CN115674250B - All-terrain electrified lap joint drainage line operation robot - Google Patents

Abstract

The invention discloses an all-terrain electrified lap joint drainage line operation robot, which comprises the following components: an unmanned aerial vehicle body; the magnetic attraction 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 live working robot body, and connection and disconnection of the unmanned aerial vehicle body and the live working robot body are realized by controlling attraction of the electromagnet and the steel plate; the live working robot body comprises a drainage wire grabbing mechanical arm, a traveling 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 frame, and the traveling brake mechanism and the wire clamp installation mechanism are arranged on the top of the frame; the control box assembly is installed inside the frame.

Description

All-terrain electrified lap joint drainage line operation robot

Technical Field

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

Background

In order to solve the problems of high labor intensity, low efficiency, high potential safety hazard and the like in the traditional live-line lap joint drainage line operation of the power distribution network, the live-line operation robot is adopted to replace manual operation, so that the requirement of technological development is met. However, most of the existing live-line lap joint drainage wire operation robots rely on the carrying operation of an insulating arm vehicle, so that the live-line lap joint drainage wire operation robots cannot be used in some complex terrains and special environments.

In addition, to some existing live-line overlap joint drainage line operation robots of hanging wire type, the wire is mostly peeled off and then connected with the drainage line through the parallel groove clamp, and as the parallel groove clamp is made of metal, the parallel groove clamp does not have the performances of water resistance, corrosion resistance, insulation and the like, and needs to be subjected to insulation treatment by means of manual work through an insulation waterproof packing material or an insulation shield.

The wire hanging type live-line lap joint drainage wire operation robot with the drainage wire grabbing mechanical arm has the advantages that the grabbing range of the mechanical arm is smaller, so that the initial placement position of the drainage wire is required to be high, and meanwhile, the mechanical arm clamping jaw can only realize fixed clamping of the drainage wire, so that the identification and positioning requirements on the tail end of the drainage wire are high.

Disclosure of Invention

According to the all-terrain distribution network live-line lap joint drainage line operation robot, an unmanned aerial vehicle carried line feeding mode is adopted, the all-terrain distribution network live-line lap joint drainage line operation robot can be used in various complex terrains, wire connection is achieved through installation of an insulating puncture wire clamp, subsequent manual waterproof, corrosion prevention and insulation treatment are not needed, a grabbing mechanical arm of a multi-joint assembly is adopted, a movable clamping mechanical arm clamping jaw is adopted, the grabbing range of the mechanical arm can be increased, and meanwhile requirements on initial placement position and tail end identification and positioning of a drainage line are reduced.

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

The invention provides an all-terrain electrified lapping drainage line operation robot which comprises an unmanned aerial vehicle body, a magnetic attraction carrying mechanism and an electrified operation robot body, wherein the unmanned aerial vehicle body is provided with a magnetic attraction carrying mechanism;

the unmanned aerial vehicle body is used for carrying the live working robot body to finish the task of getting on and off the line;

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 with the upper end of the live working robot body, and attraction with the steel plate is realized by controlling on-off electricity of the electromagnet;

The live working robot body is used for completing the live lap joint drainage wire working task and 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 line grabbing mechanical arm is arranged on one side of the frame, and a traveling brake mechanism and a wire clamp installation mechanism are arranged on the top of the frame; the control box assembly is installed inside the frame.

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

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

In the above-mentioned subassembly, further, fixed clamping jaw subassembly includes fixed clamping jaw support subassembly, clamping jaw gyro wheel driving motor, driving gear, intermediate gear, fixed clamping jaw driving gyro wheel, driven gear, fixed clamping jaw friction wheel, drainage wire limit baffle and friction wheel loose trigger piece of stopping. Further, fixed jaw support subassembly includes fixed jaw support, fixed jaw support back plate, fixed jaw support curb plate and fixed jaw support front plate again, fixed jaw support installs in 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, two fixed jaw support curb plates are installed in the both sides of fixed jaw support back plate, fixed jaw support front plate is installed on two fixed jaw support curb plates, jaw gyro wheel driving motor installs in the inside of fixed jaw support subassembly, the driving gear is installed on jaw gyro wheel driving motor's output shaft, the intermediate gear both ends are rotatable install respectively on fixed jaw support and fixed jaw support front plate to mesh mutually with the driving gear, two driven gears are fixed respectively at the one end of two fixed jaw driving axle, and mesh mutually with the intermediate gear, two fixed friction wheels are installed respectively at two fixed jaw support front plates of fixed jaw, two fixed jaw gyro wheels trigger the two fixed jaw gyro wheels of fixed jaw friction brake block are installed respectively on two fixed jaw support front plates.

In the above-mentioned subassembly, further, remove the clamping jaw subassembly and include removal clamping jaw support, remove clamping jaw driven roller, remove clamping jaw friction pulley, friction wheel and embrace the piece of stopping, cross slider, spring, cross slide rail baffle and cross slide rail roof, remove clamping jaw support and install at the telescopic link tip of electric putter, two remove clamping jaw installs at the both ends of removal clamping jaw support, remove clamping jaw driven roller rotatable mounting on removal clamping jaw support, remove clamping jaw friction pulley fixed mounting is in the one end of the axle of removing clamping jaw driven roller, friction wheel embraces the piece of stopping and installs on the cross slider, cross slider slidable mounting is in the T type spout at removal clamping jaw support rear portion, the spring is installed in the cylinder hole of cross slider, cross slide rail baffle is installed at removal clamping jaw support rear portion's T type spout constitutes the cross spout jointly with removal clamping jaw support rear portion, cross slide rail roof installs at the top of above-mentioned cross spout to prevent that the spring from deviating from.

Further preferably, the dimension of the width direction of the fixed clamping jaw support assembly is smaller than the distance between the two movable clamping jaws so as to ensure that the movable clamping jaw assembly and the fixed clamping jaw support assembly are effectively matched, and the rear plate of the fixed clamping jaw support is provided with a T-shaped through opening so as to ensure that the rear plate of the fixed clamping jaw support can be sleeved on the fixed clamping jaw support above the rear plate of the fixed clamping jaw support and cannot interfere with the rotation of the shaft of the driving roller, and the edge of the driving motor of the clamping jaw roller can be clamped below the rear plate of the fixed clamping jaw support. The clamping jaw roller driving motor adopts a stepping motor and is fixed on a front plate of the fixed clamping jaw bracket through four struts with threads at two ends.

Further preferably, two ends of the two drainage wire limiting baffles are provided with notches with a certain width, so that the movable clamping jaw assembly is prevented from interfering with the rotation of the shaft of the movable clamping jaw driven roller when approaching.

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

Further preferably, the height of the arc top point of the movable clamping jaw is higher than the height of the highest point of the arc of the profile of the movable clamping jaw driven roller, so that the drainage line is prevented from being moved due to contact with the movable clamping jaw after clamping.

Further, the traveling brake mechanism is used for moving the live working robot body to a position to be worked and fixing the live working robot body on the guide wire. The walking brake mechanism comprises a pressing wheel mechanism, a walking wheel mechanism, a wire clamping mechanism fixing beam and a walking pressing wheel mechanism fixing seat, wherein the pressing wheel mechanism is arranged in the walking pressing wheel mechanism fixing seat, the walking wheel mechanism is arranged at the top of the walking pressing wheel mechanism fixing seat, the wire clamping mechanism is arranged on the wire clamping mechanism fixing beam, two ends of the wire clamping mechanism fixing beam are fixedly arranged on the walking pressing wheel mechanism fixing seat which is symmetrically distributed on the left side and the right side through connecting pieces, and the walking pressing wheel mechanism fixing seat is fixedly connected onto an aluminum profile frame beam above the aluminum profile frame.

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

Further, the wire clamp mounting 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 wire clamp installation mechanism comprises a lifting mechanism, a translation mechanism, a wire clamp clamping mechanism, a wire clamp nut tightening mechanism, a drainage wire clamp tightening mechanism and an insulating puncture wire clamp, wherein the lifting mechanism is installed on a front side frame and a rear side frame of an aluminum profile frame, the translation mechanism is installed on the lifting 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 clamp tightening mechanism is installed on the left side of the wire clamp nut tightening mechanism bracket, and the insulating puncture wire clamp is placed on the wire clamp nut tightening mechanism bracket and clamped and fixed through the wire clamp clamping mechanism.

Further preferably, the insulating silicone grease is arranged in the insulating puncture wire clamp shell, and when the puncture blade punctures a wire, the insulating silicone grease overflows and wraps around the puncture position, so that good waterproof, corrosion-resistant and insulating effects can be achieved, and subsequent manual waterproof and insulating treatments are not needed.

The beneficial effects of the embodiment of the invention are as follows:

1. According to the invention, a transportation mode based on the magnetic attraction carrying of the unmanned aerial vehicle is adopted, the movement and stop on the main guide wire can be realized through the travelling brake mechanism, the capturing drainage wire is captured through the mechanical arm, and the main guide wire is connected with the drainage wire through the insulating puncture wire clamp through the wire clamp, so that the problems that most of existing live working robots are heavy in whole and need to rely on the carrying operation of the insulating 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 increased.

2. According to the invention, the connection between the main wire and the drainage wire is realized by installing the insulating puncture wire clamp, and the insulating silicone grease is arranged in the insulating puncture wire clamp shell, so that the insulating silicone grease overflows and wraps around the puncture position when the puncture blade punctures the wire, and therefore, the waterproof, corrosion-proof and insulating effects can be achieved, the subsequent manual waterproof and insulating treatments are not needed, the labor intensity of operators can be effectively reduced, and the safety of the operators is ensured.

3. The invention provides a grabbing mechanical arm with a multi-joint assembly, 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 movable clamp was got for snatch the manipulator clamping jaw even not the centre gripping to the terminal position in the requirement scope of drainage wire, also can be through the synchronous rotation of control clamping jaw gyro wheel driving motor and then fixed clamping jaw initiative gyro wheel of drive and removal clamping jaw driven gyro wheel with drainage wire clamping position adjustment to the requirement scope, can effectively reduce the requirement to drainage wire terminal discernment location, promote the efficiency of snatching of drainage wire.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

FIG. 1 is a schematic diagram of the overall structure of an all-terrain electrified lapping drainage line operation robot;

FIG. 2 is a schematic diagram of the body structure of the all-terrain electrified lapping drainage line operation robot;

FIG. 3 is a schematic view of a drainage wire grabbing mechanical arm;

FIG. 4 is a schematic view of a gripper assembly;

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

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

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

FIG. 8 is a schematic diagram of a travel brake mechanism;

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

FIG. 10 is a schematic cross-sectional view of a travel wheel mechanism;

FIG. 11 is a schematic cross-sectional view of a wire clamping mechanism;

FIG. 12 is a schematic diagram of a clip mounting mechanism;

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

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

FIG. 15 is a schematic view of a wire clip mounting mechanism with a drain wire extending into an end face;

fig. 16 is a front view of a wire clamp clamping mechanism;

FIG. 17 is a schematic view of a wire clip mounting mechanism with a drain wire extending out of an end face;

FIG. 18 is a schematic view of a drain wire clamping and pulling mechanism;

FIG. 19 is a schematic diagram of an insulated piercing wire clip;

in the figure: the mutual spacing or dimensions are exaggerated for the purpose of showing the positions of the various parts, and the schematic illustrations are used for illustration only.

1. Unmanned aerial vehicle body

2. Magnetic attraction carrying mechanism

21. Steel plate 22, electromagnet 23, insulating rod lower connector 24, insulating rod 25, insulating rod upper connector

3. Live working robot body

31. Drainage wire grabbing mechanical arm

311. Movable joint assembly

3111. A movable joint motor 3112, a movable joint motor fixing seat 3113, a movable joint sliding block 3114 and a synchronous belt linear module

312. Movable joint two component

3121. Two motor fixing frames of movable joint, 3122, two motors of movable joint, 3123 and flange type speed reducer

313. Three-component rotary joint

3131. Arm joint plate assembly, 3132, three motors for rotating joint, 3133, primary synchronous belt assembly, 3134, secondary synchronous belt assembly, 3135 and tertiary synchronous belt assembly

314. Grabbing mechanical arm assembly

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 loose brake trigger block

3144. Movable clamping jaw assembly

31441. The movable clamping jaw support, 31442, the movable clamping jaw, 31443, the movable clamping jaw driven roller, 31444, the movable clamping jaw friction wheel, 31445, the friction wheel braking block, 31446, the cross sliding block, 31447, a spring, 31448, the cross sliding rail baffle, 31449 and the 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 device comprises a pinch roller driving motor 3212, a pinch roller driving motor support, a pinch roller synchronous belt assembly 3213, a pinch roller synchronous belt assembly 3214, a worm and gear box end cover 3215, a worm and gear box body 3216, a turbine, a 3217, a worm, a 3218, a pinch roller shaft, a 3219 and a pinch roller

322. Walking wheel mechanism

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

323. Wire clamping mechanism

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

324. Wire fixture fixing cross beam

325. Fixing seat of walking pinch roller mechanism

33. Wire clamp installation mechanism

331. Lifting mechanism

3311. Lifting drive motor 3312, shaft coupling 3313, lifting drive motor support, 3314, lifting screw rod, 3315, lifting screw rod nut, 3316, translation 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 coupler, 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 slide block, 3328, a translation guide rail seat, 3329 and a moving platform;

333. a wire clamp clamping mechanism;

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

334. the wire clamp nut tightening mechanism;

3341. a nut tightening driving motor 3342, a nut tightening driving motor reducer, a nut tightening mechanism bracket, 3343, a synchronous belt assembly, 3345, a power dividing gearbox supporting block, 3346, a power dividing gearbox casing, 3347, a driven gear, 3348, a driving gear, 3349 and a universal sleeve;

335. the drainage wire clamping and pulling mechanism;

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

336. an insulated piercing wire clamp;

3361. the device comprises a fixed clamp, a movable clamp, a 3363, a torque nut, a 3364, a screw, a 3365, a puncture blade, a 3366, a protective cap, a 3367, a main wire clamp port, a 3368 and a drain wire clamp port;

34. an aluminum profile frame;

35. And a control box assembly.

Detailed Description

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. 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 present invention. As used herein, the singular forms also are intended to include the plural forms unless the present invention clearly dictates otherwise, and furthermore, it should be understood that when the terms "comprise" and/or "include" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;

The invention will be further described with reference to the drawings and the specific examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.

Referring to fig. 1 to 19, the embodiment provides an all-terrain live-line lap joint drainage line operation robot, which comprises an unmanned aerial vehicle body 1, a magnetic attraction carrying mechanism 2 and a live-line 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 magnetic attraction carrying mechanism 2 to complete the task of getting on/off line, the unmanned aerial vehicle body 1 should possess perfect secondary development function and great load capacity, should possess higher precision of hovering simultaneously to can stably work under strong electromagnetic field environment.

In this embodiment, as shown in fig. 1, the magnetic attraction loading mechanism 2 is used to magnetically connect the unmanned aerial vehicle body 1 and the live working robot body 3; further, the magnetic attraction carrying mechanism 2 comprises a steel plate 21, an electromagnet 22, an insulating rod lower connecting piece 23, an insulating rod 24 and an insulating rod upper connecting piece 25, wherein the upper end of the insulating rod 24 is fixedly connected with a foot rest of the unmanned aerial vehicle body 1 through the insulating rod upper connecting piece 25, the lower end of the insulating rod 24 is fixedly connected with the steel plate 21 through the insulating rod lower connecting piece 23, the electromagnet 22 is fixedly connected with the upper end of the live working robot body 3, the attraction between the insulating rod lower connecting piece and the steel plate 21 is realized by controlling the on-off electricity of the electromagnet 22, and the specific electromagnet 22 can adopt an electrified demagnetizing electromagnet, so that electric energy can be effectively saved.

In this embodiment, as shown in fig. 2, the live working robot body 3 is used for completing a live lap joint drainage wire working task, and the live working robot body 3 includes a drainage wire grabbing mechanical arm 31, a traveling brake mechanism 32, a wire clamp mounting 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 and sending the drainage wire 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 movable joint assembly 311 is fixedly connected to the aluminum profile frame below the inner part of the aluminum profile frame 34 through an angle brace, the second movable joint assembly 312 is installed on the first movable joint assembly 311, one end of the third rotary joint assembly 313 is rotationally connected with the second movable joint assembly 312, and the other end of the third rotary joint assembly 313 is rotationally connected with the grabbing manipulator assembly 314, so that a grabbing mechanical arm with four degrees of freedom is formed. During grabbing operation, the grabbing manipulator assembly 314 contacts with the accessory position of the tail end of the drainage wire by controlling the translational and rotational movement among the first movable joint assembly 311, the second movable joint assembly 312, the third rotatable joint assembly 313 and the grabbing manipulator assembly 314, then the drainage wire is clamped by controlling the grabbing manipulator assembly 314, the clamping position of the tail end of the drainage wire is adjusted according to the situation, and finally the drainage wire is sent to the wire clamp mounting mechanism 33 by controlling the cooperation of the components of the drainage wire grabbing manipulator 31.

In this embodiment, as shown in fig. 3, the first movable joint assembly 311 includes a first movable joint motor 3111, a first movable joint motor fixing base 3112, a first movable joint slider 3113 and a first synchronous belt linear module 3114, the first movable joint motor 3111 is mounted on the first movable joint motor fixing base 3112, an output shaft of the first movable joint motor 3111 is connected to an input shaft of the first synchronous belt linear module 3114 through a coupling, the first movable joint slider 3113 is movably mounted on a guide rail of the first synchronous belt linear module 3114 and is fixedly connected to the first synchronous belt, the first synchronous belt linear module 3114 is fixedly connected to an aluminum profile frame below an inner portion of the aluminum profile frame 34 through an angle bracket, and the first movable joint slider 3113 is driven to move left and right along the guide rail of the first synchronous belt linear module 3114 along with rotation of the first movable joint motor 3111 driving the first synchronous belt linear module 3114.

In this embodiment, as shown in fig. 3, the second movable joint assembly 312 includes a second movable joint motor holder 3121, a second movable joint motor 3122, and a flange-type reducer 3123, the second movable joint motor holder 3121 is mounted on the first movable joint slider 3113, the output end of the second movable joint motor 3122 is fixedly connected with the input end of the flange-type reducer 3123, the flange-type reducer 3123 is mounted on the second movable joint motor holder 3121, and the second movable joint is rotated by driving the second movable joint motor 3122 and reducing the speed through the flange-type reducer 3123.

In this embodiment, as shown in fig. 3, the rotating joint tri-assembly 313 includes a joint plate assembly 3131, a rotating joint tri-motor 3132, a primary synchronous belt assembly 3133, a secondary synchronous belt assembly 3134 and a tertiary synchronous belt assembly 3135, the joint plate assembly 3131 is mounted at the output end of the flange-type reducer 3123, the rotating joint tri-motor 3132 is mounted on the joint plate at one side inside the joint plate assembly 3131, the small synchronous pulley of the primary synchronous belt assembly 3133 is connected with the output shaft of the rotating joint tri-motor 3132, the small synchronous pulley of the secondary synchronous belt assembly 3134 is coaxially connected with the large synchronous pulley of the primary synchronous belt assembly 3133, the small synchronous pulley of the tertiary synchronous belt assembly 3135 is coaxially connected with the large synchronous pulley of the secondary synchronous belt assembly 3134, and the rotating joint tri-and the large synchronous pulley of the tertiary synchronous belt assembly 3135 are connected by driving the rotating joint tri-motor 3132 and reducing through the tertiary synchronous belt.

In this embodiment, as shown in fig. 3, the grabbing manipulator assembly 314 includes an electric putter connecting seat 3141, an electric putter 3142, a fixed clamping jaw assembly 3143 and a movable clamping jaw assembly 3144, the electric putter connecting seat 3141 is fixedly connected with an output shaft connected with a large synchronous pulley of the tertiary synchronous belt assembly 3135, a base of the electric putter 3142 is mounted on the electric putter connecting seat 3141, the fixed clamping jaw assembly 3143 is mounted at the front end of a housing of the electric putter 3142, the movable clamping jaw assembly 3144 is mounted at the end of a telescopic rod of the electric putter 3142, and the grabbing manipulator is opened and closed by driving the electric putter 3142.

Further, as shown in fig. 4-6, the fixed jaw assembly 3143 includes a fixed jaw support assembly 31431, a jaw roller drive motor 31432, a drive gear 31433, an intermediate gear 31434, a fixed jaw drive roller 31435, a driven gear 31436, a fixed jaw friction wheel 31437, a drain wire stop plate 31438, and a friction wheel release trigger block 31439. Further, the fixed jaw support assembly 31431 further comprises a fixed jaw support 31431, a fixed jaw support rear plate 31431, a fixed jaw support side plate 31431 and a fixed jaw support front plate 31431, wherein the fixed jaw support 31431 is mounted at the front end of the housing of the electric push rod 3142, the fixed jaw support rear plate 31431 is mounted in front of the fixed jaw support 31431, the upper part thereof is fixed on the fixed jaw support 31431, the lower part thereof is fixed on the housing of the electric push rod 3142, two fixed jaw support side plates 31431 are mounted at both sides of the fixed jaw support rear plate 31431, the fixed jaw support front plate 31431 is mounted on the two fixed jaw support side plates 31431, the jaw roller driving motor 31432 is mounted inside the fixed jaw support assembly 31431, the driving gear 31431 is mounted on the output shaft of the jaw roller driving motor 31432, the intermediate gear 31431 is rotatably mounted on the fixed jaw support 31431 and the fixed jaw support front plate 31431 at both ends respectively, and meshes with the driving gear 31431, two driving rollers 31431 are rotatably mounted on the fixed jaw support 31431 and the fixed jaw support front plate 31431 respectively, two driven gears 31431 are fixedly mounted at one end of the shaft of two fixed jaw driving rollers 31431 respectively, and meshes with the intermediate gear 31431, two fixed jaw friction wheels 31431 are fixedly mounted at the other end of the shaft of two fixed jaw driving rollers 31431 respectively, two drain wire limit baffles 31431 are mounted on the fixed jaw support rear plate 31431 and the fixed jaw support front plate 31431 at both sides of the fixed jaw driving rollers 31431 respectively, and friction wheel loose brake trigger blocks 31431 are mounted on the fixed jaw support 31431. In operation, the jaw roller drive motor 31432 drives the two driven gears 31436 via the drive gear 31433 and the intermediate gear 31434 to rotate, thereby driving the two fixed jaw drive rollers 31435 and the two fixed jaw friction wheels 31437 coaxially and fixedly connected thereto.

Further, as shown in fig. 4-7, the moving jaw assembly 3144 comprises a moving jaw support 31441, moving jaws 31442, moving jaw driven rollers 31443, moving jaw friction wheels 31444, friction wheel braking blocks 31445, cross sliding blocks 31446, springs 31447, cross sliding rail baffles 31448 and cross sliding rail top plates 31449, the moving jaw support 31441 is mounted at the telescopic rod end of the electric push rod 3142, two moving jaws 31442 are mounted at the two ends of the moving jaw support 31441, moving jaw driven rollers 31443 are rotatably mounted on the moving jaw support 31441, The movable clamping jaw friction wheel 31444 is fixedly arranged at one end of the shaft of the movable clamping jaw driven roller 31443, the friction wheel braking block 31445 is arranged on the cross slide block 31446, the cross slide block 31446 is slidably arranged in a T-shaped chute at the rear part of the movable clamping jaw bracket 31441, the spring 31447 is arranged in a cylindrical hole of the cross slide block 31446, the cross slide rail baffle 31448 is arranged at the rear part of the movable clamping jaw bracket 31441 and forms a cross chute together with the T-shaped chute at the rear part of the movable clamping jaw bracket 31441, the cross slide rail top plate 31449 is arranged at the top part of the cross chute, to prevent the spring 31447 from coming out. When the telescopic rod of the electric push rod 3142 is in a state of stretching out and grabbing 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 further, the drainage wire cannot fall off due to rolling of the rollers in the grabbing process, and then the drainage wire can be effectively captured by virtue of the 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 state of retracting, pulling and drainage, and the top end of the friction wheel loose brake trigger block 31439 touches the bottom of the cross slide block 31446, the cross slide block 31446 moves upwards along the cross slide rail behind the movable clamping jaw support 31441 along with the continued retraction of the telescopic rod, so that the friction wheel braking block 31445 is separated from the two movable clamping jaw friction wheels 31444, simultaneously the two movable clamping jaw friction wheels 31444 are respectively contacted with the two fixed clamping jaw friction wheels 31437, and the two movable clamping jaw friction wheels 31444 are synchronously rotated with the two fixed clamping jaw friction wheels 31437 under the action of friction force, And further, the two movable clamping jaw driven rollers 31443 and the fixed clamping jaw driving roller 31435 synchronously rotate, so that the drainage wire can be pulled under the action of the movable clamping jaw driven rollers. Like this, even snatch manipulator clamping jaw and not grasp the position to the terminal within the scope of requiring of drainage wire, also can be through control clamping jaw gyro wheel driving motor 31432 and then drive fixed clamping jaw initiative gyro wheel 31435 and remove clamping jaw driven gyro wheel 31443 with drainage wire clamping position adjustment to within the scope of requiring, can make like this to the terminal discernment location requirement of drainage wire reduce, promote drainage wire and snatch efficiency.

Further, the width dimension of the fixed jaw support assembly 31431 should be smaller than the distance between the two moving jaws 31442, so as to ensure that the moving 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 opening, so as to ensure that the fixed jaw support rear plate can be sleeved on the fixed jaw support 314311 above the fixed jaw support assembly 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 below the fixed jaw support assembly. Further preferably, the jaw roller driving motor 31432 is a stepping motor, which has a self-locking function and can effectively prevent the drainage wire from being separated from the jaw due to gravity. Further, the roller driving motor 31432 is fixed to the fixed jaw support front plate 314314 through four struts having screw threads at both ends.

Further, both ends of the two drain wire limit baffles 31438 are provided with notches with a certain width, so as to ensure that the rotation of the shaft of the movable jaw driven roller 31443 is prevented from being interfered when the movable jaw assembly 3144 approaches.

Further 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 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 diameters of 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 the same. Further, in order to be able to grasp drainage lines between different diameter ranges, the fixed jaw friction wheel 31437 and the movable jaw friction wheel 31444 can be used with different diameter friction wheels to ensure that sufficient compression force can be provided for drainage lines of different diameters.

Further, the height at the arc top of the movable jaw 31442 should be higher than the height at the highest point of the arc of the profile of the movable jaw driven roller 31443, so as to avoid the problem that the drainage wire cannot move due to contact with the movable jaw 31442 after clamping.

Further, as shown in fig. 8, the traveling brake mechanism 32 in the present embodiment mainly realizes traveling and braking functions along the wire, and is used for moving the live working robot body 3 to the position to be worked and fixing it on the wire. The walking brake mechanism 32 comprises a pressing wheel mechanism 321, a walking wheel mechanism 322, a wire clamping mechanism 323, a wire clamping mechanism fixing beam 324 and a walking pressing wheel mechanism fixing seat 325, wherein the pressing wheel mechanism 321 is arranged in the walking pressing wheel mechanism fixing seat 325, the walking wheel mechanism 322 is arranged at the top of the walking pressing wheel mechanism fixing seat 325, the wire clamping mechanism 323 is arranged on the wire clamping mechanism fixing beam 324, two ends of the wire clamping mechanism fixing beam 324 are fixedly arranged on the walking pressing wheel mechanism fixing seat 325 which is symmetrically distributed on the left side and the right side through connecting pieces, and the walking pressing wheel mechanism fixing seat 325 is fixedly connected on the aluminum profile frame beam above the aluminum profile frame 34. When the live working robot body 3 is conveyed to the upper portion of the wire, the live working robot body 3 is hung on the wire through the travelling wheel mechanism 322, then the wire is pressed tightly by the pressing wheel mechanism 321, the live working robot body 3 is moved to the position to be worked through the travelling wheel mechanism, the wire is clamped through the wire clamping mechanism 323, and the live working robot is prevented 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 body 3215, a turbine 3216, a worm 3217, a pinch roller shaft 3218 and a pinch roller 3219; the pressing wheel driving motor 3211 is mounted on a pressing wheel driving motor support 3212, the pressing wheel driving motor support 3212 is mounted on the outer side of a walking pressing wheel mechanism fixing seat 325, a driving synchronous pulley of a pressing wheel synchronous belt assembly 3213 is connected with an output shaft of the pressing wheel driving motor 3211, the driven synchronous pulley is connected with the end portion of a worm 3217, a worm gear box end cover 3214 and a worm gear box body 3215 are mounted on the outer side of the walking pressing wheel mechanism fixing seat 325 and are located above the pressing wheel driving motor 3211, a turbine 3216 and a worm 3217 are rotatably mounted inside the worm gear box body 3215, the turbine 3216 is located above the worm 3217, seat holes for bearing mounting are formed in the inner walls of the worm gear box end cover 3214 and the worm gear box body 3215 and are used for mounting and fixing bearings at the shaft ends of the worm 3216, a pressing wheel shaft 3218 is coaxially connected with the turbine 3216, the pressing wheel shaft 3218 is located inside the walking pressing wheel mechanism fixing seat 325, and the pressing wheel 3219 is rotatably mounted on the end portion of the pressing wheel shaft 3218 and is axially fixed through a locking nut. In the initial state, the compression wheel shaft 3218 is in a vertical state; when the wire is to be compacted, the compacting wheel driving motor 3211 drives the worm 3217 to rotate through the compacting wheel synchronous belt assembly 3213, then the worm 3217 drives the turbine 3216 meshed with the worm to rotate, and the turbine 3216 drives the compacting wheel shaft 3218 coaxially connected with the worm to rotate around the turbine shaft, so that the opening and closing movement of the compacting wheel 3219 is realized.

In this embodiment, as shown in fig. 10, the road wheel mechanism 322 includes a road wheel driving motor 3221, a road wheel driving motor reducer 3222, an angular ball bearing 3223, a sleeve 3224, a road wheel 3225, a road wheel flange 3226 and a road wheel driving motor shield 3227, the output end of the road wheel driving motor 3221 is connected with the road wheel driving motor reducer 3222, the road wheel driving motor reducer 3222 is installed in a cylindrical hole at the top of the road wheel pressing mechanism fixing seat 325, the angular ball bearing 3223 is installed on a cylindrical shaft at the top of the road wheel pressing mechanism fixing seat 325, the sleeve 3224 is installed between the two angular ball bearings 3223, the road wheel 3225 is sleeved on the outer ring of the angular ball bearing 3223 and is axially fixed through a road wheel flange 3226 coaxially installed with the sleeve, the road wheel driving motor shield 3227 is installed at the tail of the road wheel driving motor 3221 and is fixedly connected with the road wheel pressing mechanism fixing seat 325, and when the road wheel driving motor 3221 is to be moved, the road wheel driving motor 3221 directly transmits power to the road wheel 3225 through a bolt connected with the output shaft of the road wheel driving motor reducer 3222, so that the road wheel driving motor 3225 can rotate.

In this embodiment, as shown in fig. 11, the wire clamping mechanism 323 includes a wire clamping driving motor 3231, a wire clamping fixing base 3232, a driving gear 3233, a gear protecting cover 3234, a driven gear 3235, a positive and negative screw rod 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 mounted in a cylindrical hole of the wire clamping fixing base 3232, the wire clamping fixing base 3232 is mounted 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 meshed with the driving gear 3233 and is connected with one end of the positive and negative screw rod 3236, the positive and negative screw rod 3236 is rotatably mounted at the lower portion of the wire clamping fixing base 3232, and the two wire clamping jaws 3237 are symmetrically sleeved at two sides of the positive and negative screw rod 3236 and movably arranged on guide grooves on the inner wall of the lower portion of the wire clamping fixing base 3232. In the initial state, the two wire gripping jaws 3237 are in a maximum open state; when the wire is to be clamped, the wire clamping driving motor 3231 drives the positive and negative tooth screw 3236 to rotate through the driving gear 3233 and the driven gear 3235, and further drives the two wire clamping jaws 3237 to be close to each other to press the wire.

In this embodiment, a straight notch is formed on a side, connected to the T-shaped nut 3239, of the wire clamping mechanism support 3238, 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 installed in a 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 two wire clamping jaws 3237 can be guaranteed to clamp a wire better.

Further, as shown in fig. 2, the clip mounting mechanism 33 is mainly used for connecting the drain wire captured by the drain wire capturing mechanical arm 31 to the main conductor through the clip. The wire clamp mounting mechanism 33 is shown in fig. 12, and comprises a lifting mechanism 331, a translation mechanism 332, a wire clamp clamping mechanism 333, a wire clamp nut tightening mechanism 334, a drainage wire clamp tightening mechanism 335 and an insulation puncture wire clamp 336, wherein the lifting mechanism 331 is mounted on the front side frame and the rear side frame of the aluminum profile frame 34, the translation mechanism 332 is mounted on the lifting 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 clamp tightening mechanism 335 is mounted on the left side of a bracket of the wire clamp nut tightening mechanism 334, and the insulation puncture wire clamp 336 is placed on the bracket of the wire clamp nut tightening mechanism 334 and clamped and fixed through the wire clamp clamping mechanism 333. In the initial state, the wire clamp mounting mechanism 33 is located inside the aluminum profile frame 34, when the live working robot moves to the position to be worked, the lifting mechanism 331 and the translation mechanism 332 move the upper clamping opening of the insulated piercing wire clamp 336 to the main wire through cooperation, then the drain wire grabbed by the drain wire grabbing mechanical arm 31 is conveyed to the lower clamping opening of the insulated piercing wire clamp 336 through the drain wire clamping and pulling mechanism 335, then the insulated piercing wire clamp 336 is screwed through the wire clamp nut screwing mechanism 334, and finally the wire clamp clamping mechanism 333 is loosened, so that the wire clamp mounting is completed.

In this embodiment, as shown in fig. 13, the lifting mechanism 331 includes a lifting driving motor 3311, a coupling 3312, a lifting driving motor support 3313, a lifting screw rod 3314, a lifting screw rod nut 3315, a translation sliding table support 3316, a lifting optical axis support 3317, a lifting optical axis 3318, and a lifting optical axis slide block 3319, the lifting driving motor 3311 is mounted inside the lifting driving motor support 3313, one end of the coupling 3312 is connected with an output shaft of the lifting driving motor 3311, the other end is connected with the lifting screw rod 3314, the lifting screw rod 3314 is rotatably mounted on the lifting driving motor support 3313, the lifting driving motor support 3313 is mounted on the front and rear side frames of the aluminum profile frame 34, the lifting screw nut 3315 is sleeved on the lifting screw rod 3314, the translation sliding table support 3316 is fixedly connected with the lifting screw nut 3315, lifting optical axis sliding blocks 3319 are respectively arranged on two sides of the translation sliding table support 3316, the lifting optical axis sliding blocks 3319 are movably arranged on a lifting optical axis 3318, lifting optical axis supports 3317 are arranged at two ends of the lifting optical axis 3318, the lifting optical axis supports 3317 are arranged on the front, rear, upper and lower side frames of the aluminum profile frame 34, and specifically, the lifting mechanism 331 is respectively arranged on the front, rear of the aluminum profile frame 34, and the translation sliding table support 3316 is driven to move in a lifting manner along the lifting optical axis 3318 along with the rotation of the lifting driving motor 3311.

In this embodiment, the translation mechanism 332 is shown in fig. 14, and includes a translation driving motor 3321, a coupling 3322, a translation sliding table support 3323, a translation screw rod 3324, a translation screw rod nut seat 3325, a translation guide rail 3326, a translation guide rail sliding block 3327, a translation guide rail seat 3328 and a moving platform 3329, 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 rod 3324, the translation sliding table support 3323 is installed on a front translation sliding table support 3316 and a rear translation sliding table support 3316, the translation screw rod 3324 is rotatably installed on the translation sliding table support 3323, the translation screw rod nut seat 3325 is sleeved on the translation screw rod 3324, the translation guide rail 3326 is installed on the translation guide rail seat 3328, the translation guide rail sliding block 3327 is movably installed on the translation guide rail 3326, the translation guide rail seat 3328 is installed on the translation sliding table support 3323, the moving platform 3329 is installed on the translation screw rod nut seat 3325 and four translation guide rail sliding blocks 3327, and the translation guide rail sliding block 3329 is driven to move along with the translation guide rail 3326 along with the front and rear translation guide rail moving along with the translation guide rail 3324 driven by the rotation of the translation driving motor 3321.

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

In this embodiment, as shown in fig. 17, the wire 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, a driven gear 3347, a driving gear 3348 and a universal sleeve 3349, the output end of the nut tightening driving motor 3341 is connected with 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 moving platform 3329, a driving synchronous pulley of the synchronous belt assembly 3344 is connected with the output shaft of the nut tightening driving motor reducer 3342, a driven synchronous pulley of the synchronous belt assembly 3344 is connected with the driving gear 3348 coaxially, 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 driving gear box support 3345, the nut tightening driving motor reducer 3342 is mounted on the nut tightening mechanism support 3343, the two driven gears 3349 are rotatably connected with the two driving gears 3348 coaxially, and the two driving gears 3348 are rotatably connected with the driven gear box 3348 coaxially, and the two driving gears 3347 are rotatably drive the two driving gears 3348 simultaneously, and the two driving gears 3347 are rotatably connected with the driving gear 3348 coaxially.

In this embodiment, as shown in fig. 18, the drainage wire clamping and pulling mechanism 335 includes a clamping and pulling mechanism connecting piece 3350, a clamping and pulling fixed support 3351, a clamping and pulling motor 3352, a clamping and pulling screw nut 3353, a clamping optical axis 3354, a clamping and pulling moving support 3355, a pulling motor 3356, a coupling 3357, a clamping and pulling driving wheel 3358 and a clamping and pulling driven wheel 3359, the clamping and pulling mechanism connecting piece 3350 is mounted on one side of a nut clamping and pulling mechanism support 3343, the clamping and pulling fixed support 3351 is mounted on the clamping and pulling mechanism connecting piece 3350, the clamping and pulling motor 3352 is mounted on the clamping and pulling fixed support 3351 through a support, the clamping and pulling screw nut 3353 is sleeved on a screw of the clamping and pulling motor 3352, the clamping optical axis 3354 is mounted on the clamping and pulling fixed support 3351, the clamping and pulling wheel 3355 are movably mounted on the clamping optical axis 3354, the two pulling motor 3356 are respectively mounted on the clamping and pulling fixed support 3351 and the clamping and pulling wheel support 3355, and the two driving wheel 3355 are rotatably mounted on the clamping and pulling fixed support 3355 respectively, and the two driving wheel support and the two driving wheel 3355 are rotatably mounted on the clamping and pulling wheel support 3355 are rotatably mounted on the clamping and pulling fixed support 3352 through the coupling 3357, and the clamping and pulling wheel support 33is rotatably driven by the clamping and pulling wheel motor 3352, and pulling the clamping and pulling wheel 33is rotatably driven by the clamping and pulling driving wheel 33and pulling wheel 3352, the clamping and pulling device 33is mounted on the clamping and pulling device 33and pulling and pulling device 33. Specifically, the end portion of the drain wire gripped by the drain wire gripping mechanical arm 31 should be placed between the two clamping and pressing driving wheels 3358 so that the drain wire can be gripped by the drain wire clamping and pulling mechanism 335.

In this embodiment, as shown in fig. 19, the insulating puncture clamp 336 includes a fixed clamp 3361, a movable clamp 3362, a torque nut 3363, a screw 3364, a puncture blade 3365, and a protective cap 3366, wherein the fixed clamp 3361 and the movable clamp 3362 form a main clamp opening 3367 and a drainage clamp opening 3368, the main clamp opening 3367 is above, the drainage clamp opening 3368 is below, the main clamp opening 3367 is used for placing a main wire, the drainage clamp opening 3368 is used for placing a drainage wire, the protective cap 3366 is mounted on the movable clamp 3362 at the outlet side of the drainage clamp opening 3368, the two torque nuts 3363 are coaxially sleeved in the two universal sleeves 3349, and two clamping grooves at two sides of the fixed clamp 3361 are clamped by two clamping jaws 3339. When the end part of the drainage wire is conveyed from the drainage wire clamping opening 3368 through the drainage wire clamping and pulling mechanism 335 and contacts the protective cap 3366, the drainage wire is stopped from being conveyed, then the moment nut 3363 is broken through the two universal sleeves 3349 of the wire clamping and nut pulling mechanism 334, the main wire and the drainage wire can be clamped between the fixed clamp 3361 and the movable clamp 3362, and the electric connection between the main wire and the drainage wire is realized through the puncture blade 3365.

Further, the insulating silicone grease is arranged in the shell of the insulating piercing clamp 336, when the piercing blade 3365 pierces the lead, the insulating silicone grease overflows and wraps around the piercing position, so that good waterproof, corrosion-resistant and insulating effects can be achieved, and subsequent manual waterproof, insulation and other treatments are not needed.

The control box assembly 35 is used for controlling the movement of the live working robot body 3, and the control box assembly 35 is installed on one side inside the aluminum profile frame 34.

The invention provides an operation method of an all-terrain electrified lap joint drainage wire operation robot, which comprises the following steps:

(1) The unmanned aerial vehicle is magnetically attracted and loaded on the wire. During operation, the clamping jaw 3339 of the wire clamp clamping mechanism 333 is controlled to clamp the movable clamp 3362 of the insulation piercing wire clamp 336, the torque nut 3363 is sleeved in the universal sleeve 3349, then the unmanned aerial vehicle body 1 is controlled to convey the live working robot body 3 to the upper part of the main wire by using the magnetic attraction carrying mechanism 2, the travelling wheel 3225 is hung on the main wire, then the pressing wheel mechanism 321 is controlled to press the main wire between the travelling wheel 3225 and the pressing wheel 3219, and accordingly wire feeding is completed, and the unmanned aerial vehicle body 1 can be driven away.

(2) The mechanical arm grabs and captures the drainage wire. The live working robot body 3 is moved to a position to be worked through the travelling wheel mechanism 322, then the main wire is clamped through the wire clamping mechanism 323, then the wire clamp mounting mechanism 33 is lifted to a position in front of the lower portion of the main wire, then the drainage wire grabbing mechanical arm 31 is controlled to grab and capture the tail end of the drainage wire through rotation, the clamping position of the tail end of the drainage wire is adjusted through the fixed clamping jaw assembly 3143 and the movable clamping jaw assembly 3144, then the drainage wire is sent to the position between two clamping and pressing driving wheels 3358 of the drainage wire clamping and pulling mechanism 335 through rotation and translation movement among all joint assemblies of the drainage wire grabbing mechanical arm 31, and the drainage wire clamping and pulling mechanism 335 is controlled to clamp and convey the drainage wire to a drainage wire clamp opening 3368 of the insulation puncture wire clamp 336 through cooperation of the fixed clamping jaw assembly 3143 and the movable clamping jaw assembly 3144 at the same time, so that capturing and grabbing of the drainage wire are completed.

(3) And (5) installing an insulating puncture wire clamp. When the end of the drainage wire is in contact with the protective cap 3366, the drainage wire clamping and tensioning mechanism 335 is controlled to stop conveying, but the drainage wire clamping and tensioning mechanism 335 is still in a clamping drainage wire state, then the lifting mechanism 331 and the translation mechanism 332 are controlled to clamp the main wire opening 3367 of the insulating puncture wire clamp 336 onto the main wire, then the wire clamp nut tightening mechanism 334 is controlled to screw the torque nut 3363 off, so that the main wire is connected with the drainage wire through the wire clamp, finally the drainage wire is controlled to be loosened by the drainage wire clamping and tensioning mechanism 335, and the insulating puncture wire clamp 336 is controlled to be loosened by the wire clamp clamping mechanism 333.

(4) The unmanned aerial vehicle is magnetically attracted and carried for offline. Firstly, the steel plate 21 is attracted to the electromagnet 22 above the live working robot body 3 by controlling the unmanned aerial vehicle body 1, then the main wire is loosened by controlling the pinch roller mechanism 321 and the wire clamping mechanism 323, and finally the live working robot body 3 is magnetically attracted and carried for offline through the unmanned aerial vehicle body 1.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. All-terrain electrified lapping drainage line operation robot is characterized by comprising:

An unmanned aerial vehicle body;

The magnetic attraction 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 live working robot body, and connection and disconnection of the unmanned aerial vehicle body and the live working robot body are realized by controlling attraction of the electromagnet and the steel plate;

The live working robot body comprises a drainage wire grabbing mechanical arm, a traveling brake mechanism, a wire clamp mounting mechanism, a rack and a control box assembly; the wire clamp mounting mechanism comprises a lifting mechanism, a translation mechanism, a wire clamp clamping mechanism, a wire clamp nut tightening mechanism, a drainage wire clamping and pulling mechanism and an insulating puncture wire clamp, wherein the lifting mechanism is mounted on the front and rear side frames of the aluminum profile frame, the translation mechanism is mounted on the lifting mechanism, the wire clamp clamping mechanism is arranged on the upper part of the translation mechanism, the wire clamp nut tightening mechanism is arranged on the wire clamp clamping mechanism, the drainage wire clamp tightening mechanism is arranged on the left side of the wire clamp nut tightening mechanism bracket, and the insulating puncture wire clamp is arranged on the wire clamp nut tightening mechanism bracket and clamped and fixed through the wire clamp clamping mechanism; the drainage wire grabbing mechanical arm is arranged on one side of the frame, and the traveling brake mechanism and the wire clamp installation mechanism are arranged on the top of the frame; the control box assembly is installed inside the frame.

2. The all-terrain electrified lapping 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, wherein the first movable joint component is fixedly connected to a lower frame in the rack through an angle bracket, the second rotatable joint component is arranged on the first movable joint, one end of the third rotatable joint component is rotationally connected with the second rotatable joint component, and the other end of the third rotatable joint component is rotationally connected with the grabbing mechanical arm component, so that the grabbing mechanical arm with four degrees of freedom is formed.

3. The all-terrain electrified lapping drainage 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, wherein the electric push rod connecting seat is fixedly connected with an output shaft connected with a large synchronous pulley of the three-stage synchronous belt assembly, a base of the electric push rod is arranged on the electric push rod connecting seat, the fixed clamping jaw assembly is arranged at the front end of a shell of the electric push rod, and the movable clamping jaw assembly is arranged at the end part of a telescopic rod of the electric push rod.

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

5. The all-terrain electrified lapping drainage wire operation robot of claim 4, wherein the movable clamping jaw assembly comprises a movable clamping jaw support, movable clamping jaws, movable clamping jaw driven rollers, movable clamping jaw friction wheels, friction wheel braking blocks, cross sliding blocks, springs, cross sliding rail baffles and a cross sliding rail top plate, the movable clamping jaw support is mounted at the end of a telescopic rod of an electric push rod, the two movable clamping jaws are mounted at the two ends of the movable clamping jaw support, the movable clamping jaw driven rollers are rotatably mounted on the movable clamping jaw support, the movable clamping jaw friction wheels are fixedly mounted at one end of a shaft of the movable clamping jaw driven rollers, the friction wheel braking blocks are mounted on the cross sliding blocks, the cross sliding blocks are slidably mounted in T-shaped sliding grooves at the rear parts of the movable clamping jaw support, the springs are mounted in cylindrical holes of the cross sliding blocks, the cross sliding rail baffles are mounted behind the movable clamping jaw support and form cross sliding grooves together with the T-shaped sliding grooves at the rear parts of the movable clamping jaw support, and the cross sliding rail top plate is mounted at the top parts of the cross sliding grooves.

6. The all-terrain electrified lapping drainage wire operation robot of claim 5, wherein the width dimension of the fixed clamping jaw support assembly is smaller than the distance between two movable clamping jaws, and a T-shaped through opening is formed in a rear plate of the fixed clamping jaw support to ensure that the upper part of the fixed clamping jaw support is sleeved on the fixed clamping jaw support and does not interfere with the rotation of a shaft of the driving roller, and the lower part can clamp the edge of the driving motor of the clamping jaw roller.

7. The all-terrain electrified lapping drainage wire operation robot of claim 5, wherein the outer edges of 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 materials, and the diameters of the fixed jaw driving roller, the movable jaw driven roller, the fixed jaw friction wheel and the movable jaw friction wheel are the same.

8. The all-terrain electrified lapping drainage wire operation robot of claim 1, wherein the walking brake mechanism comprises a pressing wheel mechanism, a walking wheel mechanism, a wire clamping mechanism fixing beam and a walking pressing wheel mechanism fixing seat, the pressing wheel mechanism is installed in the walking pressing wheel mechanism fixing seat, the walking wheel mechanism is installed at the top of the walking pressing wheel mechanism fixing seat, the wire clamping mechanism is installed on the wire clamping mechanism fixing beam, two ends of the wire clamping mechanism fixing beam are installed and fixed on the walking pressing wheel mechanism fixing seat which is symmetrically distributed on the left side and the right side through connecting pieces, and the walking pressing wheel mechanism fixing seat is fixedly connected to a frame beam on a frame.

9. The all-terrain electrified lapping drainage wire operation robot of claim 8, wherein a straight notch is formed in one side of the wire clamping mechanism support, which is connected with the T-shaped 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-shaped nut can be movably installed in a 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-shaped nut, so that two wire clamping jaws can be guaranteed to clamp a wire better.