CN114006305A

CN114006305A - Power distribution network operation robot and working method thereof

Info

Publication number: CN114006305A
Application number: CN202111329288.3A
Authority: CN
Inventors: 刘益军; 李正强; 赖建防; 彭永健; 关帅; 吴沛杰; 李英豪; 黄伟; 张英震; 许明雷; 周英芳; 吕伟宏; 张惠聪; 杨智亮
Original assignee: Guangdong Power Grid Co Ltd; Foshan Power Supply Bureau of Guangdong Power Grid Corp; Ningbo Tianhong Power Appliance Co Ltd
Current assignee: Guangdong Power Grid Co Ltd; Foshan Power Supply Bureau of Guangdong Power Grid Corp; Ningbo Tianhong Power Appliance Co Ltd
Priority date: 2021-11-10
Filing date: 2021-11-10
Publication date: 2022-02-01

Abstract

The application discloses distribution network operation robot and working method thereof, the robot includes: the electric pole climbing device and the grounding wire clamp hanging device; the electric pole climbing device comprises an upper bracket and a lower bracket which are arranged along the axial direction of the electric pole, and a telescopic assembly is arranged between the upper bracket and the lower bracket; the upper bracket and the lower bracket are both provided with turnover components, and the turnover components are provided with two holding components which move synchronously; the holding component acts to hold or release the electric pole; a torsion assembly is arranged between the upper bracket and the lower bracket and acts to select one of the upper bracket and the lower bracket to drive the upper bracket or the lower bracket to rotate around the electric pole; the ground clamp is hung and is established the device and including extending the seat, extends the seat and is suitable for to install on pole climbing device and to extending to the direction of keeping away from the pole, extends to be provided with a drive assembly on the seat, and a drive assembly upper end is provided with places the seat, places and has placed a plurality of ground clamps in the seat in proper order. The utility model provides a robot can scramble the pole and hang on high-voltage cable and establish earth clamp.

Description

Power distribution network operation robot and working method thereof

Technical Field

The application relates to the field of operation tools, in particular to a power distribution network operation robot and a working method thereof.

Background

In the field of power transmission and distribution, according to the operation and maintenance conditions of power transmission equipment, the equipment operation and maintenance management often needs to perform power failure maintenance on a line. The grounding wire is used as a safety device which can prevent operators from being injured by sudden power supply or induced voltage generated by adjacent and crossed high-voltage live equipment, protects the safety of the operators in the power failure maintenance process of the high-voltage line and mainly plays a role in discharging residual charge of the power failure maintenance line. The grounding wire is hung before the line power failure maintenance operation starts, and all operators withdraw the wires after the operation is finished and then detach the grounding wire. The temporary grounding wire is installed and removed as an important step before the power failure maintenance operation of the line. At present, the wiring line is hung for a long time to cause physical fatigue of operating personnel through climbing a power transmission line tower or a power distribution pole by the operating personnel and hanging a temporary grounding wire, the operation safety of the operating personnel is not facilitated to be overhauled, the danger factor is greatly increased, and the operation efficiency is seriously influenced.

Therefore, it is an urgent need for those skilled in the art to solve the problem of how to design a working device to replace the manual hanging of the ground wire.

Disclosure of Invention

An aim at of this application provides an ability climbing pole and hang distribution network work robot who establishes earth clamp on high-voltage cable.

In view of this, the application provides in a first aspect an electric power distribution network operation robot, including: the electric pole climbing device and the grounding wire clamp hanging device;

the electric pole climbing device comprises an upper support and a lower support which are arranged along the axial direction of the electric pole, wherein a telescopic assembly is arranged between the upper support and the lower support, and the telescopic assembly can extend or contract along the axial direction and is used for changing the distance between the upper support and the lower support; the upper bracket and the lower bracket are both provided with turnover components, and the turnover components are provided with two holding components which move synchronously; the holding component acts to hold or release the electric pole; the overturning assembly acts to change an included angle between the enclasping assembly and the axial direction; a torsion assembly is further arranged between the upper bracket and the lower bracket, and the torsion assembly acts to select one of the upper bracket and the lower bracket to drive the upper bracket or the lower bracket to rotate around the electric pole;

ground wire clamp is hung and is established the device including extending the seat, extend the seat be suitable for install in on the pole climbing device and to the direction of keeping away from the pole extend, be provided with first drive assembly on the extension seat, first drive assembly upper end is provided with places the seat, place and placed a plurality of ground wire clamps in the seat in proper order, first drive assembly is suitable for the cooperation the pole climbing device drive the ground wire clamp is at the three-dimensional space internal motion, and makes ground wire clamp can hang in proper order and establish on the high-voltage cable.

Preferably, the telescopic assembly is a linear driving mechanism, the telescopic assembly comprises a lower support serving as a cylinder body and a piston rod extending out of the cylinder body, the torsion assembly is fixedly arranged at the top end of the piston rod, and the upper support is fixedly arranged on the torsion assembly.

Furthermore, the overturning assembly is a synchronous belt drive mechanism, and the synchronous belt drive mechanism comprises a supporting frame, a rotating shaft, a synchronous wheel, a swing arm, a synchronous belt and a linear driving piece; the two rotating shafts are respectively and rotatably arranged at two ends of the supporting frame; the two groups of synchronous wheels are respectively and concentrically fixed on the two rotating shafts; the swing arms are provided with two groups and are respectively and fixedly arranged on the two rotating shafts; the synchronous belt is connected with the two groups of synchronous wheels in a transmission way; the linear driving piece is fixedly arranged on the supporting frame, and the movable end of the linear driving piece is fixedly connected with the synchronous belt; the linear driving piece stretches out and draws back to drive the synchronous belt to linearly surround the synchronous wheel to move, and then the rotating shaft and the swing arm are driven to rotate in a reciprocating mode.

Preferably, the support frame comprises a vertical plate arranged along the axial direction, base plates fixedly arranged at two ends of the vertical plate, and fixing arms fixedly arranged at two sides of the base plates, and the rotating shaft is rotatably arranged on the fixing arms at two sides. The structure has the advantages of stability, reliability and convenience in installation, and the space for installing other structural members can be reserved (the upper support and the lower support are referred to in the application).

Preferably, the synchronizing wheel is a tension type synchronizing wheel and comprises a wheel body, a tension sleeve, a fixing bolt and a tension bolt, the wheel body is rotatably arranged on the rotating shaft, the tension sleeve is wound on the rotating shaft, the fixing bolt is fixedly connected with the wheel body and the tension sleeve, the tension bolt is in threaded connection with the tension sleeve, and the tension bolt is rotated to lock or loosen the rotating shaft of the tension sleeve; the synchronous wheel is not locked on the rotating shaft by the structure, so that the synchronous wheel has circumferential adjusting capacity, the synchronous belt can be more accurately meshed with the synchronous wheel, and the synchronism and the running stability of the synchronous belt are improved.

Furthermore, a tightening assembly is arranged on a linear movement section of the synchronous belt, and comprises an adjusting plate and a first pressing plate which clamp and fix two ends of the synchronous belt, an adjusting bolt which oppositely penetrates through the adjusting plate, and a threaded sleeve which is in threaded connection with the adjusting bolts at two sides; and the adjusting bolt is rotated to be screwed in or out of the threaded sleeve, so that the distance between the adjusting bolts at two sides is changed, and the tightness of the synchronous belt is adjusted. The setting up of tightening subassembly is convenient on the one hand installs the hold-in range on the synchronizing wheel, and on the other hand can adjust the hold-in range and be in the state of tightening, guarantees the stability and the reliability of operation.

Preferably, the synchronous pulley driving mechanism further comprises a linkage plate, each synchronous pulley and two swing arms are arranged on the rotating shaft, the synchronous belts are two, the movable section of the linear driving piece is fixedly connected with the linkage plate, the linkage plate is respectively fixedly connected with the synchronous belts through two second pressing plates, the linear driving piece drives the two synchronous belts to move synchronously through the linkage plate, and then drives the four synchronous pulleys and the four swing arms to rotate synchronously. The combination of dual timing pulleys further increases the stability and reliability of the structure.

As an improvement, the lower support is fixed on the supporting frame, the torsion assembly extends out of a guide rod, and the guide rod is arranged on the supporting frame in a sliding mode along the axial direction. The setting of guide bar makes the subassembly that stretches out and draws back more stable, reliable when flexible.

Preferably, the clasping assembly comprises a clasping driving piece, two extension plates fixedly arranged on two sides of the clasping driving piece, and two hoops fixedly arranged at the front ends of the extension plates; the clasping driving piece acts to drive the two hoops to be close to or far away from each other, and then clasping or loosening the rod body. Wherein the setting of extending the board makes the pole climb the device can increase and the body of rod between the distance, further increases its ability of hindering more.

Preferably, the torsion assembly comprises a base, an arc-shaped sliding block and a torsion driving piece, the base is fixedly arranged, an arc-shaped sliding groove is formed in the base, the circle center of the arc-shaped sliding groove is close to the center of the rod body, the arc-shaped sliding block is arranged in the arc-shaped sliding groove in a sliding manner, and the torsion driving piece is arranged on the base and is suitable for driving the arc-shaped sliding block to slide; the torsion assembly further comprises a linkage gear, the torsion driving piece is suitable for driving the linkage gear to rotate, arc teeth are arranged on one side of the arc sliding block, the linkage gear is meshed with the arc sliding block, and the rotation of the linkage gear is suitable for driving the arc sliding block to slide in the arc sliding groove through the arc teeth.

Preferably, the first driving assembly comprises a rotating mechanism, a left-right swinging mechanism and a front-back swinging mechanism, and the rotating mechanism, the left-right swinging mechanism and the front-back swinging mechanism are combined in an up-down direction in a superposed manner; the three mechanisms can realize that the grounding wire clamp can reach any position in a limited space at any angle efficiently, and the hanging efficiency of the grounding wire clamp is ensured.

Specifically, the rotating mechanism is fixedly arranged below the extension seat, and the rotating mechanism extends upwards to form a driving shaft; the left-right swinging mechanism comprises a first mounting cylinder, a first power source and a first swinging frame, the first mounting cylinder extends along the vertical direction and is fixedly connected to the driving shaft, the first power source is fixedly mounted in the first mounting cylinder, the first swinging frame is rotatably arranged on the first mounting cylinder, a rotating shaft of the first swinging frame extends along the front-back direction, and the first power source is suitable for driving the first swinging frame to swing left and right; the front and back swing mechanism comprises a second installation barrel, a second power source and a second swing frame, the second installation barrel extends in the vertical direction and is fixedly connected to the first swing frame, the second power source is fixedly installed in the second installation barrel, the second swing frame is rotatably arranged on the second installation barrel, the rotating shaft of the second swing frame extends in the left and right directions, the second power source is suitable for driving the second swing frame to swing back and forth, and the placing seat is fixedly arranged on the second swing frame. The structure enables the first driving assembly to be of a multi-section structure, achieves the function similar to that of a mechanical arm, and has the advantages of being simple in structure, convenient to control and low in cost.

Furthermore, a first driving gear is connected to the first power source, a first driven gear is concentrically and fixedly connected to the first swing frame, the first driving gear is meshed with the first driven gear, and the first power source drives the first swing frame to swing through the matching of the first driving gear and the first driven gear; the second power source is connected with a second driving gear, the second swing frame is concentrically and fixedly connected with a second driven gear, the second driving gear is meshed with the second driven gear, and the second power source drives the second swing frame to swing through the matching of the second driving gear and the second driven gear. The gear driving mode is simple and reliable, and the cost is low.

Preferably, the reference circle radius of the first driving gear is smaller than that of the first driven gear, and the first driven gear is in a fan-shaped structure of not more than 90 degrees; the radius of the reference circle of the second driving gear is smaller than that of the second driven gear, and the second driven gear is of a fan-shaped structure with the angle not larger than 90 degrees. The structure that the pinion drives the bull gear can improve control accuracy, and the swing angle of horizontal hunting mechanism and fore-and-aft hunting mechanism must not exceed 90, therefore set up the driven gear of fan-shaped structure and can save space, reduce the volume of whole device, can reduce the quantity simultaneously, reduce cost.

As the improvement, still be provided with second drive assembly on the extension seat, second drive assembly upper end is provided with the electroscope, second drive assembly includes horizontal hunting mechanism and forward and backward swing mechanism to the cooperation pole climbing device is used for the drive electroscope is upper and lower, front and back, side-to-side movement, thereby is close the high tension cable inspection whether the high tension cable is electrified. In order to guarantee the use safety of the grounding wire clamp hanging device, an electroscope is arranged for electricity testing.

The second aspect of the application provides a working method of a power distribution network working robot, which comprises a working step S100 of an electric pole climbing device and a working step S200 of a grounding wire clamp hanging device;

the working step S100 includes the steps of:

s101, unfolding the electric pole climbing device to an initial state and tightly holding a pole body; in an initial state, the telescopic assembly is in a contraction state, the upper support and the lower support are closest, the plurality of holding assemblies respectively form an included angle of 90 degrees with the axial direction, and the plurality of holding assemblies act to hold the rod body tightly;

s102, the method comprises the following steps: s121, loosening the rod body by the clasping component on the upper bracket, extending the telescopic component along the axial direction, and clasping the rod body by the clasping component on the upper bracket after the telescopic component is extended in place; s122, loosening the rod body by the clasping assembly on the lower support, axially contracting the telescopic assembly, and clasping the rod body by the clasping assembly on the lower support after the telescopic assembly is contracted in place; s123, repeating the two steps S121 and S122 to enable the electric pole climbing device to climb along the length direction of the pole body;

s103, when encountering an obstacle and judging that the obstacle can cross in the climbing process of the electric pole climbing device, the electric pole climbing device further comprises the following steps on the basis of the S102 climbing step: s131, after the pole bodies of the holding components on the upper support or the lower support are loosened, and before the telescopic components extend or contract along the axial direction, the turning components on the upper support or the lower support act to enable the corresponding holding components to form an included angle of 180 degrees with the axial direction; s132, the telescopic assembly axially extends or contracts, so that the holding assembly on one side passes over the obstacle; s133, the overturning assembly acts again to enable the corresponding holding assembly to form an included angle of 90 degrees with the axial direction, and then the corresponding holding assembly holds the rod body again to complete obstacle crossing of the holding assembly on one side; s134, the clasping component on the lower support or the upper support repeats the actions in the three steps by utilizing the corresponding overturning component and combines the climbing step to complete obstacle crossing of the clasping component on the other side, so that the obstacle crossing step of the whole electric pole climbing device is completed;

s104, when the electric pole climbing device encounters an obstacle in the climbing process and judges that the obstacle cannot pass through, on the basis of the step S102, or independently performing the following steps: s41, the pole body is loosened by the clasping component on the upper support or the lower support, the torsion component acts to enable the upper support or the lower support to be twisted, and the clasping component of the upper support or the lower support clasps the pole body after the upper support or the lower support is twisted in place; s42, the pole bodies are loosened by the holding components on the lower support or the upper support, the lower support or the upper support is twisted towards the same direction by the action of the twisting component, and the pole bodies are held by the holding components on the lower support or the upper support after the lower support or the upper support is twisted in place; s43, repeating the two steps S41 and S42, so that the electric pole climbing device moves along the circumferential direction of the pole body to avoid the obstacle;

the working step S200 includes the steps of:

s201, placing grounding wire clamps corresponding to the number of the high-voltage cables on a placing seat, and conveying the grounding wire clamps to the vicinity of the high-voltage cables by using an electric pole climbing device;

s202, the electric pole climbing device and the second driving assembly act cooperatively to drive the electroscope to move up and down, back and forth and left and right, approach each high-voltage cable in sequence and check whether the high-voltage cables are electrified or not;

s203, after confirming that each high-voltage cable is not electrified, the electric pole climbing device and the first driving assembly act in a coordinated mode to drive the ground wire clamp to move in a three-dimensional space, and the ground wire clamp is sequentially hung on each high-voltage cable.

Further, the electric pole climbing device also has a storage state, and in the step S101, the electric pole climbing device is unfolded from the storage state to an initial state; in the storage state, the telescopic assembly is in a contraction state, the plurality of holding assemblies form an included angle of 180 degrees with the axial direction, and the plurality of holding assemblies are in a holding state;

still further, the lower carriage bottom still is provided with the walking wheel, and in the above-mentioned S101, to place pole climbing device under initial condition in ground, promote pole climbing device along the horizontal direction through the walking wheel and be close to the body of rod, until a plurality of subassemblies of holding tightly are located body of rod week side back, a plurality of subassemblies of holding tightly move and are used for holding the body of rod tightly.

Specifically, step S203 includes the following steps in sequence:

s231, the rotating mechanism and the front-back swinging mechanism cooperatively act to drive the grounding wire clamp to be positioned on a plane vertical to the pre-hung high-voltage cable and enable the opening of the grounding wire clamp to face the pre-hung high-voltage cable;

s232, the electric pole climbing device and the left-right swinging mechanism act cooperatively to drive the grounding wire clamp to reach the position above the pre-hung high-voltage cable, and the pre-hung high-voltage cable enters the grounding wire clamp from the opening of the grounding wire clamp;

s233, the electric pole climbing device moves downwards to enable the grounding wire clamp hung on the high-voltage cable to be separated from the placing seat;

and S234, repeating the steps from S231 to S233, so that each high-voltage cable is hung with a grounding wire clamp.

Further, in step S234, the high-voltage cables on the same side of the electric pole follow the sequence of hanging the ground clamps from top to bottom, and the high-voltage cables on different sides of the electric pole follow the sequence of hanging the ground clamps from one side to the middle and then to the other side.

Compared with the prior art, the beneficial effect of this application lies in: the pole climbing device can be hung the earth clamp along the pole and establish the device and transport near high-voltage cable, and rethread earth clamp is hung and is established the device and hang the earth clamp and establish to high-voltage cable on for replace the manual work to hang and establish, avoided the operation of ascending a height, guarantee operation personnel's security.

Simultaneously, the pole climbing device of this application still has following beneficial effect:

(1) the synchronous belt driving mechanism can change linear motion into rotation and can ensure the synchronous belt performance of the two holding components; simultaneously, its simple structure itself, simple to operate maintains simply, and is with low costs, can make full use of pole climbing device's installation space, is fit for the upset subassembly as pole climbing device.

(2) The flexible one elasticity of holding the subassembly tightly on coordinating upper and lower support of flexible subassembly for pole climbing device can carry out marching type's climbing along the length direction of the body of rod, has simple structure, controls convenient advantage.

(3) The setting of upset subassembly for the body of rod is kept away from in the upset of the subassembly of holding tightly of loosening, and then makes the subassembly of holding tightly under the synergism of flexible subassembly and cross the barrier, makes pole climbing device have obstacle crossing function in the climbing in-process, improves its suitability.

(4) Further, twist reverse the setting of subassembly for upper bracket and lower carriage can twist reverse in proper order, and cooperation both sides hold one elasticity of subassembly tightly, realize that the pole climbing device carries out marching type's rotation around the circumferencial direction of the body of rod, thereby make the pole climbing device still have at the climbing in-process and keep away the barrier function, further improve its suitability.

(5) The upper bracket and the lower bracket are arranged in a split manner, so that the electric pole climbing device is integrally of a modular structure and is convenient to produce and use in a standard manner; and the setting of upper bracket and lower carriage can guarantee the bulk strength of pole climbing device, and the subassembly is held tightly to two that set up respectively on the upper and lower carriage in addition, plays the effect of multiple holding tightly for pole climbing device has bigger frictional force in the axial, has increased the heavy burden ability of pole climbing device.

Drawings

In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of an application scenario according to the present application;

FIG. 2 is a schematic perspective view of a preferred embodiment according to the present application;

FIG. 3 is a schematic diagram of the operational state according to a preferred embodiment of the present application;

figure 4 is a schematic perspective view of the pole climbing device according to a preferred embodiment of the present application;

figure 5 is a side view (hidden housing) of the pole climbing device according to a preferred embodiment of the present application;

FIG. 6 is a schematic perspective view of the clasping assembly and the flipping assembly mounted to the lower bracket according to a preferred embodiment of the present application;

FIG. 7 is a perspective view of the flipper assembly according to a preferred embodiment of the present application;

FIG. 8 is a side view of the flipper assembly according to a preferred embodiment of the present application;

FIG. 9 is a schematic perspective view of a linear drive, linkage plate and second platen according to a preferred embodiment of the present application;

FIG. 10 is an exploded view of FIG. 7 in accordance with a preferred embodiment of the present application;

FIG. 11 is a schematic perspective view of a tightening assembly according to a preferred embodiment of the present application;

FIG. 12 is a half sectional view of a tightening assembly according to a preferred embodiment of the present application;

FIG. 13 is a perspective view of a rotating shaft, synchronizing wheel, swing arm and fixed arm according to a preferred embodiment of the present application;

FIG. 14 is an exploded view of FIG. 11 in accordance with a preferred embodiment of the present application;

figure 15 is a schematic structural view of a tensioning sleeve according to a preferred embodiment of the present application;

FIG. 16 is a perspective view of a twist assembly in accordance with a preferred embodiment of the present application;

FIG. 17 is an exploded view of a torsion assembly in accordance with a preferred embodiment of the present application;

FIG. 18 is a perspective view of another alternative torsion assembly in accordance with a preferred embodiment of the present application;

figure 19 is a schematic perspective view of a ground clamp hanging device according to a preferred embodiment of the present application;

fig. 20 is a schematic perspective view of a ground wire clamp hanging on a high-voltage cable according to a preferred embodiment of the present application;

FIG. 21 is a side view of a ground clamp hanging device in accordance with a preferred embodiment of the present application;

FIG. 22 is a front view of a ground clamp hanging device in accordance with a preferred embodiment of the present application;

FIG. 23 is a perspective view of a first drive assembly according to a preferred embodiment of the present application.

FIG. 24 is an exploded view of a first drive assembly according to a preferred embodiment of the present application;

fig. 25 and 26 are sequence diagrams of hanging a ground clip in different scenarios according to a preferred embodiment of the present application.

In the figure: 100. a high voltage cable; 200. an electric pole; 300. a transformer; 400. a cross arm; 500. an electric pole climbing device; 600. the grounding wire clamp is hung on the device; 700. a ground clamp;

1. an upper bracket; 2. a lower bracket; 3. a telescoping assembly; 21. a housing; 31. a piston rod; 4. a turnover assembly; 41. a support frame; 42. a rotating shaft; 43. a synchronizing wheel; 44. swinging arms; 45. a synchronous belt; 46. a linear drive; 47. tightening the assembly; 48. a linkage plate; 411. a vertical plate; 412. a substrate; 413. a fixed arm; 431. a wheel body; 432. a tensioning sleeve; 433. fixing the bolt; 434. tensioning the bolt; 471. an adjusting plate; 472. a first platen; 473. adjusting the bolt; 474. a threaded sleeve; 481. a second platen; 5. a clasping component; 51. tightly holding the driving piece; 52. an extension plate; 53. hooping; 6. a torsion assembly; 61. a base; 62. an arc-shaped sliding block; 63. a torsional drive; 63', a linear cylinder; 64. a linkage gear; 64', a linked rack; 611. an arc-shaped chute; 621. arc-shaped teeth; 7. a guide bar; 8. a traveling wheel;

9. an extension base; 10. a first drive assembly; 101. a rotation mechanism; 102. a left-right swinging mechanism; 103. a back-and-forth swing mechanism; 1011. a drive shaft; 1021. a first mounting cylinder; 1022. a first power source; 1023. a first swing frame; 1024. a first drive gear; 1025. a first driven gear; 1031. a second mounting cylinder; 1032. a second power source; 1033. a second swing frame; 1034. a second driving gear; 1035. a second driven gear; 11. a placing seat; 12. a second drive assembly; 13. an electroscope.

Detailed Description

The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

As shown in fig. 1, in a transmission and distribution network, a plurality of high-voltage cables 100 are installed on an electric pole 200, and electric power equipment such as a transformer 300 and a breaker is often mounted on the electric pole 200, and these electric power equipment are often mounted on the electric pole 200 through a cross arm 400 having various structures.

In view of the above working conditions, the present application aims to hang the ground clip 700 on the high voltage cable 100. For this purpose, as shown in fig. 2 and 3, the applicant designs an electric pole climbing device 500 and an earth clamp hanging device 600, wherein the electric pole climbing device 500 has climbing, obstacle crossing and obstacle avoiding functions, can climb along an electric pole 200 and cross over or bypass obstacles such as a cross arm 400, and conveys the earth clamp hanging device 600 to a specified position, so that the earth clamp hanging device 600 can carry out the work of hanging the earth clamp 700.

The following is divided into two parts, namely an electric pole climbing device 500 and a ground clamp hanging device 600, to explain the specific structure and the working principle of a preferred embodiment of the application:

pole climbing device part:

as shown in fig. 4 to 17, the main structure of the present embodiment includes an upper bracket 1 and a lower bracket 2 disposed along the axial direction of the electric pole, and a telescopic assembly 3 is disposed between the upper bracket 1 and the lower bracket 2, and the telescopic assembly 3 can be extended or contracted along the axial direction to change the distance between the upper bracket 1 and the lower bracket 2.

The upper bracket 1 and the lower bracket 2 are both provided with a turnover assembly 4, and the turnover assembly 4 is provided with two synchronously moving enclasping assemblies 5; the clasping component 5 acts for clasping or releasing the electric pole 200; the overturning component 4 acts to change the included angle between the holding component 5 and the axial direction.

A torsion component 6 is further arranged between the upper bracket 1 and the lower bracket 2, and the torsion component 6 acts to drive the upper bracket 1 or the lower bracket 2 to rotate around the electric pole 200 alternatively.

It should be noted that, the axial direction of the present application refers to the length direction of the rod body or the upper bracket 1 and the lower bracket 2, that is, the climbing direction.

Based on the main structure, the specific structure of each component is as follows:

as shown in fig. 6, the telescopic assembly 3 of the present embodiment is a linear driving mechanism, the telescopic assembly 3 includes a lower bracket 2 as a cylinder, and a piston rod 31 extending from the cylinder, the torsion assembly 6 is fixedly disposed at the top end of the piston rod 31, and the upper bracket 1 is fixedly disposed on the torsion assembly 6. The rear sides of the upper bracket 1 and the lower bracket 2 are covered with the shell 21. Can see greatly from above-mentioned structure, when the flexible subassembly 3 of this embodiment has flexible function, still has the structure supporting role, can realize that a thing is multi-purpose, simplifies pole climbing device overall structure, is favorable to reducing its manufacturing cost.

As shown in fig. 7 to 14, the flipping unit 4 of the present embodiment employs a synchronous pulley driving mechanism, which includes a supporting frame 41, a rotating shaft 42, a synchronous pulley 43, a swing arm 44, a synchronous pulley 45 and a linear driving element 46, wherein two rotating shafts 42 are respectively rotatably disposed at two ends of the supporting frame 41; the synchronizing wheels 43 are provided with two groups and are respectively and concentrically fixed on the two rotating shafts 42; the swing arms 44 are provided with two groups and are respectively fixedly arranged on the two rotating shafts 42; the synchronous belt 45 is connected with two groups of synchronous wheels 43 in a transmission way; the linear driving element 46 is fixedly mounted on the supporting frame 41 (as a reasonable arrangement, it can also be fixedly mounted on the upper bracket 1 or the lower bracket 2), and the movable end of the linear driving element 46 is fixedly connected with the synchronous belt 45; the linear driving member 46 extends and retracts to drive the timing belt 45 to linearly move around the timing wheel 43, so as to drive the rotating shaft 42 and the swing arm 44 to rotate in a reciprocating manner.

As shown in fig. 7 and 8, the supporting frame 41 includes a vertical plate 411 disposed along the axial direction, a base plate 412 fixedly disposed at two ends of the vertical plate 411, and fixing arms 413 fixedly disposed at two sides of the base plate 412, and the rotating shaft 42 is rotatably disposed on the fixing arms 413 at two sides.

As shown in fig. 13 to 15, the synchronizing wheel 43 is a tension-type synchronizing wheel, and includes a wheel body 431, a tension sleeve 432, a fixing bolt 433 and a tension bolt 434, wherein the wheel body 431 is rotatably disposed on the rotating shaft 42, the tension sleeve 432 surrounds the rotating shaft 42, the fixing bolt 433 is fixedly connected to the wheel body 431 and the tension sleeve 432, the tension bolt 434 is threadedly connected to the tension sleeve 432, and rotation of the tension bolt 433 enables the tension sleeve 432 to lock or loosen the rotating shaft 42.

As shown in fig. 11 and 12, a tightening assembly 47 is provided on the linear moving section of the timing belt 45, and the tightening assembly 47 includes an adjusting plate 471 and a first pressing plate 472 for clamping and fixing both ends of the timing belt 45, an adjusting bolt 473 passing through the adjusting plate in opposite directions, and a threaded sleeve 474 for threadedly connecting the adjusting bolts 473 on both sides; the adjusting bolt 473 is rotated to screw in or out the threaded sleeve 474, so that the distance between the adjusting bolts 473 on the two sides is changed, and the tightness of the synchronous belt 45 is adjusted.

As shown in fig. 9 and 10, the synchronous pulley driving mechanism further includes a linkage plate 48, two synchronous pulleys 43 and two swing arms 44 are disposed on each rotating shaft 42, two synchronous pulleys 45 are provided, a movable section of the linear driving member 46 is fixedly connected to the linkage plate 48, the linkage plate 48 respectively clamps and fixedly connects the two synchronous pulleys 45 through two second pressing plates 481, the linear driving member 46 drives the two synchronous pulleys 45 to synchronously move through the linkage plate 48, and then drives the four synchronous pulleys 43 and the four swing arms 44 to synchronously rotate.

As shown in fig. 6, the lower bracket 2 is fixed to the supporting frame 41, the torsion assembly 6 extends out of the guide rod 7, and the guide rod 7 is slidably disposed on the supporting frame 41 in the axial direction. The bottom of the lower bracket 2 is also provided with a travelling wheel 8.

As shown in fig. 6, the clasping assembly 5 comprises a clasping driving member 51, two extending plates 52 fixedly disposed on both sides of the clasping driving member 51, and two hoops 53 fixedly disposed at the front ends of the extending plates 52, wherein the clasping driving member 51 acts to drive the two hoops 53 to approach or leave, thereby clasping or loosening the electric pole 200. Wherein staple bolt 53 can design the various compatible clamping structure according to pole 200 shape and size, and staple bolt 53 inboard can also set up structures such as rubber pad in order to increase frictional force simultaneously to increase the reliability and the stability when embracing tightly of subassembly 5.

As shown in fig. 16 and 17, the torsion assembly 6 includes a base 61, an arc-shaped sliding block 62 and a torsion driving member 63, the base 61 is fixedly disposed, the base 61 is provided with an arc-shaped sliding slot 611, a center of the arc-shaped sliding slot 611 is close to a center of the electric pole 200, the arc-shaped sliding block 62 is slidably disposed in the arc-shaped sliding slot 611, and the torsion driving member 63 is mounted on the base 61 and adapted to drive the arc-shaped sliding block 62 to slide. The twisting assembly 6 further comprises a linkage gear 64, the twisting driving member 63 is adapted to drive the linkage gear 64 to rotate, one side of the arc-shaped sliding block 62 is provided with an arc-shaped tooth 621, the linkage gear 64 is engaged with the arc-shaped sliding block 62, and the rotation of the linkage gear 64 is adapted to drive the arc-shaped sliding block 62 to slide in the arc-shaped sliding slot 611 through the arc-shaped tooth 621.

Of course, as shown in fig. 18, there is another construction of the torsion assembly 6 that replaces the linked gear 64 with a linked rack 64 'and employs a linear cylinder 63' instead of the rotary motion torsion driver 63. It is clear that the torsion assembly 6 shown in figures 14 and 15 takes up less space, whereas the torsion assembly 6 shown in figure 16 has the advantage of being less costly.

It is worth mentioning that the telescopic assembly 3, the clasping driving member 51, the linear driving member 46, the twisting driving member 63 and the linear cylinder 63' in the structure can adopt cylinder structures, the electric pole climbing device of the embodiment can completely adopt pneumatic control, and the electric pole climbing device also has the advantages of simple structure and convenient control. Specifically, the telescopic assembly 3 can adopt a common cylinder with a large telescopic stroke and large structural strength, the holding driving part 51 can adopt a double-piston clamping cylinder, the linear driving part 46 can adopt a single-outlet double-head cylinder, the torsion driving part 63 can adopt a pneumatic motor, and the linear cylinder 63' adopts a double-outlet double-head cylinder.

Also taking the climbing of the electric pole 200 as an example, the working method of the electric pole climbing device comprises the following steps:

s101, a preparation step:

the electric pole climbing device is unfolded to an initial state and holds the electric pole tightly; under initial condition, flexible subassembly is in the shrink state, and upper bracket and lower carriage are nearest, and a plurality of components of holding tightly are 90 contained angles with the axial respectively, and a plurality of components of holding tightly move and are used for holding the pole tightly.

S102, climbing:

the method comprises the following steps: s121, loosening the electric pole by the aid of the holding assembly on the upper support, axially extending the telescopic assembly, and holding the electric pole by the holding assembly on the upper support after the telescopic assembly is fully extended; s122, loosening the electric pole by the aid of the holding assembly on the lower support, axially contracting the telescopic assembly, and holding the electric pole by the holding assembly on the lower support after the telescopic assembly is contracted in place; and S123, repeating the two steps S121 and S122, so that the electric pole climbing device climbs along the length direction of the electric pole.

S103, obstacle crossing step:

when the electric pole climbing device meets an obstacle and judges that the obstacle can cross (the cross arm 400 arranged in parallel at the moment), the electric pole climbing device further comprises the following steps on the basis of the S102 climbing step: s131, after the clasping assemblies on the upper support loosen the electric pole, and before the telescopic assemblies extend along the axial direction, the overturning assemblies on the upper support act to enable the corresponding clasping assemblies to form an included angle of 180 degrees with the axial direction; s132, the telescopic assembly extends along the axial direction, so that the holding assembly on one side passes over the obstacle; s133, the overturning assembly acts again to enable the corresponding holding assembly to form an included angle of 90 degrees with the axial direction, and then the corresponding holding assembly holds the electric pole again to complete obstacle crossing of the holding assembly on one side; s134, the clasping component of the lower support repeats actions in the three steps by utilizing the corresponding overturning component and combines with the climbing step to complete obstacle crossing of the clasping component on the other side, and then the obstacle crossing step of the whole electric pole climbing device is completed.

S104, obstacle avoidance:

run into the barrier and judge that the barrier can't cross at pole climbing device climbing in-process (be the cross arm 400 of perpendicular setting this moment), need avoid the barrier this moment, can carry out following step: s141, the pole is loosened by the holding component on the upper support or the lower support, the upper support or the lower support is twisted by the action of the twisting component, and the pole is held by the holding component of the upper support or the lower support after the upper support or the lower support is twisted in place; s142, the pole is loosened by the clasping assembly on the lower support or the upper support, the lower support or the upper support is twisted towards the same direction by the action of the twisting assembly, and the clasping assembly on the lower support or the upper support clasps the pole again after the lower support or the upper support is twisted in place; and S143, repeating the two steps S141 and S142, so that the electric pole climbing device moves 90 degrees along the circumferential direction of the electric pole, further avoiding the obstacle, and then crossing the obstacle through the obstacle crossing step S103.

still further, in above-mentioned S101, to place pole climbing device under initial condition in ground, promote pole climbing device along the horizontal direction through the walking wheel and be close to the body of rod, until a plurality of subassemblies of holding tightly are located body of rod week back, a plurality of subassemblies of holding tightly move and are used for holding tightly the body of rod.

Of course, the climbing step, the obstacle crossing step, and the obstacle avoidance step may be performed individually or cooperatively, and may be specifically implemented according to a control program, and this embodiment is not described in detail.

As intelligent configuration, electric parts such as camera, controller, sensor can also be installed to pole climbing device 500 of this application, realize its automatic climbing, automatic obstacle-surmounting, automatic functions such as keeping away the obstacle, the application and the theory of operation of above-mentioned electric part can adopt prior art, are not the focus of this application discussion, so this embodiment no longer specifically describes.

It should be noted that the pole climbing device 500 of the present application may be installed with other functional components such as transportation components, obstacle clearing components, etc. besides the ground clamp hanging device 600, and the realized functions and specific structures thereof are out of the discussion scope of the present application.

It is worth mentioning that the electric pole climbing device 500 of the present application can be applied not only to the electric pole 200, but also to various columnar objects such as flagpoles, pipelines, trees, and the like, and the applications in other fields also necessarily fall into the protection scope of the present application. In addition, the pole climbing device of this application is except climbing from top to bottom, can also transversely climb, slope climbing and so on, and the climbing mode of other directions also must belong to the protection scope of this application.

The ground clamp is hung and is established the device part:

as shown in fig. 19 to 26, the ground clip hanging device 600 of the present embodiment includes an extension base 9, the extension base 9 is adapted to be installed on the pole climbing device 500 and extend in a direction away from the pole 200 (obstacles such as the cross arm 400 and the insulator can be avoided), a first driving assembly 10 is provided on the extension base 9, a placing base 11 is provided at an upper end of the first driving assembly 10, a plurality of ground clips 700 are sequentially placed in the placing base 11, and the first driving assembly 10 is adapted to cooperate with the pole climbing device 500 to drive the ground clips 700 to move in a three-dimensional space, so that the ground clips 700 can be sequentially hung on the high-voltage cable 100. It should be noted that the ground clip 700 can be clamped and installed on the placing seat 11, or installed on the placing seat 11 through magnetic attraction, so that the ground clip 700 is conveniently hung and separated from the placing seat 11 after being arranged on the high-voltage cable 100, the placing seat 11 can realize the above functions, and the specific structure is not limited.

As shown in fig. 23 and 24, the first drive assembly 10 includes a rotation mechanism 101, a horizontal swing mechanism 102, and a vertical swing mechanism 103, and the rotation mechanism 101, the horizontal swing mechanism 102, and the vertical swing mechanism 103 are combined in a stacked manner in the vertical direction. The three mechanisms can realize that the grounding wire clamp 700 can reach any position in a limited space at any angle efficiently, and the hanging efficiency of the grounding wire clamp is ensured. Wherein the rotating mechanism 101 is fixedly arranged below the extension seat 9, and the rotating mechanism 101 extends upwards to form a driving shaft 1011; the left-right swinging mechanism 102 comprises a first mounting cylinder 1021, a first power source 1022 and a first swinging frame 1023, wherein the first mounting cylinder 1021 extends along the up-down direction and is fixedly connected with a driving shaft 1011, the first power source 1022 is fixedly mounted in the first mounting cylinder 1021, the first swinging frame 1023 is rotatably arranged on the first mounting cylinder 1021, a rotating shaft of the first swinging frame 1023 extends along the front-back direction, and the first power source 1022 is suitable for driving the first swinging frame 1023 to swing left and right; the front-back swing mechanism 103 includes a second mounting tube 1031, a second power source 1032 and a second swing frame 1033, the second mounting tube 1031 extends along the up-down direction and is fixedly connected to the first swing frame 1023, the second power source 1032 is fixedly mounted in the second mounting tube 1031, the second swing frame 1033 is rotatably disposed on the second mounting tube 1031, a rotating shaft of the second swing frame 1033 extends along the left-right direction, the second power source 1032 is suitable for driving the second swing frame 1033 to swing back and forth, and the placing seat 11 is fixedly disposed on the second swing frame 1033. The structure enables the first driving assembly 10 to be of a multi-section structure, achieves functions similar to those of a mechanical arm, and has the advantages of being simple in structure, convenient to control and low in cost.

Further, a first driving gear 1024 is connected to the first power source 1022, a first driven gear 1025 is concentrically and fixedly connected to the first swing frame 1023, the first driving gear 1024 is engaged with the first driven gear 1025, and the first power source 1022 drives the first swing frame 1023 to swing through the matching of the first driving gear 1024 and the first driven gear 1025; the second driving gear 1034 is connected to the second power source 1032, the second driven gear 1035 is concentrically and fixedly connected to the second swing frame 1033, the second driving gear 1034 is engaged with the second driven gear 1035, and the second power source 1032 drives the second swing frame 1033 to swing through the cooperation of the second driving gear 1034 and the second driven gear 1035.

In the embodiment, the reference circle radius of the first driving gear 224 is smaller than that of the first driven gear 1025, and the first driven gear 1025 is in a fan-shaped structure with the angle not larger than 90 degrees; the second driving gear 1034 has a reference circle radius smaller than that of the second driven gear 1035, and the second driven gear 1035 has a fan-shaped structure of not more than 90 °. The structure that the pinion drives the bull gear can improve control accuracy, and the swing angle of horizontal swing mechanism 102 and fore-and-aft swing mechanism 103 must not exceed 90, and the swing angle is too big can cause central unstability and earth clamp 700 to drop, therefore sets up the driven gear of fan-shaped structure and can save space, reduces the volume of whole device, can reduce the quantity simultaneously, reduce cost.

As a conventional option, the rotating mechanism 101, the first power source 1022, and the second power source 1032 all employ stepper motors; the stepper motors of the first and

second power sources

1022, 1032 are also provided with reduction boxes for lateral output of power.

As a safety configuration, as shown in fig. 19 to 22, a second driving assembly 12 is further disposed on the extension base 9, an electroscope 13 is disposed at an upper end of the second driving assembly 12, the second driving assembly 12 includes a left-right swinging mechanism 102 and a front-back swinging mechanism 103, and cooperates with the pole climbing device 500 to drive the electroscope 13 to move up and down, front and back, and left and right, so as to approach the high voltage cable 100 to check whether the high voltage cable 100 is electrified. The yaw mechanism 102 and the pitch mechanism 103 of the second drive unit 12 are the same as those of the first drive unit 10, and therefore, a description thereof will not be repeated.

The working method of the grounding wire clamp hanging device comprises the following steps:

s201: place the earth clamp that corresponds with high-voltage cable quantity on placing the seat, the earth clamp is hung and is established the device and transport near high-voltage cable by pole climbing device again.

S202: pole climbing device and second drive assembly concerted action drive electroscope and go on from top to bottom, front and back, side to side movement to be close every high-voltage cable in proper order, whether the inspection high-voltage cable is electrified.

S203: after confirming that every high-voltage cable is not electrified, pole climbing device and first drive assembly act in coordination, and the drive earth connection clamp moves in three-dimensional space to hang in proper order and establish on every high-voltage cable.

Specifically, the step S203 sequentially includes the following steps:

s231: the rotating mechanism and the front-back swinging mechanism act cooperatively to drive the grounding wire clamp to be positioned on a plane vertical to the pre-hung high-voltage cable and enable the opening of the grounding wire clamp to face the pre-hung high-voltage cable;

s232: the electric pole climbing device and the left-right swinging mechanism act cooperatively to drive the grounding wire clamp to reach the position above the pre-hung high-voltage cable, and the pre-hung high-voltage cable enters the grounding wire clamp from the opening of the grounding wire clamp;

s233: the electric pole climbing device moves downwards to enable the grounding wire clamp hung on the high-voltage cable to be separated from the placing seat;

s234: and repeating the steps S231 to S233, so that each high-voltage cable is hung with the grounding wire clamp.

Further, in step S234, the high-voltage cables on the same side of the pole follow the sequence of hanging the ground clamps from top to bottom, and the high-voltage cables on different sides of the pole follow the sequence of hanging the ground clamps from one side to the middle to the other side. In practical application, as shown in fig. 9, the three-phase high-voltage cable 100 is commonly used in a triangular wiring manner, and the sequence of hanging the grounding wire clip 700 is performed according to the sequence of (i) and (ii) in the figure; as shown in fig. 10, the conventional high-voltage cable 100 is wired in parallel left and right, and the ground clip 700 is hung in the sequence of (i), (ii), (iv), (c), and (c).

As intelligent configuration, the ground clamp hanging device 600 of the present application can also mount electric components such as a camera, a controller, a sensor, etc., to realize the function of automatically hanging the ground clamp.

It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An electric power distribution network operation robot, comprising: the electric pole climbing device and the grounding wire clamp hanging device;

pole climbing device includes: the telescopic assembly can extend or contract along the axial direction and is used for changing the distance between the upper bracket and the lower bracket; the upper bracket and the lower bracket are both provided with turnover components, and the turnover components are provided with two holding components which move synchronously; the holding component acts to hold or release the electric pole; the overturning assembly acts to change an included angle between the enclasping assembly and the axial direction; a torsion assembly is further arranged between the upper bracket and the lower bracket, and the torsion assembly acts to select one of the upper bracket and the lower bracket to drive the upper bracket or the lower bracket to rotate around the electric pole;

the ground clamp is hung and is established the device and includes: extend the seat, extend the seat be suitable for install in on the pole climbing device and to the direction of keeping away from the pole extend, be provided with first drive assembly on the extension seat, first drive assembly upper end is provided with places the seat, place and placed a plurality of earth clamp in the seat in proper order, first drive assembly is suitable for the cooperation the pole climbing device drive the earth clamp moves in three-dimensional space, and makes the earth clamp can hang in proper order and locate on the high-voltage cable.

2. The power distribution grid work robot of claim 1, wherein the telescoping assembly is a linear drive mechanism, the telescoping assembly comprising: the lower support is used as a cylinder body, a piston rod extends out of the cylinder body, the torsion assembly is fixedly arranged at the top end of the piston rod, and the upper support is fixedly arranged on the torsion assembly.

3. The power distribution network work robot of claim 1, wherein the flipping component is a synchronous pulley drive mechanism comprising: the device comprises a supporting frame, a rotating shaft, a synchronous wheel, a swing arm, a synchronous belt and a linear driving piece; the two rotating shafts are respectively and rotatably arranged at two ends of the supporting frame; the two groups of synchronous wheels are respectively and concentrically fixed on the two rotating shafts; the swing arms are provided with two groups and are respectively and fixedly arranged on the two rotating shafts; the synchronous belt is connected with the two groups of synchronous wheels in a transmission way; the linear driving piece is fixedly arranged on the supporting frame, and the movable end of the linear driving piece is fixedly connected with the synchronous belt; the linear driving piece stretches out and draws back to drive the synchronous belt to linearly surround the synchronous wheel to move, and then the rotating shaft and the swing arm are driven to rotate in a reciprocating mode.

4. The power distribution network operation robot according to claim 3, wherein the supporting frame comprises a vertical plate arranged along an axial direction, a base plate fixedly arranged at two ends of the vertical plate, and fixing arms fixedly arranged at two sides of the base plate, and the rotating shaft is rotatably arranged on the fixing arms at two sides.

5. The power distribution network operation robot according to claim 3, wherein the synchronous wheel is a tension type synchronous wheel, and comprises a wheel body, a tension sleeve, a fixing bolt and a tension bolt, the wheel body is rotatably arranged on the rotating shaft, the tension sleeve is wound on the rotating shaft, the fixing bolt is fixedly connected with the wheel body and the tension sleeve, the tension bolt is in threaded connection with the tension sleeve, and rotating the tension bolt enables the tension sleeve to be locked or loosens the rotating shaft;

a tightening assembly is arranged on the linear motion section of the synchronous belt, and comprises an adjusting plate and a first pressing plate which clamp and fix two ends of the synchronous belt, adjusting bolts which oppositely penetrate through the adjusting plate, and screw sleeves which are in threaded connection with the adjusting bolts at two sides; and the adjusting bolt is rotated to be screwed in or out of the threaded sleeve, so that the distance between the adjusting bolts at two sides is changed, and the tightness of the synchronous belt is adjusted.

6. The power distribution network operation robot of claim 3, wherein the synchronous pulley driving mechanism further comprises linkage plates, each of the rotating shafts is provided with two synchronous pulleys and two swing arms, the number of the synchronous pulleys is two, the movable section of the linear driving member is fixedly connected with the linkage plates, the linkage plates respectively clamp and fixedly connect the two synchronous pulleys through two second pressing plates, the linear driving member drives the two synchronous pulleys to synchronously move through the linkage plates, and then drives the four synchronous pulleys and the four swing arms to synchronously rotate.

7. The power distribution network operation robot of claim 3, wherein the lower bracket is fixed to the support frame, and the torsion assembly extends out of a guide rod which is slidably disposed on the support frame in an axial direction.

8. The power distribution network operation robot of claim 1, wherein the clasping assembly comprises a clasping driving member, two extension plates fixedly arranged at two sides of the clasping driving member, and two hoops fixedly arranged at front ends of the extension plates; the clasping driving piece acts to drive the two hoops to be close to or far away from each other, and then clasping or loosening the rod body.

9. The power distribution network operation robot according to claim 3, wherein the torsion assembly comprises a base, an arc-shaped sliding block and a torsion driving member, the base is fixedly arranged, an arc-shaped sliding groove is formed in the base, the center position of the arc-shaped sliding groove is close to the center position of the rod body, the arc-shaped sliding block is slidably arranged in the arc-shaped sliding groove, and the torsion driving member is mounted on the base and is suitable for driving the arc-shaped sliding block to slide;

the torsion assembly further comprises: the linkage gear, the torsional driving piece is suitable for the drive the linkage gear rotates, arc slider one side is provided with the arc tooth, the linkage gear with the arc slider meshing, the rotation of linkage gear is suitable for through the drive of arc tooth the arc slider is in slide in the arc spout.

10. The power distribution network operation robot according to claim 3, wherein the first driving assembly comprises a rotating mechanism, a left-right swinging mechanism and a front-back swinging mechanism, and the rotating mechanism, the left-right swinging mechanism and the front-back swinging mechanism are combined in an up-down direction in an overlapping manner;

the rotating mechanism is fixedly arranged below the extension seat, and a driving shaft extends upwards from the rotating mechanism; the left-right swinging mechanism comprises a first mounting cylinder, a first power source and a first swinging frame, the first mounting cylinder extends along the vertical direction and is fixedly connected to the driving shaft, the first power source is fixedly mounted in the first mounting cylinder, the first swinging frame is rotatably arranged on the first mounting cylinder, a rotating shaft of the first swinging frame extends along the front-back direction, and the first power source is suitable for driving the first swinging frame to swing left and right; the front and back swing mechanism comprises a second installation barrel, a second power source and a second swing frame, the second installation barrel extends in the vertical direction and is fixedly connected to the first swing frame, the second power source is fixedly installed in the second installation barrel, the second swing frame is rotatably arranged on the second installation barrel, the rotating shaft of the second swing frame extends in the left and right directions, the second power source is suitable for driving the second swing frame to swing back and forth, and the placing seat is fixedly arranged on the second swing frame.

11. The power distribution network operation robot as claimed in claim 10, wherein a first driving gear is connected to the first power source, a first driven gear is concentrically and fixedly connected to the first swing frame, the first driving gear is engaged with the first driven gear, and the first power source drives the first swing frame to swing through cooperation of the first driving gear and the first driven gear; the second power source is connected with a second driving gear, the second swing frame is concentrically and fixedly connected with a second driven gear, the second driving gear is meshed with the second driven gear, and the second power source drives the second swing frame to swing through the matching of the second driving gear and the second driven gear.

12. The power distribution network operation robot of claim 11, wherein a pitch circle radius of the first driving gear is smaller than a pitch circle radius of the first driven gear, and the first driven gear has a fan-shaped structure of not more than 90 °; the radius of the reference circle of the second driving gear is smaller than that of the second driven gear, and the second driven gear is of a fan-shaped structure with the angle not larger than 90 degrees.

13. The power distribution network operation robot of claim 1 or 10, wherein a second driving assembly is further arranged on the extension seat, an electroscope is arranged at the upper end of the second driving assembly, the second driving assembly comprises a left-right swinging mechanism and a front-back swinging mechanism, and the second driving assembly is matched with the electric pole climbing device and used for driving the electroscope to move up and down, back and forth, left and right, so that the high-voltage cable is approached to check whether the high-voltage cable is electrified or not.

14. A method for operating a power distribution network operation robot, applied to the power distribution network operation robot of any one of claims 1 to 13, the method comprising: the working step S100 of the electric pole climbing device and the working step S200 of the grounding wire clamp hanging device are carried out;

the working step S100 includes the steps of:

the working step S200 includes the steps of:

15. The working method of the power distribution network working robot according to claim 14, wherein the pole climbing device further has a storage state, and the pole climbing device is unfolded from the storage state to an initial state in step S101; in the storage state, the telescopic assembly is in a contraction state, the plurality of holding assemblies form an included angle of 180 degrees with the axial direction, and the plurality of holding assemblies are in a holding state;

the lower carriage bottom still is provided with the walking wheel, and in the above-mentioned S101, to place pole climbing device under initial condition in ground, promote pole climbing device along the horizontal direction through the walking wheel and be close to the body of rod, until a plurality of subassemblies of holding tightly lie in body of rod week side back, a plurality of subassemblies of holding tightly move and are used for holding the body of rod tightly.

16. The method for operating a power distribution network operation robot according to claim 14, wherein step S203 specifically comprises:

17. The method according to claim 16, wherein in step S234, the high voltage cables on the same side of the pole follow the sequence of hanging the ground clamps from top to bottom and the high voltage cables on different sides of the pole follow the sequence of hanging the ground clamps from side to middle to side.