Spacer mounting robot and spacer mounting method

Abstract

The present application relates to the field of spacer bar installation, and provides a spacer bar installation robot and a spacer bar installation method, the spacer bar installation robot comprising: a walking device, a storage device and a pushing device; the walking device is used for walking on two adjacent conductors, the walking device has a blanking hole, the blanking hole is provided with a lap joint along the direction of travel, the storage device is placed on the lap joint, the storage device is used for storing a spacer bar with self-locking shackles at both ends, the walking device is provided with a guide rail extending along the direction of travel, and the pushing device is movably arranged on the guide rail; with the movement of the pushing device, the pushing device moves above the spacer bar and can push the spacer bar, so that the self-locking shackles at both ends of the spacer bar are respectively clamped to the two conductors. Through the automatic installation of the spacer bar, the spacer bar does not need to be installed by manual flying vehicle operation, which not only improves the installation efficiency of the spacer bar, but also reduces the labor intensity of the workers and the safety risk of the operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacer installation, in particular to a spacer installation robot and a spacer installation method. BACKGROUND

[0002] In the construction of power transmission lines, in order to reasonably arrange the increasingly tight line corridor, in compact lines, the method of increasing the split distance and reducing the inter-phase distance between adjacent phase conductors is usually used to increase the natural transmission power of the power transmission line and reduce the line corridor occupation. This method has a major problem that adjacent phase conductors are prone to line collision under the action of various external factors such as wind vibration or wake-induced vibration, resulting in air insulation breakdown between lines. A relatively effective solution to this problem is to install insulating spacers between adjacent phase conductors to ensure sufficient insulation distance between adjacent phase conductors.

[0003] Due to the constraints of the complex conditions of high-altitude line network layout, currently when installing spacers, it is often necessary to rely on manual line walking or manual flying vehicles for high-altitude work. Installing spacers by personnel in the air not only has low work efficiency, but also increases the safety burden of personnel in the air. If there is any negligence, personnel or spacers may fall from the air, which may cause loss of personnel and materials, and the work safety risk is large. SUMMARY

[0004] The present application provides a spacer installation robot and a spacer installation method to solve the problem of low installation efficiency and high work safety risk in the prior art by manually installing spacers.

[0005] In a first aspect, the present application provides a spacer installation robot, comprising: a walking device, a storage device and a pushing device; the walking device is used to walk on two adjacent conductors, the walking device has a blanking through hole, the hole wall extending along a first direction is provided with an overlapping edge, the storage device is placed on the overlapping edge, the storage device is used to store spacers with self-locking shackles at both ends, the walking device is provided with a guide rail extending along the first direction, the pushing device is movably arranged on the guide rail, with the movement of the pushing device, the pushing device moves above the spacer and can push the spacer to make the spacer pass out of the blanking through hole, so that the self-locking shackles at both ends of the spacer are respectively clamped to the two conductors; wherein the first direction is the direction of travel of the walking device.

[0006] The spacer rod mounting robot provided by the application comprises a storage device, a pushing device and a walking device.

[0007] The spacer rod mounting robot provided by the application comprises a storage device, a pushing device and a walking device.

[0008] The spacer rod mounting robot provided by the application comprises a storage device, a pushing device and a walking device.

[0009] The spacer rod mounting robot provided by the application comprises a storage device, a pushing device and a walking device.

[0010] The spacer rod mounting robot provided by the application comprises a storage device, a pushing device and a walking device.

[0011] The spacer rod mounting robot provided by the application has the advantages that the spacer rod mounting robot can be used to mount the spacer rod on the conductor line, the spacer rod mounting robot can be used to mount the spacer rod on the conductor line in a simple and convenient manner, and the spacer rod mounting robot can be used to mount the spacer rod on the conductor line in a high efficiency and high accuracy manner.

[0012] The first power wheel and the second power wheel are rotationally installed on the walking chassis, the first power wheel and the second power wheel are symmetrically arranged on opposite sides of the walking chassis along the first direction, the double-shaft driver is fixed on the walking chassis, and the first driving end and the second driving end of the double-shaft driver are connected with the first power wheel and the second power wheel respectively.

[0013] The second direction is perpendicular to the first direction.

[0014] The spacer rod mounting robot provided by the application has the advantages that the spacer rod mounting robot can be used to mount the spacer rod on the conductor line, the spacer rod mounting robot can be used to mount the spacer rod on the conductor line in a simple and convenient manner, and the spacer rod mounting robot can be used to mount the spacer rod on the conductor line in a high efficiency and high accuracy manner.

[0015] The spacer rod mounting robot provided by the application has the advantages that the spacer rod mounting robot can be used to mount the spacer rod on the conductor line, the spacer rod mounting robot can be used to mount the spacer rod on the conductor line in a simple and convenient manner, and the spacer rod mounting robot can be used to mount the spacer rod on the conductor line in a high efficiency and high accuracy manner.

[0016] In a second aspect, the application further provides a spacer rod mounting method of the spacer rod mounting robot according to any one of the above.

[0017] In step S1, the walking device is hoisted to the two adjacent conductor lines, and then the storage device is placed on the lap joint of the walking device; when the walking device walks to the first position to be mounted, the walking is stopped.

[0018] In step S2, the pushing device is controlled to move along the guide rail so that the pushing device is aligned above the first spacer rod, and then the pushing device is controlled to push the first spacer rod, so that the self-locking buckles at two ends of the first spacer rod are respectively clamped on the two conductor lines.

[0019] Step S3, control the walking device to continue walking along the two guide wires, when the walking device reaches a second position where a spacer rod needs to be installed, stop the walking device; then control the pushing device to move to the top of the second spacer rod, and the pushing device pushes the second spacer rod so that the self-locking buckles at the two ends of the second spacer rod are clamped on the two guide wires;

[0020] Step S4, repeat step S3 to complete the installation of the spacer rods at all positions on the guide wires.

[0021] The spacer rod installation robot and the spacer rod installation method provided by the application are characterized in that a walking device is arranged to walk on two adjacent guide wires, the walking device stops when it reaches a position on the guide wires where a spacer rod needs to be installed; a storage device is arranged to store spacer rods with self-locking buckles at the two ends, the spacer rods can pass through a blanking hole and fall to the position on the guide wires, the walking device is provided with a guide rail extending in a first direction, and a pushing device is movably arranged on the guide rail, the pushing device moves to the top of the spacer rod and pushes the spacer rod so that the self-locking buckles at the two ends of the spacer rod are clamped on the two guide wires, thereby installing the spacer rod on the two guide wires. Through the automatic installation of the spacer rod, the spacer rod does not need to be installed by manual flying operation, which improves the installation efficiency of the spacer rod, reduces the labor intensity of the workers, and reduces the safety risk of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0023] Figure 1 is one of the overall structure schematic diagrams of the spacer rod installation robot provided by the application.

[0024] Figure 2 is the second overall structure schematic diagram of the spacer rod installation robot provided by the application.

[0025] Figure 3 is one of the structure schematic diagrams of the storage device provided by the application.

[0026] Figure 4 is the second structure schematic diagram of the storage device provided by the application.

[0027] REFERENCE NUMERALS:

[0028] 1, walking device; 11, blanking through hole; 12, guide rail; 121, support column; 13, walking chassis; 131, lifting hook; 14, first power wheel; 15, second power wheel; 16, double-shaft driver; 17, support wheel; 18, first balance seat; 19, second balance seat; 2, storage device; 21, storage rack; 22, supporting block; 23, spring; 24, storage hole; 25, lifting hook; 3, pushing device; 31, moving assembly; 311, moving chassis; 312, first moving wheel; 313, second moving wheel; 314, first driving piece; 315, second driving piece; 32, vertical driving piece; 33, pushing piece; 100, spacer rod; 200, wire. DETAILED DESCRIPTION

[0029] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0030] The features of the terms "first", "second" in the description and claims of the present application can be explicitly or implicitly included one or more features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0031] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0032] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] The present application will be described below in conjunction with Figures 1-4 , through specific examples and their application scenarios, a kind of spacer mounting robot and spacer mounting method provided by the embodiment of the present application are described in detail.

[0034] As Figure 1 shown, the present application provides a kind of spacer mounting robot, comprising: walking device 1, storage device 2 and pusher 3.Walking device 1 is used to walk on two adjacent conductors 200.Walking device 1 has blanking through hole 11, and the hole wall of blanking through hole 11 along the first direction is provided with overlap along, and storage device 2 is placed on overlap along.Storage device 2 is used to store two ends with self-locking lock catch spacer 100.

[0035] Walking device 1 is provided with guide rail 12 along the first direction, and pusher 3 is movably arranged on guide rail 12.With the movement of pusher 3, pusher 3 moves to the upper side of spacer 100 and can push spacer 100 to make spacer 100 pass out of blanking through hole 11, so that the self-locking lock catch of both ends of spacer 100 is respectively clamped to two conductors 200.

[0036] Among them, the first direction is the direction of walking device 1.

[0037] It can be understood that the spacer mounting robot shown in the embodiment is replaced by manual flying operation through the automatic installation of spacer 100, which reduces the safety risk of operation while ensuring the installation efficiency. The lifting hook 131 of the walking device 1 is hooked by the sling of the unmanned aerial vehicle and other lifting equipment to lift the walking device 1 to the two conductors 200, and then the storage device 2 is placed on the walking device 1 with the help of the lifting equipment. When the walking device 1 walks to the position where the spacer 100 needs to be installed on the two conductors 200, the walking device 1 stops walking, so that the blanking through hole 11 is located above the position to be installed, so that the spacer 100 can pass through. The hole diameter of the blanking through hole 11 is large enough to make the positions to be installed of the two conductors 200 correspond to the directly below of the blanking through hole 11. The both ends of the spacer 100 are respectively provided with self-locking lock catch. The self-locking lock catch can be automatically locked when stressed. The storage device 2 stores a plurality of spacers 100. A plurality of spacers 100 are arranged in sequence along the direction of walking device 1.

[0038] The pushing device 3 can move along the guide rail 12 so that the pushing device 3 can move above the spacer bar 100. The pushing device 3 pushes the spacer bar 100 to the wires 200 so that the self-locking buckles at both ends of the spacer bar 100 are respectively clamped to the two wires 200, thereby installing the spacer bar 100 on the two adjacent wires 200. After the first spacer bar 100 is installed, the walking device 1 continues to walk along the two wires 200 to the position where the next spacer bar 100 needs to be installed, so that the spacer bar installation robot completes the installation of the second spacer bar 100, and the like, until the installation of the spacer bar 100 at all positions on the wires 200 is completed.

[0039] The spacer bar installation robot is provided. The walking device 1 is used for walking on two adjacent wires 200. When the walking device 1 walks to a position where the spacer bar 100 needs to be installed on the wires 200, the walking device 1 stops walking. The storage device 2 is used for storing the spacer bar 100 with self-locking buckles at both ends. The hole wall of the blanking hole 11 extending in the first direction is provided with a lap joint. The storage device 2 is placed on the lap joint, so that the spacer bar 100 can pass through the blanking hole 11 and fall to the position of the wires 200. The walking device 1 is provided with the guide rail 12 extending in the first direction. The pushing device 3 is movably arranged on the guide rail 12. With the movement of the pushing device 3, the pushing device 3 moves above the spacer bar 100 and can push the spacer bar 100, so that the self-locking buckles at both ends of the spacer bar 100 are respectively clamped to the two wires 200, thereby installing the spacer bar 100 on the two wires 200. Through the automatic installation of the spacer bar 100, the spacer bar 100 does not need to be installed by manual flying operation, which improves the installation efficiency of the spacer bar 100, reduces the labor intensity of the workers, and reduces the safety risk of the operation.

[0040] Specifically, in some embodiments, as shown in Figure 2 and Figure 3 The storage device 2 includes a storage rack 21, a supporting block 22 and a spring 23. The storage rack 21 is placed on the lap joint. The storage rack 21 has a storage hole 24 which is located directly above the blanking hole 11. One end of the spring 23 is fixedly connected with the hole wall of the storage hole 24, and the other end is fixedly connected with the supporting block 22.

[0041] It can be understood that the middle part of the walking device 1 is provided with a rectangular groove. The groove bottom of the rectangular groove is provided with a through hole, thereby forming a blanking through hole 11. The groove bottom and the side wall of the rectangular groove form an overlapping edge. The storage rack 21 is rectangular. The storage rack 21 is placed on the overlapping edge. The storage rack 21 is provided with a storage hole 24. The two ends of the plurality of spacing rods 100 are respectively supported by the side walls on the opposite sides of the storage hole 24. The storage hole 24 is located above the blanking hole and penetrates each other, so that the spacing rod 100 can pass to the position where the wire 200 is located.

[0042] As shown in Figure 4 , the spring 23 is arranged obliquely to the hole wall of the storage hole 24. One end of the spring 23 is fixedly connected to the hole wall of the storage hole 24, and the other end is fixedly connected to the bottom of the supporting block 22. The top of the supporting block 22 is used to support the end of the spacing rod 100. Specifically, the side walls on the opposite sides of the storage hole 24 are each provided with a spring 23 and a supporting block 22, so that the two supporting blocks 22 respectively support the ends of the spacing rods 100. Further, as shown in Figure 3 , the hole walls on the opposite sides of the storage hole 24 extending in the first direction are each provided with a plurality of springs 23 and a plurality of supporting blocks 22. The plurality of supporting blocks 22 and the plurality of springs 23 are connected one by one in order to support the plurality of spacing rods 100.

[0043] The supporting block 22 supports the end of the spacing rod 100, and the self-locking buckle installed at the end of the spacing rod 100 is suspended between the supporting block 22 and the hole wall of the storage hole 24. At this time, the spacing rod 100 is pushed to the position where the wire 200 is located by means of the pushing device 3, so that the self-locking buckles at the two ends of the spacing rod 100 are respectively clamped on the wire 200, thereby realizing the automatic installation of the spacing rod 100.

[0044] In some embodiments, as shown in Figure 1 and Figure 2 , the pushing device 3 includes a moving assembly 31, a vertical driving member 32 and a pushing member 33. The moving assembly 31 is movably arranged on the guide rail 12. The vertical driving member 32 is fixed to the moving assembly 31, and the driving end of the vertical driving member 32 is connected with the pushing member 33 to drive the pushing member 33 to ascend and descend, so that the pushing member 33 and the spacing rod 100 abut or separate. When the pushing member 33 and the spacing rod 100 abut, the supporting block 22 moves to the direction close to the spring 23 under the pressure of the spacing rod 100, so as to avoid the spacing rod 100.

[0045] It can be understood that, as shown in Figure 2As shown, the walking device 1 is provided with a plurality of support columns 121. The support columns 121 are used to provide support for the guide rails 12. The support columns 121 are vertically arranged. The plurality of support columns 121 are arranged in the first direction. The guide rails 12 are sequentially fixed to the ends of the plurality of support columns 121. The moving assembly 31 is movably arranged on the guide rails 12. The vertical driving member 32 is fixed to the moving assembly 31 to move together with the moving assembly 31. The pushing member 33 is located above the storage device 2. The driving end of the vertical driving member 32 is connected with the pushing member 33, and is used to drive the pushing member 33 to move up and down in the vertical direction, so that the pushing member 33 and the spacer rod 100 abut or separate.

[0046] Optionally, the vertical driving member 32 can be a hydraulic cylinder, and the pushing member 33 can be a push plate.

[0047] During installation, the vertical driving member 32 moves to the upper side of the spacer rod 100 together with the moving assembly 31, and then the pushing member 33 is driven by the vertical driving member 32 to move downward, so as to push the spacer rod 100 to move downward to the position of the wires 200, so that the self-locking buckles of the spacer rod 100 are automatically clamped on the two wires 200. When the pushing device 3 pushes the spacer rod 100, the supporting block 22 moves downward under the action of the spring 23 to avoid the spacer rod 100. When the spacer rod 100 is installed, the walking device 1 moves forward, and the supporting block 22 located below the installed spacer rod 100 automatically pops out from the side of the spacer rod 100 to reset.

[0048] In some embodiments, as shown in the drawings, Figure 2 As shown, the walking device 1 is provided with a plurality of support columns 121. The support columns 121 are used to provide support for the guide rails 12. The support columns 121 are vertically arranged. The plurality of support columns 121 are arranged in the first direction. The guide rails 12 are sequentially fixed to the ends of the plurality of support columns 121. The moving assembly 31 is movably arranged on the guide rails 12. The vertical driving member 32 is fixed to the moving assembly 31 to move together with the moving assembly 31. The pushing member 33 is located above the storage device 2. The driving end of the vertical driving member 32 is connected with the pushing member 33, and is used to drive the pushing member 33 to move up and down in the vertical direction, so that the pushing member 33 and the spacer rod 100 abut or separate.

[0049] It can be understood that the two guide rails 12 are symmetrically arranged on opposite sides of the walking device 1 along a first direction. Each guide rail 12 is supported by a plurality of support columns 121. Specifically, the moving chassis 311 extends along a second direction. The second direction is perpendicular to the direction in which the walking device 1 travels. Along the first direction, the first moving wheel 312 and the second moving wheel 313 are respectively rotatably mounted to the two ends of the moving chassis 311 by bearings. Specifically, the first driving member 314 and the second driving member 315 are fixed to the middle part of the moving chassis 311, and the first driving member 314 and the second driving member 315 are symmetrically arranged along the first direction. The drive shaft of the first driving member 314 is connected to the first moving wheel 312 by a bearing to drive the first moving wheel 312 to rotate; the drive shaft of the second driving member 315 is connected to the second moving wheel 313 by a bearing to drive the second moving wheel 313 to rotate.

[0050] Optionally, the first driving member 314 and the second driving member 315 are servo motors. The first driving member 314 and the second driving member 315 maintain the same rotational speed, so that the first moving wheel 312 and the second moving wheel 313 move along the two guide rails 12 at the same speed, thereby ensuring the stability of the movement of the pushing device 3 and the entire spacer rod installation robot.

[0051] Optionally, the guide rail 12 is circular. The wheel surface of the first moving wheel 312 and the second moving wheel 313 is recessed inward to form a limiting groove. The groove wall of the limiting groove is used for clamping on the guide rail 12, so that the first moving wheel 312 and the second moving wheel 313 can be stably connected with the guide rail 12, and the inclination of the first moving wheel 312 and the second moving wheel 313 during movement is avoided.

[0052] Alternatively, the guide rail 12 has a sliding groove. The sliding groove extends along the axial direction of the guide rail 12. The first moving wheel 312 and the second moving wheel 313 are respectively movably arranged in the two sliding grooves.

[0053] As shown in Figure 2 The first moving wheel 312, the second moving wheel 313, the first driving member 314 and the second driving member 315 are provided with two sets. The two sets of the first moving wheel 312, the second moving wheel 313, the first driving member 314 and the second driving member 315 are symmetrically arranged on opposite ends of the moving chassis 311 along the second direction, so as to ensure that the pushing device 3 has sufficient driving force and the stability of the movement of the entire pushing device 3 is ensured.

[0054] Further, in some embodiments, the spacer bar mounting robot further comprises a position sensor, a first magnetic member and a second magnetic member. The first magnetic member and the second magnetic member are magnetic poles of different natures. The first magnetic member is fixed to the lap joint, the second magnetic member is fixed to the first side of the storage device 2 facing the lap joint, and the position sensor is arranged on the traveling device 1 to detect the position of the second magnetic member relative to the first magnetic member. The position sensor is in communication connection with the hoisting equipment, and a plurality of hooks 25 for being hooked by the hoisting equipment are fixed to the storage device 2.

[0055] It can be understood that the plurality of hooks 25 are arranged at intervals along the outer edge of the storage rack 21. When hoisted, the hoisting ropes of the hoisting equipment respectively hook the plurality of hooks 25 to place the storage device 2 on the lap joint. The first magnetic member is mounted inside the lap joint. The second magnetic member is mounted on the first side of the storage rack 21 facing the lap joint. When the hoisting equipment places the storage device 2 on the lap joint, the first magnetic member and the second magnetic member can be magnetically attracted, and the magnetic attraction force between the first magnetic member and the second magnetic member ensures that the storage device 2 can be stably placed on the traveling device 1.

[0056] Here, the first magnetic member has a size large enough to ensure that the first magnetic member has a strong attraction to the second magnetic member.

[0057] In use, the hoisting equipment is remotely controlled, the storage device 2 is hoisted by the hoisting equipment, and the storage device 2 is slowly moved close to the traveling chassis 13. After moving close to a certain distance, the storage device 2 is placed on the lap joint by the attraction of the first magnetic member and the second magnetic member.

[0058] Further, the position sensor is mounted on the traveling device 1 to monitor the position information of the second magnetic member relative to the first magnetic member. The position sensor is in communication connection with the controller of the hoisting equipment to send the above-mentioned position information to the controller of the hoisting equipment. The controller of the hoisting equipment can determine whether the storage device 2 is accurately placed on the lap joint according to the above-mentioned position information. When the controller of the hoisting equipment determines that the placement position of the storage device 2 is skewed, the hoisting ropes of the hoisting equipment can be immediately controlled to hook the hooks 25, and the storage device 2 can be adjusted to accurately fit the lap joint.

[0059] Optionally, the first magnetic member and the second magnetic member are permanent magnets.

[0060] In some embodiments, the first magnetic member is arranged along the outer edge of the lap joint, and the second magnetic member is arranged along the outer edge of the first side, so as to ensure that the entire outer edge of the storage device 2 can be uniformly magnetically attracted, to ensure that the storage device 2 and the lap joint are closely fitted, and to prevent the storage device 2 from being warped to affect the normal installation of the spacer bar 100.

[0061] In some embodiments, asFigure 2 As shown in the drawings, the walking device 1 comprises a walking chassis 13, a first power wheel 14, a second power wheel 15 and a double-shaft driver 16. The blanking through hole 11 is arranged in the middle of the walking chassis 13, and the first power wheel 14, the second power wheel 15 and the double-shaft driver 16 are provided in two sets. The two sets of the first power wheel 14, the second power wheel 15 and the double-shaft driver 16 are symmetrically arranged at opposite ends of the walking chassis 13 along a second direction.

[0062] The first power wheel 14 and the second power wheel 15 are both rotatably installed on the walking chassis 13. The first power wheel 14 and the second power wheel 15 are symmetrically arranged at opposite sides of the walking chassis 13 along a first direction. The double-shaft driver 16 is fixed to the walking chassis 13. The first driving end and the second driving end of the double-shaft driver 16 are connected to the first power wheel 14 and the second power wheel 15 respectively.

[0063] The second direction is perpendicular to the first direction.

[0064] It can be understood that the blanking through hole 11 is located in the middle of the walking chassis 13. The storage device 2 is placed in the middle area of the walking chassis 13, which ensures that the center of gravity of the entire spacer rod installation robot is located at the center, thereby ensuring the stability of the walking of the spacer rod installation robot.

[0065] As shown in the drawings, Figure 2 The wheel surfaces of the first power wheel 14 and the second power wheel 15 are inwardly recessed, so that the first power wheel 14 and the second power wheel 15 can be clamped on the guide wire 200. The first power wheel 14 and the second power wheel 15 are both rotatably installed on both sides of the walking chassis 13 through bearings.

[0066] As shown in the drawings, Figure 2 The double-shaft driver 16 is fixed to the walking chassis 13. The double-shaft driver 16 has two driving shafts. The two driving shafts are connected to the output end of the double-shaft driver 16 through a shaft coupling respectively. The two driving shafts are symmetrically arranged along the first direction. The first driving end and the second driving end of the double-shaft driver 16 are connected to the first power wheel 14 and the second power wheel 15 respectively to drive the first power wheel 14 and the second power wheel 15 to move forward at the same speed.

[0067] Optionally, the double-shaft driver 16 is a double-shaft stepping motor.

[0068] Further, as shown in the drawings, Figure 2 The two sets of the first power wheel 14, the second power wheel 15 and the double-shaft driver 16 are symmetrically arranged at both ends of the walking chassis 13 along the second direction. The four power wheels jointly drive the walking device 1 to walk, which ensures that the walking device 1 has sufficient power source.

[0069] Further, as shown in the drawings, Figure 2As shown in the drawings, in some embodiments, the walking device 1 further comprises a plurality of support wheels 17. The plurality of support wheels 17 are symmetrically arranged on opposite sides of the walking chassis 13 along the first direction, and the support wheels 17 are rollingly mounted on the walking chassis 13.

[0070] It can be understood that the number of the support wheels 17 can be six, eight or ten, etc. The number of the support wheels 17 is even. The plurality of support wheels 17 are symmetrically arranged on the bottom side of the walking chassis 13 along the first direction. Each of the support wheels 17 is rollingly mounted on the walking chassis 13 through a bearing seat. The plurality of support wheels 17 jointly walk along the two guide wires 200 together with the four power wheels, so as to increase the support force on the entire spacer rod installation robot.

[0071] In some embodiments, as shown in the drawings, Figure 2 The walking device 1 further comprises a first balance seat 18, a second balance seat 19 and a plurality of weight blocks. The first balance seat 18 and the second balance seat 19 are symmetrically fixed on opposite sides of the walking chassis 13 along the first direction. The plurality of weight blocks are distributed on the first balance seat 18 and the second balance seat 19, and the weight blocks are used to adjust the center of gravity of the spacer rod installation robot. The weight blocks are provided with hooks for being hooked by hoisting equipment.

[0072] It can be understood that the specific structures of the first balance seat 18 and the second balance seat 19 are the same. The first balance seat 18 and the second balance seat 19 are symmetrically fixed on the walking chassis 13 along the first direction, so as to maintain the balance of the movement of the walking device 1. The first balance seat 18 and the second balance seat 19 are both L-shaped. The first balance seat 18 and the second balance seat 19 are used to place the plurality of weight blocks.

[0073] When the heights of the two guide wires 200 are not completely consistent, in order to prevent the walking device 1 from tilting towards the lower guide wire 200, the weight blocks on the balance seat on the same side as the higher guide wire 200 can be hooked by the hoisting equipment and moved to the outer edge of the balance seat. The center of gravity of the walking device 1 is adjusted according to the principle of lever and the principle of center of gravity, until the walking device 1 reaches a balanced state.

[0074] When the number of the spacers 100 on the storage device 2 gradually decreases, the center of the entire spacer rod installation robot gradually tilts forward along the advancing direction. At this time, the hooks of the weight blocks on the two balance seats can be hooked by the hoisting equipment, and the weight blocks are moved in the direction opposite to the advancing direction, so as to move the center of gravity of the entire spacer rod installation robot rearward to the center. The number and weight of the weight blocks can be appropriately increased or decreased according to actual conditions, which is not specifically limited in the present application.

[0075] The spacer rod installation robot can be hoisted by the remote control hoisting device, and the spacer rod installation robot can be placed on the electric wire through the hoisting device. The image feedback to the display screen of the hoisting device through the camera of the hoisting device can be used to observe the balance state of the spacer rod installation robot, and then the first balance seat 18 and the second balance seat 19 can be increased or decreased or the weight block can be dragged through the hoisting device, so that the whole robot can be finely adjusted, and the robot can reach a better balance state.

[0076] In a second aspect, the present application also provides a spacer rod installation method of the spacer rod installation robot, which comprises the following steps:

[0077] In step S1, the walking device 1 is hoisted to the adjacent two wires 200, and then the storage device 2 is placed on the lap joint of the walking device 1. When the walking device 1 walks to the first installation position, the walking device 1 stops walking. Specifically, the unmanned aerial vehicle can be remotely controlled through the remote controller of the unmanned aerial vehicle, and the walking device 1 can be hoisted to the two wires 200 through the unmanned aerial vehicle. Then the storage device 2 is placed on the lap joint through the unmanned aerial vehicle. The navigation program built in the spacer rod installation robot can make the walking device 1 walk along the two wires 200. When the walking device 1 walks to the first installation position, the walking device 1 stops walking.

[0078] In step S2, the pushing device 3 is controlled to move along the guide rail 12, so that the pushing device 3 is aligned above the first spacer rod, and then the pushing device 3 is controlled to push the first spacer rod, so that the self-locking buckles at both ends of the first spacer rod are respectively clamped on the two wires 200, thereby completing the installation of the first spacer rod.

[0079] In step S3, the walking device 1 is controlled to continue walking along the two wires 200, and the walking device 1 stops walking when the walking device 1 walks to the second installation position. Then the pushing device 3 is controlled to move to the upper side of the second spacer rod, and the pushing device 3 pushes the second spacer rod, so that the self-locking buckles at both ends of the second spacer rod are clamped on the two wires 200. The spacer rod installation robot can keep the same distance according to the distance between the two adjacent installation positions, so as to ensure that the spacer rod installation robot stops at the installation position of the wire 200.

[0080] In step S4, step S3 is repeated to complete the installation of the spacer rod on all installation positions of the wire 200.

[0081] When the spacer 100 on the storage device 2 is installed, the storage device 2 can be hoisted to the ground by hoisting equipment to supplement the spacer 100, and then the storage device 2 is hoisted and placed on the lap joint to continue the installation of the next batch of spacers 100 until all the positions to be installed on the wire 200 are completed. After installation, the entire spacer installation robot is hoisted to the ground by a drone to complete the spacer 100 installation process.

[0082] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A spacer rod installation robot, characterized in that: include: Traveling device, storage device and pushing device; The walking device is used to walk on two adjacent conductive wires, the walking device has a blanking through-hole, the hole wall of the blanking through-hole extending in a first direction is provided with an overlapping edge, the storage device is placed on the overlapping edge, the storage device is used to store spacer bars with self-locking lock buckles at both ends, the walking device is provided with a guide rail extending in the first direction, the pushing device is movably provided on the guide rail, and as the pushing device moves, the pushing device moves to the top of the spacer bar and can push the spacer bar to make the spacer bar pass through the blanking through-hole, so that the self-locking lock buckles at both ends of the spacer bar are respectively clamped to the two conductive wires; wherein, the first direction is the traveling direction of the walking device; The storage device includes a storage rack, a supporting block and a spring. The storage rack is placed on the overlapping edge. The storage rack has a storage hole, which is located directly above the blanking through hole. One end of the spring is fixedly connected to the hole wall of the storage hole, and the other end is fixedly connected to the supporting block.

2. The spacer bar installation robot according to claim 1, characterized in that: The pushing device includes a moving component, a vertical driving component and a pushing component. The moving component is movably arranged on the guide rail, and the vertical driving component is fixed to the moving component. The driving end of the vertical driving component is connected to the pushing component to drive the pushing component to rise and fall, so that the pushing component and the spacer rod are in contact with or separated from each other; when the pushing component and the spacer rod are in contact with each other, the supporting block moves toward the direction close to the spring under the pressure of the spacer rod to avoid the spacer rod.

3. The spacer bar installation robot according to claim 2, characterized in that: The guide rails are respectively provided on opposite sides of the walking device, and the moving assembly includes a moving chassis, a first moving wheel, a second moving wheel, a first driving member and a second driving member. The vertical driving member is fixed to the middle part of the moving chassis, and the first moving wheel and the second moving wheel are symmetrically mounted on opposite sides of the moving chassis for rotating along the first direction. The first driving member and the second driving member are both fixed to the moving chassis, a driving shaft of the first driving member is connected to the first moving wheel, and a driving shaft of the second driving member is connected to the second moving wheel. The first moving wheel and the second moving wheel are respectively movably provided on the two guide rails.

4. The spacer bar installation robot according to claim 1, characterized in that: It also includes a position sensor, a first magnetic part and a second magnetic part, the first magnetic part and the second magnetic part are opposite magnetic poles, the first magnetic part is fixed to the overlapping edge, and the second magnetic part is fixed to the first side of the storage device facing the overlapping edge. The position sensor is arranged on the walking device, and is used to detect the position of the second magnetic part relative to the first magnetic part. The position sensor is used to communicate with the lifting equipment, and a plurality of hooks for the lifting equipment to hook are fixed on the storage device.

5. The spacer bar installation robot according to claim 4, characterized in that: The first magnetic member is extended along the outer edge of the overlapping edge, and the second magnetic member is extended along the outer edge of the first side surface.

6. The spacer bar installation robot according to claim 1, characterized in that: The walking device includes a walking chassis, a first power wheel, a second power wheel and a dual-axis drive, the blanking through-hole is provided in the middle of the walking chassis, the first power wheel, the second power wheel and the dual-axis drive are provided in two sets, and the two sets of the first power wheel, the second power wheel and the dual-axis drive are symmetrically provided at opposite ends of the walking chassis along the second direction; The first power wheel and the second power wheel are both rotatably mounted on the traveling chassis, the first power wheel and the second power wheel are symmetrically arranged on opposite sides of the traveling chassis along the first direction, the dual-axis drive is fixed to the traveling chassis, and the first driving end and the second driving end of the dual-axis drive are respectively connected to the first power wheel and the second power wheel; The second direction is perpendicular to the first direction.

7. The spacer bar installation robot according to claim 6, characterized in that: The traveling device further comprises a plurality of supporting wheels, which are symmetrically arranged on opposite sides of the traveling chassis along the first direction, and the supporting wheels are rollingly mounted on the traveling chassis.

8. The spacer bar installation robot according to claim 6, characterized in that: The walking device also includes a first balance seat, a second balance seat and several weight blocks. The first balance seat and the second balance seat are symmetrically fixed on opposite sides of the walking chassis along the first direction. Several weight blocks are distributed on the first balance seat and the second balance seat. The weight blocks are used to adjust the center of gravity of the spacer rod installation robot. The weight blocks are provided with hooks for lifting equipment to hook.

9. The spacer bar installation method of a spacer bar installation robot according to any one of claims 1 to 8, characterized in that: The steps include: Step S1: hoisting the traveling device onto two adjacent conductors, and then placing the storage device on the overlapping edge of the traveling device; when the traveling device reaches the first position to be installed, stopping the traveling; Step S2, controlling the pushing device to move along the guide rail so that the pushing device is aligned with the top of the first spacer, and then controlling the pushing device to push the first spacer so that the self-locking locks at both ends of the first spacer are respectively clamped on the two wires; Step S3, controlling the walking device to continue walking along the two conductors, and stopping when the walking device reaches the second installation position; then controlling the pushing device to move to just above the second spacer, and pushing the second spacer so that the self-locking locks at both ends of the second spacer are clamped on the two conductors; Step S4, repeating step S3 in sequence to complete the installation of the spacer bars at all positions to be installed on the conductor.

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