Electric transmission line damper dismantling operation robot

Abstract

The utility model discloses a power transmission line damper dismantling robot which comprises a machine frame, walking mechanisms, a dismantling mechanism and a cutting mechanism, the walking mechanisms are located at the left end and the right end of the machine frame, and the dismantling mechanism and the cutting mechanism are located at the top of the machine frame. The walking mechanism is used for driving the rack to move along the trend of the cable; the cutting mechanism comprises a cutting knife, and the cutting knife cuts the aluminum armor tape along the trend of the cable; the dismounting mechanism comprises an electric sleeve and an impact block, and the electric sleeve is used for dismounting the damper. When the dismantling operation robot moves to the damper, the dismantling mechanism can dismantle the damper; when the dismantling operation robot moves to the aluminum armor tape, the cutting mechanism can cut the aluminum armor tape, so that the dismantling operation robot can automatically dismantle the vibration damper and cut the aluminum armor tape, and the problem that the traditional dismantling operation of the aluminum armor tape and the vibration damper completely depends on manual dismantling of line workers is solved. And the working intensity of line workers is high.

Description

Technical Field

[0001] The utility model relates to the technical field of anti-vibration hammer disassembly devices, in particular to an anti-vibration hammer disassembly operation robot for power transmission lines. Background Art

[0002] Cables are the main components of power transmission lines. Because they are located in the wild, they are affected by wind for a long time, causing vibration. The cables directly rub against the shock-absorbing hammer, and the inter-strand conductors of the cables (in some types of cables, the cables are formed by multiple strands of aluminum conductors) produce slight slippage and alternating stress, which in turn causes micro-motion wear, which in turn causes fatigue cracks to initiate and expand, and even causes the conductors to break and break, which has a huge impact on power transmission safety and people's production and life. The above problems can be effectively alleviated by wrapping with aluminum tape. At the same time, after wrapping with aluminum tape, the tensile strength of the inner and outer aluminum strands is significantly higher than the tensile strength of the conductors not wrapped with aluminum tape. The aluminum tape has a good protective effect on the conductors.

[0003] However, the shock-absorbing hammer will loosen during long-term use. After the shock-absorbing hammer loosens, it will move along the axial direction of the cable. The aluminum tape that is no longer fastened by the shock-absorbing hammer will also slide on the overhead line. Therefore, the aluminum tape and shock-absorbing hammer wrapped around the conductor need to be removed.

[0004] At present, the disassembly operation of aluminum tape and anti-vibration hammer is completely dependent on manual removal by line workers, who often need to use pliers and screwdrivers to assist in the entire removal process. This operation is high-altitude work, which is time-consuming and labor-intensive, resulting in high workload for line workers. Utility Model Content

[0005] In view of the above-mentioned defects, the utility model proposes a transmission line anti-vibration hammer dismantling robot, which can automatically dismantle the anti-vibration hammer and cut the aluminum tape, solving the problem that the dismantling operation of traditional aluminum tape and anti-vibration hammer relies entirely on manual dismantling by line workers, resulting in high work intensity for line workers.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] A transmission line anti-vibration hammer dismantling robot comprises a frame, a walking mechanism, a dismantling mechanism and a cutting mechanism, wherein the walking mechanism is located at the left and right ends of the frame, and the dismantling mechanism and the cutting mechanism are located at the top of the frame;

[0008] The walking mechanism is used to drive the frame to move along the direction of the cable; the cutting mechanism includes a cutting knife, and the cutting knife cuts the aluminum tape along the direction of the cable; the removal mechanism includes an electric sleeve and an impact block, the electric sleeve is used to remove the anti-vibration hammer, and the impact block is used to clamp and impact the anti-vibration hammer.

[0009] Furthermore, the walking mechanism includes a walking drive, a walking roller and a brake assembly. The driving end of the walking drive is fixedly connected to the walking roller. The walking roller moves along the direction of the cable. The brake assembly is provided at the bottom of the walking roller. The brake assembly is used to limit the movement of the frame relative to the cable.

[0010] Further, the frame is provided with a lifting assembly and an L-shaped plate, the L-shaped plate includes a vertical portion and a horizontal portion, the top of the vertical portion is fixedly connected to the end of the horizontal portion, the lifting assembly is installed at the bottom of the vertical portion, and the bottom of the vertical portion is slidably connected to the frame through the lifting assembly;

[0011] The cutting mechanism is installed on the top of the vertical part, and the removal mechanism is provided on the bottom of the horizontal part.

[0012] Furthermore, the frame is provided with a camera, the shooting area of ​​the camera is toward the horizontal part, and the camera is electrically connected to the walking mechanism, the cutting mechanism and the dismantling mechanism respectively.

[0013] Furthermore, the cutting mechanism includes a cutting mounting plate, a cutting motor, a first cutting gear, a second cutting gear, a cutting slider and a cutting wire rod;

[0014] The mounting end of the cutting motor is installed on the top of the vertical part, and the driving end of the cutting motor is fixedly sleeved with the first cutting gear. The cutting wire rod is rotatably installed on the top of the vertical part. The length direction of the cutting wire rod is parallel to the direction of the cable, and the end of the cutting wire rod close to the first cutting gear is fixedly sleeved with the second cutting gear. The first cutting gear is meshed with the second cutting gear. The cutting wire rod is rotatably sleeved with the cutting slider, and the cutting slider is slidably connected to the cutting mounting plate. The end of the cutting mounting plate away from the cutting slider is fixedly connected to the cutting knife.

[0015] Furthermore, the cutting mechanism also includes a cutting limit plate, a cutting limit guide rail and a cutting limit slider;

[0016] The cutting limit plate is fixedly connected to the top of the vertical portion, and a cutting limit guide rail is provided on the bottom wall of the cutting limit plate, and the length direction of the cutting limit guide rail is parallel to the direction of the cable. A cutting limit slider is provided on the top of the cutting mounting plate, and the cutting limit slider is slidably connected to the cutting limit guide rail. The cutting limit plate is provided with a limiting hole, and the cutting knife passes through the limiting hole. A first arc surface is provided on the bottom of the cutting limit plate, and the first arc surface abuts against the cable.

[0017] Further, the disassembly mechanism includes a disassembly drive assembly, a first disassembly plate and a second disassembly plate, the connection direction of the first disassembly plate and the second disassembly plate is perpendicular to the direction of the cable, the driving end of the disassembly drive assembly is rotatably connected to the first disassembly plate and the second disassembly plate respectively, and the disassembly drive assembly is used to drive the first disassembly plate and the second disassembly plate to move closer to or away from each other;

[0018] A first clamping block and a striking block are provided on a side of the first disassembly plate close to the cable, and a second clamping block and the electric sleeve are provided on a side of the second disassembly plate close to the cable. The first clamping block and the second clamping block are arranged opposite to each other, and the first clamping block and the second clamping block are used to clamp the anti-vibration hammer;

[0019] The impact block is arranged opposite to the electric sleeve, the impact block is used to clamp or impact the anti-vibration hammer, and the electric sleeve is used to remove the nut on the anti-vibration hammer.

[0020] Further, the dismantling drive assembly includes a dismantling drive motor, a first dismantling gear, a second dismantling gear, a dismantling screw, a first dismantling slider, a second dismantling slider and a dismantling limit screw;

[0021] The mounting end of the dismantling drive motor is installed at the end of the horizontal part, the output end fixing sleeve of the dismantling drive motor is provided with the first dismantling gear, the end fixing sleeve of the dismantling limit screw rod close to the first dismantling gear is provided with a second dismantling gear, the first dismantling gear and the second dismantling gear are meshed, and the length direction of the dismantling limit screw rod is perpendicular to the direction of the cable;

[0022] The two ends of the dismantling limit screw rod are movably sleeved with the first dismantling slide block and the second dismantling slide block, the first dismantling slide block is fixedly connected to the first dismantling plate, and the second dismantling slide block is fixedly connected to the second dismantling plate; the bottom wall of the horizontal part is fixedly installed with a dismantling limit guide rail, the length direction of the dismantling limit guide rail is parallel to the length direction of the dismantling limit screw rod, and the dismantling limit guide rail is slidably connected to the first dismantling slide block and the second dismantling slide block.

[0023] Further, the lifting assembly includes a rack, a lifting drive motor, a lifting transmission gear, a first lifting gear, a second lifting gear and a lifting rotating screw;

[0024] The racks are vertically mounted on both left and right ends of the frame, and lifting limit guide rails are also vertically mounted on both left and right ends of the frame, and the vertical portion is slidably connected to the lifting limit guide rails;

[0025] The mounting end of the lifting drive motor is fixedly installed at the bottom of the vertical part, and the driving end of the lifting drive motor is fixedly installed with a first lifting gear. The lifting rotating screw is rotatably installed at the bottom of the vertical part, and the lifting rotating screw is fixedly sleeved with the second lifting gear, which is meshed with the first lifting gear. The length direction of the lifting rotating screw is parallel to the direction of the cable, and both ends of the lifting rotating screw are fixedly sleeved with the lifting transmission gears, which are meshed with the rack.

[0026] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0027] 1. When the demolition robot moves to the anti-vibration hammer, the demolition mechanism can dismantle the anti-vibration hammer; when the demolition robot moves to the aluminum tape, the cutting mechanism can cut the aluminum tape, so that the demolition robot of this solution can automatically dismantle the anti-vibration hammer and cut the aluminum tape, which solves the problem that the dismantling operation of the traditional aluminum tape and anti-vibration hammer relies entirely on manual dismantling by line workers, and the work intensity of line workers is high.

[0028] 2. Start the travel drive, which can drive the travel roller to move. Since the travel roller moves along the direction of the cable, the travel roller can drive the frame to move on the cable. When the frame is located at a specific position on the cable, the anti-vibration hammer is located in the middle of the frame. At this time, the travel drive is stopped and the brake assembly is started. The brake lifting component drives the brake roller to move upward, so that the brake roller contacts the cable, thereby playing a braking role and limiting the movement of the frame relative to the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of a disassembly operation robot according to one embodiment of the utility model;

[0030] Figure 2 It is a schematic diagram of a lifting assembly in one embodiment of the utility model;

[0031] Figure 3 It is a schematic diagram of a dismantling mechanism and a cutting mechanism of one embodiment of the utility model;

[0032] Figure 4 It is a schematic diagram of an electric sleeve in one embodiment of the utility model;

[0033] Among them, 1. frame; 11. lifting assembly; 111. rack; 112. lifting drive motor; 113. lifting transmission gear; 114. first lifting gear; 115. second lifting gear; 116. lifting rotating screw; 117. lifting limit guide rail; 12. L-shaped plate; 121. vertical part; 122. horizontal part; 2. walking mechanism; 21. walking drive member; 22. walking roller; 23. brake assembly; 3. dismantling mechanism; 31. electric sleeve; 32. impact block; 33. dismantling drive assembly; 331. dismantling drive motor; 332. first dismantling gear ; 333, second removal gear; 334, removal screw; 335, first removal slider; 336, second removal slider; 337, removal limit screw; 338, removal limit guide rail; 34, first removal plate; 341, first clamping block; 35, second removal plate; 351, second clamping block; 4, cutting mechanism; 40, cutting limit slider; 41, cutting knife; 42, cutting mounting plate; 43, cutting motor; 44, first cutting gear; 45, second cutting gear; 46, cutting slider; 47, cutting screw; 48, cutting limit plate; 49, cutting limit guide rail. DETAILED DESCRIPTION

[0034] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0035] In the description of the present invention, it should be understood that the terms "length", "middle", "upper", "lower", "left", "right", "top", "bottom", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, unless otherwise specified, the meaning of "plurality" is more than two.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "splicing", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] Combine the following Figures 1 to 4 , describing a transmission line anti-vibration hammer demolition operation robot according to an embodiment of the utility model.

[0039] A transmission line anti-vibration hammer dismantling robot comprises a frame 1, a walking mechanism 2, a dismantling mechanism 3 and a cutting mechanism 4, wherein the walking mechanism 2 is located at the left and right ends of the frame 1, and the dismantling mechanism 3 and the cutting mechanism 4 are located at the top of the frame 1;

[0040] The walking mechanism 2 is used to drive the frame 1 to move along the direction of the cable; the cutting mechanism 4 includes a cutting knife 41, and the cutting knife 41 cuts the aluminum tape along the direction of the cable; the removal mechanism 3 includes an electric sleeve 31 and an impact block 32, the electric sleeve 31 is used to remove the anti-vibration hammer, and the impact block 32 is used to clamp and impact the anti-vibration hammer.

[0041] In the present invention, a power transmission line anti-vibration hammer demolition operation robot is provided, wherein the walking mechanisms 2 at both ends of the frame 1 can drive the entire demolition operation robot to move on the cable.

[0042] The flashlight sleeve 31 and the impact block 32 in the dismantling mechanism 3 cooperate with each other to clamp the anti-vibration hammer, so that the flashlight sleeve 31 can remove the nut on the anti-vibration hammer, and then the impact block 32 hits the anti-vibration hammer to make it fall, thereby completing the dismantling work.

[0043] The cutting knife 41 in the cutting mechanism 4 can move on the aluminum strap to cut the aluminum strap, thereby completing the cutting work.

[0044] When the demolition robot moves to the vicinity of the anti-vibration hammer, the demolition mechanism 3 can dismantle the anti-vibration hammer; when the demolition robot moves to the vicinity of the aluminum tape, the cutting mechanism 4 can cut the aluminum tape, so that the demolition robot of this scheme can automatically dismantle the anti-vibration hammer and cut the aluminum tape, which solves the problem that the dismantling operations of traditional aluminum tapes and anti-vibration hammers rely entirely on manual dismantling by line workers, and the work intensity of line workers is high.

[0045] The walking mechanism 2 includes a walking drive 21, a walking roller 22 and a brake assembly 23. The driving end of the walking drive 21 is fixedly connected to the walking roller 22. The walking roller 22 moves along the direction of the cable. The brake assembly 23 is provided at the bottom of the walking roller 22. The brake assembly 23 is used to limit the movement of the frame 1 relative to the cable.

[0046] Reference Figure 1 The brake assembly 23 is composed of a brake roller and a brake lifting member, wherein the rotation direction of the brake roller is the same as the direction of the cable.

[0047] The travel drive 21 is started, and the travel drive 21 can drive the travel roller 22 to move. Since the travel roller 22 moves along the direction of the cable, the travel roller 22 can drive the frame 1 to move on the cable. When the frame 1 is located at a specific position on the cable, the anti-vibration hammer is located in the middle of the frame 1, and the travel drive 21 is stopped and the brake assembly 23 is started.

[0048] The brake lifting member drives the brake roller to move upward, so that the brake roller abuts against the cable, thereby playing a braking role and limiting the movement of the frame 1 relative to the cable.

[0049] When the demolition operation robot of the present solution has finished its work, the brake lifting member drives the brake roller to move downward, so that the brake roller and the cable are separated, thereby releasing the braking effect.

[0050] The frame 1 is provided with a lifting assembly 11 and an L-shaped plate 12, the L-shaped plate 12 includes a vertical portion 121 and a horizontal portion 122, the top of the vertical portion 121 is fixedly connected to the end of the horizontal portion 122, the lifting assembly 11 is installed at the bottom of the vertical portion 121, and the bottom of the vertical portion 121 is slidably connected to the frame 1 through the lifting assembly 11;

[0051] The cutting mechanism 4 is installed at the top of the vertical portion 121 , and the removal mechanism 3 is provided at the bottom of the horizontal portion 122 .

[0052] In order to ensure that the dismantling mechanism 3 and the cutting mechanism 4 can work accurately, a lifting assembly 11 and an L-shaped plate 12 are provided on the frame 1. The lifting assembly 11 can drive the L-shaped plate 12 to move along the vertical direction on the frame 1, so that the height of the dismantling mechanism 3 and the cutting mechanism 4 can be adjusted to ensure that the dismantling mechanism 3 can remove the anti-vibration hammer and the cutting mechanism 4 can cut the aluminum strap.

[0053] The frame 1 is provided with a camera, the shooting area of ​​the camera faces the horizontal portion 122, and the camera is electrically connected to the walking mechanism 2, the cutting mechanism 4 and the dismantling mechanism 3 respectively.

[0054] Among them, multiple cameras can monitor the positions of the cutting mechanism 4 and the dismantling mechanism 3 at all times. When the walking mechanism 2 drives the frame 1 to move near the anti-vibration hammer, the camera can transmit the signal to the walking mechanism 2, so that the walking mechanism 2 can adjust the position of the frame 1 so that the anti-vibration hammer is located at the center of the frame 1.

[0055] The camera can also monitor and record the working process of the cutting mechanism 4 and the removal mechanism 3 to ensure that the cutting mechanism 4 can accurately cut the aluminum tape on the cable and the removal mechanism 3 can accurately remove the anti-vibration hammer.

[0056] The cutting mechanism 4 includes a cutting mounting plate 42, a cutting motor 43, a first cutting gear 44, a second cutting gear 45, a cutting slider 46 and a cutting wire rod 47;

[0057] The mounting end of the cutting motor 43 is installed on the top of the vertical portion 121, and the driving end of the cutting motor 43 is fixedly sleeved with the first cutting gear 44. The cutting wire rod 47 is rotatably installed on the top of the vertical portion 121. The length direction of the cutting wire rod 47 is parallel to the direction of the cable, and the end of the cutting wire rod 47 close to the first cutting gear 44 is fixedly sleeved with the second cutting gear 45. The first cutting gear 44 is meshed with the second cutting gear 45. The cutting wire rod 47 is rotatably sleeved with the cutting slider 46. The cutting slider 46 is slidably connected to the cutting mounting plate 42, and the end of the cutting mounting plate 42 away from the cutting slider 46 is fixedly connected to the cutting knife 41.

[0058] When the end of the cutting knife 41 abuts against the aluminum strip, the cutting motor 43 is started, and the cutting motor 43 can drive the first cutting gear 44 to rotate, and the rotation of the first cutting gear 44 can drive the second cutting gear 45 to rotate, and the rotation of the second cutting gear 45 can drive the cutting wire rod 47 to rotate. Since the cutting wire rod 47 is sleeved with a cutting slider 46, the rotation of the cutting wire rod 47 can drive the slider, and the cutting slider 46 can move on the cutting wire rod 47. The cutting slider 46 is fixedly connected to the cutting mounting plate 42, so the cutting mounting plate 42 can drive the cutting knife 41 to move along the length direction of the cutting wire rod 47. Therefore, when the cutting motor 43 is started, the cutting motor 43 can indirectly drive the cutting knife 41 to reciprocate along a specific direction.

[0059] The direction of the cutting motor 43 is adjusted in time, and the cutting knife 41 reciprocates along the length direction of the cutting wire rod 47 to cut the aluminum strip, thereby completing the cutting process.

[0060] The cutting mechanism 4 also includes a cutting limit plate 48, a cutting limit guide rail 49 and a cutting limit slider 40;

[0061] The cutting limit plate 48 is fixedly connected to the top of the vertical portion 121, and the bottom wall of the cutting limit plate 48 is provided with a cutting limit guide rail 49, and the length direction of the cutting limit guide rail 49 is parallel to the direction of the cable, and the top of the cutting mounting plate 42 is provided with a cutting limit slider 40, and the cutting limit slider 40 is slidably connected to the cutting limit guide rail 49, and the cutting limit plate 48 is provided with a limiting hole, and the cutting knife 41 passes through the limiting hole, and the bottom of the cutting limit plate 48 is provided with a first arc surface, and the first arc surface abuts against the cable.

[0062] In order to prevent the cutting knife 41 from having position deviation during the cutting process, which makes it difficult to cut the aluminum tape, a cutting limit guide rail 49 is provided on the cutting limit plate 48, and a cutting limit slider 40 is provided on the top of the cutting mounting plate 42. At this time, the cutting limit slider 40 and the cutting limit guide rail 49 are slidingly connected, and the length direction of the cutting limit guide rail 49 is parallel to the direction of the cable, so that the cutting limit guide rail 49 can limit the movement direction and movement range of the partition, thereby reducing the position deviation of the cutting knife 41 during the cutting process.

[0063] A limiting hole is provided on the cutting limiting plate 48 , through which the cutting knife 41 passes. The position of the cutting limiting plate 48 is fixed, and the cutting knife 41 cuts the aluminum tape back and forth in the limiting hole, further limiting the range of motion of the cutting knife 41 .

[0064] It is worth noting that the first arc surface at the bottom of the cutting limit plate 48 can press the cable, which can reduce the jumping of the cable during the cutting process, and further ensure that the cutting knife 41 can accurately cut the aluminum tape.

[0065] When the cutting knife 41 has finished cutting, the aluminum tape is completely cut, and then the walking mechanism 2 is started to make the frame 1 move left and right along the cable direction. At this time, the first arc surface of the cutting limit plate 48 has been pressing against the cable, which can scratch the cut aluminum tape and make it separate from the cable.

[0066] The dismantling mechanism 3 includes a dismantling driving assembly 33, a first dismantling plate 34 and a second dismantling plate 35. The connection direction of the first dismantling plate 34 and the second dismantling plate 35 is perpendicular to the direction of the cable. The driving end of the dismantling driving assembly 33 is rotatably connected to the first dismantling plate 34 and the second dismantling plate 35 respectively. The dismantling driving assembly 33 is used to drive the first dismantling plate 34 and the second dismantling plate 35 to move closer to or away from each other.

[0067] A first clamping block 341 and the impact block 32 are provided on a side of the first disassembly plate 34 close to the cable, and a second clamping block 351 and the electric sleeve 31 are provided on a side of the second disassembly plate 35 close to the cable. The first clamping block 341 and the second clamping block 351 are arranged opposite to each other, and the first clamping block 341 and the second clamping block 351 are used to clamp the anti-vibration hammer.

[0068] The impact block 32 is arranged opposite to the electric sleeve 31 . The impact block 32 is used to clamp or impact the anti-vibration hammer, and the electric sleeve 31 is used to remove the nut on the anti-vibration hammer.

[0069] Start the dismantling drive assembly 33, which can drive the first dismantling plate 34 and the second dismantling plate 35 to approach each other. At this time, the first clamping block 341 and the second clamping block 351 also approach each other and then clamp the anti-vibration hammer to reduce the movement of the anti-vibration hammer during the dismantling process.

[0070] Then the impact block 32 presses against the side of the anti-vibration hammer away from the electric sleeve 31, and the electric sleeve 31 is located on the other side of the anti-vibration hammer away from the impact block 32. At this time, the electric sleeve 31 is sleeved on the nut of the anti-vibration hammer, so that the impact block 32 and the flashlight sleeve cooperate with each other, which can not only clamp the anti-vibration hammer, but also remove the nut on the anti-vibration hammer, further reducing the movement of the anti-vibration hammer when the flashlight sleeve is disassembled.

[0071] When the flashlight sleeve completely removes the nut of the anti-vibration hammer, the removal drive assembly 33 can be started again, so that the impact block 32 hits the anti-vibration hammer multiple times to make it fall, thereby completing the removal operation of the anti-vibration hammer.

[0072] The dismantling drive assembly 33 includes a dismantling drive motor 331, a first dismantling gear 332, a second dismantling gear 333, a dismantling screw 334, a first dismantling slider 335, a second dismantling slider 336 and a dismantling limit screw 337;

[0073] The mounting end of the dismantling driving motor 331 is mounted on the end of the horizontal portion 122, the output end of the dismantling driving motor 331 is fixedly sleeved with the first dismantling gear 332, the end of the dismantling limiting screw rod 337 close to the first dismantling gear 332 is fixedly sleeved with a second dismantling gear 333, the first dismantling gear 332 and the second dismantling gear 333 are meshed, and the length direction of the dismantling limiting screw rod 337 is perpendicular to the direction of the cable;

[0074] The two ends of the dismantling limit screw rod 337 are movably sleeved with the first dismantling slider 335 and the second dismantling slider 336, the first dismantling slider 335 is fixedly connected to the first dismantling plate 34, and the second dismantling slider 336 is fixedly connected to the second dismantling plate 35; the bottom wall of the horizontal part 122 is fixedly installed with a dismantling limit guide rail 338, the length direction of the dismantling limit guide rail 338 is parallel to the length direction of the dismantling limit screw rod 337, and the dismantling limit guide rail 338 is slidably connected to the first dismantling slider 335 and the second dismantling slider 336.

[0075] It is worth noting that, when the dismantling driving motor 331 is started, the dismantling driving motor 331 can drive the first dismantling gear 332 to rotate, the rotation of the first dismantling gear 332 can drive the second dismantling gear 333 to rotate, and the rotation of the second dismantling gear 333 can drive the dismantling limit screw 337 to rotate. Referring to Figure 3, the dismantling limit screw 337 is a bidirectional screw, and the length direction of the dismantling limit screw 337 is perpendicular to the direction of the cable. Therefore, the rotation of the dismantling limit screw 337 can drive the first dismantling slider 335 and the second dismantling slider 336 to approach or move away from the cable at the same time, and the first dismantling slider 335 and the second dismantling slider 336 can also approach or move away from each other.

[0076] Among them, the horizontal part 122 is also provided with a dismantling limit guide rail 338, and the first dismantling slider 335 and the second dismantling slider 336 are both slidably connected to the dismantling limit guide rail 338, so that the dismantling limit guide rail 338 can limit the movement direction and movement range of the first dismantling plate 34 and the second dismantling plate 35, ensuring the interaction between the first dismantling plate 34 and the second dismantling plate 35, and the anti-vibration hammer can be dismantled.

[0077] The lifting assembly 11 includes a rack 111, a lifting drive motor 112, a lifting transmission gear 113, a first lifting gear 114, a second lifting gear 115 and a lifting rotating screw 116;

[0078] The racks 111 are vertically mounted on both left and right ends of the frame 1. Lifting limit guide rails 117 are also vertically mounted on both left and right ends of the frame 1. The vertical portion 121 is slidably connected to the lifting limit guide rails 117.

[0079] The mounting end of the lifting drive motor 112 is fixedly installed at the bottom of the vertical part 121, and the driving end of the lifting drive motor 112 is fixedly installed with the first lifting gear 114. The lifting rotating screw rod 116 is rotatably installed at the bottom of the vertical part 121, and the lifting rotating screw rod 116 is fixedly sleeved with the second lifting gear 115, and the second lifting gear 115 is meshed with the first lifting gear 114. The length direction of the lifting rotating screw rod 116 is parallel to the direction of the cable, and both ends of the lifting rotating screw rod 116 are fixedly sleeved with the lifting transmission gear 113, and the lifting transmission gear 113 is meshed with the rack 111.

[0080] The frame 1 is provided with a vertical lifting limit guide rail 117, so the vertical portion 121 of the L-shaped plate 12 can be slidably connected to the lifting limit guide rail 117, so that the entire L-shaped member can move in the vertical direction, thereby ensuring that the cutting mechanism 4 can cut the aluminum tape and the removal mechanism 3 can remove the anti-vibration hammer on the cable.

[0081] The lifting drive motor 112 is started, and the lifting drive motor 112 can drive the first lifting gear 114 to rotate. The rotation of the first lifting gear 114 can drive the second lifting gear 115 to rotate. The rotation of the second lifting gear 115 can drive the lifting rotating screw 116 to rotate. Since the second lifting gear 115 and the lifting transmission gear 113 are sleeved on the lifting rotating screw 116, the lifting rotating screw 116 can drive the lifting transmission gears 113 at both ends to rotate. The two lifting transmission gears 113 are fixedly sleeved on both ends of the lifting rotating screw 116. When the lifting transmission gear 113 rotates, it can drive the lifting rotating screw 116 and the vertical part 121 to move in the vertical direction together, ensuring that the vertical part 121 can move on the lifting limit guide rail 117.

[0082] At this time, the lifting limit guide rail 117 can limit the movement direction and range of the vertical part 121, reducing the position deviation of the vertical part 121 during the lifting process, which makes it difficult for the disassembly mechanism to cut the aluminum tape and the disassembly mechanism 3 to remove the anti-vibration hammer.

[0083] The technical principle of the present invention is described above in combination with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on the explanations here, technicians in this field can think of other specific implementation methods of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. A transmission line anti-vibration hammer removal operation robot, characterized in that: It includes a frame, a walking mechanism, a dismantling mechanism and a cutting mechanism, wherein the walking mechanism is located at the left and right ends of the frame, and the dismantling mechanism and the cutting mechanism are located at the top of the frame; The walking mechanism is used to drive the frame to move along the direction of the cable; the cutting mechanism includes a cutting knife, and the cutting knife cuts the aluminum tape along the direction of the cable; the removal mechanism includes an electric sleeve and an impact block, the electric sleeve is used to remove the anti-vibration hammer, and the impact block is used to clamp and impact the anti-vibration hammer.

2. A power transmission line anti-vibration hammer removal robot according to claim 1, characterized in that: The walking mechanism includes a walking drive, a walking roller and a brake assembly. The driving end of the walking drive is fixedly connected to the walking roller. The walking roller moves along the direction of the cable. The brake assembly is provided at the bottom of the walking roller. The brake assembly is used to limit the movement of the frame relative to the cable.

3. A power transmission line anti-vibration hammer removal operation robot according to claim 1, characterized in that: The frame is provided with a lifting assembly and an L-shaped plate, the L-shaped plate includes a vertical portion and a horizontal portion, the top of the vertical portion is fixedly connected to the end of the horizontal portion, the lifting assembly is installed at the bottom of the vertical portion, and the bottom of the vertical portion is slidably connected to the frame through the lifting assembly; The cutting mechanism is installed on the top of the vertical part, and the removal mechanism is provided on the bottom of the horizontal part.

4. A power transmission line anti-vibration hammer removal operation robot according to claim 3, characterized in that: The frame is provided with a camera, the shooting area of ​​the camera faces the horizontal part, and the camera is electrically connected to the walking mechanism, the cutting mechanism and the dismantling mechanism respectively.

5. A power transmission line anti-vibration hammer removal robot according to claim 4, characterized in that: The cutting mechanism comprises a cutting mounting plate, a cutting motor, a first cutting gear, a second cutting gear, a cutting slider and a cutting wire rod; The mounting end of the cutting motor is installed on the top of the vertical part, and the driving end of the cutting motor is fixedly sleeved with the first cutting gear. The cutting wire rod is rotatably installed on the top of the vertical part. The length direction of the cutting wire rod is parallel to the direction of the cable, and the end of the cutting wire rod close to the first cutting gear is fixedly sleeved with the second cutting gear. The first cutting gear is meshed with the second cutting gear. The cutting wire rod is rotatably sleeved with the cutting slider, and the cutting slider is slidably connected to the cutting mounting plate. The end of the cutting mounting plate away from the cutting slider is fixedly connected to the cutting knife.

6. A power transmission line anti-vibration hammer removal robot according to claim 5, characterized in that: The cutting mechanism also includes a cutting limit plate, a cutting limit guide rail and a cutting limit slider; The cutting limit plate is fixedly connected to the top of the vertical portion, and a cutting limit guide rail is provided on the bottom wall of the cutting limit plate, and the length direction of the cutting limit guide rail is parallel to the direction of the cable. A cutting limit slider is provided on the top of the cutting mounting plate, and the cutting limit slider is slidably connected to the cutting limit guide rail. The cutting limit plate is provided with a limiting hole, and the cutting knife passes through the limiting hole. A first arc surface is provided on the bottom of the cutting limit plate, and the first arc surface abuts against the cable.

7. The power transmission line anti-vibration hammer removal robot according to claim 4, characterized in that: The dismantling mechanism comprises a dismantling drive assembly, a first dismantling plate and a second dismantling plate, wherein the connection direction of the first dismantling plate and the second dismantling plate is perpendicular to the direction of the cable, and the driving end of the dismantling drive assembly is rotatably connected to the first dismantling plate and the second dismantling plate respectively, and the dismantling drive assembly is used to drive the first dismantling plate and the second dismantling plate to move closer to or away from each other; A first clamping block and a striking block are provided on a side of the first disassembly plate close to the cable, and a second clamping block and the electric sleeve are provided on a side of the second disassembly plate close to the cable. The first clamping block and the second clamping block are arranged opposite to each other, and the first clamping block and the second clamping block are used to clamp the anti-vibration hammer; The impact block is arranged opposite to the electric sleeve, the impact block is used to clamp or impact the anti-vibration hammer, and the electric sleeve is used to remove the nut on the anti-vibration hammer.

8. The power transmission line anti-vibration hammer removal robot according to claim 7, characterized in that: The dismantling drive assembly includes a dismantling drive motor, a first dismantling gear, a second dismantling gear, a dismantling screw, a first dismantling slider, a second dismantling slider and a dismantling limit screw; The mounting end of the dismantling drive motor is installed at the end of the horizontal part, the output end fixing sleeve of the dismantling drive motor is provided with the first dismantling gear, the end fixing sleeve of the dismantling limit screw rod close to the first dismantling gear is provided with a second dismantling gear, the first dismantling gear and the second dismantling gear are meshed, and the length direction of the dismantling limit screw rod is perpendicular to the direction of the cable; The two ends of the dismantling limit screw rod are movably sleeved with the first dismantling slide block and the second dismantling slide block, the first dismantling slide block is fixedly connected to the first dismantling plate, and the second dismantling slide block is fixedly connected to the second dismantling plate; the bottom wall of the horizontal part is fixedly installed with a dismantling limit guide rail, the length direction of the dismantling limit guide rail is parallel to the length direction of the dismantling limit screw rod, and the dismantling limit guide rail is slidably connected to the first dismantling slide block and the second dismantling slide block.

9. The power transmission line anti-vibration hammer removal robot according to claim 8, characterized in that: The lifting assembly includes a rack, a lifting drive motor, a lifting transmission gear, a first lifting gear, a second lifting gear and a lifting rotating screw; The racks are vertically mounted on both left and right ends of the frame, and lifting limit guide rails are also vertically mounted on both left and right ends of the frame, and the vertical portion is slidably connected to the lifting limit guide rails; The mounting end of the lifting drive motor is fixedly installed at the bottom of the vertical part, and the driving end of the lifting drive motor is fixedly installed with a first lifting gear. The lifting rotating screw is rotatably installed at the bottom of the vertical part, and the lifting rotating screw is fixedly sleeved with the second lifting gear, which is meshed with the first lifting gear. The length direction of the lifting rotating screw is parallel to the direction of the cable, and both ends of the lifting rotating screw are fixedly sleeved with the lifting transmission gears, which are meshed with the rack.

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