A multi-sensor fusion-based anti-vibration hammer dismounting robot

Abstract

The application discloses a kind of based on multi-sensor fusion's anti-vibration hammer dismounting robot, it is related to anti-vibration hammer dismounting technical field, including base, the base is provided with support frame, the support frame is provided with gyro wheel, the base is provided with dismounting mechanism, it is characterized by: still including adjusting assembly, setting in the gyro wheel, including rotating piece, the rotating piece includes the movable plate rotationally connected to the outside of the gyro wheel, the movable plate side is fixed with fixed rod, the fixed rod side is fixed with clamping plate, the clamping plate side is fixed with locating block.The application has beneficial effect: by adjusting assembly, anti-vibration hammer can be installed in the circumferential direction of transmission line at any position, to accurately match the actual vibration direction of wire, whether it is vertical breeze vibration, horizontal wind-induced vibration, or icing dance and other composite vibration conditions, anti-vibration hammer can be adjusted to the position consistent with vibration direction, so that it effectively dissipates vibration energy.

Description

Technical Field

[0001] This invention relates to the field of vibration damper assembly and disassembly technology, and in particular to a vibration damper assembly and disassembly robot based on multi-sensor fusion. Background Technology

[0002] Vibration dampers, as core protective hardware for overhead transmission lines, are used to suppress conductor vibrations caused by light winds and ensure the safe operation of the lines. Currently, vibration damper installation largely relies on specialized robots. However, most vibration damper installation and removal robots on the market have a limitation: they can only install the dampers at the bottom of the cable during operation and cannot flexibly adjust the installation position according to the actual working conditions of the line.

[0003] This fixed bottom-mounting method limits the applicable scenarios for vibration dampers. In areas prone to horizontal vibration, such as long spans and open areas, as well as in special working conditions such as icing and de-icing, it is impossible to optimize the protection strategy by adjusting the installation position. This can easily lead to potential faults such as conductor fatigue wear and breakage. In addition, the limitation of the installation position also makes the robot's operation adaptable, making it difficult to adapt to the diverse installation specifications and maintenance needs of the lines. It is impossible to achieve adaptive adjustment of the vibration damper's installation position, which affects the overall reliability and intelligence level of vibration protection for transmission lines. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above and / or existing anti-vibration hammer disassembly and assembly robots based on multi-sensor fusion, the present invention is proposed.

[0006] Therefore, the problem that this invention aims to solve is that the anti-vibration hammer can only be installed at the bottom of the cable during the operation of the anti-vibration hammer disassembly and assembly robot, and the installation position cannot be flexibly adjusted according to the actual working conditions of the line.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a vibration damper disassembly and assembly robot based on multi-sensor fusion, which includes a base, a support frame on the base, rollers on the support frame, and a disassembly and assembly mechanism on the base, characterized in that: it further includes.

[0008] An adjustment assembly, disposed on the roller, includes a rotating component. The rotating component includes a movable plate rotatably connected to the outside of the roller. A fixing rod is fixed to one side of the movable plate, a clamping plate is fixed to one side of the fixing rod, a positioning block is fixed to one side of the clamping plate, a rotating column is rotatably connected inside the positioning block, and a friction wheel is fixed to the end of the rotating column.

[0009] As a preferred embodiment of the anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion described in this invention, the adjustment component further includes a movable component, the movable component including a threaded sleeve rotatably connected to the movable plate, a threaded post being threadedly connected to the inner thread of the threaded sleeve, a slider being fixed to the end of the threaded post, a slide rail being fixed to one side of the roller, the slider sliding within the slide rail, and a pulley being rotatably connected to the outer side of the slider.

[0010] As a preferred embodiment of the anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion described in this invention, the adjustment component further includes a driving component, the driving component includes a rotating sleeve fixed to one side of the threaded sleeve, a rotating rod is inserted into the rotating sleeve, a worm gear is sleeved on the rotating rod, a worm is provided at the bottom of the worm gear, the worm meshes with the worm gear, and a motor is provided at the end of the worm.

[0011] As a preferred embodiment of the anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion described in this invention, wherein: a connecting sleeve is fixed to the inner side of the worm gear, the connecting sleeve is fixed to the outer side of the rotating rod, a support plate is rotatably connected to the outer side of the connecting sleeve, a telescopic rod is fixed to the top of the support plate, the two ends of the telescopic rod are respectively fixed to the two movable plates, a stabilizing frame is rotatably connected to the outer side of the worm gear, and one side of the stabilizing frame is fixed to the support plate.

[0012] As a preferred embodiment of the anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion described in this invention, the adjustment component further includes a transmission component, the transmission component includes a first pulley fixed to the outside of the rotating column, a support rod hinged to one side of the movable plate, a connecting shaft rotatably connected to the end of the support rod, a second pulley fixed to the outside of the connecting shaft, and the first pulley and the second pulley being connected by belt drive.

[0013] As a preferred embodiment of the anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion described in this invention, wherein: a first gear is fixed to the outside of the connecting shaft, a second gear is fixed to the outside of the worm gear, a guide rod is rotatably connected to the outside of the connecting shaft, and the guide rod is movably connected to the outside of the worm gear.

[0014] As a preferred embodiment of the anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion described in this invention, the adjustment component further includes a switching component, the switching component includes a gear ring sleeved on the outside of the rotating rod, the worm gear has a tooth groove on its inner side, the gear ring meshes with the tooth groove, a connecting plate is rotatably connected to the outside of the gear ring, a cylinder is fixed at the bottom of the stabilizing frame, and the output end of the cylinder is fixed to the connecting plate.

[0015] As a preferred embodiment of the anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion described in this invention, wherein: a locking block is fixed on the inner side of the gear ring, a locking groove is opened on the outer side of the rotating rod, and the locking block slides in the locking groove.

[0016] As a preferred embodiment of the anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion described in this invention, the adjustment component further includes a locking component, which includes a movable plate located inside the clamping plate. One side of the movable plate is fixed with an anti-slip spike, and one side of the movable plate is fixed with a connecting rod. One end of the connecting rod is inserted into the fixed rod, and a spring is fixed to the end of the rod.

[0017] As a preferred embodiment of the anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion described in this invention, the connecting rod is provided with a movable groove, a force-bearing block is fixed on the inner wall of the movable groove, a pressing rod is provided on one side of the force-bearing block, a moving rod is fixed on the top of the pressing rod, a rotating rod is sleeved on the outer side of the rotating column, a sliding groove is provided on the rotating rod, a fixed shaft is fixed on the moving rod, and the fixed shaft slides in the sliding groove.

[0018] The beneficial effects of this invention are as follows: By using the adjustment components on the rollers to drive the robot to rotate around the axis of the power transmission line, the vibration damper can be installed at any position in the circumferential direction of the power transmission line. This allows for precise matching with the actual vibration direction of the conductor. Whether it is vertical light wind vibration, horizontal wind-induced vibration, or combined vibration conditions such as icing, the vibration damper can be adjusted to a position consistent with the vibration direction, effectively dissipating vibration energy. This fundamentally solves the problem of vibration reduction failure caused by single bottom installation and significantly reduces the risk of conductor fatigue fracture.

[0019] It greatly expands the applicable scenarios of the equipment, eliminating the need to change the installation scheme for different working conditions. It can be adapted to various line environments such as ordinary spans, large spans, and open wind areas, improving the versatility of robot operations. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a structural diagram of a vibration damper assembly and disassembly robot based on multi-sensor fusion.

[0022] Figure 2 This is a side view of the adjustment component of a vibration damper assembly / disassembly robot based on multi-sensor fusion.

[0023] Figure 3 This is a structural diagram of the rotating component of a vibration damper assembly / disassembly robot based on multi-sensor fusion.

[0024] Figure 4 This is a cross-sectional view of the clamping plate of a vibration damper assembly / disassembly robot based on multi-sensor fusion.

[0025] Figure 5 This is a structural diagram of the drive and transmission components of a vibration damper assembly / disassembly robot based on multi-sensor fusion.

[0026] Figure 6 This is a partial cross-sectional view of the rotating rod of a vibration damper assembly / disassembly robot based on multi-sensor fusion.

[0027] Figure 7 This is a partial cross-sectional view of the roller structure of a vibration damper assembly / disassembly robot based on multi-sensor fusion.

[0028] Figure 8 For a vibration damper assembly and disassembly robot based on multi-sensor fusion Figure 7 Enlarged view of the structure at point A in the middle.

[0029] Figure 9 This is a diagram showing the connection structure of the clamping plate and positioning block of a vibration damper assembly / disassembly robot based on multi-sensor fusion.

[0030] In the diagram: 11. Base; 12. Support frame; 13. Roller; 14. Assembly / disassembly mechanism; 2. Adjustment component; 21. Rotating component; 211. Movable plate; 213. Fixed rod; 214. Clamping plate; 215. Positioning block; 216. Rotating column; 217. Friction wheel; 22. Moving component; 221. Threaded sleeve; 222. Threaded column; 223. Slider; 224. Slide rail; 225. Pulley; 23. Driving component; 231. Rotating sleeve; 232. Rotating rod; 233. Worm gear; 234. Worm; 235. Motor; 236. Connecting sleeve; 237. Support plate; 238. Telescopic rod; 239. Stabilizer; 24. Transmission. Components; 241, First pulley; 242, Support rod; 243, Connecting shaft; 244, Second pulley; 245, First gear; 246, Second gear; 247, Guide rod; 25, Switching component; 251, Gear ring; 233-1, Gear groove; 252, Connecting plate; 253, Cylinder; 254, Locking block; 232-1, Locking groove; 26, Locking component; 261, Moving plate; 262, Anti-slip spike; 263, Connecting rod; 269, Spring; 263-1, Movable groove; 264, Force-bearing block; 265, Pressing rod; 266, Moving rod; 267, Rotating rod; 267-1, Slide groove; 268, Fixed shaft. Detailed Implementation

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0034] Example 1, referring to Figures 1-3 This is the first embodiment of the present invention. This embodiment provides a vibration damper disassembly and assembly robot based on multi-sensor fusion, including a base 11, a support frame 12 on the base 11, and rollers 13 on the support frame 12. The support frame 12 is used to support the rollers 13, and the rollers 13 are used to engage with the outside of the power transmission line and move on the power transmission line. A disassembly and assembly mechanism 14 is provided on the base 11. The disassembly and assembly mechanism 14 consists of a drive motor and a sleeve and is used to rotate the screws on the vibration damper.

[0035] The vibration damper installation and removal robot uses a robot end effector to clamp the vibration damper. It is also equipped with vision sensors, torque sensors, positioning sensors, and attitude sensors. The vision sensors are used to identify the cable position, the vibration damper installation position, and the surrounding environment. The positioning and attitude sensors acquire the spatial position and angle of the robot end effector in real time. The torque sensor senses the clamping and tightening forces during the installation process to avoid damage to the cable or hardware. By integrating the information from these sensors, the robot can accurately position itself and adaptively adjust its attitude to achieve stable installation and removal of the vibration damper on the cable, improving the accuracy, safety, and intelligence of the operation. This is existing technology, and this solution will not elaborate further. Moreover, those skilled in the art can clearly understand the working principle.

[0036] Adjustment component 2, there are two sets of adjustment components 2, which are respectively set on two rollers 13. The adjustment component 21 includes a rotating part 21, which includes a movable plate 211 rotatably connected to the outside of the roller 13. A fixing rod 213 is fixed on one side of the movable plate 211, and a clamping plate 214 is fixed on one side of the fixing rod 213. The two clamping plates 214 are in a separated state and will not prevent the roller 13 from pressing on the power transmission line.

[0037] A positioning block 215 is fixed to one side of the clamping plate 214. A rotating column 216 is rotatably connected inside the positioning block 215. A friction wheel 217 is fixed to the end of the rotating column 216. When it is necessary to adjust the installation position of the vibration damper, the fixed rod 213 and the clamping plate 214 are moved by the movable plate 211, so that the two clamping plates 214 clamp the transmission line. At this time, the friction wheel 217 will be in close contact with the outside of the transmission line. When the friction wheel 217 rotates, it can drive the clamping plate 214 to rotate around the circumference of the transmission line, and through the clamping plate 214, drive the movable plate 211 and the roller 13 to rotate, so that the roller 13 carries... The rotating base 11 causes the anti-vibration hammer to rotate outside the transmission line, allowing it to be installed at any position along the circumference of the transmission line. This ensures precise matching with the actual vibration direction of the conductor. Whether it is vertical light wind vibration, horizontal wind-induced vibration, or combined vibration conditions such as icing, the anti-vibration hammer can be adjusted to the same position as the vibration direction, effectively dissipating vibration energy. This significantly broadens the applicable scenarios of the equipment, eliminating the need to change the installation scheme for different working conditions. It can be adapted to various line environments such as ordinary spans, large spans, and open wind areas, improving the versatility of robot operations.

[0038] Example 2, refer to Figure 3 , Figures 5-8 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0039] Specifically, the adjustment component 2 also includes a movable component 22, which includes a threaded sleeve 221 rotatably connected to the movable plate 211. A threaded post 222 is threadedly connected to the inner thread of the threaded sleeve 221. A slider 223 is fixed to the end of the threaded post 222. The slider 223 is T-shaped. A slide rail 224 is fixed to one side of the roller 13. The slide rail 224 is annular. The two cooperate to support and position the threaded post 222, so that when the roller 13 rotates, the movable plate 211 does not need to rotate with it. The slider 223 slides in the slide rail 224. A pulley 225 is rotatably connected to the outer side of the slider 223. The pulley 225 reduces the friction between the slider 223 and the slide rail 224.

[0040] The adjustment assembly 2 also includes a drive component 23, which includes a rotating sleeve 231 fixed to one side of the threaded sleeve 221. A rotating rod 232 is inserted into the rotating sleeve 231. The rotating sleeve 231 and the rotating rod 232 can slide axially relative to each other. The two ends of the rotating rod 232 are rectangular and the center is cylindrical. A worm wheel 233 is sleeved on the rotating rod 232. A worm 234 is provided at the bottom of the worm wheel 233. The worm 234 meshes with the worm wheel 233. A motor 235 is provided at the end of the worm 234.

[0041] When the motor 235 starts, it drives the worm wheel 233 to rotate through the worm 234. At this time, the worm wheel 233 drives the rotating rod 232 and the rotating sleeve 231 to rotate, and drives the threaded sleeve 221 to rotate through the rotating sleeve 231. At this time, the threaded sleeve 221 will move horizontally spirally outside the threaded column 222, and drive the movable plate 211 to move horizontally, so as to release or clamp the power transmission line.

[0042] The thread engagement between the threaded sleeve 221 and the threaded post 222 is relatively tight and has a self-locking characteristic. Without driving torque, the threaded sleeve 221 will not rotate freely outside the threaded post 222. Therefore, when the worm gear 233 is disengaged from the rotating rod 232, that is, when the rotating rod 232 is no longer restricted by the worm gear 233, the rotating rod 232 and the threaded sleeve 221 will not rotate without driving torque. Therefore, the clamping plate 214 will maintain the clamping force on the cable and will not loosen.

[0043] The inner side of the worm gear 233 is fixed to the connecting sleeve 236. The connecting sleeve 236 is movably connected to the outer side of the rotating rod 232. The outer side of the connecting sleeve 236 is rotatably connected to the support plate 237. The top of the support plate 237 is fixed to the telescopic rod 238. The telescopic rod 238 is a three-section telescopic rod. Through cooperation with the support plate 237, it is used to support and position the connecting sleeve 236 and the worm gear 233. The two ends of the telescopic rod 238 are respectively fixed to two movable plates 211. The outer side of the worm 234 is rotatably connected to the stabilizer 239. The stabilizer 239 is U-shaped and is used to support and position the worm 234. One side of the stabilizer 239 is fixed to the support plate 237.

[0044] The adjustment assembly 2 also includes a transmission component 24, which includes a first pulley 241 fixed to the outside of the rotating column 216. A support rod 242 is hinged to one side of the movable plate 211. There are two support rods 242, and the ends of the support rods 242 are rotatably connected to a connecting shaft 243. The ends of both support rods 242 are rotatably connected to the outside of the connecting shaft 243. A second pulley 244 is fixed to the outside of the connecting shaft 243. The first pulley 241 and the second pulley 244 are connected by belt drive. The two first pulleys 241 and one second pulley 244 form a triangle.

[0045] When the second pulley 244 is driven to rotate, it will drive the first pulley 241 to rotate via the belt, thereby enabling the first pulley 241 to drive the rotating column 216 and the friction wheel 217 to rotate, so that the roller 13 drives the base 11 to rotate in the circumferential direction of the power transmission line.

[0046] A positioning rod is fitted on the outside of the connecting shaft 243. An arc-shaped plate is fixed on one side of the bottom of the positioning rod. The top of the arc-shaped plate contacts the belt and supports the belt, so that the belt will not come into contact with the power transmission line.

[0047] A first gear 245 is fixed to the outside of the connecting shaft 243, and a second gear 246 is fixed to the outside of the worm 234. When the two movable plates 211 approach each other, the tops of the two support rods 242 will move upward, and drive the connecting shaft 243 and the first gear 245 to move upward, so that the first gear 245 meshes with the second gear 246. At this time, when the motor 235 drives the worm 234 to rotate, the connecting shaft 243 can be driven to rotate through the cooperation of the first gear 245 and the second gear 246, thereby driving the second pulley 244 to rotate.

[0048] A guide rod 247 is rotatably connected to the outside of the connecting shaft 243. The guide rod 247 is movably connected to the outside of the worm gear 234. The guide rod 247 is used to keep the connecting shaft 243 and the worm gear 234 on the same vertical line.

[0049] Example 3, referring to Figures 3-6 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0050] Specifically, the adjustment component 2 also includes a switching component 25, which includes a gear ring 251 sleeved on the outside of the rotating rod 232. The worm gear 233 has a tooth groove 233-1 on its inner side. The gear ring 251 meshes with the tooth groove 233-1. The two work together to connect the worm gear 233 with the rotating rod 232, so that the worm gear 233 can drive the rotating rod 232 to rotate.

[0051] When the gear ring 251 is separated from the tooth groove 233-1, the worm gear 233 will not drive the rotating rod 232 to rotate when it rotates.

[0052] A connecting plate 252 is rotatably connected to the outer side of the gear ring 251. A cylinder 253 is fixed at the bottom of the stabilizer 239. The output end of the cylinder 253 is fixed to the connecting plate 252. The cylinder 253 is used to drive the connecting plate 252 to move, and through the connecting plate 252, it drives the gear ring 251 to move, so as to realize the meshing and separation of the gear ring 251 and the tooth groove 233-1.

[0053] A locking block 254 is fixed inside the gear ring 251, and a locking groove 232-1 is opened on the outside of the rotating rod 232. The locking block 254 slides in the locking groove 232-1. The gear ring 251 and the rotating rod 232 are connected by the cooperation of the two, so that the gear ring 251 can drive the rotating rod 232 to rotate, and can also move axially on the outside of the rotating rod 232.

[0054] The adjusting assembly 2 also includes a locking component 26, which includes a movable plate 261 located inside the clamping plate 214. One side of the movable plate 261 is fixed with an anti-slip spike 262. One side of the clamping plate 214 is open, allowing the anti-slip spike 262 to extend outward. One side of the movable plate 261 is fixed with a connecting rod 263. One end of the connecting rod 263 is inserted into the fixed rod 213, and a spring 269 is fixed to the end. The spring 269 is used to apply a pushing force to the connecting rod 263, and through the connecting rod 263, it drives the movable plate 261 and the anti-slip spike 262 to move, so that the anti-slip spike 262 is engaged with the outside of the transmission line. This increases the friction between the clamping plate 214 and the transmission line, allowing the base 11 to maintain sufficient stability after rotating on the outside of the line, and preventing the base 11 from tilting downward when the anti-vibration hammer is installed or removed.

[0055] A movable groove 263-1 is provided on the connecting rod 263. A force-bearing block 264 is fixed on the inner wall of the movable groove 263-1. The force-bearing block 264 is triangular. A pressing rod 265 is provided on one side of the force-bearing block 264. The pressing rod 265 is U-shaped and its end contacts the inclined surface of the force-bearing block 264. A moving rod 266 is fixed on the top of the pressing rod 265. The moving rod 266 passes through the fixed rod 213 and is slidably connected to the fixed rod 213. A rotating rod 267 is sleeved on the outside of the rotating column 216. The rotating rod 267 is connected to the outside of the rotating column 216 by an interference fit. A sliding groove 267-1 is provided on the rotating rod 267. A fixed shaft 268 is fixed on the moving rod 266 and slides in the sliding groove 267-1.

[0056] When the rotating column 216 rotates upward or downward, it drives the rotating rod 267 to rotate. When the rotating rod 267 rotates, it squeezes the fixed shaft 268 through the inner wall of the slide groove 267-1 and applies an upward or downward thrust to the fixed shaft 268. This causes the fixed shaft 268 to drive the moving rod 266 to move upward or downward. At this time, the moving rod 266 drives the pressing rod 265 to squeeze the inclined surface of the force block 264 and pushes the force block 264 and the connecting rod 263 to move inward. This causes the connecting rod 263 to drive the moving plate 261 and the anti-slip spike 262 into the clamping plate 214 and separate from the transmission line. This reduces the friction between the clamping plate 214 and the transmission line and avoids the clamping plate 214 from experiencing greater resistance when rotating outside the transmission line.

[0057] When the pressing rod 265 and the moving rod 266 can no longer move, and the rotating column 216 continues to rotate, the rotating column 216 will rotate within the rotating rod 267 without being resisted and unable to rotate.

[0058] When the clamping plate 214 stops at any position in the circumferential direction of the cable, the rotating column 216 needs to be rotated in the opposite direction by a certain angle from its original rotation angle, so that it drives the rotating rod 267 and the moving rod 266 to reset, and the pressing rod 265 releases the pressure on the force block 264, so that the spring 269 can apply a pushing force to the connecting rod 263.

[0059] When adjusting the installation position of the vibration damper, the motor 235 is started to drive the worm gear 234 to rotate, which in turn drives the worm wheel 233 to rotate. The worm wheel 233 then drives the rotating rod 232 and the rotating sleeve 231 to rotate, and the rotating sleeve 231 drives the threaded sleeve 221 to rotate. The threaded sleeve 221 then moves horizontally spirally outside the threaded post 222, causing the movable plate 211 to move horizontally inward. The movable plate 211 then drives the fixed rod 213 and the clamping plate 214 to move, so that the two clamping plates 214 clamp the transmission line. When the two movable plates 211 approach each other, the tops of the two support rods 242 move upward, which in turn drives the connecting shaft 243 and the first gear 245 to move upward, so that the first gear 245 meshes with the second gear 246.

[0060] At this time, the starting cylinder 253 drives the connecting plate 252 to move, and through the connecting plate 252 drives the gear ring 251 to move. The gear ring 251 is disengaged from the gear groove 233-1. When the worm gear 234 rotates, it can drive the connecting shaft 243 to rotate through the cooperation of the first gear 245 and the second gear 246, and cause the connecting shaft 243 to drive the second pulley 244 to rotate. When the second pulley 244 rotates, it will drive the first pulley 241 to rotate through the belt, thereby enabling the first pulley 241 to drive the rotating column 216 to rotate.

[0061] At this time, the rotating column 216 will drive the friction wheel 217 to rotate. When the friction wheel 217 rotates, it can drive the clamping plate 214 to rotate around the circumference of the transmission line. The clamping plate 214 will drive the movable plate 211 and the roller 13 to rotate, and the roller 13 will drive the base 11 to rotate. At this time, the base 11 will drive the anti-vibration hammer to rotate outside the transmission line, so that the anti-vibration hammer can be installed at any position in the circumference of the transmission line. It can accurately match the actual vibration direction of the conductor. Whether it is vertical light wind vibration, horizontal wind-induced vibration, or composite vibration conditions such as icing, the anti-vibration hammer can be adjusted to the position consistent with the vibration direction, so as to effectively dissipate vibration energy. It also greatly expands the applicable scenarios of the equipment. There is no need to change the installation scheme for different working conditions. It can be adapted to various line environments such as ordinary span, large span, and open wind area, improving the versatility of robot operation.

[0062] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A vibration damper disassembly and assembly robot based on multi-sensor fusion, comprising a base (11), a support frame (12) disposed on the base (11), rollers (13) disposed on the support frame (12), and a disassembly and assembly mechanism (14) disposed on the base (11), characterized in that: It also includes, Adjustment component (2), disposed on the roller (13), includes a rotating component (21), the rotating component (21) includes a movable plate (211) rotatably connected to the inner side of the roller (13), a fixing rod (213) is fixed to the inner side of the movable plate (211), a clamping plate (214) is fixed to the inner side of the fixing rod (213), a positioning block (215) is fixed to one side of the clamping plate (214), a rotating column (216) is rotatably connected inside the positioning block (215), and a friction wheel (217) is fixed to the end of the rotating column (216).

2. The anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion as described in claim 1, characterized in that: The adjustment component (2) further includes a movable component (22), which includes a threaded sleeve (221) rotatably engaged with the movable plate (211). The threaded sleeve (221) is internally threaded with a threaded post (222), and a slider (223) is fixed at the end of the threaded post (222). A slide rail (224) is fixed inside the roller (13), and the slider (223) slides within the slide rail (224). A pulley (225) is rotatably connected to the outside of the slider (223).

3. The anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion as described in claim 2, characterized in that: The adjustment assembly (2) further includes a drive component (23), which includes a rotating sleeve (231) fixed to one side of the threaded sleeve (221). A rotating rod (232) is inserted into the rotating sleeve (231). A worm wheel (233) is sleeved on the rotating rod (232). A worm (234) is provided at the bottom of the worm wheel (233). The worm (234) meshes with the worm wheel (233). A motor (235) is provided at the end of the worm (234).

4. The anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion as described in claim 3, characterized in that: A connecting sleeve (236) is fitted on the outside of the rotating rod (232). A support plate (237) is rotatably connected to the outside of the connecting sleeve (236). A telescopic rod (238) is fixed on the top of the support plate (237). The two ends of the telescopic rod (238) are respectively fixed to the two movable plates (211). A stabilizing frame (239) is rotatably connected to the outside of the worm gear (234). One side of the stabilizing frame (239) is fixed to the support plate (237).

5. The anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion as described in claim 4, characterized in that: The adjustment assembly (2) further includes a transmission component (24), which includes a first pulley (241) fixed to the outside of the rotating column (216), a support rod (242) hinged to one side of the movable plate (211), a connecting shaft (243) rotatably connected to the end of the support rod (242), and a second pulley (244) fixed to the outside of the connecting shaft (243). The first pulley (241) and the second pulley (244) are connected by belt drive.

6. The anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion as described in claim 5, characterized in that: A first gear (245) is fixed to the outside of the connecting shaft (243), a second gear (246) is fixed to the outside of the worm (234), and a guide rod (247) is rotatably connected to the outside of the connecting shaft (243). The guide rod (247) is movably connected to the outside of the worm (234).

7. The anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion as described in claim 5 or 6, characterized in that: The adjustment assembly (2) also includes a switching component (25), which includes a gear ring (251) sleeved on the outside of the rotating rod (232). The worm gear (233) has a tooth groove (233-1) on its inner side. The gear ring (251) can mesh with the tooth groove (233-1). A connecting plate (252) is rotatably engaged on the outside of the gear ring (251). A cylinder (253) is fixed at the bottom of the stabilizer (239). The cylinder (253) pushes the gear ring (251) to slide axially on the rotating rod (232) through the connecting plate (252).

8. The anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion as described in claim 7, characterized in that: A locking block (254) is fixed inside the gear ring (251), and a locking groove (232-1) is opened on the outside of the rotating rod (232). The locking block (254) slides in the locking groove (232-1).

9. The anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion as described in claim 8, characterized in that: The adjustment assembly (2) further includes a locking member (26), which includes a movable plate (261) located inside the clamping plate (214). One side of the movable plate (261) is fixed with an anti-slip spike (262), and the other side of the movable plate (261) is fixed with a connecting rod (263). One end of the connecting rod (263) is inserted into the fixed rod (213), and a spring (269) is fixed at the end.

10. The anti-vibration hammer disassembly and assembly robot based on multi-sensor fusion as described in claim 9, characterized in that: The connecting rod (263) has a movable groove (263-1), and a force-bearing block (264) is fixed on the inner wall of the movable groove (263-1). A pressing rod (265) is provided on one side of the force-bearing block (264), and a moving rod (266) is fixed on the top of the pressing rod (265). A rotating rod (267) is sleeved on the outside of the rotating column (216), and a sliding groove (267-1) is provided on the rotating rod (267). A fixed shaft (268) is fixed on the moving rod (266), and the fixed shaft (268) slides in the sliding groove (267-1).

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