Blocking operation robot sharing walking power

Abstract

The invention relates to the technical field of overhead conductor operation devices, and particularly discloses a net blocking operation robot sharing walking power, which comprises a rack, an upper walking wheel set, a lower wire pressing wheel set, a lifting assembly, a walking linkage assembly and a tensioning control assembly, the four blocking operation robots are combined for cooperative operation, the hanging points are used for connecting the four corners of the protection net and synchronously walk along the wires to unfold the protection net face, and an efficient covering operation area protection system is formed; the walking linkage assembly adopts a single transmission belt to synchronously drive upper and lower walking wheels, and mechanical rigid transmission replaces a traditional dual-power system, so that the number of driving devices is reduced, and the problem of walking instability caused by speed deviation is solved. The tension of the transmission belt is automatically compensated in the lifting process through the reverse linkage mechanism, the clamping height and the tensioning stroke are synchronously adjusted through the double-thread differential pitch of the screw, a sensor and a complex control unit are not needed, stable transmission and efficient operation and maintenance are achieved through a pure mechanical structure, and the manufacturing cost and the failure rate are remarkably reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of overhead wire operation devices, and particularly to a netting operation robot sharing walking power. Background Art

[0002] During the construction operation and maintenance of high-voltage overhead wires, the protection net system is the core safety guarantee system to prevent wire dislocation and the risk of falling objects from height. Its installation efficiency directly affects the engineering safety quality. The traditional protection net layout mainly adopts the high-altitude manual operation method, which relies on tower workers to connect or erect temporary support frames section by section. It has obvious defects such as high labor intensity, high safety risk, and long construction period. Especially when operating in special sections such as crossing traffic arteries and existing tracks, it is difficult to synergistically optimize safety control and construction progress, which not only restricts the effective utilization of the construction window period but also increases multiple risk hazards of falling objects from height endangering public traffic safety.

[0003] Existing power transmission line netting operation robots still have significant technical bottlenecks in terms of walking stability and structural adaptability. For example, the power transmission line crossing protection net erection device and control method disclosed in Chinese Patent Publication No. CN117748366A monitors the pressing force of the walking mechanism in real time through a pressure detection device and uses a control component to link a reminder device to achieve overpressure protection. Although this solution can avoid the risk of wire damage, its pressure feedback mechanism relies on an electronic sensing system and an independent control unit, which is easily interfered in a complex electromagnetic environment, resulting in misjudgment. Moreover, the multi-level signal transmission link significantly increases the system response delay and is difficult to meet the real-time tension adjustment requirements during the dynamic walking process.

[0004] The walking mechanism of the power transmission line crossing protection net erection device disclosed in Chinese Patent Publication No. CN117748356A uses a first walking wheel module and a second walking wheel module with a lifting component to alternately press the wire, and the upper and lower walking wheel groups are controlled by independent driving components respectively. Although this structure can improve the adhesion, the two driving devices need to be equipped with a precise speed synchronization control system, which not only increases the equipment manufacturing cost but also results in a high walking speed deviation rate due to the response difference of the mechanical transmission chain, and is prone to wheel group slip or even equipment derailment accidents during continuous operation.

[0005] In addition, the common problems existing in the prior art include: 1) The walking mechanism mostly adopts a split drive design, and the redundant power unit causes the equipment volume and weight to exceed the standard, making it difficult to meet the load limit of high-voltage transmission lines; 2) The dynamic tension compensation mechanism relies on additional systems such as pneumatic and hydraulic systems, resulting in a high energy loss rate; 3) The lifting and distance adjustment mechanism lacks a mechanical linkage design with the transmission system and cannot realize the coordinated control of the walking wheel group spacing adjustment and the transmission belt tension. These problems seriously restrict the large-scale application of the netting operation robot in cross-regional long-distance power transmission projects. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a network sealing operation robot with shared walking power to solve the above-mentioned problems.

[0007] A network sealing operation robot with a shared walking power comprises a frame, an upper walking wheel group and a lower wire pressing wheel group, wherein the frame is provided with a hanging point for connecting the corners of a protective net, the upper walking wheel group comprises an upper walking wheel arranged on the upper part of the frame and walking on the upper surface of a wire, the lower wire pressing wheel group comprises a lower walking frame movably arranged on the lower part of the frame, and a lower walking wheel arranged on the lower walking frame, the upper walking wheel cooperates with the upper and lower walking wheels to form a wire clamping space, and the network sealing operation robot further comprises:

[0008] The lifting assembly includes a first driving device fixed to the frame, a first sliding block driven to lift by the first driving device, and the first sliding block is linked to the lower traveling frame;

[0009] A travel linkage assembly includes a first transmission wheel drivingly connected to the upper travel wheel, a first gear provided on the lower travel frame and drivingly connected to the lower travel wheel, a second gear provided on the lower travel frame and meshing with the first gear, a second transmission wheel driving coaxially with the second gear, a first transmission belt for linking the first transmission wheel and the second transmission wheel, and a second driving device provided on the frame and used to drive the first transmission wheel;

[0010] The tension control assembly includes a second slider driven by the first driving device and moving in the opposite direction to the first slider, a third transmission wheel arranged on the second slider, and the first transmission belt is also connected to the third transmission wheel belt.

[0011] Specifically, the first driving device includes a first motor fixed to the frame and a screw connected to the first motor, the screw includes a first threaded portion and a second threaded portion with opposite thread directions, the first slider is threadedly matched with the first threaded portion, and the second slider is threadedly matched with the second threaded portion.

[0012] Specifically, the upper walking wheel and the first transmission wheel each have two, and the second driving device includes a second motor fixed to the frame, a driving wheel connected to the output shaft of the second motor, a fourth transmission wheel coaxially driven with the first transmission wheel, and a second transmission belt for linking the driving wheel and the fourth transmission wheel.

[0013] Specifically, a meter wheel is provided between the two upper traveling wheels.

[0014] Specifically, the lifting assembly further includes:

[0015] A limit block, fixed to the first sliding block;

[0016] A lifting frame is fixed to the lower walking frame, the bottom end of the limit block is kept in contact separation with the lifting frame, and the lifting height of the lifting frame is limited by changing the vertical position of the limit block;

[0017] The elastic member is arranged between the frame and the lower traveling frame, and is used for providing a thrust for the lower wire pressing wheel group to press the wire upward.

[0018] Specifically, the limiting block is provided with a limiting groove, and the lifting frame is provided with a limiting protrusion matched with the limiting groove.

[0019] Specifically, the elastic member is a gas spring, the cylinder of the gas spring is hinged to the lower traveling frame, and the telescopic rod end of the gas spring is hinged to the frame.

[0020] Specifically, the network sealing operation robot also includes an online locking assembly, which includes an extension frame fixed to one side of the bracket, a lower clamping plate connected to the lower end of the extension frame through a guide rod, an upper clamping plate that can be raised and lowered along the guide rod, and a fourth driving device fixed to the extension frame and used to drive the upper clamping plate to rise and fall, and a clamping area for clamping the wire is formed between the upper clamping plate and the lower clamping plate.

[0021] Specifically, the extension frame is detachably fixed to the bracket via a first latch, and the lower clamping plate is detachably connected to the guide rod via a second latch.

[0022] Beneficial effects of the present invention:

[0023] 1. The net-sealing operation robot of the present application can be used in combination of four. After the four net-sealing operation robots are put online, they are connected to the four corners of the protection net through hanging points, and the upper walking wheel group and the lower pressing wheel group are driven to move synchronously, so as to drive the protection net to unfold along the extension direction of the wire 22, forming a protection net surface located below the operation area;

[0024] 2. Through the innovative design of the travel linkage component, a single transmission belt is used to synchronously connect the transmission wheel groups of the upper and lower travel wheels, so that the upper and lower travel wheels are linked and controlled by the same drive device; this structure not only reduces the number of power units, but also ensures that the travel speeds of the upper and lower wheels are strictly consistent through mechanical rigid transmission, effectively avoiding the slippage or jamming problems caused by speed deviation in the dual drive system, and significantly improving travel stability.

[0025] 3. For the requirements of device online connection and clamping, the present application designs the lower traveling wheels as a liftable structure; when going online, the height of the lower traveling wheels is reduced through the lifting component to form a lateral wire inlet channel for facilitating wire introduction; after hanging is completed, the lifting component is driven in the reverse direction to lift the lower traveling wheels, so as to form a stable clamping space with the upper traveling wheels. Combining the lifting control with the flexible pressing characteristics of the elastic component can not only achieve rigid clamping to prevent falling, but also adaptively compensate for wire deformation and maintain a reliable pressing force under complex working conditions.

[0026] 4. The traditional solution needs to additionally set up a pneumatic tensioning mechanism with a pressure sensor to deal with the problem of belt slack. This solution innovatively adopts a reverse linkage mechanism; when the lifting component drives the displacement of the lower traveling wheels, it synchronously drives the tensioning pulley group moving in the reverse direction to dynamically compensate the transmission belt. This mechanical linkage tensioning mechanism does not require a complex sensing control system. By accurately calculating the displacement ratio relationship, it automatically maintains a constant tension of the transmission belt during the lifting process, which not only simplifies the structure but also reduces the cost. Brief Description of the Drawings

[0027] Figure 1 It is a schematic structural diagram of using four net sealing operation robots of the present application for net sealing operation on a wire;

[0028] Figure 2 It is a three-dimensional view of the net sealing operation robot of the present application;

[0029] Figure 3 It is a rear view of the net sealing operation robot of the present application with the rear cover of the frame removed;

[0030] Figure 4 It is a three-dimensional view of the net sealing operation robot of the present application with the rear cover of the frame removed;

[0031] Figure 5 It is Figure 4 an enlarged view of part A in

[0032] Figure 6 It is a schematic structural diagram of the first driving wheel, the first gear, the second gear, the second driving wheel, the first transmission belt and the third driving wheel of the present application on the back of the frame;

[0033] Figure 7 It is Figure 6 an enlarged view of part B in

[0034] Figure 8 It is a schematic structural diagram of the upper traveling wheels and the lower traveling wheels of the present application walking along the wire;

[0035] Figure 9 It is a schematic structural diagram of the first driving wheel, the first gear, the second gear, the second driving wheel, the first transmission belt and the third driving wheel of the present application before and after lifting adjustment;

[0036] Figure 10 Schematic diagram of the second driving device, the first transmission wheel and the upper traveling wheel set of the present application;

[0037] Figure 11 Schematic diagram of the online locking assembly of the present application.

[0038] Reference numerals are: frame 10, protective net 21, hanging point 11, wire 22, upper traveling wheel 31, lower traveling frame 41, lower traveling wheel 42, first driving device 51, first slider 52, first transmission wheel 61, first gear 62, first transmission belt 63, second driving device 64, second slider 71, third transmission wheel 72, first motor 511, screw 512, second motor 641, driving wheel 642, fourth transmission wheel 643, second transmission belt 644, second gear 65, second transmission wheel 66, length measuring wheel 32, limiting block 53, lifting frame 54, elastic member 55, limiting groove 531, limiting projection 541, extension frame 81, guide rod 82, lower clamping plate 83, upper clamping plate 84, fourth driving device 85, first bolt 86, second bolt 87. Detailed implementation manners

[0039] The present invention provides a netting operation robot sharing traveling power. To make the objectives, technical solutions and effects of the present invention clearer and more definite, the following further elaborates on the present invention with reference to the accompanying drawings and by way of examples. It should be understood that the specific examples described herein are only used to explain the present invention and are not used to limit the present invention.

[0040] In the description of the present invention, it should be understood that for the orientation descriptions, such as up, down, front, back, left, right, etc., the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0041] Please refer to Figures 1 to 11 , a netting operation robot sharing traveling power in this embodiment includes a frame 10, an upper traveling wheel set and a lower wire pressing wheel set. The frame 10 is provided with hanging points 11 for connecting the corners of the protective net 21. The upper traveling wheel set includes upper traveling wheels 31 provided on the upper part of the frame 10 and traveling on the upper surface of the wire 22. The lower wire pressing wheel set includes a lower traveling frame 41 that is liftably arranged on the lower part of the frame 10 and lower traveling wheels 42 provided on the lower traveling frame 41. The upper traveling wheels 31 and the lower traveling wheels 42 cooperate to form a wire clamping space. It is characterized in that the netting operation robot further includes:

[0042] The lifting assembly includes a first driving device 51 fixed to the frame 10 and a first slider 52 driven by the first driving device 51 to lift and lower. The first slider 52 is linked to the lower traveling frame 41;

[0043] The traveling linkage assembly includes a first transmission wheel 61 drivingly connected to the upper traveling wheel 31, a first gear 62 provided on the lower traveling frame 41 and drivingly connected to the lower traveling wheel 42, a second gear 65 provided on the lower traveling frame 41 and meshing with the first gear 62, a second transmission wheel 66 coaxially drivingly connected to the second gear 65, a first transmission belt 63 for linking the first transmission wheel 61 and the second transmission wheel 66, and a second driving device 64 provided on the frame 10 and for driving the first transmission wheel 61;

[0044] The tension control assembly includes a second slider 71 driven by the first driving device 51 and moving in a direction opposite to the moving direction of the first slider 52, and a third transmission wheel 72 provided on the second slider 71. The first transmission belt 63 is also belt-connected to the third transmission wheel 72.

[0045] In the netting operation robot of this embodiment, during the overhead wire netting operation, efficient and stable walking on the wire is achieved through the coordinated control of the lifting assembly and the traveling linkage assembly. When the device needs to be on the wire, the first driving device 51 drives the first slider 52 to drive the lower traveling frame 41 to descend, so that the wire clamping space between the lower traveling wheel 42 and the upper traveling wheel 31 is enlarged. At this time, the wire 22 can enter the clamping area laterally. After the wire entering is completed, the first driving device 51 runs in the reverse direction, the first slider 52 drives the lower traveling frame 41 to lift, and the lower traveling wheel 42 presses the wire 22 upward to form a stable clamping, completing the device's on-wire operation. As Figure 1 shown, after four netting operation robots are on the wire, the four corners of the protection net 21 are connected through the hanging points 11, and the upper traveling wheel set and the lower wire pressing wheel set are driven to walk synchronously, driving the protection net 21 to unfold along the extending direction of the wire 22, forming a protection net surface below the operation area.

[0046] As Figures 6 to 8 shown, the traveling linkage assembly drives the first transmission wheel 61 to rotate through the second driving device 64, and synchronously drives the second transmission wheel 66 to rotate through the first transmission belt 63. Since the second transmission wheel 66 is coaxially drivingly connected to the second gear 65, the first gear 62 meshes with the second gear 65, and the first gear 62 is drivingly connected to the lower traveling wheel 42, the lower traveling wheel 42 can be driven to rotate, realizing the linked walking of the upper traveling wheel 31 and the lower traveling wheel 42; in addition, the first gear 62, the second gear 65 and the second transmission wheel 66 of this application form a reversing mechanism, realizing the reverse rotation of the upper traveling wheel 31 and the lower traveling wheel 42. As Figure 8 shown, when the upper traveling wheel 31 rotates counterclockwise on the upper surface of the wire 22 and the lower traveling wheel 42 rotates clockwise on the lower surface of the wire 22, the walking action can be realized.

[0047] In the tension control assembly, when the first driving device 51 drives the first slider 52 to move up and down, the second slider 71 moving in the reverse direction drives the third transmission wheel 72 to synchronously move in the reverse direction. As Figure 9 shown, for example, when the lower traveling wheel 42 is lifted, the second slider 71 drives the third transmission wheel 72 to descend, so that the first transmission belt 63 forms a dynamic compensation in the transmission path, automatically eliminating the slack of the transmission belt caused by the displacement of the lower traveling frame 41, and ensuring the stability of power transmission. This design does not require an additional pressure sensor or a cylinder to drive the tensioning wheel, and the real-time adjustment of the tension state of the transmission belt can be realized through mechanical linkage.

[0048] This embodiment has the following technical effects:

[0049] ① In this application, by setting up a traveling linkage assembly, specifically by linking the first transmission wheel 61 and the second transmission wheel 66 through the first transmission belt 63, the linkage of the upper traveling wheel 31 and the lower traveling wheel 42 is realized. Therefore, both the number of driving devices can be reduced, and the traveling speeds of the upper traveling wheel 31 and the lower traveling wheel 42 can be ensured to be synchronized;

[0050] ② In this application, the lower traveling wheel 42 is designed to be a structure that can be lifted and lowered. Specifically, the lifting and lowering control is realized through a lifting assembly. When going online, the height of the lower traveling wheel 42 can be reduced, so that the wire 22 can enter from the side. Then, the rear upper traveling wheel 31 is mounted on the wire 22, and then the lower traveling wheel 42 is lifted through the lifting assembly to press the wire 22 upward, preventing the machine from falling during traveling and improving the traveling stability;

[0051] ③ Since the lower traveling wheel 42 can be lifted and lowered, and the second transmission wheel 66 is connected to the lower traveling wheel 42, the lifting and lowering movement of the lower traveling wheel 42 will cause the first transmission belt 63 to be tightened or loosened. The traditional method is to set up a mechanism on the frame 10 for controlling the tension of the first transmission belt 63, such as using a cylinder to drive an auxiliary pressing wheel to press the first transmission belt 63. This method requires real-time monitoring of the pressure of the auxiliary pressing wheel on the first transmission belt 63 and requires the installation of a pressure sensor, etc. The cost of the cylinder and the pressure sensor is relatively high; based on this, in this application, through a linkage lifting mechanism, a second slider 71 driven by the first driving device 51 and moving in the opposite direction to the movement direction of the first slider 52 is set, and the third transmission wheel 72 is arranged on the second slider 71. When the first driving device 51 drives the first slider 52 to descend, the first driving device 51 simultaneously drives the second slider 71 to rise, thereby driving the third transmission wheel 72 to rise, ensuring that the first transmission belt 63 can maintain a tightened state, and the structure is more ingenious.

[0052] Please refer to Figures 3 to 6, the first driving device 51 includes a first motor 511 fixed to the frame 10 and a screw rod 512 connected to the first motor 511. The screw rod 512 includes a first thread portion and a second thread portion with opposite thread directions. The first slider 52 is in threaded engagement with the first thread portion, and the second slider 71 is in threaded engagement with the second thread portion.

[0053] The first driving device 51 of this embodiment uses a screw rod 512 with a reverse double-thread structure to realize the linkage reverse displacement of the first slider 52 and the second slider 71. Since the lifting stroke of the lower traveling wheel 42 needs to meet the lateral wire inlet requirement and the lifting and pressing requirement of the wire 22 (usually a stroke of 50 - 100 mm level), while the displacement of the third driving wheel 72 only needs to compensate for the path length change of the first transmission belt 63 caused by the lifting of the lower traveling frame 41 (usually a stroke of 10 - 30 mm level), the first thread portion and the second thread portion of the screw rod 512 are designed with different pitches. For example, the first thread portion uses a pitch P1 to drive the first slider 52 to realize large-stroke lifting, and the second thread portion uses a pitch P2 (P2 < P1) to drive the second slider 71 to generate small-stroke displacement.

[0054] This differential pitch design enables the first motor 511 to synchronously achieve large-scale lifting of the lower traveling wheel 42 and fine displacement adjustment of the third driving wheel 72 with a single rotation. When the lower traveling frame 41 is lifted, the second slider 71 drives the third driving wheel 72 to descend at a rate of the pitch ratio P2 / P1. By precisely matching the lifting height of the lower traveling wheel 42 and the path change amount of the first transmission belt 63, it ensures that the transmission belt is always in a constant tension state. This mechanical linkage mechanism not only avoids the synchronization error caused by separately controlling the sliders with traditional dual motors but also realizes the adaptive matching of the displacement amount through the pitch difference, significantly reducing the requirement for the motor control accuracy. At the same time, the reverse thread structure makes the movement directions of the two sliders strictly opposite. Combining with the flexible pressing function of the elastic member 55, it improves the on-line efficiency of the device while ensuring the reliability of the transmission system.

[0055] Please refer to Figure 10 , there are two upper traveling wheels 31 and two first driving wheels 61. The second driving device 64 includes a second motor 641 fixed to the frame 10, a driving wheel 642 connected to the output shaft of the second motor 641, a fourth driving wheel 643 coaxially driving with the first driving wheel 61, and a second transmission belt 644 for linking the driving wheel 642 and the fourth driving wheel 643. The second driving device 64 drives the driving wheel 642 to rotate through the second motor 641, and drives the fourth driving wheel 643 coaxially fixed with the two first driving wheels 61 to rotate synchronously through the second transmission belt 644, realizing the linkage drive of the double upper traveling wheels 31.

[0056] Please refer to Figure 10A meter wheel 32 is also provided between the two upper running wheels 31. The two upper running wheels 31 are symmetrically distributed on both sides of the frame 10 to form a wide span support structure, which effectively disperses the load of the conductor 22 and improves the walking stability. The meter wheel 32 provided between the two first transmission wheels 61 maintains rolling contact with the surface of the conductor 22, and accurately calculates the travel distance of the device by recording the number of wheel rotations in real time, providing a data reference for the positioning and laying of the protective net 21.

[0057] Please refer to Figure 5 , the lifting assembly also includes a limit block 53, a lifting frame 54 and an elastic member 55; the limit block 53 is fixed to the first slider 52; the lifting frame 54 is fixed to the lower traveling frame 41, and the bottom end of the limit block 53 is kept in contact with the lifting frame 54. By changing the vertical position of the limit block 53, the lifting height of the lifting frame 54 is limited; the elastic member 55 is arranged between the frame 10 and the lower traveling frame 41, and is used to provide a thrust for the lower pressing wire wheel group to press the wire 22 upward. The lifting frame 54 of the lower pressing wire wheel group realizes precise control of the clamping force through the vertical adjustment of the limit block 53: when it is necessary to increase the clamping space of the wire 22, the limit block 53 is moved downward to make the lifting frame 54 drive the lower traveling wheel 42 downward to a predetermined height, at which time the wire 22 can slide laterally into the clamping space; after the wire is put on, the limit block 53 is moved upward to the contact position with the lifting frame 54, and the elastic member 55 pushes the lifting frame 54 upward to the limit block 53 and is locked, forming a constant clamping force. This design uses the mechanical limiting function of the limiting block 53 to avoid fluctuations in the clamping force caused by overloading of the elastic member 55, thereby ensuring the compression stability of the wires 22 with different wire diameters.

[0058] Furthermore, the limiting block 53 is provided with a limiting groove 531, which adopts an inverted U-shaped structure, and the corners adopt smooth chamfers, which can better guide the limiting protrusion 541 to be inserted, and the lifting frame 54 is provided with a limiting protrusion 541 that matches the limiting groove 531, and the limiting protrusion 541 adopts an inverted U-shaped structure. The inverted U-shaped limiting groove 531 of the limiting block 53 and the limiting protrusion 541 of the lifting frame 54 form a two-way constraint structure. The inverted U-shaped mating surface guides the limiting protrusion 541 to slide accurately into the limiting groove 531 through smooth chamfers, avoiding the jamming caused by the horizontal deviation of the lifting frame 54; at the same time, the symmetrical design of the inverted U-shaped cross section makes the limiting protrusion 541 evenly stressed during the lifting process, enhances the vibration resistance of the limiting assembly 60, and prevents the clamping looseness caused by the shaking of the wire 22. This structure simplifies the adjustment operation while improving the mechanical interlocking reliability of the limiting block 53 and the lifting frame 54, ensuring that the pressing force of the elastic member 55 is stably transmitted to the surface of the wire 22.

[0059] As a preferred embodiment, the elastic member 55 is a gas spring. The cylinder body of the gas spring is hinged to the lower traveling frame 41, and the telescopic rod end of the gas spring is hinged to the machine frame 10. The gas spring, as the elastic member 55, has the characteristics of adjustable damping and constant force output. While providing a stable upward thrust, the gas spring can buffer the impact of the vibration of the wire 22 on the clamping force through the compression of the internal gas, reducing the dynamic clamping force fluctuation by more than 30% compared with a helical spring.

[0060] Please refer to Figure 11 , the wire locking assembly further includes an extension frame 81 fixed to one side of the machine frame 10, a lower clamping plate 83 connected to the lower end of the extension frame 81 through a guide rod 82, an upper clamping plate 84 that can move up and down along the guide rod 82, and a fourth driving device 85 fixed to the extension frame 81 and used to drive the upper clamping plate 84 to move up and down. A clamping area for clamping the wire 22 is formed between the upper clamping plate 84 and the lower clamping plate 83. When the four wire netting robots stop operating, the fourth driving device 85 drives the upper clamping plate 84 to press down along the guide rod 82 to form a rigid clamping area with the fixed lower clamping plate 83, completely locking the wire 22. Moreover, the fourth driving device 85 adopts a lead screw module and has a self-locking function, which can prevent the upper clamping plate 84 from loosening. Compared with the passive anti-slip method of traditional wire netting robots that rely on the self-locking of the traveling wheel set, this assembly realizes active locking through the mechanical bite of the double clamping plates and the self-locking of the lead screw module. Even in the face of sudden changes in tension caused by strong winds or the melting of ice on the wire 22, the risk of device slippage can still be eliminated.

[0061] Moreover, staggered anti-slip patterns or a high-friction rubber layer can be provided on the contact surface between the upper clamping plate 84 and the lower clamping plate 83, and the clamping stability can still be maintained under a lateral load of more than 30 kN.

[0062] Furthermore, the extension frame 81 is detachably fixed to the machine frame 10 through a first pin 86, and the lower clamping plate 83 and the guide rod 82 are detachably connected through a second pin 87. The quick-release design of the first pin 86 and the second pin 87 provides double safety guarantees for the wire locking assembly: when the fourth driving device 85 cannot be unlocked due to power failure or mechanical failure, maintenance personnel can manually pull out the first pin 86 to quickly separate the extension frame 81 from the machine frame 10, and at the same time remove the second pin 87 to separate the lower clamping plate 83 from the guide rod 82, realizing the physical separation of the locking assembly from the wire 22.

[0063] The above has specifically described the preferred embodiments of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art can also make various equivalent variations or substitutions without departing from the spirit of the present invention, and these equivalent variations or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. A net sealing operation robot sharing walking power, comprising a frame (10), an upper walking wheel set and a lower wire pressing wheel set. The frame (10) is provided with hanging points (11) for connecting the corners of the protective net (21). The upper walking wheel set includes upper walking wheels (31) arranged on the upper part of the frame (10) and walking on the upper surface of the wire (22). The lower wire pressing wheel set includes a lower walking frame (41) which is liftably arranged on the lower part of the frame (10), and lower walking wheels (42) arranged on the lower walking frame (41). The upper walking wheels (31) and the lower walking wheels (42) cooperate to form a wire clamping space, and it is characterized in that, The netting operation robot further includes: a lifting assembly, including a first driving device (51) fixed to the frame (10), and a first slider (52) driven by the first driving device (51) to lift, and the first slider (52) is linked to the lower traveling frame (41); a traveling linkage assembly, including a first transmission wheel (61) drivingly connected to the upper traveling wheel (31), a first gear (62) provided on the lower traveling frame (41) and drivingly connected to the lower traveling wheel (42), a second gear (65) provided on the lower traveling frame (41) and meshing with the first gear (62), a second transmission wheel (66) coaxially driven by the second gear (65), a first transmission belt (63) for linking the first transmission wheel (61) and the second transmission wheel (66), and a second driving device (64) provided on the frame (10) and for driving the first transmission wheel (61); a tension control assembly, including a second slider (71) driven by the first driving device (51) and moving in a direction opposite to the moving direction of the first slider (52), and a third transmission wheel (72) provided on the second slider (71), and the first transmission belt (63) is also belt-connected to the third transmission wheel (72).

2. The netting operation robot according to claim 1, characterized in that, The first driving device (51) includes a first motor (511) fixed to the frame (10), and a screw rod (512) connected to the first motor (511), and the screw rod (512) includes a first thread portion and a second thread portion with opposite thread directions, the first slider (52) is in threaded cooperation with the first thread portion, and the second slider (71) is in threaded cooperation with the second thread portion.

3. The netting operation robot according to claim 1, wherein Both the upper traveling wheel (31) and the first transmission wheel (61) have two, and the second driving device (64) includes a second motor (641) fixed to the frame (10), a driving wheel (642) connected to the output shaft of the second motor (641), a fourth transmission wheel (643) coaxially driven by the first transmission wheel (61), and a second transmission belt (644) for linking the driving wheel (642) and the fourth transmission wheel (643).

4. The netting operation robot according to claim 3, wherein, A length measuring wheel (32) is further provided between the two upper traveling wheels (31).

5. The net closing operation robot according to claim 1, characterized in that, The lifting assembly further includes: a limit block (53), fixed to the first slider (52); a lifting frame (54), fixed to the lower traveling frame (41), the bottom end of the limit block (53) is in contact-separation with the lifting frame (54), and by changing the vertical position of the limit block (53), the lifting height of the lifting frame (54) is limited; an elastic member (55), provided between the frame (10) and the lower traveling frame (41), and used for providing a thrust force to press the lower wire pressing wheel group against the wire (22) upward.

6. The net closing operation robot according to claim 5, wherein, The limit block (53) is provided with a limit groove (531), and the lifting frame (54) is provided with a limit protrusion (541) cooperating with the limit groove (531).

7. The netting operation robot according to claim 5, wherein The elastic member (55) is a gas spring. The cylinder body of the gas spring is hinged to the lower traveling frame (41), and the telescopic rod end of the gas spring is hinged to the frame (10).

8. The netting operation robot according to claim 1, characterized in that, The wire netting operation robot further includes an on-line locking assembly. The on-line locking assembly includes an extension frame (81) fixed to one side of the frame (10), a lower clamping plate (83) connected to the lower end of the extension frame (81) through a guide rod (82), an upper clamping plate (84) that can move up and down along the guide rod (82), and a fourth driving device (85) fixed to the extension frame (81) and used to drive the up and down movement of the upper clamping plate (84). A clamping area for clamping the wire (22) is formed between the upper clamping plate (84) and the lower clamping plate (83).

9. The net closing operation robot according to claim 8, characterized in that, The extension frame (81) is detachably fixed to the frame (10) through a first pin (86), and the lower clamping plate (83) and the guide rod (82) are detachably connected through a second pin (87).

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