A multi-functional defect elimination robot

Abstract

This application relates to the field of ultra-high voltage transmission line maintenance technology, and particularly to a multi-functional defect elimination robot, comprising a frame, a spacing adjustment structure mounted on the frame, a line spacing adjustment structure mounted on the spacing adjustment structure, and a robotic arm mounted on the frame; the robotic arm is connected to a defect elimination fixture or a pin repair fixture; the pin repair fixture 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 gripper mounted on the vertical translation structure, and an outlet device and a nut gripper mounted at the front end of the mounting platform, the nut gripper being located above the outlet device. Therefore, this multi-functional defect elimination robot addresses the problem that existing technologies often remain at the inspection or foreign object removal stage, and although some devices can perform repair work, they are mostly single-task operations.

Description

Technical Field

[0001] This application relates to the field of ultra-high voltage transmission line maintenance technology, and more specifically, to multi-functional defect elimination robots. Background Technology

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

[0003] Of particular note is that low-frequency vibrations caused by light winds (also known as secondary span vibrations or galloping) pose a serious challenge to the long-term reliability of transmission lines. This vibration has a significant negative impact on critical components such as connecting hardware, spacers, and counterweights. These hardware components are essential for ensuring the proper securing of conductors and insulator strings, and loose or missing nuts and pins can significantly reduce the tightness of the hardware, thereby affecting conductor stability and increasing the risk of line faults.

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

[0005] To overcome these challenges, research and practice have begun on using automated and remote technologies such as drones and electric lifting equipment for live-line work on power transmission lines. However, these technologies are currently mostly applied only to simple tasks such as inspection or cleaning foreign objects. For more complex repair work, although some devices and technologies have been developed, they are often only applicable to single work scenarios 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 elimination 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, this application proposes a multi-functional defect elimination robot to solve the problem that existing technologies are mostly limited to inspection or cleaning of foreign objects. Although some device technologies can perform repair work, they are mostly single-operation technologies.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0009] A multi-functional defect elimination robot includes a frame, a spacing adjustment structure mounted on the frame, a line spacing adjustment structure mounted on the spacing adjustment structure, and a robotic arm mounted on the frame; the robotic arm is connected to a defect elimination fixture or a pin repair fixture.

[0010] The pin replacement fixture 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, pin clamps mounted on the vertical translation structure, and an off-end and a nut clamp mounted on the front end of the mounting platform, with the nut clamp located above the off-end.

[0011] In one specific implementation, the line spacing adjustment structure includes a first electric push rod, a first leg and a second leg mounted on the spacing adjustment structure. The first leg and the second leg are hinged to mounting seats. A pressure wheel is mounted on the mounting seat. A traveling wheel is mounted above the pressure wheel. The traveling wheel is connected to a first motor that provides power to it.

[0012] In one specific implementation, the walking wheel is formed by splicing two truncated cones and connecting them at the splice point through a guide post. The truncated cone near the frame is provided with teeth, which are arranged on the side with the larger diameter of the truncated cone. The walking wheel is connected to the first power motor through a fourth gear, which meshes with the teeth provided on the truncated cone.

[0013] In one specific implementation, four walking wheels are provided and respectively installed at the four corners of the frame, and a corresponding pressure wheel is installed under each walking wheel.

[0014] In one specific implementation scheme, a robotic arm is mounted on 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. A second motor is mounted on the robotic arm, and 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 has an installation interface for installing a rotating pin tool at its end away from the robotic arm.

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

[0016] In one specific implementation scheme, a fourth motor is installed on the top plate of the horizontal translation structure, and a lifting rod is provided between the top plate and the bottom plate. The two ends of the lifting rod are rotatably connected to the top plate and the bottom plate, respectively. A thread is provided in the middle of the lifting rod, and two lifting rods are provided. Each lifting rod has a pulley at one end on the top plate. The pulley is connected to the power output end of the fourth motor through a transmission belt. Two guide rails are provided between the bottom plate and the top plate, and the two guide rails are located behind the two lifting rods, respectively.

[0017] A fifth motor is provided between the two guide rails, and the two sides of the fifth motor are slidably connected to the guide rails through the sliding members; the pin clamp includes a lifting platform that is threadedly connected to the two lifting rods, a first rotating rod is fixedly connected to the power output end of the fifth motor, and a clamping arm is hinged on the lifting platform. There are two clamping arms, and 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 a figure-eight shape on the side near the guide rail.

[0018] In one specific implementation scheme, the nut clamp includes a sixth motor installed inside the mounting platform. A lever is rotatably connected to the power output end of the sixth motor. A push-pull rod is hinged to the lever. A first limiting block is provided on the push-pull rod. A first stop block adapted to the first limiting block is provided on the outer wall of the mounting platform. A first connecting rod is installed at the front end of the mounting platform. A clamping plate is installed at the front end of the mounting plate. Two clamping plates are installed. One end of the two clamping plates is hinged to the mounting platform. A second rotating rod is hinged to the other end of the push-pull rod. A pull rod is provided between the second rotating rod and the clamping plate. The pull rod is hinged to the first connecting rod. Both ends of the pull rod are respectively hinged to the second rotating rod and the clamping plate.

[0019] In one specific implementation, the pin box includes a seventh motor installed in the middle of the mounting platform, a pin holder connected to the seventh motor via a conveyor belt, the pin holder being rotatably connected to the inner wall of the mounting platform, the pin holder including a pin box and a rotating wheel, the pin box having pin holes for storing pins, and the rotating wheel being located on one side of the pin box and fixedly connected to the pin box.

[0020] In one specific implementation, the overhead device includes a housing mounted on the front end of the mounting platform. The housing is hinged to the first connecting rod. An eighth motor for vertical displacement of the housing is installed inside the mounting platform. A second connecting rod is connected to the power output end on one side of the eighth motor. The two ends of the second connecting rod are respectively hinged to the housing and the power output end on one side of the eighth motor. A second limiting block is provided on the power output end on the other side of the eighth motor. A second stop block adapted to the second limiting block is provided on the outer wall of the mounting platform.

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

[0022] The positive effects of this invention are: the fault-finding robot can replace manual labor in live-line work, reducing the high-intensity labor of operators in harsh environments and lowering the threat to their personal safety from strong electric fields. The robot possesses multiple functions, enabling it to perform complex repair work, thus improving the efficiency and safety of maintenance operations.

[0023] The defect-eliminating robot is designed to be multi-functional, not limited to simple tasks such as inspection or cleaning foreign objects, but also capable of performing more complex repair work. Through components such as the spacing adjustment structure, line spacing adjustment structure, and robotic arm mounted on the frame, the robot can adapt to different operating scenarios, providing a comprehensive solution.

[0024] The robot is equipped with a pin-repairing fixture that can handle the loosening or missing nuts and pins in connecting hardware (such as connecting plates, spacers, and counterweights). Through the coordinated work of components such as the horizontal displacement structure, vertical translation structure, pin gripper, outlet device, and nut gripper, the robot can accurately install or replace pins and nuts, ensuring the correct fixation of conductors and insulator strings, thereby improving the stability of transmission lines.

[0025] The robot's wheels are designed as two truncated cones joined together by guide posts. This design allows the wheels to adapt to different line spacing and angles, improving the robot's walking stability and adaptability. Meanwhile, the extended structure at the front of the robotic arm allows the robot to reach farther locations for operations, increasing its working range. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

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

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

[0029] Figure 3 This is a schematic diagram of the structure of the pin-repair tooling according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the hidden portion of the tooling structure in an embodiment of the present invention;

[0031] Figure 5 This is a structural schematic diagram of a portion of the structure according to an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the overhead device according to an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the overhead device structure with the hidden portion shown in an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of the structure of the pin-replenishing tool in the pin-replenishing device when it picks up the pin according to an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of the structure of the pin-replacing tool in an embodiment of the present invention, showing the pin being placed on the slot.

[0036] Explanation of reference numerals in the attached figures

[0037] 1. Frame; 2. Robotic arm; 3. Mounting platform; 4. First electric actuator; 5. First leg; 6. Second leg; 7. Mounting base; 8. Pressure roller; 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. Base 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. 33. Connecting rod; 34. Sixth motor; 35. Toggle lever; 36. Push-pull rod; 37. First limit block; 38. First stop block; 39. Clamping plate; 40. Second rotating rod; 41. Pull rod; 42. Seventh motor; 43. Conveyor belt; 45. Pin box; 46. Rotating wheel; 47. Pin hole; 48. Outer shell; 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 Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] Example 1

[0040] like Figure 1-9 As shown, a multi-functional defect elimination robot includes a frame 1. The frame 1 is equipped with a drone mounting part for mounting a drone, allowing the drone to lift the robot to the power transmission line. The drone mounting part is existing technology and will not be described in detail here. The defect elimination robot is also equipped with multiple cameras to monitor the robot's working status in real time and to adjust the drone's flight attitude on the lifting device. This will also not be described in detail here. A spacing adjustment structure 60 is installed on the frame 1, and a line spacing adjustment structure 60 is 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, improving its adaptability to the spacing of power transmission lines.

[0041] The line spacing adjustment structure 60 includes a first electric push rod 4, a first support leg 5 and a second support leg 6 mounted on the spacing adjustment structure 60. The first support leg 5 and the second support leg 6 are hinged to a mounting base 7. A pressure wheel 8 is mounted on the mounting base 7. A traveling wheel 9 is mounted above the pressure wheel 8. The traveling wheel 9 is connected to a first motor 10 that provides power to it.

[0042] The walking wheel 9 is composed of two truncated cones joined together and connected at the joint by a guide post 11. Teeth are provided on the truncated cone closest to the frame 1, with the teeth positioned on the side with the larger diameter. The walking wheel 9 is connected to the first power motor 10 via a fourth gear 12, which meshes with the teeth on the truncated cone. Four walking wheels 9 are provided and installed at the four corners of the frame 1, with a corresponding clamping wheel 8 installed below each walking wheel 9. The first electric actuator 4 starts working, adjusting the distance between the walking wheel 9 and the clamping wheel 8 to fix the robot to the high-voltage power line. Then, the first motor 10 starts, driving the walking wheel 9 to move along the power line. The unique design of the walking wheel 9 and its meshing with the fourth gear 12 ensure smooth and accurate movement. Simultaneously, the clamping wheel 8 maintains contact with the power line, preventing the robot from slipping.

[0043] Example 2

[0044] This embodiment differs from the previous embodiment in that the extension structure 13 is described in more detail. The robotic arm 2 is installed on the frame 1 and is located at the front end of the frame 1. The robotic arm 2 is connected to a defect elimination tool or a pin repair tool. The defect elimination tool is modified by the worker using an existing electric wrench, which will not be described in detail here. The robotic arm 2 is an existing structure applied to the defect elimination robot. The robotic arm 2 can turn in multiple directions, which allows the robot to flexibly cope with various complex working environments, such as different angles and positions of power transmission lines.

[0045] By connecting to defect elimination or repair fixtures, robotic arm 2 can perform a variety of tasks, improving the robot's versatility and practicality.

[0046] The robotic arm 2 is provided with an extension structure 13 at its front end. The extension structure 13 is slidably connected to the robotic arm 2. This slidable connection between the extension structure 13 and the robotic arm 2 allows the extension structure 13 to extend and retract as needed, thereby adapting to different working distance requirements.

[0047] A second motor 14 is installed on the robotic arm 2. 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 replacement pin fixture at the end away from the robotic arm 2. Both the defect elimination fixture and the replacement pin fixture are connected to the robotic arm 2 through the installation interface.

[0048] The extension structure 13 is precisely moved by rotating the screw 15 driven by the second motor 14. This design not only improves the stability of the extension structure 13 but also makes operation simpler and more accurate. An installation interface is provided at the end of the extension structure 13 facing away from the robotic arm 2, allowing for easy connection of the defect removal tooling and the pin replacement tooling to the robotic arm 2, improving work efficiency and flexibility. The second motor 14, as the power source, provides stable and reliable power output for the movement of the extension structure 13. The defect removal tooling and the pin replacement tooling are used to perform different tasks, such as eliminating defects in the power transmission line and replacing missing pins. The combined use of these two toolings enables the robot to handle a variety of tasks.

[0049] Example 3

[0050] This embodiment provides a more detailed description of the horizontal displacement structure. The replacement pin fixture includes a mounting platform 3 and a horizontal displacement structure mounted on the mounting platform 3. A guide rail 16 is provided between the horizontal displacement structure and the mounting platform 3. Two guide rails 16 are installed, and the two guide rails 16 are installed parallel to each other on both sides of the mounting platform 3. A rack 18 is provided between the two guide rails 16. The horizontal displacement structure includes a base plate 19, which is located above the guide rails 16. A slider adapted to the guide rails 16 is installed on the base plate 19.

[0051] A third motor 20 is mounted on the base plate 19. A power gear 21 is mounted 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 base plate 19. Through the cooperation of the guide rail 16 and the slider, high-precision horizontal displacement of the pin-repairing fixture is achieved. 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 the 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 base plate 19 to slide on the guide rail 16 and 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 base plate 19 are ensured. When the base plate 19 moves to the designated position, the operator stops the rotation of the third motor 20 via a remote control or a preset program.

[0052] Example 4

[0053] This embodiment provides a more detailed description of the vertical translation structure and the pin clamps. The vertical translation structure, installed on the horizontal displacement structure, includes a fourth motor 24 mounted 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 rotatably connected to the top plate 23 and the bottom plate 19, respectively. A thread is provided in the middle of the lifting rod 25. There are two lifting rods 25. Each lifting rod 25 has a pulley 26 at one end on the top plate 23. The pulley 26 is connected to the power output end of the fourth motor 24 through a transmission belt 27. Two guide rails 16 are provided between the bottom plate 19 and the top plate 23. The two guide rails 16 are located behind the two lifting rods 25, respectively.

[0054] A fifth motor 28 is disposed between the two guide rails 16, and the two sides of the fifth motor 28 are slidably connected to the guide rails 16 through the sliding members respectively. The fourth motor 24 drives the pulley 26 and the transmission belt 27 to rotate the lifting rod 25. Since the lifting rod 25 has a thread in the middle, the lifting platform 29 can be raised and lowered precisely. This design ensures high-precision movement of the pin clamp in the vertical direction.

[0055] Two lifting rods 25 are arranged in parallel and achieve synchronous lifting through pulleys 26 and drive belts 27, providing stable support for the lifting platform 29. At the same time, the two guide rails 16 further enhance the stability of the vertical translation structure.

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

[0057] The vertical translation structure is equipped with pin grippers, which include 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. Two clamping arms 31 are hinged on the lifting platform 29. A connecting rod 32 is hinged between the two clamping arms 31. The connecting rod 32 is rotatably connected to the first rotating rod 30 through the connecting member. The two clamping arms 31 are arranged in a figure-eight shape on the side near the guide rail 16.

[0058] Two clamping arms 31 are connected to the first rotating rod 30 via a connecting rod 32. When the fifth motor 28 drives the first rotating rod 30 to rotate, the clamping arms 31 can quickly open or close, achieving efficient clamping of the pin. 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, making the operation simple 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 via remote control or a preset program. The fourth motor 24 drives the pulley 26 to rotate, which in turn drives the lifting rod 25 to rotate via the transmission belt 27. Because the lifting rod 25 has a thread in the middle, its rotation can cause the lifting platform 29 to rise and fall along the thread direction.

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

[0062] Working principle of pin clamps:

[0063] When a pin needs to be clamped, the operator starts the fifth motor 28 via remote control or a preset program. The fifth motor 28 drives the first rotating rod 30 to rotate, which in turn drives the connecting rod 32 to rotate via a connector. The rotation of the connecting rod 32 causes relative movement between the two clamping arms 31 at the hinge point, causing the clamping arms 31 to open or close rapidly. When the clamping arms 31 are closed, they can clamp the pin; when they are open, they can release the pin. 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, which is located 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 holder connected to the seventh motor 42 via a conveyor belt 43. The pin holder is rotatably connected to the inner wall of the mounting platform 3. The pin holder includes a pin box 45 and a rotating wheel 46. The pin box 45 is provided with pin holes 47 for storing pins. The rotating wheel 46 is located on one side of the pin box 45 and is fixedly connected to the pin box 45.

[0066] The conveyor belt 43 drives the rotating wheel 46 to rotate, thereby rotating the pin box. The vertical translation structure, the horizontal translation structure, and the pin clamping claw work together to clamp the pin out of the pin box (see reference). Figure 8 and Figure 9 (Work status diagram).

[0067] Example 6

[0068] This embodiment provides a more detailed description of the overhead device and the nut clamp. The mounting platform 3 has an overhead device and a nut clamp installed at its front end, with the nut clamp located above the overhead device.

[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 to the lever 34. A first limiting block 36 is provided on the push-pull rod 35. A first stop block 37 adapted to the first limiting block 36 is provided 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. Two clamping plates 39 are installed at the front end of the mounting plate. One end of the two clamping plates 39 is hinged to the mounting platform 3. A second rotating rod 40 is hinged to the other end of the push-pull rod 35. A pull rod 41 is provided between the second rotating rod 40 and the clamping plate 39. The pull rod 41 is hinged to the first connecting rod 38. Both 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, driving 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 pull rod 41, thus clamping the nut. When it is necessary to release the nut, the sixth motor 33 reverses, driving the lever 34 to rotate in the opposite direction, and through the same principle, the clamping plates 39 release the nut.

[0072] The device includes a housing 48 mounted on the front end of the mounting platform 3. The housing 48 is hinged to the first connecting rod 38. An eighth motor 49 for vertical 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. The two ends of the second connecting rod 50 are respectively hinged to the housing 48 and the power output end on one side of the eighth motor 49. A second limiting block 51 is provided on the power output end on the other side of the eighth motor 49. A second stop block 52 adapted to the second limiting block 51 is provided on the outer wall of the mounting platform 3.

[0073] A ninth motor 53 is mounted on the outer casing 48. A first gear 54 is fixedly connected to the power output end of the ninth motor 53. The first gear 54 meshes with a second gear 55. The second gear 55 is rotatably connected to the outer casing 48. There are two second gears 55 with opposite rotation directions. Each of the two second gears 55 has a third gear 56, and each of the two third gears 56 meshes with a bending block 57. The bending block 57 has a slot 58 for fixing the pin. A fixing plate 59 is fixedly mounted on the outer casing 48, located between the third gear 56 and the bending block 57. The bending block 57 is rotatably connected to the fixing plate 59. The ninth motor 53 drives the two bending blocks 57 to rotate in opposite directions, thus bending the pin. When the ninth motor 53 starts, it drives the first gear 54 to rotate.

[0074] When the first gear 54 rotates, the meshing second gear 55 drives the two third gears 56 to rotate. 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 pin hole 47 through the cooperation of the vertical translation structure, the horizontal translation structure, and the pin clamp. (See reference) Figure 8 and Figure 9 When the two third gears 56 rotate, they drive the meshing bending block 57 to rotate, thereby bending the pin. The slot 58 on the bending block 57 is used to fix the pin and prevent it from moving during the bending process. With its high integration, compact structure, and multifunctionality, the defect-eliminating 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 document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0077] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily 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 this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-functional defect elimination robot, characterized in that, It includes a frame (1), a spacing adjustment structure mounted on the frame (1), a line spacing adjustment structure mounted on the spacing adjustment structure, and a robotic arm (2) mounted on the frame (1); the robotic arm (2) is connected to a defect elimination tool or a pin replacement tool; The pin replacement tooling includes a mounting table (3), a horizontal displacement structure mounted on the mounting table (3), a vertical translation structure mounted on the horizontal displacement structure, a pin box mounted inside the mounting table (3), a pin clamp mounted on the vertical translation structure, and an off-end device and a nut clamp mounted at the front end of the mounting table (3), wherein the nut clamp is located above the off-end device; 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 to the lever (34). A first limiting block (36) is provided on the push-pull rod (35). A first stop block (37) adapted to the first limiting block (36) is provided 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). The front of the mounting plate... The end is equipped with a clamping plate (39), and two clamping plates (39) are installed. One end of the two clamping plates (39) is hinged to the mounting platform (3). The other end of the push-pull rod (35) is hinged to a second rotating rod (40). A pull rod (41) is provided between the second rotating rod (40) and the clamping plate (39). 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 clamping plate (39). The device includes a housing (48) installed at the front end of the mounting platform (3). The housing (48) is hinged to the first connecting rod (38). An eighth motor (49) for vertical displacement of the housing (48) 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). The two ends of the second connecting rod (50) are respectively hinged to the housing (48) and the power output end on one side of the eighth motor (49). A second limiting block (51) is provided on the power output end on the other side of the eighth motor (49). A second stop block (52) adapted to the second limiting block (51) is provided on the outer wall of the mounting platform (3). A ninth motor (53) is provided on the outer casing (48). A first gear (54) is fixedly connected to the power output end of the ninth motor (53). The first gear (54) meshes with a second gear (55). The second gear (55) is rotatably connected to the outer casing (48). There are two second gears (55), and the two second gears (55) rotate in opposite directions. A third gear (56) is provided on each of the two second gears (55). A bending block (57) meshes on each of the two third gears (56). A slot (58) for fixing a pin is provided on the bending block (57). A fixing plate (59) is fixedly installed on the outer casing (48). The fixing plate (59) is located between the third gear (56) and the bending block (57). The bending block (57) is rotatably connected to the fixing plate (59).

2. The multi-functional defect elimination robot according to claim 1, characterized in that, The line spacing adjustment structure includes a first electric push rod (4), a first leg (5) and a second leg (6) mounted on the spacing adjustment structure. Mounting seats (7) are hinged on the first leg (5) and the second leg (6). A pressure wheel (8) is mounted on the mounting seat (7). A traveling wheel (9) is mounted above the pressure wheel (8). The traveling wheel (9) is connected to a first motor (10) that provides power to it.

3. The multi-functional defect elimination robot according to claim 2, characterized in that, The walking wheel (9) is made up of two cones joined together and connected by a guide post (11) at the joint. Teeth are provided on the cone near the frame (1), and the teeth are arranged on the side with the larger diameter of the cone. The walking wheel (9) is connected to the first power motor (10) through a fourth gear (12), and the fourth gear (12) meshes with the teeth provided on the cone.

4. The multi-functional defect elimination robot according to claim 3, characterized in that, The walking wheels (9) are provided in four parts and are respectively installed on the four corners of the frame (1). Each walking wheel (9) is equipped with a corresponding pressure wheel (8) below it.

5. A multi-functional defect elimination robot according to claim 1, characterized in that, A robotic arm (2) is mounted on the front end of the frame (1). An extension structure (13) is provided on the front end of the robotic arm (2). The extension structure (13) is slidably connected to the robotic arm (2). A second motor (14) is mounted on the robotic arm (2). 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 structure (13) has an installation interface for installing a rotating pin tool at the end away from the robotic arm (2).

6. A multi-functional defect elimination robot according to claim 1, characterized in that, A guide rail (16) is provided between the horizontal displacement structure and the mounting platform (3). Two guide rails (16) are installed, and the two guide rails (16) are installed parallel to each other on both sides of the mounting platform (3). A rack (18) is provided between the two guide rails (16). The horizontal displacement structure includes a base plate (19). The base plate (19) is located above the guide rails (16). A slider adapted to the guide rails (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 provided between the power gear (21) and the rack (18). 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 displacement 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 rotatably connected to the top plate (23) and the bottom plate (19) respectively. A thread is provided in the middle of the lifting rod (25). There are two lifting rods (25). Each lifting rod (25) is provided with a pulley (26) at one end on the top plate (23). 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 provided between the bottom plate (19) and the top plate (23). The two slide rails (61) are located behind the two lifting rods (25) respectively. A fifth motor (28) is provided between the two slide rails (61). The two sides of the fifth motor (28) are slidably connected to the slide rails (61) through sliding members. 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 clamping arm (31) is hinged on the lifting platform (29). There are two clamping arms (31). A connecting rod (32) is hinged between the two clamping arms (31). The connecting rod (32) is rotatably connected to the first rotating rod (30) through a connecting member. The two clamping arms (31) are arranged in a figure-eight shape on the side near the slide rail (61).

8. A multi-functional defect elimination robot according to claim 1, characterized in that, The pin box includes a seventh motor (42) installed in the middle of the mounting platform (3) and a pin holder connected to the seventh motor (42) via a conveyor belt (43). The pin holder is rotatably connected to the inner wall of the mounting platform (3). The pin holder includes a pin box (45) and a rotating wheel (46). The pin box (45) is provided with a pin hole (47) for storing pins. The rotating wheel (46) is located on one side of the pin box (45) and is fixedly connected between the pin boxes (45).

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