Power transmission line fastening operation robot

Abstract

The invention relates to the technical field of power transmission line fastening, in particular to a power transmission line fastening operation robot which comprises a supporting mechanism. The device further comprises a fastening mechanism, a lifting mechanism, an adjusting mechanism and a moving mechanism. The moving mechanism, the fastening mechanism, the lifting mechanism and the adjusting mechanism are all installed on the supporting mechanism. The moving mechanism adjusts the position of the supporting mechanism, the lifting mechanism adjusts the height of the supporting mechanism, the adjusting mechanism adjusts the gravity center of the supporting mechanism, and the fastening mechanism fastens the power transmission line. The supporting mechanism is conveyed to the position below the power transmission line through the moving mechanism, the supporting mechanism is moved to the power transmission line through the lifting mechanism, then the supporting mechanism moves on the power transmission line, meanwhile, a center mechanism of the supporting mechanism is adjusted through the adjusting mechanism, the stability of the supporting mechanism is kept, and then the power transmission line is fastened through the fastening mechanism. And the practicability of the equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line fastening, and in particular to a power transmission line fastening operation robot. Background Art

[0002] A transmission line is a physical component of a transmission line that carries electrical energy from a power source to a user. It is typically composed of metal conductors and can carry electrical energy from a generator to a user. During installation, the line must be secured, and workers then use insulators and mounting brackets on the line to secure it to the tower.

[0003] Transmission lines are generally tightened by using an improved tensioner for high-voltage stringing disclosed in the invention patent with publication number CN112234514B and a tensioner and stringing method for low-voltage stringing disclosed in the invention patent with publication number CN105762712B.

[0004] However, during use, it was found that the existing transmission line fastening device has a relatively simple structure, is inconvenient for workers to carry when climbing power towers, and is inconvenient to fasten thicker transmission lines, resulting in poor practicality. Therefore, there is an urgent need for a transmission line fastening operation robot to improve the above problems. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a transmission line fastening operation robot that transports a supporting mechanism to the bottom of a transmission line through a moving mechanism, moves the supporting mechanism onto the transmission line through a lifting mechanism, and then moves the supporting mechanism on the transmission line. At the same time, the central mechanism of the supporting mechanism is adjusted by an adjusting mechanism to maintain the stability of the supporting mechanism, and then the transmission line is fastened by a fastening mechanism, thereby improving the practicality of the equipment.

[0006] A power transmission line fastening operation robot of the present invention comprises a support mechanism; a fastening mechanism, a lifting mechanism, an adjusting mechanism and a moving mechanism, wherein the moving mechanism, the fastening mechanism, the lifting mechanism and the adjusting mechanism are all mounted on the support mechanism; The moving mechanism adjusts the position of the supporting mechanism, the lifting mechanism adjusts the height of the supporting mechanism, the adjusting mechanism adjusts the center of gravity of the supporting mechanism, and the fastening mechanism fastens the power transmission line; The supporting mechanism is transported to the bottom of the transmission line by the moving mechanism, and is moved onto the transmission line by the lifting mechanism. Thereafter, the supporting mechanism moves on the transmission line, and at the same time, the central mechanism of the supporting mechanism is adjusted by the adjusting mechanism to maintain the stability of the supporting mechanism, and then the transmission line is fastened by the fastening mechanism, thereby improving the practicality of the equipment.

[0007] Preferably, the supporting mechanism includes a shell, multiple groups of brackets, multiple groups of rollers, multiple groups of first motors, multiple groups of first electric cylinders and a protective mechanism. The bottom ends of the multiple groups of brackets and the multiple groups of first electric cylinders are rotatably mounted on the top of the shell, the top ends of the multiple groups of first electric cylinders are rotatably mounted on the side ends of the multiple groups of brackets, the multiple groups of rollers are rotatably mounted on the multiple groups of brackets, the multiple groups of first electric cylinders are fixedly mounted on the multiple groups of brackets, and the multiple groups of first motors provide power for the multiple groups of rollers respectively; by extending the multiple groups of first electric cylinders, the multiple groups of brackets remain upright and the multiple groups of rollers stand on the power transmission lines, the multiple groups of first motors are turned on to make the multiple groups of rollers roll on the power transmission lines, and the position of the shell is adjusted, thereby improving the practicality of the equipment.

[0008] Preferably, the protection mechanism includes multiple sets of sleeves, multiple sets of pistons, multiple sets of tension springs, multiple sets of electric control valves, multiple sets of first air bags and buffer mechanisms. The multiple sets of sleeves are all installed inside the shell, and the multiple sets of sleeves are connected. One set of sleeves is provided with an exhaust valve. The multiple sets of pistons are respectively slidably installed in the multiple sets of sleeves. One end of the multiple sets of tension springs is respectively installed on the multiple sets of sleeves, and the other end of the multiple sets of tension springs is respectively installed on the multiple sets of pistons. The electric control valve is fixedly installed on the piston. One end of the first air bag is connected to one end of the piston. The buffer mechanism is installed inside the shell. The air is discharged into the sleeve to push The piston slides inside the sleeve. When the air pressure in the sleeve exceeds the set requirement, the electric control valve opens to discharge the air into the first airbag, causing the first airbag to expand and extend from one end of the sleeve to the outside of the shell. The surroundings of the shell are protected by the expanded first airbag. After the equipment is used, a set of exhaust valves on the sleeve are opened, and then the electric control valve is opened to discharge the air in the first airbag and the sleeve. The elasticity of the tension spring resets the piston and pulls the first airbag back into the sleeve. When the equipment falls from a high altitude, the buffer mechanism protects the equipment, thereby improving the practicality of the equipment.

[0009] Preferably, the buffer mechanism includes a second airbag and a bottom steel plate. The second airbag is installed inside the outer shell, the top of the bottom steel plate is connected to the bottom end of the second airbag, and an inflation valve is provided on the second airbag. Air is discharged into the second airbag to expand the second airbag. When the device falls from a height, the second airbag is squeezed by the bottom steel plate to compress the air in the second airbag, thereby reducing the impact force on the device and improving the practicality of the device.

[0010] Preferably, the fastening mechanism includes a clamping mechanism, a second motor, a first gear, a first winding shaft, two groups of first gear rings, two groups of second electric cylinders, two groups of support seats, two groups of limit blocks, two groups of springs, a robotic arm, a quick connector and a hook, the top of the housing is provided with a first reserved hole, the second motor is installed inside the housing, the first gear is installed on the output shaft of the second motor, the first winding shaft is rotatably installed inside the housing, and a wire rope is wound on the first winding shaft, the two groups of first gear rings are both installed on the first winding shaft, and the first gear is meshed with a group of first gear rings, the two groups of second electric cylinders are both installed inside the housing, the two groups of support seats are respectively installed at the bottom ends of the two groups of second electric cylinders, the top ends of the two groups of limit blocks are respectively rotatably installed at the bottom ends of the two groups of support seats, the top ends of the two groups of springs are respectively installed at the bottom ends of the two groups of support seats, the bottom ends of the two groups of springs are respectively installed on the two groups of limit blocks, and the robotic arm is installed on the housing. The first gear ring is blocked by the limit block to prevent the first gear ring from rotating forwardly, thereby improving the safety of the equipment. After the transmission line is installed on the insulator, the quick connector is inserted into the hook by the mechanical arm, and the hook is removed from the tower, thereby improving the practicality of the equipment.

[0011] Preferably, the clamping mechanism includes a fixed seat, a slide rail, two groups of sliders, two groups of clamps and a bidirectional electric cylinder. The slide rail is installed on the top of the shell through the fixed seat. The two groups of sliders are slidably installed on the slide rail. The two groups of clamps are respectively installed on the two groups of sliders, and the two groups of clamps are staggered. The bidirectional electric cylinder is installed on the top of the fixed seat, and the two ends of the bidirectional electric cylinder are respectively connected to the two groups of sliders; by contracting the bidirectional electric cylinder, the two groups of sliders slide toward each other on the slide rail, so that the two groups of clamps clamp the power transmission line, thereby improving the practicality of the equipment.

[0012] Preferably, the lifting mechanism includes two groups of storage boxes, two groups of second winding shafts, second gear rings, two groups of third motors, two groups of second gears, two groups of drones, two groups of third electric cylinders, two groups of splints and two groups of wind detection mechanisms. The two groups of storage boxes are respectively installed at the left and right ends of the shell, and the two groups of storage boxes are provided with second reserved holes. The two groups of second winding shafts are respectively rotatably installed in the two groups of storage boxes, and the two groups of second winding shafts are both wound with lifting ropes. The two groups of third motors are respectively fixedly installed in the two groups of storage boxes, the two groups of second gear rings are respectively installed on the two groups of second winding shafts, the two groups of second gears are respectively installed on the output shafts of the two groups of third motors, and the two groups of second gears are respectively meshed with the two groups of second gear rings. The two groups of drones are respectively parked in the two storage groups. The top of the box, and the bottom ends of the two groups of drones are provided with limit slots, one end of the two groups of lifting ropes are respectively connected to the bottom ends of the two groups of drones, two groups of third electric cylinders are respectively installed at the bottom ends of the two groups of drones, two groups of splints are respectively installed on the two groups of third electric cylinders, and two groups of wind detection mechanisms are respectively installed on the two groups of storage boxes; turn on the third motor, and the second gear is engaged with the second gear ring to transmit the second reel shaft to rotate in the forward direction, release the lifting rope, and at the same time, the drones fly up and approach the power transmission line, and extend through the third electric cylinder to make the splint cooperate with the limit slot at the bottom end of the drone to clamp the power transmission line, and then the third motor drives the second reel shaft to rotate in the direction to roll up the lifting rope, adjust the height of the equipment, and place multiple groups of rollers on the power transmission line, thereby improving the practicality of the equipment.

[0013] Preferably, the regulating mechanism includes a telescopic tube, a bottom plate, multiple groups of fourth electric cylinders and a partition net, the top of the telescopic tube is connected to the bottom end of the bottom steel plate, the top of the bottom plate is connected to the bottom end of the telescopic tube, the tops of the multiple groups of fourth electric cylinders are all installed on the bottom steel plate, the bottoms of the multiple groups of fourth electric cylinders are all installed on the bottom plate, the partition net is installed inside the telescopic tube, a chamber is provided in the side wall of the shell, a breathing valve is provided at the top of the shell, and the telescopic tube is communicated with the chamber of the shell through a hose; when water is discharged into the chamber of the shell and the stability of the equipment is adjusted, Multiple sets of fourth electric cylinders extend to drain the water in the casing into the telescopic tube, thereby increasing the weight of the bottom of the device, or multiple sets of fourth electric cylinders contract to drain the water in the telescopic tube into the chamber of the casing, thereby adjusting the stability of the device. When the device falls from a height, the above steps are repeated to drain the water into the clamp, and then the bottom plate lands on the ground, and multiple sets of fourth electric cylinders are damaged by the impact. Then the telescopic tube contracts, and at the same time, the water in the telescopic tube is blocked by the partition net, so that the water enters the chamber of the casing, reducing the impact force on the device, thereby improving the practicality of the device.

[0014] Preferably, the moving mechanism includes a frame, multiple sets of fourth motors, multiple sets of drive wheels and two sets of tracks, the multiple sets of fourth motors are fixedly mounted on the frame, the top of the frame is provided with a groove, the multiple sets of drive wheels are rotatably mounted on the multiple sets of frames, and the output shafts of the multiple sets of fourth motors provide power to the multiple sets of drive wheels respectively, and the two sets of tracks are respectively mounted on the multiple sets of drive wheels; by turning on the multiple sets of fourth motors, the multiple sets of drive wheels are driven respectively, so that the two sets of tracks are run, and the position of the equipment is moved, thereby improving the practicality of the equipment.

[0015] Preferably, the wind detection mechanism includes two groups of wind detector bodies and two groups of fan blades, the two groups of wind detector bodies are respectively installed on two groups of storage boxes, and the two groups of fan blades are respectively installed on the two groups of wind detector bodies; the wind blows the two groups of fan blades, so that the two groups of wind detector bodies monitor the wind speed around the equipment, which is convenient for the staff to run or stop the equipment according to the wind speed, thereby improving the practicality of the equipment.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. Use the drone to fix the lifting rope, so that the support mechanism can be directly raised to the power line. Then the support mechanism can be moved on the power line to improve the convenience of adjusting the position of the equipment. 2. The staggered installation of the clamping mechanism makes it easy to clamp transmission lines of different thicknesses. By hanging the hook on the tower and tightening the wire rope, the transmission line is fastened, improving the convenience of the equipment. 3. By storing water in multiple air bags and telescopic tubes, the impact force of the equipment is reduced and the loss of the equipment is reduced when the equipment falls from a high altitude; 4. The separate structure of the supporting structure and the conveying mechanism makes it easy to move the equipment on the ground and improves the convenience of transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an axonometric structural diagram of the present invention; Figure 2 It is a front view structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the front cross-sectional structure of the present invention; Figure 4 It is a schematic diagram of a first axonometric cross-sectional structure of the present invention; Figure 5 It is a second axonometric cross-sectional structural schematic diagram of the present invention; Figure 6 It is an axonometric enlarged structural diagram of the support mechanism and the lifting mechanism of the present invention; Figure 7 It is a front view enlarged structural diagram of the support mechanism and the lifting mechanism of the present invention; Figure 8 It is a first axonometric enlarged structural diagram of the moving mechanism of the present invention; Figure 9 It is a second axonometric enlarged structural diagram of the moving mechanism of the present invention; Figure 10 It is a first axonometric enlarged structural schematic diagram of the clamping mechanism of the present invention; Figure 11 It is a second axonometric enlarged structural schematic diagram of the clamping mechanism of the present invention; Figure 12 It is a schematic diagram of the axonometric cross-sectional structure of the lifting mechanism of the present invention; Figure 13 It is an axonometric cross-sectional enlarged structural schematic diagram of the sleeve of the present invention; Figure 14 It is a schematic diagram of an enlarged front cross-section of the telescopic tube of the present invention; Figure 15 This invention Figure 3 A schematic diagram of the enlarged structure of part A in FIG; Figure 16 This invention Figure 7 Schematic diagram of the enlarged structure of part B in .

[0018] Markings in the accompanying drawings: 1, housing; 2, bracket; 3, roller; 4, first motor; 5, first electric cylinder; 6, sleeve; 7, piston; 8, tension spring; 9, electric control valve; 10, first airbag; 11, second airbag; 12, bottom steel plate; 13, second motor; 14, first gear; 15, first winding shaft; 16, first gear ring; 17, second electric cylinder; 18, support base; 19, limit block; 20, spring; 21, mechanical arm; 22, quick connector; 23, hook; 24 , fixed seat; 25. Slide rail; 26. Slider; 27. Clamp; 28. Bidirectional electric cylinder; 29. Storage box; 30. Second reel; 31. Second gear ring; 32. Third motor; 33. Second gear; 34. UAV; 35. Third electric cylinder; 36. Clamp; 37. Telescopic tube; 38. Bottom plate; 39. Fourth electric cylinder; 40. Partition; 41. Frame; 42. Fourth motor; 43. Drive wheel; 44. Track; 45. Wind force detector body; 46. Fan blade. DETAILED DESCRIPTION

[0019] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0020] Example 1 A power transmission line fastening operation robot comprises a supporting mechanism, a fastening mechanism, a lifting mechanism, an adjusting mechanism and a moving mechanism, wherein the moving mechanism, the fastening mechanism, the lifting mechanism and the adjusting mechanism are all mounted on the supporting mechanism; The moving mechanism adjusts the position of the supporting mechanism, the lifting mechanism adjusts the height of the supporting mechanism, the adjusting mechanism adjusts the center of gravity of the supporting mechanism, and the fastening mechanism fastens the power transmission line; The support mechanism includes a housing 1, multiple groups of brackets 2, multiple groups of rollers 3, multiple groups of first motors 4, multiple groups of first electric cylinders 5 and a protective mechanism. The bottom ends of the multiple groups of brackets 2 and the multiple groups of first electric cylinders 5 are rotatably mounted on the top end of the housing 1. The top ends of the multiple groups of first electric cylinders 5 are rotatably mounted on the side ends of the multiple groups of brackets 2. The multiple groups of rollers 3 are rotatably mounted on the multiple groups of brackets 2. The multiple groups of first electric cylinders 5 are fixedly mounted on the multiple groups of brackets 2, and the multiple groups of first motors 4 provide power to the multiple groups of rollers 3 respectively. The protection mechanism includes multiple sets of sleeves 6, multiple sets of pistons 7, multiple sets of tension springs 8, multiple sets of electric control valves 9, multiple sets of first airbags 10 and a buffer mechanism. The multiple sets of sleeves 6 are all installed inside the shell 1, and the multiple sets of sleeves 6 are connected to each other. One set of sleeves 6 is provided with an exhaust valve. The multiple sets of pistons 7 are respectively slidably installed in the multiple sets of sleeves 6. One end of the multiple sets of tension springs 8 is respectively installed on the multiple sets of sleeves 6, and the other end of the multiple sets of tension springs 8 is respectively installed on the multiple sets of pistons 7. The electric control valve 9 is fixedly installed on the piston 7. One end of the first airbag 10 is connected to one end of the piston 7. The buffer mechanism is installed inside the shell 1; The buffer mechanism includes a second airbag 11 and a bottom steel plate 12. The second airbag 11 is installed inside the housing 1. The top end of the bottom steel plate 12 is connected to the bottom end of the second airbag 11. An inflation valve is provided on the second airbag 11. The fastening mechanism includes a clamping mechanism, a second motor 13, a first gear 14, a first winding shaft 15, two sets of first gear rings 16, two sets of second electric cylinders 17, two sets of support seats 18, two sets of limit blocks 19, two sets of springs 20, a mechanical arm 21, a quick connector 22 and a hook 23. The top of the housing 1 is provided with a first reserved hole, the second motor 13 is mounted inside the housing 1, the first gear 14 is mounted on the output shaft of the second motor 13, the first winding shaft 15 is rotatably mounted inside the housing 1, and a steel wire rope is wound on the first winding shaft 15. The two sets of first gear rings 16 are both mounted on the first winding shaft 1 5, and the first gear 14 is meshed and connected with a set of first gear rings 16, two sets of second electric cylinders 17 are installed inside the housing 1, two sets of support seats 18 are respectively installed at the bottom ends of the two sets of second electric cylinders 17, the top ends of the two sets of limit blocks 19 are respectively rotatably installed at the bottom ends of the two sets of support seats 18, the top ends of the two sets of springs 20 are respectively installed at the bottom ends of the two sets of support seats 18, the bottom ends of the two sets of springs 20 are respectively installed on the two sets of limit blocks 19, the mechanical arm 21 is installed on the housing 1, the quick connector 22 is installed on the mechanical arm 21, the hook 23 is installed on one end of the wire rope, and the clamping mechanism is installed on the top of the housing 1; The clamping mechanism includes a fixed base 24, a slide rail 25, two sets of sliders 26, two sets of clamps 27 and a bidirectional electric cylinder 28. The slide rail 25 is mounted on the top of the housing 1 through the fixed base 24. The two sets of sliders 26 are slidably mounted on the slide rail 25. The two sets of clamps 27 are respectively mounted on the two sets of sliders 26, and the two sets of clamps 27 are staggered. The bidirectional electric cylinder 28 is mounted on the top of the fixed base 24, and the two ends of the bidirectional electric cylinder 28 are respectively connected to the two sets of sliders 26. The supporting mechanism is transported to the bottom of the power transmission line by the moving mechanism, and the air is discharged into the sleeve 6, which pushes the piston 7 to slide inside the sleeve 6. When the air pressure in the sleeve 6 exceeds the set requirement, the electric control valve 9 opens, and the air is discharged into the first airbag 10, so that the first airbag 10 expands and extends from one end of the sleeve 6 to the outside of the shell 1. The expanded first airbag 10 protects the surrounding of the shell 1. The supporting mechanism is moved to the power transmission line by the lifting mechanism, and then multiple groups of first electric cylinders 5 are extended to keep the multiple groups of brackets 2 upright and make the multiple groups of rollers 3 stand on the power transmission line. On the line, multiple groups of first motors 4 are turned on to make multiple groups of rollers 3 roll on the transmission line, and the position of the housing 1 is adjusted. At the same time, the center mechanism of the support mechanism is adjusted through the adjustment mechanism to maintain the stability of the support mechanism. Then, the two-way electric cylinder 28 is contracted to make the two groups of sliders 26 slide toward each other on the slide rail 25, so that the two groups of clamps 27 clamp the transmission line. Then, the second motor 13 is turned on, and the first gear 14 is engaged with the first gear ring 16 to drive the first winding shaft 15 to rotate in the forward direction, loosening the wire rope. At the same time, the mechanical arm 21 carries the hook 23 to move and hangs the hook 23 on The robot arm 21 is then separated from the hook 23 through the quick connector 22. At the same time, the second electric cylinder 17 is extended to make the limit block 19 close to the first gear ring 16. The second motor 13 is then used to drive the first winding shaft 15 to run in the reverse direction, so that the equipment pulls the transmission line close to the tower and tightens and fixes the transmission line. The staff then installs the tightened transmission line on the insulator and blocks the first gear ring 16 through the limit block 19 to prevent the first winding shaft 15 from rotating in the forward direction, thereby improving the safety of the equipment. After the transmission line is installed on the insulator, the quick connector 22 is inserted into the robot arm 21. In the hook 23, remove the hook 23 from the power tower. After the equipment is used, open a set of exhaust valves on the sleeve 6, and then open the electric control valve 9 to discharge the air in the first airbag 10 and the sleeve 6, and through the elasticity of the tension spring 8, reset the piston 7, and at the same time pull the first airbag 10 back into the sleeve 6, and discharge the air into the second airbag 11 to expand the second airbag 11. When the equipment falls from a high place, the second airbag 11 is squeezed by the bottom steel plate 12 to compress the air in the second airbag 11, reducing the impact force on the equipment, thereby improving the practicality of the equipment.

[0021] Example 2 like Figures 1 to 16 As shown, a power transmission line fastening operation robot includes a support mechanism; a fastening mechanism, a lifting mechanism, an adjusting mechanism and a moving mechanism, wherein the moving mechanism, the fastening mechanism, the lifting mechanism and the adjusting mechanism are all mounted on the support mechanism; The moving mechanism adjusts the position of the supporting mechanism, the lifting mechanism adjusts the height of the supporting mechanism, the adjusting mechanism adjusts the center of gravity of the supporting mechanism, and the fastening mechanism fastens the power transmission line; The support mechanism includes a housing 1, multiple groups of brackets 2, multiple groups of rollers 3, multiple groups of first motors 4, multiple groups of first electric cylinders 5 and a protective mechanism. The bottom ends of the multiple groups of brackets 2 and the multiple groups of first electric cylinders 5 are rotatably mounted on the top end of the housing 1. The top ends of the multiple groups of first electric cylinders 5 are rotatably mounted on the side ends of the multiple groups of brackets 2. The multiple groups of rollers 3 are rotatably mounted on the multiple groups of brackets 2. The multiple groups of first electric cylinders 5 are fixedly mounted on the multiple groups of brackets 2, and the multiple groups of first motors 4 provide power to the multiple groups of rollers 3 respectively. The protection mechanism includes multiple sets of sleeves 6, multiple sets of pistons 7, multiple sets of tension springs 8, multiple sets of electric control valves 9, multiple sets of first airbags 10 and a buffer mechanism. The multiple sets of sleeves 6 are all installed inside the shell 1, and the multiple sets of sleeves 6 are connected to each other. One set of sleeves 6 is provided with an exhaust valve. The multiple sets of pistons 7 are respectively slidably installed in the multiple sets of sleeves 6. One end of the multiple sets of tension springs 8 is respectively installed on the multiple sets of sleeves 6, and the other end of the multiple sets of tension springs 8 is respectively installed on the multiple sets of pistons 7. The electric control valve 9 is fixedly installed on the piston 7. One end of the first airbag 10 is connected to one end of the piston 7. The buffer mechanism is installed inside the shell 1; The buffer mechanism includes a second airbag 11 and a bottom steel plate 12. The second airbag 11 is installed inside the housing 1. The top end of the bottom steel plate 12 is connected to the bottom end of the second airbag 11. An inflation valve is provided on the second airbag 11. The fastening mechanism includes a clamping mechanism, a second motor 13, a first gear 14, a first winding shaft 15, two sets of first gear rings 16, two sets of second electric cylinders 17, two sets of support seats 18, two sets of limit blocks 19, two sets of springs 20, a mechanical arm 21, a quick connector 22 and a hook 23. The top of the housing 1 is provided with a first reserved hole, the second motor 13 is mounted inside the housing 1, the first gear 14 is mounted on the output shaft of the second motor 13, the first winding shaft 15 is rotatably mounted inside the housing 1, and a steel wire rope is wound on the first winding shaft 15. The two sets of first gear rings 16 are both mounted on the first winding shaft 1 5, and the first gear 14 is meshed and connected with a set of first gear rings 16, two sets of second electric cylinders 17 are installed inside the housing 1, two sets of support seats 18 are respectively installed at the bottom ends of the two sets of second electric cylinders 17, the top ends of the two sets of limit blocks 19 are respectively rotatably installed at the bottom ends of the two sets of support seats 18, the top ends of the two sets of springs 20 are respectively installed at the bottom ends of the two sets of support seats 18, the bottom ends of the two sets of springs 20 are respectively installed on the two sets of limit blocks 19, the mechanical arm 21 is installed on the housing 1, the quick connector 22 is installed on the mechanical arm 21, the hook 23 is installed on one end of the wire rope, and the clamping mechanism is installed on the top of the housing 1; The clamping mechanism includes a fixed base 24, a slide rail 25, two sets of sliders 26, two sets of clamps 27 and a bidirectional electric cylinder 28. The slide rail 25 is mounted on the top of the housing 1 through the fixed base 24. The two sets of sliders 26 are slidably mounted on the slide rail 25. The two sets of clamps 27 are respectively mounted on the two sets of sliders 26, and the two sets of clamps 27 are staggered. The bidirectional electric cylinder 28 is mounted on the top of the fixed base 24, and the two ends of the bidirectional electric cylinder 28 are respectively connected to the two sets of sliders 26. The lifting mechanism includes two groups of storage boxes 29, two groups of second winding shafts 30, a second gear ring 31, two groups of third motors 32, two groups of second gears 33, two groups of drones 34, two groups of third electric cylinders 35, two groups of clamping plates 36 and two groups of wind detection mechanisms. The two groups of storage boxes 29 are respectively installed at the left and right ends of the housing 1, and the two groups of storage boxes 29 are both provided with second reserved holes. The two groups of second winding shafts 30 are respectively rotatably installed in the two groups of storage boxes 29, and the two groups of second winding shafts 30 are both wound with lifting ropes. The two groups of third motors 32 are respectively fixedly installed in the two groups of storage boxes 29, and the two groups of second gear rings 31 are respectively fixedly installed in the two groups of storage boxes 29. They are respectively mounted on the two sets of second winding shafts 30, the two sets of second gears 33 are respectively mounted on the output shafts of the two sets of third motors 32, and the two sets of second gears 33 are respectively engaged with the two sets of second gear rings 31. The two sets of drones 34 are respectively parked on the top of the two sets of storage boxes 29, and the bottom ends of the two sets of drones 34 are provided with limit slots. One end of the two sets of lifting ropes is respectively connected to the bottom ends of the two sets of drones 34. The two sets of third electric cylinders 35 are respectively mounted on the bottom ends of the two sets of drones 34, and the two sets of clamping plates 36 are respectively mounted on the two sets of third electric cylinders 35. The two sets of wind force detection mechanisms are respectively mounted on the two sets of storage boxes 29. The adjustment mechanism includes a telescopic tube 37, a bottom plate 38, multiple groups of fourth electric cylinders 39 and a partition 40. The top of the telescopic tube 37 is connected to the bottom end of the bottom steel plate 12, and the top of the bottom plate 38 is connected to the bottom end of the telescopic tube 37. The top ends of the multiple groups of fourth electric cylinders 39 are all mounted on the bottom steel plate 12, and the bottom ends of the multiple groups of fourth electric cylinders 39 are all mounted on the bottom plate 38. The partition 40 is installed inside the telescopic tube 37. A chamber is provided in the side wall of the housing 1, and a breathing valve is provided at the top end of the housing 1. The telescopic tube 37 is connected to the chamber of the housing 1 through a hose. The mobile mechanism includes a frame 41, multiple sets of fourth motors 42, multiple sets of drive wheels 43 and two sets of crawler tracks 44. The multiple sets of fourth motors 42 are fixedly mounted on the frame 41. A groove is provided at the top of the frame 41. The multiple sets of drive wheels 43 are rotatably mounted on the multiple sets of frames 41. The output shafts of the multiple sets of fourth motors 42 respectively provide power to the multiple sets of drive wheels 43. The two sets of crawler tracks 44 are respectively mounted on the multiple sets of drive wheels 43. The wind force detection mechanism includes two sets of wind force detection instrument bodies 45 and two sets of fan blades 46. The two sets of wind force detection instrument bodies 45 are respectively installed on the two sets of storage boxes 29, and the two sets of fan blades 46 are respectively installed on the two sets of wind force detection instrument bodies 45. Insert the bottom plate 38 into the groove of the frame 41, turn on multiple sets of fourth motors 42, drive multiple sets of driving wheels 43 respectively, and make the two sets of crawlers 44 run to transport the support mechanism to the bottom of the power transmission line, discharge air into the sleeve 6, push the piston 7 to slide inside the sleeve 6, and when the air pressure in the sleeve 6 exceeds the set requirement, the electric control valve 9 opens, and discharges air into the first airbag 10, so that the first airbag 10 expands and extends from one end of the sleeve 6 to the outside of the shell 1. The expanded first airbag 10 protects the surroundings of the shell 1, turns on the third motor 32, and the second gear 33 engages with the second gear ring 31 to transmit the transmission, so that the second reel 30 rotates in the forward direction, and the lifting rope is released. At the same time, the drone 34 flies up and approaches the power transmission line, and passes through the third electric cylinder. 35 is extended, so that the splint 36 cooperates with the limiting groove at the bottom of the drone 34 to clamp the power transmission line, and then the third motor 32 drives the second winding shaft 30 to rotate, rolls up the lifting rope, and adjusts the height of the equipment. Then, multiple groups of first electric cylinders 5 are extended to keep multiple groups of brackets 2 upright and make multiple groups of rollers 3 stand on the power transmission line, turn on multiple groups of first motors 4, make multiple groups of rollers 3 roll on the power transmission line, adjust the position of the shell 1, and drain water into the chamber of the shell 1 at the same time. When adjusting the stability of the equipment, multiple groups of fourth electric cylinders 39 are extended to drain the water in the shell 1 into the telescopic tube 37 to increase the weight of the bottom of the equipment, or multiple fourth electric cylinders 39 are contracted to drain the water in the telescopic tube 37 into the chamber of the shell 1. , and then adjust the stability of the equipment to maintain the stability of the supporting mechanism, and then contract the two-way electric cylinder 28 to make the two sets of sliders 26 slide toward each other on the slide rail 25, so that the two sets of clamps 27 clamp the transmission line, and then turn on the second motor 13, and the first gear 14 engages with the first gear ring 16 to drive the first winding shaft 15 to rotate forward, loosen the wire rope, and at the same time, the mechanical arm 21 carries the hook 23 to move, and the hook 23 is hung on the power tower, and then the mechanical arm 21 is separated from the hook 23 through the quick connector 22, and at the same time the second electric cylinder 17 extends to make the limit block 19 close to the first gear ring 16, and then the second motor 13 drives the first winding shaft 15 to run in the opposite direction, so that the equipment pulls the transmission line close to the power tower, tightens and fixes the transmission line, and the staff then pulls the wire rope. The tight transmission line is installed on the insulator, and the first gear ring 16 is blocked by the limit block 19 to prevent the first winding shaft 15 from rotating in the forward direction, thereby improving the safety of the equipment. After the transmission line is installed on the insulator, the quick connector 22 is inserted into the hook 23 by the mechanical arm 21, and the hook 23 is removed from the tower. The above steps are repeated in the direction so that the lifting mechanism puts the supporting mechanism back on the moving mechanism. After the equipment is used, the exhaust valve on a set of sleeves 6 is opened, and then the electric control valve 9 is opened to discharge the air in the first airbag 10 and the sleeve 6, and the piston 7 is reset by the elasticity of the tension spring 8. At the same time, the first airbag 10 is pulled back into the sleeve 6, and the air is discharged into the second airbag 11, so that the second airbag 11 expands. When the equipment falls from a high place,The bottom steel plate 12 squeezes the second airbag 11, compressing the air inside. Water is then discharged into the fixture 27, causing the bottom plate 38 to touch the ground. Multiple sets of fourth electric cylinders 39 are damaged by the impact, and the telescopic tube 37 contracts. Meanwhile, the screen 40 blocks the water inside the telescopic tube 37, allowing it to enter the chamber of the housing 1, reducing the impact force on the device. When the device is operating on the power line, the wind blows the two sets of blades 46, causing the two sets of wind detector bodies 45 to monitor the wind speed around the device and transmit the detection data to the controller in the hands of the staff, allowing the staff to start or stop the device according to the wind speed, thereby improving the practicality of the device.

[0022] The main functions achieved by the present invention are: improving fastening convenience, improving mobility convenience, and improving equipment safety; 1. Improve fastening convenience: Through the staggered installation of the clamping mechanism, it is convenient to clamp transmission lines of different thicknesses, and by hanging the hook on the power tower and tightening the wire rope, the transmission line can be fastened; 2. Improved mobility: The separate structure of the support structure and the conveying mechanism facilitates the movement of the equipment on the ground. The lifting rope is fixed by the drone, making it convenient to directly raise the support mechanism to the transmission line and then move it on the transmission line; 3. Improve equipment safety: By storing water in multiple air bags and telescopic tubes, the impact force of the equipment is reduced when it falls from a high altitude.

[0023] The installation method, connection method or setting method of a power transmission line fastening operation robot of the present invention are all common mechanical methods, and can be implemented as long as they can achieve their beneficial effects; the first motor 4, first electric cylinder 5, electric control valve 9, second motor 13, second electric cylinder 17, robotic arm 21, bidirectional electric cylinder 28, third motor 32, drone 34, third electric cylinder 35, fourth electric cylinder 39, fourth motor 42 and wind force detector body 45 of a power transmission line fastening operation robot of the present invention are purchased on the market, and technical personnel in this industry only need to install and operate them according to the accompanying instruction manual, without the need for technical personnel in this field to pay creative labor.

[0024] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A power transmission line fastening operation robot, comprising a support mechanism; characterized in that: It also includes a fastening mechanism, a lifting mechanism, an adjusting mechanism and a moving mechanism, wherein the moving mechanism, the fastening mechanism, the lifting mechanism and the adjusting mechanism are all installed on the supporting mechanism; The moving mechanism adjusts the position of the supporting mechanism, the lifting mechanism adjusts the height of the supporting mechanism, the adjusting mechanism adjusts the center of gravity of the supporting mechanism, and the fastening mechanism fastens the power transmission line.

2. A power transmission line fastening operation robot according to claim 1, characterized in that: The supporting mechanism comprises a housing (1), multiple groups of brackets (2), multiple groups of rollers (3), multiple groups of first motors (4), multiple groups of first electric cylinders (5) and a protective mechanism, wherein the bottom ends of the multiple groups of brackets (2) and the multiple groups of first electric cylinders (5) are rotatably mounted on the top end of the housing (1), the top ends of the multiple groups of first electric cylinders (5) are rotatably mounted on the side ends of the multiple groups of brackets (2), the multiple groups of rollers (3) are rotatably mounted on the multiple groups of brackets (2), the multiple groups of first electric cylinders (5) are fixedly mounted on the multiple groups of brackets (2), and the multiple groups of first motors (4) provide power for the multiple groups of rollers (3).

3. A power transmission line fastening operation robot according to claim 2, characterized in that: The protective mechanism comprises multiple sets of sleeves (6), multiple sets of pistons (7), multiple sets of tension springs (8), multiple sets of electric control valves (9), multiple sets of first air bags (10) and a buffer mechanism. The multiple sets of sleeves (6) are all installed inside the housing (1), and the multiple sets of sleeves (6) are connected to each other. An exhaust valve is provided on one set of sleeves (6). The multiple sets of pistons (7) are respectively slidably installed in the multiple sets of sleeves (6). One end of the multiple sets of tension springs (8) is respectively installed on the multiple sets of sleeves (6), and the other end of the multiple sets of tension springs (8) is respectively installed on the multiple sets of pistons (7). The electric control valve (9) is fixedly installed on the piston (7). One end of the first air bag (10) is connected to one end of the piston (7). The buffer mechanism is installed inside the housing (1).

4. A power transmission line fastening operation robot according to claim 3, characterized in that: The buffer mechanism comprises a second airbag (11) and a bottom steel plate (12); the second airbag (11) is installed inside the housing (1); the top end of the bottom steel plate (12) is connected to the bottom end of the second airbag (11); and an inflation valve is provided on the second airbag (11).

5. The power transmission line fastening operation robot according to claim 2, characterized in that: The fastening mechanism includes a clamping mechanism, a second motor (13), a first gear (14), a first winding shaft (15), two groups of first gear rings (16), two groups of second electric cylinders (17), two groups of support seats (18), two groups of limit blocks (19), two groups of springs (20), a mechanical arm (21), a quick connector (22) and a hook (23). The top of the housing (1) is provided with a first reserved hole, the second motor (13) is installed inside the housing (1), the first gear (14) is installed on the output shaft of the second motor (13), the first winding shaft (15) is rotatably installed inside the housing (1), and a steel wire rope is wound on the first winding shaft (15). The two groups of first gear rings (16) are both installed on the first winding shaft. (15), and the first gear (14) is meshed with a group of first gear rings (16), the two groups of second electric cylinders (17) are installed inside the housing (1), the two groups of support seats (18) are respectively installed at the bottom ends of the two groups of second electric cylinders (17), the top ends of the two groups of limit blocks (19) are respectively rotatably installed at the bottom ends of the two groups of support seats (18), the top ends of the two groups of springs (20) are respectively installed at the bottom ends of the two groups of support seats (18), the bottom ends of the two groups of springs (20) are respectively installed on the two groups of limit blocks (19), the mechanical arm (21) is installed on the housing (1), the quick connector (22) is installed on the mechanical arm (21), the hook (23) is installed on one end of the wire rope, and the clamping mechanism is installed on the top of the housing (1).

6. A power transmission line fastening operation robot according to claim 5, characterized in that: The clamping mechanism includes a fixed seat (24), a slide rail (25), two groups of sliders (26), two groups of clamps (27) and a bidirectional electric cylinder (28), wherein the slide rail (25) is mounted on the top of the housing (1) through the fixed seat (24), the two groups of sliders (26) are both slidably mounted on the slide rail (25), the two groups of clamps (27) are respectively mounted on the two groups of sliders (26), and the two groups of clamps (27) are staggered, the bidirectional electric cylinder (28) is mounted on the top of the fixed seat (24), and the two ends of the bidirectional electric cylinder (28) are respectively connected to the two groups of sliders (26).

7. The power transmission line fastening operation robot according to claim 2, characterized in that: The lifting mechanism comprises two groups of storage boxes (29), two groups of second winding shafts (30), a second gear ring (31), two groups of third motors (32), two groups of second gears (33), two groups of drones (34), two groups of third electric cylinders (35), two groups of clamping plates (36) and two groups of wind force detection mechanisms. The two groups of storage boxes (29) are respectively installed at the left end and the right end of the housing (1), and the two groups of storage boxes (29) are both provided with a second reserved hole. The two groups of second winding shafts (30) are respectively rotatably installed in the two groups of storage boxes (29), and the two groups of second winding shafts (30) are both wound with a lifting rope. The two groups of third motors (32) are respectively fixedly installed in the two groups of storage boxes (29), and the two groups of second gear rings ( The two sets of second gears (31) are respectively installed on the two sets of second winding shafts (30), the two sets of second gears (33) are respectively installed on the output shafts of the two sets of third motors (32), and the two sets of second gears (33) are respectively engaged with the two sets of second gear rings (31), the two sets of drones (34) are respectively parked on the top of the two sets of storage boxes (29), and the bottom ends of the two sets of drones (34) are provided with limiting grooves, one end of the two sets of lifting ropes is respectively connected to the bottom ends of the two sets of drones (34), the two sets of third electric cylinders (35) are respectively installed on the bottom ends of the two sets of drones (34), the two sets of splints (36) are respectively installed on the two sets of third electric cylinders (35), and the two sets of wind detection mechanisms are respectively installed on the two sets of storage boxes (29).

8. The power transmission line fastening operation robot according to claim 2, characterized in that: The regulating mechanism comprises a telescopic tube (37), a bottom plate (38), a plurality of fourth electric cylinders (39) and a partition (40), the top end of the telescopic tube (37) is connected to the bottom end of the bottom steel plate (12), the top end of the bottom plate (38) is connected to the bottom end of the telescopic tube (37), the top ends of the plurality of fourth electric cylinders (39) are all mounted on the bottom steel plate (12), the bottom ends of the plurality of fourth electric cylinders (39) are all mounted on the bottom plate (38), the partition (40) is mounted inside the telescopic tube (37), a chamber is provided in the side wall of the housing (1), a breathing valve is provided at the top end of the housing (1), and the telescopic tube (37) is communicated with the chamber of the housing (1) through a hose.

9. The power transmission line fastening operation robot according to claim 1, characterized in that: The mobile mechanism comprises a frame (41), multiple sets of fourth motors (42), multiple sets of driving wheels (43) and two sets of crawlers (44). The multiple sets of fourth motors (42) are fixedly mounted on the frame (41). A groove is provided at the top of the frame (41). The multiple sets of driving wheels (43) are rotatably mounted on the multiple sets of frames (41). The output shafts of the multiple sets of fourth motors (42) respectively provide power to the multiple sets of driving wheels (43). The two sets of crawlers (44) are respectively mounted on the multiple sets of driving wheels (43).

10. The power transmission line fastening operation robot according to claim 7, characterized in that: The wind force detection mechanism comprises two groups of wind force detection instrument bodies (45) and two groups of fan blades (46). The two groups of wind force detection instrument bodies (45) are respectively mounted on the two groups of storage boxes (29), and the two groups of fan blades (46) are respectively mounted on the two groups of wind force detection instrument bodies (45).

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