Binary bundle conductor spacer installation robot

Abstract

The invention discloses a two-bundle conductor spacer installation robot which comprises a walking mechanism, a spacer storage mechanism, a pin shaft storage mechanism, an operation arm and a clamping mechanism. The walking mechanism comprises a front walking mechanism and a rear walking mechanism, and the front walking mechanism comprises front walking wheels and a front walking driving mechanism; the rear walking mechanism comprises two groups of rear walking wheels, two groups of rear wheel carriers and two groups of turnover driving mechanisms, each group of rear walking wheels at least comprises three rear walking wheels which are uniformly arranged in the circumferential direction, and the rear walking wheels are rotationally connected to the rear wheel carriers; in a working state, the mounting position of the spacer on the electric wire is located between the front walking wheel and the rear walking wheel. According to the mounting robot, the spacer mounting position is arranged between the supporting points, the axis of the spacer pin shaft hole is parallel to the slope where the robot is located, the pin shaft hole space posture recognition operation is omitted, and the mounting efficiency and the success rate are improved.

Description

Technical Field

[0001] The invention relates to a power grid laying device, in particular to a binary split conductor spacer rod installation robot. Background Art

[0002] When erecting high-voltage conductors, in order to fix the spacing between each split conductor and suppress conductor vibration and sub-span oscillation, it is necessary to install spacer bars on the split conductors.

[0003] Combination Figure 1 The spacer rod 1 mainly includes a main body 1-1 and chucks arranged at both ends of the main body 1-1, and the chucks at both ends include a chuck fixed end 1-2 and a chuck movable end 1-3. The chuck fixed end 1-2 is provided with a pin shaft hole 1-4 for fixing the chuck movable end 1-3, and the chuck fixed end 1-2 and the chuck movable end 1-3 are both provided with a semicircular mounting groove for passing the wire.

[0004] Traditional installation of spacers mainly relies on manual installation online. The field working environment is harsh, and workers often have to endure the test of wind and sun, and there are also great risks to personal safety. At the same time, robots are beginning to install two-split conductor spacers. However, in order to simplify the robot structure, this type of two-split conductor spacer installation robot places the spacer installation position on the outside of the support wheel. Because the wire is flexible, the pin hole axis of the spacer on the wire is not parallel to the slope of the robot position, such as Figure 2 , it is difficult to identify the spatial posture of the pin hole, resulting in a low success rate of pin insertion. Therefore, the development of a binary conductor spacer installation robot that can accurately insert the pin is of great significance for the batch automated installation of binary conductor spacers. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned problems and provide a two-split conductor spacer installation robot, which arranges the installation position of the spacer between the support points, ensures that the axis of the spacer pin hole is parallel to the slope where the robot is located, eliminates the operation of identifying the spatial posture of the pin hole, and improves the installation efficiency and success rate.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A two-split conductor spacer installation robot comprises a walking mechanism for walking on the wire, a spacer storage mechanism for storing the spacer, a pin storage mechanism for storing the pin, an operating arm for carrying the spacer and installing the pin, and a clamping mechanism for clamping the spacer on the wire;

[0008] The walking mechanism comprises a front walking mechanism and a rear walking mechanism, wherein the front walking mechanism comprises a front walking wheel and a front walking driving mechanism; the rear walking mechanism comprises a rear walking wheel, a rear wheel frame and a flip driving mechanism, wherein the rear walking wheel, the rear wheel frame and the flip driving mechanism are each provided with two groups, each group of rear walking wheels comprises at least three rear walking wheels evenly arranged along the circumferential direction, and the rear walking wheels are all rotatably connected to the rear wheel frame; the flip driving mechanism is dynamically connected to the rear wheel frame, and the rotation center of the rear wheel frame is perpendicular to the moving direction of the installation robot;

[0009] In the working state, the installation position of the spacer bar on the electric wire is located between the front running wheel and the rear running wheel.

[0010] In a preferred embodiment of the present invention, two front running wheels are provided and are used for running on two electric wires respectively;

[0011] The front travel drive mechanism includes a front travel drive motor and a front travel transmission assembly. The front travel drive motor is fixedly arranged on the frame of the robot. The front travel transmission assembly includes a transmission shaft, a synchronous belt and a pulley. The transmission shaft is connected between the two front travel wheels. The synchronous belt and the pulley are connected between the front travel drive motor and the transmission shaft.

[0012] A preferred embodiment of the present invention, wherein the front walking mechanism also includes a clamping mechanism, which is provided with a clamping wheel, a clamping lateral driving mechanism for driving the clamping wheel to move laterally, and a clamping vertical driving mechanism for driving the clamping wheel to move vertically, and the driving direction of the clamping lateral driving mechanism is perpendicular to the moving direction of the installation robot; in a working state, the clamping wheel is located directly below the front walking wheel to squeeze the wires.

[0013] Furthermore, the clamping transverse driving mechanism includes a clamping transverse moving seat, a clamping transverse driving motor and a clamping transverse transmission assembly, the clamping transverse moving seat is rotationally connected to the clamping wheel, the clamping transverse transmission assembly includes a clamping transverse screw and a clamping transverse screw nut, and the clamping transverse moving seat is fixedly connected to the clamping transverse screw nut.

[0014] Furthermore, the clamping vertical driving mechanism includes a clamping vertical movable seat and a clamping vertical electric push rod, the clamping transverse driving mechanism is arranged on the clamping vertical movable seat, and the clamping vertical electric push rod is arranged on the frame of the robot through a fixed seat.

[0015] Through the above structure, when the robot goes online and completes the preparation work, the clamping lateral driving motor drives the clamping lateral moving seat to move horizontally, so that the clamping wheel moves to just below the front walking wheel, and then the clamping vertical electric push rod drives the clamping vertical moving seat to move online, so that the clamping wheel is pressed upward on the wire, thereby preventing the front walking wheel from slipping on the wire.

[0016] Furthermore, the clamping mechanism also includes a distance detection module, which is arranged on the clamping transverse moving seat and connected to the clamping wheel, and can calculate the walking distance of the robot by the number of rotations of the clamping wheel.

[0017] In a preferred embodiment of the present invention, the flipping drive mechanism comprises a flipping drive motor, which is fixedly connected to the frame of the robot, and the output shaft of the flipping drive motor is directly or indirectly connected to the rear wheel frame.

[0018] In a preferred embodiment of the present invention, the spacer rod storage mechanism includes a placement rack, a pushing mechanism and a limiting assembly.

[0019] Furthermore, the placing rack is arranged above the frame of the robot, and a guide rod is provided on the placing rack, and the guide rod passes through the guide hole on the spacer rod.

[0020] Furthermore, the pushing direction of the pushing mechanism is parallel to the moving direction of the robot. The pushing mechanism includes a pushing plate, a pushing drive motor and a pushing transmission assembly. In the pushing direction, the pushing plate is located behind the last spacer bar; the pushing transmission assembly includes a pushing screw and a pushing screw nut. The pushing screw nut is fixedly connected to the pushing plate, and the pushing drive motor is connected to the pushing screw through a coupling.

[0021] Furthermore, the limiting assembly is used to limit the frontmost spacer rod, and the limiting assembly includes a swing limiting member and a swing driving servo, and the swing limiting member is connected to the swing driving servo.

[0022] Through the above structure, the spacer bars are placed on the rack in advance, and the guide rods are passed through the guide holes on the spacer bars so that the spacer bars can move along the specified route. When the spacer bars need to be taken for installation, the swing drive servo drives the swing limiter to move away from the frontmost spacer bar, cancels the limit, and allows the operating arm to take away the frontmost spacer bar; after taking away the frontmost spacer bar, the push drive motor drives the push plate to move forward, and the push plate drives all the spacer bars to move forward synchronously by one body position, and the limit assembly enters the limit state again.

[0023] In a preferred embodiment of the present invention, the pin shaft storage mechanism includes a storage box, a positioning seat and an electromagnetic suction plate arranged in the storage box, the positioning seat is provided with a plurality of positioning holes for placing the pin shaft, the electromagnetic suction plate is located below the positioning seat, the electromagnetic suction plate is connected to the electromagnetic suction structure, and the pin shaft passes through the positioning hole and is fixed by electromagnetic suction of the electromagnetic suction plate. Through the above structure, the pin shaft can be stably fixed on the positioning seat to prevent the pin shaft from detaching from the positioning seat.

[0024] Furthermore, the pin shaft is provided with two self-locking elastic arms, which are symmetrically arranged, one end of which is fixed on the pin shaft, and the other end of which extends outward obliquely. In this way, when the pin shaft is inserted, the self-locking elastic arm is squeezed and elastically deformed so as to pass through the pin hole; after passing through the pin hole, the self-locking elastic arm recovers its deformation and is stuck behind the pin hole to prevent the pin shaft from loosening.

[0025] In a preferred embodiment of the present invention, a first grasping mechanism for grasping the spacer rod is provided at the end of the operating arm, and the first grasping mechanism comprises an electric claw and two grippers, and the two grippers are symmetrically arranged on two driving ends of the electric claw.

[0026] In a preferred embodiment of the present invention, a second gripping mechanism for gripping the pin is provided at the end of the operating arm, and the second gripping mechanism comprises an electromagnetic suction seat.

[0027] In a preferred embodiment of the present invention, a visual positioning module for identifying the position of the pin hole of the spacer rod to provide positioning assistance for the installation of the pin shaft is provided on the end of the operating arm.

[0028] Through the above structure, the gripper is in an open state in advance, and when it reaches the clamping position, the gripper closes and clamps the middle part of the body of the spacer bar. When the spacer bar is transported to the installation position and is in the state of waiting for the pin shaft to be installed, the second grasping mechanism reaches the position of sucking the pin shaft in the posture of sucking the pin shaft, and the electromagnetic element in the electromagnetic suction seat is energized. The electromagnetic suction seat has magnetic attraction, and the electromagnetic suction seat successfully sucks the pin shaft. Then the second grasping mechanism comes to the rear of the spacer bar, and uses the visual positioning module to identify and locate the pin shaft hole toward the posture of the spacer bar pin shaft hole, and then guides the operating arm to install the pin shaft. After the installation is completed, the operating arm is against the rear end face of the spacer bar, and the force sensor detects that the forward pushing force increases rapidly, and then stops pushing the pin shaft forward, the electromagnetic suction seat is powered off, and the operating arm exits smoothly.

[0029] Furthermore, the robot also includes a light shield, which is arranged above the clamping mechanism to help the visual positioning module reduce the interference of strong outdoor light when identifying the pin hole.

[0030] In a preferred embodiment of the present invention, the clamping mechanism is provided with two groups and symmetrically arranged, respectively used to clamp the clamps at both ends of the spacer bar, and each group of the clamping mechanism includes a clamping assembly, a clamping linear drive mechanism and a clamping rotary drive mechanism;

[0031] The clamping assembly comprises a fixed clamping plate and a movable clamping plate, and the fixed clamping plate and the movable clamping plate are arranged in parallel;

[0032] The clamping linear drive mechanism comprises a clamping linear electric push rod, and the dynamic clamping plate is fixedly arranged on the telescopic rod of the clamping linear electric push rod;

[0033] The clamping rotation drive mechanism includes a clamping rotation drive motor, the output shaft of which is directly or indirectly fixedly connected to the rotating mounting seat, the fixed clamping plate is fixedly arranged at one end of the rotating mounting seat, and the other end of the rotating mounting seat is fixedly connected to the clamping linear electric push rod.

[0034] Through the above structure, before the robot goes online for operation, the two sets of clamping mechanisms are in an inward state to avoid interference with the wires; after the robot goes online, the rotating mounting seat is driven to rotate in the corresponding direction by the clamping rotation drive motor, so that the fixed clamping plate is rotated to a position parallel to the fixed end of the chuck of the spacer bar, and the two sets of clamping mechanisms are in an open posture in an eight-shaped shape; the spacer bar is carried to the designated installation position of the wire by the operating arm, and the fixed end of the chuck of the spacer bar is placed on the wire, and the movable end of the chuck hangs freely, and the chuck of the spacer bar is located between the fixed clamping plate and the movable clamping plate; the movable clamping plate is driven to approach the movable end of the chuck of the spacer bar by the clamping linear electric push rod, and then the movable end of the chuck is clamped on the wire by the dynamic clamping plate, and the fixed end and movable end of the chuck of the spacer bar are wrapped on the outside of the wire; finally, the pin shaft is inserted into the pin hole of the fixed end of the chuck of the spacer bar by the operating arm to limit the movable end of the chuck and complete the installation work.

[0035] Furthermore, the clamping rotation drive mechanism is arranged on an adaptive support structure, which includes a base plate, an adaptive spring and an adaptive support rod. The base plate is fixedly connected to the frame of the robot, and the adaptive support rod can vertically move through the base plate. The adaptive support rod is provided with two upper and lower limit parts, and the base plate is located between the two limit parts; the adaptive spring is sleeved on the adaptive support rod, and the two ends of the adaptive spring are respectively pressed against the upper limit part and the base plate, and the top of the adaptive support rod is connected to the clamping rotation drive motor through the motor mounting seat. Through the above structure, when the clamping linear electric push rod drives the moving clamping plate to squeeze the movable end of the clamp of the spacer bar, the spacer bar will act on the clamping linear electric push rod in the reverse direction, and then squeeze the adaptive spring downward through the clamping rotation drive motor, so as to adaptively adjust the posture of the entire clamping mechanism, obtain a suitable position to clamp the fixed end and movable end of the clamp of the spacer bar, and ensure the smooth completion of the installation work.

[0036] Furthermore, a vertical guide structure is provided between the motor mounting seat and the frame of the robot, and the vertical guide structure includes a vertical guide rail and a vertical slider. The vertical guide rail is fixedly arranged on the frame of the robot, and the vertical slider is fixedly connected to the motor mounting seat.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] 1. The installation robot of the present invention arranges the installation position of the spacer bar between the support points, ensuring that the axis of the spacer bar pin hole is parallel to the slope where the robot is located, eliminating the operation of identifying the spatial posture of the pin hole, and improving the installation efficiency and success rate.

[0039] 2. By setting the rear walking wheel and the flip driving mechanism, the spacer bars that have been installed can be crossed and the installation of other spacer bars can be continued. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a front view of the two-split conductor spacer.

[0041] Figure 2 This is a simplified diagram of the working status of the existing installation robot.

[0042] Figure 3 The figure is a schematic diagram of the working state of the two-split conductor spacer installation robot of the present invention.

[0043] Figure 4-5 The three-dimensional structure schematic diagrams of the two-split conductor spacer installation robot of the present invention from two different perspectives are shown. Figure 5 The lens hood is hidden.

[0044] Figure 6It is a three-dimensional structural schematic diagram of the front walking mechanism of the present invention.

[0045] Figure 7 It is a three-dimensional structural schematic diagram of the rear walking mechanism of the present invention.

[0046] Figure 8-9 The three-dimensional structural schematic diagrams of the spacer rod storage mechanism of the present invention are shown in two different viewing angles.

[0047] Fig.10 It is a three-dimensional structural schematic diagram of the pin storage mechanism of the present invention.

[0048] Fig.11 It is a cross-sectional view of the pin storage mechanism of the present invention.

[0049] Fig.12 It is a schematic diagram of the three-dimensional structure of the operating arm of the present invention.

[0050] Fig.13 It is a front view of the clamping mechanism of the present invention.

[0051] Fig.14 It is a side view of the clamping mechanism of the present invention. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0053] See also Figure 3 The two-split conductor spacer installation robot of this embodiment includes a walking mechanism for walking on the wires, a spacer storage mechanism for storing the spacer 1, a pin storage mechanism for storing the pin 2, an operating arm 3 for carrying the spacer 1 and installing the pin 2, and a clamping mechanism for clamping the spacer 1 on the wires.

[0054] See also Figure 6 The walking mechanism includes a front walking mechanism and a rear walking mechanism, and the front walking mechanism includes a front walking wheel 4 and a front walking drive mechanism; wherein, the front walking wheel 4 is provided with two and is used for walking on two wires respectively; the front walking drive mechanism includes a front walking drive motor 5 and a front walking transmission assembly, and the front walking drive motor 5 is fixedly arranged on the frame 6 of the robot, and the front walking transmission assembly includes a transmission shaft, a synchronous belt and a pulley, and the transmission shaft is connected between the two front walking wheels 4, and the synchronous belt and the pulley are connected between the front walking drive motor 5 and the transmission shaft.

[0055] See also Figure 6The front walking mechanism also includes a clamping mechanism, which includes a clamping wheel 7, a clamping lateral driving mechanism for driving the clamping wheel 7 to move horizontally, and a clamping vertical driving mechanism for driving the clamping wheel 7 to move vertically. The driving direction of the clamping lateral driving mechanism is perpendicular to the moving direction of the installation robot. In the working state, the clamping wheel 7 is located directly below the front walking wheel 4 to squeeze the wires.

[0056] Furthermore, the clamping transverse driving mechanism includes a clamping transverse moving seat 8, a clamping transverse driving motor 9 and a clamping transverse transmission assembly. The clamping transverse moving seat 8 is rotationally connected to the clamping wheel 7. The clamping transverse transmission assembly includes a clamping transverse screw and a clamping transverse screw nut. The clamping transverse moving seat 8 is fixedly connected to the clamping transverse screw nut.

[0057] Furthermore, the clamping vertical driving mechanism includes a clamping vertical moving seat 10 and a clamping vertical electric push rod 11 , the clamping transverse driving mechanism is arranged on the clamping vertical moving seat 10 , and the clamping vertical electric push rod 11 is arranged on the frame 6 of the robot through a fixed seat 12 .

[0058] Through the above structure, when the robot goes online to complete the preparation work, the clamping lateral driving motor 9 drives the clamping lateral moving seat 8 to move horizontally, so that the clamping wheel 7 moves to just below the front running wheel 4, and then the clamping vertical electric push rod 11 drives the clamping vertical moving seat 10 to move online, so that the clamping wheel 7 is pressed upward on the wire, thereby preventing the front running wheel 4 from slipping on the wire.

[0059] Furthermore, the clamping mechanism further includes a distance detection module 13 , which is disposed on the clamping transverse moving seat 8 and connected to the clamping wheel 7 , and can calculate the walking distance of the robot by the number of rotations of the clamping wheel 7 .

[0060] See also Figure 7 The rear walking mechanism includes a rear walking wheel 14, a rear wheel frame 15 and a flipping drive mechanism. The rear walking wheel 14, the rear wheel frame 15 and the flipping drive mechanism are each provided with two groups, and each group of rear walking wheels 14 includes at least three rear walking wheels 14 evenly arranged along the circumferential direction (four are provided in this embodiment), and the rear walking wheels 14 are all rotatably connected to the rear wheel frame 15; the flipping drive mechanism is power-connected to the rear wheel frame 15, and the rotation center of the rear wheel frame 15 is perpendicular to the moving direction of the installation robot; in the working state, the installation position of the spacer bar 1 on the wire is located between the front walking wheel 4 and the rear walking wheel 14.

[0061] Furthermore, the flipping drive mechanism includes a flipping drive motor 16 , which is fixedly connected to the frame 6 of the robot, and the output shaft of the flipping drive motor 16 is directly or indirectly connected to the rear wheel frame 15 .

[0062] See also Figure 8-9 The spacer bar storage mechanism includes a placement rack 17, a pushing mechanism and a limiting assembly. The placement rack 17 is arranged above the frame 6 of the robot. A guide rod 18 is provided on the placement rack 17, and the guide rod 18 passes through the guide hole on the spacer bar 1.

[0063] Furthermore, the pushing direction of the pushing mechanism is parallel to the moving direction of the robot. The pushing mechanism includes a pushing plate 19, a pushing drive motor 20 and a pushing transmission assembly. In the pushing direction, the pushing plate 19 is located behind the last spacer bar 1; the pushing transmission assembly includes a pushing screw and a pushing screw nut, the pushing screw nut is fixedly connected to the pushing plate 19, and the pushing drive motor 20 is connected to the pushing screw through a coupling.

[0064] Furthermore, the limiting assembly is used to limit the frontmost spacer bar 1 , and the limiting assembly includes a swing limiting member 21 and a swing driving servo 22 , and the swing limiting member 21 is connected to the swing driving servo 22 .

[0065] Through the above structure, the spacer bar 1 is placed on the placement frame 17 in advance, and the guide rod 18 passes through the guide hole on the spacer bar 1 so that the spacer bar 1 can move along the specified route. When the spacer bar 1 needs to be taken for installation, the swing drive servo 22 drives the swing limiter 21 away from the frontmost spacer bar 1, cancels the limit, and allows the operating arm 3 to take away the frontmost spacer bar 1; after taking away the frontmost spacer bar 1, the push drive motor 20 drives the push plate 19 to move forward, and the push plate 19 drives all the spacer bars 1 to move forward synchronously by one body position, and the limit assembly enters the limit state again.

[0066] See also Figure 10-11 The pin shaft storage mechanism includes a storage box 23, a positioning seat 24 and an electromagnetic suction plate 25 arranged in the storage box 23. The positioning seat 24 is provided with a plurality of positioning holes 24-1 for placing the pin shaft 2. The electromagnetic suction plate 25 is located below the positioning seat 24. The electromagnetic suction plate 25 is connected to the electromagnetic suction structure. The pin shaft 2 passes through the positioning hole 24-1 and is fixed by electromagnetic suction of the electromagnetic suction plate 25. Through the above structure, the pin shaft 2 can be stably fixed on the positioning seat 24 to prevent the pin shaft 2 from escaping from the positioning seat 24.

[0067] Furthermore, the pin shaft 2 is provided with a self-locking elastic arm 2-1, two of which are symmetrically arranged, one end of which is fixed on the pin shaft 2, and the other end of which extends outward obliquely. In this way, when the pin shaft 2 is inserted, the self-locking elastic arm 2-1 is squeezed and elastically deformed so as to pass through the pin hole; after passing through the pin hole, the self-locking elastic arm 2-1 recovers its deformation and is stuck behind the pin hole to prevent the pin shaft 2 from loosening.

[0068] See also Fig.12 A first grasping mechanism for grasping the spacer rod 1 is provided at the end of the operating arm 3 . The first grasping mechanism includes an electric claw 26 and two grippers 27 . The two grippers 27 are symmetrically arranged on the two driving ends of the electric claw 26 .

[0069] Furthermore, a second grabbing mechanism for grabbing the pin shaft 2 is provided at the end of the operating arm 3 , and the second grabbing mechanism includes an electromagnetic suction seat 28 .

[0070] Furthermore, a visual positioning module 29 is provided at the end of the operating arm 3 for identifying the position of the pin hole of the spacer bar 1 to provide positioning assistance for the installation of the pin shaft 2 .

[0071] Furthermore, the robot also includes a light shield 30, which is arranged above the clamping mechanism to help the visual positioning module 29 reduce the interference of strong outdoor light when identifying the pin hole.

[0072] Through the above structure, the gripper 27 is in an open state in advance, and when it reaches the clamping position, the gripper 27 is closed to clamp the middle part of the body of the spacer bar 1. When the spacer bar 1 is transported to the installation position and is in the state of waiting for the pin shaft 2 to be installed, the second grasping mechanism reaches the position of sucking the pin shaft 2 in the posture of sucking the pin shaft 2, and the electromagnetic element in the electromagnetic suction seat 28 is energized. The electromagnetic suction seat 28 has a magnetic suction force, and the electromagnetic suction seat 28 successfully sucks the pin shaft 2. Then the second grasping mechanism comes to the rear of the spacer bar 1, and uses the visual positioning module 29 to identify and locate the pin hole toward the pin hole posture of the spacer bar 1, and then guides the operating arm 3 to install the pin shaft 2. After the installation is completed, the operating arm 3 is against the rear end face of the spacer bar 1, and the force sensor detects that the force of pushing forward rapidly increases, and then stops pushing the pin shaft 2 forward, the electromagnetic suction seat 28 is powered off, and the operating arm 3 exits smoothly.

[0073] See also Figure 13-14The clamping mechanism is provided with two groups and symmetrically arranged, which are respectively used to clamp the clamps at both ends of the spacer rod 1, and each group of clamping mechanisms includes a clamping assembly, a clamping linear drive mechanism and a clamping rotation drive mechanism; the clamping assembly includes a fixed clamping plate 31 and a dynamic clamping plate 32, and the fixed clamping plate 31 and the dynamic clamping plate 32 are arranged in parallel; the clamping linear drive mechanism includes a clamping linear electric push rod 33, and the dynamic clamping plate 32 is fixedly arranged on the telescopic rod of the clamping linear electric push rod 33; the clamping rotation drive mechanism includes a clamping rotation drive motor 34, and the output shaft of the clamping rotation drive motor 34 is directly or indirectly fixedly connected to the rotating mounting seat 35, and the fixed clamping plate 31 is fixedly arranged at one end of the rotating mounting seat 35, and the other end of the rotating mounting seat 35 is fixedly connected to the clamping linear electric push rod 33.

[0074] Through the above structure, before the robot goes online, the two sets of clamping mechanisms are in an inward state to avoid interference with the wires; after the robot goes online, the clamping rotation drive motor 34 drives the rotating mounting seat 35 to rotate in the corresponding direction, so that the fixed clamping plate 31 rotates to a position parallel to the clamping head fixed end of the spacer bar 1. At this time, the two sets of clamping mechanisms are in an open posture in an eight-shaped shape; the spacer bar 1 is moved to the designated installation position of the wire by the operating arm 3, and the clamping head fixed end of the spacer bar 1 is placed on the wire. , the movable end of the chuck hangs freely, and the chuck of the spacer bar 1 is located between the fixed clamping plate 31 and the movable clamping plate 32; the movable clamping plate 32 is driven to approach the movable end of the chuck of the spacer bar 1 by clamping the linear electric push rod 33, and then the movable end of the chuck is clamped on the wire by the movable clamping plate 32. At this time, the fixed end of the chuck of the spacer bar 1 and the movable end of the chuck are wrapped on the outside of the wire; finally, the pin shaft 2 is inserted into the pin hole of the fixed end of the chuck of the spacer bar 1 by the operating arm 3, and the movable end of the chuck is limited to complete the installation work.

[0075] Furthermore, the clamping and rotating driving mechanism is arranged on an adaptive supporting structure, which includes a base plate 36, an adaptive spring 37 and an adaptive supporting rod 38. The base plate 36 is fixedly connected to the frame 6 of the robot, and the adaptive supporting rod 38 can vertically move through the base plate 36. The adaptive supporting rod 38 is provided with two upper and lower limit parts, and the base plate 36 is located between the two limit parts; the adaptive spring 37 is sleeved on the adaptive supporting rod 38, and the two ends of the adaptive spring 37 are respectively pressed against the upper limit part and the base plate 36, and the top of the adaptive support rod 38 is connected to the clamping and rotating driving motor 34 through the motor mounting seat 41. Through the above structure, when the clamping linear electric push rod 33 drives the dynamic clamping plate 32 to squeeze the movable end of the chuck of the spacer bar 1, the spacer bar 1 will act on the clamping linear electric push rod 33 in the opposite direction, and then squeeze the adaptive spring 37 downward through the clamping rotation drive motor 34, thereby adaptively adjusting the posture of the entire clamping mechanism, obtaining a suitable position to clamp the fixed end and the movable end of the chuck of the spacer bar 1, and ensuring the smooth completion of the installation work.

[0076] Furthermore, a vertical guide structure is provided between the motor mounting seat 41 and the frame 6 of the robot, and the vertical guide structure includes a vertical guide rail 39 and a vertical slider 40 . The vertical guide rail 39 is fixedly arranged on the frame 6 of the robot, and the vertical slider 40 is fixedly connected to the motor mounting seat 41 .

[0077] See also Figure 3-14 The working principle of the two-split conductor spacer installation robot of this embodiment is as follows:

[0078] During operation, the installation robot is set up on two wires, and the front walking wheels 4 and the rear walking wheels 14 are placed on the wires respectively, wherein two rear walking wheels 14 of the same group are on the wires; the front walking wheels 4 are driven to rotate by the front walking drive mechanism, thereby driving the entire installation robot to move on the wires; when the installation position of the spacer bar 1 is reached, the robot stops moving forward, and the installation position is located between the front walking wheels 4 and the rear walking wheels 14.

[0079] The gripper 27 is driven by the operating arm 3 to approach the spacer bar 1. At this time, the gripper 27 is in an open state. When reaching the clamping position, the gripper 27 is closed to clamp the middle part of the body of the spacer bar 1, and then the spacer bar 1 is moved to the installation position; at this time, the fixed end of the chuck of the spacer bar 1 is placed on the wire, and the movable end of the chuck is freely hanging, and at the same time, the chuck of the spacer bar 1 is located between the fixed clamping plate 31 and the dynamic clamping plate 32; the dynamic clamping plate 32 is driven to approach the movable end of the chuck of the spacer bar 1 by clamping the linear electric push rod 33, and then the movable end of the chuck is clamped on the wire by the dynamic clamping plate 32, and at this time, the fixed end and the movable end of the chuck of the spacer bar 1 are wrapped on the outside of the wire; the second grasping mechanism reaches the position of sucking the pin shaft 2 in the posture of sucking the pin shaft 2, the electromagnetic element in the electromagnetic suction seat 28 is energized, the electromagnetic suction seat 28 has a magnetic suction force, and the electromagnetic suction seat 28 successfully sucks the pin shaft 2. Then the second grasping mechanism comes to the rear of the spacer bar 1, uses the visual positioning module 29 to identify and locate the pin hole towards the pin hole posture of the spacer bar 1, and then guides the operating arm 3 to insert the pin shaft 2 into the pin hole. After it is inserted into place, the electromagnetic suction seat 28 is powered off, and the operating arm 3 is successfully withdrawn, completing the installation of the spacer bar 1.

[0080] The front walking wheel 4 is continued to be driven forward by the front walking drive mechanism. When the rear walking wheel 14 approaches the installed spacer bar 1, the rear wheel frame 15 is driven to rotate in the corresponding direction by the flipping drive mechanism, so that the rear walking wheel 14 in the air rotates in the direction of the rear walking wheel 14 located in front on the wire, and then cooperates with the forward movement to make the rear wheel frame 15 flip forward, and the rear walking wheel 14 in the air adjacent to the rear walking wheel 14 located in front on the wire will cross the installed spacer bar 1 and fall on the wire. At this time, the rear walking wheel 14 located at the rear on the wire has flipped away from the wire, and the installed spacer bar 1 is now located between the two rear walking wheels 14 on the wire; the rear wheel frame 15 is continued to be driven to flip forward by the flipping drive mechanism until the installed spacer bar 1 moves to the rear of all the rear walking wheels 14.

[0081] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A two-split conductor spacer installation robot, characterized in that: It includes a walking mechanism for walking on the wire, a spacer rod storage mechanism for storing the spacer rods, a pin shaft storage mechanism for storing the pin shafts, an operating arm for carrying the spacer rods and installing the pin shafts, and a clamping mechanism for clamping the spacer rods on the wire; The walking mechanism comprises a front walking mechanism and a rear walking mechanism, wherein the front walking mechanism comprises a front walking wheel and a front walking driving mechanism; the rear walking mechanism comprises a rear walking wheel, a rear wheel frame and a flip driving mechanism, wherein the rear walking wheel, the rear wheel frame and the flip driving mechanism are each provided with two groups, each group of rear walking wheels comprises at least three rear walking wheels evenly arranged along the circumferential direction, and the rear walking wheels are all rotatably connected to the rear wheel frame; the flip driving mechanism is dynamically connected to the rear wheel frame, and the rotation center of the rear wheel frame is perpendicular to the moving direction of the installation robot; In the working state, the installation position of the spacer bar on the electric wire is located between the front running wheel and the rear running wheel.

2. The two-split conductor spacer installation robot according to claim 1, characterized in that: The front running wheels are provided with two and are used for running on two electric wires respectively; The front travel drive mechanism includes a front travel drive motor and a front travel transmission assembly. The front travel drive motor is fixedly arranged on the frame of the robot. The front travel transmission assembly includes a transmission shaft, a synchronous belt and a pulley. The transmission shaft is connected between the two front travel wheels. The synchronous belt and the pulley are connected between the front travel drive motor and the transmission shaft.

3. The two-split conductor spacer installation robot according to claim 2, characterized in that: The front walking mechanism also includes a clamping mechanism, which is provided with a clamping wheel, a clamping transverse driving mechanism for driving the clamping wheel to move transversely, and a clamping vertical driving mechanism for driving the clamping wheel to move vertically, and the driving direction of the clamping transverse driving mechanism is perpendicular to the moving direction of the installation robot; in the working state, the clamping wheel is located directly below the front walking wheel to squeeze the wire; The clamping transverse driving mechanism comprises a clamping transverse moving seat, a clamping transverse driving motor and a clamping transverse transmission assembly, wherein the clamping transverse moving seat is rotationally connected to the clamping wheel, and the clamping transverse transmission assembly comprises a clamping transverse screw and a clamping transverse screw nut, wherein the clamping transverse moving seat is fixedly connected to the clamping transverse screw nut; The clamping vertical driving mechanism comprises a clamping vertical moving seat and a clamping vertical electric push rod, the clamping horizontal driving mechanism is arranged on the clamping vertical moving seat, and the clamping vertical electric push rod is arranged on the frame of the robot through a fixed seat; The clamping mechanism also includes a distance detection module, which is arranged on the clamping transverse moving seat and connected to the clamping wheel. The walking distance of the robot can be calculated by the number of rotations of the clamping wheel.

4. The two-split conductor spacer installation robot according to claim 1, characterized in that: The spacer rod storage mechanism includes a placement rack, a pushing mechanism and a limit assembly; The placing frame is arranged above the frame of the robot, and a guide rod is arranged on the placing frame, and the guide rod passes through the guide hole on the spacer rod; The pushing direction of the pushing mechanism is parallel to the moving direction of the robot. The pushing mechanism includes a pushing plate, a pushing drive motor and a pushing transmission assembly. In the pushing direction, the pushing plate is located behind the last spacer rod; the pushing transmission assembly includes a pushing screw and a pushing screw nut. The pushing screw nut is fixedly connected to the pushing plate, and the pushing drive motor is connected to the pushing screw through a coupling; The limiting assembly is used to limit the frontmost spacer rod, and the limiting assembly includes a swing limiting member and a swing driving steering gear, and the swing limiting member is connected to the swing driving steering gear.

5. The two-split conductor spacer installation robot according to claim 1, characterized in that: The pin shaft storage mechanism includes a storage box and a positioning seat and an electromagnetic suction plate arranged in the storage box. The positioning seat is provided with a plurality of positioning holes for placing the pin shaft. The electromagnetic suction plate is located below the positioning seat and is connected to the electromagnetic suction structure. The pin shaft passes through the positioning hole and is fixed by electromagnetic suction of the electromagnetic suction plate.

6. The two-split conductor spacer installation robot according to claim 1 or 5, characterized in that: The pin shaft is provided with a self-locking elastic arm, and the self-locking elastic arm is provided with two and symmetrically arranged. One end of the self-locking elastic arm is fixed on the pin shaft, and the other end extends outward obliquely.

7. The two-split conductor spacer installation robot according to claim 1, characterized in that: A first grasping mechanism for grasping the spacer rod is provided at the end of the operating arm, and the first grasping mechanism comprises an electric claw and two grippers, and the two grippers are symmetrically arranged on the two driving ends of the electric claw; A second grabbing mechanism for grabbing the pin is provided at the end of the operating arm, and the second grabbing mechanism includes an electromagnetic suction seat; A visual positioning module is provided at the end of the operating arm for identifying the position of the pin hole of the spacer rod to provide positioning assistance for the installation of the pin shaft; The robot also includes a light shield, which is arranged above the clamping mechanism and is used to help the visual positioning module reduce the interference of strong outdoor light when identifying the pin hole.

8. The two-split conductor spacer installation robot according to claim 1, characterized in that: The clamping mechanism is provided with two groups and is symmetrically arranged, and is respectively used to clamp the clamps at both ends of the spacer bar, and each group of the clamping mechanism includes a clamping assembly, a clamping linear drive mechanism and a clamping rotary drive mechanism; The clamping assembly comprises a fixed clamping plate and a movable clamping plate, and the fixed clamping plate and the movable clamping plate are arranged in parallel; The clamping linear drive mechanism comprises a clamping linear electric push rod, and the dynamic clamping plate is fixedly arranged on the telescopic rod of the clamping linear electric push rod; The clamping rotation drive mechanism includes a clamping rotation drive motor, the output shaft of which is directly or indirectly fixedly connected to the rotating mounting seat, the fixed clamping plate is fixedly arranged at one end of the rotating mounting seat, and the other end of the rotating mounting seat is fixedly connected to the clamping linear electric push rod.

9. The two-split conductor spacer installation robot according to claim 8, characterized in that: The clamping and rotating drive mechanism is arranged on an adaptive support structure, which includes a base plate, an adaptive spring and an adaptive support rod. The base plate is fixedly connected to the frame of the robot, and the adaptive support rod can vertically move through the base plate. The adaptive support rod is provided with two upper and lower limit parts, and the base plate is located between the two limit parts; the adaptive spring is sleeved on the adaptive support rod, and the two ends of the adaptive spring are respectively pressed against the upper limit part and the base plate, and the top of the adaptive support rod is connected to the clamping and rotating drive motor through a motor mounting seat.

10. The two-split conductor spacer installation robot according to claim 9, characterized in that: A vertical guide structure is provided between the motor mounting seat and the frame of the robot. The vertical guide structure comprises a vertical guide rail and a vertical slider. The vertical guide rail is fixedly arranged on the frame of the robot, and the vertical slider is fixedly connected to the motor mounting seat.

Images