Intelligent cable changing device and method

Abstract

The application provides an intelligent cable changing device and method, wherein the device part comprises a mounting platform, two clamping assemblies and a transfer assembly; the mounting platform is used for fixing on a wire pole, and the mounting platform is provided with two moving seats which are arranged at intervals along the direction of the cable; each moving seat is slidably connected with the mounting platform in the vertical direction of the direction of the cable, and is drivingly connected with a linear driving member; the two clamping assemblies are used for being connected with a patrol robot, and are arranged on the two moving seats respectively; each clamping assembly is connected with the upper side of the corresponding moving seat through a lifting mechanism; and the transfer assembly is arranged on the mounting platform and is used for being connected with the two clamping assemblies. The intelligent cable changing device and method provided by the application can assist the patrol robot to cross the support frame on the wire pole along the direction of the cable, and can replace the cable to be inspected by the patrol robot according to the requirement.

Description

Technical Field

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

[0002] With the rapid development of the power industry and the continued expansion of power grids, cables, as a crucial carrier of power transmission, face a significant impact on the smooth operation of the national economy and the normal order of people's lives. Due to the widespread distribution of cables and the complex and ever-changing environment, traditional manual inspection methods have been gradually replaced by inspection robots, which have become a key means of improving cable inspection efficiency and ensuring power safety.

[0003] At present, cables are usually installed in the air through support frames on poles, and the inspection robot cooperates with the cables in the following ways: Figure 1 As shown, the inspection robot 9 uses aerial work equipment to hang the driving wheel 91 on the cable, and adjusts the anti-slip baffle 92 by remote control so that the anti-slip baffle 92 cooperates with the driving wheel 91, thereby achieving the technical purpose of limiting the driving wheel 91 from detaching from the cable.

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

[0005] The purpose of this application is to provide an intelligent cable changing device and method to solve the technical problems in the prior art that 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:

[0007] The mounting platform is used for fixed installation on the wire rod, and the mounting platform has two movable seats arranged in parallel on both sides of the wire rod 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 movable seat is slidably connected to the mounting platform in a direction perpendicular to the direction of the cable, and each movable seat is transmission-connected to a linear drive component;

[0008] Two clamping assemblies, each connected with the inspection robot, arranged on the two moving seats respectively, and each clamping assembly is connected with the upper side of the corresponding moving seat through a lifting mechanism, so that the clamping assembly moves towards or away from the cable, the distance between the clamping assembly and the moving seat increases or decreases; and

[0009] A transfer assembly arranged on the mounting platform and arranged parallel to the moving seat along the direction of the cable, and the transfer assembly is used to connect with the two clamping assemblies;

[0010] When the anti-disengagement baffle is in the separated state and the clamping assembly is connected with the inspection robot, the inspection robot can be disengaged from the cable by moving the clamping assembly towards the cable through the lifting mechanism; the two linear drive members can drive the two moving seats towards the transfer assembly respectively, so that the transfer assembly connects with the two clamping assemblies, and the inspection robot can move from one clamping assembly to another clamping assembly.

[0011] Preferably, the clamping assembly comprises:

[0012] A mounting seat arranged on the upper side of the moving seat and connected with the corresponding lifting mechanism for supporting the inspection robot; and

[0013] Two clamping plates arranged in parallel on the mounting seat, each clamping plate is slidingly connected with the upper side of the mounting seat 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 the two clamping plates have a synchronous transmission structure connected with the two clamping plates for driving the two clamping plates to move towards or away from each other.

[0014] Preferably, the mounting seat further has a conveying mechanism for connecting with the inspection robot to drive the inspection robot to enter or exit the mounting seat;

[0015] When one of the clamping assemblies is connected with the inspection robot and the two linear drive members drive the two clamping assemblies to connect with the transfer assembly respectively, the conveying mechanism is adapted to drive the inspection robot to exit the mounting seat and move to the transfer assembly, at the same time, the transfer assembly is adapted to drive the inspection robot to move to another conveying mechanism, at the same time, another conveying mechanism is adapted to drive the inspection robot to exit the transfer assembly, so that the inspection robot moves to another clamping assembly.

[0016] Preferably, the transfer assembly comprises:

[0017] A guide seat is provided on the mounting platform and has a guide groove running along the direction of the cable for the inspection robot to enter;

[0018] 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 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;

[0019] a plurality of first chains, respectively disposed in the plurality of transmission spaces, and each of the first chains is sleeved on two corresponding first sprockets to synchronize the rotation of the two first conveying rollers; and

[0020] a first rotating motor, fixedly disposed on the guide seat, and having a power output end thereof drivingly connected to one of the first conveying rollers;

[0021] 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.

[0022] Preferably, the mounting seat has a sinking groove running through the direction of the cable, and the conveying mechanism includes:

[0023] 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; each second conveying roller is coaxially connected to a second sprocket, and a transmission space is formed between two adjacent second sprockets;

[0024] a plurality of second chains, respectively disposed in the plurality of transmission spaces, and each of the second chains is sleeved on two corresponding second sprockets to synchronize the rotation of the two second conveying rollers; and

[0025] a second rotating motor, fixedly mounted on the mounting base, and having a power output end drivingly connected to one of the second conveying rollers;

[0026] 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.

[0027] Preferably, the synchronous transmission structure includes:

[0028] a double-headed screw, rotatably connected to the mounting base, with its axial direction parallel to the upper side of the mounting base and perpendicular to the direction of the cable; the double-headed screw is transmission-connected to a third rotating motor; and

[0029] Two threaded holes are respectively provided on the two clamping plates, and both of the threaded holes are threadedly connected to the double-start screw;

[0030] The double-headed screw has two threaded parts with opposite thread directions, and the two threaded parts are respectively threadedly connected to the two threaded holes.

[0031] Preferably, the lifting mechanism includes:

[0032] A bottom plate, fixedly arranged on the upper side of the movable seat;

[0033] a top plate, disposed above the bottom plate and connected to the clamping assembly; and

[0034] A plurality of groups of scissor brace members are arranged between the bottom plate and the top plate in the vertical direction, and each group of the scissor brace members includes two connecting rods 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;

[0035] In which, 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 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.

[0036] Preferably, the installation platform includes:

[0037] 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;

[0038] Two mounting plates are connected to the two clamps respectively; the upper sides of the two mounting plates are slidably connected to the two movable seats along the vertical direction of the cable; and the upper sides of the two mounting plates are connected to the transfer assembly; and

[0039] 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.

[0040] Preferably, the cable changing device further includes:

[0041] A protective cover plate is used to be installed on the top of the pole, and its projected 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.

[0042] In the embodiment of the present application, the positioning of the movable seat, the clamping assembly and the transfer assembly can be achieved by fixing the mounting platform and the wire rod; on this basis, the movable seat can be driven by the linear drive component to move to the position directly below any cable on the same side along the cable direction, and then the longitudinal position of the clamping assembly can be adjusted by the lifting mechanism, so that the clamping assembly and the inspection robot can be connected to achieve the technical purpose of removing the inspection robot from the cable and loading it onto another cable. When it is necessary to make the inspection robot cross the support frame, the linear drive component and the lifting mechanism can be coordinated to make the two clamping assemblies connect to the transfer assembly at the same time, so that the inspection robot on one of the clamping assemblies can be moved to the other clamping assembly through the transfer assembly. Since the two clamping assemblies are respectively located on both sides of the support frame along the cable direction, the clamping assembly after transfer can install the inspection robot on any cable on the other side of the support frame.

[0043] Compared with the existing technology, the intelligent cable changing device provided in the embodiment of the present application can assist the inspection robot to cross 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 changing operation.

[0044] The technical solution adopted in this application also provides an intelligent cable switching method, based on any of the aforementioned intelligent cable switching devices, comprising the following steps:

[0045] A. A staff member controls the inspection robot to move directly above the mounting platform. Simultaneously, the linear drive member on the same side of the inspection robot drives the movable base to move, causing the clamping assembly to move directly below the inspection robot.

[0046] B. The lifting mechanism drives the clamping assembly toward the inspection robot to connect the clamping assembly to the inspection robot; then, the staff remotely controls each of the anti-detachment baffles to the disengaged state; finally, the lifting mechanism drives the inspection robot upward to detach the inspection robot from the cable;

[0047] C. driving the two movable seats toward the transfer assembly by the two linear drive members, respectively, so that the transfer assembly is connected to the two clamping assemblies;

[0048] D. driving the inspection robot from the clamping assembly to another clamping assembly via the transfer assembly;

[0049] E. The inspection robot is driven toward the cable by the lifting mechanism, and then is driven downward by the lifting mechanism so that the inspection robot falls onto the cable; at the same time, the staff switches each of the anti-slip baffles to the locked state by remote control.

[0050] The beneficial effects of the intelligent cable switching method provided in this embodiment are the same as those of the aforementioned intelligent cable switching device, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0052] Figure 1 It is a structural diagram of an inspection robot in the prior art;

[0053] Figure 2 Schematic diagram of the three-dimensional structure of the intelligent cable changing device provided by the embodiment of the present invention Figure 1 ;

[0054] Figure 3 Schematic diagram of the three-dimensional structure of the intelligent cable changing device provided by the embodiment of the present invention Figure 2 ;

[0055] Figure 4 Schematic diagram of the three-dimensional structure of the intelligent cable changing device provided by the embodiment of the present invention Figure 3 ;

[0056] Figure 5 Schematic diagram of the three-dimensional structure of the intelligent cable changing device provided by the embodiment of the present invention Figure 4 ;

[0057] Figure 6 A schematic diagram of the main structure of an intelligent cable changing device provided by an embodiment of the present invention;

[0058] Figure 7 For the Figure 6 Schematic diagram of the cross-sectional structure along line AA;

[0059] Figure 8 A schematic diagram of the three-dimensional structure of the lifting mechanism used in an embodiment of the present invention;

[0060] Figure 9 A schematic diagram of the three-dimensional structure of the clamping mechanism used in an embodiment of the present invention;

[0061] Figure 10 for Figure 9 The left side structural diagram of the clamping mechanism shown;

[0062] Figure 11 for Figure 9 The right side structural diagram of the clamping mechanism shown;

[0063] Figure 12 for Figure 9 A schematic cross-sectional view of the clamping mechanism shown;

[0064] Figure 13 Schematic diagram of the three-dimensional structure of the transfer component used in the embodiment of the present invention Figure 1 ;

[0065] Figure 14 Schematic diagram of the three-dimensional structure of the transfer component used in the embodiment of the present invention Figure 2 ;

[0066] Among them, the reference numerals in the figures are:

[0067] 1. Mounting platform; 11. 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-headed screw; 241. Third rotating motor; 3. Lifting mechanism; 31. Bottom plate; 32. Top plate; 33. Scissors support member; 331. Connecting rod; 34. Driving 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. Wire pole; 7. Support frame; 8. Cable; 9. Inspection robot; 91. Driving wheel; 92. Anti-slip baffle. DETAILED DESCRIPTION

[0068] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0069] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0070] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and 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, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0071] 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 the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0072] It should be noted that the cable 8 is generally installed in the air through the support frame 7 on the pole 6, and the inspection robot 9 cooperates with the cable 8 as shown in the following example. 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-slip baffle 92 by remote control, so that the anti-slip baffle 92 cooperates with the drive wheel 91, thereby achieving the technical purpose of preventing the drive wheel 91 from being separated from the cable 8. The anti-slip baffle 92 has a locked state connected to the drive wheel 91 and a detached state to avoid the drive wheel 91. This device is suitable for cable replacement operations of different inspection robots 9 with the above characteristics, and can be adjusted according to the model and specifications of the specific inspection robot 9, and is not limited to the inspection robot 9 proposed in the embodiment of the application.

[0073] Please also refer to Figures 1 to 14 The intelligent cable changing device provided by the present application is now described. The intelligent cable changing device includes a mounting platform 1, two clamping components 2 and a transfer component 4.

[0074] The mounting platform 1 is used for fixed installation on the wire rod 6, and the mounting platform 1 has two movable seats 16 arranged side by side on both sides of the wire rod 6 in a horizontal direction, both 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 vertical direction of the direction of the cable 8, and is transmission-connected with a linear drive component; a linear guide rail 15 extending in the vertical direction of the direction of the cable 8 is provided between each movable seat 16 and the mounting platform 1, and the linear guide rail 15 can reduce the friction between the movable seat 16 and the mounting platform 1, thereby improving the stability of the movable seat 16 during movement; the linear drive component includes a drive motor and a drive screw, the axial direction 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, and 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.

[0075] Both clamping assemblies 2 are used to connect to the inspection robot 9 and are respectively arranged on two movable seats 16. Each clamping assembly 2 is connected to the upper side of the corresponding movable seat 16 through a lifting mechanism 3, so that the clamping assembly 2 can move toward or away from the cable 8, and the distance between the clamping assembly 2 and the movable seat 16 can be increased or decreased.

[0076] It should be supplemented that, when the clamping assembly 2 is connected to the inspection robot 9, the staff can remotely control the inspection robot 9 to stop inspection and control the anti-slip baffle 92 to be in a separated state.

[0077] The transfer component 4 is arranged on the installation platform 1 and is arranged in parallel with the movable seat 16 along the direction of the cable 8, and the transfer component 4 is used to connect with the two clamping components 2; wherein, the transfer component 4 includes a form of transfer using a robotic arm.

[0078] Among them, when the anti-slip baffle 92 is in a separated state and the clamping assembly 2 is connected to the inspection robot 9, the lifting mechanism 3 drives the clamping assembly 2 to move toward the cable 8, so that the inspection robot 9 can be separated from the cable 8; the two linear drive components can respectively drive the two moving seats 16 to move toward the transfer assembly 4, so that the transfer assembly 4 is connected to the two clamping assemblies 2, and the inspection robot 9 can move from one of the clamping assemblies 2 to the other clamping assembly 2.

[0079] It should be noted that the driving wheel 91 of the inspection robot 9 is mostly a U-shaped wheel or a V-shaped wheel, both of which have a groove for the cable 8 to be embedded; therefore, the principle of the present device to separate the inspection robot 9 from the cable 8 is that when the anti-slip baffle 92 is in a separated state, the cable 8 is in the above-mentioned groove, and the lifting mechanism 3 drives the clamping assembly 2 to move upward, so that the cable 8 can be separated from the groove. At the same time, the linear drive component drives the clamping assembly 2 to move to one side, so that the cable 8 can be moved from directly below the driving wheel 91 to the side of the driving wheel 91, thereby completing the separation of the inspection robot 9 Cable 8 step: when the inspection robot 9 needs to be installed on the cable 8, the lifting mechanism 3 drives the clamping assembly 2 to move upward, and moves the driving wheel 91 of the inspection robot 9 to the upper side of the cable 8. At the same time, the linear driving component drives the clamping assembly 2 to move toward the driving wheel 91, so that the driving wheel 91 is located 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 staff remotely controls the anti-slip baffle 92 to connect with the driving wheel 91 to complete the operation of reinstalling the inspection robot 9 on the cable 8.

[0080] In the embodiment of the present application, the staff controls the inspection robot 9 to move to the top of the installation platform 1; at the same time, the linear drive member on the same side as the inspection robot 9 drives the movable seat 16 to move, so that the clamping assembly 2 moves to the bottom of the inspection robot 9; then the lifting mechanism 3 drives the clamping assembly 2 toward the inspection robot 9 to connect the clamping assembly 2 and the inspection robot 9; then, the staff switches each anti-detachment baffle 92 to the separated state by remote control; finally, the lifting mechanism 3 drives the inspection robot 9 to move upward, so that the inspection robot 9 is separated from the cable 8; The two moving seats 16 are driven respectively by two linear drive components to move toward the transfer component 4, so that the transfer component 4 is connected to the two clamping components 2; the inspection robot 9 is driven to separate from the clamping component 2 by the transfer component 4, and the inspection robot 9 is connected to another clamping component 2; the inspection robot 9 is driven to move toward the cable 8 by the lifting mechanism 3, and then the inspection robot 9 is driven to move downward by the lifting mechanism 3, so that the inspection robot 9 falls on the cable 8; at the same time, the staff switches each anti-slip baffle 92 to a locked state by remote control, completing the cable changing operation of the inspection robot 9.

[0081] In addition, this device can also achieve the effect of changing cables between multiple cables 8 on the same side of the support frame 7 by the inspection robot 9; specifically, the linear drive component, lifting mechanism 3 and clamping assembly 2 on one side are cooperated to make the inspection robot 9 detach from the cable 8 and then be installed on another cable 8.

[0082] Compared with the prior art, the intelligent cable changing device provided in the embodiment of the present application can assist the inspection robot 9 to cross 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 change between any two cables 8, saving time and effort, and improving the safety of the cable changing operation of the inspection robot 9.

[0083] In some embodiments, please refer to 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 assembly 2 includes a mounting seat 21 and two clamping plates 22.

[0084] The mounting base 21 is disposed on the upper side of the moving base 16 and is connected to the corresponding lifting mechanism 3 to support the inspection robot 9 .

[0085] The two clamps 22 are arranged side by side on the mounting seat 21, and each clamp 22 is slidably connected to the upper side surface of the mounting seat 21 along the arrangement direction of the two clamps 22; the arrangement direction of the two clamps 22 is perpendicular to the direction of the cable 8, and there is a synchronous transmission structure between the two clamps 22, which is transmission-connected to the two clamps 22 and is used to drive the two clamps 22 to move toward each other or backward; a plurality of rubber strips are provided on the clamps 22, which increase the friction between the clamps 22 and the inspection robot 9, and the rubber strips can prevent the two clamps 22 from scratching the surface of the robot; in addition, the staff can control the timing of the two clamps 22 moving toward or backward through a pre-set program. When the mounting seat 21 is connected to the inspection robot 9, the two clamps 22 are suitable for moving toward each other, and when the inspection robot 9 withdraws from the mounting seat 21, the two clamps 22 are suitable for moving backward.

[0086] In some embodiments, please refer to 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 seat 21 also has a conveying mechanism 23 for connecting with the inspection robot 9 to drive the inspection robot 9 to enter or exit the mounting seat 21.

[0087] 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 suitable for driving the inspection robot 9 to exit the mounting seat 21 and move to the transfer component 4. At the same time, the transfer component 4 is suitable for driving the inspection robot 9 to move to another conveying mechanism 23. At the same time, the other conveying mechanism 23 is suitable for driving the inspection robot 9 to exit the transfer component 4, so that the inspection robot 9 moves to another clamping component 2.

[0088] By adopting the above technical solution, the cooperation between the conveying mechanism 23 and the transfer component 4 can enable the inspection robot 9 to move from one clamping component 2 to another clamping component 2, that is, the inspection robot 9 is transferred from one side of the support frame 7 on the wire pole 6 to the other side.

[0089] In some embodiments, see Figures 2 to 7 、 Figures 13 and 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.

[0090] The guide seat 41 is arranged on the mounting platform 1, and has a guide groove which runs through the direction of the cable 8 for the inspection robot 9 to enter; the inner wall of the guide groove has a guide protrusion for connecting with the inspection robot 9; the guide protrusion extends along the axial direction of the cable 8, and the two ends of the guide protrusion have inclined surfaces. When the inspection robot 9 enters the guide groove, the two guide protrusions are suitable for abutting against the inspection robot to limit the deviation of the inspection robot 9 during the transportation process.

[0091] 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, and each first conveying roller 42 is connected to the guide seat 41 along its own axial rotation; 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 a rubber roller, and the friction between the rubber roller and the inspection robot 9 is relatively large, which reduces the occurrence of slippage during the conveying process.

[0092] The plurality of first chains 45 are respectively disposed in the plurality of 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 .

[0093] The first rotating motor 44 is fixedly disposed on the guide seat 41 , and a power output end of the first rotating motor 44 is transmission-connected to one of the first conveying rollers 42 ; the first rotating motor 44 can rotate forward and reverse.

[0094] Among them, when the inspection robot 9 moves to the upper side of the guide seat 41, the inspection robot 9 is also connected with part of the first conveying rollers 42; the first conveying rollers 42 are driven to rotate by the first rotating motor 44, so that multiple first conveying rollers 42 rotate synchronously and drive the inspection robot 9 to enter or exit the guide seat 41.

[0095] By adopting the above technical solution, the inspection robot 9 can be transported in the forward direction or the reverse direction along the direction of the cable 8; the inspection robot 9 can be transported in the forward direction or the reverse direction along the direction of the cable 8.

[0096] In some embodiments, please refer to 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 seat 21 has a sinking groove running along the direction of the cable 8, and the conveying mechanism 23 includes multiple second conveying rollers 231, multiple second chains 234 and a second rotating motor 233.

[0097] Multiple second conveying rollers 231 are arranged in parallel 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, and each second conveying roller 231 is connected to the mounting seat 21 along its own axial rotation; 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 a rubber roller, and the friction between the rubber roller and the inspection robot 9 is relatively large, which reduces the occurrence of slippage during transportation.

[0098] The plurality of second chains 234 are respectively disposed in the plurality of 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 .

[0099] The second rotating motor 233 is fixedly mounted on the mounting base 21 , and a power output end thereof is transmission-connected to one of the second conveying rollers 231 ; the second rotating motor 233 can rotate forward and reverse.

[0100] Among them, when the inspection robot 9 moves to the upper side of the mounting seat 21, the inspection robot 9 is also connected with part of the second conveying rollers 231; the second conveying rollers 231 are driven to rotate by the second rotating motor 233, so that multiple second conveying rollers 231 rotate synchronously and drive the inspection robot 9 to enter or exit the mounting seat 21.

[0101] By adopting the above technical solution, the inspection robot 9 can be transported in the forward direction or the reverse direction along the direction of the cable 8; the inspection robot 9 can be transported in the forward direction or the reverse direction along the direction of the cable 8.

[0102] In some embodiments, please refer to 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.

[0103] The double-headed screw 24 is rotationally connected to the mounting base 21, and its axial direction is parallel to the upper side of the mounting base 21 and perpendicular to the direction of the cable 8; the double-headed screw 24 is transmission-connected to a third rotating motor 241; the third rotating motor 241 can rotate forward and reverse.

[0104] Two threaded holes are respectively provided on the two clamping plates 22 , and both threaded holes are threadedly connected to the double-headed screw 24 .

[0105] The double-start screw 24 has two threaded portions with opposite thread directions, and the two threaded portions are respectively threadedly connected to the two threaded holes.

[0106] Through the above technical solution, the two threaded holes can be synchronously moved toward or away from each other by rotating the double-headed screw 24; the double-headed screw 24 and the two threaded holes together form a screw transmission mechanism, which has the advantages of simple structure and high transmission ratio.

[0107] In some embodiments, see 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 bottom plate 31, a top plate 32 and a plurality of scissors support components 33.

[0108] The bottom plate 31 is fixedly arranged on the upper side of the movable seat 16 , and the base and the movable seat 16 can be connected by bolts or welding.

[0109] The top plate 32 is disposed above the bottom plate 31 and is connected to the clamping assembly 2 ; the top plate 32 and the clamping assembly 2 may be connected by bolts or welding.

[0110] Several groups of scissors-strut components 33 are arranged between the bottom plate 31 and the top plate 32 in the up-down direction, and each group of scissors-strut components 33 includes two connecting rods 331 hinged to each other; wherein, two connecting rods 331 adjacent to each other in the up-down 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, and 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; the hinged part of each connecting rod 331 is provided with a rotating bearing, and the sliding part of each connecting rod 331 has a sliding bearing, the purpose of which is to reduce friction during use and reduce wear of the connecting rod 331.

[0111] Among them, a driving push rod 34 is provided on the top plate 32 or the bottom plate 31, and the driving push rod 34 is connected to the sliding connection end of the connecting rod 331 and the bottom plate 31, or is connected to the sliding connection end of the connecting rod 331 and the top plate 32 to drive the connecting rod 331 to move in the horizontal direction, so that each group of scissors support components 33 can be opened or retracted, and the bottom plate 31 and the top plate 32 can move toward or away from each other; the driving push rod 34 can be an electric push rod, a hydraulic push rod or a pneumatic push rod.

[0112] By adopting the above technical solution, each group of scissors support components 33 can be opened or retracted by remotely controlling the driving push rod 34 to extend or shorten.

[0113] In some embodiments, please refer to Figures 2 to 7 As a specific embodiment of the intelligent cable changing device provided by the present invention, the installation platform 1 includes two clamps 11, two installation plates 12 and multiple support rods 13.

[0114] The two mutually fitting clamps 11 are used to be installed on the wire rod 6, and the two clamps 11 are connected by multiple fixing bolt pairs 14; a mounting portion for connecting to the two clamps 11 can also be provided on the wire rod 6 in advance, and the two clamps 11 are fixed by the mounting portion.

[0115] The two mounting plates 12 are respectively connected to the two clamps 11, and can be fixedly connected by welding, mainly playing a supporting role; the upper side surfaces of the two mounting plates 12 are respectively slidably connected to the two movable seats 16 along the vertical direction of the cable 8; and the upper side surfaces of the two mounting plates 12 are connected to the transfer component 4.

[0116] Multiple support rods 13 are arranged under the two mounting plates 12, and the two ends of each support rod 13 are respectively connected to the mounting plate 12 and the clamp 11; a triangular stable structure is formed between the support rods 13, the clamp 11 and the mounting plate 12, which has strong supporting capacity and improves the stability of the mounting platform 1.

[0117] By adopting the above technical solution, the installation platform 1 adopts a split installation form and can be prefabricated in advance in the processing plant. When assembled on the wire pole 6, it has the advantages of fast installation speed and reliable structure.

[0118] In some embodiments, please refer to Figures 2 to 7 As a specific implementation of the intelligent cable changing device provided by the present invention, the cable changing device also includes a protective cover plate 5.

[0119] The protective cover plate 5 is used to be installed on the top of the wire rod 6, and its projected area in the up and down direction is larger than the upper surface area of ​​the mounting platform 1; a plurality of photovoltaic panels 51 are also provided on the upper side of the protective cover plate 5, 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 set on the mounting platform 1, and the photovoltaic panels 51 are electrically connected to the battery pack, and the generated electricity can be stored in the battery pack for use in rainy weather.

[0120] By adopting the above technical solution, the protective cover plate 5 can prevent rain, snow and hail from damaging the device; and the multiple photovoltaic panels 51 use solar energy to generate electricity, saving energy and reducing the energy cost of the device.

[0121] The technical solution adopted in this application also provides an intelligent cable replacement method, based on the intelligent cable replacement device proposed in any of the above items, comprising the following steps:

[0122] A. The staff controls the inspection robot 9 to move to the top of the installation platform 1. At the same time, the linear drive member on the same side as the inspection robot 9 drives the movable seat 16 to move, so that the clamping assembly 2 moves to the bottom of the inspection robot 9. The staff can pre-set the program to set 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. When the linear drive member moves to the preset point, it can also stop moving. This achieves the accuracy of the docking position and avoids the misalignment of the inspection robot 9 and the clamping assembly 2.

[0123] B. The lifting mechanism 3 drives the clamping assembly 2 toward the inspection robot 9 to connect the clamping assembly 2 and the inspection robot 9. Subsequently, the staff remotely controls each anti-slip baffle 92 to be separated. Finally, the lifting mechanism 3 drives the inspection robot 9 upward to separate the inspection robot 9 from the cable 8. This step uses the lifting mechanism 3 to lift the inspection robot 9 to separate the cable 8 from the groove of the drive wheel 91 on the inspection robot 9.

[0124] C. The two moving seats 16 are driven respectively by two linear drive components to move toward the transfer assembly 4, and at the same time, the two lifting mechanisms 3 drive the two clamping assemblies 2 to move downward until the two mounting seats 21 are aligned with the guide seats 41 in the horizontal direction, thereby connecting the transfer assembly 4 with the two clamping assemblies 2.

[0125] D. The inspection robot 9 is driven to separate from the clamping assembly 2 by the transfer assembly 4 and connected to another clamping assembly 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.

[0126] E. The inspection robot 9 is driven toward the cable 8 by the lifting mechanism 3, and then is driven downward by the lifting mechanism 3 so that the inspection robot 9 falls onto the cable 8. At the same time, the staff switches each anti-slip baffle 92 to a locked state through 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.

[0127] It should be noted that if the inspection robot 9 does not need to cross the support frame 7, but is ready to switch to another cable 8 on the same side of the support frame 7, it only needs to drive the supporting assembly 8 to move downward after step B, and then the moving seat 16 drives the clamping assembly 2 to move to the bottom of the cable 8 that needs to be replaced, and then the lifting mechanism 3 drives the clamping assembly 2 to move upward so that the driving wheel 91 of the inspection robot 9 is directly above the cable 8. Then, the lifting mechanism 3 drives the clamping assembly 2 to move downward, so that the inspection robot 9 falls on the cable 8. At the same time, the staff uses remote control to switch each anti-slip baffle 92 to a locked state.

[0128] The beneficial effects of the intelligent cable switching method provided in this embodiment are the same as those of the aforementioned intelligent cable switching device, and will not be repeated here.

[0129] 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 in the scope of protection of the present invention.

Claims

1. An intelligent cable changing device, used to assist an inspection robot in transferring between cables to achieve cable changing operations; the inspection robot comprises a plurality of drive wheels for hanging on the cables, and a plurality of anti-slip baffles for being arranged in a one-to-one correspondence with the plurality of drive wheels, the anti-slip baffles having a locked state connected to the drive wheels and a separated state avoiding the drive wheels; characterized in that: include: The mounting platform is used for fixed installation on the wire rod, and the mounting platform has two movable seats arranged in parallel on both sides of the wire rod in the 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, and each of the movable seats is slidably connected to the mounting platform in the direction perpendicular to the direction of the cable, and Both transmissions are connected with a linear drive component; Two clamping assemblies, both used to connect to the inspection robot, are respectively arranged on the two movable seats, and each clamping assembly is connected to the upper side of the corresponding movable 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 movable seat increases or decreases; as well as A transfer assembly is arranged on the installation platform and is arranged in parallel with the movable 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-slip baffle is in the separated state and the clamping assembly is connected to the inspection robot, the clamping assembly is driven by the lifting mechanism to move toward the cable, so that the inspection robot can be separated 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.

2. The intelligent cable changing device according to claim 1, characterized in that: The clamping assembly comprises: a mounting base, disposed on the upper side of the moving base and connected to the corresponding lifting mechanism to support the inspection robot; and Two clamps are arranged side by side 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 changing 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 into or out of 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 component is 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 is provided on the mounting platform and has a guide groove running 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 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; a plurality of first chains, respectively disposed in the plurality of transmission spaces, and each of the first chains is sleeved on two corresponding first sprockets to synchronize the rotation of the two first conveying rollers; as well as a first rotating motor, fixedly disposed on the guide seat, and having a power output end thereof drivingly connected to one of the first conveying rollers; 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 running along the direction of the cable, and the conveying mechanism includes: 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; 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 transmission spaces, and each of the second chains is sleeved on two corresponding second sprockets to synchronize the rotation of the two second conveying rollers; and a second rotating motor, fixedly mounted on the mounting base, and having a power output end drivingly connected to one of the second conveying rollers; 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 changing device according to claim 2, characterized in that: The synchronous transmission structure comprises: a double-headed screw, rotatably connected to the mounting base, with its axial direction parallel to the upper side of the mounting base and perpendicular to the direction of the cable; the double-headed screw is transmission-connected to a third rotating motor; and Two threaded holes are respectively provided on the two clamping plates, and both of the threaded holes are threadedly connected to the double-start screw; The double-headed screw has two threaded parts with opposite thread directions, and the two threaded parts are respectively threadedly connected to the two threaded holes.

7. The intelligent cable changing 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 vertical direction, and each group of the scissor brace members includes two connecting rods 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; In which, 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 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 changing device according to claim 1, characterized in that: The installation platform includes: 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 connected to the two clamps respectively; the upper sides of the two mounting plates are slidably connected to the two movable 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 changing device according to claim 1, characterized in that: The cable changing device further comprises: A protective cover plate is used to be installed on the top of the pole, and its projected 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. A staff member controls the inspection robot to move directly above the mounting platform. Simultaneously, the linear drive member on the same side of the inspection robot drives the movable base to move, causing the clamping assembly to move directly below the inspection robot. B. The lifting mechanism drives the clamping assembly toward the inspection robot to connect the clamping assembly to the inspection robot; then, the staff remotely controls each of the anti-detachment baffles to the disengaged state; finally, the lifting mechanism drives the inspection robot upward to detach the inspection robot from the cable; C. driving the two movable seats toward the transfer assembly by the two linear drive members, respectively, so that the transfer assembly is connected to the two clamping assemblies; D. driving the inspection robot from the clamping assembly to another clamping assembly via the transfer assembly; E. The inspection robot is driven toward the cable by the lifting mechanism, and then is driven downward by the lifting mechanism so that the inspection robot falls 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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