Emergency power access robot

Abstract

The application provides an emergency power supply access robot, which comprises an upper line structure, a main body assembly and two walking assemblies connected with the main body assembly, the two walking assemblies are respectively in contact with the wire and are movably arranged along the extension direction of the wire, a movable mechanical arm is arranged on the main body assembly, a camera component is arranged on the end of the mechanical arm, the main body assembly is movably arranged relative to the wire to enable the mechanical arm to move close to the wire, and a wire stripping tool and a wiring tool are respectively detachably arranged on the main body assembly to enable the mechanical arm to grasp the wire stripping tool to strip the outer skin of the wire, then grasp the wiring tool to connect the wire stripped by the wire stripping tool with the emergency power supply wire, so that the problem that the emergency power supply robot in the prior art is difficult to realize precise alignment operation with the wire and leads to low maintenance work efficiency is solved.

Description

Technical Field

[0001] This invention relates to the field of power maintenance equipment technology, and more specifically, to an emergency power supply access robot. Background Technology

[0002] Currently, when power distribution lines need to be connected to feeder lines or for emergency power restoration work, it is necessary to connect the line conductors to external lines. This connection is mostly done by connecting the output power line of a generator truck. Workers use insulated bucket trucks or foot straps to reach the work site to perform high-altitude wiring and manually connect the output power line of the emergency generator truck to the 10kV overhead power distribution line to restore power. Existing emergency robots disclose wiring devices that follow the cable-carrying arm and synchronously approach the power distribution line to reach a preset clamping position. The turntable device, wiring device, and clamping device are integrated into the flipping device. During stripping, a thickness detection unit detects the outer sheath thickness of the power distribution line, and the stripping device adjusts the blade extension according to the sheath thickness to achieve the stripping action of the power distribution line.

[0003] However, the accuracy of color detection is easily affected by light intensity, which can lead to poor control of the wire stripping feed and damage to the wire. In addition, the wire clamping mechanism has a U-shaped opening, which requires flipping and translating when aligning and clamping the wire. This often results in inaccurate clamping or if the clamped wire is tilted, it can cause eccentricity during the stripping process, resulting in incomplete stripping and the need for rework. Summary of the Invention

[0004] The main objective of this invention is to provide an emergency power supply access robot to solve the problem that existing emergency power supply robots are difficult to align precisely with wires, resulting in low maintenance efficiency.

[0005] To achieve the above objectives, the present invention provides an emergency power supply access robot, comprising: an upper structure including a main body component and two walking components connected to the main body component, the two walking components being respectively in contact with the wire and movably arranged along the extension direction of the wire; a movable robotic arm provided on the main body component, a camera component provided at the end of the robotic arm; the main body component being movably arranged in a vertical position relative to the wire, so that the robotic arm moves closer to the wire; a wire stripping fixture and a wiring fixture are respectively detachably arranged on the main body component, so that the robotic arm can grasp the wire stripping fixture to strip the outer sheath of the wire, and then grasp the wiring fixture to connect the wire stripped by the wire stripping fixture to the emergency power supply line.

[0006] Furthermore, the wire stripping fixture includes: a fixed base; a clamping assembly rotatably mounted on the fixed base for clamping the wire; and a cutting tool mounted on the clamping assembly with its cutting tip in contact with the outer sheath of the wire. The cutting tip is inclined to the central axis of the wire so that when the robotic arm drives the wire stripping fixture to move along the extension direction of the wire and the clamping assembly rotates, the cutting tool strips the outer sheath of the wire along a spiral direction.

[0007] Furthermore, the wire stripping fixture also includes a rotating assembly mounted on a fixed base. The rotating assembly includes: a mounting housing; a first gear and a second gear meshing with each other within the mounting housing, the first gear having an opening slot for the wire to pass through, a clamping assembly connected to the first gear and located at the opening slot; a first driving component, the second gear being connected to the driving end of the first driving component to drive the first gear to rotate and cause the clamping assembly to rotate along the central axis of the wire.

[0008] Furthermore, the clamping assembly includes: a mounting frame; two clamping parts movably disposed on the mounting frame, and a cutting tool disposed on one of the two clamping parts, such that the two clamping parts move relative to each other to contact the wire to clamp the wire, and the cutting tool contacts the outer sheath of the wire.

[0009] Furthermore, the clamping assembly also includes: two first guide rods, respectively disposed on the mounting frame, and the two first guide rods respectively passing through the two clamping components; a first bidirectional lead screw, disposed on the mounting frame and located between the two first guide rods, and the two clamping components respectively threadedly connected to both ends of the first bidirectional lead screw; and a second driving component, one end of the first bidirectional lead screw extending out of the mounting frame being connected to the driving end of the second driving component to drive the two clamping components to move relative to each other.

[0010] Furthermore, the wiring fixture includes: a mounting base; two clamping components movably mounted on the mounting base, with an emergency power cord mounted on one of the two clamping components, so that the two clamping components move relative to each other to contact the wire stripped by the wire stripping fixture, and clamp the emergency power cord to the wire.

[0011] Furthermore, the wiring fixture also includes: two second guide rods, each mounted on the mounting base and passing through two clamping components; a second bidirectional lead screw, mounted on the mounting base and located between the two second guide rods, with the two clamping components threadedly connected to both ends of the second bidirectional lead screw; and a third drive component, with one end of the second bidirectional lead screw extending out of the mounting base connected to the drive end of the third drive component to drive the two clamping components to move relative to each other.

[0012] Furthermore, the traveling assembly includes: a fixed frame; and traveling wheels rotatably mounted on the fixed frame. The traveling wheels are in contact with the conductor and are movable along the extension direction of the conductor. The traveling wheels have an upper and lower line state that is inclined relative to the vertical direction and a limit state that is fixed relative to the conductor.

[0013] Furthermore, a sliding groove is provided on one side of the fixed frame, and the traveling component also includes: a fixed plate connected to the bottom of the fixed frame; a telescopic component that is telescopically configured, the fixed end of the telescopic component being rotatably connected to the fixed plate, and the movable end of the telescopic component being connected to a slider, which is slidably disposed in the sliding groove, so that when the traveling wheels are in the up-and-down alignment state, the telescopic component retracts to drive the slider to move to the end of the sliding groove near the fixed plate, so that the fixed frame is tilted; wherein, when the traveling wheels are in the up-and-down alignment state, the fixed frames of the two traveling components are symmetrically arranged in the vertical direction.

[0014] Furthermore, the walking assembly also includes: two third guide rods, each mounted on a fixed frame; a one-way lead screw, mounted on the fixed frame and located between the two third guide rods; a movable block, on which the two third guide rods pass respectively, and the one-way lead screw passes through and is threadedly connected to the movable block, with a brake block connected to the movable block; and a fourth drive component, with one end of the one-way lead screw connected to the drive end of the fourth drive component to drive the movable block to move the brake block to contact the guide wire, so that the walking wheel is in a limited position.

[0015] Furthermore, the main components include: a wire hanging frame with two hooks, each hooked onto a wire; a frame body connected to the wire hanging frame and movable vertically relative to the wire hanging frame; and two traveling components connected to the frame body so that the frame body drives the two traveling components to contact the wires respectively.

[0016] Furthermore, the main component also includes: a tape reel component, rotatably mounted on the frame body; and a traction belt, the fixed end of which is wound around the tape reel component, and the free end of which passes over the guide wheel on the wire hanger and is fixed to the frame body, so that the traction belt drives the frame body to move relative to the wire hanger.

[0017] According to the technical solution of this invention, the emergency power access robot includes an upper structure, a wire stripping fixture, and a wiring fixture. The upper structure includes a main component and two walking components connected to the main component. The two walking components are respectively in contact with the wire and are movably arranged along the extension direction of the wire. The main component is provided with a movable robotic arm, and the end of the robotic arm is provided with a camera component. The main component is movably arranged relative to the wire so that the robotic arm moves closer to the wire. The wire stripping fixture and the wiring fixture are respectively detachably arranged on the main component so that the robotic arm can grasp the wire stripping fixture to strip the outer sheath of the wire, and then grasp the wiring fixture to connect the wire stripped by the wire stripping fixture to the emergency power line. In this way, the main component is suspended above the conductor via two walking components. After the main component is driven to the corresponding position, the robotic arm separately picks up the wire stripping fixture and the wiring fixture, and works in sequence. The robotic arm, combined with the vision technology of the camera component, uses the robotic arm to grasp the wire stripping work, ensuring precise alignment with the conductor and adjusting the stripping direction according to the conductor's tilt angle. This allows the insulation layer of the conductor to be completely stripped without damaging it. After the wire stripping is completed, the emergency power supply robot does not move. The robotic arm directly picks up the wiring fixture, and with the help of the camera component, it precisely positions the stripped conductor to connect to the emergency power line. After power is restored, the robotic arm retrieves the wiring fixture, thus completing the entire power restoration operation. This continuous, displacement-free operation reduces the time for moving and repositioning the main component, improves overall work efficiency, and reduces operational complexity. This solves the problem of low maintenance efficiency caused by the inability of existing emergency power supply robots to achieve precise alignment with the conductor. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0019] Figure 1 A schematic diagram of the overall structure from a first perspective of an embodiment of the emergency power access robot according to the present invention is shown;

[0020] Figure 2 A schematic diagram of the overall structure from a second perspective of an embodiment of the emergency power access robot according to the present invention is shown;

[0021] Figure 3 It shows Figure 2 Schematic diagram of the structure of part A in the middle;

[0022] Figure 4 A schematic diagram of the wire stripping fixture according to an embodiment of the emergency power access robot of the present invention is shown.

[0023] The above figures include the following reference numerals:

[0024] 1. Wire;

[0025] 10. Online structure;

[0026] 20. Main body component; 21. Robotic arm; 210. Camera component; 22. Cable hanger; 220. Hook; 23. Main frame; 24. Guide wheel;

[0027] 30. Walking assembly; 31. Fixed frame; 310. Sliding groove; 32. Walking wheel; 33. Fixed plate; 34. Telescopic component; 341. Slider; 35. Third guide rod; 36. One-way lead screw; 37. Movable block; 38. Brake block; 39. Fourth drive component;

[0028] 40. Wire stripping fixture; 41. Fixed base; 42. Clamping assembly; 420. Mounting frame; 421. Clamping component; 422. First guide rod; 423. First bidirectional lead screw; 424. Second drive component; 43. Cutting tool; 44. Rotating assembly; 440. Mounting housing; 441. First gear; 442. Second gear; 443. Opening slot; 444. First drive component;

[0029] 50. Wiring fixture; 51. Mounting base; 52. Clamping component; 53. Second guide rod; 54. Second bidirectional lead screw; 55. Third drive component. Detailed Implementation

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] To address the problem of low maintenance efficiency caused by the difficulty of achieving precise alignment with wires in existing emergency power robots, this invention provides an emergency power access robot.

[0032] Please refer to Figures 1 to 4As shown, applying the technical solution of the present invention, the emergency power access robot includes an upper structure 10, a wire stripping fixture 40, and a wiring fixture 50. The upper structure 10 includes a main component 20 and two walking components 30 connected to the main component 20. The two walking components 30 are respectively in contact with the wire 1 and are movably arranged along the extension direction of the wire 1. The main component 20 is provided with a movable robotic arm 21, and the end of the robotic arm 21 is provided with a camera component 210. The main component 20 is movably arranged relative to the wire 1 so that the robotic arm 21 moves closer to the wire 1. The wire stripping fixture 40 and the wiring fixture 50 are respectively detachably arranged on the main component 20 so that the robotic arm 21 can grasp the wire stripping fixture 40 to strip the outer sheath of the wire 1, and then grasp the wiring fixture 50 to connect the wire 1 stripped by the wire stripping fixture 40 to the emergency power line.

[0033] Applying the technical solution of this embodiment, the main component 20 is suspended on the conductor 1 by two walking components 30. After the main component 20 is driven to the corresponding position, the robotic arm 21 separately picks up the wire stripping fixture 40 and the wiring fixture 50 to work in sequence. The robotic arm 21, combined with the vision technology of the camera component 210, is used to precisely align the wire stripping work with the conductor 1 and can adaptively adjust the stripping direction according to the tilt angle of the conductor 1. This allows the insulation layer of the conductor 1 to be completely stripped without damaging it. After the stripping is completed, the entire assembly... The emergency power supply robot does not undergo any displacement. The robotic arm 21 directly grasps the wiring fixture 50 and, in conjunction with the camera component 210, precisely positions and connects the stripped wire 1 to the emergency power supply line. After power is supplied, the robotic arm 21 retrieves the wiring fixture 50, thus completing the entire power restoration operation. This continuous, displacement-free operation reduces the time required for the main component 20 to move and reposition, improves overall work efficiency, and reduces operational complexity. This solves the problem of low maintenance efficiency caused by the difficulty of achieving precise alignment between the emergency power supply robot and the wire 1 in existing technologies.

[0034] like Figure 4As shown, the wire stripping fixture 40 includes a fixed base 41, a clamping component 421, and a cutter 43. The clamping component 42 is rotatably mounted on the fixed base 41 for clamping the wire 1. The cutter 43 is mounted on the clamping component 42, and the cutting head of the cutter 43 contacts the outer sheath of the wire 1. The cutting head is inclined to the central axis of the wire 1 so that when the robotic arm 21 drives the wire stripping fixture 40 to move along the extension direction of the wire 1 and the clamping component 42 rotates, the cutter 43 strips the outer sheath of the wire 1 along a spiral direction. In this way, the robotic arm 21 grasps and strips the wire 1. When the wire clamping assembly clamps the wire 1, the vision technology of the camera component 210 drives the blade 43 to be precisely tilted and inserted into the outer insulation layer of the wire 1. Since the blade 43 is inserted into the insulation layer of the wire 1 at a certain tilt angle, the clamping assembly 42 will generate axial force when it drives the blade 43 to rotate. At the same time, driven by the robotic arm 21, the blade 43 rotates around the central axis of the wire 1 while moving away from the main body assembly 20 along the central axis of the wire 1, thus forming a spiral motion to remove the outer insulation layer of the wire 1 in a spiral manner, thereby completing the wire stripping operation.

[0035] To achieve spiral stripping of the insulation layer of the wire 1, the wire stripping fixture 40 further includes a rotating assembly 44 mounted on a fixed base 41. The rotating assembly 44 includes a mounting housing 440, a first gear 441, a second gear 442, and a first driving component 444. The first gear 441 and the second gear 442 are meshed within the mounting housing 440. The first gear 441 has an opening slot 443 through which the wire 1 passes. The clamping assembly 42 is connected to the first gear 441 and located at the opening slot 443. The second gear 442 is connected to the driving end of the first driving component 444 to drive the first gear 441 to rotate and cause the clamping assembly 42 to rotate along the central axis of the wire 1. In the above configuration, the first driving component 444 is a drive motor. In this way, the wire 1 passes through the opening slot 443 on the first gear 441 and is clamped by the clamping assembly 42. When the first driving component 444 drives the second gear 442 to rotate, the first gear 441 rotates under the transmission of the second gear 442 and drives the clamping assembly 42 to rotate, so that the cutter 43 rotates around the central axis of the wire 1 and moves away from the main body assembly 20 in the movement of the robotic arm 21, so that the cutter 43 peels off the outer insulation layer of the wire 1 in a spiral direction.

[0036] Specifically, the clamping assembly 42 includes a mounting frame 420 and two clamping components 421. The two clamping components 421 are movably mounted on the mounting frame 420, and a cutting tool 43 is mounted on one of the two clamping components 421, so that the two clamping components 421 move relative to each other to contact the wire 1 to clamp the wire 1, and the cutting tool 43 contacts the outer sheath of the wire 1. In the above configuration, the two clamping components 421 are clamping plates with arc-shaped plate segments, so that the two clamping components 421 move relative to each other until their arc-shaped plate segments make contact with the outer sheath of the wire 1 to clamp the wire 1. At the same time, when the clamping components 421 move, they drive the cutting head of the cutting tool 43 to insert into the outer insulation layer of the wire 1 at a certain angle.

[0037] Specifically, the clamping assembly 42 further includes two first guide rods 422, a first bidirectional lead screw 423, and a second driving component 424. The two first guide rods 422 are respectively mounted on the mounting frame 420 and pass through the two clamping components 421. The first bidirectional lead screw 423 is mounted on the mounting frame 420 and located between the two first guide rods 422. The two clamping components 421 are threadedly connected to both ends of the first bidirectional lead screw 423. One end of the first bidirectional lead screw 423 extending out of the mounting frame 420 is connected to the driving end of the second driving component 424 to drive the two clamping components 421 to move relative to each other. In the above configuration, the second driving component 424 is a drive motor. In this way, the two clamping components 421 are respectively threaded to both ends of the first bidirectional lead screw 423 through threaded holes, so that when the second driving component 424 drives the first bidirectional lead screw 423 to rotate, the two clamping components 421 move relatively close to each other along the extension direction of the first guide rod 422 to clamp the wire 1. At the same time, the cutting head of the cutting tool 43 connected to the clamping component 421 is inserted into the insulation layer of the wire 1 at a certain tilt angle.

[0038] like Figure 3As shown, the wiring fixture 50 includes a mounting base 51 and two clamping components 52; the two clamping components 52 are movably disposed on the mounting base 51, and the emergency power cord is disposed on one of the two clamping components 52, so that the two clamping components 52 move relative to each other to contact the wire 1 after being stripped by the wire stripping fixture 40, and clamp the emergency power cord to the wire 1. In this way, after the wire stripping work is completed, the robotic arm 21 picks up the wire stripping fixture 40 and puts it back in its original position. Then, the robotic arm 21 picks up the wiring fixture 50 and performs wiring work on the stripped wire 1. By combining the vision technology of the camera component 210, the two clamping components 52 are controlled to move closer and closer to each other until they are aligned with the exposed wire 1 after being stripped by the wire stripping fixture 40. This allows the clamping components 52 to clamp and engage the emergency power line with the exposed wire 1. This high-precision wiring technology ensures the accuracy and reliability of the wiring and reduces the risk of failure caused by wiring errors or poor contact. At the same time, the pressure sensor detects the clamping force of the two clamping components 52 clamping the exposed wire 1. When the clamping force reaches the preset pressure value, the two clamping components 52 stop moving to complete the effective conduction between the wire 1 and the emergency power line.

[0039] Specifically, the wiring fixture 50 also includes two second guide rods 53, a second bidirectional lead screw 54, and a third drive component 55; the two second guide rods 53 are respectively disposed on the mounting base 51 and pass through the two clamping components 52; the second bidirectional lead screw 54 is disposed on the mounting base 51 and located between the two second guide rods 53, and the two clamping components 52 are respectively threaded to both ends of the second bidirectional lead screw 54; one end of the second bidirectional lead screw 54 that extends out of the mounting base 51 is connected to the drive end of the third drive component 55 to drive the two clamping components 52 to move relative to each other. In the above configuration, the third drive component 55 is a drive motor. Thus, the two clamping components 52 are threadedly connected to both ends of the second bidirectional lead screw 54 through threaded holes. When the third drive component 55 drives the second bidirectional lead screw 54 to rotate, the two clamping components 52 move relatively close to each other along the extension direction of the second guide rod 53. This allows the emergency power cable on the clamping component 52 to connect to the exposed wire 1 under the clamping of the two clamping components 52, completing the connection of the emergency power supply. After the power supply is completed, the robotic arm 21 retrieves the wiring fixture 50, autonomously dismounts, and the entire power restoration operation process ends.

[0040] like Figure 2As shown, the walking assembly 30 includes a fixed frame 31 and walking wheels 32. The walking wheels 32 are rotatably mounted on the fixed frame 31. The walking wheels 32 are in contact with the guide wire 1 and are movably mounted along the extension direction of the guide wire 1. The walking wheels 32 have a vertically inclined up-and-down state and a fixed position relative to the guide wire 1. With the above configuration, the walking wheels 32 are movably connected to the guide wire 1 along the extension direction of the guide wire 1. During the up-and-down movement of the walking assembly 30, the walking wheels 32 move to the vertically inclined up-and-down state, so that the walking wheels 32 can be installed directly above the guide wire 1 and can be easily removed from the guide wire 1. When the walking wheels 32 are in the fixed position, the walking wheels 32 are fixed relative to the guide wire 1, so that the main assembly 20 remains stationary in the current position.

[0041] Specifically, a sliding groove 310 is provided on one side of the fixed frame 31, and the walking assembly 30 also includes a fixed plate 33 and a telescopic component 34; the fixed plate 33 is connected to the bottom of the fixed frame 31; the telescopic component 34 is telescopically provided, the fixed end of the telescopic component 34 is rotatably connected to the fixed plate 33, and the movable end of the telescopic component 34 is connected to a slider 341, which is slidably provided in the sliding groove 310 so that when the walking wheel 32 is in the up-and-down line state, the telescopic component 34 retracts to drive the slider 341 to move to the end of the sliding groove 310 near the fixed plate 33, so that the fixed frame 31 is tilted; wherein, when the walking wheel 32 is in the up-and-down line state, the fixed frames 31 of the two walking assemblies 30 are symmetrically arranged in the vertical direction. Thus, when the walking wheel 32 moves to the upper and lower line position, the telescopic component 34 retracts to drive the slider 341 connected to its movable end to move along the sliding groove 310 to one end close to the fixed plate 33, so as to lift the fixed frame 31 to an inclined position, so that the walking wheel 32 set on the fixed frame 31 moves to the upper and lower line position with an inclination relative to the vertical direction. At this time, by controlling the walking wheel 32 to be fastened to or removed from the wire 1, the upper and lower line operation of the walking wheel 32 can be realized. During the upper line hanging process, when the walking wheel 32 is in the inclined upper and lower line position and is in contact with the wire 1, by controlling the movable end of the telescopic component 34 to extend and drive the slider 341 to move along the sliding groove 310 to one end close to the walking wheel 32, so that the walking wheel 32 is set vertically and fastened directly above the wire 1, so as to complete the upper line operation.

[0042] In this embodiment, the fixed frame 31 is also provided with a fifth drive component for driving the motor. The walking wheel 32 is connected to the drive end of the fifth drive component so that the walking wheel 32 can be driven to rotate by the fifth drive component.

[0043] Specifically, the walking assembly 30 also includes two third guide rods 35, a one-way lead screw 36, a movable block 37, and a fourth drive component 39. The two third guide rods 35 are respectively mounted on the fixed frame 31. The one-way lead screw 36 is mounted on the fixed frame 31 and located between the two third guide rods 35. The two third guide rods 35 pass through the movable block 37, and the one-way lead screw 36 passes through and is threadedly connected to the movable block 37. A brake block 38 is connected to the movable block 37. One end of the one-way lead screw 36 is connected to the drive end of the fourth drive component 39 to drive the movable block 37 to move the brake block 38 until it abuts against the guide wire 1, thus placing the walking wheel 32 in a limited position. In the above configuration, the fourth drive component 39 is a drive motor. In this way, the movable block 37 is threadedly connected to the one-way lead screw 36 through the threaded hole. When the fourth drive component 39 drives the one-way lead screw 36 to rotate, the movable block 37 moves along the extension direction of the third guide rod 35 to drive the brake block 38 to move close to the wire 1 until it contacts the wire 1. After the traveling wheel 32 drives the main body assembly 20 to the working position, the brake block 38 presses against the wire 1 from bottom to top to firmly fix the main body assembly 20 on the wire 1, preventing slippage or left and right swing along the wire 1 line, so as to ensure the accuracy of subsequent wire stripping and wiring operations.

[0044] In this embodiment, the movable block 37 is also provided with an anti-detachment wheel. When the walking wheel 32 walks along the guide wire 1, the movable block 37 moves close to the guide wire 1 along the extension direction of the third guide rod 35, so as to drive the anti-detachment wheel to move from bottom to top until it touches the guide wire 1, which can prevent the walking wheel 32 from detaching from the guide wire 1.

[0045] like Figure 1 and Figure 2 As shown, the main component 20 includes a wire hanging frame 22 and a frame body 23. The wire hanging frame 22 has two hooks 220, which are respectively hooked onto the conductor 1. The frame body 23 is connected to the wire hanging frame 22 and can move vertically relative to the wire hanging frame 22. Two traveling components 30 are respectively connected to the frame body 23, so that the frame body 23 drives the two traveling components 30 to move to contact the conductor 1. In this configuration, the wire hanging frame 22 includes an insulating rod and two hooks 220 on the insulating rod. Thus, when the main component 20 performs wire loading / unloading operations, the wire hanging frame 22 hooks onto the conductor 1. By controlling the frame body 23 to move vertically relative to the wire hanging frame 22, the two traveling components 30 are driven to move vertically, causing the traveling wheels 32 in the loading / unloading state to move to the corresponding contact position with the conductor 1, so that the traveling wheels 32 can be hooked onto the conductor 1 or removed from the conductor 1.

[0046] Specifically, the main assembly 20 also includes a tape winding component and a traction belt; the tape winding component is rotatably mounted on the frame body 23; the fixed end of the traction belt is wound around the tape winding component, and the free end of the traction belt passes over the guide wheel 24 on the wire hanger 22 and is fixed to the frame body 23, so that the traction belt drives the frame body 23 to move relative to the wire hanger 22. In the above configuration, the tape winding component is a reel, the traction belt is wound around the tape winding component, and the rotating shaft of the tape winding component is connected to a sixth drive component, which is a drive motor. Thus, the sixth drive component drives the tape winding component to rotate, so that the traction belt is wound onto or released from the tape winding component, thereby realizing the raising or lowering of the main assembly 20.

[0047] In this embodiment, the main component 20 is equipped with a gyroscope for real-time detection of the levelness of the main component 20. The gyroscope's leveling program is set to adjust the start, stop, and speed of the fifth drive component in real time, so that the main component 20 can always be in a horizontal state during the loading and unloading process.

[0048] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0049] The emergency power access robot includes an upper structure, a wire stripping fixture, and a wiring fixture. The upper structure includes a main component and two walking components connected to the main component. The two walking components are respectively in contact with the wire and are movably arranged along the extension direction of the wire. The main component is equipped with a movable robotic arm, and the end of the robotic arm is equipped with a camera component. The main component is arranged to move up and down relative to the wire so that the robotic arm moves closer to the wire. The wire stripping fixture and the wiring fixture are respectively detachably arranged on the main component so that the robotic arm can grasp the wire stripping fixture to strip the outer sheath of the wire, and then grasp the wiring fixture to connect the wire stripped by the wire stripping fixture to the emergency power line. In this way, the main component is suspended above the conductor via two walking components. After the main component is driven to the corresponding position, the robotic arm separately picks up the wire stripping fixture and the wiring fixture, and works in sequence. The robotic arm, combined with the vision technology of the camera component, uses the robotic arm to grasp the wire stripping work, ensuring precise alignment with the conductor and adjusting the stripping direction according to the conductor's tilt angle. This allows the insulation layer of the conductor to be completely stripped without damaging it. After the wire stripping is completed, the emergency power supply robot does not move. The robotic arm directly picks up the wiring fixture, and with the help of the camera component, it precisely positions the stripped conductor to connect to the emergency power line. After power is restored, the robotic arm retrieves the wiring fixture, thus completing the entire power restoration operation. This continuous, displacement-free operation reduces the time for moving and repositioning the main component, improves overall work efficiency, and reduces operational complexity. This solves the problem of low maintenance efficiency caused by the inability of existing emergency power supply robots to achieve precise alignment with the conductor.

[0050] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0051] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0052] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0053] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0054] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0055] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An emergency power supply access robot, characterized in that, include: The upper structure (10) includes a main body component (20) and two walking components (30) connected to the main body component (20). The two walking components (30) are respectively in contact with the guide wire (1) and are movably arranged along the extension direction of the guide wire (1). The main body component (20) is provided with a movable robotic arm (21). The end of the robotic arm (21) is provided with a camera component (210). The main body component (20) is movably arranged relative to the guide wire (1) so that the robotic arm (21) moves closer to the guide wire (1). The wire stripping fixture (40) and the wiring fixture (50) are detachably mounted on the main body assembly (20), so that the robotic arm (21) can grab the wire stripping fixture (40) to strip the outer sheath of the wire (1), and then grab the wiring fixture (50) to connect the wire (1) stripped by the wire stripping fixture (40) to the emergency power line; The wire stripping fixture (40) includes: a fixed base (41); a clamping assembly (42) rotatably disposed on the fixed base (41) for clamping the wire (1); and a cutting tool (43) disposed on the clamping assembly (42) with the cutting head of the cutting tool (43) in contact with the outer sheath of the wire (1). The cutting head is inclined to the central axis of the wire (1) so that when the robotic arm (21) drives the wire stripping fixture (40) to move along the extension direction of the wire (1) and the clamping assembly (42) rotates, the cutting tool (43) strips the outer sheath of the wire (1) along a spiral direction.

2. The emergency power supply access robot according to claim 1, characterized in that, The wire stripping fixture (40) further includes a rotating assembly (44) disposed on the fixed base (41), the rotating assembly (44) comprising: Mounting housing (440); A first gear (441) and a second gear (442) are meshed together in the mounting housing (440). The first gear (441) has an opening slot (443) through which the wire (1) passes. The clamping assembly (42) is connected to the first gear (441) and located at the opening slot (443). The first driving component (444) and the second gear (442) are connected to the driving end of the first driving component (444) to drive the first gear (441) to rotate and drive the clamping assembly (42) to rotate along the central axis of the wire (1).

3. The emergency power supply access robot according to claim 1, characterized in that, The clamping assembly (42) includes: Mounting frame (420); Two clamping components (421) are movably disposed on the mounting frame (420) relative to each other, and the cutting tool (43) is disposed on one of the two clamping components (421) so that the two clamping components (421) move relative to each other to contact the wire (1) to clamp the wire (1) and the cutting tool (43) contacts the outer sheath of the wire (1).

4. The emergency power supply access robot according to claim 3, characterized in that, The clamping assembly (42) further includes: Two first guide rods (422) are respectively disposed on the mounting frame (420), and the two first guide rods (422) are respectively passed through the two clamping components (421); The first bidirectional lead screw (423) is mounted on the mounting frame (420) and located between the two first guide rods (422). The two clamping components (421) are threadedly connected to both ends of the first bidirectional lead screw (423). The second driving component (424) has one end of the first bidirectional lead screw (423) that extends out of the mounting frame (420) and is connected to the driving end of the second driving component (424) to drive the two clamping components (421) to move relative to each other.

5. The emergency power supply access robot according to claim 1, characterized in that, The wiring fixture (50) includes: Mounting base (51); Two clamping components (52) are movably disposed on the mounting base (51) and the emergency power cord is disposed on one of the two clamping components (52) so that the two clamping components (52) move relative to each other to contact the wire (1) after being stripped by the wire stripping tool (40) and clamp the emergency power cord to the wire (1).

6. The emergency power supply access robot according to claim 5, characterized in that, The wiring fixture (50) also includes: Two second guide rods (53) are respectively disposed on the mounting base (51), and the two second guide rods (53) are respectively passed through the two clamping components (52); The second bidirectional lead screw (54) is disposed on the mounting base (51) and located between the two second guide rods (53), and the two clamping components (52) are respectively threaded to both ends of the second bidirectional lead screw (54); The third drive component (55) has one end of the second bidirectional lead screw (54) that extends out of the mounting base (51) and is connected to the drive end of the third drive component (55) to drive the two clamping components (52) to move relative to each other.

7. The emergency power supply access robot according to claim 1, characterized in that, The walking component (30) includes: Fixed frame (31); The traveling wheel (32) is rotatably mounted on the fixed frame (31). The traveling wheel (32) contacts the conductor (1) and is movably mounted along the extension direction of the conductor (1). The traveling wheel (32) has an upper and lower line state that is inclined relative to the vertical direction and a limiting state that is fixed relative to the conductor (1).

8. The emergency power supply access robot according to claim 7, characterized in that, The fixed frame (31) is provided with a sliding groove (310) on one side, and the walking assembly (30) further includes: The fixing plate (33) is connected to the bottom of the fixing frame (31); The telescopic component (34) is telescopically configured. The fixed end of the telescopic component (34) is rotatably connected to the fixed plate (33). The movable end of the telescopic component (34) is connected to a slider (341). The slider (341) is slidably disposed in the sliding groove (310). When the walking wheel (32) is in the upper and lower line state, the telescopic component (34) retracts to drive the slider (341) to move to one end of the sliding groove (310) close to the fixed plate (33), so that the fixed frame (31) is tilted. When the walking wheel (32) is in the upper and lower line state, the fixed frame (31) of the two walking components (30) is symmetrically arranged in the vertical direction.

9. The emergency power supply access robot according to claim 7, characterized in that, The walking component (30) also includes: Two third guide rods (35) are respectively installed on the fixed frame (31); A one-way lead screw (36) is mounted on the fixed frame (31) and located between the two third guide rods (35); The movable block (37) has two third guide rods (35) respectively passing through it, and the one-way screw (36) passes through it and is threadedly connected to it. A brake block (38) is connected to the movable block (37). The fourth drive component (39) has one end of the one-way lead screw (36) connected to the drive end of the fourth drive component (39) to drive the movable block (37) to move the brake block (38) to abut against the wire (1) so that the walking wheel (32) is in a limited position.

10. The emergency power supply access robot according to claim 1, characterized in that, The main component (20) includes: A wire hanger (22) is provided with two hooks (220), which are respectively hooked onto the wire (1); The frame body (23) is connected to the hanging frame (22) and can move up and down relative to the hanging frame (22). The two walking components (30) are respectively connected to the frame body (23) so that the frame body (23) drives the two walking components (30) to move to contact the wire (1) respectively.

11. The emergency power supply access robot according to claim 10, characterized in that, The main component (20) also includes: The tape winding component is rotatably mounted on the frame body (23); The traction belt has its fixed end wound around the tape winding component and its free end wrapped around the guide wheel (24) on the wire hanging frame (22) and then fixed on the frame body (23) so that the traction belt drives the frame body (23) to move relative to the wire hanging frame (22).

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