 1, thereby reclaiming the upper and lower hanging clamping mechanism 1 and the winch mechanism 2.

[0046] Furthermore, if Figures 1 to 13As shown, the interlocking mechanism 3 includes an interlocking frame 31, on which is provided at least one locking member 32 for locking and connecting the upper and lower hanging clamping mechanisms 1; the interlocking frame 31 is further provided with a swing arm driving mechanism 36 that is transmission-connected to the first rotating mechanism 5; when hanging, the upper and lower hanging clamping mechanisms 1 are connected and fixed to the interlocking frame 31 by utilizing the locking member 32, thereby realizing the automatic locking and automatic release of the upper and lower hanging clamping mechanisms 1.

[0047] In this embodiment, the interlocking frame 31 is also provided with a position detection unit for detecting the position of the upper and lower hanging clamping mechanism 1; when in use, the position detection unit is used to pre-check the position of the upper and lower hanging clamping mechanism 1 so that the locking member 32 can perform a clamping action or a releasing action on the upper and lower hanging clamping mechanism 1.

[0048] It should be noted that the position detection unit may be an existing infrared sensor, a contact position sensor or other sensor with a position detection function.

[0049] Further, if Figures 1 to 13 As shown, the swing arm driving mechanism 36 includes a swing arm motor 361 and a first pair of wheels 362, and the first pair of wheels 362 is arranged at the output end of the swing arm motor 361; the first rotating mechanism 5 includes a rotating seat 51 and a rotating clutch 521, and a worm portion 52 and a swing arm worm gear 53 are respectively provided in the rotating seat 51, and the worm portion 52 is transmission-connected with the swing arm worm gear 53, one end of the first telescopic mechanism 6 is connected to one side wheel surface of the swing arm worm gear 53, and the bottom of the worm portion 52 is connected to the output end of the rotating clutch 521, and the input end of the rotating clutch 521 is provided with a second pair of wheels 522 which can be transmission-connected with the first pair of wheels 362; when hanging, when the chain mechanism 3 chains and fixes the upper and lower hanging clamping mechanism 1, the first pair of wheels 362 will support the second The first pair of wheels 362 and the second pair of wheels 522 are connected in a coordinated manner. When the first pair of wheels 362 supports the second pair of wheels 522, the rotary clutch 521 will enter a released state. At this time, the swing arm motor 361 can drive the worm part 52 to rotate, and use the swing arm worm gear 53 to adjust the swing amplitude of the first telescopic mechanism 6, that is, to adjust the clamping position of the first clamping part 7; when the interlocking mechanism 3 releases the upper and lower hanging clamping mechanism 1, and the interlocking frame 31 gradually moves away from the upper and lower hanging clamping mechanism 1, the first pair of wheels 362 will separate from the second pair of wheels 522, and the rotary clutch 521 will be locked after losing the supporting force of the first pair of wheels 362, and enter a braking state, thereby realizing the stopping action of the worm part 52, preventing the first telescopic mechanism 6 from malfunctioning during operation, and improving the safety of the robot when in use.

[0050] It should be noted that the swing arm motor 361 is an existing motor structure, and the rotary clutch 521 is an existing clutch structure. The specific structure and working principle are all existing technologies and will not be repeated here.

[0051] Furthermore, if Figures 1 to 13 As shown, the locking member 32 includes a clamping claw unit 321 and a servo part 322, the clamping claw unit 321 is arranged at the top of the interlocking frame 31, the servo part 322 is arranged in the interlocking frame 31, and the servo part 322 is transmission-connected to the clamping claw unit 321; the bottom of the upper and lower hanging clamping mechanism 1 is provided with a locking seat 12 which is matched with the clamping claw unit 321; when in use, the servo part 322 and the clamping claw unit 321 are combined to form an electric finger structure, and the servo part 322 is used to control the clamping claw unit 321 to perform the opening and closing action, and the clamping claw unit 321 can complete the interlocking action between the upper and lower hanging clamping mechanism 1 and the winch mechanism 2 by clamping the locking seat 12; specifically, the servo part 322 uses its output end to swing a clamping arm of the clamping claw unit 321 to realize the opening and closing action of the clamping claw unit 321.

[0052] Furthermore, if Figures 1 to 13 As shown, the power supply mechanism 4 includes a control unit 41 and a power supply socket 42, the control unit 41 is arranged in the interlocking frame 31 or the hoisting mechanism 2, the power supply socket 42 is arranged at the top of the interlocking frame 31, and the power supply socket 42 is electrically connected to the control unit 41; the bottom of the upper and lower hanging clamping mechanism 1 is provided with a power socket 43 that is connected to the power supply socket 42; when in use, the power supply socket 42 and the power socket 43 are used to realize separate power supply between the hoisting mechanism 2 and the upper and lower hanging clamping mechanism 1, and only when the power supply socket 42 is docked with the power socket 43, the upper and lower hanging clamping mechanism 1 can obtain the power supply energy of the control unit 41, so that the upper and lower hanging clamping mechanism 1 can be electrically isolated in the clamping state, thereby avoiding the problem of malfunction of the upper and lower hanging clamping mechanism 1.

[0053] Furthermore, if Figures 1 to 13As shown, the top of the interlocking frame 31 is provided with an electric shock receiving part 33, and the electric shock receiving part 33 is electrically connected to the control unit 41, and the bottom of the upper and lower hanging clamping mechanism 1 is provided with an electric shock sensing part 13 that is coordinated with the electric shock receiving part 33; the interlocking frame 31 is provided with an in-place switch 34 that is electrically connected to the control unit 41 on one side of the clamping claw unit 321, and the in-place switch 34 is transmission-connected to the clamping claw unit 321; when in use, the electric shock receiving part 33 and the electric shock sensing part 13 cooperate with each other to detect whether the power supply socket 42 and the power socket 43 are connected. Only when the electric shock receiving part 33 detects the signal of the electric shock sensing part 13, the power supply socket 42 can be electrically connected to the power socket 43, so that the control unit 41 can supply power to the upper and lower hanging clamping mechanism 1; in addition, during the upper and lower hanging operations, the in-place switch 34 is used to detect the swing movement of the clamping claw unit 321, so as to judge whether the clamping claw unit 321 is clamped in place or released in place, thereby feeding back the connection status of the hoisting mechanism 2 to the upper and lower hanging clamping mechanism 1 to the ground staff, avoiding the problem of misoperation by the staff; in addition, when the power socket 42 is connected to the power socket 43, the signal of the in-place switch 34 can be used for auxiliary verification. When the in-place switch 34 detects that the clamping claw unit 321 is clamped in place, the in-place signal is fed back to the control unit 41, so that the power socket 42 is electrically connected to the power socket 43.

[0054] In this embodiment, the clamping unit 321 includes two mutually hinged clamping arms, and the output end of the in-position switch 34 is transmission-connected to any clamping arm; when in use, the in-position switch 34 determines the overall movement of the clamping unit 321 by detecting the swing amplitude of the corresponding clamping arm.

[0055] Furthermore, if Figures 1 to 13 As shown, a wire clamping seat 16 is provided in the upper and lower hanging clamping mechanism 1, the first clamping part 7 and the second clamping part 10, and a clamping opening 11 is provided in the wire clamping seat 16. A first clamping block 17 is provided on one side of the clamping opening 11, and a second clamping block 18 is provided on the other side of the clamping opening 11. The wire clamping seat 16 is located below the second clamping block 18 and is provided with a transverse movement mechanism 19, and the transverse movement mechanism 19 is transmission-connected with the second clamping block 18; first in-position detection units 112 are respectively provided on both sides of the wire clamping seat 16 at the opening of the clamping opening 11; and touch pressure frames 110 that can be lifted up and down are respectively provided on both sides of the wire clamping seat 16 between the first clamping block 17 and the second clamping block 18, and a second in-position detection unit 111 for detecting the in-position status of the touch pressure frame 110 is provided on the touch pressure frame 110.

[0056] In this embodiment, guide rods 14 are respectively provided on both sides of the upper and lower hanging clamping mechanism 1, and the guide rods 14 extend toward the direction of the chain mechanism 3, and a rope threading hole 15 is provided in the guide rods 14 along its length direction; sleeve portions 35 are respectively provided on both sides of the chain mechanism 3 to cooperate with the guide rods 14, and the guide rods 14 can at least partially extend into the sleeve portions 35; one end of the hoisting rope passes through the sleeve portion 35 and is connected to the rope threading hole 15, and the other end of the hoisting rope is connected to the hoisting mechanism 2; when in use, the guiding effect of the guide rods 14 and the sleeve portion 35 is utilized to make the upper and lower hanging clamping mechanism 1 and the chain mechanism 3 smoother during the chain operation and release operation, avoid the problem of misalignment between the two during docking, and improve the stability of the chain mechanism 3 during the upper and lower hanging.

[0057] The specific working process is as follows: the free end of the hoisting rope is passed through the sleeve portion 35 and the rope threading hole 15 in sequence in advance, and is connected to the upper hanging frame after passing through the rope threading hole 15. When hanging up, the hoisting mechanism 2 drives the upper and lower hanging clamping mechanisms 1 to climb toward the distribution network line by winding, and the hoisting rope is slowly wound into the hoisting mechanism 2 under the guidance of the rope threading hole 15 and the sleeve portion 35; when the hoisting mechanism 2 is hanging down, after the chain mechanism 3 is separated from the upper and lower hanging clamping mechanisms 1, the hoisting mechanism 2 unwinds the hoisting rope. During the unwinding process, the guide rod 14 and the sleeve portion 35 play a guiding role, making the separation action of the chain mechanism 3 and the upper and lower hanging clamping mechanisms 1 smoother and more stable, and the guide rod 14 and the sleeve portion 35 also synchronously guide the hoisting rope until the hoisting mechanism 2 is recovered to the ground. The above method effectively improves the stability of the hoisting mechanism 2 when hanging down.

[0058] In this embodiment, the hoisting mechanism 2 includes a hoisting box 21, and the top two sides of the hoisting box 21 are connected to the chain mechanism 3 through a counterweight connecting rod 22 respectively. A hoisting part 23 is provided on both sides of the hoisting box 21, and a driving part 24 is provided in the hoisting box 21, which is transmission-connected to the two hoisting parts 23; the two hoisting parts 23 are respectively provided with the hoisting ropes; by providing the counterweight connecting rod 22, the hoisting box 21 and the chain mechanism 3 can maintain a balanced state when hanging, that is, a vertical state, to avoid the problem of tipping over of the hoisting mechanism 2 and the chain mechanism 3; when in use, by providing the hoisting parts 23 on both sides of the hoisting box 21, the hoisting mechanism 2 can maintain balance on both sides when hanging up and down, thereby improving the stability of the upper and lower hanging clamping mechanism 1 when hanging up and down.

[0059] It should be noted that the hoisting part 23 is an existing hoisting assembly composed of a hoisting disc, a hoisting wheel and other accessories; the driving part 24 is a driving structure composed of an existing motor; the specific structure and working principle are all existing technologies and will not be repeated here.

[0060] Further, if Figures 1 to 13 As shown, the structures of the first telescopic mechanism 6 and the second telescopic mechanism 9 are consistent; the first telescopic mechanism 6 includes a sleeve rod 61, and a telescopic rod 62 is slidably connected inside the sleeve rod 61, and a rolling conveying part 63 is provided on the sleeve rod 61 along its length direction, and the rolling conveying part 63 is transmission-connected to the telescopic rod 62; one end of the sleeve rod 61 is connected to the output end of the first rotating mechanism 5 or the second rotating mechanism 8, and the end of the telescopic rod 62 away from the first rotating mechanism 5 or the second rotating mechanism 8 is connected to the first clamping part 7 or the second clamping part 10; when in use, the telescopic rod 62 is driven by the rolling conveying part 63 to perform a linear sliding action along the length direction of the sleeve rod 61, thereby adjusting the extension amount of the first clamping part 7 and the second clamping part 10 in the radial direction, and then adjusting the contact distance between the first clamping part 7 and the second clamping part 10 and the distribution network line.

[0061] Further, if Figures 1 to 13 As shown, the rolling conveying part 63 includes a rolling motor 64 and a transmission belt 65. The rolling motor 64 is arranged on one side of the first rotating mechanism 5 or the second rotating mechanism 8, and a rolling rod 67 is provided at the output end of the rolling motor 64; the end of the sleeve rod 61 away from the first rotating mechanism 5 or the second rotating mechanism 8 is sleeved with a guide mechanism 69, and the two ends of the transmission belt 65 are respectively wound around the rolling rod 67 and the guide mechanism 69; the telescopic rod 62 is provided with a transmission member connected to the belt body of the transmission belt 65 along its length direction. Slot 68; when in use, the rolling motor 64 drives the transmission belt 65 to roll between the rolling rod 67 and the guide mechanism 69 through the rolling rod 67, so that the telescopic rod 62 slides linearly along the belt surface of the transmission belt 65. Under the guidance of the sleeve rod 61, the telescopic rod 62 slides along the length direction of the sleeve rod 61 to adjust the distance between the first clamping part 7 and the second clamping part 10 and the distribution network line. In this way, the stability of the telescopic rod 62 during telescopic extension can be improved, and the problem of left and right deviation of the telescopic rod 62 during telescopic extension can be avoided, making the entire transmission process smoother.

[0062] In this embodiment, the guide mechanism 69 includes a sleeve frame 691, which is arranged on the periphery of the sleeve rod 61, and a plurality of ground wire guide rods 692 for guiding the ground wire are rotatably connected to the sleeve frame 691 along the length direction of the sleeve rod 61, and a guide channel is formed between all the ground wire guide rods 692 located on the same plane of the sleeve rod 61; the transmission belt 65 is transmission-connected to any ground wire guide rod 692; when in use, the rotatable ground wire guide rod 692 is used to roll and guide the transmission belt 65, so that the transmission belt 65 can maintain a stable rolling state in the sleeve rod 61, and the ground wire is rotated along the sleeve rod 61 and the length of the sleeve rod 61. When the ground wire is laid in the direction of degrees, when it passes through the guide mechanism 69, the rope body of the ground wire is partially stuck in the guide channel, and the ground wire guide rods 692 are used to guide the ground wire, so that the ground wire will not be intertwined with the first telescopic mechanism 6 or the second telescopic mechanism 9 during operation, thereby improving the stability and safety of the device when in use; in addition, the rope body of the ground wire can also be wound around each ground wire guide rod 692 in turn, so that the ground wire is wound and positioned on the guide mechanism 69, thereby improving the firmness of the ground wire tied to the first telescopic mechanism 6 and the second telescopic mechanism 9, and preventing the problem of partial rope body of the ground wire being detached from the first telescopic mechanism 6 or the second telescopic mechanism 9.

[0063] In this embodiment, a first winder 101 and a second winder 102 are respectively provided on the sides of the first clamping portion 7 and the second clamping portion 10, one end of the ground wire extends in sequence along the length direction of the first telescopic mechanism 6 and the length direction of the second telescopic mechanism 9, and the rope body of the ground wire is respectively wound around the first winder 101 and the second winder 102; a winding channel is provided in the first winder 101 and the second winder 102, and a plurality of winding openings connected to the winding channel are provided on the side walls of the first winder 101 and the second winder 102; when in use, the ground wire enters the winding channel from any winding opening, then passes out from the adjacent winding opening, and then re-enters the winding channel from another adjacent winding opening, and is repeatedly wound according to the above steps, so that the ground wire is wound around the first winder 101 or the second winder 102.

[0064] To sum up, when in use, the hoisting mechanism 2 is used in advance to drive the upper and lower hanging clamping mechanism 1 to climb toward the bottom of the distribution network line. At this time, the hoisting mechanism 2 and the upper and lower hanging clamping mechanism 1 are connected and fixed by the chain mechanism 3. When the upper and lower hanging clamping mechanism 1 reaches the preset position, the power supply mechanism 4 is used to supply power to the upper and lower hanging clamping mechanism 1 to clamp the distribution network line in the upper hanging clamping groove. At the same time, the first rotating mechanism 5, the first telescopic mechanism 6, the second rotating mechanism 8 and the second telescopic mechanism 9 adjust the clamping position of the first clamping part 7 and the second clamping part 10, so that the first clamping part 7 and the second clamping part 10 also synchronously clamp the adjacent distribution network lines, thereby connecting all the distribution network lines to the ground wire at the same time. After the clamping operation is completed, the chain mechanism 3 performs a releasing action to release the hoisting mechanism 2 and the upper and lower hanging clamping mechanism 1 Separation, at this time the hoisting mechanism 2 performs the unwinding action, so that the hoisting mechanism 2 gradually moves away from the upper and lower hanging clamping mechanism 1, that is, the hoisting mechanism 2 gradually retracts to the ground, until the hoisting mechanism 2 is retracted to the ground to complete the entire retraction action, and during the retraction process of the hoisting mechanism 2, the power supply mechanism 4 will be separated from the upper and lower hanging clamping mechanism 1, thereby disconnecting the power supply source of the upper and lower hanging clamping mechanism 1, so that the upper and lower hanging clamping mechanism 1, the first clamping part 7 and the second clamping part 10 can always be kept in the clamping state, avoiding the problem of malfunction of the upper and lower hanging clamping mechanism 1 and / or the first clamping part 7 and / or the second clamping part 10; by setting the hoisting mechanism 2 and the upper and lower hanging clamping mechanism 1 as a split structure, the retraction action of the hoisting mechanism 2 can be realized, which effectively reduces the load load of the upper and lower hanging clamping mechanism 1 on the distribution network line, and effectively improves the safety of the device when in use.

[0065] like Figure 14 As shown, the present invention also provides a method for hanging and removing a grounding wire, which specifically includes the following steps:

[0066] S100: When performing a hanging operation, the free end of the hoisting rope in the hoisting mechanism 2 is pre-hung on the target distribution network line through an external hanger;

[0067] In this embodiment, the hoisting rope is pulled to the target distribution network line through an external hanger, and the external hanger serves as a pulling base point for the hoisting rope.

[0068] S200, interlocking the hoisting mechanism 2 with the upper and lower hanging clamping mechanism 1 through the interlocking mechanism 3, and reeling in the hoisting rope through the hoisting mechanism 2, so that the upper and lower hanging clamping mechanism 1 moves closer to the target distribution network line;

[0069] S300. When the upper and lower hanging clamping mechanism 1 reaches the preset position, the power supply mechanism 4 supplies energy to the upper and lower hanging clamping mechanism 1, so that the upper and lower hanging clamping mechanism 1 is clamped on the target distribution network line. Then, the positions of the first clamping part 7 and the second clamping part 10 are adjusted by the first rotating mechanism 5, the first telescopic mechanism 6, the second rotating mechanism 8 and the second telescopic mechanism 9, so that the first clamping part 7 and the second clamping part 10 are close to the adjacent distribution network line and the grounding operation is completed;

[0070] S400, releasing the interlocking state between the hoisting mechanism 2 and the upper and lower hanging clamping mechanism 1 through the interlocking mechanism 3, and unwinding the hoisting rope through the hoisting mechanism 2, thereby completing the recovery action of the hoisting mechanism 2;

[0071] In this embodiment, the connection and separation of the hoisting mechanism 2 and the upper and lower hanging clamping mechanism 1 are realized through the interlocking mechanism 3, so that the upper and lower hanging clamping mechanism 1 can recycle the hoisting mechanism 2 and the interlocking mechanism 3 when operating on the ground line, effectively reducing the load of the upper and lower hanging clamping mechanism 1 on the distribution network line, and effectively improving the safety of the robot when in use; in addition, the power supply mechanism 4 is set in the interlocking mechanism 3 or the hoisting mechanism 2, which can avoid the upper and lower hanging clamping mechanism 1 from operating under power, and avoid the problem of malfunction of the upper and lower hanging clamping mechanism 1 due to the interference signal generated by the distribution network line, so that the upper and lower hanging clamping mechanism 1 can complete the operation without power supply, thereby improving the safety of the upper and lower hanging clamping mechanism 1 when in use.

[0072] S500: When performing the lowering operation, the hoisting rope is reeled in by the hoisting mechanism 2, so that the hoisting mechanism 2 moves closer to the upper and lower hanging clamping mechanism 1, and the hoisting mechanism 2 is re-interlocked and fixed with the upper and lower hanging clamping mechanism 1 by the interlocking mechanism 3;

[0073] S600: Power is supplied to the upper and lower hanging clamping mechanism 1 through the power supply mechanism 4, causing the upper and lower hanging clamping mechanism 1, the first clamping portion 7, and the second clamping portion 10 to release the distribution network line. The first rotating mechanism 5, the first telescopic mechanism 6, the second rotating mechanism 8, and the second telescopic mechanism 9 are used to adjust the first clamping portion 7 and the second clamping portion 10 back to their initial positions.

[0074] S700 , unwinding the hoisting rope through the hoisting mechanism 2 , thereby completing the recovery action of the upper and lower hanging clamping mechanism 1 and the hoisting mechanism 2 .

[0075] In this embodiment, a split robot is formed by the hoisting mechanism 2 and the upper and lower hanging clamping mechanism 1, which can realize the recovery action of the hoisting mechanism 2, effectively reducing the load of the upper and lower hanging clamping mechanism 1 on the distribution network line, and effectively improving the safety of the device during use.

[0076] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention, and all these changes or substitutions should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A split-type ground wire hanging and removing robot, characterized in that: The cam is connected to the upper and lower hanging clamping mechanisms by a locking mechanism, and the locking mechanism is connected to the upper and lower hanging clamping mechanisms by a locking mechanism. The cam is connected to the upper and lower hanging clamping mechanisms by a power supply mechanism. A first rotating mechanism is provided on one side of the cam, an output end of the cam is provided with a first telescopic mechanism, an output end of the cam is provided with a first clamping portion that can be opened and closed, a second rotating mechanism is provided on one side of the cam, an output end of the cam is provided with a second telescopic mechanism, and an output end of the cam is provided with a second clamping portion that can be opened and closed. One end of the ground wire extends in a longitudinal direction of the first telescopic mechanism and a longitudinal direction of the second telescopic mechanism in sequence, and the ground wire is electrically connected to the upper and lower hanging clamping mechanisms, the first clamping portion and the second clamping portion respectively; the locking mechanism includes a locking frame, and at least one locking member for locking and connecting the upper and lower hanging clamping mechanisms is provided on the locking frame; the locking frame is also provided with a locking member and a transmission mechanism comprising a first end fixed to the transmission mechanism and a second end fixed to the transmission mechanism, the first end of the first transmission mechanism being connected to the transmission mechanism by a first movement of the transmission mechanism and a second end fixed to the transmission mechanism.

2. The split-type ground wire hanging and removing robot according to claim 1, characterized in that: The swing arm driving mechanism includes a swing arm motor and a first pair of wheels, and the first pair of wheels is arranged at the output end of the swing arm motor; the first rotating mechanism includes a rotating seat and a rotating clutch, and a worm part and a swing arm worm gear are respectively provided in the rotating seat, and the worm part is connected to the swing arm worm gear in a transmission manner. One end of the first telescopic mechanism is connected to one side wheel surface of the swing arm worm gear, and the bottom of the worm part is connected to the output end of the rotating clutch. The input end of the rotating clutch is provided with a second pair of wheels that can be connected to the first pair of wheels in a transmission manner.

3. The split-type ground wire hanging and removing robot according to claim 1, characterized in that: The locking member includes a clamping claw unit and a servo part, the clamping claw unit is arranged on the top of the interlocking frame, the servo part is arranged in the interlocking frame, and the servo part is transmission-connected to the clamping claw unit; the bottom of the upper and lower hanging clamping mechanism is provided with a locking seat that cooperates with the clamping claw unit.

4. The split-type ground wire hanging and removing robot according to claim 3, characterized in that: The power supply mechanism includes a control unit and a power supply socket. The control unit is arranged in the interlocking frame or the hoisting mechanism. The power supply socket is arranged at the top of the interlocking frame and is electrically connected to the control unit. The bottom of the upper and lower hanging clamping mechanism is provided with a power socket that cooperates with the power supply socket.

5. The split-type ground wire hanging and removing robot according to claim 4, characterized in that: An electric shock receiving part is provided on the top of the interlocking frame, and the electric shock receiving part is electrically connected to the control unit, and an electric shock sensing part is provided on the bottom of the upper and lower hanging clamping mechanism, which is coordinated with the electric shock receiving part; an in-position switch electrically connected to the control unit is provided on one side of the clamping unit in the interlocking frame, and the in-position switch is transmission connected to the clamping unit.

6. The split-type ground wire hanging and removing robot according to claim 1, characterized in that: The upper and lower hanging clamping mechanisms, the first clamping part and the second clamping part are all provided with a wire clamping seat, a clamping opening is provided in the wire clamping seat, a first clamping block is provided on one side of the clamping opening, and a second clamping block is provided on the other side of the clamping opening, the wire clamping seat is located below the second clamping block and is provided with a transverse movement mechanism, and the transverse movement mechanism is transmission-connected with the second clamping block; first in-position detection units are respectively provided at the openings of the clamping opening on both sides of the wire clamping seat; touch pressure frames that can be raised and lowered are respectively provided on both sides of the wire clamping seat between the first clamping block and the second clamping block, and a second in-position detection unit for detecting the in-position status of the touch pressure frame is provided on the touch pressure frame.

7. A method for hanging and removing a grounding wire, characterized in that: It is used to realize the working control of the mother-and-child split-type hanging and removing grounding wire robot as described in any one of claims 1-6, and specifically includes the following steps: when performing the hanging operation, the free end of the hoisting rope in the hoisting mechanism is pre-hung on the target distribution network line through the external hanger; the hoisting mechanism is interlocked and fixed with the upper and lower hanging clamping mechanism through the interlocking mechanism, and the hoisting rope is reeled in by the hoisting mechanism, so that the upper and lower hanging clamping mechanism is close to the target distribution network line; when the upper and lower hanging clamping mechanism reaches the preset position, the upper and lower hanging clamping mechanism is energized by the power supply mechanism, so that the upper and lower hanging clamping mechanism is clamped on the target distribution network line, and then the positions of the first clamping part and the second clamping part are adjusted by the first rotating mechanism, the first telescopic mechanism, the second rotating mechanism and the second telescopic mechanism, so that the first clamping part and the second clamping part are close to the adjacent distribution network line. And complete the grounding wire operation; release the interlocking state between the hoisting mechanism and the upper and lower hanging clamping mechanism through the interlocking mechanism, and unwind the hoisting rope through the hoisting mechanism, thereby completing the recovery action of the hoisting mechanism; when performing the lower hanging operation, rewind the hoisting rope through the hoisting mechanism, so that the hoisting mechanism is close to the upper and lower hanging clamping mechanism, and the hoisting mechanism is re-interlocked and fixed with the upper and lower hanging clamping mechanism through the interlocking mechanism; supply energy to the upper and lower hanging clamping mechanism through the power supply mechanism, so that the upper and lower hanging clamping mechanism, the first clamping part and the second clamping part execute the action of releasing the distribution network line, and adjust the first clamping part and the second clamping part back to the initial position through the first rotating mechanism, the first telescopic mechanism, the second rotating mechanism and the second telescopic mechanism; unwind the hoisting rope through the hoisting mechanism, thereby completing the recovery action of the upper and lower hanging clamping mechanism and the hoisting mechanism.

Images