CN115674250A - All-terrain live lap joint drainage wire operation robot - Google Patents

Abstract

The invention discloses an all-terrain live lapping drainage wire operation robot, which comprises: an unmanned aerial vehicle body; the magnetic suction carrying mechanism comprises a steel plate, an electromagnet, an insulating rod lower connecting piece, an insulating rod and an insulating rod upper connecting piece, wherein the upper end of the insulating rod is fixedly connected with a foot rest of the unmanned aerial vehicle body through the insulating rod upper connecting piece, the lower end of the insulating rod is fixedly connected with the steel plate through the insulating rod lower connecting piece, the electromagnet is arranged at the upper end of the hot-line work robot body, and the connection and disconnection between the unmanned aerial vehicle body and the hot-line work robot body are realized by controlling the attraction between the electromagnet and the steel plate; the hot-line work robot body comprises a drainage wire grabbing mechanical arm, a walking brake mechanism, a wire clamp mounting mechanism, a rack and a control box assembly; the drainage wire grabbing mechanical arm is arranged on one side of the rack, and a walking brake mechanism and a wire clamp mounting mechanism are arranged at the top of the rack; the control box assembly is installed inside the frame.

Description

All-terrain live lap joint drainage wire operation robot

Technical Field

The invention belongs to the field of operation robots, and particularly relates to an all-terrain live lapping drainage wire operation robot.

Background

In order to solve the problems of high labor intensity, low efficiency, high potential safety hazard and the like of the traditional power distribution network live lapping drainage wire operation, the adoption of a live working robot to replace manual work for operation is urgent, and meanwhile, the requirements of scientific and technological development are met. However, most of the existing live lapping drainage wire operation robots rely on the insulating bucket arm vehicle to carry out operation, so that the robots cannot be used in some complex terrains and special environments.

In addition, to the most adoption of some existing string-line type live lapping drainage wire operation robots, the wire is peeled and then is connected with the drainage wire by a parallel groove clamp, and because the parallel groove clamp is wholly made of metal, the parallel groove clamp does not have performances such as water resistance, corrosion resistance and insulation, and needs to be subsequently and again dependent on the manual work to carry out insulation treatment through an insulating waterproof packing material or an insulating protective cover.

To the electrified overlap joint drainage wire operation robot of hanging wire formula that has the drainage wire to snatch the arm now, the scope of snatching of arm is less, consequently places the position to the initial of drainage wire and requires higherly, and the manipulator clamping jaw can only realize fixed clamp to the drainage wire simultaneously and get, consequently requires highly to the terminal discernment location of drainage wire.

Disclosure of Invention

Aiming at the problems, the invention provides an all-terrain distribution network live lapping drainage wire operation robot, which can be used in various complex terrains by adopting an online mode carried by an unmanned aerial vehicle, realizes wire connection by installing an insulating puncture wire clamp, does not need subsequent manual waterproof, anticorrosion and insulation treatment, adopts a grabbing mechanical arm with a multi-joint component, adopts a mechanical arm clamping jaw which can be movably clamped, can increase the grabbing range of the mechanical arm, and simultaneously reduces the requirements on the initial placement position and the tail end identification and positioning of the drainage wire.

In order to solve the technical problems in the prior art, the invention adopts the following technical scheme:

the invention provides an all-terrain live lapping drainage wire operation robot which comprises an unmanned aerial vehicle body, a magnetic attraction carrying mechanism and a live operation robot body, wherein the magnetic attraction carrying mechanism is arranged on the unmanned aerial vehicle body;

the unmanned aerial vehicle body is used for carrying the hot-line work robot body to complete an on-line and off-line task;

the magnetic attraction carrying mechanism is used for magnetically connecting the unmanned aerial vehicle body and the live working robot body, and comprises a steel plate, an electromagnet, an insulating rod lower connecting piece, an insulating rod and an insulating rod upper connecting piece, wherein the upper end of the insulating rod is fixedly connected with a foot rest of the unmanned aerial vehicle body through the insulating rod upper connecting piece, the lower end of the insulating rod is fixedly connected with the steel plate through the insulating rod lower connecting piece, the electromagnet is fixedly connected to the upper end of the live working robot body, and attraction with the steel plate is realized by controlling the on-off state of the electromagnet;

the hot-line work robot comprises a hot-line work robot body, a control box assembly and a control box, wherein the hot-line work robot body is used for completing a hot-line lapping drainage wire work task and comprises a drainage wire grabbing mechanical arm, a walking brake mechanism, a wire clamp installation mechanism, a frame and a control box assembly; the drainage wire grabbing mechanical arm is arranged on one side of the rack, and the walking brake mechanism and the wire clamp mounting mechanism are arranged at the top of the rack; the control box assembly is installed inside the frame.

Furthermore, the drainage wire snatchs the arm mainly used snatchs the drainage wire and send to fastener installation mechanism in, the drainage wire snatchs the arm and includes removal joint a subassembly, removal joint two subassemblies, revolute joint three subassemblies and snatchs the manipulator subassembly, removal joint a subassembly links firmly on the inside below aluminium alloy frame of aluminium alloy frame through the angle sign indicating number, removal joint two subassemblies are installed on removal joint a subassembly, the one end of revolute joint three subassemblies rotates with removal joint two subassemblies to be connected, and the other end rotates with snatchs the manipulator subassembly and links to each other, has constituted one and has four degrees of freedom snatch the arm.

Further, snatch the manipulator subassembly and include electric putter connecting seat, electric putter, fixed clamping jaw subassembly and remove clamping jaw subassembly, the output shaft that electric putter connecting seat and tertiary hold-in range subassembly's big synchronous pulley are connected links firmly, electric putter's pedestal mounting is on the electric putter connecting seat, fixed clamping jaw subassembly mounting is at electric putter's casing front end, it installs the telescopic link tip at electric putter to remove clamping jaw subassembly.

In the above-mentioned subassembly, it is further, fixed clamping jaw subassembly is stopped trigger block including fixed clamping jaw bracket component, clamping jaw gyro wheel driving motor, driving gear, intermediate gear, fixed clamping jaw initiative gyro wheel, driven gear, fixed clamping jaw friction pulley, drainage wire limit baffle and friction pulley pine. Further, fixed jaw bracket assembly includes fixed jaw support, fixed jaw support back plate, fixed jaw support curb plate and fixed jaw support front bezel again, fixed jaw support mounting is at electric putter's casing front end, fixed jaw support back plate is installed in fixed jaw support the place ahead, and its upper portion is fixed on fixed jaw support, and the lower part is fixed on electric putter's casing, the both sides at fixed jaw support back plate are installed to two fixed jaw support front bezels, fixed jaw support front bezel is installed on two fixed jaw support curb plates, jaw gyro wheel driving motor installs the inside at fixed jaw support assembly, the driving gear is installed on jaw gyro wheel driving motor's output shaft, the intermediate gear both ends are rotatable respectively and are installed on fixed jaw support and fixed jaw support front bezel to mesh with the driving gear, two initiative gyro wheels are rotatable respectively and are installed on fixed jaw support and fixed jaw support front bezel, two driven gears are fixed respectively and are installed in the one end of the axle of two fixed initiative gyro wheels of fixed jaw gyro wheel to mesh with the intermediate gear, two fixed jaw friction wheels are fixed jaw friction wheel respectively fixed jaw friction wheel and are installed on fixed jaw support's the friction block on fixed jaw support and fixed jaw gyro wheel.

In the above-mentioned subassembly, it is further, remove the clamping jaw subassembly including removing clamping jaw support, removal clamping jaw driven gyro wheel, removal clamping jaw friction pulley, friction pulley band stop piece, crosshead shoe, spring, cross slide rail baffle and cross slide rail roof, remove clamping jaw support mounting at electric putter's telescopic link tip, two removal clamping jaws are installed at the both ends of removing the clamping jaw support, remove clamping jaw driven gyro wheel rotatable the installation on removing the clamping jaw support, remove clamping jaw friction pulley fixed mounting in the one end of removing the axle of clamping jaw driven gyro wheel, the friction pulley band stop piece is installed on the crosshead shoe, crosshead shoe slidable mounting is in removing the T type spout at clamping jaw support rear portion, the spring mounting is downthehole at the cylinder of crosshead shoe, cross slide rail baffle installation is at removing the clamping jaw support back, constitutes the crosshead shoe with the T type spout at removal clamping jaw support rear portion jointly, the top at above-mentioned crosshead shoe is installed to prevent that the spring from deviating from.

Further preferred, fixed clamping jaw support subassembly width direction's size should be less than two distances of removing between the clamping jaw to guarantee to remove clamping jaw subassembly and fixed clamping jaw support subassembly and realize effective cooperation, fixed clamping jaw support backplate is opened there is T type opening, and it can the top cover establish on fixed clamping jaw support to can not interfere the rotation of the axle of initiative gyro wheel, the below can block clamping jaw gyro wheel driving motor's edge. The clamping jaw roller driving motor adopts a stepping motor, and the roller driving motor is fixed on the front plate of the fixed clamping jaw bracket through four supporting columns with threads at two ends.

Further preferably, notches with certain widths are formed in two ends of each drainage wire limiting baffle so as to ensure that the movable clamping jaw assembly is prevented from interfering the rotation of the shaft of the movable clamping jaw driven roller when approaching.

Further preferably, the fixed jaw driving roller, the movable jaw driven roller, the fixed jaw friction wheel and the movable jaw friction wheel are made of rubber, and the fixed jaw driving roller, the movable jaw driven roller, the fixed jaw friction wheel and the movable jaw friction wheel are the same in diameter. The fixed clamping jaw friction wheel and the movable clamping jaw friction wheel can be matched with friction wheels with different diameters to be replaced, so that enough pressing force can be provided for drainage wires with different diameters.

Further preferably, the height of the arc vertex of the movable clamping jaw is higher than the height of the highest point of the profile arc of the driven roller of the movable clamping jaw, so that the phenomenon that the drainage wire cannot move due to contact with the movable clamping jaw after being clamped is avoided.

Furthermore, the walking brake mechanism is used for moving the body of the hot-line work robot to a position to be operated and fixing the body on the lead. The walking brake mechanism comprises a pinch roller mechanism, a walking wheel mechanism, a wire clamping mechanism fixed cross beam and a walking pinch roller mechanism fixed seat, wherein the pinch roller mechanism is installed inside the walking pinch roller mechanism fixed seat, the walking wheel mechanism is installed at the top of the walking pinch roller mechanism fixed seat, the wire clamping mechanism is installed on the wire clamping mechanism fixed cross beam, two ends of the wire clamping mechanism fixed cross beam are installed and fixed on the walking pinch roller mechanism fixed seat symmetrically distributed on the left side and the right side through connecting pieces, and the walking pinch roller mechanism fixed seat is fixedly connected to an aluminum profile frame cross beam above an aluminum profile frame.

In the above mechanism, further, a straight notch is formed in one side, connected with the T-shaped nut, of the wire clamping mechanism support, the position of the wire clamping mechanism on the wire clamping mechanism fixing cross beam in the vertical direction can be changed, the T-shaped nut can be movably installed in the groove of the wire clamping mechanism fixing cross beam, the position of the wire clamping mechanism on the wire clamping mechanism fixing cross beam in the horizontal direction can be changed by moving the position of the T-shaped nut, and therefore the fact that the two wire clamping jaws can better clamp the wire is guaranteed.

Further, the wire clamp installation mechanism is used for connecting the drainage wire grabbed by the drainage wire grabbing mechanical arm to the main guide wire through the wire clamp. The cable clamp installation mechanism comprises an elevating mechanism, a translation mechanism, a cable clamp clamping mechanism, a cable clamp nut screwing mechanism, a drainage cable clamping and tensioning mechanism and an insulating puncture cable clamp, wherein the elevating mechanism is installed on frames on the front side and the rear side of the aluminum profile rack, the translation mechanism is installed on the elevating mechanism, the cable clamp clamping mechanism is installed on the upper portion of the translation mechanism, the cable clamp nut screwing mechanism is installed on the cable clamp clamping mechanism, the drainage cable clamping and tensioning mechanism is installed on the left side of a cable clamp nut screwing mechanism support, and the insulating puncture cable clamp is placed on the cable clamp nut screwing mechanism support and is clamped and fixed through the cable clamp clamping mechanism.

Further preferably, the insulating puncture wire clamp shell is internally provided with insulating silicone grease, and when the puncture blade punctures the wire, the insulating silicone grease can overflow and wrap around the puncture position, so that better waterproof, anticorrosion and insulating effects can be achieved, and subsequent manual treatment such as waterproof insulation is not needed.

The beneficial effects of the above-mentioned embodiment of the present invention are as follows:

1. according to the invention, by adopting a transportation mode of carrying the upper and lower wires by magnetic attraction based on the unmanned aerial vehicle, the movement and the stop on the main guide wire can be realized by the walking brake mechanism, the drainage wire is grabbed and captured by the mechanical arm, and the main guide wire and the drainage wire are connected by the insulated puncture wire clamp through wire clamp installation, so that the problems that most of the existing live working robots are heavy in whole, need to carry and operate by an insulated bucket arm vehicle, cannot be used in complex terrains and special environments and the like can be effectively solved, and the application range of the live working robot can be effectively enlarged.

2. According to the invention, the main guide wire and the drainage wire are connected by installing the insulating puncture wire clamp, the insulating silicone grease is arranged in the insulating puncture wire clamp shell, and when the puncture blade punctures the wire, the insulating silicone grease can overflow and wrap around the puncture position, so that better waterproof, anticorrosion and insulating effects can be achieved, subsequent manual treatment such as waterproof insulation is not needed, the labor intensity of operating personnel can be effectively reduced, and the safety of the operating personnel is ensured.

3. The invention provides a grabbing mechanical arm with a multi-joint component, which can effectively increase the grabbing range of the mechanical arm and reduce the requirement on the initial placement position of a drainage wire; and adopt the manipulator clamping jaw that the portable clamp was got for even not centre gripping to the terminal position that requires the within range of drainage wire of manipulator clamping jaw, also can adjust drainage wire centre gripping position to requiring the within range through the synchronous rotation of control clamping jaw gyro wheel driving motor and then drive fixed clamping jaw initiative gyro wheel and removal clamping jaw driven gyro wheel, can effectively reduce the requirement to the terminal discernment location of drainage wire, promote the efficiency of snatching of drainage wire.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

FIG. 1 is a schematic diagram of the general structure of an all-terrain live lapping lead operation robot;

FIG. 2 is a schematic structural diagram of a body of an all-terrain live lapping drainage wire operation robot;

FIG. 3 is a schematic view of a guidewire grasping arm configuration;

FIG. 4 is a schematic view of a grasping robot assembly;

FIG. 5 is a schematic view of the internal structure of the grasping robot assembly;

FIG. 6 is a schematic view of another angular configuration of the grasping robot assembly;

FIG. 7 is an exploded view of the friction wheel brake mechanism;

FIG. 8 is a schematic structural view of a walking brake mechanism;

FIG. 9 is a schematic sectional structure view of a pinch roller mechanism;

FIG. 10 is a schematic cross-sectional view of the traction mechanism;

FIG. 11 is a cross-sectional view of the wire gripping mechanism;

FIG. 12 is a schematic view of a clip installation mechanism;

FIG. 13 is a schematic view of the elevating and translating mechanism;

FIG. 14 is a front view of the translation mechanism;

FIG. 15 is a schematic view of a structure of a drainage wire of the wire clamp mounting mechanism extending into an end surface;

figure 16 is a front view of a wire clamp gripping mechanism;

FIG. 17 is a schematic view of the structure of the extended end face of the drainage wire of the wire clamp mounting mechanism;

FIG. 18 is a schematic structural view of a drainage wire clamping and tensioning mechanism;

FIG. 19 is a schematic view of an insulation piercing connector;

in the figure: the spacing or dimensions between each other are exaggerated to show the location of the various parts, and the illustration is for illustrative purposes only.

1. Unmanned aerial vehicle body

2. Magnetic attraction carrying mechanism

21. Steel plate, 22, electromagnet, 23, lower connecting piece of insulating rod, 24, insulating rod, 25, upper connecting piece of insulating rod

3. Live working robot body

31. Drainage wire snatchs arm

311. Mobile joint assembly

3111. Remove joint a motor, 3112, remove joint a motor fixing base, 3113, remove joint a slider, 3114, hold-in range straight line module

312. Mobile joint two-component

3121. A movable joint two-motor fixing frame 3122, a movable joint two-motor 3123 and a flange disc type speed reducer

313. Three components of rotary joint

3131. 3132 three motors of rotary joint 3133, primary synchronous belt assembly 3134, secondary synchronous belt assembly 3135, tertiary synchronous belt assembly

314. Snatch manipulator subassembly

3141. Electric push rod connecting seat

3142. Electric push rod

3143. Fixed clamping jaw assembly

31431. Fixed clamping jaw support assembly, 31432, clamping jaw roller driving motor, 31433, driving gear, 31434, intermediate gear, 31435, fixed clamping jaw driving roller, 31436, driven gear, 31437, fixed clamping jaw friction wheel, 31438, drainage wire limit baffle, 31439 and friction wheel brake release trigger block

3144. Movable clamping jaw assembly

31441. The device comprises a movable clamping jaw support, 31442, a movable clamping jaw, 31443, a movable clamping jaw driven roller, 31444, a movable clamping jaw friction wheel, 31445, a friction wheel brake block, 31446, a cross sliding block, 31447, a spring, 31448, a cross sliding rail baffle, 31449 and a cross sliding rail top plate

314311, fixed jaw support 314312, fixed jaw support back plate 314313, fixed jaw support side plate 314314, fixed jaw support front plate

32. Walking brake mechanism

321. Pinch roller mechanism

3211. The compressing wheel driving motor 3212, the compressing wheel driving motor support 3213, the compressing wheel synchronous belt assembly 3214, the worm gear box end cover 3215, the worm gear box body 3216, the worm wheel, 3217, the worm, 3218, the compressing wheel shaft 3219 and the compressing wheel

322. Walking wheel mechanism

3221. 3222 traveling wheel driving motor reducer, 3223, angular contact ball bearing, 3224, sleeve, 3225, traveling wheel, 3226, traveling wheel flange, 3227, traveling wheel driving motor protective cover

323. Wire clamping mechanism

3231. The wire clamping driving motor 3232, a wire clamping fixing seat 3233, a driving gear 3234, a gear protective cover 3235, a driven gear 3236, a screw rod with positive and negative teeth 3237, a wire clamping jaw 3238, a wire clamping mechanism support 3239 and a T-shaped nut

324. Fixing cross beam of wire clamping mechanism

325. Walking pinch roller mechanism fixing seat

33. Wire clamp mounting mechanism

331. Lifting mechanism

3311. Lifting driving motor 3312, shaft coupling 3313, lifting driving motor support 3314, lifting screw, 3315, lifting screw nut, 3316, translational sliding table support 3317, lifting optical axis support 3318, lifting optical axis, 3319, lifting optical axis slide block

332. Translation mechanism

3321. The device comprises a translation driving motor, 3322, a coupling, 3323, a translation sliding table support, 3324, a translation screw rod, 3325, a translation screw rod nut seat, 3326, a translation guide rail, 3327, a translation guide rail sliding block, 3328, a translation guide rail seat, 3329 and a moving platform;

333. a wire clamp clamping mechanism;

3331. the clamp clamping device comprises a clamp clamping driving motor, 3332, a coupling, 3333, a clamping screw rod nut seat, 3334, a clamp clamping support, 3335, a clamping screw rod, 3336, a first connecting rod, 3337, a second connecting rod, 3338, a third connecting rod, 3339 and a clamping jaw;

334. a clamp nut tightening mechanism;

3341. the device comprises a nut tightening driving motor, a 3342 nut tightening driving motor reducer, 3343 a nut tightening mechanism support, 3344 a synchronous belt assembly, 3345 a power-dividing gearbox support block, 3346 a power-dividing gearbox body, 3347 a driven gear, 3348 a driving gear, 3349 and a universal sleeve;

335. a drainage wire clamping and tensioning mechanism;

3350. the device comprises a clamping and tensioning mechanism connecting piece, 3351, a clamping and tensioning fixed support, 3352, a clamping screw motor, 3353, a clamping screw nut, 3354, a clamping optical axis, 3355, a clamping and tensioning movable support, 3356, a tensioning motor, 3357, a coupling, 3358, a clamping and pressing driving wheel, 3359 and a clamping and pressing driven wheel;

336. insulating a puncture wire clamp;

3361. the device comprises a fixing clamp, 3362, a movable clamp, 3363, a torque nut, 3364, a screw, 3365, a puncture blade, 3366, a protective cap, 3367, a main guide wire clamping port, 3368 and a drainage wire clamping port;

34. an aluminum profile frame;

35. a control box assembly.

Detailed Description

It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, 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 belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;

the invention is further described with reference to the following figures and specific examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

Referring to fig. 1 to 19, the embodiment provides an all-terrain live lapping drainage wire operation robot, which includes an unmanned aerial vehicle body 1, a magnetic attraction carrying mechanism 2 and a live operation robot body 3;

in this embodiment, as shown in fig. 1, the unmanned aerial vehicle body 1 mainly carries the live working robot body 3 through the magnetism and inhales the carrying mechanism 2 and accomplishes the task of getting on and off the production line, the unmanned aerial vehicle body 1 should possess perfect secondary development function and great load-carrying capacity, should possess higher precision of hovering simultaneously to can work steadily under the strong electromagnetic field environment.

In this embodiment, as shown in fig. 1, the magnetic attraction carrying mechanism 2 is used for magnetically connecting the unmanned aerial vehicle body 1 and the live working robot body 3; further, it includes steel sheet 21 to inhale carrying on mechanism 2, electro-magnet 22, insulator spindle lower connecting piece 23, insulator spindle 24 and insulator spindle upper connecting piece 25, insulator spindle 24's upper end links firmly with the foot rest of unmanned aerial vehicle body 1 through insulator spindle upper connecting piece 25, the lower extreme links firmly with steel sheet 21 through insulator spindle lower connecting piece 23, electro-magnet 22 links firmly in the upper end of live working robot body 3, the actuation with steel sheet 21 is realized to the break-make electricity through control electro-magnet 22, concrete electro-magnet 22 can adopt circular telegram demagnetization type electro-magnet, can effectively practice thrift the electric energy like this.

In this embodiment, as shown in fig. 2, the live working robot body 3 is used for completing the live overlapping of the drainage wire, and the live working robot body 3 includes a drainage wire grabbing mechanical arm 31, a walking brake mechanism 32, a wire clamp installation mechanism 33, an aluminum profile frame 34 and a control box assembly 35.

The drainage wire grabbing mechanical arm 31 is mainly used for grabbing drainage wires and sending the drainage wires to the wire clamp mounting mechanism 33, and specifically, the drainage wire grabbing mechanical arm 31 comprises a first movable joint component 311, a second movable joint component 312, a third rotary joint component 313 and a grabbing mechanical arm component 314; the first moving joint component 311 is fixedly connected to an aluminum profile frame below the inside of the aluminum profile frame 34 through an angle code, the second moving joint component 312 is installed on the first moving joint component 311, one end of the third rotating joint component 313 is rotatably connected with the second moving joint component 312, and the other end of the third rotating joint component 313 is rotatably connected with the grabbing manipulator component 314, so that the grabbing manipulator with four degrees of freedom is formed. During grabbing operation, the first movable joint component 311, the second movable joint component 312, the third rotary joint component 313 and the grabbing manipulator component 314 are controlled to move in a translation and rotation mode, so that the grabbing manipulator component 314 contacts with the tail end of the drainage wire, the grabbing manipulator component 314 is controlled to clamp the drainage wire, the grabbing position of the tail end of the drainage wire is adjusted according to conditions, and finally the drainage wire is conveyed to the wire clamp installation mechanism 33 by controlling the cooperation of the components of the drainage wire grabbing mechanical arm 31.

In this embodiment, as shown in fig. 3, a removal joint subassembly 311 is including removing a joint motor 3111, a removal joint motor fixing base 3112, a removal joint slider 3113 and hold-in range linear module 3114, a removal joint motor 3111 is installed on a removal joint motor fixing base 3112, an output shaft of a removal joint motor 3111 passes through the shaft coupling and hold-in range linear module 3114's input shaft, a removal joint slider 3113 is movably installed on hold-in range linear module 3114's guide rail and is linked firmly with the hold-in range, hold-in range linear module 3114 links firmly on aluminium alloy frame 34 inside below aluminium alloy frame through the angle sign indicating number, along with the hold-in range rotation of a removal joint motor 3111 drive hold-in range linear module 3114, drive a removal joint slider 3113 removes about the guide rail of hold-in range linear module 3114.

In this embodiment, as shown in fig. 3, the second moving joint assembly 312 includes a second moving joint motor fixing frame 3121, a second moving joint motor 3122, and a flange disc type speed reducer 3123, the second moving joint motor fixing frame 3121 is installed on the first moving joint slider 3113, an output end of the second moving joint motor 3122 is fixedly connected to an input end of the flange disc type speed reducer 3123, the flange disc type speed reducer 3123 is installed on the second moving joint motor fixing frame 3121, and the second moving joint motor 3122 is driven to rotate through speed reduction of the flange disc type speed reducer 3123.

In this embodiment, as shown in fig. 3, the three rotary joint assembly 313 includes an arm joint plate assembly 3131, a three rotary joint motor 3132, a primary synchronous belt assembly 3133, a secondary synchronous belt assembly 3134, and a tertiary synchronous belt assembly 3135, the arm joint plate assembly 3131 is installed at an output end of the flange plate type speed reducer 3123, the three rotary joint motor 3132 is installed on an arm joint plate at one side inside the arm joint plate assembly 3131, a small synchronous pulley of the primary synchronous belt assembly 3133 is connected to an output shaft of the three rotary joint motor 3132, a small synchronous pulley of the secondary synchronous belt assembly 3134 is coaxially connected to a large synchronous pulley of the primary synchronous belt assembly 3133, a small synchronous pulley of the tertiary synchronous belt assembly 3135 is coaxially connected to a large synchronous pulley of the secondary synchronous belt assembly 3134, and rotation of an output shaft connecting the three rotary joint to the large synchronous pulley of the tertiary synchronous belt assembly 3135 is achieved by driving the three rotary joint motor 3132 and performing speed reduction through the tertiary synchronous belt.

In this embodiment, as shown in fig. 3, the gripper robot assembly 314 includes an electric push rod connection base 3141, an electric push rod 3142, a fixed jaw assembly 3143, and a movable jaw assembly 3144, where the electric push rod connection base 3141 is fixedly connected to an output shaft connected to a large synchronous pulley of the tertiary synchronous belt assembly 3135, a base of the electric push rod 3142 is installed on the electric push rod connection base 3141, the fixed jaw assembly 3143 is installed at a front end of a housing of the electric push rod 3142, the movable jaw assembly 3144 is installed at an end of an extension rod of the electric push rod 3142, and the gripper robot is opened and closed by driving the electric push rod 3142.

Further, as shown in fig. 4-6, the fixed jaw assembly 3143 includes a fixed jaw support assembly 31431, a jaw roller driving motor 31432, a driving gear 31433, an intermediate gear 31434, a fixed jaw driving roller 31435, a driven gear 31436, a fixed jaw friction wheel 31437, a drainage wire limit baffle 31438, and a friction wheel brake release trigger block 31439. Further, the fixed jaw support assembly 31431 further includes a fixed jaw support 314311, a fixed jaw support rear plate 314312, a fixed jaw support side plate 314313 and a fixed jaw support front plate 314314, the fixed jaw support 314311 is installed at the front end of the housing of the electric push rod 3142, the fixed jaw support rear plate 314312 is installed in front of the fixed jaw support 314311, the upper part of the fixed jaw support is fixed on the fixed jaw support 314311, the lower part of the fixed jaw support is fixed on the housing of the electric push rod 3142, two fixed jaw support side plates 314313 are installed at both sides of the fixed jaw support rear plate 314312, the fixed jaw support front plate 314314 is installed on two fixed jaw support side plates 314313, the roller jaw driving motor 31432 is installed inside the fixed jaw support assembly 31431, the driving gear 3826 zxft 3526 is installed on the output shaft of the driving motor 31432, two ends of a middle gear 31434 are respectively and rotatably arranged on a fixed clamping jaw support 314311 and a fixed clamping jaw support front plate 314314 and are meshed with a driving gear 31433, two driving rollers 31435 are respectively and rotatably arranged on a fixed clamping jaw support 314311 and a fixed clamping jaw support front plate 314314, two driven gears 31436 are respectively and fixedly arranged at one ends of shafts of the two fixed clamping jaw driving rollers 31435 and are meshed with the middle gear 31434, two fixed clamping jaw friction wheels 31437 are respectively and fixedly arranged at the other ends of the shafts of the two fixed clamping jaw driving rollers 31435, two drainage wire limit baffles 31438 are respectively arranged on a fixed clamping jaw support rear plate 314312 and a fixed clamping jaw support front plate 314314 at two sides of the fixed clamping jaw driving rollers 31435, and a friction wheel release trigger block 31439 is arranged on a fixed clamping jaw support 314311. When the clamping jaw driving device works, the clamping jaw roller driving motor 31432 drives the two driven gears 31436 to rotate through the driving gear 31433 and the intermediate gear 31434, and then drives the two fixed clamping jaw driving rollers 31435 and the two fixed clamping jaw friction wheels 31437 which are coaxially and fixedly connected with the clamping jaw driving rollers to rotate.

Further, as shown in fig. 4-7, the moving jaw assembly 3144 includes a moving jaw support 31441, a moving jaw 31442, a moving jaw driven roller 31443, a moving jaw friction wheel 31444, a friction wheel braking block 31445, a cross slide block 31446, a spring 31447, a cross slide block 31448 and a cross slide block top plate 31449, the moving jaw support 31441 is mounted at the end of the telescopic rod of the electric push rod 3142, two moving jaws 31442 are mounted at both ends of the moving jaw support 31441, the moving jaw driven roller 31443 is rotatably mounted on the moving jaw support 31441, the moving jaw friction wheel 31444 is fixedly mounted at one end of the shaft of the moving jaw driven roller 31443, the friction wheel braking block 31445 is mounted on the cross slide block 31446, the cross slide block 31446 is slidably mounted in a T-shaped slide groove at the rear portion of the moving jaw support 31441, the cross slide block 31447 is mounted behind the moving jaw support 31447, the cross slide block 31449 is mounted on the cross slide block 31449, and the cross slide block 31449 is mounted on the top plate 31449. When the telescopic rod of the electric push rod 3142 is in a state of extending out to grab the drainage wire, the friction wheel braking block 31445 is tightly pressed and attached to the outer edges of the two movable clamping jaw friction wheels 31444 under the action of the elastic force of the spring 31447, so that the two movable clamping jaw driven rollers 31443 cannot rotate under the action of the friction force, and the drainage wire cannot fall off due to rolling of the rollers in the grabbing process of the drainage wire, and therefore the drainage wire can be effectively caught by means of hooking of the two movable clamping jaws 31442 and friction between the drainage wire and the two movable clamping jaw driven rollers 31443; when the telescopic rod of the electric push rod 3142 is in a retraction and drainage wire drawing state, when the top end of the friction wheel release trigger block 31439 touches the bottom of the cross slide block 31446, the cross slide block 31446 moves upwards along a cross slide rail behind the movable jaw support 31441 along with the continuous retraction of the telescopic rod, so that the friction wheel brake block 31445 is separated from the two movable jaw friction wheels 31444, meanwhile, the two movable jaw friction wheels 31444 are respectively contacted with the two fixed jaw friction wheels 31437, and the two movable jaw friction wheels 31444 and the two fixed jaw friction wheels 31437 synchronously rotate under the action of friction force, so that the two movable jaw driven rollers 31443 and the fixed jaw driving roller 31435 synchronously rotate, and the drainage wire can be drawn under the action of the main and driven rollers. Therefore, even if the clamping claw of the grabbing manipulator does not clamp the position of the tail end of the drainage wire within the required range, the clamping claw roller driving motor 31432 can be controlled to further drive the fixed clamping claw driving roller 31435 and the movable clamping claw driven roller 31443 to adjust the clamping position of the drainage wire within the required range, so that the requirement on identifying and positioning the tail end of the drainage wire can be reduced, and the efficiency of grabbing the drainage wire can be improved.

Furthermore, the dimension of the fixed jaw support assembly 31431 in the width direction should be smaller than the distance between the two movable jaws 31442 to ensure that the movable jaw assembly 3144 and the fixed jaw support assembly 31431 are effectively matched, and meanwhile, the fixed jaw support rear plate 314312 is provided with a T-shaped through hole to ensure that the fixed jaw support rear plate can be sleeved with the fixed jaw support 314311 at the upper part and cannot interfere with the rotation of the shaft of the driving roller 31435, and the edge of the jaw roller driving motor 31432 can be clamped at the lower part. Further preferably, the clamping jaw roller driving motor 31432 is a stepping motor, and because the stepping motor has large torque and has a self-locking function, the drainage wire can be effectively prevented from being separated from the clamping jaw due to the action of gravity. Further, a roller driving motor 31432 is fixed on the fixed jaw support front plate 314314 through four struts with threads at two ends.

Furthermore, notches with certain widths are formed at two ends of each drainage wire limiting baffle 31438, so that interference with rotation of the shaft of the movable clamping jaw driven roller 31443 is avoided when the movable clamping jaw assembly 3144 approaches.

Preferably, the outer edges of the fixed jaw driving roller 31435, the movable jaw driven roller 31443, the fixed jaw friction wheel 31437 and the movable jaw friction wheel 31444 are made of rubber materials, so that the friction force between the fixed jaw driving roller 31435 and the drainage wire can be increased, and the drainage wire is prevented from slipping. Further, to ensure synchronous rotation of the fixed jaw drive roller 31435 and the moving jaw driven roller 31443, the fixed jaw drive roller 31435 and the moving jaw driven roller 31443 and the fixed jaw friction wheel 31437 and the moving jaw friction wheel 31444 are of the same diameter. Furthermore, in order to grasp drainage wires in different diameter ranges, the fixed clamping jaw friction wheel 31437 and the movable clamping jaw friction wheel 31444 can be matched with friction wheels with different diameters to ensure that enough pressing force can be provided for drainage wires with different diameters.

Furthermore, the height of the top point of the arc of the movable clamping jaw 31442 should be higher than the height of the highest point of the arc of the profile of the movable clamping jaw driven roller 31443, so as to avoid the drainage wire from contacting with the movable clamping jaw 31442 after being clamped and being incapable of moving.

Further, as shown in fig. 8, the walking brake mechanism 32 in the present embodiment mainly performs walking and braking functions along the wire, and is used for moving the live working robot body 3 to the position to be operated and fixing it on the wire. The walking brake mechanism 32 comprises a pinch roller mechanism 321, a walking wheel mechanism 322, a wire clamping mechanism 323, a wire clamping mechanism fixed cross beam 324 and a walking pinch roller mechanism fixing seat 325, the pinch roller mechanism 321 is installed inside the walking pinch roller mechanism fixing seat 325, the walking wheel mechanism 322 is installed at the top of the walking pinch roller mechanism fixing seat 325, the wire clamping mechanism 323 is installed on the wire clamping mechanism fixed cross beam 324, two ends of the wire clamping mechanism fixed cross beam 324 are installed and fixed on the walking pinch roller mechanism fixing seats 325 symmetrically distributed on the left side and the right side through connecting pieces, and the walking pinch roller mechanism fixing seat 325 is fixedly connected on an aluminum profile frame cross beam above the aluminum profile rack 34. When live working robot body 3 is transported the wire top, hang live working robot body 3 through running gear 322 and put on the wire, then compress tightly the wire by pinch roller mechanism 321, the rethread running gear moves live working robot body 3 to treat the operation position to press from both sides the wire through wire fixture 323 and press from both sides tightly, prevent that live working robot from moving on the wire.

In this embodiment, as shown in fig. 9, the pinch roller mechanism 321 includes a pinch roller driving motor 3211, a pinch roller driving motor support 3212, a pinch roller synchronous belt assembly 3213, a worm and gear box end cover 3214, a worm and gear box 3215, a worm wheel 3216, a worm 3217, a pinch roller shaft 3218, and a pinch roller 3219; the pressure wheel driving motor 3211 is installed on a pressure wheel driving motor support 3212, the pressure wheel driving motor support 3212 is installed outside the traveling pressure wheel mechanism fixing seat 325, a driving synchronous pulley of the pressure wheel synchronous belt assembly 3213 is connected with an output shaft of the pressure wheel driving motor 3211, a driven synchronous pulley is connected with an end of a worm 3217, a worm gear box end cover 3214 and a worm gear box 3215 are installed outside the traveling pressure wheel mechanism fixing seat 325 and are located above the pressure wheel driving motor 3211, a worm 3216 and a worm 3217 are installed inside the worm gear box 3215 in a rotatable manner, and the worm gear 3216 is located above the worm 3217, the inner walls of the worm gear box end cover 3214 and the worm gear box 3215 are both provided with seat holes for installing bearings, which are used for installing and fixing shaft bearings of the worm 3216 and the worm 7, the pressure wheel shaft 3218 is coaxially connected with the worm 3216, and the pressure wheel shaft 3218 is located inside the traveling pressure wheel mechanism fixing seat 325, and the pressure wheel 3219 is rotatably installed at an end of the pressure wheel 3218 and axially fixed by a locking nut. In an initial state, the pressing wheel shaft 3218 is in a vertical state; when a wire is to be compressed, the compression wheel driving motor 3211 drives the worm 3217 to rotate through the compression wheel synchronous belt assembly 3213, then the worm 3217 drives the worm 3216 engaged with the worm to rotate, and then the worm 3216 drives the compression wheel shaft 3218 coaxially connected with the worm to rotate around the turbine shaft, so that the compression wheel 3219 is opened and closed.

In this embodiment, as shown in fig. 10, the traveling wheel mechanism 322 includes a traveling wheel driving motor 3221, a traveling wheel driving motor reducer 3222, an angular contact ball bearing 3223, a sleeve 3224, a traveling wheel 3225, a traveling wheel flange 3226 and a traveling wheel driving motor protective cover 3227, an output end of the traveling wheel driving motor 3221 is connected to the traveling wheel driving motor reducer 3222, the traveling wheel driving motor reducer 3222 is installed in a cylindrical hole at the top of the traveling pinch roller mechanism fixing seat 325, the angular contact ball bearing 3223 is installed on the cylindrical shaft at the top of the traveling pinch roller mechanism fixing seat 325, the sleeve 3224 is installed between the two angular contact ball bearings 3223, the traveling wheel 3225 is sleeved on an outer ring of the angular contact ball bearing 3223 and is axially fixed by the traveling wheel flange 3226 coaxially installed with the traveling wheel driving motor reducer 3227, the traveling wheel driving motor protective cover 3227 is installed at the tail of the traveling wheel driving motor reducer 3221 and is fixedly connected to the traveling pinch roller mechanism fixing seat 325, and when the traveling wheel driving motor reducer 3221 moves, the traveling wheel driving motor 3221 directly transmits power to the traveling wheel driving motor reducer 3225 through a bolt connected to the output shaft of the traveling wheel driving motor reducer 3222, thereby achieving a rotation motion of the traveling wheel 3225.

In this embodiment, as shown in fig. 11, the wire clamping mechanism 323 includes a wire clamping driving motor 3231, a wire clamping fixing seat 3232, a driving gear 3233, a gear shield 3234, a driven gear 3235, a positive and negative lead screw 3236, a wire clamping jaw 3237, a wire clamping mechanism support 3238 and a T-shaped nut 3239, the wire clamping driving motor 3231 is installed in a cylindrical hole of the wire clamping fixing seat 3232, the wire clamping fixing seat 3232 is installed on the T-shaped nut 3239 in the wire clamping mechanism fixing beam 324 through the wire clamping mechanism support 3238, the driving gear 3233 is connected with an output shaft of the wire clamping driving motor 3231, the driven gear 3235 is engaged with the driving gear 3233 and connected with one end of the positive and negative lead screw 3236, the positive and negative lead screw 3236 is rotatably installed at a lower portion of the wire clamping fixing seat 3232, two wire clamping jaws 3237 are symmetrically sleeved at two sides of the positive and negative lead screw 3236, and are installed on an inner wall guide groove at a lower portion of the wire clamping fixing seat 3232. In the initial state, the two wire gripping jaws 3237 are in a maximum open state; when a wire is to be clamped, the wire clamping driving motor 3231 drives the positive and negative screw rod 3236 to rotate through the driving gear 3233 and the driven gear 3235, and further drives the two wire clamping jaws 3237 to close to each other to press the wire.

In this embodiment, a straight notch is formed on one side of the wire clamping mechanism support 3238 connected with the T-shaped nut 3239, so that the position of the wire clamping mechanism 323 on the wire clamping mechanism fixing beam 324 along the vertical direction can be changed, the T-shaped nut 3239 can be movably mounted in the groove of the wire clamping mechanism fixing beam 324, and the position of the wire clamping mechanism 323 on the wire clamping mechanism fixing beam 324 along the horizontal direction can be changed by moving the position of the T-shaped nut 3239, so that the two wire clamping jaws 3237 can better clamp the wire.

Further, as shown in fig. 2, a clamp mounting mechanism 33 is provided for primarily connecting the drainage wire grasped by the drainage wire grasping robot 31 to the main wire via a clamp. The wire clamp mounting mechanism 33 is shown in fig. 12 and comprises an elevating mechanism 331, a translation mechanism 332, a wire clamp clamping mechanism 333, a wire clamp nut tightening mechanism 334, a drainage wire clamping and tensioning mechanism 335 and an insulating piercing wire clamp 336, wherein the elevating mechanism 331 is mounted on frames on the front side and the rear side of the aluminum profile frame 34, the translation mechanism 332 is mounted on the elevating mechanism 331, the wire clamp clamping mechanism 333 is mounted on the upper portion of the translation mechanism 332, the wire clamp nut tightening mechanism 334 is mounted on the wire clamp clamping mechanism 333, the drainage wire clamping and tensioning mechanism 335 is mounted on the left side of a support of the wire clamp nut tightening mechanism 334, and the insulating piercing wire clamp 336 is placed on the support of the wire clamp nut tightening mechanism 334 and is clamped and fixed by the wire clamp clamping mechanism 333. In an initial state, the wire clamp mounting mechanism 33 is located inside the aluminum profile rack 34, when the hot-line work robot moves to a position to be operated, the lifting mechanism 331 and the translation mechanism 332 transfer an upper clamping opening of the insulation piercing wire clamp 336 to the main wire through matching, then the drainage wire gripping and tensioning mechanism 335 transfers the drainage wire gripped by the drainage wire gripping mechanical arm 31 to a lower clamping opening of the insulation piercing wire clamp 336, then the insulation piercing wire clamp 336 is screwed by the wire clamp nut screwing mechanism 334, and finally the wire clamp clamping mechanism 333 is loosened, so that the wire clamp is mounted.

In this embodiment, as shown in fig. 13, the lifting mechanism 331 includes a lifting driving motor 3311, a shaft coupler 3312, a lifting driving motor support 3313, a lifting lead screw 3314, a lifting lead screw nut 3315, a translation sliding table support 3316, a lifting optical axis support 3317, a lifting optical axis 3318, and a lifting optical axis slider 3319, the lifting driving motor 3311 is installed inside the lifting driving motor support 3313, one end of the shaft coupler 3312 is connected to an output shaft of the lifting driving motor 3311, and the other end is connected to the lifting lead screw 4, the lifting lead screw 4 is rotatably installed on the lifting driving motor support 3313, the lifting driving motor support 3313 is installed on frames at the front and rear sides of the aluminum profile frame 34, the lifting lead screw nut 3315 is sleeved on the lifting lead screw 3314, the translation sliding table support 3316 is fixedly connected to the lifting lead screw nut 3315, the lifting optical axis slider 3319 is installed on two sides of the translation sliding table support 3316, the lifting optical axis slider 3319 is movably installed on the lifting optical axis 3318, the lifting optical axis support 3317 is installed at two ends of the lifting optical axis support 3317, the aluminum profile frame 34 is installed on the front and rear frames of the aluminum profile frame 34, specifically, the lifting driving mechanism 3316 to rotate along with the lifting lead screw 3311, and the lifting driving mechanism 3316.

In this embodiment, the translation mechanism 332 includes a translation driving motor 3321, a coupling 3322, a translation sliding table support 3323, a translation screw 3324, a translation screw nut holder 3325, a translation guide rail 3326, a translation guide rail slider 3327, a translation guide rail holder 3328 and a moving platform 3329, wherein the translation driving motor 3321 is installed on the translation sliding table support 3323, two ends of the coupling 3322 are respectively connected to an output shaft of the translation driving motor 3321 and the translation screw 3324, the translation sliding table support 3323 is installed on two front and back translation sliding table supports 3316, the translation screw 3324 is rotatably installed on the translation sliding table support 3323, the translation screw nut holder 3325 is sleeved on the translation screw 3324, the translation guide rail 3326 is installed on the translation guide rail holder 3328, the translation guide rail slider 3327 is movably installed on the translation guide rail 3326, the translation guide rail holder 3328 is installed on the translation sliding table support 3323, the moving platform 3329 is installed on the translation screw nut holder 3325 and the four translation guide rail sliders 3327, and the translation driving platform 3329 to move back and forth along the translation guide rail 3326 as the translation driving motor 3321 rotates.

In this embodiment, the wire clamp clamping mechanism 333 is shown in fig. 16 and includes a wire clamp clamping driving motor 3331, a coupling 3332, a clamping screw nut holder 3333, a wire clamp clamping support 3334, a clamping screw 3335, a first connecting rod 3336, a second connecting rod 3337, a third connecting rod 3338 and a clamping jaw 3339, the wire clamp clamping driving motor 3331 is installed on the wire clamp clamping support 3334 and connected to the clamping screw 3335 through the coupling 3332, the clamping screw 3335 is rotatably installed on the wire clamp clamping support 3334, the clamping screw nut holder 3333 is sleeved on the clamping screw 3335, the wire clamp clamping support 3334 is installed on the nut tightening mechanism support 3343, one ends of the two first connecting rods 3336 are hinged to the clamping screw nut holder 3333, the other ends of the two first connecting rods 3336 are hinged to the two second connecting rods 3337, the middle portions of the two second connecting rods 3337 are hinged to the wire clamp clamping support 3334, the other ends of the two clamping jaws 3339 are hinged to the two clamping jaws 3338, the two third connecting rods 3338 are hinged to the wire clamp clamping screw nut holder 3334 and the two clamping jaws 3339, the clamping jaw holder is driven to move together with the clamping screw driving motor 3331 and the clamping screw holder 3335 to move along the first connecting rods 3336. Specifically, the second link 3337 and the third link 3338 constitute a parallelogram mechanism, thereby ensuring that the holding jaw 3339 is opened and closed only in the horizontal direction.

In this embodiment, as shown in fig. 17, the cable clamp nut tightening mechanism 334 includes a nut tightening driving motor 3341, a nut tightening driving motor reducer 3342, a nut tightening mechanism support 3343, a synchronous belt assembly 3344, a power take-off gear box support 3345, a power take-off gear box 3346, driven gears 3347, driving gears 3348, and a universal sleeve 3349, an output end of the nut tightening driving motor 3341 is connected to the nut tightening driving motor reducer 3342, the nut tightening driving motor reducer 3342 is mounted on the nut tightening mechanism support 3343, the nut tightening mechanism support 3343 is mounted on the movable platform 3329, a driving synchronous pulley of the synchronous belt assembly 3344 is connected to an output shaft of the nut tightening driving motor reducer 3342, the driven synchronous pulley of the synchronous belt assembly 3344 is coaxially connected to the driving gear 3348, two driven gears 3347 and one driving gear 3348 are rotatably mounted inside the power take-off gear box 3346, the power take-off gear box 3346 is mounted on the power take-off gear box support 3345, the power take-off gear box support 3345 is mounted on the nut tightening mechanism support 3343, the nut tightening mechanism support 3334 is rotatably connected to the two driven gears 3347, and the two driven gears 3347 are rotatably mounted on the nut tightening driving motor support 3347, and the two driven gears are rotatably mounted on the nut tightening mechanism support 3347, and the two driven gears are rotatably mounted with the universal sleeve 3347, and the nut tightening mechanism support.

In this embodiment, as shown in fig. 18, the drainage wire clamping and tensioning mechanism 335 includes a clamping and tensioning mechanism connection 3350, a clamping and tensioning fixed support 3351, a clamping screw motor 3352, a clamping screw nut 3353, a clamping optical axis 3354, a clamping and tensioning movable support 3355, a tensioning motor 3356, a coupling 3357, a clamping and tensioning drive wheel 3358 and a clamping and tensioning driven wheel 3359, the clamping and tensioning mechanism connection 3350 is mounted on one side of the nut tightening mechanism support 3343, the clamping and tensioning fixed support 3351 is mounted on the clamping and tensioning mechanism connection 3350, the clamping screw motor 3352 is mounted on the clamping and tensioning fixed support 3351 via a support, the clamping screw nut 3353 is sleeved on the screw of the clamping screw motor 3352, the clamping optical axis 3354 is mounted on the clamping and tensioning fixed support 3351, the clamping and tensioning movable support 3355 is fixedly connected to the clamping and tensioning movable support 3353 and is movably mounted on the clamping and tensioning movable support 3354, the two tensioning motors 3356 are mounted on the clamping and tensioning fixed support 3351 and the clamping and tensioning movable support 3355, and rotatably mounted on the clamping and tensioning movable support 3355, the two clamping and tensioning motors 3358 are rotatably driven to rotate the clamping and tensioning movable support 3355, the two clamping and tensioning drive wheels 3358, the clamping and tensioning movable support 3358, the two tensioning drive wheels 3358, and the two tensioning motor 3358, respectively, and tensioning the two tensioning and tensioning driven wheels are rotatably mounted on the clamping and tensioning movable support 3355, the two tensioning drive wheel 3358, and the two coaxial clamping and the two tensioning and tensioning drive wheels 3358, the two tensioning and tensioning driven wheels 3358, respectively. Specifically, the end of the drainage wire grasped by the drainage wire grasping robot 31 should be placed between two clamping pinch drive wheels 3358 so that the drainage wire can be clamped by the drainage wire clamping and tensioning mechanism 335.

In this embodiment, as shown in fig. 19, the insulating piercing clip 336 includes a fixing clip 3361, a movable clip 3362, a torque nut 3363, a screw 3364, a piercing blade 3365, and a protective cap 3366, wherein the fixing clip 3361 and the movable clip 3362 form a main conducting clip port 3367 and a drainage clip port 3368, the main conducting clip port 3367 is located above the drainage clip port 3368, the main conducting clip port 3367 is used for placing a main conducting wire, the drainage clip port 3368 is used for placing a drainage wire, the protective cap 3366 is mounted on the movable clip 3362 at the outlet side of the drainage clip port 3368, the two torque nuts 3363 are coaxially sleeved inside the two universal sleeves 3349, and two clamping grooves at two sides of the fixing clip 3361 are clamped by the two clamping jaws 3339. When the end of the drainage wire is delivered from the drainage wire clamp port 3368 through the drainage wire clamping and tensioning mechanism 335 and contacts the protective cap 3366, the delivery of the drainage wire is stopped, and then the torque nut 3363 is twisted off by the two universal sleeves 3349 of the clamp nut tightening mechanism 334, so that the main and drainage wires can be clamped between the fixed clamp 3361 and the movable clamp 3362, and the main and drainage wires are electrically connected by the piercing blade 3365.

Furthermore, the insulating puncture wire clamp 336 shell is internally provided with insulating silicone grease, when the puncture blade 3365 punctures the wire, the insulating silicone grease can overflow and cover around the puncture position, thereby playing better waterproof, anticorrosion and insulating effects and avoiding subsequent manual treatment such as waterproof insulation.

Control box subassembly 35 for the motion control of hot-line work robot body 3, control box subassembly 35 is installed in the inside one side of aluminium alloy frame 34.

The embodiment of the invention relates to an operation method of an all-terrain live lapping drainage wire operation robot, which comprises the following steps:

(1) Unmanned aerial vehicle magnetism is inhaled and is carried on the line. During operation, at first the removal of control fastener fixture 333 is pressed from both sides 3362 with the removal of insulating puncture fastener 336 is pressed from both sides 3339 and is held, and cup joint torque nut 3363 in omnipotent sleeve 3349 the inside, then control unmanned aerial vehicle body 1 and utilize magnetism to inhale carrying mechanism 2 and transport live working robot body 3 to leading wire top, make walking wheel 3225 hang and put on leading wire, then control pinch roller mechanism 321 compresses tightly leading wire between walking wheel 3225 and pinch roller 3219, thereby accomplish and go online, unmanned aerial vehicle body 1 alright with roll away from.

(2) The mechanical arm grabs and catches the drainage wire. The live working robot body 3 is firstly moved to a position to be operated through the walking wheel mechanism 322, then a main guide wire is clamped through controlling the wire clamping mechanism 323, then the wire clamp mounting mechanism 33 is lifted to the front position of the lower part of the main guide wire, then the drainage wire grabbing mechanical arm 31 is controlled to grab and catch the tail end of the drainage wire through rotating, the clamping position of the tail end of the drainage wire is adjusted through controlling the fixed clamping jaw assembly 3143 and the movable clamping jaw assembly 3144, then the drainage wire is clamped and conveyed to the position between two clamping and pressing driving wheels 3358 of the drainage wire clamping and tensioning mechanism 335 through controlling the rotating and translating motion between the joint assemblies of the drainage wire grabbing mechanical arm 31, and the drainage wire clamping and tensioning mechanism 335 is controlled to simultaneously cooperate with the fixed clamping jaw assembly 3143 and the movable clamping jaw assembly 3144 to clamp and convey the drainage wire to a drainage wire clamping port 3368 of the insulating puncture wire clamp 336, so that the drainage wire is grabbed.

(3) And (5) installing an insulating puncture wire clamp. When the tail end of the drainage wire is transmitted and touches the protective cap 3366, the drainage wire clamping and tensioning mechanism 335 is controlled to stop transmitting, but the drainage wire clamping and tensioning mechanism 335 is still in a drainage wire clamping state, then the lifting mechanism 331 and the translation mechanism 332 are controlled to clamp the main wire clamping port 3367 of the insulation puncture wire clamp 336 onto the main wire, then the wire clamp nut screwing mechanism 334 is controlled to screw off the torque nut 3363, so that the main wire and the drainage wire are connected through a wire clamp, and finally the drainage wire clamping and tensioning mechanism 335 is controlled to loosen the drainage wire, and the wire clamp clamping mechanism 333 is controlled to loosen the insulation puncture wire clamp 336.

(4) Unmanned aerial vehicle magnetism is inhaled and is carried the downline. At first through the electro-magnet 22 actuation of control unmanned aerial vehicle body 1 with steel sheet 21 and live working robot body 3 top, then control pinch roller mechanism 321 and wire fixture 323 loosen main guide line, inhale carrying off the line with live working robot body 3 magnetism through unmanned aerial vehicle body 1 at last.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides an electrified overlap joint drainage wire operation robot of full topography which characterized in that includes:

an unmanned aerial vehicle body;

the magnetic suction carrying mechanism comprises a steel plate, an electromagnet, an insulating rod lower connecting piece, an insulating rod and an insulating rod upper connecting piece, wherein the upper end of the insulating rod is fixedly connected with a foot rest of the unmanned aerial vehicle body through the insulating rod upper connecting piece, the lower end of the insulating rod is fixedly connected with the steel plate through the insulating rod lower connecting piece, the electromagnet is arranged at the upper end of the hot-line work robot body, and the connection and disconnection between the unmanned aerial vehicle body and the hot-line work robot body are realized by controlling the attraction between the electromagnet and the steel plate;

the hot-line work robot body comprises a drainage wire grabbing mechanical arm, a walking brake mechanism, a wire clamp mounting mechanism, a rack and a control box assembly; the drainage wire grabbing mechanical arm is arranged on one side of the rack, and a walking brake mechanism and a wire clamp mounting mechanism are arranged at the top of the rack; the control box assembly is installed inside the frame.

2. The all-terrain live-lap-joint drainage wire operation robot of claim 1, wherein the drainage wire grabbing mechanical arm comprises a first movable joint component, a second rotatable joint component, a third rotatable joint component and a grabbing mechanical arm component, the first movable joint component is fixedly connected to a lower frame inside a machine frame through an angle code, the second rotatable joint component is arranged on the first movable joint, one end of the third rotatable joint component is rotatably connected with the second rotatable joint component, and the other end of the third rotatable joint component is rotatably connected with the grabbing mechanical arm component, so that the grabbing mechanical arm with four degrees of freedom is formed.

3. The all-terrain live-lap joint drain wire operation robot of claim 2, wherein the grabbing manipulator assembly comprises an electric push rod connecting seat, an electric push rod, a fixed clamping jaw assembly and a movable clamping jaw assembly, the electric push rod connecting seat is fixedly connected with an output shaft connected with a large synchronous belt pulley of the three-level synchronous belt assembly, a base of the electric push rod is installed on the electric push rod connecting seat, the fixed clamping jaw assembly is installed at the front end of a shell of the electric push rod, and the movable clamping jaw assembly is installed at the end part of an expansion rod of the electric push rod.

4. The all-terrain live-lapping drainage wire operation robot of claim 3, wherein the fixed jaw assembly comprises a fixed jaw bracket assembly, a jaw roller driving motor, a driving gear, an intermediate gear, a fixed jaw driving roller, a driven gear, a fixed jaw friction wheel, a drainage wire limit baffle, a friction wheel brake release trigger block, a fixed jaw support rear plate, a fixed jaw support side plate and a fixed jaw support front plate; the fixed clamping jaw support is installed at the front end of a shell of the electric push rod, a fixed clamping jaw support rear plate is installed in front of the fixed clamping jaw support, the upper portion of the fixed clamping jaw support is fixed on the fixed clamping jaw support, the lower portion of the fixed clamping jaw support is fixed on the shell of the electric push rod, two fixed clamping jaw support side plates are installed on two sides of the fixed clamping jaw support rear plate, a fixed clamping jaw support front plate is installed on the two fixed clamping jaw support side plates, a clamping jaw roller driving motor is installed inside the fixed clamping jaw support, a driving gear is installed on an output shaft of the clamping jaw roller driving motor, two ends of an intermediate gear are respectively installed on the fixed clamping jaw support and the fixed clamping jaw support front plate in a rotatable mode and are meshed with the driving gear, two driving rollers are respectively installed on the fixed clamping jaw support rear plate and the fixed clamping jaw support front plate of two fixed clamping jaw driving rollers in a rotatable mode, two driven gears are respectively installed on one ends of shafts of the two fixed clamping jaw driving rollers and are meshed with the intermediate gear, two fixed clamping jaw friction wheels are respectively and are fixedly installed on the other ends of the shafts of the two fixed clamping jaw driving rollers, two drainage line limiting baffles are respectively installed on the fixed clamping jaw support rear plate and the fixed clamping jaw support, and a friction clamping jaw release trigger block is installed on the fixed clamping jaw support.

5. The all-terrain live-lap drainage wire operating robot as claimed in claim 4, wherein the movable clamping jaw assembly comprises a movable clamping jaw support, a movable clamping jaw driven roller, a movable clamping jaw friction wheel, a friction wheel holding brake block, a cross slide block, a spring, a cross slide rail baffle and a cross slide rail top plate, the movable clamping jaw support is mounted at the end part of a telescopic rod of the electric push rod, the two movable clamping jaws are mounted at two ends of the movable clamping jaw support, the movable clamping jaw driven roller is rotatably mounted on the movable clamping jaw support, the movable clamping jaw friction wheel is fixedly mounted at one end of a shaft of the movable clamping jaw driven roller, the friction wheel holding brake block is mounted on the cross slide block, the cross slide block is slidably mounted in a T-shaped chute at the rear part of the movable clamping jaw support, the spring is mounted in a cylindrical hole of the cross slide block, the cross slide rail baffle is mounted behind the movable clamping jaw support and forms a cross slide groove together with the T-shaped chute at the rear part of the movable clamping jaw support, and the cross slide rail top plate is mounted at the top of the cross slide rail.

6. The all-terrain live-lap drainage wire operation robot of claim 5, wherein the dimension of the fixed jaw support assembly in the width direction is smaller than the distance between the two movable jaws, and the fixed jaw support rear plate is provided with a T-shaped through hole to ensure that the fixed jaw support rear plate can be sleeved on the fixed jaw support from above without interfering with the rotation of the shaft of the driving roller, and the edge of the jaw roller driving motor can be clamped from below.

7. The all-terrain live-lap drainage wire operation robot of claim 5, wherein the fixed jaw driving roller, the moving jaw driven roller, the fixed jaw friction wheel and the moving jaw friction wheel are made of rubber, and the fixed jaw driving roller, the moving jaw driven roller, the fixed jaw friction wheel and the moving jaw friction wheel have the same diameter.

8. The all-terrain live-lap drainage wire operation robot as claimed in claim 1, wherein the walking brake mechanism comprises a pinch roller mechanism, a walking roller mechanism, a wire clamping mechanism fixed cross beam and a walking pinch roller mechanism fixed seat, the pinch roller mechanism is installed inside the walking pinch roller mechanism fixed seat, the walking roller mechanism is installed at the top of the walking pinch roller mechanism fixed seat, the wire clamping mechanism is installed on the wire clamping mechanism fixed cross beam, two ends of the wire clamping mechanism fixed cross beam are installed and fixed on the walking pinch roller mechanism fixed seats symmetrically distributed on the left side and the right side through connecting pieces, and the walking pinch roller mechanism fixed seat is fixedly connected to a frame cross beam above the machine frame.

9. The all-terrain live-lap-splice drainage wire operation robot of claim 8, wherein a straight notch is formed on the side of the wire clamping mechanism support, which is connected with the T-nut, so that the position of the wire clamping mechanism on the wire clamping mechanism fixing cross beam in the vertical direction can be changed, the T-nut can be movably mounted in the groove of the wire clamping mechanism fixing cross beam, and the position of the wire clamping mechanism on the wire clamping mechanism fixing cross beam in the horizontal direction can be changed by moving the position of the T-nut, thereby ensuring that the two wire clamping jaws can better clamp the wire.

10. The all-terrain live-lap drainage wire operation robot of claim 1, wherein the wire clamp installation mechanism comprises an elevating mechanism, a translation mechanism, a wire clamp clamping mechanism, a wire clamp nut tightening mechanism, a drainage wire clamping and tensioning mechanism and an insulating puncture wire clamp, the elevating mechanism is installed on frames on the front side and the rear side of an aluminum profile rack, the translation mechanism is installed on the elevating mechanism, the wire clamp clamping mechanism is installed on the upper portion of the translation mechanism, the wire clamp nut tightening mechanism is installed on the wire clamp clamping mechanism, the drainage wire clamping and tensioning mechanism is installed on the left side of a wire clamp nut tightening mechanism support, and the insulating puncture wire clamp is placed on the wire clamp nut tightening mechanism support and is clamped and fixed through the wire clamp clamping mechanism.

Images