CN119009611B - Emergency power access robot - Google Patents
Emergency power access robotInfo
- Publication number
- CN119009611B CN119009611B CN202411138874.3A CN202411138874A CN119009611B CN 119009611 B CN119009611 B CN 119009611B CN 202411138874 A CN202411138874 A CN 202411138874A CN 119009611 B CN119009611 B CN 119009611B
- Authority
- CN
- China
- Prior art keywords
- wire
- main body
- emergency power
- assembly
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/04—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for forming connections by deformation, e.g. crimping tool
- H01R43/048—Crimping apparatus or processes
- H01R43/05—Crimping apparatus or processes with wire-insulation stripping
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/04—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for forming connections by deformation, e.g. crimping tool
- H01R43/048—Crimping apparatus or processes
- H01R43/052—Crimping apparatus or processes with wire-feeding mechanism
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- 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
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/82—Recycling of waste of electrical or electronic equipment [WEEE]
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
The invention provides an emergency power supply access robot which comprises a wire feeding structure, a wire stripping tool and a wire connecting tool, wherein the wire feeding structure comprises a main body assembly and two traveling assemblies connected with the main body assembly, the two traveling assemblies are respectively contacted with a wire and are movably arranged along the extending direction of the wire, a movable mechanical arm is arranged on the main body assembly, a camera shooting part is arranged on the end part of the mechanical arm, the main body assembly is arranged in a lifting manner relative to the wire so as to enable the mechanical arm to move close to the wire, the wire stripping tool and the wire connecting tool are respectively detachably arranged on the main body assembly, so that after the mechanical arm grabs the wire stripping tool to strip the outer skin of the wire, the wire stripped by the wire stripping tool is grabbed to be connected with an emergency power supply wire, and the problem that in the prior art, the emergency power supply robot is difficult to achieve accurate alignment operation with the wire so that the maintenance work efficiency is low is solved.
Description
Technical Field
The invention relates to the technical field of power maintenance equipment, in particular to an emergency power supply access robot.
Background
At present, when a distribution network line needs to be connected with a drainage line or an emergency power restoration work is performed, the line wire and an external line need to be combined, and the connection mode is mostly developed by adopting a mode of connecting an output power line of a generator car. The operator uses the insulating arm car or the climbers to reach the operation point to ascend a height and connect wires, and the output power line of the emergency power generation car is manually connected into the 10kV overhead distribution line to recover line power supply. The existing emergency robot discloses that wiring device follows the line arm and is close to the net circuit of joining in marriage in step when being close to the net circuit of joining in marriage and reaches preset clamping position, and carousel device, wiring device and fastener device are integrated on turning device, when skinning, detects the crust thickness of net circuit of joining in marriage through thickness detection unit, skinning device adjusts corresponding play sword volume according to crust thickness to the realization is to the action of skinning of joining in marriage the net circuit.
However, the wire stripping feed control is poor to damage the wires due to the fact that the color detection precision is easily influenced by the illumination intensity, the wire clamping mechanism is a U-shaped opening, when the wire clamping mechanism is aligned and clamped with the wires, actions such as overturning and translation are needed, the wires which are clamped or are clamped are often easy to be inaccurate, if the wire clamping mechanism has an inclination angle, the eccentric condition can occur in the wire stripping process, the wire stripping is not clean, and the reworking condition is needed.
Disclosure of Invention
The invention mainly aims to provide an emergency power supply access robot so as to solve the problem that in the prior art, the emergency power supply robot is difficult to realize accurate alignment operation with a wire, so that maintenance work efficiency is low.
In order to achieve the aim, the invention provides an emergency power supply access robot which comprises a wire feeding structure, a wire stripping tool and a wire connecting tool, wherein the wire feeding structure comprises a main body assembly and two traveling assemblies connected with the main body assembly, the two traveling assemblies are respectively contacted with a wire and are movably arranged along the extending direction of the wire, a movable mechanical arm is arranged on the main body assembly, a camera shooting part is arranged on the end part of the mechanical arm, the main body assembly is arranged in a lifting manner relative to the wire so as to enable the mechanical arm to move close to the wire, the wire stripping tool and the wire connecting tool are respectively detachably arranged on the main body assembly, so that after the mechanical arm grabs the wire stripping tool to strip the outer skin of the wire, the wire stripping tool is grabbed to bond the wire stripped by the wire stripping tool with the emergency power supply wire.
The wire stripping tool comprises a fixing base, a clamping assembly and a cutter, wherein the clamping assembly is rotatably arranged on the fixing base and used for clamping a wire, the cutter is arranged on the clamping assembly, a cutter head of the cutter is in contact with the outer skin of the wire, and the cutter head is obliquely arranged with the central axis of the wire, so that when the mechanical arm drives the wire stripping tool to move along the extending direction of the wire and the clamping assembly rotates, the cutter is used for stripping the outer skin of the wire along the spiral line direction.
The wire stripping tool further comprises a rotating assembly arranged on the fixed base, the rotating assembly comprises a mounting shell, a first gear and a second gear, the first gear and the second gear are arranged in the mounting shell in a meshed mode, the first gear is provided with an opening groove for a wire to pass through, the clamping assembly is connected with the first gear and located at the opening groove, and the first driving part is connected with the driving end of the first driving part so as to drive the first gear to rotate and drive the clamping assembly to rotate along the central axis of the wire.
Further, the clamping assembly comprises a mounting frame body, two clamping parts and a cutter, wherein the two clamping parts are relatively movably arranged on the mounting frame body, and the cutter is arranged on one of the two clamping parts, so that the two clamping parts relatively move to be in contact with the wire to clamp the wire, and the cutter is in contact with the outer skin of the wire.
The clamping assembly further comprises two first guide rods which are respectively arranged on the mounting frame body and respectively penetrate through the two clamping parts, a first bidirectional screw rod which is arranged on the mounting frame body and is positioned between the two first guide rods, the two clamping parts are respectively connected with two ends of the first bidirectional screw rod in a threaded mode, and the second driving part is connected with the driving end of the second driving part when the first bidirectional screw rod penetrates out of the mounting frame body so as to drive the two clamping parts to move relatively.
The wire connection tool comprises a mounting base, two pressing parts and an emergency power wire, wherein the two pressing parts are arranged on the mounting base in a relatively movable mode, the emergency power wire is arranged on one of the two pressing parts, so that the two pressing parts relatively move to be in contact with a wire stripped by the wire stripping tool, and the emergency power wire is in pressing joint with the wire.
The wiring tool further comprises two second guide rods which are respectively arranged on the mounting base, the two second guide rods are respectively arranged on the two pressing parts in a penetrating mode, a second bidirectional screw rod which is arranged on the mounting base and is positioned between the two second guide rods, the two pressing parts are respectively connected with two ends of the second bidirectional screw rod in a threaded mode, and one end, penetrating out of the mounting base, of the second bidirectional screw rod is connected with the driving end of the third driving part to drive the two pressing parts to move relatively.
The walking assembly further comprises a fixed frame body and walking wheels, wherein the walking wheels are rotatably arranged on the fixed frame body, are contacted with the wires and are movably arranged along the extending direction of the wires, and the walking wheels are in an up-down line state inclined relative to the vertical direction and a limiting state fixed relative to the wires.
The walking assembly comprises a fixed frame body, a telescopic component, a fixed end of the telescopic component, a sliding block and a sliding block, wherein the fixed end of the telescopic component is rotatably connected with the fixed plate, the sliding block is slidably arranged in the sliding groove, when a walking wheel is in an up-down line state, the telescopic component contracts to drive the sliding block to move to one end of the sliding groove, which is close to the fixed plate, so that the fixed frame body is obliquely arranged, and when the walking wheel is in the up-down line state, the fixed frame bodies of the two walking assemblies are symmetrically arranged along the vertical direction.
The walking assembly further comprises two third guide rods which are respectively arranged on the fixed frame body, a one-way screw rod which is arranged on the fixed frame body and positioned between the two third guide rods, a movable block, two third guide rods which are respectively arranged on the movable block in a penetrating way, the one-way screw rod which is arranged on the movable block in a penetrating way and is in threaded connection with the movable block, a brake block is connected to the movable block, and a fourth driving part, one end of the one-way screw rod is connected with the driving end of the fourth driving part so as to drive the movable block to drive the brake block to move to be in abutting connection with the guide wire, so that the walking wheel is in a limiting state.
The main body assembly comprises a wire hanging frame, a frame main body and two walking assemblies, wherein the wire hanging frame is provided with two hooks which are respectively hooked on a wire, the frame main body is connected with the wire hanging frame and moves in a lifting manner relative to the wire hanging frame, and the two walking assemblies are respectively connected with the frame main body so that the frame main body drives the two walking assemblies to move to be respectively contacted with the wire.
The main body assembly further comprises a tape coiling component rotatably arranged on the main body of the rack, and a traction belt, wherein the fixed end of the traction belt is wound on the tape coiling component, and the free end of the traction belt is wound on a guide wheel on the hanging frame and then fixed on the main body of the rack, so that the traction belt drives the main body of the rack to move relative to the hanging frame.
The emergency power supply access robot comprises a wire feeding structure, a wire stripping tool and a wire connecting tool, wherein the wire feeding structure comprises a main body assembly and two traveling assemblies connected with the main body assembly, the two traveling assemblies are respectively contacted with a wire and are movably arranged along the extending direction of the wire, a movable mechanical arm is arranged on the main body assembly, a camera shooting part is arranged on the end part of the mechanical arm, the main body assembly is arranged in a lifting manner relative to the wire so as to enable the mechanical arm to move close to the wire, and the wire stripping tool and the wire connecting tool are respectively and detachably arranged on the main body assembly so that after the mechanical arm grabs the wire stripping tool to strip the outer skin of the wire, the wire stripping tool is grabbed to bond the wire stripped by the wire stripping tool with the emergency power supply wire. Thus, the main body component is overhead on the wire through the two traveling components, and after the main body component is driven to reach the corresponding position, the wire stripping tool and the wire connection tool are respectively and independently grabbed through the mechanical arm to work in sequence, the form of the visual technology of combining the mechanical arm with the camera shooting component is adopted, the mechanical arm is used for grabbing the wire stripping work, the wire stripping work is enabled to be accurately aligned with the wire, the wire stripping direction can be adjusted by the inclination angle of the self-adaptive wire, the insulating layer of the wire is stripped cleanly on the premise of not damaging the wire, after the wire stripping is completed, the whole emergency power supply is connected to the robot without displacement change, the wire connection tool is directly grabbed by the mechanical arm, the camera shooting component is combined to accurately position the wire stripped wire and be connected with the emergency power supply wire, after power supply is completed, the whole re-electrifying work is completed, the continuous displacement-free operation is realized, the moving and re-positioning time of the main body component is shortened, the whole working efficiency is improved, and the operation complexity is reduced, and the problem that the maintenance work efficiency is lower due to the accurate alignment operation of the wire is difficult to realize in the prior art is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 shows a schematic overall structure of a first view of an embodiment of an emergency power access robot according to the present invention;
FIG. 2 shows a schematic overall structure of a second view of an embodiment of an emergency power access robot according to the present invention;
FIG. 3 shows a schematic diagram of the structure of the portion A in FIG. 2;
Fig. 4 shows a schematic structural diagram of a wire stripping tool of an embodiment of an emergency power access robot according to the invention.
Wherein the above figures include the following reference numerals:
1. a wire;
10. an upper line structure;
20. the device comprises a main body assembly, a mechanical arm, a 210, a camera shooting component, a 22, a wire hanging rack, a 220, a hook, a 23, a rack main body, a 24 and a guide wheel, wherein the main body assembly is a frame;
30. The device comprises a walking assembly, a fixed frame body, 310, a sliding groove, 32, a walking wheel, 33, a fixed plate, 34, a telescopic part, 341, a sliding block, 35, a third guide rod, 36, a unidirectional screw rod, 37, a movable block, 38, a brake block, 39 and a fourth driving part;
40. Wire stripping tool, 41, fixed base, 42, clamping component, 420, mounting frame body, 421, clamping component, 422, first guide rod, 423, first bidirectional screw rod, 424, second driving component, 43, cutter, 44, rotating component, 440, mounting shell, 441, first gear, 442, second gear, 443, open slot, 444, first driving component;
50. The wire connecting tool comprises a wire connecting tool body, a mounting base, a pressing component, a second guide rod, a second bidirectional screw rod and a third driving component.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
The invention provides an emergency power supply access robot, which aims to solve the problem that in the prior art, the maintenance efficiency is low because the emergency power supply robot is difficult to realize accurate alignment operation with a wire.
Referring to fig. 1 to 4, the emergency power access robot according to the technical scheme of the invention comprises a wire feeding structure 10, a wire stripping tool 40 and a wire connection tool 50, wherein the wire feeding structure 10 comprises a main body component 20 and two traveling components 30 connected with the main body component 20, the two traveling components 30 are respectively contacted with a wire 1 and movably arranged along the extending direction of the wire 1, a movable mechanical arm 21 is arranged on the main body component 20, an imaging component 210 is arranged on the end part of the mechanical arm 21, the main body component 20 is arranged in a liftable manner relative to the wire 1 so as to enable the mechanical arm 21 to move close to the wire 1, the wire stripping tool 40 and the wire connection tool 50 are respectively detachably arranged on the main body component 20, so that after the mechanical arm 21 grabs the wire stripping tool 40 strips the outer skin of the wire 1, the wire 1 stripped by the wire stripping tool 40 is grabbed by the wire connection tool 50 to be connected with an emergency power wire.
According to the technical scheme, the main body assembly 20 is overhead on the wire 1 through the two traveling assemblies 30, the wire stripping tool 40 and the wire connection tool 50 are respectively and independently grabbed through the mechanical arm 21 after the main body assembly 20 reaches the corresponding positions, the wire stripping tool 50 is grabbed by the mechanical arm 21 in combination with the visual technology of the camera component 210, the wire stripping work is grabbed by the mechanical arm 21, so that the main body assembly is accurately aligned with the wire 1, the wire stripping direction can be adjusted by the inclination angle of the wire 1 in a self-adaptive manner, the insulating layer of the wire 1 is stripped completely on the premise of not damaging the wire 1, the whole emergency power supply is accessed to the robot without displacement change after the wire stripping is completed, the wire connection tool 50 is grabbed by the mechanical arm 21 directly, the camera component 210 is combined to accurately position the wire 1 after the wire stripping is connected with the emergency power supply wire, the wire connection tool 50 is grabbed by the mechanical arm 21 after the power supply is completed, the whole re-electrifying work is completed, the moving and repositioning time of the main body assembly 20 is reduced, the whole work is improved, the whole work is completed, the work is difficult to realize the accurate alignment work of the wire stripping work of the wire 1 in the emergency power supply, and the work is difficult to realize.
As shown in fig. 4, the wire stripping tool 40 comprises a fixed base 41, a clamping component 421 and a cutter 43, wherein the clamping component 42 is rotatably arranged on the fixed base 41 and used for clamping the wire 1, the cutter 43 is arranged on the clamping component 42, a cutter head of the cutter 43 is in contact with the outer skin of the wire 1, and the cutter head is obliquely arranged with the central axis of the wire 1, so that when the mechanical arm 21 drives the wire stripping tool 40 to move along the extending direction of the wire 1 and the clamping component 42 rotates, the cutter 43 strips the outer skin of the wire 1 along the spiral line direction. Thus, when the wire 1 is clamped by the wire stripping assembly through the mechanical arm 21, the tool bit of the tool 43 is driven by the vision technology of the camera component 210 to be accurately and obliquely inserted into the insulating layer of the outer skin of the wire 1, and as the tool 43 is inserted into the insulating layer of the wire 1 at a certain inclination angle, an axial force is generated when the clamping assembly 42 drives the tool 43 to rotate, and simultaneously, under the driving of the mechanical arm 21, the tool 43 rotates around the central axis of the wire 1 and moves along the central axis of the wire 1 in a direction away from the main body assembly 20, so that a spiral motion is formed to strip the insulating layer of the outer skin of the wire 1 spirally, so that the wire stripping operation is completed.
In order to realize spiral stripping of the insulating layer of the wire 1, the wire stripping tool 40 further comprises a rotating assembly 44 arranged on the fixed base 41, the rotating assembly 44 comprises a mounting shell 440, a first gear 441, a second gear 442 and a first driving component 444, the first gear 441 and the second gear 442 are arranged in the mounting shell 440 in a meshed mode, the first gear 441 is provided with an opening slot 443 through which the wire 1 passes, the clamping assembly 42 is connected with the first gear 441 and located at the opening slot 443, and the second gear 442 is connected with the driving end of the first driving component 444 to drive the first gear 441 to rotate and drive the clamping assembly 42 to rotate along the central axis of the wire 1. The first driving member 444 is a driving motor. Thus, the wire 1 passes through the opening slot 443 of the first gear 441 and is clamped by the clamping assembly 42, so that when the first driving component 444 drives the second gear 442 to rotate, the first gear 441 rotates and drives the clamping assembly 42 to rotate under the transmission of the second gear 442, so that the cutter 43 rotates around the central axis of the wire 1, and the mechanical arm 21 moves away from the main body assembly 20, so that the cutter 43 peels off the insulation layer of the wire 1 along the spiral line direction.
Specifically, the clamping assembly 42 includes a mounting frame body 420 and two clamping members 421, the two clamping members 421 being relatively movably provided on the mounting frame body 420, and the cutter 43 being provided on one of the two clamping members 421 such that the two clamping members 421 are relatively moved into contact with the wire 1 to clamp the wire 1 and the cutter 43 is brought into contact with the outer skin of the wire 1. The two clamping members 421 are respectively clamping plates with arc-shaped plate sections, so that the two clamping members 421 move relatively until the arc-shaped plate sections thereof are in contact with the outer skin of the wire 1 to clamp the wire 1, and meanwhile, the tool bit of the tool 43 is driven to insert into the outer skin insulating layer of the wire 1 along a certain inclination angle when the clamping members 421 move.
Specifically, the clamping assembly 42 further includes two first guide rods 422, a first bidirectional screw rod 423 and a second driving component 424, the two first guide rods 422 are respectively disposed on the mounting frame body 420, the two first guide rods 422 are respectively disposed on the two clamping components 421 in a penetrating manner, the first bidirectional screw rod 423 is disposed on the mounting frame body 420 and located between the two first guide rods 422, the two clamping components 421 are respectively in threaded connection with two ends of the first bidirectional screw rod 423, and one end of the first bidirectional screw rod 423 penetrating out of the mounting frame body 420 is connected with a driving end of the second driving component 424 to drive the two clamping components 421 to move relatively. The second driving part 424 is a driving motor. Thus, the two clamping members 421 are respectively connected with the two ends of the first bidirectional screw rod 423 through the screw holes in a threaded manner, so that when the second driving member 424 drives the first bidirectional screw rod 423 to rotate, the two clamping members 421 respectively move relatively close to each other along the extending direction of the first guide rod 422 to clamp the wire 1, and meanwhile, the tool bit of the tool 43 connected to the clamping members 421 is inserted into the insulating layer of the wire 1 along a certain inclination angle.
As shown in fig. 3, the wire connection tool 50 comprises a mounting base 51 and two pressing members 52, wherein the two pressing members 52 are relatively movably arranged on the mounting base 51, and an emergency power wire is arranged on one of the two pressing members 52 so as to enable the two pressing members 52 to relatively move to be in contact with the wire 1 stripped by the wire stripping tool 40 and enable the emergency power wire to be in pressing joint with the wire 1. Thus, after the wire stripping operation is completed, the mechanical arm 21 grabs the wire stripping tool 40 and returns to the original position, then the mechanical arm 21 grabs the wire stripping tool 50 to carry out the wire stripping operation on the wire 1 after the wire stripping operation is completed, the two pressing parts 52 are controlled to move relatively close to each other accurately by combining the visual technology of the image pickup part 210 to align with the exposed wire 1 stripped by the wire stripping tool 40, so that the pressing parts 52 drive an emergency power wire to be clamped and connected with the exposed wire 1.
Specifically, the wiring tool 50 further includes two second guide rods 53, a second bidirectional screw rod 54 and a third driving component 55, the two second guide rods 53 are respectively disposed on the mounting base 51, the two second guide rods 53 are respectively disposed on the two pressing components 52 in a penetrating manner, the second bidirectional screw rod 54 is disposed on the mounting base 51 and located between the two second guide rods 53, the two pressing components 52 are respectively connected with two ends of the second bidirectional screw rod 54 in a threaded manner, and one end of the second bidirectional screw rod 54 penetrating through the mounting base 51 is connected with a driving end of the third driving component 55 so as to drive the two pressing components 52 to move relatively. In the above arrangement, the third driving component 55 is a driving motor, so that the two pressing components 52 are respectively connected with two ends of the second bidirectional screw rod 54 through threaded holes, when the third driving component 55 drives the second bidirectional screw rod 54 to rotate, the two pressing components 52 respectively move relatively close to each other along the extending direction of the second guide rod 53, so that an emergency power line arranged on the pressing components 52 is engaged with the exposed wire 1 under the clamping of the two pressing components 52, the access of the emergency power supply is completed, after the power supply is completed, the mechanical arm 21 retrieves the wiring tool 50, and the whole re-electricity operation flow is completed.
As shown in fig. 2, the traveling assembly 30 includes a fixed frame 31 and traveling wheels 32, the traveling wheels 32 are rotatably provided on the fixed frame 31, the traveling wheels 32 are in contact with the wire 1 and are movably provided along the extending direction of the wire 1, and the traveling wheels 32 have an up-down line state inclined with respect to the vertical direction and a limit state fixed with respect to the wire 1. In the above arrangement, the travelling wheel 32 is movably connected with the wire 1 along the extending direction of the wire 1, so that the travelling wheel 32 moves to an up-down state inclined relative to the vertical direction in the up-down process of the travelling assembly 30, so that the travelling wheel 32 is mounted right above the wire 1 and is convenient to take down from the wire 1, and when the travelling wheel 32 is in a limiting state, the travelling wheel 32 is fixed relative to the wire 1, so that the main assembly 20 is kept stationary at the current position.
Specifically, a sliding groove 310 is provided on one side of the fixed frame 31, the walking assembly 30 further comprises a fixed plate 33 and a telescopic member 34, the fixed plate 33 is connected with the bottom of the fixed frame 31, the telescopic member 34 is telescopically arranged, a fixed end of the telescopic member 34 is rotatably connected with the fixed plate 33, a movable end of the telescopic member 34 is connected with a sliding block 341, the sliding block 341 is slidably disposed in the sliding groove 310, when the walking wheel 32 is in an up-down state, the telescopic member 34 contracts to drive the sliding block 341 to move to one end of the sliding groove 310 close to the fixed plate 33, so that the fixed frame 31 is obliquely arranged, wherein when the walking wheel 32 is in the up-down state, the fixed frames 31 of the two walking assemblies 30 are symmetrically arranged along the vertical direction. In this way, when the travelling wheel 32 moves to the up-down state, the telescopic component 34 contracts to drive the sliding block 341 connected with the movable end thereof to move along the sliding groove 310 to an end close to the fixed plate 33 so as to jack the fixed frame 31 to an inclined position, so that the travelling wheel 32 arranged on the fixed frame 31 moves to the up-down state inclined relative to the vertical direction, at this time, the up-down operation of the travelling wheel 32 can be realized by controlling the travelling wheel 32 to be buckled on the wire 1 or taken out from the wire 1, and when the travelling wheel 32 is in the inclined up-down state and is in contact with the wire 1 in the up-wire hanging process, the movable end of the telescopic component 34 is controlled to extend and drive the sliding block 341 to move along the sliding groove 310 to an end close to the travelling wheel 32 so as to enable the travelling wheel 32 to be arranged and buckled right above the wire 1 in the vertical direction, thereby completing the up-wire operation.
In this embodiment, a fifth driving component, which is a driving motor, is further disposed on the fixing frame 31, and the travelling wheel 32 is connected to the driving end of the fifth driving component, so that the travelling wheel 32 is driven to rotate by the fifth driving component.
Specifically, the walking assembly 30 further comprises two third guide rods 35, a unidirectional screw rod 36, a movable block 37 and a fourth driving component 39, wherein the two third guide rods 35 are respectively arranged on the fixed frame body 31, the unidirectional screw rod 36 is arranged on the fixed frame body 31 and located between the two third guide rods 35, the two third guide rods 35 are respectively arranged on the movable block 37 in a penetrating mode, the unidirectional screw rod 36 is arranged on the movable block 37 in a penetrating mode and is in threaded connection with the movable block 37, a brake block 38 is connected to the movable block 37, one end of the unidirectional screw rod 36 is connected with the driving end of the fourth driving component 39 to drive the movable block 37 to drive the brake block 38 to move to abut against the lead 1, and the walking wheel 32 is in a limiting state. The fourth driving part 39 is a driving motor. Like this, movable block 37 passes through the screw hole and is connected with unidirectional screw rod 36 screw thread for when fourth drive part 39 drives unidirectional screw rod 36 rotation, movable block 37 moves along the extending direction of third guide arm 35, so as to drive brake block 38 to be close to wire 1 and move to with wire 1 contact, in order to walk wheel 32 drive main part subassembly 20 and walk to the position of working after, brake block 38 supports wire 1 from the bottom up, in order to realize firmly fixing main part subassembly 20 on wire 1, prevent to skid or the left and right hunting along wire 1 circuit, in order to ensure the accuracy of follow-up wire stripping and wiring operation.
In this embodiment, the movable block 37 is further provided with an anti-drop wheel, when the travelling wheel 32 travels along the wire 1, the movable block 37 moves along the extending direction of the third guide rod 35 near the wire 1, so as to drive the anti-drop wheel to move from bottom to top to prop against the wire 1, and thus the travelling wheel 32 can be prevented from being separated from the wire 1.
As shown in fig. 1 and 2, the main body assembly 20 comprises a wire hanging frame 22 and a rack main body 23, wherein two hooks 220 are arranged on the wire hanging frame 22, the two hooks 220 are respectively hooked on the wire 1, the rack main body 23 is connected with the wire hanging frame 22 and moves in a lifting manner relative to the wire hanging frame 22, and the two traveling assemblies 30 are respectively connected with the rack main body 23, so that the rack main body 23 drives the two traveling assemblies 30 to move to be respectively contacted with the wire 1. The above arrangement, the wire hanging frame 22 includes an insulating rod and two hooks 220 disposed on the insulating rod, so that when the main body assembly 20 performs the wire winding and unwinding operation, the wire hanging frame 22 is hung and buckled on the wire 1, and the frame main body 23 is controlled to perform lifting motion relative to the wire hanging frame 22 so as to drive the two traveling assemblies 30 to perform lifting motion, so that the traveling wheel 32 in the vertical state moves to a position in corresponding contact with the wire 1, so that the traveling wheel 32 is buckled on the wire 1 or the traveling wheel 32 is taken out from the wire 1.
Specifically, the main body assembly 20 further comprises a tape winding component and a traction belt, the tape winding component is rotatably arranged on the rack main body 23, the fixed end of the traction belt is wound on the tape winding component, and the free end of the traction belt is wound on the guide wheel 24 on the hanging frame 22 and then fixed on the rack main body 23, so that the traction belt drives the rack main body 23 to move relative to the hanging frame 22. The above arrangement, the winding part is a reel, the traction belt is wound on the winding part, the rotating shaft of the winding part is connected with a sixth driving part which is a driving motor, thus, the winding part is driven to rotate by the sixth driving part, so that the traction belt is wound on the winding part or released from the winding part, and the ascending or descending of the main body assembly 20 is realized.
In this embodiment, the main body assembly 20 is provided with a gyroscope, which is used for detecting the levelness of the main body assembly 20 in real time, and setting a leveling program of the gyroscope to adjust the start-stop speed and the speed of the fifth driving component in real time, so that the main body assembly 20 is always in a horizontal state in the process of being on-line and off-line.
From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:
The emergency power supply access robot comprises an upper wire structure, a wire stripping tool and a wire connection tool, wherein the upper wire structure comprises a main body component and two traveling components connected with the main body component, the two traveling components are respectively contacted with a wire and are movably arranged along the extending direction of the wire, a movable mechanical arm is arranged on the main body component, a camera shooting component is arranged on the end part of the mechanical arm, the main body component is arranged in a lifting manner relative to the wire so that the mechanical arm moves close to the wire, the wire stripping tool and the wire connection tool are respectively detachably arranged on the main body component, so that after the mechanical arm grabs the wire stripping tool to strip the outer skin of the wire, the wire stripping tool is grabbed again to bond the wire stripped by the wire stripping tool with the emergency power supply wire. Thus, the main body component is overhead on the wire through the two traveling components, and after the main body component is driven to reach the corresponding position, the wire stripping tool and the wire connection tool are respectively and independently grabbed through the mechanical arm to work in sequence, the form of the visual technology of combining the mechanical arm with the camera shooting component is adopted, the mechanical arm is used for grabbing the wire stripping work, the wire stripping work is enabled to be accurately aligned with the wire, the wire stripping direction can be adjusted by the inclination angle of the self-adaptive wire, the insulating layer of the wire is stripped cleanly on the premise of not damaging the wire, after the wire stripping is completed, the whole emergency power supply is connected to the robot without displacement change, the wire connection tool is directly grabbed by the mechanical arm, the camera shooting component is combined to accurately position the wire stripped wire and be connected with the emergency power supply wire, after power supply is completed, the whole re-electrifying work is completed, the continuous displacement-free operation is realized, the moving and re-positioning time of the main body component is shortened, the whole working efficiency is improved, and the operation complexity is reduced, and the problem that the maintenance work efficiency is lower due to the accurate alignment operation of the wire is difficult to realize in the prior art is solved.
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 application. 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.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of the present invention, and the azimuth terms "inside and outside" refer to inside and outside with respect to the outline of each component itself.
Spatially relative terms, such as "above," "upper" and "upper surface," "above" and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the process is carried out, the exemplary term "above" may be included. Upper and lower. Two orientations below. The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
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 (11)
1. An emergency power access robot, comprising:
The wire feeding structure (10) comprises a main body assembly (20) and two traveling assemblies (30) connected with the main body assembly (20), wherein the two traveling assemblies (30) are respectively contacted with a wire (1) and are movably arranged along the extending direction of the wire (1), a movable mechanical arm (21) is arranged on the main body assembly (20), an image pickup component (210) is arranged on the end part of the mechanical arm (21), and the main body assembly (20) is arranged in a lifting manner relative to the wire (1) so that the mechanical arm (21) moves close to the wire (1);
The wire stripping tool (40) and the wire connecting tool (50) are respectively and detachably arranged on the main body assembly (20), so that the mechanical arm (21) can grasp the wire stripping tool (40) to strip the outer skin of the wire (1), and then grasp the wire connecting tool (50) to connect the wire (1) stripped by the wire stripping tool (40) with an emergency power wire;
The wire stripping tool (40) comprises a fixed base (41), a clamping assembly (42) and a cutter (43), wherein the clamping assembly (42) is rotatably arranged on the fixed base (41) and used for clamping the wire (1), the cutter (43) is arranged on the clamping assembly (42) and a cutter head of the cutter (43) is in contact with the outer skin of the wire (1), and the cutter head is obliquely arranged with the central axis of the wire (1) so that the mechanical arm (21) drives the wire stripping tool (40) to move along the extending direction of the wire (1) and the cutter (43) strips the outer skin of the wire (1) along the spiral line direction when the clamping assembly (42) rotates.
2. The emergency power access robot of claim 1, wherein the wire stripping tooling (40) further comprises a rotating assembly (44) disposed on the stationary base (41), the rotating assembly (44) comprising:
a mounting housing (440);
A first gear (441) and a second gear (442) disposed in the mounting housing (440) in a meshed manner, the first gear (441) having an open slot (443) through which the wire (1) passes, the clamping assembly (42) being connected to the first gear (441) and located at the open slot (443);
The second gear (442) is connected with the driving end of the first driving part (444) so as to drive the first gear (441) to rotate and drive the clamping assembly (42) to rotate along the central axis of the wire (1).
3. The emergency power access robot of claim 1, wherein the clamping assembly (42) comprises:
a mounting frame body (420);
two clamping members (421) are relatively movably provided on the mounting frame body (420), and the cutter (43) is provided on one of the two clamping members (421) so that the two clamping members (421) are relatively moved into contact with the wire (1) to clamp the wire (1), and the cutter (43) is brought into contact with the outer skin of the wire (1).
4. An emergency power access robot according to claim 3, wherein the clamping assembly (42) further comprises:
The two first guide rods (422) are respectively arranged on the mounting frame body (420), and the two first guide rods (422) are respectively arranged on the two clamping parts (421) in a penetrating way;
the first bidirectional screw rod (423) is arranged on the mounting frame body (420) and positioned between the two first guide rods (422), and the two clamping parts (421) are respectively connected with the two ends of the first bidirectional screw rod (423) in a threaded manner;
And one end of the first bidirectional screw rod (423) penetrates out of the mounting frame body (420) and is connected with the driving end of the second driving part (424) so as to drive the two clamping parts (421) to move relatively.
5. The emergency power access robot of claim 1, wherein the wiring fixture (50) comprises:
a mounting base (51);
And two pressing parts (52) are arranged on the mounting base (51) in a relatively movable manner, and the emergency power line is arranged on one of the two pressing parts (52) so as to enable the two pressing parts (52) to relatively move to be in contact with the wire (1) subjected to wire stripping by the wire stripping tool (40) and enable the emergency power line to be in pressing joint with the wire (1).
6. The emergency power access robot of claim 5, wherein the wiring fixture (50) further comprises:
two second guide rods (53) are respectively arranged on the mounting base (51), and the two second guide rods (53) are respectively arranged on the two pressing parts (52) in a penetrating way;
The second bidirectional screw rod (54) is arranged on the mounting base (51) and positioned between the two second guide rods (53), and the two pressing parts (52) are respectively connected with two ends of the second bidirectional screw rod (54) in a threaded manner;
and one end of the second bidirectional screw rod (54) penetrating out of the mounting base (51) is connected with the driving end of the third driving part (55) so as to drive the two pressing parts (52) to move relatively.
7. The emergency power access robot of claim 1, wherein the walk assembly (30) comprises:
A fixed frame body (31);
The walking wheel (32) is rotatably arranged on the fixed frame body (31), the walking wheel (32) is contacted with the wire (1) and is movably arranged along the extending direction of the wire (1), and the walking wheel (32) is provided with an upper line and a lower line inclined relative to the vertical direction and a limiting state fixed relative to the wire (1).
8. The emergency power access robot of claim 7, wherein a sliding groove (310) is provided at one side of the fixed frame body (31), and the traveling assembly (30) further comprises:
The fixed plate (33) is connected with the bottom of the fixed frame body (31);
The telescopic component (34) is arranged in a telescopic way, the fixed end of the telescopic component (34) is rotatably connected with the fixed plate (33), the movable end of the telescopic component (34) is connected with a sliding block (341), the sliding block (341) is slidably arranged in the sliding groove (310), and when the travelling wheel (32) is in the on-off line state, the telescopic component (34) contracts to drive the sliding block (341) to move to one end, close to the fixed plate (33), of the sliding groove (310), so that the fixed frame body (31) is obliquely arranged;
When the travelling wheels (32) are in the on-off line state, the fixing frame bodies (31) of the two travelling assemblies (30) are symmetrically arranged along the vertical direction.
9. The emergency power access robot of claim 7, wherein the walk assembly (30) further comprises:
Two third guide rods (35) which are respectively arranged on the fixed frame body (31);
The unidirectional screw rod (36) is arranged on the fixed frame body (31) and is positioned between the two third guide rods (35);
the two third guide rods (35) are respectively penetrated on the movable block (37), the unidirectional screw rod (36) is penetrated on the movable block (37) and is in threaded connection with the movable block (37), and the movable block (37) is connected with a brake block (38);
And one end of the unidirectional screw rod (36) is connected with the driving end of the fourth driving part (39), so that the movable block (37) is driven to drive the brake block (38) to move to be abutted with the lead (1), and the travelling wheel (32) is in a limiting state.
10. The emergency power access robot of claim 1, wherein the body assembly (20) comprises:
The wire hanging frame (22), wherein two hooks (220) are arranged on the wire hanging frame (22), and the two hooks (220) are respectively hooked on the lead (1);
The frame main body (23) is connected with the wire hanging frame (22) and moves in a lifting mode relative to the wire hanging frame (22), the two walking assemblies (30) are respectively connected with the frame main body (23), and the frame main body (23) drives the two walking assemblies (30) to move to be respectively contacted with the conducting wires (1).
11. The emergency power access robot of claim 10, wherein the body assembly (20) further comprises:
A tape winding member rotatably provided on the frame main body (23);
The fixed end of the traction belt is wound on the winding part, and the free end of the traction belt bypasses a guide wheel (24) on the wire hanging frame (22) and is then fixed on the frame main body (23), so that the traction belt drives the frame main body (23) to move relative to the wire hanging frame (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411138874.3A CN119009611B (en) | 2024-08-19 | 2024-08-19 | Emergency power access robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411138874.3A CN119009611B (en) | 2024-08-19 | 2024-08-19 | Emergency power access robot |
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| CN119009611B true CN119009611B (en) | 2025-11-04 |
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| CN202411138874.3A Active CN119009611B (en) | 2024-08-19 | 2024-08-19 | Emergency power access robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN119070111B (en) * | 2024-08-27 | 2025-11-18 | 广东电网有限责任公司 | Wiring method and wiring device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1379531A (en) * | 1972-05-31 | 1975-01-02 | Amp Inc | Method of and apparatus for stripping a twisted pair of insulated wires |
| CN114614318A (en) * | 2022-03-25 | 2022-06-10 | 国网湖北省电力有限公司电力科学研究院 | Live working robot lead wire connecting system for narrow and complex working conditions and working method thereof |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105703285B (en) * | 2016-04-11 | 2023-11-03 | 国网山东省电力公司高唐县供电公司 | Electric fire-receiving robot |
| CN111416307A (en) * | 2020-04-24 | 2020-07-14 | 国网江西省电力有限公司南昌供电分公司 | A fire-fighting robot that is convenient for stripping and draining |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1379531A (en) * | 1972-05-31 | 1975-01-02 | Amp Inc | Method of and apparatus for stripping a twisted pair of insulated wires |
| CN114614318A (en) * | 2022-03-25 | 2022-06-10 | 国网湖北省电力有限公司电力科学研究院 | Live working robot lead wire connecting system for narrow and complex working conditions and working method thereof |
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