A power transmission line bolt split pin live-line replacement device

Abstract

The application discloses a power transmission line bolt split pin live-line replacement device and belongs to the technical field of power equipment. The device comprises a lower box body arranged at the first end of a multi-degree-of-freedom joint mechanical arm and capable of rotating around the axis of the first end of the multi-degree-of-freedom joint mechanical arm; an upper box body which is rotationally matched with the lower box body around the axis of the first end of the multi-degree-of-freedom joint mechanical arm; and a bolt positioning hole which is arranged coaxially with the first end of the multi-degree-of-freedom joint mechanical arm on the upper box body and is provided with a support seat. The upper box body and the lower box body are in a split rotary structure. When the limiting pin locks the upper box body and the bolt, the upper box body can automatically release the constraint with the lower box body and no longer rotates synchronously with the lower box body. At this time, the R-shaped pin, the pin hole and the limiting pin are kept in a radial alignment locking state, the R-shaped pin can be directly pushed into the pin hole along the radial direction, and the automatic replacement operation of the R-shaped pin is realized.

Description

Technical Field

[0001] This invention relates to the field of power equipment technology, and in particular to a live-line repair device for bolt cotter pins in power transmission lines. Background Technology

[0002] High-voltage transmission line towers and hardware connections extensively utilize bolted fastening structures. To prevent bolts from loosening due to long-term wind vibration and line loads, regulations require that R-type cotter pins be inserted at the bolt ends for anti-loosening and limiting. During long-term outdoor operation, lines are susceptible to corrosion, breakage, detachment, deformation, and failure due to factors such as temperature expansion and contraction, rain corrosion, external impacts, and conductor vibration. If not replaced promptly, these R-type cotter pins can easily lead to bolt loosening and hardware misalignment, potentially causing major line safety accidents such as conductor derailment and damage to tower components.

[0003] Chinese invention patent CN118801249A discloses a method for installing pins on a live overhead cable. By rotating the housing around the axis of the pin, and when the movement path of the R-shaped pin is coaxially distributed with the pin hole of the pin in the image acquisition group, the sliding end of the positioning and pushing component pushes the R-shaped pin to slide along the acquisition path of the image acquisition component and radially insert it into the pin hole of the pin. There is no need for manual climbing to the work area. The process of replacing the pin is convenient, safe and reliable.

[0004] Chinese patent CN121340178B discloses a tool for installing bolt pins on live power transmission lines, including a detection unit. The detection unit is used to detect whether the R-type pin is aligned with the pin hole on the connecting bolt, thereby facilitating the pushing of the R-type pin through the pin hole on the connecting bolt to prevent the nut on the connecting bolt from disengaging from the connecting bolt.

[0005] All of the aforementioned devices rely on cameras to detect the alignment of R-pins and bolt holes. In field operations, strong light, backlighting, and airborne dust can easily cause camera image distortion and misjudgment, leading to assembly problems such as misalignment, bending, and jamming of the R-pins. Furthermore, the entire vision inspection system requires a camera module, transmission lines, and a recognition controller, resulting in high hardware costs and increasing the device's weight and size. When mounted on a multi-degree-of-freedom articulated robotic arm, this increases the arm's load, reducing its flexibility and operational endurance. From another perspective, visual recognition also suffers from a certain degree of control lag. If the detection component determines that the R-pin and bolt hole are aligned but fails to stop the box rotation in time, the bolt hole and R-pin will be misaligned at a certain angle, hindering the smooth pushing of the R-pin.

[0006] Therefore, it is necessary to provide a live-line repair device for bolt cotter pins in power transmission lines to solve the above-mentioned technical problems. Summary of the Invention

[0007] The purpose of this invention is to provide a live-line repair device for bolt cotter pins in power transmission lines, so as to solve the technical problems mentioned in the background art.

[0008] Based on the above ideas, the present invention provides the following technical solution: a live-line repair device for bolt cotter pins in power transmission lines, comprising: The lower box is located at the head end of the multi-degree-of-freedom jointed robotic arm and can rotate around the axis of the head end of the multi-degree-of-freedom jointed robotic arm. The upper box and the lower box rotate around the axis of the front end of the multi-degree-of-freedom joint robotic arm; A bolt positioning hole is provided on the upper box and is coaxially arranged with the head end of the multi-degree-of-freedom joint robotic arm. A support seat is provided in the bolt positioning hole. A pusher plate is slidably arranged along the diameter of the bolt positioning hole to push the R-pin through the pin hole on the bolt peripheral wall; The limiting pin is arranged along the diameter direction of the bolt positioning hole and is elastically connected to the upper box. When one end of the bolt is inserted into the bolt positioning hole and abuts against the support seat, the pin hole, R-type pin and limiting pin on the bolt are aligned along the diameter direction of the bolt positioning hole. The side plate is fixedly connected to the lower box body. The side plate is provided with a limiting hole that cooperates with the limiting pin. By moving the limiting pin along the diameter direction of the bolt positioning hole, the limiting pin can selectively lock one of the bolt and the side plate and unlock the other.

[0009] As a further embodiment of the present invention: a limiting component is provided in the upper box body, the limiting component having a top pin and a locking pin, the top pin being disposed through the support base and the top end of the top pin extending above the top of the support base, a protrusion being fixedly sleeved on the limiting pin, and a slot being provided on the protrusion for engaging with the locking pin.

[0010] As a further aspect of the present invention: a conical surface is provided at one end of the limiting pin near the bolt positioning hole.

[0011] As a further aspect of the present invention: a groove is provided on the inner wall of the side plate, the groove coincides with the limiting hole, and an extrusion member is fixedly connected in the groove to one side of the limiting hole. The inner side of the extrusion member is set as an inclined extrusion part. During the process of the lower box body rotating relative to the upper box body along the axis of the first end of the multi-degree-of-freedom joint robotic arm, the extrusion member can press against the limiting pin and cause the limiting pin to be further inserted into the pin hole.

[0012] As a further aspect of the present invention, the limiting member is elastically connected relative to the upper box body along the axis of the support seat.

[0013] As a further aspect of the present invention: the side plate is an arc-shaped plate structure, and the side wall of the upper box is configured as an arc surface that fits against the inner wall of the side plate. The center of the arc surface and the center of the inner circular surface of the side plate are both located on the axis of the head end of the multi-degree-of-freedom joint robotic arm.

[0014] As a further aspect of the present invention: a positioning shaft is fixedly connected to the bottom of the upper box, and a positioning bushing is fixedly connected to the top wall of the inner cavity of the lower box. The positioning shaft and the positioning bushing are rotatably engaged by bearings.

[0015] As a further aspect of the present invention: the upper box body is provided with a nut clamp that is coaxially arranged with the head end of the multi-degree-of-freedom joint robotic arm, and the nut clamp is configured as a polygonal structure and is adapted to the nut on the outside of the bolt.

[0016] As a further embodiment of the present invention: the upper box is provided with a linear slide rail and a slider that slides with the linear slide rail, the push plate is fixedly connected to the slider, and the upper box is provided with a telescopic unit, the output end of the telescopic unit being fixedly connected to the slider.

[0017] As a further aspect of the present invention: a bearing seat is fixedly connected to the upper box body, and the support seat rotates with the bearing seat through a bearing.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: The device adopts a split rotating structure of upper and lower box body. When the limiting pin locks the upper box body and the bolt, the upper box body can automatically release the constraint with the lower box body and no longer rotate synchronously with the lower box body. At this time, the R-type pin, the pin hole and the limiting pin are kept in a radially aligned locking state, and the R-type pin can be directly pushed into the pin hole along the radial direction to realize the automatic replacement operation of the R-type pin. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the bolt and upper box body insertion and mating of the present invention; Figure 3 This is a schematic diagram of the upper and lower boxes of the present invention after separation along the axis of the first end of the multi-degree-of-freedom joint robotic arm. Figure 4 This is a schematic diagram of the limiting pin and limiting hole structure of the present invention; Figure 5 This is a schematic diagram showing the position of the R-type pin at the top of the support platform according to the present invention; Figure 6 This is a schematic diagram of the cooperation between the limiting pin and the limiting component of the present invention; Figure 7This is a schematic diagram showing the relative positions of the support platform, boss, and R-pin of the present invention; Figure 8 This is a schematic diagram of the extrusion component structure of the present invention; Figure 9 This is a schematic diagram showing the relative rotation of the upper and lower box bodies of the present invention; Figure 10 This is a schematic diagram of the slider and groove structure of the present invention. Figure 11 This is a schematic diagram of the limiting pin of the present invention having one end with a conical surface entering the pin hole; Figure 12 This is a schematic diagram showing the alignment of the limiting pin, R-type pin, and pin hole of the present invention.

[0021] In the diagram: 1. Multi-degree-of-freedom articulated robotic arm; 2. Box body; 201. Upper box body; 2011. Slide bar; 202. Lower box body; 3. Bolt; 301. Pin hole; 302. Nut; 4. Limiting plate; 401. Nut clamp; 5. Support platform; 501. Bolt positioning hole; 502. Limiting roller; 503. Mounting groove; 504. Limiting part; 6. Telescopic unit; 7. Positioning shaft; 8. Positioning bushing; 9. Side plate; 901, Limiting hole; 902, Groove; 903, Slide groove; 10, Limiting pin; 1001, Conical surface; 11, Bearing seat; 12, Push plate; 13, R-pin; 14, Protrusion; 1401, Slot; 15, Support seat; 16, Limiting component; 1601, Top pin; 1602, Locking pin; 17, Guide component; 18, Boss; 19, Linear slide rail; 20, Slider; 21, Extrusion component; 2101, Extrusion section. Detailed Implementation

[0022] like Figures 1 to 12 As shown, a live-line repair device for cotter pins on power transmission lines includes a multi-degree-of-freedom articulated robotic arm 1 and a device disposed at the head end of the multi-degree-of-freedom articulated robotic arm 1 and capable of moving along... Figure 1 The box 2 rotates in the direction R around the axis of the head end of the multi-degree-of-freedom articulated robotic arm 1. A support platform 5 is provided at the top of the box 2, which is combined with... Figures 6-7As shown, the top of the support platform 5 is provided with a mounting groove 503 arranged in the X direction for limiting the linear movement of the R-shaped pin 13, and a bolt positioning hole 501 arranged in the Z direction for insertion and engagement with an external bolt 3. The bolt positioning hole 501 penetrates the support platform 5, and the mounting groove 503 communicates with the bolt positioning hole 501. The axis of the bolt positioning hole 501 coincides with the axis of the head end of the multi-degree-of-freedom articulated robotic arm 1, so that after the bolt 3 is inserted into the bolt positioning hole 501, the housing 2 can rotate around the axis of the head end of the multi-degree-of-freedom articulated robotic arm 1 so that the R-shaped pin 13 can be radially aligned with the pin hole 301 on the peripheral wall of the bolt 3. In actual use, the multi-degree-of-freedom articulated robotic arm 1 can dock with an external insulating rod, which is beneficial for the replacement of bolts 3 at high positions.

[0023] Furthermore, combined Figure 2 , Figures 6-7 As shown, a support seat 15 is provided in the bolt positioning hole 501 along its axial direction. When the bottom end of the bolt 3 is inserted into the bolt positioning hole 501 and abuts against the support seat 15, the pin hole 301 on the peripheral wall of the bolt 3 is coplanar with the R-type pin 13. The inner edge of the mounting groove 503 Figure 6 A push plate 12 is slidably mounted in the direction X shown. The push plate 12 is configured to push the R-pin 13 to move linearly in the direction X and pass through the pin hole 301 on the peripheral wall of the bolt 3.

[0024] In order for the R-type pin 13 to be aligned with the pin hole 301, this solution divides the box body 2 into upper and lower parts, specifically the upper box body 201 and the lower box body 202. The lower box body 202 is connected to the head end of the multi-degree-of-freedom joint robot arm 1. The support platform 5 is fixed at the top of the upper box body 201, and the upper box body 201 and the lower box body 202 are rotated and engaged along the axis of the head end of the multi-degree-of-freedom joint robot arm 1.

[0025] Combination Figure 3 As shown, both sides of the lower box 202 are fixed with arc-shaped side plates 9, and the top of the side plates 9 extends to the upper box 201. Specifically, both sides of the upper box 201 are configured as arc surfaces that can fit against the inner wall of the side plates 9. It should be noted that the center of the arc surface and the center of the inner wall of the side plate 9 are both located on the axis of the head end of the multi-degree-of-freedom joint robotic arm 1.

[0026] The support platform 5 is provided with a snap-fit ​​component that cooperates with the second box 2. The snap-fit ​​component can selectively engage with the bolt 3 or the lower box 202 to achieve two working states: the upper box 201 is locked to the bolt 3, or the upper box 201 and the lower box 202 are locked to each other.

[0027] The snap-fit ​​assembly includes a limiting pin 10 disposed within the mounting groove 503 and cooperating with the bolt 3. The limiting pin 10 is aligned with the R-shaped pin 13 along the length of the mounting groove 503, and the diameter of the limiting pin 10 is slightly smaller than the diameter of the pin hole 301 on the outer wall of the bolt 3. (Refer to...) Figure 7 As shown, the limiting pin 10 along Figure 7 The X-direction shown is slidably assembled with the support platform 5 to form an elastic connection structure. Specifically, the outer side of the limiting pin 10 protrudes outward along its diameter to form a polygonal protrusion 14. The protrusion 14 slides in the mounting groove 503, and a limiting spring is connected between the protrusion 14 and the end of the mounting groove 503. The side plate 9 is provided with a limiting hole 901 that cooperates with the limiting pin 10. When the bottom end of the bolt 3 is inserted into the bolt positioning hole 501 and abuts against the support seat 15, the limiting pin 10 is radially aligned with the pin hole 301 on the bolt 3, so that one end of the limiting pin 10 can be inserted into the pin hole 301, and the other end of the limiting pin 10 is disengaged from the limiting hole 901 on the side plate 9, thereby locking the upper box 201 with the bolt 3, while the lower box 202 can rotate relative to the upper box 201 along the axis of the head end of the multi-degree-of-freedom joint robotic arm 1. The limiting component also includes a limiting member 16 that cooperates with the limiting pin 10. The limiting member 16 is U-shaped and has a top pin 1601 and a locking pin 1602 that are parallel to each other. The top pin 1601 is arranged along the axis of the support base 15, passes through the reserved through hole of the support base 15 and extends upward to the upper end surface of the support base 15. The top end of the locking pin 1602 passes through the boss 18 and slides with the boss 18. One end of the locking pin 1602 that passes through the boss 18 is inserted into the slot 1401 at the bottom of the protrusion 14.

[0028] Initially, one end of the locking pin 1602 is inserted into the locking groove 1401 to lock the limiting pin 10, so that the limiting pin 10 and the bolt positioning hole 501 are aligned. Figure 6 The projections of the direction Z shown in the horizontal plane are staggered, which makes it easier for the bottom end of the bolt 3 to be inserted into the bolt positioning hole 501. In this state, the end of the limiting pin 10 away from the bolt positioning hole 501 is connected to the limiting hole 901 on the side plate 9, so that the entire box body 2 can rotate around the axis of the first end of the multi-degree-of-freedom joint robotic arm 1. When the bottom end of bolt 3 is inserted into bolt positioning hole 501 and abuts against support base 15, bolt 3 can press top pin 1601 along the axis of support base 15, causing top pin 1601 to drive the locking pin 1602 to move synchronously away from limit pin 10. When one end of locking pin 1602 disengages from locking groove 1401, limit pin 10 is released and pops out towards bolt positioning hole 501 under the elastic force of limit spring, so that the end of limit pin 10 near bolt positioning hole 501 can abut against the outer surface of bolt 3; During the rotation of the entire box body 2 along the axis of the head end of the multi-degree-of-freedom joint robotic arm 1, the limiting pin 10 can rotate around the bolt 3. When the limiting pin 10 is aligned with the pin hole 301 on the bolt 3, one end of the limiting pin 10 can be inserted into the pin hole 301, and the other end of the limiting pin 10 is disengaged from the limiting hole 901 on the side plate 9. At this point, the upper box body 201 is locked to the bolt 3 and disengaged from the lower box body 202. The telescopic unit 6 inside the upper box body 201 can drive the push plate 12 to move along the length direction of the mounting groove 503 and push the R-shaped pin 13 through the pin hole 301.

[0029] In summary, this device adopts a split rotating structure of upper box 201 and lower box 202. When the limiting pin 10 locks the upper box 201 and bolt 3, the upper box 201 can automatically release the constraint with the lower box 202 and no longer rotate synchronously with the lower box 202. At this time, the R-type pin 13, the pin hole 301 and the limiting pin 10 are in a radially aligned locking state, and the R-type pin 13 can be directly pushed into the pin hole 301 radially to realize the automatic replacement operation of the R-type pin 13.

[0030] In actual operation, when one end of the limiting pin 10 is inserted into the pin hole 301, its other end must simultaneously and completely disengage from the limiting hole 901 on the side plate 9. This structure places extremely high demands on the axial dimensional accuracy of the limiting pin 10. If the end of the limiting pin 10 fails to disengage from the limiting hole 901 in time after the end of the pin 10 extends into the pin hole 301, motion interference will occur, hindering the normal rotation of the lower housing 202. To address this defect, this solution involves machining a tapered surface 1001 at the end of the limiting pin 10 facing the bolt positioning hole 501. Combined with... Figure 11 As can be seen, after the upper box 201 rotates around the axis of the first end of the multi-degree-of-freedom articulated robotic arm 1 to align with the pin hole 301, the end with the conical surface 1001 extends into the pin hole 301. Since the maximum outer diameter of the conical surface 1001 is smaller than the diameter of the pin hole 301, the limit pin 10 can slightly deflect circumferentially relative to the bolt 3 during the synchronous rotation of the upper box 201 and the lower box 202. This allows sufficient travel for the limit pin 10 to completely separate from the limit hole 901, effectively avoiding mechanical interference between the side plate 9 and the limit pin 10.

[0031] Refer again Figure 11 As shown, by setting one end of the limiting pin 10 as a conical surface 1001, interference between the limiting pin 10 and the side plate 9 can be avoided during the linear movement of the limiting pin 10. However, since the limiting pin 10 has a certain angle relative to the bolt 3 ( Figure 11Angle a) as shown in the figure causes the R-pin 13 and the pin hole 301 to be not radially aligned. In this case, if the R-pin 13 is pushed linearly by the push plate 12, the R-pin 13 easily abuts against the inner wall of the pin hole 301 and gets stuck between the limiting pin 10 and the inner wall of the pin hole 301. Based on this, this solution provides a pressing member 21 on the side plate 9 that cooperates with the limiting pin 10, as detailed in the following figure. Figure 8 As shown, the inner wall of the side plate 9 is recessed inward along its diameter to form a groove 902. The two ends of the groove 902 extend to the side edge of the side plate 9, and the groove 902 coincides with the limiting hole 901 along the diameter of the side plate 9.

[0032] An extrusion member 21 is provided in the groove 902 and on one side of the limiting hole 901. The thickness of the extrusion member 21 gradually increases along the circumferential direction of the side plate 9 towards the side away from the limiting hole 901, so that the inner wall of the extrusion member 21 forms an inclined or arc-shaped extrusion part 2101.

[0033] like Figure 11 As shown, during the process of gradually inserting the end of the limiting pin 10 with the conical surface 1001 into the pin hole 301, the conical surface 1001 on the limiting pin 10 is always in contact with the inner wall of the pin hole 301. When the end of the limiting pin 10 away from the bolt positioning hole 501 disengages from the limiting hole 901 on the side plate 9, the limiting pin 10 is initially engaged with the bolt 3 and disengaged from the side plate 9. At this time, as the lower box 202 rotates around the axis of the first end of the multi-degree-of-freedom joint robotic arm 1, the extrusion part 2101 on the extrusion member 21... The limiting pin 10 will be gradually squeezed and moved along the diameter of the bolt 3. When the limiting pin 10 is squeezed and moves radially relative to the bolt 3, the upper box 201 can be passively rotated and finely adjusted relative to the lower box 202 around the axis of the bolt positioning hole 501 by means of the pressing fit between the tapered surface 1001 and the wall of the pin hole 301. When the end of the limiting pin 10 with the tapered surface 1001 is fully inserted into the pin hole 301, the limiting pin 10 is corrected to a posture that is completely aligned with the pin hole 301. For details, please refer to... Figure 12 As shown. At this time, the push plate 12 can push the R-type pin 13 to pass through the pin hole 301 on the bolt 3. During this process, the limiting pin 10 is pushed out of the pin hole 301 by the R-type pin 13, which is conducive to the separation of the upper box 201 from the bolt 3.

[0034] In summary, this solution, by providing a conical surface 1001 at the end of the limiting pin 10, can extend the separation time between the limiting pin 10 and the limiting hole 901, thereby avoiding interference between the limiting pin 10 and the side plate 9 after the limiting pin 10 is engaged with the bolt 3; furthermore, by providing a pressing member 21, the cooperation between the inclined inner wall of the pressing member 21 and the limiting pin 10, and the cooperation between the conical surface 1001 and the pin hole 301, can drive the upper box 201 to be aligned, so that the limiting pin 10, the R-type pin 13, and the pin hole 301 are aligned along the length direction of the mounting groove 503, thereby facilitating the precise insertion of the R-type pin 13 into the pin hole 301.

[0035] Combination Figure 3 As shown, a positioning shaft 7 is fixedly connected to the bottom of the upper box 201, while a positioning hole for the positioning shaft 7 to pass through is provided on the top of the lower box 202. A positioning bushing 8 is fixedly connected to the top wall of the inner cavity of the lower box 202. The positioning bushing 8, the positioning hole, and the positioning shaft 7 are coaxially arranged, and the positioning shaft 7 is rotatably engaged with the positioning bushing 8 through a bearing, so that the upper box 201 and the lower box 202 can rotate relative to each other along the axis of the head end of the multi-degree-of-freedom joint robotic arm 1.

[0036] Combination Figure 1 A limiting plate 4 is fixedly installed at the top of the upper box 201. The limiting plate 4 has a through groove in the middle along its length, through which the operator can place the R-type pin 13 to be assembled onto the support platform 5. The limiting plate 4 also has a polygonal nut clamp 401, which matches the shape of the nut 302 on the outside of the bolt 3 and is connected to the through groove. The center of the nut clamp 401 coincides with the axis of the bolt positioning hole 501. In field operation, if the nut 302 shifts axially and blocks the pin hole 301, the nut 302 can be locked into the nut clamp 401 after the end of the bolt 3 is inserted into the bolt positioning hole 501. When the box 2 rotates around the axis of the first end of the multi-degree-of-freedom joint robotic arm 1, it can synchronously drive the nut 302 to rotate, causing the nut 302 to shift axially along the bolt 3, completely exposing the blocked pin hole 301.

[0037] The multi-degree-of-freedom articulated robotic arm 1 is assembled from multiple hinged struts, each strut being able to rotate around the hinge axis along... Figure 2 The X and Y axes are shown to complete the rotation movement; the hinged parts of the support rods can be equipped with pins to lock the adjusted posture, or joint motors can be added to achieve relative rotation and position locking of each support rod by means of the motor. This type of structure is a mature existing technology and will not be described in detail in this embodiment. The multi-degree-of-freedom articulated robotic arm 1 is equipped with a drive component at its head end. The drive component is preferably a servo motor. The servo motor includes a motor body and an output shaft. The output shaft, positioning shaft 7, and bolt positioning hole 501 are arranged coaxially. One of the motor body and the output shaft is fixed to the head end of the multi-degree-of-freedom articulated robotic arm 1, and the other is rigidly connected to the lower box 202, thereby driving the entire box 2 to rotate around the coaxial axis.

[0038] The above structure allows the box 2 to move and rotate in three-dimensional space, which is beneficial for adjusting the position of the bolt positioning hole 501 on the support platform 5 so that it can be inserted and matched with the bolt 3.

[0039] Combination Figure 3 , Figure 6 and Figure 7 A support plate is fixedly provided at the bottom of the support platform 5. The top surface of the support plate protrudes upward to form a boss 18. The boss 18 extends along... Figure 7 The Z-direction through support platform 5 is arranged as shown. The push plate 12 is U-shaped and is mounted on the upper end of the boss 18. The push plate 12 can slide relative to the support platform 5 along the extension direction of the mounting groove 503. A linear slide rail 19 is fixedly installed at the bottom of the support platform 5. The slider 20 is slidably assembled on the linear slide rail 19 along the length direction of the mounting groove 503. The slider 20 is rigidly connected to the push plate 12. The telescopic unit 6 is an electric push rod. The tail of the electric push rod is fixed to the upper box 201. The telescopic end of the electric push rod is connected to the slider 20. The extension and retraction of the electric push rod drives the push plate 12 to move horizontally, realizing the pushing and feeding of the R-shaped pin 13.

[0040] Combination Figure 6 As shown, a bearing seat 11 coaxially arranged with the bolt positioning hole 501 is fixedly connected to the bottom of the support base 15. The support base 15 is rotatably engaged with the bearing seat 11 via a tapered roller bearing. With this structure, when the bottom end of the bolt 3 abuts against the support base 15 and the box body 2 rotates relative to the bolt 3, the support base 15 can remain stationary, thereby avoiding the friction between the bolt 3 and the support base 15 from preventing the rotational movement of the box body 2.

[0041] A rod-shaped guide 17 is fixed to the bottom of the bearing housing 11. The guide 17 passes through the limiting member 16 and is positioned along... Figure 6 The Z-direction shown is slidably engaged with the limiting member 16. The bottom end of the guide member 17 protrudes outward along its diameter to form a stop portion, and a spring is provided between the stop portion and the horizontal section of the limiting member 16, so that the limiting member 16 and the bearing seat 11 are elastically engaged. When the limiting pin 10 is reset so that the slot 1401 and the locking pin 1602 are aligned, the limiting pin 10 can spring upward and re-insert into the slot 1401.

[0042] Reference Figure 5 , Figure 7 As shown, the bottom sides of the mounting groove 503 extend upward to form limiting portions 504. When the R-shaped pin 13 falls on the boss 18, it is positioned between the two limiting portions 504, which facilitates the positioning of the R-shaped pin 13. Figure 7The limit is set in the Y direction. Further, a limit roller 502 is rotatably provided in the mounting groove 503 and on the side of the bolt positioning hole 501 away from the limit pin 10. When the R-shaped pin 13 moves linearly and its protruding part passes through the limit roller 502, it can cause the opening of the R-shaped pin 13 to close, which is conducive to insertion into the pin hole 301.

[0043] Reference Figure 10 As shown, the inner wall of the side plate 9 is provided with a sliding groove 903, and the side of the upper box 201 is fixedly provided with a sliding strip 2011 that slides in cooperation with the sliding groove 903. Through this structure, the upper box 201 and the lower box 202 can be stably engaged along the axis of the front end of the multi-degree-of-freedom joint robotic arm 1.

[0044] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A live-line repair device for cotter pins on transmission line bolts, characterized in that, include: The lower box (202) is located at the head end of the multi-degree-of-freedom joint robotic arm (1) and can rotate around the axis of the head end of the multi-degree-of-freedom joint robotic arm (1); The upper box (201) and the lower box (202) rotate around the axis of the head end of the multi-degree-of-freedom joint robotic arm (1); A bolt positioning hole (501) is provided on the upper box (201) and is coaxially arranged with the head end of the multi-degree-of-freedom joint robotic arm (1). A support seat (15) is provided inside the bolt positioning hole (501). The push plate (12) is slidably arranged along the diameter direction of the bolt positioning hole (501) to push the R-type pin (13) through the pin hole (301) on the peripheral wall of the bolt (3). The limiting pin (10) is arranged along the diameter direction of the bolt positioning hole (501) and is elastically connected to the upper box body (201). When one end of the bolt (3) is inserted into the bolt positioning hole (501) and abuts against the support seat (15), the pin hole (301), the R-type pin (13) and the limiting pin (10) on the bolt (3) are aligned along the diameter direction of the bolt positioning hole (501). The side plate (9) is fixedly connected to the lower box body (202). The side plate (9) is provided with a limiting hole (901) that cooperates with the limiting pin (10). By moving the limiting pin (10) along the diameter direction of the bolt positioning hole (501), the limiting pin (10) can selectively lock one of the bolt (3) and the side plate (9) and unlock the other.

2. The live-line repair device for cotter pins of transmission line bolts according to claim 1, characterized in that: The upper box (201) is provided with a limiting member (16), which has a top pin (1601) and a locking pin (1602). The top pin (1601) is provided through the support base (15) and the top of the top pin (1601) extends above the top of the support base (15). A protrusion (14) is fixedly sleeved on the limiting pin (10), and a slot (1401) is provided on the protrusion (14) to engage with the locking pin (1602).

3. The live-line repair device for cotter pins of transmission line bolts according to claim 2, characterized in that: The limiting pin (10) has a tapered surface (1001) at one end near the bolt positioning hole (501).

4. A live-line repair device for cotter pins on transmission line bolts according to claim 3, characterized in that: The inner wall of the side plate (9) is provided with a groove (902), which coincides with the limiting hole (901). A pressing member (21) is fixedly connected in the groove (902) on one side of the limiting hole (901). The inner side of the pressing member (21) is set with an inclined pressing part (2101). During the rotation of the lower box body (202) relative to the upper box body (201) along the axis of the head end of the multi-degree-of-freedom joint robot arm (1), the pressing member (21) can press against the limiting pin (10) and cause the limiting pin (10) to be further inserted into the pin hole (301).

5. A live-line repair device for cotter pins on transmission line bolts according to claim 2, characterized in that: The limiting member (16) is elastically connected to the upper box (201) along the axial direction of the support base (15).

6. A live-line repair device for cotter pins on transmission line bolts according to claim 1, characterized in that: The side plate (9) is an arc-shaped plate structure. The side wall of the upper box (201) is set as an arc surface that fits against the inner wall of the side plate (9). The center of the arc surface and the center of the inner circle of the side plate (9) are both on the axis of the head end of the multi-degree-of-freedom joint manipulator (1).

7. A live-line repair device for cotter pins on transmission line bolts according to claim 1, characterized in that: The bottom of the upper box (201) is fixedly connected to a positioning shaft (7), and the top wall of the inner cavity of the lower box (202) is fixedly connected to a positioning bushing (8). The positioning shaft (7) and the positioning bushing (8) are rotated together by bearings.

8. A live-line repair device for cotter pins on transmission line bolts according to claim 1, characterized in that: The upper box (201) is provided with a nut clamp (401) coaxially arranged with the head end of the multi-degree-of-freedom joint robotic arm (1). The nut clamp (401) is configured as a polygonal structure and is adapted to the nut (302) on the outside of the bolt (3).

9. A live-line repair device for cotter pins on transmission line bolts according to claim 1, characterized in that: The upper box (201) is provided with a linear slide rail (19) and a slider (20) that slides with the linear slide rail (19). The push plate (12) is fixedly connected to the slider (20). The upper box (201) is provided with a telescopic unit (6). The output end of the telescopic unit (6) is fixedly connected to the slider (20).

10. A live-line repair device for bolt cotter pins in transmission lines according to claim 1, characterized in that: The upper box (201) is fixedly connected to a bearing seat (11), and the support seat (15) is rotatably engaged with the bearing seat (11) through a bearing.

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