Wire monitoring sensor installation robot

Abstract

The invention relates to the technical field of wire monitoring, and provides a wire monitoring sensor mounting robot which comprises a frame body, a plurality of wire clamping jaw mechanisms, a monitoring sensor clamping jaw mechanism, a side pushing mechanism and a locking mechanism, and clamping jaws of the plurality of wire clamping jaw mechanisms are located on the same axis; the monitoring sensor clamping jaw mechanism comprises a plurality of clamping jaw assemblies, the plurality of clamping jaw assemblies are adjacently arranged in the circumferential direction of the wire, and the plurality of clamping jaw assemblies are respectively used for clamping a first component and a second component, which are hinged with each other, of the monitoring sensor; the side pushing mechanism is used for pushing the first component of the monitoring sensor towards the second component, so that the first component and the second component of the monitoring sensor surround the outer side of the wire; the locking mechanism is used for locking the relative position between the first component and the second component through the fastener after the first component and the second component of the monitoring sensor surround the outer side of the wire. The device can be matched with the unmanned aerial vehicle to realize high-altitude hot-line work, manual on-line and manual installation are replaced, the operation risk is reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of conductor monitoring technology, and in particular to a conductor monitoring sensor installation robot. Background Technology

[0002] In power transmission systems, overhead transmission lines serve as the core channel for transmitting electrical energy from the generation end to the user end, undertaking the critical task of transmitting large-scale electrical energy over long distances with high efficiency. Their operational status directly affects the stability and reliability of the entire power network. Faults in overhead transmission lines, such as conductor breakage, icing overload, or galloping damage, can lead to large-scale power outages, severely impacting industrial production, residential lives, and the normal operation of the social economy. Therefore, ensuring the safe and stable operation of overhead transmission lines is a crucial prerequisite for the power industry to guarantee continuous power supply and maintain normal social order.

[0003] To achieve precise control over the operational status of overhead transmission lines, promptly identify potential faults, and take effective measures to address them, real-time, comprehensive, and accurate monitoring of transmission line conditions is essential. By continuously monitoring key parameters such as conductor temperature, tension, sag, and vibration, it is possible to promptly grasp the conductor's operating status in complex environments, providing a scientific basis for line operation and maintenance decisions. This effectively prevents faults, extends line lifespan, and improves the stability and security of power supply.

[0004] Currently, in the field of overhead transmission line conductor condition monitoring, the installation of conductor monitoring sensors mainly relies on manual live-line work. Specifically, workers need to use specialized tools and equipment to install sensors one by one onto the conductors in a high-altitude, energized environment. However, this traditional manual installation method has many significant drawbacks. On the one hand, the live-line working environment is extremely complex and dangerous, with workers facing the continuous influence of strong electric fields. Even a slight mistake could lead to electric shock, seriously threatening their lives. On the other hand, working at height significantly increases the difficulty of operation and often takes a long time, resulting not only in low work efficiency but also further increasing safety risks due to prolonged exposure to a hazardous environment. Furthermore, manual installation demands extremely high physical strength and professional skills from workers, is labor-intensive, and is greatly affected by human factors, making it difficult to guarantee the consistency and stability of installation quality, which may in turn affect the accuracy of the sensors' monitoring of the conductor's condition. Summary of the Invention

[0005] This invention provides a robot for installing conductor monitoring sensors, which solves the problem that the existing technology mainly relies on manual live-line installation of overhead transmission line conductor monitoring sensors. This method has the disadvantages of high difficulty in live-line operation, long operation time, low efficiency, prominent safety hazards and high labor intensity. This application can cooperate with drones to realize high-altitude live-line operation, replace manual line climbing and installation, reduce operation risks and improve operation efficiency.

[0006] This invention provides a robot for installing wire monitoring sensors, comprising: The frame body has a mounting position for connecting with the drone on its top end face; Multiple wire clamping jaw mechanisms are mounted on the frame body. The multiple wire clamping jaw mechanisms are spaced apart from each other along the extension direction of the wire, and the jaws of the multiple wire clamping jaw mechanisms are on the same axis. A monitoring sensor gripper mechanism is mounted on the frame body. The monitoring sensor gripper mechanism includes multiple gripper assemblies, which are arranged adjacent to each other along the circumference of the conductor. The multiple gripper assemblies are respectively used to clamp the first and second components of the monitoring sensor that are hinged to each other. A side-pushing mechanism is mounted on the frame body and located on one side of one of the plurality of gripper assemblies. The side-pushing mechanism is used to push the first component of the monitoring sensor toward the second component so that the first component and the second component of the monitoring sensor surround the outside of the wire. A locking mechanism is mounted on the frame body. The locking mechanism is used to lock the relative position between the first component and the second component of the monitoring sensor by fasteners after the first component and the second component of the monitoring sensor surround the outside of the wire.

[0007] According to the present invention, a wire monitoring sensor installation robot is provided, the frame body includes a first frame unit and a second frame unit, the second frame unit is located above the first frame unit, the first frame unit encloses a wire through-hole, the wire clamping gripper mechanism, the monitoring sensor gripper mechanism and the side pushing mechanism are installed on the first frame unit and arranged circumferentially along the wire through-hole, and the locking mechanism is installed on the second frame unit.

[0008] According to the present invention, a robot for installing a wire monitoring sensor includes a monitoring sensor gripper mechanism comprising an upper gripper assembly and a side gripper assembly. The upper gripper assembly is installed above the wire through-hole and is used to clamp and fix a first component, such that the central opening of the first component is on the same axis as the gripper of the wire clamping gripper mechanism. The side gripper assembly is installed on one side of the outer circumference of the wire through-hole and adjacent to the upper gripper assembly, and is used to movably clamp a second component.

[0009] According to the present invention, a robot for installing a wire monitoring sensor includes an upper gripper assembly comprising an upper connecting seat, a first upper gripper arm, a second upper gripper arm, and a first driving member. The upper connecting seat is fixedly connected to a first frame unit. The first upper gripper arm and the second upper gripper arm are movably disposed opposite to each other on the upper connecting seat. The first driving member is mounted on the upper connecting seat and is drivenly connected to the first upper gripper arm and the second upper gripper arm, respectively. The first driving member is used to drive the first upper gripper arm and the second upper gripper arm to move towards each other or away from each other, so as to grip or release the first component.

[0010] According to the present invention, a robot for installing a wire monitoring sensor is provided, wherein the upper gripper assembly further includes an upper pad, the upper pad is disposed on the side of the upper connecting seat facing the wire through-hole and located between the first upper gripper arm and the second upper gripper arm, and the side of the upper pad facing the wire through-hole is conformally configured with the outer edge corresponding to the first component.

[0011] According to the present invention, a robot for installing a wire monitoring sensor includes a side gripper assembly comprising a side connecting seat, a first side gripper arm, a second side gripper arm, and a second driving member. The side connecting seat is fixedly connected to a first frame unit. The first side gripper arm and the second side gripper arm are movably disposed opposite to each other on the side connecting seat. The second driving member is mounted on the side connecting seat and is drivenly connected to the first side gripper arm and the second side gripper arm respectively. The second driving member is used to drive the first side gripper arm and the second side gripper arm to move towards each other or away from each other, so as to grip or release the second component.

[0012] According to the present invention, a robot for installing a wire monitoring sensor is provided, wherein the side gripper assembly further includes a side pad, the side pad is disposed on the side of the side connector facing the wire through-hole and located between the first side gripper and the second side gripper, and the side of the side pad facing the wire through-hole is conformally configured with the outer edge corresponding to the second component.

[0013] According to the present invention, a wire monitoring sensor installation robot is provided. The wire clamping gripper mechanism includes a clamping connecting seat, a first clamping arm, a second clamping arm, and a third driving member. The clamping connecting seat is connected to a first frame unit. The first clamping arm and the second clamping arm are movably disposed opposite to each other on the clamping connecting seat. The third driving member is mounted on the clamping connecting seat and is drivenly connected to the first clamping arm and the second clamping arm respectively. The third driving member is used to drive the first clamping arm and the second clamping arm to move towards each other or away from each other to clamp or release the wire.

[0014] According to the present invention, a robot for installing a wire monitoring sensor includes a side-pushing mechanism comprising a mounting plate, a side-pushing rocker arm, and a fourth driving member. The fourth driving member is mounted on the first frame unit via the mounting plate. The side-pushing rocker arm is connected to the output end of the fourth driving member. The fourth driving member drives the side-pushing rocker arm to swing, thereby pushing the second component held by the side gripper assembly toward the direction enclosing the first component.

[0015] According to the present invention, a wire monitoring sensor installation robot includes a locking mechanism comprising a locking connecting plate, multiple electric screwdriver bits, and a pressing component. The pressing component is connected to a second frame unit. The multiple electric screwdriver bits are correspondingly arranged with locking holes on the monitoring sensor and are connected to the pressing component through the locking connecting plate. The pressing component is used to drive the multiple electric screwdriver bits to press down in the direction of the wire passing through the hole. The electric screwdriver bits fasten the first component and the second component by actuating fasteners.

[0016] The conductor monitoring sensor installation robot provided by this invention features a mounting position on the top surface of its frame body for connection with a drone. This allows for rapid connection and separation from the drone, enabling the robot to quickly reach the location of overhead power lines at high altitudes without requiring manual climbing of towers. Through the coordinated operation of multiple conductor clamping mechanisms, monitoring sensor clamping mechanisms, side-pushing mechanisms, and locking mechanisms, the robot automatically completes a series of installation actions, including clamping, pushing, enclosing, and locking the monitoring sensors. This eliminates direct human contact with the conductors and sensors, completely replacing manual onboarding and installation, significantly reducing the complexity and danger of the operation. Furthermore, because the robot can operate in a live environment, it avoids direct exposure to strong electric fields, significantly reducing the risk of electric shock. Simultaneously, the robot's precise mechanical structure and automated control system ensure stable installation, reducing operational errors and safety hazards caused by human factors. Moreover, when the robot is operating at height, personnel can remotely control it from the ground, further protecting them from danger zones and ensuring their safety. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram showing the connection between the wire monitoring sensor installation robot and the monitoring sensor provided by the present invention.

[0019] Figure 2 This is a schematic diagram of one side of the wire monitoring sensor installation robot provided by the present invention.

[0020] Figure 3 This is a schematic diagram of the other side of the wire monitoring sensor installation robot provided by the present invention.

[0021] Figure 4 This is a schematic diagram of the side gripper assembly provided by the present invention.

[0022] Figure 5 This is a schematic diagram of the upper gripper assembly provided by the present invention.

[0023] Figure 6 This is a schematic diagram of the wire clamping claw mechanism provided by the present invention.

[0024] Figure 7 This is a schematic diagram of the locking mechanism provided by the present invention.

[0025] Figure 8 This is a schematic diagram of the side-pushing mechanism provided by the present invention.

[0026] Figure 9 This is a schematic diagram of the structure of the frame body provided by the present invention.

[0027] Figure 10 This is a schematic diagram of the outer casing provided by the present invention.

[0028] Figure 11 This is a schematic diagram of the monitoring sensor provided by the present invention.

[0029] Figure 12 This is a schematic diagram of another embodiment of the wire monitoring sensor installation robot provided by the present invention.

[0030] Figure label: 10. Robot for installing conductor monitoring sensors; 100. Frame body; 110. First frame unit; 111. Wire crossing point; 120. Second frame unit; 121. Mounting position; 200. Wire clamping gripper mechanism; 210. Clamping connector; 220. First clamping arm; 230. Second clamping arm; 240. Third driving component; 300. Monitoring sensor gripper mechanism; 310. Upper gripper assembly; 311. Upper connecting seat; 312. First upper gripper arm; 313. Second upper gripper arm; 314. First driving member; 315. Upper pad; 320. Side gripper assembly; 321. Side connecting seat; 322. First side gripper arm; 323. Second side gripper arm; 324. Second driving member; 325. Side pad; 400. Side push mechanism; 410. Mounting plate; 420. Side push rocker arm; 430. Fourth drive component; 500. Locking mechanism; 510. Locking connecting plate; 520. Electric screwdriver bit; 530. Pressing assembly; 600. Outer casing; 700. Safety motor; 710. Blocking block; 800. Visual inspection agency; 810. Camera; 20. Monitoring sensor; 21. First component; 22. Second component. Detailed Implementation

[0031] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0032] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0034] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0035] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0036] The following is combined Figures 1 to 11 The present invention will provide a detailed description of the wire monitoring sensor installation robot provided in the embodiments of the present invention through specific implementation methods and application scenarios.

[0037] In embodiments of the present invention, such as Figures 1 to 3As shown, a wire monitoring sensor installation robot 10 includes a frame body 100, multiple wire clamping gripper mechanisms 200, a monitoring sensor gripper mechanism 300, a side-pushing mechanism 400, and a locking mechanism 500. The top end face of the frame body 100 has a mounting position 121 for connection with a drone. The multiple wire clamping gripper mechanisms 200 are mounted on the frame body 100, spaced apart from each other along the extension direction of the wire, with their grippers aligned on the same axis. The monitoring sensor gripper mechanism 300 is mounted on the frame body 100 and includes multiple gripper assemblies arranged adjacent to each other along the circumference of the wire. Multiple gripper assemblies are used to grip the first component 21 and the second component 22 of the monitoring sensor 20, which are hinged to each other. A side-pushing mechanism 400 is mounted on the frame body 100 and located on one side of one of the gripper assemblies. The side-pushing mechanism 400 is used to push the first component 21 of the monitoring sensor 20 toward the second component 22, so that the first component 21 and the second component 22 of the monitoring sensor 20 surround the outside of the wire. A locking mechanism 500 is mounted on the frame body 100. The locking mechanism 500 is used to lock the relative position between the first component 21 and the second component 22 of the monitoring sensor 20 after they surround the outside of the wire using fasteners. The frame body 100 is the basic structure of the entire wire monitoring sensor mounting robot 10, and it serves to support and connect other components. The top end face of the frame body 100 has a mounting position 121 for connecting with the drone, which allows the robot to quickly connect and disconnect from the drone, thereby using the drone's flight capability to quickly reach the location of the overhead power transmission line in the high altitude without the need for manual climbing of high-altitude towers for online operations.

[0038] Multiple wire clamping gripper mechanisms 200 are mounted on the frame body 100, spaced apart from each other along the extension direction of the wire, with all grippers aligned on the same axis. The primary function of the wire clamping gripper mechanisms 200 is to stably clamp the wire after the robot is mounted on the wire, thus providing stable support for the robot's operations on the wire. By arranging multiple gripper mechanisms at intervals along the wire's extension direction, the robot can move and adjust its position stably on the wire, ensuring accuracy and stability when installing the monitoring sensor 20. Furthermore, the design of multiple gripper mechanisms increases the contact points between the robot and the wire, improving the robot's gripping force and stability on the wire, especially enabling better adaptation and fixation when dealing with wires of different diameters and types.

[0039] In some embodiments, the surfaces of the jaws of the wire clamping jaw mechanism 200 that contact the wire are covered with a flexible material to increase the friction with the wire and protect the wire from damage when clamping it.

[0040] The monitoring sensor gripper mechanism 300 is mounted on the frame body 100 and includes multiple gripper assemblies arranged adjacent to each other along the circumference of the conductor. Their main function is to fix the monitoring sensor 20, ensuring the sensor is stable and does not wobble during installation. (Refer to...) Figure 11 The monitoring sensor 20 typically consists of a first component 21 and a second component 22 that are hinged together, with multiple gripper assemblies used to hold these two components. This allows the robot to precisely control the position and orientation of the monitoring sensor 20, ensuring that the sensor can be accurately mounted on the wire. The gripper assemblies are conformally designed to fit the shape and size of the monitoring sensor 20 to achieve reliable gripping and fixation, while also allowing for smooth release of the sensor after installation.

[0041] The monitoring sensor gripper mechanism 300 is located between two adjacent wire clamping gripper mechanisms 200.

[0042] A side-pushing mechanism 400 is mounted on the frame body 100 and located on one side of one of the multiple gripper assemblies. The function of the side-pushing mechanism 400 is to push the first component 21 towards the second component 22 when the first component 21 and the second component 22 of the monitoring sensor 20 need to be closed around the outside of the wire. This ensures that the two components of the monitoring sensor 20 are tightly closed around the outside of the wire, preparing for subsequent locking operations. The design of the side-pushing mechanism 400 needs to ensure sufficient pushing force and precise control to achieve proper closure of the monitoring sensor 20. Simultaneously, the side-pushing mechanism 400 also needs to work in conjunction with the monitoring sensor gripper mechanism 300 to ensure the stability and safety of the sensor during the closing process.

[0043] The locking mechanism 500 is mounted on the frame body 100. Its main function is to lock the relative position of the first component 21 and the second component 22 of the monitoring sensor 20 around the outside of the wire using fasteners. The locking mechanism 500 typically consists of an electric screwdriver bit 520 and a pressing device, which can automatically complete the bolt tightening operation. This ensures that the monitoring sensor 20 is securely mounted on the wire and can withstand the influence of various environmental factors and operating conditions. The automated operation of the locking mechanism 500 improves installation efficiency, reduces errors and risks from manual operation, and ensures the consistency and stability of installation quality.

[0044] This application, by setting an installation position 121 for connection with a drone on the top end face of the frame body 100, enables rapid connection and separation with the drone. This allows the robot to quickly reach the location of overhead power transmission lines at high altitudes using the drone's flight capabilities, eliminating the need for manual climbing of high-altitude towers for on-line operations. Through the coordinated work of multiple conductor clamping gripper mechanisms 200, monitoring sensor gripper mechanisms 300, side-pushing mechanisms 400, and locking mechanisms 500, a series of installation actions, including clamping, pushing, enclosing, and locking of the monitoring sensor 20, can be automatically completed. This eliminates the need for direct human contact with the conductors and sensors, completely replacing the manual on-line and installation process, significantly reducing the complexity and danger of the operation. Furthermore, since the robot can operate in a live environment, it avoids direct exposure of humans to strong electric fields, significantly reducing the risk of electric shock. Simultaneously, the robot, through its precise mechanical structure and automated control system, can stably complete the installation task, reducing operational errors and safety hazards caused by human factors. In addition, when the robot is operating at height, personnel can remotely control it from the ground, further distancing themselves from dangerous areas and ensuring personnel safety.

[0045] The installation robot of this application, through its optimized mechanical structure and automated process, can quickly complete the installation of the monitoring sensor 20. Multiple wire clamping gripper mechanisms 200 are spaced apart along the extension direction of the wire, ensuring the robot is stably fixed on the wire while allowing for rapid position adjustment for installation. Multiple gripper components of the monitoring sensor gripper mechanism 300 are arranged adjacent to each other along the circumference of the wire, enabling simultaneous clamping of multiple components of the monitoring sensor 20, improving clamping stability and efficiency. The synergistic action of the side-pushing mechanism 400 and the locking mechanism 500 quickly surrounds and locks the monitoring sensor 20 onto the wire, significantly shortening installation time. Compared with traditional manual installation methods, the installation robot of this application significantly improves work efficiency and reduces work time.

[0046] Reference Figures 1-3 and Figure 9 According to the present invention, a wire monitoring sensor installation robot 10 has a frame body 100 including a first frame unit 110 and a second frame unit 120. The second frame unit 120 is located above the first frame unit 110. The first frame unit 110 encloses a wire passing position 111. A wire clamping gripper mechanism 200, a monitoring sensor gripper mechanism 300 and a side pushing mechanism 400 are installed on the first frame unit 110 and arranged circumferentially along the wire passing position 111. A locking mechanism 500 is installed on the second frame unit 120.

[0047] Understandably, the first frame unit 110 encloses a wire-passing area 111, which is the area where the robot directly contacts and interacts with the wire. The wire clamping gripper mechanism 200, the monitoring sensor gripper mechanism 300, and the side-pushing mechanism 400 are mounted on the first frame unit 110 and arranged circumferentially along the wire-passing area 111. This allows these operating mechanisms to be closely arranged around the wire, facilitating direct operation of the wire and the monitoring sensor 20. The wire clamping gripper mechanism 200 stably clamps the wire, providing stable support for the robot's operation on the wire; the monitoring sensor gripper mechanism 300 accurately clamps the monitoring sensor 20, ensuring its stability and accuracy during installation; and the side-pushing mechanism 400 effectively pushes the first component 21 of the monitoring sensor 20 towards the second component 22, enclosing it around the wire. This circumferential arrangement allows the mechanisms to cooperate during operation, forming an organic whole and improving installation efficiency and quality.

[0048] The second frame unit 120 is located above the first frame unit 110, and the locking mechanism 500 is mounted on the second frame unit 120. Mounting the locking mechanism 500 at a higher position provides more space for the locking operation, avoids interference with other mechanisms, and ensures a smooth locking process. Furthermore, this layered design also benefits the overall structural layout and weight distribution of the robot, making it more stable when operating at heights. After the first component 21 and the second component 22 of the monitoring sensor 20 are enclosed outside the wire, the locking mechanism 500 locks their relative positions using fasteners, thus securely mounting the monitoring sensor 20 onto the wire. Mounting the locking mechanism 500 on the second frame unit 120 makes it more stable during operation, improving the reliability and accuracy of the locking.

[0049] Optionally, in some embodiments, reference is made to Figure 10 The wire monitoring sensor installation robot 10 also includes a housing 600, which covers the outside of the frame body 100 to provide overall protection for the wire monitoring sensor installation robot 10.

[0050] In some embodiments, a guide surface is formed on the housing 600 corresponding to the wire through-hole. The guide surface serves to guide the wire, making it easier for the robot to enter the wire. At the same time, the center hole on the guide surface and the center of the gripper are on the same axis.

[0051] In some embodiments, the housing 600 is made entirely of metal and has an electromagnetic shielding protection design to ensure that the robot can work normally without being affected by complex environments when operating with electricity.

[0052] Reference Figure 2According to the present invention, a wire monitoring sensor installation robot 10 is provided. The monitoring sensor gripper mechanism 300 includes an upper gripper assembly 310 and a side gripper assembly 320. The upper gripper assembly 310 is installed above the wire through-hole 111 and is used to clamp and fix the first component 21, and to make the central opening of the first component 21 and the gripper of the wire clamping gripper mechanism 200 on the same axis. The side gripper assembly 320 is installed on one side of the outer periphery of the wire through-hole 111 and is adjacent to the upper gripper assembly 310. The side gripper assembly 320 is used to movably clamp the second component 22.

[0053] Understandably, the upper gripper assembly 310 is mounted above the wire through-hole 111, enabling it to clamp and fix the first component 21 from above during the installation of the monitoring sensor 20. Because it is located above the wire through-hole 111, it aligns well with the wire routing and the overall layout of the installation robot, facilitating subsequent installation actions.

[0054] The upper gripper assembly 310 is used to clamp and fix the first component 21 of the monitoring sensor 20. This clamping and fixing action ensures the stability of the first component 21 during installation, preventing it from shaking or shifting during operation, thereby ensuring the accuracy and reliability of the installation.

[0055] The design of the upper gripper assembly 310 also ensures that the central opening of the first component 21 is on the same axis as the gripper of the wire clamping gripper mechanism 200. This guarantees that the monitoring sensor 20 can be accurately aligned with the central axis of the wire when mounted on it. This facilitates the correct installation of the monitoring sensor 20 on the wire, ensuring its normal operation and accurate monitoring of the wire's condition.

[0056] The side gripper assembly 320 is mounted on one side of the outer periphery of the wire through-hole 111 and adjacent to the upper gripper assembly 310. This allows the side gripper assembly 320 to approach the second component 22 of the monitoring sensor 20 from the side, forming a cooperative gripping arrangement with the upper gripper assembly 310. This enables the two gripper assemblies to cooperate better to complete the gripping and installation operations of the monitoring sensor 20.

[0057] The side gripper assembly 320 is used to flexibly grip the second component 22 of the monitoring sensor 20. Flexible gripping means that when it is necessary to release the second component 22, the gripping action on the second component 22 can be controlled to be released, so that the second component 22 can cooperate with the first component 21 under the action of the side push mechanism 400.

[0058] The side gripper assembly 320 is adjacent to the upper gripper assembly 310, enabling the two gripper assemblies to work together. During installation, the upper gripper assembly 310 fixes the first component 21, while the side gripper assembly 320 movably grips the second component 22. Together, they ensure that the two components of the monitoring sensor 20 can accurately surround the wire. This cooperative gripping method not only improves the stability of the gripping but also provides a good foundation for subsequent side pushing and locking operations.

[0059] Reference Figure 5 According to the present invention, a wire monitoring sensor installation robot 10 includes an upper gripper assembly 310 comprising an upper connecting seat 311, a first upper gripper arm 312, a second upper gripper arm 313, and a first driving member 314. The upper connecting seat 311 is fixedly connected to a first frame unit 110. The first upper gripper arm 312 and the second upper gripper arm 313 are movably disposed on the upper connecting seat 311 relative to each other. The first driving member 314 is mounted on the upper connecting seat 311 and is drivenly connected to the first upper gripper arm 312 and the second upper gripper arm 313 respectively. The first driving member 314 is used to drive the first upper gripper arm 312 and the second upper gripper arm 313 to move towards each other or away from each other, so as to grip or release the first component 21.

[0060] Understandably, the upper connecting seat 311 is a fundamental structural component of the upper gripper assembly 310. It is connected and fixed to the first frame unit 110, serving to support and connect other components. Through the upper connecting seat 311, the first upper gripper arm 312, the second upper gripper arm 313, and the first driving member 314 can be stably mounted on the first frame unit 110, ensuring the accurate positioning and structural stability of the entire upper gripper assembly 310 on the frame body 100.

[0061] The first upper clamping arm 312 and the second upper clamping arm 313 are movably mounted opposite each other on the upper connecting seat 311, so that the two clamping arms can move towards each other or away from each other as needed. This movement mode allows the upper gripper assembly 310 to flexibly clamp and release the first component 21, adapting to first components 21 of different sizes and shapes.

[0062] The main function of the first upper clamping arm 312 and the second upper clamping arm 313 is to clamp or release the first component 21. By moving in opposite directions, the two clamping arms can firmly hold the first component 21 in the middle to ensure its stability during installation; by moving in opposite directions, the two clamping arms can release the first component 21 to complete the installation or perform subsequent operations.

[0063] In some embodiments, the upper gripper assembly 310 may further include a slide rail unit, on which the first upper gripper arm 312 and the second upper gripper arm 313 are mounted to limit the movement paths of the first upper gripper arm 312 and the second upper gripper arm 313, thereby improving the stability and accuracy of gripping.

[0064] The first drive member 314 is mounted on the upper connecting seat 311 and is drivenly connected to the first upper clamping arm 312 and the second upper clamping arm 313 respectively. This allows the first drive member 314 to precisely control the movement of the two clamping arms, realizing the clamping and releasing actions.

[0065] The first driving member 314 is used to drive the first upper clamping arm 312 and the second upper clamping arm 313 to move in opposite directions or in opposite directions. This ensures the accuracy and reliability of the clamping and releasing actions and can be flexibly adjusted according to actual operational needs. For example, when it is necessary to firmly clamp the first component 21, the first driving member 314 can precisely control the opposite movement of the clamping arms to generate sufficient clamping force; when it is necessary to release the first component 21, the first driving member 314 can control the opposite movement of the clamping arms to release them smoothly.

[0066] Reference Figure 5 According to the present invention, a wire monitoring sensor installation robot 10 is provided, wherein the upper gripper assembly 310 further includes an upper pad 315. The upper pad 315 is disposed on the side of the upper connecting seat 311 facing the wire through position 111 and is located between the first upper gripper arm 312 and the second upper gripper arm 313. The side of the upper pad 315 facing the wire through position 111 is conformally disposed to the outer edge corresponding to the first component 21.

[0067] Understandably, the upper pad 315 is located on the side of the upper connector 311 facing the wire through-hole 111, and is situated between the first upper clamping arm 312 and the second upper clamping arm 313. During clamping, the first upper clamping arm 312 and the second upper clamping arm 313 apply a certain clamping force to the first component 21. The introduction of the upper pad 315 reduces the direct contact between the upper connector 311 and the first component 21, thereby reducing wear, helping to protect the surface of the first component 21, and preventing damage caused by excessive clamping force.

[0068] The upper pad 315 is conformally positioned to the outer edge of the first component 21 on the side facing the wire through-hole 111. This conformal design allows the upper pad 315 to fit tightly against the outer edge of the first component 21, forming a good contact surface. During clamping, the upper pad 315 can evenly distribute the clamping force, avoiding excessive local pressure that could damage the first component 21, thereby protecting the surface and structural integrity of the first component 21.

[0069] Reference Figure 5In some embodiments, a safety motor 700 is connected to the end of either the first upper clamping arm 312 or the second upper clamping arm 313 in the upper clamping assembly. The safety motor 700 has a blocking block 710. The blocking block 710 extends before the upper clamping assembly 310 initially clamps the monitoring sensor 20 onto the wire for installation, thus blocking and limiting the movement of the monitoring sensor 20 and the upper clamping assembly 310, ensuring that the monitoring sensor 20 is firmly fixed and will not accidentally fall off the clamping components. When the monitoring sensor 20 is being installed, the blocking block 710 retracts without affecting the installation.

[0070] Reference Figure 4 According to the present invention, a wire monitoring sensor installation robot 10 includes a side gripper assembly 320 comprising a side connecting seat 321, a first side gripper arm 322, a second side gripper arm 323, and a second driving member 324. The side connecting seat 321 is fixedly connected to a first frame unit 110. The first side gripper arm 322 and the second side gripper arm 323 are movably disposed opposite to each other on the side connecting seat 321. The second driving member 324 is mounted on the side connecting seat 321 and is drivenly connected to the first side gripper arm 322 and the second side gripper arm 323 respectively. The second driving member 324 is used to drive the first side gripper arm 322 and the second side gripper arm 323 to move towards each other or away from each other, so as to grip or release the second component 22.

[0071] Understandably, the side connecting seat 321 is a fundamental structural component of the side gripper assembly 320. It is connected and fixed to the first frame unit 110, serving to support and connect other components. Through the side connecting seat 321, the first side gripper arm 322, the second side gripper arm 323, and the second drive member 324 can be stably mounted on the first frame unit 110, ensuring the accurate positioning and structural stability of the entire side gripper assembly 320 on the frame body 100.

[0072] The first side gripper arm 322 and the second side gripper arm 323 are movably mounted opposite each other on the side connecting seat 321, allowing the two gripper arms to move towards each other or away from each other as needed. This movement mode allows the side gripper assembly 320 to flexibly grip and release the second component 22, adapting to second components 22 of different sizes and shapes.

[0073] The main function of the first clamping arm 322 and the second clamping arm 323 is to clamp or release the second component 22. By moving in opposite directions, the two clamping arms can firmly hold the second component 22 in the middle to ensure its stability during installation; by moving in opposite directions, the two clamping arms can release the second component 22 to complete the installation or perform subsequent operations.

[0074] In some embodiments, the side gripper assembly 320 may further include a slide rail unit, on which the first side gripper arm 322 and the second side gripper arm 323 are mounted to limit the movement paths of the first side gripper arm 322 and the second side gripper arm 323, thereby improving the stability and accuracy of gripping.

[0075] The second drive unit 324 is mounted on the side connecting seat 321 and is drivenly connected to the first side clamping arm 322 and the second side clamping arm 323 respectively. This allows the second drive unit 324 to precisely control the movement of the two clamping arms, realizing the clamping and releasing actions.

[0076] The second drive member 324 is used to drive the first side clamping arm 322 and the second side clamping arm 323 to move towards each other or away from each other. This precise drive control ensures the accuracy and reliability of the clamping and releasing actions, and can be flexibly adjusted according to actual operational needs. For example, when it is necessary to firmly clamp the second component 22, the second drive member 324 can precisely control the towards-opposite movement of the clamping arms to generate sufficient clamping force; when it is necessary to release the second component 22, the second drive member 324 can control the away-opposite movement of the clamping arms to release them smoothly.

[0077] Reference Figure 4 According to the present invention, a wire monitoring sensor installation robot 10 is provided, wherein the side gripper assembly 320 further includes a side pad 325. The side pad 325 is disposed on the side of the side connecting seat 321 facing the wire through position 111 and is located between the first side gripper arm 322 and the second side gripper arm 323. The side of the side pad 325 facing the wire through position 111 is conformally disposed with the outer edge corresponding to the second component 22.

[0078] Understandably, the side pad 325 is conformally positioned to the outer edge of the second component 22 on the side facing the wire through-hole 111. This conformal design allows the side pad 325 to fit tightly against the outer edge of the second component 22, forming a good contact surface. During clamping, the side pad 325 can evenly distribute the clamping force, avoiding excessive local pressure that could damage the second component 22, thereby protecting the surface and structural integrity of the second component 22.

[0079] The side pad 325 is usually made of a material with certain elasticity and cushioning properties, which can play a buffering role during clamping, further reducing the direct impact of clamping force on the second component 22, and ensuring that the second component 22 is not damaged during clamping and installation.

[0080] Reference Figure 6According to the present invention, a wire monitoring sensor installation robot 10 includes a wire clamping gripper mechanism 200 comprising a clamping connecting seat 210, a first clamping arm 220, a second clamping arm 230, and a third driving member 240. The clamping connecting seat 210 is connected to a first frame unit 110. The first clamping arm 220 and the second clamping arm 230 are movably disposed on the clamping connecting seat 210 relative to each other. The third driving member 240 is mounted on the clamping connecting seat 210 and is drivenly connected to the first clamping arm 220 and the second clamping arm 230 respectively. The third driving member 240 is used to drive the first clamping arm 220 and the second clamping arm 230 to move towards each other or away from each other, so as to clamp or release the wire.

[0081] Understandably, the clamping connector 210 is a fundamental structural component of the wire clamping claw mechanism 200. It is connected to the first frame unit 110 and serves to support and connect other components. Through the clamping connector 210, the first clamping arm 220, the second clamping arm 230, and the third driving member 240 can be stably mounted on the first frame unit 110, ensuring the accurate positioning and structural stability of the entire wire clamping claw mechanism 200 on the frame body 100.

[0082] The first clamping arm 220 and the second clamping arm 230 are movably mounted opposite each other on the clamping connecting seat 210, allowing the two clamping arms to move towards each other or away from each other as needed. This movement mode enables the wire clamping claw mechanism 200 to flexibly clamp and release the wire, adapting to wires of different diameters and types.

[0083] The main function of the first clamping arm 220 and the second clamping arm 230 is to clamp or loosen the wire. By moving in opposite directions, the two clamping arms can firmly hold the wire in the middle, ensuring the stability of the robot on the wire and the accuracy of operation; by moving in opposite directions, the two clamping arms can loosen the wire to complete the loading or unloading operation.

[0084] The third drive unit 240 is mounted on the clamping connector 210 and is drivenly connected to the first clamping arm 220 and the second clamping arm 230 respectively. This allows the third drive unit 240 to precisely control the movement of the two clamping arms, realizing the clamping and releasing actions.

[0085] The third drive unit 240 is used to drive the first clamping arm 220 and the second clamping arm 230 to move towards each other or away from each other. This precise drive control ensures the accuracy and reliability of the clamping and releasing actions, and can be flexibly adjusted according to actual operational needs. For example, when it is necessary to firmly clamp the wire, the third drive unit 240 can precisely control the towards-opposite movement of the clamping arms to generate sufficient clamping force; when it is necessary to release the wire, the third drive unit 240 can control the away-opposite movement of the clamping arms to release it smoothly.

[0086] Reference Figure 8 According to the present invention, a wire monitoring sensor installation robot 10 has a side-pushing mechanism 400 including a mounting plate 410, a side-pushing rocker arm 420 and a fourth driving member 430. The fourth driving member 430 is mounted on the first frame unit 110 through the mounting plate 410. The side-pushing rocker arm 420 is connected to the output end of the fourth driving member 430. The fourth driving member 430 drives the side-pushing rocker arm 420 to swing so as to push the second component 22 held by the side gripper assembly 320 toward the direction of enclosing the first component 21.

[0087] Understandably, the mounting plate 410 is the basic support component of the side-push mechanism 400. Through its connection with the first frame unit 110, it provides a stable mounting position 121 for the side-push rocker arm 420 and the fourth drive unit 430. The design of the mounting plate 410 ensures that the side-push mechanism 400 is accurately positioned and firmly fixed in the overall robot structure, enabling the side-push mechanism 400 to function stably during operation.

[0088] The side-push rocker arm 420 is connected to the output end of the fourth drive member 430 and is the component that performs the side-push operation. The swinging motion of the side-push rocker arm 420 directly acts on the second component 22 held by the side gripper assembly 320, pushing it towards the direction of enclosing the first component 21. This ensures that the two components of the monitoring sensor 20 are enclosed on the wire, guaranteeing that the monitoring sensor 20 can be correctly installed on the wire.

[0089] The fourth drive unit 430 is the power source of the side push mechanism 400, responsible for driving the side push rocker arm 420 to swing. By precisely controlling the output of the fourth drive unit 430, the side push rocker arm 420 can be precisely swung, thereby accurately pushing the second component 22 held by the side gripper assembly 320 toward the first component 21, so that it surrounds the guide wire.

[0090] Reference Figure 7 According to the present invention, a wire monitoring sensor installation robot 10 has a locking mechanism 500 including a locking connecting plate 510, a plurality of electric screwdriver bits 520 and a pressing component 530. The pressing component 530 is connected to the second frame unit 120. The plurality of electric screwdriver bits 520 are correspondingly arranged with the locking holes on the monitoring sensor 20 and are connected to the pressing component 530 through the locking connecting plate 510. The pressing component 530 is used to drive the plurality of electric screwdriver bits 520 to press down in the direction of the wire passing position 111. The electric screwdriver bits 520 fasten the first component 21 and the second component 22 by actuating fasteners.

[0091] Understandably, the locking connection plate 510 is a connecting component of the locking mechanism 500. Through its connection with the second frame unit 120, it provides a stable mounting platform for the multiple electric screwdriver bits 520 and the pressing assembly 530. The design of the locking connection plate 510 ensures that the electric screwdriver bits 520 are accurately positioned and firmly fixed during operation, enabling the electric screwdriver bits 520 to be precisely aligned with the locking holes on the monitoring sensor 20.

[0092] Multiple electric screwdriver bits 520 are configured to correspond to locking holes on the monitoring sensor 20 for fastening the first component 21 and the second component 22. Each electric screwdriver bit 520 is designed to precisely align with and operate a locking hole to tighten bolts or other fasteners through a rotational action, ensuring that the monitoring sensor 20 is securely mounted on the wire.

[0093] The pressing assembly 530 is connected to the second frame unit 120 and is used to drive multiple electric screwdriver bits 520 to press down toward the wire through-hole 111. The design of the pressing assembly 530 ensures that the electric screwdriver bits 520 can smoothly and accurately contact the locking hole on the monitoring sensor 20 during the tightening process, providing sufficient downward pressure to the electric screwdriver bits 520 so that they can effectively tighten the bolts.

[0094] The locking mechanism 500, through the precise control of the pressing component 530, can drive multiple electric screwdriver bits 520 to press down smoothly and accurately toward the wire through-hole 111, ensuring that the electric screwdriver bits 520 can accurately align with and operate the locking hole on the monitoring sensor 20.

[0095] In one specific embodiment, the fastening mechanism 500 includes four electric screwdriver bits. Each of the four electric screwdriver bits can be individually raised, lowered, and rotated to tighten the fastener. Furthermore, in this embodiment, the electric screwdriver bits are floating. When the monitoring sensor 20 is installed, the electric screwdriver bits 520 press down on the bolt to achieve precise installation via a pressure sensor, preventing over-tightening that could cause the bolt threads to strip. All four electric screwdriver bits 520 are floating, allowing for independent control of raising, lowering, and tightening the bolt, preventing jamming during bolt tightening.

[0096] Reference Figure 12 In some embodiments, the wire monitoring sensor installation robot 10 further includes a vision inspection mechanism 800, which includes multiple cameras 810 arranged circumferentially around the wire passage position 111. The cameras 810 are used to visually inspect the sensor 20. After the sensor 20 is successfully installed, the robot detaches from the sensor. This improves the reliability of the wire monitoring sensor installation robot.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot for installing wire monitoring sensors, characterized in that, include: The frame body has a mounting position for connecting with the drone on its top end face; Multiple wire clamping jaw mechanisms are mounted on the frame body. The multiple wire clamping jaw mechanisms are spaced apart from each other along the extension direction of the wire, and the jaws of the multiple wire clamping jaw mechanisms are on the same axis. A monitoring sensor gripper mechanism is mounted on the frame body. The monitoring sensor gripper mechanism includes multiple gripper assemblies, which are arranged adjacent to each other along the circumference of the conductor. The multiple gripper assemblies are respectively used to clamp the first and second components of the monitoring sensor that are hinged to each other. A side-pushing mechanism is mounted on the frame body and located on one side of one of the plurality of gripper assemblies. The side-pushing mechanism is used to push the first component of the monitoring sensor toward the second component so that the first component and the second component of the monitoring sensor surround the outside of the wire. A locking mechanism is mounted on the frame body. The locking mechanism is used to lock the relative position between the first component and the second component of the monitoring sensor by fasteners after the first component and the second component of the monitoring sensor surround the outside of the wire.

2. The robot for installing wire monitoring sensors according to claim 1, characterized in that, The frame body includes a first frame unit and a second frame unit. The second frame unit is located above the first frame unit. The first frame unit encloses a wire through-hole. The wire clamping claw mechanism, the monitoring sensor claw mechanism, and the side-pushing mechanism are mounted on the first frame unit and arranged circumferentially along the wire through-hole. The locking mechanism is mounted on the second frame unit.

3. The robot for installing wire monitoring sensors according to claim 2, characterized in that, The monitoring sensor gripper mechanism includes an upper gripper assembly and a side gripper assembly. The upper gripper assembly is installed above the wire through-hole and is used to clamp and fix the first component, and to make the central opening of the first component and the gripper of the wire clamping gripper mechanism on the same axis. The side gripper assembly is installed on one side of the outer periphery of the wire through-hole and adjacent to the upper gripper assembly. The side gripper assembly is used to movably clamp the second component.

4. The robot for installing wire monitoring sensors according to claim 3, characterized in that, The upper gripper assembly includes an upper connecting seat, a first upper gripper arm, a second upper gripper arm, and a first driving member. The upper connecting seat is fixedly connected to the first frame unit. The first upper gripper arm and the second upper gripper arm are movably disposed on the upper connecting seat relative to each other. The first driving member is mounted on the upper connecting seat and is drivenly connected to the first upper gripper arm and the second upper gripper arm respectively. The first driving member is used to drive the first upper gripper arm and the second upper gripper arm to move towards each other or away from each other in order to grip or release the first component.

5. The robot for installing wire monitoring sensors according to claim 4, characterized in that, The upper gripper assembly also includes an upper pad, which is disposed on the side of the upper connector facing the wire through-hole and located between the first upper gripper arm and the second upper gripper arm. The side of the upper pad facing the wire through-hole is conformally configured with the outer edge corresponding to the first component.

6. The robot for installing wire monitoring sensors according to claim 3, characterized in that, The side gripper assembly includes a side connecting seat, a first side gripper arm, a second side gripper arm, and a second driving member. The side connecting seat is fixedly connected to the first frame unit. The first side gripper arm and the second side gripper arm are movably disposed opposite to each other on the side connecting seat. The second driving member is mounted on the side connecting seat and is drivenly connected to the first side gripper arm and the second side gripper arm respectively. The second driving member is used to drive the first side gripper arm and the second side gripper arm to move towards each other or away from each other in order to grip or release the second component.

7. The robot for installing wire monitoring sensors according to claim 6, characterized in that, The side gripper assembly also includes a side pad, which is disposed on the side of the side connector facing the wire through-hole and located between the first side gripper and the second side gripper. The side of the side pad facing the wire through-hole is conformally configured with the outer edge corresponding to the second component.

8. The robot for installing wire monitoring sensors according to any one of claims 2-7, characterized in that, The wire clamping gripper mechanism includes a clamping connecting seat, a first clamping arm, a second clamping arm, and a third driving member. The clamping connecting seat is connected to the first frame unit. The first clamping arm and the second clamping arm are movably disposed on the clamping connecting seat opposite to each other. The third driving member is mounted on the clamping connecting seat and is drivenly connected to the first clamping arm and the second clamping arm respectively. The third driving member is used to drive the first clamping arm and the second clamping arm to move in opposite directions or in opposite directions to clamp or release the wire.

9. The robot for installing wire monitoring sensors according to claim 3, characterized in that, The side-pushing mechanism includes a mounting plate, a side-pushing rocker arm, and a fourth driving member. The fourth driving member is mounted on the first frame unit via the mounting plate. The side-pushing rocker arm is connected to the output end of the fourth driving member. The fourth driving member drives the side-pushing rocker arm to swing, so as to push the second component held by the side gripper assembly toward the direction enclosing the first component.

10. The robot for installing wire monitoring sensors according to any one of claims 2-7, characterized in that, The locking mechanism includes a locking connecting plate, multiple electric screwdriver bits, and a pressing component. The pressing component is connected to the second frame unit. The multiple electric screwdriver bits are correspondingly arranged with the locking holes on the monitoring sensor and are connected to the pressing component through the locking connecting plate. The pressing component is used to drive the multiple electric screwdriver bits to press down in the direction of the wire passing through the hole. The electric screwdriver bits fasten the first component and the second component by actuating the fasteners.

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