Method for automatic installation and removal of damping spacers for overhead lines

Abstract

The present application relates to a kind of overhead line damping spacer post automatic installation, dismounting method, comprising the following steps: providing spacer post installation and dismounting robot;With spacer post installation and dismounting robot, automatic installation and automatic dismounting of spacer post are carried out on overhead line, and when installing and dismounting spacer post, the spacer post installation and dismounting robot can realize the automatic installation and dismounting corresponding pin shaft and split pin.The present application can realize the automatic installation or replacement of damping spacer post in high altitude, 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 removal robots, and particularly relates to a method for automatically installing and removing damping spacer bars of overhead lines. BACKGROUND

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

[0003] The damping spacer bar is installed between overhead lines. The existing installation and replacement of the damping spacer bar are manual operations. The worker needs to walk to the set position on the overhead line, and then manually install or replace the damping spacer bar. The damping spacer bar is heavy, and the worker is not convenient to carry in the air. When installing or replacing, the damping spacer bar needs to be hoisted from the ground or transported on the overhead line by using a flying vehicle. The existing flying vehicle is small in space, and can only transport one damping spacer bar at a time. The transportation of the spacer bar 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 a method for automatically installing and removing damping spacer bars of overhead lines, which solves the problems of low efficiency and high risk in the existing manual operation of the damping spacer bars of overhead lines.

[0005] The technical solution for achieving the above-mentioned purpose is as follows:

[0006] The present application provides a method for automatically installing damping spacer bars of overhead lines, which comprises the following steps:

[0007] A spacer bar installation and removal robot is provided. The spacer bar installation and removal robot comprises a base, a walking device arranged on the base, a spacer bar storage mechanism arranged on the base, a spacer bar clamping mechanism adjustably arranged on the base, a spacer bar installation and removal mechanism slidably arranged on the spacer bar clamping mechanism, and a component installation and removal mechanism arranged on the base. The spacer bar installation and removal robot is hoisted onto the overhead line, and the spacer bar installation and removal robot is hung on the overhead line through the walking device.

[0008] The walking device is started, and the spacer bar installation and removal robot is moved to the installation position of the spacer bar to be installed through the walking device.

[0009] A new spacer bar is clamped from the spacer bar storage mechanism by using the spacer bar clamping mechanism, and the position of the spacer bar clamping mechanism is adjusted so that the clamped spacer bar is placed at the installation position.

[0010] The mobile adjusting mechanism adjusts the position of the spacer rod mounting and dismounting mechanism to make the spacer rod mounting and dismounting mechanism close to the spacer rod clamped on the spacer rod clamping mechanism, and drives the rotating of the hoop plate on the spacer rod by the spacer rod mounting and dismounting mechanism to make the hoop plate buckle on the corresponding overhead line.

[0011] The component mounting and dismounting mechanism is used to mount the pin shaft and the split pin on the hoop plate, so that the automatic installation of the spacer rod is completed.

[0012] The damping spacer rod can be automatically installed or replaced in the high altitude, manual high-altitude operation is avoided, operation risk is reduced, the spacer rod storage mechanism is arranged on the spacer rod mounting and dismounting robot, a large number of damping spacer rods can be stored, the problems of small quantity and low efficiency existing in the existing spacer rod hoisting and fly car transportation are avoided, and the operation efficiency of the robot automatically mounting and dismounting the damping spacer rod is much higher than that of manual operation, so that the operation safety is ensured and the operation efficiency is high.

[0013] The further improvement of the method for automatically installing the damping spacer rod of the overhead line is that a first camera is arranged on the spacer rod clamping mechanism, and first image information is acquired by using the first camera.

[0014] When the new spacer rod is clamped, the position information of the spacer rod is acquired.

[0015] The spacer rod clamping mechanism is controlled to move to the position information of the acquired spacer rod, and a pair of clamping plates on the spacer rod clamping mechanism is driven to rotate to clamp the corresponding spacer rod.

[0016] The spacer rod clamping mechanism is controlled to be lifted to a set height, the position of the spacer rod clamping mechanism is reviewed through the first image information, and then the spacer rod is rotated by 90 degrees to be placed transversely on the inner side of the overhead line, so that the spacer rod is placed at the installation position.

[0017] The further improvement of the method for automatically installing the damping spacer rod of the overhead line is that the spacer rod mounting and dismounting mechanism is provided with a clamping clamp corresponding to the hoop plate on the spacer rod.

[0018] After the hoop plate is buckled on the corresponding overhead line, the clamping clamp is used to clamp the hoop plate and the corresponding fixed arc plate on the spacer rod, so that the hoop plate and the corresponding fixed arc plate are butt-jointed in place.

[0019] The further improvement of the method for automatically installing the damping spacer rod of the overhead line is that the bottom of the component mounting and dismounting mechanism corresponding to the split pin is provided with a split pin unfolding assembly.

[0020] After the split pin is penetrated into the pin hole on the corresponding pin shaft, the tail of the split pin is unfolded by the split pin unfolding assembly to realize the fixation of the split pin and the pin shaft.

[0021] The further improvement of the method for automatically installing the damping spacer of the overhead line is that a second camera is arranged on the component loading and unloading mechanism, and second image information is obtained by using the second camera.

[0022] The obtained second image information is analyzed to obtain the position of the pin hole on the hoop plate.

[0023] The position of the pin shaft sucked on the component loading and unloading mechanism is adjusted according to the obtained position of the pin hole, so as to facilitate the installation of the pin shaft.

[0024] The method for automatically installing the damping spacer of the overhead line is further improved in that a second camera is arranged on the component loading and unloading mechanism, and second image information is obtained by using the second camera.

[0025] The spacer installation and removal robot comprises a base, a walking device arranged on the base, a spacer storage mechanism arranged on the base, a position-adjustable spacer clamping mechanism arranged on the base, a spacer installation and removal mechanism slidably arranged on the spacer clamping mechanism, and a component loading and unloading mechanism arranged on the base.

[0026] The walking device is started to drive the spacer installation and removal robot to move to the position of the spacer to be removed.

[0027] The position of the spacer clamping mechanism is adjusted, and the spacer to be removed is clamped by the spacer clamping mechanism.

[0028] The split pin and the pin shaft on the hoop plate of the spacer to be removed are removed by the component loading and unloading mechanism.

[0029] The position of the spacer installation and removal mechanism is adjusted to approach the spacer to be removed, and the hoop plate on the spacer is driven to rotate by the spacer installation and removal mechanism to open the hoop plate.

[0030] The spacer to be removed is taken out by the spacer clamping mechanism and placed into the spacer storage mechanism, thereby completing the automatic removal of the spacer.

[0031] The further improvement of the method for automatically installing the damping spacer of the overhead line is that a second camera is arranged on the component loading and unloading mechanism, and second image information is obtained by using the second camera.

[0032] analyzing the first image information to obtain position information of the spacer to be detached;

[0033] controlling the spacer clamping mechanism to move to the obtained position of the spacer to be detached, and driving a pair of clamping plates on the spacer clamping mechanism to rotate so that the pair of clamping plates clamp the spacer to be detached;

[0034] after the clamping plates are opened, controlling the spacer clamping mechanism to rotate by 90°, and then moving above the spacer storage mechanism, and then controlling the spacer clamping mechanism to move downward to place the spacer into the spacer storage mechanism.

[0035] The further improvement of the method for automatically detaching the damping spacer of the overhead line is that the component mounting and dismounting mechanism comprises a pin hole adjusting assembly corresponding to the pin shaft and capable of rotating and adjusting;

[0036] When the pin hole is removed, the corresponding pin shaft is clamped and rotated by the pin hole adjusting assembly so that the head of the pin hole to be removed faces upward.

[0037] The further improvement of the method for automatically detaching the damping spacer of the overhead line is that the component mounting and dismounting mechanism further comprises a position-adjustable pin shaft taking-out assembly;

[0038] When the pin shaft is removed, the position of the pin shaft taking-out assembly is adjusted to enable the pin shaft taking-out assembly to adsorb the corresponding pin shaft, the corresponding pin shaft is pushed by the pin hole adjusting assembly towards the pin shaft taking-out assembly, and the pin shaft taking-out assembly is controlled to move to take out the pin shaft.

[0039] The further improvement of the method for automatically detaching the damping spacer of the overhead line is that a second camera is arranged on the pin shaft taking-out assembly, and second image information is obtained by the second camera;

[0040] The obtained second image information is analyzed to obtain the position of the pin shaft on the clamping plate;

[0041] The position of the pin shaft taking-out assembly is adjusted according to the obtained position of the pin shaft, and the pin shaft taking-out assembly is attached to the pin shaft to be removed so as to take out the pin shaft. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 The flow chart of the method for automatically mounting the damping spacer of the overhead line is shown.

[0043] Figure 2 The flow chart of the method for automatically detaching the damping spacer of the overhead line is shown.

[0044] Figure 3Structure diagram of the spacer rod installation and removal robot on the overhead line.

[0045] Figure 4 Structure diagram of the walking device of the spacer rod installation and removal robot.

[0046] Figure 5 Structure diagram of the spacer rod installation and removal robot. Figure 4 Structure diagram of the spacer rod installation and removal robot.

[0047] Figure 6 Structure diagram of the spacer rod storage mechanism of the spacer rod installation and removal robot.

[0048] Figure 7 Structure diagram of the spacer rod clamping mechanism and the spacer rod installation and removal mechanism of the spacer rod installation and removal robot.

[0049] Figure 8 Structure diagram of the spacer rod installation and removal robot. Figure 7 Structure diagram of the first side of the spacer rod installation and removal robot.

[0050] Figure 9 Structure diagram of the second side of the spacer rod installation and removal robot. Figure 7 Structure diagram of the second side of the spacer rod installation and removal robot.

[0051] Figure 10 Structure diagram of the spacer rod installation and removal mechanism of the spacer rod installation and removal robot.

[0052] Figure 11 Structure diagram of the working state of the spacer rod installation and removal mechanism of the spacer rod installation and removal robot.

[0053] Figure 12 Structure diagram of the component loading and unloading mechanism of the spacer rod installation and removal robot.

[0054] Figure 13 Structure diagram of the component loading and unloading mechanism of the spacer rod installation and removal robot. Figure 10 Structure diagram of the top of the component loading and unloading mechanism of the spacer rod installation and removal robot.

[0055] Figure 14 Structure diagram of the split pin steering assembly of the spacer rod installation and removal robot.

[0056] Figure 15 Structure diagram of the split pin steering assembly of the spacer rod installation and removal robot.

[0057] Figure 16 Structure diagram of the split pin extraction assembly of the spacer rod installation and removal robot.

[0058] Figure 17 Structure diagram of the bottom of the split pin extraction assembly of the spacer rod installation and removal robot.

[0059] Figure 18The structure diagram of the upper opening pin storage structure of the spacer rod installation and dismounting robot.

[0060] Figure 19 The sectional view of the upper opening pin storage structure of the spacer rod installation and dismounting robot.

[0061] Figure 20 The structure diagram of the upper opening pin expansion assembly of the spacer rod installation and dismounting robot.

[0062] Figure 21 The structure diagram of the upper pin shaft storage structure and the pin shaft taking-out assembly of the spacer rod installation and dismounting robot.

[0063] Figure 22 The structure diagram of the pin shaft taking-out assembly. Figure 21 The top view of the structure.

[0064] Figure 23 The structure diagram of the pin shaft taking-out assembly.

[0065] Figure 24 The structure diagram of the spacer rod installation and dismounting robot in the hanging line state.

[0066] Figure 25 The structure diagram of the hanging device for the spacer rod installation and dismounting robot. DETAILED DESCRIPTION

[0067] The present application will be further described below in conjunction with the drawings and specific embodiments.

[0068] Referring to Figure 1 , the present application provides a kind of overhead line damping spacer rod automatic installation, dismounting method, realizes the automatic installation of spacer rod on overhead line and automatic replacement, solves the problems such as high-altitude operation risk big, operation efficiency low existing in present manual installation and replacement.The structure of the method for the overhead line damping spacer rod automatic installation, dismounting of the present application is described below in conjunction with drawings.

[0069] Referring to Figure 1 , the flow chart of the method for the overhead line damping spacer rod automatic installation of the present application is shown.The method for the overhead line damping spacer rod automatic installation of the present application is described below in conjunction with Figure 1 .

[0070] As Figure 1 shown, the method for the overhead line damping spacer rod automatic installation of the present application includes the following steps:

[0071] Step S11 is performed, and a spacer rod installation and dismounting robot is provided, in conjunction with Figure 3As shown, the provided spacer bar mounting and dismounting robot comprises a base 21, a walking device 22 arranged on the base 21, a spacer bar storage mechanism 23 arranged on the base 21, a spacer bar clamping mechanism 24 adjustably arranged on the base 21, a spacer bar mounting and dismounting mechanism 25 slidingly arranged on the spacer bar clamping mechanism 24, and a component mounting and dismounting mechanism 27 arranged on the base 21; the spacer bar mounting and dismounting robot is hoisted to the overhead line, and the spacer bar mounting and dismounting robot is hung on the overhead line through the walking device; then step S12 is performed;

[0072] Step S12 is performed, the walking device is started, and the spacer bar mounting and dismounting robot is moved to the installation position of the spacer bar to be installed through the walking device; then step S13 is performed;

[0073] Step S13 is performed, a new spacer bar is clamped from the spacer bar storage mechanism by the spacer bar clamping mechanism, and the position of the spacer bar clamping mechanism is adjusted so that the clamped spacer bar is placed at the installation position; then step S14 is performed;

[0074] Step S14 is performed, the position of the spacer bar mounting and dismounting mechanism is adjusted so that the spacer bar mounting and dismounting mechanism is close to the spacer bar clamped on the spacer bar clamping mechanism, and the hoop plate on the spacer bar is driven to rotate by the spacer bar mounting and dismounting mechanism so that the hoop plate is buckled on the corresponding overhead line; then step S15 is performed;

[0075] Step S15 is performed, the pin shaft and the split pin are mounted on the hoop plate by the component mounting and dismounting mechanism, so that the automatic installation of the spacer bar is completed.

[0076] In one specific embodiment of the present application, a first camera is arranged on the spacer bar clamping mechanism, and first image information is acquired by the first camera;

[0077] When the new spacer bar is clamped, the position information of the spacer bar is acquired;

[0078] The spacer bar clamping mechanism is controlled to move to the acquired position information of the spacer bar, and a pair of clamping plates on the spacer bar clamping mechanism is driven to rotate so that the pair of clamping plates clamps the corresponding spacer bar;

[0079] The spacer bar clamping mechanism is controlled to be lifted to a set height, the position of the spacer bar clamping mechanism is reviewed through the first image information, and then rotated by 90° so that the clamped spacer bar is placed transversely on the inner side of the overhead line, so that the spacer bar is placed at the installation position.

[0080] The spacer rod is stored on the spacer rod storage mechanism 23, and the position of the spacer rod storage is fixed, so the position information of the spacer rod can be set in advance, and then the spacer rod clamping mechanism 24 is controlled to move to the pre-set position to clamp and take the new spacer rod for installation. Preferably, a plurality of spacer rods are arranged on the spacer rod storage mechanism 23, and the position information of the first spacer rod is set in advance to facilitate the spacer rod clamping mechanism 24 to clamp and take, and after the first spacer rod is taken away, the next spacer rod moves to the position of the first spacer rod.

[0081] Further, the position of the first spacer rod corresponds to the middle of the overhead line, so that after the spacer rod clamping mechanism clamps and lifts the spacer rod, the spacer rod can be located in the middle of the overhead line, improving the efficiency of the spacer rod installation alignment. To ensure that the spacer rod can be accurately installed on the overhead line, a first image information is formed by the first camera before the spacer rod is rotated by 90°, and the actual position of the spacer rod clamping mechanism is calculated and analyzed by using the first image information, to determine whether the actual position is located in the middle of the overhead line, and if not, the position of the spacer rod clamping mechanism is adjusted until the spacer rod clamping mechanism is located in the middle of the overhead line.

[0082] In one specific embodiment of the present application, as shown in Figure 3 and Figure 7 , a vertical slide 261 is vertically arranged on the base 21 of the spacer rod installation and removal robot, a horizontal slide 262 is slidably arranged on the vertical slide 261, and a telescopic mechanical arm 263 is 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. Specifically, a driving screw is arranged at each of the vertical slide 261 and the horizontal slide 262, the driving screw is driven to rotate in the forward direction or in the 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 driving screw, the driving screw is driven to rotate by the motor, thereby moving the sliding block along the driving screw, and simultaneously moving and adjusting the horizontal slide 262 along the vertical slide 261. 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 driving screw, and the telescopic mechanical arm is moved and adjusted along the horizontal slide 262 by driving the motor. The telescopic mechanical arm is preferably a telescopic sleeve, and a driving cylinder is arranged inside the telescopic sleeve to drive the telescopic mechanical arm to expand and contract. In this way, the vertical slide, the horizontal slide and the telescopic mechanical arm provide three-directional position adjustment for the spacer rod installation and removal mechanism 24, and the position of the spacer rod installation and removal mechanism can be adjusted by controlling the operation of the corresponding motor and driving cylinder.

[0083] Further, the telescopic mechanical arm 263 is provided with a mounting rod 264 at the end thereof, and an installation disc is arranged at the end of the mounting rod 264, and the spacer rod clamping mechanism 24 is rotatably arranged on the installation disc. The spacer rod clamping mechanism 24 comprises a rotating member 242 and a pair of clamping plates 241 arranged at the bottom of the rotating member 242. The bottom of the pair of clamping plates 241 can be close to each other to clamp the spacer rod, and the bottom of the pair of clamping plates 241 can be away from each other to release the clamped spacer rod. The rotating member 242 is preferably an electric motor, which is rotatably arranged on the installation disc. The rotation of the electric motor can drive the pair of clamping plates 241 to rotate, so as to adjust the direction of the spacer rod clamped by the pair of clamping plates 241. The bottom of the rotating member 242 is provided with an assembly seat, and the pair of clamping plates 241 is rotatably arranged on the assembly seat. A power member is arranged on the assembly seat and is drivingly connected with the clamping plates 241. The clamping plates 241 are driven to rotate and adjust by the power member. The power member is preferably an electric motor which is drivingly connected with the rotating shaft of the clamping plates 241.

[0084] Preferably, the first camera is arranged at the bottom of the rotating member 242 and is located between the pair of clamping plates 241.

[0085] In one specific embodiment of the present application, as shown in Figure 10 and Figure 11 , the spacer rod mounting and dismounting mechanism 25 is provided with a clamping clamp 253 corresponding to the hoop plate 311 on the spacer rod 31.

[0086] After the hoop plate 311 is buckled on the corresponding overhead line 10, the clamping clamp 253 is used to clamp the hoop plate 311 and the corresponding fixed arc plate on the spacer rod 31, so that the hoop plate 311 and the corresponding fixed arc plate are butt-jointed in place. In this way, the smooth installation of the subsequent pin shaft can be ensured.

[0087] In one specific embodiment of the present application, as shown in Figure 10 and Figure 11 , 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. Figure 7 Figure 9 ​As shown, the fixing frame 251 is slidably mounted on the spacer bar clamping mechanism 24. The adsorption plate 252 can adsorb the corresponding hoop plate 311, and then the corresponding hoop plate 311 can be rotated by rotation adjustment to realize the opening or closing of the hoop plate 311. When the hoop plate is rotated to the closed state, the clamping pliers 253 can clamp the corresponding hoop plate 311 by extension adjustment so that the hoop plate 311 can be connected. Specifically, a telescopic cylinder 2531 is provided on the fixing frame 251 near the adsorption plate 252. A clamping plier 253 is fixed to the end of the telescopic cylinder 2531. The telescopic cylinder 2531 can drive the clamping plier 253 to extend and retract. When installing the spacer bar, the telescopic cylinder 2531 retracts with the clamping plier 253 to avoid the position of the hoop plate on the spacer bar. The adsorption plate 252 rotates with the hoop plate 311 until it is engaged with the overhead line 10. Then, the telescopic cylinder 2531 extends with the clamping plier 253, and then the clamping plier 253 clamps the hoop plate and the fixed arc plate on the spacer bar to ensure that the hoop plate and the fixed arc plate are properly aligned. The inner side of the hoop plate 311 is provided with a rubber pad. The clamping plier 253 can clamp the hoop plate 311 into place to ensure the smooth installation of the subsequent pin and cotter pin. Preferably, the clamping pliers 253 includes a first electric cylinder 2533, a fixed clamping head 2534 fixed on the first electric cylinder 2533, and a movable clamping head 2532 fixed at the end of the first electric cylinder 2533. The movable clamping head 2532 and the fixed clamping head 2534 are arranged opposite to each other. The first electric cylinder 2533 drives the movable clamping head 2532 to move and adjust, so that the movable clamping head 2532 moves closer to the fixed clamping head 2534 to clamp the corresponding clamping plate or moves the movable clamping head 2532 away from the fixed clamping head 2534.

[0088] Furthermore, the fixing frame 251 is a square frame, with adsorption plates 252 at the corners of the square frame, and a hanging plate 2511 on the top of the square frame. This hanging plate 2511 is hung on the spacer bar clamping mechanism 24 and can be moved and adjusted along the spacer bar clamping mechanism 24. Specifically, as shown... Figure 9 As shown, a horizontal plate is provided on the side of the rotating part 242 of the spacer clamping mechanism 24. A mounting plate 2511 is hung on this horizontal plate and can be moved and adjusted along it. A push-up electric cylinder is provided at the end of the horizontal plate, and the end of the push-up electric cylinder is connected to the mounting plate 2511. The spacer clamping mechanism 25 is moved and adjusted by pushing and pulling the mounting plate 2511. The push-up electric cylinder drives the spacer clamping mechanism 25 to move and adjust, so that the spacer clamping mechanism 25 is closer to or further away from the spacer clamping mechanism 24. When the spacer clamping mechanism clamps the spacer, the push-up electric cylinder pulls the spacer clamping mechanism 25 to the end of the horizontal plate. When the spacer clamping mechanism moves the spacer to the installation position, the push-up electric cylinder pushes the spacer clamping mechanism to a position close to the spacer to facilitate the installation of the spacer.

[0089] Further, the corner of the fixing frame 251 is provided with a rotation driving assembly for driving the adsorption plate 252 to rotate, which comprises a driving gear 2521 and a driven gear 2522 rotatably installed on the fixing frame 251 and a first motor 2523 installed on the fixing frame 251, the driving gear 2521 and the driven gear 2522 are engaged, the first motor 2523 is drivingly connected with the driving gear 2521, the first motor 2523 can drive the driving gear 2521 to rotate, and then the driving gear 2521 drives the driven gear 2522 to rotate, the driven gear 2522 is connected with the adsorption plate 252, and the driven gear 2522 drives the adsorption plate 252 to rotate when rotating, and the adsorption plate 252 rotates with the corresponding hoop plate 311 on the adsorption spacer. Preferably, the end of the adsorption plate 252 is fixedly provided with a suction cup 2524, and the corresponding hoop plate 311 on the spacer can be adsorbed by the suction cup 2524.

[0090] In one embodiment of the present application, as shown in Figure 13 and Figure 20 The component mounting and dismounting mechanism 27 is provided with an opening pin unfolding assembly 277 corresponding to the bottom of the opening pin;

[0091] After the opening pin is arranged in the pin hole of the corresponding pin shaft, the tail of the opening pin is unfolded by the opening pin unfolding assembly 277 to fix the opening pin and the pin shaft.

[0092] In one embodiment of the present application, further comprising: a second camera is arranged on the component mounting and dismounting mechanism 27, and the second camera is used to obtain second image information;

[0093] The obtained second image information is analyzed to obtain the position of the pin shaft hole on the hoop plate;

[0094] According to the obtained position of the pin shaft hole, the position of the pin shaft sucked by the component mounting and dismounting mechanism 27 is adjusted, so as to facilitate the installation of the pin shaft.

[0095] In one embodiment of the present application, as shown in Figure 3 、 Figure 12 and Figure 13As shown, the component mounting and dismounting mechanism 27 comprises a mounting frame 271 movably mounted on the base 21, an open pin adjusting assembly 272 rotatably mounted on the mounting frame 271, an open pin removing 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 removing assembly 276 movably mounted on the mounting frame 271. The end of the open pin adjusting assembly 272 is provided with a clamping member corresponding to the pin shaft. The corresponding pin shaft is clamped by the clamping member, and then the direction of the pin hole on the pin shaft is adjusted by rotating the open pin adjusting assembly 272. The open pin removing assembly 273 is used to mount or dismount the corresponding open pin. The pin shaft removing assembly 276 is used to mount or dismount the corresponding pin shaft.

[0096] Preferably, the number of the open pin adjusting assembly 272, the open pin removing assembly 273, the open pin storage structure 274, the pin shaft storage structure 275, and the pin shaft removing assembly 276 is consistent with the number of the hoop plates on the spacer bar, and they are used to mount or dismount the open pin and the pin shaft on the corresponding hoop plate.

[0097] Further, the base 21 is provided with a track 211, and the mounting frame 271 is slidably arranged on the track 211. The mounting frame 271 can be movably adjusted 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. The bottom of the mounting frame 271 is threadedly connected to the screw rod. The mounting frame 271 is driven to move by the rotation of the screw rod. When the spacer bar is mounted, the mounting frame 271 is first adjusted to the end of the track 211. When the hoop plate of the spacer bar is buckled on the overhead line, the mounting frame 271 is adjusted to the set position. The open pin removing assembly and the pin shaft removing assembly on the mounting frame 271 are close to the corresponding open pin and pin shaft.

[0098] Further, as shown in FIG. 6, the base 21 is provided with a plurality of tracks 211, and the mounting frame 271 is slidably arranged on the tracks 211. The mounting frame 271 can be movably adjusted along the tracks 211. Preferably, a screw rod and a motor are arranged at each track 211. The motor can drive the screw rod to rotate. The bottom of the mounting frame 271 is threadedly connected to the screw rod. The mounting frame 271 is driven to move by the rotation of the screw rod. Figure 13 to Figure 15As shown, the split pin direction adjusting assembly 272 comprises a frame body 2722 fixed on the mounting frame 271, a rotating cylinder body 2723 rotatably arranged on the frame body 2722, a second electric cylinder 2724 arranged on the rotating cylinder body 2723, and a mounting head 2725 arranged at the end of the second electric cylinder 2724. A clamping piece is arranged on the mounting head 2725, and a pair of clamping grooves are arranged on the mounting head 2725 in opposite directions. 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 in opposite directions. A spring 2726 is further arranged between the inner sides of the clamping grooves and the push rods 2721 in opposite directions. The spring 2726 exerts a spring force on the push rods 2721 to move the push rods 2721 towards 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. The second electric cylinder 2724 can drive the mounting head 2725 to move in and out. When disassembling the pin shaft, the split pin direction adjusting assembly 272 is adjusted to correspond to the pin shaft hole on the pin shaft and the hoop plate by moving the mounting frame 271. The second electric cylinder 2724 is extended to allow the two push rods 2721 to be located on the side of the corresponding pin shaft. Then, the electromagnets are electrified to generate a magnetic force, which moves the push rods 2721 towards the inner sides of the clamping grooves. The two push rods 2721 compress the spring 2726 and clamp the pin shaft. Then, the rotating cylinder body 2723 is rotated to rotate the pin shaft together, so as to adjust the direction of the pin hole on the pin shaft to correspond to the split pin taking-out assembly 273.

[0099] Preferably, a second motor 2728 is arranged on the frame body 2722. A rotating shaft is connected to the motor shaft of the second motor 2728. A small gear 2729 is connected to the rotating shaft. The bottom of the rotating cylinder body 2723 is provided with an inner tooth rotary bearing 2727, which is rotatably arranged on the frame body 2722. The inner tooth rotary bearing 2727 is engaged with the small gear 2729. The second motor 2728 drives the small gear 2729 to rotate, which in turn drives the inner tooth rotary bearing 2727 to rotate, thereby rotating the rotating cylinder body 2723 together.

[0100] As shown in FIG. 6, the split pin direction adjusting assembly 272 is arranged on the mounting frame 271. The mounting frame 271 is arranged on the base 270. The mounting frame 271 is provided with a first electric cylinder 2711 and a first motor 2712. The first electric cylinder 2711 is connected to the motor shaft of the first motor 2712. The first electric cylinder 2711 is arranged on the mounting frame 271 and can drive the mounting frame 271 to move in and out. The first motor 2712 is arranged on the base 270 and is connected to the power supply 2701. Figure 16 and Figure 17As 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 clamps 2734; the pair of telescopic clamps 2734 can be adjusted in extension and retraction, and through the extension and retraction 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 moved out of the circular hole at the head of the split pin. Through the extension and retraction adjustment of the telescopic clamps, the split pin can be clamped, and after the split pin is installed, the clamping of the split pin is released. The rotation of the rotating structure 2733 can adjust the direction of the telescopic clamps and the limiting rod, so as to adapt to the position and pose of the head of the split pin.

[0101] 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 of moving away from each other, and also can drive the pair of telescopic clamps 2734 to move in the direction of moving closer to each other. When clamping the split pin, the pair of telescopic clamps are adjusted to the two sides of the head of the split pin, and then the bidirectional electric cylinder is used to drive the pair of telescopic clamps to move closer to each other, so that the limiting rod is inserted into the circular hole at the head of the split pin, thereby realizing the clamping of the split pin, and the clamping of the split pin is released by adjusting in the reverse direction.

[0102] Further preferably, 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.

[0103] Further, as shown, Figure 13 the mounting rack 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, and as shown, Figure 16 the end of the vertical electric cylinder 2732 is connected with the rotating structure 2733, the extension and retraction of the horizontal electric cylinder 2731 realizes the horizontal position adjustment of the split pin taking-out assembly 273, and the extension and retraction 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, and the rotating structure 2733 can be driven to rotate by a motor.

[0104] Further, as shown, Figure 17As shown, the bottom of the bidirectional electric cylinder 2738 is provided with a contact switch 2737, when the head of the cotter pin touches the contact switch 2737, it indicates that the cotter pin enters into a pair of telescopic clamps. When disassembling the cotter pin, the cotter pin adjusting assembly 272 is rotated to adjust the pin shaft, so that the cotter pin on the pin shaft is rotated together, when the cotter pin touches the contact switch 2737, the contact switch 2737 forms a contact signal, and the contact signal is used to control the cotter pin adjusting assembly 272 to stop rotating, at this time the cotter pin can be taken out. When installing the cotter pin, a pair of telescopic clamps are adjusted to the top of the new cotter pin by the transverse electric cylinder 2731, and the height of the telescopic clamp 2734 is adjusted by the vertical electric cylinder 2732, when the new cotter pin touches the contact switch 2737, the vertical electric cylinder 2732 stops, at this time the head of the new cotter pin is placed inside a pair of telescopic clamps, at this time the new cotter pin can be taken out.

[0105] As shown in Figure 13 , Figure 18 and Figure 19 , the cotter pin storage structure 274 is arranged on the mounting frame 271 and is close to the cotter pin taking-out assembly 273, the cotter pin storage structure 274 includes a magazine 2742 and a recycling box 2743 connected with the magazine 2742, a plurality of cotter pins 41 are vertically arranged in the magazine 2742, the size of the magazine 2742 is matched with the size of the cotter pin 41, the cotter pin 41 is vertically arranged in the magazine 2742, and the recycling box 2743 is used to store the disassembled cotter pin. 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 to the mounting frame 271 through the mounting plate 2741.

[0106] 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 cotter pin 41, through the extrusion of the pushing plate 2747, the cotter pins 41 are tightly attached to each other, and the cotter pin 41 at the front is tightly attached to the corresponding side wall of the magazine 2742. When the first cotter pin 41 at the front is taken out, the pushing plate 2747 pushes the cotter pin 41 forward under the action of the thrust spring 2746, so that the cotter pin continues to be tightly attached to the corresponding side wall of the magazine.

[0107] In order to facilitate the extraction of the split pin 41, the electric rod 2744 and the top plate 2745 are arranged at the bottom of the magazine 2742 near the first split pin 41. The top plate 2745 is arranged at the top of the electric rod 2744 and can be pushed upward by 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. Then, the top plate 2745 pushes up the first split pin 41, so that the head of the first split pin 41 is higher than the heads of the other split pins 41, thereby facilitating the extraction of the first split pin 41 by the split pin extraction assembly 273. After the first split pin 41 is extracted, the electric rod 2744 moves downward with the top plate 2745 out of the magazine, so that the split pins 41 move forward under the action of the top plate. Then, the electric rod 2744 moves upward with the top plate 2745 to push up the first split pin.

[0108] As shown in Figure 13 and Figure 20 , the split 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 with each other, the ends of the first push plate 2776 and the second push plate 2777 are attached to each other, and the first push plate 2776 and the second push plate 2777 have a variable-diameter structure with the thickness gradually increasing from the top to the bottom. The bottom of the split pin is provided with a separation slot, so that the bottom of the split pin has two relatively separate pieces. After the split 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 split 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 separated, and then the two pieces at the bottom of the split pin are unfolded outward until the pieces are attached to the pin shaft, thereby achieving the locking of the split pin.

[0109] When installing the split pin, the split pin extraction assembly extracts a new split pin on the split pin storage structure, then moves to the installation position of the split pin, and puts the split pin into the pin hole of the pin shaft. At this time, the split pin extraction assembly pushes against the head of the split pin, and then uses the split pin unfolding assembly to unfold the bottom of the split pin to lock the split pin, thereby completing the installation of the split pin.

[0110] When the split pin is disassembled, the position of the split pin on the pin shaft is adjusted by the split pin orientation adjusting assembly, the head of the split pin is placed in the pair of telescopic clamps on the split pin taking-out assembly, the split pin is clamped and then lifted up, the split pin is pulled out, the pulled-out split pin is placed into the recycling box, and thus the disassembly of the split pin is completed.

[0111] In one specific embodiment of the present application, as shown in Figure 12 、 Figure 13 、 Figure 21 to Figure 23 The pin shaft taking-out assembly 276 comprises 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 telescopic adjustable, and the electromagnet block 2764 can attract the corresponding pin shaft after being electrified.

[0112] Further, the longitudinal adjusting member 2761 and the transverse adjusting member 2762 are arranged on the mounting frame 271, the transverse adjusting member 2762 is arranged on the longitudinal adjusting member 2761, and the telescopic adjusting member 2763 is arranged on the transverse adjusting member 2762, so that the longitudinal adjusting member and the transverse adjusting member can adjust the position of the telescopic adjusting member in the longitudinal direction and the transverse direction. The longitudinal adjusting member and the transverse adjusting member each comprise a rotatable lead screw and a sliding block threadedly connected to the lead screw, the sliding block can move along the lead screw by rotating the lead screw to realize the position adjustment in the longitudinal direction and the transverse direction. The transverse adjusting member is fixedly connected to the sliding block of the longitudinal adjusting member, and the telescopic adjusting member is fixedly connected to the sliding block of the transverse adjusting member.

[0113] The pin shaft taking-out assembly 276 and the split pin taking-out assembly 273 are located on the opposite sides of the installed spacer rod.

[0114] When the pin shaft is installed, the pin shaft taking-out assembly 276 attracts the pin shaft by the electromagnet block thereon, then is moved to adjust to the installation position of the pin shaft, that is, the pin shaft is aligned with the pin shaft hole on the hoop plate, then the telescopic adjusting member is extended to insert the pin shaft into the corresponding pin shaft hole, and the installation of the pin shaft is completed.

[0115] As shown in Figure 21 and Figure 22As shown, the pin shaft storage structure 275 comprises a pin shaft storage box 2751, a waste box 2752 connected with the pin shaft storage box 2751, an ejection spring 2754 arranged in the pin shaft storage box 2751, a pushing plate 2753 arranged in the pin shaft storage box 2751 and connected with the ejection 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 ejection spring 2754, the guide rod 2755 penetrating the pin holes of all pin shafts except the first pin shaft, and the guide rod 2755 plays a guiding and limiting role on the movement of the pin shaft, and the guide rod can also prevent the pin shaft from rotating, swinging and lifting. The ejection spring 2754 applies a spring force to the pushing plate 2753 to make the pushing plate 2753 abut against the pin shaft 42, and applies 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 ejection spring 2754 pushes the pushing plate 2753 to realize 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 close to 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, and the limiting spring and the limiting baffle are arranged to facilitate the pin shaft taking-out assembly to take out the pin shaft.

[0116] 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.

[0117] In one specific embodiment of the present application, as shown in Figure 3 to Figure 5 The walking device 22 comprises a plurality of supports 221 arranged 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, and the pair of rollers 222 can be clamped on or separated from the corresponding overhead line 10 by adjusting the spacing.

[0118] Preferably, the base 21 is provided with slide rails 212 corresponding to the supports 221, the bottom of the supports 221 is slidably arranged on the corresponding slide rails 212, and the supports 221 can be adjusted on the base 21. Specifically, an electric cylinder is arranged at the slide rail 212, and the electric cylinder is connected with the bottom of the support 221, and the extension and retraction adjustment 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 are arranged on both sides of the overhead line 10, and two supports 221 are slidably arranged on one slide rail 212. When the walking device 22 is hung on the overhead line 10, the pair of supports 221 is first adjusted to the end of the corresponding slide rail 212, so that the distance between the two supports 221 is maximum, and after being hoisted to both sides of the overhead line 10, the position of the support 221 is adjusted to make the support 221 close to the corresponding overhead line 10, and then the distance between the pair of rollers 222 is adjusted to make the pair of rollers 222 clamped on the overhead line 10, so that the hanging of the walking device 22 is completed.

[0119] Further preferably, two slide rails 212 are arranged at the front and rear of the base 21 respectively, the two slide rails 212 are arranged in parallel at a certain distance, two supports 221 are arranged on each slide rail 212, and the number of pairs of rollers 222 arranged on each support 221 is consistent with the number of overhead lines on the side where the support 221 is arranged. Figure 3 In the example shown, the number of 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 respectively, 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 respectively, so that the walking device 22 has the function of crossing obstacles when walking along the overhead line. When an obstacle (such as a spacer rod, a shock absorber, a suspension line, etc.) is encountered, the rollers on the front supports 221 can be adjusted to increase the distance to be separated from the overhead line 10, and then the rear supports 221 are adjusted to the end of the slide rail 212, so that the front supports 221 are away from the overhead line, 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 line. When the rear supports 221 encounter an obstacle, the same method can be used to cross the obstacle, and when the front supports cross the obstacle, the rear supports are still hung on the overhead line, which can ensure the stability of the hanging of the robot.

[0120] Further, as shown in Figure 5As shown, a pair of rollers 222 are rotatably mounted on corresponding mounting seats 223, the pair of rollers 222 are arranged in an upper and lower opposite manner, the two mounting seats 223 are also arranged in an upper and lower opposite manner, a two-way telescopic electric cylinder 224 is connected between the two opposite mounting seats 223, the two-way telescopic electric cylinder 224 can adjust the distance between the pair of rollers 222, a roller driving motor 225 is mounted on one of the two mounting seats 223, the roller driving motor 225 is drivingly connected with the corresponding roller 222, for driving the corresponding roller 222 to rotate. The mounting seat 223 is a U-shaped seat, and the roller 222 is rotatably mounted on the U-shaped seat. The two-way telescopic electric cylinder 224 can be adjusted in a two-way telescopic manner, when the two-way telescopic electric cylinder 224 extends outward, the distance between the pair of rollers 222 can be increased, and when the two-way telescopic electric cylinder 224 retracts inward, the distance between the pair of rollers 222 can be reduced.

[0121] In one specific embodiment of the present application, as shown in Figure 3 and Figure 6 As shown, the spacer rod storage mechanism 23 includes a movable and adjustable limiting frame 231 arranged on the base 21, a limiting plate 232 arranged opposite to the limiting frame 231, and a supporting spring 233 supported and connected 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 in the direction of the limiting plate 232, so that the limiting frame 231 and the limiting plate 232 clamp the corresponding spacer rod 31. By clamping the spacer rod 31 with the limiting frame 231 and the limiting plate 232, after one spacer rod 31 is taken out, the supporting spring 233 pushes the limiting frame 231 to move in the direction of 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, after the old spacer rod 31 is placed on the base 21, the supporting spring 233 pushes the limiting frame 231, so that the limiting frame 231 and the limiting plate 232 clamp the old spacer rod 31. Preferably, the spacer rod 31 is placed in the limiting frame 231 from a position close to the limiting plate 232.

[0122] 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.

[0123] 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. Figure 6 Further, as shown in the figure, the base 21 is provided with a positioning block corresponding to the limiting frame, and 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 connected between the limiting frame and the positioning block, and the movement of the limiting frame is guided by the cooperation of the guide rail and the positioning block.

[0124] Further, in order to further improve the safety, the base 21 is provided with a surrounding plate outside the spacer rod storage mechanism, which plays a protective role.

[0125] Further, the hoop plate 311 on the spacer rod 31 stored in the spacer rod storage mechanism 23 is in an open state, and the spacer rod 31 is arranged vertically on the spacer rod storage mechanism 23, and the placement 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 installing, the spacer rod 31 needs to be rotated by 90°, and then the corresponding hoop plate on the spacer rod 31 can be buckled with the corresponding overhead line.

[0126] In one embodiment of the present application, as shown in Figure 24 and Figure 25 The spacer rod installation and removal robot of the present application can be hung on the overhead line 10 through the hanging device 28, the hanging device 28 is clamped on the cross arm on 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 arranged 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, and the robot can be lifted from the ground to the overhead line 10.

[0127] The present application also provides a method for automatically removing the damping spacer rod of the overhead line, which will be described as follows. Figure 2 The automatic removal method of the present application comprises the following steps:

[0128] The step S21 is performed to provide a spacer bar mounting and dismounting robot, the provided spacer bar mounting and dismounting robot comprising a base, a walking device arranged on the base, a spacer bar storage mechanism arranged on the base, a spacer bar clamping mechanism adjustably arranged on the base, a spacer bar mounting and dismounting mechanism slidably arranged on the spacer bar clamping mechanism, and a component mounting and dismounting mechanism arranged on the base; the spacer bar mounting and dismounting robot is hoisted to the overhead line, and the spacer bar mounting and dismounting robot is hung on the overhead line through the walking device; then the step S22 is performed;

[0129] The step S22 is performed to start the walking device, and the spacer bar mounting and dismounting robot is moved to the position of the spacer bar to be dismounted through the walking device; then the step S23 is performed.

[0130] The step S23 is performed to adjust the position of the spacer bar clamping mechanism and clamp the spacer bar to be dismounted by the spacer bar clamping mechanism; then the step S24 is performed.

[0131] The step S24 is performed to dismount the split pin and pin shaft on the hoop plate of the spacer bar to be dismounted by the component mounting and dismounting mechanism; then the step S25 is performed.

[0132] The step S25 is performed to adjust the position of the spacer bar mounting and dismounting mechanism to make the spacer bar mounting and dismounting mechanism close to the spacer bar to be dismounted, and the hoop plate on the spacer bar is rotated to be opened by the spacer bar mounting and dismounting mechanism; then the step S26 is performed.

[0133] The step S26 is performed to take out the spacer bar to be dismounted by the spacer bar clamping mechanism and put it into the spacer bar storage mechanism, thereby completing the automatic dismounting of the spacer bar.

[0134] In one specific embodiment of the present application, a first camera is arranged on the spacer bar clamping mechanism, and the first camera is used to acquire first image information.

[0135] The first image information is analyzed to obtain position information of the spacer bar to be dismounted.

[0136] The spacer bar clamping mechanism is controlled to move to the position of the spacer bar to be dismounted, and a pair of clamping plates on the spacer bar clamping mechanism is driven to rotate to clamp the spacer bar to be dismounted.

[0137] After the hoop plate is opened, the spacer bar clamping mechanism is controlled to rotate by 90°, and then moves above the spacer bar storage mechanism, and then the spacer bar clamping mechanism is controlled to move downward to put the spacer bar into the spacer bar storage mechanism.

[0138] In one specific embodiment of the present application, the component mounting and dismounting mechanism comprises a split pin adjusting assembly corresponding to the pin shaft and rotatable and adjustable.

[0139] When the split pin is removed, the split pin adjusting assembly clamps and rotates the corresponding pin shaft so that the head of the split pin to be removed faces upward.

[0140] In one embodiment of the present application, the component mounting and dismounting mechanism further comprises a position-adjustable pin shaft taking-out assembly;

[0141] When the pin shaft is removed, the position of the pin shaft taking-out assembly is adjusted to enable the pin shaft taking-out assembly to adsorb the corresponding pin shaft, the split pin adjusting assembly is used to push the corresponding pin shaft towards the pin shaft taking-out assembly, and the pin shaft taking-out assembly is controlled to move to take out the pin shaft.

[0142] In one embodiment of the present application, a second camera is arranged on the pin shaft taking-out assembly, and the second camera is used to obtain second image information.

[0143] The obtained second image information is analyzed to obtain the position of the pin shaft on the clamp plate.

[0144] The position of the pin shaft taking-out assembly is adjusted according to the obtained position of the pin shaft, and the pin shaft taking-out assembly is attached to the pin shaft to be removed so as to take out the pin shaft.

[0145] The spacer rod automatic mounting and dismounting method can be realized by a control module arranged on the spacer rod mounting and dismounting robot, which is used to control the spacer rod mounting and dismounting robot to realize automatic mounting and dismounting of the spacer rod, avoids manual operation, and improves work efficiency. The control module has an automatic mode and a remote control mode. When the automatic mode is selected, the control module can automatically control the spacer rod mounting and dismounting robot to complete mounting and dismounting of the spacer rod. When the remote control mode is selected, the spacer rod mounting and dismounting robot can be remotely controlled by a handheld device, so that the worker can remotely control the spacer rod mounting and dismounting robot on the ground to complete mounting and dismounting of the spacer rod. The control interface is arranged on the handheld device, and the control buttons corresponding to each power component of the spacer rod mounting and dismounting robot are arranged on the control interface, which are used to control each power component, so that the spacer rod mounting and dismounting robot completes mounting and dismounting work of the spacer rod. The display screen is also arranged on the handheld device, which is used to display images captured by the camera arranged on the spacer rod mounting and dismounting robot, so as to facilitate the worker to check the actual situation.

[0146] The above embodiments of the present application are described in detail with reference to the accompanying 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 be regarded as limiting the present application, and the protection scope of the present application is defined by the appended claims.

Claims

1. A method for automatically installing damping spacers on overhead power lines, characterized in that, Includes the following steps: A spacer installation and removal robot is provided. The provided spacer installation and removal robot includes a base, a walking device on the base, a spacer storage mechanism on the base, a spacer clamping mechanism that is adjustable and mounted on the base, a spacer installation and removal mechanism that slides on the spacer clamping mechanism, and a component loading and unloading mechanism on the base. The spacer installation and removal robot is hoisted onto an overhead line, and the spacer installation and removal robot is attached to the overhead line by the walking device. Start the walking device, which will drive the spacer installation and removal robot to the installation position of the spacer to be installed. Use the spacer clamping mechanism to clamp a new spacer from the spacer storage mechanism, and adjust the position of the spacer clamping mechanism so that the clamped spacer is placed in the installation position. Move and adjust the position of the spacer installation and removal mechanism so that the spacer installation and removal mechanism is close to the spacer clamped on the spacer clamping mechanism, and use the spacer installation and removal mechanism to drive the hoop plate on the spacer to rotate so that the hoop plate is fastened on the corresponding overhead line; as well as The component loading and unloading mechanism is used to install pins and cotter pins on the hoop plate, thereby completing the automatic installation of the spacer bar; The spacer bar installation and removal mechanism includes a fixed frame, a rotatable and adjustable suction plate mounted on the fixed frame and corresponding to the hoop plate on the spacer bar, and a telescopic and adjustable clamping clamp mounted on the fixed frame. The fixed frame slides on the spacer bar clamping mechanism. The suction plate can attract the corresponding hoop plate, and then rotate the corresponding hoop plate by rotation adjustment. When the hoop plate rotates to the closed state, the clamping clamp can clamp the corresponding hoop plate by telescopic adjustment so that the hoop plate is connected. After the hoop plate is fastened to the corresponding overhead line, the clamping clamp is used to clamp the hoop plate and the corresponding fixed arc plate on the spacer bar so that the hoop plate and the corresponding fixed arc plate are connected in place. The component loading and unloading mechanism includes a movable and adjustable mounting bracket mounted on a base, a rotatably adjustable cotter pin adjusting assembly mounted on the mounting bracket, a movable and adjustable cotter pin removal assembly mounted on the mounting bracket, a cotter pin storage structure on the mounting bracket, a pin storage structure on the mounting bracket, and a pin removal assembly mounted on the mounting bracket with adjustable position. The end of the cotter pin adjusting assembly is provided with a clamping fastener corresponding to the pin. The clamping fastener clamps the corresponding pin, and then rotational adjustment is used to adjust the direction of the pin hole on the pin. The cotter pin removal assembly is used to install or remove the corresponding cotter pin. The pin removal assembly is used to install or remove the corresponding pin.

2. The method for automatic installation of damping spacers for overhead lines as described in claim 1, characterized in that, Also includes: A first camera is installed on the spacer bar clamping mechanism, and the first image information is acquired using the first camera. When picking up a new spacer, obtain the position information of the spacer; Control the spacer clamping mechanism to move to the position information of the spacer obtained, and drive a pair of clamping plates on the spacer clamping mechanism to rotate so that the pair of clamping plates clamp the corresponding spacer. The spacer clamping mechanism is raised to a set height, and its position is verified by the first image information. Then, it is rotated 90° so that the clamped spacer is placed laterally inside the overhead line, thus placing the spacer in the position to be installed.

3. The method for automatic installation of damping spacers for overhead lines as described in claim 1, characterized in that, The component loading and unloading mechanism is provided with a cotter pin unfolding component at the bottom corresponding to the cotter pin. After the cotter pin is inserted into the pin hole on the corresponding pin shaft, the tail of the cotter pin is unfolded using the cotter pin unfolding assembly to fix the cotter pin to the pin shaft.

4. The method for automatic installation of damping spacers for overhead lines as described in claim 1, characterized in that, Also includes: A second camera is installed on the component loading and unloading mechanism to acquire second image information; The position of the pin hole on the hoop is determined by analyzing the acquired second image information. Adjust the position of the pin picked up by the component loading and unloading mechanism according to the obtained pin hole position to facilitate pin installation.

5. A method for automatic disassembly of damping spacers for overhead power lines, characterized in that, Includes the following steps: A spacer installation and removal robot is provided. The provided spacer installation and removal robot includes a base, a walking device on the base, a spacer storage mechanism on the base, a spacer clamping mechanism that is adjustable and mounted on the base, a spacer installation and removal mechanism that slides on the spacer clamping mechanism, and a component loading and unloading mechanism on the base. The spacer installation and removal robot is hoisted onto an overhead line, and the spacer installation and removal robot is attached to the overhead line by the walking device. Start the walking device, and use the walking device to move the spacer installation and removal robot to the location of the spacer to be removed; Adjust the position of the spacer clamping mechanism and use the spacer clamping mechanism to clamp the spacer to be disassembled; The cotter pins and pins on the hoop plate of the spacer bar to be disassembled are removed using the component loading and unloading mechanism. Move and adjust the position of the spacer installation and removal mechanism so that the spacer installation and removal mechanism is close to the spacer to be removed, and use the spacer installation and removal mechanism to drive the hoop plate on the spacer to rotate so that the hoop plate opens; as well as The spacer bar to be disassembled is taken out using the spacer bar clamping mechanism and placed into the spacer bar storage mechanism, thereby completing the automatic disassembly of the spacer bar. The component loading and unloading mechanism includes a cotter pin adjusting assembly that is rotatably adjustable and corresponds to the pin shaft. When removing a cotter pin, the cotter pin adjusting component clamps the corresponding pin and rotates it so that the head of the cotter pin to be removed faces upward.

6. The method for automatic disassembly of overhead line damping spacers as described in claim 5, characterized in that, Also includes: A first camera is installed on the spacer bar clamping mechanism, and the first image information is acquired using the first camera. Analyze the first image information to obtain the position information of the spacer to be disassembled; Control the spacer clamping mechanism to move to the position of the spacer to be disassembled, and drive a pair of clamping plates on the spacer clamping mechanism to rotate so that the pair of clamping plates clamp the spacer to be disassembled. After the clamping plate is opened, the spacer clamping mechanism is rotated 90° and then moved above the spacer storage mechanism. Then, the spacer clamping mechanism is moved downward to put the spacer into the spacer storage mechanism.

7. The method for automatic disassembly of overhead line damping spacers as described in claim 5, characterized in that, The component loading and unloading mechanism also includes a position-adjustable pin removal assembly; When removing the pin, adjust the position of the pin removal component so that the pin removal component can attract the corresponding pin. Use the cotter pin adjusting component to push the corresponding pin in the direction of the pin removal component, and control the pin removal component to move to remove the pin.

8. The method for automatic disassembly of overhead line damping spacers as described in claim 7, characterized in that, Also includes: Yu A second camera is provided on the pin removal assembly, and the second camera is used to acquire second image information. The position of the pin on the hoop is determined by analyzing the acquired second image information; Adjust the position of the pin removal assembly according to the obtained pin position, and make the pin removal assembly fit against the pin to be removed in order to remove the pin.

Images