Closed type live welding operation robot with electrolysis

Abstract

The operation robot comprises a base, a walking mechanism, a lifting driving mechanism, a hanging assembly, an operation mechanism and a mechanical arm, the lifting driving mechanism is arranged in the base, and the two sides of the lifting driving mechanism are connected with the corresponding positions of the two sides of the hanging assembly correspondingly; the lifting driving mechanism is arranged on the base and can drive the base to do lifting motion, the mechanical arm is arranged at the bottom of the base and can clamp a lead, the walking mechanism and the operation mechanism are arranged on the robot base, the walking mechanism can move on the robot base, and the operation mechanism can conduct fire connection or fire decomposition on the lead clamped by the mechanical arm and an aerial cable after wire stripping. Lifting of the whole operation robot and walking on an aerial cable can be achieved, the mechanical arm can clamp a lead, the operation mechanism completes stripping of the lead and the aerial cable and disconnection and connection operation, and the operation robot has the advantages of being small, light, easy and understandable to operate, high in operation efficiency and good in disconnection and connection quality.

Description

Technical Field

[0001] The invention relates to the technical field of overhead line operation and maintenance, and in particular to a closed type live-electrification fire-breaking operation robot. Background Art

[0002] With the increase in the number of new power lines connected to the grid, many problems in the current fire-breaking operation are becoming more and more prominent. Due to the lack of effective technical means to replace manual operations, most areas still use manual operations. Due to the limitations of high-altitude operations such as insulated bucket trucks, some large-scale equipment cannot reach some lines. In addition, most of the current construction is live work, and the safety hazards of contacting live cables are becoming increasingly serious.

[0003] In order to solve these problems, the research and application of live working robots has become an important research topic for power companies in recent years. However, the technical difficulties that need to be solved by the existing automated live wire removal technology solutions include:

[0004] 1. The load-bearing capacity of overhead cables in the distribution network is poor. At present, the cables cannot bear the weight of the robot and are easily broken;

[0005] 2. Due to the limitations of terrain, roads and pole types, vehicle-mounted live-working robots cannot reach the working locations for many work projects, and the problem of robot movement, walking or climbing needs to be solved;

[0006] 3. At present, the operation of line robots is cumbersome, the preparation work is numerous, and the work efficiency is low;

[0007] 4. The space spacing of triangular wiring, multi-loop wiring, etc. is insufficient, and the robot arm cannot pass through them to operate. The robot's technological advancement is needed to adapt to the on-site operation requirements.

[0008] At present, in order to alleviate the problems of manual work, power companies use automatic wire strippers instead of wire strippers or try to install mechanical arms on insulation bucket trucks to replace dangerous operations, but there are still many problems:

[0009] 1. The automatic wire stripper can only perform wire stripping operations, and it still requires manual installation;

[0010] 2. The existing mechanized operation mode is too complicated, which further reduces the operation efficiency;

[0011] 3. At present, construction work still requires high-altitude operations such as insulated bucket trucks, which does not really solve the problem of safety hazards and has limited application scope.

[0012] In summary, the current power grid disconnection operations lack effective technical means to improve operation quality and ensure construction safety. Summary of the invention

[0013] The technical problem to be solved by the present invention is to provide a closed type live electric fire-breaking operation robot and an operation method thereof in view of the deficiencies of the above-mentioned prior art.

[0014] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a closed type live wire-cutting operation robot, comprising a base with a hollow interior, a walking mechanism, a lifting drive mechanism, a hanging assembly, an operating mechanism and a manipulator, the lifting drive mechanism being arranged in the base, and the two sides of the lifting drive mechanism being respectively connected to the corresponding positions on the two sides of the hanging assembly for hanging on the overhead cable through a traction rope passing through the top wall of the base, and the lifting drive mechanism being able to drive the traction rope to be retracted and released to drive the base to move up and down, the manipulator being arranged at the bottom of the base, and the manipulator being able to clamp the lead to be connected, the walking mechanism and the operating mechanism being respectively arranged on the robot base, and the walking mechanism being able to move on the robot base, and the operating mechanism being able to respectively connect or wire-cut the lead clamped by the manipulator with the overhead cable after stripping.

[0015] The beneficial effects of the present invention are as follows: the enclosed live wire-disconnecting robot of the present invention can conveniently mount the entire working robot on the overhead cable through the hanging component, and the lifting and lowering of the entire working robot can be realized in conjunction with the lifting drive mechanism, and the working robot can be driven to walk on the overhead cable through the walking mechanism, the manipulator can clamp the lead wire to be connected, and the working mechanism completes the wire stripping and wire-disconnecting operations of the lead wire and the overhead cable, which has the characteristics of being small and light, simple and easy to operate, high operating efficiency and good wire-disconnecting quality, and uses the hanging component and the lifting drive to perform the online operation, completely avoiding high-altitude operations and manual close approach to high-voltage wires to avoid safety hazards, and is fully functional, integrating the functions of clamping and connecting cables, stripping and clamping, and can independently complete a complete set of wire-disconnecting operation processes, and has high practicality.

[0016] On the basis of the above technical solution, the present invention can also be improved as follows:

[0017] Further: the hook assembly includes a connecting rod, a hook driving mechanism and a hook, the end of the traction rope is connected to the corresponding position of the connecting rod, the hook driving mechanism is arranged on the connecting rod, and the driving end of the hook driving mechanism is connected to the hook, and the hook driving mechanism can drive the hook to rotate so that the hook is hung on the operating overhead cable.

[0018] The beneficial effect of the above further scheme is: the hook is driven to rotate by the hook driving mechanism so that the hook is hung on the operating overhead cable, or unhooked from the overhead cable, which facilitates the operation and improves the operating efficiency of the entire operating robot.

[0019] Further: the hook driving mechanism includes a hook bracket and a hook motor, the hook bracket is arranged on the connecting rod, and the hook motor is installed on the corresponding hook bracket, and the driving end of the hook motor rotates with the hook.

[0020] The beneficial effect of the above further scheme is: the hook bracket provides better support for the hook motor, thereby facilitating the hook motor to drive the hook to rotate more smoothly, facilitating the hook to be mounted on the overhead cable, and facilitating the operation of the operating robot.

[0021] Further: the lifting drive mechanism includes a lifting motor, a reducer, a motor bracket and a driving wheel, the traction rope is wound around the driving wheel, and the two ends of the traction rope are respectively extended out of the base through pulleys, and are connected to the corresponding positions on both sides of the connecting rod, the motor bracket is installed on the inner bottom wall of the base, the lifting motor and the reducer are respectively installed on the motor bracket, the lifting motor is connected to the reducer shaft, the reducer is connected to the driving wheel, and the lifting motor drives the reducer to control the rotation of the driving wheel to drive the traction rope to be retracted and released.

[0022] The beneficial effect of the above further scheme is: the reducer is driven by the lifting motor to control the rotation of the driving wheel, and the traction rope is retracted and released by driving the driving wheel, so as to complete the lifting movement of the entire working robot. The speed can be controlled by the reducer, and then the lifting speed can be controlled.

[0023] Further: the number of the traction ropes is two, and one end of the two traction ropes is respectively connected to the driving wheel, and the other ends of the two traction ropes are respectively connected to the corresponding positions on both sides of the connecting rod, and the number of the hook driving mechanisms is two, and the two hook driving mechanisms are respectively aligned with the other ends of the two traction ropes up and down.

[0024] The beneficial effect of the above further solution is that by providing two traction ropes, the lifting and lowering movement of the entire device can be made smoother, thereby ensuring the reliability of the work.

[0025] Further: the number of the walking mechanisms is two, and the operating mechanism is located between the two walking mechanisms, the walking mechanism includes walking rollers, roller brackets and a walking drive mechanism, a roller walking track is arranged on the base, the roller bracket is vertically movably arranged in the roller walking track, and the lower end of the roller bracket extends into the base and is transmission-connected to the walking drive mechanism, and the walking drive mechanism can drive the roller bracket to walk along the roller walking track, the walking roller is movably arranged at the upper end of the roller bracket, and the walking roller can move up and down along the roller bracket, when the lifting drive mechanism drives the base to rise above the overhead cable, the walking drive mechanism can drive the roller bracket to drive the walking roller to move above the overhead cable, so that the walking roller can descend along the roller bracket to be mounted on the overhead cable.

[0026] The beneficial effect of the above further scheme is: by controlling the walking drive mechanism to drive the roller bracket to walk along the roller walking track, the walking roller can be moved above the overhead cable, so that when the walking roller descends, it can be mounted on the overhead cable, so that the movement of the entire working robot can be achieved by controlling the rotation of the walking roller, thereby facilitating the operation.

[0027] Further: the operating mechanism includes a screw tightening motor, a parallel groove wire clamp placer, a parallel groove wire clamp fixing motor, an operating drive motor and a wire stripper, at least one operating mechanism walking track is arranged on the base, the parallel groove wire clamp placer is movably arranged in the operating mechanism walking track, and the lower end of the parallel groove wire clamp placer extends into the base and is transmission-connected to the driving end of the operating drive motor, the wire stripper is arranged on the parallel groove wire clamp placer, and is used to strip the lead wire to be paralleled and the main cable clamped by the manipulator, the operating drive motor can drive the parallel groove wire clamp in the parallel groove wire clamp placer to clamp or loosen the lead wire to be paralleled and the main cable, the screw tightening motor and the parallel groove wire clamp fixing motor are respectively arranged on the parallel groove wire clamp placer, and the parallel groove wire clamp fixing motor can fix the parallel groove wire clamp in the parallel groove wire clamp placer, and the screw tightening motor can drive the screw on the parallel groove wire clamp to rotate, so as to lock or unlock the lead wire to be paralleled and the main cable in the parallel groove wire clamp.

[0028] The beneficial effect of the above further scheme is: the parallel groove wire clamp can be fixed in the parallel groove wire clamp placer through the parallel groove wire clamp fixing motor, and the screw on the parallel groove wire clamp is driven to rotate in cooperation with the screw tightening motor, so as to lock or unlock the lead wire to be paralleled and the main cable in the parallel groove wire clamp, and automatically realize the disconnection. The lead wire clamped by the robot and the paralleling part of the main cable can be stripped by the wire stripper, realizing the integrated automatic operation of stripping and paralleling, which is very convenient and greatly improves the operation safety and efficiency.

[0029] Further: The enclosed type electrolytic fire-fighting operation robot also includes a waterproof shell that can be opened or closed, and the waterproof shell is arranged on the base. The walking mechanism and the operating mechanism are respectively located in the waterproof shell, and when the lifting drive mechanism is driven to drive the base to lift and lower, the waterproof shell opens and forms a channel for the overhead cable to extend into or out of the operating mechanism.

[0030] The beneficial effect of the above further solution is that the entire working part can be completely covered by providing the waterproof shell to prevent rain from interfering with the construction, so the working robot can be used around the clock.

[0031] Further: the waterproof shell includes two half shells that can move synchronously toward or away from each other, and when the two half shells are close to each other and abut against each other, they just completely cover the base. The upper surface of the base is provided with a shell sliding track, and a shell driving motor is provided in the base. The shell driving motor is respectively connected to the two half shells, and can drive the two half shells to move synchronously toward or away from each other along the shell sliding track.

[0032] The beneficial effect of the above further scheme is: by driving the two half shells synchronously along the shell sliding track to move closer to or away from each other through the shell driving motor, the waterproof shell can be opened or closed, which facilitates the entry of overhead cables into the waterproof shell during operation and ensures that the working space inside the waterproof shell is protected from rain interference during operation.

[0033] The present invention also provides an operation method of a closed type electrified fire-breaking operation robot, using the closed type electrified fire-breaking operation robot, the method comprises the following steps:

[0034] Put the parallel groove wire clamp into the parallel groove wire clamp placing device, and control the parallel groove wire clamp fixing motor to fix the parallel groove wire clamp in the parallel groove wire clamp placing device;

[0035] The working robot is lifted to the height of the overhead cable by a drone or an insulating rod, and the hook driving mechanism is controlled to drive the hook to rotate, so that the working robot is hung on the overhead cable through the hook;

[0036] Control the lifting motor to drive the reducer to drive the driving wheel to rotate, so as to drive the driving wheel to retract the traction rope, thereby driving the entire working robot to rise, and at the same time, the manipulator clamps the lead wire to be connected;

[0037] After the working robot rises to the height of the overhead cable, the walking driving mechanism is controlled to drive the roller bracket to drive the walking roller to move above the overhead cable, and then the walking roller is controlled to descend along the roller bracket to be mounted on the overhead cable, and at the same time, the hook driving mechanism is controlled to drive the hook to rotate, so that the hook is unhooked from the overhead cable;

[0038] Control the walking roller to rotate, so as to drive the working robot to walk on the overhead cable to the paralleling position, control the manipulator to put the clamped lead wire into the wire stripper, and the wire stripper strips the lead wire and the paralleling position on the overhead cable at the same time;

[0039] Control the walking roller to rotate to drive the working robot to continue walking on the overhead cable, so that the stripped lead wire and the overhead cable synchronously enter the parallel groove wire clamp in the parallel groove wire clamp placer, control the parallel groove wire clamp fixing motor to fix the parallel groove wire clamp in the parallel groove wire clamp placer, and control the manipulator to release the lead wire to be paralleled;

[0040] Controlling the screw tightening motor to drive the screw on the parallel groove clamp to rotate, so as to lock the lead wire to be paralleled and the main cable in the parallel groove clamp;

[0041] Control the parallel groove wire clamp fixing motor to loosen the parallel groove wire clamp in the parallel groove wire clamp placing device, and control the walking roller to rotate to drive the working robot to leave the parallel groove wire clamping position;

[0042] The hook driving mechanism is controlled to drive the hook to rotate so that the hook is mounted on the overhead cable again, and the lifting motor is controlled to drive the reducer to drive the driving wheel to rotate, so as to drive the driving wheel to release the traction rope, drive the entire working robot to descend, and remove the working robot from the overhead cable through a drone or an insulating rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the three-dimensional structure of a closed type live electric fire-breaking operation robot according to one embodiment of the present invention;

[0044] Figure 2 A schematic diagram of a half-section structure of a closed type live-electrode fire-fighting operation robot according to an embodiment of the present invention;

[0045] Figure 3 It is a partial enlarged schematic diagram of a traveling mechanism and an operating mechanism of an embodiment of the present invention;

[0046] Figure 4 It is a partially enlarged schematic diagram of a hanging assembly and a lifting drive mechanism according to an embodiment of the present invention.

[0047] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0048] 1. Base, 2. Waterproof shell, 3. Walking roller, 4. Roller bracket, 5. Roller walking track, 6. Screw fastening motor, 7. Operating mechanism walking track, 8. Parallel groove wire clamp placer, 9. Parallel groove wire clamp fixing motor, 10. Wire stripper, 11. Manipulator, 12. Hanging assembly, 13. Traction rope, 14. Connecting rod, 15. Hook driving mechanism, 16. Hook, 17. Lifting motor, 18. Reducer, 19. Motor bracket, 20. Driving wheel, 21. Pulley, 22. Hook bracket, 23. Hook motor, 24. Pulley bracket. DETAILED DESCRIPTION

[0049] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0050] like Figures 1 to 4 As shown, a closed type live wire-cutting operation robot comprises a base 1 with a hollow interior, a walking mechanism, a lifting drive mechanism, a hanging assembly 12, an operating mechanism and a manipulator 11, wherein the lifting drive mechanism is arranged in the base 1, and the two sides of the lifting drive mechanism are respectively connected to the corresponding positions on the two sides of the hanging assembly 12 for hanging on the overhead cable through a traction rope 13 passing through the top wall of the base 1, and the lifting drive mechanism can drive the traction rope 13 to be retracted and released to drive the base 1 to move up and down, the manipulator 11 is arranged at the bottom of the base 1, and the manipulator 11 can clamp the lead to be connected, the walking mechanism and the operating mechanism are respectively arranged on the robot base 1, and the walking mechanism can move on the robot base 1, and the operating mechanism can respectively connect or cut the lead clamped by the manipulator 11 with the overhead cable after stripping.

[0051] The enclosed live wire-disconnecting robot of the present invention can conveniently mount the entire working robot on the overhead cable through the hanging component 12, and can realize the lifting of the entire working robot in conjunction with the lifting drive mechanism. The working robot can be driven to walk on the overhead cable through the walking mechanism. The manipulator 11 can clamp the lead wire to be connected, and the working mechanism completes the wire stripping and wire-disconnecting operations of the lead wire and the overhead cable. It has the characteristics of being small and light, simple and easy to operate, high operating efficiency and good wire-disconnecting quality. The hanging component and the lifting drive are used to perform the online operation, which completely avoids climbing operations and manual close approach to high-voltage wires to avoid safety hazards. It is fully functional, integrating the functions of clamping and connecting cables, stripping and clamping, and can independently complete a complete set of wire-disconnecting operation processes, with high practicality.

[0052] like Figure 4 As shown, in one or more embodiments of the present invention, the hook assembly 12 includes a connecting rod 14, a hook driving mechanism 15 and a hook 16, the end of the traction rope 13 is connected to the corresponding position of the connecting rod 14, the hook driving mechanism 15 is arranged on the connecting rod 14, and the driving end of the hook driving mechanism 15 is connected to the hook 16, and the hook driving mechanism 15 can drive the hook 16 to rotate so that the hook 16 is hung on the overhead cable of the operation. The hook driving mechanism 15 drives the hook 16 to rotate so that the hook 16 is hung on the overhead cable of the operation, or is unhooked from the overhead cable, which facilitates the operation and improves the operation efficiency of the entire operation robot.

[0053] Specifically, in one or more embodiments of the present invention, the hook driving mechanism 15 includes a hook bracket 22 and a hook motor 23, the hook bracket 22 is arranged on the connecting rod 14, and the hook motor 23 is installed on the corresponding hook bracket 22, and the driving end of the hook motor 23 rotates with the hook 16. The hook bracket 22 plays a good supporting role on the hook motor 23, so that the hook motor 23 can drive the hook 16 to rotate more smoothly, and it is convenient to mount the hook 16 on the overhead cable, so that the operation robot can operate conveniently.

[0054] like Figure 4 As shown, in one or more embodiments of the present invention, the lifting drive mechanism includes a lifting motor 17, a reducer 18, a motor bracket 19 and a driving wheel 20, the traction rope 13 is wound around the driving wheel 20, and the two ends of the traction rope 13 are respectively extended out of the base 1 through pulleys 21, and are connected to the corresponding positions on both sides of the connecting rod 14, the pulley 21 is installed on the inner wall of the base 1, the motor bracket 19 is installed on the inner bottom wall of the base 1, the lifting motor 17 and the reducer 18 are respectively installed on the motor bracket 19, the lifting motor 17 is connected to the reducer 18 shaft, the reducer 18 is connected to the driving wheel 20 in transmission connection, and the lifting motor 17 drives the reducer 18 to control the rotation of the driving wheel 20 to drive the traction rope 7 to be retracted and released. The lifting motor 17 drives the reducer 18 to control the rotation of the driving wheel 20, and the driving wheel 20 is driven to retract and release the traction rope 13, so as to complete the lifting movement of the entire working robot. The speed can be controlled by the reducer 18, and then the lifting speed can be controlled.

[0055] Optionally, in one or more embodiments of the present invention, the number of the traction ropes 13 is two, and one end of the two traction ropes 13 is respectively connected to the driving wheel 3, and the other ends of the two traction ropes 13 are respectively connected to the corresponding positions on both sides of the connecting rod 14, and the number of the hook driving mechanisms 15 is two, and the two hook driving mechanisms 15 are respectively aligned with the other ends of the two traction ropes 13. By providing two traction ropes 13, the lifting and lowering movement of the entire device can be made more stable, ensuring the reliability of the work.

[0056] like Figure 3 As shown, optionally, in one or more embodiments of the present invention, the number of the walking mechanisms is two, and the operating mechanism is located between the two walking mechanisms, the walking mechanism includes a walking roller 3, a roller bracket 4 and a walking drive mechanism, a roller walking track 5 is arranged on the base 1, the roller bracket 4 is vertically movably arranged in the roller walking track 5, and the lower end of the roller bracket 4 extends into the base 1 and is transmission-connected with the walking drive mechanism, and the walking drive mechanism can drive the roller bracket 4 to walk along the roller walking track 5, the walking roller 3 is movably arranged at the upper end of the roller bracket 4, and the walking roller 3 can move up and down along the roller bracket 4, when the lifting drive mechanism drives the base 1 to rise above the overhead cable, the walking drive mechanism can drive the roller bracket 4 to drive the walking roller 3 to move above the overhead cable, so that the walking roller 3 can descend along the roller bracket 4 to be mounted on the overhead cable. By controlling the travel drive mechanism to drive the roller bracket 4 to move along the roller travel track 5, the travel roller 3 can be moved above the overhead cable, so that when the travel roller 3 descends, it can be mounted on the overhead cable, so that the movement of the entire working robot can be achieved by controlling the rotation of the travel roller 3, which facilitates the operation.

[0057] It should be noted that, in practice, in order to realize the automatic walking of the walking roller 3, an additional walking roller walking drive motor (not shown in the figure) is provided behind the walking roller 3, and the walking roller walking drive motor can drive the walking roller 3 to rotate, so that after the walking roller 3 can be lowered along the roller bracket 4 to be mounted on the overhead cable and the hook 16 is unhooked from the overhead cable, the walking roller 3 can be controlled to rotate by the walking roller walking drive motor, so that the working robot can walk along the overhead cable. In the embodiment of the present invention, the walking roller driving motor can be an existing ordinary micro motor.

[0058] In order to realize automatic lifting and lowering of the walking roller 3 and facilitate driving the walking roller 3 to move up and down along the roller bracket 4, in practice, an additional walking roller lifting motor (not shown in the figure) is additionally provided behind the roller bracket 4, and the walking roller lifting motor is connected and fixed to the slider in the lifting slide rail on the roller bracket 4 (the walking roller 3 is fixed on the slider), so that the walking roller lifting motor can drive the slider to drive the walking roller to move up and down.

[0059] like Figure 3 As shown, in one or more embodiments of the present invention, the operating mechanism includes a screw fastening motor 6, a parallel groove wire clamp placer 8, a parallel groove wire clamp fixing motor 9, an operating drive motor and a wire stripper 10, and at least one operating mechanism walking track 7 is arranged on the base 1, and the parallel groove wire clamp placer 8 is movably arranged in the operating mechanism walking track 7, and the lower end of the parallel groove wire clamp placer 8 extends into the base 1 and is transmission-connected to the driving end of the operating drive motor, and the wire stripper 10 is arranged on the parallel groove wire clamp placer 8, and is used to The manipulator 11 clamps the lead wires to be paralleled and the main cable for stripping, and the operation driving motor can drive the parallel groove wire clamp in the parallel groove wire clamp placer 8 to clamp or loosen the lead wires to be paralleled and the main cable. The screw tightening motor 6 and the parallel groove wire clamp fixing motor 9 are respectively arranged on the parallel groove wire clamp placer 8, and the parallel groove wire clamp fixing motor 9 can fix the parallel groove wire clamp in the parallel groove wire clamp placer 8, and the screw tightening motor 6 can drive the screw on the parallel groove wire clamp to rotate to lock or unlock the lead wires to be paralleled and the main cable in the parallel groove wire clamp. The parallel groove wire clamp can be fixed in the parallel groove wire clamp placer 8 through the parallel groove wire clamp fixing motor 9, and cooperate with the screw tightening motor 6 to drive the screw on the parallel groove wire clamp to rotate, so as to lock or unlock the lead wire to be paralleled and the main cable in the parallel groove wire clamp, and automatically realize the disconnection. The lead wire clamped by the robot 11 and the paralleling part of the main cable can be stripped by the wire stripper 10, realizing the integrated automatic operation of stripping and paralleling, which is very convenient and greatly improves the operation safety and efficiency.

[0060] Optionally, in one or more embodiments of the present invention, the enclosed type live-electrolysis fire-joining operation robot further includes an openable or closable waterproof shell 2, the waterproof shell 2 is arranged on the base 1, the walking mechanism and the operation mechanism are respectively located in the waterproof shell 2, and when the lifting drive mechanism is driven to drive the base 1 to move up and down, the waterproof shell 2 opens and forms a passage for the overhead cable to extend into or out of the operation mechanism. By providing the waterproof shell 2, the entire operation part can be completely covered to prevent rain from interfering with the construction, so the operation robot can be used all-weather.

[0061] Specifically, the waterproof housing 2 includes two half shells that can move synchronously toward or away from each other. When the two half shells are close to each other and abut against each other, they just completely cover the base 1. The upper surface of the base 1 is provided with a housing sliding track. The base 1 is provided with a housing driving motor. The housing driving motor is respectively connected to the two half shells and can drive the two half shells to move synchronously toward or away from each other along the housing sliding track. By driving the two half shells synchronously toward or away from each other along the housing sliding track by the housing driving motor, the waterproof housing 2 can be opened or closed, which facilitates the entry of overhead cables into the interior of the waterproof housing 2 during operation, and ensures that the working space in the waterproof housing 2 is free from rain interference during operation.

[0062] An operating method of a closed type electrified fire-breaking operation robot is disclosed. The closed type electrified fire-breaking operation robot is used. The fire-breaking operation method is introduced as an example below.

[0063] An operating method of a closed type live electric debonding robot comprises the following steps:

[0064] S1: placing the parallel groove wire clamp into the parallel groove wire clamp placing device 8, and controlling the parallel groove wire clamp fixing motor 9 to fix the parallel groove wire clamp in the parallel groove wire clamp placing device 8;

[0065] S2: lifting the working robot to the height of the overhead cable by means of a drone or an insulating rod, and controlling the hook driving mechanism 15 to drive the hook 16 to rotate, so that the working robot is mounted on the overhead cable through the hook 16;

[0066] S3: Control the lifting motor 17 to drive the reducer 18 to drive the driving wheel 20 to rotate, so as to drive the driving wheel 20 to retract the traction rope 7, thereby driving the entire working robot to rise, and at the same time, the manipulator 11 clamps the lead wire to be paralleled;

[0067] S4: After the working robot rises to the height of the overhead cable, the walking driving mechanism is controlled to drive the roller bracket 4 to drive the walking roller 3 to move to the top of the overhead cable, and then the walking roller 3 is controlled to descend along the roller bracket 4 to be mounted on the overhead cable, and at the same time, the hook driving mechanism 15 is controlled to drive the hook 16 to rotate, so that the hook 16 is unhooked from the overhead cable;

[0068] S5: Control the walking roller 3 to rotate, so as to drive the working robot to walk on the overhead cable to the paralleling position, control the manipulator 11 to put the clamped lead wire into the wire stripper 10, and the wire stripper 10 strips the lead wire and the paralleling position on the overhead cable at the same time;

[0069] S6: Control the walking roller 3 to rotate to drive the working robot to continue walking on the overhead cable, so that the stripped lead wire and the overhead cable synchronously enter the parallel groove wire clamp in the parallel groove wire clamp placer 8, control the parallel groove wire clamp fixing motor 9 to fix the parallel groove wire clamp in the parallel groove wire clamp placer 8, and control the manipulator 11 to release the lead wire to be paralleled;

[0070] S7, controlling the screw tightening motor 6 to drive the screw on the parallel groove clamp to rotate, so as to lock the lead wire to be paralleled and the main cable in the parallel groove clamp;

[0071] S8, controlling the parallel groove wire clamp fixing motor 9 to release the parallel groove wire clamp in the parallel groove wire clamp placing device 8, and controlling the walking roller 3 to rotate to drive the working robot to leave the parallel groove position;

[0072] S9, control the hook driving mechanism 15 to drive the hook 16 to rotate, so that the hook 16 is mounted on the overhead cable again, and control the lifting motor 17 to drive the reducer 18 to drive the driving wheel 20 to rotate, so as to drive the driving wheel 20 to release the traction rope 7, drive the entire working robot to descend, and remove the working robot from the overhead cable through a drone or an insulating rod.

[0073] It should be noted that the method of fire removal can refer to the method of fire connection mentioned above, except that the action of the operating mechanism is opposite, and the lead wire to be connected needs to be untied from the overhead cable, for example: the parallel groove clamp fixing motor 9 loosens the parallel groove clamp from the parallel groove clamp placer 8, and the screw tightening motor 6 drives the screw on the parallel groove clamp to rotate, so as to loosen the lead wire to be connected and the main cable from the parallel groove clamp. The rest of the process is the same as the fire connection, and will not be repeated here.

[0074] The operating method of the enclosed type live electric debonding robot of the present invention has the following advantages:

[0075] 1. Based on the application scenarios and standardized operation procedures of 10kV overhead line live wire disconnection and grid connection operations, the purpose is to achieve remote control, precise positioning, and automated wire disconnection and grid connection operations. Through fully enclosed insulation optimization design, multi-light materials, and innovative molding technology, robots can replace manual operations, as well as portable and lightweight, all-weather multi-scenario applications, aiming to improve the efficiency of wire disconnection operations of 10kV overhead lines in the distribution network, reduce operating costs, and reduce personnel safety risks;

[0076] 2. Use live working robots to replace manual operation. The robots can realize the lead clamping, cable stripping, and wire clamp connection operations required for fire-breaking operations. All functions are integrated, and they can realize autonomous online and offline operations, remote operation and movement, etc. There is no need for insulated bucket trucks and climbing equipment, forming a new form of fire-breaking operation construction, which can complete the construction work conveniently and efficiently;

[0077] 3. Compared with the current operation mode, the robot can realize remote operation by working autonomously online, getting rid of the limitations of large-scale equipment and tools, and can be applied to more diverse complex terrains, environments and lines. It has a wide range of applications, and the operation mode is more humane. The robot can autonomously complete the clamping, stripping and paralleling operations. At the same time, due to manual remote operation, there will be no hidden danger of electric shock, which further ensures the personal safety of the operators;

[0078] 4. The materials of the operating robot are mostly made of aluminum alloy and PP to minimize its own weight so that it can meet the cable load-bearing requirements.

[0079] 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, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A closed type electric debonding robot, characterized in that : It comprises a base (1) with a hollow interior, a walking mechanism, a lifting drive mechanism, a hanging assembly (12), an operating mechanism and a manipulator (11); the lifting drive mechanism is arranged in the base (1), and the two sides of the lifting drive mechanism are respectively connected to the corresponding positions on the two sides of the hanging assembly (12) for hanging on the overhead cable through a traction rope (13) passing through the top wall of the base (1), and the lifting drive mechanism can drive the traction rope (13) to be retracted and released to drive the base (1) to move up and down; the manipulator (11) is arranged at the bottom of the base (1), and the manipulator (11) can clamp the lead to be connected; the walking mechanism and the operating mechanism are respectively arranged on the robot base (1), and the walking mechanism can move on the robot base (1); the operating mechanism can respectively connect or disconnect the lead clamped by the manipulator (11) with the overhead cable after stripping.

2. The enclosed type electric fire-breaking robot according to claim 1 is characterized in that The hook assembly (12) comprises a connecting rod (14), a hook driving mechanism (15) and a hook (16); the end of the traction rope (13) is connected to the corresponding position of the connecting rod (14); the hook driving mechanism (15) is arranged on the connecting rod (14); the driving end of the hook driving mechanism (15) is connected to the hook (16); and the hook driving mechanism (15) can drive the hook (16) to rotate so that the hook (16) is hung on the overhead cable in operation.

3. The enclosed type electric fire-breaking robot according to claim 2 is characterized in that The hook driving mechanism (15) comprises a hook bracket (22) and a hook motor (23), wherein the hook bracket (22) is arranged on the connecting rod (14), and the hook motor (23) is installed on the corresponding hook bracket (22), and the driving end of the hook motor (23) rotates with the hook (16).

4. The enclosed type electric debonding robot according to claim 2 is characterized in that The lifting drive mechanism comprises a lifting motor (17), a reducer (18), a motor bracket (19) and a driving wheel (20); the traction rope (13) is wound around the driving wheel (20), and the two ends of the traction rope (13) extend out of the base (1) through pulleys (21) respectively, and are connected to the corresponding positions on both sides of the connecting rod (14); the motor bracket (19) is installed on the inner bottom wall of the base (1); the lifting motor (17) and the reducer (18) are respectively installed on the motor bracket (19); the lifting motor (17) is connected to the reducer (18) shaft, the reducer (18) is connected to the driving wheel (20) in a transmission manner, and the lifting motor (17) drives the reducer (18) to control the driving wheel (20) to rotate, so as to drive the traction rope (7) to be retracted and released.

5. The enclosed type electric debonding robot according to claim 4 is characterized in that : The number of the traction ropes (13) is two, and one end of the two traction ropes (13) is respectively connected to the driving wheel (3), and the other ends of the two traction ropes (13) are respectively connected to the corresponding positions on both sides of the connecting rod (14); the number of the hook driving mechanisms (15) is two, and the two hook driving mechanisms (15) are respectively aligned with the other ends of the two traction ropes (13) in the upper and lower directions.

6. The enclosed type electric fire-breaking robot according to claim 1 is characterized in that The number of the walking mechanisms is two, and the operating mechanism is located between the two walking mechanisms. The walking mechanism comprises a walking roller (3), a roller bracket (4) and a walking drive mechanism. A roller walking track (5) is provided on the base (1). The roller bracket (4) is vertically movably arranged in the roller walking track (5). The lower end of the roller bracket (4) extends into the base (1) and is transmission-connected to the walking drive mechanism. The walking drive mechanism can drive the roller bracket (4) to move along the The walking roller (3) is movably arranged on the upper end of the roller bracket (4), and the walking roller (3) can move up and down along the roller bracket (4). When the lifting drive mechanism drives the base (1) to rise above the overhead cable, the walking drive mechanism can drive the roller bracket (4) to drive the walking roller (3) to move above the overhead cable, so that the walking roller (3) can descend along the roller bracket (4) to be mounted on the overhead cable.

7. The enclosed type electric debonding robot according to claim 1 is characterized in that The operating mechanism comprises a screw tightening motor (6), a parallel groove wire clamp placing device (8), a parallel groove wire clamp fixing motor (9), an operating drive motor and a wire stripper (10); at least one operating mechanism walking track (7) is arranged on the base (1); the parallel groove wire clamp placing device (8) is movably arranged in the operating mechanism walking track (7); the lower end of the parallel groove wire clamp placing device (8) extends into the base (1) and is transmission-connected to the driving end of the operating drive motor; the wire stripper (10) is arranged on the parallel groove wire clamp placing device (8) and is used to control the manipulator (11) The clamped lead wires to be paralleled and the main cable are stripped, and the operation drive motor can drive the parallel groove wire clamp in the parallel groove wire clamp placer (8) to clamp or loosen the lead wires to be paralleled and the main cable. The screw tightening motor (6) and the parallel groove wire clamp fixing motor (9) are respectively arranged on the parallel groove wire clamp placer (8), and the parallel groove wire clamp fixing motor (9) can fix the parallel groove wire clamp in the parallel groove wire clamp placer (8). The screw tightening motor (6) can drive the screw on the parallel groove wire clamp to rotate, so as to lock or unlock the lead wires to be paralleled and the main cable in the parallel groove wire clamp.

8. The enclosed type electric fire-breaking robot according to any one of claims 1 to 7, characterized in that : It also includes a waterproof shell (2) that can be opened or closed, the waterproof shell (2) is arranged on the base (1), the walking mechanism and the operating mechanism are respectively located in the waterproof shell (2), and when the lifting drive mechanism is driven to drive the base (1) to move up and down, the waterproof shell (2) opens and forms a channel for the overhead cable to extend into or out of the operating mechanism.

9. The enclosed type electric debonding robot according to claim 8 is characterized in that The waterproof shell (2) comprises two half shells which can synchronously move towards or away from each other. When the two half shells are close to each other and abut against each other, they completely cover the base (1). The upper surface of the base (1) is provided with a shell sliding track. The base (1) is provided with a shell driving motor. The shell driving motor is respectively connected to the two half shells and can drive the two half shells to synchronously move towards or away from each other along the shell sliding track.

10. A method for operating a closed type electrolytic decomposition robot, characterized in that: The enclosed type live-electrification fire-breaking operation robot according to any one of claims 1 to 9 is used, and the method comprises the following steps: The parallel groove wire clamp is placed in a parallel groove wire clamp placement device (8), and a parallel groove wire clamp fixing motor (9) is controlled to fix the parallel groove wire clamp in the parallel groove wire clamp placement device (8); The working robot is lifted to the height of the overhead cable by means of a drone or an insulating rod, and a hook driving mechanism (15) is controlled to drive the hook (16) to rotate, so that the working robot is mounted on the overhead cable through the hook (16); The lifting motor (17) is controlled to drive the reducer (18) to drive the driving wheel (20) to rotate, so as to drive the driving wheel (20) to retract the traction rope (7), thereby driving the entire operation robot to rise, and at the same time, the manipulator (11) clamps the lead wire to be paralleled; After the working robot rises to the height of the overhead cable, the walking driving mechanism is controlled to drive the roller bracket (4) to drive the walking roller (3) to move to the top of the overhead cable, and then the walking roller (3) is controlled to descend along the roller bracket (4) to be mounted on the overhead cable, and at the same time, the hook driving mechanism (15) is controlled to drive the hook (16) to rotate, so that the hook (16) is unhooked from the overhead cable; Controlling the walking roller (3) to rotate, so as to drive the working robot to walk on the overhead cable to the paralleling position, controlling the manipulator (11) to put the clamped lead wire into the wire stripper (10), and the wire stripper (10) strips the lead wire and the paralleling position on the overhead cable at the same time; Controlling the walking roller (3) to rotate so as to drive the working robot to continue walking on the overhead cable, so that the stripped lead wire and the overhead cable synchronously enter the parallel groove wire clamp in the parallel groove wire clamp placement device (8), controlling the parallel groove wire clamp fixing motor (9) to fix the parallel groove wire clamp in the parallel groove wire clamp placement device (8), and controlling the manipulator (11) to release the lead wire to be paralleled; Controlling a screw tightening motor (6) to drive the screw on the parallel groove clamp to rotate, so as to lock the lead wire to be paralleled and the main cable in the parallel groove clamp; Controlling the parallel groove wire clamp fixing motor (9) to release the parallel groove wire clamp in the parallel groove wire clamp placing device (8), and controlling the walking roller (3) to rotate so as to drive the working robot to leave the parallel groove position; The hook driving mechanism (15) is controlled to drive the hook (16) to rotate, so that the hook (16) is mounted on the overhead cable again, and the lifting motor (17) is controlled to drive the reducer (18) to drive the driving wheel (20) to rotate, so as to drive the driving wheel (20) to release the traction rope (7), drive the entire working robot to descend, and remove the working robot from the overhead cable through a drone or an insulating rod.

Images