Manipulator for power grid construction and using method thereof

Abstract

The invention relates to the technical field of power grid construction, and discloses a power grid construction manipulator and a using method thereof.The power grid construction manipulator comprises a base, the top of the base is fixedly connected with a control case, the bottom of the base is fixedly connected with wheels, a motor operates to drive a first gear to rotate, and when the first gear rotates, a second gear drives a first friction roller to rotate; a first belt wheel, a belt and a second belt wheel are used for transmission, a second friction roller is made to rotate, and when the first friction roller and the second friction roller rotate, the shell and the whole equipment are driven to move. The control case is close to the second friction roller, so that the whole equipment inclines towards the second friction roller, and when the first friction roller and the second friction roller rotate, the whole equipment is driven to move. The assembly is tightly attached to the surface of a telegraph pole, stable friction force is kept, the first friction rolling wheel and the second friction rolling wheel stably drive the shell and the whole equipment to move when rotating through assembly operation, and the situation that in the place where hoisting equipment cannot reach conveniently, the equipment is inconvenient to ascend and descend, and work of a mechanical arm is affected is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid construction equipment, and specifically relates to a manipulator for power grid construction and its usage method. Background Art

[0002] The robotic arm in power grid construction is a robotic device used for power construction. It can operate under the power supply state. Using this robotic arm in power construction can complete various construction tasks. The robotic arm has precise positioning and operation capabilities, can perform construction in a narrow space, and complete some tasks that are difficult to be completed manually. The robotic arm can improve work efficiency, reduce manual risks in power grid construction, and has precise positioning and operation capabilities, which helps to improve the safety and reliability of the power grid.

[0003] When carrying out power grid construction, the robotic arm used for construction operations is usually lifted to a designated position by a lifting device and then perform designated construction operations. However, in some narrow streets and mountainous areas where lifting devices are not easily accessible, it is rather troublesome for the robotic arm to reach the designated height for construction operations. In view of the above problems, the following solutions are proposed. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a manipulator for power grid construction, including a base. A control chassis is fixedly connected to the top of the base, wheels are fixedly connected to the bottom of the base, a robotic arm is rotatably connected to the top of the control chassis, and a counterweight block is fixedly connected to the top of the base; A disassembly and fixation mechanism, the disassembly and fixation mechanism includes a utility pole, a fixed column for restricting and clamping on the outer wall of the utility pole, a first fixed block, a housing, a disassembly block, a limiting convex block, a sliding block, and a climbing and ascending mechanism for climbing on the outer wall of the utility pole; The bottom of the fixed column is fixedly connected to the top of the base, the outer wall of the fixed column is slidably connected to the inner wall of the first fixed block, the top of the first fixed block is fixedly connected to the bottom of the housing, the outer wall of the housing is slidably connected to the outer wall of the disassembly block, the outer wall of the disassembly block is fixedly connected to the outer wall of the limiting convex block, the inner wall of the housing is slidably connected to the outer wall of the sliding block, and the outer wall of the sliding block is slidably connected to the outer wall of the disassembly block.

[0005] Preferably, the climbing and ascending mechanism includes a fixed bracket fixedly connected to the outer wall of the housing. A motor is fixedly connected to the outer wall of the fixed bracket. The outer wall of the motor is fixedly connected to a first gear. When the motor is powered on and operates, it can drive the first gear to rotate, providing power support for the operation of subsequent components. The fixed bracket is used to fix the motor to keep it rotating normally and avoid the motor from shaking during rotation.

[0006] Preferably, the climbing and ascending mechanism further includes a second gear meshed and connected to the outer wall of the first gear. A first friction roller is fixedly connected to the outer wall of the second gear. The outer wall of the first friction roller is rotatably connected to the inner wall of the housing. A first pulley is fixedly connected to the outer wall of the first friction roller. When the motor is powered on and running, it can drive the first gear to rotate. When the first gear rotates, the first friction roller is synchronously driven to rotate through the second gear. Then, when the first friction roller rotates, the first pulley can be driven to rotate.

[0007] Preferably, the climbing and ascending mechanism further includes a belt sleeved on the outer wall of the first pulley. A second friction roller is rotatably connected to the inner wall of the housing. A second pulley is fixedly connected to the outer wall of the second friction roller. The belt is sleeved on the outer wall of the second pulley. An adaptive adjustment assembly is slidably connected to the inner wall of the second friction roller. A limiting and anti-falling assembly is fixedly connected to the outer wall of the second friction roller. By utilizing the characteristic that the first friction roller and the second friction roller can drive the housing to move when rotating, a motor is provided. When the motor is powered on and running, it drives the first gear to rotate. When the first gear rotates, the first friction roller is synchronously driven to rotate through the second gear. Then, through the transmission of the first pulley, the belt, and the second pulley, when the first friction roller rotates, it can drive the second friction roller to rotate together. When the first friction roller and the second friction roller rotate, the housing and the overall equipment are driven to move up and down. Since the control chassis is on the side close to the second friction roller, when the housing moves upward, the overall equipment will tilt slightly towards the side of the second friction roller, so that the first friction roller and the second friction roller can always be in close contact with the outer surface of the utility pole when rotating, thereby maintaining a relatively stable frictional force. Through the operation of the above components, when the first friction roller and the second friction roller rotate, they can stably drive the housing to move up and down, enabling the overall equipment to move synchronously, avoiding the inconvenience of equipment lifting in some narrow streets or mountainous areas where lifting equipment is not easily accessible, and thus affecting the normal operation of the robotic arm.

[0008] Preferably, the adaptive adjustment assembly includes a friction slider slidably connected to the inner wall of the second friction roller. A piston plate is fixedly connected to the top of the fixed column. The outer wall of the piston plate is slidably connected to the inner wall of the first fixing block. A communication groove is provided in the inner wall of the first fixing block. When the first fixing block rises, due to the gravity of multiple components such as the base and the control chassis on the fixed column, the piston plate will be pulled downward. When the piston plate moves downward, it will squeeze the hydraulic oil below it, causing it to move outward through the communication groove.

[0009] Preferably, the adaptive adjustment assembly further includes a piston rod slidably connected to the inner wall of the first fixed block. A connecting pipe is fixedly connected to the inner wall of the first fixed block. The outer wall of the connecting pipe is rotatably connected to the inner wall of the second friction roller. An arc-shaped block is fixedly connected to the outer wall of the piston rod. A ball is rotatably connected to the inner wall of the arc-shaped block. Based on the above-mentioned characteristics that the device will drive the outer shell to move as the first friction roller and the second friction roller rotate, two first fixed blocks are provided. When the outer shell rises, it will be driven to rise synchronously. When the first fixed block rises, due to the gravity of multiple components such as the base and the control chassis on the fixed column, the piston plate will be pulled downward. When the piston plate moves downward, it will squeeze the hydraulic oil below it, causing it to push the piston rod outward through the communication groove. When the piston rod moves outward, the arc-shaped block and the ball will be driven to move outward synchronously, so that the ball can closely adhere to the outer surface of the electric pole. As the device gradually rises, due to the characteristic that the upper part of the electric pole is thinner and the lower part is thicker, while the piston rod is gradually moving outward, it will squeeze the hydraulic oil on the other side of it, causing it to enter the second friction roller through the connecting pipe, so that the friction slider is squeezed by the hydraulic oil and gradually extends outward. As the electric pole gradually becomes thinner, the distance between the friction sliders at both ends of the electric pole will also gradually decrease and closely adhere to the outer surface of the electric pole, so that the device can maintain a relatively horizontal state while rising, avoiding the overall device tilting due to the gradual thinning of the electric pole during rising, which will affect the continuous rising of the device and the subsequent construction operations of the robotic arm.

[0010] Preferably, the anti-falling and restricting assembly includes a first rotating plate fixedly connected to the outer wall of the second friction roller. A fixed convex block is fixedly connected to the outer wall of the first rotating plate. A second fixed block is fixedly connected to the inner wall of the outer shell. A sliding plate is slidably connected to the inner wall of the second fixed block. When the second friction roller continues to rotate and the overall device rises, the first rotating plate will be driven to rotate synchronously. When the first rotating plate rotates, it can drive the fixed convex block to rotate together and then contact the subsequent components.

[0011] Preferably, the anti-falling and restricting assembly further includes a one-way valve fixedly connected to the inner wall of the sliding plate. A through hole is provided in the inner wall of the sliding plate. A telescopic spring is fixedly connected to the outer wall of the sliding plate. The end of the outer wall of the telescopic spring away from the sliding plate is fixedly connected to the inner wall of the second fixed block. When the overall device rises, the sliding plate remains stationary under the tension of the telescopic spring, and the one-way valve contacts the connecting pipe, so that the hydraulic oil in the connecting pipe can only flow unidirectionally into the second friction roller.

[0012] Preferably, the anti-falling component further includes a third fixed block fixedly connected to the top of the sliding plate. A first rotating shaft is rotatably connected to the inner wall of the third fixed block. A rotating rod is fixedly connected to the outer wall of the first rotating shaft. Based on the above-mentioned characteristic that the second friction roller rotates continuously, a first rotating plate is provided. When the second friction roller rotates and the device ascends, the first rotating plate is synchronously driven to rotate. When the first rotating plate rotates, the fixed convex block contacts the rotating rod, causing it to rotate around the first rotating shaft. At this time, the sliding plate remains stationary under the tension of the telescopic spring. The one-way valve contacts the connecting pipe, enabling the hydraulic oil in the connecting pipe to only flow unidirectionally towards the second friction roller. When the second friction roller rotates and the device descends, the fixed convex block contacts the rotating rod through the first rotating plate. However, at this time, the fixed convex block pushes the rotating rod, causing it to contact and squeeze against the top of the third fixed block, thereby pushing the third fixed block to move. When the third fixed block moves, the sliding plate is synchronously driven to move outwards, causing the through hole to contact the connecting pipe. At this time, the connecting pipes on both sides of the through hole communicate with each other. Through the operation of the above components, it is achieved that during the ascent of the device, the hydraulic oil in the connecting pipe does not flow back, so that when the device reaches the designated construction position, the piston rod and the arc-shaped block cannot retract inwards, enabling the device to be stably clamped at the designated position, and avoiding the device from shaking due to adverse factors such as strong winds during construction at the top of the electric pole, thereby affecting the normal operation of the robotic arm.

[0013] Preferably, the anti-falling component further includes a first arc-shaped spring fixedly connected to the outer wall of the rotating rod. The end of the first arc-shaped spring away from the rotating rod is fixedly connected to the inner wall of the third fixed block. A fourth fixed block is fixedly connected to the outer wall of the connecting pipe. An activity groove is provided in the inner wall of the fourth fixed block. When the second friction roller rotates and the device ascends, the first rotating plate is synchronously driven to rotate. When the first rotating plate rotates, the fixed convex block contacts the rotating rod, causing it to rotate around the first rotating shaft. When the device ascends, the hydraulic oil flows upwards from the connecting pipe. At this time, the hydraulic oil enters the fourth fixed block.

[0014] Preferably, the limiting anti-falling component also includes a rotating shaft 2 rotatably connected to the inner wall of the fixed block 4, a rotating plate 2 is fixedly connected to the outer wall of the rotating shaft 2, the outer wall of the rotating plate 2 is rotatably connected to the inner wall of the fixed block 4, an arc spring 2 is fixedly connected to the outer wall of the rotating plate 2, and a telescopic plate is fixedly connected to the outer wall of the rotating plate 2. By utilizing the above-mentioned characteristic that the hydraulic oil will flow in the connecting pipe, a rotating plate 2 is provided. When the equipment rises, the hydraulic oil will flow upward from the connecting pipe. At this time, the hydraulic oil will enter the fixed block 4 and push the rotating plate 2 to rotate around the rotating shaft 2 as the axis. The arc spring 2 and the telescopic plate are compressed and contracted, so that only a small circulation space originally restricted by the rotating plate 2 is increased, which is convenient for hydraulic The oil flows upward in time to fill and replenish the friction roller 2. When the equipment descends, the hydraulic oil will flow downward from the connecting pipe. At this time, the rotating plate 2 is reset by the arc spring 2, so that the connecting pipe is blocked and only a small gap is left. The descending hydraulic oil will slide from the surface of the telescopic plate to the small gap, and then flow downward through the small gap, thereby limiting the downward flow rate of the hydraulic oil, so that the equipment can descend smoothly when it descends, and avoiding the hydraulic oil poured into the friction roller 2. When descending, it will be affected by the extrusion force and gravity, and will flow downward quickly, causing the overall equipment to descend faster, resulting in greater shaking of the equipment, causing the equipment to be damaged by bumps, or causing accidents of falling.

[0015] A method for using a manipulator for power grid construction includes the following steps: S1: Connecting components: Before using the device, first install the device at the required position, then connect the housing and the disassembly block, and fasten the sliding block; S2: Start the device: Turn on the power of the motor. When the motor is powered on, it drives gear one to rotate. When gear one rotates, it drives friction roller one to rotate synchronously through gear two. Then, through the transmission of pulley one, belt and pulley two, when friction roller one rotates, it drives friction roller two to rotate together.

[0016] The present invention has the following beneficial effects: (1) The present invention utilizes the characteristic that when the first friction roller and the second friction roller rotate, they can drive the outer shell to move. A motor is set. When the motor is powered on and running, it drives the first gear to rotate. When the first gear rotates, the first friction roller is synchronously driven to rotate through the second gear. Then, through the transmission of the first pulley, the belt and the second pulley, when the first friction roller rotates, it can drive the second friction roller to rotate together. When the first friction roller and the second friction roller rotate, they drive the outer shell and the whole device to move up and down. Since the control chassis is on the side close to the second friction roller, when the outer shell moves up, the whole device will tilt slightly towards the side of the second friction roller, so that when the first friction roller and the second friction roller rotate, they can always closely adhere to the outer surface of the telegraph pole, thus maintaining a relatively stable frictional force. Through the operation of the above components, when the first friction roller and the second friction roller rotate, they can stably drive the outer shell to move up and down, making the whole device move synchronously, avoiding the inconvenience of the device in lifting in some narrow streets or mountainous areas where lifting equipment is not easily accessible, which will affect the normal operation of the robotic arm.

[0017] (2) As described above, the present invention utilizes the characteristic that the device will drive the outer shell to move as the first friction roller and the second friction roller rotate. Two first fixing blocks are set. When the outer shell rises, they are synchronously driven to rise. When the first fixing blocks rise, due to the gravity of multiple components such as the base and the control chassis on the fixed column, the piston plate is pulled downwards. When the piston plate moves downwards, it squeezes the hydraulic oil below it, causing it to push the piston rod outwards through the communication groove. When the piston rod moves outwards, the arc-shaped block and the ball are synchronously driven to move outwards, so that the ball can closely adhere to the outer surface of the telegraph pole. When the device gradually rises, due to the characteristic that the telegraph pole is thicker at the bottom and thinner at the top, while the piston rod is gradually moving outwards, it squeezes the hydraulic oil on the other side, causing it to enter the second friction roller through the connecting pipe, so that the friction slider is squeezed by the hydraulic oil and gradually extends outwards. As the telegraph pole gradually becomes thinner, the distance between the friction sliders at both ends of the telegraph pole also gradually decreases and closely adheres to the outer surface of the telegraph pole, so that the device can maintain a relatively horizontal state while rising, avoiding the occurrence of a certain tilt of the whole device due to the gradual thinning of the telegraph pole during rising, which will affect the continuous rising of the device and the subsequent construction operation of the robotic arm.

[0018] (3) The present invention utilizes the above-mentioned characteristic that the friction roller 2 will rotate continuously, and sets a rotating plate 1. When the friction roller 2 rotates and causes the device to rise, the rotating plate 1 is synchronously driven to rotate. When the rotating plate 1 rotates, the fixed protrusion will contact the rotating rod, causing it to rotate around the rotating shaft 1 as the axis. At this time, the sliding plate is kept stationary by the tension of the telescopic spring, and the one-way valve contacts the connecting pipe, so that the hydraulic oil in the connecting pipe can only flow in one direction to the friction roller 2. When the friction roller 2 rotates and causes the device to descend, the fixed protrusion contacts the rotating rod through the rotating plate 1, but at this time the fixed protrusion will push The rotating rod is used to make it contact and squeeze the top of the fixed block three, thereby pushing the fixed block three to move. When the fixed block three moves, the sliding plate is simultaneously driven to move outward, so that the through hole contacts the connecting pipe. At this time, the connecting pipes on both sides of the through hole are interconnected. Through the operation of the above components, the hydraulic oil in the connecting pipe will not flow back during the rising process of the equipment, so that when the equipment reaches the designated construction position, the piston rod and the arc block cannot retract inward, so that the equipment is stably stuck in the designated position, avoiding the shaking of the equipment due to adverse factors such as wind when constructing on the top of the pole, thereby affecting the normal operation of the robotic arm.

[0019] (4) The present invention utilizes the above-mentioned characteristic that the hydraulic oil will flow in the connecting pipe, and sets a rotating plate 2. When the equipment rises, the hydraulic oil will flow upward from the connecting pipe. At this time, the hydraulic oil will enter the fixed block 4 and push the rotating plate 2 to rotate with the rotating shaft 2 as the axis. The arc spring 2 and the telescopic plate are compressed and contracted, so that the small circulation space originally limited by the rotating plate 2 is increased, which is convenient for the hydraulic oil to flow upward in time and fill and replenish the friction roller 2. When the equipment descends, the hydraulic oil will flow downward from the connecting pipe. At this time, the rotating plate 2 The arc spring 2 is reset by the action of the arc spring 2, so that the connecting pipe is blocked and only a small gap is left. The descending hydraulic oil will slide from the surface of the telescopic plate to the small gap, and then flow downward through the small gap, thereby limiting the downward flow rate of the hydraulic oil, so that the equipment can descend smoothly when it descends, and avoiding the hydraulic oil poured into the friction roller 2. When descending, it will be affected by the squeezing force and gravity and will flow downward quickly, causing the overall equipment to descend faster, resulting in greater shaking of the equipment, causing the equipment to be damaged by bumps, or causing accidents of falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0021] Figure 1Schematic diagram of internal components of the overall structure of the present invention; Figure 2 Schematic diagram of the overall structure of the present invention; Figure 3 Schematic cross-sectional view of the disassembly and fixing mechanism of the present invention; Figure 4 Schematic cross-sectional view of the adaptation and adjustment component of the present invention; Figure 5 For the present invention Figure 4 Enlarged schematic diagram of A in; Figure 6 Schematic cross-sectional view of the limiting anti-falling component of the present invention; Figure 7 For the present invention Figure 6 Enlarged schematic diagram of B in; Figure 8 Schematic diagram of internal components of the limiting anti-falling component of the present invention; Figure 9 For the present invention Figure 7 Enlarged schematic diagram of C in; Figure 10 Schematic diagram of the working process of the present invention.

[0022] In the drawings, the list of components represented by each reference numeral is as follows: In the figure: 1, base; 101, control chassis; 102, wheels; 103, robotic arm; 104, counterweight; 2, disassembly and fixing mechanism; 201, utility pole; 202, fixing column; 203, first fixing block; 204, housing; 205, disassembly block; 206, limiting convex block; 207, sliding block; 3, climbing and ascending mechanism; 301, fixing bracket; 302, motor; 303, first gear; 304, second gear; 305, first friction roller; 306, first pulley; 307, belt; 308, second friction roller; 309, second pulley; 4, adaptation and adjustment component; 401, friction slider; 402, piston plate; 403, communication groove; 404, piston rod; 405, connecting pipe; 406, arc-shaped block; 407, ball; 5, limiting anti-falling component; 501, first rotating plate; 502, fixing convex block; 503, second fixing block; 504, sliding plate; 505, one-way valve; 506, through hole; 507, telescopic spring; 508, third fixing block; 509, first rotating shaft; 510, rotating rod; 511, first arc-shaped spring; 512, fourth fixing block; 513, moving groove; 514, second rotating shaft; 515, second rotating plate; 516, second arc-shaped spring; 517, telescopic plate. Detailed implementation manners

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] Example 1. Please refer to Figure 1 - Figure 3 The present invention is a manipulator for power grid construction, including a base 1. A control chassis 101 is fixedly connected to the top of the base 1, and wheels 102 are fixedly connected to the bottom of the base 1. A robotic arm 103 is rotatably connected to the top of the control chassis 101, and a counterweight 104 is fixedly connected to the top of the base 1. A disassembly and fixing mechanism 2, which includes a utility pole 201, a fixing column 202 for restricting and clamping on the outer wall of the utility pole 201, a first fixing block 203, a housing 204, a disassembly block 205, a limiting convex block 206, a sliding block 207, and a climbing and ascending mechanism 3 for climbing on the outer wall of the utility pole 201. The bottom of the fixing column 202 is fixedly connected to the top of the base 1. The outer wall of the fixing column 202 is slidably connected to the inner wall of the first fixing block 203. The top of the first fixing block 203 is fixedly connected to the bottom of the housing 204. The outer wall of the housing 204 is slidably connected to the outer wall of the disassembly block 205. The outer wall of the disassembly block 205 is fixedly connected to the outer wall of the limiting convex block 206. The inner wall of the housing 204 is slidably connected to the outer wall of the sliding block 207. The outer wall of the sliding block 207 is slidably connected to the outer wall of the disassembly block 205.

[0025] The climbing and ascending mechanism 3 includes a fixed bracket 301 fixedly connected to the outer wall of the housing 204. A motor 302 is fixedly connected to the outer wall of the fixed bracket 301. A first gear 303 is fixedly connected to the outer wall of the motor 302. When the motor 302 is powered on and running, it can drive the first gear 303 to rotate, providing power support for the operation of subsequent components. The fixed bracket 301 is used to fix the motor 302 to keep it rotating normally and prevent the motor 302 from shaking during rotation.

[0026] The climbing and ascending mechanism 3 further includes a gear two 304 meshed and connected to the outer wall of the gear one 303. A friction roller one 305 is fixedly connected to the outer wall of the gear two 304. The outer wall of the friction roller one 305 is rotatably connected to the inner wall of the housing 204. A pulley one 306 is fixedly connected to the outer wall of the friction roller one 305. When the motor 302 is energized and operates, it can drive the gear one 303 to rotate. When the gear one 303 rotates, the friction roller one 305 is synchronously driven to rotate through the gear two 304. Then when the friction roller one 305 rotates, it can drive the pulley one 306 to rotate.

[0027] The climbing and ascending mechanism 3 further includes a belt 307 sleeved on the outer wall of the pulley one 306. A friction roller two 308 is rotatably connected to the inner wall of the housing 204. A pulley two 309 is fixedly connected to the outer wall of the friction roller two 308. The belt 307 is sleeved on the outer wall of the pulley two 309. An adaptive adjustment component 4 is slidably connected to the inner wall of the friction roller two 308. A limiting and anti-falling component 5 is fixedly connected to the outer wall of the friction roller two 308. By taking advantage of the feature that the friction roller one 305 and the friction roller two 308 can drive the housing 204 to move when rotating, a motor 302 is set. When the motor 302 is energized and operates, it drives the gear one 303 to rotate. When the gear one 303 rotates, the friction roller one 305 is synchronously driven to rotate through the gear two 304. Then through the transmission of the pulley one 306, the belt 307 and the pulley two 309, when the friction roller one 305 rotates, it can drive the friction roller two 308 to rotate together. When the friction roller one 305 and the friction roller two 308 rotate, they further drive the housing 204 and the whole device to move up and down. Since the control chassis 101 is on the side close to the friction roller two 308, when the housing 204 moves upward, the whole device will tilt slightly towards the side of the friction roller two 308, so that the friction roller one 305 and the friction roller two 308 can always be in close contact with the outer surface of the electric pole 201 when rotating, thereby maintaining a relatively stable frictional force. Through the operation of the above components, when the friction roller one 305 and the friction roller two 308 rotate, they can stably drive the housing 204 to move up and down, enabling the whole device to move synchronously, avoiding the inconvenience of the device for lifting in some narrow streets or mountainous areas where lifting equipment is not easily accessible, and further affecting the normal operation of the robotic arm 103.

[0028] Embodiment Two, please refer to Figure 4 - Figure 10, the present invention is a manipulator for power grid construction. On the basis of Embodiment 1, the adaptation and adjustment component 4 includes a friction slider 401 slidably connected to the inner wall of the second friction roller 308. The top of the fixed column 202 is fixedly connected to a piston plate 402. The outer wall of the piston plate 402 is slidably connected to the inner wall of the first fixed block 203. A communication groove 403 is provided in the inner wall of the first fixed block 203. When the first fixed block 203 rises, the fixed column 202 is subjected to the gravity of multiple components such as the base 1 and the control chassis 101, and will pull the piston plate 402 to move downward. When the piston plate 402 moves downward, it will squeeze the hydraulic oil below it, causing it to move outward through the communication groove 403.

[0029] The adaptation and adjustment component 4 further includes a piston rod 404 slidably connected to the inner wall of the first fixed block 203. A connecting pipe 405 is fixedly connected to the inner wall of the first fixed block 203. The outer wall of the connecting pipe 405 is rotatably connected to the inner wall of the second friction roller 308. An arc-shaped block 406 is fixedly connected to the outer wall of the piston rod 404. A ball 407 is rotatably connected to the inner wall of the arc-shaped block 406. Using the above-mentioned features that the device will drive the movement of the outer shell 204 as the first friction roller 305 and the second friction roller 308 rotate, two first fixed blocks 203 are provided. When the outer shell 204 rises, it will drive the synchronous rise of 203. When the first fixed block 203 rises, the fixed column 202 is subjected to the gravity of multiple components such as the base 1 and the control chassis 101, and will pull the piston plate 402 to move downward. When the piston plate 402 moves downward, it will squeeze the hydraulic oil below it, causing it to push the piston rod 404 to move outward through the communication groove 403. When the piston rod 404 moves outward, it will drive the synchronous movement of the arc-shaped block 406 and the ball 407 outward, so that the ball 407 can closely adhere to the outer surface of the electric pole 201. As the device gradually rises, due to the characteristic that the electric pole 201 is thicker at the bottom and thinner at the top, when the piston rod 404 gradually moves outward, it will squeeze the hydraulic oil on its other side, causing it to enter the second friction roller 308 through the connecting pipe 405, so that the friction slider 401 is squeezed by the hydraulic oil and gradually extends outward. As the electric pole 201 gradually becomes thinner, the distance between the friction sliders 401 at both ends of the electric pole 201 will also gradually decrease and closely adhere to the outer surface of the electric pole 201, so that the device can maintain a relatively horizontal state while rising, avoiding a certain inclination of the overall device due to the gradual thinning of the electric pole 201 during the rising process, which will affect the continuous rising of the device and the subsequent construction operation of the robotic arm 103.

[0030] The anti-falling limiting component 5 includes a first rotating plate 501 fixedly connected to the outer wall of the second friction roller 308. A fixed convex block 502 is fixedly connected to the outer wall of the first rotating plate 501. A second fixed block 503 is fixedly connected to the inner wall of the housing 204. A sliding plate 504 is slidably connected to the inner wall of the second fixed block 503. When the second friction roller 308 continuously rotates and the overall device ascends, it will synchronously drive the first rotating plate 501 to rotate. When the first rotating plate 501 rotates, it can drive the fixed convex block 502 to rotate together and then contact the subsequent components.

[0031] The anti-falling limiting component 5 further includes a one-way valve 505 fixedly connected to the inner wall of the sliding plate 504. A through hole 506 is formed in the inner wall of the sliding plate 504. A telescopic spring 507 is fixedly connected to the outer wall of the sliding plate 504. The end of the telescopic spring 507 away from the sliding plate 504 is fixedly connected to the inner wall of the second fixed block 503. When the overall device ascends, the sliding plate 504 remains stationary under the pulling force of the telescopic spring 507, and the one-way valve 505 contacts the connecting pipe 405, causing the hydraulic oil in the connecting pipe 405 to flow only unidirectionally towards the second friction roller 308.

[0032] The anti-falling limiting component 5 further includes a third fixed block 508 fixedly connected to the top of the sliding plate 504. A first rotating shaft 509 is rotatably connected to the inner wall of the third fixed block 508. A rotating rod 510 is fixedly connected to the outer wall of the first rotating shaft 509. Utilizing the characteristic that the second friction roller 308 rotates continuously as mentioned above, a first rotating plate 501 is set. When the second friction roller 308 rotates and the device ascends, it synchronously drives the first rotating plate 501 to rotate. When the first rotating plate 501 rotates, the fixed convex block 502 contacts the rotating rod 510, causing it to rotate around the first rotating shaft 509. At this time, the sliding plate 504 remains stationary under the pulling force of the telescopic spring 507, and the one-way valve 505 contacts the connecting pipe 405, causing the hydraulic oil in the connecting pipe 405 to flow only unidirectionally towards the second friction roller 308. When the second friction roller 308 rotates and the device descends, the fixed convex block 502 contacts the rotating rod 510 through the first rotating plate 501. However, at this time, the fixed convex block 502 will push the rotating rod 510, causing it to contact and squeeze the top of the third fixed block 508, thereby pushing the third fixed block 508 to move. When the third fixed block 508 moves, it synchronously drives the sliding plate 504 to move outwards, causing the through hole 506 to contact the connecting pipe 405. At this time, the two sides of the through hole 506 in the connecting pipe 405 communicate with each other. Through the operation of the above components, it is realized that during the ascent of the device, the hydraulic oil in the connecting pipe 405 will not flow back, so that when the device reaches the designated construction position, the piston rod 404 and the arc-shaped block 406 cannot retract inwards, enabling the device to be stably clamped at the designated position, and avoiding the device from shaking due to adverse factors such as wind during construction at the top of the electric pole 201, thereby affecting the normal operation of the robotic arm 103.

[0033] The anti-falling limiting component 5 further includes a first arc-shaped spring 511 fixedly connected to the outer wall of the rotating rod 510. One end of the outer wall of the first arc-shaped spring 511 away from the rotating rod 510 is fixedly connected to the inner wall of the third fixed block 508. A fourth fixed block 512 is fixedly connected to the outer wall of the connecting pipe 405. An activity groove 513 is formed in the inner wall of the fourth fixed block 512. When the second friction roller 308 rotates and the device ascends, the first rotating plate 501 is synchronously driven to rotate. When the first rotating plate 501 rotates, the fixed convex block 502 will contact the rotating rod 510, causing it to rotate around the first rotating shaft 509. When the device ascends, the hydraulic oil will flow upward in the connecting pipe 405, and at this time, the hydraulic oil will enter the fourth fixed block 512.

[0034] The anti-falling limiting component 5 further includes a second rotating shaft 514 rotatably connected to the inner wall of the fourth fixed block 512. A second rotating plate 515 is fixedly connected to the outer wall of the second rotating shaft 514. The outer wall of the second rotating plate 515 is rotatably connected to the inner wall of the fourth fixed block 512. A second arc-shaped spring 516 is fixedly connected to the outer wall of the second rotating plate 515. A telescopic plate 517 is fixedly connected to the outer wall of the second rotating plate 515. By using the characteristic that the hydraulic oil will flow in the connecting pipe 405 as described above, a second rotating plate 515 is provided. When the device ascends, the hydraulic oil will flow upward in the connecting pipe 405, and at this time, the hydraulic oil will enter the fourth fixed block 512 and push the second rotating plate 515 to rotate around the second rotating shaft 514. The second arc-shaped spring 516 and the telescopic plate 517 are compressed and contracted, so that the originally small flow space due to the limitation of the second rotating plate 515 increases, facilitating the timely upward flow of the hydraulic oil to replenish the second friction roller 308. When the device descends, the hydraulic oil will flow downward in the connecting pipe 405. At this time, the second rotating plate 515 is reset under the action of the second arc-shaped spring 516, so that the connecting pipe 405 is blocked leaving only a small gap, and the descending hydraulic oil will slide down from the surface of the telescopic plate 517 to the small gap and then flow downward through the small gap, thereby restricting the downward flow rate of the hydraulic oil, so that when the device descends, it can descend smoothly, avoiding the situation that the hydraulic oil poured into the second friction roller 308 will flow downward rapidly under the influence of the extrusion force and gravity when descending, resulting in a relatively fast descending speed of the overall device, causing the device to shake greatly, resulting in the device being damaged by knocking, or an accident of falling.

[0035] The usage method of the manipulator device for power grid construction includes the following steps: S1: Connecting components: Before using the device, first install the device at the required position, then connect the outer shell 204 and the disassembly block 205, and fasten the sliding block 207. S2: Start the device: Connect the power supply of the motor 302. When the motor 302 is powered on and running, it drives the first gear 303 to rotate. When the first gear 303 rotates, it synchronously drives the first friction roller 305 to rotate through the second gear 304. Then, through the transmission of the first pulley 306, the belt 307 and the second pulley 309, when the first friction roller 305 rotates, it drives the second friction roller 308 to rotate together.

[0036] A specific application of this embodiment is as follows: Before using the device, first install the device at the required position, then connect the outer shell 204 and the disassembly block 205, and fasten the sliding block 207. Then connect the power supply of the motor 302. When the motor 302 is powered on and running, it drives the first gear 303 to rotate. When the first gear 303 rotates, it synchronously drives the first friction roller 305 to rotate through the second gear 304. Then, through the transmission of the first pulley 306, the belt 307 and the second pulley 309, when the first friction roller 305 rotates, it can drive the second friction roller 308 to rotate together. When the first friction roller 305 and the second friction roller 308 rotate, they drive the outer shell 204 and the whole device to move up and down. Since the control chassis 101 is on the side close to the second friction roller 308, when the outer shell 204 moves upward, the whole device will tilt slightly towards the side of the second friction roller 308, so that when the first friction roller 305 and the second friction roller 308 rotate, they can always be in close contact with the outer surface of the electric pole 201, thus maintaining a relatively stable frictional force. Through the operation of the above components, when the first friction roller 305 and the second friction roller 308 rotate, they can smoothly drive the outer shell 204 to move up and down, enabling the whole device to move synchronously, avoiding the inconvenience of equipment lifting in some narrow streets or mountainous areas where lifting equipment is not easily accessible, and thus affecting the normal operation of the robotic arm 103.

[0037] Taking advantage of the above-mentioned feature that the device drives the movement of the outer shell 204 as the friction roller 1 305 and the friction roller 2 308 rotate, two first fixing blocks 203 are provided. When the outer shell 204 rises, the first fixing blocks 203 are synchronously driven to rise. When the first fixing blocks 203 rise, the fixing column 202 is pulled by the gravity of multiple components such as the base 1 and the control chassis 101, causing the piston plate 402 to move downward. When the piston plate 402 moves downward, it squeezes the hydraulic oil below it, causing the hydraulic oil to push the piston rod 404 outward through the communication groove 403. When the piston rod 404 moves outward, the arc-shaped block 406 and the ball 407 are synchronously driven to move outward, enabling the ball 407 to closely adhere to the outer surface of the utility pole 201. As the device gradually rises, due to the characteristic of the upper part of the utility pole 201 being thinner and the lower part being thicker, while the piston rod 404 gradually moves outward, it squeezes the hydraulic oil on its other side, causing the hydraulic oil to enter the friction roller 2 308 through the connecting pipe 405. As a result, the friction slider 401 is squeezed by the hydraulic oil and gradually extends outward. As the utility pole 201 gradually becomes thinner, the distance between the friction sliders 401 at both ends of the utility pole 201 also gradually decreases and closely adheres to the outer surface of the utility pole 201, enabling the device to maintain a relatively horizontal state while rising, preventing the overall device from tilting due to the gradual thinning of the utility pole 201 during the rising process, which may affect the continuous rising of the device and the subsequent construction operation of the robotic arm 103.

[0038] Taking advantage of the continuously rotating feature of the second friction roller 308 mentioned above, a first rotating plate 501 is set. When the second friction roller 308 rotates and causes the device to rise, it synchronously drives the first rotating plate 501 to rotate. When the first rotating plate 501 rotates, the fixed convex block 502 contacts the rotating rod 510, causing it to rotate around the first rotating shaft 509. At this time, the sliding plate 504 remains stationary under the tension of the telescopic spring 507, and the one-way valve 505 contacts the connecting pipe 405, causing the hydraulic oil in the connecting pipe 405 to flow only unidirectionally towards the second friction roller 308. When the second friction roller 308 rotates and causes the device to descend, the fixed convex block 502 contacts the rotating rod 510 through the first rotating plate 501. However, at this time, the fixed convex block 502 pushes the rotating rod 510, causing it to contact and squeeze the top of the third fixed block 508, thereby pushing the third fixed block 508 to move. When the third fixed block 508 moves, it synchronously drives the sliding plate 504 to move outwards, causing the through hole 506 to contact the connecting pipe 405. At this time, the two connecting pipes 405 on both sides of the through hole 506 communicate with each other. Through the operation of the above components, it is realized that during the rising process of the device, the hydraulic oil in the connecting pipe 405 will not flow back, so that when the device reaches the designated construction position, the piston rod 404 and the arc-shaped block 406 cannot retract inwards, making the device stably clamped at the designated position, and avoiding the device from shaking due to adverse factors such as strong winds during construction on the top of the electric pole 201, thereby affecting the normal operation of the robotic arm 103. When the device rises, the hydraulic oil will flow upwards from the connecting pipe 405. At this time, the hydraulic oil will enter the fourth fixed block 512 and push the second rotating plate 515 to rotate around the second rotating shaft 514. The second arc-shaped spring 516 and the telescopic plate 517 are compressed and contracted, increasing the originally small flow space restricted by the second rotating plate 515, facilitating the timely upward flow of the hydraulic oil for filling and supplementing the second friction roller 308. When the device descends, the hydraulic oil will flow downwards from the connecting pipe 405. At this time, the second rotating plate 515 is reset under the action of the second arc-shaped spring 516, causing the connecting pipe 405 to be blocked leaving only a small gap. The descending hydraulic oil will slide down the surface of the telescopic plate 517 to the small gap, and then flow downwards through the small gap, thereby restricting the downward flow rate of the hydraulic oil, enabling the device to descend smoothly when descending, and avoiding the hydraulic oil filled in the second friction roller 308 from flowing down rapidly under the influence of extrusion force and gravity during descent, resulting in a relatively fast descent speed of the overall device, causing the device to shake greatly, being damaged due to being knocked, or having an accident of falling.

[0039] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A manipulator for power grid construction, comprising a base (1), a control chassis (101) fixedly connected to the top of the base (1), wheels (102) fixedly connected to the bottom of the base (1), a robotic arm (103) rotatably connected to the top of the control chassis (101), and a counterweight (104) fixedly connected to the top of the base (1), characterized in that, It further includes: A disassembly and fixing mechanism (2), the disassembly and fixing mechanism (2) includes a utility pole (201), a fixing column (202) clamped on the outer wall of the utility pole (201), a first fixing block (203), a housing (204), a disassembly block (205), a limiting convex block (206), a sliding block (207), and a climbing and ascending mechanism (3) for climbing on the outer wall of the utility pole (201); The bottom of the fixing column (202) is fixedly connected to the top of the base (1), the outer wall of the fixing column (202) is slidably connected to the inner wall of the first fixing block (203), the top of the first fixing block (203) is fixedly connected to the bottom of the housing (204), the outer wall of the housing (204) is slidably connected to the outer wall of the disassembly block (205), the outer wall of the disassembly block (205) is fixedly connected to the outer wall of the limiting convex block (206), the inner wall of the housing (204) is slidably connected to the outer wall of the sliding block (207), and the outer wall of the sliding block (207) is slidably connected to the outer wall of the disassembly block (205).

2. The manipulator for power grid construction according to claim 1, wherein: The climbing and ascending mechanism (3) includes a fixing bracket (301) fixedly connected to the outer wall of the housing (204), a motor (302) fixedly connected to the outer wall of the fixing bracket (301), and a first gear (303) fixedly connected to the outer wall of the motor (302).

3. The manipulator for power grid construction according to claim 2, characterized in that: The climbing and ascending mechanism (3) further includes a second gear (304) meshingly connected to the outer wall of the first gear (303), a first friction roller (305) fixedly connected to the outer wall of the second gear (304), the outer wall of the first friction roller (305) is rotatably connected to the inner wall of the housing (204), and a first pulley (306) is fixedly connected to the outer wall of the first friction roller (305).

4. The manipulator for power grid construction according to claim 3, characterized in that: The climbing and ascending mechanism (3) further includes a belt (307) sleeved on the outer wall of the first pulley (306), a second friction roller (308) rotatably connected to the inner wall of the housing (204), a second pulley (309) fixedly connected to the outer wall of the second friction roller (308), the belt (307) is sleeved on the outer wall of the second pulley (309), an adaptation and adjustment component (4) is slidably connected to the inner wall of the second friction roller (308), and a limiting and anti-falling component (5) is fixedly connected to the outer wall of the second friction roller (308).

5. The manipulator for power grid construction according to claim 4, characterized in that: The adaptation and adjustment component (4) includes a friction slider (401) slidably connected to the inner wall of the second friction roller (308), a piston plate (402) fixedly connected to the top of the fixing column (202), the outer wall of the piston plate (402) is slidably connected to the inner wall of the first fixing block (203), and a communication groove (403) is formed in the inner wall of the first fixing block (203).

6. The manipulator for power grid construction according to claim 5, wherein: The adaptation and adjustment component (4) further includes a piston rod (404) slidably connected to the inner wall of the first fixed block (203). A connecting pipe (405) is fixedly connected to the inner wall of the first fixed block (203). The outer wall of the connecting pipe (405) is rotatably connected to the inner wall of the second friction roller (308). An arc-shaped block (406) is fixedly connected to the outer wall of the piston rod (404). A ball (407) is rotatably connected to the inner wall of the arc-shaped block (406).

7. The manipulator for power grid construction according to claim 6, characterized in that: The anti-falling and restricting component (5) includes a first rotating plate (501) fixedly connected to the outer wall of the second friction roller (308). A fixed convex block (502) is fixedly connected to the outer wall of the first rotating plate (501). A second fixed block (503) is fixedly connected to the inner wall of the housing (204). A sliding plate (504) is slidably connected to the inner wall of the second fixed block (503).

8. The manipulator for power grid construction according to claim 7, characterized in that: The anti-falling and restricting component (5) further includes a one-way valve (505) fixedly connected to the inner wall of the sliding plate (504). A through hole (506) is formed in the inner wall of the sliding plate (504). A telescopic spring (507) is fixedly connected to the outer wall of the sliding plate (504). The end of the telescopic spring (507) far from the sliding plate (504) is fixedly connected to the inner wall of the second fixed block (503).

9. The manipulator for power grid construction according to claim 8, characterized in that: The anti-falling and restricting component (5) further includes a third fixed block (508) fixedly connected to the top of the sliding plate (504). A first rotating shaft (509) is rotatably connected to the inner wall of the third fixed block (508). A rotating rod (510) is fixedly connected to the outer wall of the first rotating shaft (509).

10. The manipulator for power grid construction according to claim 9, characterized in that: The anti-falling and restricting component (5) further includes a first arc-shaped spring (511) fixedly connected to the outer wall of the rotating rod (510). The end of the first arc-shaped spring (511) far from the rotating rod (510) is fixedly connected to the inner wall of the third fixed block (508). A fourth fixed block (512) is fixedly connected to the outer wall of the connecting pipe (405). An activity groove (513) is formed in the inner wall of the fourth fixed block (512).

11. A manipulator for power grid construction according to claim 10, characterized in that: The anti-falling and restricting component (5) further includes a second rotating shaft (514) rotatably connected to the inner wall of the fourth fixed block (512). A second rotating plate (515) is fixedly connected to the outer wall of the second rotating shaft (514). The outer wall of the second rotating plate (515) is rotatably connected to the inner wall of the fourth fixed block (512). A second arc-shaped spring (516) is fixedly connected to the outer wall of the second rotating plate (515). A telescopic plate (517) is fixedly connected to the outer wall of the second rotating plate (515).

12. A method of using a manipulator for power grid construction, adopting the device of the manipulator for power grid construction as described in claim 11, characterized in that: Comprising the following steps S1: Connecting component: Before using the device, first install the device at the required position, then connect the housing (204) and the disassembly block (205), and fasten the sliding block (207). S2: Start the device: Connect the power supply of the motor (302). When the motor (302) runs with power on, it drives the first gear (303) to rotate. When the first gear (303) rotates, it synchronously drives the first friction roller (305) to rotate through the second gear (304). Then, through the transmission of the first pulley (306), the belt (307) and the second pulley (309), when the first friction roller (305) rotates, it drives the second friction roller (308) to rotate together.

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