Overhead line damping spacer rod automatic installation and removal robot

Abstract

The present application relates to a kind of overhead line damping spacer bar automatic installation and dismounting robot, comprising: base;Walking device is set on base, can walk along overhead line;Spacer bar storage mechanism is set on base, for placing interval bar to be installed and / or dismounting interval bar;Spacer bar clamping mechanism is installed on base in adjustable manner, for clamping interval bar to be installed and / or dismounting interval bar;Spacer bar installation and dismounting mechanism is slid on spacer bar clamping mechanism, for control hoop on interval bar to open or close;Component installation and dismounting mechanism is set on base, for installing or dismounting the pin on the hoop of corresponding interval bar and split pin.The present application can be installed or replaced in high altitude in automatic damping spacer bar, avoids manual high-altitude operation, reduces operation risk, can guarantee operation safety and has higher operation efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-altitude installation and dismounting robots, in particular to an aerial line damping spacer rod automatic installation and dismounting robot. BACKGROUND

[0002] The damping spacer rod is a flexible or semi-rigid spacer rod capable of reducing the wind vibration or sub-span oscillation of the split conductor, and is a main fitting in the split conductor structure. The basic task of the spacer rod is to prevent whipping between the conductors, suppress wind vibration and sub-span oscillation.

[0003] The damping spacer rod is installed between the aerial lines. The existing installation and replacement of the damping spacer rod are manual operations. The workers need to walk to the set position on the aerial line, and then manually install or replace the damping spacer rod. The damping spacer rod is heavy, and the workers are inconvenient to carry in the high altitude. When installing or replacing, the workers need to be hoisted from the ground or transported on the aerial line by using a flying car. The existing flying car has a small space, and can only transport one damping spacer rod at a time. The transportation of the spacer rod and the manual operation have the problems of low efficiency and high risk. Therefore, a new solution is urgently needed. SUMMARY

[0004] The present application aims to overcome the defects of the prior art, and provides an aerial line damping spacer rod automatic installation and dismounting robot to solve the problems of low efficiency and high risk in the existing manual operation of the aerial line damping spacer rod.

[0005] The technical solution to achieve the above-mentioned purpose is:

[0006] The present application provides an aerial line damping spacer rod automatic installation and dismounting robot, comprising:

[0007] a base;

[0008] a walking device provided on the base and capable of walking along the aerial line;

[0009] a spacer rod storage mechanism provided on the base and used for placing the spacer rod to be installed and / or the spacer rod dismounted;

[0010] a spacer rod clamping mechanism installed on the base in a position-adjustable manner and close to the spacer rod storage mechanism, and used for clamping the spacer rod to be installed and / or the spacer rod dismounted;

[0011] a spacer rod installation and dismounting mechanism slidingly arranged on the spacer rod clamping mechanism, capable of being close to the spacer rod clamped on the spacer rod clamping mechanism by sliding adjustment, and used for controlling the opening or closing of the clamp plate on the spacer rod; and

[0012] A component mounting and dismounting mechanism is arranged on the base, and when the walking device is arranged on the overhead line, the component mounting and dismounting mechanism is arranged close to the overhead line, and the component mounting and dismounting mechanism is used for mounting or dismounting the pin shaft and the split pin on the hoop plate of the corresponding spacer.

[0013] The robot can automatically mount or replace the damping spacer in the air, avoids manual high-altitude operation, reduces operation risk, and is provided with a spacer storage mechanism, can store a large number of damping spacers, avoids the problems of small quantity and low efficiency existing in the existing spacer hoisting and flywheel transportation, and has a work efficiency much higher than that of manual work, thereby ensuring work safety and having high work efficiency.

[0014] Further improvement of the overhead line damping spacer automatic mounting and dismounting robot lies in that the component mounting and dismounting mechanism comprises a mounting frame movably arranged on the base, a split pin direction adjusting assembly rotatably arranged on the mounting frame, a split pin taking-out assembly movably arranged on the mounting frame, a split pin storage structure arranged on the mounting frame, a pin shaft storage structure arranged on the mounting frame and a pin shaft taking-out assembly adjustably arranged on the mounting frame.

[0015] An end portion of the split pin direction adjusting assembly is provided with a clamping piece corresponding to the pin shaft, the corresponding pin shaft is clamped through the clamping piece, and then the direction of the pin hole on the pin shaft is adjusted through rotation adjustment.

[0016] The split pin taking-out assembly is used for mounting or dismounting the corresponding split pin.

[0017] The pin shaft taking-out assembly is used for mounting or dismounting the corresponding pin shaft.

[0018] Further improvement of the overhead line damping spacer automatic mounting and dismounting robot lies in that the component mounting and dismounting mechanism further comprises a split pin unfolding assembly arranged on the mounting frame and arranged opposite to the split pin taking-out assembly, and used for unfolding the tail portion of the split pin to realize the fixation of the split pin and the pin shaft.

[0019] Further improvement of the overhead line damping spacer automatic mounting and dismounting robot lies in that the split pin taking-out assembly comprises a rotating structure, a pair of telescopic clamps arranged on the rotating structure and a limiting rod arranged at an end portion of the telescopic clamp.

[0020] The pair of telescopic clamps can be telescopically adjusted, the pair of telescopic clamps can be close to or away from each other through telescopic adjustment, so that the limiting rod can be inserted into or moved out of the circular hole at the head portion of the split pin.

[0021] The further improvement of the overhead line damping spacer rod automatic installation and dismounting robot lies in that the pin shaft taking-out assembly comprises a telescopic adjusting piece and an electromagnet block arranged at the end of the telescopic adjusting piece, the telescopic adjusting piece is telescopically adjustable, and the electromagnet block can adsorb the corresponding pin shaft after being electrified.

[0022] The further improvement of the overhead line damping spacer rod automatic installation and dismounting robot lies in that the spacer rod mounting and dismounting mechanism comprises a fixing frame, a rotatably adjustable adsorption plate arranged on the fixing frame and corresponding to the hoop plate on the spacer rod, and a telescopic adjusting clamping pincer mounted on the fixing frame.

[0023] The fixing frame is slidably arranged on the spacer rod clamping mechanism.

[0024] The adsorption plate can adsorb the corresponding hoop plate, and then rotates the corresponding hoop plate by rotating adjustment to realize the opening or closing of the hoop plate; when the hoop plate rotates to the closed state, the clamping pincer can clamp the corresponding hoop plate by telescopic adjustment to make the hoop plate complete the butt joint.

[0025] The further improvement of the overhead line damping spacer rod automatic installation and dismounting robot lies in that the base vertically has a vertical slide, a transverse slide slidably arranged on the vertical slide, and a telescopic mechanical arm slidably arranged on the transverse slide.

[0026] The spacer rod clamping mechanism is rotatably mounted at the end of the telescopic mechanical arm.

[0027] The further improvement of the overhead line damping spacer rod automatic installation and dismounting robot lies in that the spacer rod storage mechanism comprises a movable adjusting limiting frame arranged on the base, a limiting plate oppositely arranged with the limiting frame, and a supporting spring supported and connected between the limiting frame and the base, the supporting spring applies a force to the limiting frame to move the limiting frame to the direction of the limiting plate, so that the limiting frame and the limiting plate clamp the corresponding spacer rod.

[0028] The further improvement of the overhead line damping spacer rod automatic installation and dismounting robot lies in that the walking device comprises a plurality of supports vertically arranged on the base, and a pair of rollers with adjustable spacing are arranged on the supports corresponding to the overhead line, and the pair of rollers can be clamped on or separated from the corresponding overhead line by adjusting the spacing.

[0029] The further improvement of the overhead line damping spacer rod automatic installation and dismounting robot lies in that the pair of rollers are rotatably mounted on corresponding mounting seats, and a bidirectional telescopic electric cylinder is connected between the opposite mounting seats, and the bidirectional telescopic electric cylinder can adjust the spacing between the pair of rollers. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 Structure diagram of the robot for automatic installation and dismounting of damping spacer of overhead line of the present application.

[0031] Figure 2 Structure diagram of the walking device of the robot for automatic installation and dismounting of damping spacer of overhead line of the present application.

[0032] Figure 3 Structure diagram of the walking device of the robot for automatic installation and dismounting of damping spacer of overhead line of the present application. Figure 2 Sectional view of a pair of rollers in the walking device.

[0033] Figure 4 Structure diagram of the spacer storage mechanism of the robot for automatic installation and dismounting of damping spacer of overhead line of the present application.

[0034] Figure 5 Structure diagram of the spacer clamping mechanism and spacer installation and dismounting mechanism of the robot for automatic installation and dismounting of damping spacer of overhead line of the present application.

[0035] Figure 6 Structure diagram of the spacer clamping mechanism and spacer installation and dismounting mechanism of the robot for automatic installation and dismounting of damping spacer of overhead line of the present application. Figure 5 Side view of the first side of the spacer clamping mechanism and spacer installation and dismounting mechanism.

[0036] Figure 7 Side view of the second side of the spacer clamping mechanism and spacer installation and dismounting mechanism. Figure 5

[0037] Structure diagram of the spacer installation and dismounting mechanism of the robot for automatic installation and dismounting of damping spacer of overhead line of the present application. Figure 8

[0038] Structure diagram of the spacer installation and dismounting mechanism of the robot for automatic installation and dismounting of damping spacer of overhead line of the present application. Figure 9

[0039] Structure diagram of the component installation and dismounting mechanism of the robot for automatic installation and dismounting of damping spacer of overhead line of the present application. Figure 10

[0040] Structure diagram of the component installation and dismounting mechanism of the robot for automatic installation and dismounting of damping spacer of overhead line of the present application. Figure 11 Figure 10 Enlarged diagram of the top of the component installation and dismounting mechanism.

[0041] Figure 12 Structure diagram of the split pin steering assembly of the robot for automatic installation and dismounting of damping spacer of overhead line of the present application.

[0042] Figure 13 Partially sectional view of the split pin steering assembly of the robot for automatic installation and dismounting of damping spacer of overhead line of the present application.

[0043] ​Figure 14 Structure diagram of the open pin taking-out assembly in the overhead line damping spacer rod automatic installation and dismounting robot of the present application.

[0044] Figure 15 Enlarged diagram of the bottom of the open pin taking-out assembly.

[0045] Figure 16 Structure diagram of the open pin storage structure in the overhead line damping spacer rod automatic installation and dismounting robot of the present application.

[0046] Figure 17 Sectional view of the open pin storage structure in the overhead line damping spacer rod automatic installation and dismounting robot of the present application.

[0047] Figure 18 Structure diagram of the open pin unfolding assembly in the overhead line damping spacer rod automatic installation and dismounting robot of the present application.

[0048] Figure 19 Structure diagram of the pin shaft storage structure and pin shaft taking-out assembly in the overhead line damping spacer rod automatic installation and dismounting robot of the present application.

[0049] Figure 20 is the structure diagram of the pin shaft taking-out assembly. Figure 19 is the top view of the structure shown in

[0050] Figure 21 is the structure diagram of the pin shaft taking-out assembly.

[0051] Figure 22 Structure diagram of the overhead line damping spacer rod automatic installation and dismounting robot in the hanging state.

[0052] Figure 23 Structure diagram of the hanging device for hanging the wire in the overhead line damping spacer rod automatic installation and dismounting robot of the present application. DETAILED DESCRIPTION

[0053] The present application will be further described below in combination with the drawings and specific embodiments.

[0054] Referring to Figure 1 , the present application provides an overhead line damping spacer rod automatic installation and dismounting robot, which realizes the automatic installation and automatic replacement of the spacer rod on the overhead line, and solves the problems of high risk of aerial work and low work efficiency existing in the present manual installation and replacement. The structure of the overhead line damping spacer rod automatic installation and dismounting robot of the present application will be described below in combination with the drawings.

[0055] Referring to Figure 1 , the structure diagram of the overhead line damping spacer rod automatic installation and dismounting robot of the present application is shown on the overhead line. The structure of the overhead line damping spacer rod automatic installation and dismounting robot of the present application will be described below in combination with the drawings.Figure 1 The structure of the overhead line damping spacer rod automatic installation and dismounting robot of the present application is described.

[0056] As shown in Figure 1 the present application, the overhead line damping spacer rod automatic installation and dismounting robot comprises a base 21, a walking device 22, a spacer rod storage mechanism 23, a spacer rod clamping mechanism 24, a spacer rod installation and dismounting mechanism 25 and a component installation and dismounting mechanism 27. The walking device 22 is arranged on the base 21 and can walk along the overhead line 10. The base 21 is hung on the overhead line 10 through the walking device 22 to realize movement along the direction of the overhead line 10. The spacer rod storage mechanism 23 is arranged on the base 21 and is used to place the spacer rod 31 to be installed and / or the spacer rod 31 to be dismounted. The spacer rod clamping mechanism 24 is adjustably installed on the base 21 and is arranged close to the spacer rod storage mechanism 23. The spacer rod clamping mechanism 24 is used to clamp the spacer rod 31 to be installed and / or the spacer rod 31 to be dismounted. The spacer rod installation and dismounting mechanism 25 is slidably arranged on the spacer rod clamping mechanism 24. By sliding adjustment, the spacer rod installation and dismounting mechanism 25 can be close to the spacer rod 31 clamped on the spacer rod clamping mechanism 24 and is used to control the opening or closing of the clamp plate on the spacer rod 31. In combination with Figure 9 the spacer rod installation and dismounting mechanism 25 is used to realize the opening and closing control of the clamp plate 311 on the spacer rod 31. When the spacer rod is installed, the spacer rod installation and dismounting mechanism 25 controls the clamp plate 311 on the spacer rod 31 to close, so that the spacer rod 31 is fixed on the overhead line 10. When the spacer rod is dismounted, the spacer rod installation and dismounting mechanism 25 controls the clamp plate 311 on the spacer rod 31 to open, so that the spacer rod 31 can be separated from the overhead line 10. The component installation and dismounting mechanism 27 is arranged on the base 21. When the walking device 22 is arranged on the overhead line 10, the component installation and dismounting mechanism 27 is arranged close to the overhead line 10. The component installation and dismounting mechanism 27 is used to install or dismount the pin shaft and split pin on the corresponding clamp plate of the spacer rod.

[0057] In combination with Figure 1 and Figure 9 the spacer rod 31 is provided with a rotatable adjustable clamp plate 311, which is clamped on the overhead line 10 through the clamp plate 311. When the clamp plate 311 of the spacer rod 31 holds the overhead line 10, in order to fix the clamp plate 311, the pin shaft is arranged between the corresponding fixed arc plate on the clamp plate 311 and the spacer rod 31, and then the split pin is inserted at the end of the pin shaft. The fixation of the clamp plate 311 is realized by the pin shaft and the split pin, which ensures the firm and reliable fixation between the spacer rod 31 and the overhead line 10.

[0058] The overhead line damping spacer rod automatic installation and dismounting robot of the present application can automatically install a spacer rod and automatically dismount an old spacer rod. The process of the robot automatically installing a spacer rod and automatically dismounting an old spacer rod is described below. When automatically installing a spacer rod, the robot of the present application is hung on the overhead line through the walking device, walks to the installation position of the spacer rod, stops, then clamps a new spacer rod from the spacer rod storage mechanism through the spacer rod clamping mechanism, moves the clamped new spacer rod to the overhead line through the spacer rod clamping mechanism, the hoop plate on the new spacer rod is in an open state, then the spacer rod installation and dismounting mechanism moves to the spacer rod installation position, then the spacer rod installation and dismounting mechanism rotates and closes the hoop plate on the new spacer rod, so that the hoop plate is buckled on the corresponding overhead line, and then the component installation and dismounting mechanism installs the pin shaft and the split pin on the spacer rod, fixes the hoop plate, thereby completing the installation of the new spacer rod. When dismounting an old spacer rod, the robot of the present application walks to the old spacer rod to be dismounted, clamps the old spacer rod through the spacer rod clamping mechanism, then takes out the split pin and the pin shaft on the old spacer rod through the component installation and dismounting mechanism, and then rotates the hoop plate on the old spacer rod to an open state through the spacer rod installation and dismounting mechanism, the spacer rod clamping mechanism takes the old spacer rod off the overhead line and puts it on the spacer rod storage mechanism, thereby completing the dismounting of the old spacer rod.

[0059] In one specific embodiment of the present application, as shown in Figures 1 to 3 The walking device 22 includes a plurality of supports 221 erected on the base 21, and a pair of rollers 222 with adjustable spacing are arranged on the supports 221 corresponding to the overhead line 10. The pair of rollers 222 can be clamped on or separated from the corresponding overhead line 10 by adjusting the spacing.

[0060] Preferably, a slide rail 212 is arranged on the base 21 corresponding to the support 221, and the bottom of the support 221 slides on the corresponding slide rail 212, so that the support 221 can be moved and adjusted on the base 21. Specifically, an electric cylinder is arranged at the slide rail 212, which can be connected with the bottom of the support 221. The extension and retraction of the electric cylinder can drive the support 221 to move and adjust on the slide rail 212. The supports 221 are arranged in pairs and on both sides of the overhead line 10. Two supports 221 slide on one slide rail 212. When the walking device 22 is hung on the overhead line 10, the pair of supports 221 are first adjusted to the ends of the corresponding slide rails 212, so that the spacing between the two supports 221 is maximum. After being hoisted to both sides of the overhead line 10, the positions of the supports 221 are adjusted so that the supports 221 are close to the corresponding overhead line 10. Then the spacing of the pair of rollers 222 is adjusted so that the pair of rollers 222 are clamped on the overhead line 10, thereby completing the hanging of the walking device 22.

[0061] Preferably, two slide rails 212 are arranged at the front and rear of the base 21, and the two slide rails 212 are arranged in parallel at a certain interval, and two supports 221 are arranged on each slide rail 212, and a pair of rollers 222 are arranged on each support 221, and the number of the rollers 222 arranged on each support 221 is consistent with the number of the overhead lines on the side of the support 221. Figure 1 In the example shown, the number of the overhead lines 10 is four, and the robot of the present application is provided with four supports 221 at the front and rear of the base 21, and two pairs of rollers 222 are arranged on each support 221. Two slide rails 212 are arranged at the front and rear of the base, so that the walking device 22 has the function of crossing obstacles when walking along the overhead lines, and when encountering obstacles (such as spacer rods, shock absorbers, suspension lines, etc.), the rollers on the front supports 221 can be adjusted to increase the distance to disengage from the overhead lines 10, and the rear supports 221 are adjusted to the end of the slide rails 212, so that the front supports 221 are away from the overhead lines, and the walking device 22 can move forward at this time, and after passing through the obstacle, the front supports 221 can be adjusted back to continue clamping the overhead lines, and when the rear supports 221 encounter obstacles, the same method can be used to cross the obstacles, and when the front supports cross the obstacles, the rear supports are still connected to the overhead lines, which can ensure the stability of the robot.

[0062] Further, as shown in Figure 3 A pair of rollers 222 are rotatably arranged on the corresponding mounting seat 223, and the two rollers 222 are arranged in an upper and lower relationship, and the two mounting seats 223 are also arranged in an upper and lower relationship, and a two-way telescopic electric cylinder 224 is connected between the two mounting seats 223, and the two-way telescopic electric cylinder 224 can adjust the distance between the two rollers 222, and a roller driving motor 225 is arranged on one of the two mounting seats 223, and the roller driving motor 225 is drivingly connected with the corresponding roller 222, and is used to drive the corresponding roller 222 to rotate. The mounting seat 223 is a U-shaped seat, and the roller 222 is rotatably arranged on the U-shaped seat. The two-way telescopic electric cylinder 224 can be adjusted in two directions, and when the two-way telescopic electric cylinder 224 is extended outward, the distance between the two rollers 222 can be increased, and when the two-way telescopic electric cylinder 224 is retracted inward, the distance between the two rollers 222 can be decreased.

[0063] In one specific embodiment of the present application, as shown in Figure 1 and Figure 4As shown, the spacer rod storage mechanism 23 comprises a movable adjusting limiting frame 231 arranged on the base 21, a limiting plate 232 arranged opposite to the limiting frame 231, and a supporting spring 233 supporting and connecting between the limiting frame 231 and the base 21, the supporting spring 233 applies a force to the limiting frame 231 to move the limiting frame 231 towards the limiting plate 232, so as to realize the clamping of the corresponding spacer rod 31 by the limiting frame 231 and the limiting plate 232. By clamping the spacer rod 31 by the limiting frame 231 and the limiting plate 232, after taking out one spacer rod 31, the supporting spring 233 pushes the limiting frame 231 to move towards the limiting plate 232, so that the limiting frame 231 and the limiting plate 232 clamp the spacer rod 31 in the limiting frame 231. When the old spacer rod 31 is placed in the limiting frame 231, the old spacer rod 31 pushes the limiting frame 231 to compress the supporting spring 233, and after the old spacer rod 31 is placed on the base 21, the supporting spring 233 pushes the limiting frame 231 to clamp the old spacer rod 31 by the limiting frame 231 and the limiting plate 232. Preferably, the spacer rod 31 is placed in the limiting frame 231 from a position close to the limiting plate 232.

[0064] Preferably, the limiting frame and the limiting plate are both provided with two, one of which is used to place a new spacer rod 31, and the other is used to place an old spacer rod 31. Of course, when installing the spacer rod, new spacer rods can be placed in both limiting frames. When replacing the spacer rod, one limiting frame can be used to place the old spacer rod, and the other limiting frame can be used to place the new spacer rod.

[0065] Further preferably, the limiting frame is a square frame with an opening on one side, and the limiting plate is arranged on the opening side of the square frame. Further, as shown, Figure 4 As shown, the base 21 is provided with a positioning block corresponding to the limiting frame, the side of the limiting frame 231 corresponding to the opening side is provided with a guide rail, the guide rail passes through the positioning block, and the supporting spring 233 is supportingly connected between the limiting frame and the positioning block. Through the cooperation of the guide rail and the positioning block, the movement of the limiting frame can be guided. Further, a bottom plate is arranged at the bottom of the side of the limiting frame close to the supporting spring 233, which can raise the limiting frame, so that the bottom of the limiting frame is higher than the top of the limiting plate. In this way, the arrangement of the limiting plate does not limit the movement of the limiting frame, and the limiting frame and the limiting plate are arranged around the spacer rod to realize clamping of the spacer rod, ensuring the stability of the spacer rod during transportation and improving the safety of the robot in high-altitude operation.

[0066] Further, to further improve safety, a surrounding fence is arranged on the base 21 around the spacer rod storage mechanism, which plays a protective role.

[0067] Further, the clamping plates 311 on the spacer rod 31 stored on the spacer rod storage mechanism 23 are in an open state, the spacer rod 31 is vertically arranged on the spacer rod storage mechanism 23, and the storage posture of the spacer rod 31 is at an angle of 90° with the subsequent installation posture of the spacer rod 31, that is, after the spacer rod 31 is clamped to the overhead line 10, the spacer rod 31 is located in the overhead line 10, and when the spacer rod 31 is installed, the spacer rod 31 needs to be rotated by 90°, and then the corresponding clamping plate on the spacer rod 31 can be buckled with the corresponding overhead line.

[0068] In one specific embodiment of the present application, as shown in Figure 1 and Figure 5 , the base 21 is vertically arranged with a vertical slide 261, a horizontal slide 262 slidably arranged on the vertical slide 261, and a telescopic mechanical arm 263 slidably arranged on the horizontal slide 262, and the spacer rod clamping mechanism 24 is rotatably arranged at the end of the telescopic mechanical arm 263. As shown in Figure 6 and Figure 7 , by sliding the horizontal slide 262 along the vertical slide 261, the position of the spacer rod clamping mechanism 24 in the height direction can be adjusted, by sliding the telescopic mechanical arm 263 along the horizontal slide 262, the position of the spacer rod clamping mechanism 24 in the horizontal direction can be adjusted, and by telescopic adjustment of the telescopic mechanical arm 263, the position of the spacer rod clamping mechanism 24 between the overhead lines 10 can be adjusted. Preferably, drive screws are arranged at the vertical slide 261 and the horizontal slide 262, the drive screws are driven to rotate in the forward or reverse direction by a motor, the end of the horizontal slide 262 is provided with a sliding block, the sliding block is slidably arranged on the vertical slide 261 and is threadedly connected with the drive screw, the motor drives the drive screw to rotate, thereby moving the sliding block along the drive screw, and simultaneously moving the horizontal slide 262 along the vertical slide 261 for adjustment. Similarly, the end of the telescopic mechanical arm 263 is also provided with a sliding block, the sliding block is slidably arranged on the horizontal slide 262 and is threadedly connected with the corresponding drive screw, and the telescopic mechanical arm is moved along the horizontal slide 262 for adjustment by driving the motor. The telescopic mechanical arm is preferably a telescopic sleeve, and a drive cylinder is arranged inside the telescopic sleeve, and the telescopic mechanical arm is adjusted by telescopic extension and contraction of the drive cylinder.

[0069] Further, the telescopic mechanical arm 263 is provided with a mounting rod 264 at the end thereof, and the end of the mounting rod 264 is provided with a mounting disc, and the spacer rod clamping mechanism 24 is rotatably mounted on the mounting disc, and the spacer rod clamping mechanism 24 comprises a rotating piece 242 and a pair of clamping plates 241 mounted on the bottom of the rotating piece 242, and the bottom of the pair of clamping plates 241 can be close to each other to clamp the spacer rod, and can be away from each other to release the clamped spacer rod. The rotating piece 242 is preferably a motor, which is rotatably mounted on the mounting disc, and the rotation of the motor can drive the pair of clamping plates 241 to rotate, thereby adjusting the direction of the spacer rod clamped by the pair of clamping plates 241. The bottom of the rotating piece 242 is provided with an assembly seat, and the pair of clamping plates 241 is rotatably mounted on the assembly seat, and a power piece is arranged on the assembly seat and is drivingly connected with the clamping plates 241, and the clamping plates 241 are driven to rotate and adjust by the power piece, and the power piece is preferably a motor drivingly connected with the rotating shaft of the clamping plates 241.

[0070] In combination with Figure 1 As shown in the spacer rod clamping mechanism 24 clamps the spacer rod from the spacer rod storage mechanism 23, the clamped spacer rod 31 is vertically placed on the inner side of the overhead line 10, and after the height of the spacer rod 31 is adjusted in place, the spacer rod clamping mechanism 24 is rotated by 90°, so that the spacer rod 31 is horizontally placed on the inner side of the overhead line 10, and the hoop plates in the open state at the four corners of the spacer rod 31 are located on the outer side of the corresponding overhead line, and the spacer rod mounting and dismounting mechanism can be used to rotate and adjust the hoop plates to realize the hoop setting of the corresponding overhead line.

[0071] In one specific embodiment of the present application, as Figure 8 and Figure 9 shown, the spacer rod mounting and dismounting mechanism 25 comprises a fixed frame 251, a suction plate 252 rotatably arranged on the fixed frame 251 and corresponding to the hoop plate 311 on the spacer rod 31, and a clamping clamp 253 telescopically arranged on the fixed frame 251, in combination with Figure 5 and Figure 7 shown, the fixed frame 251 is slidably arranged on the spacer rod clamping mechanism 24, the suction plate 252 can adsorb the corresponding hoop plate 311, and then drive the corresponding hoop plate 311 to rotate by rotating adjustment to realize the opening or closing of the hoop plate 311, and when the hoop plate is rotated to the closed state, the clamping clamp 253 can clamp the corresponding hoop plate 311 by telescopic adjustment to complete the butt joint of the hoop plate 311.

[0072] Preferably, the fixed frame 251 is a square frame, the suction plate 252 is arranged at the corner of the square frame, and the top of the square frame is provided with a hanging plate 2511, which is hung on the spacer rod clamping mechanism 24 and can move along the spacer rod clamping mechanism 24 for adjustment, and specifically, as Figure 7As shown, a lateral plate is arranged at the side of the rotating piece 242 of the spacer clamping mechanism 24, and the hanging plate 2511 is hung on the lateral plate and can be adjusted in movement along the lateral plate. A push cylinder is arranged at the end of the lateral plate, and the end of the push cylinder is connected with the hanging plate 2511. The hanging plate 2511 is pushed and pulled by the push cylinder to realize the movement adjustment of the spacer mounting and dismounting mechanism 25. The push cylinder drives the movement adjustment of the spacer mounting and dismounting mechanism 25, so that the spacer mounting and dismounting mechanism 25 is close to or away from the spacer clamping mechanism 24.

[0073] Further, the corner of the fixed frame 251 is provided with a rotation driving assembly for driving the rotation of the adsorption plate 252. The rotation driving assembly comprises a driving gear 2521 and a driven gear 2522 which are rotatably arranged on the fixed frame 251, and a first motor 2523 arranged on the fixed frame 251. The driving gear 2521 and the driven gear 2522 are engaged with each other. The first motor 2523 is drivingly connected with the driving gear 2521. The first motor 2523 can drive the rotation of the driving gear 2521. In turn, the driving gear 2521 drives the rotation of the driven gear 2522. The driven gear 2522 is connected with the adsorption plate 252. When the driven gear 2522 rotates, the adsorption plate 252 rotates with the driven gear 2522. When the adsorption plate 252 is adsorbed on the corresponding hoop plate 311 of the spacer, the adsorption plate 252 rotates with the hoop plate 311.

[0074] Further, the end of the adsorption plate 252 is fixedly provided with a suction cup 2524. The suction cup 2524 can adsorb the corresponding hoop plate 311 of the spacer.

[0075] Further, as shown in FIG. 6, the spacer mounting and dismounting mechanism 25 is provided with a plurality of adsorption plates 252. The adsorption plates 252 are arranged in the same direction and are arranged in a staggered manner. Figure 8 and Figure 9As shown, the fixed frame 251 is provided with a telescopic cylinder 2531 near the adsorption plate 252, and a clamping jaw 253 is fixed to the end of the telescopic cylinder 2531. The telescopic cylinder 2531 can drive the clamping jaw 253 to move and adjust. When the spacer rod is installed, the telescopic cylinder 2531 retracts with the clamping jaw 253 to avoid the position of the hoop plate on the spacer rod. The adsorption plate 252 rotates with the hoop plate 311 to be buckled on the overhead line 10. Then the telescopic cylinder 2531 extends with the clamping jaw 253. Then the clamping jaw 253 clamps the hoop plate and the fixed arc plate on the spacer rod, ensuring that the hoop plate and the fixed arc plate are butt-jointed in place, that is, the pin hole on the hoop plate and the fixed arc plate are aligned. The inner side of the hoop plate 311 is provided with a rubber pad, and the hoop plate 311 can be clamped in place by the clamping jaw 253 to ensure the smooth installation of the subsequent pin shaft and split pin. Preferably, the clamping jaw 253 includes a first electric cylinder 2533, a fixed jaw 2534 fixed to the first electric cylinder 2533, and a movable jaw 2532 fixed to the end of the first electric cylinder 2533. The movable jaw 2532 and the fixed jaw 2534 are oppositely arranged. The movable jaw 2532 is driven by the first electric cylinder 2533 to move and adjust, so that the movable jaw 2532 approaches the fixed jaw 2534 to clamp the corresponding hoop plate, or the movable jaw 2532 moves away from the fixed jaw 2534.

[0076] In one specific embodiment of the present application, as shown in Figure 1 、 Figure 10 and Figure 11 , the component mounting and dismounting mechanism 27 of the present application includes a mounting frame 271 movably mounted on the base 21, an open pin direction adjusting assembly 272 rotatably mounted on the mounting frame 271, an open pin taking-out assembly 273 movably mounted on the mounting frame 271, an open pin storage structure 274 provided on the mounting frame 271, a pin shaft storage structure 275 provided on the mounting frame 271, and a pin shaft taking-out assembly 276 positionally adjustably mounted on the mounting frame 271. The end of the open pin direction adjusting assembly 272 is provided with a clamping piece corresponding to the pin shaft, which clamps the corresponding pin shaft and then adjusts the direction of the pin hole on the pin shaft by rotating adjustment. The open pin taking-out assembly 273 is used to mount or dismount the corresponding open pin. The pin shaft taking-out assembly 276 is used to mount or dismount the corresponding pin shaft.

[0077] Preferably, the number of the open pin direction adjusting assembly 272, the open pin taking-out assembly 273, the open pin storage structure 274, the pin shaft storage structure 275, and the pin shaft taking-out assembly 276 is consistent with the number of the hoop plates on the spacer rod, which is used to mount or dismount the open pin and the pin shaft on the corresponding hoop plate.

[0078] Further, the base 21 is provided with a track 211, and the mounting frame 271 is slidably arranged on the track 211, and the mounting frame 271 can be adjusted by moving along the track 211. Preferably, a screw rod and a motor are arranged at the track 211, the motor can drive the screw rod to rotate, and the bottom of the mounting frame 271 is threadedly connected to the screw rod, and the mounting frame 271 is driven to move by the rotation of the screw rod.

[0079] Further, as shown in Figures 11 to 13 the opening pin adjusting assembly 272 comprises a frame 2722, a rotating cylinder 2723 rotatably arranged on the frame 2722, a second electric cylinder 2724 arranged on the rotating cylinder 2723, and a mounting head 2725 arranged at the end of the second electric cylinder 2724, and a clamping piece is arranged on the mounting head 2725, and a pair of clamping grooves are oppositely arranged on the mounting head 2725, the clamping piece comprises a pair of push rods 2721 arranged in the corresponding clamping grooves, a pair of electromagnets are arranged on the inner sides of the push rods 2721 and the clamping grooves, and a spring 2726 is further arranged between the inner sides of the clamping grooves and the push rods 2721, the spring 2726 applies an elastic force to the push rods 2721 to move the push rods 2721 to the outer sides of the clamping grooves, so that the distance between the two push rods 2721 is greater than the diameter of the corresponding pin shaft, and the second electric cylinder 2724 can drive the mounting head 2725 to extend and retract, when the pin shaft is disassembled, the second electric cylinder 2724 is extended to allow the two push rods 2721 to be located at the side of the corresponding pin shaft, then the electromagnets are electrified to generate a magnetic force, the push rods 2721 are moved to the inner sides of the clamping grooves by the magnetic force, the two push rods 2721 compress the spring 2726 and clamp the pin shaft, and then the rotating cylinder 2723 is rotated to rotate the pin shaft together, so as to adjust the direction of the pin hole on the pin shaft, so that the pin hole corresponds to the opening pin taking-out assembly 273.

[0080] Preferably, a second motor 2728 is arranged on the frame 2722, a rotating shaft is connected to the motor shaft of the second motor 2728, and a small gear 2729 is connected to the rotating shaft. The bottom of the rotating cylinder 2723 is provided with an inner tooth rotary support 2727, the inner tooth rotary support 2727 is rotatably arranged on the frame 2722, and the inner tooth rotary support 2727 is engaged with the small gear 2729, the second motor 2728 drives the small gear 2729 to rotate, the small gear 2729 drives the inner tooth rotary support 2727 to rotate, and then the rotating cylinder 2723 is rotated together.

[0081] In one specific embodiment of the present application, as shown in Figure 14 and Figure 15As shown, the split pin taking-out assembly 273 comprises a rotating structure 2733, a pair of telescopic clamps 2734 arranged on the rotating structure 2733, and a limiting rod 2735 arranged at the end of the telescopic clamp 2734; the pair of telescopic clamps 2734 can be telescopically adjusted, and through the telescopic adjustment, the pair of telescopic clamps 2734 can be moved closer to or farther away from each other, so that the limiting rod 2735 can be inserted into or removed from the circular hole at the head of the split pin. The rotation of the rotating structure 2733 can adjust the direction of the telescopic clamp and the limiting rod, so as to adapt to the position of the head of the split pin.

[0082] Preferably, the pair of telescopic clamps 2734 are oppositely arranged, and a bidirectional electric cylinder 2738 is arranged between the pair of telescopic clamps 2734, which can drive the pair of telescopic clamps 2734 to move in the direction away from each other, and also can drive the pair of telescopic clamps 2734 to move in the direction closer to each other. In combination with Figure 11 and Figure 15 As shown, when clamping the split pin 41, the bidirectional electric cylinder 2738 extends outward, so that the pair of telescopic clamps 2734 move away from each other, and the distance between the pair of telescopic clamps 2734 is greater than the head size of the split pin 41; when the pair of telescopic clamps 2734 are located at the head of the split pin 41, the bidirectional electric cylinder 2738 retracts inward, so that the pair of telescopic clamps 2734 move closer to each other, and the pair of limiting rods 2735 extend into the circular hole at the head of the split pin 41, thereby clamping the split pin 41.

[0083] Further preferably, as shown in Figure 14 A stop plate 2736 is arranged on the side of one telescopic clamp 2734, which is used to limit the head of the split pin, so that the center axis of the circular hole at the head of the split pin is parallel to the center axis of the pin shaft.

[0084] Further, as shown in Figure 11 The mounting frame 271 is provided with a horizontal electric cylinder 2731 corresponding to the split pin taking-out assembly 273, and a vertical electric cylinder 2732 is arranged at the end of the horizontal electric cylinder 2731; in combination with Figure 14 As shown, the end of the vertical electric cylinder 2732 is connected to the rotating structure 2733, the telescopic adjustment of the horizontal electric cylinder 2731 realizes the horizontal position adjustment of the split pin taking-out assembly 273, and the telescopic adjustment of the vertical electric cylinder 2732 realizes the vertical position adjustment of the split pin taking-out assembly 273. The end of the vertical electric cylinder 2732 is provided with a fixed plate, and the rotating structure 2733 is rotatably arranged on the fixed plate, which can be driven to rotate by a motor.

[0085] Further, as shown in Figure 15As shown in the drawings, the bottom of the bidirectional electric cylinder 2738 is provided with a contact switch 2737, when the head of the split pin touches the contact switch 2737, it indicates that the split pin enters into a pair of telescopic clamps.

[0086] Further, as shown in Figure 11 , Figure 16 and Figure 17 , the split pin storage structure 274 of the present application is arranged on the mounting frame 271 and is close to the split pin taking-out assembly 273, the split pin storage structure 274 comprises a magazine 2742 and a recycling box 2743 connected with the magazine 2742, a plurality of split pins 41 are vertically arranged in the magazine 2742, the size of the magazine 2742 is matched with the size of the split pin 41, the split pin 41 is vertically arranged in the magazine 2742, and the recycling box 2743 is used for storing the split pin which is disassembled. The side of the magazine 2742 and the recycling box 2743 is fixedly connected with a mounting plate 2741, and the magazine 2742 and the recycling box 2743 are fixedly connected on the mounting frame 271 through the mounting plate 2741.

[0087] As shown in Figure 16 and Figure 17 , the inner side of the magazine 2742 is provided with a plurality of thrust springs 2746, the end of the thrust spring 2746 is connected with a pushing plate 2747, the thrust spring 2746 pushes the pushing plate 2747, so that the pushing plate 2747 is in contact with the split pin 41, through the extrusion of the pushing plate 2747, the split pin 41 is tightly attached to each other, and the split pin 41 at the front is tightly attached to the corresponding side wall of the magazine 2742. When the first split pin 41 at the front is taken out, the pushing plate 2747 pushes the split pin 41 forward under the action of the thrust spring 2746, so that the split pin continues to be tightly attached to the corresponding side wall of the magazine.

[0088] In order to facilitate the taking-out of the split pin 41, the bottom of the magazine 2742 is provided with an electric rod 2744 and a top plate 2745 close to the first split pin 41, the top plate 2745 is arranged on the top of the electric rod 2744, the top plate 2745 can be pushed upward through the electric rod 2744, the bottom of the magazine 2742 is provided with an opening corresponding to the top plate 2745, so that the electric rod 2744 can push the top plate 2745 into the magazine 2742, and then the top plate 2745 lifts the first split pin 41, so that the head of the first split pin 41 is higher than the heads of the remaining split pins 41, thereby facilitating the taking-out of the first split pin 41 by the split pin taking-out assembly 273. After the first split pin 41 is taken out, the electric rod 2744 moves downward with the top plate 2745 out of the magazine, so that the split pin 41 moves forward under the action of the pushing plate, and then the electric rod 2744 moves upward with the top plate 2745 and lifts the first split pin.

[0089] In one specific embodiment of the present application, as shown in Figure 11 andFigure 18 As shown, the component mounting and dismounting mechanism 27 further comprises an open pin unfolding assembly 277 arranged on the mounting frame 271 and opposite to the open pin taking-out assembly 273, which is used to unfold the tail of the open pin to realize the fixation of the open pin and the pin shaft.

[0090] Specifically, the open pin unfolding assembly 277 comprises a mounting bracket 2771 fixed on the mounting frame 271, a third electric cylinder 2772 fixed on the mounting bracket 2771, a fixed seat 2773 fixedly connected with the third electric cylinder 2772, a first gear 2774 and a second gear 2775 rotatably mounted on the fixed seat 2773, a first push plate 2776 fixed on the first gear 2774, a second push plate 2777 fixed on the second gear 2775, and a third motor 2778 fixed on the mounting bracket 2771 and drivingly connected with the first gear 2774, the first gear 2774 and the second gear 2775 are engaged, the ends of the first push plate 2776 and the second push plate 2777 are attached, and the first push plate 2776 and the second push plate 2777 are variable-diameter structures, the thickness gradually increases from the top to the bottom. The bottom of the open pin is provided with a separation slot, and the bottom of the open pin has two relatively sheet bodies through the arrangement of the separation slot. After the open pin passes through the pin hole on the pin shaft, the third electric cylinder pushes the fixed seat, and the ends of the first push plate and the second push plate are inserted into the separation slot at the bottom of the open pin. Then the third motor drives the first gear to rotate, the first gear drives the second gear to rotate, the first push plate and the second push plate are away from each other, and then the two sheet bodies at the bottom of the open pin are unfolded outward until the sheet bodies are attached to the pin shaft, realizing the locking of the open pin.

[0091] As shown in Figure 10 and Figure 11 , the dismounting process of the open pin is described below. Adjust the position of the mounting frame 271, let the mounting frame 271 close to the overhead line, and the open pin adjusting assembly 272 corresponds to the pin shaft on the spacer rod, combined with Figure 12 and Figure 13 , the second electric cylinder 2724 on the open pin adjusting assembly 272 is extended, and the mounting head 2725 is attached to the end of the pin shaft. Then the electromagnet is electrified to clamp the pin shaft with a pair of push rods 2721, and then the rotating cylinder 2723 is rotated to drive the pin shaft to rotate together, and the open pin on the pin shaft also rotates together, and the head of the open pin can be rotated into a pair of telescopic clamps 2734 of the open pin taking-out assembly 273, combined with Figure 15As shown, when the head of the split pin contacts the touch switch 2737, the rotating cylinder 2723 stops rotating, and at this time, the direction of the split pin is adjusted in place. Then, the pair of telescopic clamps 2734 of the split pin taking-out assembly 273 moves towards each other, and a pair of limiting rods 2735 are inserted into the circular hole of the head of the split pin. Then, the vertical electric cylinder 2732 lifts up the split pin taking-out assembly 273, so that the split pin is pulled out of the pin shaft. As shown in Figure 16 As shown, then, the horizontal electric cylinder 2731 retracts and translates the split pin taking-out assembly 273 to the upper part of the recycling box 2743, and the telescopic clamps 2734 move reversely, so that the limiting rods 2735 are moved out of the circular hole of the split pin. The split pin falls into the recycling box 2743, and thus the dismounting of the split pin is completed. Then, the horizontal electric cylinder and the vertical electric cylinder are reset, and the second electric cylinder is also reset. It should be noted that although the bottom of the split pin is in a spread state and is attached to the pin shaft, since the split pin has a certain flexibility and its material is relatively soft, when the split pin is taken out, the vertical electric cylinder retracts and lifts up the split pin taking-out assembly 273, so that the split pin can be directly pulled out.

[0092] Installing the split pin: the split pin direction adjusting assembly 272 clamps and rotates the pin shaft so that the pin hole of the pin shaft faces upwards. The vertical electric cylinder 2732 retracts and lifts up the split pin taking-out assembly 273. The horizontal electric cylinder 2731 retracts and translates the split pin taking-out assembly 273 to the position of the first split pin of the magazine 2742. Then, the vertical electric cylinder extends, and the split pin taking-out assembly 273 clamps a new split pin. Then, the horizontal electric cylinder extends to the maximum displacement, and the vertical electric cylinder extends, so that the new split pin passes through the pin hole of the pin shaft. Then, the third electric cylinder of the split pin unfolding assembly 277 extends, and the third electric motor drives the first gear and the second gear to rotate, so that the pieces of the bottom of the split pin are unfolded by the first shifting plate and the second shifting plate, and the split pin is locked. Thus, the installation of the split pin is completed. Then, the split pin unfolding assembly, the split pin taking-out assembly and the split pin direction adjusting assembly are reset.

[0093] In one specific embodiment of the present application, as shown in Figure 10 , Figure 11 , Figures 19 to 21 As shown, the pin shaft taking-out assembly 276 includes a telescopic adjusting member 2763 and an electromagnet block 2764 arranged at the end of the telescopic adjusting member 2763. The telescopic adjusting member 2763 is telescopically adjustable, and the electromagnet block 2764 can attract the corresponding pin shaft after being electrified.

[0094] Further, the mounting frame 271 is provided with a longitudinal adjusting member 2761 and a transverse adjusting member 2762, the transverse adjusting member 2762 is arranged on the longitudinal adjusting member 2761, and a telescopic adjusting member 2763 is arranged on the transverse adjusting member 2762, so that the longitudinal and transverse adjusting members can adjust the position of the telescopic adjusting member in the longitudinal and transverse directions. The longitudinal and transverse adjusting members each include a rotatable screw rod and a sliding block connected with the screw rod by screwing, and the sliding block can move along the screw rod by rotating the screw rod to realize the position adjustment in the longitudinal and transverse directions. The transverse adjusting member is fixedly connected with the sliding block of the longitudinal adjusting member, and the telescopic adjusting member is fixedly connected with the sliding block of the transverse adjusting member.

[0095] The pin shaft taking-out assembly 276 and the split pin taking-out assembly 273 are located on opposite sides of the installed spacer rod.

[0096] Further, as shown in Figure 19 and Figure 20 , the pin shaft storage structure 275 includes a pin shaft storage box 2751, a waste box 2752 connected with the pin shaft storage box 2751, a push spring 2754 arranged in the pin shaft storage box 2751, a push plate 2753 arranged in the pin shaft storage box 2751 and connected with the push spring 2754, a plurality of pin shafts 42 arranged side by side in the pin shaft storage box 2751, and a guide rod 2755 penetrating the side wall of the pin shaft storage box 2751 and connected with the push spring 2754, the guide rod 2755 penetrates the pin holes of all the pin shafts except the first pin shaft, and plays a guiding and limiting role in the movement of the pin shafts. The guide rod can also prevent the pin shafts from rotating, swinging and tilting. The push spring 2754 applies a spring force to the push plate 2753 to make the push plate 2753 abut against the pin shaft 42 and apply a forward pushing force to the pin shaft 42. The pin shaft storage box 2751 is provided with a discharge port corresponding to the pin shaft taking-out assembly 276, and the discharge port also corresponds to the position of the first pin shaft. When the pin shaft taking-out assembly 276 takes out the first pin shaft, the push spring 2754 pushes the push plate 2753 to realize the forward pushing of the pin shaft, so that the next pin shaft is separated from the guide rod 2755 and located at the discharge port. Preferably, a limiting spring 2756 and a limiting baffle 2757 connected with the limiting spring 2756 are arranged on the inner wall of the pin shaft storage box 2751 near the discharge port. The limiting spring 2756 applies a spring force to the limiting baffle 2757 to make the limiting baffle 2757 abut against the first pin shaft 42. By arranging the limiting spring and the limiting baffle, the pin shaft taking-out assembly can conveniently take out the pin shaft.

[0097] Further, a clamping plate 2758 corresponding to the head of the pin shaft is arranged in the pin shaft storage box 2751, the clamping plate 2758 and the corresponding side plate of the pin shaft storage box 2751 clamp the head of the pin shaft together, which limits the movement of the head of the pin shaft and prevents the pin shaft from moving in the transverse direction.

[0098] As Figure 10 , Figure 11 , Figures 19 to 21 shown below, the process of disassembly and installation of the pin shaft is described. The disassembly process of the pin shaft: before disassembling the pin shaft, the split pin needs to be disassembled first. After the split pin is pulled out, the position of the telescopic adjusting member is adjusted using the longitudinal adjusting member and the transverse adjusting member, so that the telescopic adjusting member corresponds to the position of the pin shaft. Then the telescopic adjusting member is extended to allow the electromagnet block to be attached to the pin shaft. The electromagnet block generates a magnetic force when energized, which attracts the pin shaft. At this time, the second electric cylinder of the split pin adjusting assembly can be extended outward to adjust and push the pin shaft. At the same time, the telescopic adjusting member is retracted to pull out the pin shaft. Then the longitudinal adjusting member and the transverse adjusting member move the telescopic adjusting member to the position of the scrap box, and the pulled-out pin shaft is placed in the scrap box. The installation process of the pin shaft: the longitudinal adjusting member and the transverse adjusting member adjust the telescopic adjusting member to the discharge port, the telescopic adjusting member is extended and the electromagnet block is energized to attract the first pin shaft in the pin shaft storage box. The telescopic adjusting member is retracted to take out the pin shaft. The transverse adjusting member and the longitudinal adjusting member adjust the telescopic adjusting member to the installation position of the pin shaft. The telescopic adjusting member is extended to insert the pin shaft into the hole of the corresponding spacer rod hoop plate. The installation of the pin shaft is completed. Then the split pin is installed at the pin hole of the pin shaft.

[0099] In one specific embodiment of the present application, as shown in Figure 22 and Figure 23 , the robot of the present application can be hung on the overhead line 10 through the hanging device 28, which is clamped on the cross arm at the top of the power pole 12 at the end of the overhead line 10. The bottom of the hanging device 28 is provided with an electric hoist and a lifting ring. The rope of the electric hoist can pass through the fixed pulley provided on the base of the robot and then be connected with the lifting ring. The robot can be moved up and down by controlling the electric hoist to collect and release the rope, so as to realize the hoisting of the robot from the ground to the overhead line 10.

[0100] The above embodiments of the present application are described in detail in combination with the drawings. Those skilled in the art can make various changes to the present application according to the above description. Therefore, some details in the embodiments should not constitute a limitation on the present application, and the scope of protection of the present application will be defined by the appended claims.

Claims

1. An overhead line damping spacer block automatic installation and removal robot, characterized by, The utility model relates to a kind of interval rod installation and dismounting device, including: Base; Walking device is arranged on the base, and the walking device can walk along overhead line; Interval rod storage mechanism is arranged on the base, for placing interval rod to be installed and / or dismounting interval rod; Interval rod clamping mechanism is installed on the base in a position-adjustable manner and is arranged close to the interval rod storage mechanism, for clamping interval rod to be installed and / or dismounting interval rod; Interval rod installation and dismounting mechanism is slid on the interval rod clamping mechanism, and by sliding adjustment, it can be close to the interval rod clamped on the interval rod clamping mechanism and be used to control the opening or closure of hoop plate on interval rod; And Component installation and dismounting mechanism is arranged on the base, when the walking device is arranged on overhead line, the component installation and dismounting mechanism is arranged close to overhead line, and the component installation and dismounting mechanism is used to install or dismount pin shaft and split pin on the hoop plate of corresponding interval rod; The component installation and dismounting mechanism includes movable adjustment mounting frame installed on the base, rotatable adjustment split pin direction adjusting assembly installed on the mounting frame, movable adjustment split pin extraction assembly installed on the mounting frame, split pin storage structure arranged on the mounting frame, pin shaft storage structure arranged on the mounting frame and position-adjustable pin shaft extraction assembly installed on the mounting frame; The end of the split pin direction adjusting assembly is provided with clamping piece corresponding to pin shaft, and the corresponding pin shaft is clamped by the clamping piece, and then the direction of pin hole on pin shaft is adjusted by rotating adjustment; The split pin extraction assembly is used to install or dismount corresponding split pin; The pin shaft extraction assembly is used to install or dismount corresponding pin shaft.

2. The overhead line damp spacer block automatic installation and removal robot of claim 1, wherein, The component installation and dismounting mechanism further includes split pin unfolding assembly arranged on the mounting frame and opposite to the split pin extraction assembly, for unfolding the tail of split pin to realize the fixation of split pin and pin shaft.

3. The overhead line damp spacer block automatic installation and removal robot of claim 1, wherein, The split pin extraction assembly includes rotating structure, a pair of telescopic clamps arranged on the rotating structure and limiting rod arranged at the end of the telescopic clamps; The pair of telescopic clamps can be telescopic adjusted, and by telescopic adjustment, the pair of telescopic clamps can be close to or away from each other, so that the limiting rod can be inserted into the round hole at the head of split pin or removed from the round hole at the head of split pin.

4. The overhead line damp spacer block automatic installation and removal robot of claim 1, wherein, The pin shaft extraction assembly includes telescopic adjusting piece and electromagnet block arranged at the end of the telescopic adjusting piece, the telescopic adjusting piece can be telescopic adjusted, and the electromagnet block can attract corresponding pin shaft after being electrified.

5. The overhead line damp spacer block automatic installation and removal robot of claim 1, wherein, The interval rod installation and dismounting mechanism includes fixing frame, rotatable adjustment adsorption plate arranged on the fixing frame and corresponding to hoop plate on interval rod and clamping forceps installed on the fixing frame in telescopic adjustment; The fixing frame is slid on the interval rod clamping mechanism; The adsorption plate can adsorb corresponding hoop plate, and then by rotating adjustment, corresponding hoop plate is driven to rotate to realize the opening or closure of hoop plate, when hoop plate is rotated to closed state, the clamping forceps can clamp corresponding hoop plate by telescopic adjustment, so that hoop plate is completely docked.

6. The overhead line damp spacer block automatic installation and removal robot of claim 1, wherein, The base is vertically provided with a vertical slide, a horizontal slide slidably arranged on the vertical slide, and an extendable mechanical arm slidably arranged on the horizontal slide; The spacer clamping mechanism is rotatably arranged on the end of the extendable mechanical arm.

7. The overhead line damp spacer block automatic installation and removal robot of claim 1, wherein, The spacer storage mechanism comprises a movable adjusting limiting frame arranged on the base, a limiting plate oppositely arranged with the limiting frame, and a supporting spring supported and connected between the limiting frame and the base. The supporting spring applies a force to the limiting frame to move the limiting frame towards the limiting plate, so as to clamp the corresponding spacer between the limiting frame and the limiting plate.

8. The overhead line damp spacer block automatic installation and removal robot of claim 1, wherein, The walking device comprises a plurality of supports vertically arranged on the base. A pair of rollers with adjustable spacing are arranged on the supports corresponding to the overhead line. The pair of rollers can be clamped on or separated from the corresponding overhead line by adjusting the spacing.

9. The overhead line damp spacer block automatic installation and removal robot of claim 8, wherein, The pair of rollers are rotatably arranged on corresponding mounting seats. A bidirectional telescopic electric cylinder is connected between the two opposite mounting seats to adjust the spacing between the pair of rollers.

Images