Overhaul device for high-voltage transmission tower

Abstract

The invention discloses a maintenance device for a high-voltage transmission tower, and mainly relates to the technical field of power systems. Comprising a bottom frame and a movable frame, a mounting seat is arranged on the movable frame, a sliding block is connected to the movable frame in a sliding mode, one side of the mounting seat is rotationally connected with the movable frame, the other side of the mounting seat is rotationally connected with a first connecting rod, and the end of the sliding block is rotationally connected with the first connecting rod; the end of the first swing arm is rotationally connected with a second swing arm, the end of the second swing arm is provided with an overhauling claw, the end of the base is rotationally connected with the mounting base and provided with a driven gear, and the mounting base is rotationally connected with a driving gear meshed with the driven gear and a driving wheel driving the driving gear to rotate. The manipulator has the beneficial effects that the problem that deviation exists between the actual working coordinate system and the workpiece coordinate system of the manipulator for overhauling the high-voltage power transmission tower is solved, and the efficiency and precision of overhauling hardware fittings and insulators on the high-voltage power transmission tower are improved.

Description

Technical Field

[0001] The invention relates to the technical field of power systems, in particular to a maintenance device for high-voltage transmission towers. Background Art

[0002] Since high-voltage transmission towers are exposed to wind, sun, rain, ice and snow for a long time, the components of the towers may corrode and wear. At the same time, the hardware and insulators of high-voltage transmission towers will age over time. Therefore, after the high-voltage transmission towers have been used for a period of time, the hardware and insulators installed on them need to be inspected and maintained to ensure the normal operation of the power system.

[0003] Since high-voltage transmission towers are usually set at high places, maintenance personnel not only consume physical energy when climbing the towers, but also face the risk of falling. Secondly, accessibility is poor. For some parts in special positions on the towers, such as those at the edge of the tower top or at a higher position on the outside of the tower body, it is difficult for maintenance personnel to reach these parts for maintenance while ensuring safety. Moreover, when working at high altitudes, maintenance personnel are inconvenient to move and it is difficult for them to carry more tools and materials, which also increases the difficulty of maintenance work.

[0004] Therefore, in order to improve the efficiency of repairing high-voltage transmission towers, robots are generally set on lifting platforms. The hardware on the high-voltage transmission towers can be repaired by remotely controlling the robot, cooperating with camera observation, and precise adjustment of visual sensors and proximity sensors. However, since high-voltage transmission towers are generally set on mountains with uneven ground, there is a deviation between the actual working coordinate system of the robot and the workpiece coordinate system. As a result, when repairing multiple hardware and insulators located in the same working area, it is necessary to manually calibrate the working coordinate system of the robot one by one, and it is impossible to realize the automated repair of multiple hardware or insulators, which reduces the efficiency of repairing hardware and insulators on high-voltage transmission towers to a certain extent. Summary of the invention

[0005] The purpose of the present invention is to provide a maintenance device for high-voltage transmission towers, to solve the problem of deviation between the actual working coordinate system of a manipulator for repairing high-voltage transmission towers and the workpiece coordinate system, and to improve the efficiency and accuracy of repairing hardware and insulators on high-voltage transmission towers.

[0006] In order to achieve the above-mentioned purpose, the invention is implemented through the following technical solutions: A maintenance device for a high-voltage transmission tower comprises a maintenance platform and a manipulator, wherein the maintenance platform comprises a base frame and a movable frame slidably arranged on the base frame, the movable frame is provided with a mounting seat and a sliding block slidably connected thereto, one side of the mounting seat is rotatably connected to the movable frame, the other side of the mounting seat is rotatably connected to a first connecting rod, the end of the sliding block is rotatably connected to the first connecting rod, the manipulator comprises a base and a first swing arm rotatably arranged on the base, the end of the first swing arm is rotatably connected to a second swing arm, the end of the second swing arm is provided with a maintenance claw, the end of the base is rotatably connected to the mounting seat and is provided with a driven gear, the mounting seat is rotatably connected to a driving gear meshing with the driven gear, and a driving wheel that drives the driving gear to rotate.

[0007] Furthermore, the mounting seat is rotatably connected to a first rotating shaft and a second rotating shaft, the driving gear is rotatably set on the first rotating shaft, the two ends of the first rotating shaft are respectively rotatably connected to a first gear and a second gear, the two ends of the first rotating shaft are respectively provided with a third gear meshing with the first gear, and a fourth gear meshing with the second gear, the number of teeth of the first gear is less than the number of teeth of the third gear, and the number of teeth of the fourth gear is less than the number of teeth of the second gear, the driving wheel drives the second rotating shaft to rotate on the mounting seat, and also includes connecting keys respectively connecting the first rotating shaft and the first gear, the first rotating shaft and the second gear, and the first rotating shaft and the driving gear.

[0008] Furthermore, the connecting key is slidably arranged on the first rotating shaft, and the driving gear, the first gear and the second gear are respectively provided with a plurality of first grooves, second grooves and third grooves, and one side of the connecting key is respectively provided with a first protrusion, a second protrusion and a third protrusion connected to the first groove, the second groove and the third groove.

[0009] Furthermore, there are multiple connecting keys, a first cylinder is provided at the end of the first rotating shaft, a push block is provided at the movable end of the first cylinder, and the multiple connecting keys are connected to the push block.

[0010] Furthermore, a driven wheel is provided in the middle of the second rotating shaft, and a plurality of first columns are provided on the driven wheel. An arc block and a second column are provided on both sides of the driving wheel respectively. The arc block contacts with the plurality of first columns at the same time and limits the second rotating shaft from rotating on the mounting seat. The second column contacts with the first column and drives the second rotating shaft to rotate on the mounting seat. A first motor is provided on the mounting seat, and a movable end of the first motor is connected to the driving wheel.

[0011] Furthermore, it includes a second motor arranged on the movable frame, a cam is provided at the movable end of the second motor, a rack is provided at the top of the slider, a semi-convex tooth meshing with the rack is provided on the lower side of the cam, a limiting wheel is provided on one side of the cam, a plurality of limiting grooves are provided on the slider, and a semi-convex block contacting with the limiting groove is provided on the upper side of the limiting wheel.

[0012] Furthermore, the base frame is provided with a plurality of top rods in contact with the movable frame, and also includes a bearing platform, two sets of telescopic mechanisms are provided between the bearing platform and the movable frame, a plurality of support rods are slidably connected to the base frame, and the bearing platform is connected to the plurality of support rods.

[0013] Furthermore, the telescopic mechanism includes two groups of symmetrically arranged scissor arms, two of which are rotatably connected to the movable frame and the carrying platform, respectively; a slide plate is symmetrically slidably connected to the carrying platform, the movable frame is slidably connected to two driven rods, the slide plate is slidably connected to two driving rods, the other two hinge points of the scissor arms are rotatably connected to the driving rod and the driven rod, respectively; and a turntable is also included for driving the two slide plates to slide in opposite directions on the carrying platform.

[0014] Furthermore, a second connecting rod is provided on the skateboard, the turntable is arranged between two of the second connecting rods, a plurality of arc grooves are provided on the second connecting rod, a shifting groove is provided between two adjacent arc grooves, arc surfaces in contact with the arc grooves are provided on the upper and lower sides of the turntable respectively, and shifting rods in contact with the shifting grooves are provided on the left and right sides of the turntable respectively, a third motor is provided on the bearing platform, and the movable end of the third motor is connected to the turntable.

[0015] Furthermore, a magnetic block is provided at the end of the push rod, and a plurality of magnets used in conjunction with the magnetic block are provided on the movable frame.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. When it is necessary to inspect the hardware and insulators on the high-voltage transmission tower, the position of the trolley is moved so that the rollers in front and behind the trolley are on the same horizontal line, and then the movable frame slides on the bottom frame to drive the manipulator on the movable frame to move upward until the manipulator moves to a suitable height. Then, through the cooperation between the slider, the movable frame, the first connecting rod, and the mounting seat, the mounting seat is driven to rotate on the movable frame until the horizontal reference plane of the manipulator is parallel to the horizontal plane, so that the Z axis of the manipulator working coordinate system is parallel to the Z axis of the hardware or insulator workpiece coordinate system; Then, through the cooperation among the driving wheel, driving gear, base and driven gear, the base is driven to rotate on the mounting seat, and the working coordinate system of the manipulator is adjusted until the manipulator is facing the high-voltage transmission tower, so that the X-axis and Y-axis of the working coordinate system of the manipulator are parallel to the X-axis and Y-axis of the workpiece coordinate system of the hardware or insulator; Then, the first swing arm rotates on the base, and the second swing arm rotates on the first swing arm, and the position of the inspection claw is adjusted to correspond to the zero coordinate point of one of the hardware or insulators, and the coordinates on the manipulator workpiece coordinate system are reset to zero, and the point is positioned as the zero coordinate point of the manipulator workpiece coordinate system, so that the working coordinate system of the manipulator coincides with the workpiece coordinate system of one of the fixtures. Subsequently, the manipulator realizes automatic inspection of the manipulator according to the actual installation distance previously recorded of the hardware or insulator, in conjunction with the visual sensor and proximity sensor on the manipulator, without the need for manual operation of the manipulator for a long time, thereby improving the efficiency and accuracy of inspecting hardware or insulators on high-voltage transmission towers, and reducing the programming difficulty of controlling the manipulator to automatically inspect multiple hardware and insulators; 2. When the X-axis and Y-axis of the manipulator working coordinate system need to be adjusted quickly and widely, the driving gear and the first gear rotate along with the first rotating shaft through the cooperation among the first cylinder, the push block, the first rotating shaft, the connecting key, the first protrusion, the second protrusion, the first groove and the second groove, and at the same time, the third protrusion slides out of the third groove, so that the second gear can rotate relative to the first rotating shaft to avoid interference, and then the driving base is driven to rotate on the mounting seat through the cooperation among the driving wheel, the second rotating shaft, the third gear, the first gear, the first rotating shaft and the driving gear. At the same time, since the number of teeth of the first gear is less than that of the third gear, one rotation of the third gear will drive the first gear to rotate several times, thereby quickly and widely adjusting the X-axis and Y-axis of the manipulator working coordinate system, and improving the efficiency of repairing hardware or insulators on high-voltage transmission towers; When it is necessary to adjust the X-axis and Y-axis of the manipulator working coordinate system in a small range, the driving gear and the first gear rotate together with the first rotating shaft through the cooperation among the first cylinder, the push block, the first rotating shaft, the connecting key, the first protrusion, the third protrusion, the first groove, and the third groove, and at the same time, the second protrusion slides out of the second groove, so that the first gear can rotate relative to the first rotating shaft to avoid interference, and then the driving base is driven to rotate on the mounting seat through the cooperation among the driving wheel, the second rotating shaft, the fourth gear, the second gear, the first rotating shaft, and the driving gear. At the same time, since the number of teeth of the fourth gear is less than the number of teeth of the second gear, the fourth gear rotates several times to drive the second gear to rotate one circle, thereby adjusting the X-axis and Y-axis of the manipulator working coordinate system in a small range, and improving the accuracy of repairing hardware or insulators on high-voltage transmission towers; 3. When it is necessary to adjust the Z-axis of the manipulator's working coordinate system, the second motor, cam, semi-convex teeth, rack, slider, movable frame, and first connecting rod are used to drive the mounting seat to rotate on the movable frame until the horizontal reference plane of the manipulator is parallel to the horizontal plane, so that the Z-axis of the manipulator's working coordinate system is parallel to the Z-axis of the hardware or insulator workpiece coordinate system, which is convenient for the subsequent maintenance of the hardware or insulator on the high-voltage transmission tower, and improves the efficiency and accuracy of the maintenance of the hardware or insulator on the high-voltage transmission tower; further rotate the cam on the movable frame so that the convex teeth provided on the lower side of the cam slide out of the rack, and then the semi-convex block provided on the upper side of the limiting wheel enters the limiting groove. The resistance generated by the semi-convex block contacting the limiting groove will limit the sliding of the slider on the movable seat, so as to avoid the external force accidentally driving the slider to rotate on the movable frame after the manipulator's working coordinate system is adjusted, so as to change the Z-axis of the manipulator's working coordinate system and improve the accuracy of the maintenance of the hardware or insulator on the high-voltage transmission tower; When it is necessary to adjust the X-axis and Y-axis of the manipulator's working coordinate system, the cooperation among the first motor, the driving wheel, the mounting seat, the arc block, the first column, the second rotating shaft, and the second column drives the second rotating shaft to rotate on the mounting seat, cooperates with the first gear, the second gear, the third gear, and the fourth gear to transmit torque, drives the base to rotate on the mounting seat, and realizes small-range adjustment and large-range adjustment of the manipulator's X-axis and Y-axis working coordinate systems, thereby improving the efficiency and accuracy of repairing hardware or insulators on high-voltage transmission towers; in addition, each time the driving wheel drives the driven wheel to rotate once, the arc block provided on one side of the driving wheel will slide back between the first columns, and the resistance generated by the contact between the arc block and the first columns will limit the rotation of the driven wheel on the mounting seat, thereby avoiding that after the manipulator's working coordinate system is adjusted, the external force accidentally drives the driven wheel to rotate on the mounting seat, changes the Z axis of the manipulator's working coordinate system, and improves the accuracy of repairing hardware or insulators on high-voltage transmission towers; 4. Two sets of telescopic mechanisms are set between the bearing platform and the movable frame to prevent the movable frame from shaking back and forth after the telescopic mechanism is unfolded, which affects the stability of the manipulator and improves the accuracy of repairing hardware or insulators on high-voltage transmission towers; When it is necessary to inspect the high-voltage transmission tower, two sets of telescopic mechanisms are arranged between the unfolded bearing platform and the movable frame. Due to the gravity exerted by the movable frame and the manipulator, the telescopic mechanism first pushes the bearing platform downward relative to the movable frame, and drives a plurality of support rods provided on the lower side of the bearing platform to slide on the base frame until the ends of the support rods contact the ground, thereby propping up the base frame of the inspection device, and then limiting the sliding of the base frame relative to the ground, thereby preventing the base frame from being pushed to move by accident by external forces, and affecting the normal inspection of the hardware or insulators on the high-voltage transmission tower by the manipulator; when the bearing platform cannot continue to move downward, the telescopic mechanism is further unfolded to overcome the gravity exerted by the movable frame and the manipulator, and push the movable frame upward relative to the base frame, thereby raising the manipulator to the required height, and at the same time, there is no need to set up an additional power device to prop up the base frame, thereby reducing the space required for the installation of the power device and the manufacturing cost; After the high-voltage transmission tower is inspected, two sets of telescopic mechanisms are arranged between the retracted bearing platform and the movable frame, driving the movable frame to move relative to the base frame until the movable frame contacts the top rod provided on the base frame, and the magnet provided on the movable frame is attracted to the magnetic block provided on the end of the top rod, so that the movable frame is adsorbed on the base frame, so as to avoid the relative shaking of the movable frame and the base frame during the transportation of the maintenance device, which causes the interference between the manipulator and the surrounding objects, thereby improving the service life of the retrieval device; then the telescopic mechanism is further retracted, and since the movable frame cannot move further downward, it will drive the bearing platform to move upward, and then drive several support rods to move upward on the base frame, until several rollers on the base frame contact the ground again, so as to facilitate the subsequent movement of the maintenance device, and no additional operation steps are required, so as to further improve the efficiency of repairing the hardware or insulators on the high-voltage transmission tower; 5. When the telescopic mechanism needs to be unfolded, the restriction of the two second connecting rods sliding on the bearing platform is released through the cooperation among the third motor, the turntable, the arc surface, the second connecting rod and the arc groove, and then the two slide plates are driven to slide in the opposite direction on the bearing platform respectively through the cooperation among the turntable, the lever, the second connecting rod and the lever groove, so as to drive the two driving rods on the two slide plates to slide in the opposite direction on the bearing platform, thereby driving one of the hinge points of the four sets of scissor arms to slide on the bearing platform at the same time. Since two of the hinge points of the scissor arms are rotatably connected with the movable frame and the bearing platform respectively, the driven rod connected to the last hinge point of the scissor arms is driven to slide on the movable frame, thereby driving the four sets of scissor arms to unfold and close at the same time, thereby improving the overall coordination stability, better adjusting the working coordinate system of the manipulator, and improving the efficiency of repairing the hardware or insulators on the high-voltage transmission tower; at the same time, there is no need to set up a separate power device to drive the four sets of scissor arms to unfold and close respectively, further reducing the space required for the installation of the power device and the manufacturing cost required; In addition, each time the scissor arm is driven to retract or unfold, the arc-shaped surfaces on both sides of the turntable will re-enter the arc-shaped grooves of the two second connecting rods. The resistance generated after the two contact will limit the relative movement of the second connecting rods relative to the bearing platform, thereby preventing external force from inadvertently pushing the movable frame to move relative to the base frame, affecting the working coordinate system established by the manipulator, and thereby improving the accuracy of repairing hardware or insulators on high-voltage transmission towers. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Attached Figure 1 It is a structural schematic diagram of the movable frame of the present invention.

[0018] Attached Figure 2 It is a structural schematic diagram of the base of the present invention.

[0019] Attached Figure 3 The present invention is attached Figure 2 A partial enlarged view of area A in the middle.

[0020] Attached Figure 4 It is a structural schematic diagram of a slider of the present invention.

[0021] Attached Figure 5 It is a schematic structural diagram of the driving gear of the present invention.

[0022] Attached Figure 6 The present invention is attached Figure 5 A partial enlarged view of area B in the middle.

[0023] Attached Figure 7 It is a structural schematic diagram of the driven wheel of the present invention.

[0024] Attached Figure 8 It is a schematic diagram of the structure of the connecting key of the present invention.

[0025] Attached Fig. 9 It is a structural schematic diagram of the scissor arm of the present invention.

[0026] Attached Fig.10 It is a structural schematic diagram of a turntable of the present invention.

[0027] Numbers shown in the accompanying drawings: 1. Base frame; 2. Movable frame; 3. Mounting seat; 4. Sliding block; 5. First connecting rod; 6. Base; 7. First swing arm; 8. Second swing arm; 9. Driven gear; 10. Driving gear; 11. Driving wheel; 12. First rotating shaft; 13. Second rotating shaft; 14. First gear; 15. Second gear; 16. Third gear; 17. Fourth gear; 18. Connecting key; 19. First groove; 20. Second groove; 21. Third groove; 22. First convex block; 23. Second convex block; 24. Third convex block; 25. First cylinder; 26. Push block; 27. driven wheel; 28. first column; 29. ​​arc block; 30. second column; 31. first motor; 32. second motor; 33. cam; 34. rack; 35. semi-convex teeth; 36. limiting wheel; 37. limiting groove; 38. semi-convex block; 39. Push rod; 40. Carrying platform; 41. Support rod; 42. Scissor arm; 43. Slide plate; 44. Follower rod; 45. Driving rod; 46. Turntable; 47. Second connecting rod; 48. Arc groove; 49. Push groove; 50. Arc surface; 51. Push rod; 52. Third motor; 53. Magnetic block; 54. Magnet. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms fall within the scope limited by the application equally.

[0029] The present invention provides a maintenance device for high-voltage transmission towers, such as Figure 1 , Figure 2 and Fig. 9 As shown, it includes an inspection platform and a manipulator, the inspection platform includes a base frame 1, and a movable frame 2 slidably arranged on the base frame 1, specifically, the base frame 1 is provided with a plurality of rollers, and a driving motor driving the plurality of rollers to rotate, the driving motor controls the rotation of the rollers to drive the inspection device to move, so that it moves to the bottom of the high-voltage transmission tower, so as to facilitate subsequent inspection; the movable frame 2 is provided with a mounting seat 3 and a slider 4 slidably connected, one side of the mounting seat 3 is rotatably connected to the movable frame 2, the other side of the mounting seat 3 is rotatably connected to a first connecting rod 5, and the end of the slider 4 is rotatably connected to the first connecting rod 5 Then, the movable frame 2 slides on the base frame 1, driving the manipulator on the movable frame 2 to move upward until the manipulator moves to a suitable height, and then slides on the movable frame 2 through the slider 4. Since the two ends of the first connecting rod 5 are respectively rotatably connected with the slider 4 and the mounting seat 3, the generated component force drives the mounting seat 3 to rotate on the movable frame 2 until the horizontal reference plane of the manipulator is parallel to the horizontal plane, so that the Z axis of the manipulator working coordinate system is parallel to the Z axis of the hardware or insulator workpiece coordinate system, which is convenient for the subsequent maintenance of the hardware or insulator on the high-voltage transmission tower, and improves the efficiency and accuracy of the maintenance of the hardware or insulator on the high-voltage transmission tower; The manipulator includes a base 6 and a first swing arm 7 rotatably arranged on the base 6, the end of the first swing arm 7 is rotatably connected to the second swing arm 8, the end of the second swing arm 8 is provided with an inspection claw, the end of the base 6 is rotatably connected to the mounting seat 3 and is provided with a driven gear 9, the mounting seat 3 is rotatably connected to a driving gear 10 meshing with the driven gear 9, and a driving wheel 11 driving the driving gear 10 to rotate, the driving gear 10 is driven to rotate by the driving wheel 11, the driven gear 9 provided at the bottom of the base 6 is meshed with the driving gear 10, and the generated torque drives the base 6 to rotate on the mounting seat 3, and adjusts the working coordinate system of the manipulator until the manipulator is facing the high-voltage transmission tower, so that the X-axis and Y-axis of the working coordinate system of the manipulator are aligned with the coordinate system of the hardware or insulator workpiece The X-axis and Y-axis are parallel to each other, and then the first swing arm 7 rotates on the base 6 and the second swing arm 8 rotates on the first swing arm 7 to adjust the position of the inspection claw to make it correspond to the zero coordinate point of one of the hardware or insulators, and the coordinates on the manipulator workpiece coordinate system are reset to zero, and the point is positioned as the zero coordinate point of the manipulator workpiece coordinate system, so that the working coordinate system of the manipulator coincides with the workpiece coordinate system of one of the fixtures. Subsequently, the manipulator realizes automatic maintenance of the manipulator according to the actual installation distance previously recorded by the hardware or insulator and the detection system of the camera. There is no need for manual operation of the manipulator for a long time, thereby improving the efficiency and accuracy of maintenance of hardware or insulators on high-voltage transmission towers, and avoiding interference between the manipulator and the hardware or insulators, which may cause damage to the hardware or insulators.

[0030] Preferably, Figure 5-Figure 8As shown, the mounting seat 3 is rotatably connected with a first rotating shaft 12 and a second rotating shaft 13, the driving gear 10 is rotatably set on the first rotating shaft 12, and the two ends of the first rotating shaft 12 are respectively rotatably connected with a first gear 14 and a second gear 15, and the two ends of the first rotating shaft 12 are respectively provided with a third gear 16 meshing with the first gear 14, and a fourth gear 17 meshing with the second gear 15, the number of teeth of the first gear 14 is less than the number of teeth of the third gear 16, and the number of teeth of the fourth gear 17 is less than the number of teeth of the second gear 15, the driving wheel 11 drives the second rotating shaft 13 to rotate on the mounting seat 3, and also includes a connecting key 18 respectively connecting the first rotating shaft 12 and the first gear 14, the first rotating shaft 12 and the second gear 15, and the first rotating shaft 12 and the driving gear 10, which requires a fast and large range. When adjusting the X-axis and Y-axis of the manipulator working coordinate system, the first rotating shaft 12 and the first gear 14, as well as the first rotating shaft 12 and the driving gear 10 are connected by the connecting key 18, and then the second rotating shaft 13 is driven to rotate by the driving wheel 11, and the generated torque drives the third gear 16 on the second rotating shaft 13 to rotate. Since the first gear 14 and the third gear 16 are meshed, the generated torque drives the first rotating shaft 12 to rotate, and drives the driving gear 10 to rotate with the first rotating shaft 12, thereby driving the base 6 to rotate on the mounting seat 3. At the same time, since the number of teeth of the first gear 14 is less than the number of teeth of the third gear 16, rotating the third gear 16 once will drive the first gear 14 to rotate several times, thereby quickly and widely adjusting the X-axis and Y-axis of the manipulator working coordinate system, and improving the efficiency of repairing hardware or insulators on high-voltage transmission towers; When it is necessary to adjust the X-axis and Y-axis of the manipulator's working coordinate system in a small range, the first rotating shaft 12 and the second gear 15, as well as the first rotating shaft 12 and the driving gear 10 are connected by the connecting key 18, and the second rotating shaft 13 is driven to rotate by the driving wheel 11. The generated torque will drive the third gear 16 and the fourth gear 17 on the second rotating shaft 13 to rotate together. Since the second gear 15 and the fourth gear 17 are meshed, the generated torque drives the first rotating shaft 12 to rotate, and drives the driving gear 10 to rotate with the first rotating shaft 12, thereby driving the base 6 to rotate on the mounting base 3. At the same time, since the number of teeth of the fourth gear 17 is less than the number of teeth of the second gear 15, the fourth gear 17 rotates several times to drive the second gear 15 to rotate one circle, thereby adjusting the X-axis and Y-axis of the manipulator's working coordinate system in a small range, and improving the accuracy of repairing hardware or insulators on high-voltage transmission towers.

[0031] Preferably, Figure 5-Figure 8As shown, the connecting key 18 is slidably arranged on the first rotating shaft 12, and the driving gear 10, the first gear 14 and the second gear 15 are respectively provided with a plurality of first grooves 19, second grooves 20 and third grooves 21. One side of the connecting key 18 is respectively provided with a first protrusion 22, a second protrusion 23 and a third protrusion 24 connected to the first groove 19, the second groove 20 and the third groove 21. When the connecting key 18 slides on the first rotating shaft 12, when the first protrusion 22 and the second protrusion 23 enter the first groove 19 and the second groove 20 respectively at the same time, the two are contacted to produce The resistance generated causes the driving gear 10 and the first gear 14 to rotate along with the first rotating shaft 12, thereby quickly and widely adjusting the X-axis and Y-axis of the working coordinate system of the manipulator, thereby improving the efficiency of repairing the hardware or insulators on the high-voltage transmission tower; when the first protrusion 22 and the third protrusion 24 enter the first groove 19 and the third groove 21 respectively at the same time, the resistance generated by the contact between the two causes the driving gear 10 and the second gear 15 to rotate along with the first rotating shaft 12, thereby quickly and widely adjusting the X-axis and Y-axis of the working coordinate system of the manipulator, thereby improving the accuracy of repairing the hardware or insulators on the high-voltage transmission tower.

[0032] Preferably, Figure 5-Figure 8 As shown, there are multiple connecting keys 18, which improve the stability of the connection between the first rotating shaft 12 and the first gear 14, the second gear 15 and the driving gear 10, avoid the single connecting key 18 from being broken due to excessive torque, and improve the service life of the maintenance device; a first cylinder 25 is provided at the end of the first rotating shaft 12, and a push block 26 is provided at the movable end of the first cylinder 25. Multiple connecting keys 18 are connected to the push block 26, and the push block 26 is driven by the first cylinder 25 to slide on the first rotating shaft 12, driving several connecting keys 18 to move together, changing the connection relationship between the first rotating shaft 12 and the first gear 14, the second gear 15 and the driving gear 10, respectively realizing small-range adjustment and large-range adjustment of the X-axis and Y-axis working coordinate systems of the manipulator, and improving the efficiency and accuracy of repairing hardware or insulators on high-voltage transmission towers.

[0033] Preferably, Figure 5 and Figure 7As shown, a driven wheel 27 is provided in the middle of the second rotating shaft 13, and a plurality of first columns 28 are provided on the driven wheel 27. Arc blocks 29 and second columns 30 are provided on both sides of the driving wheel 11 respectively. The arc blocks 29 contact with the plurality of first columns 28 at the same time and limit the second rotating shaft 13 from rotating on the mounting seat 3. The second column 30 contacts with the first column 28 and drives the second rotating shaft 13 to rotate on the mounting seat 3. A first motor 31 is provided on the mounting seat 3, and the movable end of the first motor 31 is connected to the driving wheel 11. When the working coordinate system of the manipulator needs to be adjusted, the driving wheel 11 is driven to rotate on the mounting seat 3 by the first motor 31, so that the arc block 29 provided on one side of the driving wheel 11 slides out from between the plurality of first columns 28, thereby releasing the restriction on the rotation of the second rotating shaft 13 on the mounting seat 3. Then the second column 30 provided on the other side of the driving wheel 11 contacts with one of the first columns 28, producing The thrust generated is applied to the second rotating shaft 13 through the driven wheel 27, thereby driving the second rotating shaft 13 to rotate on the mounting seat 3, cooperating with the first gear 14, the second gear 15, the third gear 16, and the fourth gear 17 to transmit torque, driving the base 6 to rotate on the mounting seat 3, realizing the small-range adjustment and large-range adjustment of the X-axis and Y-axis working coordinate systems of the manipulator, and improving the efficiency and accuracy of repairing the hardware or insulators on the high-voltage transmission tower; in addition, after the driving wheel 11 drives the driven wheel 27 to rotate once, the arc block 29 provided on one side of the driving wheel 11 will slide back between the several first columns 28, and the resistance generated by the contact between the arc block 29 and the several first columns 28 will limit the rotation of the driven wheel 27 on the mounting seat 3, thereby avoiding that after the working coordinate system of the manipulator is adjusted, the external force accidentally drives the driven wheel 27 to rotate on the mounting seat 3, changes the Z axis of the working coordinate system of the manipulator, and improves the accuracy of repairing the hardware or insulators on the high-voltage transmission tower.

[0034] Preferably, Figure 3 and Figure 4As shown, it also includes a second motor 32 arranged on the movable frame 2, a cam 33 is provided at the movable end of the second motor 32, a rack 34 is provided at the top of the slider 4, a semi-convex tooth 35 meshing with the rack 34 is provided on the lower side of the cam 33, a limiting wheel 36 is provided on one side of the cam 33, a plurality of limiting grooves 37 are provided on the slider 4, and a semi-convex block 38 contacting with the limiting groove 37 is provided on the upper side of the limiting wheel 36. The cam 33 is driven to rotate by the second motor 32. Since the semi-convex tooth 35 provided on the lower side of the cam 33 meshes with the rack 34, a thrust is generated to drive the slider 4 to slide on the movable frame 2, and the thrust is transmitted through the first connecting rod 5 to drive the mounting seat 3 to rotate on the movable frame 2 until the horizontal reference plane of the manipulator is aligned with the horizontal plane. The cam 33 is further rotated on the movable frame 2 so that the convex teeth provided on the lower side of the cam 33 slide out from the rack 34, and then the semi-convex block 38 provided on the upper side of the limiting wheel 36 enters the limiting groove 37. The resistance generated by the contact between the semi-convex block 38 and the limiting groove 37 will limit the sliding block 4 from sliding on the movable seat, so as to avoid the external force accidentally driving the sliding block 4 to rotate on the movable frame 2 after the working coordinate system of the manipulator is adjusted, thereby changing the Z axis of the working coordinate system of the manipulator and improving the accuracy of the maintenance of the fittings or insulators on the high-voltage transmission tower.

[0035] Preferably, Figure 1 , Figure 2 and Fig. 9As shown, the base frame 1 is provided with a plurality of top rods 39 in contact with the movable frame 2, and also includes a bearing platform 40. Two sets of telescopic mechanisms are provided between the bearing platform 40 and the movable frame 2. The two sets of telescopic mechanisms prevent the movable frame 2 from shaking back and forth and affecting the stability of the manipulator after the telescopic mechanisms are fully deployed, thereby improving the accuracy of repairing the hardware or insulators on the high-voltage transmission tower. The base frame 1 is slidably connected with a plurality of support rods 41, and the bearing platform 40 is connected to the plurality of support rods 41. When the high-voltage transmission tower needs to be repaired, the two sets of telescopic mechanisms are deployed between the bearing platform 40 and the movable frame 2. Due to the gravity applied by the movable frame 2 and the manipulator, the telescopic mechanism first pushes the bearing platform 40 relative to the movable frame 2 moves downward, and drives a plurality of support rods 41 provided on the lower side of the carrying platform 40 to slide on the base frame 1, until the ends of the support rods 41 contact the ground, propping up the base frame 1 of the maintenance device, thereby limiting the sliding of the base frame 1 relative to the ground, and preventing the base frame 1 from being pushed to move by an external force inadvertently, thereby affecting the normal maintenance of the hardware or insulators on the high-voltage transmission tower by the manipulator; when the carrying platform 40 cannot continue to move downward, the telescopic mechanism is further unfolded to overcome the gravity applied by the movable frame 2 and the manipulator, and push the movable frame 2 to move upward relative to the base frame 1, thereby raising the manipulator to a desired height, and at the same time, there is no need to set up an additional power device to prop up the base frame 1, thereby reducing the space required for the installation of the power device and the manufacturing cost.

[0036] Preferably, Figure 1 , Figure 2 and Fig. 9As shown, the telescopic mechanism includes two groups of symmetrically arranged scissor arms 42, the two groups of scissor arms 42 prevent the movable frame 2 from shaking left and right on the base frame 1, and improve the accuracy of repairing the hardware or insulators on the high-voltage transmission tower. Two hinge points of the scissor arms 42 are rotatably connected to the movable frame 2 and the bearing platform 40 respectively, and the bearing platform 40 is symmetrically slidably connected with a slide plate 43, the movable frame 2 is slidably connected to two driven rods 44, and the slide plate 43 is slidably connected to two driving rods 45, and the other two hinge points of the scissor arms 42 are rotatably connected to the driving rod 45 and the driven rod 44 respectively, and also include a turntable 46 for driving the two slide plates 43 to slide in opposite directions on the bearing platform 40. When the telescopic mechanism needs to be unfolded, through The turntable 46 drives the two slides 43 to slide in opposite directions on the carrying platform 40, driving the two driving rods 45 on the two slides 43 to slide in opposite directions on the carrying platform 40, thereby simultaneously driving one of the hinge points of the four sets of scissor arms 42 to slide on the carrying platform 40. Since two of the hinge points of the scissor arms 42 are rotatably connected to the movable frame 2 and the carrying platform 40, respectively, the driven rod 44 connected to the last hinge point of the scissor arms 42 is driven to slide on the movable frame 2, thereby realizing the expansion and closing of the four sets of scissor arms 42, completing the lifting and lowering of the movable frame 2 and the propping up of the base frame 1, and there is no need to separately set up a power device to drive the four sets of scissor arms 42 to expand and close respectively, further reducing the space required for the installation of the power device and the manufacturing cost.

[0037] Preferably, Fig. 9 and Fig.10As shown, the slide plate 43 is provided with a second connecting rod 47, the rotating disk 46 is arranged between the two second connecting rods 47, the second connecting rod 47 is provided with a plurality of arc grooves 48, a shifting groove 49 is provided between two adjacent arc grooves 48, the upper and lower sides of the rotating disk 46 are respectively provided with arc surfaces 50 in contact with the arc grooves 48, the left and right sides of the rotating disk 46 are respectively provided with shifting rods 51 in contact with the shifting grooves 49, and the carrying platform 40 is provided with a third motor 52, the movable end of the third motor 52 is connected to the rotating disk 46, and the rotating disk 46 is driven to rotate by the third motor 52, so that the arc surfaces 50 in the upper and lower sides of the rotating disk 46 slide out from the arc grooves 48 in the two second connecting rods 47 respectively, and the restriction on the sliding of the two second connecting rods 47 on the carrying platform 40 is released, and then the shifting rods 51 in the left and right sides of the rotating disk 46 are respectively connected with the shifting grooves 49 in the two second connecting rods 47. The force generated after the contact pushes the two second connecting rods 47 to slide in the opposite direction on the bearing platform 40, thereby driving the two slide plates 43 to slide in the opposite direction on the bearing platform 40 respectively, and then driving the four sets of scissor arms 42 to expand and close at the same time, thereby improving the overall coordinated stability, better adjusting the working coordinate system of the manipulator, and improving the efficiency of repairing hardware or insulators on high-voltage transmission towers, while reducing the space required for the installation of the power device and the manufacturing cost; in addition, each time the scissor arms 42 are driven to retract or expand, the arc surfaces 50 on both sides of the turntable 46 will re-enter the arc grooves 48 provided on the two second connecting rods 47. The resistance generated after the two contact will limit the relative movement of the second connecting rods 47 relative to the bearing platform 40, thereby preventing external force from accidentally pushing the movable frame 2 to move relative to the base frame 1, affecting the working coordinate system established by the manipulator, and then improving the accuracy of repairing hardware or insulators on the high-voltage transmission tower.

[0038] Preferably, Fig. 9 As shown, a magnetic block 53 is provided at the end of the push rod 39, and a plurality of magnets 54 used in conjunction with the magnetic block 53 are provided on the movable frame 2. The magnets 54 provided on the movable frame 2 and the magnetic block 53 provided on the end of the push rod 39 are attracted to each other, so that the movable frame 2 is adsorbed on the base frame 1, so as to avoid relative shaking of the movable frame 2 and the base frame 1 during transportation and maintenance of the device, which causes interference between the manipulator and surrounding objects, thereby improving the service life of the retrieval device.

[0039] Example 1 The present invention provides a maintenance device for high-voltage transmission towers, such as Figure 1 , Figure 2 and Fig. 9 As shown, when the hardware and insulators on the high-voltage transmission tower need to be repaired, the rollers are controlled to rotate by the driving motor to drive the repair device to move to the bottom of the high-voltage transmission tower. At the same time, the position of the moving trolley is made so that the rollers in front of the trolley and the rollers at the rear are respectively on the same horizontal line, which is convenient for subsequent repairs. The movable frame 2 slides on the base frame 1, driving the manipulator on the movable frame 2 to move upward until the manipulator moves to a suitable height, and then slides on the movable frame 2 through the slider 4. Since the two ends of the first connecting rod 5 are rotatably connected with the slider 4 and the mounting seat 3 respectively, the component force generated drives the mounting seat 3 to rotate on the movable frame 2 until the horizontal reference plane of the manipulator is parallel to the horizontal plane, so that the Z axis of the manipulator working coordinate system is parallel to the Z axis of the hardware or insulator workpiece coordinate system; Then, the driving wheel 11 drives the driving gear 10 to rotate, and the driven gear 9 provided at the bottom of the base 6 meshes with the driving gear 10. The generated torque drives the base 6 to rotate on the mounting seat 3, and the manipulator working coordinate system is adjusted until the manipulator is facing the high-voltage transmission tower, so that the X-axis and Y-axis of the manipulator working coordinate system are parallel to the X-axis and Y-axis of the hardware or insulator workpiece coordinate system. Then, the first swing arm 7 rotates on the base 6, and the second swing arm 8 rotates on the first swing arm 7, and the position of the inspection claw is adjusted to correspond to the zero coordinate point of one of the hardware or insulators. , and reset the coordinates on the robot's workpiece coordinate system to zero, and position the point as the zero coordinate point of the robot's workpiece coordinate system, so that the robot's working coordinate system coincides with the workpiece coordinate system of one of the fixtures. Subsequently, the robot realizes automatic maintenance of the robot based on the actual installation distance recorded before for the hardware or insulator, in conjunction with the visual sensor and proximity sensor on the robot. This eliminates the need for long-term manual control of the robot, thereby improving the efficiency and accuracy of maintenance of hardware or insulators on high-voltage transmission towers, and reducing the programming difficulty of controlling the robot to automatically repair multiple hardware and insulators.

[0040] Example 2 On the basis of Example 1, Figure 5-Figure 8As shown, when the X-axis and Y-axis of the manipulator working coordinate system need to be adjusted quickly and widely, the first cylinder 25 drives the push block 26 to slide downward on the first rotating shaft 12, driving the plurality of connecting keys 18 to move downward together, so that the first protrusion 22 and the second protrusion 23 enter the first groove 19 and the second groove 20 respectively at the same time, and through the resistance generated by the contact between the two, the driving gear 10 and the first gear 14 rotate together with the first rotating shaft 12, and at the same time, the third protrusion 24 slides out of the third groove 21, so that the second gear 15 can rotate relative to the first rotating shaft 12 to avoid interference, and then the driving wheel 11 drives the second rotating shaft 13 to rotate, and the torque generated drives the third gear 16 on the second rotating shaft 13 to rotate. Since the first gear 14 and the third gear 16 are meshed, the torque generated drives the first rotating shaft 12 to rotate, and drives the driving gear 10 to rotate with the first rotating shaft 12, thereby driving the base 6 to rotate on the mounting seat 3. At the same time, since the number of teeth of the first gear 14 is less than the number of teeth of the third gear 16, one rotation of the third gear 16 will drive the first gear 14 to rotate several times, thereby quickly and widely adjusting the X-axis and Y-axis of the working coordinate system of the manipulator, thereby improving the efficiency of repairing hardware or insulators on high-voltage transmission towers; When it is necessary to adjust the X-axis and Y-axis of the manipulator working coordinate system in a small range, the first cylinder 25 drives the push block 26 to slide upward on the first rotating shaft 12, driving the plurality of connecting keys 18 to move upward together, so that the first protrusion 22 and the third protrusion 24 enter the first groove 19 and the third groove 21 respectively at the same time, and through the resistance generated by the contact between the two, the driving gear 10 and the first gear 14 rotate together with the first rotating shaft 12, and at the same time the second protrusion 23 slides out of the second groove 20, so that the first gear 14 can rotate relative to the first rotating shaft 12 to avoid interference, and then the second protrusion 23 is driven by the driving wheel 11 to rotate relative to the first rotating shaft 12. The rotating shaft 13 rotates, and the torque generated will drive the third gear 16 and the fourth gear 17 on the second rotating shaft 13 to rotate together. Since the second gear 15 and the fourth gear 17 are meshed, the torque generated drives the first rotating shaft 12 to rotate, and drives the driving gear 10 to rotate with the first rotating shaft 12, thereby driving the base 6 to rotate on the mounting base 3. At the same time, since the number of teeth of the fourth gear 17 is less than the number of teeth of the second gear 15, the fourth gear 17 rotates several times to drive the second gear 15 to rotate one circle, thereby adjusting the X-axis and Y-axis of the manipulator working coordinate system in a small range, thereby improving the accuracy of repairing hardware or insulators on high-voltage transmission towers.

[0041] Example 3 On the basis of Example 2, Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, when the Z axis of the manipulator's working coordinate system needs to be adjusted, the cam 33 is driven to rotate by the second motor 32. Since the semi-convex teeth 35 provided on the lower side of the cam 33 are meshed with the rack 34, a thrust is generated to drive the slider 4 to slide on the movable frame 2. The thrust is transmitted through the first connecting rod 5 to drive the mounting seat 3 to rotate on the movable frame 2 until the horizontal reference plane of the manipulator is parallel to the horizontal plane, so that the Z axis of the manipulator's working coordinate system is parallel to the Z axis of the hardware or insulator workpiece coordinate system, which is convenient for subsequent maintenance of hardware or insulators on high-voltage transmission towers and improves the maintenance of high voltage. The efficiency and accuracy of the hardware or insulators on the transmission tower are improved; the cam 33 is further rotated on the movable frame 2, so that the convex teeth provided on the lower side of the cam 33 slide out from the rack 34, and then the semi-convex block 38 provided on the upper side of the limiting wheel 36 enters the limiting groove 37. The resistance generated by the contact between the semi-convex block 38 and the limiting groove 37 will limit the sliding block 4 from sliding on the movable seat, and avoid the external force from accidentally driving the slider 4 to rotate on the movable frame 2 after the working coordinate system of the manipulator is adjusted, changing the Z axis of the working coordinate system of the manipulator, and improving the accuracy of the hardware or insulators on the high-voltage transmission tower. When it is necessary to adjust the X-axis and Y-axis of the manipulator working coordinate system, the first motor 31 drives the driving wheel 11 to rotate on the mounting seat 3, so that the arc block 29 provided on one side of the driving wheel 11 slides out from between the first columns 28, and the restriction on the rotation of the second rotating shaft 13 on the mounting seat 3 is released. Then, the second column 30 provided on the other side of the driving wheel 11 contacts one of the first columns 28, and the thrust generated is applied to the second rotating shaft 13 through the driven wheel 27, thereby driving the second rotating shaft 13 to rotate on the mounting seat 3, and cooperating with the first gear 14, the second gear 15, the third gear 16, and the fourth gear 17 to transmit torque, driving the base 6 to rotate on the mounting seat 3, and realizing The small-range and large-range adjustment of the X-axis and Y-axis working coordinate systems of the manipulator are now improved, thereby improving the efficiency and accuracy of repairing hardware or insulators on high-voltage transmission towers; in addition, each time the driving wheel 11 drives the driven wheel 27 to rotate once, the arc block 29 provided on one side of the driving wheel 11 will slide back between the plurality of first columns 28, and the resistance generated by the contact between the arc block 29 and the plurality of first columns 28 will limit the rotation of the driven wheel 27 on the mounting seat 3, thereby preventing the external force from accidentally driving the driven wheel 27 to rotate on the mounting seat 3 after the working coordinate system of the manipulator is adjusted, thereby changing the Z-axis of the working coordinate system of the manipulator, and improving the accuracy of repairing hardware or insulators on high-voltage transmission towers.

[0042] Example 4 On the basis of Example 1, Figure 1 , Figure 2 and Fig. 9 As shown, by setting two sets of telescopic mechanisms between the carrying platform 40 and the movable frame 2, it is prevented that after the telescopic mechanisms are fully unfolded, the movable frame 2 shakes back and forth to affect the stability of the manipulator, thereby improving the accuracy of repairing hardware or insulators on high-voltage transmission towers; When it is necessary to inspect the high-voltage transmission tower, two sets of telescopic mechanisms are arranged between the unfolded carrying platform 40 and the movable frame 2. Due to the gravity applied by the movable frame 2 and the manipulator, the telescopic mechanism first pushes the carrying platform 40 to move downward relative to the movable frame 2, and drives a plurality of support rods 41 provided on the lower side of the carrying platform 40 to slide on the base frame 1 until the ends of the support rods 41 contact the ground, propping up the base frame 1 of the inspection device, thereby limiting the base frame 1 from sliding relative to the ground, and preventing the base frame 1 from being pushed to move by an external force inadvertently, thereby affecting the normal inspection of the hardware or insulators on the high-voltage transmission tower by the manipulator; when the carrying platform 40 cannot continue to move downward, the telescopic mechanism is further unfolded to overcome the gravity applied by the movable frame 2 and the manipulator, and push the movable frame 2 to move upward relative to the base frame 1, thereby raising the manipulator to the required height, and at the same time, there is no need to set up an additional power device to support the base frame 1, thereby reducing the space required for the installation of the power device and the cost required for manufacturing; After the inspection of the rear high-voltage transmission tower, two sets of telescopic mechanisms are provided between the retracted bearing platform 40 and the movable frame 2, which drive the movable frame 2 to move relative to the base frame 1 until the movable frame 2 contacts the top rod 39 provided on the base frame 1, and the magnet 54 provided on the movable frame 2 is attracted to the magnetic block 53 provided on the end of the top rod 39, so that the movable frame 2 is adsorbed on the base frame 1, so as to avoid the relative shaking of the movable frame 2 and the base frame 1 when the maintenance device is transported, causing the interference between the manipulator and the surrounding objects, thereby improving the service life of the retrieval device; then the telescopic mechanism is further retracted, and since the movable frame 2 cannot move further downward, it will drive the bearing platform 40 to move upward, and then drive several support rods 41 to move upward on the base frame 1, until several rollers on the base frame 1 contact the ground again, so as to facilitate the subsequent movement of the maintenance device. In addition, no additional operation steps are required, which further improves the efficiency of repairing hardware or insulators on the high-voltage transmission tower.

[0043] Example 5 On the basis of Example 4, Fig. 9 and Fig.10As shown, when the telescopic mechanism needs to be unfolded, the turntable 46 is driven to rotate by the third motor 52, so that the arc surfaces 50 provided on the upper and lower sides of the turntable 46 slide out from the arc grooves 48 provided on the two second connecting rods 47 respectively, and the restriction on the two second connecting rods 47 sliding on the carrying platform 40 is released. Then, the levers 51 on the left and right sides of the turntable 46 contact the lever grooves 49 provided on the two second connecting rods 47 respectively, and the force generated after the contact pushes the two second connecting rods 47 to slide in the opposite direction on the carrying platform 40, thereby driving the two slide plates 43 to slide in the opposite direction on the carrying platform 40 respectively, and driving the two driving rods 45 on the two slide plates 43 to slide in the opposite direction on the carrying platform 40. Thus, one of the hinge points of the four sets of scissor arms 42 is driven to slide on the bearing platform 40 at the same time. Since two of the hinge points of the scissor arms 42 are rotatably connected to the movable frame 2 and the bearing platform 40 respectively, the driven rod 44 connected to the last hinge point of the scissor arms 42 is driven to slide on the movable frame 2, thereby driving the four sets of scissor arms 42 to expand and close at the same time, thereby improving the overall coordination stability, better adjusting the working coordinate system of the manipulator, and improving the efficiency of repairing the hardware or insulators on the high-voltage transmission tower; at the same time, there is no need to separately set up a power device to drive the four sets of scissor arms 42 to expand and close respectively, further reducing the space required for the installation of the power device and the manufacturing cost required; In addition, each time the scissor arm 42 is driven to retract or unfold, the arc-shaped surfaces 50 on both sides of the turntable 46 will re-enter the arc-shaped grooves 48 provided on the two second connecting rods 47. The resistance generated after the two contact will limit the relative movement of the second connecting rods 47 relative to the bearing platform 40, thereby preventing external force from accidentally pushing the movable frame 2 to move relative to the base frame 1, affecting the working coordinate system established by the manipulator, and thereby improving the accuracy of repairing hardware or insulators on high-voltage transmission towers.

Claims

1. A maintenance device for a high-voltage transmission tower, comprising a maintenance platform and a manipulator, characterized in that: The maintenance platform comprises a base frame (1) and a movable frame (2) slidably arranged on the base frame (1); a mounting seat (3) is provided on the movable frame (2) and is slidably connected to a slider (4); one side of the mounting seat (3) is rotatably connected to the movable frame (2); the other side of the mounting seat (3) is rotatably connected to a first connecting rod (5); the end of the slider (4) is rotatably connected to the first connecting rod (5); the manipulator comprises a base (6) and a first swing arm (7) rotatably arranged on the base (6); the end of the first swing arm (7) is rotatably connected to a second swing arm (8); the end of the second swing arm (8) is provided with a maintenance claw; the end of the base (6) is rotatably connected to the mounting seat (3) and is provided with a driven gear (9); the mounting seat (3) is rotatably connected to a driving gear (10) meshing with the driven gear (9), and a driving wheel (11) driving the driving gear (10) to rotate.

2. The maintenance device for a high-voltage transmission tower according to claim 1, characterized in that: The mounting seat (3) is rotatably connected to a first rotating shaft (12) and a second rotating shaft (13); the driving gear (10) is rotatably arranged on the first rotating shaft (12); the first gear (14) and the second gear (15) are rotatably connected to the two ends of the first rotating shaft (12); the third gear (16) meshing with the first gear (14) and the fourth gear (17) meshing with the second gear (15) are respectively arranged at the two ends of the first rotating shaft (12); the number of teeth of the first gear (14) is less than the number of teeth of the third gear (16); the number of teeth of the fourth gear (17) is less than the number of teeth of the second gear (15); the driving wheel (11) drives the second rotating shaft (13) to rotate on the mounting seat (3); and further comprises a connecting key (18) respectively connecting the first rotating shaft (12) and the first gear (14), the first rotating shaft (12) and the second gear (15), and the first rotating shaft (12) and the driving gear (10).

3. The maintenance device for a high-voltage transmission tower according to claim 2, characterized in that: The connecting key (18) is slidably arranged on the first rotating shaft (12); the driving gear (10), the first gear (14) and the second gear (15) are respectively provided with a plurality of first grooves (19), second grooves (20) and third grooves (21); and one side of the connecting key (18) is respectively provided with a first protrusion (22), a second protrusion (23) and a third protrusion (24) connected to the first groove (19), the second groove (20) and the third groove (21).

4. The maintenance device for a high-voltage transmission tower according to claim 2, characterized in that: There are a plurality of connecting keys (18), a first cylinder (25) is provided at the end of the first rotating shaft (12), a push block (26) is provided at the movable end of the first cylinder (25), and the plurality of connecting keys (18) are connected to the push block (26).

5. The maintenance device for a high-voltage transmission tower according to claim 2, characterized in that: A driven wheel (27) is provided in the middle of the second rotating shaft (13), and a plurality of first columns (28) are provided on the driven wheel (27). An arc block (29) and a second column (30) are provided on both sides of the driving wheel (11), respectively. The arc block (29) is in contact with the plurality of first columns (28) at the same time, and limits the second rotating shaft (13) from rotating on the mounting seat (3). The second column (30) is in contact with the first column (28), and drives the second rotating shaft (13) to rotate on the mounting seat (3). A first motor (31) is provided on the mounting seat (3), and a movable end of the first motor (31) is connected to the driving wheel (11).

6. The maintenance device for a high-voltage transmission tower according to claim 1, characterized in that: The movable frame (2) further comprises a second motor (32) arranged on the movable frame (2), a cam (33) being arranged at a movable end of the second motor (32), a rack (34) being arranged at the top of the slider (4), a semi-convex tooth (35) meshing with the rack (34) being arranged at the lower side of the cam (33), a limiting wheel (36) being arranged at one side of the cam (33), a plurality of limiting grooves (37) being arranged on the slider (4), and a semi-convex block (38) contacting with the limiting groove (37) being arranged at the upper side of the limiting wheel (36).

7. The maintenance device for a high-voltage transmission tower according to claim 1, characterized in that: The base frame (1) is provided with a plurality of top rods (39) in contact with the movable frame (2), and also includes a bearing platform (40), two sets of telescopic mechanisms are provided between the bearing platform (40) and the movable frame (2), a plurality of support rods (41) are slidably connected to the base frame (1), and the bearing platform (40) is connected to the plurality of support rods (41).

8. The maintenance device for a high-voltage transmission tower according to claim 7, characterized in that: The telescopic mechanism comprises two groups of symmetrically arranged scissor arms (42), two of which are hinged at two points of the scissor arms (42) being rotatably connected to the movable frame (2) and the bearing platform (40), respectively; a slide plate (43) is symmetrically slidably connected to the bearing platform (40), the movable frame (2) is slidably connected to two driven rods (44), the slide plate (43) is slidably connected to two driving rods (45), the other two hinged points of the scissor arms (42) are rotatably connected to the driving rod (45) and the driven rod (44), respectively, and also comprises a turntable (46) for driving the two slide plates (43) to slide in opposite directions on the bearing platform (40).

9. The maintenance device for a high-voltage transmission tower according to claim 8, characterized in that: The slide plate (43) is provided with a second connecting rod (47), the rotating disk (46) is arranged between two of the second connecting rods (47), the second connecting rod (47) is provided with a plurality of arc grooves (48), a shifting groove (49) is provided between two adjacent arc grooves (48), upper and lower sides of the rotating disk (46) are respectively provided with arc surfaces (50) in contact with the arc grooves (48), and left and right sides of the rotating disk (46) are respectively provided with shifting rods (51) in contact with the shifting grooves (49), and the carrying platform (40) is provided with a third motor (52), and a movable end of the third motor (52) is connected to the rotating disk (46).

10. The maintenance device for a high-voltage transmission tower according to claim 7, characterized in that: A magnetic block (53) is provided at the end of the push rod (39), and a plurality of magnets (54) for use with the magnetic block (53) are provided on the movable frame (2).

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