CN116690651A - Robot on-off line beam type platform and robot on-off line method - Google Patents

Robot on-off line beam type platform and robot on-off line method Download PDF

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Publication number
CN116690651A
CN116690651A CN202310840899.7A CN202310840899A CN116690651A CN 116690651 A CN116690651 A CN 116690651A CN 202310840899 A CN202310840899 A CN 202310840899A CN 116690651 A CN116690651 A CN 116690651A
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CN
China
Prior art keywords
platform body
robot
wire
platform
rope
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Pending
Application number
CN202310840899.7A
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Chinese (zh)
Inventor
曾金保
孟海磊
李丹丹
蔡俊鹏
贾明亮
张斌
孙志周
张峰
李健
刘继志
曹雷
贾娟
李希智
李涛
赵新帅
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State Grid Intelligent Technology Co Ltd
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State Grid Intelligent Technology Co Ltd
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Application filed by State Grid Intelligent Technology Co Ltd filed Critical State Grid Intelligent Technology Co Ltd
Priority to CN202310840899.7A priority Critical patent/CN116690651A/en
Publication of CN116690651A publication Critical patent/CN116690651A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a robot on-off line beam type platform and a robot on-off line method, comprising the following steps: the device comprises a platform body, a hooking groove positioned at the first end of the platform body and a clamping groove positioned at the second end of the platform body, wherein a locking device for locking the platform body on a split conductor is arranged on the platform body; the first end of the platform body is provided with a traction rope hook, the second end of the platform body is provided with an auxiliary rope hook, the platform body is provided with a fixed pulley, a magnetic attraction device, a wire groove, a weight block, a conical weight and a conical weight sleeve, a first through hole is formed in the center axis direction of the conical weight, and the conical weight is arranged in the conical weight sleeve; the first end of the first auxiliary rope is connected with the weight block adsorbed by the magnetic attraction device, and the second end of the first auxiliary rope passes through the through groove and the wire groove of the conical weight in sequence and then naturally sags after bypassing the fixed pulley; the robot online and offline system solves the problem of online and offline of the robot, improves the operation efficiency, reduces the labor intensity of operators and increases the operation safety.

Description

Robot on-off line beam type platform and robot on-off line method
Technical Field
The invention relates to the technical field of electric power operation robots, in particular to a robot on-line and off-line beam type platform and a robot on-line and off-line method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
There are multiple power equipment on the transmission tower, for example insulator chain or strain clamp, and transmission line strain clamp bears wire horizontal stress, plays fixed wire effect, in case the quality is not good, will lead to the fact the broken string landing accident, serious person probably causes malignant accidents such as casualties, and transmission line strain clamp crimping pipe part quality problem belongs to recessive defect, can't pass the outward appearance inspection after the crimping is accomplished, only can utilize X-ray equipment to detect at present.
The inventor finds that when equipment on a transmission tower is detected, a manual tower climbing mode is adopted to carry out detection operation. For example, when the X-ray detection of the strain clamp crimping pipe is performed, an operation mode of unmanned aerial vehicle and small flying man is generally adopted, and the operation mode is mainly divided into three steps of unmanned aerial vehicle auxiliary rope throwing, electric field entering and exiting by equipotential of the small flying man and manual remote control X-ray detection.
When carrying out robot detection to the equipment on the transmission tower, at first the online problem of detection robot that solves, current detection robot online mode has following problem:
(1) When the wire is put on, firstly, the unmanned aerial vehicle is required to be used for mounting a light traction rope, and then the light traction rope is replaced by a bearing insulation rope to carry out traction operation on the detection robot, but all phase lines of the power transmission line are in vertical staggered arrangement, the traction space is limited, the operation is very inconvenient, and the wire-on difficulty is increased; (2) The bearing insulating rope itself influences the process that detection robot ridden on the circuit, and influences the road walking along the detection robot along the line, needs to design in addition and avoids the mechanism, has further increased the online degree of difficulty.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the robot on-line and off-line beam type platform and the robot on-line and off-line method, which solve the problem of robot on-line and off-line, improve the working efficiency, reduce the labor intensity of operators and increase the safety of the operation.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides an up-and-down beam type platform for a robot.
A robot up-down beam platform comprising: the device comprises a platform body, a hooking groove positioned at the first end of the platform body and a clamping groove positioned at the second end of the platform body, wherein a locking device for locking the platform body on a split conductor is arranged on the platform body;
the first end of the platform body is provided with a traction rope hook, the second end of the platform body is provided with an auxiliary rope hook, the platform body is provided with a fixed pulley, a magnetic attraction device, a wire groove, a weight block, a conical weight and a conical weight sleeve, a first through hole is formed in the center axis direction of the conical weight, and the conical weight is arranged in the conical weight sleeve;
the first end of first supplementary rope is connected with by the absorptive heavy object piece of magnetism suction device, and behind the fixed pulley was walked around to the second end of first supplementary rope, natural whereabouts behind the logical groove of toper heavy object and the metallic channel of passing in proper order, and the second end of first supplementary rope is equipped with the barrier that is used for stopping the second end of first supplementary rope to wear out first through-hole, opens on the platform body and has the second through-hole that is used for the heavy object piece to drop and is used for the third through-hole that the toper heavy object dropped.
As a further limitation of the first aspect of the invention, the second through hole is located at a position opposite to the bottom of the weight on the platform body, the third through hole is located at the position of the tapered weight outlet of the tapered weight sleeve, and the second through hole and the third through hole are located at two sides of the fixed pulley.
As a further limitation of the first aspect of the invention, the central axis of the wire groove is perpendicular to the central axis of the fixed pulley.
As a further limitation of the first aspect of the present invention, a fourth through hole for placing the conical weight is formed in the conical weight sleeve, a central axis of the fourth through hole forms a set angle with the upper surface of the platform body, and a conical weight outlet of the fourth through hole faces obliquely upward of the platform body.
As a further definition of the first aspect of the invention, the locking device comprises: the driving mechanism, the photoelectric switch and the arc locking plate are connected, the arc locking plate can rotate to the wire under the driving of the driving mechanism, the wire is locked by being matched with the wire hooking groove, and the photoelectric switch is used for detecting whether the arc locking plate rotates in place.
As a further definition of the first aspect of the invention, the driving mechanism comprises: the device comprises a speed reducing motor, a first bevel gear, a second bevel gear and a transmission shaft;
the output end of the gear motor is connected with a first bevel gear, the first bevel gear is meshed with a second bevel gear, the second bevel gear is connected with a transmission shaft, the transmission shaft is connected with a arc locking plate, and the central axis of the first bevel gear is perpendicular to the central axis of the second bevel gear.
As a further limitation of the first aspect of the present invention, a notch is formed at the center of the first end of the platform body, the notch divides the hooking groove into two symmetrical parts, and the arc locking plate is located at the notch.
As a further limitation of the first aspect of the invention, the first end of the platform body is provided with at least two hauling rope hooks, the second end of the platform body is provided with at least two hauling rope hooks, and the hauling rope hooks at the first end and the second end of the platform body are symmetrically arranged along the platform body.
As a further limitation of the first aspect of the present invention, the wire clamping groove is a horn groove facing directly under the platform body, and the wire hooking groove is a groove facing toward the lower inner side of the platform body.
The second aspect of the invention provides a robot online and offline method.
The invention relates to a robot online and offline beam platform, which comprises the following steps:
the first traction rope with the pulley is hung on the ground wire;
the first end of the first traction rope is hung on a traction rope hook at the first end of the platform body, and the first traction rope and a second auxiliary rope connected to the auxiliary rope hook are pulled to pull the robot up-down line beam type platform to a wire position;
the first traction rope is regulated, the wire hooking groove is hooked on the first guide wire, the locking device is started, the second end of the platform body is locked on the first guide wire, the first traction rope is loosened, the platform body is slowly put flat, the wire hooking groove is clamped on the second guide wire, and the first guide wire and the second guide wire are guide wires positioned on the same horizontal plane;
the locking device is opened, the magnetic attraction device is powered off, the weight blocks adsorbed on the magnetic attraction device start to fall from the second through holes with the first auxiliary ropes, the first auxiliary ropes are continuously pulled after the weight blocks fall to the ground, and the conical weight is pulled out of the conical weight sleeve under the cooperation of the blocking objects, so that the conical weight falls from the third through holes;
replacing the first auxiliary rope with a second traction rope for pulling the robot, and pulling the robot to a working position under the cooperation of the upper and lower line beam type platform of the robot and the second traction rope;
after the robot works, the robot is placed on the ground at a self-set detection position through a second traction rope;
the locking device is started to lock the second end of the platform body on the first lead, the first end of the first traction rope is pulled to enable the wire clamping groove to be separated from the second lead, the locking device is loosened, and the platform body is placed on the ground by controlling the first traction rope and the second auxiliary rope;
and after the platform body falls to the ground, the first traction rope with the pulley is taken down from the ground wire.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention innovatively develops the robot on-line and off-line beam platform, solves the problem of robot on-line and off-line, improves the automation level of power transmission line equipment detection, releases the labor from heavy and dangerous operation environments, reduces the labor intensity of operators, improves the frequency of power transmission line equipment detection, reduces economic loss and improves the operation efficiency on the premise of ensuring the safety of the operators.
2. The invention creatively provides a robot wire feeding and discharging method, which ensures that a beam type platform is stably arranged on two wires through the matching of a locking device, a wire hooking groove and a wire clamping groove, avoids the turning and shaking of the beam type platform in the air and improves the operation safety; through the cooperation of fixed pulley, magnetism suction device, metallic channel, heavy object piece, toper heavy object and toper heavy object cover, realized the fast conversion of string to haulage rope, avoided the beam platform to carry the inconvenience that the great haulage rope of weight brought when climbing, improved operating efficiency.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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 structural diagram of a robot up-down beam platform according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a robot up-down beam platform according to embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram III of a robot up-down beam platform according to embodiment 1 of the present invention;
fig. 4 is a schematic diagram of a robot offline method according to embodiment 2 of the present invention;
fig. 5 is a schematic diagram two of a robot offline method provided in embodiment 2 of the present invention;
fig. 6 is a schematic diagram III of a robot offline method provided in embodiment 2 of the present invention;
fig. 7 is a schematic diagram IV of a robot offline method provided in embodiment 2 of the present invention;
fig. 8 is a schematic diagram fifth of the robot offline method provided in embodiment 2 of the present invention;
fig. 9 is a schematic diagram six of a robot offline method provided in embodiment 2 of the present invention;
fig. 10 is a schematic diagram seventh of a robot offline method provided in embodiment 2 of the present invention;
fig. 11 is a schematic diagram eight of the robot offline method provided in embodiment 2 of the present invention;
fig. 12 is a schematic diagram nine of a robot offline method provided in embodiment 2 of the present invention;
wherein 1-a first wire; 2-a second wire; 3-hooking grooves; 4-a wire clamping groove; 5-a conical weight sleeve; 6-conical weights; 7-wire grooves; 8-a first auxiliary rope; 9-a speed reducing motor; 10-a first bevel gear; 11-a second bevel gear; 12-a transmission shaft; 13-arc locking plates; 14-pulling rope hooks; 15-auxiliary rope hooks; 16-control panel shielding box; 17-a battery shield case; 18-a drive shield box; 19-a relay shield box; 20-ground wire; 21-unmanned aerial vehicle; a 22-2 mm traction rope; 23-splitting the wire; 24-a heel block; 25-beam platform; 26-a first traction rope; 27-weight blocks; 28-a barrier; 29-a second traction rope; 30-a robot; 31-a photoelectric switch; 32-a platform body; 33-a magnetic attraction device; 34-a second auxiliary rope; 35-fixed pulley.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary 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 is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1:
embodiment 1 of the present invention provides a robot beam platform, as shown in fig. 1, including: the cable slot device comprises a platform body 32, a cable hooking slot 3 positioned at a first end of the platform body 32 and a cable clamping slot 4 positioned at a second end of the platform body 32, wherein a locking device for locking the platform body 32 on a split conductor 23 is arranged on the platform body 32;
the first end and the second end of the platform body 32 are respectively provided with a hook (a traction rope hook 14 and an auxiliary rope hook 15 respectively), the platform body 32 is provided with a fixed pulley 35, a magnetic attraction device 33, a wire groove 7, a weight 27, a conical weight 6 and a conical weight sleeve 5, a first through hole is formed in the middle axis direction of the conical weight 6, and the conical weight 6 is arranged in the conical weight sleeve 5;
the first end of the first auxiliary rope 8 (i.e. the light rope) is connected with the weight 27 absorbed by the magnetic attraction device 33, the second end of the first auxiliary rope 8 passes through the through groove of the conical weight 6 and the wire groove 7 in sequence and then naturally sags after bypassing the fixed pulley, the second end of the first auxiliary rope 8 is provided with a blocking object 28 for blocking the second end of the first auxiliary rope 8 from penetrating out of the first through hole, and the platform body 32 is provided with a second through hole for the weight 27 to fall down and a third through hole for the conical weight 6 to fall down.
In this embodiment, the second through hole (i.e. the hollow on the platform body 32) is located at the position opposite to the bottom of the weight 27 on the platform body 32, and the third through hole (i.e. the hollow on the platform body 32) is located at the outlet position of the conical weight 6 of the conical weight sleeve 5, and the second through hole and the third through hole are located at two sides of the fixed pulley.
As shown in fig. 2 and 3, the central axis of the wire groove 7 is perpendicular to the central axis of the fixed pulley, the wire groove 7 is used for positioning the first auxiliary rope 8, so that the first auxiliary rope 8 is ensured to pass along the wire groove 7, and the influence of the first auxiliary rope 8 on the platform body 32 and parts on the platform body 32 is avoided.
In this embodiment, a fourth through hole for placing the conical weight 6 is formed in the conical weight sleeve 5, a central axis of the fourth through hole forms a set angle with the upper surface of the platform body 32, an outlet of the conical weight 6 of the fourth through hole faces obliquely above the platform body 32, and one end of the conical weight 6 with a small cross section faces obliquely below the platform body 32 in the conical weight sleeve 5.
In this embodiment, the locking device includes: the driving mechanism, the photoelectric switch 31 and the arc locking plate 13 (in a concave hook shape), the driving mechanism is connected with the arc locking plate 13, the arc locking plate 13 can rotate onto a wire under the driving of the driving mechanism, the wire is locked by being matched with the wire hooking groove 3, and the photoelectric switch 31 is used for detecting whether the arc locking plate 13 rotates in place or not.
Optionally, in this embodiment, the driving mechanism includes: the gear motor 9, first bevel gear 10, second bevel gear 11 and transmission shaft 12, gear motor 9's output is connected with first bevel gear 10, first bevel gear 10 and second bevel gear 11 meshing, second bevel gear 11 is connected with transmission shaft 12, transmission shaft 12 is connected with arc locking plate 13, the axis of first bevel gear 10 is perpendicular with the axis of second bevel gear 11, this kind of arrangement of actuating mechanism can guarantee to realize the drive in limited platform body 32 space.
It can be appreciated that in other implementation manners, the driving of the arc locking plate 13 may also be directly implemented by adopting the gear motor 9 and the transmission shaft 12, and a person skilled in the art may select a driving manner according to a specific working condition, so long as the rotation locking of the arc locking plate 13 can be implemented, which is not described herein again.
In this embodiment, a notch is formed at the center of the first end of the platform body 32, and the notch divides the hooking groove 3 into two symmetrical parts, and the arc locking plate 13 is located at the notch position.
In this embodiment, the first end of the platform body 32 is provided with at least two hooks of the first traction rope 26, the second end of the platform body 32 is provided with at least two hooks of the second traction rope 29, and the hooks of the first end and the second end of the platform body 32 are symmetrically arranged along the platform body 32.
In this embodiment, the wire clamping groove 4 is a horn groove facing directly under the platform body 32, and the wire hooking groove 3 is a groove facing toward the lower inner side of the platform body 32.
In the present embodiment, in order to avoid electromagnetic interference, a plurality of shield boxes, such as a control board shield box 16, a battery shield box 17, a driver shield box 18, and a relay shield box 19, are arranged.
In this embodiment, the platform body 32 and each component on the platform body 32 are optimized in layout, so as to ensure that the center of gravity of the platform body 32 and the upper component thereof is located at the center of the robot beam platform 25, so as to ensure the stability and safety of the robot beam platform 25 during the offline.
Example 2:
the embodiment 2 of the invention provides a robot wire feeding and discharging method, taking a four-split wire 23 as an example, crossing a beam type platform 25 described in the embodiment 1 above two wires (namely a first wire 1 and a second wire 2) above the four-split wire 23, clamping two ends of the beam type platform 25 on the two upper wires, ensuring that the beam type platform 25 cannot fall off from the two upper wires, and hoisting a robot 30 between the four-split wires 23 by utilizing a fixed pulley on the beam type platform 25 to realize wire feeding and discharging of the robot 30;
specifically, the method comprises the following steps:
s1: the unmanned aerial vehicle 21 is used for hanging the following pulley 24 on the ground wire 20, firstly, the unmanned aerial vehicle 21 is used for carrying the end part of the 2mm traction rope, the end part flies over the ground wire 20 from the outer side of the four-split conductor 23, the 2mm traction rope 22 is thrown in from the inner side of the ground wire 20, the 2mm traction rope is manually replaced by a 12mm silk rope (namely, the first traction rope 26) with a pulley, and the pulley is arranged on the ground wire 20, as shown in fig. 4.
S2: the first end of the 12mm silk rope (namely the first traction rope 26) on the heel block pulley 24 is connected to the traction rope hook 14 of the beam platform 25, the second end of the 12mm silk rope is pulled by manpower or a winch to quickly pull the beam platform 25 to the vicinity of the four-split wire 23, a debugging person is controlled to be connected to the second auxiliary rope 34 on the auxiliary rope hook 15 of the beam platform 25, the hooking groove 3 of the beam platform 25 is far away from the lower wire of the four-split wire 23, then the winch is continuously driven, the beam platform 25 is integrally brought to the vicinity of the upper wire, the debugging person controls the first traction rope 26 and the second auxiliary rope 34, and the hooking groove 3 of the beam platform 25 can be hooked on the first wire 1, as shown in fig. 5 and 6.
S3: the locking device is started, the gear motor 9 drives the first bevel gear 10 and the second bevel gear 11 to rotate, then drives the transmission shaft 12 to rotate, then drives the arc-shaped locking plate 13 to rotate, cooperates with the hooking groove 3 to lock the beam type platform 25 on the first lead 1, as shown in fig. 7, and then loosens the first traction rope 26 of the heel-bucket pulley 24, so that the beam type platform 25 is slowly placed on the upper lead, and under the positioning of the horn mouth, the final horn mouth is clamped on the second lead 2, as shown in fig. 8.
S4: after the beam platform 25 is positioned on the upper wire (i.e. the first wire 1 and the second wire 2), the locking device is opened, the ground debugging personnel gives a signal, so that the magnetic attraction device 33 (such as an electromagnet) of the pulley at the upper part of the beam platform 25 is powered off, and the counterweight adsorbed on the fixed pulley starts to fall from the second through hole with the first auxiliary rope 8, and the first auxiliary rope 8 bypasses one side of the fixed pulley after the height is measured, as shown in fig. 9.
S5: after the weight 27 at the first end of the first auxiliary rope 8 falls to the ground, the first auxiliary rope 8 is pulled manually until the other end of the first auxiliary rope 8 starts to fall with the conical weight (the second end of the first auxiliary rope 8 is provided with a blocking object 28, which cannot move continuously after contacting the conical weight 6, and the conical weight 6 can be pulled out of the conical weight sleeve 5 by continuously applying a pulling force, so that the second traction rope 29 (i.e. the silk rope of the traction robot 30) is hung on the beam platform 25 under the mutual cooperation of the weight and the conical weight), as shown in fig. 10, and the object of hanging the second traction rope 29 (i.e. the silk rope of the traction robot 30) is realized.
S6: the first end of the second traction rope 29 hung on the fixed pulley of the beam platform 25 is fixed on the robot 30, the second end is connected to a climbing device, the robot 30 is quickly lifted to a wire through the climbing device, the first end of the second traction rope 29 is connected to a bifurcation hinge, two bifurcation are connected with the body of the robot 30, the robot 30 is ensured to keep a vertical posture all the time in the lifting process, as shown in fig. 12, an adjusting rope for adjusting the posture is arranged on the body of the robot 30, the robot 30 is ensured to smoothly enter the four-split wire 23, and the robot 30 is controlled to be directly hung on the wire after the robot 30 enters the range of the four-split wire 23, so that the robot 30 is realized to be on line.
S7: after the robot 30 works, the robot 30 is placed on the ground from the set detection position through the second traction rope 29;
the locking device is started to lock the second end of the beam type platform 25 on the first lead 1, the first end of the first traction rope 26 is pulled, the wire clamping groove 4 is separated from the second lead 2, the locking device is loosened, the beam type platform 25 is placed on the ground by controlling the first traction rope 26, and after the beam type platform 25 falls to the ground, the first traction rope 26 with the pulley is taken off from the ground wire 20.
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 (10)

1. An up-down beam platform for a robot, comprising: the device comprises a platform body, a hooking groove positioned at the first end of the platform body and a clamping groove positioned at the second end of the platform body, wherein a locking device for locking the platform body on a split conductor is arranged on the platform body;
the first end of the platform body is provided with a traction rope hook, the second end of the platform body is provided with an auxiliary rope hook, the platform body is provided with a fixed pulley, a magnetic attraction device, a wire groove, a weight block, a conical weight and a conical weight sleeve, a first through hole is formed in the center axis direction of the conical weight, and the conical weight is arranged in the conical weight sleeve;
the first end of first supplementary rope is connected with by the absorptive heavy object piece of magnetism suction device, and behind the fixed pulley was walked around to the second end of first supplementary rope, natural whereabouts behind the logical groove of toper heavy object and the metallic channel of passing in proper order, and the second end of first supplementary rope is equipped with the barrier that is used for stopping the second end of first supplementary rope to wear out first through-hole, opens on the platform body and has the second through-hole that is used for the heavy object piece to drop and is used for the third through-hole that the toper heavy object dropped.
2. A robot up-down beam platform according to claim 1, wherein,
the second through hole is positioned at a position opposite to the bottom of the weight block on the platform body, the third through hole is positioned at a conical weight outlet of the conical weight sleeve, and the second through hole and the third through hole are positioned at two sides of the fixed pulley.
3. A robot up-down beam platform according to claim 1, wherein,
the central axis of the wire groove is perpendicular to the central axis of the fixed pulley.
4. A robot up-down beam platform according to claim 1, wherein,
the conical weight sleeve is internally provided with a fourth through hole for placing the conical weight, the central axis of the fourth through hole is at a set angle with the upper surface of the platform body, and the outlet of the conical weight of the fourth through hole faces obliquely upwards of the platform body.
5. A robot up-down beam platform according to claim 1, wherein,
a locking device comprising: the driving mechanism, the photoelectric switch and the arc locking plate are connected, the arc locking plate can rotate to the wire under the driving of the driving mechanism, the wire is locked by being matched with the wire hooking groove, and the photoelectric switch is used for detecting whether the arc locking plate rotates in place.
6. The robot up-down beam platform of claim 5, wherein,
a drive mechanism, comprising: the device comprises a speed reducing motor, a first bevel gear, a second bevel gear and a transmission shaft;
the output end of the gear motor is connected with a first bevel gear, the first bevel gear is meshed with a second bevel gear, the second bevel gear is connected with a transmission shaft, the transmission shaft is connected with a arc locking plate, and the central axis of the first bevel gear is perpendicular to the central axis of the second bevel gear.
7. The robot up-down beam platform of claim 5, wherein,
the first end central point of platform body puts and opens there is the breach, the breach will collude the wire casing and divide into two parts of symmetry, and arcuation locking plate is located the breach position.
8. A robot up-down beam platform according to claim 1, wherein,
the first end of platform body is equipped with two at least haulage rope couples, and the second end of platform body is equipped with two at least supplementary rope couples, and the haulage rope couple of the first end and the second end of platform body is arranged along platform body symmetry.
9. A robot up-down beam platform according to claim 1, wherein,
the wire clamping groove is a horn groove facing to the right lower part of the platform body, and the wire hooking groove is a groove facing to the lower inner side of the platform body.
10. A robot on-line and off-line method, characterized in that the robot on-line and off-line beam platform according to any one of claims 1-9 is utilized, comprising the following processes:
the first traction rope with the pulley is hung on the ground wire;
the first end of the first traction rope is hung on a traction rope hook at the first end of the platform body, and the first traction rope and a second auxiliary rope connected to the auxiliary rope hook are pulled to pull the robot up-down line beam type platform to a wire position;
the first traction rope is regulated, the wire hooking groove is hooked on the first guide wire, the locking device is started, the second end of the platform body is locked on the first guide wire, the first traction rope is loosened, the platform body is slowly put flat, the wire hooking groove is clamped on the second guide wire, and the first guide wire and the second guide wire are guide wires positioned on the same horizontal plane;
the locking device is opened, the magnetic attraction device is powered off, the weight blocks adsorbed on the magnetic attraction device start to fall from the second through holes with the first auxiliary ropes, the first auxiliary ropes are continuously pulled after the weight blocks fall to the ground, and the conical weight is pulled out of the conical weight sleeve under the cooperation of the blocking objects, so that the conical weight falls from the third through holes;
replacing the first auxiliary rope with a second traction rope for pulling the robot, and pulling the robot to a working position under the cooperation of the upper and lower line beam type platform of the robot and the second traction rope;
after the robot works, the robot is placed on the ground at a self-set detection position through a second traction rope;
the locking device is started to lock the second end of the platform body on the first lead, the first end of the first traction rope is pulled to enable the wire clamping groove to be separated from the second lead, the locking device is loosened, and the platform body is placed on the ground by controlling the first traction rope and the second auxiliary rope;
and after the platform body falls to the ground, the first traction rope with the pulley is taken down from the ground wire.
CN202310840899.7A 2023-07-10 2023-07-10 Robot on-off line beam type platform and robot on-off line method Pending CN116690651A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310840899.7A CN116690651A (en) 2023-07-10 2023-07-10 Robot on-off line beam type platform and robot on-off line method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310840899.7A CN116690651A (en) 2023-07-10 2023-07-10 Robot on-off line beam type platform and robot on-off line method

Publications (1)

Publication Number Publication Date
CN116690651A true CN116690651A (en) 2023-09-05

Family

ID=87824020

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310840899.7A Pending CN116690651A (en) 2023-07-10 2023-07-10 Robot on-off line beam type platform and robot on-off line method

Country Status (1)

Country Link
CN (1) CN116690651A (en)

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