Tail end operation tool of power transmission line live working flying robot

Abstract

The invention discloses a power transmission line hot-line work flying robot tail end work tool, belongs to the technical field of power transmission line hot-line work tools, and solves the problems that power transmission line hot-line work in the prior art depends on manual work, and operation is not safe. According to the technical scheme, the flying robot comprises a containing bin, a folding and unfolding mechanism, an adjustable suspension mechanism and a multi-axis mechanical arm which are arranged on the flying robot, a containing cavity is formed in the containing bin, a telescopic frame is arranged in the containing cavity through a telescopic mechanism, a storage groove is formed in the telescopic frame, and a movable strip is arranged in the storage groove; according to the invention, bolts can be automatically fastened, an on-line monitoring device can be installed, the outer wall of a high-altitude cable can be cleaned, multiple functions are realized, the flying robot synchronously swings with an electric wire through the adjustable suspension mechanism, the collision risk caused by violent shaking of the electric wire is reduced, and the safety of the flying robot is improved. And the operation tool mounted on the flying robot can be better aligned to the target position for operation.

Description

Technical Field

[0001] The present invention relates to the technical field of live working tools for power transmission lines, and in particular to a terminal working tool of a flying robot for live working on power transmission lines. Background Art

[0002] Live working on transmission lines refers to the operation method of inspecting, maintaining, testing and other operations on the lines without shutting down the high-voltage transmission lines. This is a key technology to ensure the continuous and stable power supply of the power system. More and more defects such as heating of the drainage plates on the tension towers and missing nuts on the suspension clamps of the straight towers have been found on the transmission lines. However, the heating of the drainage plates is usually caused by poor tightening of the screws and loose nuts. The existing technology for dealing with these defects requires that the lines cannot be shut down, and most of the processing methods are live working.

[0003] At present, most of the live transmission line operations still rely on manual operation, and most of them are performed by workers wearing insulating clothing and using insulating tools for live transmission line operations. However, there are still cases of electric shock due to insulation failure. For example, the insulating tools are damaged or the insulation performance decreases in special environments such as humidity. These situations may cause electric shock to the workers. In addition, high-altitude operations are highly dangerous, and the efficiency of manual operation is relatively low. Moreover, it is easily affected by human factors, such as operational errors and emotional fluctuations. For this reason, we propose a terminal operation tool of a flying robot for live transmission line operations. Summary of the invention

[0004] The purpose to be achieved by the present invention is to provide a terminal operation tool of a flying robot for live transmission line operations, which solves the problem that live transmission line operations in the prior art rely on manual labor, and the operation is unsafe and unstable, and realizes automated operations, making the operation safer and more stable.

[0005] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: a terminal operation tool of a flying robot for live operation of a power transmission line, a storage compartment, a retractable mechanism, an adjustable suspension mechanism and two multi-axis mechanical arms arranged on the flying robot, on which two multi-axis mechanical arms are installed, one of the multi-axis mechanical arms is detachably provided with an automatic fastening bolt member at the end thereof, and the other multi-axis mechanical arm is detachably provided with a clamping member at the end thereof, and the ends of the automatic fastening bolt member and the clamping member are both embedded with miniature cameras;

[0006] The storage bin is fixed to the upper end surface of the flying robot, and a storage cavity is provided in the storage bin, a retractable telescopic frame is provided in the storage cavity through a telescopic mechanism, a storage slot is provided on the telescopic frame, and two movable bars are provided in the storage slot, and the movable bars include a connecting end portion transmission-connected to the retracting and releasing mechanism and a free end portion away from the connecting end;

[0007] The retractable mechanism is used to synchronously retract the two movable bars into the storage slot or to synchronously move the free ends of the two movable bars out of the storage slot so that the movable bars are perpendicular to the telescopic frame;

[0008] The adjustable suspension mechanism is installed at the free end of the movable bar, and is used to connect with the high-altitude wires when the flying robot flies to high altitude operations, so as to achieve synchronous swinging of the flying robot and the high-altitude wires.

[0009] Furthermore, the adjustable suspension mechanism includes a suspension ring and a deflection mechanism, the suspension ring includes a first semicircular ring and a second semicircular ring, a mounting plate is fixed to the side wall end of the first semicircular ring, a first motor is installed on the outside of the mounting plate, a connecting rod is connected between the output end of the first motor and the second semicircular ring, and the deflection mechanism is used to deflect the suspension ring.

[0010] Furthermore, the deflection mechanism includes a concave plate fixed on the movable bar, a second motor is installed inside the concave plate, and an output end of the second motor is connected to the first semicircular ring through a connecting shaft.

[0011] Furthermore, the adjustable suspension mechanism also includes a wiping pad and a rotating mechanism, the wiping pad includes a first pad body and a second pad body, the first pad body is arranged on the inner wall of the first semicircular ring, and the second pad body is arranged on the inner wall of the second semicircular ring, and the rotating mechanism is used to drive the wiping pad to rotate on the inner wall of the suspension ring.

[0012] Furthermore, the rotating mechanism includes a fifth motor and a semicircular rack, the output end of the fifth motor is connected to a fourth gear, two semicircular racks are provided, the two semicircular racks are respectively fixed to the side walls of the first pad body and the second pad body, and the two semicircular racks can be combined to form a circular rack, and the fourth gear can be meshed and connected to any semicircular rack.

[0013] Furthermore, a second annular guide bar is fixed on the outer circumferential surface of the wiping pad, a convex strip is integrally formed at the end of the second annular guide bar, a second annular guide groove is opened on the inner circumferential surface of the suspension ring, and the second annular guide bar is slidably fitted in the second annular guide groove.

[0014] Furthermore, the retracting and extending mechanism includes a first gear connected to one end of the upper end surfaces of the two movable bars and a third motor installed on the upper end surface of the telescopic frame, the bottom end of the third motor is connected to a second gear in the storage slot, the second gear is meshed with the first gear on one of the movable bars, and the second gear is also meshed with a third gear, and the third gear is meshed with the first gear on the other movable bar.

[0015] Furthermore, a groove is provided on the side wall of the movable bar and at one end close to the first gear, and the groove is used to accommodate the second gear and the third gear.

[0016] Furthermore, the telescopic mechanism includes a fourth motor installed on the outside of the accommodating chamber, the output end of the fourth motor is connected to a screw rod extending into the accommodating cavity, a screw rod nut seat is installed on the outside of the screw rod, and the screw rod nut seat is installed on the lower end surface of the telescopic frame near the inner end.

[0017] Furthermore, a first annular guide groove is formed at the end of the first semicircular ring, a first annular guide bar is fixed to a side of the concave plate facing the first semicircular ring, and the first annular guide bar is slidably fitted in the first annular guide groove.

[0018] The present invention has at least the following beneficial effects:

[0019] 1. First of all, the flying robot replaces humans in direct contact with high-voltage lines, which greatly reduces the risk of electric shock to operators. The micro-camera installed on the automatic fastening bolt parts and clamps can transmit video information of the operation area in real time, helping operators to accurately judge and control the operation process, improving the safety of the operation. The automatic fastening bolt parts can accurately complete the fastening of the bolts, avoiding the problem of insufficient or over-tightening caused by human factors. The flying robot can quickly reach the designated position and perform flexible operations through the multi-axis robotic arm, shortening the operation preparation time and actual operation time. The flying robot can complete multiple tasks in one launch operation, increasing efficiency. Secondly, through the adjustable suspension mechanism and The connection of high-altitude electric wires realizes the synchronous swing of the flying robot and the electric wires, which helps to maintain operational stability when natural conditions such as wind change and reduce the risk of collision caused by violent shaking of the lines. The operating tools installed on the flying robot can be better aligned with the target position for operation, thereby enhancing stability and improving operating accuracy. Then, the detachable design of the automatic tightening bolts and clamps allows different tool heads to be replaced according to specific operating requirements, increasing the versatility and flexibility of the system. Finally, the setting of the retractable mechanism and the telescopic mechanism can realize the expansion and storage of the entire adjustable suspension mechanism. During transportation, it can be contracted into a smaller shape, which is conducive to storage and easier to operate during handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 For the present invention Figure 1 A schematic diagram of the structure from another perspective;

[0022] Figure 3 For the present invention Figure 2A schematic diagram of the structure from another perspective;

[0023] Figure 4 It is a structural schematic diagram of the telescopic frame, the adjustable suspension mechanism and the retractable mechanism of the present invention in a combined state;

[0024] Figure 5 It is a schematic diagram of the structure of the adjustable suspension mechanism and the retractable mechanism of the present invention in a combined state;

[0025] Figure 6 It is a structural schematic diagram of the adjustable suspension mechanism of the present invention;

[0026] Figure 7 For the present invention Figure 6 A schematic diagram of the structure from another perspective;

[0027] Figure 8 It is a schematic diagram of the structure of the wiping pad and the semicircular rack of the present invention in a connected state;

[0028] Fig. 9 It is a structural schematic diagram of the suspension ring of the present invention;

[0029] Fig.10 is a schematic structural diagram of a second annular conductive bar of the present invention;

[0030] Fig.11 It is a schematic structural diagram of the concave plate of the present invention.

[0031] In the figure: 1. Flying robot; 2. Multi-axis robotic arm; 3. Automatic bolt fastening member; 4. Clamping member; 5. Accommodation chamber; 6. Accommodation cavity;

[0032] 7. Telescopic frame; 71. Storage slot;

[0033] 8. Adjustable suspension mechanism; 81. Suspension ring; 811. First semicircular ring; 812. Second semicircular ring; 813. Mounting plate; 814. First motor; 82. Deflection mechanism; 821. Concave plate; 822. Second motor; 823. First annular guide strip; 824. First annular guide groove; 83. Wiping pad; 831. First pad body; 832. Second pad body; 84. Rotation mechanism; 841. Fifth motor; 842. Fourth gear; 843. Semicircular rack; 844. Second annular guide strip; 8441. Raised strip; 845. Second annular guide groove;

[0034] 9. Retractable mechanism; 91. First gear; 92. Third motor; 93. Second gear; 94. Third gear;

[0035] 10. telescopic mechanism; 101. fourth motor; 102. lead screw; 103. lead screw nut seat;

[0036] 11. movable bar; 111. groove. DETAILED DESCRIPTION

[0037] The present invention discloses a terminal working tool of a flying robot for live working on power transmission lines, comprising a storage compartment, a retractable mechanism, an adjustable suspension mechanism and two multi-axis mechanical arms arranged on the flying robot, wherein an automatic fastening bolt is detachably mounted on the end of one of the multi-axis mechanical arms, and a clamp is detachably mounted on the end of the other multi-axis mechanical arm, and micro cameras are embedded in the ends of the automatic fastening bolt and the clamp;

[0038] The storage bin is fixed to the upper end surface of the flying robot, and a storage cavity is provided in the storage bin. A retractable telescopic frame is provided in the storage cavity through a telescopic mechanism. A storage slot is provided on the telescopic frame. Two movable bars are provided in the storage slot. The movable bars include a connecting end portion that is transmission-connected to the retractable mechanism and a free end portion that is away from the connecting end.

[0039] The retracting and releasing mechanism is used to synchronously retract the two movable bars into the storage slot or to synchronously move the free ends of the two movable bars out of the storage slot so that the movable bars are perpendicular to the telescopic frame;

[0040] The adjustable suspension mechanism is installed at the free end of the movable bar, and is used to connect with the high-altitude wires when the flying robot flies to high altitude operations, so as to achieve synchronous swinging of the flying robot and the high-altitude wires.

[0041] Firstly, the flying robot replaces human beings in direct contact with high-voltage wires, which greatly reduces the risk of electric shock to operators. The micro-camera installed on the automatic fastening bolt parts and clamps can transmit the video information of the working area in real time, helping the operator to accurately judge and control the working process, thus improving the safety of the operation. The automatic fastening bolt parts can accurately complete the fastening of bolts, thus avoiding the problem of insufficient or over-tightening caused by human factors. The flying robot can quickly reach the designated position and perform flexible operations through the multi-axis robotic arm, thus shortening the operation preparation time and the actual operation time. The flying robot can complete multiple tasks in one launch operation, thus increasing the efficiency. Secondly, the adjustable suspension mechanism and the high The connection of the empty wires realizes the synchronous swing of the flying robot and the wires, which helps to maintain the stability of the operation when natural conditions such as wind change and reduce the risk of collision caused by violent shaking of the lines. The working tools installed on the flying robot can be better aligned with the target position for operation, which enhances stability and improves working accuracy. Then, the detachable design of the automatic tightening bolts and the clamping parts allows different tool heads to be replaced according to specific working requirements, increasing the versatility and flexibility of the system. Finally, the setting of the retractable mechanism and the telescopic mechanism can realize the expansion and storage of the entire adjustable suspension mechanism. During transportation, it can be shrunk into a smaller shape, which is conducive to storage and easier to operate during handling.

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0043] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in sequences other than those illustrated or described herein.

[0044] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the processes does not mean the order of execution. The execution order of the processes should be determined by their functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0045] It should be understood that in the present invention, "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0046] It should be understood that in the present invention, "plurality" refers to two or more than two. "And / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, X and / or Y can represent: X exists alone, X and Y exist at the same time, and Y exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "Contains X, Y and Z", "Contains X, Y, Z" means that X, Y, and Z are all included, "Contains X, Y or Z" means that one of X, Y, and Z is included, and "Contains X, Y and / or Z" means that any one, any two, or three of X, Y, and Z are included.

[0047] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined or replaced with each other according to actual conditions, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0048] Embodiment 1:

[0049] like Figures 1 to 11As shown, the present invention provides a terminal operation tool of a flying robot for live transmission line operation, comprising a flying robot 1, a storage compartment 5, a retracting and releasing mechanism 9, an adjustable suspension mechanism 8 and a controller. Cameras are embedded at the four ends of the flying robot 1. During live transmission line operation, the installation of cameras can provide accurate visual guidance for the operation of the robot. Two multi-axis robotic arms 2 are installed on the flying robot 1, one end of which is detachably installed with an automatic fastening bolt member 3, which can be an electric wrench and can be used to automatically tighten nuts. The other end of the multi-axis robotic arm 2 is detachably installed with a clamping member 4, which can be an existing conventional robot gripper. During high-altitude operation of a specific transmission line, the automatic fastening bolt member 3 and the clamping member 4 can be disassembled and replaced with other operation tools, such as a cutting tool, which is used to cut branches that interfere with the transmission line. Secondly, micro cameras are embedded at the ends of the automatic fastening bolt member 3 and the clamping member 4, which can be used to automatically tighten nuts. The type camera is electrically connected to the controller, and the micro camera can monitor the operation process of automatically tightening the bolt member 3 and the clamping member 4 in real time. The accommodating bin 5 is fixed to the upper end surface of the flying robot 1, and a accommodating chamber 6 is provided in the accommodating bin 5. A retractable telescopic frame 7 is provided in the accommodating chamber 6 through a telescopic mechanism 10. A storage slot 71 is provided on the telescopic frame 7. Two movable bars 11 are provided in the storage slot 71. The movable bar 11 includes a connecting end portion that is transmission-connected to the retracting and releasing mechanism 9 and a free end portion away from the connecting end. The retracting and releasing mechanism 9 is used to synchronously retract the two movable bars 11 to the telescopic frame 7 or to synchronously move the free ends of the two movable bars 11 out of the storage slot 71 so that the movable bar 11 is perpendicular to the telescopic frame 7. An adjustable suspension mechanism 8 is installed at the free end portion of the movable bar 11, and is used to connect with the high-altitude wires when the flying robot 1 flies to high-altitude operations, so as to realize the synchronous swing of the flying robot 1 and the high-altitude wires. When using the adjustable suspension mechanism 8, the retracting and releasing mechanism 9 must be used to rotate and move the two movable bars 11 out.

[0050] Among them, in the specific implementation mode, refer to Figure 2 and Figure 4 As shown, the telescopic mechanism 10 includes a fourth motor 101 installed on the outside of the accommodating chamber 5. The fourth motor 101 is a motor with a reversible shaft. The output end of the fourth motor 101 is connected to a screw rod 102 extending into the accommodating chamber 6. A screw rod nut seat 103 is installed on the outside of the screw rod 102. The screw rod nut seat 103 is installed on the lower end surface of the telescopic frame 7 near the inner end.

[0051] Through the above, the fourth motor 101 is started, and the output end of the fourth motor 101 is used to drive the screw rod 102 to rotate, thereby driving the screw rod nut seat 103, thereby realizing the telescopic frame 7 moving out of or into the accommodating chamber 6.

[0052] See also Figure 4 and Figure 5As shown, the retracting and extending mechanism 9 includes a first gear 91 connected to one end of the upper end surfaces of the two movable bars 11 and a third motor 92 installed on the upper end surface of the telescopic frame 7. The third motor 92 is a motor with a forward and reverse shaft. The bottom end of the third motor 92 is connected to a second gear 93 in the storage slot 71. The second gear 93 is meshed with the first gear 91 on one of the movable bars 11, and the second gear 93 is also meshed with a third gear 94, and the third gear 94 is meshed with the first gear 91 on the other movable bar 11.

[0053] By starting the third motor 92, the second gear 93 can be driven to rotate by the third motor 92. The second gear 93 drives the first gear 91 meshing with it to rotate, and at the same time drives the third gear 94 meshing with it to rotate. The third gear 94 drives the other first gear 91 meshing with it to rotate, thereby realizing the synchronous retraction or removal of the two movable bars 11.

[0054] Among them, each group of the first gear 91, the second gear 93 and the third gear 94 is provided with two up and down to improve the stability of the overall drive.

[0055] Furthermore, combined with Figure 5 As shown, a groove 111 is provided on the side wall of the movable bar 11 and at one end close to the first gear 91. After the two movable bars 11 are synchronously retracted into the storage slot 71, the groove 111 of the movable bar 11 can accommodate the connecting rod between the two second gears 93 and the two third gears 94 to ensure stable retraction and avoid obstruction.

[0056] See also Figure 6-Figure 7 As shown, the adjustable suspension mechanism 8 includes a suspension ring 81 and a deflection mechanism 82, wherein the suspension ring 81 includes a first semicircular ring 811 and a second semicircular ring 812, the first semicircular ring 811 and the second semicircular ring 812 are preferably made of insulating material, a mounting plate 813 is fixed to the side wall end of the first semicircular ring 811, a first motor 814 is installed on the outside of the mounting plate 813, a connecting rod is connected between the output end of the first motor 814 and the second semicircular ring 812, the deflection mechanism 82 is used to deflect the suspension ring 81, and the first motor 814 is started, so that the second semicircular ring 812 and the free end of the first semicircular ring 811 are opened or closed. When it is necessary to put it on the high-altitude wire, the free ends of the second semicircular ring 812 and the first semicircular ring 811 can be opened first, and after the installation is completed, the free ends of the second semicircular ring 812 and the first semicircular ring 811 are closed.

[0057] Since overhead power lines usually hang downwards, rather than being set horizontally, refer to Figure 6-Figure 7As shown, the deflection mechanism 82 includes a concave plate 821 fixed on the movable bar 11, and a second motor 822 is installed inside the concave plate 821. The output end of the second motor 822 is connected to the first semicircular ring 811 through a connecting shaft. The second motor 822 is started and the first semicircular ring 811 is driven to deflect by the second motor 822. Since the second semicircular ring 812 is installed on the first semicircular ring 811, the entire suspension ring 81 can be driven to deflect, so that the upper end or the lower end of the inner wall of the suspension ring 81 fits the aerial wires, which is suitable for overhead wires hanging downward.

[0058] In addition, see Figure 6-Figure 9 As shown, the adjustable suspension mechanism 8 also includes a wiping pad 83 and a rotating mechanism 84. The wiping pad 83 includes a first pad body 831 and a second pad body 832. The first pad body 831 and the second pad body 832 include a two-layer structure, including a hard body and a soft pad. The hard body is located above the soft pad. The hard body is arranged in conjunction with the suspension ring 81, and the first pad body 831 is arranged on the inner wall of the first semicircular ring 811, and the second pad body 832 is arranged on the inner wall of the second semicircular ring 812. The rotating mechanism 84 is used to drive the wiping pad 83 to rotate on the inner wall of the suspension ring 81, so as to perform rotational cleaning when removing dirt on the outside of the high-altitude wires, thereby improving the cleaning effect.

[0059] Among them, the rotating mechanism 84 includes a fifth motor 841 and a semicircular rack 843. The output end of the fifth motor 841 is connected to the fourth gear 842. Two semicircular racks 843 are provided. The two semicircular racks 843 are respectively fixed to the side walls of the first pad body 831 and the second pad body 832, and the two semicircular racks 843 can be combined to form a circular rack. The fourth gear 842 can be engaged and connected to any semicircular rack 843. The fifth motor 841 is started, and the output end of the fifth motor 841 is used to drive the fourth gear 842 to rotate, which can drive the engaged semicircular rack 843 to rotate, and then drive the wiping pad 83 to rotate to wipe the outer wall of the wire.

[0060] See also Figure 8-Figure 10 As shown, a second annular guide bar 844 is fixed on the outer circumferential surface of the wiping pad 83, and a convex strip 8441 is integrally formed at the end of the second annular guide bar 844. A second annular guide groove 845 is opened on the inner circumferential surface of the suspension ring 81, and the second annular guide bar 844 is slidably fitted in the second annular guide groove 845. When the wiping pad 83 rotates, the second annular guide bar 844 integrally formed with the convex strip 8441 rotates along the second annular guide groove 845, which can limit the wiping pad 83 and ensure that the wiping pad 83 rotates in contact with the suspension ring 81 to prevent the wiping pad 83 from slipping.

[0061] Through the above, in specific use, the flying robot 1 is used to lift and extend as a whole, and the camera is used for visual guidance. The ground staff can use the remote control to control the movement of the flying robot 1. When specific operations are required, the following instructions can be made:

[0062] 1. When tightening the bolts: At this time, the flying robot 1 flies to the bolts to be tightened, and then uses the telescopic mechanism 10 to move out the telescopic frame 7, and then uses the retractable mechanism 9 to unfold the two movable bars 11, and then makes the suspension ring 81 of the adjustable suspension mechanism 8 hook and connect with the nearest wire, so as to realize the synchronous swing of the flying robot 1, thereby improving the stability of subsequent operations, and then the automatic tightening bolt member 3 installed on the multi-axis robot arm 2 can be used to tighten the nuts.

[0063] 2. Install the online monitoring device: At this time, first use the adjustable suspension mechanism 8 to ensure that the flying robot 1 is connected to the nearest wire, then use the clamping member 4 on a multi-axis robotic arm 2 to grab the part to be installed and align the installation position, and then use the automatic tightening bolt member 3 on another multi-axis robotic arm 2 to tighten the bolts.

[0064] 3. Clean the outer wall of the high-altitude cable: put the suspension ring 81 on the outside of the cable, and then as the flying robot 1 moves along the cable, you can use the wiping pad 83 in the suspension ring 81 to wipe it. When moving and wiping, you can also start the rotating mechanism 84 synchronously to make the wiping pad 83 rotate in the suspension ring 81 to improve the thoroughness of cleaning.

[0065] Embodiment 2:

[0066] like Fig. 9 and Fig.11 As shown, in this embodiment, a first annular guide groove 824 is formed at the end of the first semicircular ring 811 , and a first annular guide bar 823 is fixed to a side of the concave plate 821 facing the first semicircular ring 811 , and the first annular guide bar 823 is slidably fitted in the first annular guide groove 824 .

[0067] As described above, when the second motor 822 drives the suspension ring 81 to deflect, the first annular guide bar 823 moves along the first annular guide groove 824 to ensure the stability of the overall deflection, and a ball bearing can be arranged in the first annular guide groove 824 to reduce friction.

[0068] In addition to the above-mentioned preferred embodiments, the present invention also has other implementation modes. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection requested by the present invention.

Claims

1. A terminal working tool of a flying robot for live working on power transmission lines, characterized in that: include: A storage compartment (5), a retractable mechanism (9), an adjustable suspension mechanism (8) and two multi-axis mechanical arms (2) are arranged on the flying robot (1), wherein an end of one of the multi-axis mechanical arms (2) is detachably mounted with an automatic fastening bolt member (3), and an end of the other multi-axis mechanical arm (2) is detachably mounted with a clamp member (4), and the ends of the automatic fastening bolt member (3) and the clamp member (4) are both embedded with miniature cameras; The storage bin (5) is fixed to the upper end surface of the flying robot (1), and a storage chamber (6) is provided in the storage bin (5), a retractable telescopic frame (7) is provided in the storage chamber (6) via a telescopic mechanism (10), a storage slot (71) is provided on the telescopic frame (7), and two movable bars (11) are provided in the storage slot (71), and the movable bars (11) include a connecting end portion drivingly connected to the retracting and releasing mechanism (9) and a free end portion away from the connecting end; The retractable mechanism (9) is used to synchronously retract the two movable bars (11) into the storage slot (71) or to synchronously move the free ends of the two movable bars (11) out of the storage slot (71) so that the movable bars (11) are perpendicular to the telescopic frame (7); The adjustable suspension mechanism (8) is installed at the free end of the movable bar (11) and is used to connect with the high-altitude wires when the flying robot (1) flies to a high altitude for operation, so as to achieve synchronous swinging of the flying robot (1) and the high-altitude wires.

2. The terminal working tool of the flying robot for live working on power transmission lines according to claim 1 is characterized by: The adjustable suspension mechanism (8) comprises a suspension ring (81) and a deflection mechanism (82); the suspension ring (81) comprises a first semicircular ring (811) and a second semicircular ring (812); a mounting plate (813) is fixed to the end of the side wall of the first semicircular ring (811); a first motor (814) is mounted on the outside of the mounting plate (813); a connecting rod is connected between the output end of the first motor (814) and the second semicircular ring (812); and the deflection mechanism (82) is used to deflect the suspension ring (81).

3. The terminal working tool of the flying robot for live working on power transmission lines according to claim 2 is characterized by: The deflection mechanism (82) comprises a concave plate (821) fixed on the movable bar (11), a second motor (822) is installed inside the concave plate (821), and an output end of the second motor (822) is connected to the first semicircular ring (811) via a connecting shaft.

4. The terminal working tool of the flying robot for live working on power transmission lines according to claim 2 is characterized by: The adjustable suspension mechanism (8) further comprises a wiping pad (83) and a rotating mechanism (84); the wiping pad (83) comprises a first pad body (831) and a second pad body (832); the first pad body (831) is arranged on the inner wall of the first semicircular ring (811); the second pad body (832) is arranged on the inner wall of the second semicircular ring (812); and the rotating mechanism (84) is used to drive the wiping pad (83) to rotate on the inner wall of the suspension ring (81).

5. The terminal working tool of the flying robot for live working on power transmission lines according to claim 4 is characterized by: The rotating mechanism (84) comprises a fifth motor (841) and a semicircular rack (843), the output end of the fifth motor (841) is connected to a fourth gear (842), two semicircular racks (843) are provided, the two semicircular racks (843) are respectively fixed to the side walls of the first pad body (831) and the second pad body (832), and the two semicircular racks (843) can be combined to form a circular rack, and the fourth gear (842) can be meshed and connected to any semicircular rack (843).

6. The terminal working tool of the flying robot for live working on power transmission lines according to claim 5 is characterized by: A second annular guide bar (844) is fixed on the outer circumferential surface of the wiping pad (83), a convex strip (8441) is integrally formed at the end of the second annular guide bar (844), a second annular guide groove (845) is provided on the inner circumferential surface of the suspension ring (81), and the second annular guide bar (844) is slidably fitted in the second annular guide groove (845).

7. The terminal working tool of the flying robot for live working on power transmission lines according to claim 1 is characterized by: The retractable mechanism (9) comprises a first gear (91) connected to one end of the upper end surfaces of the two movable bars (11) close to each other, and a third motor (92) installed on the upper end surface of the telescopic frame (7); the bottom end of the third motor (92) is connected to a second gear (93) in the storage slot (71); the second gear (93) is meshed with the first gear (91) on one of the movable bars (11); the second gear (93) is also meshed with a third gear (94); the third gear (94) is meshed with the first gear (91) on the other movable bar (11).

8. The terminal working tool of the flying robot for live working on power transmission lines according to claim 7 is characterized by: A groove (111) is provided on the side wall of the movable bar (11) and at one end close to the first gear (91), and the groove (111) is used to accommodate the second gear (93) and the third gear (94).

9. The terminal working tool of the flying robot for live working on power transmission lines according to claim 1 is characterized by: The telescopic mechanism (10) comprises a fourth motor (101) installed outside the accommodating chamber (5); the output end of the fourth motor (101) is connected to a screw rod (102) extending into the interior of the accommodating chamber (6); a screw rod nut seat (103) is installed outside the screw rod (102); and the screw rod nut seat (103) is installed on the lower end surface of the telescopic frame (7) near the inner end.

10. The terminal working tool of the flying robot for live working on power transmission lines according to claim 3 is characterized by: A first annular guide groove (824) is provided at the end of the first semicircular ring (811), and a first annular guide bar (823) is fixed to a side of the concave plate (821) facing the first semicircular ring (811), and the first annular guide bar (823) is slidably fitted in the first annular guide groove (824).

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