Intelligent cable changing device and method

Abstract

The invention provides an intelligent cable changing device and method, the device part comprises a mounting platform, two clamping assemblies and a transfer assembly, the mounting platform is used for being fixed on a wire pole, and the mounting platform is provided with two moving seats which are arranged at an interval along the trend of a cable; each moving seat is in sliding connection with the mounting platform in the vertical direction of the cable trend, and is in transmission connection with a linear driving component; the two clamping assemblies are both used for being connected with an inspection robot and are arranged on the two moving seats correspondingly. Each clamping assembly is connected with the upper side face of the corresponding movable base through a lifting mechanism. The transfer assembly is arranged on the mounting platform and used for being connected with the two clamping assemblies. According to the intelligent cable replacing device and method, the inspection robot can be assisted to cross the supporting frame on the wire pole in the moving direction of the cable, and the cable to be inspected by the inspection robot can be replaced according to needs.

Description

Technical Field

[0001] This invention belongs to the technical field of line inspection equipment, and more specifically, relates to an intelligent cable replacement device and method. Background Technology

[0002] With the rapid development of the power industry and the continuous expansion of the power grid, cables, as an important carrier of power transmission, are directly related to the smooth operation of the national economy and the normal order of people's lives in terms of safety and stability. Due to the wide distribution of cables and the complex and variable environment, traditional manual inspection methods have been gradually replaced by inspection robots, which have become an important means to improve cable inspection efficiency and ensure power safety.

[0003] Currently, cables are typically erected high in the air using support frames on poles, and the way inspection robots work with cables is as follows: Figure 1 As shown, the inspection robot 9 uses aerial work equipment to hang the drive wheel 91 on the cable, and adjusts the anti-detachment baffle 92 through remote control so that the anti-detachment baffle 92 cooperates with the drive wheel 91 to achieve the technical purpose of preventing the drive wheel 91 from detaching from the cable.

[0004] The inventors discovered that existing inspection robots can only inspect cables located on one side of the support frame between two poles when inspecting cables. When it is necessary to inspect the cable on the other side of the same support frame, it is often necessary for staff to remove the inspection robot and reinstall it on another cable. This process is time-consuming, laborious, and relatively dangerous. Summary of the Invention

[0005] The purpose of this application is to provide an intelligent cable replacement device and method to solve the technical problems in the prior art where inspection robots need to replace cables for inspection, which is time-consuming, labor-intensive, and relatively dangerous.

[0006] To achieve the above objectives, the technical solution adopted in this application is: to provide an intelligent cable replacement device, comprising: An installation platform is used for fixed installation on a pole, and the installation platform has two movable seats arranged side by side on both sides of the pole in a horizontal direction, both located below the support frame and the cable; the arrangement direction of the two movable seats is parallel to the direction of the cable, each movable seat is slidably connected to the installation platform in a direction perpendicular to the direction of the cable, and each is driven by a linear drive component. Two clamping assemblies, each for connection to the inspection robot, are respectively mounted on the two movable seats. Each clamping assembly is connected to the upper side of the corresponding movable seat via a lifting mechanism, allowing the clamping assembly to move towards or away from the cable, and the distance between the clamping assembly and the movable seat to increase or decrease. A transfer assembly is disposed on the mounting platform and arranged parallel to the movable seat along the direction of the cable, and the transfer assembly is used to connect with the two clamping assemblies; Specifically, when the anti-detachment baffle is in the separated state and the clamping assembly is connected to the inspection robot, the lifting mechanism drives the clamping assembly to move toward the cable, enabling the inspection robot to detach from the cable; the two linear drive components can respectively drive the two moving seats to move toward the transfer assembly, so that the transfer assembly is connected to the two clamping assemblies, and the inspection robot can move from one of the clamping assemblies to the other clamping assembly.

[0007] Preferably, the clamping assembly includes: A mounting base, disposed on the upper side of the movable base and connected to the corresponding lifting mechanism, is used to support the inspection robot; and Two clamping plates are arranged side by side on the mounting base, and each clamping plate is slidably connected to the upper side of the mounting base along the arrangement direction of the two clamping plates; the arrangement direction of the two clamping plates is perpendicular to the direction of the cable, and there is a synchronous transmission structure between the two clamping plates that is drively connected to the two clamping plates and is used to drive the two clamping plates to move towards each other or away from each other.

[0008] Preferably, the mounting base also has a conveying mechanism for connecting with the inspection robot to drive the inspection robot into or out of the mounting base; When one of the clamping components is connected to the inspection robot, and the two linear drive components respectively drive the two clamping components to connect with the transfer component, the conveying mechanism is adapted to drive the inspection robot out of the mounting base and move onto the transfer component. At the same time, the transfer component is adapted to drive the inspection robot to move onto another conveying mechanism, and the other conveying mechanism is adapted to drive the inspection robot out of the transfer component, so that the inspection robot moves onto another clamping component.

[0009] Preferably, the transfer component includes: A guide seat is provided on the mounting platform and has a guide groove that runs through the cable and allows the inspection robot to enter. Multiple first conveying rollers are arranged side by side in the guide groove along the direction of the cable. The axial direction of each first conveying roller is parallel to the bottom of the guide groove and perpendicular to the direction of the cable. Each first conveying roller is rotatably connected to the guide seat along its own axial direction. Each first conveying roller is coaxially connected to a first sprocket, and a transmission space is formed between two adjacent first sprockets. Multiple first chains are respectively disposed within multiple transmission spaces, and each first chain is sleeved on two corresponding first sprockets to synchronize the rotation of the two first conveying rollers; and The first rotating motor is fixedly mounted on the guide seat, and its power output end is connected to one of the first conveying rollers. When the inspection robot moves to the upper side of the guide seat, the inspection robot also connects with a portion of the first conveying rollers; the first rotating motor drives the first conveying rollers to rotate, so that multiple first conveying rollers rotate synchronously, driving the inspection robot to enter or exit the guide seat.

[0010] Preferably, the mounting base has a recessed groove extending along the cable's direction, and the conveying mechanism includes: Multiple second conveying rollers are arranged side by side in the sinking trough along the direction of the cable. The axial direction of each second conveying roller is parallel to the bottom of the sinking trough and perpendicular to the direction of the cable. Each second conveying roller is rotatably connected to the mounting base along its own axial direction. A second sprocket is coaxially connected to each second conveying roller, and a transmission space is formed between two adjacent second sprockets. Multiple second chains are respectively disposed within multiple transmission spaces, and each second chain is sleeved on two corresponding second sprockets to synchronize the rotation of the two second conveying rollers; and The second rotating motor is fixedly mounted on the mounting base, and its power output end is connected to one of the second conveying rollers. When the inspection robot moves to the upper side of the mounting base, it also connects with a portion of the second conveying rollers; the second rotating motor drives the second conveying rollers to rotate, so that multiple second conveying rollers rotate synchronously, driving the inspection robot to enter or exit the mounting base.

[0011] Preferably, the synchronous transmission structure includes: A double-ended screw is rotatably connected to the mounting base, and its axis is parallel to the upper side of the mounting base and perpendicular to the direction of the cable; the double-ended screw is driven by a third rotating motor; and Two threaded holes are respectively provided on the two clamping plates, and both threaded holes are threadedly connected to the double-ended screw. The double-ended screw has two threaded portions with opposite thread directions, and the two threaded portions are respectively threadedly connected to the two threaded holes.

[0012] Preferably, the lifting mechanism includes: The base plate is fixedly installed on the upper side of the movable seat; A top plate, disposed above the bottom plate and connected to the clamping assembly; and Several sets of scissor bracing components are arranged vertically between the bottom plate and the top plate, and each set of scissor bracing components includes two connecting rods that are hinged to each other; wherein, two adjacent connecting rods in the vertical direction are hinged, and the ends of the two connecting rods at the upper end are respectively hinged to the top plate and slidably connected to the top plate, and the ends of the two connecting rods at the lower end are respectively hinged to the bottom plate and slidably connected to the bottom plate; A driving push rod is provided on the top plate or the bottom plate, and the driving push rod is connected to the sliding connection end of the connecting rod and the bottom plate, or connected to the sliding connection end of the connecting rod and the top plate, so as to drive the connecting rod to move in the horizontal direction, so that each group of scissor bracing members opens or closes, and the bottom plate and the top plate move towards each other or away from each other.

[0013] Preferably, the installation platform includes: Two interlocking clamps are used to install on the pole, and the two clamps are connected by multiple fixing bolt pairs; Two mounting plates are respectively connected to the two clamps; the upper sides of the two mounting plates are slidably connected to the two movable seats in a direction perpendicular to the cable routing; and the upper sides of the two mounting plates are in contact with the transfer assembly; and Multiple support rods are disposed below the two mounting plates, and both ends of each support rod are respectively connected to the mounting plate and the clamp.

[0014] Preferably, the cable-changing device further includes: A protective cover is used to be installed on the top of the pole, and its projected area in the vertical direction is larger than the upper surface area of ​​the mounting platform; the upper side of the protective cover is also provided with multiple photovoltaic panels, and the photovoltaic panels are electrically connected to the power supply modules of the linear drive mechanism and the lifting mechanism.

[0015] In this embodiment, the positioning of the moving seat, clamping assembly, and transfer assembly can be achieved by fixing the mounting platform and the pole. Based on this, a linear drive component can move the moving seat to be directly under any cable on the same side along the cable path. Then, a lifting mechanism adjusts the longitudinal position of the clamping assembly, connecting it to the inspection robot. This achieves the technical objective of removing the inspection robot from one cable and loading it onto another. When it is necessary for the inspection robot to cross the support frame, the linear drive component and the lifting mechanism can work together to simultaneously connect both clamping assemblies to the transfer assembly. The transfer assembly then moves the inspection robot from one clamping assembly to the other. Since the two clamping assemblies are located on opposite sides of the support frame along the cable path, the transferred clamping assembly can install the inspection robot onto any cable on the other side of the support frame.

[0016] The intelligent cable replacement device provided in this application embodiment, compared with the prior art, can assist the inspection robot in crossing the support frame on the pole, and can replace the cable to be inspected by the inspection robot as needed, saving time and effort, and improving the safety of the inspection robot's cable replacement operation.

[0017] The technical solution adopted in this application also provides an intelligent cable replacement method, based on the intelligent cable replacement device described in any of the foregoing claims, including the following steps: A. The operator manipulates the inspection robot to move it directly above the installation platform; at the same time, the linear drive component on the same side as the inspection robot drives the moving base to move, so that the clamping component moves directly below the inspection robot. B. The lifting mechanism moves the clamping assembly toward the inspection robot to connect the clamping assembly and the inspection robot; then, the operator remotely switches each anti-detachment baffle to the detached state; finally, the lifting mechanism moves the inspection robot upward to detach it from the cable. C. The two linear drive components drive the two movable seats to move toward the transfer assembly, so that the transfer assembly connects with the two clamping components; D. The inspection robot is transferred from one clamping component to another clamping component via the transfer component; E. The inspection robot is moved toward the cable by the lifting mechanism, and then the inspection robot is moved downward by the lifting mechanism so that the inspection robot lands on the cable; at the same time, the staff remotely switches each of the anti-detachment baffles to the locked state.

[0018] The beneficial effects of the intelligent cable replacement method provided in this embodiment are the same as those of the aforementioned intelligent cable replacement device, and will not be repeated here. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of an inspection robot in the existing technology; Figure 2 A three-dimensional structural diagram of the intelligent cable replacement device provided in the embodiments of the present invention. Figure 1 ; Figure 3 A three-dimensional structural diagram of the intelligent cable replacement device provided in the embodiments of the present invention. Figure 2 ; Figure 4 A three-dimensional structural diagram of the intelligent cable replacement device provided in the embodiments of the present invention. Figure 3 ; Figure 5 A three-dimensional structural diagram of the intelligent cable replacement device provided in the embodiments of the present invention. Figure 4 ; Figure 6 This is a schematic diagram of the main structure of the intelligent cable replacement device provided in an embodiment of the present invention; Figure 7 For along Figure 6 Schematic diagram of the cross-sectional structure along line AA; Figure 8 This is a three-dimensional structural diagram of the lifting mechanism used in an embodiment of the present invention; Figure 9 This is a three-dimensional structural diagram of the clamping mechanism used in an embodiment of the present invention; Figure 10 for Figure 9 A schematic diagram of the left side of the clamping mechanism shown; Figure 11 for Figure 9 A schematic diagram of the right side of the clamping mechanism shown; Figure 12 for Figure 9 A cross-sectional view of the clamping mechanism shown. Figure 13 This is a three-dimensional structural diagram of the transfer component used in an embodiment of the present invention. Figure 1 ; Figure 14This is a three-dimensional structural diagram of the transfer component used in an embodiment of the present invention. Figure 2 ; The following are the labeling elements in the figure: 1. Installation platform; 11. Clamping clamp; 12. Mounting plate; 13. Support rod; 14. Fixing bolt pair; 15. Guide rail; 16. Moving seat; 2. Clamping assembly; 21. Mounting seat; 22. Clamping plate; 23. Conveying mechanism; 231. Second conveying roller; 232. Second sprocket; 233. Second rotating motor; 234. Second chain; 24. Double-ended screw; 241. Third rotating motor; 3. Lifting mechanism; 31. Base plate; 32. Top plate; 33. Scissor brace component; 331. Connecting rod; 34. Drive push rod; 4. Transfer assembly; 41. Guide seat; 42. First conveying roller; 43. First sprocket; 44. First rotating motor; 45. First chain; 5. Protective cover plate; 51. Photovoltaic panel; 6. Pole; 7. Support frame; 8. Cable; 9. Inspection robot; 91. Drive wheel; 92. Anti-detachment baffle. Detailed Implementation

[0021] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0022] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0023] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] It should be noted first that cable 8 is generally erected high in the air via support frame 7 on pole 6, and the inspection robot 9 cooperates with cable 8 in the following way: Figure 1 As shown, the inspection robot 9 uses aerial work equipment to hang the drive wheel 91 on the cable 8, and adjusts the anti-detachment baffle 92 remotely to engage with the drive wheel 91, thus preventing the drive wheel 91 from detaching from the cable 8. The anti-detachment baffle 92 has a locked state connected to the drive wheel 91 and a disengaged state that avoids the drive wheel 91. This device is applicable to cable replacement operations of different inspection robots 9 with the above features, and can be adjusted according to the specific model and specifications of the inspection robot 9, and is not limited to the inspection robot 9 proposed in the embodiments of this application.

[0026] Please refer to the following: Figures 1 to 14 The intelligent cable changing device provided in this application will now be described. The intelligent cable changing device includes an installation platform 1, two clamping components 2, and a transfer component 4.

[0027] The mounting platform 1 is used for fixed installation on the pole 6, and the mounting platform 1 has two movable seats 16 arranged horizontally on both sides of the pole 6, both located below the support frame 7 and the cable 8; the arrangement direction of the two movable seats 16 is parallel to the direction of the cable 8, and each movable seat 16 is slidably connected to the mounting platform 1 in the direction perpendicular to the direction of the cable 8, and each is connected to a linear drive component; a linear guide rail 15 extending in the direction perpendicular to the direction of the cable 8 is provided between each movable seat 16 and the mounting platform 1, the linear guide rail 15 can reduce the friction between the movable seat 16 and the mounting platform 1, and improve the stability of the movable seat 16 when moving; the linear drive component includes a drive motor and a drive screw, the axis of the drive screw is parallel to the extension direction of the linear guide rail 15, and the drive screw is threadedly connected to the movable seat 16, the output shaft of the drive motor is fixedly connected to one end of the drive screw; the drive motor can drive the drive screw to rotate synchronously.

[0028] Both clamping components 2 are used to connect to the inspection robot 9 and are respectively set on two moving seats 16. Each clamping component 2 is connected to the upper side of the corresponding moving seat 16 through a lifting mechanism 3, so that the clamping component 2 moves toward or away from the cable 8, and the distance between the clamping component 2 and the moving seat 16 increases or decreases.

[0029] It should be added that when the clamping component 2 is connected to the inspection robot 9, the staff can simultaneously remotely control the inspection robot 9 to stop the inspection and control the anti-detachment baffle 92 to be in a separated state.

[0030] The transfer component 4 is mounted on the mounting platform 1 and is arranged in parallel with the movable seat 16 along the direction of the cable 8. The transfer component 4 is used to connect with the two clamping components 2. The transfer component 4 includes a transfer method using a robotic arm.

[0031] When the anti-detachment baffle 92 is in a separated state and the clamping component 2 is connected to the inspection robot 9, the lifting mechanism 3 drives the clamping component 2 to move toward the cable 8, which enables the inspection robot 9 to detach from the cable 8; the two linear drive components can respectively drive the two moving seats 16 to move toward the transfer component 4, so that the transfer component 4 is connected to the two clamping components 2 and the inspection robot 9 can move from one clamping component 2 to the other clamping component 2.

[0032] It should be further explained that the drive wheels 91 of the inspection robot 9 are mostly U-shaped or V-shaped wheels, both of which have grooves for the cable 8 to be embedded in. Therefore, the principle of this device for detaching the inspection robot 9 from the cable 8 is that when the anti-detachment baffle 92 is in the separated state, the cable 8 is in the groove. The lifting mechanism 3 drives the clamping assembly 2 to move upward, which allows the cable 8 to detach from the groove. At the same time, the linear drive component drives the clamping assembly 2 to move to one side, which moves the cable 8 from directly below the drive wheel 91 to the side of the drive wheel 91, thus completing the detachment of the inspection robot 9. Cable 8 Steps: When it is necessary to install the inspection robot 9 onto the cable 8, the lifting mechanism 3 drives the clamping assembly 2 to move upward, moving the drive wheel 91 of the inspection robot 9 to the upper side of the cable 8. At the same time, the linear drive component drives the clamping assembly 2 to move towards the drive wheel 91, so that the drive wheel 91 is directly above the cable 8. Then, the lifting mechanism 3 drives the clamping assembly 2 to move downward, so that the cable 8 is embedded in the groove of the inspection robot 9. Then, the operator remotely controls the anti-detachment baffle 92 to connect with the drive wheel 91, completing the operation of reinstalling the inspection robot 9 onto the cable 8.

[0033] In this embodiment, the operator controls the inspection robot 9 to move directly above the installation platform 1; simultaneously, the linear drive component on the same side as the inspection robot 9 drives the moving seat 16 to move, causing the clamping component 2 to move directly below the inspection robot 9; then, the lifting mechanism 3 drives the clamping component 2 to move towards the inspection robot 9, so that the clamping component 2 and the inspection robot 9 are connected; subsequently, the operator remotely switches each anti-detachment baffle 92 to the disengaged state; finally, the lifting mechanism 3 drives the inspection robot 9 upward, causing the inspection robot 9 to detach from the cable 8; Two linear drive components drive two movable seats 16 to move toward the transfer assembly 4, so that the transfer assembly 4 connects with two clamping assemblies 2; the transfer assembly 4 drives the inspection robot 9 to disengage from the clamping assembly 2 and connect with another clamping assembly 2; the lifting mechanism 3 drives the inspection robot 9 to move toward the cable 8, and then the lifting mechanism 3 drives the inspection robot 9 to move downward so that the inspection robot 9 falls onto the cable 8; at the same time, the staff remotely switches each anti-detachment baffle 92 to the locked state to complete the cable replacement operation of the inspection robot 9.

[0034] In addition, this device can also enable the inspection robot 9 to switch cables between multiple cables 8 on the same side of the support frame 7; specifically, the linear drive component, lifting mechanism 3 and clamping component 2 on one side work together to make the inspection robot 9 detach from the cable 8 and then install it on another cable 8.

[0035] The intelligent cable replacement device provided in this application embodiment, compared with the prior art, can assist the inspection robot 9 in crossing the support frame 7 on the pole 6, and can replace the cable 8 to be inspected by the inspection robot 9 as needed. At the same time, it can also complete the cable replacement between any two cables 8, saving time and effort, and improving the safety of the cable replacement operation of the inspection robot 9.

[0036] In some embodiments, please refer to the following: Figures 2 to 7 , Figures 9 to 12 As a specific embodiment of the intelligent cable changing device provided by the present invention, the clamping component 2 includes a mounting base 21 and two clamping plates 22.

[0037] Mounting base 21 is located on the upper side of movable base 16 and is connected to the corresponding lifting mechanism 3 to support inspection robot 9.

[0038] Two clamping plates 22 are arranged side by side on the mounting base 21. Each clamping plate 22 is slidably connected to the upper side of the mounting base 21 along the arrangement direction of the two clamping plates 22. The arrangement direction of the two clamping plates 22 is perpendicular to the direction of the cable 8, and there is a synchronous transmission structure between the two clamping plates 22 for driving the two clamping plates 22 to move towards each other or away from each other. Multiple rubber strips are provided on the clamping plates 22 to increase the friction between the clamping plates 22 and the inspection robot 9, and the rubber strips can prevent the two clamping plates 22 from scratching the surface of the robot. In addition, the operator can control the timing of the two clamping plates 22 moving towards each other or away from each other through a pre-set program. When the mounting base 21 is in contact with the inspection robot 9, the two clamping plates 22 are suitable for moving towards each other, and when the inspection robot 9 is removed from the mounting base 21, the two clamping plates 22 are suitable for moving away from each other.

[0039] In some embodiments, please refer to the following: Figures 2 to 7 , Figures 9 to 12 As a specific embodiment of the intelligent cable changing device provided by the present invention, the mounting base 21 also has a conveying mechanism 23 for connecting with the inspection robot 9 to drive the inspection robot 9 into or out of the mounting base 21.

[0040] When one of the clamping components 2 is connected to the inspection robot 9, and the two linear drive components respectively drive the two clamping components 2 to connect with the transfer component 4, the conveying mechanism 23 is adapted to drive the inspection robot 9 out of the mounting base 21 and move onto the transfer component 4. At the same time, the transfer component 4 is adapted to drive the inspection robot 9 to move onto another conveying mechanism 23. Meanwhile, the other conveying mechanism 23 is adapted to drive the inspection robot 9 out of the transfer component 4, so that the inspection robot 9 moves onto another clamping component 2.

[0041] By adopting the above technical solution, the cooperation between the conveying mechanism 23 and the transfer component 4 enables the inspection robot 9 to move from one clamping component 2 to another clamping component 2, that is, to achieve the purpose of the inspection robot 9 moving from one side of the support frame 7 on the pole 6 to the other side.

[0042] In some embodiments, please refer to Figures 2 to 7 , Figures 13 to 14 As a specific embodiment of the intelligent cable changing device provided by the present invention, the transfer component 4 includes a guide seat 41, a plurality of first conveying rollers 42, a plurality of first chains 45 and a first rotating motor 44.

[0043] The guide seat 41 is mounted on the mounting platform 1 and has a guide groove that runs through the cable 8 for the inspection robot 9 to enter. The inner wall of the guide groove has guide protrusions for contacting the inspection robot 9. The guide protrusions extend along the axial direction of the cable 8 and have inclined surfaces at both ends. When the inspection robot 9 enters the guide groove, the two guide protrusions are adapted to abut against the inspection robot to limit the inspection robot 9 from deviating during the transport process.

[0044] Multiple first conveying rollers 42 are arranged side by side in the guide groove along the direction of the cable 8. The axial direction of each first conveying roller 42 is parallel to the bottom of the guide groove and perpendicular to the direction of the cable 8. Each first conveying roller 42 is rotatably connected to the guide seat 41 along its own axial direction. Each first conveying roller 42 is coaxially connected to a first sprocket 43, and a transmission space is formed between two adjacent first sprockets 43. Each first conveying roller 42 is made of rubber roller. The friction between the rubber roller and the inspection robot 9 is large, which reduces the occurrence of slippage during the conveying process.

[0045] Multiple first chains 45 are respectively arranged in multiple transmission spaces, and each first chain 45 is sleeved on two corresponding first sprockets 43 to synchronize the rotation of the two first conveying rollers 42.

[0046] The first rotating motor 44 is fixedly mounted on the guide seat 41, and the power output end of the first rotating motor 44 is connected to one of the first conveying rollers 42; the first rotating motor 44 can rotate forward and reverse.

[0047] When the inspection robot 9 moves to the upper side of the guide seat 41, the inspection robot 9 also connects with part of the first conveying roller 42; the first rotating motor 44 drives the first conveying roller 42 to rotate, so that multiple first conveying rollers 42 rotate synchronously and drive the inspection robot 9 into or out of the guide seat 41.

[0048] By adopting the above technical solution, the inspection robot 9 can be transported in the forward or reverse direction along the cable 8.

[0049] In some embodiments, please refer to the following: Figures 2 to 7 , Figures 9 to 12 As a specific embodiment of the intelligent cable changing device provided by the present invention, the mounting base 21 has a sinking groove that runs through the cable 8, and the conveying mechanism 23 includes a plurality of second conveying rollers 231, a plurality of second chains 234 and a second rotating motor 233.

[0050] Multiple second conveying rollers 231 are arranged side by side in the sinking trough along the direction of the cable 8. The axial direction of each second conveying roller 231 is parallel to the bottom of the sinking trough and perpendicular to the direction of the cable 8. Each second conveying roller 231 is rotatably connected to the mounting base 21 along its own axial direction. Each second conveying roller 231 is coaxially connected to a second sprocket 232, and a transmission space is formed between two adjacent second sprockets 232. Each second conveying roller 231 is made of rubber. The friction between the rubber roller and the inspection robot 9 is large, which reduces the occurrence of slippage during the conveying process.

[0051] Multiple second chains 234 are respectively arranged in multiple transmission spaces, and each second chain 234 is sleeved on two corresponding second sprockets 232 to synchronize the rotation of the two second conveying rollers 231.

[0052] The second rotating motor 233 is fixedly mounted on the mounting base 21, and its power output end is connected to one of the second conveying rollers 231; the second rotating motor 233 can rotate forward and reverse.

[0053] When the inspection robot 9 moves to the upper side of the mounting base 21, it also connects with part of the second conveying rollers 231. The second rotating motor 233 drives the second conveying rollers 231 to rotate, so that multiple second conveying rollers 231 rotate synchronously and drive the inspection robot 9 into or out of the mounting base 21.

[0054] By adopting the above technical solution, the inspection robot 9 can be transported in the forward or reverse direction along the cable 8.

[0055] In some embodiments, please refer to the following: Figures 9 to 12 As a specific embodiment of the intelligent cable changing device provided by the present invention, the synchronous transmission structure includes a double-headed screw 24 and two threaded holes.

[0056] The double-ended screw 24 is rotatably connected to the mounting base 21, and its axis is parallel to the upper side of the mounting base 21 and perpendicular to the direction of the cable 8; the double-ended screw 24 is driven by a third rotating motor 241; the third rotating motor 241 can rotate forward and reverse.

[0057] Two threaded holes are respectively provided on the two clamping plates 22, and both threaded holes are threadedly connected to the double-ended screw 24.

[0058] The double-ended screw 24 has two threaded portions with opposite thread directions, and the two threaded portions are respectively threaded into two threaded holes.

[0059] Through the above technical solution, the two threaded holes can be moved synchronously towards or away from each other by rotating the double-ended screw 24; the double-ended screw 24 and the two threaded holes together form a screw transmission mechanism, which has the advantages of simple structure and high transmission ratio.

[0060] In some embodiments, please refer to Figures 2 to 6 and Figure 8 As a specific embodiment of the intelligent cable changing device provided by the present invention, the lifting mechanism 3 includes a base plate 31, a top plate 32 and several scissor bracing components 33.

[0061] The base plate 31 is fixedly mounted on the upper side of the movable seat 16, and the base and the movable seat 16 can be connected by bolts or welding.

[0062] The top plate 32 is positioned above the bottom plate 31 and is connected to the clamping assembly 2; the top plate 32 and the clamping assembly 2 can be connected by bolts or welding.

[0063] Several sets of scissor bracing components 33 are arranged vertically between the bottom plate 31 and the top plate 32, and each set of scissor bracing components 33 includes two connecting rods 331 that are hinged to each other. The two connecting rods 331 that are adjacent in the vertical direction are hinged, and the ends of the two connecting rods 331 at the upper end are respectively hinged to the top plate 32 and slidably connected to the top plate 32, while the ends of the two connecting rods 331 at the lower end are respectively hinged to the bottom plate 31 and slidably connected to the bottom plate 31. Each connecting rod 331 has a rotating bearing at the hinge part and a sliding bearing at the sliding part of each connecting rod 331, in order to reduce friction during use and reduce wear of the connecting rods 331.

[0064] A drive push rod 34 is provided on the top plate 32 or the bottom plate 31. The drive push rod 34 is connected to the sliding connection end of the connecting rod 331 and the bottom plate 31, or to the sliding connection end of the connecting rod 331 and the top plate 32, so as to drive the connecting rod 331 to move in the horizontal direction, so that each set of scissor bracing members 33 opens or closes, and the bottom plate 31 and the top plate 32 move towards each other or away from each other. The drive push rod 34 can be an electric push rod, a hydraulic push rod or a pneumatic push rod.

[0065] By adopting the above technical solution, the push rod 34 can be extended or shortened by remote control, which can open or close each set of scissor bracing components 33.

[0066] In some embodiments, please refer to the following: Figures 2 to 7 As a specific embodiment of the intelligent cable replacement device provided by the present invention, the installation platform 1 includes two clamps 11, two mounting plates 12 and multiple support rods 13.

[0067] Two interlocking clamps 11 are used to install on the pole 6, and the two clamps 11 are connected by multiple fixing bolt pairs 14; alternatively, a mounting part for connecting the two clamps 11 can be set on the pole 6 in advance, and the two clamps 11 can be fixed by the mounting part.

[0068] The two mounting plates 12 are respectively connected to the two clamps 11 and can be fixed by welding, mainly serving a supporting function; the upper sides of the two mounting plates 12 are respectively slidably connected to the two movable seats 16 in the direction perpendicular to the direction of the cable 8; and the upper sides of the two mounting plates 12 are connected to the transfer assembly 4.

[0069] Multiple support rods 13 are arranged below the two mounting plates 12, and both ends of each support rod 13 are connected to the mounting plate 12 and the clamp 11 respectively; the support rods 13, the clamp 11 and the mounting plate 12 form a triangular stable structure, which has strong support capacity and improves the stability of the mounting platform 1.

[0070] By adopting the above technical solution, the installation platform 1 adopts a split installation form, which can be prefabricated in the processing plant and assembled on the pole 6. It has the advantages of fast installation speed and reliable structure.

[0071] In some embodiments, please refer to the following: Figures 2 to 7 As a specific embodiment of the intelligent cable replacement device provided by the present invention, the cable replacement device also includes a protective cover plate 5.

[0072] The protective cover 5 is used to install on the top of the pole 6, and its projected area in the vertical direction is larger than the upper surface area of ​​the mounting platform 1; the upper side of the protective cover 5 is also provided with multiple photovoltaic panels 51, and the photovoltaic panels 51 are electrically connected to the power supply modules of the linear drive mechanism and the lifting mechanism 3; a battery pack can be installed on the mounting platform 1, and the photovoltaic panels 51 are electrically connected to the battery pack, so that the generated electrical energy can be stored in the battery pack for use in rainy weather.

[0073] By adopting the above technical solutions, the protective cover 5 can prevent rain, snow and hail from damaging the device; and multiple photovoltaic panels 51 use solar energy to generate electricity, saving energy and reducing the energy cost of the device.

[0074] The technical solution adopted in this application also provides an intelligent cable replacement method, which, based on the intelligent cable replacement device proposed in any of the foregoing claims, includes the following steps: A. The operator controls the inspection robot 9 to move it directly above the installation platform 1. Simultaneously, the linear drive component on the same side as the inspection robot 9 moves the moving base 16, causing the clamping component 2 to move directly below the inspection robot 9. The operator can pre-set a program to designate the position of each cable 8 directly above the installation platform 1 as a preset point. When the inspection robot 9 moves to the preset point, it stops moving, and when the linear drive component moves to the preset point, it also stops moving. This ensures accurate docking and avoids misalignment between the inspection robot 9 and the clamping component 2.

[0075] B. The lifting mechanism 3 drives the clamping component 2 toward the inspection robot 9 so that the clamping component 2 and the inspection robot 9 are connected; then, the staff remotely switches each anti-detachment baffle 92 to the disengaged state; finally, the lifting mechanism 3 drives the inspection robot 9 upward so that the inspection robot 9 is detached from the cable 8; this step uses the lifting mechanism 3 to lift the inspection robot 9 so that the cable 8 is detached from the groove of the drive wheel 91 on the inspection robot 9.

[0076] C. Two linear drive components drive two movable seats 16 to move toward the transfer assembly 4, while two lifting mechanisms 3 simultaneously drive two clamping assemblies 2 to move downward until the two mounting seats 21 and guide seats 41 are aligned in the horizontal direction, thereby connecting the transfer assembly 4 with the two clamping assemblies 2.

[0077] D. The inspection robot 9 is disengaged from the clamping component 2 by the transfer component 4 and is connected to another clamping component 2; this step completes the transfer of the inspection robot 9 from one side of the support frame 7 to the other side, thus achieving the crossing of the obstacle.

[0078] E. The inspection robot 9 is moved toward the cable 8 by the lifting mechanism 3, and then the inspection robot 9 is moved downward by the lifting mechanism 3 so that the inspection robot 9 falls onto the cable 8; at the same time, the staff can switch each anti-detachment baffle 92 to the locked state by remote control; at the same time, the two clamping plates 22 on the clamping assembly 2 move back to back so that the inspection robot 9 can move along the cable 8.

[0079] It should be noted that if the inspection robot 9 does not need to cross the support frame 7, but is to be moved to another cable 8 on the same side of the support frame 7, then after step B, the lifting mechanism 3 moves the clamping component downward, and then the moving seat 16 moves the clamping component 2 to the cable 8 to be replaced. Then the lifting mechanism 3 moves the clamping component 2 upward, so that the drive wheel 91 of the inspection robot 9 is directly above the cable 8. Then, the lifting mechanism 3 moves the clamping component 2 downward, so that the inspection robot 9 falls onto the cable 8. At the same time, the operator can remotely switch each anti-detachment baffle 92 to the locked state.

[0080] The beneficial effects of the intelligent cable replacement method provided in this embodiment are the same as those of the aforementioned intelligent cable replacement device, and will not be repeated here.

[0081] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent cable changing device, wherein the inspection robot comprises a plurality of driving wheels for hanging on the cable, and a plurality of anti-slip baffles for being arranged one-to-one with the plurality of driving wheels, wherein the anti-slip baffles have a locking state connected with the driving wheels and a separation state for avoiding the driving wheels; characterized in that: include: The mounting platform is used for fixed installation on the wire pole, and the mounting platform has two movable seats arranged in parallel on both sides of the wire pole in the horizontal direction and both located below the support frame and the cable; the arrangement direction of the two movable seats is parallel to the direction of the cable, and each of the movable seats is slidably connected to the mounting platform in the vertical direction of the cable direction, and both are transmission-connected with a linear drive component; Two clamping assemblies, both used to be connected to the inspection robot, are respectively arranged on the two moving seats, and each of the clamping assemblies is connected to the upper side of the corresponding moving seat through a lifting mechanism, so that the clamping assembly moves toward or away from the cable, and the distance between the clamping assembly and the moving seat increases or decreases; as well as A transfer assembly is arranged on the installation platform and is arranged in parallel with the moving seat along the direction of the cable, and the transfer assembly is used to connect with the two clamping assemblies; Among them, when the anti-detachment baffle is in the separated state and the clamping assembly is connected to the inspection robot, the lifting mechanism drives the clamping assembly to move toward the cable, so that the inspection robot can be separated from the cable; the two linear driving components can respectively drive the two moving seats to move toward the transfer assembly, so that the transfer assembly is connected to the two clamping assemblies, and the inspection robot can move from one of the clamping assemblies to the other clamping assembly.

2. The intelligent cable replacement device according to claim 1, characterized in that: The clamping assembly comprises: A mounting seat, disposed on the upper side of the moving seat and connected to the corresponding lifting mechanism, for supporting the inspection robot; and Two clamps are arranged in parallel on the mounting seat, and each of the clamps is slidably connected to the upper side of the mounting seat along the arrangement direction of the two clamps; the arrangement direction of the two clamps is perpendicular to the direction of the cable, and there is a synchronous transmission structure between the two clamps, which is transmission-connected to the two clamps and is used to drive the two clamps to move toward or away from each other.

3. The intelligent cable replacement device according to claim 2, characterized in that: The mounting seat also has a conveying mechanism for connecting with the inspection robot to drive the inspection robot to enter or exit the mounting seat; When one of the clamping assemblies is connected to the inspection robot and the two linear drive members respectively drive the two clamping assemblies to connect with the transfer assembly, the conveying mechanism is suitable for driving the inspection robot to exit the mounting seat and move to the transfer assembly; When the two clamping components are connected to the transfer components and the inspection robot is on the transfer components, the transfer components are suitable for driving the inspection robot to move to any one of the conveying mechanisms.

4. The intelligent cable changing device according to claim 3, wherein the transfer component comprises: A guide seat, arranged on the mounting platform, and having a guide groove penetrating along the direction of the cable for the inspection robot to enter; A plurality of first conveying rollers are arranged in parallel in the guide groove along the direction of the cable, the axial direction of each first conveying roller is parallel to the bottom of the guide groove and perpendicular to the direction of the cable, and each first conveying roller is connected to the guide seat along its own axial direction for rotation; each first conveying roller is coaxially connected to a first sprocket, and a transmission space is formed between two adjacent first sprockets; A plurality of first chains are respectively arranged in the plurality of the transmission spaces, and each of the first chains is sleeved on two corresponding first sprocket wheels to synchronize the rotation of the two first conveying rollers; as well as A first rotating motor is fixedly disposed on the guide seat, and a power output end thereof is drivingly connected to one of the first conveying rollers; Among them, when the inspection robot moves to the upper side of the guide seat, the inspection robot is also connected to part of the first conveying rollers; the first conveying rollers are driven to rotate by the first rotating motor, so that multiple first conveying rollers rotate synchronously and drive the inspection robot to enter or exit the guide seat.

5. The intelligent cable changing device according to claim 3, characterized in that: The mounting seat is provided with a sinking groove penetrating along the direction of the cable, and the conveying mechanism comprises: A plurality of second conveying rollers are arranged in parallel in the sinking trough along the direction of the cable, the axial direction of each second conveying roller is parallel to the bottom of the sinking trough and perpendicular to the direction of the cable, and each second conveying roller is connected to the mounting seat along its own axial direction for rotation; each second conveying roller is coaxially connected to a second sprocket, and a transmission space is formed between two adjacent second sprockets; a plurality of second chains, respectively disposed in the plurality of the transmission spaces, and each of the second chains is sleeved on two corresponding second sprocket wheels to synchronize the rotation of the two second conveying rollers; and A second rotating motor is fixedly arranged on the mounting seat, and a power output end thereof is drivingly connected to one of the second conveying rollers; Wherein, when the inspection robot moves to the upper side of the mounting seat, the inspection robot is also connected to part of the second conveying rollers; the second conveying rollers are driven to rotate by the second rotating motor, so that multiple second conveying rollers rotate synchronously and drive the inspection robot to enter or exit the mounting seat.

6. The intelligent cable replacement device according to claim 2, characterized in that: The synchronous transmission structure comprises: A double-headed screw rod is rotatably connected to the mounting seat, and its axial direction is parallel to the upper side surface of the mounting seat and perpendicular to the direction of the cable; the double-headed screw rod is transmission-connected to a third rotating motor; and Two threaded holes are respectively arranged on the two clamping plates, and both of the threaded holes are threadedly connected with the double-start screw; The double-head screw has two threaded parts with opposite thread directions, and the two threaded parts are respectively threadedly connected with the two threaded holes.

7. The intelligent cable replacement device according to claim 1, characterized in that: The lifting mechanism comprises: A bottom plate, fixedly arranged on the upper side of the movable seat; A top plate, disposed above the bottom plate and connected to the clamping assembly; and A plurality of groups of scissor brace members are arranged between the bottom plate and the top plate in the up-down direction, and each group of the scissor brace members includes two connecting rods hinged to each other; wherein two connecting rods adjacent to each other in the up-down direction are hinged, and the ends of the two connecting rods at the upper ends are respectively hinged to the top plate and slidably connected to the top plate, and the ends of the two connecting rods at the lower ends are respectively hinged to the bottom plate and slidably connected to the bottom plate; Among them, a driving push rod is arranged on the top plate or the bottom plate, and the driving push rod is connected to the sliding connection end of the connecting rod and the bottom plate, or is connected to the sliding connection end of the connecting rod and the top plate, so as to drive the connecting rod to move in the horizontal direction, so that each group of the scissors support components can be opened or retracted, and the bottom plate and the top plate can move toward or away from each other.

8. The intelligent cable replacement device according to claim 1, characterized in that: The installation platform comprises: Two mutually fitting clamps are used to be installed on the utility pole, and the two clamps are connected by a plurality of fixing bolt pairs; Two mounting plates are respectively connected to the two clamps; the upper sides of the two mounting plates are respectively slidably connected to the two moving seats along the vertical direction of the cable; and the upper sides of the two mounting plates are connected to the transfer assembly; and A plurality of support rods are arranged below the two mounting plates, and both ends of each support rod are respectively connected to the mounting plate and the clamp.

9. The intelligent cable replacement device according to claim 1, characterized in that: The cable changing device also includes: A protective cover plate is used to be installed on the top of the pole, and its projection area in the up and down directions is larger than the upper surface area of ​​the mounting platform; a plurality of photovoltaic panels are also provided on the upper side of the protective cover plate, and the photovoltaic panels are electrically connected to the power supply modules of the linear drive mechanism and the lifting mechanism.

10. An intelligent cable replacement method, based on the intelligent cable replacement device according to any one of claims 1 to 9, characterized in that: The following steps are involved: A. The staff controls the inspection robot to move to the top of the installation platform; at the same time, the linear drive member on the same side as the inspection robot drives the moving seat to move, so that the clamping assembly moves to the bottom of the inspection robot; B. The lifting mechanism drives the clamping assembly to move toward the inspection robot, so that the clamping assembly and the inspection robot are connected; then, the staff switches each of the anti-detachment baffles to the separation state by remote control; finally, the lifting mechanism drives the inspection robot to move upward, so that the inspection robot is separated from the cable; C. driving the two movable seats to move toward the transfer assembly respectively by the two linear drive members, so that the transfer assembly is connected with the two clamping assemblies; D. driving the inspection robot from the clamping component to another clamping component through the transfer component; E. The inspection robot is driven to move toward the cable by the lifting mechanism, and then driven downward by the lifting mechanism to make the inspection robot fall onto the cable; at the same time, the staff switches each of the anti-slip baffles to the locked state by remote control.

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