An overhead power transmission line netting operation robot

Abstract

The utility model relates to power facilities operation and maintenance technical field, concretely is an overhead transmission line net closing operation robot, including walking mechanism and pressure mechanism, walking mechanism has the walking wheel of rotation movement, pressure mechanism has the pressure wheel of rotation movement, and the pressure wheel realizes vertical motion through scissor lifting mechanism drive, scissor lifting mechanism has at least two groups of scissor arms that cross in a point, and at least one group of scissor arms receives linear motion stroke drive pressure wheel from push rod and realizes vertical motion, and the intersection of two groups of scissor arms is equipped with detachable connection's scissor axle, and scissor axle passes through rotation limit block and intersection point in proper order, be equipped with locking piece on scissor axle, be equipped with through groove and non - through groove on rotation limit block, and the shape of through groove and non - through groove all with locking piece match, and through groove and non - through groove constitute the channel structure of dislocation intercommunication, and locking piece crosses rotation limit block in specific relative position, realizes the conversion of scissor axle between locking state and detachable state.

Description

Technical Field

[0001] This utility model relates to the field of power facility operation and maintenance technology, specifically to a robot for overhead transmission line sealing operations. Background Technology

[0002] The statements in this section merely provide background information related to this utility model and do not necessarily constitute prior art.

[0003] Overhead transmission line closure operation (hereinafter referred to as closure operation) is a safety protection measure adopted when carrying out construction or maintenance on overhead transmission lines that cross key areas such as highways, railways, and important power transmission channels.

[0004] During the closure operation, a sufficiently sturdy and large-area insulated protective net is hung under the line where construction is needed to form a "safety safety net" to ensure the safety of the facilities (such as highways and railways) that are being crossed below.

[0005] Existing technologies have gradually incorporated robots into the installation of insulating protective netting. Taking the installation of insulating protective netting between parallel lines as an example, two robots are mounted on each line. Each robot is pre-loaded with one corner of the insulating protective netting. When the robot moves along the line laying direction to the position that meets the operational requirements, it gradually opens and tightens the insulating protective netting. At this time, the clamping mechanism inside the robot clamps the line, so that the robots on the two parallel lines form four fixed points for the insulating protective netting.

[0006] In the above-mentioned operation method, the robot generally clamps the line through a vertically moving clamping mechanism. When the clamping mechanism malfunctions, the battery power is insufficient, or other unexpected situations occur (such as mechanical parts getting stuck), the operation of the clamping mechanism will stop. Due to the lack of emergency reset measures, the inoperable clamping mechanism will cause the net sealing operation to stop. Utility Model Content

[0007] To address the technical problems mentioned above, this utility model provides a robot for sealing overhead power transmission lines. It uses a scissor lift mechanism to drive the clamping wheel for clamping. By improving the scissor shaft of the scissor lift mechanism to a structure that can be quickly pulled out, the robot can be quickly reset in an emergency.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: This utility model provides a robot for sealing overhead power transmission lines, including a robot body. The robot body has a walking mechanism and a clamping mechanism. The walking mechanism has rotating walking wheels, and the clamping mechanism has rotating clamping wheels. The clamping wheels are driven to move vertically by a scissor lift mechanism. The scissor lift mechanism has at least two sets of scissor arms that intersect at a point. The two sets of scissor arms synchronously receive linear motion strokes from push rods to drive the clamping wheels to move vertically. A detachable scissor shaft is provided at the intersection of the two sets of scissor arms. The scissor shaft passes through the rotation limit block and the intersection in sequence. A locking element is provided on the scissor shaft. The rotation limit block is provided with a through groove and a non-through groove. The shapes of the through groove and the non-through groove match the locking element. The through groove and the non-through groove form a staggered and connected channel structure. The locking element passes through the rotation limit block at a specific relative position to realize the conversion of the scissor shaft between the locked state and the detachable state.

[0009] Furthermore, the robot body has a main frame plate and a sub-frame plate arranged side by side, and the walking wheels are located in the space between the main frame plate and the sub-frame plate. The sub-frame plate is equipped with a first walking motor, which drives the walking wheels to rotate and drives the robot body to run along the line laying direction.

[0010] Furthermore, the robot body has a main frame plate and a front frame plate arranged side by side. The clamping mechanism is located in the space between the main frame plate and the front frame plate. The clamping mechanism includes a scissor lift mechanism and a clamping wheel. The clamping wheel rotates under the drive of a second travel motor. The second travel motor is located on the side of the main frame plate away from the front frame plate.

[0011] Furthermore, the rotation limit block is connected to the sliding seat, which is slidably connected to the slide rail. The slide rail is set on the main frame plate of the robot body and arranged in the vertical direction.

[0012] Furthermore, the clamping mechanism has a clamping front plate and a clamping rear plate arranged in parallel, and lubricating strips are provided at both ends of the clamping front plate and the clamping rear plate, as well as on the mutually distant sides.

[0013] Furthermore, the fixed end and the moving end of the push rod are respectively connected to the corresponding scissor arms; the bottom end of the scissor arm is rotatably connected to the fixed plate shaft, and the top end of the scissor arm is rotatably connected to the moving plate shaft; the fixed plate shaft is located between the main frame plate and the front frame plate, and the moving plate shaft is located between the pressing front plate and the pressing rear plate; both the fixed plate shaft and the moving plate shaft are provided with spacers.

[0014] Furthermore, the front and rear clamping plates are provided with linear grooves to support the movement of the moving plate shaft and the scissor shaft, and the main frame plate and the front frame plate are provided with linear grooves to support the movement of the fixed plate shaft.

[0015] Furthermore, the clamping roller is connected between the front clamping plate and the rear clamping plate via a clamping roller frame, and the clamping roller frame abuts against the pressure sensor on the pressure support plate; the pressure support plate is located between the front clamping plate and the rear clamping plate; when the scissor lift mechanism drives the clamping mechanism to clamp the line, the clamping roller contacts the line, and the reaction force generated by the line on the clamping roller is transmitted to the clamping roller frame and obtained by the pressure sensor.

[0016] Furthermore, the locking element includes at least two protrusions disposed on the surface of the scissor shaft and arranged opposite to each other; the channel structure formed by the through groove and the non-through groove is a cross groove.

[0017] Furthermore, the end of the scissor shaft has a T-shaped handle, the "T" area of ​​which corresponds to a protrusion on the surface of the scissor shaft.

[0018] Compared with existing technologies, one or more of the above technical solutions have the following beneficial effects: 1. The through slot and the non-through slot form a staggered, interconnected channel structure. When the locking element is embedded in the non-through slot, the rotational movement of the scissor shaft is locked. The axial movement of the scissor shaft causes the locking element to disengage from the non-through slot and rotate to a position corresponding to the through slot, allowing the locking element to pass through the through slot, thus enabling the scissor shaft to be detachable. When the clamping mechanism malfunctions and cannot rise or fall, the scissor shaft is switched to a detachable state and pulled out from the intersection of the scissor arms, allowing the clamping mechanism to fall naturally, and the robot can then be removed from the line for subsequent maintenance.

[0019] 2. The linear guide rail used for vertical movement during the clamping mechanism has been eliminated to reduce the overall weight of the machine. This allows the frame plate of the robot body to function as a guide rail. In order to maintain the performance and lifespan of vertical movement, lubricating strips are provided at both ends of the front and rear clamping plates and on the sides that are far apart from each other to reduce the friction between the clamping mechanism and the frame plate of the robot body.

[0020] 3. A pressure sensor is used as the signal source to control the push rod action. The pressure sensor is located inside the clamping mechanism and is not easily affected by the external environment, thus ensuring its stable performance.

[0021] 4. The walking wheels and pressure wheels are driven to rotate by their own independent motors, which can provide greater driving power when the robot is walking and enable it to cross small obstacles on the track. Attached Figure Description

[0022] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0023] Figure 1This is a schematic diagram showing the robot's position during the grid closure operation of an overhead transmission line, as provided by this utility model: Figure 2 This is a schematic diagram of the external structure of the net sealing operation robot provided by this utility model: Figure 3 This is a schematic diagram of the external structure of the net-sealing robot provided by this utility model from another perspective: Figure 4 This is a schematic diagram of the structure of the sealing robot provided by this utility model after the shell has been removed: Figure 5 This is a schematic diagram of the structure of the net-sealing robot after the shell has been removed, from another perspective provided by this utility model: Figure 6 This is a schematic diagram of the internal structure of the net sealing robot provided by this utility model: Figure 7 This is a schematic diagram of the clamping mechanism of the net sealing robot provided by this utility model: Figure 8 This is a schematic diagram of the scissor shaft locking mechanism provided by this utility model: Figure 9 This is a schematic diagram of the scissor shaft unlocking mechanism provided by this utility model: Figure 10 This is a schematic diagram of the scissor shaft being pulled out according to this utility model.

[0024] Figures 1-3 In the middle: 100 Robot body, 101 Upper shell, 102 Rear shell, 103 Front shell, 104 Photovoltaic panel; Figures 4-5 In the middle: 1 Main frame plate, 2 Main and auxiliary plate fixing plate, 3 Camera, 4 Camera mount, 5 Handle, 6 Support column, 7 Auxiliary frame plate, 8 Motor mounting base, 9 First travel motor, 10 Control box, 11 Lifting ring, 12 Front frame plate, 13 Foot pad, 14 Foot pad fixing plate, 15 Battery box, 16 Side plate, 17 Travel wheel, 18 Travel wheel axle, 19 Scissor lift axle, 20 T-shaped handle, 21 Second travel motor, 22 Sliding seat, 23 Rotary limit block, 200 Pressure wheel; Figures 6-7 In the middle: 201 clamping wheel shaft, 202 clamping front plate, 203 scissor arm, 204 scissor shaft, 205 push rod, 206 fixed plate shaft, 207 spacer, 208 lubricating strip, 209 slider fixing seat, 210 moving plate shaft, 211 clamping rear plate, 212 clamping support plate, 213 clamping wheel frame, 214 clamping fixing component. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] It should be noted that the following detailed description is exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0027] As described in the background section, when existing net sealing robots malfunction or run out of power, the clamping mechanism will stop operating. Since the clamping mechanism lacks emergency reset measures, the inoperable clamping mechanism will cause the net sealing operation to stop.

[0028] For example, CN202110305366.X provides a net sealing robot, which is equipped with an upper pressure wheel and a lower pressure wheel assembly with adjustable spacing, enabling the net sealing robot to adapt to steel wire ropes of different thicknesses and sizes. Both the upper and lower pressure wheels are equipped with wire clamping grooves. Driven by a walking power device, the net sealing robot drives the net to unfold. After the net sealing robot stops moving, it locks itself in the stopped position by means of self-locking capability.

[0029] The design focuses on the clamping mechanism and the traveling mechanism. The clamping mechanism is powered by a motor to achieve vertical movement. However, there are no emergency measures in case of failure or power failure and self-locking, and the clamping mechanism cannot be lowered.

[0030] This solution proposes a robot for sealing overhead power transmission lines, which is equipped with an unlocking structure for emergency situations. In the event of a fault or insufficient power, the clamping mechanism can be safely lowered.

[0031] In this plan, the overhead transmission line mesh sealing operation robot (corresponding to...) Figure 1 There are four robot bodies (100) in total, which are arranged on two parallel lines and form four fixed points of an insulating protective net.

[0032] like Figure 2 and Figure 3 As shown, the robot body 100 has an outer shell, which includes an upper shell 101, a front shell 103, and a rear shell 102. Photovoltaic panels 104 are provided on the upper shell 101 and the front shell 103 to replenish the robot with power during construction operations and improve the robot's endurance.

[0033] like Figure 4 and Figure 5 As shown, the outer shell of the robot body 100 is connected to the main frame plate 1 and the sub-frame plate 7. The main frame plate 1 is connected to the sub-frame plate 7 through the main and sub-frame fixing plate 2. The main frame plate 1 is connected to the front frame plate 12 through the side plate 16. The sub-frame plate 7 is located in the top space of the front frame plate 12.

[0034] A camera mount 4 is installed on the main and auxiliary plate fixing plate 2. The camera mount 4 is connected to the camera 3. The camera 3 is located at the top of the robot body 100, and the image acquisition end of the camera 3 faces the direction of the line laying.

[0035] A handle 5 is provided on the main and auxiliary plate fixing plate 2, and the handle 53 is located at the top of the robot body 100.

[0036] The main frame plate 1 and the secondary frame plate 7 are connected by support columns 6 and main and secondary plate fixing plates 2, so that a space is formed between the main frame plate 1 and the secondary frame plate 7 to accommodate the walking wheel 17.

[0037] The front frame plate 12 is connected to the control box 10, which houses the controller. The main frame plate 1 is connected to the battery box 15, which houses the battery pack. The battery box 15 and the control box 10 are located on opposite sides of the robot body 100 to balance the weight of the robot body 100.

[0038] The side plate 16 is provided with a lifting ring 11 and a foot fixing plate 14. The lifting ring 11 is used to connect with the insulating protective net, and the foot fixing plate 14 is connected to the foot 13. The foot 13 is located at the bottom of the robot body 100.

[0039] The robot body 100 has a walking mechanism, which includes a motor mounting base 8 connected to the sub-frame plate 7. The motor mounting base 8 is equipped with a first walking motor 9. The first walking motor 9 drives the walking wheel 17 to rotate around the walking wheel axle 18 through a transmission module. The two ends of the walking wheel axle 18 are located in the main frame plate 1 and the sub-frame plate 7, respectively. The transmission module can be a reducer. The walking wheel 17 is located in the space between the main frame plate 1 and the sub-frame plate 7. The surface of the walking wheel 17 is provided with a V-groove. The walking wheel 17 abuts against the top of the line and uses the V-groove on the surface to achieve self-positioning.

[0040] The space between the main frame plate 1 and the front frame plate 12 accommodates the clamping mechanism, which includes a scissor lift mechanism and a clamping wheel 200. The second travel motor 21 drives the clamping wheel 200 to rotate, and the scissor lift mechanism drives the clamping wheel 200 and the second travel motor 21 to achieve lifting.

[0041] The second travel motor 21 is located on one side of the main frame plate 1. The main frame plate 1 has a longitudinal sliding groove. The transmission module connected to the second travel motor 21 passes through the sliding groove and connects to the clamping roller 200. This structure allows the clamping roller 200 and the second travel motor 21 to be arranged on the front and back sides of the main frame plate 1, respectively. The second travel motor 21 avoids the clamping area of ​​the robot body 100, ensuring that the clamping roller 200 can reliably clamp the cable when it rises.

[0042] The main frame plate 1 is also provided with a slide rail arranged in the vertical direction. The slide rail is provided with a sliding seat 22 that is slidably connected. The sliding seat 22 is provided with a rotation limit block 23. The T-shaped handle 20 is connected to the scissor shaft 19. The scissor shaft 19 passes through the rotation limit block 23 to support the movement of the scissor lifting mechanism.

[0043] The front clamping plate is connected to the rear clamping plate via a clamping fixing plate and a hexagonal support. A slider fixing seat is installed on the front-rear direction of the front clamping plate. A pressure support plate is installed between the front and rear clamping plates, and a pressure sensor is mounted on it. The clamping wheel frame rests on the pressure sensor. The motor is mounted on the clamping wheel frame via the clamping fixing seat, and the clamping wheel is mounted via the clamping wheel shaft. Rectangular recesses are formed on the front and rear clamping plates and the slider fixing seat, and self-lubricating sliders are installed to reduce friction during movement. Roller grooves are formed on the main frame plate, front frame plate, front clamping plate, and rear clamping plate, and the fixed plate shaft and moving plate shaft pass through the scissor arm connecting rollers and are installed in the roller grooves. The spacers are used for separation. There are through guide grooves in the middle of the front frame plate, main frame plate, front clamping plate and rear clamping plate. Push rods are installed at the bottom. The push rods provide power to make the rollers move in the roller grooves and at the same time move in the vertical guide grooves of the scissor fork shaft, so as to achieve accurate lifting and limiting.

[0044] like Figure 6 and Figure 7 As shown, the clamping mechanism is located in the space between the main frame plate 1 and the front frame plate 12, including a clamping front plate 202 and a clamping rear plate 211 arranged in parallel. The top of the clamping front plate 202 and the clamping rear plate 211 are provided with clamping wheel shafts 201. The clamping wheel 200 rotates around the clamping wheel shaft 201 under the drive of the second travel motor 21.

[0045] Lubricating strips 208 are provided on the outer sides and both ends of the front clamping plate 202 and the rear clamping plate 211. The lubricating strips 208 utilize their own lubricity to reduce the friction between the front clamping plate 202 and the front frame plate 12, the friction between the rear clamping plate 211 and the main frame plate 1, and the friction between the two ends of the front clamping plate 202 and the rear clamping plate 211 and the side plate 16.

[0046] Specifically: The front plate 202 and the rear plate 211 are provided with slider fixing seats 209 at both ends, and the slider fixing seats 209 are provided with lubricating strips 208. The outer surfaces of the front clamping plate 202 and the rear clamping plate 211 refer to the area between the front clamping plate 202 and the front frame plate 12, and the area between the rear clamping plate 211 and the main frame plate 1.

[0047] The lubricating strip 208 is fixed in the groove on the front clamping plate 202, the rear clamping plate 211 and the slider fixing seat 209.

[0048] The lubricating strip 208 can be made of metal or non-metal, for example, it can be a copper strip; or the surface of the copper strip can be coated with graphite to improve the self-lubricating properties of the copper strip.

[0049] The clamping mechanism includes a scissor lift mechanism located in the space between the main frame plate 1 and the front frame plate 12. This scissor lift mechanism drives the front clamping plate 202, the rear clamping plate 211, the clamping rollers 200, and the second travel motor 21 to achieve lifting and lowering movements. When the device rises to a set position, the clamping rollers 200 and the travel wheels 17 clamp and fix the cable; when it descends to the set position, the clamping is released.

[0050] The scissor lift mechanism includes scissor arms 203 that cross the scissor shaft 204. The bottom end of the scissor arms 203 is rotatably connected to the fixed plate shaft 206, and the top end is rotatably connected to the movable plate shaft 210. The fixed plate shaft 206 is disposed in the space between the main frame plate 1 and the front frame plate 12, and is movably connected to the main frame plate 1 and the front frame plate 12 respectively. The movable plate shaft 210 is disposed in the space between the pressing front plate 202 and the pressing rear plate 211, and is movably connected to the pressing front plate 202 and the pressing rear plate 211 respectively. Both the fixed plate shaft 206 and the movable plate shaft 210 are fitted with spacers 207.

[0051] The main frame plate 1 is equipped with a push rod 205. The fixed end and the moving end of the push rod 205 are respectively connected to two scissor arms. When the push rod 205 moves, the fixed end and the moving end respectively drive the bottom end of the corresponding scissor arm 203 to make linear motion. The top end of the scissor arm 203 drives the front plate 202, the rear plate 211, the pressing wheel 200, and the second travel motor 21 to achieve lifting and lowering motion.

[0052] In this design, the push rod 205 can be an electric push rod. When the electric push rod retracts, it pulls the bottom ends of the scissor arms 203 closer together, causing the top ends of the scissor arms 203 to move closer together, further pushing the front plate 202, the rear plate 211, the pressing wheel 200, and the second travel motor 21 to rise.

[0053] The front clamping plate 202 and the rear clamping plate 211 are provided with linear grooves to support the movement of the moving plate shaft 210 and the scissor shaft 204. The main frame plate 1 and the front frame plate 12 are provided with linear grooves to support the movement of the fixed plate shaft 206. The two scissor arms 203 form two isosceles triangles with the scissor shaft 204 as the vertex. The height of the scissor shaft 204 changes with the distance between the bottom ends of the scissor arms 203, thereby causing the clamping roller 200 to rise and fall.

[0054] like Figure 7 As shown, the middle parts of the front clamping plate 202 and the rear clamping plate 211 are connected as one piece by clamping fasteners 214, and the two ends are connected together by slider fixing seats 209. The clamping roller 200 is located in the area between the two sets of clamping fasteners 214.

[0055] A pressure support plate 212 is provided in the middle of the front clamping plate 202 and the rear clamping plate 211, and a pressure sensor is provided on the upper surface of the pressure support plate 212. The clamping roller 200 is connected between the front clamping plate 202 and the rear clamping plate 211 through a clamping roller frame 213, and the clamping roller frame 213 abuts against the pressure sensor on the pressure support plate 212. When the scissor lift mechanism drives the entire clamping mechanism to clamp the line, the clamping roller 200 contacts the line, and the reaction force generated by the line on the clamping roller 200 is transmitted to the clamping roller frame 213 and detected by the pressure sensor. When the clamping force reaches a predetermined value, the push rod 205 stops moving, causing the clamping mechanism to stop.

[0056] The main frame plate 1 is provided with a sliding seat 22. During the lifting and lowering action of the pressing mechanism, the rotating limit block 23 slides within the sliding seat 22 following the lifting and lowering movement.

[0057] like Figures 8-10 As shown, the intersection of the scissor shaft 204 and the two scissor arms 203 is detachably connected. In the event of a sudden situation that prevents the clamping mechanism from falling down normally, the detachable connection design allows the scissor shaft 204 to be rotated to release the restriction of the rotation limit block 23 on the scissor shaft 204. Then, the scissor shaft 204 can be pulled out from the intersection of the two scissor arms 203, causing the scissor arms 203 to lose the support of the scissor shaft 204, thereby reducing the force.

[0058] Specifically, the scissor shaft 204 has two protrusions arranged at 180° to each other, and the rotation limit block 23 is provided with a cross groove. In the cross groove, two of the oppositely arranged "grooves" are through grooves (i.e., through the rotation limit block 23), and the other two are non-through grooves. The structure of the "grooves" matches the structure of the protrusions.

[0059] The scissor lift shaft 204 is inserted into the intersection of the two scissor lift arms 203. The protrusion on the scissor lift shaft 204 is embedded in two non-through slots in the rotation limit block 23. The rotation limit block 23 prevents the scissor lift shaft 204 from rotating, forming a... Figure 8 The locked state is shown.

[0060] Push the scissor shaft 204 away from the non-through slot locked position, then rotate it 90° to switch to the through slot position, forming... Figure 9 The unlocked state is shown.

[0061] Pull the scissor shaft 204 to completely separate the scissor shaft 204 from the scissor arm 203, and the scissor lifting mechanism will fall naturally, thereby allowing the robot body 100 to be removed from the line.

[0062] The end of the scissor shaft 204 is a T-shaped handle 20. The "T"-shaped area of ​​the T-shaped handle 20 corresponds to the protrusion and is used to indicate the locked / unlocked state of the scissor shaft 204.

[0063] The operation process of robot body 100 is as follows: The required pressure value is preset in advance according to the different diameters of the working line.

[0064] To install the robot on the power transmission line, the specific operation is as follows: extend the push rod to lower the clamping mechanism to the lowest position, and then manually place the robot on the target line.

[0065] A group of four robots is mounted onto the power line, and an insulating support rod is installed between two robots running parallel to the line. Specifically, the support rod is installed on the hanging ring on the underside of the robot, and the installation effect is as follows. Figure 1 As shown. This prevents irregularities in the shape of the work net caused by line sag. Utilizing the V-groove structure of the traveling wheels, the line will automatically center and position itself after mounting. At this point, the push rod retracts, driving the clamping mechanism to tighten.

[0066] During the clamping process, the clamping wheel contacts the line, and the clamping wheel frame presses down to touch the pressure sensor. When the clamping force reaches the predetermined value, the power to the push rod is cut off, stopping the clamping system and entering a self-locking state. At this time, the traveling wheel and the clamping wheel form a stable clamping structure. This prevents the robot from falling off the line and increases the friction between the traveling wheel and the line, providing safety for slope operations. Then, an insulating support rod is installed between the two robots on the parallel line, specifically on the hanging ring on the lower side of the robot. After the robots are positioned, the work net with pulleys is hung between the two sets of robots, on the hanging ring on the upper side of the robot. The two robots in front of the work net control the traveling motor to rotate via the control box, driving the traveling wheel forward along the line. Simultaneously, the two robots behind the work net move at a constant speed with the two robots in front, driving the work net forward to form a rectangle. When reaching the predetermined working position, the control system controls the robot to enter a low-power mode. The traveling motor, using a worm gear reducer, can self-lock, allowing the robot to hover within the working area until the work is completed. During this period, the photovoltaic panels on both sides of the robot will replenish the robot with power, and store power for subsequent wake-up and dismantling operations.

[0067] After the operation is completed, the two robots at the rear reverse and drag the work net for retrieval; the robot in front follows. Once the work net is completely retracted, the insulating support rod is removed, and the control box extends the push rod, lowering the lifting system to release the robot from its clamp on the power line. The operator then removes the robot from the power line.

[0068] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robot for sealing overhead transmission lines, characterized in that, The robot body includes a walking mechanism and a clamping mechanism. The walking mechanism has rotating walking wheels, and the clamping mechanism has rotating clamping wheels. The clamping wheels are driven to move vertically by a scissor lift mechanism. The scissor lift mechanism has at least two sets of scissor arms that intersect at a point. The two sets of scissor arms synchronously receive linear motion strokes from the push rod to drive the clamping wheels to move vertically. A detachable scissor shaft is provided at the intersection of the two sets of scissor arms. The scissor shaft passes through the rotation limit block and the intersection in sequence. A locking element is provided on the scissor shaft. The rotation limit block is provided with a through groove and a non-through groove. The shapes of the through groove and the non-through groove match the locking element. The through groove and the non-through groove form a staggered and connected channel structure. The locking element passes through the rotation limit block at a specific relative position to realize the conversion of the scissor shaft between the locked state and the detachable state.

2. The overhead transmission line enclosure robot as described in claim 1, characterized in that, The robot body has a main frame plate and a sub-frame plate arranged side by side. The walking wheels are located in the space between the main frame plate and the sub-frame plate. A first walking motor is provided on the sub-frame plate. The first walking motor drives the walking wheels to rotate and drives the robot body to run along the laying direction of the line.

3. The overhead transmission line enclosure robot as described in claim 1, characterized in that, The robot body has a main frame plate and a front frame plate arranged side by side. The clamping mechanism is located in the space between the main frame plate and the front frame plate. The clamping mechanism includes a scissor lift mechanism and a clamping wheel. The clamping wheel rotates under the drive of a second travel motor. The second travel motor is located on the side of the main frame plate away from the front frame plate.

4. The overhead transmission line enclosure robot as described in claim 1, characterized in that, The rotation limit block is connected to the sliding seat, which is slidably connected to the slide rail. The slide rail is set on the main frame plate of the robot body and arranged in the vertical direction.

5. The overhead transmission line enclosure robot as described in claim 1, characterized in that, The clamping mechanism has a clamping front plate and a clamping rear plate arranged side by side, and lubricating strips are provided at both ends of the clamping front plate and the clamping rear plate, as well as on the mutually distant sides.

6. The overhead transmission line enclosure robot as described in claim 5, characterized in that, The fixed end and the moving end of the push rod are respectively connected to the corresponding scissor arms; the bottom end of the scissor arm is rotatably connected to the fixed plate shaft, and the top end of the scissor arm is rotatably connected to the moving plate shaft; the fixed plate shaft is located between the main frame plate and the front frame plate, and the moving plate shaft is located between the pressing front plate and the pressing rear plate; both the fixed plate shaft and the moving plate shaft are provided with spacers.

7. The overhead transmission line mesh sealing operation robot as described in claim 6, characterized in that, The front and rear clamping plates are provided with linear grooves to support the movement of the moving plate shaft and the scissor shaft, and the main frame plate and the front frame plate are provided with linear grooves to support the movement of the fixed plate shaft.

8. The overhead transmission line mesh sealing operation robot as described in claim 1, characterized in that, The clamping roller is connected between the front clamping plate and the rear clamping plate via a clamping roller frame. The clamping roller frame abuts against the pressure sensor on the pressure support plate. The pressure support plate is located between the front clamping plate and the rear clamping plate. When the scissor lift mechanism drives the clamping mechanism to clamp the line, the clamping roller contacts the line. The reaction force generated by the line on the clamping roller is transmitted to the clamping roller frame and is detected by the pressure sensor.

9. The overhead transmission line enclosure robot as described in claim 1, characterized in that, The locking element includes at least two protrusions disposed on the surface of the scissor shaft and arranged opposite to each other; the channel structure formed by the through groove and the non-through groove is a cross groove.

10. The overhead transmission line enclosure robot as described in claim 1, characterized in that, The end of the scissor shaft has a T-shaped handle, and the "T"-shaped area of ​​the T-shaped handle corresponds to the protrusion on the surface of the scissor shaft.

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