A warning ball automatic installation robot

Abstract

The application discloses a warning ball automatic installation robot, and relates to the field of high-voltage power transmission.The warning ball automatic installation robot comprises a main body and two lifting mechanisms.The lifting mechanism comprises a winch, a hook and an insulating rope.The winch is rotationally connected to the main body, the hook is used for being hung on a wire, and a lifting motor is further arranged on the main body.The main body is slidably connected with a sliding seat along the length direction of the main body, slidably connected with an adjusting seat along the vertical direction, and slidably connected with two clamping arms along the width direction of the main body.The main body is provided with a driving assembly one for driving the sliding seat to slide, a driving assembly two for driving the adjusting seat to slide and a driving assembly three for driving the clamping arms to slide.A mounting assembly is further arranged on the clamping arm.Through the arrangement of the mounting assembly and the lifting mechanism, the main body can automatically move to a predetermined position with the two warning balls, and then the two warning balls are assembled together through the mounting assembly, so that the complicated and dangerous manual operation is avoided.

Description

Technical Field

[0001] This application relates to the field of high-voltage power transmission, and in particular to an automatic warning ball installation robot. Background Technology

[0002] Warning balls are typically found on overhead high-voltage power transmission lines. Their purpose is to warn pedestrians, vehicles, cranes, ships, and other objects below not to approach the high-voltage conductors, allowing them to notice and take preventative measures, thereby reducing the occurrence of public safety accidents and power grid safety incidents. Currently, the installation of warning balls mainly relies on manual labor. Workers wearing protective suits carry the warning balls up the line and use electrical tools to install them. This manual work is physically demanding and poses safety hazards. Summary of the Invention

[0003] In order to enable the rapid and automatic installation of warning balls, this application provides an automatic warning ball installation robot.

[0004] This application provides an automatic warning ball installation robot, which adopts the following technical solution:

[0005] An automatic warning ball installation robot includes a main body and two lifting mechanisms, which are distributed at both ends of the main body along its length. Each lifting mechanism includes a winch, a hook, and an insulating rope. The winch is rotatably connected to the main body, and its rotation axis is set horizontally. The hook is used to attach to a wire. One end of the insulating rope is connected to the hook, and the other end of the insulating rope is wound around the winch. The main body is also equipped with a lifting motor for driving the winch to rotate.

[0006] The main body is slidably connected to a sliding seat along its length. An adjusting seat is slidably connected to the sliding seat along the vertical direction. Two clamping arms for holding the warning ball are slidably connected to the adjusting seat along the width direction of the main body. The main body is provided with a first driving component for driving the sliding seat to slide. The sliding seat is provided with a second driving component for driving the adjusting seat to slide. The adjusting seat is also provided with a third driving component for driving the clamping arms to slide. The clamping arms are also provided with an installation component for tightening screws to assemble the warning ball.

[0007] By adopting the above technical solution, before installing the warning ball, the hooks are first attached to the wire by drone or manual means. After both hooks are attached, the lifting motor drives the winch to wind up the insulating rope, thereby lifting the main body. When the main body reaches the predetermined position, the two clamping arms are controlled to slide by drive component one, drive component two, and drive component three, so that the hemispheres of the two warning balls on the two clamping arms clamp the wire. Then, the two warning ball hemispheres are spliced ​​together by the installation component to complete the installation.

[0008] Optionally, a guide is slidably connected to the main body along the axis of the winch, and the insulating rope passes through the guide and is wound around the winch; a guide screw is rotatably connected to the main body, the guide screw is a bidirectional screw, the rotation axis of the guide screw is set along the axis of the winch, and the guide is connected to the guide screw through a screw nut; the lifting motor drives the winch and the guide screw to rotate simultaneously through a reducer.

[0009] By adopting the above technical solution, when the winch winds up or unwinds the insulating rope, the guide screw will also rotate, thereby driving the guide to slide, so that the insulating rope can be evenly distributed on the winch, which is beneficial to the winding and unwinding of the insulating rope.

[0010] Optionally, the mounting assembly includes an adaptive sleeve and a rotating arm. The rotating arm is rotatably connected to the clamping arm, and its rotation axis is set along the width direction of the main body. The clamping arm is also provided with a rotary motor for driving the rotating arm to rotate. A mounting block is slidably connected to the rotating arm along the width direction of the main body. The adaptive sleeve is rotatably connected to the mounting block, and its rotation axis is set along the width direction of the main body. The rotating arm is also provided with a feed screw and a feed motor for driving the mounting block to slide. The feed screw is rotatably connected to the rotating arm, and its rotation axis is set along the width direction of the main body. The feed motor is used to drive the feed screw to rotate. The mounting block is also provided with a mounting motor for driving the adaptive sleeve to rotate.

[0011] By adopting the above technical solution, the rotating arm is controlled by a rotary motor to rotate, so that the adaptive sleeve is aligned with the screw hole on the warning ball. Then, the feed motor drives the feed screw to rotate, so that the bolt on the adaptive sleeve is inserted into the screw hole. At the same time, the installation motor drives the adaptive sleeve to rotate, so that the bolt is screwed into the screw hole to complete the assembly of the warning ball.

[0012] Optionally, the rotating arm is telescopic, and the rotating arm includes a fixed end and a telescopic end. The fixed end is rotatably connected to the clamping arm, and the adaptive sleeve, the feed screw, and the feed motor are disposed on the telescopic end. The rotary motor is used to drive the fixed end to rotate, and the telescopic end is slidably connected to the fixed end along the length direction of the rotating arm. The fixed end is also provided with a telescopic component for driving the telescopic end to slide.

[0013] By adopting the above technical solution, the sliding of the telescopic end is controlled by the telescopic component, thereby changing the position of the adaptive sleeve, so that the device can install warning balls of different sizes.

[0014] Optionally, the telescopic assembly includes a telescopic lead screw and a telescopic motor. The telescopic lead screw is rotatably connected to the fixed end, and the rotation axis of the telescopic lead screw is set along the length direction of the rotating arm. The telescopic motor is used to drive the telescopic lead screw to rotate.

[0015] By adopting the above technical solution, the telescopic motor drives the telescopic lead screw to rotate, thereby causing the telescopic end to slide.

[0016] Optionally, the drive assembly includes an X-axis motor and an X-axis lead screw, the X-axis lead screw being rotatably connected to the main body, and the rotation axis of the X-axis lead screw being set along the length direction of the main body; the X-axis motor is used to drive the X-axis lead screw to rotate, and the sliding seat is connected to the X-axis lead screw through a lead screw nut.

[0017] By adopting the above technical solution, the X-axis motor drives the X-axis lead screw to rotate, thereby driving the sliding seat to slide along the length of the main body, thus adjusting the position of the sliding seat and the clamping arm.

[0018] Optionally, the second drive assembly includes a Z-axis lead screw and a Z-axis motor. The Z-axis lead screw is rotatably connected to the main body, and the rotation axis of the Z-axis lead screw is set in the vertical direction. The Z-axis motor is used to drive the Z-axis lead screw to rotate. The adjusting seat is connected to the Z-axis lead screw through a lead screw nut.

[0019] By adopting the above technical solution, the Z-axis motor drives the Z-axis lead screw to rotate, thereby driving the adjustment seat to slide, thus changing the position of the adjustment seat and the clamping arm.

[0020] Optionally, the drive assembly three includes a Y-axis lead screw and a Y-axis motor. The Y-axis lead screw is rotatably connected to the adjusting seat, and the rotation axis of the Y-axis lead screw is set along the width direction of the main body. The clamping arm is connected to the Y-axis lead screw through a lead screw nut, and the Y-axis motor is used to drive the Y-axis lead screw to rotate.

[0021] By adopting the above technical solution, the Y-axis motor drives the Y-axis lead screw to rotate, thereby causing the two clamping arms to move closer or further apart, ultimately enabling the warning ball to clamp the wire in the middle.

[0022] In summary, this application includes the following beneficial technical effects:

[0023] This application, through the installation components and lifting mechanism, enables the main body to automatically move the two warning ball hemispheres to a predetermined position, and then automatically assemble the two warning balls together by installing the components; thus avoiding the tediousness and danger of manual operation. Attached Figure Description

[0024] Figure 1 This is an overall structural diagram of an automatic warning ball installation robot according to this application;

[0025] Figure 2 yes Figure 1 Partial structural diagram of the guide;

[0026] Figure 3 yes Figure 1 Partial structural diagram of the middle clamping arm;

[0027] Figure 4 yes Figure 1 Partial structural diagram of the installed components.

[0028] Explanation of reference numerals in the attached figures:

[0029] 1. Main body; 11. Winch; 12. Hook; 13. Insulating rope; 14. Lifting motor; 15. Guide screw; 16. Guide; 2. Sliding seat; 21. X-axis motor; 22. X-axis screw; 3. Adjusting seat; 31. Z-axis screw; 32. Z-axis motor; 4. Clamping arm; 41. Y-axis motor; 42. Y-axis screw; 51. Rotating arm; 511. Fixed end; 512. Telescopic end; 52. Mounting block; 53. Adaptive sleeve; 54. Rotary motor; 55. Feed screw; 56. Feed motor; 57. Telescopic motor; 58. Telescopic screw. Detailed Implementation

[0030] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0031] This application discloses an automatic warning ball installation robot, referring to... Figure 1 and Figure 2 The device includes a main body 1 and two lifting mechanisms, which are located at both ends of the main body 1 along its length. Each lifting mechanism includes a winch 11, a hook 12, and an insulating rope 13. The winch 11 is rotatably connected to the main body 1, and the axis of rotation of the winch 11 is along the length of the main body 1. A lifting motor 14 for driving the winch 11 to rotate is also provided on the main body 1. One end of the insulating rope 13 is connected to the hook 12, and the other end of the insulating rope 13 is wound and fixedly connected to the winch 11. The hook 12 is used to hang on the power line. When the robot operates for the first time, the hook 12 needs to be hung on the power line by a drone. Then, the lifting motor 14 drives the winch 11 to wind up the insulating rope 13, thereby lifting the main body 1 to the vicinity of the power transmission cable.

[0032] To improve the stability of the main body 1 during the lifting process, a guide screw 15 is rotatably connected to the main body 1. The rotation axis of the guide screw 15 is set along the axis of the winch 11. The hoisting motor 14 drives the winch 11 and the guide screw 15 to rotate simultaneously through a synchronous pulley. The guide screw 15 is a bidirectional screw. A guide 16 is connected to the guide screw 15 through a screw nut. One end of the insulating rope 13 passes through the guide 16 and is wound and fixedly connected to the winch 11. When the hoisting motor 14 is activated, the guide 16 slides along the axis of the winch 11, thereby driving the insulating rope 13 to be evenly wound on the winch 11.

[0033] Reference Figure 1 and Figure 3 Meanwhile, a guide rod is provided on the main body 1 along its own length direction. A sliding seat 2 is slidably connected to the guide rod. An adjusting seat 3 is slidably connected to the sliding seat 2 along the vertical direction. Two clamping arms 4 for clamping the warning ball are slidably connected to the adjusting seat 3 along the width direction of the main body 1. The warning ball is divided into two hemispheres and clamped on the clamping arms 4 respectively. The two clamping arms 4 slide to move closer to or further away from each other.

[0034] The main body 1 is provided with a drive assembly 1 for driving the sliding seat 2 to slide, the sliding seat 2 is provided with a drive assembly 2 for driving the adjusting seat 3 to slide, the adjusting seat 3 is provided with a drive assembly 3 for driving the clamping arm 4 to slide, and the clamping arm 4 is also provided with an installation assembly for tightening screws to assemble the two warning ball hemispheres into a complete warning ball.

[0035] After the main body 1 approaches the power transmission cable, the positions of the sliding seat 2, adjusting seat 3 and clamping arm 4 are adjusted by driving component one, driving component two and driving component three so that the power transmission cable is clamped in the warning ball. Then, the two warning ball hemispheres are assembled by the installation component.

[0036] Reference Figure 2 and Figure 3 In this embodiment, the mounting assembly includes an adaptive sleeve 53 and a rotating arm 51. The rotating arm 51 is rotatably connected to the clamping arm 4, and a mounting block 52 is slidably connected to the rotating arm 51 along the width direction of the main body 1. The adaptive sleeve 53 is rotatably connected to the mounting block 52. The rotation axes of the rotating arm 51 and the adaptive sleeve 53 are both set along the width direction of the main body 1. The mounting block 52 is also provided with a mounting motor for driving the adaptive sleeve 53 to rotate. At the same time, the clamping arm 4 is provided with a rotating motor 54 for driving the rotating arm 51 to rotate. The mounting block 52 is provided with a feed screw 55 for driving itself to slide and a feed motor 56. The feed screw 55 is rotatably connected to the mounting block 52, and the rotating arm 51 is connected to the feed screw 55 through a screw nut. The feed motor 56 is used to drive the feed screw 55 to rotate.

[0037] After the power transmission cable is clamped in the warning ball, the rotating arm 51 is rotated by the rotary motor 54 so that the adaptive sleeve 53 can be aligned with the screw hole of the warning ball. Then, the feed screw 55 is rotated by the feed motor 56, and the installation motor drives the adaptive sleeve 53 to rotate, thereby screwing the bolt into the screw hole and completing the installation of the bolt on one side of the warning ball. Then, the adaptive sleeve 53 is aligned with the screw hole on the other side of the warning ball by the rotary motor 54, and the above steps are repeated to complete the installation of the bolt on the other side.

[0038] To accommodate warning balls of different sizes, the rotating arm 51 is divided into a fixed end 511 and a telescopic end 512. The fixed end 511 is rotatably connected to the clamping arm 4, and the mounting block 52 and the adaptive sleeve 53 are both mounted on the telescopic end 512. A rotary motor 54 drives the fixed end 511 to rotate, and the telescopic end 512 is slidably connected to the fixed end 511 along the length of the rotating arm 51. A telescopic screw 58 is rotatably connected to the telescopic end 512, and the rotation axis of the telescopic screw 58 is set along the length of the rotating arm 51. At the same time, a telescopic motor 57 is provided on the telescopic end 512 to drive the telescopic screw 58 to rotate. The telescopic motor 57 drives the telescopic screw 58 to rotate, thereby causing the telescopic end 512 to slide, thus changing the overall length of the rotating arm 51 to accommodate warning balls of different sizes.

[0039] In this embodiment, the drive component includes an X-axis motor 21 and an X-axis lead screw 22. The X-axis lead screw 22 is rotatably connected to the main body 1, and the rotation axis of the X-axis is set along the length of the main body 1. The X-axis motor 21 is used to drive the X-axis lead screw 22 to rotate. The sliding seat 2 is connected to the X-axis lead screw 22 through a lead screw nut. When the X-axis motor 21 drives the X-axis lead screw 22 to rotate, it can drive the sliding seat 2 to slide to adjust its position.

[0040] In this embodiment, the second drive assembly includes a Z-axis lead screw 31 and a Z-axis motor 32. The Z-axis lead screw 31 is rotatably connected to the sliding seat 2, and the rotation axis of the Z-axis lead screw 31 is set in the vertical direction. The Z-axis motor 32 is used to drive the Z-axis lead screw 31 to rotate. The adjusting seat 3 is connected to the Z-axis lead screw 31 through a lead screw nut. Similarly, the rotation of the Z-axis motor 32 drives the Z-axis lead screw 31 to rotate, thereby changing the position of the adjusting seat 3.

[0041] In this embodiment, the drive assembly 3 includes a Y-axis lead screw 42 and a Y-axis motor 41. The Y-axis lead screw 42 is rotatably connected to the adjustment seat 3. The rotation axis of the Y-axis lead screw 42 is set along the width direction of the main body 1. The Y-axis motor 41 is used to drive the Y-axis lead screw 42 to rotate. Similarly, the rotation of the Y-axis lead screw 42 can drive the two clamping arms 4 to move closer or further apart.

[0042] With the combined action of drive component one, drive component two, and drive component three, the power transmission cable is clamped in the warning ball, and finally, the assembly of a single warning ball can be completed by installing the components.

[0043] The implementation principle of the automatic installation robot for warning balls in this application embodiment is as follows: the hook 12 is attached to the cable by means of drone or manual means, and then the main body 1 is lifted by the winch 11 winding the insulating rope 13. During this process, the guide 16 slides to ensure the stability of the lifting of the main body 1. After the main body 1 reaches the predetermined position, the position of the warning ball is adjusted by drive component one, drive component two and drive component three so that the cable is clamped in the warning ball. Then the installation component completes the assembly of the warning ball.

[0044] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An automatic warning ball installation robot, characterized in that: The device includes a main body (1) and two lifting mechanisms, which are distributed at both ends of the main body (1) along its length. Each lifting mechanism includes a winch (11), a hook (12), and an insulating rope (13). The winch (11) is rotatably connected to the main body (1), and the axis of rotation of the winch (11) is set in the horizontal direction. The hook (12) is used to hang on the conductor. One end of the insulating rope (13) is connected to the hook (12), and the other end of the insulating rope (13) is wound and connected to the winch (11). The main body (1) is also provided with a lifting motor (14) for driving the winch (11) to rotate. The main body (1) is slidably connected to a sliding seat (2) along its own length direction. An adjusting seat (3) is slidably connected to the sliding seat (2) along the vertical direction. Two clamping arms (4) for clamping the warning ball are slidably connected to the adjusting seat (3) along the width direction of the main body (1). The main body (1) is provided with a first driving component for driving the sliding seat (2) to slide. The sliding seat (2) is provided with a second driving component for driving the adjusting seat (3) to slide. The adjusting seat (3) is also provided with a third driving component for driving the clamping arms (4) to slide. The clamping arms (4) are also provided with an installation component for tightening screws to assemble the warning ball. A guide (16) is slidably connected to the main body (1) along the axis of the winch (11). The insulating rope (13) passes through the guide (16) and is wound around the winch (11). A guide screw (15) is rotatably connected to the main body (1). The guide screw (15) is a bidirectional screw. The rotation axis of the guide screw (15) is set along the axis of the winch (11). The guide (16) is connected to the guide screw (15) through a screw nut. The lifting motor (14) drives the winch (11) and the guide screw (15) to rotate simultaneously through a reducer. The mounting assembly includes an adaptive sleeve (53) and a rotating arm (51). The rotating arm (51) is rotatably connected to the clamping arm (4), and the rotation axis of the rotating arm (51) is set along the width direction of the main body (1). The clamping arm (4) is also provided with a rotary motor (54) for driving the rotating arm (51) to rotate. The rotating arm (51) is slidably connected to a mounting block (52) along the width direction of the main body (1). The adaptive sleeve (53) is rotatably connected to the mounting block (52). The rotation axis of the cylinder (53) is set along the width direction of the main body (1); the mounting block (52) is also provided with a feed screw (55) and a feed motor (56) for driving itself to slide. The feed screw (55) is rotatably connected to the rotating arm (51). The rotation axis of the feed screw (55) is set along the width direction of the main body (1). The feed motor (56) is used to drive the feed screw (55) to rotate. The mounting block (52) is also provided with a mounting motor for driving the adaptive sleeve (53) to rotate.

2. The automatic warning ball installation robot according to claim 1, characterized in that: The rotating arm (51) is telescopic and includes a fixed end (511) and a telescopic end (512). The fixed end (511) is rotatably connected to the clamping arm (4). The adaptive sleeve (53) and the mounting block (52) are disposed on the telescopic end (512). The rotary motor (54) is used to drive the fixed end (511) to rotate. The telescopic end (512) is slidably connected to the fixed end (511) along the length direction of the rotating arm (51). The fixed end (511) is also provided with a telescopic component for driving the telescopic end (512) to slide.

3. The automatic warning ball installation robot according to claim 2, characterized in that: The telescopic assembly includes a telescopic lead screw (58) and a telescopic motor (57). The telescopic lead screw (58) is rotatably connected to the telescopic end (512). The rotation axis of the telescopic lead screw (58) is set along the length direction of the rotating arm (51). The telescopic motor (57) is used to drive the telescopic lead screw (58) to rotate.

4. The automatic warning ball installation robot according to claim 1, characterized in that: The drive assembly includes an X-axis motor (21) and an X-axis lead screw (22). The X-axis lead screw (22) is rotatably connected to the main body (1), and the rotation axis of the X-axis lead screw (22) is set along the length direction of the main body (1). The X-axis motor (21) is used to drive the X-axis lead screw (22) to rotate. The sliding seat (2) is connected to the X-axis lead screw (22) through a lead screw nut.

5. The automatic warning ball installation robot according to claim 1, characterized in that: The second drive assembly includes a Z-axis lead screw (31) and a Z-axis motor (32). The Z-axis lead screw (31) is rotatably connected to the main body (1). The rotation axis of the Z-axis lead screw (31) is set in the vertical direction. The Z-axis motor (32) is used to drive the Z-axis lead screw (31) to rotate. The adjusting seat (3) is connected to the Z-axis lead screw (31) through a lead screw nut.

6. The automatic warning ball installation robot according to claim 1, characterized in that: The drive assembly includes a Y-axis lead screw (42) and a Y-axis motor (41). The Y-axis lead screw (42) is rotatably connected to the adjusting seat (3), and the rotation axis of the Y-axis lead screw (42) is set along the width direction of the main body (1). The clamping arm (4) is connected to the Y-axis lead screw (42) through a lead screw nut, and the Y-axis motor (41) is used to drive the Y-axis lead screw (42) to rotate.

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