CN-115535102-B - Power transmission and distribution line self-adaptive rotating online and offline robot

Abstract

The invention belongs to the field of automatic robots, and provides a self-adaptive swivel robot for a power transmission and distribution line, which comprises a robot main body, wherein two suspension arms are arranged on the robot main body, travelling wheel assemblies are arranged on the suspension arms, guide blocks with guide edges are arranged at the tops of the suspension arms in an inward and downward inclined manner, a transfer arm is further rotationally connected with the suspension arms through a reset assembly, and a tiger mouth is inwards arranged at the tail end of the transfer arm.

Inventors

• YANG DAWEI
• Peng Daimao

Assignees

• 武汉戎汇电通科技有限公司

Dates

Publication Date

20260512

Application Date

20220402

Claims (7)

1. 1. The self-adaptive rotating body line feeding and discharging robot for the power transmission and distribution line comprises a robot main body, wherein two suspension arms are arranged on the robot main body, and the self-adaptive rotating body line feeding and discharging robot is characterized in that walking wheel assemblies are arranged on the suspension arms, guide blocks with guide edges are arranged at the tops of the suspension arms, the guide edges of the two guide blocks are inclined inwards and downwards, when a wire is guided by the guide blocks, the whole robot is twisted, the suspension arms are further rotationally connected with a transfer arm through a reset assembly, the tail ends of the transfer arm are inwards provided with tiger mouths, the reset assembly is a plunger spring, one end of the plunger spring acts on the transfer arm, a wire position sensing plate capable of moving along with the wire is further arranged on the suspension arms, and a position sensor for sensing the position of the wire position sensing plate is further arranged on the suspension arms.
2. 2. The power transmission and distribution line self-adaptive rotating on-line and off-line robot according to claim 1, wherein compression wheel assemblies are arranged in the suspension arms, each compression wheel assembly comprises an electric push rod, a substrate is connected to an output shaft of each electric push rod through an elastic buffer column, and two compression wheels are connected to an upper rotation of the substrate.
3. 3. The power transmission and distribution line adaptive rotating body on-off robot according to claim 1 or 2, wherein the traveling wheel assembly comprises traveling wheels, the traveling wheels are rotatably arranged at the top of a suspension arm, a traveling motor is arranged at the bottom of the suspension arm, and an output shaft of the traveling motor is connected with the traveling wheels through a synchronous belt.
4. 4. The power transmission and distribution line adaptive swivel on-off robot of claim 3 wherein the swivel arm top is rotatably mounted to the boom by a jack screw.
5. 5. The power transmission and distribution line adaptive swivel on-off robot of claim 4, wherein a limit screw is further provided on the boom near the position sensor.
6. 6. The power transmission and distribution line adaptive rotating on-off robot according to claim 5, wherein the suspension arm is further provided with a guide frame matched with the rotating guide arm, and the plunger spring is arranged in the guide frame.
7. 7. The power transmission and distribution line self-adaptive rotating body on-off robot according to claim 2, wherein the side wall of the suspension arm is provided with a strip-shaped hole along the length direction of the suspension arm, a movable rod is fixedly connected to the substrate, and the movable rod penetrates through the strip-shaped hole and is provided with a sliding block.

Description

Power transmission and distribution line self-adaptive rotating online and offline robot Technical Field The invention belongs to the field of automatic robots, and particularly relates to a self-adaptive swivel on-line and off-line robot for a power transmission and distribution line. Background In overhead operations of power transmission and distribution lines, such as overhead bare conductor insulating coating, overhead construction and subsequent line maintenance operations, including cleaning operations of tree barriers and other impurities within a line safety range, wire disconnection and wire drainage operations and the like, all need to travel along a line and a cable line and perform construction and operation treatment. Because the danger of manual operation is big, so present robot's use is also more and more frequent, and the robot of present widely used need frequently open and merge swing arm when last, lower wire operation, and the operation is comparatively loaded down with trivial details, and work efficiency is low, and mechanical control is comparatively complicated, and volume and weight are also comparatively big. Disclosure of Invention In view of the above problems, the invention aims to provide a power transmission and distribution line self-adaptive rotating on-off robot, which aims to solve the problem that the on-off device of the existing power transmission and distribution line operation robot cannot realize complete autonomous on-line and off-line. The invention adopts the following technical scheme: The power transmission and distribution line self-adaptive swivel offline robot comprises a robot main body, two suspension arms are arranged on the robot main body, travelling wheel assemblies are arranged on the suspension arms, guide blocks with guide edges are arranged at the tops of the suspension arms, the guide edges of the two guide blocks are all inclined inwards and downwards, the suspension arms are further connected with rotary guide arms through reset assemblies in a rotating mode, and tiger mouths are formed in the tail ends of the rotary guide arms in an inwards opening mode. Further, all be provided with the pinch roller subassembly in the davit, the pinch roller subassembly includes electric putter, be connected with the base plate on electric putter's the output shaft through elastic buffer post, the last rotation of base plate is connected with two pinch rollers. Further, the walking wheel assembly comprises a walking wheel, the walking wheel is rotatably arranged at the top of the suspension arm, a walking motor is arranged at the bottom of the suspension arm, and an output shaft of the walking motor is connected with the walking wheel through a synchronous belt. Further, the reset component is a plunger spring, the top of the rotary arm is rotatably mounted to the suspension arm through a stopper screw, and one end of the plunger spring acts on the rotary arm. Further, the suspension arm is further provided with a wire position sensing plate capable of moving along with the wire, the suspension arm is further provided with a position sensor for sensing the position of the wire position sensing plate, and a limit screw matched with the wire position sensing plate is further arranged near the position sensor. Further, a guide frame matched with the rotary guide arm is further arranged on the suspension arm, and the plunger spring is arranged in the guide frame. Further, the side wall of the suspension arm is provided with a strip-shaped hole along the length direction of the suspension arm, the base plate is fixedly connected with a movable rod, and the movable rod penetrates through the strip-shaped hole and is provided with a sliding block. The self-adaptive swivel robot for the power transmission and distribution line has the beneficial effects that the robot is simple in structure, small in weight and size, convenient to assemble, disassemble and maintain and low in use cost. The robot uses the guide block at the top end of the hanging arm and the rotary arm to twist the wire, so that the whole angle of the robot is twisted, the travelling wheel and the wire self-adaptively avoid, the swing control of the hanging arm is not needed, the work of the upper wire and the lower wire can be completed, the control is simple, the structure is reliable, and the operation is efficient. The robot uses the plunger spring to reset the rotary arm, so that the robot is simple and efficient. The robot is provided with the position sensor for sensing the position of the lead, and the robot moves according to the signal sent by the position sensor, so that automatic operation is realized. Drawings Fig. 1 is a schematic diagram of a part of a three-dimensional structure of a power transmission and distribution line adaptive rotating on-line and off-line robot. Fig. 2 is a schematic diagram of a part of a three-dimensional structure of the power transmission and distribution li