A press buckle pushing and pressing mechanism of an airborne power transmission line strand breakage repairing robot

Abstract

This invention discloses a clamping and pressing mechanism for an airborne transmission line strand breakage repair robot, comprising: a frame, a clamping part, and a pushing part; the frame includes a top plate that can be connected to a drone, and side plates that are fixedly connected to the left and right sides of the top plate and extend downwards, forming a clearance channel between the side plates to avoid the transmission line; the clamping part includes a drive mechanism and two clamping blocks, and the pushing part includes a clamping lifting mechanism and a clamping supply mechanism. The clamping supply mechanism is installed on the outside of the side plates and is used to supply clamps to the clamping lifting mechanism. The clamping lifting mechanism includes a bracket, a rotating arm, and a support, and also includes a rotating mechanism and a transmission mechanism. This invention proposes an airborne transmission line strand breakage repair robot clamping and pressing mechanism, in which the frame, pushing part, and pressing part will not interfere with the transmission line when the repair robot is vertically downwards on the line.

Description

Technical Field

[0001] This invention relates to the field of power transmission line strand breakage repair technology, and in particular to an airborne power transmission line strand breakage repair robot pressing and pushing mechanism. Background Technology

[0002] Existing strand repair robots can be referenced from patent application number CN2022108257899, which includes a control platform, a walking mechanism, a repair mechanism, and a clamping piece supply mechanism. The walking mechanism, repair mechanism, and clamping piece supply mechanism are all mounted on the upper side of the control platform. When the repair robot is working, the walking mechanism walks on the power transmission line, the clamping piece supply mechanism delivers clamping pieces to the repair mechanism, the repair mechanism moves vertically upward, and presses the clamping pieces onto the power transmission line.

[0003] The existing control platforms of repair robots are basically rectangular flat structures that do not avoid the long slots of power transmission lines. Furthermore, the clamping and repair mechanisms are located directly below the walking axis of the walking mechanism. When the repair robot moves vertically downwards to the power line, the control platform, clamping and repair mechanisms will interfere with the power transmission line, making it impossible to use drones to move the repair robot online. When moving such repair robots online, operators need to use hoisting devices, such as safety ropes, to lift the repair robot up and bring it close to the power transmission line. This high-altitude operation to install the walking mechanism of the repair robot on the power transmission line is very troublesome. Summary of the Invention

[0004] To address the shortcomings of existing repair robots' clamping and repair mechanisms, which cause interference between the control platform, clamping and repair mechanisms and the power transmission line when the repair robot moves vertically downwards to the line, this invention proposes an airborne power transmission line strand breakage repair robot pressing and pushing mechanism. When the repair robot moves vertically downwards to the line, the frame, pushing part, and pressing part will not interfere with the power transmission line.

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

[0006] A crimping and pressing mechanism for an airborne power transmission line strand break repair robot includes: a frame, a pressing section, and a pushing section; the frame includes a top plate that can be connected to a drone, and side plates that are fixedly connected to the left and right sides of the top plate and extend downwards; the robot's walking mechanism is installed on the underside of the top plate, and a clearance channel is formed between the side plates to avoid the power transmission line; the pressing section includes a drive mechanism and two clamping blocks, the upper ends of which are slidably connected to the top plate; the two clamping blocks are located on the left and right sides of the walking axis of the walking mechanism; the drive mechanism is used to drive the two clamping blocks to open and close, so as to press the crimping onto the power transmission line; the pushing section includes a crimping lifting mechanism. The device includes a snap fastener supply mechanism, which is installed on the outside of the side plate and is used to supply snap fasteners to the snap fastener lifting mechanism. The snap fastener lifting mechanism includes a bracket, a rotating arm, and a support. The bracket is vertically installed on the outside of the side plate. The upper end of the rotating arm is rotatably connected to the upper end of the bracket. The support is rotatably connected to the lower end of the rotating arm and is close to the output port of the snap fastener supply mechanism to support the snap fastener. The snap fastener lifting mechanism also includes a rotating mechanism and a transmission mechanism. The rotating mechanism is connected to the support through the transmission mechanism. The rotating mechanism drives the rotating arm to rotate. The opening of the snap fastener is always facing upward. The support is close to the lower side of the transmission line and fastens the snap fastener to the lower side of the transmission line.

[0007] With the above settings, when the repair robot is vertically downwards to go online, the frame, pressing section and pushing section will not interfere with the power transmission line.

[0008] Furthermore, the drive mechanism includes: a guide rail, a lead screw, and a first motor; the guide rail is installed on the lower side of the top plate, and the upper ends of the two clamping blocks are slidably connected to the lower side of the guide rail; the lead screw is rotatably connected to the lower side of the guide rail, and the lead screw includes a first threaded part that is threadedly connected to one of the clamping blocks, and a second threaded part that is threadedly connected to the other clamping block, the thread directions of the first threaded part and the second threaded part being opposite; the first motor is installed on the top plate, and the first motor is connected to the lead screw.

[0009] With the above configuration, the clamping block is slidably connected to the underside of the top plate via the guide rail, making the movement of the clamping block more stable; the first motor drives the two clamping block switches via the lead screw.

[0010] Furthermore, the rotating mechanism includes: a second motor, a first pulley, a second pulley, a synchronous belt, and a rotating shaft; the second motor is mounted on the lower end of the bracket; the first pulley is mounted on the output shaft of the second motor; the second pulley is rotatably connected to the upper end of the bracket; the first pulley and the second pulley are connected by a synchronous belt drive; one end of the rotating shaft is coaxially and fixedly connected to the second pulley, and the other end of the rotating shaft is fixedly connected to the upper end of the rotating arm.

[0011] With the above configuration, the second motor drives the rotating arm to rotate via the first pulley, the timing belt, the second pulley, and the rotating shaft.

[0012] Furthermore, the transmission mechanism includes: a first transmission wheel, a second transmission wheel, and a transmission belt; the first transmission wheel is fixedly mounted on the upper end of the bracket, and a rotating shaft coaxially passes through the first transmission wheel and is rotatably connected to the first transmission wheel; the second transmission wheel has the same outer diameter as the first transmission wheel, and the second transmission wheel is rotatably connected to the lower end of the rotating arm and fixedly connected to the bracket; the first transmission wheel is connected to the second transmission wheel via the transmission belt.

[0013] The above settings prevent the bracket from rotating on its own during the rotation of the rotating arm.

[0014] Furthermore, the bracket is provided with an upward-facing storage slot that is compatible with the snap fastener. A feed inlet is provided on the side of the bracket near the snap fastener supply mechanism. The snap fastener supply mechanism feeds the snap fastener into the storage slot through the feed inlet. The left and right sides of the bracket are provided with clearance slots for avoiding the clamping blocks.

[0015] The above settings increase the stability of the clips on the bracket.

[0016] Furthermore, the snap fastener supply mechanism includes: a hopper and an electric push rod; the hopper is vertically installed on the outside of the side plate, and is used for vertically stacking snap fasteners in the hopper; the output port of the snap fastener supply mechanism is located at the bottom of the hopper near the bracket, and the output port faces the feed port of the bracket; a through hole is provided on the side of the hopper away from the output port; the electric push rod is installed on the outside of the side plate, and the output shaft of the electric push rod is close to the bottom of the hopper and can pass through the through hole to push the snap fasteners at the bottom of the hopper to the bracket.

[0017] With the above setup, the electric push rod pushes the buckles at the bottom of the hopper one by one to the bracket. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the snap-on push-press mechanism in an embodiment.

[0019] Figure 2 for Figure 1 Enlarged view of point A.

[0020] Figure 3 This is a side view of the snap-fit ​​mechanism in an embodiment.

[0021] Figure 4 A cross-sectional view of the snap-on pushing and pressing mechanism of the embodiment. Figure 1 .

[0022] Figure 5 A cross-sectional view of the snap-on pushing and pressing mechanism of the embodiment. Figure 2 .

[0023] Figure 6 The diagram below illustrates the principle of the snap-fit ​​pushing and pressing mechanism in this embodiment. Detailed Implementation

[0024] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0025] See Figures 1 to 6 A press-fitting mechanism for an airborne power transmission line strand break repair robot includes: a frame 3, a pressing part 4, and a pushing part 5; the frame 3 includes a top plate 31 that can be connected to a drone, and side plates 32 that are fixedly connected to the left and right sides of the top plate 31 and extend downwards, wherein... Figure 1 The front, back, left, and right directions of the repair robot are indicated. The walking mechanism of the repair robot is installed on the lower side of the top plate 31, and a clearance channel 6 is formed between the side plates 32 to avoid the power transmission line 200. The pressing part 4 includes a drive mechanism 41 and two clamping blocks 42. The upper ends of the clamping blocks 42 are slidably connected to the top plate 31. The two clamping blocks 42 are located on the left and right sides of the walking axis of the walking mechanism. The drive mechanism 41 is used to drive the two clamping blocks 42 to open and close, so as to press the clamp 300 onto the power transmission line 200. The pushing part 5 includes a clamp lifting mechanism 51 and a clamp supply mechanism 52. The clamp supply mechanism 52 is installed on the outside of the side plate 32 and is used to supply the clamp 300 to the clamp lifting mechanism 51. 51 includes a bracket 511, a rotating arm 512, and a bracket 513. The bracket 511 is vertically installed on the outside of the side plate 32. The upper end of the rotating arm 512 is rotatably connected to the upper end of the bracket 511. The bracket 513 is rotatably connected to the lower end of the rotating arm 512 and is close to the output port 7 of the buckle supply mechanism 52 to support the buckle 300. The buckle lifting mechanism 51 also includes a rotating mechanism 514 and a transmission mechanism 515. The rotating mechanism 514 is connected to the bracket 513 through the transmission mechanism 515. The rotating mechanism 514 drives the rotating arm 512 to rotate. The opening of the buckle 300 is always facing upward. The bracket 513 is close to the lower side of the transmission line 200 and fastens the buckle 300 to the lower side of the transmission line 200.

[0026] With the above settings, when the repair robot is vertically downwards to go online, the frame, pressing part 4 and pushing part 5 will not interfere with the power transmission line 200, making it possible to put the repair robot downwards to go online via drone.

[0027] The repair robot equipped with the push-press mechanism described in this application is deployed via a drone. The drone is equipped with an electric gripper on its underside. Both the electric gripper and the drone can be purchased commercially and are remotely controlled. A lifting ring can be fixedly installed on the upper side of the top plate 31 for easy clamping and connection of the electric gripper. Initially, see [link to documentation]. Figure 4The rotating arm 512 is vertically downward, and the entire clamping and lifting mechanism 51 is located outside the clearance channel 6. The two clamps 42 are opened, making the distance between the two clamps 42 greater than the outer diameter of the power transmission line 200. The drone lifts the repair robot above the power transmission line 200, lowers the repair robot, and the side plate 32 moves downward through the left and right sides of the power transmission line 200. The power transmission line 200 enters the clearance channel 6. The clamping supply mechanism 52 and the clamping and lifting mechanism 51 are both located outside the side plate 32, so they will not obstruct the downward movement of the repair robot. Finally, the repair robot is directly mounted on the power transmission line 200 through the walking mechanism. After the electric clamp on the lower side of the drone opens, the drone returns to the ground. The power transmission line 200 is located between the two clamps 42. The walking mechanism can refer to existing repair robots. In this application, the walking mechanism is a roller set at the front and rear ends of the top plate 31. When the lower side of the roller contacts the power transmission line 200, the walking mechanism is mounted on the power transmission line 200. At this time, the axis of the power transmission line 200 is the walking axis of the walking mechanism. The buckle supply mechanism 52 delivers the buckle 300 to the upper side of the bracket 513. The bracket 513 supports the buckle 300. The buckle 300 and the buckle supply mechanism 52 can be referenced from existing repair robots. The buckle 300 is basically a U-shaped structure with the opening facing upward. Initially, the buckle 300 on the bracket 513 is lower than the power transmission line 200 and located outside the clearance channel 6. A notch is provided on the side wall to facilitate the rotation of the rotating arm 512 inward. The rotating mechanism 514 drives the rotating arm 512, and the rotating arm 512 rotates around the upper side of the bracket 513. The end rotates inward. During the rotation, the rotating mechanism 514 rotates the bracket 513 through the transmission mechanism 515. The bracket 513 rotates relative to the rotating arm 512, preventing the bracket 513 from rotating on its own axis. This ensures that the opening of the snap fastener 300 on the upper side of the bracket 513 always faces upward. Finally, the snap fastener 300 snaps upward onto the lower side of the transmission line 200. The drive mechanism 41 drives the two clamping blocks 42 to close. The two clamping blocks 42 clamp the snap fastener 300, and the snap fastener 300 deforms to press the broken strand tightly onto the transmission line 200. See below. Figure 6 After the snap fastener 300 is installed, the drive mechanism 41 drives the two clamping blocks 42 to separate, and the rotating mechanism 514 drives the rotating arm 512 to rotate downwards back to the initial state. The snap fastener supply mechanism 52 delivers the snap fastener 300 to the upper side of the bracket 513 for the next installation. After the traveling mechanism moves forward a distance along the transmission line 200, it repeats the above process to continue to install the snap fastener 300 onto the transmission line 200.

[0028] The process of taking the repair robot off the line is the reverse of the process of taking it on the line. The drive mechanism 41 drives the two clamping blocks 42, and the two clamping blocks 42 open. The rotating mechanism 514 drives the rotating arm 512, and the rotating arm 512 rotates to a vertical downward position. The ground operator controls the drone to fly to the top plate 31. After the electric clamp holds the lifting ring on the top plate 31, the electric clamp tightens the lifting ring, and the drone lifts the repair robot away from the power line 200, and finally brings the repair robot to the ground.

[0029] In one implementation, the drive mechanism 41 includes: a guide rail 411, a lead screw, and a first motor 412; the guide rail 411 is mounted on the lower side of the top plate 31, and the upper ends of two clamping blocks 42 are slidably connected to the lower side of the guide rail 411; the lead screw is rotatably connected to the lower side of the guide rail 411, and the lead screw includes a first threaded portion 413 threadedly connected to one of the clamping blocks 42, and a second threaded portion 414 threadedly connected to the other clamping block 42, the thread directions of the first threaded portion 413 and the second threaded portion 414 being opposite; the first motor 412 is mounted on the top plate 31 and is connected to the lead screw.

[0030] With the above configuration, the clamping block 42 is slidably connected to the lower side of the top plate 31 via the guide rail 411, making the movement of the clamping block 42 more stable; the first motor 412 drives the two clamping blocks 42 to switch via the lead screw.

[0031] In this application, after the first motor 412 drives the lead screw, the first threaded part 413 and the second threaded part 414 rotate synchronously. The first threaded part 413 rotates relative to the clamping block 42, and the second threaded part 414 rotates relative to the clamping block 42. When the threads of the first threaded part 413 and the second threaded part 414 are opposite, the two clamping blocks 42 move in opposite directions, that is, the two clamping blocks 42 move closer to each other or further away from each other. The first motor 412 can be a servo motor with torque feedback function. After the clamping block 42 presses the buckle 300, the torque of the first motor 412 reaches the preset value, indicating that the clamping force of the clamping block 42 on the buckle 300 has met the requirements. The first motor 412 rotates in the opposite direction to open the two clamping blocks 42.

[0032] In one implementation, the rotating mechanism 514 includes: a second motor 5141, a first pulley 5142, a second pulley 5143, a synchronous belt 5144, and a rotating shaft 5145; the second motor 5141 is mounted on the lower end of the bracket 511; the first pulley 5142 is mounted on the output shaft of the second motor 5141; the second pulley 5143 is rotatably connected to the upper end of the bracket 511; the first pulley 5142 and the second pulley 5143 are connected by transmission through the synchronous belt 5144; one end of the rotating shaft 5145 is coaxially and fixedly connected to the second pulley 5143, and the other end of the rotating shaft 5145 is fixedly connected to the upper end of the rotating arm 512.

[0033] With the above configuration, the second motor 5141 drives the rotating arm 512 to rotate via the first pulley 5142, the synchronous belt 5144, the second pulley 5143, and the rotating shaft 5145.

[0034] In this application, the radius of the first pulley 5142 is smaller than the radius of the second pulley 5143, so as to achieve the effect of deceleration and increase torque; the second motor 5141 can be a servo motor with angle feedback function, which can conveniently and accurately control the rotation angle of the rotating arm 512, so that the buckle 300 can be accurately fastened on the underside of the power transmission line 200, and accurately return to the initial position to welcome the next buckle 300.

[0035] As one implementation, the transmission mechanism 515 includes: a first transmission wheel 5151, a second transmission wheel 5152, and a transmission belt 5153; the first transmission wheel 5151 is fixedly mounted on the upper end of the bracket 511, and the rotating shaft 5145 coaxially passes through the first transmission wheel 5151 and is rotatably connected to the first transmission wheel 5151; the second transmission wheel 5152 has the same outer diameter as the first transmission wheel 5151, the second transmission wheel 5152 is rotatably connected to the lower end of the rotating arm 512, and is fixedly connected to the bracket 513; the first transmission wheel 5151 is connected to the second transmission wheel 5152 through the transmission belt 5153.

[0036] The above settings prevent the bracket 513 from rotating during the rotation of the rotating arm 512.

[0037] In this application, when the rotating arm 512 rotates, the first transmission wheel 5151 does not rotate. When the second transmission wheel rotates around the axis of the rotating shaft 5145, the first transmission wheel 5151 prevents the second transmission wheel 5152 from rotating by the transmission belt 5153, thereby preventing the bracket 513, which is fixedly connected to the second transmission wheel 5152, from rotating.

[0038] As one implementation, the bracket 513 is provided with an upward-facing storage slot that is compatible with the snap fastener 300. The bracket 513 is provided with a feed inlet 5131 on the side near the snap fastener supply mechanism 52. The snap fastener supply mechanism 52 feeds the snap fastener 300 into the storage slot through the feed inlet 5131. The left and right sides of the bracket 513 are provided with clearance slots 5132 for avoiding the clamping block 42.

[0039] The above settings increase the stability of the buckle 300 on the bracket 513.

[0040] In this application, when the bracket 513 is close to the output port 7 of the clip supply mechanism 52, the feed port 5131 is aligned with the output port 7. The clip supply mechanism 52 puts the clip 300 into the feed groove of the bracket 513 through the output port 7 and the feed port 5131. The side wall of the feed groove supports the clip 300 to prevent the clip 300 from falling off the bracket 513. The side of the bracket 513 away from the feed port 5131 is provided with a notch for avoiding the power transmission line 200. After the bracket 513 clips the clip 300 on the underside of the power transmission line 200, the bracket 513 supports the clip 300, and the two clamps 42 press the clip 300 onto the power transmission line 200 through the avoidance groove 5132.

[0041] As one implementation, the snap fastener supply mechanism 52 includes: a hopper 521 and an electric push rod 522; the hopper 521 is vertically installed on the outside of the side plate 32, and the snap fasteners 300 are vertically stacked in the hopper 521; the output port 7 of the snap fastener supply mechanism 52 is located at the bottom of the hopper 521 on the side near the bracket 513, and the output port 7 faces the feed port 5131 of the bracket 513; a through hole 523 is provided on the side of the hopper 521 away from the output port 7; the electric push rod 522 is installed on the outside of the side plate 32, and the output shaft of the electric push rod 522 is close to the bottom of the hopper 521 and can pass through the through hole 523 to push the snap fasteners 300 at the bottom of the hopper 521 to the bracket 513.

[0042] With the above setup, the electric push rod 522 pushes the buckles 300 at the bottom of the hopper 521 one by one to the bracket 513.

[0043] In this application, multiple snap fasteners 300 are stacked with their openings facing upwards in the hopper 521. The hopper 521 is a vertically placed long box. The electric push rod 522 pushes the bottom snap fastener 300 out of the output port 7 and into the storage slot of the bracket 513. After the electric push rod 522 retracts, the snap fasteners 300 in the hopper 521 automatically fall down a distance equal to the height of a snap fastener 300 under the action of gravity, making it convenient for the next discharge.

[0044] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A pressing and pushing mechanism for an airborne transmission line strand breakage repair robot, characterized in that, include: The frame includes a top plate that can be connected to a drone, and side plates that are fixedly connected to the left and right sides of the top plate and extend downward. The walking mechanism of the repair robot is installed on the underside of the top plate, and a clearance passage for avoiding power transmission lines is formed between the side plates. The pressing part includes a driving mechanism and two clamping blocks. The upper ends of the clamping blocks are slidably connected to the top plate. The two clamping blocks are arranged on the left and right sides of the traveling axis of the traveling mechanism. The driving mechanism is used to drive the two clamping blocks to open and close so as to press the buckle onto the power transmission line. The pushing section includes a snap-on lifting mechanism and a snap-on supply mechanism. The snap-on supply mechanism is installed on the outside of the side plate and is used to supply snap-on clips to the snap-on lifting mechanism. The snap-on lifting mechanism includes a bracket, a rotating arm, and a support. The bracket is vertically installed on the outside of the side plate. The upper end of the rotating arm is rotatably connected to the upper end of the bracket. The support is rotatably connected to the lower end of the rotating arm and is close to the output port of the snap-on supply mechanism to support the snap-on clip. The snap-on lifting mechanism also includes a rotating mechanism and a transmission mechanism. The rotating mechanism is connected to the support through the transmission mechanism. The rotating mechanism drives the rotating arm to rotate. The opening of the snap-on clip always faces upward. The support is close to the lower side of the power transmission line and snaps the snap-on clip onto the lower side of the power transmission line.

2. The airborne transmission line strand breakage repair robot pressing and pushing mechanism according to claim 1, characterized in that, The drive mechanism includes: A guide rail is installed on the lower side of the top plate, and the upper ends of the two clamping blocks are slidably connected to the lower side of the guide rail. A lead screw is rotatably connected to the lower side of the guide rail. The lead screw includes a first threaded portion that is threadedly connected to one of the clamping blocks and a second threaded portion that is threadedly connected to the other clamping block. The thread directions of the first threaded portion and the second threaded portion are opposite. A first motor is mounted on the top plate and is connected to the lead screw.

3. The airborne transmission line strand breakage repair robot pressing and pushing mechanism according to claim 1, characterized in that, The rotating mechanism includes: A second motor is mounted on the lower end of the bracket; A first pulley is mounted on the output shaft of the second motor; The second pulley is rotatably connected to the upper end of the bracket; A synchronous belt, wherein the first pulley and the second pulley are connected by the synchronous belt drive; A rotating shaft, one end of which is coaxially and fixedly connected to the second pulley, and the other end of which is fixedly connected to the upper end of the rotating arm.

4. The airborne transmission line strand breakage repair robot pressing and pushing mechanism according to claim 3, characterized in that, The transmission mechanism includes: The first transmission wheel is fixedly mounted on the upper end of the bracket, and the rotating shaft passes coaxially through the first transmission wheel and is rotatably connected to the first transmission wheel. The second transmission wheel has the same outer diameter as the first transmission wheel. The second transmission wheel is rotatably connected to the lower end of the rotating arm and is fixedly connected to the bracket. A transmission belt is used, and the first transmission wheel is connected to the second transmission wheel via the transmission belt.

5. The airborne transmission line strand breakage repair robot pressing and pushing mechanism according to claim 1, characterized in that, The bracket is provided with an upward-facing storage slot that is adapted to the snap fastener. The bracket is provided with a feed port on the side near the snap fastener supply mechanism. The snap fastener supply mechanism feeds snap fasteners into the storage slot through the feed port. The bracket is provided with clearance slots on the left and right sides to avoid the clamping block.

6. The airborne transmission line strand breakage repair robot pressing and pushing mechanism according to claim 5, characterized in that, The snap fastener supply mechanism includes: The hopper is vertically installed on the outside of the side plate. The hopper is used to vertically stack the snap fasteners. The output port of the snap fastener supply mechanism is located at the bottom of the hopper near the bracket. The output port faces the feed port of the bracket. The hopper has a through hole on the side away from the output port. An electric push rod is installed on the outside of the side plate. The output shaft of the electric push rod is close to the bottom of the hopper and can pass through the through hole to push the buckle at the bottom of the hopper to the bracket.

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