Distribution line insulation wrapping robot

Abstract

The invention discloses a distribution line insulation wrapping robot, and relates to the technical field of distribution line auxiliary equipment.The distribution line insulation wrapping robot comprises two wave-absorbing protective shells, a ball inner sleeve is arranged in each wave-absorbing protective shell, mechanical wrapping mechanisms are arranged on the front surfaces of the two wave-absorbing protective shells, and a release butt joint mechanism is arranged at the top of one wave-absorbing protective shell; advancing mechanisms are arranged on the two sides of the outer wall of one wave-absorbing protective shell, a correlation mechanism is arranged at the bottom of one wave-absorbing protective shell, the mechanical wrapping mechanism comprises two sets of first external frames, an arc-shaped electromagnetic assembly is fixedly installed between the outer surface walls of each set of first external frames, and the mechanism adopts the mechanical transmission principle and utilizes mutual cooperation of multiple assemblies, so that the wave-absorbing effect is improved. According to the invention, glue layer release, strength pressing and layer number control can be automatically completed, the formed glue layer structure is ensured not to be loosened, the line insulation wrapping quality is improved, an automatic operation mode is adopted, manual operation is effectively replaced, and the risk of high-altitude operation is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of distribution line auxiliary equipment, and specifically to a distribution line insulation wrapping robot. Background Art

[0002] Distribution lines are an important part of the power system for distributing and transmitting electric energy, which is the power transmission path from the substation to the end users. The design, construction, and maintenance of distribution lines are crucial for ensuring the safe, reliable, and efficient operation of the power system.

[0003] The positions that need to be insulated in the distribution line are mainly between conductors. Or after the line has been used for a long time, the external sheath material dries out and decays, causing the internal conductors to be exposed. To address the above problems, insulating tape can be used to fill the gaps. The purpose of line insulation is to prevent current leakage, short circuits, and electric shock accidents, and to protect the safety of equipment and personnel.

[0004] However, the existing distribution line insulation wrapping technology has the following deficiencies: 1) Limited by the structure, distribution lines are often laid at high altitudes. The line insulation work mostly relies on manual labor. High-altitude operations pose many dangers, such as falling, electric shock, and environmental impacts. This operation method not only has low efficiency, but also the injuries to personnel caused by accidents are irreversible.

[0005] 2) Due to the long distance of high-voltage power transmission and corresponding to the laid lines, during use, over time, the surface protection material of the line will dry out and decay, and the damaged positions are relatively scattered. It is difficult to detect and troubleshoot manually, and the line repair cannot be completed in time, increasing the probability of dangerous accidents.

[0006] Therefore, we propose a distribution line insulation wrapping robot to solve the problems raised above. Summary of the Invention

[0007] The present invention solves the problems raised in the above background art by setting up a mechanical wrapping mechanism and a release docking mechanism. The mechanism can cooperate with multiple components. According to the basic characteristics of the wire harness, the unwinding component slowly releases the colloid, making the starting end of the colloid spread flat on the wire harness. Subsequently, the pressing component can apply an external force to both the colloid and the wire harness at the same time to ensure that the colloid can fully adhere to the wire harness. Further, under the cooperation of the mechanical drive component and the linkage component, the number of colloid layers can be continuously increased. Finally, the glue layer encapsulation is completed by the cooperation of the fusing component and the pressing component.

[0008] To achieve the above object, the present invention provides the following technical solution: A distribution line insulation wrapping robot, including two wave-absorbing protective shells, and each wave-absorbing protective shell is internally provided with a ball inner sleeve; A mechanical wrapping mechanism is provided on the front surface of the two wave-absorbing protective shells, a release docking mechanism is provided on the top of one of the wave-absorbing protective shells, traveling mechanisms are provided on both sides of the outer wall of one of the wave-absorbing protective shells, and an associated mechanism is provided at the bottom of one of the wave-absorbing protective shells; The mechanical wrapping mechanism includes two groups of first external frames. An arc-shaped electromagnetic component is fixedly installed between the outer surfaces of each group of first external frames. A metal ring sleeve is movably sleeved between the outer surfaces of the two arc-shaped electromagnetic components. A first ball bearing member is fixedly sleeved on the outer surface of the metal ring sleeve. An outer sleeve is fixedly sleeved on the outer shaft surface of the first ball bearing member. A second external frame is fixedly installed on the front surface of the outer sleeve. An inner slot is opened inside the second external frame. A connecting block is movably arranged inside the inner slot. A third external frame is fixedly sleeved on the outer surface of the connecting block. A second ball bearing member is fixedly installed inside the third external frame. A first linkage rod is fixedly inserted into the inner shaft inner surface of the second ball bearing member. A friction-increasing roller rod is fixedly sleeved on the outer surface of the first linkage rod; The release docking mechanism includes a fifth external frame. A group of first pneumatic components and a first limiting component are respectively fixedly installed on both sides of the outer wall of the fifth external frame. An assembly platform is fixedly installed between the outer surfaces of a group of first limiting components. An associated frame is fixedly sleeved between the shaft ends of a group of first pneumatic components. The associated frame is connected to the assembly platform. An electric drive rolling component is provided at the bottom of the assembly platform. An extension frame is welded on the front surface of the electric drive rolling component. A guiding plate is fixedly installed on the outer surface of the extension frame. A limiting cover is fixedly installed on the outer surface of the guiding plate. A fusing component is provided at the end of the guiding plate. The output end of the electric drive rolling component is fixedly connected to a solid rod. A limiting tray is fixedly sleeved on the outer surface of the solid rod. Part of the outer surface of the solid rod is wrapped with a rubber pad Preferably, a side tooth component is provided on the rear surface of the second external frame. A fourth external frame is fixedly installed on the rear surface of the second external frame. A first driving component is fixedly installed inside the fourth external frame. A driving gear is fixedly sleeved on the shaft end of the first driving component. The side tooth component is meshed with the driving gear. The side tooth component is connected to the connecting block.

[0009] Preferably, a wiring component is provided on the rear surface of the second external frame. A macro camera is fixedly connected to the front surface of the wiring component. A receiving module is fixedly installed on the rear surface of the second external frame. The output end of the macro camera is fixedly connected to a group of information lines, and the output ends of a group of information lines are all connected to the inside of the receiving module.

[0010] Preferably, the traveling mechanism includes two sixth outer frames, which are respectively fixedly installed on both sides of the outer wall of an absorbing wave protective shell. A second limiting component is provided on the top of each sixth outer frame, a seventh outer frame is fixedly installed on the top of each second limiting component, a first mechanical transformation driving component is fixedly installed on the top of each seventh outer frame, and a first driving pulley is fixedly sleeved on the shaft end of each first mechanical transformation driving component.

[0011] Preferably, a third ball bearing component is fixedly installed inside each seventh outer frame, a second connecting rod is fixedly inserted into the inner surface of the inner shaft of each third ball bearing component, a driven pulley is fixedly sleeved on the outer surface of each second connecting rod, and a first traction belt is movably sleeved between the outer surfaces of each first driving pulley and the driven pulley.

[0012] Preferably, a roller is fixedly sleeved on the bottom of each second connecting rod, and a toothed leather sleeve is wrapped on the outer surface of each roller.

[0013] Preferably, a second pneumatic component is fixedly installed at the bottom of each sixth outer frame, a reinforcing plate is fixedly inserted into each second limiting component, and a combined seat is fixedly sleeved between the shaft end of each second pneumatic component and one end of the outer wall of the reinforcing plate.

[0014] Preferably, the connecting mechanism includes an eighth outer frame, which is fixedly installed at the bottom of an absorbing wave protective shell. A locking frame is fixedly installed on the front surface of the eighth outer frame, and a second mechanical transformation driving component is fixedly arranged inside the locking frame.

[0015] Preferably, the output end of the second mechanical transformation driving component is fixedly connected with a third linkage rod, a second driving pulley is fixedly sleeved on the outer surface of the third linkage rod, and a second traction belt is movably sleeved between the outer ring sleeve and the outer surface of the second driving pulley.

[0016] Preferably, each group of first outer frames is respectively connected to the front surface of a corresponding absorbing wave protective shell. Reinforcing shell sleeves are fixedly installed on both sides of the outer wall of each absorbing wave protective shell, and a strip electromagnetic component and a metal plate are respectively arranged inside each reinforcing shell sleeve.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention sets up a mechanical wrapping mechanism and a release docking mechanism. The mechanisms include five main structures, namely a mechanical drive component, a linkage component, a pressing component, a unwinding component, and a fusing component. According to the basic characteristics of the wire harness, the unwinding component slowly releases the colloid, making the starting end of the colloid spread flat on the wire harness. Subsequently, the pressing component can apply an external force to both the colloid and the wire harness simultaneously, ensuring that the colloid can fully adhere to the wire harness. Further, under the cooperation of the mechanical drive component and the linkage component, the number of colloid layers can be continuously increased. Finally, the fusing component and the pressing component cooperate to complete the encapsulation of the glue layer. The mechanism adopts the principle of mechanical transmission, utilizes the mutual cooperation of multiple components, can autonomously complete the release of the glue layer, strength pressing, and layer control, and ensures that the formed glue layer structure will not loosen, improving the quality of the line insulation wrapping. The automatic operation mode effectively replaces manual operation and greatly reduces the danger of high-altitude operation.

[0018] 2. The present invention sets up a ball inner sleeve, a mechanical wrapping mechanism, and a traveling mechanism. Since multiple balls are evenly distributed in the ball inner sleeve and can all roll flexibly, when the traveling component in the traveling mechanism operates, the reverse friction generated by the contact between the wire harness and the inner wall of the main body can be reduced, ensuring that the equipment can move freely on the target wire harness. At the same time, the provided macro camera can obtain the image in front of the movement in real time, aiming to cooperate with the relevant modules of the system to find the defective areas on the path and process each defective area one by one, realizing the overall inspection of the target wire harness, extending the service life of the wire harness, reducing the probability of power accidents, and winning necessary time for manual inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the three-dimensional front view structure of the insulation wrapping robot for the distribution line of the present invention; Figure 2 is the insulation wrapping robot for the distribution line of the present invention Figure 1 is the enlarged three-dimensional structure view of part A in Figure 3 is the three-dimensional side view structure of the insulation wrapping robot for the distribution line of the present invention; Figure 4 is the three-dimensional bottom side view structure of the insulation wrapping robot for the distribution line of the present invention; Figure 5 is the insulation wrapping robot for the distribution line of the present invention Figure 4 is the enlarged three-dimensional structure view of part B in Figure 6 is the enlarged three-dimensional structure view of part of the insulation wrapping robot for the distribution line of the present invention; Figure 7 is the enlarged three-dimensional structure view of the release docking mechanism of the insulation wrapping robot for the distribution line of the present invention; Figure 8 is the enlarged three-dimensional structure view of the traveling mechanism of the insulation wrapping robot for the distribution line of the present invention; Figure 9 This is an enlarged three-dimensional view of the internal structure of the wave-absorbing protective shell in the power distribution line insulation wrapping robot of the present invention.

[0020] In the figure: 1. Wave-absorbing protective shell; 2. Inner ball sleeve; 3. Mechanical wrapping mechanism; 301. First external frame; 302. Arc-shaped electromagnetic component; 303. Metal ring sleeve; 304. First ball bearing component; 305. Outer sleeve; 306. Second external frame; 307. Side tooth component; 308. Inner groove; 309. Connecting block; 310. Third external frame; 311. Second ball bearing component; 312. First linkage rod; 313. Friction-increasing roller rod; 314. Fourth external frame; 315. First driving component; 316. Driving gear; 317. Wiring component; 318. Macro camera; 319. Receiving module; 4. Release docking mechanism; 401. Fifth external frame; 402. First pneumatic component; 403. First limiting component; 404. Assembly platform; 405. Associated frame; 406. Extension frame; 407. Guide plate; 408. Limiting cover; 409. Fusing component; 410. Electric drive rolling component; 411. Solid rod; 412. Limiting tray; 413. Rubber pad; 5. Traveling mechanism; 501. Sixth external frame; 502. Second pneumatic component; 503. Second limiting component; 504. Seventh external frame; 505. First mechanical transformation driving component; 506. Third ball bearing component; 507. Second linkage rod; 508. First driving pulley; 509. Driven pulley; 510. Roller; 511. Toothed leather sleeve; 512. First traction belt; 513. Reinforcing plate; 514. Merging seat; 6. Associated mechanism; 601. Eighth external frame; 602. Locking frame; 603. Second mechanical transformation driving component; 604. Third linkage rod; 605. Second driving pulley; 606. Second traction belt; 7. Reinforcing shell sleeve; 8. Strip-shaped electromagnetic component; 9. Metal plate. Detailed implementation manners

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0022] Please refer to the attached Figure 1 - attached Figure 9As shown in the figure, the present invention provides a technical solution: a power distribution line insulation wrapping robot, including two wave-absorbing protective shells 1. Inside each wave-absorbing protective shell 1, there is a ball inner sleeve 2. On the front surface of the two wave-absorbing protective shells 1, there is a mechanical wrapping mechanism 3. On the top of one wave-absorbing protective shell 1, there is a release docking mechanism 4. On both sides of the outer wall of one wave-absorbing protective shell 1, there are traveling mechanisms 5. At the bottom of one wave-absorbing protective shell 1, there is an associated mechanism 6.

[0023] Example 1, according to Figure 1 、 Figure 2 、 Figure 4 、 Figure 6 and Figure 9 As shown in the figure, the mechanical wrapping mechanism 3 includes two groups of first outer frames 301. Between the outer surfaces of each group of first outer frames 301, there is a fixed arc-shaped electromagnetic component 302. A metal ring sleeve 303 is movably sleeved between the outer surfaces of the two arc-shaped electromagnetic components 302. A first ball bearing member 304 is fixedly sleeved on the outer surface of the metal ring sleeve 303. An outer sleeve 305 is fixedly sleeved on the outer shaft surface of the first ball bearing member 304. On the front surface of the outer sleeve 305, there is a fixed second outer frame 306. An inner slot 308 is opened inside the second outer frame 306. An engaging block 309 is movably arranged inside the inner slot 308. A third outer frame 310 is fixedly sleeved on the outer surface of the engaging block 309. A second ball bearing member 311 is fixedly installed inside the third outer frame 310. A first linkage rod 312 is fixedly inserted into the inner shaft inner surface of the second ball bearing member 311. A friction-increasing roller rod 313 is fixedly sleeved on the outer surface of the first linkage rod 312. On the rear surface of the second outer frame 306, there is a side tooth component 307. On the rear surface of the second outer frame 306, there is a fixed fourth outer frame 314. A first driving component 315 is fixedly installed inside the fourth outer frame 314. A driving gear 316 is fixedly sleeved on the shaft end of the first driving component 315. The side tooth component 307 and the driving gear 316 are meshed and connected. The side tooth component 307 is connected to the engaging block 309.

[0024] The overall effect achieved by the entire Example 1 is: This part of the structure can be divided into three components. One is the mechanical transmission component, the second is the linkage component, and the third is the pressing component. During the operation of the device, the mechanical transmission component can arbitrarily adjust the horizontal distance of the pressing component, and finally make the pressing component closely adhere to the surface of the line. Along with the rotation of the linkage component, the tape is pressed at a low speed. By controlling the number of rotation circles, the number of tape wrapping layers can be set. Therefore, this method can automatically complete the winding of the insulating tape and fully process the target area.

[0025] Example 2, according to Figure 1 、 Figure 3 、 Figure 4 and Figure 7As shown, the release docking mechanism 4 includes a fifth outer frame 401. On both sides of the outer wall of the fifth outer frame 401, a set of first pneumatic components 402 and a set of first limiting components 403 are respectively fixedly installed. Between the outer surfaces of the set of first limiting components 403, an assembly platform 404 is fixedly installed. Between the shaft ends of the set of first pneumatic components 402, an associated frame 405 is fixedly sleeved. The associated frame 405 is connected to the assembly platform 404. At the bottom of the assembly platform 404, an electric drive rolling component 410 is provided. On the front surface of the electric drive rolling component 410, an extension frame 406 is welded. On the outer surface of the extension frame 406, a guiding plate 407 is fixedly installed. On the outer surface of the guiding plate 407, a limiting cover 408 is fixedly installed. At the end of the guiding plate 407, a fusing component 409 is provided. The output end of the electric drive rolling component 410 is fixedly connected to a solid rod 411. On the outer surface of the solid rod 411, a limiting tray 412 is fixedly sleeved. Part of the outer surface of the solid rod 411 is wrapped with a rubber pad 413.

[0026] The overall effect achieved by the entire Embodiment 2 is as follows: The above structure can be used for tape loading, and can reasonably guide the release of the starting end of the tape, and is limited by relevant components to prevent the tape from shifting left and right, ensuring the integrity after the wire harness is wrapped. When approaching the set number of winding turns, the high-resistance electrothermal treatment method is used to quickly complete the fusing of the tape, causing the end of the tape to have a short-term melting, and with the cooperation of the pressing component, quickly press the treated end to the surface of the glue layer to complete the encapsulation of the multi-glue layer, preventing the equipment from detaching and the glue layer from self-loosening.

[0027] Embodiment 3, according to Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 and Figure 8As shown, a wiring assembly 317 is provided on the rear surface of the second external frame 306. A macro camera 318 is fixedly connected to the front surface of the wiring assembly 317. A receiving module 319 is fixedly installed on the rear surface of the second external frame 306. An output end of the macro camera 318 is fixedly connected to a group of information lines, and output ends of the group of information lines are all connected to the inside of the receiving module 319. The traveling mechanism 5 includes two sixth external frames 501, and the two sixth external frames 501 are respectively fixedly installed on both sides of the outer wall of a wave-absorbing housing 1. A second limiting component 503 is provided on the top of each sixth external frame 501. A seventh external frame 504 is fixedly installed on the top of each second limiting component 503. A first mechanical transformation driving component 505 is fixedly installed on the top of each seventh external frame 504. A first driving pulley 508 is fixedly sleeved on the shaft end of each first mechanical transformation driving component 505. A third ball bearing component 506 is fixedly installed inside each seventh external frame 504. A second connecting rod 507 is fixedly inserted into the inner surface of the inner shaft of each third ball bearing component 506. A driven pulley 509 is fixedly sleeved on the outer surface of each second connecting rod 507. A first traction belt 512 is movably sleeved between the outer surfaces of each first driving pulley 508 and the driven pulley 509. A roller 510 is fixedly sleeved on the bottom of each second connecting rod 507. A toothed leather sleeve 511 is wrapped on the outer surface of each roller 510. A second pneumatic component 502 is fixedly installed on the bottom of each sixth external frame 501. A reinforcing plate 513 is fixedly inserted into the inside of each second limiting component 503. A combined seat 514 is fixedly sleeved between the shaft end of each second pneumatic component 502 and one end of the outer wall of the reinforcing plate 513.

[0028] The effect achieved by the entire Embodiment 3 is as follows: During the operation of the device, relevant components collect images in front of the device in real time. After analysis by relevant system modules, the defective positions are accurately judged. The provided rollers 510 can cooperate with the driving components and retract relatively, forcing the toothed leather sleeve 511 to closely adhere to the surface of the line, freely inspect the set line, find out the missing positions one by one, and complete the colloidal winding in sequence, quickly filling each damaged area, thereby extending the service life of the line, avoiding the probability of major power accidents, and effectively solving the many limitations brought by manual inspection.

[0029] Embodiment 4, according to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 9As shown in the figure, the associated mechanism 6 includes an eighth outer frame 601, which is fixedly installed at the bottom of an absorbing wave protective shell 1. A locking frame 602 is fixedly installed on the front surface of the eighth outer frame 601. A second mechanical transformation driving component 603 is fixedly arranged inside the locking frame 602. The output end of the second mechanical transformation driving component 603 is fixedly connected to a third linkage rod 604. A second driving pulley 605 is fixedly sleeved on the outer wall of the third linkage rod 604. A second traction belt 606 is movably sleeved between the outer sleeve 305 and the outer wall of the second driving pulley 605. Each first outer frame 301 is respectively connected to the front surface of a corresponding absorbing wave protective shell 1. Reinforcing shell sleeves 7 are fixedly installed on both sides of the outer wall of each absorbing wave protective shell 1. A strip electromagnetic component 8 and a metal plate 9 are respectively arranged inside each reinforcing shell sleeve 7.

[0030] The effects achieved by the entire embodiment 4 are as follows: On the one hand, this part of the components can complete the fixation of the equipment main body. Using the principle of electromagnetic adsorption, it ensures the fixation strength between the equipment main bodies. The simplicity of its structure facilitates the disassembly and assembly of the equipment, reducing the limitations in the use of the equipment. On the other hand, it provides the necessary power support for tape winding.

[0031] The working principle of the entire mechanism is as follows: In the preparation stage, first, the equipment is assembled manually. The equipment main body is sleeved onto the target wire. After power-on, the strong magnetic force generated on the surface of the strip electromagnetic component 8 will tightly adsorb the metal plate 9, enabling the combination of the two absorbing wave protective shells 1. At this time, the balls arranged in the ball inner sleeve 2 fully contact the surface of the wire harness. Then, the metal ring sleeve 303 and its connected components are sleeved onto the arc electromagnetic component 302. After power-on, the arc electromagnetic component 302 and this part of the components are fixed. Manually operate the second traction belt 606 and movably sleeve it between the first mechanical transformation driving component 505 and the second driving pulley 605 to complete the mechanism connection. By opening each second pneumatic component 502 to make its inner axial cavity retract, under the association of the reinforcing plate 513, the two seventh outer frames 504 and their connected components can be driven to move relatively until the toothed leather sleeves 511 on the two rollers 510 fully contact the outer wall of the wire harness. Using the strong friction force and the bidirectional external pressure generated between the material of the toothed leather sleeve 511 and the wire harness shell, the equipment body can be ensured to be fixed to the wire harness.

[0032] In the colloid release stage, the required colloid is sleeved onto the rubber pad 413. Manually pull out the starting end of the colloid and insert it into the inside of the guiding plate 407. Start the relevant driving components of the electric drive rolling component 410 to further extend the length of the starting end of the colloid, gradually making the colloid completely cover the fusing component 409, and the exposed part of the colloid can be laid flat on the surface of the wire harness.

[0033] In the coordination stage, the second variable drive assembly 603 is turned on, and acts on the third linkage rod 604 and the second active pulley 605. The generated power is directly transmitted to the outer ring 305 by the second traction belt 606. The physical properties of the first ball bearing 304 are used to slowly drive the second external frame 306 and its connected components to rotate until the friction-increasing roller rod 313 is flush with the guide plate 407. The first drive assembly 315 is further turned on, and the movable connection between the inner slot 308 and the connecting block 309, as well as the meshing connection between the active gear 316 and the side gear assembly 307, are used to drive the third external frame 310 and its connected components to move laterally until the friction-increasing roller rod 313 is pressed tightly against the exposed rubber layer to complete the fixation of the starting end of the colloid. Then the first pneumatic assembly 402 is turned on to extend its inner axis outward, and the movable connection between the first limit assembly 403 and the assembly platform 404 is used. The thrust generated is transmitted by the associated frame 405, driving the assembly platform 404 and its connected components to move slowly upward. During the process, the built-in drive component of the electric drive rolling component 410 is turned off, and the activity of the structural components of the electric drive rolling component 410 is used to freely release the colloid. When the assembly platform 404 rises to the maximum range, the bottom of the guide plate 407 can be completely out of the rotation range of the winding component, and then the friction-increasing roller rod 313 can be driven by the above steps to slowly make a circular motion around the wire harness and start to wind the colloid, and finally wrap the defect with multiple layers of colloid. When the number of layers is about to be reached, the fuse component 409 is quickly energized, and the high heat generated quickly melts part of the colloid, destroying the structural stability of the location, and under mechanical pulling, a fracture is formed at the end, and the fracture in the final molten state will be tightly pressed onto the glue layer by the friction-increasing roller rod 313. After repeated rolling, the glue layer completes the encapsulation.

[0034] During the inspection phase, when a defect in a certain part of the wiring harness is repaired, each first machine-variable drive component 505 is synchronously turned on and acts on the first active pulley 508. The power is directly transmitted to the driven pulley 509 by the first traction belt 512. The physical properties of the third ball bearing 506 are used to enable the roller 510 installed on the second associated rod 507 to obtain the travel torque. The strong friction between the toothed leather sheath 511 and the surface of the wiring harness, as well as the structural characteristics of the ball inner sleeve 2, allow the device to move freely on the wiring harness. During the process, the macro camera 318 can capture the image of the device in front of it in real time, and share it with the system-related modules in real time to accurately find the defect position on the path, and through the above method, complete the repair of each defective area one by one.

[0035] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. The distribution line insulation wrapping robot is characterized in that: It includes two wave-absorbing protective shells (1), and a ball inner sleeve (2) is provided inside each wave-absorbing protective shell (1); A mechanical wrapping mechanism (3) is provided on the front surface of the two wave-absorbing protective shells (1), a release docking mechanism (4) is provided on the top of one wave-absorbing protective shell (1), travel mechanisms (5) are provided on both sides of the outer wall of one wave-absorbing protective shell (1), and an associated mechanism (6) is provided at the bottom of one wave-absorbing protective shell (1); The mechanical wrapping mechanism (3) includes two groups of first external frames (301), an arc-shaped electromagnetic component (302) is fixedly installed between the outer surfaces of each group of first external frames (301), a metal ring sleeve (303) is movably sleeved between the outer surfaces of the two arc-shaped electromagnetic components (302), a first ball bearing member (304) is fixedly sleeved on the outer surface of the metal ring sleeve (303), an outer ring sleeve (305) is fixedly sleeved on the outer shaft outer surface of the first ball bearing member (304), a second external frame (306) is fixedly installed on the front surface of the outer ring sleeve (305), an inner slot (308) is opened inside the second external frame (306), a connecting block (309) is movably provided inside the inner slot (308), a third external frame (310) is fixedly sleeved on the outer surface of the connecting block (309), a second ball bearing member (311) is fixedly installed inside the third external frame (310), a first linkage rod (312) is fixedly inserted into the inner shaft inner surface of the second ball bearing member (311), and an anti-friction roller rod (313) is fixedly sleeved on the outer surface of the first linkage rod (312); The release docking mechanism (4) includes a fifth external frame (401), a group of first pneumatic components (402) and a first limiting component (403) are respectively fixedly installed on both sides of the outer wall of the fifth external frame (401), an assembly platform (404) is fixedly installed between the outer surfaces of the group of first limiting components (403), an associated frame (405) is fixedly sleeved between the shaft ends of the group of first pneumatic components (402), the associated frame (405) is connected to the assembly platform (404), an electric drive rolling component (410) is provided at the bottom of the assembly platform (404), an extension frame (406) is welded on the front surface of the electric drive rolling component (410), a guide plate (407) is fixedly installed on the outer surface of the extension frame (406), a limiting cover (408) is fixedly installed on the outer surface of the guide plate (407), a fusing component (409) is provided at the end of the guide plate (407), the output end of the electric drive rolling component (410) is fixedly connected to a solid rod (411), a limiting tray (412) is fixedly sleeved on the outer surface of the solid rod (411), and a rubber pad (413) wraps part of the outer surface of the solid rod (411).

2. The insulating wrapping robot for distribution lines according to claim 1, wherein: The rear surface of the second external frame (306) is provided with a side tooth assembly (307). The fourth external frame (314) is fixedly installed on the rear surface of the second external frame (306). A first driving component (315) is fixedly installed inside the fourth external frame (314). A driving gear (316) is fixedly sleeved on the shaft end of the first driving component (315). The side tooth assembly (307) is meshed and connected with the driving gear (316). The side tooth assembly (307) is connected with the connecting block (309).

3. The distribution line insulation wrapping robot according to claim 1, wherein: The rear surface of the second external frame (306) is provided with a wiring component (317). A macro camera (318) is fixedly connected to the front surface of the wiring component (317). A receiving module (319) is fixedly installed on the rear surface of the second external frame (306). A group of information lines are fixedly connected to the output end of the macro camera (318), and the output ends of the group of information lines are all connected to the inside of the receiving module (319).

4. The insulating wrapping robot for a power distribution line according to claim 1, wherein: The traveling mechanism (5) includes two sixth external frames (501). The two sixth external frames (501) are respectively fixedly installed on both sides of the outer wall of an absorbing wave protective shell (1). A second limiting component (503) is provided at the top of each sixth external frame (501). A seventh external frame (504) is fixedly installed on the top of each second limiting component (503). A first mechanical transformation driving component (505) is fixedly installed on the top of each seventh external frame (504). A first driving pulley (508) is fixedly sleeved on the shaft end of each first mechanical transformation driving component (505).

5. The insulating wrapping robot for a power distribution line according to claim 4, wherein: A third ball bearing component (506) is fixedly installed inside each seventh external frame (504). A second connecting rod (507) is fixedly inserted into the inner surface of the inner shaft of each third ball bearing component (506). A driven pulley (509) is fixedly sleeved on the outer surface of each second connecting rod (507). A first traction belt (512) is movably sleeved between the outer surfaces of each first driving pulley (508) and the driven pulley (509).

6. The distribution line insulation wrapping robot according to claim 5, wherein: A roller (510) is fixedly sleeved on the bottom of each second connecting rod (507). A toothed leather sleeve (511) is wrapped on the outer surface of each roller (510).

7. The insulating wrapping robot for a power distribution line according to claim 4, characterized in that: A second pneumatic component (502) is fixedly installed at the bottom of each sixth external frame (501). A reinforcing plate (513) is fixedly inserted into the inside of each second limiting component (503). A combined seat (514) is fixedly sleeved between the shaft end of each second pneumatic component (502) and one end of the outer wall of the reinforcing plate (513).

8. The insulating and wrapping robot for a distribution line according to claim 1, wherein: The connecting mechanism (6) includes an eighth external frame (601). The eighth external frame (601) is fixedly installed at the bottom of an absorbing wave protective shell (1). A locking frame (602) is fixedly installed on the front surface of the eighth external frame (601). A second mechanical transformation driving component (603) is fixedly provided inside the locking frame (602).

9. The distribution line insulation wrapping robot according to claim 8, characterized in that: The output end of the second variable drive assembly (603) is fixedly connected with a third linkage rod (604). The outer wall of the third linkage rod (604) is fixedly sleeved with a second driving pulley (605). A second traction belt (606) is movably sleeved between the outer sleeve (305) and the outer wall of the second driving pulley (605).

10. The insulating wrapping robot for distribution lines according to claim 1, characterized in that: Each group of the first external frames (301) is respectively connected to the front surface of a corresponding wave-absorbing protective shell (1). Reinforcing shell sleeves (7) are fixedly installed on both sides of the outer wall of each wave-absorbing protective shell (1). A strip electromagnetic component (8) and a metal plate (9) are respectively arranged inside each reinforcing shell sleeve (7).

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