A robotic arm for arrester removal and installation based on a live-line working robot, and a removal and installation method.

Abstract

This invention discloses a surge arrester assembly / disassembly robotic arm and method based on a live-line working robot, relating to the field of robotic arm technology. It includes a clamping robotic arm and a bolt assembly / disassembly robotic arm. The clamping robotic arm has a symmetrical gripper mechanism at its end, while the bolt assembly / disassembly robotic arm has a drive mechanism and a sleeve at its end. The bolt assembly / disassembly robotic arm also has an anti-drop storage mechanism at its end. The drive mechanism includes a drive assembly and a rotating shaft. The anti-drop storage mechanism includes a storage box and a locking block. The storage box is located below the rotating shaft and communicates with the rotating shaft and the inner cavity of the sleeve. The locking block is telescopically disposed within the inner cavity of the sleeve. This invention improves upon existing technologies where, when disassembling surge arrester bolts, the robotic arm needs to move from the work point to the storage box to place the nut and then return to the work point, resulting in idle travel and reduced assembly / disassembly efficiency. This invention features an integrated nut storage function, thereby reducing the idle travel of the robotic arm after nut disassembly and improving assembly / disassembly efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a surge arrester disassembly and assembly robotic arm and disassembly and assembly method based on a live-line working robot. Background Technology

[0002] In power grid systems, surge arresters are important protective devices that are usually bolted to the crossarm at the top of transmission line poles. With prolonged use, they require maintenance, which is usually done by replacing the surge arresters.

[0003] In existing technologies, replacing surge arresters requires a power outage, which impacts social benefits. Furthermore, manual operation poses risks of electric shock and height-related hazards. Therefore, existing technologies utilize live-line robots for live-line replacement. The robot's robotic arm grips the surge arrester and tightens or loosens its bolts. However, when loosening bolts, the robotic arm must move from the work point to a storage box and back after removing the nut, resulting in idle travel and reduced efficiency. Additionally, if the removed nut is not secured, it may fall from a height due to the robotic arm's movement or wind, threatening the safety of personnel and equipment on the ground.

[0004] To address the above technical problems, this invention discloses a surge arrester disassembly and assembly robotic arm and disassembly and assembly method based on a live-line working robot. This invention sets the robotic arm to have an integrated nut storage function, thereby eliminating the need for the robotic arm to transfer the nut during its idle stroke after disassembly, thus improving disassembly and assembly efficiency. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and to provide a surge arrester disassembly and assembly robotic arm and disassembly and assembly method based on a live-line working robot. This invention solves the technical problems in the prior art, such as the need for the robotic arm to move from the work point to the storage box and then back to the work point after the nut is removed, resulting in an idle stroke and reduced disassembly and assembly efficiency. This invention integrates a nut storage function into the robotic arm, thereby eliminating the need for the robotic arm to transfer the nut during its idle stroke after disassembly, thus improving disassembly and assembly efficiency.

[0006] This invention is achieved through the following technical solution: This invention discloses a surge arrester disassembly and assembly robotic arm based on a live-line working robot, including a clamping robotic arm and a bolt disassembly and assembly robotic arm. The clamping robotic arm is provided with a symmetrical gripper mechanism at its end, and the bolt disassembly and assembly robotic arm is provided with a drive mechanism and a sleeve at its end. The bolt disassembly and assembly robotic arm is also provided with an anti-drop storage mechanism at its end.

[0007] The drive mechanism includes a drive assembly and a rotating shaft. The rotating shaft is rotatably connected to the end of the bolt removal and installation robot arm. The rotating shaft has a cavity running through its interior. The drive assembly is located on one side of the rotating shaft and drives in parallel with the rotating shaft. The sleeve is detachably installed on one end of the rotating shaft and its inner cavity is connected to the cavity of the rotating shaft.

[0008] The anti-fall storage mechanism includes a storage box and a locking block. The storage box is fixed to the end of the bolt removal and installation robot arm and located below the rotating shaft. The cavity of the rotating shaft is connected to the inside of the storage box. The locking block is telescopically installed in the inner cavity of the sleeve, and the locking block is elastically supported by a spring to achieve anti-fall limit after the nut is unscrewed.

[0009] Furthermore, the inner cavity of the sleeve is provided with three ring-shaped locking blocks. Each locking block is slidably connected to the movable groove via a slider. One end of the spring abuts against the slider, and the other end is connected to the reference block.

[0010] Furthermore, a fixing ring is fixedly fitted on the outside of the sleeve, and an annular groove is opened on the outer wall of the fixing ring. A ring sleeve is slidably fitted on the outside of the annular groove. The reference block is slidably set inside the movable groove, and a push rod is fixedly set on one side of the reference block. The push rod moves through the groove wall of the movable groove and extends into the annular groove and fits against the inner wall of the ring sleeve. The ring sleeve is longitudinally displaced outside the sleeve when the sleeve changes its posture, guided by the guide component.

[0011] Furthermore, the guide assembly includes a cam disk, a guide groove, and a guide post. The cam disk is coaxial with the shaft of the control sleeve when it changes its spatial posture. A guide groove centered on the center of the cam disk is provided on one side of the disk surface. The guide groove is a semi-circular spiral groove. One end of the guide post is fixed to the ring sleeve, and the other end is inserted into the guide groove. When the sleeve switches between upright and horizontal postures, the rotational motion is converted into the axial displacement of the ring sleeve through the spiral transmission, thereby realizing the switching of the locking block extension and retraction when the sleeve is upright or inverted.

[0012] Furthermore, when the sleeve is upright, the ring moves downward, the locking block retracts, and the spring is no longer compressed;

[0013] When the sleeve is inverted, the ring moves upward, causing the locking block to extend, and the spring is slightly compressed to limit the nut.

[0014] Furthermore, the guide groove is divided into a helical guide section and a curved section of the same diameter, and the helical guide section and the curved section of the same diameter transition smoothly.

[0015] Furthermore, a mounting bracket is fixedly installed on the end platform of the bolt removal and installation robotic arm, and the drive mechanism is mounted above the storage box via the mounting bracket.

[0016] Furthermore, the storage box is equipped with a door.

[0017] The method for disassembling and assembling a surge arrester robotic arm based on a live-line working robot includes the following steps:

[0018] Step 1: The robotic arm is moved to the working height of the surge arrester using an aerial lift vehicle;

[0019] Step 2: The gripper at the end of the clamping robot arm moves to the surge arrester and clamps it. The control sleeve of the bolt removal and installation robot arm moves to the bolt at the bottom of the surge arrester. The nut is inserted into the inner cavity of the sleeve. The drive component at the end of the bolt removal and installation robot arm is activated, causing the rotating shaft to rotate. The rotating shaft drives the sleeve to rotate and loosen the nut, thus removing the nut.

[0020] Step 3: The disassembled nuts are collected sequentially through the inner cavity of the sleeve, the cavity of the rotating shaft, and the storage box;

[0021] Step 4: The gripping robotic arm removes the surge arrester from the working position and places it on the temporary storage platform;

[0022] Step 5: The clamping robotic arm clamps and moves the new surge arrester to the installation position. The bolt removal and installation robotic arm places the sleeve on the outside of the fastening nut of the new surge arrester and rotates it to tighten it.

[0023] The present invention has the following advantages:

[0024] (1) The present invention sets up a bolt disassembly and assembly robot arm so that the end of the robot arm is equipped with a waste nut storage box and the waste nut storage box is connected to the inner cavity of the sleeve. This allows the nuts after disassembly in the inner cavity of the sleeve to be directly stored in the storage box, reducing the idle stroke of the robot arm and improving efficiency. At the same time, by setting a locking block in the inner cavity of the sleeve for limiting, and by moving the nuts below the locking block through the longitudinal displacement of the disassembled nuts, the nuts are limited by the locking block to prevent them from falling out of the sleeve opening and eliminate the risk of nuts falling from high altitude.

[0025] (2) By setting a guide component and a ring sleeve, and setting the reference block at the locking block spring to a movable state, and the reference block is horizontally supported by the ring sleeve, the longitudinal movement of the ring sleeve can be adjusted according to the posture of the sleeve, i.e. the upright or inverted posture of the sleeve, thereby controlling the extension and retraction of the locking block, so that the spring at the locking block only bears the compressive load when the sleeve at the end of the bolt disassembly and assembly robot arm is inverted, reducing the number of spring compressions and improving the service life of the spring. Attached Figure Description

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the structure of the aerial work platform vehicle of the present invention;

[0028] Figure 3 For the present invention Figure 1 A magnified schematic diagram of the structure at point A;

[0029] Figure 4 This is a schematic cross-sectional view of the rotating shaft and sleeve of the present invention;

[0030] Figure 5 For the present invention Figure 4 A magnified schematic diagram of the structure at point B;

[0031] Figure 6 For the present invention Figure 5 A magnified schematic diagram of the structure at point C;

[0032] Figure 7 This is a schematic diagram of the ring structure of the present invention;

[0033] Figure 8 This is a side view of the cam disk structure of the present invention.

[0034] In the diagram: 1. Robotic arm assembly; 2. Aerial work platform; 3. Lifting module; 4. Linear module; 5. Storage box; 6. Box door; 7. Mounting frame; 8. Gear transmission assembly; 9. Cavity; 10. Limiting assembly; 11. Movable groove; 12. Slider; 13. Slide groove; 14. Fixed ring; 15. Annular groove; 16. Ring sleeve; 17. Reference block; 18. Push rod; 19. Guide assembly; 111. Clamping robotic arm; 11 2. Bolt disassembly and assembly robotic arm; 101. Base; 102. Multi-degree-of-freedom articulated arm; 103. End effector; 1031. Gripper; 1032. Wrench mechanism; 131. Drive mechanism; 132. Sleeve; 1001. Clamping block; 1002. Spring; 191. Cam plate; 192. Guide groove; 193. Guide column; 311. Drive assembly; 312. Rotary shaft; 701. Support rod; 702. Base. Detailed Implementation

[0035] The embodiments of the present invention are described in detail below. These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments. In the description of the present invention, words such as "front", "rear", "left", and "right" that indicate orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0036] The embodiments disclose a surge arrester assembly and disassembly robotic arm based on a live-line working robot, such as... Figures 1-8 As shown, it includes robotic arm assembly 1, such as Figure 1 As shown, the specific configuration consists of two robotic arms as a group, one of which is a clamping robotic arm 111, which is used to clamp the surge arrester, and the other is a bolt removal and installation robotic arm 112, which is used to remove or install the bolts of the surge arrester.

[0037] Additionally, in this embodiment, as Figure 2 As shown, the two robotic arms can be raised and lowered by the aerial lift vehicle 2. The robotic arm platform is installed at the end of the lifting arm of the aerial lift vehicle 2. The aerial lift vehicle 2 raises and lowers the platform, thereby controlling the robotic arm to move to the surge arrester. Then, the surge arrester can be removed or installed by controlling the movement of the robotic arm.

[0038] Specifically, such as Figure 1 As shown, 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, while 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 and bolt the surge arrester.

[0039] In addition, a lifting module 3 and a linear module 4 are provided below the two robotic arms. The lifting module 3 and the linear module 4 enable the robotic arms to perform lifting and horizontal linear movements, thereby increasing the range of motion of the robotic arm end effector 103.

[0040] More specifically, the end effectors 103 of the two robotic arms, and the end effectors 103 of the clamping robotic arm 111, are configured as gripper 1031 mechanisms. The gripper 1031 mechanism includes two symmetrically arranged clamping plates and a driving component for moving the two clamping plates. In this embodiment, the facing side of the two clamping plates is set as an arc surface, so that the surge 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, thereby clamping and releasing. In the prior art, various mechanisms can be used to achieve this, such as using a bidirectional lead screw to drive the movement of the two clamping plates towards each other or away from each other.

[0041] The end effector 103 of the bolt removal and installation robotic arm 112 is set as a wrench mechanism 1032, which is used to remove or tighten the fastening bolts of the surge arrester.

[0042] like Figure 1 and Figure 3 As shown, the wrench mechanism 1032 includes a drive mechanism 131 and a sleeve 132. The drive mechanism 131 is mounted on the end platform of the multi-degree-of-freedom articulated arm 102. The drive mechanism 131 is used to control the sleeve 132 to rotate, thereby removing or installing bolts. The sleeve 132 is generally a hexagonal sleeve. In use, the movement of the multi-degree-of-freedom articulated arm 102 causes the sleeve 132 to be fitted onto the outside of the nut. Then, the drive mechanism 131 controls the sleeve 132 to rotate, thereby rotating the nut to remove or tighten it.

[0043] In actual operation, after each time the sleeve 132 removes the nut, the robotic arm needs to move to pour the nut inside the sleeve 132 into the special waste nut storage box 5. As a result, the robotic arm needs to make multiple empty strokes, which affects work efficiency. Furthermore, when removing the nut at the top of the surge arrester, the sleeve 132 is upside down, which may cause the removed nut to fall. Nuts falling from a height are dangerous and can easily cause safety accidents.

[0044] Therefore, in this embodiment, a drop-and-collect 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 used nuts. The storage box 5 has a large space and can store a large number of nuts. The internal space of the storage box 5 is configured to communicate with the inner cavity of the sleeve 132, so that after each nut is disassembled, the used nuts can be directly stored in the storage box 5 without the need for the robotic arm to move to transport the used nuts to the storage box 5. The nuts can then be taken out all at once, thereby reducing the idle stroke of the robotic arm and improving the disassembly and assembly efficiency.

[0045] The storage box 5 is equipped with a door 6, which allows the operator to remove the old nuts inside at once after the lightning arrester has been disassembled and reassembled.

[0046] The drive mechanism 131 is located above the storage box 5. A mounting frame 7 is fixedly installed on the end platform of the multi-degree-of-freedom articulated arm 102. The drive mechanism 131 is located above the storage box 5 through the mounting frame 7. Specifically, the mounting frame 7 includes a support rod 701 and a base 702. The base 702 is located above the storage box 5. The support rod 701 is fixedly connected between the base 702 and the end platform of the multi-degree-of-freedom articulated arm 102. Multiple support rods 701 are provided. The drive mechanism 131 is installed above the base 702.

[0047] like Figure 3 As shown, the drive mechanism 131 includes a drive assembly 311 and a rotating shaft 312. The rotating shaft 312 is rotatably mounted above the base 702, specifically rotatably mounted above the base 702 via a bearing. The drive assembly 311 is located on one side of the rotating shaft 312. The drive assembly 311 has the same structure as the drive component of an electric wrench in the prior art. The output shaft of the drive assembly 311 is connected to the rotating shaft 312 via a gear transmission assembly 8. Through the transmission of the gear transmission assembly 8, the output shaft of the drive assembly 311 and the rotating shaft 312 can be driven in parallel.

[0048] It should be noted that the bottom end of the pivot 312 extends through the base 702 and the top wall of the storage box 5 into the interior of the storage box 5, as shown below. Figure 3 and Figure 4As shown, the rotating shaft 312 has a cavity 9 inside, 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 faces of the rotating shaft 312, thereby making the cavity 9 inside the rotating shaft 312 communicate with the inside of the storage box 5. The sleeve 132 is installed at the top of the rotating shaft 312, and the inner cavity of the sleeve 132 communicates with the cavity 9 of the rotating shaft 312.

[0049] With the above settings, when the nut is disassembled, after each disassembly, the nut can enter the storage box 5 through the inner cavity of the sleeve 132 and the inner cavity 9 of the rotating shaft 312, thereby completing the collection of waste nuts, reducing the idle stroke of the robotic arm, and improving the disassembly and assembly efficiency.

[0050] It should be noted that the sleeve 132 can be detachably installed on the rotating shaft 312, and other models of sleeve 132 can be replaced. The detachable installation of the sleeve 132 can be achieved by elastic clips or by screw connection.

[0051] Additionally, when sleeve 132 is inverted, for example when disassembling or assembling the bolts on top of the surge arrester, to prevent the nut from falling out of the opening of sleeve 132 after disassembly, such as... Figure 3-Figure 5 As shown, a limiting component 10 is provided at the top of the inner cavity of the sleeve 132. The limiting component 10 can limit the nut in the inner cavity of the sleeve 132 after disassembly, so as to prevent the nut from falling out.

[0052] Specifically, the limiting component 10 includes a locking block 1001 and a spring 1002. The locking block 1001 is telescopically disposed on the inner wall of the inner cavity of the sleeve 132, and there are three locking blocks 1001 arranged in a circular array on the inner wall of the inner cavity of the sleeve 132. The locking blocks 1001 move and extend radially along the sleeve 132, and the distance between the center of the sleeve 132 and the centripetal end of the locking 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 locking blocks 1001, so that the three locking blocks 1001 can block the nut and limit the nut. In addition, the locking block 1001 is also elastically supported by the spring 1002.

[0053] More specifically, in order to achieve the elastic expansion and contraction of card block 1001, such as Figures 3-6As shown, a movable groove 11 is provided inside the sleeve 132. A slider 12 is slidably arranged inside the movable groove 11 along the radial direction of the sleeve 132. In addition, a sliding groove 13 is provided on the side of the movable groove 11 facing the inner cavity of the sleeve 132. The movable groove 11 and the inner cavity of the sleeve 132 are connected through the sliding groove 13. The locking block 1001 is slidably inserted into the sliding groove 13. One end of the locking block 1001 located inside the movable groove 11 is fixedly connected to the slider 12. The extension and retraction of the locking block 1001 is controlled by the movement of the slider 12. A spring 1002 is provided on the other side of the slider 12 to provide elastic support.

[0054] By limiting the slider 12, when the slider 12 is in contact with the side wall of the movable groove 11, the portion of the locking block 1001 located in the inner cavity of the sleeve 132 is a right-angled triangle with a horizontal bottom surface. This allows the nut to be squeezed into the groove 13 by the inclined surface of the locking block 1001 when it enters the sleeve 132 from above, and to retract when it moves below the locking block 1001. When the nut moves below the locking block 1001, it can be limited by the bottom surface of the locking block 1001 to prevent the nut from falling out of the opening of the sleeve 132.

[0055] It should be noted that the distance between the bottom surface of the locking block 1001 and the top surface of the sleeve 132 is less than the total axial stroke of the nut when it rotates. As a result, when the sleeve 132 is fitted over the nut for disassembly, the top surface of the sleeve 132 will contact the washer of the nut. That is, the upper surface of the nut is basically at the same level as the upper surface of the sleeve 132. Since the total axial stroke of the nut when it rotates represents the total stroke of the upper surface of the nut when it moves downward, when this total stroke is greater than the distance between the bottom surface of the locking block 1001 and the top surface of the sleeve 132, after the nut is completely unscrewed and separated from the screw, the top surface of the nut will inevitably move to below the locking block 1001. The horizontal surface of the bottom surface of the locking block 1001 will then limit the nut and prevent it from falling out of the opening of the sleeve 132.

[0056] Therefore, with the above configuration, each time the nut on the surge arrester is removed, the sleeve 132 is fitted over the outside of the nut. Then, as the sleeve 132 rotates, the nut is removed. Simultaneously, the nut moves longitudinally relative to the sleeve 132 inside the sleeve 132, moving below the locking block 1001. Once the nut is below the locking block 1001, the locking block 1001 extends due to the rebound of the spring 1002, and the nut is then held in place by the locking block 1001. The limit of 001 prevents the nut from falling out of the opening of the sleeve 132. The nut that enters 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 upside down, for example when removing the nut above the surge arrester, the nut will be above the locking block 1001 after being unscrewed and will be limited by the locking block 1001. Thus, the nut can be prevented from falling out whether the sleeve 132 is upside down or upright, eliminating the risk of the nut falling from a height.

[0057] Considering that in actual work, the nut is prevented from falling off directly by the locking block 1001, and the extension of the locking block 1001 is controlled by the rebound of the spring 1002, the service life of the spring 1002 affects the locking block 1001's limitation on the nut. With the above settings, the locking block 1001 will extend and retract once every time a nut is removed, which means the spring 1002 will be compressed once. Frequent compression of the spring 1002 will lead to fatigue and affect its service life.

[0058] In the above configuration, when the sleeve 132 is above the storage box 5, the nut can fall directly into the storage box 5 by its own weight after being disassembled and unscrewed, without the obstruction of the locking block 1001. The nut will not fall out of the opening of the sleeve 132. At this time, the locking block 1001 can be retracted to reduce the number of compressions of the spring 1002. In the inverted state, when the sleeve 132 is upside down, the locking block 1001 extends again to block and limit the nut, preventing the nut from falling out of the opening of the sleeve 132 after being disassembled.

[0059] 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.

[0060] Specifically, such as Figures 3-6As shown, a fixed ring 14 is fixedly sleeved on the outside of the top of the sleeve 132, and an annular groove 15 is formed on the outer wall of the fixed ring 14. A ring sleeve 16 is movably sleeved on the annular groove 15. The inner wall of the inner ring of the ring sleeve 16 is in contact with and slides against 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 provided inside the movable groove 11, and a spring 1002 is provided between the reference block 17 and the slider 12. The reference block 17 slides radially along the sleeve 132 inside the movable groove 11, just like the slider 12. A push rod 18 is fixedly provided on the side of the reference block 17 facing the outer circumference of the sleeve 132, and the other end of the push rod 18 extends through the groove wall of the movable groove 11 through a through hole to the inside of the annular groove 15 and is in contact with the inner wall of the inner ring of the ring sleeve 16.

[0061] It should be noted that when the push rod 18 contacts the inner wall of the ring sleeve 16, the spring 1002 is in a slightly compressed state, the slider 12 is in contact with the groove wall of the movable groove 11, and the triangular end of the locking block 1001 extends out and is located in the inner cavity of the sleeve 132. At this time, the reference block 17 and the inner wall of the movable groove 11 facing the outer circumference of the sleeve 132 are spaced apart. 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 room to move downward. When the ring sleeve 16 moves downward, the ring sleeve 16 separates from the push rod 18, and the ring sleeve 16 can no longer support the push rod 18. When the inclined surface of the locking block 1001 is squeezed, the locking block 1001 will retract toward the inside of the slide groove 13. At this time, the movement of the slider 12 will push the reference block 17 through the spring 1002, thereby causing the locking block 1001 to retract into the inside of the slide groove 13, and the spring 1002 is in a released state to prevent the spring 1002 from being compressed.

[0062] Furthermore, through the above settings, the extension and retraction state of the locking block 1001 can be controlled by moving the ring 16 up and down, and the spring 1002 will not be compressed when the locking block 1001 retracts. When the sleeve 132 is upright, that is, when the sleeve 132 is above the storage box 5, the ring 16 is moved down when the locking block 1001 is not needed to block and limit. After the ring 16 is moved down, one end of the top rod 18 loses the support of the ring 16. At this time, the nut is removed, and the nut will press the locking block 1001 towards the inside of the slide groove 13 through the inclined surface of the locking block 1001. The movement of the locking block 1001 will cause the slider 12 to move. The slider 12 will move the reference block 17 towards the top rod 18 through the spring 1002, thereby causing the locking block 1001 to retract into the inside of the slide groove 13, while ensuring that the spring 1002 is not compressed.

[0063] When sleeve 132 is inverted, the ring 16 is moved upwards. The ring 16 will move until it is at the same horizontal level as the push rod 18, and the ring 16 will re-engage with the push rod 18. It should be noted that, in order for the ring 16 to push the push rod 18 towards the movable groove 11 during its upward movement, as follows... Figures 5-7 As shown, the upper part of the inner ring of the ring sleeve 16 is set as an inclined surface. In other words, an flared opening is set at the top of the inner ring of the ring sleeve 16. The inclined surface allows the push rod 18 to extend into the annular groove 15 and be pressed into the through hole towards the movable groove 11 during the upward movement of the ring sleeve 16. This causes the push rod 18 to push the reference block 17 to move. The reference block 17 pushes the slider 12 through the spring 1002, causing the locking block 1001 to extend. At this time, the spring 1002 is slightly compressed. During subsequent disassembly, the nut will first be pressed into the slide groove 13 by the inclined surface of the locking block 1001. At this time, the ring sleeve 16 provides horizontal support for the push rod 18. The movement of the slider 12 will compress the spring 1002. When the nut moves above the locking block 1001, the locking block 1001 will extend and limit it by the rebound of the spring 1002.

[0064] In order to allow the sleeve 132 to move accordingly when its position changes, such as... Figure 1 , Figure 2 , Figure 3 and Figure 7 As shown, a guide assembly 19 is also provided at the end of the robotic arm. The guide assembly 19 moves the ring 16 longitudinally when the position of the sleeve 132 changes. Specifically, when the sleeve 132 is in an upright state, that is, when the sleeve 132 is above the storage box 5, the ring 16 moves downward, thereby causing the locking block 1001 to retract and without compressing the spring 1002. When the sleeve 132 is upside down and below the storage box 5, the ring 16 moves upward to provide horizontal support to the top rod 18, causing the locking block 1001 to extend.

[0065] Specifically, such as Figure 1 , Figure 2 , Figure 3 , Figure 7 and Figure 8As shown, the guide assembly 19 includes a cam disk 191, a guide groove 192, and a guide post 193. The cam disk 191 is a semi-circular disc and is located at the end of the robotic arm. The spatial orientation of the sleeve 132 is changed by the rotation of the rotary joint arm at the end of the robotic arm, for example, changing the sleeve 132 from an upright to an inverted orientation. More specifically, the cam disk 191 is fixed to the end of the robotic arm, and the center of the cam disk 191 is coaxial with the rotation axis of the sleeve 132. The rotation axis of the sleeve 132, i.e., the sleeve 132 is mounted on... When the sleeve 132 is at the end of the robotic arm, the joint of the robotic arm controls the rotation axis when the sleeve 132 changes from an upright to an inverted posture. When the sleeve 132 changes its posture through the end joint of the robotic arm, the cam disk 191 is fixed. The cam disk 191 has a guide groove 192 recessed on the side facing the sleeve 132. The guide groove 192 is specifically set as a semi-circular spiral groove centered on the center of the cam disk 191. The guide post 193 is movably inserted into the guide groove 192, and the other end of the guide post 193 is fixed to the ring 16.

[0066] Furthermore, in this embodiment, as Figure 7 As shown, the ring sleeve 16 can be movably sleeved on the outside of the annular groove 15 via a bearing. The inner ring of the ring sleeve 16 is sleeved with the annular groove 15, while the outer ring of the ring sleeve 16 is rotatably connected to the inner ring via a bearing. The guide post 193 is connected to the outer wall of the outer ring of the ring sleeve 16. Alternatively, a closed-loop groove with an arc surface can be opened on the inner ring of the ring sleeve 16. One end of the push rod 18 is also arc-shaped. Thus, when the ring sleeve 16 and the push rod 18 are aligned, the push rod 18 can be inserted into the annular groove for longitudinal positioning. The arc surface design allows the push rod 18 to separate from the annular groove when the ring sleeve 16 is guided by the spiral groove.

[0067] Furthermore, when the sleeve 132 changes its posture, as it rotates along the shaft 312, the guide post 193 moves within the guide groove 192. Through the spiral guide groove 192, the guide post 193 drives the ring 16 to move longitudinally relative to the sleeve 132, thereby controlling the posture of the locking block 1001. It should be noted that the guide groove 192 is configured with its starting end at the top and its ending end at the bottom, and the section from the top end to the midpoint is spirally guided. This allows the guide post 193 to move longitudinally from the top end of the guide groove 192 to the midpoint, while the section from the midpoint to the end of the guide groove 192... This section is a curved groove of the same diameter, so that when the guide post 193 moves from the midpoint to the end of the guide groove 192, the longitudinal position of the ring 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, the ring 16 on the sleeve 132 is below the top rod 18. When the sleeve 132 is in a horizontal state, the ring 16 on the sleeve 132 is horizontally aligned with the top rod 18, so that the ring 16 can provide horizontal support for the top rod 18, thereby preventing the nut inside the sleeve 132 from falling out. When the sleeve 132 is in a horizontal state, the locking block 1001 can extend to prevent the nut from falling out.

[0068] The surge arrester disassembly and assembly method based on the surge arrester disassembly and assembly robotic arm of the live-line working robot includes the following steps:

[0069] Step 1: The robotic arm platform is moved to the lightning arrester operating height by the aerial lifting vehicle 2;

[0070] Step 2: The gripper 1031 at the end of the clamping robotic arm 111 moves to the surge arrester and clamps it. The bolt removal and installation robotic arm 112 controls the sleeve 132 to move to the bottom bolt of the surge arrester. The nut is inserted into the inner cavity of the sleeve 132. The drive component 311 at the end of the bolt removal and installation robotic arm 112 is activated, causing the rotating shaft 312 to rotate. The rotating shaft 312 drives the sleeve 132 to rotate and loosen the nut, thus removing the nut.

[0071] Step 3: The disassembled nuts are collected sequentially through the inner cavity of sleeve 132, the cavity 9 of rotating shaft 312, and the storage box 5;

[0072] Step 4: The gripping robotic arm 111 removes the surge arrester from the working position and places it on the temporary storage platform;

[0073] Step 5: Clamping robotic arm 111 clamps and moves the new surge arrester to the installation position, and bolt removal and installation robotic arm 112 places sleeve 132 on the outside of the fastening nut of the new surge arrester and rotates it to tighten it.

[0074] It should be noted that in steps two and three, the end effector of the robotic arm rotates the sleeve 132 by 90° around the pivot to an upright position, i.e., the sleeve 132 is above the storage box 5. Under the action of the guide groove 192 and the guide post 193, the ring 16 moves below the top rod 18, the sleeve 132 fits into the nut, and the nut contacts the inclined surface of the locking block 1001, pressing the locking block 1001. The slider 12 slides along the movable groove 11, and the spring 1002 pushes the reference block 17 to completely retract the locking block 1001. The spring 1002 is in its natural state, rotating to loosen the nut. When the sleeve 132 rotates, the ring 16 is in a movable fit, so it does not obstruct its rotation. The disassembled nut enters the storage box 5 for collection by its own weight. In the inverted state, i.e., when the sleeve 132 is below the storage box 5, when the sleeve 132 moves to a horizontal position, it is affected by the guide post 192. The function of 93 and guide groove 192 is that the ring 16 will move to be horizontally aligned with the top rod 18. The ring 16 provides horizontal support for the top rod 18. At this time, the locking block 1001 will extend and play a limiting role. The sleeve 132 continues to move to the inverted position. The locking block 1001 still maintains the extension limiting role. Then, the robotic arm controls the inner cavity of the sleeve 132 to fit the nut. After the nut contacts the inclined surface of the locking block 1001, it squeezes the locking block 1001, causing the locking block 1001 to retract into the slide groove 13. The end drive component 311 of the bolt removal and installation robotic arm 112 is activated, causing the rotating shaft 312 to rotate. The rotating shaft 312 drives the sleeve 132 to rotate and loosen the nut. After the nut is loosened, it moves longitudinally along the inner cavity of the sleeve 132 until it contacts the horizontal surface of the locking block 1001. The locking block 1001 rebounds through the spring 1002 to maintain the limiting state. When the nut is unscrewed later, it is pushed upward into the storage box 5 by the already removed nut.

[0075] The principle of this invention is as follows: When disassembling the nut, if the sleeve 132 is above the storage box 5, the ring 16 is below the top rod 18 due to the guide groove 192. The ring 16 cannot provide horizontal support for the top rod 18. The robotic arm controls the sleeve 132 to move to the bottom bolt of the surge arrester, causing the sleeve 132 to fit over the nut. At this time, the nut enters the inner cavity of the sleeve 132, and the sleeve 132 presses against the locking block 1001, causing the locking block 1001 to retract. Since the top rod 18 lacks the horizontal support of the ring 16, the movement of the locking block 1001 causes the slider 12 to move. The spring 1002 moves the reference block 17 toward the push rod 18, causing the locking block 1001 to retract into the slide groove 13, while 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 due to its own weight. When the sleeve 132 needs to be inverted, such as when disassembling the bolts above the surge arrester, the sleeve 132 changes its posture by adjusting the end joint of the robotic arm, rotating around the rotating shaft 312 from an upright position to an inverted position. Due to the convex... The center of the wheel 191 is coaxial with the rotating shaft 312. While the sleeve 132 moves, the guide post 193, in conjunction with the guide groove 192, causes the ring 16 to move longitudinally relative to the sleeve 132, aligning it horizontally with the push rod 18. The ring 16 provides horizontal support to the push rod 18, which in turn pushes the reference block 17. The reference block 17, via the spring 1002, pushes the slider 12, causing the locking block 1001 to extend and the spring 1002 to compress slightly. When the sleeve 132 is then disassembled outside the nut, the nut will loosen and move within the sleeve 132. When longitudinal movement occurs, the nut will move above the locking block 1001. Once the nut moves above the locking block 1001, the locking block 1001 will extend due to the rebound of the spring 1002. The nut will then be prevented from falling out of the opening of the sleeve 132 by the limiting of the locking block 1001. The nut that has entered above the locking block 1001 will be pushed upward as the next nut enters until it is pushed into the storage box 5 for storage. After the bolts of the surge arrester are removed and installed, the robotic arm controls the gripper 1031 to remove the surge arrester and clamp the new surge arrester to the installation position. Then, the nut is tightened by rotating the sleeve 132 to complete the tightening installation.

[0076] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A surge arrester disassembly and assembly robotic arm based on a live-line working robot, comprising a clamping robotic arm (111) and a bolt disassembly and assembly robotic arm (112), wherein the clamping robotic arm (111) is provided with a symmetrical gripper (1031) mechanism at its end, and the bolt disassembly and assembly robotic arm (112) is provided with a drive mechanism (131) and a sleeve (132) at its end, characterized in that, The bolt removal and assembly robotic arm (112) is also equipped with an anti-drop storage mechanism at its end; The drive mechanism (131) includes a drive assembly (311) and a rotating shaft (312). The rotating shaft (312) is rotatably connected to the end of the bolt removal and installation robot arm (112). The rotating shaft (312) has a cavity (9) running through its interior. The drive assembly (311) is located on one side of the rotating shaft (312) and drives the rotating shaft (312) in parallel. The sleeve (132) is detachably installed on one end of the rotating shaft (312) and its inner cavity is connected to the cavity (9) of the rotating shaft (312). The anti-fall storage mechanism includes a storage box (5) and a locking block (1001). The storage box (5) is fixed to the end of the bolt removal and installation robot arm (112) and located below the rotating shaft (312). The cavity of the rotating shaft (312) is connected to the interior of the storage box (5). The locking block (1001) is telescopically installed in the inner cavity of the sleeve (132), and the locking block (1001) is elastically supported by a spring (1002) to achieve anti-fall limit after the nut is unscrewed. The inner cavity of the sleeve (132) is provided with three ring array of locking blocks (1001). Each locking 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). A fixing ring (14) is fixedly sleeved on the outside of the sleeve (132). An annular groove (15) is opened on the outer wall of the fixing ring (14), and a ring sleeve (16) is slidably sleeved on the outside of the annular groove (15). The reference block (17) is slidably disposed inside the movable groove (11), and a top rod (18) is fixedly disposed on one side of the reference block (17). The top rod (18) moves through the groove wall of the movable groove (11) and extends into the annular groove (15) and fits against the inner annular wall of the ring sleeve (16). The ring sleeve (16) is longitudinally displaced outside the sleeve (132) when the sleeve (132) changes its posture by being guided by the guide component (19). The guide assembly (19) includes a cam disk (191), a guide groove (192), and a guide post (193). The cam disk (191) is coaxial with the pivot (312) of the control sleeve (132) when the spatial posture changes. A guide groove (192) centered on the center of the cam disk (191) is provided on one side of the disk surface of the cam disk (191), and the guide groove (192) is a semi-circular spiral groove. One end of the guide post (193) is fixed to the ring sleeve (16), and the other end is inserted into the guide groove (192). When the sleeve (132) switches between upright and horizontal postures, the rotational motion is converted into the axial displacement of the ring sleeve (16) through the spiral transmission, so as to realize the extension and retraction switching of the locking block (1001) when the sleeve (132) is upright or inverted.

2. The surge arrester disassembly and assembly robotic arm based on a live-line working robot as described in claim 1, characterized in that, When the sleeve (132) is upright, the ring (16) moves down, the locking block (1001) retracts, and the spring (1002) is not compressed; When the sleeve (132) is inverted, the ring (16) moves upward to extend the locking block (1001), and the spring (1002) is slightly compressed to limit the nut.

3. The surge arrester disassembly and assembly robotic arm based on a live-line working robot as described in claim 1, characterized in that, The guide groove (192) is divided into a helical guide section and a curved section of the same diameter, and the helical guide section and the curved section of the same diameter are smoothly transitioned.

4. The surge arrester disassembly and assembly robotic arm based on a live-line working robot as described in claim 1, characterized in that, The bolt removal and installation robot arm (112) is fixedly equipped with a mounting frame (7) on its end platform, and the drive mechanism (131) is mounted above the storage box (5) via the mounting frame (7).

5. The surge arrester disassembly and assembly robotic arm based on a live-line working robot as described in claim 1, characterized in that, The storage box (5) is equipped with a door (6).

6. A method for disassembling and assembling a surge arrester based on a live-line working robot according to any one of claims 1-5, characterized in that, Includes the following steps: Step 1: The robotic arm is moved to the working height of the lightning arrester by the aerial lifting vehicle (2); Step 2: The end gripper (1031) of the clamping robot arm (111) moves to the surge arrester and clamps it. The bolt removal and installation robot arm (112) controls the sleeve (132) to move to the bottom bolt of the surge arrester. The nut is inserted into the inner cavity of the sleeve (132). The end drive assembly (311) of the bolt removal and installation robot 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 and remove it. Step 3: The disassembled nuts are collected sequentially 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 surge arrester from the working position and places it on the temporary storage platform; Step 5: Clamping robotic arm (111) clamps and moves the new surge arrester to the installation position, bolt removal and installation robotic arm (112) places the sleeve (132) on the outside of the fastening nut of the new surge arrester and rotates it to tighten it.

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