A distribution network live working maintenance robot

Abstract

The utility model provides a kind of distribution network live working maintenance robot, it is related to distribution network operation and maintenance technical field, including support base, the top front side left and right sides of support base are uniformly connected with tool table, the top rear side center of support base is provided with monitoring probe, the top rear side left and right sides of support base are uniformly fixed with mechanical arm, the top rear end of mechanical arm is fixedly connected with tool connecting mechanism.The utility model through the cooperation between mechanical arm, tool connecting mechanism column, driving motor, transmission wheel, transmission gear ring, push rod, sliding clamping plate and tool table in the plug-in hole, magnetic attraction ring and maintenance tool, square connector, positioning slot, the structure can be completed tool replacement without manual intervention, compared with the existing need manual auxiliary replacement mode, tool replacement time is greatly shortened, operation efficiency is improved, meanwhile avoid personnel contact under the tool of live environment, further guarantee operation safety.

Description

Technical Field

[0001] This utility model relates to the field of power distribution network operation and maintenance technology, and in particular to a power distribution network live-line maintenance robot. Background Technology

[0002] Live-line maintenance of distribution networks refers to the professional work methods used to inspect, maintain, replace, and troubleshoot critical equipment such as insulators, circuit breakers, disconnect switches, and cable terminations on distribution network lines without interrupting power supply. Its core value lies in preventing power outages for users due to power outages during maintenance, ensuring the continuous and stable operation of the distribution network, and is a crucial link in ensuring power supply reliability in modern power system operation and maintenance. The necessity of using maintenance robots lies in the fact that traditional live-line work on power distribution networks relies on manual labor. Workers need to wear heavy insulating protective gear and operate in high-altitude or confined spaces, which is not only labor-intensive and inefficient, but also poses significant safety hazards such as electric shock and falls from heights. As the scale of power distribution networks continues to expand and users' requirements for power supply reliability continue to increase, manual live-line work can no longer meet the needs of operation and maintenance. Therefore, live-line maintenance robots for power distribution networks have become a key solution. These robots are automated equipment designed specifically for live-line environments in power distribution networks. They mainly consist of a walking mechanism, a robotic arm assembly, a tool library, a remote control system, and a power supply unit. They can move autonomously on live conductors or reach the work position with the help of auxiliary equipment through the walking mechanism, and use the robotic arm to drive special tools to complete maintenance work. At the same time, the remote control system enables remote operation and real-time monitoring by workers, fundamentally avoiding direct contact between personnel and live conductors, and realizing a safe "human-machine separation" operation mode.

[0003] The existing live-line maintenance robot for power distribution networks has the following shortcomings: Because tool replacement relies on manual operation, the existing robotic arms and maintenance tools are mostly fixedly connected or require manual disassembly and installation. The replacement process requires pausing the work and human intervention, resulting in time-consuming tool replacement and low work efficiency. At the same time, the existing devices lack a stable positioning structure and rely solely on the friction of the walking mechanism to achieve position fixation. When the robotic arm applies force for maintenance, the device is prone to displacement, affecting the maintenance accuracy, and there is even a safety risk of the tool colliding with the circuit equipment. Utility Model Content

[0004] This utility model proposes a live-line maintenance robot for power distribution networks. It achieves automatic and quick replacement of maintenance tools through a tool connection mechanism that works with a tool table, and achieves stable positioning of the device through a support component, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a live-line maintenance robot for power distribution networks, comprising a support base, with casters at each of the four corners of the bottom of the support base, tool tables fixedly connected to the left and right sides of the top front of the support base, a monitoring probe at the center of the top rear of the support base, robotic arms fixedly mounted on the left and right sides of the top rear of the support base, a tool connecting mechanism fixedly connected to the rear end of the top of the robotic arms, and support components on both the left and right sides of the support base.

[0006] The tool connection mechanism includes a connecting column, which is fixedly connected to the top rear end of the robotic arm. A square slot is provided in the middle of the rear side of the connecting column, and an annular groove is provided inside the connecting column. A transmission gear ring is rotatably connected inside the annular groove. Four push rods are movably connected in an annular array on the inner surface of the transmission gear ring. A sliding plate is movably connected to the end of the push rod away from the transmission gear ring. The outer surface of the sliding plate is slidably connected to the inner surface of the annular groove, and the end away from the push rod extends through to the inner side of the square slot.

[0007] Preferably, a drive motor is fixedly connected to the top front side of the connecting column, the output shaft of the drive motor extends through to the top of the annular groove and is fixedly connected to a transmission wheel, and the outer surface of the transmission wheel meshes with the outer surface of the transmission gear ring.

[0008] Preferably, the top of the tool table has several insertion holes, and a magnetic ring is fixedly connected to the top of the inner wall of each insertion hole.

[0009] Preferably, a maintenance tool is slidably inserted into the top of the inner surface of the insertion hole, and a square connector is provided on the top of the maintenance tool. The outer surface of the square connector has four positioning slots arranged in a ring array.

[0010] Preferably, the support assembly includes a drive motor, and two drive motors are respectively fixedly connected to the upper left and right sides of the support base, and the output shaft of the drive motor is fixedly connected to a transmission screw.

[0011] Preferably, the outer surface of the transmission screw is threaded with a threaded sliding plate, and the two threaded sliding plates are slidably connected to the left and right sides of the support base respectively. The front and rear ends of the threaded sliding plates are fixedly connected with support legs, and the bottom ends of the support legs extend through to the bottom of the support base.

[0012] Due to the adoption of the above technical solution, the technological progress achieved by this utility model compared to the prior art is as follows: 1. In this utility model, through the mutual cooperation between the connecting column, drive motor, transmission wheel, transmission gear ring, push rod, sliding plate and the insertion hole, magnetic ring and maintenance tool, square connector and positioning slot in the tool table, the structure can complete tool replacement without manual intervention. Compared with the existing replacement method that requires manual assistance, it greatly shortens the tool replacement time, improves work efficiency, and avoids personnel contact with tools in an electric environment, further ensuring work safety.

[0013] 2. In this utility model, through the mutual cooperation between the moving wheels, the drive motor, the transmission screw, the threaded slide plate, the support legs, and the support base in the support assembly, this structure replaces the existing fixing method that relies solely on the friction of the moving wheels by rigidly contacting the support legs with the ground. This can effectively counteract the lateral or longitudinal forces generated during the maintenance of the robotic arm, prevent the device from shifting, ensure the operating accuracy of the robotic arm, prevent maintenance tools from colliding with the wiring equipment, and improve the stability and safety of the maintenance operation. At the same time, the support legs can be retracted with the threaded slide plate without affecting the mobility of the device. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the live-line maintenance robot for power distribution networks according to this utility model; Figure 2 This is an enlarged structural schematic diagram of the tool table of this utility model; Figure 3 This is a cross-sectional structural diagram of the tool connection mechanism of this utility model; Figure 4 This is a schematic diagram of the structure of the support component of this utility model.

[0015] Legend: 1. Support base; 2. Casters; 3. Tool table; 31. Socket; 32. Inspection tool; 33. Square connector; 34. Positioning slot; 35. Magnetic ring; 4. Monitoring probe; 5. Robotic arm; 6. Tool connection mechanism; 61. Connecting column; 62. Square slot; 63. Transmission gear ring; 64. Push rod; 65. Sliding plate; 66. Drive motor; 67. Transmission wheel; 7. Support assembly; 71. Drive motor; 72. Transmission screw; 73. Threaded slide plate; 74. Support leg. Detailed Implementation

[0016] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0017] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0018] Example 1: As Figure 1 , Figure 2 and Figure 3 As shown, this utility model provides a technical solution: it includes a support base 1, with casters 2 at each of the four corners of the bottom of the support base 1; tool tables 3 are fixedly connected to the left and right sides of the front top of the support base 1; a monitoring probe 4 is located at the center of the rear top of the support base 1; robotic arms 5 are fixedly installed on the left and right sides of the rear top of the support base 1; a tool connecting mechanism 6 is fixedly connected to the rear end of the top of the robotic arm 5; support components 7 are provided on the left and right sides of the support base 1; the tool connecting mechanism 6 includes a connecting post 61, which is fixedly connected to the rear end of the top of the robotic arm 5; a square slot 62 is opened in the middle of the rear side of the connecting post 61; an annular groove is opened inside the connecting post 61; a transmission gear ring 63 is rotatably connected inside the annular groove; and four pushers are movably connected in an annular array on the inner surface of the transmission gear ring 63. The push rod 64 has a sliding plate 65 movably connected to one end away from the transmission gear ring 63. The outer surface of the sliding plate 65 is slidably connected to the inner surface of the annular groove, and the end away from the push rod 64 extends through to the inner side of the square slot 62. The top front end of the connecting column 61 is fixedly connected to the drive motor 66. The output shaft of the drive motor 66 extends through to the top of the annular groove and is fixedly connected to the transmission wheel 67. The outer surface of the transmission wheel 67 meshes with the outer surface of the transmission gear ring 63. The top of the tool table 3 has several insertion holes 31. The top inner wall of the insertion hole 31 is fixedly connected to the magnetic ring 35. The top inner surface of the insertion hole 31 is slidably inserted into the maintenance tool 32. The top of the maintenance tool 32 is provided with a square connector 33. The outer surface of the square connector 33 has four positioning slots 34 arranged in an annular array. The overall effect of Embodiment 1 is as follows: When the maintenance tool 32 needs to be replaced, the robotic arm 5 can precisely move the tool connection mechanism 6, which is connected to the old maintenance tool 32, to the tool table 3 based on the position information fed back by the monitoring probe 4. The bottom of the old maintenance tool 32 is slowly placed into the insertion hole 31. At this time, the drive motor 66 is started, and the output shaft of the drive motor 66 drives the transmission wheel 67 to rotate. Because the transmission wheel 67 meshes with the transmission gear ring 63, the transmission gear ring 63 rotates synchronously with the transmission wheel 67 in the annular groove. During the rotation of the transmission gear ring 63, the push rod 64 connected to its inner side will pull the sliding plate 65 to slide inward along the inner wall of the annular groove, so that the end of the sliding plate 65 that passes through the square slot 62 is disengaged from the positioning slot 34 of the square connector 33, and the square connector 33 loses its fixed restriction. Then the robotic arm 5 drives the tool connection mechanism 6 to move slightly upward. When lifted, the magnetic ring 35 on the top of the inner wall of the insertion hole 31 will exert a downward suction force on the maintenance tool 32, ensuring that the maintenance tool 32 remains stably in the insertion hole 31, thus separating the maintenance tool 32 from the tool connection mechanism 6. Then, the robotic arm 5 drives the tool connection mechanism 6 to move above the new maintenance tool 32 to be replaced, aligns the square slot 62 with the square connector 33 of the new maintenance tool 32 and fits it in place, then controls the drive motor 66 to rotate in the opposite direction, the transmission wheel 67 drives the transmission gear ring 63 to rotate in the opposite direction, and the push rod 64 pushes the sliding plate 65 to extend into the inside of the square slot 62 until the sliding plate 65 is engaged in the positioning slot 34 of the square connector 33, thus completing the fixation of the new maintenance tool 32. The whole process does not require manual intervention, realizing the automatic and quick replacement of the maintenance tool 32, greatly improving work efficiency, while avoiding personnel contact with tools in an electrified environment, ensuring work safety.

[0019] Example 2: Figure 4 As shown, this utility model provides a technical solution: the support component 7 includes a drive motor 71, two drive motors 71 are respectively fixedly connected to the upper left and right sides of the support base 1, the output shaft of the drive motor 71 is fixedly connected to a transmission screw 72, the outer surface of the transmission screw 72 is threadedly connected to a threaded sliding plate 73, the two threaded sliding plates 73 are respectively slidably connected to the left and right sides of the support base 1, and the front and rear ends of the threaded sliding plate 73 are fixedly connected to support legs 74, the bottom end of the support legs 74 extends through to the bottom of the support base 1; The overall effect of Embodiment 2 is as follows: After the device moves to the designated position for power grid maintenance via the moving wheels 2, the drive motors 71 on both sides of the support base 1 are started. The output shaft of the drive motor 71 drives the transmission screw 72 to rotate. When the transmission screw 72 rotates, it drives the threaded slide plate 73 to slide vertically downward along the support base 1. The support legs 74 fixed at both ends of the screw 73 move downward synchronously, extending from the bottom of the support base 1 and making close contact with the ground or work platform, forming a stable support for the support base 1. After the maintenance is completed, the drive motor 71 is controlled to rotate in the opposite direction. The transmission screw 72 drives the threaded slide plate 73 to slide upward. The support legs 74 retract into the support base 1 along with the threaded slide plate 73, without affecting the movement of the device via the moving wheels 2. This structure effectively counteracts the force generated by the robotic arm 5 during maintenance operations through the rigid contact between the support legs 74 and the ground, avoiding device displacement, ensuring maintenance accuracy, and improving operational stability and safety.

[0020] The working principle of the entire equipment is as follows: Before operation, various types of maintenance tools 32 are placed in the insertion holes 31 of the tool table 3 through square connectors 33, and the magnetic rings 35 initially fix the maintenance tools 32. During operation, the device is moved to the designated position for power grid maintenance by the moving wheels 2, the drive motor 71 of the support assembly 7 is started, the transmission screw 72 drives the threaded slide plate 73 to slide downward, the support leg 74 extends and contacts the ground, realizing the positioning and fixation of the device. Then, the maintenance position is observed through the monitoring probe 4, and the robotic arm 5 is controlled to move the tool connecting mechanism 6 to the corresponding maintenance tool 32. The drive motor 66 rotates in the opposite direction, pushing... The sliding plate 65 engages with the positioning slot 34 of the square connector 33, completing the connection of the maintenance tool 32. The robotic arm 5 drives the maintenance tool 32 to perform maintenance work on insulators, circuit breakers, and other equipment on the distribution network line. When the maintenance tool 32 needs to be replaced, the robotic arm 5 drives the old maintenance tool 32 back to the tool table 3, the drive motor 66 rotates in the forward direction, the sliding plate 65 disengages from the positioning slot 34, the magnetic ring 35 attracts the old maintenance tool 32, and the robotic arm 5 drives the tool connection mechanism 6 to replace the new maintenance tool 32. After the maintenance is completed, the support leg 74 is retracted, and the device is moved to the next maintenance position or removed after the work is completed via the moving wheels 2.

[0021] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present utility model without departing from the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A live-line maintenance robot for power distribution networks, comprising a support base (1), wherein each of the four corners of the bottom of the support base (1) is provided with a movable wheel (2), characterized in that: Tool tables (3) are fixedly connected to the left and right sides of the top front of the support base (1). A monitoring probe (4) is set at the center of the top rear side of the support base (1). A robotic arm (5) is fixedly installed on the left and right sides of the top rear side of the support base (1). A tool connecting mechanism (6) is fixedly connected to the rear end of the top of the robotic arm (5). Support components (7) are set on the left and right sides of the support base (1). The tool connection mechanism (6) includes a connecting column (61), which is fixedly connected to the top rear end of the robotic arm (5). A square slot (62) is provided in the middle of the rear side of the connecting column (61). An annular groove is provided inside the connecting column (61). A transmission gear ring (63) is rotatably connected inside the annular groove. Four push rods (64) are movably connected in an annular array on the inner surface of the transmission gear ring (63). A sliding plate (65) is movably connected to one end of the push rod (64) away from the transmission gear ring (63). The outer surface of the sliding plate (65) is slidably connected to the inner surface of the annular groove, and the end away from the push rod (64) extends through to the inner side of the square slot (62).

2. The live-line maintenance robot for power distribution networks according to claim 1, characterized in that: A drive motor (66) is fixedly connected to the top front side of the connecting column (61). The output shaft of the drive motor (66) extends through to the top of the annular groove and is fixedly connected to a transmission wheel (67). The outer surface of the transmission wheel (67) meshes with the outer surface of the transmission gear ring (63).

3. The live-line maintenance robot for power distribution networks according to claim 1, characterized in that: The tool table (3) has several insertion holes (31) on its top, and a magnetic ring (35) is fixedly connected to the top of the inner wall of the insertion hole (31).

4. The live-line maintenance robot for power distribution networks according to claim 3, characterized in that: A maintenance tool (32) is slidably inserted into the top of the inner surface of the insertion hole (31). A square connector (33) is provided on the top of the maintenance tool (32). Four positioning slots (34) are arranged in a ring array on the outer surface of the square connector (33).

5. The live-line maintenance robot for power distribution networks according to claim 1, characterized in that: The support assembly (7) includes a drive motor (71), and two drive motors (71) are fixedly connected to the upper left and right sides of the support base (1), respectively. The output shaft of the drive motor (71) is fixedly connected to a transmission screw (72).

6. The live-line maintenance robot for power distribution networks according to claim 5, characterized in that: The outer surface of the transmission screw (72) is threadedly connected to a threaded slide plate (73). The two threaded slide plates (73) are slidably connected to the left and right sides of the support base (1). The front and rear ends of the threaded slide plates (73) are fixedly connected to support legs (74). The bottom end of the support legs (74) extends through to the bottom of the support base (1).

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