Multifunctional defect-eliminating robot

Abstract

The invention relates to the technical field of ultra-high voltage transmission line maintenance, in particular to a multifunctional defect eliminating robot which comprises a rack, a distance adjusting structure installed on the rack, a line distance adjusting structure installed on the distance adjusting structure and a mechanical arm installed on the rack. The mechanical arm is connected with a defect eliminating tool or a pin supplementing tool; the pin supplementing tool comprises a mounting table, a horizontal displacement structure mounted on the mounting table, a vertical translation structure mounted on the horizontal displacement structure, a pin box mounted in the mounting table, a pin clamping jaw mounted on the vertical translation structure, a pin opening device and a nut clamping jaw, wherein the pin opening device and the nut clamping jaw are mounted at the front end of the mounting table. And the nut clamping jaw is positioned above the overhead device. Therefore, the multifunctional defect-eliminating robot is used for solving the technical problem that the prior art mostly stays at the inspection or foreign matter cleaning stage, and although some devices and technologies can perform repairing work, the repairing work is mostly single.

Description

Technical Field

[0001] The present application relates to the technical field of ultra-high voltage transmission line maintenance, and more specifically, to a multi-functional fault-eliminating robot. Background Art

[0002] As the core component of the power transmission network, transmission lines play a vital role in ensuring the safe, economical and reliable operation of the power grid. However, due to their wide distribution range and the complex geographical environment they often face, transmission lines are extremely susceptible to various adverse conditions, resulting in operational failures. These failures not only directly threaten the safe and reliable operation of the lines, but in severe cases may also cause large-scale power outages, causing huge losses to social life and economic development.

[0003] It is particularly noteworthy that low-frequency vibrations caused by breezes (also known as sub-span vibrations or galloping) pose a serious challenge to the long-term reliability of transmission lines. This vibration has a significant negative impact on key components such as connection hardware, such as coupling plates, spacers and weights. These hardware are important elements to ensure the correct fixation of conductors and insulator strings, and loose or missing nuts and pins will significantly reduce the tightness of the hardware, thereby affecting the stability of the conductors and increasing the risk of line failures.

[0004] At present, the maintenance of transmission lines mainly relies on manual live-line operation, which not only requires operators to perform high-intensity labor in a harsh working environment, but also poses a great threat to the personal safety of operators due to the strong electric field. Especially during equipotential operation, the difficulty and danger of manual operation are significantly increased due to the limitation of the distance between crossarms and phases.

[0005] In order to overcome these challenges, existing technologies have begun to study and practice the use of automation and remote control technologies such as drones and electric lifting equipment for live transmission line operations. However, these technologies are currently mostly used for simple tasks such as inspection or cleaning of foreign objects. For more complex repair work, although some device technologies can be achieved, they are often only applicable to a single operation scenario and lack comprehensive solutions.

[0006] Therefore, in view of the problems existing in the above-mentioned background technology, the present invention aims to provide a multi-functional defect-eliminating robot to overcome the limitations of the prior art and meet the urgent needs of practical applications. Summary of the invention

[0007] Based on the above problems, the present application proposes a multi-functional defect elimination robot to solve the technical problem that the existing technology mostly stays at the inspection or foreign body cleaning stage. Although some device technologies can perform repair work, they are mostly single operations.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0009] A multifunctional defect elimination robot comprises a frame, a spacing adjustment structure mounted on the frame, a wire spacing adjustment structure mounted on the spacing adjustment structure, and a mechanical arm mounted on the frame; the mechanical arm is connected with a defect elimination tool or a pinning tool;

[0010] The pin replacement tooling includes a mounting platform, a horizontal displacement structure mounted on the mounting platform, a vertical translation structure mounted on the horizontal displacement structure, a pin box mounted inside the mounting platform, a pin clamp mounted on the vertical translation structure, and an opener and a nut clamp mounted at the front end of the mounting platform, wherein the nut clamp is located above the opener.

[0011] In a specific feasible implementation scheme, the line spacing adjustment structure includes a first electric push rod installed on the spacing adjustment structure, a first leg and a second leg, the first leg and the second leg are hinged with a mounting seat, a pressure wheel is installed on the mounting seat, a walking wheel is installed above the pressure wheel, and the walking wheel is connected to a first motor to provide power therefor.

[0012] In a specific feasible implementation scheme, the travel wheel is formed by splicing two frustums and connected at the splicing point by a guide column, and teeth are provided on the frustum close to the side of the frame, and the teeth are arranged on the side of the frustum with a larger diameter, and the travel wheel is connected to the first power motor through a fourth gear, and the fourth gear is meshed with the teeth provided on the frustum.

[0013] In a specific possible implementation scheme, four running wheels are provided and are respectively installed on the four corners of the frame, and a corresponding clamping wheel is installed under each running wheel.

[0014] In a specific feasible implementation scheme, a robotic arm is installed at the front end of the frame, and an extension structure is provided at the front end of the robotic arm. The extension structure is slidably connected to the robotic arm, and a second motor is installed on the robotic arm. A screw is provided between the second motor and the extension structure, one end of the screw is fixedly connected to the power output end of the second motor, and the other end is threadedly connected to the extension structure. The extension mechanism is provided with an installation interface for installing a pin-changing tool at the end facing away from the robotic arm.

[0015] In a specific feasible implementation scheme, a guide rail is arranged between the horizontal translation structure and the mounting platform, and two guide rails are installed. The two guide rails are installed in parallel on both sides of the mounting platform, and a rack is arranged between the two guide rails. The horizontal translation structure includes a base plate, and the base plate is located above the guide rail. A slider adapted to the guide rail is installed on the base plate, and a third motor is installed on the base plate. A power gear is installed on the power output end of the third motor, and a driven gear is arranged between the power gear and the rack, and the driven gear is rotatably connected to the base plate.

[0016] In a specific feasible implementation scheme, a fourth motor is installed on the top plate of the horizontal translation structure, a lifting rod is arranged between the top plate and the bottom plate, two ends of the lifting rod are rotatably connected with the top plate and the bottom plate respectively, a thread is arranged at the middle position of the lifting rod, two lifting rods are arranged, one end of each lifting rod located on the top plate is provided with a pulley, the pulley is connected to the power output end of the fourth motor through the transmission belt, two guide rails are arranged between the bottom plate and the top plate, and the two guide rails are respectively located behind the two lifting rods;

[0017] A fifth motor is arranged between the two guide rails, and the two sides of the fifth motor are respectively slidably connected to the guide rails through the sliding members; the pin clamp comprises a lifting platform which is threadedly connected to the two lifting rods, a first rotating rod is fixedly connected to the power output end of the fifth motor, a clamping arm is hinged on the lifting platform, two clamping arms are arranged, a connecting rod is hinged between the two clamping arms, the connecting rod is rotatably connected to the first rotating rod through the connecting member, and the two clamping arms are arranged in an eight-shaped shape on the side close to the guide rail.

[0018] In a specific feasible implementation scheme, the nut clamp includes a sixth motor installed inside the mounting platform, a shift rod is rotatably connected to the power output end of the sixth motor, a push-pull rod is hinged on the shift rod, a first limit block is arranged on the push-pull rod, a first stop block adapted to the first limit block is arranged on the outer wall of the mounting platform, a first connecting rod is installed at the front end of the mounting platform, a splint is installed at the front end of the mounting plate, two splints are installed, one end of the two splints is hinged to the mounting platform, a second rotating rod is hinged on the other end of the push-pull rod, a pull rod is arranged between the second rotating rod and the splint, the pull rod is hinged to the first connecting rod, and both ends of the pull rod are respectively hinged to the second rotating rod and the splint.

[0019] In a specific feasible implementation scheme, the pin box includes a seventh motor installed in the middle of the mounting platform, and a pin device connected to the seventh motor through a conveyor belt, the pin device is rotatably connected to the inner wall of the mounting platform, the pin device includes a pin box and a rotating wheel, the pin box is provided with a pin hole for storing pins, and the rotating wheel is located on one side of the pin box and fixedly connected between the pin boxes.

[0020] In a specific possible implementation scheme, the overhead device includes a shell installed at the front end of the mounting platform, the shell is hinged to the first connecting rod, an eighth motor for up and down displacement of the shell is installed inside the mounting platform, a second connecting rod is connected to the power output end on one side of the eighth motor, two ends of the second connecting rod are respectively hinged to the shell and the power output end on one side of the eighth motor, a second limit block is arranged on the power output end on the other side of the eighth motor, and on the second limit block, a second stop block adapted to the second limit block is arranged on the outer wall of the mounting platform;

[0021] A ninth motor is arranged on the outer shell, a first gear is fixedly connected to a power output end of the ninth motor, the first gear is meshed with a second gear, the second gear is rotatably connected to the outer shell, two second gears are arranged, the rotation directions of the two second gears are opposite, a third gear is arranged on the two second gears, the two third gears are meshed with a bending block, the bending block is provided with a fixing slot for a pin, a fixing plate is fixedly installed on the outer shell, the fixing plate is located between the third gear and the bending block, and the bending block is rotatably connected to the fixing plate.

[0022] Positive effects of the invention: The defect elimination robot in the invention can replace manual work for live-line operations, reducing the high-intensity labor of operators in harsh environments and reducing the threat of strong electric fields to the personal safety of operators. The robot has multiple functions and can perform complex repair work, improving the efficiency and safety of maintenance work.

[0023] The defect elimination robot is designed to be multi-functional. It is not limited to simple tasks such as inspection or cleaning foreign objects, but can also perform more complex repair work. Through the spacing adjustment structure, wire spacing adjustment structure and mechanical arm installed on the frame, the robot can adapt to different working scenarios and provide a comprehensive solution.

[0024] The robot is equipped with a pin replacement tool that can handle the loosening or missing of nuts and pins in connection hardware (such as connecting plates, spacers and weights, etc.). Through the coordinated work of horizontal displacement structure, vertical translation structure, pin clamp, opener and nut clamp, the robot can accurately install or replace pins and nuts to ensure the correct fixation of conductors and insulator strings, thereby improving the stability of transmission lines.

[0025] The robot's running wheels are designed to be made of two cones spliced ​​together and connected by guide columns at the joints. This design allows the running wheels to adapt to different line spacing and angles, improving the robot's walking stability and adaptability. At the same time, the extension structure at the front end of the robotic arm allows the robot to reach farther locations for operations, increasing the robot's working range. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0027] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0028] Figure 2 is a structural schematic diagram of an extended structure of an embodiment of the present invention;

[0029] Figure 3 This is a structural schematic diagram of a re-selling tooling according to an embodiment of the present invention;

[0030] Figure 4 This is a structural schematic diagram of a pinning tool according to an embodiment of the present invention, with some structures hidden;

[0031] Figure 5 It is a structural schematic diagram of part of the structure of an embodiment of the present invention;

[0032] Figure 6 A schematic diagram of the structure of an overhead device according to an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of the overhead device according to an embodiment of the present invention, in which part of the structure is hidden;

[0034] Figure 8 It is a structural schematic diagram of the pin-replacing tooling according to the embodiment of the present invention when the pin-replacing tooling is clamping the pin;

[0035] Fig. 9 This is a structural schematic diagram of placing a pin on a slot by a pin replacement tool according to an embodiment of the present invention;

[0036] Description of Reference Numerals

[0037] 1. Frame; 2. Mechanical arm; 3. Mounting platform; 4. First electric push rod; 5. First leg; 6. Second leg; 7. Mounting seat; 8. Clamping wheel; 9. Traveling wheel; 10. First motor; 11. Guide column; 12. Fourth gear; 13. Extension structure; 14. Second motor; 15. Screw; 16. Guide rail; 18. Rack; 19. Bottom plate; 20. Third motor; 21. Power gear; 22. Driven gear; 23. Top plate; 24. Fourth motor; 25. Lifting rod; 26. Pulley; 27. Transmission belt; 28. Fifth motor; 29. ​​Lifting platform; 30. First rotating rod; 31. Clamping arm; 32. Connecting rod Connecting rod; 33, sixth motor; 34, shifting rod; 35, push-pull rod; 36, first limit block; 37, first stop block; 38, first connecting rod; 39, clamping plate; 40, second rotating rod; 41, pulling rod; 42, seventh motor; 43, conveyor belt; 45, latch box; 46, rotating wheel; 47, pin hole; 48, housing; 49, eighth motor; 50, second connecting rod; 51, second limit block; 52, second stop block; 53, ninth motor; 54, first gear; 55, second gear; 56, third gear; 57, bending block; 58, slot; 59, fixing plate; 60, spacing adjustment structure; 61, slide rail. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0039] Example 1

[0040] like Figure 1-9 As shown, a multi-functional fault-eliminating robot includes a frame 1, and the frame 1 is equipped with a drone mounting part for mounting a drone, which allows the drone to be mounted and the robot to be hoisted to the power transmission line by the drone. The drone mounting part is a prior art and will not be described in detail here. At the same time, the fault-eliminating robot is also equipped with multiple cameras, which monitor the working status of the robot in real time through the cameras, and the drone adjusts its flight posture on the hanging device, which will not be described in detail here. The spacing adjustment structure 60 installed on the frame 1 and the line spacing adjustment structure 60 installed on the spacing adjustment structure 60, the spacing adjustment structure 60 allows the overall size or shape of the robot to be adjusted according to the working environment and task requirements, so as to improve the adaptability to the transmission line spacing.

[0041] The line spacing adjustment structure 60 includes a first electric push rod 4, a first leg 5 and a second leg 6 installed on the spacing adjustment structure 60, a mounting seat 7 is hinged on the first leg 5 and the second leg 6, a clamping wheel 8 is installed on the mounting seat 7, a walking wheel 9 is installed above the clamping wheel 8, and the walking wheel 9 is connected to a first motor 10 for providing power thereto.

[0042] The travel wheel 9 is formed by splicing two cones and connected at the splicing point by a guide column 11. The cone near the frame 1 is provided with teeth, and the teeth are arranged on the side with a larger diameter of the cone. The travel wheel 9 is connected to the first power motor 10 through a fourth gear 12, and the fourth gear 12 is meshed with the teeth arranged on the cone. There are four travel wheels 9 and they are respectively installed on the four corners of the frame 1, and a corresponding clamping wheel 8 is installed under each travel wheel 9. The first electric push rod 4 starts to work, and the robot is fixed to the high-voltage transmission line by adjusting the distance between the travel wheel 9 and the clamping wheel 8. Then, the first motor 10 starts to drive the travel wheel 9 to move on the transmission line. The unique design of the travel wheel 9 and the meshing method with the fourth gear 12 ensure the stability and accuracy of walking. At the same time, the clamping wheel 8 maintains the contact force with the transmission line to prevent the robot from slipping.

[0043] Example 2

[0044] The difference between this embodiment and the above embodiment is that the extension structure 13 is introduced in more detail. The robot arm 2 is installed on the frame 1, and the robot arm 2 is located at the front end of the frame 1. The robot arm 2 is connected with a defect elimination tool or a pin replacement tool; the defect elimination tool is modified by the staff through the existing electric wrench, and no further introduction is given here. The robot arm 2 is an existing structure applied to the defect elimination robot. The robot arm 2 can perform multiple turns. The robot arm 2 can perform multiple turns, which enables the robot to flexibly cope with various complex working environments, such as different angles and positions of transmission lines.

[0045] By connecting the defect elimination tooling or the pin replacement tooling, the robot arm 2 can perform a variety of work tasks, thereby improving the versatility and practicality of the robot.

[0046] An extension structure 13 is provided at the front end of the robotic arm 2, and the extension structure 13 is slidably connected to the robotic arm 2. The extension structure 13 and the robotic arm 2 are slidably connected. This design enables the extension structure 13 to be extended and retracted as needed to meet the needs of different working distances.

[0047] A second motor 14 is installed on the robotic arm 2, and a screw 15 is arranged between the second motor 14 and the extension structure 13. One end of the screw 15 is fixedly connected to the power output end of the second motor 14, and the other end is threadedly connected to the extension structure 13. The extension mechanism is provided with an installation interface for installing a pin-replacing tool at the end facing away from the robotic arm 2, and the defect elimination tool and the pin-replacing tool are both connected to the robotic arm 2 via the installation interface.

[0048] The screw 15 is driven to rotate by the second motor 14 to achieve precise movement of the extension structure 13. This design not only improves the stability of the extension structure 13, but also makes the operation easier and more accurate. The extension structure 13 is provided with a mounting interface at the end facing away from the robot arm 2, which enables the defect elimination tooling and the pin replacement tooling to be conveniently connected to the robot arm 2, thereby improving work efficiency and flexibility. The second motor 14 serves as a power source to provide a stable and reliable power output for the movement of the extension structure 13. The defect elimination tooling and the pin replacement tooling are used to perform different work tasks, such as eliminating defects on the transmission line and replenishing missing pins. The coordinated use of these two toolings enables the robot to cope with a variety of work tasks.

[0049] Example 3

[0050] This embodiment describes the horizontal displacement structure in more detail. The pin replacement tooling includes a mounting platform 3 and a horizontal displacement structure installed on the mounting platform 3. A guide rail 16 is arranged between the horizontal translation structure and the mounting platform 3. Two guide rails 16 are installed. The two guide rails 16 are installed in parallel on both sides of the mounting platform 3. A rack 18 is arranged between the two guide rails 16. The horizontal translation structure includes a bottom plate 19. The bottom plate 19 is located above the guide rail 16. A slider adapted to the guide rail 16 is installed on the bottom plate 19.

[0051] The bottom plate 19 is provided with a third motor 20, a power gear 21 is provided on the power output end of the third motor 20, a driven gear 22 is provided between the power gear 21 and the rack 18, and the driven gear 22 is rotatably connected to the bottom plate 19. The cooperation of the guide rail 16 and the slider achieves high-precision horizontal displacement of the pin-replacing tool. The parallel installation of the guide rail 16 and the precise setting of the rack 18 ensure the stability and accuracy of the horizontal translation structure. The third motor 20, as a power source, provides a strong driving force for the horizontal translation structure through the transmission of the power gear 21 and the driven gear 22. The rotation of the driven gear 22 causes the bottom plate 19 to slide on the guide rail 16 and to move horizontally along the direction of the rack 18. Due to the cooperation of the guide rail 16 and the slider and the precise setting of the rack 18, the stability and accuracy of the movement of the bottom plate 19 are ensured. When the bottom plate 19 moves to the specified position, the operator stops the rotation of the third motor 20 through the remote control or the preset program.

[0052] Example 4

[0053] The present embodiment provides a more detailed description of the vertical translation structure and the pin clamp, the vertical translation structure installed on the horizontal displacement structure, the vertical translation structure includes a fourth motor 24 installed on the top plate 23 of the horizontal translation structure, a lifting rod 25 is provided between the top plate 23 and the bottom plate 19, the two ends of the lifting rod 25 are respectively rotatably connected between the top plate 23 and the bottom plate 19, the middle position of the lifting rod 25 is provided with a thread, the lifting rod 25 is provided with two, each lifting rod 25 is provided with a pulley 26 at one end located on the top plate 23, the pulley 26 is connected to the power output end of the fourth motor 24 through the transmission belt 27, two guide rails 16 are provided between the bottom plate 19 and the top plate 23, and the two guide rails 16 are located behind the two lifting rods 25 respectively;

[0054] A fifth motor 28 is provided between the two guide rails 16, and both sides of the fifth motor 28 are slidably connected to the guide rails 16 through the sliding member; the fourth motor 24 drives the pulley 26 and the transmission belt 27 to drive the lifting rod 25 to rotate, and since the middle of the lifting rod 25 is provided with a thread, the lifting platform 29 can be accurately lifted and lowered. This design ensures the high-precision movement of the pin clamp in the vertical direction.

[0055] The two lifting rods 25 are arranged in parallel, and are lifted synchronously by the pulley 26 and the transmission belt 27, providing a stable support for the lifting platform 29. At the same time, the arrangement of the two guide rails 16 further enhances the stability of the vertical translation structure.

[0056] The rotational connection between the lifting rod 25 and the top plate 23 and the bottom plate 19, and the threaded connection between the lifting platform 29 and the lifting rod 25, enable the vertical translation structure to flexibly adjust the height to adapt to different working environments and task requirements.

[0057] A pin clamp is installed on the vertical translation structure, and the pin clamp includes a lifting platform 29 that is threadedly connected to the two lifting rods 25. A first rotating rod 30 is fixedly connected to the power output end of the fifth motor 28. A clamp arm 31 is hinged on the lifting platform 29. Two clamp arms 31 are provided. A connecting rod 32 is hinged between the two clamp arms 31. The connecting rod 32 is rotatably connected to the first rotating rod 30 through the connecting piece. The two clamp arms 31 are arranged in an eight-shaped shape close to the side of the guide rail 16.

[0058] The two clamping arms 31 are connected to the first rotating rod 30 through the connecting rod 32. When the fifth motor 28 drives the first rotating rod 30 to rotate, the clamping arms 31 can be quickly opened or closed to achieve efficient clamping of the pin. By controlling the rotation direction and speed of the fifth motor 28, the opening and closing of the clamping arms 31 can be accurately controlled, which is easy to operate and easy to automate.

[0059] Working principle of vertical translation structure:

[0060] When the height of the pin clamp needs to be adjusted, the operator starts the fourth motor 24 through the remote control or a preset program. The fourth motor 24 drives the pulley 26 to rotate, and drives the lifting rod 25 to rotate through the transmission belt 27. Since the lifting rod 25 is provided with a thread in the middle, the lifting rod 25 can drive the lifting platform 29 to rise and fall along the thread direction when it rotates.

[0061] The lifting movement of the lifting platform 29 is guided and supported by the guide rails 16 to ensure the stability and accuracy of the lifting process.

[0062] Working principle of pin gripper:

[0063] When it is necessary to clamp the pin, the operator starts the fifth motor 28 through the remote control or the preset program. The fifth motor 28 drives the first rotating rod 30 to rotate, and the first rotating rod 30 drives the connecting rod 32 to rotate through the connecting member. The rotation of the connecting rod 32 causes the two clamping arms 31 to produce relative movement at the hinge, and the clamping arms 31 quickly open or close. When the clamping arms 31 are closed, the pin can be clamped; when the clamping arms 31 are opened, the pin can be released. By controlling the rotation direction and speed of the fifth motor 28, precise control of the opening and closing of the clamping arms 31 can be achieved.

[0064] Example 5

[0065] This embodiment focuses on a more detailed description of the pin box, the pin box inside the mounting platform 3, the pin box includes a seventh motor 42 installed in the middle of the mounting platform 3, and a pin device connected to the seventh motor 42 through a conveyor belt 43, the pin device is rotatably connected to the inner wall of the mounting platform 3, the pin device includes a latch box 45 and a rotating wheel 46, the latch box 45 is provided with a pin hole 47 for storing pins, the rotating wheel 46 is located on one side of the latch box 45 and is fixedly connected between the latch boxes 45.

[0066] The conveyor belt 43 drives the rotating wheel 46 to rotate, thereby realizing the rotation of the pin box, and the pins are clamped out of the pin box under the cooperation of the vertical translation structure, the horizontal translation structure and the pin clamping claw (refer to Figure 8 and Fig. 9 working status diagram).

[0067] Example 6

[0068] This embodiment describes the overhead crane and the nut clamp in more detail. The overhead crane and the nut clamp are installed at the front end of the mounting platform 3, and the nut clamp is located above the overhead crane.

[0069] The nut clamp includes a sixth motor 33 installed inside the mounting platform 3, a lever 34 is rotatably connected to the power output end of the sixth motor 33, a push-pull rod 35 is hinged on the lever 34, a first limit block 36 is arranged on the push-pull rod 35, a first stopper 37 adapted to the first limit block 36 is arranged on the outer wall of the mounting platform 3, a first connecting rod 3832 is installed at the front end of the mounting platform 3, a clamping plate 39 is installed at the front end of the mounting plate, two clamping plates 39 are installed, one end of the two clamping plates 39 is hinged to the mounting platform 3, a second rotating rod 40 is hinged on the other end of the push-pull rod 35, a pull rod 41 is arranged between the second rotating rod 40 and the clamping plate 39, the pull rod 41 is hinged to the first connecting rod 38, and the two ends of the pull rod 41 are respectively hinged to the second rotating rod 40 and the clamping plate 39. When it is necessary to clamp the nut, the sixth motor 33 is started to drive the lever 34 to rotate.

[0070] When the lever 34 rotates, the hinged push-pull rod 35 pushes the first limit block 36 to contact the first stop block 37, thereby driving the push-pull rod 35 to move.

[0071] When the push-pull rod 35 moves, the two clamping plates 39 rotate relative to each other through the hinged second rotating rod 40 and the pulling rod 41 to clamp the nut. When the nut needs to be released, the sixth motor 33 rotates in the reverse direction to drive the lever 34 to rotate in the opposite direction, and the clamping plates 39 loosen the nut through the same principle.

[0072] The overhead device includes a shell 48 installed at the front end of the mounting platform 3, the shell 48 is hinged to the first connecting rod 38, an eighth motor 49 for the up and down displacement is installed inside the mounting platform 3, a second connecting rod 50 is connected to the power output end on one side of the eighth motor 49, both ends of the second connecting rod 50 are respectively hinged to the shell 48 and the power output end on one side of the eighth motor 49, a second limit block 51 is provided on the power output end on the other side of the eighth motor 49, and a second stopper 52 adapted to the second limit block 51 is provided on the outer wall of the mounting platform 3 on the second limit block 51;

[0073] The housing 48 is provided with a ninth motor 53, a first gear 54 is fixedly connected to the power output end of the ninth motor 53, the first gear 54 is meshed with a second gear 55, the second gear 55 is rotationally connected to the housing 48, two second gears 55 are provided, the two second gears 55 have opposite rotation directions, the two second gears 55 are provided with a third gear 56, the two third gears 56 are meshed with a bending block 57, the bending block 57 is provided with a fixing slot 58 for pins, a fixing plate 59 is fixedly installed on the housing 48, the fixing plate 59 is located between the third gear 56 and the bending block 57, the bending block 57 is rotationally connected to the fixing plate 59, and the two bending blocks 57 are driven by the ninth motor 53 to rotate in opposite directions to bend the pin. The ninth motor 53 is started to drive the first gear 54 to rotate.

[0074] When the first gear 54 rotates, the two third gears 56 are driven to rotate through the meshing second gear 55 . Since the two second gears 55 rotate in opposite directions, the two third gears 56 also rotate in opposite directions.

[0075] The pin is inserted into the pin hole 47 under the cooperation of the vertical translation structure, the horizontal translation structure and the pin clamp, refer to ( Figure 8 and Fig. 9 ) When the two third gears 56 rotate, the meshing bending block 57 drives them to rotate, thereby bending the pin. The slot 58 provided on the bending block 57 is used to fix the pin to prevent it from moving during the bending process. With its significant advantages such as high integration, compact structure and versatility, the defect elimination robot provides a more efficient, safe and reliable solution for the maintenance of power lines and other equipment, and has broad application prospects and market value.

[0076] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0077] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-functional defect elimination robot, characterized in that: The machine comprises a frame (1), a spacing adjustment structure installed on the frame (1), a wire spacing adjustment structure installed on the spacing adjustment structure, and a mechanical arm (2) installed on the frame (1); the mechanical arm (2) is connected to a defect elimination tool or a pin replacement tool; The pin replacement tool comprises a mounting platform (3), a horizontal displacement structure mounted on the mounting platform (3), a vertical translation structure mounted on the horizontal displacement structure, a pin box mounted inside the mounting platform (3), a pin clamp mounted on the vertical translation structure, and an opener and a nut clamp mounted at the front end of the mounting platform (3), the nut clamp being located above the opener.

2. A multi-functional defect elimination robot according to claim 1, characterized in that: The line spacing adjustment structure comprises a first electric push rod (4) mounted on the spacing adjustment structure, a first leg (5) and a second leg (6), a mounting seat (7) being hinged on the first leg (5) and the second leg (6), a clamping wheel (8) being mounted on the mounting seat (7), a travel wheel (9) being mounted above the clamping wheel (8), and the travel wheel (9) being connected to a first motor (10) for providing power thereto.

3. A multi-functional defect elimination robot according to claim 2, characterized in that: The travel wheel (9) is formed by splicing two cones and connected at the splicing point by a guide column (11). The cone close to the frame (1) is provided with teeth, and the teeth are arranged on the side of the cone with a larger diameter. The travel wheel (9) is connected to the first power motor (10) via a fourth gear (12), and the fourth gear (12) is meshed with the teeth provided on the cone.

4. A multi-functional defect elimination robot according to claim 3, characterized in that: Four running wheels (9) are provided and are respectively mounted on the four corners of the frame (1), and a corresponding clamping wheel (8) is mounted below each running wheel (9).

5. The multi-functional defect elimination robot according to claim 1, characterized in that: A mechanical arm (2) is installed at the front end of the frame (1), and an extension structure (13) is provided at the front end of the mechanical arm (2). The extension structure (13) is slidably connected to the mechanical arm (2). A second motor (14) is installed on the mechanical arm (2), and a screw (15) is provided between the second motor (14) and the extension structure (13). One end of the screw (15) is fixedly connected to the power output end of the second motor (14), and the other end is threadedly connected to the extension structure (13). The extension mechanism is provided with an installation interface for installing a rotating pin replacement tool at the end away from the mechanical arm (2).

6. The multi-functional defect elimination robot according to claim 1, characterized in that: A guide rail (16) is arranged between the horizontal translation structure and the mounting platform (3), two guide rails (16) are installed, the two guide rails (16) are installed in parallel on both sides of the mounting platform (3), a rack (18) is arranged between the two guide rails (16), the horizontal translation structure comprises a base plate (19), the base plate (19) is located above the guide rail (16), a slider matched with the guide rail (16) is installed on the base plate (19), a third motor (20) is installed on the base plate (19), a power gear (21) is installed on the power output end of the third motor (20), a driven gear (22) is arranged between the power gear (21) and the rack (18), and the driven gear (22) is rotatably connected to the base plate (19).

7. A multi-functional defect elimination robot according to claim 6, characterized in that: A fourth motor (24) is installed below the top plate (23) of the horizontal translation structure, a lifting rod (25) is arranged between the top plate (23) and the bottom plate (19), two ends of the lifting rod (25) are rotatably connected to the top plate (23) and the bottom plate (19) respectively, a thread is arranged at the middle of the lifting rod (25), two lifting rods (25) are arranged, one end of each lifting rod (25) located on the top plate (23) is provided with a pulley (26), the pulley (26) is connected to the power output end of the fourth motor (24) through a transmission belt (27), two slide rails (61) are arranged between the bottom plate (19) and the top plate (23), and the two slide rails (61) are respectively located behind the two lifting rods (25); A fifth motor (28) is arranged between the two slide rails (61), and the two sides of the fifth motor (28) are respectively slidably connected to the slide rails (61) through sliding members; the pin clamp comprises a lifting platform (29) threadedly connected to the two lifting rods (25), a first rotating rod (30) is fixedly connected to the power output end of the fifth motor (28), a clamp arm (31) is hinged on the lifting platform (29), two clamp arms (31) are arranged, a connecting rod (32) is hinged between the two clamp arms (31), the connecting rod (32) is rotatably connected to the first rotating rod (30) through the connecting member, and the two clamp arms (31) are arranged in an eight-shaped shape on one side close to the slide rail (61).

8. The multi-functional defect elimination robot according to claim 1, characterized in that: The nut clamp comprises a sixth motor (33) mounted inside the mounting platform (3); a lever (34) is rotatably connected to the power output end of the sixth motor (33); a push-pull rod (35) is hingedly connected to the lever (34); a first limit block (36) is arranged on the push-pull rod (35); a first stop block (37) matched with the first limit block (36) is arranged on the outer wall of the mounting platform (3); a first connecting rod (38) is installed at the front end of the mounting platform (3); A splint (39) is installed at the front end, and two of the splints (39) are installed. One end of the two splints (39) is hinged to the mounting platform (3), and a second rotating rod (40) is hinged to the other end of the push-pull rod (35). A pull rod (41) is arranged between the second rotating rod (40) and the splint (39), and the pull rod (41) is hinged to the first connecting rod (38). The two ends of the pull rod (41) are respectively hinged to the second rotating rod (40) and the splint (39).

9. The multi-functional defect elimination robot according to claim 1, characterized in that: The pin box comprises a seventh motor (42) installed at the middle of the mounting platform (3), a pin device connected to the seventh motor (42) via a conveyor belt (43), the pin device being rotatably connected to the inner wall of the mounting platform (3), the pin device comprising a latch box (45) and a rotating wheel (46), the latch box (45) being provided with a pin hole (47) for storing a pin, the rotating wheel (46) being located at one side of the latch box (45) and being fixedly connected to the latch box (45).

10. The multi-functional defect elimination robot according to claim 8, characterized in that: The overhead device comprises a shell (48) mounted on the front end of the mounting platform (3), the shell (48) being hinged to the first connecting rod (38), an eighth motor (49) for moving the shell (48) up and down is mounted inside the mounting platform (3), a second connecting rod (50) is connected to the power output end on one side of the eighth motor (49), two ends of the second connecting rod (50) are respectively hinged to the shell (48) and the power output end on one side of the eighth motor (49), a second limit block (51) is arranged on the power output end on the other side of the eighth motor (49), and a second stop block (52) matched with the second limit block (51) is arranged on the outer wall of the mounting platform (3); A ninth motor (53) is arranged on the housing (48); a first gear (54) is fixedly connected to a power output end of the ninth motor (53); the first gear (54) is meshed with a second gear (55); the second gear (55) is rotationally connected to the housing (48); two second gears (55) are arranged; the rotation directions of the two second gears (55) are opposite; a third gear (56) is arranged on the two second gears (55); the two third gears (56) are meshed with a bending block (57); the bending block (57) is provided with a fixing slot (58) for a pin; a fixing plate (59) is fixedly installed on the housing (48); the fixing plate (59) is located between the third gear (56) and the bending block (57); the bending block (57) is rotationally connected to the fixing plate (59).

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