A power emergency repair live working vehicle wire connecting robot

Abstract

The utility model discloses a kind of electric power emergency repair live working vehicle connection machine people including robot body and end operation part, several insulation kits, disengager;The disengager is set between robot end joint and end operation part;The insulation kit includes fixed ring assembly, insulating sleeve, the fixed ring assembly includes first fixed ring and second fixed ring, respectively set in the rotation of robot joint, the insulating sleeve wraps up a section of operation arm of robot, two ends are extruded in the rotation of robot joint by first fixed ring and second fixed ring, second fixed ring is close to the edge of rotating surface and is provided with the outward docking ring part.This utility model adopts the mode of sectional wrapping, each joint section is independently provided with insulating cover, while realizing good insulation, meet the rotation movement demand at joint portion.The present application is also provided with disengager, and the quick separation between robot main body and end operation part can be realized by disengager in emergency.

Description

Technical Field

[0001] This utility model relates to the field of power emergency work vehicle technology, specifically a wiring robot for a power emergency repair live-line work vehicle. Background Technology

[0002] With the development of robotics technology, the application of robots in live-line emergency repair vehicles has received widespread attention and research. The research and development and use of these robots mainly involve two technical approaches: one is to redesign the robot, and the other is to use existing industrial robots and modify or adapt them as needed. The second approach has a significant cost advantage, and using mature industrial robots also makes subsequent maintenance more convenient. The main modification to existing industrial robots used in this field is insulation design. Currently, the common solution is to wrap the robot with an insulating sleeve. However, during use, as the robot's joints rotate relative to each other, the insulating sleeve may get stuck on the joints or be torn by the robot. Furthermore, during operation, unexpected situations may occur, such as equipment failure or line breakdown, causing the robot to lose power. The robot body, along with its end effector, may become stuck on the line, rendering the live-line emergency repair vehicle unable to provide assistance or continue operation. Summary of the Invention

[0003] The purpose of this utility model is to provide a wiring robot for a live-line working vehicle used in power emergency repairs, so as to solve the problems existing in the prior art.

[0004] To achieve the above objectives, the present invention provides a wiring robot for a live-line working vehicle used for emergency power repair, comprising a robot body and an end-effector, and further comprising several insulating kits and disconnectors; the insulating kits are installed on the outside of the robot, and the disconnectors are disposed between the robot's end joint and the end-effector; the insulating kits include a retaining ring assembly and an insulating sleeve, the retaining ring assembly including a first retaining ring and a second retaining ring, which are respectively disposed at the rotation points of the robot joint, the insulating sleeve wraps around a section of the robot's working arm, and both ends are pressed against the rotation points of the robot joint by the first retaining ring and the second retaining ring, the second retaining ring having an outwardly facing docking ring portion near the edge of the rotation surface, the inner diameter of the docking ring being equal to the outer diameter of the first retaining ring, and the first retaining ring extending into the docking ring portion during use.

[0005] Furthermore, the first and second fixing rings are designed in sections, including two semi-circular ring portions, with fastening protrusions in the diametrical direction on the edges of the semi-circular rings; the edge of the insulating sleeve is provided with protrusions, and the inner surfaces of the first and second fixing rings are provided with grooves.

[0006] Furthermore, several extended arc plates are provided on the other side of the first and second fixed rings away from the joint rotation surface.

[0007] Furthermore, the insulating kit also includes an outer cover ring, which has a U-shaped cross-section and inward limiting protrusions at both ends of the bottom. A limiting groove is provided at the root of the fastening protrusion on the side away from the rotating surface. When in use, the limiting protrusion is snapped into the limiting groove.

[0008] Furthermore, the release device includes a main body fixed end and a working part fixed end; the main body fixed end includes a base, a top shell, a locking element, a spring, a wrench, a rotating rod, a cam, a cable connector, and several positioning rods; the working part fixed end includes a top seat, a concave ring, and a cable connector.

[0009] Furthermore, a blind hole is provided in the center of the base of the fixed end of the main body, and the side of the blind hole that is not open is fixedly connected to the robot body; the top shell is provided at the opening of the blind hole, and a raised ring coaxial with the blind hole is provided in the center of the top shell. Several through holes are provided on the top of the raised ring, and a limiting ball is accommodated in each through hole. The locking component includes a sliding disc and a connecting post. The sliding disc is disposed within the blind hole and slidably connected to the blind hole. Its outer diameter is the same as the inner diameter of the blind hole. The connecting post is disposed in the center of the sliding disc and extends to the protruding ring. The outer diameter of the end of the connecting post is equal to the inner diameter of the protruding ring, and its end face is provided with an inwardly rounded chamfer. A spring is disposed between the lower part of the sliding disc and the top shell. A through hole is disposed on one side of the blind hole on the upper part of the sliding disc. A rotating rod is inserted through the through hole and is rotatably disposed in the through hole through a bearing structure. A wrench is disposed at the other end of the rotating rod. A cam is disposed on the outer side of the rotating rod in the central area of ​​the blind hole. Several positioning rods are disposed on the side of the top shell or base opposite to the fixed end of the working part. A positioning groove is disposed at the corresponding position of the top seat of the fixed end of the working part. Cable connectors are disposed in pairs and are respectively fixed to one side of the fixed end of the main body and the fixed end of the working part.

[0010] Furthermore, the fixed end of the main body also includes a limiting irregular nut. An irregular hole is provided on the side opposite to the through hole into which the rotating rod is inserted. A limiting irregular nut that mates with the irregular hole is provided in the irregular hole. A threaded hole is provided in the center of the limiting irregular nut. A thread is provided at the end of the rotating rod, which mates with the limiting irregular nut.

[0011] Furthermore, a stepped through hole is provided in the center of the top seat, wherein the hole diameter is smaller on the side near the fixed end of the body, and the protruding ring is inserted into the through hole on this side. The concave ring is provided on the side with a larger diameter of the stepped through hole, and a concave ring through hole is provided in the center of the concave ring. The hole diameter is smaller on the upper side of the concave ring through hole, and the top hole diameter is the same as the outer diameter of the protruding ring.

[0012] This utility model proposes a wiring robot for a live-line emergency repair vehicle, which adopts a segmented wrapping method, with each joint segment individually equipped with an insulating sleeve. Adjacent joints are connected by buckles and outer rings, achieving good insulation while meeting the rotational movement requirements of the joints. To address potential robot downtime during operation, this application also includes a release device. This release device allows for rapid separation between the robot body and the end effector, preventing further damage. It also facilitates subsequent emergency handling by the live-line emergency repair vehicle using this robot, eliminating the need to call in other emergency repair vehicles and improving overall operational safety and emergency response efficiency. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall design of this utility model.

[0014] Figure 2 This is a partially enlarged schematic diagram of the insulating kit of this utility model.

[0015] Figure 3 This is a partially enlarged cross-sectional view of the insulating kit of this utility model.

[0016] Figure 4 This is a schematic diagram of the separation state of the separator of this utility model.

[0017] Figure 5 This is a cross-sectional schematic diagram of the disengagement device of this utility model in the engaged state.

[0018] Figure 6 This is a partially enlarged cross-sectional view of the separator of this utility model. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] As attached Figure 1-6As shown, the live-line wiring robot for power emergency repairs involved in this utility model includes a robot body R and an end effector (not shown in the figure), several insulating kits 1, and disconnectors 2. The robot body R is a commercially available industrial robot, and the end effector is adaptively designed according to the operational conditions; its specific structure is not within the scope of protection of this application. The insulating kits 1 are installed on the outside of the robot and are mainly used to achieve external insulation. The disconnectors 2 are located between the end joint of the robot R and the end effector, and are used to achieve emergency disconnection between the robot body and the end effector.

[0021] As attached Figure 1 , 2 As shown in Figure 3, the insulating kit 1 includes a retaining ring assembly 11, an insulating sleeve 12, and an outer cover ring 13. The retaining ring assembly includes a first retaining ring 111 and a second retaining ring 112, which are respectively disposed at the rotational part of the robot joint, specifically installed on the edge of the rotational surface. The first retaining ring 111 and the second retaining ring 112 are designed in sections, including two semi-circular ring portions. The edges of the semi-circular rings are provided with fastening protrusions t in the diametrical direction. The fastening protrusions of the two semi-circular ring portions are tightened by bolts.

[0022] The insulating sleeve 12 is used to wrap a section of the robot's working arm, with both ends pressed against the rotating joints of the robot by the first fixing ring 111 and the second fixing ring 112. This achieves a stable and reliable fixation. The edge of the insulating sleeve has protrusions, and the inner surfaces of the first fixing ring 111 and the second fixing ring 112 are also provided with corresponding grooves a to enhance the stability of the fixation.

[0023] To better secure the insulating sleeve 12, several extended arc plates h are provided on the side of the first fixing ring 111 and the second fixing ring 112 away from the joint rotation surface to press the insulating sleeve. The extended arc plates h should be set to avoid interference with the robot body.

[0024] To achieve better insulation, the second fixing ring 112 has an outwardly facing mating ring portion d near the edge of the rotating surface. The inner diameter of the mating ring is equal to the outer diameter of the first fixing ring 111. In use, the first fixing ring 111 extends into the mating ring portion d. Correspondingly, the fastening protrusion t of the first fixing ring 111 has a certain gap from the side near the edge of the rotating surface to allow the first fixing ring 111 to be inserted into the mating ring portion d.

[0025] Furthermore, to improve insulation and prevent foreign objects from entering between the first fixing ring 111 and the second fixing ring 112, an outer cover ring 13 is provided in the connection area between the first fixing ring 111 and the second fixing ring 112. The outer cover ring 13 has a U-shaped cross-section, with inward limiting protrusions x1 at both ends of the bottom. A limiting groove x2 is provided at the root of the fastening protrusion t on the side away from the rotating surface. In use, the limiting protrusion x1 is engaged with the limiting groove x2. The outer cover ring 13 can rotate relative to the first fixing ring 111 and the second fixing ring 112.

[0026] As attached Figure 1 , 4 As shown in Figure 5, the release device 2 includes a main body fixed end 21 and a working part fixed end 22. The main body fixed end includes a base 211, a top shell 212, a locking member 213, a spring 214, a wrench 215, a rotating rod 216, a cam 217, a limiting shaped nut 218, a cable connector d1, and several positioning rods 219.

[0027] The fixed end 22 of the working part includes a top seat 221, a concave ring 222, and a cable connector d1.

[0028] The base 211 at the fixed end of the main body has a blind hole 2111 in the center, and the closed side of the blind hole is fixedly connected to the robot body. The top shell 212 is located at the opening of the blind hole, and a raised ring 2121 coaxial with the blind hole is located in the center of the top shell 212. The top of the raised ring 2121 has several through holes, and each through hole accommodates a limiting ball. The locking member 213 includes a sliding plate 2131 and a connecting post 2132. The sliding plate 2131 is located in the blind hole 2111 and is slidably connected to the blind hole 2111. Its outer diameter is the same as the inner diameter of the blind hole 2111. The connecting post 2132 is located in the center of the sliding plate 2131 and extends to the raised ring 2121. The outer diameter of the end of the connecting post 2132 is equal to the inner diameter of the raised ring 2121, and its end face has an inward arc chamfer, that is, its end cross-section is approximately inverted trapezoidal. The sliding disk 2131 and the connecting post 2132 can be separate components. The connecting post is connected to the sliding disk 2131 by a threaded structure.

[0029] A spring 214 is provided between the lower part of the sliding disk 2131 and the top shell 212.

[0030] A through hole is provided on one side of the blind hole 2111 on the upper part of the sliding disk 2131. The rotating rod 216 is inserted into the through hole and is rotatably set in the through hole through the bearing structure. A wrench 215 is provided at the other end of the rotating rod 216.

[0031] In the central area of ​​the blind hole, a cam 217 is provided on the outer side of the rotating rod 216. When the rotating rod 216 rotates, the cam 217 can push the sliding disk 2131 to move downward. Under the action of the spring, the sliding disk 2131 can also follow the cam to move upward, thereby driving the connecting column 2132 to move up and down. During the up and down movement of the connecting column 2132, the limiting ball can be pushed out or allowed to retract.

[0032] Furthermore, as shown in the attached document. Figure 6 As shown, a shaped hole is provided on the side opposite to the through hole into which the rotating rod 216 is inserted. A limiting nut 218, which mates with the shaped hole, is provided inside the shaped hole. The limiting nut 218 has a threaded hole in its center, and the end of the rotating rod 216 has a thread. The threaded connection with the limiting nut 218 prevents uncontrolled rotation of the rotating rod 216 due to wobbling. The shaped hole in the attached figure includes a central circular hole and limiting circular holes located at both ends of the central circular hole and connected to it. It can be machined by three drilling operations.

[0033] A plurality of positioning rods 219 are provided on the side of the top shell 212 or base 211 opposite to the fixed end 22 of the working part. A positioning groove 2211 is provided at the corresponding position of the top seat 221 of the fixed end 22 of the working part.

[0034] The top seat 221 has a stepped through hole in the center, with the hole diameter being smaller on the side closer to the fixed end 21 of the body. The protruding ring 2121 can be inserted into the through hole on this side. The concave ring 222 is located on the side with a larger diameter of the stepped through hole. The concave ring 222 has a concave ring through hole 2221 in the center. The hole diameter is smaller on the upper part (closer to the fixed end 21 of the body) of the concave ring through hole 2221. The top hole diameter is the same as the outer diameter of the protruding ring 2121. The hole diameter gradually increases downwards to 60%-90% of the outer diameter of the protruding ring 2121 plus the diameter of the limit ball.

[0035] Cable connectors d1 are installed in pairs and fixed to one side of the main body fixing end 21 and the working part fixing end 22, respectively.

[0036] During normal use, turning the wrench 215 causes the connecting column 2132 to press the limiting ball into the concave ring through hole 2221 of the protruding ring 2121 to achieve a fixed connection. In case of emergency separation, the connecting column 2132 can be released by pulling the wrench with the safety rope. Then, the lifting arm of the power emergency repair live-line working vehicle will descend, driving the machine body to descend and realizing the separation of the robot body from the end-effector.

[0037] Because cables are prone to swaying, the end effector typically needs to clamp the cable during wiring operations. This prevents the robot body and end effector from getting stuck in the cable when the robot is powered off. Since the end effector is clamped to the cable, its position is relatively fixed during operation, allowing for easy installation of a safety rope. One end of the safety rope is tied to the end of a wrench, and the other end can be connected to the drive motor mounted on the top of the work vehicle or extend to the ground.

[0038] It should be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

Claims

1. A wiring robot for a power emergency repair live-line working vehicle, comprising a robot body and an end effector, characterized in that, It also includes several insulating kits and release devices; the release devices are disposed between the robot end joint and the end working part; the insulating kit includes a retaining ring assembly and an insulating sleeve, the retaining ring assembly includes a first retaining ring and a second retaining ring, which are respectively disposed at the rotation point of the robot joint, the insulating sleeve covers a section of the robot's working arm, and both ends are pressed against the rotation point of the robot joint by the first retaining ring and the second retaining ring, the second retaining ring is provided with an outward docking ring part near the edge of the rotation surface, the inner diameter of the docking ring is equal to the outer diameter of the first retaining ring, and the first retaining ring extends into the docking ring part during use.

2. The wiring robot according to claim 1, characterized in that, The first and second fixing rings are designed in sections, including two semi-circular rings with diametrically fastening protrusions on the edges of the semi-circular rings; the edge of the insulating sleeve has protrusions, and the inner surfaces of the first and second fixing rings have grooves.

3. The wiring robot according to claim 1, characterized in that, Several extended arc plates are provided on the side of the first and second fixed rings away from the joint rotation surface.

4. The wiring robot according to claim 1, characterized in that, The insulating kit also includes an outer cover ring, which has a U-shaped cross-section and inward limiting protrusions at both ends of the bottom. A limiting groove is provided at the root of the fastening protrusion on the side away from the rotating surface. When in use, the limiting protrusion is snapped into the limiting groove.

5. The wiring robot according to claim 1, characterized in that, The release mechanism includes a main body fixed end and a working part fixed end; the main body fixed end includes a base, a top shell, a locking component, a spring, a wrench, a rotating rod, a cam, a cable connector, and several positioning rods; the working part fixed end includes a top seat, a concave ring, and a cable connector; the base of the main body fixed end has a blind hole in the center, and the closed side of the blind hole is fixedly connected to the robot body; the top shell is located at the opening of the blind hole, and a raised ring coaxial with the blind hole is located in the center of the top shell, with several through holes on the top of the raised ring, each through hole accommodating a limiting ball; the locking component includes a sliding plate and a connecting post, the sliding plate is located inside the blind hole and slidably connected to the blind hole, its outer diameter being the same as the inner diameter of the blind hole, and connecting... A connecting post is located in the center of the sliding disk and extends to the raised ring. The outer diameter of the end of the connecting post is equal to the inner diameter of the raised ring, and its end face is provided with an inward arc chamfer. A spring is provided between the lower part of the sliding disk and the top shell. A through hole is provided on one side of the blind hole on the upper part of the sliding disk. A rotating rod is inserted into the through hole and is rotatably set in the through hole through a bearing structure. A wrench is provided at the other end of the rotating rod. A cam is provided on the outer side of the rotating rod in the central area of ​​the blind hole. Several positioning rods are provided on the side of the top shell or base opposite to the fixed end of the working part. A positioning groove is provided at the corresponding position of the top seat of the fixed end of the working part. Cable connectors are provided in pairs and are respectively fixed on one side of the fixed end of the main body and the fixed end of the working part.

6. The wiring robot according to claim 5, characterized in that, The fixed end of the main body also includes a limiting irregular nut. An irregular hole is provided on the side opposite to the through hole into which the rotating rod is inserted. A limiting irregular nut that mates with the irregular hole is provided in the irregular hole. A threaded hole is provided in the center of the limiting irregular nut. A thread is provided at the end of the rotating rod that mates with the limiting irregular nut.

7. The wiring robot according to claim 5, characterized in that, The top seat has a stepped through hole in the center, with the hole diameter being smaller on the side closer to the fixed end of the body. The protruding ring is inserted into the through hole on this side. The concave ring is located on the side with a larger diameter of the stepped through hole. The concave ring has a concave ring through hole in the center. The hole diameter is smaller on the upper side of the concave ring through hole, and the top hole diameter is the same as the outer diameter of the protruding ring.

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