A spacer bar robot online device

Abstract

This invention discloses a spacer bar robot installation device, including a hoisting device and a robot body. The hoisting device is used to hoist the robot body, which is equipped with rollers and clamping wheels. The rollers and clamping wheels are mounted on the robot body via an adjustment component, which can adjust the distance between the rollers and clamping wheels. The robot body is also equipped with a horizontal and vertical drive mechanism and a guide component. The guide component is fixed to the horizontal and vertical drive mechanism, and driving the horizontal and vertical drive mechanism can drive the guide component to move. This controls and reduces the spacing of the wires at the same horizontal height when the robot body is installed, thereby ensuring that the rollers are installed. After installation, the wires can be clamped by the clamping wheels, thus effectively preventing the rollers from moving without load, and making the spacer bar installation more precise.

Description

Technical Field

[0001] This invention relates to the field of spacer installation equipment technology, and more particularly to a spacer robot online device. Background Technology

[0002] Spacer bars are tools used to separate conductors, effectively preventing conductors from whipping each other and suppressing conductor vibration. They are generally divided into two-split, four-split, six-split, and eight-split types. The installation of spacer bars generally relies on two modes: manual installation and spacer bar installation robot installation. Spacer bar installation robots can carry multiple spacer bars at once to complete batch installation of spacer bars in one go. Therefore, spacer bar installation robots are used very frequently in power transmission and transformation circuits.

[0003] When robots are put into operation, they are usually put into operation using hoisting equipment. During use, the spacer robot moves along the guide wire by the hoisting equipment using the hoisting rope. Although this method is direct and convenient, it is prone to swaying, which leads to improper installation and greatly reduces installation efficiency. In addition, the entire weight rests on the two upper guide wires, which causes the pressure on the guide wires to be too concentrated and changes the spacing between the upper and lower guide wires. Changes in the spacing between the guide wires make it impossible or difficult to install the spacer, increasing the workload of installation. Summary of the Invention

[0004] The purpose of this invention is to address the above-mentioned problems by providing a spacer robot loading device.

[0005] The system includes a hoisting device and a robot body. The hoisting device is used to hoist the robot body, which is equipped with rollers and wire-clamping wheels. The rollers and wire-clamping wheels are mounted on the robot body via an adjustment component, which can adjust the distance between the rollers and wire-clamping wheels. The robot body is also equipped with a horizontal and vertical drive mechanism and a guide component. The guide component is fixed to the horizontal and vertical drive mechanism, and driving the horizontal and vertical drive mechanism can drive the guide component to move. This controls and reduces the spacing of the wires at the same horizontal height when the robot body is on the line, thereby ensuring the rollers. By mounting the rollers on the robot body, the robot can control the height of the rollers and wire-clamping wheels on the robot body when installing spacers, so that the gap or spacing adapts to the height of the spacers, thereby improving the installation efficiency of the spacers. In addition, the horizontal and vertical drive mechanism drives the guide component to move, thereby clearing the wires below the hoisting device and preventing interference when the robot body is on the line.

[0006] Specifically, the guide assembly includes a guide plate, which is provided with a first inclined surface, a first straight surface, a second inclined surface, and a second reverse inclined surface from top to bottom, and the second inclined surface and the second reverse inclined surface are connected in a "V" shape.

[0007] Specifically, the horizontal and vertical drive mechanism includes a vertical drive component and a horizontal drive component. The horizontal drive component is disposed on the vertical drive component, and the guide plate is fixed on the horizontal drive component. Driving the horizontal drive component and the vertical drive component can drive the guide plate to move horizontally and vertically, thereby adjusting the position of the guide plate.

[0008] Specifically, the vertical drive assembly includes a vertical drive motor, a vertical guide rail, a vertical guide rod, and a vertical connecting seat. The vertical guide rail is fitted to the robot body. The vertical connecting seat is sleeved on the vertical guide rail and connected to the vertical guide rod. The output shaft of the vertical drive motor is connected to the vertical guide rod. The horizontal drive assembly is disposed on the vertical connecting seat. The horizontal drive assembly includes a horizontal guide rail, a horizontal guide rod, a horizontal connecting plate, and a horizontal drive motor. The horizontal drive motor drives the horizontal guide rod. The horizontal guide rail is parallel to the horizontal guide rod. The horizontal connecting plate is threaded to the horizontal guide rod, and the guide plate is disposed on the horizontal connecting plate.

[0009] Specifically, each roller is paired with at least two clamping wheels. The robot body is provided with two layers of rollers. The first layer has four rollers, which are respectively located at the four corners. The second layer has two rollers, which are symmetrically located in the middle of the side of the robot body.

[0010] Specifically, the roller and the clamping wheel are respectively mounted on the first height adjustment component and the second height adjustment component. The height of the roller or the clamping wheel on the robot body can be adjusted independently by the first height adjustment component and the second height adjustment component, thereby adjusting the distance between the roller and the clamping wheel.

[0011] Specifically, the first height adjustment assembly includes a first height drive motor, a first height adjustment rod, a first height slide rail, and a first height connecting frame. The first height slide rail and the first height adjustment rod are fixed to the robot body. The two ends of the first height connecting frame are located on the first height slide rail, and the middle part is threadedly connected to the first height adjustment rod. The end of the first height adjustment rod is connected to the output shaft of the first height drive motor, and the roller is fixed to the end of the first height connecting frame.

[0012] Specifically, the second height adjustment assembly includes a second height drive motor, a second height adjustment rod, a second height slide rail, and a second height connecting frame. The second height slide rail and the second height adjustment rod are fixed to the robot body. The two ends of the second height connecting frame are located on the second height slide rail, and the middle part is threadedly connected to the second height adjustment rod. The end of the second height adjustment rod is connected to the output shaft of the second height drive motor, and the end of the second height connecting frame is fixed to the clamping wheel. Beneficial effects

[0013] By mounting rollers on the robot body, the robot can control the height of the rollers and clamping wheels on the robot body when installing spacers, thereby adapting the gap or interval to the height of the spacers and improving the installation efficiency of the spacers. In addition, the guide components are driven by the horizontal and vertical drive mechanism to move and thus clear the wires under the hoisting device, thereby preventing interference when the robot body is on the line. Attached Figure Description

[0014] Figure 1 : This is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 : A schematic diagram of the structure of the robot body of this invention;

[0016] Figure 3 :for Figure 2 A magnified view of the structure at point A in the middle;

[0017] Figure 4 : This is a schematic diagram of the robot body of the present invention from another perspective;

[0018] Figure 5 :for Figure 4 A magnified schematic diagram of the structure at point B in the middle;

[0019] Figure 6 :for Figure 4 A magnified schematic diagram of the structure at point C.

[0020] The components are as follows: 10. Lifting device; 20. Robot body; 30. Guide assembly; 201. Roller; 202. Cable clamping wheel; 203. First height adjustment assembly; 204. First height drive motor; 205. First height adjustment rod; 206. First height slide rail; 207. First height connecting frame; 208. Second height adjustment assembly; 209. Second height drive motor; 210. Second height adjustment rod; 211. Second height slide rail; 212. 301. Second height connecting frame; 301. Horizontal and vertical drive mechanism; 3011. Vertical drive motor; 3012. Vertical guide rod; 3013. Vertical guide rail; 3014. Vertical connecting seat; 3015. Horizontal drive motor; 3016. Horizontal guide rod; 3017. Horizontal guide rail; 3018. Horizontal connecting plate; 3021. First inclined plane; 3022. First straight plane; 3023. Second inclined plane; 3024. Second reverse inclined plane; 3025. Second straight plane. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0022] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0023] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0026] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0027] Example 1: The purpose of this invention is to provide a spacer robot loading device:

[0028] This device includes a hoisting device 10 and a robot body 20. The hoisting device 10 is used to hoist the robot body 20. The robot body 20 includes two upper layers of rollers 201. There are four upper rollers 201, which are connected to the four corners of the robot body 20 via a first height adjustment component 203. Each upper roller 201 is equipped with two wire clamping wheels 202. The wire clamping wheels 202 are connected to the robot body 20 via a second height adjustment component 208. There are two lower rollers 201, which are located in the middle of the front and rear sides of the robot body 20, respectively. They are also fixed by the first height adjustment component 203. The two lower wire clamping wheels 202 are respectively set at the two ends of the same side of the robot body 20, forming an integral whole with the upper and lower wires in the middle.

[0029] Among them, roller 201 includes at least one driving roller and the rest are driven rollers. The driving roller is driven by a motor to ensure that the whole thing moves on the conductor.

[0030] It is understood that the first height adjustment component 203 includes a first height drive motor 204, a first height adjustment rod 205, a first height slide rail 206, and a first height connecting frame 207. The first height slide rail 206 is fixed on two sides of the frame of the robot body 20. The first height adjustment rod 205 is located on one side of the outer side of the robot body 20 frame. The first height adjustment rod 205 is a threaded rod with the first height drive motor 204 connected to its end. The first height connecting frame 207 is C-shaped and is connected to the first height slide rail 206 and the first height adjustment rod 205 via threads. The end of the first height connecting frame 207 is connected to a roller 201. Driving the first height adjustment rod 205 to rotate can drive the first height connecting frame 207 to move up and down along the axis, thereby driving the roller 201 to move up and down and adjusting the height of the roller 201 on the robot body 20. In this way, the distance between the upper and lower rollers 201 can be controlled to accommodate the width of the wire.

[0031] It is understood that the second height adjustment component 208 includes a second height drive motor 209, a second height adjustment rod 210, a second height slide rail 211, and a second height connecting frame 212. The structure and layout of the second height adjustment component 208 are the same as those of the first height adjustment component 203. The difference is that the second height connecting frame 212 is "L" shaped and has two cable clamping wheels 202 connected to the top.

[0032] The vertical drive assembly includes a vertical drive motor 3011, a vertical guide rail 3013, a vertical guide rod 3012, and a vertical connecting seat 3014. The vertical guide rail 3013 is fitted to the robot body 20. The vertical connecting seat 3014 is sleeved on the vertical guide rail 3013 and is connected to the vertical guide rod 3012. The output shaft of the vertical drive motor 3011 is connected to the vertical guide rod 3012. The horizontal drive assembly is disposed on the vertical connecting seat 3014.

[0033] Furthermore, the horizontal drive assembly includes a horizontal guide rail 3017, a horizontal guide rod 3016, a horizontal connecting plate 3018, and a horizontal drive motor 3015. The horizontal guide rail 3017 and the horizontal guide rod 3016 are both mounted on the first height connecting frame 207. The horizontal drive motor 3015 is fixed to the end of the horizontal guide rod 3016. The two ends of the horizontal connecting plate 3018 are matched and mounted on the horizontal guide rail 3017, and the middle part is threadedly connected to the horizontal guide rod 3016. The guide assembly 30 is mounted on the horizontal connecting plate 3018. Therefore, when the horizontal guide rod 3016 is driven to rotate, the horizontal connecting plate 3018 can be pushed to move horizontally, thereby ensuring that the guide assembly 30 pushes the wire to move horizontally and reduces the spacing between the wires.

[0034] The guide assembly 30 includes a guide plate, which is a plate-shaped body formed by bending. From top to bottom, a first inclined surface 3021, a first straight surface 3022, a second inclined surface 3023, and a second reverse inclined surface 3024 are arranged sequentially. When in use, the vertical height of the guide plate can be adjusted by the first height adjustment rod 205, so that the wire can be pushed aside during lifting to prevent the roller 201 from interfering with the wire during the lifting process, which would prevent the wire from being unable to be loaded.

[0035] More specifically, the first inclined surface 3021 also has a second straight surface 3025 extending upwards. The height of the second straight surface 3025 at the highest point of the vertical drive component is greater than the height of the highest point of the upper roller 201. Therefore, during the online process, by raising the guide plate to the highest point, the guide plate contacts the wire before the highest point of the upper roller 201. Then, the guide plate is driven to move horizontally inward by the horizontal drive component, causing the upper wire to move horizontally. At this time, the robot body 20 is lifted by the hoisting device 10, so that the upper roller 201 and the wire clamping wheel 202 pass over the lower wire.

[0036] The complete process will be described below: The spacer robot designed in this paper is a four-spacer robot, so there are four wires, two for the upper layer and two for the lower layer, and they are parallel to each other.

[0037] The upper roller 201 and the clamping wheel 202 pass through the wire: The hoisting device 10 is located on the upper wire. The robot body 20 is hoisted by the hoisting device 10. During the hoisting process, the second height drive motor 209 is controlled to drive the second height adjustment rod 210 to rotate, thereby driving the clamping wheel 202 to rise axially until the height of the clamping wheel 202 is the same as the height of the roller 201 and then stops. When the top height of the upper roller 201 of the robot body 20 is the same as or slightly lower than the height of the lower wire, the guide component 30 is located at the highest point of the vertical guide rod 3012 of the vertical drive component. The second straight surface 3025 of the guide plate is higher than the height of the highest point of the upper roller 201. At this time, the upper wire is close to the first inclined surface 3021 and moves along the first inclined surface 3021 towards the first straight surface 3022. At the same time, it also causes the two lower wires to move closer to each other until the upper roller 201 and the clamping wheel 202 pass over the lower wire.

[0038] The lower roller 201 passes the wire: After the upper roller 201 and the guide wheel pass through the lower wire, during the lifting process of the hoisting device 10, when the wire slides down between the second inclined plane 3023 and the second reverse inclined plane 3024, the guide plate is driven to move axially downward through the vertical drive component until the wire is located diagonally below the lower roller 201 and diagonally above the upper clamping wheel 202. At this time, the horizontal drive component is driven until the wire is directly below the roller 201 and directly above the clamping wheel 202, thus completing the lower roller 201 and the guide wheel's wire loading.

[0039] Meanwhile, when the horizontal drive component drives the guide plate horizontally, it drives the first height adjustment component 203 of the upper layer to widen the gap between the roller 201 and the clamping wheel 202 until the upper layer guide is within this gap. At this time, as the horizontal drive component moves horizontally, the upper layer guide moves outward and returns to the initial parallel state. At this time, the upper layer guide is directly below the roller 201. At this time, the clamping wheel 202 of the upper layer of the second height adjustment component 208 moves closer to the upper roller 201 along the axis until the roller 201 and the clamping wheel 202 clamp the upper layer guide. The above process completes the online connection of the robot body 20.

[0040] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A spacer robot loading device, comprising a hoisting device (10) and a robot body (20), wherein the hoisting device (10) is used to hoist the robot body (20), characterized in that: The robot body (20) is provided with rollers (201) and wire clamping wheels (202). The rollers (201) and wire clamping wheels (202) are set on the robot body (20) by an adjustment component. The adjustment component can adjust the distance between the rollers (201) and wire clamping wheels (202). The robot body (20) is also provided with a horizontal and vertical drive mechanism (301) and a guide component (30). The guide component (30) is fixed on the horizontal and vertical drive mechanism (301). Driving the horizontal and vertical drive mechanism (301) can drive the guide component (30) to move, thereby reducing the spacing of the wires at the same horizontal height when the robot body (20) is on the line, thus ensuring that the rollers (201) can pass through.

2. The spacer robot loading device according to claim 1, characterized in that: The guide assembly (30) includes a guide plate, which is provided with a first inclined surface (3021), a first straight surface (3022), a second inclined surface (3023), and a second reverse inclined surface (3024) from top to bottom. The second inclined surface (3023) and the second reverse inclined surface (3024) are connected in a "V" shape.

3. The spacer robot loading device according to claim 2, characterized in that: The horizontal and vertical drive mechanism (301) includes a vertical drive component and a horizontal drive component. The horizontal drive component is disposed on the vertical drive component, and the guide plate is fixed on the horizontal drive component. Driving the horizontal drive component and the vertical drive component can drive the guide plate to move horizontally and vertically, thereby adjusting the position of the guide component (30).

4. The spacer robot loading device according to claim 3, characterized in that: The vertical drive assembly includes a vertical drive motor (3011), a vertical guide rail (3013), a vertical guide rod (3012), and a vertical connecting seat (3014). The vertical guide rail (3013) is fitted to the robot body (20). The vertical connecting seat (3014) is sleeved on the vertical guide rail (3013) and connected to the vertical guide rod (3012). The output shaft of the vertical drive motor (3011) is connected to the vertical guide rod (3012). The horizontal drive assembly is located on the vertical... On the connecting seat (3014), the horizontal drive assembly includes a horizontal guide rail (3017), a horizontal guide rod (3016), a horizontal connecting plate (3018), and a horizontal drive motor (3015). The horizontal drive motor (3015) is used to drive the horizontal guide rod (3016). The horizontal guide rail (3017) is arranged parallel to the horizontal guide rod (3016). The horizontal connecting plate (3018) is threadedly connected to the horizontal guide rod (3016). The guide plate is arranged on the horizontal connecting plate (3018).

5. The spacer robot loading device according to claim 1, characterized in that: Each roller (201) is paired with at least two clamping rollers (202). The robot body (20) is provided with two layers of rollers (201). The first layer of rollers (201) consists of four rollers, which are respectively located at the four corners. The second layer of rollers (201) consists of two rollers, which are symmetrically located in the middle of the side of the robot body (20).

6. The spacer robot loading device according to claim 5, characterized in that: The roller (201) and the wire clamping wheel (202) are respectively disposed on the first height adjustment component (203) and the second height adjustment component (208). The height of the roller (201) or the wire clamping wheel (202) on the robot body (20) can be adjusted independently by the first height adjustment component (203) and the second height adjustment component (208), thereby adjusting the distance between the roller (201) and the wire clamping wheel (202).

7. The spacer robot loading device according to claim 6, characterized in that: The first height adjustment assembly (203) includes a first height drive motor (204), a first height adjustment rod (205), a first height slide rail (206), and a first height connecting frame (207). The first height slide rail (206) and the first height adjustment rod (205) are fixed on the robot body (20). The two ends of the first height connecting frame (207) are located on the first height slide rail (206), and the middle part is threadedly connected to the first height adjustment rod (205). The end of the first height adjustment rod (205) is connected to the output shaft of the first height drive motor (204), and the roller (201) is fixed at the end of the first height connecting frame (207).

8. The spacer robot loading device according to claim 6, characterized in that: The second height adjustment assembly (208) includes a second height drive motor (209), a second height adjustment rod (210), a second height slide rail (211), and a second height connecting frame (212). The second height slide rail (211) and the second height adjustment rod (210) are fixed on the robot body (20). The two ends of the second height connecting frame (212) are located on the second height slide rail (211), and the middle part is threadedly connected to the second height adjustment rod (210). The end of the second height adjustment rod (210) is connected to the output shaft of the second height drive motor (209), and the end of the second height connecting frame (212) is fixed with the clamping wheel (202).

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