Binary splitting spacer installation robot and online method thereof

Abstract

The present invention relates to the field of cable protection technology, and provides a two-split spacer installation robot and a method for going online thereof. The two-split spacer installation robot comprises: a robot body, at least a pair of retractable wire devices and a drone. Both opposite sides of the robot body are provided with running wheels, and the running wheels are used to walk along the cable. A pair of retractable wire devices are respectively provided on both sides of the robot body provided with running wheels, and the retractable wire devices are located below the running wheels on the corresponding sides; each retractable wire device is wrapped with a traction rope, and a hanging part is provided on the traction rope, and the hanging part is used to be hung on the cable. The drone comprises a drone body and a connecting component provided on the drone body, and the connecting component is detachably connected to the hanging part. In the two-split spacer installation robot of the present invention, the drone cooperates with the retractable wire device to first hang the hanging part on the cable, and then retracts and releases the traction rope through the retractable wire device, so that the running wheel falls on the corresponding cable, completing the going online of the robot body.

Description

Technical Field

[0001] The present invention relates to the technical field of cable protection, and in particular to a binary spacer rod installation robot and an online method thereof. Background Art

[0002] With the development of society and the advancement of science and technology, the demand for power supply is increasing. In order to improve the transmission capacity of the line, transmission lines above the 220kV voltage level mostly use split conductors, that is, each phase conductor is composed of several branch conductors with smaller diameters, and each branch conductor is spaced a certain distance apart. Among them, spacers are installed at a certain distance between the branch conductors to keep them fixed. At present, the process of using spacer bar installation robots to split the conductors up and down has always been a difficult problem. Since the current spacer bar installation robots are generally heavy, the use of large drones for lifting has great limitations and risks. Manual lifting is still the main method. However, the existing spacer bar installation robots are large in mass and volume, which is not conducive to manual lifting of the split conductors up and down, and the safety risks of the operation are relatively high. Summary of the Invention

[0003] The present invention provides a binary spacer installation robot and an online method thereof, so as to solve the defects in the prior art that the spacer installation robot has a large mass and volume, requires manual lifting when going online, and has safety risks in the operation.

[0004] In a first aspect, the present invention provides a binary spacer installation robot, comprising:

[0005] A robot body, wherein two opposite sides of the robot body are provided with running wheels, and the running wheels are used for walking along the cable;

[0006] At least one pair of wire-reeling devices, each of which is provided on both sides of the robot body with the running wheels, and is located below the running wheels on the corresponding sides; each of the wire-reeling devices is wound with a traction rope, and the traction rope is provided with a hanging member, and the hanging member is used to hang on the cable;

[0007] A drone comprises a drone body and a connecting component arranged on the drone body, wherein the connecting component is detachably connected to the hanging component.

[0008] According to the two-split spacer rod installation robot of the present invention, the hanging member includes a hanging ring and a movable rod;

[0009] The hanging ring is connected to the traction rope, and a notch is provided on one side of the hanging ring; the movable rod is movably provided on the hanging ring; the movable rod can move between a first position and a second position; in the first position, the movable rod closes the notch; in the second position, the movable rod opens the notch;

[0010] The connecting assembly includes a push rod and a push rod driving member, wherein the push rod is movably provided on the drone body and is detachably connected to the movable rod; the push rod driving member is in transmission connection with the push rod;

[0011] When the hanging ring is hooked on the cable, the push rod drives the movable rod to move between the first position and the second position.

[0012] According to the two-split spacer installation robot of the present invention, a mounting hole is provided on the side wall on one side of the notch, and a clamping groove opposite to the mounting hole is provided on the side wall on the other side;

[0013] The movable rod is movably inserted into the mounting hole; a buckle adapted to the clamping slot is formed on one end of the movable rod facing the clamping slot;

[0014] In the first position, the movable rod is engaged with the engaging groove.

[0015] According to the two-split spacer rod installation robot of the present invention, the movable rod is provided with an abutment portion; an elastic member is provided between the abutment portion and the hanging ring;

[0016] In the first position, the elastic member is compressed under the action of the abutting portion and the hanging ring.

[0017] According to the two-split spacer installation robot of the present invention, a sleeve is installed on the hanging ring;

[0018] The movable rod can be movably inserted into the sleeve.

[0019] According to the two-split spacer installation robot of the present invention, an arc-shaped portion is provided on the inner side of the hanging ring, and the arc-shaped portion is used to abut against the cable from above.

[0020] According to the two-split spacer rod installation robot of the present invention, a first magnetic portion is provided at the bottom of the push rod; a second magnetic portion is provided at the top of the movable rod corresponding to the first magnetic portion; the magnetic poles on opposite sides of the first magnetic portion and the second magnetic portion are opposite.

[0021] According to the two-split spacer rod installation robot of the present invention, a guide member is provided on the outer side of each of the walking wheels, and the guide member includes a top plate and a side plate;

[0022] The top plate is located above the walking wheel, the top end of the top plate is connected to the outer wall of the robot body, and the top plate is gradually inclined from the top end to the bottom end toward the side away from the robot body; the bottom end of the top plate is connected to the top end of the side plate;

[0023] The side plate is vertically arranged and is attached to a side of the walking wheel away from the robot body.

[0024] According to the two-split spacer rod installation robot of the present invention, an annular groove extending in the circumferential direction is provided on the outer peripheral wall of the walking wheel;

[0025] The guide member further includes a bottom plate, one end of which is connected to the bottom end of the side plate, and the other end of which extends below the notch of the annular groove.

[0026] In a second aspect, the present invention further provides an on-line method for a binary spacer installation robot according to any one of the above items, characterized in that it comprises:

[0027] Connecting the connecting assembly of the drone to the hanging piece, controlling the drone to hang the hanging piece on the two split wires respectively, and separating the connecting assembly of the drone from the hanging piece;

[0028] The wire-retracting device is controlled to retract the traction rope to lift the robot body. When the split conductor is located below the running wheel, the wire-retracting device is controlled to release the traction rope so that the running wheel falls on the corresponding split conductor.

[0029] The two-split spacer installation robot of the present invention is provided with a retractable wire device on both sides of the robot body with a running wheel. The retractable wire device can retract and release a traction rope with a hanging part, so that the drone can cooperate with the retractable wire device to first hang the hanging part on the cable to be installed with the spacer rod, and then retract and release the traction rope through the retractable wire device. The position of the robot body is adjusted with the contact position of the cable and the hanging part as the support point, so that the running wheel can fall on the corresponding cable, completing the online work of the robot body, without manual lifting, and is safer and more reliable. At the same time, the drone only needs to bear the weight of the hanging part and part of the traction rope during the online process, which has a small load requirement for the drone and a lower cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 Schematic diagram of a binary spacer rod installation robot provided in an embodiment of the present invention.

[0032] Figure 2 Schematic diagram of the connection between the drone and the attachment provided by an embodiment of the present invention.

[0033] Figure 3 This is a schematic diagram of a hanging component provided by an embodiment of the present invention without a sleeve installed.

[0034] Figure 4 This is a schematic diagram of a hanging component provided by an embodiment of the present invention being installed with a sleeve.

[0035] Figure 5 Schematic diagram of a binary spacer installation robot (excluding a drone) provided in an embodiment of the present invention.

[0036] Figure 6 The present invention provides a flowchart of an on-line method for a binary spacer installation robot.

[0037] Reference numerals:

[0038] 1. Two-split spacer installation robot;

[0039] 11. Robot body; 111. Travel wheels; 112. Guide members; 113. Top plate; 114. Side plates; 115. Bottom plate;

[0040] 12. Retractable wire device; 121. Pulling rope; 122. Hooking member; 123. Hanging ring; 124. Movable rod; 125. Abutting portion; 126. Elastic member; 127. Sleeve; 128. Arc-shaped portion; 129. Second magnetic portion;

[0041] 13. UAV; 131. UAV body; 132. Connecting assembly; 133. Push rod; 134. Push rod driving member; 135. First magnetic attraction portion;

[0042] 2. Cable. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0044] The following combination Figure 1-Figure 5 The spacer installation robot of the present invention is described.

[0045] like Figure 1 and Figure 5As shown, the present invention provides a two-split spacer rod installation robot 1, comprising: a robot body 11, at least a pair of wire-reeling devices 12 and a drone 13. Both opposite sides of the robot body 11 are provided with running wheels 111, and the running wheels 111 are used to walk along the cable 2. A pair of wire-reeling devices 12 are respectively provided on both sides of the robot body 11 provided with the running wheels 111, and the wire-reeling devices 12 are located below the running wheels 111 on the corresponding sides; each wire-reeling device 12 is wrapped with a traction rope 121, and a hanging part 122 is provided on the traction rope 121, and the hanging part 122 is used to hang on the cable 2. The drone 13 includes a drone body 131 and a connecting component 132 provided on the drone body 131, and the connecting component 132 is detachably connected to the hanging part 122.

[0046] It is understood that the robot body 11 of this embodiment is provided with a device for storing and installing spacer rods. Two opposing sides of the robot body 11 are provided with running wheels 111. The running wheels 111 on both sides can be respectively connected to two spaced cables 2, driving the robot body 11 to move along the cables 2. While moving along the cables 2, the robot body 11 can install the stored spacer rods on the two cables 2 to maintain the spacing between the two cables 2.

[0047] In this embodiment, a wire-reeling device 12 is provided on both sides of the robot body 11 having a running wheel 111. A traction rope 121 is wound around the wire-reeling device 12, and a hook 122 for hooking to the cable 2 is provided on the traction rope 121. When the hooks 122 corresponding to the wire-reeling devices 12 on both sides are respectively hooked to two spaced cables 2, the wire-reeling device 12 can retract and release the traction rope 121, so as to lift or lower the robot body 11 with the contact position between the cable 2 and the hook 122 as a support point. At the same time, the wire-reeling device 12 is located below the running wheel 111, so that when the wire-reeling device 12 adjusts the position of the robot body 11, the running wheel 111 can be adjusted to above the cable 2, making it easier for the running wheel 111 to go online.

[0048] The drone 13 of this embodiment can drive the hanging member 122 through the connecting assembly 132 to hang the hanging member 122 on the cable 2, thereby cooperating with the retractable wire device 12 to realize the online operation of the robot body 11.

[0049] Specifically, the drone 13 can first hang the attachment 122 on the corresponding two cables 2 respectively. During the process of the drone 13 taking off and hanging the attachment 122, the retractable line device 12 continuously releases the traction rope 121, so that the drone 13 will not pull the robot body 11 and bear additional load during the hanging process. After the drone 13 hangs the attachment 122 on the corresponding cable 2, the connecting component 132 and the attachment 122 can be separated. The staff can recover the drone 13 or control the drone 13 away from the cable 2 to avoid interference of the drone 13 with the robot body 11 during the subsequent online process.

[0050] After the drone 13 moves away from the cable 2, the retractable wire device 12 retracts the traction rope 121, so that the traction rope 121 uses the contact point between the cable 2 and the hook 122 as a support point to pull the robot body 11, thereby raising the height of the robot body 11 until the running wheel 111 is above the corresponding cable 2. The retractable wire device 12 then releases the running wheel 111, and the running wheel 111 falls on the corresponding cable 2, allowing the robot body 11 to move along the cable 2.

[0051] The two-split spacer installation robot 1 of the present invention is provided with a retractable wire device 12 on both sides of the robot body 11 having the walking wheel 111. The retractable wire device 12 can retract and release the traction rope 121 having the hanging part 122, so that the drone 13 can cooperate with the retractable wire device 12 to first hang the hanging part 122 on the cable 2 to be installed with the spacer, and then retract and release the traction rope 121 through the retractable wire device 12, and adjust the position of the robot body 11 with the contact position of the cable 2 and the hanging part 122 as the support point, so that the walking wheel 111 can fall on the corresponding cable 2, and complete the online work of the robot body 11, without the need for manual lifting, which is safer and more reliable. At the same time, the drone 13 only needs to bear the weight of the hanging part 122 and part of the traction rope 121 during the online process, and the load requirement for the drone 13 is small, which is lower in cost.

[0052] Optionally, the wire-reeling and winding device 12 includes a winch, and the traction rope 121 is wound around a wire-reeling wheel of the winch.

[0053] Optionally, each wire-reeling and winding device 12 is provided with a plurality of winches arranged at intervals along the walking direction of the robot body 11 , and a traction rope 121 is wound around each winch.

[0054] It is understandable that the traction rope 121 is an insulating rope.

[0055] In some embodiments, a base extending toward both sides of the robot body 11 is provided at the bottom of the robot body 11 , and the wire retracting and releasing device 12 is provided on the base.

[0056] Optionally, in some embodiments, the hanging member 122 is in the shape of a hook, for hanging on the cable 2 .

[0057] Specifically, in some embodiments, Figure 2 、 Figure 3 and Figure 4 As shown, the hanging part 122 includes a hanging ring 123 and a movable rod 124. The hanging ring 123 is connected to the traction rope 121, and a notch is provided on one side of the hanging ring 123. The movable rod 124 is movably arranged on the hanging ring 123; the movable rod 124 can move between a first position and a second position. In the first position, the movable rod 124 closes the notch; in the second position, the movable rod 124 opens the notch. The connecting assembly 132 includes a push rod 133 and a push rod driving member 134. The push rod 133 is movably arranged on the drone body 131, and the push rod 133 is detachably connected to the movable rod 124; the push rod driving member 134 is transmission-connected to the push rod 133. When the hanging ring 123 is hung on the cable 2, the push rod 133 drives the movable rod 124 to move between the first position and the second position.

[0058] In this embodiment, the hanging ring 123 is connected to the traction rope 121, and the hanging ring 123 is used to be hung on the cable 2. A gap is provided on the hanging ring 123 for the cable 2 to pass through. A movable rod 124 is provided on the hanging ring 123. When the movable rod 124 moves to the first position, the movable rod 124 closes the gap. The movable rod 124 and the hanging ring 123 form a closed ring structure to prevent the hanging member 122 from falling off the cable 2, making the hanging of the hanging member 122 more secure and reliable; when the movable rod 124 moves to the second position, the movable rod 124 opens the gap so that the cable 2 can enter or exit the hanging ring 123 through the gap.

[0059] At the same time, by providing a push rod 133 and a push rod driving member 134 on the drone body 131, the push rod 133 is connected to the movable rod 124, so that the drone body 131 can drive the hanging member 122 to fly. After the drone body 131 drives the hanging member 122 to hook the hanging ring 123 to the cable 2, the push rod driving member 134 can drive the push rod 133 to move, thereby driving the movable rod 124 to move through the push rod 133, so that the movable rod 124 moves to the first position to close the gap, thereby preventing the cable 2 from being separated from the hanging member 122 during the process of the robot body 11 being put online; alternatively, the push rod 133 can drive the movable rod 124 to move to the second position to open the gap, thereby facilitating the removal of the hanging member 122 from the cable 2.

[0060] In some embodiments, as Figure 3 and Figure 4As shown, a mounting hole is provided on the sidewall on one side of the notch, and a snap-fitting slot is provided on the sidewall on the other side, opposite the mounting hole. A movable rod 124 is movably inserted into the mounting hole; a buckle is formed on the end of the movable rod 124 facing the snap-fitting slot. In the first position, the movable rod 124 is snap-fitted into the snap-fitting slot.

[0061] In this embodiment, by respectively providing mutually aligned mounting holes and snap-in grooves on the side walls on opposite sides of the notch, the movable rod 124 can be movably inserted into the mounting hole so that the movable rod 124 can also be aligned with the snap-in groove. The movable rod 124 has a snap at one end facing the snap-in groove, so that the movable rod 124 can be snapped into the snap-in groove when in the first position, so as to avoid the movable rod 124 from loosening when in the first position, thereby making the hanging of the hanging member 122 and the cable 2 more firm and reliable.

[0062] Furthermore, in some embodiments, Figure 3 As shown, the movable rod 124 is provided with an abutment 125. An elastic member 126 is provided between the abutment 125 and the hanging ring 123. In the first position, the elastic member 126 is compressed under the action of the abutment 125 and the hanging ring 123.

[0063] In this embodiment, an abutment portion 125 is provided on the movable rod 124, and an elastic member 126 is provided between the abutment portion 125 and the hanging ring 123. The abutment portion 125 and the hanging ring 123 respectively abut against the two ends of the elastic member 126. When the movable rod 124 is engaged with the engaging groove in the first position, the elastic member 126 is compressed by the abutment portion 125 and the hanging ring 123. After the movable rod 124 is disengaged from the engaging groove, the elastic member 126 automatically rebounds, thereby automatically pushing the movable rod 124 toward the second position, so that the movable rod 124 can be dynamically restored to the second position, and the operation is more convenient.

[0064] Specifically, in some embodiments, a male buckle of a press-type buckle is formed on one end of the movable rod 124 facing the engaging slot, and a female buckle of a press-type buckle that matches the male buckle is formed in the engaging slot. In this embodiment, when the movable rod 124 is not engaged with the engaging slot, the push rod driving member 134 drives the push rod 133 to push the movable rod 124, causing the movable rod 124 to move toward the first position, thereby engaging the male buckle and the female buckle. When it is necessary to disengage the movable rod 124 from the engaging slot to return to the second position, the push rod driving member 134 drives the push rod 133 to continue pushing the movable rod 124 toward the engaging slot to separate the male buckle and the female buckle from each other, thereby providing convenient operation and good use effect.

[0065] In some embodiments, as Figure 4 As shown, a sleeve 127 is installed on the hanging ring 123; the movable rod 124 is movably inserted into the sleeve 127.

[0066] In this embodiment, a sleeve 127 is installed on the hanging ring 123, and the sleeve 127 is sleeved on the movable rod 124 to limit and guide the movement direction of the movable rod 124, thereby preventing the movable rod 124 from tilting and failing during movement, so that the movable rod 124 cannot close the gap and affect the reliability of the hanging component 122.

[0067] Furthermore, in some embodiments, Figure 3 and Figure 4 As shown, an arc portion 128 is provided on the inner side of the hanging ring 123 , and the arc portion 128 is used to abut against the cable 2 from above.

[0068] In this embodiment, an arcuate portion 128 is provided on the inner side of the hanging ring 123, and the arcuate portion 128 is used to abut against the cable 2 from above, so as to serve as a support point between the hanging part 122 and the cable 2, so as to facilitate the retractable wire device 12 to adjust the position of the robot body 11 by retracting and releasing the traction rope 121. At the same time, it can also cooperate with the push rod 133 to push the movable rod 124 relative to the hanging ring 123 to close or open the gap of the hanging ring 123. The structure is simple, convenient and practical.

[0069] Optionally, the bottom of the push rod 133 may be provided with a device such as a clamping claw or a suction cup so as to be detachably connected to the movable rod 124 .

[0070] In some embodiments, as Figure 2 、 Figure 3 and Figure 4 As shown, a first magnetic portion 135 is provided at the bottom of the push rod 133. A second magnetic portion 129 is provided at the top of the movable rod 124 corresponding to the first magnetic portion 135. The magnetic poles of the first magnetic portion 135 and the second magnetic portion 129 are opposite to each other.

[0071] In this embodiment, by respectively providing a first magnetic attraction portion 135 and a second magnetic attraction portion 129 at the bottom of the push rod 133 and the top of the movable rod 124, the magnetic poles of the first magnetic attraction portion 135 and the second magnetic attraction portion 129 on opposite sides are opposite, so that the first magnetic attraction portion 135 and the second magnetic attraction portion 129 can be attracted to each other to realize the connection between the push rod 133 and the movable rod 124.

[0072] At the same time, by reasonably setting the magnetic strength of the first magnetic part 135 and the second magnetic part 129 to adjust the size of the magnetic force between the first magnetic part 135 and the second magnetic part 129, the drone 13 can drive the hanging part 122 and the traction rope 121 connected to the hanging part 122 to fly through the push rod 133, and after the hanging part 122 is hung with the cable 2, the drone 13 continues to fly in the direction away from the hanging part 122 to separate the first magnetic part 135 and the second magnetic part 129 from each other.

[0073] Optionally, the first magnetic attraction part 135 can be an electromagnet. When the first magnetic attraction part 135 and the second magnetic attraction part 129 need to be attracted to each other, power can be supplied to the first magnetic attraction part 135. When the first magnetic attraction part 135 and the second magnetic attraction part 129 need to be separated from each other, the power supply of the first magnetic attraction part 135 can be cut off, or the current direction of the first magnetic attraction part 135 can be changed, thereby changing the magnetic field distribution of the first magnetic attraction part 135, so that the magnetic poles on the opposite sides of the first magnetic attraction part 135 and the second magnetic attraction part 129 are the same and separated from each other.

[0074] Specifically, in some embodiments, Figure 1 and Figure 5 As shown, each running wheel 111 is provided with a guide member 112 on its outer side. The guide member 112 includes a top plate 113 and a side plate 114. The top plate 113 is located above the running wheel 111. The top of the top plate 113 is connected to the outer wall of the robot body 11. The top plate 113 gradually tilts from the top to the bottom toward the side away from the robot body 11. The bottom end of the top plate 113 is connected to the top end of the side plate 114. The side plate 114 is arranged vertically and is attached to the side of the running wheel 111 away from the robot body 11.

[0075] In this embodiment, the guide member 112 can be used to guide the cable 2. During the ascent of the robot body 11, the cable 2 is guided to the bottom of the running wheel 111 so that the running wheel 111 can finally fall onto the corresponding cable 2. Specifically, during the ascent of the robot body 11, the cable 2 first contacts the top plate 113 located above the running wheel 111. The top plate 113 gradually tilts from the top to the bottom toward the side away from the robot body 11, thereby causing the cable 2 to gradually slide along the top plate 113 toward the side away from the robot body 11. When the cable 2 reaches the bottom of the top plate 113, the cable 2 continues to slide downward along the outer side of the side plate 114 until the cable 2 reaches the bottom of the running wheel 111.

[0076] In some embodiments, as Figure 5 As shown, an annular groove extending in the circumferential direction is provided on the outer peripheral wall of the running wheel 111. The guide member 112 further includes a bottom plate 115, one end of the bottom plate 115 is connected to the bottom end of the side plate 114, and the other end extends below the notch of the annular groove.

[0077] In this embodiment, an annular groove extending circumferentially is provided on the outer peripheral wall of the running wheel 111. When the running wheel 111 falls on the corresponding cable 2, the cable 2 can be located in the annular groove. The annular groove can limit the cable 2 and the running wheel 111, preventing the running wheel 111 from separating from the cable 2. At the same time, the bottom end of the side plate 114 of the guide member 112 is connected to the bottom plate 115, and the bottom plate 115 extends below the notch of the annular groove, so that the cable 2 can slide along the bottom plate 115 to reach the bottom of the notch of the annular groove.

[0078] Further, if Figure 5 As shown, the vertical distance between the two side walls of the robot body 11 of the walking wheels 111 arranged on both sides of the robot body 11 away from the robot body 11 is a first spacing, and the first spacing is greater than the spacing between the two cables 2; a guide portion is provided between the wire-reeling device 12 and the walking wheel 111 on the same side, and there is a second spacing between the guide portions arranged on both sides of the robot body 11, and the second spacing is greater than the first spacing.

[0079] In this embodiment, since the first spacing is greater than the spacing between the two cables 2, the second spacing is greater than the first spacing. When the two ends of the traction rope 121 are respectively connected to the cable 2 and the retractable wire device 12 and tightened, the rope section of the traction rope 121 from the guide portion to the hanging member 122 tilts from bottom to top toward the inside of the robot body 11. In the process of lifting the robot body 11 by the traction rope 121, the guide member 112 first contacts the cable 2 and pushes the cable 2 toward the outside of the robot body 11. When the cable 2 moves between the running wheel 111 and the retractable wire device 12, the cable 2 is no longer blocked by the guide member 112, and the spacing between the two cables 2 is restored, so that the cable 2 can be located below the running wheel 111. Then, the traction rope 121 is gradually released, and the running wheel 111 can fall on the corresponding cable 2.

[0080] At the same time, when the robot is lowered, the cable 2 is first pulled in by the cable retractor 12. The guide portion expands as the cable 2 approaches the cable retractor 12, thereby increasing the distance between the two cables 2 to a value greater than the first distance. The cable 2 is then released, allowing the cable 2 to slide over the outside of the running wheel 111, thereby allowing the robot body 11 to descend to the ground.

[0081] Optionally, in some embodiments not shown, the robot body 11 is further provided with a wheelbase adjustment device, which is respectively connected to the walking wheels 111 on both sides of the robot body 11. The walking wheels 111 on both sides of the robot body 11 are movably arranged on the robot body 11. The wheelbase adjustment device can drive the walking wheels 111 on both sides of the robot body 11 to approach or move away from each other to adjust the first distance.

[0082] In the second aspect, the present invention also provides an on-line method for the two-split spacer installation robot 1 of any of the above embodiments. By adopting the above two-split spacer installation robot 1, the on-line method of the present invention also has the advantages of the above two-split spacer installation robot 1, which will not be repeated here. Figure 6 As shown, the online method of the present invention includes the following steps:

[0083] Step S101: Connect the connecting component of the drone to the hanging part, control the drone to hang the hanging part on the two split wires respectively, and separate the connecting component of the drone from the hanging part.

[0084] Step S102: Control the wire-retracting device to retract the traction rope to lift the robot body. When the split conductor is located below the running wheel, control the wire-retracting device to release the traction rope so that the running wheel falls on the corresponding split conductor.

[0085] The drone 13 can first hang the attachment 122 on the corresponding two cables 2 respectively. During the process of the drone 13 taking off and hanging the attachment 122, the retractable line device 12 continuously releases the traction rope 121, so that the drone 13 will not pull the robot body 11 and bear additional load during the hanging process. After the drone 13 hangs the attachment 122 on the corresponding cable 2, the connecting component 132 and the attachment 122 can be separated. The staff can recover the drone 13 or control the drone 13 away from the cable 2 to avoid interference of the drone 13 with the robot body 11 during the subsequent online process.

[0086] After the drone 13 moves away from the cable 2, the retractable wire device 12 retracts the traction rope 121, so that the traction rope 121 uses the contact point between the cable 2 and the hook 122 as a support point to pull the robot body 11, thereby raising the height of the robot body 11 until the running wheel 111 is above the corresponding cable 2. The retractable wire device 12 then releases the running wheel 111, and the running wheel 111 falls on the corresponding cable 2, allowing the robot body 11 to move along the cable 2.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A binary spacer installation robot, characterized in that: include: A robot body, wherein two opposite sides of the robot body are provided with running wheels, and the running wheels are used for walking along the cable; At least one pair of wire-reeling devices, each of which is provided on both sides of the robot body with the running wheels, and is located below the running wheels on the corresponding sides; each of the wire-reeling devices is wound with a traction rope, and the traction rope is provided with a hanging member, and the hanging member is used to hang on the cable; A drone, comprising a drone body and a connecting assembly provided on the drone body, wherein the connecting assembly is detachably connected to the hanging member; The hanging member includes a hanging ring and a movable rod; The hanging ring is connected to the traction rope, and a notch is provided on one side of the hanging ring; the movable rod is movably provided on the hanging ring; the movable rod can move between a first position and a second position; in the first position, the movable rod closes the notch; in the second position, the movable rod opens the notch; The connecting assembly includes a push rod and a push rod driving member, wherein the push rod is movably provided on the drone body and is detachably connected to the movable rod; the push rod driving member is in transmission connection with the push rod; When the hanging ring is hung on the cable, the push rod drives the movable rod to move between the first position and the second position; A guide member is provided on the outer side of each of the traveling wheels, and the guide member includes a top plate and a side plate; The top plate is located above the walking wheel, the top end of the top plate is connected to the outer wall of the robot body, and the top plate is gradually inclined from the top end to the bottom end toward the side away from the robot body; the bottom end of the top plate is connected to the top end of the side plate; The side plate is vertically arranged and is attached to a side of the walking wheel away from the robot body.

2. The binary spacer installation robot according to claim 1, characterized in that: A mounting hole is provided on the side wall on one side of the notch, and a clamping groove opposite to the mounting hole is provided on the side wall on the other side; The movable rod is movably inserted into the mounting hole; a buckle adapted to the clamping slot is formed on one end of the movable rod facing the clamping slot; In the first position, the movable rod is engaged with the engaging groove.

3. The binary spacer installation robot according to claim 2, characterized in that: The movable rod is provided with an abutment portion; an elastic member is provided between the abutment portion and the hanging ring; In the first position, the elastic member is compressed under the action of the abutting portion and the hanging ring.

4. The binary spacer installation robot according to claim 1, characterized in that: A sleeve is installed on the hanging ring; The movable rod can be movably inserted into the sleeve.

5. The binary spacer installation robot according to claim 1, characterized in that: An arc portion is provided on the inner side of the hanging ring, and the arc portion is used to abut against the cable from above.

6. The binary spacer installation robot according to claim 1, characterized in that: A first magnetic attraction portion is provided at the bottom of the push rod; a second magnetic attraction portion is provided at the top of the movable rod corresponding to the first magnetic attraction portion; and the magnetic poles of the first magnetic attraction portion and the second magnetic attraction portion on opposite sides are opposite.

7. The binary spacer installation robot according to claim 1, characterized in that: An annular groove extending in the circumferential direction is provided on the outer peripheral wall of the traveling wheel; The guide member further includes a bottom plate, one end of which is connected to the bottom end of the side plate, and the other end of which extends below the notch of the annular groove.

8. A method for installing a binary spacer rod on-line according to any one of claims 1 to 7, characterized in that: include: Connecting the connecting assembly of the drone to the hanging piece, controlling the drone to hang the hanging piece on the two split wires respectively, and separating the connecting assembly of the drone from the hanging piece; The wire-retracting device is controlled to retract the traction rope to lift the robot body. When the split conductor is located below the running wheel, the wire-retracting device is controlled to release the traction rope so that the running wheel falls on the corresponding split conductor.

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