Grounding work robot

Abstract

This invention relates to the field of overhead power line maintenance technology and discloses a grounding operation robot, including a pole-climbing device, a robotic arm, and a grounding ring installation device. The pole-climbing device is used to climb power poles, and the robotic arm is mounted on the pole-climbing device. The grounding ring installation device includes a nut-tightening fixture, a grounding ring holder, a first connecting bracket, and a first drive mechanism. The first connecting bracket is connected to the robotic arm, and the robotic arm is used to drive the first connecting bracket to move. The nut-tightening fixture, the grounding ring holder, and the first drive mechanism are all mounted on the first connecting bracket. The grounding ring holder supports the grounding ring, and the first drive mechanism drives the nut-tightening fixture to move closer to and away from the grounding ring holder. The nut-tightening fixture is used to tighten the clamp bolts of the grounding ring. This grounding operation robot improves the safety of maintenance personnel, eliminates the need for a lift vehicle to support maintenance personnel, has fewer site restrictions, and improves the flexibility of maintenance operations.

Description

Technical Field

[0001] This invention relates to the field of power grid overhead line maintenance technology, and in particular to a grounding operation robot. Background Technology

[0002] As a key component for grounding connections on overhead conductors in power systems, grounding rings are traditionally fixed manually by tightening bolts. Installation typically requires a lift to raise maintenance personnel to the height of the overhead conductor. The personnel, wearing heavy insulating suits, gloves, and boots, then manually install the grounding ring onto the exposed conductor. In high-altitude or live-line working scenarios, this approach compromises operator safety and limits operational flexibility.

[0003] Therefore, there is an urgent need for a grounding robot to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a grounding operation robot to improve the safety of maintenance personnel and the flexibility of maintenance operations.

[0005] To achieve this objective, the present invention adopts the following technical solution: A grounding operation robot includes a pole climbing device, a robotic arm, and a grounding ring mounting device. The pole climbing device is used to climb utility poles, and the robotic arm is mounted on the pole climbing device. The grounding ring installation device includes a nut-driving fixture, a grounding ring holder, a first connecting bracket, and a first driving mechanism. The first connecting bracket is connected to the robotic arm, and the robotic arm is used to drive the first connecting bracket to move. The nut-driving fixture, the grounding ring holder, and the first driving mechanism are all mounted on the first connecting bracket. The grounding ring holder is used to support the grounding ring, and the first driving mechanism is used to drive the nut-driving fixture to move closer to and away from the grounding ring holder. The nut-driving fixture is used to tighten the wire clamp bolt of the grounding ring.

[0006] As an improvement to the above technical solution, the nut-tightening fixture includes a sliding frame, a tightening mechanism, and a sleeve; The sliding frame is slidably mounted on the first connecting bracket, and the first driving mechanism is connected to the sliding frame in a transmission manner. The tightening mechanism is mounted on the sliding frame, and the sleeve is connected to the output end of the tightening mechanism. The tightening mechanism is used to drive the sleeve to rotate.

[0007] As an improvement to the above technical solution, the nut-driving fixture also includes a connecting seat; Two sleeves are provided, and the connecting seat is provided in a one-to-one correspondence with the sleeve. The sleeve is rotatably connected to the corresponding connecting seat. The sliding frame is provided with a first guide groove. The connecting seat is slidably disposed in the first guide groove. The sleeve can slide along the first guide groove with the corresponding connecting seat.

[0008] As an improvement to the above technical solution, the tightening mechanism includes a first driving component, a driving shaft, and a transmission assembly; The first driving component is connected to the driving shaft, the transmission components are arranged one-to-one with the sleeves, and each sleeve is connected to the driving shaft through a corresponding transmission component. The first guide groove is an arc-shaped groove, and the center of the first guide groove is located on the rotation axis of the driving shaft.

[0009] As an improvement to the above technical solution, the transmission assembly includes a drive wheel, a driven wheel, a synchronous belt, and a transmission shaft; The drive wheel is sleeved on the drive shaft and can rotate with the drive shaft. The transmission shaft is rotatably mounted on the connecting seat. The driven wheel is sleeved on the transmission shaft. The drive wheel is connected to the driven wheel through the synchronous belt. The sleeve is connected to the transmission shaft and can rotate with the transmission shaft.

[0010] As an improvement to the above technical solution, the grounding ring mounting device further includes a limiting mechanism; The limiting mechanism includes a support frame and a limiting plate. The support frame is disposed on the sliding frame, and the limiting plate is disposed on the support frame and can slide along the height direction of the support frame. The limiting plate is provided with a strip-shaped hole, the length direction of which is perpendicular to the height direction of the support frame. The end of the transmission shaft away from the sleeve extends into the strip-shaped hole, and the transmission shaft can slide along the strip-shaped hole and slide along the height direction of the support frame with the limiting plate.

[0011] As an improvement to the above technical solution, the grounding ring holder includes a base body, on which a receiving groove is provided. The depth direction of the receiving groove is parallel to the height direction of the support frame, and the lower part of the grounding ring can be inserted into the receiving groove.

[0012] As an improvement to the above technical solution, the grounding ring holder also includes a support plate and an adjusting component; The support plate is disposed in the receiving groove and can slide along the depth direction of the receiving groove. The support plate is used to support the bottom of the grounding ring. The adjusting element is located at the bottom end of the base and is used to support the support plate.

[0013] As an improvement to the above technical solution, sliding parts are provided at both ends of the support plate along its length, and second guide grooves corresponding to the sliding parts are provided on the base. The length direction of the second guide groove is parallel to the depth direction of the receiving groove, and the sliding parts are slidably inserted into the corresponding second guide grooves. The adjusting member is threaded onto the base, with its bottom end exposed outside the base and its top end extending through the base into the receiving groove. The top end of the adjusting member abuts against the bottom surface of the support plate.

[0014] As an improvement to the above technical solution, a grounding wire installation device is also included. The grounding wire installation device includes a second connecting bracket, a second slide, a third slide, a third driving mechanism, and a grounding wire. The second connecting bracket is used to connect the robotic arm. The second slide and the third slide are both slidably disposed on the second connecting bracket. The third driving mechanism is disposed on the second connecting bracket and is used to drive the second slide and the third slide to move closer and further away from each other. The grounding wire is connected to the second slide.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The grounding robot of this invention can climb along a utility pole using a pole-climbing device, moving the robotic arm and grounding ring installation device to a position close to the conductor. The robotic arm aligns the grounding ring, supported on the grounding ring holder, with the conductor. The first drive mechanism can drive the nut-driving fixture to move closer to and away from the grounding ring, allowing the nut-driving fixture to approach the grounding ring on the grounding ring holder. After the sleeve is fitted onto the clamp bolt of the grounding ring, the sleeve is used to tighten the clamp bolt of the grounding ring, clamping the grounding ring onto the conductor, thereby fixing the grounding ring to the conductor. This enables remote operation of installing and fixing the grounding ring, improving the safety of maintenance personnel. Furthermore, it eliminates the need for a lifting vehicle to support maintenance personnel, has fewer site restrictions, and improves the flexibility of maintenance operations. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the grounding robot provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of a partial structure of the grounding robot provided in an embodiment of the present invention. Figure 1 ; Figure 3 This is a schematic diagram of a partial structure of the grounding robot provided in an embodiment of the present invention. Figure 2 ; Figure 4 This is a schematic diagram of a partial structure of the grounding robot provided in an embodiment of the present invention. Figure 3 ; Figure 5This is a schematic diagram of a partial structure of the grounding robot provided in an embodiment of the present invention. Figure 4 ; Figure 6 This is a schematic diagram of a partial structure of the grounding robot provided in an embodiment of the present invention. Figure 5 ; Figure 7 This is a schematic diagram of a partial structure of the grounding robot provided in an embodiment of the present invention. Figure 6 ; Figure 8 This is a schematic diagram of the grounding robot installed with a grounding ring according to an embodiment of the present invention.

[0017] In the picture: 1. Pole climbing device; 11. First slide plate; 12. First gripper mechanism; 13. Second slide plate; 14. Second gripper mechanism; 2. Robotic arm; 3. Grounding ring installation device; 31. Nut-setting tool; 311. Sliding frame; 3111, First guide groove; 3112, First slide block; 3113, Support plate; 312. Tightening mechanism; 3121. First driving component; 3122. Drive shaft; 3123, Transmission assembly; 31231, Drive wheel; 31232, Driven wheel; 31233, Synchronous belt; 31234, Transmission shaft; 313. Sleeve; 314. Connecting seat; 32. Grounding ring holder; 321, base; 3211, receiving groove; 3212, second guide groove; 322. Support plate; 323. Adjusting component; 33. First connecting bracket; 331. Frame; 332. Connecting plate; 34. First drive mechanism; 35. Limiting mechanism; 351. Support frame; 352. Limiting plate; 3521. Strip hole; 4. Grounding wire installation device; 41. Second connecting bracket; 42. Second slide; 43. Third slide; 44. Third drive mechanism; 45. Grounding wire; 100, pole; 200, grounding ring; 300, conductor. Detailed Implementation

[0018] The specific 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 are not intended to limit the scope of the invention.

[0019] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0021] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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 present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0022] like Figures 1-6 As shown, this embodiment provides a grounding operation robot, including a pole climbing device 1, a robotic arm 2, and a grounding ring mounting device 3. The pole climbing device 1 is used to climb a utility pole 100, and the robotic arm 2 is mounted on the pole climbing device 1. The grounding ring mounting device 3 includes a nut-driving fixture 31, a grounding ring holder 32, a first connecting bracket 33, and a first driving mechanism 34. The first connecting bracket 33 is connected to the robotic arm 2, and the robotic arm 2 is used to drive the first connecting bracket 33 to move. The nut-driving fixture 31, the grounding ring holder 32, and the first driving mechanism 34 are all mounted on the first connecting bracket 33. The grounding ring holder 32 is used to support the grounding ring 200, and the first driving mechanism 34 is used to drive the nut-driving fixture 31 to move closer to and away from the grounding ring holder 32. The nut-driving fixture 31 is used to tighten the clamp bolts of the grounding ring 200.

[0023] The grounding robot of this embodiment can climb along the pole 100 using the pole climbing device 1, moving the robotic arm 2 and the grounding ring installation device 3 to a position close to the conductor 300. The robotic arm 2 aligns the grounding ring 200, supported on the grounding ring holder 32, with the conductor 300. The first drive mechanism 34 drives the nut-tightening fixture 31 to move closer to and away from the grounding ring 200, allowing the nut-tightening fixture 31 to approach the grounding ring 200 on the grounding ring holder 32. After the sleeve 313 is fitted onto the clamp bolt of the grounding ring 200, the sleeve 313 tightens the clamp bolt of the grounding ring 200. The nut is fixedly installed inside the left clamp of the wire clamp, and the tail end of the bolt is threadedly connected to the nut. When the bolt of the wire clamp is tightened by the sleeve 313, the bolt rotates relative to the nut, and the head of the bolt abuts against the outer wall of the right clamp of the wire clamp. The head of the bolt drives the right clamp of the wire clamp to move closer to the left clamp where the nut is located, so that the wire clamp of the grounding ring 200 is clamped on the conductor 300, thereby fixing the grounding ring 200 to the conductor 300. This enables remote operation of installing and fixing the grounding ring 200, improves the safety of maintenance personnel, and eliminates the need for a lifting vehicle to lift maintenance personnel. It is less restricted by the site and improves the flexibility of maintenance operations.

[0024] Those skilled in the art will understand that when placing the grounding ring 200 onto the grounding ring holder 32, the nut-tightening fixture 31 needs to maintain a certain distance from the grounding ring holder 32 to avoid the presence of the sleeve 313 hindering the placement process of the grounding ring 200 onto the grounding ring holder 32.

[0025] Optionally, such as Figures 1-5 As shown, the nut-tightening fixture 31 includes a sliding frame 311, a tightening mechanism 312, and a sleeve 313. The sliding frame 311 is slidably mounted on the first connecting bracket 33, and the first driving mechanism 34 is connected to the sliding frame 311 in a transmission manner. The tightening mechanism 312 is mounted on the sliding frame 311, and the sleeve 313 is connected to the output end of the tightening mechanism 312. The tightening mechanism 312 is used to drive the sleeve 313 to rotate. In this embodiment, the first driving mechanism 34 is an electric lead screw, and the sliding frame 311 is connected to the slide block of the first driving mechanism 34. The electric lead screw is a prior art device, and its specific structure and principle will not be described in detail here.

[0026] Furthermore, such as Figures 1-5As shown, the nut-driving fixture 31 also includes a connecting seat 314. Two sleeves 313 are provided, with each connecting seat 314 corresponding to a sleeve 313. Each sleeve 313 is rotatably connected to its corresponding connecting seat 314. A first guide groove 3111 is provided on the sliding frame 311. The connecting seat 314 is slidably disposed within the first guide groove 3111. The sleeve 313 can slide along the first guide groove 3111 with its corresponding connecting seat 314, allowing the relative position between the two sleeves 313 to be adjusted. This enables the nut-driving fixture 31 in this embodiment to adapt to grounding rings 200 with different spacing between two bolts, thereby improving the applicability of the grounding ring installation device 3. Those skilled in the art will understand that some models of grounding rings 200 have the same ring body size but different clamps, such as different spacing between the two bolts on the clamp. In this embodiment, the relative position between the two sleeves 313 can be adjusted, allowing the nut-driving fixture 31 to adapt to grounding rings 200 with different spacing between two bolts by adjusting the distance between the two sleeves 313.

[0027] Optionally, such as Figures 1-5 As shown, the tightening mechanism 312 includes a first driving member 3121, a driving shaft 3122, and a transmission assembly 3123. The first driving member 3121 is connected to the driving shaft 3122. The transmission assembly 3123 is correspondingly arranged with the sleeves 313. Each sleeve 313 is connected to the driving shaft 3122 via the corresponding transmission assembly 3123. The first guide groove 3111 is an arc-shaped groove, meaning that the extension trajectory of the first guide groove 3111 is arc-shaped. The center of the first guide groove 3111 is located on the rotation axis of the driving shaft 3122, thereby enabling the sleeves 313 to move around the rotation axis of the driving shaft 3122 along the extension direction of the first guide groove 3111. In other words, while adjusting the relative position between the two sleeves 313, the distance between the two sleeves 313 and the rotation axis of the driving shaft 3122 remains unchanged, so that the transmission assembly 3123 can transmit normally after the relative position between the two sleeves 313 is adjusted.

[0028] Furthermore, such as Figure 2 and Figure 4As shown, the transmission assembly 3123 includes a drive wheel 31231, a driven wheel 31232, a timing belt 31233, and a transmission shaft 31234. The drive wheel 31231 is sleeved on the drive shaft 3122 and can rotate with the drive shaft 3122. The transmission shaft 31234 is rotatably mounted on the connecting seat 314. The driven wheel 31232 is sleeved on the transmission shaft 31234. The drive wheel 31231 is connected to the driven wheel 31232 via the timing belt 31233. The sleeve 313 is connected to the transmission shaft 31234 and can rotate with the transmission shaft 31234. When adjusting the relative position between the two sleeves 313, the transmission shaft 31234 can rotate relative to the connecting seat 314, thereby allowing the transmission assembly 3123 to adapt to changes in the position of the sleeves 313.

[0029] Optionally, such as Figures 1-3 As shown, the grounding ring mounting device 3 also includes a limiting mechanism 35. The limiting mechanism 35 includes a support frame 351 and a limiting plate 352. The support frame 351 is mounted on the sliding frame 311, and the limiting plate 352 is mounted on the support frame 351 and can slide along the height direction of the support frame 351. The limiting plate 352 has a strip hole 3521, the length direction of which is perpendicular to the height direction of the support frame 351. The end of the transmission shaft 31234 away from the sleeve 313 extends into the strip hole 3521. The transmission shaft 31234 can slide along the strip hole 3521 and can slide along the height direction of the support frame 351 with the limiting plate 352. The limiting mechanism 35 ensures that the height of the two sleeves 313 relative to the grounding ring holder 32 remains consistent when adjusting the relative position of the two sleeves 313 (that is, the distance between the two sleeves 313), which facilitates the alignment of the two sleeves 313 with the clamp bolts of the two grounding rings 200.

[0030] Furthermore, such as Figures 1-3 As shown, the sliding frame 311 includes a first slide block 3112 and a support plate 3113. The first slide block 3112 is slidably disposed on the first connecting support 33. The first driving mechanism 34 is connected to the first slide block 3112 for driving the first slide block 3112 to slide along the first connecting support 33. The support plate 3113 is fixedly disposed on the first slide block 3112. The first guide groove 3111 is disposed on the support plate 3113. The first guide groove 3111 and the connecting seat 314 are respectively disposed in a corresponding manner. The connecting seat 314 is slidably disposed in the corresponding first guide groove 3111.

[0031] Furthermore, such as Figures 1-3As shown, the grounding ring holder 32 includes a base 321, on which a receiving groove 3211 is provided. The depth direction of the receiving groove 3211 is parallel to the height direction of the support frame 351. The lower part of the grounding ring 200 can be inserted into the receiving groove 3211. The receiving groove 3211 can limit the grounding ring 200, so that the grounding ring 200 can be relatively stably supported on the grounding ring holder 32.

[0032] Furthermore, such as Figures 1-3 As shown, the grounding ring holder 32 also includes a support plate 322 and an adjusting member 323. The support plate 322 is disposed within the receiving groove 3211 and can slide along the depth direction of the receiving groove 3211. The support plate 322 is used to support the bottom of the grounding ring 200. The adjusting member 323 is disposed at the bottom end of the seat body 321 and is used to support the support plate 322. Those skilled in the art will understand that, since the first guide groove 3111 is an arc-shaped groove, the height of the two sleeves 313 relative to the seat body 321 will also change when adjusting the distance between the two sleeves 313. Therefore, for grounding rings 200 with different bolt spacings, in order to make the bolts of the grounding ring 200 and the sleeves 313 at the same height, it is also necessary to adjust the height of the grounding ring 200 relative to the seat body 321. Therefore, this embodiment provides a support plate 322 that can slide along the height direction of the receiving groove 3211 to support the bottom of the grounding ring 200, so that the grounding ring holder 32 can support grounding rings 200 of different models.

[0033] Furthermore, such as Figure 2 and Figure 3 As shown, sliding portions are provided at both ends of the support plate 322 along its length. The base 321 has second guide grooves 3212 corresponding to the sliding portions. The length of the second guide grooves 3212 is parallel to the depth direction of the receiving groove 3211. The sliding portions are slidably inserted into the corresponding second guide grooves 3212. An adjusting member 323 is threaded onto the base 321, with its bottom end exposed outside the base 321 and its top end extending through the base 321 into the receiving groove 3211. The top end of the adjusting member 323 abuts against the bottom surface of the support plate 322, thus supporting the support plate 322. By rotating the adjusting member 323, the length of the adjusting member 323 extending into the receiving groove 3211 can be adjusted, thereby supporting the support plate 322 at different heights. In this embodiment, two adjusting members 323 are provided, spaced apart along the length of the receiving groove 3211 to stably support the support plate 322.

[0034] Optionally, the grounding robot provided in this embodiment further includes a sensor assembly for detecting the relative position between the grounding robot and the pole 100, and the relative position between the grounding robot and the conductor 300. Preferably, the sensor assembly includes a first sensor and a second sensor. The first sensor is disposed on the top of the climbing device 1 and is used to detect the relative position between the climbing device 1 and the pole 100. The second sensor is disposed on the end of the robotic arm 2 and is used to monitor the spatial position of the conductor 300, so as to control the climbing height of the climbing device 1 and the alignment of the grounding ring 200 clamp with the conductor 300. In this embodiment, the first sensor is a lidar, which controls the climbing height of the climbing device 1 by detecting the relative position between the top crossarm of the pole 100 and the top of the climbing device 1. The second sensor is a vision inspection camera, which obtains the spatial position of the conductor 300 within the field of view of the vision inspection camera, so as to control the robotic arm 2 to drive the grounding ring 200 clamp to align with the conductor 300.

[0035] Optionally, such as Figure 1 As shown, in this embodiment, robotic arm 2 is a six-degree-of-freedom robotic arm, characterized by its high degree of freedom. This six-degree-of-freedom robotic arm is also the type of six-axis industrial robot widely used in industrial production. The six-degree-of-freedom robotic arm uses six servo motors to drive the rotation of six joint axes, achieving six degrees of freedom movements at the end effector. Here, six degrees of freedom refers to three rotational degrees of freedom and three translational degrees of freedom.

[0036] Furthermore, such as Figure 3 As shown, the first connecting bracket 33 is detachably connected to the end of the robotic arm 2. Specifically, the first connecting bracket 33 includes a frame 331 and a connecting plate 332. The grounding robot also includes a pressure plate and connecting bolts. The connecting plate 332 is clamped between the pressure plate and the end of the robotic arm 2, and the connecting bolts pass through the pressure plate and the connecting plate 332 to connect to the end of the robotic arm 2.

[0037] Optionally, such as Figure 1 and Figure 6 As shown, the pole climbing device 1 includes a first sliding plate 11, a first gripper mechanism 12, a second sliding plate 13, a second gripper mechanism 14, and a second drive mechanism. The first sliding plate 11 and the second sliding plate 13 are slidably connected. The first gripper mechanism 12 is disposed on the first sliding plate 11, and the second gripper mechanism 14 is disposed on the second sliding plate 13. The second drive mechanism connects the first sliding plate 11 and the second sliding plate 13 and can drive the first sliding plate 11 and the second sliding plate 13 to slide relative to each other. The first gripper mechanism 12 and the second gripper mechanism 14 are both used to grip the pole 100.

[0038] When the pole climbing device 1 climbs the pole 100, when the first gripper mechanism 12 grips the pole 100, the second gripper mechanism 14 releases the pole 100, and the second drive mechanism drives the second slide plate 13 to slide upward relative to the first slide plate 11. Then the second gripper mechanism 14 grips the pole 100, the first gripper mechanism 12 releases the pole 100, and the second drive mechanism drives the first slide plate 11 to slide the first gripper mechanism 12 upward. Then the first gripper mechanism 12 grips the pole 100, the second gripper mechanism 14 releases the pole 100, and the second drive mechanism drives the second slide plate 13 to slide upward relative to the first slide plate 11. The above steps are repeated, and the pole climbing action is completed with the cooperation of the two gripper mechanisms in a loosening and tightening manner.

[0039] In this embodiment, the first gripper mechanism 12 includes a first motor, a first gear, two first racks, and two grippers. The two first racks are slidably connected to the first slide plate 11. The first grippers are arranged in a one-to-one correspondence with the first racks, and the first grippers are fixedly connected to the corresponding first racks. The first motor is disposed on the first slide plate 11 and is drivenly connected to the first gear. Both first racks are meshed with the first gear. The first motor drives the first gear to rotate, thereby moving the two first racks, which in turn causes the two first grippers to move closer and further apart, so as to grip and release the electric pole 100. Similarly, the second gripper mechanism 14 includes a second motor, a second gear, two second racks, and two grippers. The two second racks are slidably connected to the second slide plate 13. The second grippers are arranged in a one-to-one correspondence with the second racks, and the second grippers are fixedly connected to the corresponding second racks. The second motor is mounted on the second slide plate 13 and is connected to the second gear for transmission. Both second racks are meshed with the second gear. The second motor drives the second gear to rotate, thereby moving the two second racks, which in turn causes the two second grippers to move closer and further apart, in order to grip and release the electric pole 100. The second drive mechanism includes a third motor, a third gear, and a third rack. The third motor is mounted on the second slide plate 13, and the third rack is mounted on the first slide plate 11. The third rack meshes with the third gear, and the third motor is connected to the third gear in a transmission manner. The third motor drives the third gear to rotate, causing the third rack to move relative to the third gear, thereby driving the first slide plate 11 and the second slide plate 13 to slide relative to each other. The third motor drives the third gear to rotate in a first direction, causing the first slide plate 11 and the second slide plate 13 to move closer to each other (for driving the first slide plate 11 to move upward when the second gripper mechanism 14 grips the electric rod 100). The third motor drives the third gear to rotate in a second direction opposite to the first direction, causing the first slide plate 11 and the second slide plate 13 to move away from each other (for driving the second slide plate 13 to move upward when the first gripper mechanism 12 grips the electric rod 100).

[0040] like Figure 7As shown, the grounding robot provided in this embodiment also includes a grounding wire installation device 4. The grounding wire installation device 4 includes a second connecting bracket 41, a second slide 42, a third slide 43, a third drive mechanism 44, and a grounding wire 45. The second connecting bracket 41 is used to connect the robotic arm 2. The second slide 42 and the third slide 43 are both slidably mounted on the second connecting bracket 41. The third drive mechanism 44 is mounted on the second connecting bracket 41 and is used to drive the second slide 42 and the third slide 43 to move closer and further apart. The grounding wire 45 is connected to the second slide 42. In this embodiment, a fourth rack is provided on the second slide 42, and a fifth rack is provided on the third slide 43. The third drive mechanism 44 includes a fourth motor and a fourth gear. The fourth motor is connected to the fourth gear. The fourth rack and the fifth rack are both meshed with the fourth gear, and the fourth rack and the fifth rack are located on both sides of the fourth gear. Thus, through the rotation of the fourth gear, the fourth rack and the fifth rack can drive the second slide 42 and the third slide 43 to move closer and further apart.

[0041] Furthermore, the grounding robot also includes an electromagnetic suction device, which is located at the end of the robotic arm 2. The second connecting bracket 41 has a mating part for cooperating with the electromagnetic suction device. When it is necessary to connect the second connecting bracket 41 and the robotic arm 2, the electromagnetic suction device attracts the mating part. When it is necessary to disconnect the connection between the second connecting bracket 41 and the robotic arm 2, the electromagnetic suction device is de-energized and disengages from the mating part. Those skilled in the art will understand that insulation treatment is required between the second slide 42 and the third slide 43 and the mating part, and between the second slide 42 and the third slide 43 and the third drive mechanism 44, to prevent electrical connection between the robotic arm 2 and the grounding wire. The specific method of insulation treatment can be configured as needed. For example, the output end of the third drive mechanism 44 can be made of insulating material, an insulating plate can be provided on the second connecting bracket 41, and the second slide 42 and the third slide 43 can be mounted on the insulating plate.

[0042] As will be understood by those skilled in the art, the grounding robot also includes a control system for controlling the installation process of the grounding ring 200 and the installation and disassembly process of the grounding wire installation device 4.

[0043] The working process of this invention is as follows: When the grounding ring 200 needs to be installed, adjust the height of the grounding ring 200 and the support plate 322 on the ground, and adjust the position of the sleeve 313. Drive the sleeve 313 to fit onto the clamp bolt of the grounding ring 200. Place the grounding operation robot on the pole 100, and the grounding operation robot climbs upward (at this time, the robotic arm 2 is in the retracted state, so that the grounding ring installation device 3 is as close as possible to the pole climbing device 1). When it climbs to a suitable height, the grounding operation robot stops climbing. Figure 8As shown, the robotic arm 2 unfolds, driving the grounding ring 200 closer to the conductor 300, and causing the wire clamp of the grounding ring 200 to be placed onto the conductor 300. The bolt of the nut fixture 31 is tightened to clamp the conductor 300. By moving the grounding ring holder 32 downward, the grounding ring 200 is disengaged from the grounding ring holder 32. Then, the robotic arm 2 is retracted, and the grounding ring mounting device 3 is brought close to the pole climbing device 1. The pole climbing device 1 moves downward along the pole 100, and the grounding operation robot is retrieved.

[0044] After the grounding ring 200 is installed, if subsequent voltage testing and grounding are required, the grounding ring installation device 3 can be replaced with the grounding wire installation device 4. The pole 100 is climbed again using the climbing device 1, and the grounding wire installation device 4 is brought close to the conductor 300. The third drive mechanism 44 drives the second slide 42 and the third slide 43 to clamp the conductor 300. The grounding wire 45 is electrically connected to the conductor 300 through the second slide 42. Then, the electric magnetic suction device is de-energized, and the robotic arm 2 disengages from the grounding wire installation device 4. After the maintenance work is completed, the robotic arm 2 reconnects to the grounding wire installation device 4 to complete the removal of the grounding wire 45.

[0045] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A grounding robot, characterized in that, It includes a pole climbing device (1), a robotic arm (2) and a grounding ring mounting device (3), wherein the pole climbing device (1) is used to climb the pole (100) and the robotic arm (2) is mounted on the pole climbing device (1); The grounding ring installation device (3) includes a nut-driving tool (31), a grounding ring holder (32), a first connecting bracket (33), and a first driving mechanism (34). The first connecting bracket (33) is connected to the robotic arm (2), and the robotic arm (2) is used to drive the first connecting bracket (33) to move. The nut-driving fixture (31), the grounding ring holder (32), and the first driving mechanism (34) are all mounted on the first connecting bracket (33). The grounding ring holder (32) is used to support the grounding ring (200). The first driving mechanism (34) is used to drive the nut-driving fixture (31) to move closer to and away from the grounding ring holder (32). The nut-driving fixture (31) is used to tighten the clamp bolts of the grounding ring (200).

2. The grounding robot according to claim 1, characterized in that, The nut-tightening fixture (31) includes a sliding frame (311), a tightening mechanism (312), and a sleeve (313). The sliding frame (311) is slidably mounted on the first connecting bracket (33), and the first driving mechanism (34) is connected to the sliding frame (311) in a transmission manner; The tightening mechanism (312) is mounted on the sliding frame (311), and the sleeve (313) is connected to the output end of the tightening mechanism (312). The tightening mechanism (312) is used to drive the sleeve (313) to rotate.

3. The grounding robot according to claim 2, characterized in that, The nut-driving tool (31) also includes a connecting seat (314). Two sleeves (313) are provided, and the connecting seat (314) is provided in a one-to-one correspondence with the sleeve (313). The sleeve (313) is rotatably connected to the corresponding connecting seat (314). The sliding frame (311) is provided with a first guide groove (3111). The connecting seat (314) is slidably disposed in the first guide groove (3111). The sleeve (313) can slide along the first guide groove (3111) with the corresponding connecting seat (314).

4. The grounding robot according to claim 3, characterized in that, The tightening mechanism (312) includes a first driving member (3121), a driving shaft (3122), and a transmission assembly (3123). The first driving component (3121) is connected to the driving shaft (3122) in a transmission connection. The transmission component (3123) is provided in a one-to-one correspondence with the sleeve (313). The sleeve (313) is connected to the driving shaft (3122) through the corresponding transmission component (3123). The first guide groove (3111) is an arc-shaped groove. The center of the first guide groove (3111) is located on the rotation axis of the driving shaft (3122).

5. The grounding robot according to claim 4, characterized in that, The transmission assembly (3123) includes a drive wheel (31231), a driven wheel (31232), a timing belt (31233), and a transmission shaft (31234). The drive wheel (31231) is sleeved on the drive shaft (3122) and can rotate with the drive shaft (3122). The transmission shaft (31234) is rotatably mounted on the connecting seat (314). The driven wheel (31232) is sleeved on the transmission shaft (31234). The drive wheel (31231) is connected to the driven wheel (31232) through the synchronous belt (31233). The sleeve (313) is connected to the transmission shaft (31234) and can rotate with the transmission shaft (31234).

6. The grounding robot according to claim 5, characterized in that, The grounding ring mounting device (3) also includes a limiting mechanism (35); The limiting mechanism (35) includes a support frame (351) and a limiting plate (352). The support frame (351) is disposed on the sliding frame (311), and the limiting plate (352) is disposed on the support frame (351) and can slide along the height direction of the support frame (351). The limiting plate (352) is provided with a strip hole (3521). The length direction of the strip hole (3521) is perpendicular to the height direction of the support frame (351). The end of the transmission shaft (31234) away from the sleeve (313) extends into the strip hole (3521). The transmission shaft (31234) can slide along the strip hole (3521) and can slide along the height direction of the support frame (351) with the limiting plate (352).

7. The grounding robot according to claim 6, characterized in that, The grounding ring holder (32) includes a base (321) and a receiving groove (3211) is provided on the base (321). The depth direction of the receiving groove (3211) is parallel to the height direction of the support frame (351). The lower part of the grounding ring (200) can be inserted into the receiving groove (3211).

8. The grounding robot according to claim 7, characterized in that, The grounding ring holder (32) also includes a support plate (322) and an adjusting member (323); The support plate (322) is disposed in the receiving groove (3211) and can slide along the depth direction of the receiving groove (3211). The support plate (322) is used to support the bottom of the grounding ring (200). The adjusting member (323) is disposed at the bottom end of the seat (321) and is used to support the support plate (322).

9. The grounding robot according to claim 8, characterized in that, The support plate (322) has sliding parts at both ends along its length. The base (321) has second guide grooves (3212) that correspond one-to-one with the sliding parts. The length of the second guide grooves (3212) is parallel to the depth of the receiving groove (3211). The sliding parts are slidably inserted into the corresponding second guide grooves (3212). The adjusting member (323) is threaded onto the seat (321), with its bottom end exposed outside the seat (321) and its top end extending through the seat (321) into the receiving groove (3211). The top end of the adjusting member (323) abuts against the bottom surface of the support plate (322).

10. The grounding robot according to any one of claims 1-9, characterized in that, It also includes a grounding wire installation device (4), which includes a second connecting bracket (41), a second slide (42), a third slide (43), a third driving mechanism (44), and a grounding wire (45). The second connecting bracket (41) is used to connect the robotic arm (2). The second slide (42) and the third slide (43) are both slidably disposed on the second connecting bracket (41). The third driving mechanism (44) is disposed on the second connecting bracket (41) and is used to drive the second slide (42) and the third slide (43) to move closer and further away from each other. The grounding wire (45) is connected to the second slide (42).

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