Lightning arrester dismounting and mounting mechanical arm based on hot-line work robot and dismounting and mounting method

Abstract

The invention discloses a lightning arrester dismounting and mounting mechanical arm based on a hot-line work robot and a dismounting and mounting method, and relates to the technical field of mechanical arms, the lightning arrester dismounting and mounting mechanical arm comprises a clamping mechanical arm and a bolt dismounting and mounting mechanical arm, symmetrical clamping jaw mechanisms are arranged at the tail end of the clamping mechanical arm, and a driving mechanism and a sleeve are arranged at the tail end of the bolt dismounting and mounting mechanical arm; an anti-falling storage mechanism is further arranged at the tail end of the bolt disassembling and assembling mechanical arm, the driving mechanism comprises a driving assembly and a rotating shaft, the anti-falling storage mechanism comprises a storage box and a clamping block, the storage box is located below the rotating shaft and communicates with the rotating shaft and an inner cavity of the sleeve, and the clamping block is arranged in the inner cavity of the sleeve in a telescopic mode. The problems that in the prior art, when a mechanical arm is used for disassembling a lightning arrester bolt, the mechanical arm needs to move to the position of a storage box from an operation point to place a nut and then returns to the operation point, an idle stroke is formed, and the disassembling and assembling efficiency is reduced are solved. The nut storage device has the advantages that the nut storage function is integrated, then the idle stroke of a mechanical arm is reduced after the nut is disassembled, and the disassembling and assembling efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and particularly to an arrester disassembly and assembly robotic arm and a disassembly and assembly method based on a live working robot. Background Art

[0002] In the power grid system, as an important protection device in the power system, an arrester is usually fixedly installed on the cross arm at the top of the transmission line pole by bolts. With long-term use, it is necessary to maintain it, and generally, the arrester is replaced.

[0003] In the prior art, when disassembling and assembling the arrester, power outage is required for replacement, and power outage replacement will affect social benefits, etc. Moreover, manual operation has double risks of electric shock and height. Therefore, in the prior art, a live robot is used to replace the arrester live, and the robotic arm of the live robot is used to clamp the arrester and tighten or disassemble the bolts on the arrester. When the existing robotic arm disassembles the bolts, after the nut is disassembled, the robotic arm needs to move from the working point to the storage box position and then return to the working point, forming an idle stroke, reducing the disassembly and assembly efficiency. Moreover, if the disassembled nut is not fixed, it may fall from a height under the action of the movement of the robotic arm or wind force, threatening the safety of ground personnel and equipment.

[0004] To solve the above technical problems, the present invention discloses an arrester disassembly and assembly robotic arm and a disassembly and assembly method based on a live working robot. By setting the robotic arm, the present invention enables it to have an integrated nut storage function, and thus, after the nut is disassembled, there is no need for the robotic arm to have an idle stroke to transfer the nut, improving the disassembly and assembly efficiency and other advantages. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an arrester disassembly and assembly robotic arm and a disassembly and assembly method based on a live working robot, so as to solve the technical problems in the prior art that when the robotic arm disassembles the bolts, after the nut is disassembled, the robotic arm needs to move from the working point to the storage box position and then return to the working point, forming an idle stroke and reducing the disassembly and assembly efficiency. By setting the robotic arm, the present invention enables it to have an integrated nut storage function, and thus, after the nut is disassembled, there is no need for the robotic arm to have an idle stroke to transfer the nut, improving the disassembly and assembly efficiency and other advantages.

[0006] The present invention is realized through the following technical solutions: The present invention discloses an arrester disassembly and assembly robotic arm based on a live working robot, including a clamping robotic arm and a bolt disassembly and assembly robotic arm. A symmetric jaw mechanism is provided at the end of the clamping robotic arm, and a driving mechanism and a sleeve are provided at the end of the bolt disassembly and assembly robotic arm. An anti-drop storage mechanism is also provided at the end of the bolt disassembly and assembly robotic arm; The driving mechanism includes a driving component and a rotating shaft. The rotating shaft is rotatably connected to the end of the bolt disassembly and assembly robotic arm. A cavity runs through the rotating shaft vertically. The driving component is arranged on one side of the rotating shaft and is in parallel transmission with the rotating shaft. A sleeve is detachably installed at one end of the rotating shaft, and its inner cavity is in communication with the cavity of the rotating shaft. The anti-drop storage mechanism includes a storage box and a clamping block. The storage box is fixed to the end of the bolt disassembly and assembly robotic arm and is located below the rotating shaft. The cavity of the rotating shaft is in communication with the interior of the storage box. The clamping block is telescopically arranged in the inner cavity of the sleeve, and the clamping block is elastically supported by a spring to limit the anti-drop after the nut is unscrewed.

[0007] Furthermore, three clamping blocks arranged in a circular array are provided in the inner cavity of the sleeve. Each clamping block is slidably connected to the movable groove through a slider. One end of the spring abuts against the slider, and the other end is connected to the reference block.

[0008] Furthermore, a fixing ring is fixedly sleeved on the outside of the sleeve. An annular groove is formed on the outer wall of the fixing ring, and a ring sleeve is slidably sleeved outside the annular groove. The reference block is slidably arranged inside the movable groove, and a push rod is fixedly arranged on one side of the reference block. The push rod movably passes through the wall of the movable groove and extends into the annular groove and fits against the inner wall of the ring sleeve. The ring sleeve longitudinally displaces outside the sleeve when the sleeve changes its attitude through the guidance of the guiding component.

[0009] Furthermore, the guiding component includes a cam disk, a guiding groove and a guiding column. The cam disk is coaxial with the joint arm rotating shaft when controlling the spatial attitude change of the sleeve. A guiding groove centered on the center of the cam disk is formed on one side disk surface of the cam disk, and the guiding groove is a semi-circular spiral groove. One end of the guiding column is fixed to the ring sleeve, and the other end is inserted into the guiding groove. When switching between the upright and horizontal postures of the sleeve, the rotational motion is converted into the axial displacement of the ring sleeve through spiral transmission, realizing the telescopic switching of the clamping block when the sleeve is in the upright and inverted postures.

[0010] Furthermore, when the sleeve is upright, the ring sleeve moves downward, the clamping block contracts, and the spring is not compressed. When the sleeve is inverted, the ring sleeve moves upward to make the clamping block extend, and the spring is slightly compressed to limit the nut.

[0011] Furthermore, the guiding groove is divided into a half-spiral guiding section and a half-equal-diameter arc section, and the spiral guiding section and the equal-diameter arc section are smoothly transitioned.

[0012] Furthermore, an installation frame is fixedly arranged on the end platform of the bolt disassembly and assembly robotic arm, and the driving mechanism is arranged above the storage box through the installation frame.

[0013] Furthermore, a box door is provided on the storage box.

[0014] The disassembly and assembly method of the lightning arrester disassembly and assembly robotic arm based on the live working robot includes the following steps: Step 1: The robotic arm is moved to the operating height of the lightning arrester by the aerial lift vehicle; Step 2: The clamping jaw at the end of the clamping robotic arm is moved to the lightning arrester, and the lightning arrester is clamped. The bolt disassembly and assembly robotic arm controls the sleeve to move to the bottom bolt of the lightning arrester. The inner cavity of the sleeve is sleeved with a nut. The drive assembly at the end of the bolt disassembly and assembly robotic arm is activated, causing the rotating shaft to rotate. The rotating shaft drives the sleeve to rotate to loosen the nut and disassemble the nut; Step 3: The disassembled nuts are collected in sequence through the inner cavity of the sleeve, the cavity of the rotating shaft, and the storage box; Step 4: The clamping robotic arm moves the lightning arrester out of the operating position and places it on the temporary storage platform; Step 5: The clamping robotic arm clamps and moves the new lightning arrester to the installation position. The bolt disassembly and assembly robotic arm sleevs the sleeve outside the fastening nut of the new lightning arrester and rotates to fasten it.

[0015] The present invention has the following advantages: (1) By setting the bolt disassembly and assembly robotic arm in the present invention, a waste nut storage box is provided at the end of the robotic arm, and the waste nut storage box is communicated with the inner cavity of the sleeve. Thus, the nuts disassembled in the inner cavity of the sleeve can directly enter the storage box from the inner cavity of the sleeve for storage, reducing the idle stroke of the robotic arm and improving the efficiency. At the same time, by setting a clamping block in the inner cavity of the sleeve for limiting, and through the longitudinal displacement of the nut during disassembly and screwing out, it moves below the clamping block, and the clamping block limits it, avoiding the nut from falling from the opening of the sleeve and eliminating the risk of high-altitude nut falling.

[0016] (2) By setting the guiding component and the ring sleeve in the present invention, and setting the reference block at the spring of the clamping block to be in a movable state, and the reference block is horizontally supported by the ring sleeve. Thus, according to the attitude of the sleeve, that is, the upright or inverted attitude of the sleeve, the longitudinal movement of the ring sleeve can be adjusted, and then the expansion and contraction of the clamping block can be controlled, so that the spring at the clamping block only bears the compression load when the sleeve at the end of the bolt disassembly and assembly robotic arm is inverted, reducing the number of spring compressions and improving the service life of the spring. Description of the Drawings

[0017] Figure 1 is the overall structural schematic diagram of the present invention; Figure 2 is the structural schematic diagram of the aerial lift vehicle of the present invention; Figure 3 is the present invention Figure 1 partial enlarged structural schematic diagram of part A; Figure 4 is the sectional structural schematic diagram of the rotating shaft and the sleeve of the present invention; Figure 5 is the present invention Figure 4 partial enlarged structural schematic diagram of part B; Figure 6 is the present inventionFigure 5 Schematic diagram of the partial enlarged structure at position C; Figure 7 Schematic diagram of the loop structure of the present invention; Figure 8 Schematic side view structure diagram of the cam disc of the present invention.

[0018] In the figure: 1. Robot arm group; 2. Aerial lift truck; 3. Lifting module; 4. Linear module; 5. Storage box; 6. Box door; 7. Mounting bracket; 8. Gear transmission assembly; 9. Cavity; 10. Limit assembly; 11. Activity slot; 12. Slide block; 13. Slide groove; 14. Fixed ring; 15. Annular groove; 16. Loop; 17. Reference block; 18. Ejector rod; 19. Guide assembly; 111. Clamping robot arm; 112. Bolt disassembly and assembly robot arm; 101. Base; 102. Multi-degree-of-freedom articulated arm; 103. End effector; 1031. Jaw; 1032. Wrench mechanism; 131. Driving mechanism; 132. Sleeve; 1001. Block; 1002. Spring; 191. Cam disc; 192. Guide groove; 193. Guide post; 311. Driving assembly; 312. Rotating shaft; 701. Support rod; 702. Base. Detailed implementation manners

[0019] The embodiments of the present invention will be described in detail below. These embodiments are implemented on the premise of the technical solution of the present invention, and detailed implementation manners and specific operation processes are given. However, the protection scope of the present invention is not limited to the following embodiments. In the description of the present invention, words indicating orientation or positional relationship such as "front", "rear", "left", "right", etc. are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present invention.

[0020] The embodiment discloses an arrester disassembly and assembly robot arm based on a live working robot, as Figures 1-8 shown, including a robot arm group 1, as Figure 1 shown, specifically set as a group of two robot arms, one of which is a clamping robot arm 111 for clamping the arrester, and the other is a bolt disassembly and assembly robot arm 112 for removing or installing the bolts of the arrester; In addition, in this embodiment, as Figure 2 shown, the two robot arms can be lifted and controlled by an aerial lift truck 2. The robot arm platform is installed at the end of the lifting arm of the aerial lift truck 2. The platform is lifted by the aerial lift truck 2, and then the robot arm is controlled to move to the arrester, and then the arrester is removed or installed by controlling the movement of the robot arm.

[0021] Specifically, as Figure 1As shown in the figure, the robotic arm includes a base 101, a multi-degree-of-freedom articulated arm 102, and an end effector 103. The base 101 is used to support and fix the articulated arm, and the multi-degree-of-freedom articulated arm 102 can rotate and bend to complete the movement of the end effector 103. The end effector 103 is installed at the end of the multi-degree-of-freedom articulated arm 102 and is used to clamp the lightning arrester and disassemble and assemble bolts.

[0022] In addition, a lifting module 3 and a linear module 4 are provided below the two robotic arms. Through the lifting module 3 and the linear module 4, the robotic arm can perform lifting motion and horizontal linear motion, improving the motion range of the end effector 103 of the robotic arm.

[0023] More specifically, the end effector 103 of the two robotic arms, the end effector 103 of the clamping robotic arm 111 is set as a jaw 1031 mechanism. The jaw 1031 mechanism includes two symmetrically arranged clamping plates and a driving component for moving the two clamping plates. In this embodiment, the opposite surfaces of the two clamping plates are set as arc surfaces, so that the lightning arrester can be clamped and fixed after moving towards each other. The driving component controls the two clamping plates to move towards each other or away from each other, so as to clamp and relax. In the prior art, various mechanisms can achieve this, for example, through a bidirectional lead screw for transmission to achieve the movement of the two clamping plates towards each other or away from each other.

[0024] The end effector 103 of the bolt disassembly and assembly robotic arm 112 is set as a wrench mechanism 1032, and the fastening bolt of the lightning arrester is disassembled or fastened through the wrench mechanism 1032.

[0025] As Figure 1 and Figure 3 shown in the figure, the wrench mechanism 1032 includes a driving mechanism 131 and a socket 132. Among them, the driving mechanism 131 is installed on the end platform of the multi-degree-of-freedom articulated arm 102, and the driving mechanism 131 is used to control the rotation of the socket 132, so as to disassemble or install the bolt. The socket 132 is generally a hexagonal socket 132. When in use, through the movement of the multi-degree-of-freedom articulated arm 102, the socket 132 is sleeved outside the nut, and then through the control of the driving mechanism 131, the socket 132 rotates, so as to rotate the nut for disassembly or fastening installation.

[0026] In actual operation, every time the socket 132 disassembles the nut, the robotic arm needs to move to pour the nut in the inner cavity of the disassembled socket 132 into the dedicated waste nut storage box 5. Therefore, the robotic arm needs to perform multiple idle strokes, which affects the work efficiency. And when disassembling the nut at the top of the lightning arrester, the disassembled socket 132 is inverted, and there will be a situation where the disassembled nut falls. The nut falling from a height is dangerous and prone to causing safety accidents.

[0027] Therefore, in this embodiment, a dropping and storage mechanism is provided. Specifically, a storage box 5 is fixedly installed at the end of the multi-degree-of-freedom articulated arm 102. The storage box 5 is used to store waste nuts. The storage box 5 has a larger space and can store more nuts. The internal space of the storage box 5 is connected to the inner cavity of the sleeve 132, so that after each removal of the nut, the waste nuts can directly enter the storage box 5 for storage. There is no need for the robot arm to move to transport the waste nuts to the storage box 5. The internal nuts can be taken out at one time afterwards, thereby reducing the idle travel of the robot arm and improving the disassembly and assembly efficiency.

[0028] The storage box 5 is provided with a box door 6, so that the operator can take out the waste nuts inside at one time after completing the disassembly and assembly of the lightning arrester at a later time.

[0029] The driving mechanism 131 is arranged above the storage box 5, and a mounting frame 7 is fixedly arranged on the end platform of the multi-degree-of-freedom articulated arm 102, and the driving mechanism 131 is arranged above the storage box 5 through the mounting frame 7. Specifically, the mounting frame 7 includes a support rod 701 and a base 702, and the base 702 is above the storage box 5, and a support rod 701 is fixedly connected between the base 702 and the end platform of the multi-degree-of-freedom articulated arm 102, and a plurality of support rods 701 are arranged, and the driving mechanism 131 is installed above the base 702.

[0030] like Figure 3 As shown, the driving mechanism 131 includes a driving component 311 and a rotating shaft 312, wherein the rotating shaft 312 is rotatably arranged above the base 702, specifically, rotatably arranged above the base 702 through a bearing, and the driving component 311 is arranged on one side of the rotating shaft 312. The driving component 311 has the same structure as the driving component of the electric wrench in the prior art. The output shaft of the driving component 311 is connected to the rotating shaft 312 through a gear transmission component 8. Through the transmission of the gear transmission component 8, the output shaft of the driving component 311 and the rotating shaft 312 can be driven in parallel; It should be noted that the bottom end of the rotating shaft 312 passes through the base 702 and the top wall of the storage box 5 and extends to the inside of the storage box 5. Figure 3 and Figure 4 As shown, a cavity 9 is provided inside the rotating shaft 312, and the outer diameter of the cavity 9 is larger than the outer diameter of the nut. The cavity 9 passes through the upper and lower end surfaces of the rotating shaft 312, so that the internal cavity 9 of the rotating shaft 312 is connected with the interior of the storage box 5, and the sleeve 132 is installed at the top end of the rotating shaft 312, and the inner cavity of the sleeve 132 is connected with the cavity 9 of the rotating shaft 312.

[0031] With the above settings, when disassembling the nut, after each disassembly of the nut, the nut can enter the interior of the storage box 5 through the inner cavity of the sleeve 132 and the internal cavity 9 of the rotating shaft 312, thereby completing the storage of the waste nut, reducing the empty running stroke of the robotic arm, and improving the disassembly and assembly efficiency.

[0032] It should be noted that the sleeve 132 is detachably installed on the rotating shaft 312, and thus other types of sleeves 132 can be replaced. The detachable installation of the sleeve 132 can be achieved through elastic snap fasteners or screw connections.

[0033] In addition, when the sleeve 132 is inverted, for example, when disassembling and assembling the bolts at the top of the lightning arrester, in order to prevent the nut from falling out of the opening of the sleeve 132 after disassembly, as Figures 3-5 shown, a limiting component 10 is provided at the top of the inner cavity of the sleeve 132. Through the limiting component 10, the nut can be limited in the inner cavity of the sleeve 132 after disassembly to prevent the nut from falling out.

[0034] Specifically, the limiting component 10 includes a clamping block 1001 and a spring 1002. Among them, the clamping block 1001 is telescopically arranged on the inner wall of the inner cavity of the sleeve 132, and there are three clamping blocks 1001. The three clamping blocks 1001 are respectively arranged in a circular array on the inner wall of the inner cavity of the sleeve 132. The clamping block 1001 moves and expands and contracts along the radial direction of the sleeve 132, and the distance between the center of the sleeve 132 and the centripetal end of the clamping block 1001 is less than the radius of the nut. Therefore, when the nut is inside the sleeve 132, the nut cannot pass between the three clamping blocks 1001, so that the three clamping blocks 1001 can block the nut, thereby limiting the nut. In addition, the clamping block 1001 is also elastically supported by the spring 1002.

[0035] More specifically, in order to achieve the elastic expansion and contraction of the clamping block 1001, as Figures 3-6 shown, an activity groove 11 is opened inside the barrel wall of the sleeve 132. A slider 12 is slidably arranged inside the activity groove 11 along the radial direction of the sleeve 132. In addition, a sliding groove 13 is opened on one side of the activity groove 11 facing the inner cavity of the sleeve 132. The activity groove 11 is communicated with the inner cavity of the sleeve 132 through the sliding groove 13, and the clamping block 1001 is slidably inserted into the sliding groove 13. One end of the clamping block 1001 located inside the activity groove 11 is fixedly connected to the slider 12. The expansion and contraction of the clamping block 1001 is controlled by the movement of the slider 12, and the spring 1002 is arranged on the other side of the slider 12 to elastically support it.

[0036] By limiting the slider 12, when the slider 12 fits against the side wall of the movable slot 11, the part of the clamping block 1001 located inside the inner cavity of the sleeve 132 is a right triangle, and the bottom surface is a horizontal straight surface. Thus, when the nut enters the inside of the sleeve 132 from above the sleeve 132, it can be squeezed into the chute 13 for contraction through the inclined surface of the clamping block 1001. When the nut moves below the clamping block 1001, it can be limited by the bottom surface of the clamping block 1001 to prevent the nut from falling out of the opening of the sleeve 132.

[0037] It should be noted that the distance between the bottom surface of the clamping block 1001 and the top surface of the sleeve 132 is less than the total axial stroke when the nut rotates. Furthermore, when the sleeve 132 is sleeved outside the nut for disassembly, at this time, the top end face of the sleeve 132 will contact the gasket of the nut, that is, the upper end face of the nut is basically at the same horizontal plane as the upper end face of the sleeve 132. Since the total axial stroke when the nut rotates represents the total stroke when the upper end face of the nut moves downward, and when this total stroke is greater than the distance between the bottom surface of the clamping block 1001 and the top surface of the sleeve 132, then after the nut is completely unscrewed and separated from the screw, the top surface of the nut will inevitably move below the clamping block 1001, and then it is limited by the horizontal plane of the bottom surface of the clamping block 1001 to prevent the nut from falling out of the opening of the sleeve 132.

[0038] Therefore, through the above settings, when disassembling the nut on the lightning arrester each time, the sleeve 132 is sleeved outside the nut, and then as the sleeve 132 rotates, the nut is disassembled. The nut will move longitudinally relative to the sleeve 132 inside the sleeve 132 while being unscrewed, and the nut will move below the clamping block 1001. After the nut moves below the clamping block 1001, the clamping block 1001 will protrude due to the rebound of the spring 1002. Then the nut will be prevented from falling out of the opening of the sleeve 132 under the limitation of the clamping block 1001. The nut that enters the inside of the sleeve 132 will enter the storage box 5 from the inner cavity of the sleeve 132 and the cavity 9 of the rotating shaft 312 due to its own weight. When the sleeve 132 is inverted, for example, when disassembling the nut above the lightning arrester in an inverted state, the nut will be located above the clamping block 1001 and be limited by the clamping block 1001 after being unscrewed. Thus, the nut can be prevented from falling out whether the sleeve 132 is inverted or upright, eliminating the risk of the high-altitude nut falling.

[0039] Considering that in actual work, the anti-falling of the nut is directly limited by the clamping block 1001, and the protrusion of the clamping block 1001 is controlled by the rebound of the spring 1002. Therefore, the service life of the spring 1002 affects the limitation of the nut by the clamping block 1001. Through the above settings, every time a nut is disassembled, the clamping block 1001 will expand and contract once, that is, the spring 1002 will be compressed once. Frequent compression of the spring 1002 will cause fatigue and affect its service life.

[0040] In the above setting, when the sleeve 132 is located above the storage box 5, after the nut is disassembled and unscrewed, it can directly fall into the storage box 5 by its own weight without being blocked by the clamping block 1001, and the nut will not fall out of the opening of the sleeve 132. At this time, the clamping block 1001 can be retracted to reduce the number of times the spring 1002 is compressed. In the inverted state, when the sleeve 132 is inverted, the clamping block 1001 extends again, and the nut is blocked and limited by the clamping block 1001 to prevent the nut from falling out of the opening of the sleeve 132 after being disassembled.

[0041] Therefore, by setting the spring 1002 to bear compressive stress only in the inverted state, the service life of the spring 1002 can be improved.

[0042] Specifically, as Figures 3-6 shown, a fixing ring 14 is fixedly sleeved outside the top of the sleeve 132, and an annular groove 15 is formed on the outer wall of the fixing ring 14. The annular groove 15 is movably sleeved with a ring sleeve 16. The inner wall of the inner ring of the ring sleeve 16 is attached to and slidably matched with the groove wall of the annular groove 15. The ring sleeve 16 can move longitudinally inside the annular groove 15. A reference block 17 is also arranged inside the movable groove 11, and the spring 1002 is arranged between the reference block 17 and the slider 12. The reference block 17 slides along the radial direction of the sleeve 132 inside the movable groove 11 in the same way as the slider 12. A push rod 18 is fixedly arranged on one side of the reference block 17 facing the outer circumferential outer wall of the sleeve 132, and the other end of the push rod 18 passes through the groove wall of the movable groove 11 through a through hole and extends into the annular groove 15, and is attached to the inner wall of the inner ring of the ring sleeve 16.

[0043] It should be noted that when the push rod 18 contacts the inner wall of the inner ring of the ring sleeve 16, at this time, the spring 1002 is in a slightly compressed state, the slider 12 is attached to the groove wall of the movable groove 11, and the triangular end of the clamping block 1001 extends into the inner cavity of the sleeve 132. And at this time, there is a distance between the reference block 17 and the inner wall of one side of the movable groove 11 facing the outer circumferential outer wall of the sleeve 132. In addition, the height of the annular groove 15 is set to be greater than the height of the ring sleeve 16, so that the ring sleeve 16 has a downward movement space. When the ring sleeve 16 moves downward, the ring sleeve 16 is separated from the push rod 18, and the ring sleeve 16 cannot support the push rod 18. When the inclined surface of the clamping block 1001 is squeezed, the clamping block 1001 will contract toward the inside of the chute 13, and at this time, the movement of the slider 12 will push the reference block 17 through the spring 1002, so that the clamping block 1001 contracts into the chute 13, and the spring 1002 is in a released state, avoiding the spring 1002 from being compressed.

[0044] Furthermore, through the above settings, the extension and contraction states of the clamping block 1001 can be controlled by operating the up and down movement of the collar 16, and when the clamping block 1001 contracts, the spring 1002 will not be compressed. When the sleeve 132 is upright, that is, when the sleeve 132 is above the storage box 5, when there is no need for the clamping block 1001 to block and limit at this time, move the collar 16 downward. After the collar 16 moves downward, one end of the ejector rod 18 loses the support of the collar 16. At this time, remove the nut, and the nut will squeeze the clamping block 1001 into the inside of the chute 13 through the inclined surface of the clamping block 1001. The movement of the clamping block 1001 will cause the slider 12 to move, and the slider 12 will move the reference block 17 toward the ejector rod 18 direction through the spring 1002, so that the clamping block 1001 contracts into the inside of the chute 13, while ensuring that the spring 1002 will not be compressed; When the sleeve 132 is upside down, at this time move the collar 16 upward. The upward movement of the collar 16 will move to the same horizontal line as the ejector rod 18, and the collar 16 will come into contact with the ejector rod 18 again. It should be noted that in order to enable the collar 16 to push the ejector rod 18 toward the movable groove 11 when moving upward, as Figures 5-7 shown, a section of the upper part of the inner ring of the collar 16 is set as an inclined surface. In other words, there is a flared opening at the top of the inner ring of the collar 16. Then, through the inclined surface, when the collar 16 moves upward, one end of the ejector rod 18 extending into the annular groove 15 is squeezed into the through hole and moves toward the movable groove 11, so that the ejector rod 18 pushes the reference block 17 to move. The reference block 17 pushes the slider 12 through the spring 1002, so that the clamping block 1001 extends, and at this time the spring 1002 is slightly compressed. When disassembling later, the nut will first squeeze the clamping block 1001 into the inside of the chute 13 through the inclined surface of the clamping block 1001. At this time, the collar 16 provides horizontal support for the ejector rod 18, and the movement of the slider 12 will compress the spring 1002. When the nut moves above the clamping block 1001, the clamping block 1001 will extend through the rebound of the spring 1002 to limit it.

[0045] In order to enable the sleeve 132 to move the collar 16 correspondingly when its position changes, as Figure 1 、 Figure 2 、 Figure 3 and Figure 7 shown, a guiding component 19 is also provided at the end of the robotic arm. The guiding component 19 longitudinally moves the collar 16 when the position of the sleeve 132 changes. Specifically, when the sleeve 132 is in the upright state, that is, when the sleeve 132 is above the storage box 5, the collar 16 moves downward, so that the clamping block 1001 contracts and the spring 1002 is not compressed. When the sleeve 132 is upside down and is below the storage box 5, the collar 16 moves upward to provide horizontal support for the ejector rod 18, so that the clamping block 1001 extends.

[0046] Specifically, as Figure 1, Figure 2 , Figure 3 , Figure 7 and Figure 8 As shown in Figure 2 , Figure 3 , Figure 7 and Figure 8 , the guiding assembly 19 includes a cam disk 191, a guiding groove 192 and a guiding post 193. Among them, the cam disk 191 is a semi-disk body, and the cam disk 191 is arranged at the end of the robotic arm. The spatial attitude of the sleeve 132 is changed by the rotation of the rotating joint arm at the end of the robotic arm. For example, the sleeve 132 is converted from an upright posture to an inverted posture. More specifically, the cam disk 191 is fixed to the end of the robotic arm, and the center of the cam disk 191 is coaxially arranged with the rotation axis of the sleeve 132. The rotation axis of the sleeve 132 is the rotation axis controlled by the robotic arm joint when the sleeve 132 is installed at the end of the robotic arm and the sleeve 132 is converted from an upright posture to an inverted posture. When the attitude of the sleeve 132 is changed through the joint at the end of the robotic arm, the cam disk 191 remains fixed at this time. A guiding groove 192 is concavely provided on one side of the cam disk 191 facing the sleeve 132. The guiding groove 192 is specifically set as a semi-circular spiral groove centered on the center of the cam disk 191, and a guiding post 193 is movably inserted into the guiding groove 192, and the other end of the guiding post 193 is fixed to the collar 16.

[0047] Furthermore, in this embodiment, as Figure 7 shown, the collar 16 can be movably sleeved outside the annular groove 15 through a bearing. The inner ring of the collar 16 is sleeved with the annular groove 15, and the outer ring and the inner ring of the collar 16 are rotatably connected through a bearing. The guiding post 193 is connected to the outer wall of the outer ring of the collar 16. It is also possible to select to provide a closed-loop surrounding groove with an arc surface on the inner ring of the collar 16, and one end of the ejector rod 18 is also an arc surface. Then, when the collar 16 is aligned with the ejector rod 18, the ejector rod 18 can be inserted into the surrounding groove to longitudinally limit it, and the arc surface setting enables the ejector rod 18 to be separated from the surrounding groove through the arc surface guiding when the collar 16 is displaced through the guiding of the spiral groove.

[0048] Furthermore, when the sleeve 132 changes its attitude, when the sleeve 132 rotates along the rotation axis 312, the guide post 193 will move inside the guide groove 192. Through the setting of the spiral guide groove 192, the guide post 193 drives the collar 16 to move longitudinally relative to the sleeve 132, thereby controlling the attitude of the latch 1001. It should be noted that the guide groove 192 is set such that the starting end is at the top and the ending end is at the bottom, and the section from the top end to the midpoint is spirally guided. When the guide post 193 moves from the top end of the guide groove 192 to the midpoint, the guide post 193 moves longitudinally. The section of the guide groove 192 from the midpoint to the ending end is an arc groove with the same diameter. When the guide post 193 moves from the midpoint to the ending end of the guide groove 192, the longitudinal position of the collar 16 relative to the sleeve 132 remains unchanged. In other words, when the sleeve 132 is upright, that is, when the sleeve 132 is above the storage box 5, at this time, the collar 16 on the sleeve 132 is below the ejector rod 18. When the sleeve 132 is in a horizontal state, at this time, the collar 16 on the sleeve 132 is horizontally aligned with the ejector rod 18, so that the collar 16 can horizontally support the ejector rod 18, thereby preventing the nut inside the sleeve 132 from falling out. When the sleeve 132 is in a horizontal state, the latch 1001 can extend to prevent the nut from falling out.

[0049] The method for disassembling and assembling a lightning arrester of a lightning arrester disassembly and assembly robotic arm based on live working includes the following steps: Step 1: The robotic arm platform is moved to the working height of the lightning arrester by the aerial lift truck 2; Step 2: The end jaw 1031 of the clamping robotic arm 111 moves to the lightning arrester to clamp the lightning arrester. The bolt disassembly and assembly robotic arm 112 controls the sleeve 132 to move to the bottom bolt of the lightning arrester. The nut is sleeved into the inner cavity of the sleeve 132. The end drive assembly 311 of the bolt disassembly and assembly robotic arm 112 is started, so that the rotating shaft 312 rotates. The rotating shaft 312 drives the sleeve 132 to rotate to loosen the nut and disassemble the nut; Step 3: The disassembled nuts are collected in sequence through the inner cavity of the sleeve 132, the cavity 9 of the rotating shaft 312, and the storage box 5; Step 4: The clamping robotic arm 111 removes the lightning arrester from the working position and places it on the temporary storage platform; Step 5: The clamping robotic arm 111 clamps and moves the new lightning arrester to the installation position. The bolt disassembly and assembly robotic arm 112 sleeves the sleeve 132 outside the fastening nut of the new lightning arrester and rotates to fasten it.

[0050] It should be noted that in Step 2 and Step 3, the rotating joint at the end of the robotic arm drives the sleeve 132 to rotate 90° around the rotation axis to the upright state, that is, the sleeve 132 is above the storage box 5. Under the cooperation of the guiding groove 192 and the guiding column 193, the collar 16 moves below the ejector rod 18. The sleeve 132 is sleeved on the nut. After the nut contacts the inclined surface of the latch 1001, it presses the latch 1001. The slider 12 slides along the movable groove 11. The spring 1002 pushes the reference block 17 to retract the latch 1001 completely. The spring 1002 is in a natural state. Rotate to loosen the nut. When the sleeve 132 rotates, the collar 16 is movably sleeved, so it will not hinder its rotation. The removed nut enters the storage box 5 for collection by its own weight. In the inverted state, that is, when the sleeve 132 is below the storage box 5, when the sleeve 132 moves to the horizontal state, under the action of the guiding column 193 and the guiding groove 192, the collar 16 will move to be horizontally aligned with the ejector rod 18. The collar 16 provides horizontal support for the ejector rod 18. At this time, the latch 1001 will protrude to play a limiting role. The sleeve 132 continues to move to the inverted posture, and the latch 1001 still maintains the protruding limiting effect. Then the robotic arm controls the inner cavity of the sleeve 132 to be sleeved on the nut. After the nut contacts the inclined surface of the latch 1001, it presses the latch 1001, causing the latch 1001 to contract inside the sliding groove 13. The end drive assembly 311 of the bolt disassembly and assembly robotic arm 112 is activated, causing the rotating shaft 312 to rotate. The rotating shaft 312 drives the sleeve 132 to rotate to loosen the nut. The nut is loosened and longitudinally moves along the inner cavity of the sleeve 132 until it contacts the horizontal surface of the latch 1001. The latch 1001 maintains the limiting state by the rebound of the spring 1002. When the nut is subsequently unscrewed, it is pushed upward into the storage box 5 by the removed nut.

[0051] The principle of the present invention is as follows: When disassembling the nut, when the sleeve 132 is above the storage box 5 at this time, due to the arrangement of the guiding groove 192, the collar 16 is below the ejector rod 18, and the collar 16 cannot horizontally support the ejector rod 18. The robotic arm controls the sleeve 132 to move to the bottom bolt of the lightning arrester and makes the sleeve 132 sleeved outside the nut. At this time, the nut will enter the inner cavity of the sleeve 132, and the sleeve 132 will squeeze the latch 1001, causing the latch 1001 to contract. Since the ejector rod 18 has no horizontal support from the collar 16 at this time, when the latch 1001 moves, the slider 12 will move, and the slider 12 will move the reference block 17 towards the ejector rod 18 through the spring 1002, so that the latch 1001 contracts into the chute 13, and at the same time ensuring that the spring 1002 is not compressed. Then the sleeve 132 rotates to disassemble the nut. After the nut is loosened, it will directly enter the storage box 5 through the inner cavity of the sleeve 132 and the cavity 9 of the rotating shaft 312 for storage due to its own gravity. When the sleeve 132 needs to be inverted, such as when disassembling the bolt above the lightning arrester, through the adjustment of the end rotating joint of the robotic arm, the posture of the sleeve 132 is changed, and it rotates from the upright state to the inverted state with the rotation center of the joint arm rotating shaft 312. Since the center of the cam disk 191 is coaxially arranged with the joint arm rotating shaft 312, when the sleeve 132 moves, through the cooperation of the guiding column 193 and the guiding groove 192, the collar 16 moves longitudinally relative to the sleeve 132, so that the collar 16 moves to be horizontally aligned with the ejector rod 18, and the collar 16 horizontally supports the ejector rod 18. The ejector rod 18 pushes the reference block 17 to move, and the reference block 17 pushes the slider 12 through the spring 1002, causing the latch 1001 to extend, and at the same time making the spring 1002 slightly compressed at this time. Then when the sleeve 132 is sleeved outside the nut for disassembly, the nut will move longitudinally relative to the sleeve 132 while being loosened, and the nut will move above the latch 1001. When the nut moves above the latch 1001, the latch 1001 will extend due to the rebound of the spring 1002. Thus, the nut is prevented from falling out of the opening of the sleeve 132 under the limit of the latch 1001, and the nut that enters above the latch 1001 will be pushed upward as the next nut enters until it is pushed into the storage box 5 for storage. After completing the disassembly and assembly of the bolts of the lightning arrester, the robotic arm controls the jaw 1031 to remove the lightning arrester and clamp a new lightning arrester to the installation position, and then tightens the nut by rotating the sleeve 132 to complete the tightening installation.

[0052] It is obvious to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims concerned.

Claims

1. The arrester disassembly and assembly robotic arm based on live working robot comprises a clamping robotic arm (111) and a bolt disassembly and assembly robotic arm (112). A symmetric jaw (1031) mechanism is arranged at the end of the clamping robotic arm (111), and a driving mechanism (131) and a sleeve (132) are arranged at the end of the bolt disassembly and assembly robotic arm (112), characterized in that, An anti-drop storage mechanism is also provided at the end of the bolt disassembly and assembly robotic arm (112). The driving mechanism (131) includes a driving component (311) and a rotating shaft (312). The rotating shaft (312) is rotatably connected to the end of the bolt disassembly and assembly robotic arm (112). A cavity (9) runs through the rotating shaft (312) vertically. The driving component (311) is arranged on one side of the rotating shaft (312) and is in parallel transmission connection with the rotating shaft (312). The sleeve (132) is detachably installed at one end of the rotating shaft (312), and its inner cavity is in communication with the cavity (9) of the rotating shaft (312). The anti-drop storage mechanism includes a storage box (5) and a clamping block (1001). The storage box (5) is fixed to the end of the bolt disassembly and assembly robotic arm (112) and is located below the rotating shaft (312). The cavity of the rotating shaft (312) is in communication with the inside of the storage box (5). The clamping block (1001) is telescopically arranged in the inner cavity of the sleeve (132), and the clamping block (1001) is elastically supported by a spring (1002) to achieve anti-drop limit after the nut is unscrewed.

2. The arrester disassembly and assembly robotic arm based on the live working robot according to claim 1, characterized in that, Three clamping blocks (1001) are arranged in the inner cavity of the sleeve (132) in an annular array. Each clamping block (1001) is slidably connected to the movable groove (11) through a slider (12). One end of the spring (1002) abuts against the slider (12), and the other end is connected to the reference block (17).

3. The arrester disassembly and assembly robotic arm based on the live working robot according to claim 2, characterized in that, A fixing ring (14) is fixedly sleeved on the outside of the sleeve (132). An annular groove (15) is formed on the outer wall of the fixing ring (14), and a ring sleeve (16) is slidably sleeved outside the annular groove (15). The reference block (17) is slidably arranged inside the movable groove (11). One side of the reference block (17) is fixedly provided with a push rod (18). The push rod (18) extends through the wall of the movable groove (11) and into the annular groove (15) and fits against the inner wall of the ring sleeve (16). The ring sleeve (16) longitudinally displaces outside the sleeve (132) under the guidance of the guiding component (19) when the posture of the sleeve (132) changes.

4. The arrester disassembly and assembly robotic arm based on the live working robot according to claim 3, characterized in that, The guiding component (19) includes a cam disc (191), a guiding groove (192) and a guiding column (193). The cam disc (191) is coaxial with the joint arm rotating shaft (312) when controlling the spatial posture change of the sleeve (132). A guiding groove (192) centered on the center of the cam disc (191) is formed on one side surface of the cam disc (191), and the guiding groove (192) is a semi-circular spiral groove. One end of the guiding column (193) is fixed to the ring sleeve (16), and the other end is inserted into the guiding groove (192). When the sleeve (132) switches between the upright and horizontal postures, the rotational motion is converted into the axial displacement of the ring sleeve (16) through screw transmission, realizing the telescopic switching of the clamping block (1001) when the sleeve (132) is in the upright and inverted postures.

5. The arrester disassembly and assembly robotic arm based on the live working robot according to claim 4, wherein When the sleeve (132) is upright, the ring sleeve (16) moves downward, the clamping block (1001) contracts, and the spring (1002) is not compressed. When the sleeve (132) is inverted, the collar (16) moves upward to make the latch (1001) protrude, and the spring (1002) is slightly compressed to limit the nut.

6. The lightning arrester disassembly and assembly robotic arm based on the live working robot according to claim 5, wherein The guiding groove (192) is divided into a half spiral guiding section and a half same-diameter arc section, and the spiral guiding section and the same-diameter arc section are smoothly transitioned.

7. The arrester disassembly and assembly robotic arm based on the live working robot according to claim 1, characterized in that An installation frame (7) is fixedly arranged on the end platform of the bolt disassembly and assembly robotic arm (112), and the driving mechanism (131) is arranged above the storage box (5) through the installation frame (7).

8. The lightning arrester disassembly and assembly robotic arm based on the live working robot according to claim 1, characterized in that, A box door (6) is arranged on the storage box (5).

9. The disassembly and assembly method of the disassembly and assembly robotic arm for arresters based on live working robots according to any one of claims 1-8, characterized in that, It includes the following steps: Step 1: The robotic arm is moved to the operating height of the lightning arrester by the aerial lift truck (2). Step 2: The end jaw (1031) of the clamping robotic arm (111) is moved to the lightning arrester to clamp the lightning arrester. The bolt disassembly and assembly robotic arm (112) controls the sleeve (132) to move to the bottom bolt of the lightning arrester. The inner cavity of the sleeve (132) sleeves the nut. The end driving component (311) of the bolt disassembly and assembly robotic arm (112) is started, so that the rotating shaft (312) rotates. The rotating shaft (312) drives the sleeve (132) to rotate to loosen the nut and disassemble the nut. Step 3: The disassembled nuts are sequentially collected through the inner cavity of the sleeve (132), the cavity (9) of the rotating shaft (312), and the storage box (5). Step 4: The clamping robotic arm (111) moves the lightning arrester out of the operating position and places it on the temporary storage platform. Step 5: The clamping robotic arm (111) clamps and moves the new lightning arrester to the installation position. The bolt disassembly and assembly robotic arm (112) sleevs the sleeve (132) outside the fastening nut of the new lightning arrester and rotates to fasten it.

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