Wire hanging robot

Abstract

The utility model provides a wire hanging robot, and belongs to the technical field of wire hanging robots. The wire hanging robot comprises a robot main body, a hanging piece and a turnover mechanism; the turnover mechanism comprises a rotating part and a plug-in assembly; the rotating piece is movably arranged on part of the robot body in a sleeving mode and connected with the hanging piece, the inserting assembly comprises a first inserting piece and a second inserting piece connected with the first inserting piece in an inserting mode, the first inserting piece is connected with the rotating piece, and the second inserting piece is arranged on the robot body; the hanging piece is used for being erected above a wire or a ground wire of an overhead transmission line. The second plug connector is used for moving relative to the first plug connector so as to be separated from the first plug connector; and the robot main body is used for enabling the rotating piece to drive the hanging piece to rotate relative to the robot main body under the action of gravity when the second plug connector is separated from the first plug connector, so that the hanging piece is separated from the overhead transmission line lead or the ground wire. Therefore, operation is convenient, and the dismounting efficiency is high.

Description

[0001] This application claims the priority of a Chinese patent application with the application number 202411194734.8, titled "Control Method, Device and Inspection Equipment for Inspection Equipment", filed with the Chinese Patent Office on August 28, 2024, the content of which is incorporated herein by reference. Technical Field

[0002] This application relates to the technical field of wire-hanging robots, and particularly to a wire-hanging robot. Background Art

[0003] As an important part of the power grid, overhead transmission lines can be inspected by wire-hanging robots to ensure the safety of overhead transmission lines and avoid damage to overhead transmission lines.

[0004] In related technologies, a wire-hanging robot includes a first housing and a second housing. One side of the first housing is hinged to one side of the second housing. By placing the conductor or ground wire of the overhead transmission line between the first housing and the second housing, and then engaging the other side of the first housing with the other side of the second housing through a snap structure, the wire-hanging robot is set on the conductor or ground wire of the overhead transmission line.

[0005] However, when disassembling the above-mentioned wire-hanging robot, maintenance personnel need to open the snap structure and operate the first housing and the second housing to unfold, so that the conductor or ground wire of the overhead transmission line disengages from between the first housing and the second housing, which has the problems of inconvenient operation and low efficiency. Utility Model Content

[0006] This application provides a wire-hanging robot to solve the deficiencies in related technologies.

[0007] This application provides a wire-hanging robot, including a robot main body, a hanging component and a flipping mechanism; the flipping mechanism includes a rotating member and a plugging component; the rotating member is movably sleeved on a part of the robot main body, and the rotating member is connected to the hanging component. The plugging component includes a first plugging member and a second plugging member that is plugged with the first plugging member. The first plugging member is connected to the rotating member, and the second plugging member is arranged on the robot main body; the hanging component is used for being erected above the conductor or ground wire of the overhead transmission line; the second plugging member is configured to move relative to the first plugging member to disengage from the first plugging member; the robot main body is configured to, when the second plugging member disengages from the first plugging member, under the action of gravity, drive the hanging component to rotate relative to the robot main body by the rotating member, so that the hanging component disengages from the conductor or ground wire of the overhead transmission line.

[0008] In a possible implementation, for the wire-hanging robot provided by the present application, the second plug-in member includes a plugging portion, the plugging portion is disposed opposite to the first plug-in member, and a plugging groove matching the first plug-in member is formed on the plugging portion; a part of the first plug-in member is inserted into the plugging groove.

[0009] In a possible implementation, for the wire-hanging robot provided by the present application, the plugging assembly further includes a power member, the second plug-in member is used to be movably connected to the robot main body through the power member, and the power member is configured to drive the second plug-in member to move relative to the robot main body, so that the second plug-in member moves away from the first plug-in member and disengages from the plugging with the first plug-in member.

[0010] In a possible implementation, for the wire-hanging robot provided by the present application, the robot main body includes a robot body and a connecting member connected to the robot body. There is a spacing between one side of the connecting member and the robot body. The rotating member is movably sleeved on one side of the connecting member, and the second plug-in member is disposed on the robot body.

[0011] In a possible implementation, for the wire-hanging robot provided by the present application, it further includes a lifting mechanism. The robot body is slidably connected to the connecting member through the lifting mechanism. The lifting mechanism is used to drive the robot body to move away from the connecting member, so as to drive the second plug-in member to move away from the first plug-in member, and make the second plug-in member disengage from the plugging with the first plug-in member.

[0012] In a possible implementation, for the wire-hanging robot provided by the present application, the second plug-in member has at least one fixing portion, the fixing portion is connected to the plugging portion, and the second plug-in member is detachably connected to the robot body through the fixing portion.

[0013] In a possible implementation, for the wire-hanging robot provided by the present application, the connecting member is a frame, a placing area is provided on the frame, the robot body is located on the placing area, and the robot body is connected to the frame.

[0014] In a possible implementation, for the wire-hanging robot provided by the present application, the first plug-in member is a straight rod; a connecting hole is formed on the rotating member, the connecting hole is disposed opposite to the second plug-in member, and the straight rod is inserted into the rotating member through the connecting hole.

[0015] In a possible implementation, for the wire-hanging robot provided by the present application, the hanging member includes a supporting portion and at least one abutting portion connected to the supporting portion; the supporting portion is connected to the rotating member, and a socket matching the conductor or ground wire of the overhead transmission line is formed on the abutting portion. The abutting portion is used to be erected above the conductor or ground wire of the overhead transmission line through the socket.

[0016] In a possible implementation, for the wire-hanging robot provided in the present application, the robot body further includes a traveling drive member. The traveling drive member and the hanging member are located on opposite sides of the conductor or ground wire of the overhead transmission line, and the traveling drive member is in contact with the conductor or ground wire of the overhead transmission line. The traveling drive member is configured to drive the robot body and the hanging member to move along the extension direction of the conductor or ground wire of the overhead transmission line, and, before the lifting mechanism drives the robot body to move away from the connecting member and causes the second plug-in member to disengage from the first plug-in member, to disengage from the conductor or ground wire of the overhead transmission line.

[0017] For the wire-hanging robot provided in the present application, by providing the robot body and the hanging member, the hanging member is configured to be erected above the conductor or ground wire of the overhead transmission line, so that the robot body can inspect the conductor or ground wire of the overhead transmission line; by providing a rotating member, a first plug-in member, and a second plug-in member that is plugged into the first plug-in member, the first plug-in member is connected to the rotating member, and the second plug-in member is provided on the robot body. The rotating member is used to connect the hanging member and the robot body. In this way, the erection of the hanging member driving the robot body on the conductor or ground wire of the overhead transmission line is realized; by movably sleeving the rotating member on a part of the robot body, on the one hand, since the first plug-in member and the second plug-in member are plugged together, it can play a limiting role in the rotation of the rotating member and will not affect the erection of the hanging member above the transmission line; on the other hand, when it is necessary to disassemble the wire-hanging robot from the conductor or ground wire of the overhead transmission line, by moving the second plug-in member relative to the first plug-in member to disengage from the first plug-in member, in this way, the rotational restriction on the rotating member is released. Due to the natural downward fall of the robot body under the action of gravity, the hanging member will be pushed by the conductor or ground wire of the overhead transmission line, so that the rotating member drives the hanging member to rotate relative to the robot body, and then the hanging member disengages from the conductor or ground wire of the overhead transmission line and falls off from the conductor or ground wire of the overhead transmission line under the action of gravity. The wire-hanging robot provided in the present application is convenient to operate and has a high disassembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0019] Figure 1 It is a schematic structural diagram of the wire-hanging robot provided in an embodiment of the present application arranged on the conductor or ground wire of the overhead transmission line;

[0020] Figure 2 It is the usage state of the wire-hanging robot provided in an embodiment of the present application Figure 1 ;

[0021] Figure 3 It is the usage state of the wire-hanging robot provided in an embodiment of the present applicationFigure 2 ;

[0022] Figure 4 Structural schematic diagram of the robot main body provided by the embodiment of the present application;

[0023] Figure 5 Connection diagram of the flipping mechanism and the connecting member provided by the embodiment of the present application;

[0024] Figure 6 Connection diagram of the second plug-in member and the robot body provided by the embodiment of the present application;

[0025] Figure 7 Structural schematic diagram of the flipping mechanism provided by the embodiment of the present application;

[0026] Figure 8 Structural schematic diagram of the hanging member provided by the embodiment of the present application.

[0027] Explanation of reference numerals:

[0028] 100 - Robot main body;

[0029] 110 - Robot body; 120 - Connecting member; 121 - First connecting section; 122 - Second connecting section; 123 - Third connecting section; 124 - Fourth connecting section; 125 - Fastening member; 126 - Placing area; 130 - Travel driving member;

[0030] 200 - Hanging member;

[0031] 210 - Supporting part; 220 - Abutting part; 211 - Socket;

[0032] 300 - Flipping mechanism;

[0033] 310 - Rotating member; 311 - Connecting hole;

[0034] 320 - Plug - in assembly; 321 - First plug - in member; 322 - Second plug - in member; 3221 - Plug - in part; 3222 - Plug - in groove; 3223 - Fixed part;

[0035] 400 - Lifting mechanism;

[0036] 410 - Sliding sleeve assembly; 411 - First sliding sleeve; 412 - Second sliding sleeve; 420 - Power member; 430 - Transmission assembly; 431 - First transmission member; 432 - Second transmission member;

[0037] 600 - Conductor or ground wire of overhead transmission line. Detailed implementation manners

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of this application. In the drawings, the same or similar reference numerals denote the same or similar components or components with the same or similar functions from beginning to end. The described embodiments are some, but not all, of the embodiments of this application. The embodiments described below by referring to the drawings are exemplary and are intended to explain this application, and should not be construed as a limitation to this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts fall within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the drawings.

[0039] In the description of this application, it should be noted that, unless otherwise clearly defined and limited, the terms "install", "connect", and "couple" should be understood in a broad sense. For example, it may be a fixed connection, or an indirect connection through an intermediate medium, or the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

[0041] The terms "first", "second", "third", "fourth", etc. in the specification, claims, and the above drawings of this application are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this application described here, for example, can be implemented in an order other than those illustrated or described here.

[0042] In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0043] As described in the background art, the stringing robot in the related art includes a first housing and a second housing. One side of the first housing is hinged to one side of the second housing. By placing the conductor or ground wire of the overhead transmission line between the first housing and the second housing, and then buckling the other side of the first housing to the other side of the second housing through a buckle structure, the stringing robot is set on the conductor or ground wire of the overhead transmission line.

[0044] However, when disassembling the above-mentioned stringing robot, maintenance personnel need to open the buckle structure and operate the first housing and the second housing to unfold, so that the conductor or ground wire of the overhead transmission line is disengaged from between the first housing and the second housing, which has the problems of inconvenient operation and low efficiency.

[0045] In view of this, the present application provides a stringing robot. The stringing robot is provided with a robot body and a hanging member. The hanging member is used to be erected above the conductor or ground wire of the overhead transmission line, so that the robot body can inspect the conductor or ground wire of the overhead transmission line; in order to enable the hanging member to drive the robot body to be erected on the conductor or ground wire of the overhead transmission line, by setting a rotating member, a first plug-in member and a second plug-in member inserted with the first plug-in member, the first plug-in member is connected to the rotating member, and the second plug-in member is arranged on the robot body. The rotating member is used to connect the hanging member and the robot body. In this way, the hanging member drives the robot body to be erected on the conductor or ground wire of the overhead transmission line.

[0046] In order to facilitate the disassembly of the stringing robot, the rotating member is movably sleeved on part of the robot body. On the one hand, since the first plug-in member and the second plug-in member are inserted, it can play a limiting role in the rotation of the rotating member and will not affect the erection of the hanging member above the transmission line; on the other hand, when it is necessary to disassemble the stringing robot from the conductor or ground wire of the overhead transmission line, by moving the second plug-in member relative to the first plug-in member to disengage from the first plug-in member, in this way, the rotation limit of the rotating member is released. Due to the gravity of the robot body, it naturally drops downward, so the hanging member will be pushed by the conductor or ground wire of the overhead transmission line, causing the rotating member to drive the hanging member to rotate relative to the robot body, and then the hanging member is disengaged from the conductor or ground wire of the overhead transmission line and falls off from the conductor or ground wire of the overhead transmission line under the action of gravity. The stringing robot provided by the present application is convenient to operate and has high disassembly efficiency.

[0047] Hereinafter, the present application will be described in detail with reference to the drawings and specific embodiments.

[0048] Refer to Figures 1 to 3, the wire-hanging robot provided by the embodiment of the present application includes a robot main body 100, a hanging member 200, and a flipping mechanism 300; the flipping mechanism 300 includes a rotating member 310 and a plugging component 320; the rotating member 310 is movably sleeved on a part of the robot main body 100, and the rotating member 310 is connected to the hanging member 200, the plugging component 320 includes a first plugging member 321 and a second plugging member 322 plugged with the first plugging member 321, the first plugging member 321 is connected to the rotating member 310, and the second plugging member 322 is arranged on the robot main body 100; the hanging member 200 is used for being erected above the conductor or ground wire 600 of the overhead transmission line; the second plugging member 322 is configured to move relative to the first plugging member 321 to be disengaged from the first plugging member 321; the robot main body 100 is configured to, when the second plugging member 322 is disengaged from the first plugging member 321, under the action of gravity, drive the rotating member 310 to drive the hanging member 200 to rotate relative to the robot main body 100, so that the hanging member 200 is disengaged from the conductor or ground wire 600 of the overhead transmission line.

[0049] It should be noted that the overhead transmission line in the embodiment of the present application is a power transmission facility erected above the ground and is used to transmit electric energy between two points of the system. The overhead transmission line mainly consists of main components such as conductors, lightning conductors (overhead ground wires), towers, insulators, and fittings. These components work together to ensure that the current can be safely and effectively transmitted from the power station to the user end. As the main current carrier, the conductor usually adopts a steel-cored aluminum stranded wire to optimize the conductive performance and mechanical strength. The lightning conductor is installed above the conductor and grounded through the tower to reduce the chance of lightning directly hitting the conductor. The tower is used to support the conductor and the lightning conductor and maintain a safe distance between them and the ground and other structures. The insulator ensures the electrical isolation between the conductor and the tower and prevents current leakage. The wire-hanging robot in the embodiment of the present application can be used to be arranged on the conductor of the overhead transmission line, or can be used to be arranged on the ground wire of the overhead transmission line, or two wire-hanging robots can be arranged, respectively on the conductor and the ground wire, and there is no limitation in this regard.

[0050] Among them, the wire-hanging robot can be a robot that is fixed on the conductor or ground wire 600 of the overhead transmission line and only inspects the line environment around the conductor or ground wire 600 of the overhead transmission line, or can be a robot that is hung on the conductor or ground wire 600 of the overhead transmission line and moves along the extension direction of the conductor or ground wire 600 of the overhead transmission line to detect the conductor or ground wire 600 of the overhead transmission line. The embodiment of the present application does not limit this.

[0051] Specifically, the robot body 100 serves as a platform structure for carrying other components such as the control system, and is used to ensure the stability and functionality of the wire-hanging robot; the hanging component 200 is used to fix the robot body 100 above the conductor or ground wire 600 of the overhead transmission line, ensuring that the robot can perform inspection tasks safely and reliably.

[0052] The flipping mechanism 300 is configured to achieve quick disassembly between the hanging component 200 and the conductor or ground wire 600 of the overhead transmission line by setting a rotating member 310 and a plugging component 320, and separate the hanging component 200 from the conductor or ground wire 600 of the overhead transmission line through the cooperation of mechanical actions.

[0053] Exemplarily, by setting the first plugging member 321 and the second plugging member 322 to be plugged together, on the one hand, as Figure 1 and Figure 2 shown, when the rotating member 310 drives the first plugging member 321 to rotate relative to the robot body 100, the second plugging member 322 remains stationary, thereby restricting the rotation of the first plugging member 321 and the rotating member 310 through the contact resistance with the first plugging member 321, and further ensuring that the hanging component 200 can be stably erected on the conductor or ground wire 600 of the overhead transmission line; on the other hand, when it is necessary to disassemble the wire-hanging robot, only need to operate the second plugging member 322 to move relative to the first plugging member 321 to disengage the two, and the rotation restriction of the second plugging member 322 on the rotating member 310 can be released. Overall, the structure is simple, which is beneficial to realizing the lightweight design of the wire-hanging robot structure.

[0054] It can be understood that after the second plugging member 322 is disengaged from the first plugging member 321, due to the release of the rotation restriction of the hanging component 200, as Figure 3 shown, under the action of gravity, the robot body 100 naturally drops downward, so that the hanging component 200 will be pushed by the conductor or ground wire 600 of the overhead transmission line, causing the rotating member 310 to drive the hanging component 200 to rotate relative to a part of the robot body 100, thereby separating the hanging component 200 from the conductor or ground wire 600 of the overhead transmission line.

[0055] In specific implementation, when the hanging part 200 is disengaged from the conductor or ground wire 600 of the overhead transmission line, the whole hanging-line robot will drop off the transmission line under the action of gravity. Before the hanging part 200 is disengaged from the conductor or ground wire 600 of the overhead transmission line, the operator can place a receiving device on the ground opposite to the position of the hanging-line robot, and use the receiving device to catch the hanging-line robot falling from the conductor or ground wire 600 of the overhead transmission line. Alternatively, before the hanging part 200 is disengaged from the conductor or ground wire 600 of the overhead transmission line, the operator can also control the flying device to move towards the conductor or ground wire 600 of the overhead transmission line, so that it flies to the position of the hanging-line robot and connects with the hanging-line robot. In this way, after the hanging part 200 is disengaged from the conductor or ground wire 600 of the overhead transmission line, by controlling the flying device again, the flying device can be used to drive the hanging-line robot back to the ground. The embodiments of the present application do not limit this.

[0056] The embodiments of the present application do not limit the specific structure of the hanging part 200. Exemplarily, the hanging part 200 can be set in a hook shape or other structures adapted to the shape of the conductor or ground wire of the overhead transmission line, and a lightweight and high-strength alloy is selected as the material, so as to ensure that it can bear the load without adding too much weight.

[0057] Combined with Figure 1 As shown, the extending direction of the conductor or ground wire 600 of the overhead transmission line is the X direction. After the hanging-line robot is arranged on the conductor or ground wire 600 of the overhead transmission line, it can move along the X direction for inspection. Among them, the first plug-in part 321 and the second plug-in part 322 in the hanging robot can be arranged opposite to each other in the Z direction. When the second plug-in part 322 moves relative to the first plug-in part 321 to disengage from the first plug-in part 321, that is, the second plug-in part 322 moves away from the first plug-in part 321 along the Z direction.

[0058] In summary, for the wire-hanging robot according to the embodiment of the present application, by movably sleeving the rotating member 310 on a part of the robot main body 100, on the one hand, since the first plug-in member 321 and the second plug-in member 322 are plugged together, it can play a role in restricting the rotation of the rotating member 310 and will not affect the hanging member 200 being erected above the transmission line; on the other hand, when it is necessary to disassemble the wire-hanging robot from the overhead transmission line conductor or ground wire 600, by moving the second plug-in member 322 relative to the first plug-in member 321 to disengage from the first plug-in member 321, in this way, the rotation restriction of the rotating member 310 is released. Due to the gravity of the robot main body 100, it naturally drops downward, so that the hanging member 200 will be pushed by the overhead transmission line conductor or ground wire 600, causing the rotating member 310 to drive the hanging member 200 to rotate relative to a part of the robot main body 100, and then the hanging member 200 is disengaged from the overhead transmission line conductor or ground wire 600 and is removed from the overhead transmission line conductor or ground wire 600 under the action of gravity. The wire-hanging robot provided by the present application can reduce the need for manual intervention, is convenient to disassemble and has a high disassembly efficiency.

[0059] Referring to Figure 1 and Figure 6 , in some embodiments, the second plug-in member 322 includes a plugging portion 3221. The plugging portion 3221 is disposed opposite to the first plug-in member 321, and a plugging groove 3222 matching the first plug-in member 321 is formed on the plugging portion 3221; a part of the first plug-in member 321 is inserted into the plugging groove 3222.

[0060] In this way, through the design of the plugging groove 3222, the plugging process of the first plug-in member 321 and the second plug-in member 322 is more intuitive and easy to control. When it is necessary to disassemble the wire-hanging robot, simply move the second plug-in member 322 to separate the plugging groove 3222 thereon from the first plug-in member 321, and the unlocking of the hanging member 200 can be quickly realized, which is beneficial to reducing the possibility of misoperation and improving the overall reliability of the system.

[0061] In specific implementation, the size and shape of the plugging groove 3222 match the first plug-in member 321, so as to ensure reliable plugging between the two and avoid phenomena such as shaking after the hanging member 200 is erected on the overhead transmission line conductor or ground wire 600. Among them, the first plug-in member 321 can be set as a columnar or wedge-shaped structure, so that it is convenient for production and processing and can be inserted into the plugging groove 3222 of the second plug-in member 322.

[0062] In some examples, the plugging component 320 further includes a power member (not shown in the figure). The second plugging member 322 is used to be movably connected to the robot main body 100 through the power member. The power member is configured to drive the second plugging member 322 to move relative to the robot main body 100, so that the second plugging member 322 moves away from the first plugging member 321 and disengages from the first plugging member 321.

[0063] That is to say, the power member provides power support for the movement of the second plugging member 322, ensuring that the second plugging member 322 can be accurately separated from the first plugging member 321, which is beneficial to making the entire disassembly process smoother and more efficient, and enhancing the overall reliability of the disassembly of the wire-hanging robot.

[0064] The specific type of the power member is not limited in the embodiments of the present application. Exemplarily, the power member can be various types of actuators, such as an electric motor, a hydraulic cylinder or a pneumatic cylinder, etc. The power member can be installed at a position on the robot main body 100 close to the second plugging member 322 to directly drive the movement of the second plugging member 322.

[0065] Refer to Figures 3 to 6 , in some embodiments, the robot main body 100 includes a robot body 110 and a connecting member 120 connected to the robot body 110. There is a spacing between one side of the connecting member 120 and the robot body 110. The rotating member 310 is movably sleeved on one side of the connecting member 120, and the second plugging member 322 is arranged on the robot body 110.

[0066] Specifically, the robot body 110, as the core part of the entire robot, bears the main electronic devices and control systems, ensuring the basic function operation of the robot; the connecting member 120 can provide a moving space for the rotating member 310, and at the same time ensure the stable connection between the robot body 110 and the rotating member 310, enhancing the reliability of the overall structure.

[0067] Exemplarily, by movably sleeving on the connecting member 120, the rotating member 310 can realize the rotation of the hanging member 200 relative to the robot body 110, so that the operation can be more flexible during disassembly.

[0068] Combined with Figure 1As shown, the wire-hanging robot is arranged on the conductor or ground wire 600 of the overhead transmission line. One side of the connecting member 120 refers to the side of the connecting member 120 that is close to the conductor or ground wire 600 of the overhead transmission line along the Z direction. Exemplarily, the hanging member 200 is arranged above the conductor or ground wire 600 of the overhead transmission line. A first distance can be provided between the robot body 110 located below the conductor or ground wire 600 of the overhead transmission line and the conductor or ground wire 600 of the overhead transmission line. It can be understood that the first distance is smaller than the distance between one side of the connecting member 120 and the robot body 110. In this way, in specific implementation, the robot body 110 and the connecting member 120 can be set to be fixedly connected. That is to say, by driving the second plug-in member 322 to move relative to the robot main body 100 by the power member, the second plug-in member 322 is separated from the first plug-in member 321. After the plug-in connection is disengaged, the existence of the first distance can provide the moving space required for the rotation of the rotating member 310, so as to avoid the situation that the hanging member 200 cannot drive the rotating member 310 to drive the hanging member 200 to rotate smoothly under the push of the conductor or ground wire 600 of the overhead transmission line, affecting the separation of the hanging member 200 from the conductor or ground wire 600 of the overhead transmission line.

[0069] Referring to Figures 2 to 4 , in some examples, the wire-hanging robot further includes a lifting mechanism 400. The robot body 110 is slidably connected to the connecting member 120 through the lifting mechanism 400. The lifting mechanism 400 is used to drive the robot body 110 to move toward the side away from the connecting member 120, so as to drive the second plug-in member 322 to move away from the first plug-in member 321, and disengage the second plug-in member 322 from the first plug-in member 321.

[0070] That is to say, by setting the lifting mechanism 400 and using the lifting mechanism 400 to drive the robot body 110 to move, the second plug-in member 322 can be directly fixed on the robot body 110, so that the second plug-in member 322 moves relative to the first plug-in member 321, and the plug-in connection between the first plug-in member 321 and the second plug-in member 322 is disengaged.

[0071] In this way, in specific implementation, on the one hand, the operator only needs to start the lifting mechanism 400 to complete the disassembly operation, reducing the complexity of manual intervention; on the other hand, it is beneficial to avoid the situation that the second plug-in member 322 fails to be correctly separated from the first plug-in member 321 due to vibration or shaking during its own movement, making the entire disassembly process smoother and improving the disassembly efficiency.

[0072] Exemplarily, in combination with Figure 4As shown, the lifting mechanism 400 includes a sliding sleeve assembly 410, and the sliding sleeve assembly 410 includes at least one first sliding sleeve 411 and at least one second sliding sleeve 412; the first sliding sleeve 411 is slidably sleeved on the second connecting section 122, the second sliding sleeve 412 is slidably sleeved on the fourth connecting section 124, and both the first sliding sleeve 411 and the second sliding sleeve 412 are connected to the robot body 110.

[0073] Further, the lifting mechanism 400 further includes a power member 420 and a transmission assembly 430; the power member 420 is disposed on the robot body 110; the transmission assembly 430 includes a first transmission member 431 and a second transmission member 432 that is in transmission connection with the first transmission member 431, the first transmission member 431 is connected to the power member 420, and the second transmission member 432 is connected to the connecting member 120; the power member 420 is configured to drive the first transmission member 431 to start, and the first transmission member 431 is configured to drive the power member 420 to move relative to the second transmission member 432 when starting, so that the robot body 110 is lifted or lowered relative to the connecting member 120, so that the second plug-in member 322 approaches or moves away from the first plug-in member 321.

[0074] Wherein, the first transmission member 431 can be configured as a gear, and the second transmission member 432 is configured as a rack that matches the gear. In this way, high-precision transmission can be provided through the cooperation of the gear and the rack, ensuring more accurate position control of the equipment body during the lifting process.

[0075] Continue to refer to Figure 6 , in a specific example, the second plug-in member 322 has at least one fixing portion 3223, the fixing portion 3223 is connected to the plugging portion 3221, and the second plug-in member 322 is detachably connected to the robot body 110 through the fixing portion 3223.

[0076] In this way, through the design of the fixing portion 3223, the second plug-in member 322 can be easily detached from the robot body 110, which makes the operation of replacing or repairing the second plug-in member 322 easier.

[0077] The embodiment of the present application does not limit the way in which the fixing portion 3223 and the robot body 110 are detachably connected. Exemplarily, the fixing portion 3223 can have structures such as a buckle, a screw hole, or a magnetic attraction surface. Correspondingly, the robot body 110 is provided with a fixing point that matches the fixing portion 3223, such as a buckle seat, a screw hole, or a magnetic attraction area. The fixing portion 3223 cooperates with the corresponding part on the robot body 110 through structures such as a buckle, a screw hole, or a magnetic attraction surface to achieve detachable connection.

[0078] Exemplarily, the fixing part 3223 can be designed in a U shape, and the number of the fixing parts 3223 is set to one. The plugging part 3221 is located within the U-shaped opening to be connected to the fixing part 3223. In addition, the fixing part 3223 can also be set as a rectangular plate-like structure matching the robot body 110, and the number of the fixing parts 3223 is set to be two as shown in Figure 6 and the two fixing parts 3223 are respectively connected to the opposite sides of the plugging part 3221.

[0079] Furthermore, in specific implementation, the fixing part 3223 and the plugging part 3221 of the embodiment of the present application can be integrally formed. In this way, it is convenient for production and manufacturing, and ensures that the two have good connection strength.

[0080] Referring to Figure 4 and Figure 5 , in some embodiments, the connecting member 120 is a frame, and a placement area 126 is provided on the frame. The robot body 110 is located on the placement area 126, and the robot body 110 is connected to the frame.

[0081] In this way, the structure of the connecting member 120 is more streamlined, and the lightweight design of the wire-hanging robot can be realized.

[0082] Specifically, the frame is used to provide support and positioning for the robot body 110 to ensure that the robot body 110 can be stable at a specified position during operation.

[0083] Exemplarily, as shown in Figure 4 , the frame successively connects a first connection segment 121, a second connection segment 122, a third connection segment 123, and a fourth connection segment 124. The first connection segment 121 and the third connection segment 123 are oppositely arranged, and the second connection segment 122 and the fourth connection segment 124 are oppositely arranged to jointly enclose the placement area 126. One of the first connection segment 121 and the third connection segment 123 is connected to the placement part. The robot body 110 is placed on the placement area 126, and both the second connection segment 122 and the fourth connection segment 124 are slidably connected to the robot body 110 through a part of the lifting mechanism 400.

[0084] Furthermore, the frame further includes four fasteners 125. The first connection segment 121 and the second connection segment 122, the first connection segment 121 and the fourth connection segment 124, the third connection segment 123 and the second connection segment 122, and the third connection segment 123 and the fourth connection segment 124 are connected through corresponding fasteners 125.

[0085] With such a setting, the fastening member 125 is used to fix each connecting section together, which can significantly improve the structural stability of the entire connecting member 120 and ensure that the connecting member 120 will not become loose due to factors such as vibration or wind force during the inspection process; it avoids potential safety hazards such as equipment falling caused by the loosening of the connecting member 120.

[0086] Refer to Figure 2 and Figure 5 , in a specific example, the first plug-in member 321 is a straight rod, a connection hole 311 is formed on the rotating member 310, the connection hole 311 is arranged opposite to the second plug-in member 322, and the straight rod is inserted into the rotating member 310 through the connection hole 311.

[0087] In this way, the structure of the straight rod is simple and occupies less space, and it can be more easily positioned during insertion to ensure precise cooperation with the second plug-in member 322, which is beneficial to making the connection between the hanging member 200 and the robot body 110 more firm.

[0088] Through the design of the connection hole 311, the straight rod and the rotating member 310 are connected by insertion. In this way, the disassembly and assembly of the straight rod and the rotating member 310 are relatively convenient, which is beneficial to the maintenance work of maintenance personnel.

[0089] Refer to Figure 7 and Figure 8 , in some embodiments, the hanging member 200 includes a supporting portion 210 and at least one abutting portion 220 connected to the supporting portion 210; the supporting portion 210 is connected to the rotating member 310, and a socket 211 matching the conductor or ground wire 600 of the overhead transmission line is formed on the abutting portion 220, and the abutting portion 220 is used to be erected above the conductor or ground wire 600 of the overhead transmission line through the socket 211.

[0090] Specifically, the supporting portion 210 is connected to the rotating member 310 to reduce the shaking during the inspection process; the abutting portion 220 is mainly used to erect the hanging member 200 above the conductor or ground wire 600 of the overhead transmission line through the socket 211 thereon to ensure that the hanging member 200 can be stably arranged on the conductor or ground wire 600 of the overhead transmission line.

[0091] Exemplarily, the supporting portion 210 can be set as a rod-shaped, plate-shaped or other structures as long as it can be stably connected to the rotating member 310; the abutting portion 220 can be a gripper or a hook, and a socket 211 matching the conductor or ground wire 600 of the overhead transmission line is formed thereon. When specifically implemented, the design of the socket 211 can be adjusted according to different specifications of the conductor or ground wire 600 of the overhead transmission line to ensure that the hanging member 200 can be stably erected on the conductor or ground wire 600 of the overhead transmission line.

[0092] Refer to Figure 2 and Figure 6, in some examples, the robot body 100 further includes a traveling driving member 130. The traveling driving member 130 and the hanging member 200 are located on opposite sides of the conductor or ground wire 600 of the overhead transmission line, and the traveling driving member 130 is in contact with the conductor or ground wire 600 of the overhead transmission line. The traveling driving member 130 is configured to drive the robot body 100 and the hanging member 200 to move along the extending direction of the conductor or ground wire 600 of the overhead transmission line. Also, before the lifting mechanism 400 drives the robot body 110 to move away from the connecting member 120 and the second plug-in member 322 is disengaged from the first plug-in member 321, the traveling driving member 130 is disengaged from the conductor or ground wire 600 of the overhead transmission line.

[0093] In this way, the design of the traveling driving member 130 enables the robot to autonomously move along the conductor or ground wire 600 of the overhead transmission line without human intervention, improving the automation level of the inspection process.

[0094] The traveling driving member 130 and the hanging member 200 are located on opposite sides of the conductor or ground wire 600 of the overhead transmission line. When the wire-hanging robot moves along the extending direction of the conductor or ground wire 600 of the overhead transmission line, it can ensure that the movement of the wire-hanging robot is more stable, reducing the deviation or shaking caused by external factors.

[0095] Specifically, the traveling driving member 130 can be set as a wheel driven by an electric motor, a friction wheel, etc. Exemplarily, in order to ensure that the traveling driving member 130 can always be in contact with the conductor or ground wire 600 of the overhead transmission line during the process of rotating and moving along the extending direction of the conductor or ground wire 600 of the overhead transmission line, a placement groove matching the bottom arc of the conductor or ground wire 600 of the overhead transmission line can be provided on the circumferential side of the traveling driving member 130, thus preventing the conductor or ground wire 600 of the overhead transmission line from slipping out.

[0096] It can be understood that when disassembling the wire-hanging robot, when the lifting mechanism 400 drives the robot body 110 to move away from the connecting member 120, the conductor or ground wire 600 of the overhead transmission line will slip out of the placement groove. By setting the traveling driving member 130 to be disengaged from the conductor or ground wire 600 of the overhead transmission line before the second plug-in member 322 is disengaged from the first plug-in member 321, in this way, during the process that the conductor or ground wire 600 of the overhead transmission line pushes the hanging member 200 and the rotating member 310 drives the hanging member 200 to rotate, it can be avoided that the conductor or ground wire 600 of the overhead transmission line is blocked by the traveling driving member 130 due to being placed in the placement groove, affecting the smooth rotation of the rotating member 310.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A wire-hanging robot, characterized in that, It includes a robot main body (100), a hanging member (200) and a flipping mechanism (300); the flipping mechanism (300) includes a rotating member (310) and a plugging component (320). The rotating member (310) is movably sleeved on a part of the robot main body (100), and the rotating member (310) is connected to the hanging member (200). The plugging component (320) includes a first plugging member (321) and a second plugging member (322) plugged with the first plugging member (321). The first plugging member (321) is connected to the rotating member (310), and the second plugging member (322) is arranged on the robot main body (100). The hanging member (200) is used for being erected above the conductor or ground wire (600) of an overhead transmission line. The second plugging member (322) is configured to move relative to the first plugging member (321) to disengage from the first plugging member (321). The robot main body (100) is configured to, when the second plugging member (322) disengages from the first plugging member (321), under the action of gravity, make the rotating member (310) drive the hanging member (200) to rotate relative to the robot main body (100), so that the hanging member (200) disengages from the conductor or ground wire (600) of the overhead transmission line.

2. The wire-hanging robot according to claim 1, characterized in that, The second plugging member (322) includes a plugging portion (3221). The plugging portion (3221) is arranged opposite to the first plugging member (321), and a plugging groove (3222) matching the first plugging member (321) is formed in the plugging portion (3221). A part of the first plugging member (321) is inserted into the plugging groove (3222).

3. The wire-hanging robot according to claim 1, characterized in that The plugging component (320) further includes a power member. The second plugging member (322) is used for being movably connected to the robot main body (100) through the power member. The power member is configured to drive the second plugging member (322) to move relative to the robot main body (100), so that the second plugging member (322) moves away from the first plugging member (321) and disengages from the first plugging member (321).

4. The wire-hanging robot according to claim 2, wherein, The robot main body (100) includes a robot body (110) and a connecting member (120) connected to the robot body (110). There is a spacing between one side of the connecting member (120) and the robot body (110). The rotating member (310) is movably sleeved on one side of the connecting member (120), and the second plugging member (322) is arranged on the robot body (110).

5. The wire-hanging robot according to claim 4, wherein It further includes a lifting mechanism (400). The robot body (110) is slidably connected to the connecting member (120) through the lifting mechanism (400). The lifting mechanism (400) is used to drive the robot body (110) to move away from the connecting member (120), so as to drive the second plug-in member (322) to move away from the first plug-in member (321), and separate the second plug-in member (322) from the first plug-in member (321).

6. The wire-hanging robot according to claim 5, characterized in that, The second plug-in member (322) has at least one fixing portion (3223). The fixing portion (3223) is connected to the plugging portion (3221). The second plug-in member (322) is detachably connected to the robot body (110) through the fixing portion (3223).

7. The wire-hanging robot according to claim 4, wherein The connecting member (120) is a frame. The frame has a placement area (126). The robot body (110) is located on the placement area (126). The robot body (110) is connected to the frame.

8. The wire-hanging robot according to any one of claims 1 to 7, characterized in that The first plug-in member (321) is a straight rod. A connection hole (311) is formed in the rotating member (310). The connection hole (311) is arranged opposite to the second plug-in member (322). The straight rod is plugged into the rotating member (310) through the connection hole (311).

9. The wire-hanging robot according to any one of claims 1 to 7, characterized in that The hanging member (200) includes a supporting portion (210) and at least one abutting portion (220) connected to the supporting portion (210). The supporting portion (210) is connected to the rotating member (310). An insertion port (211) matching the overhead transmission line conductor or ground wire (600) is formed in the abutting portion (220). The abutting portion (220) is used to be erected above the overhead transmission line conductor or ground wire (600) through the insertion port (211).

10. The wire-hanging robot according to claim 5, wherein, The robot main body (100) further includes a traveling driving member (130). The traveling driving member (130) and the hanging member (200) are located on opposite sides of the overhead transmission line conductor or ground wire (600). The traveling driving member (130) is in contact with the overhead transmission line conductor or ground wire (600). The traveling driving member (130) is used to drive the robot main body (100) and the hanging member (200) to move along the extension direction of the overhead transmission line conductor or ground wire (600), and, before the lifting mechanism (400) drives the robot body (110) to move away from the connecting member (120) to separate the second plug-in member (322) from the first plug-in member (321). It is separated from the overhead transmission line conductor or ground wire (600).

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