Wrench special for live-line connection and disconnection of drainage wire clamp

Abstract

The invention relates to the field of electric power engineering, in particular to a special wrench for live-line connection and disconnection of a drainage wire clamp. Comprising a containing cavity, the end of the containing cavity is provided with a connector, and the containing cavity is connected with a mechanical arm through the connector; the clamping part is arranged on the accommodating cavity; the mechanical arm can drive the clamping part to be connected with the nut in a sleeved mode. The clamping part is provided with a notch, and the notch can be matched with nuts of different specifications; the special tool for disconnecting the drainage wire clamp is supplemented for a high-altitude hot-line work robot, the requirement for dismounting bolts of various tightness degrees can be met, the special tool can be suitable for dismounting bolts of different specifications, the utilization rate of the hot-line work robot and the disconnecting work efficiency of the drainage wire clamp are improved, and the working efficiency is improved. Manual live-line drainage wire dismounting and mounting operation of the transformer substation is replaced, the risk and labor intensity of manual operation can be well reduced, and the automation level of maintenance operation of the intelligent transformer substation is improved.

Description

Technical Field

[0001] The invention relates to the field of electric power engineering, in particular to a special wrench for disconnecting and connecting a drain wire clamp under power. Background Art

[0002] Live installation and removal of substation drainage lines is a common task during power system maintenance. Due to the long-term, uninterrupted operation of drainage lines in harsh outdoor environments, the drainage clamps and lines within the lines are prone to corrosion and loosening. This can cause localized temperature increases in the lines, leading to accidents such as fuses. This requires the live removal of the original drainage lines and the installation of new ones. Furthermore, when power equipment between different busbars in a substation undergoes regular maintenance, live removal and reconnection of drainage lines are also required to ensure the safety of the ground equipment during maintenance. Mature live installation and removal of substation drainage lines is primarily performed manually, but this is labor-intensive, inefficient, and carries a high risk factor.

[0003] To better protect power workers while achieving flexible, safe, and efficient maintenance, a dual-arm maintenance robot for live substation tapping has emerged. This live-work robot utilizes an intelligent robotic arm and performs live-work operations, removing and installing substation tapping lines to ensure reliable power supply. This robot, which replaces human personnel in strong electric fields (e.g., over 100,000 volts), essentially reduces operational risks, improves efficiency, and ensures reliable equipment operation. This technology contributes to breakthroughs and widespread application of live-work technology, further promoting the standardization of live-work operations and driving the transition of live-work operations in substations toward intelligent and mechanized maintenance.

[0004] Since there are many steps in the installation and disassembly of drainage lines, the front side of the live working robot is generally equipped with multiple different types of tools. The live working robot can select or replace the corresponding working tools for use according to the tasks to be completed and the control of the ground personnel.

[0005] During the disconnection and reconnection process at a substation, a wrench is a crucial tool. Its primary function is to install and remove live structures requiring maintenance, such as threaded connections in drain clamps, thereby paving the way for other tasks. However, current wrench applications often involve manually holding the wrench body and pressing a switch. Furthermore, the wrench requires close proximity to the workpiece for accurate positioning, making it impractical for robot operation.

[0006] It can be seen that there is still a big technical gap in the special tools for high-altitude live-working robots to clamp and disconnect drain wires for live-working. This technical gap has seriously restricted the actual application and promotion of live-working robots in power grids. Summary of the Invention

[0007] Therefore, the technical problem to be solved by the present invention is: how to enable the robot to better drive the wrench operation.

[0008] The above technical problems are solved by the following technical solutions: The present invention proposes a special wrench for disconnecting the drain wire clamp under power, comprising: An accommodating cavity, wherein a connector is provided at an end of the accommodating cavity, and the accommodating cavity is connected to the robotic arm via the connector; and A clamping portion, the clamping portion being provided on the accommodating cavity; The mechanical arm can drive the clamping portion to engage with the nut; The clamping portion is provided with a notch, and the notch can be adapted to nuts of different specifications; The clamping portion is rotatably disposed in the accommodating cavity, and a transmission group is further disposed in the accommodating cavity; A transmission shaft is provided in the connector; The bottom end of the transmission shaft is connected to a first bevel gear, and the transmission group includes a spur gear disposed in the accommodating cavity. The side of the spur gear close to the first bevel gear is connected to a second bevel gear, and the first bevel gear is meshed with the second bevel gear; A gear ring is provided on the outer periphery of the clamping portion, and the spur gear and the gear ring are meshed and connected via a gear member.

[0009] In a preferred embodiment of the special wrench for hot-disconnecting the drain wire clamp of the present invention, a plurality of groups of clamping parts are provided on the accommodating cavity, and the plurality of groups of clamping parts are respectively provided with slots of different widths.

[0010] In a preferred embodiment of the special wrench for live disconnection of drainage wire clamps of the present invention, one group of the clamping parts has multiple groups of adaptable adjustment members, and the width of the slots on each group of the adjustment members is different.

[0011] In a preferred embodiment of the special wrench for hot-disconnecting the drain wire clamp of the present invention: a fixing piece capable of being plugged into the adjusting piece is provided inside the clamping portion; The adjusting member is provided with engaging grooves corresponding to the fixing member on both sides; A sliding member is further provided inside the clamping portion, and the sliding member can drive the fixing member to move inside the clamping portion.

[0012] In a preferred embodiment of the special wrench for hot-disconnecting the drain wire clamp of the present invention, a positioning member is provided in the sliding member, and the positioning member can limit the position change of the sliding member.

[0013] In a preferred embodiment of the special wrench for live disconnection of the drainage clamp of the present invention: the transmission shaft extends into the accommodating cavity and is connected to the transmission group, and the transmission shaft drives the clamping part to rotate through the transmission group.

[0014] In a preferred embodiment of the special wrench for hot-disconnecting the drain wire clamp of the present invention, the top end of the transmission shaft is a multi-faceted structure.

[0015] In a preferred embodiment of the special wrench for disconnecting the drain wire clamp under power in the present invention: the connecting head is provided with a corresponding main joint, the main joint is installed at the connecting end of the robotic arm, and the main joint can be socketed with the end of the transmission shaft having a multi-faceted structure.

[0016] The beneficial effects of the present invention are as follows: the present invention is suitable for live connection and disconnection operations of high-altitude drainage wire clamps, and is a supplement to the special tools for live connection and disconnection operations of high-altitude live connection operations of drainage wire clamps provided by high-altitude live connection operations robots, which is helpful for the practical application and promotion of live connection operations robots in power grids; the present invention can work closely with live connection operations robots, can meet the requirements of bolt disassembly and assembly with various tightnesses, and can be applied to bolt disassembly and assembly with different specifications, thereby improving the utilization rate of live connection operations robots and the efficiency of live connection and disconnection operations of drainage wire clamps, providing hardware support for automated disassembly and assembly of bolts, and replacing manual operations for live connection and disconnection of drainage wires in substations, thereby greatly reducing the dangers and labor intensity of manual operations, and improving the automation level of maintenance operations in intelligent substations, and the end effector suitable for the robot in the present invention can reduce the use cost of the robot, the construction cost of the system, and increase the flexibility of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings of the embodiments of the present invention. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Among them: Figure 1 A diagram showing the use of a special wrench for disconnecting a drain wire clamp under power on according to the present invention; Figure 2 A schematic structural diagram of a special wrench for disconnecting a drain wire clamp under power is shown in the present invention; Figure 3 It shows a schematic structural diagram of the clamping portion in embodiment 2 of the present invention; Figure 4 It shows a structural schematic diagram of the first bevel gear in a special wrench for live disconnection of a drain wire clamp according to the present invention; Figure 5 It shows a structural schematic diagram of a transmission group in a special wrench for live disconnection of a drain wire clamp according to the present invention; Figure 6 It shows a schematic structural diagram of the clamping portion in embodiment 3 of the present invention; Figure 7 It shows a cross-sectional view of the clamping portion of a special wrench for disconnecting a drain wire clamp under power on according to the present invention; Figure 8It shows a structural schematic diagram of a positioning member in a special wrench for live disconnection of a drain wire clamp according to the present invention; Figure 9 It shows a structural schematic diagram of a fixing part in a special wrench for live disconnection of a drain wire clamp according to the present invention; Figure 10 The present invention shows a schematic structural diagram of a positioning slot in a special wrench for live disconnection of a drain wire clamp.

[0018] In the figure: 1. accommodating cavity; 11. connecting head; 12. through groove; 2. robotic arm; 21. main joint; 3. clamping part; 31. notch; 32. gear ring; 33. adjusting member; 331. clamping groove; 34. fixing member; 341. inclined surface; 342. first elastic member; 343. long groove; 344. oblique groove; 35. sliding member; 351. slider; 352. connecting rod; 353. fixing column; 36. positioning member; 361. long plate; 362. side column; 363. second elastic member; 37. groove; 38. positioning groove; 39. transverse groove; 4. transmission shaft; 41. multi-faceted structure; 42. first bevel gear; 5. transmission group; 51. spur gear; 52. second bevel gear; 53. first transmission wheel; 54. second transmission wheel. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below with reference to specific embodiments and the accompanying drawings.

[0020] The terms used in the present invention are those commonly used in the art in view of the functions of the present invention, but these terms may vary according to the intentions of those skilled in the art, precedents, or new technologies in the art. In addition, specific terms may be selected by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the present invention. Therefore, the terms used in the specification should not be understood as simple names, but rather as the meanings of the terms and the overall description of the present invention. Example 1

[0021] Reference Figure 1-Figure 3 This embodiment provides a special wrench for disconnecting the drain wire clamp under power, including: The accommodating cavity 1 has a connector 11 at its end, and the accommodating cavity 1 is connected to the robotic arm 2 via the connector 11; and The clamping portion 3 is provided on the accommodating cavity 1; The mechanical arm 2 can drive the clamping part 3 to engage with the nut; The clamping portion 3 is provided with a notch 31, which can be adapted to nuts of different specifications; The end of the accommodating cavity 1 is provided with a connector 11 having a flat surface. The connector 11 is cylindrical in structure. Multiple sets of ear plates are fixed to the outside of the end of the connector 11 close to the accommodating cavity 1. Each set of ear plates has a circular hole. Bolts are inserted into the circular holes and the ends of the bolts are connected to the flat end of the accommodating cavity 1, thereby fixing the connector 11 to the end of the accommodating cavity 1. The end of the robotic arm 2 is connected to the accommodating cavity 1 through the connecting head 11. The clamping part 3 can be connected with the nut of the drainage wire clamp under the drive of the robotic arm 2. The robotic arm 2 can drive the clamping part 3 to move in multiple dimensions, so that the robotic arm 2 and the clamping part 3 can cooperate to replace manual labor to complete the disassembly and assembly of the nut, so that the bolt disassembly and assembly of the drainage wire clamp can be completely operated by the present invention, reducing the safety hazards caused by manual operation.

[0022] In this embodiment, there are two groups of clamping parts 3, and the accommodating cavity 1 is formed by fixing two or more groups of shell plates together. The accommodating cavity 1 is U-shaped as a whole. The two groups of clamping parts 3 are respectively located at the two ends of the accommodating cavity 1 on the same straight line, and the connecting head 11 is still fixed to the end of the accommodating cavity 1 away from the clamping part 3.

[0023] Preferably, in this embodiment, the clamping portion 3 has a notch 31 adapted to nuts of different specifications, so that the clamping portion 3 can be used for disassembly and assembly of bolts of different specifications, thereby improving operational flexibility and scope of application; When the clamping portion 3 is used, a notch 31 that matches the nut can be selected. Preferably, one end of the notch 31 passes through the side of the clamping portion 3 and is open, and the other end of the notch 31 extends into the interior of the clamping portion 3. The end of the notch 31 extending into the interior of the clamping portion 3 is provided with a symmetrical inclined surface 341, and the symmetrical inclined surface 341 can correspond to two sides of the hexagonal surface of the nut; During use, the robotic arm 2 controls the clamping part 3 to make one end of the notch 31 start to engage from the side of the nut until the inclined surface 341 contacts the surface of the nut. At this time, the clamping part 3 can be driven to rotate around the axis of the nut to complete the disassembly and assembly of the nut.

[0024] Preferably, in this embodiment, the robotic arm 2 is an anthropomorphic robotic arm 2 in the prior art.

[0025] Preferably, two parallel surfaces are provided between the two ends of the slot 31, i.e., between the open end and the inclined surface 341. When the clamping portion 3 is sleeved on the bolt, the two parallel surfaces can fit the two surfaces of the bolt, and the inclined surface 341 at the end can contact with the two inclined surfaces 341 of the bolt. By contacting with multiple surfaces of the bolt, the bolt can be better exerted with force when the clamping portion 3 is turned.

[0026] Furthermore, the clamping portion 3 is rotatably disposed in the accommodating cavity 1, and a transmission group 5 is also disposed in the accommodating cavity 1; The connector 11 is provided with a transmission shaft 4, which extends into the accommodating cavity 1 and is connected to the transmission group 5. The transmission shaft 4 drives the clamping part 3 to rotate through the transmission group 5. In this embodiment, the clamping portion 3 is cylindrical with a relatively low height, and one end of the notch 31 radially penetrates the side of the clamping portion 3 to form a notch; a boss is fixedly provided on the outer edge of the clamping portion 3, and the accommodating cavity 1 is a semi-closed rectangular parallelepiped structure composed of multiple groups of shell plates fixedly connected. A through groove 12 corresponding to the clamping portion 3 is opened at the end of the accommodating cavity 1 away from the connecting head 11. The diameter of the through groove 12 is larger than the clamping portion 3 and smaller than the boss. A notch is provided at the end of the through groove 12 corresponding to the notch at the end of the notch 31. When the clamping portion 3 is installed in the accommodating cavity 1, the outer edge of the clamping portion 3 fits against the inner wall of the through groove 12, thereby enabling the clamping portion 3 to be rotatably connected to the accommodating cavity 1; The connecting head 11 is sleeved on the outside of the transmission shaft 4, and the transmission shaft 4 can drive the clamping part 3 to rotate through the transmission group 5, so that when the robotic arm 2 drives the clamping part 3 to remove the bolts, the clamping part 3 is sleeved with the bolts by using the multi-dimensional rotation of the robotic arm 2 itself, and then the transmission shaft 4 is driven to rotate the clamping part 3 and remove the bolts. The robotic arm 2 itself does not need to make a large rotation to make the clamping part 3 remove the bolts. The robotic arm 2 only needs to keep the clamping part 3 in the state of being sleeved with the bolts.

[0027] Furthermore, the top end of the transmission shaft 4 is a multi-faceted structure 41; In this embodiment, a multi-faceted structure 41 is fixedly provided at one end of the transmission shaft 4 away from the accommodating cavity 1. After the end of the robotic arm 2 is engaged with the multi-faceted structure 41, the end of the robotic arm 2 can directly drive the transmission shaft 4 to rotate through the multi-faceted structure 41, and then the transmission shaft 4 drives the clamping part 3 to rotate through the transmission group 5 to complete the disassembly of the bolt.

[0028] Furthermore, the connector 11 is provided with a corresponding main connector 21 , which is mounted on the connecting end of the robotic arm 2 , and which can be sleeved with the end portion of the transmission shaft 4 having the multi-faceted structure 41 ; The connecting end of the robot arm 2 is fixedly installed with a main joint 21, and a driving structure is provided in the main joint 21; in this embodiment, the multi-faceted structure 41 of the transmission shaft 4 is preferably a hexagonal structure. Through the hexagonal design of the transmission shaft 4, after the main joint 21 is connected to the connecting head 11, the driving structure in the main joint 21 is socketed with the multi-faceted structure 41 of the transmission shaft 4, thereby completing the connection between the driving structure and the transmission shaft 4, so that the transmission shaft 4 can be driven, and this socketing method facilitates the connection and transmission of the robot arm 2 with different tools. Example 2

[0029] refer to Figures 1-4 , this embodiment is different from the above embodiments in that: this embodiment discloses an implementation method of the clamping portion 3.

[0030] Specifically, the accommodating cavity 1 is provided with multiple groups of clamping parts 3, each of which is provided with a slot 31 of different widths; In this embodiment, there are two groups of clamping parts 3, and the accommodating cavity 1 is formed by fixing two or more groups of shell plates together. The accommodating cavity 1 is U-shaped as a whole. The two groups of clamping parts 3 are respectively located at the two ends of the accommodating cavity 1 on the same straight line, and the connecting head 11 is still fixed to the end of the accommodating cavity 1 away from the clamping part 3.

[0031] Preferably, in this embodiment, the widths of the slots 31 of the two groups of clamping parts 3 are different, so that the clamping parts 3 can be suitable for disassembly and assembly of bolts of different specifications, thereby improving operational flexibility and scope of application.

[0032] At the same time, a transmission group 5 is provided between the two sets of clamping parts 3 and the transmission shaft 4 , and the two transmission groups 5 are driven by the same transmission shaft 4 .

[0033] The rest of the structure is the same as that of Example 1. Example 3

[0034] refer to Figures 1-10 This embodiment is different from the above embodiments in that: this embodiment discloses another implementation of the clamping portion 3.

[0035] Specifically, a set of clamping parts 3 has multiple sets of adaptable and connected adjusting members 33, and the width of the slots 31 opened on each set of adjusting members 33 is different; Multiple groups of adjusting parts 33 that can be adapted to the same group of clamping parts 3 have slots 31 of different specifications. The adjusting parts 33 and the clamping parts 3 are detachably connected, so that the clamping parts 3 can be installed with adjusting parts 33 with slots 31 of corresponding widths according to the specifications of the nut, thereby making the clamping parts 3 in this embodiment able to be socketed with nuts of various specifications to improve the versatility of the equipment.

[0036] Furthermore, a fixing member 34 capable of plugging with the adjusting member 33 is provided inside the clamping portion 3; The adjusting member 33 is provided with a snap-fitting groove 331 on both sides thereof corresponding to the fixing member 34; A sliding member 35 is further provided inside the clamping portion 3, and the sliding member 35 can drive the fixing member 34 to move inside the clamping portion 3; The clamping portion 3 is provided with a through opening corresponding to the adjusting member 33, and side grooves are provided on both sides of the through opening. A fixing member 34 is slidably connected in the side grooves. Multiple groups of first elastic members 342 are fixed in the side grooves. The ends of the first elastic members 342 are fixedly connected to the sides of the fixing member 34. At the same time, the ends of the two groups of fixing members 34 are provided with inclined surfaces 341. The inclined surfaces 341 are located on the fixing member 34 in the direction of installation of the adjusting member 33. The adjusting member 33 is provided with a clamping groove 331 corresponding to the fixing member 34. When the adjusting member 33 is connected to the clamping portion 3, the adjusting member 33 is pushed into the through opening so that the edge of the adjusting member 33 contacts the inclined surface 341. At this time, the fixing member 34 contracts into the side groove. At the same time, the first elastic member 342 is contacted and contracts. When the outer wall of the adjusting member 33 contacts the inner wall of the through opening, the position of the fixing member 34 corresponds to the clamping groove 331. At this time, the first elastic member 342 pushes the fixing member 34 to slide in the side groove and plug into the clamping groove 331. After the fixing member 34 and the adjusting member 33 are plugged into each other, the adjusting member 33 is fixed to the clamping portion 3. Furthermore, the sliding member 35 includes a slider 351 slidably arranged in the clamping portion 3, and connecting rods 352 are fixed on both sides of the slider 351. A fixing column 353 is fixed to the bottom of the connecting rod 352 away from the slider 351. The clamping portion 3 is provided with a groove 37 corresponding to the slider 351. At the same time, the clamping portion 3 is provided with a movable groove that can provide sliding space for the connecting rod 352. The tops of the two sets of fixing members 34 are both provided with a long groove 343, and the long groove 343 is provided through the end close to the connecting rod 352. The end of the long groove 343 away from the connecting rod 352 is connected to the oblique groove 344. The ends of the oblique grooves 344 on the two sets of fixing members 34 are close to each other. When it is necessary to remove the adjusting member 33 from the clamping portion 3, the slider 351 is pushed to drive the connecting rod 352 to move toward the adjusting member 33, so that the fixing post 353 moves into the long slot 343. Due to the limitation of the adjusting member 33 by the side slot, the fixing member 34 can only slide laterally. The sliding member 35 is continuously pushed to move, so that the fixing post 353 moves from the long slot 343 into the oblique slot 344. At this time, due to the limitation of the side slot, the movement of the fixing post 353 in the oblique slot 344 causes the two sets of fixing members 34 to slide away from each other until the fixing members 34 slide and retract into the clamping portion 3. At this time, the adjusting member 33 can be removed from the clamping portion 3. By setting the adjusting part 33 and the fixing part 34, the clamping part 3 can be easily replaced with slots 31 of various specifications. The flexible disassembly and assembly mechanism not only simplifies the replacement process, reduces the difficulty and time required for operation, but also significantly improves the overall flexibility and wide applicability of the equipment, so that the equipment can better adapt to various complex and changeable application scenarios and work requirements, thereby fundamentally broadening the scope of use of the equipment.

[0037] Furthermore, a positioning member 36 is provided in the sliding member 35, and the positioning member 36 can limit the position change of the sliding member 35; In this embodiment, the positioning member 36 includes a long plate 361 that is slidably disposed within the slider 351. Side posts 362 are fixedly disposed on either side of the long plate 361. A second elastic member 363 is disposed within the slider 351. The top of the second elastic member 363 is fixedly connected to the bottom of the long plate 361. Positioning slots 38 corresponding to the side posts 362 are formed on the inner walls of both sides of the groove 37. The bottom ends of the positioning slots 38 are connected to a transverse slot 39. Initially, due to the interference of the second elastic member 363, the long plate 361 is lifted to the highest point, the side column 362 is located in the positioning groove 38, and the bottom end of the long plate 361 is located in the slider 351. At this time, the slider 351 is limited by the long plate 361 and is located in the groove 37 at the end away from the fixing member 34. The fixing column 353 is completely separated from the fixing member 34, and the adjusting member 33 can interfere with the fixing member 34 to be installed with the clamping portion 3. When the adjusting member 33 needs to be removed, the long plate 361 is pressed downward, so that the side column 362 enters the transverse groove 39. At this time, the slider 351 is no longer restricted and can be pushed toward the adjusting member 33, thereby allowing the fixing column 353 to be plugged into the fixing member 34, completing the removal operation of the adjusting member 33. After the disassembly is completed, the side column 362 is moved to correspond to the positioning groove 38, so that the second elastic member 363 pushes the long plate 361 to slide upward, and the side column 362 is plugged into the positioning groove 38 again. At this time, the position of the sliding member 35 is fixed by the positioning member 36.

[0038] By providing a positioning member 36 in the sliding member 35, the sliding member 35 will not move during the use of the equipment, ensuring that the sliding member 35 can always remain stable during the actual use of the equipment, and effectively preventing the adjustment member 33 from accidentally detaching due to improper operation or accidental touch, thereby greatly improving the safety and reliability of the equipment, and being able to always maintain a stable working state during the nut removal operation.

[0039] The rest of the structure is the same as that of Example 2. Example 4

[0040] refer to Figures 1-10 , this embodiment is different from the above embodiments in that: this embodiment discloses a transmission structure.

[0041] Specifically, the bottom end of the transmission shaft 4 is connected to the first bevel gear 42, and the transmission group 5 includes a spur gear 51 provided in the accommodating cavity 1. The side of the spur gear 51 close to the first bevel gear 42 is connected to the second bevel gear 52, and the first bevel gear 42 and the second bevel gear 52 are meshed. A ring gear 32 is provided on the outer periphery of the clamping portion 3, and the spur gear 51 and the ring gear 32 are meshed and connected through a gear member. In this embodiment, similar to the embodiment 1, a boss is fixedly provided on the outer edge of the clamping portion 3, and a gear ring 32 is fixedly provided on the periphery of the boss. The bottom end of the transmission shaft 4 extends into the accommodating cavity 1 and is rotatably connected to the first bevel gear 42. Two transmission groups 5 are symmetrically arranged in the accommodating cavity 1 with the axis of the transmission shaft 4. One transmission group 5 includes two groups of spur gears 51 rotatably connected to the inner wall of the accommodating cavity. The second bevel gear 52 is fixed to the opposite side of the two groups of spur gears 51. The end of the connecting shaft of the spur gear 51 is rotatably connected to the mounting post. The bottom end of the transmission shaft 4 is connected to the mounting post; the first bevel gear 42 meshes with the second bevel gear 52; The gear member includes a first transmission wheel 53 rotatably connected to the accommodating cavity 1, the first transmission wheel 53 meshes with the spur gear 51, and a second transmission wheel 54 rotatably connected to the accommodating cavity 1 and meshed with the ring gear 32, and the first transmission wheel 53 meshes with the second transmission wheel 54; In this embodiment, a first transmission wheel 53 and a second transmission wheel 54 are further provided between a group of spur gears 51 and a corresponding group of ring gears 32. There are two groups of first transmission wheels 53 and second transmission wheels 54. Both groups of first transmission wheels 53 and second transmission wheels 54 are rotatably connected to the interior of the accommodating cavity 1. One group of first transmission wheels 53 is meshed with one group of second transmission wheels 54, and both groups of first transmission wheels 53 are meshed with the spur gears 51. Both groups of second transmission wheels 54 can mesh with the ring gear 32. The spacing between the two groups of second transmission wheels 54 is greater than the width of the notch 31, so that the ring gear 32 can maintain meshing with at least one group of second transmission wheels 54. That is, during the transmission process, the transmission shaft 4 can maintain transmission to the clamping portion 3 through the transmission group 5, so that the clamping portion 3 always rotates in one direction to complete the disassembly and assembly operation; In a disassembly and assembly operation, the clamping part 3 with the groove 31 that matches the nut is selected. After the clamping part 3 is driven by the robotic arm 2 to engage with the nut, the transmission shaft 4 is transmitted to the second bevel gear 52 through the first bevel gear 42, and the second bevel gear 52 is transmitted to the ring gear 32 in sequence through the spur gear 51, the first transmission wheel 53, and the second transmission wheel 54, thereby driving the clamping part 3 to rotate, performing disassembly and assembly operations on the bolts, and improving the maintenance efficiency of the drainage wire clamp.

[0042] In this embodiment, a base is also provided at the bottom of the robotic arm 2, on which different maintenance tools, such as wire cutters, wire strippers, etc., can be placed. Multiple sets of maintenance tools are connected or transmitted to the robotic arm 2 through the connecting head 11 and the main connector 21 respectively to adapt to different maintenance environments.

[0043] In summary, the present invention is suitable for live connection and disconnection operations of high-altitude drainage wire clamps, and is a supplement to the special tools for live connection and disconnection operations of high-altitude live connection operations of drainage wire clamps, which is helpful for the practical application and promotion of live connection operations of live connection operations of live connection operations of live connection operations of high-altitude live connection operations robots. The present invention can work closely with live connection operations robots, can meet the requirements of bolt disassembly and assembly of bolts of various tightnesses, and can be applied to bolt disassembly and assembly of bolts of different specifications, thereby improving the utilization rate of live connection operations robots and the efficiency of live connection and disconnection operations of drainage wire clamps, providing hardware support for automated disassembly and assembly of bolts, and replacing manual operations of live connection and disconnection operations of substations, thereby greatly reducing the dangers and labor intensity of manual operations, and improving the automation level of maintenance operations of smart substations. The end effector suitable for the robot in the present invention can reduce the use cost of the robot, the construction cost of the system, and increase the flexibility of the system.

[0044] The rest of the structure is the same as that of Example 3.

[0045] Finally, it should be pointed out that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways without departing from the scope of the present invention.

Claims

1. A special wrench for disconnecting drain wire clamps under power, characterized by: include, A accommodating cavity (1), wherein a connector (11) is provided at an end of the accommodating cavity (1), and the accommodating cavity (1) is connected to the robotic arm (2) via the connector (11); and A clamping portion (3), the clamping portion (3) being provided on the accommodating cavity (1); The mechanical arm (2) is capable of driving the clamping portion (3) to engage with the nut; The clamping portion (3) is provided with a notch (31), and the notch (31) can be adapted to nuts of different specifications; The clamping portion (3) is rotatably disposed in the accommodating cavity (1), and a transmission group (5) is also provided in the accommodating cavity (1); A transmission shaft (4) is provided in the connecting head (11); The bottom end of the transmission shaft (4) is connected to a first bevel gear (42), the transmission group (5) comprises a spur gear (51) disposed in the accommodating cavity (1), a second bevel gear (52) is connected to a side of the spur gear (51) close to the first bevel gear (42), and the first bevel gear (42) and the second bevel gear (52) are meshed; A gear ring (32) is provided on the outer periphery of the clamping portion (3), and the spur gear (51) and the gear ring (32) are meshed and connected via a gear member.

2. A special wrench for disconnecting a drain wire clamp under power according to claim 1, characterized in that: The accommodating cavity (1) is provided with a plurality of groups of clamping portions (3), and the plurality of groups of clamping portions (3) are respectively provided with notches (31) of different widths.

3. The special wrench for disconnecting the drain wire clamp under power according to claim 1, characterized in that: A group of the clamping parts (3) has multiple groups of adaptable and connected adjusting members (33), and the width of the slots (31) provided on each group of the adjusting members (33) is different.

4. A special wrench for disconnecting a drain wire clamp under power according to claim 3, characterized in that: A fixing member (34) capable of being plugged into the adjusting member (33) is provided inside the clamping portion (3); The adjusting member (33) is provided with engaging grooves (331) on both sides thereof, which correspond to the fixing member (34); A sliding member (35) is further provided inside the clamping portion (3), and the sliding member (35) can drive the fixing member (34) to move inside the clamping portion (3).

5. The special wrench for disconnecting the drain wire clamp under power according to claim 4, characterized in that: A positioning member (36) is provided in the sliding member (35), and the positioning member (36) can limit the position change of the sliding member (35).

6. A special wrench for disconnecting a drain wire clamp under power according to claim 2 or 5, characterized in that: The transmission shaft (4) extends into the accommodating cavity (1) and is connected to the transmission group (5), and the transmission shaft (4) drives the clamping portion (3) to rotate through the transmission group (5).

7. The special wrench for disconnecting the drain wire clamp under power according to claim 6, characterized in that: The top end of the transmission shaft (4) is a multi-faceted structure (41).

8. The special wrench for disconnecting the drain wire clamp under power according to claim 7, characterized in that: The connecting head (11) is provided with a corresponding main joint (21), the main joint (21) being mounted on the connecting end of the robot arm (2), and the main joint (21) being capable of being sleeved with the end of the transmission shaft (4) having a multi-faceted structure (41).

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