Automatic overhauling device

Abstract

The invention relates to the technical field of motor automation, and discloses an automatic overhauling device which comprises a moving frame, a mechanical arm assembly, a clamping assembly and a control module. The two mechanical arm assemblies are rotationally connected with the two sides of the moving frame correspondingly, and the two clamping assemblies are rotationally connected with the sides, away from the moving frame, of the two mechanical arm assemblies correspondingly. The clamping assembly comprises an axial limiting part and rolling clamping parts, at least two rolling clamping parts are symmetrically arranged with the mechanical arm assembly as the center, and the axial limiting part is connected with the rolling clamping parts; the control module is electrically connected with the mechanical arm assembly, and the control module is electrically connected with the axial limiting part and the rolling clamping part. According to the invention, automatic maintenance of the high-voltage cable is realized; and the mechanical arm assembly and the clamping assembly are accurately matched, so that the equipment can be driven to stably move along the cable, obstacles such as insulators can be easily spanned through alternate operation of'fixing-loosening ', and the adaptability of the equipment to a complex cable environment is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of motor automation technology, and specifically to an automated maintenance device. Background Technology

[0002] Because high-voltage cables are exposed to the external environment year-round, especially in Northeast China where they are affected by seasonal temperature differences, diurnal temperature variations, and severe rain and snow, prolonged operation can easily lead to insulation aging. Insulation aging is typically detected by power grid maintenance personnel using handheld insulation testing rods, which is neither automated nor efficient, and carries significant risks. Summary of the Invention

[0003] This invention provides an automated maintenance device to solve the problems of inefficiency and high risk associated with the inability to perform automated inspections.

[0004] This invention provides an automated maintenance device, including a mobile frame; robotic arm assemblies, clamping assemblies, and a control module. Two robotic arm assemblies are provided, each rotatably connected to one side of the mobile frame. Two clamping assemblies are also provided, each rotatably connected to one side of the robotic arm assemblies away from the mobile frame. Each clamping assembly includes an axial limiting portion and a rolling clamping portion. At least two rolling clamping portions are symmetrically arranged around the robotic arm assembly, and each rolling clamping portion is adapted to roll and clamp a cable. The axial limiting portion is connected to the rolling clamping portion and is adapted to clamp the rolling clamping portion axially. The control module is electrically connected to the robotic arm assembly, and is also electrically connected to the axial limiting portion and the rolling clamping portion.

[0005] Beneficial effects: Through the coordinated operation of the mobile frame, robotic arm assembly, clamping assembly, and control module, automated maintenance of high-voltage cables is achieved. The precise coordination of the robotic arm assembly and clamping assembly not only enables the equipment to move stably along the cable but also allows it to easily overcome obstacles such as insulators through alternating "fixed-release" operations, greatly improving the equipment's adaptability to complex cable environments. The programmable automated control of each component by the control module significantly reduces manual intervention, effectively avoids the safety risks of working at heights, and prevents missed or false inspections that may occur during manual testing. This significantly improves the safety, efficiency, and accuracy of maintenance work, providing strong technical support for the safe and stable operation of high-voltage cables.

[0006] In one alternative embodiment, the automated maintenance device further includes a visual inspection component rotatably mounted on the mobile frame.

[0007] Beneficial effects: The visual detection component can be rotatably mounted on the mobile frame, providing all-round, blind-spot-free visual support, and also providing detailed visual basis for fault repair, effectively shortening the maintenance cycle and further ensuring the stable operation of the power system.

[0008] In one optional implementation, the visualization detection component includes a visualization device, a first rotating shaft, a first motor, and a first mounting base. The output end of the first motor is connected to the first rotating shaft for transmission, the first rotating shaft is rotatably connected to the first mounting base, and the visualization device is disposed on the first mounting base.

[0009] Beneficial effects: Through the coordinated action of the first motor, the first rotating shaft and the first mounting base, when the equipment climbs over an obstacle, the mobile frame will rotate, causing the visualization equipment to flip accordingly. At this time, the first motor can drive the first rotating shaft to rotate rapidly, causing the first mounting base and the visualization equipment to rotate and reset synchronously, so that the visualization equipment always faces the cable, providing clear and continuous visual support for automated maintenance, and further improving the efficiency and accuracy of maintenance work.

[0010] In one optional embodiment, the robotic arm assembly includes a robotic arm, a second motor, a mounting shaft, and a synchronous transmission structure. The moving frame includes a frame, a second mounting base, and a connecting base. The second motor is fixed to the second mounting base and has an output shaft connected to the robotic arm. The robotic arm is rotatably mounted on the connecting base. The mounting shaft is rotatably connected to the end of the robotic arm away from the output shaft. The mounting shaft is connected to the synchronous transmission structure, which is connected to the output shaft. The second motor is electrically connected to the control module.

[0011] Beneficial effects: Through the coordinated operation of the second motor, mounting shaft, and synchronous transmission structure, the symmetrical movement of the robotic arm generates a stable driving force during equipment movement, propelling the mobile frame to crawl along the cable in a wave-like motion. When overcoming obstacles, the robotic arm can control the mobile frame to rotate and bend around the obstacle, achieving smooth overcoming. This component is electrically connected to the control module, realizing automated control of the movements.

[0012] In one optional embodiment, the synchronous transmission structure includes a first gear, a second gear, and a synchronous belt. The first gear is connected to the output shaft, the second gear is connected to the mounting shaft, and the two ends of the synchronous belt are respectively meshed with the first gear and the second gear.

[0013] Beneficial effects: The synchronous transmission structure, through the meshing connection of the first gear, the second gear and the synchronous belt, ensures the synchronicity and stability of the rotation of the robotic arm and the movement of the mounting shaft, effectively improving the overall motion coordination of the equipment.

[0014] In one optional embodiment, the rolling clamping part includes a control box, a clamping roller, a connecting shaft, and a sliding mechanism. The sliding mechanism is disposed inside the control box. At least two connecting shafts and clamping rollers are provided. The connecting shaft is rotatably connected to the sliding mechanism. The clamping roller is connected to the connecting shaft. The sliding mechanism is electrically connected to the control module.

[0015] Beneficial effects: The rolling clamping part drives the clamping roller to move through the sliding mechanism in the control box, which realizes stable clamping and flexible movement of the cable, while having good adaptability and protection.

[0016] In one optional embodiment, the sliding mechanism includes a fixed cylinder, a telescopic rod, a telescopic frame, a connecting frame, a first sliding connecting rod, a first stop, a telescopic mounting frame, an electrically controlled telescopic rod, a programmable controller, a spring cylinder, and a first spring; the fixed cylinder is disposed on the control box, the telescopic rod is slidably disposed within the fixed cylinder, the telescopic frame is connected to the telescopic rod, two connecting frames are provided, each connected to one end of the telescopic rod, the first sliding connecting rod is slidably disposed within the connecting frame, and the first stop is connected to one end of the first sliding connecting rod. A stop block engages with the connecting frame; the telescopic mounting frame is connected to the other end of the first sliding connecting rod; the connecting shaft is rotatably mounted within the telescopic mounting frame; two electrically controlled telescopic rods are provided, symmetrically arranged circumferentially within the control box; the output shaft of the electrically controlled telescopic rod is connected to the telescopic frame; the programming controller is connected to the electrically controlled telescopic rod; the spring cylinder is connected to the telescopic mounting frame; a portion of the first spring is located within the spring cylinder; the first spring is located between the spring cylinder and the connecting frame; and the control module is electrically connected to the programming controller.

[0017] Beneficial effects: The sliding engagement between the fixed cylinder and the telescopic rod provides precise guidance for the movement of the telescopic frame, ensuring smooth movement; under the control of the programmable controller, the position of the telescopic frame can be precisely adjusted, thereby controlling the opening and closing degree of the clamping rollers; the cooperation between the first sliding connecting rod and the first stop limits the movement range of the telescopic mounting frame, preventing excessive extension and contraction from damaging the cables; the spring cylinder and the first spring provide elastic buffering, preventing excessive pressure from damaging the cables when clamping them, while also enhancing clamping stability. This mechanism, through electrical connection with the control module, achieves automated control, allowing for flexible adjustment of clamping force and range according to the detection scenario. The programmable controller, connected to the electric telescopic rod, can precisely control the extension and contraction of the electric telescopic rod, further improving the accuracy and reliability of the clamping operation.

[0018] In one optional embodiment, the axial limiting part includes a limiting chuck, a limiting block, a sliding bearing, a second sliding connecting rod, a second stop, a second spring, a driving slide rod, and a driving cylinder. The limiting chuck is disposed on the connecting shaft, the limiting block is disposed on the side of the limiting chuck near the connecting frame, and the limiting chuck and the limiting block are clamped together. The sliding bearing is connected to the telescopic mounting frame. The second sliding connecting rod is slidably disposed within the sliding bearing. The limiting block is connected to the second sliding connecting rod. One end of the second sliding connecting rod near the connecting frame is connected to the second stop. Both ends of the second spring are respectively connected to the second stop and the sliding bearing. The limiting block is connected to the driving slide rod. The driving cylinder is connected to the connecting frame and is slidably connected to the driving slide rod. Both the sliding bearing and the second sliding connecting rod are electrically connected to the control module.

[0019] Beneficial effects: The sliding connection between the sliding bearing and the second sliding connecting rod ensures smooth movement of the limit block; the elasticity of the second spring keeps the limit block in a separated state when no external force is applied, ensuring that the clamping roller can roll freely and reducing friction between the equipment and the cable during movement. When fixing is required, the drive cylinder pushes the drive slide rod, causing the limit block to engage and lock with the limit chuck, achieving axial fixation of the clamping roller, increasing friction with the cable, and providing stable support for equipment movement or obstacle crossing.

[0020] In one alternative embodiment, the clamping assembly further includes an axial adjustment mechanism slidably connected to the telescopic frame and connected to the robotic arm.

[0021] Beneficial effects: The axial adjustment mechanism, through its sliding connection with the telescopic frame and its connection with the robotic arm, enables flexible adjustment of the position of the clamping components, greatly improving the equipment's adaptability to complex cable environments.

[0022] In one optional embodiment, the axial adjustment mechanism includes an axial limiting sleeve, an axial limiting shaft, and an elastic damper. The axial limiting sleeve is slidably connected to the telescopic frame, the axial limiting shaft is slidably disposed within the axial limiting sleeve, and the elastic damper is disposed between the axial limiting sleeve and the axial limiting shaft.

[0023] Beneficial effects: The axial adjustment mechanism, through the cooperation of the axial limiting sleeve, the axial limiting sleeve shaft and the elastic damper, realizes the axial sliding and buffer adjustment of the clamping components, while ensuring the stability of the equipment's center of gravity; it can automatically adjust the distance between the two sets of rolling clamping parts according to the different spacing between cables, further improving the equipment's adaptability to cables of different specifications. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of an electrical automation maintenance and protection device according to an embodiment of the present invention.

[0026] Figure 2 This is a schematic diagram of the electrical automation maintenance and protection device in a mobile state according to an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of the structure of the mobile frame according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the robotic arm assembly according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the visualization detection component and the robotic arm component according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the axial limiting part according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the rolling clamping part according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the control box according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of an embodiment of the present invention in the first obstacle-crossing state; Figure 10 This is a schematic diagram of the structure of an embodiment of the present invention in the second obstacle-crossing state; Figure 11 This is a schematic diagram of the structure of an embodiment of the present invention in the third obstacle-crossing state; Figure 12 This is a schematic diagram of the structure of an embodiment of the present invention in the fourth obstacle-crossing state; Figure 13 This is a schematic diagram of the structure of the present invention in the fifth obstacle-crossing state according to an embodiment; Figure 14 This is a structural schematic diagram of an embodiment of the present invention in the sixth obstacle-crossing state.

[0028] Explanation of reference numerals in the attached figures: 10. Moving frame; 11. Frame body; 12. Second mounting base; 13. Connecting base; 20. Robotic arm assembly; 21. Robotic arm; 22. Second motor; 23. Mounting shaft; 24. Synchronous transmission structure; 241. First gear; 242. Second gear; 243. Synchronous belt; 30. Clamping assembly; 31. Axial limiting part; 311. Limiting chuck; 312. Limiting block; 313. Sliding bearing; 314. Second sliding connecting rod; 315. Second stop; 316. Second spring; 317. Drive slide rod; 318. Drive cylinder; 32. Rolling clamping part; 321. Control box; 322. Clamping roller; 323. Connecting shaft; 3241. Fixed cylinder; 3242. Telescopic rod; 3243. Telescopic frame; 3244. Connecting frame; 3245. First sliding connecting rod; 3246. First stop block; 3247. Telescopic mounting frame; 3248. Electrically controlled telescopic rod; 3249. Spring cylinder; 3250. Programmable controller; 3251. First spring; 33. Axial adjustment mechanism; 331. Axial limiting sleeve; 332. Axial limiting sleeve shaft; 40. Visual detection component; 41. Visualization device; 42. First rotating shaft; 43. First motor; 44. First mounting base. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that in related technologies, the detection of insulation aging is usually carried out by power grid maintenance personnel using handheld insulation testing rods. This method cannot be automated, is inefficient, and is highly dangerous.

[0031] The following is combined Figures 1 to 14 The following describes embodiments of the present invention.

[0032] According to an embodiment of the present invention, an automated maintenance device is provided, including a movable frame 10, a robotic arm assembly 20, a clamping assembly 30, and a control module. Two robotic arm assemblies 20 are provided, each rotatably connected to one side of the movable frame 10. Two clamping assemblies 30 are provided, each rotatably connected to one side of the two robotic arm assemblies 20 away from the movable frame 10. Each clamping assembly 30 includes an axial limiting portion 31 and a rolling clamping portion 32. At least two rolling clamping portions 32 are symmetrically arranged around the robotic arm assembly 20, and are adapted to roll and clamp cables. The axial limiting portion 31 is connected to the rolling clamping portion 32 and is adapted to clamp the rolling clamping portion 32 axially. The control module is electrically connected to the robotic arm assembly 20, and is also electrically connected to the axial limiting portion 31 and the rolling clamping portion 32.

[0033] The automated maintenance device of this embodiment achieves automated maintenance of high-voltage cables through the coordinated operation of the mobile frame 10, the robotic arm assembly 20, the clamping assembly 30, and the control module. The precise coordination of the robotic arm assembly 20 and the clamping assembly 30 not only enables the equipment to move stably along the cable, but also allows it to easily cross obstacles such as insulators through alternating "fixed-release" operations, greatly improving the equipment's adaptability to complex cable environments. The programmable automated control of each component by the control module significantly reduces manual intervention, effectively avoids the safety risks of working at heights, and avoids the problems of missed or false detections that may occur during manual inspection. This significantly improves the safety, efficiency, and accuracy of maintenance work, providing strong technical support for the safe and stable operation of high-voltage cables.

[0034] In one embodiment, such as Figure 3 and Figure 4 As shown, the automated maintenance device also includes a visual inspection component 40, which is rotatably mounted on the mobile frame 10.

[0035] It is worth noting that the visualization detection component 40 is rotatably mounted on the mobile frame 10, providing all-round, blind-spot-free visual support, and also providing detailed visualization basis for fault repair, effectively shortening the maintenance cycle and further ensuring the stable operation of the power system.

[0036] Furthermore, such as Figure 4 and Figure 5 As shown, the visualization detection component 40 includes a visualization device 41, a first rotating shaft 42, a first motor 43, and a first mounting base 44. The output end of the first motor 43 is connected to the first rotating shaft 42 for transmission. The first rotating shaft 42 is rotatably connected to the first mounting base 44. The visualization device 41 is mounted on the first mounting base 44.

[0037] After overcoming a set of obstacles, the visualization device 41 flips over, and then the first motor 43 drives the first rotating shaft 42 to rotate. The first rotating shaft 42 drives the first mounting base 44 to rotate, and the first mounting base 44 drives the visualization device 41 to rotate within the moving frame 10, thereby causing the visualization device 41 to flip over again and complete the reset.

[0038] It is worth noting that, through the coordinated action of the first motor 43, the first rotating shaft 42 and the first mounting base 44, when the equipment climbs over an obstacle, the moving frame 10 will rotate, causing the visualization device 41 to flip accordingly. At this time, the first motor 43 can drive the first rotating shaft 42 to rotate rapidly, causing the first mounting base 44 and the visualization device 41 to rotate and reset synchronously, so that the visualization device 41 always faces the cable, providing clear and continuous visual support for automated maintenance, and further improving the efficiency and accuracy of maintenance work.

[0039] In one embodiment, such as Figure 4 As shown, the robotic arm assembly 20 includes a robotic arm 21, a second motor 22, a mounting shaft 23, and a synchronous transmission structure 24. The moving frame 10 includes a frame 11, a second mounting base 12, and a connecting base 13. The second motor 22 is fixed on the second mounting base 12 and has an output shaft connected to the robotic arm 21. The robotic arm 21 is rotatably mounted on the connecting base 13. The mounting shaft 23 is rotatably connected to the end of the robotic arm 21 away from the output shaft. The mounting shaft 23 is connected to the synchronous transmission structure 24, which is connected to the output shaft. The second motor 22 is electrically connected to the control module.

[0040] It is worth noting that, through the coordinated operation of the second motor 22, the mounting shaft 23, and the synchronous transmission structure 24, the symmetrical movement of the robotic arm 21 generates a stable driving force when the equipment moves, propelling the moving frame 10 to crawl along the cable in a wave-like motion. When crossing obstacles, the robotic arm 21 can control the moving frame 10 to rotate and bend around the obstacle, achieving a smooth overpass. This component is electrically connected to the control module, realizing automated control of the movements.

[0041] Furthermore, such as Figure 4 As shown, the synchronous transmission structure 24 includes a first gear 241, a second gear 242 and a synchronous belt 243. The first gear 241 is connected to the output shaft, the second gear 242 is connected to the mounting shaft 23, and the two ends of the synchronous belt 243 are respectively meshed with the first gear 241 and the second gear 242.

[0042] Specifically, the robotic arm assembly 20 drives the robotic arm 21 to rotate via the second motor, thereby adjusting the relative angle between the robotic arm 21 and the moving frame 10. Simultaneously, the robotic arm 21 drives the mounting shaft 23 to rotate synchronously. The second gear 242, driven by the synchronous belt 243, maintains a relatively axially fixed position relative to the first gear 241, thus ensuring the moving frame 10 remains parallel during its movement along the cable, preventing tilting. When the equipment traverses an obstacle, the first gear 241 drives the second gear 242 to rotate via the synchronous belt 243. The second gear 242 then drives the mounting shaft 23 to rotate, which in turn drives the clamping assembly 30 to rotate, thereby adjusting the relative angle between the clamping assembly 30 and the cable.

[0043] It is worth noting that the synchronous transmission structure 24 is connected to the synchronous belt 243 through the meshing of the first gear 241, the second gear 242, and the synchronous belt 243, which ensures the synchronicity and stability of the rotation of the robotic arm 21 and the movement of the mounting shaft 23, effectively improving the overall motion coordination of the equipment.

[0044] In one embodiment, such as Figure 7 As shown, the rolling clamping part 32 includes a control box 321, a clamping roller 322, a connecting shaft 323, and a sliding mechanism. The sliding mechanism is disposed in the control box 321. At least two connecting shafts 323 and clamping rollers 322 are provided. The connecting shaft 323 is rotatably connected to the sliding mechanism. The clamping rollers 322 are connected to the connecting shaft 323. The sliding mechanism is electrically connected to the control module.

[0045] It is worth noting that the rolling clamping part 32 drives the clamping roller 322 to move through the sliding mechanism in the control box 321, which realizes stable clamping and flexible movement of the cable, while having good adaptability and protection.

[0046] Furthermore, such as Figure 7As shown, the sliding mechanism includes a fixed cylinder 3241, a telescopic rod 3242, a telescopic frame 3243, a connecting frame 3244, a first sliding connecting rod 3245, a first stop 3246, a telescopic mounting frame 3247, an electrically controlled telescopic rod 3248, a programmable controller 3250, a spring cylinder 3249, and a first spring 3251. The fixed cylinder 3241 is mounted on the control box 321. The telescopic rod 3242 is slidably mounted inside the fixed cylinder 3241. The telescopic frame 3243 is connected to the telescopic rod 3242. Two connecting frames 3244 are provided, each connected to one end of the telescopic rod 3242. The first sliding connecting rod 3245 is slidably mounted inside the connecting frame 3244. The first stop 3246 is connected to the first sliding connecting rod 3245. One end is connected, the first stop 3246 is engaged with the connecting frame 3244, the telescopic mounting frame 3247 is connected to the other end of the first sliding connecting rod 3245, the connecting shaft 323 is rotatably set inside the telescopic mounting frame 3247, two electrically controlled telescopic rods 3248 are provided, the two electrically controlled telescopic rods 3248 are symmetrically arranged in the control box 321, the output shaft of the electrically controlled telescopic rod 3248 is connected to the telescopic frame 3243, the programmable controller 3250 is connected to the electrically controlled telescopic rod 3248, the spring cylinder 3249 is connected to the telescopic mounting frame 3247, part of the first spring 3251 is set inside the spring cylinder 3249, the first spring 3251 is set between the spring cylinder 3249 and the connecting frame 3244, and the control module is electrically connected to the programmable controller 3250.

[0047] Specifically, the rolling clamping part 32 can control the two sets of telescopic rods 3242 to extend and retract synchronously via the programmable controller 3250. The telescopic rods 3242 drive the two sets of telescopic frames 3243 to move towards each other, thereby adjusting the distance between the two sets of telescopic frames 3243. During this process, the telescopic frame 3243 is slidably positioned by the sliding connection between the fixed cylinder 3241 and the telescopic rod 3242, thereby improving the stability of the telescopic frame 3243. The telescopic frame 3243 drives the two sets of connecting frames 3244 to move. At this time, the mutual limiting between the first stop 3246 and the connecting frame 3244 and the elastic push of the first spring 3251 realize the elastic sliding positioning between the telescopic mounting frame 3247 and the connecting frame 3244. At this time, the connecting frame 3244 carries... The telescopic mounting bracket 3247 retracts, and the telescopic mounting bracket 3247 drives the clamping roller 322 to retract via the mounting shaft 23. The cable is then rolled and clamped by the two sets of clamping rollers 322. When it is necessary to fix the clamping roller 322 and the cable, the electrically controlled telescopic rod 3248 can be controlled to continue to retract, which in turn drives the two sets of connecting brackets 3244 to continue to retract. The axial limiting part 31 is completely closed by the two sets of connecting brackets 3244, thereby axially fixing the clamping roller 322 by the axial limiting part 31 and increasing the elastic thrust of the second spring 316. This increases the clamping force of the clamping roller 322 on the cable. At this time, the pressure between the clamping roller 322 and the cable increases, and the greater the pressure, the greater the friction.

[0048] It is worth noting that the sliding engagement between the fixed cylinder 3241 and the telescopic rod 3242 provides precise guidance for the movement of the telescopic frame 3243, ensuring its smooth movement. Under the control of the programmable controller 3250, the electrically controlled telescopic rod 3248 can precisely adjust the position of the telescopic frame 3243, thereby controlling the opening and closing degree of the clamping roller 322. The engagement between the first sliding connecting rod 3245 and the first stop 3246 limits the movement range of the telescopic mounting frame 3247, preventing excessive extension and retraction from damaging the cable. The spring cylinder 3249 and the first spring 3251 provide elastic buffering, preventing excessive pressure from damaging the cable during clamping and enhancing clamping stability. This mechanism, through electrical connection with the control module, achieves automated control, allowing for flexible adjustment of clamping force and range according to the detection scenario. The programmable controller 3250, connected to the electrically controlled telescopic rod 3248, can precisely control the extension and retraction of the electrically controlled telescopic rod 3248, further improving the accuracy and reliability of the clamping operation.

[0049] In one embodiment, such as Figure 6As shown, the axial limiting part 31 includes a limiting chuck 311, a limiting block 312, a sliding bearing 313, a second sliding connecting rod 314, a second stop 315, a second spring 316, a drive slide rod 317, and a drive cylinder 318. The limiting chuck 311 is disposed on the connecting shaft 323, and the limiting block 312 is disposed on the side of the limiting chuck 311 near the connecting frame 3244. The limiting chuck 311 and the limiting block 312 are clamped together. The sliding bearing 313 is connected to the telescopic mounting frame 3247, and the second sliding connecting rod 314 is slidably mounted. The limiting block 312 is installed inside the sliding bearing 313 and is connected to the second sliding connecting rod 314. One end of the second sliding connecting rod 314 near the connecting frame 3244 is connected to the second stop 315. The two ends of the second spring 316 are respectively connected to the second stop 315 and the sliding bearing 313. The limiting block 312 is connected to the driving slide rod 317. The driving cylinder 318 is connected to the connecting frame 3244 and is slidably connected to the driving slide rod 317. The sliding bearing 313 and the second sliding connecting rod 314 are both electrically connected to the control module.

[0050] Specifically, in the axial limiting part 31, the limiting block 312 is first horizontally fixed by the sliding connection between the sliding bearing 313 and the second sliding connecting rod 314. The second spring 316, in cooperation with the second stop 315, elastically pushes the second sliding connecting rod 314, ensuring that the limiting block 312 remains on the side away from the limiting chuck 311 when no external force is applied. At this time, the limiting chuck 311 and the limiting block 312 lose their cooperation, and the connecting shaft 323 is not axially fixed. Then, when axial fixing of the connecting shaft 323 is required, the telescopic frame 3243 can be moved closer to the control box 321 by the electrically controlled telescopic rod 3248. The telescopic frame 3243 moves the drive cylinder 318, which slides relative to the drive slide rod 317. When the end faces of the drive cylinder 318 and the drive slide rod 317 come into contact, the drive cylinder 318 moves the drive slide rod 317, which in turn moves the limiting block 312 toward the limiting chuck 311. This causes the limiting chuck 311 and the limiting block 312 to engage and lock together, thereby axially limiting and fixing the connecting shaft 323. At this point, the clamping roller 322 can be used to fix and hold the cable, and the friction between the clamping roller 322 and the cable can be used to achieve lateral fixation of the cable by the clamping roller 322.

[0051] It is worth noting that the sliding connection between the sliding bearing 313 and the second sliding connecting rod 314 ensures the smooth movement of the limiting block 312; the elasticity of the second spring 316 keeps the limiting block 312 in a separated state when no external force is applied, ensuring that the clamping roller 322 can roll freely and reducing the friction between the equipment and the cable during movement. When fixation is required, the drive cylinder 318 pushes the drive slide rod 317, causing the limiting block 312 to engage and lock with the limiting chuck 311, thereby axially fixing the clamping roller 322, increasing the friction with the cable, and providing stable support for equipment movement or obstacle crossing.

[0052] In one embodiment, such as Figure 6 and Figure 8 As shown, the clamping assembly 30 also includes an axial adjustment mechanism 33, which is slidably connected to the telescopic frame 3243 and connected to the robotic arm 21.

[0053] It is worth noting that the axial adjustment mechanism 33, through its sliding connection with the telescopic frame 3243 and its connection with the robotic arm 21, enables flexible adjustment of the position of the clamping component 30, greatly improving the equipment's adaptability to complex cable environments.

[0054] Furthermore, such as Figure 6 and Figure 8 As shown, the axial adjustment mechanism 33 includes an axial limiting sleeve 331, an axial limiting sleeve shaft 332, and an elastic damper. The axial limiting sleeve 331 is slidably connected to the telescopic frame 3243. The axial limiting sleeve shaft 332 is slidably disposed inside the axial limiting sleeve 331. The elastic damper is disposed between the axial limiting sleeve 331 and the axial limiting sleeve shaft 332.

[0055] It is worth noting that the axial adjustment mechanism 33, through the cooperation of the axial limiting sleeve 331, the axial limiting sleeve shaft 332 and the elastic damper, realizes the axial sliding and buffer adjustment of the clamping assembly 30, while ensuring the stability of the equipment's center of gravity; it can automatically adjust the distance between the two sets of rolling clamping parts 32 according to the different spacing between the cables, further improving the equipment's adaptability to cables of different specifications.

[0056] In this embodiment, when the automated maintenance device moves along the cable, the first clamping component 30 controls the axial limiting part 31 to close, and the second clamping component 30 controls the axial limiting part 31 to open. At this time, the first clamping component 30 is fixedly clamped to the cable, while the second clamping component 30 is rollingly clamped to the cable. Then, the two sets of robotic arm components 20 are controlled to move symmetrically and rotate and unfold. At this time, because the first clamping component 30 is fixedly clamped to the cable, while the second clamping component 30 is rollingly clamped to the cable, the friction between the two sides of the moving frame 10 and the cable is different. This pushes the moving frame 10 from the side with greater friction to the side with less friction. Then, the above process is repeated (i.e., cyclical repetition). Figure 1 and Figure 2 This allows the mobile frame 10 to crawl in a wave-like motion along the cable direction.

[0057] The automated maintenance device in this embodiment, when crossing obstacles, such as... Figures 9 to 14 As shown, by controlling one set of clamping components 30 on the side closer to the obstacle to fix the cable, and controlling another set of clamping components 30 on the side farther from the obstacle to release the cable, the moving frame 10 can be controlled by the robotic arm component 20 to rotate and bend around the obstacle, so that the device can climb over the obstacle. During the process of climbing over the obstacle, the first motor 43 controls the first rotating shaft 42 to rotate the visualization device 41, so that the visualization device 41 always faces the cable, thereby automating the inspection and maintenance of the cable through the visualization device 41.

[0058] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the scope defined by the invention.

Claims

1. An automated servicing device, characterized in that, The utility model relates to an automatic overhaul device for cable, which comprises the following parts: a moving frame (10); two mechanical arm assemblies (20) rotatably connected to two sides of the moving frame (10); two clamping assemblies (30) rotatably connected to the two mechanical arm assemblies (20) away from the moving frame (10), wherein each clamping assembly (30) comprises an axial limiting part (31) and a rolling clamping part (32), the rolling clamping part (32) is symmetrically arranged with at least two rolling clamping parts (32) centered on the mechanical arm assembly (20), the rolling clamping part (32) is suitable for rolling clamping cables, the axial limiting part (31) is connected to the rolling clamping part (32), and the axial limiting part (31) is suitable for clamping the rolling clamping part (32) in the axial direction; a control module electrically connected to the mechanical arm assembly (20) and the axial limiting part (31) and the rolling clamping part (32).

2. The automated access device of claim 1, wherein, The automatic overhaul device further comprises a visual detection assembly (40) rotatably arranged on the moving frame (10).

3. The automated access device of claim 2, wherein, The visual detection assembly (40) comprises a visual device (41), a first rotating shaft (42), a first motor (43), and a first mounting seat (44), the output end of the first motor (43) is in transmission connection with the first rotating shaft (42), the first rotating shaft (42) is rotatably connected to the first mounting seat (44), and the visual device (41) is arranged on the first mounting seat (44).

4. The automated access device according to any one of claims 1-3, wherein, The mechanical arm assembly (20) comprises a mechanical arm (21), a second motor (22), a mounting shaft (23), and a synchronous transmission structure (24), the moving frame (10) comprises a frame body (11), a second mounting seat (12), and a connecting seat (13), the second motor (22) is fixed on the second mounting seat (12), the second motor (22) has an output shaft, the output shaft is connected to the mechanical arm (21), the mechanical arm (21) is rotatably arranged on the connecting seat (13), the mounting shaft (23) is rotatably connected to the end of the mechanical arm (21) away from the output shaft, the mounting shaft (23) is connected to the synchronous transmission structure (24), the synchronous transmission structure (24) is connected to the output shaft, and the second motor (22) is electrically connected to the control module.

5. The automated access device of claim 4, wherein, The synchronous transmission structure (24) comprises a first gear (241), a second gear (242), and a synchronous belt (243), the first gear (241) is connected to the output shaft, the second gear (242) is connected to the mounting shaft (23), and the two ends of the synchronous belt (243) are in meshing connection with the first gear (241) and the second gear (242), respectively.

6. The automated inspection apparatus of any one of claims 1-3, wherein, The rolling clamping part (32) comprises a control box (321), clamping rollers (322), connecting shafts (323) and a sliding mechanism, the sliding mechanism is arranged in the control box (321), the connecting shafts (323) and the clamping rollers (322) are each provided with at least two, the connecting shafts (323) are rotationally connected with the sliding mechanism, the clamping rollers (322) are connected with the connecting shafts (323), and the sliding mechanism is electrically connected with the control module.

7. The automated access device of claim 6, wherein, The sliding mechanism comprises fixing barrels (3241), telescopic rods (3242), telescopic frames (3243), connecting frames (3244), first sliding connecting rods (3245), first stop blocks (3246), telescopic mounting frames (3247), electric control telescopic rods (3248), programmed controllers (3250), spring barrels (3249) and first springs (3251); the fixing barrels (3241) are arranged on the control box (321), the telescopic rods (3242) are slidably arranged in the fixing barrels (3241), the telescopic frames (3243) are connected with the telescopic rods (3242), the connecting frames (3244) are provided with two, the two connecting frames (3244) are respectively connected with two ends of the telescopic rods (3242), the first sliding connecting rods (3245) are slidably arranged in the connecting frames (3244), one end of the first sliding connecting rods (3245) is connected with the first stop blocks (3246), the first stop blocks (3246) are clamped with the connecting frames (3244), the other end of the first sliding connecting rods (3245) is connected with the telescopic mounting frames (3247), the connecting shafts (323) are rotationally arranged in the telescopic mounting frames (3247), the electric control telescopic rods (3248) are provided with two, the two electric control telescopic rods (3248) are circumferentially and symmetrically arranged in the control box (321), output shafts of the electric control telescopic rods (3248) are connected with the telescopic frames (3243), the programmed controllers (3250) are connected with the electric control telescopic rods (3248), the spring barrels (3249) are connected with the telescopic mounting frames (3247), part of the first springs (3251) are arranged in the spring barrels (3249), the first springs (3251) are arranged between the spring barrels (3249) and the connecting frames (3244), and the control module is electrically connected with the programmed controllers (3250).

8. The automated access device of claim 7, wherein, The axial limiting part (31) comprises a limiting chuck (311), a limiting block (312), a sliding bearing (313), a second sliding connecting rod (314), a second stop block (315), a second spring (316), a driving sliding rod (317) and a driving cylinder (318), the limiting chuck (311) is arranged on the connecting shaft (323), the limiting block (312) is arranged on one side of the limiting chuck (311) close to the connecting frame (3244), the limiting chuck (311) is clamped with the limiting block (312), the sliding bearing (313) is connected with the telescopic mounting frame (3247), the second sliding connecting rod (314) is slidably arranged in the sliding bearing (313), the limiting block (312) is connected with the second sliding connecting rod (314), one end of the second sliding connecting rod (314) close to the connecting frame (3244) is connected with the second stop block (315), the two ends of the second spring (316) are respectively connected with the second stop block (315) and the sliding bearing (313), the limiting block (312) is connected with the driving sliding rod (317), the driving cylinder (318) is connected with the connecting frame (3244), the driving cylinder (318) is slidably connected with the driving sliding rod (317), and the sliding bearing (313) and the second sliding connecting rod (314) are electrically connected with the control module.

9. The automated access device of claim 7, wherein, The clamping assembly (30) further comprises an axial adjusting mechanism (33), the axial adjusting mechanism (33) is slidably connected with the telescopic frame (3243), and the axial adjusting mechanism (33) is connected with the mechanical arm (21).

10. The automated access device of claim 9, wherein, The axial adjusting mechanism (33) comprises an axial limiting sleeve (331), an axial limiting sleeve shaft (332) and an elastic damper, the axial limiting sleeve (331) is slidably connected with the telescopic frame (3243), the axial limiting sleeve shaft (332) is slidably arranged in the axial limiting sleeve (331), and the elastic damper is arranged between the axial limiting sleeve (331) and the axial limiting sleeve shaft (332).

Images