A two-split conductor spacer installation robot

Abstract

The application discloses a two-split conductor spacer mounting robot, which comprises a walking mechanism, a spacer storage mechanism, a pin shaft storage mechanism, an operating arm and a clamping mechanism; the walking mechanism comprises front walking mechanisms and rear walking mechanisms; the front walking mechanism comprises front walking wheels and a front walking driving mechanism; the rear walking mechanism comprises rear walking wheels, rear wheel frames and turnover driving mechanisms, and each of the rear walking wheels, the rear wheel frames and the turnover driving mechanisms is provided with two groups; each group of the rear walking wheels comprises at least three rear walking wheels which are uniformly arranged along a circumferential direction, and the rear walking wheels are rotationally connected to the rear wheel frames; in a working state, the mounting position of the spacer on the electric wire is located between the front walking wheels and the rear walking wheels. The mounting robot arranges the mounting position of the spacer between support points, ensures that the pin shaft hole axis of the spacer is parallel to the slope where the robot is located, omits the identification operation of the space posture of the pin shaft hole, and improves the installation efficiency and success rate.

Description

TECHNICAL FIELD

[0001] The present application relates to power grid laying device, specifically to a kind of two split conductor spacer installation robot. BACKGROUND

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

[0003] In combination Figure 1 Spacer 1 mainly includes body 1-1 and chuck at both ends of body 1-1, both ends of chuck include chuck fixed end 1-2 and chuck movable end 1-3, pin hole 1-4 for fixing chuck movable end 1-3 is arranged on chuck fixed end 1-2, semicircular mounting groove for passing through electric wire is arranged on chuck fixed end 1-2 and chuck movable end 1-3.

[0004] Traditional installation of spacer mainly relies on manual installation on line, and the working environment in the wild is harsh, and the working personnel often have to withstand the test of wind and sun, and there is also great risk to personal safety. At the same time, the robot installation of two split conductor spacers has also begun to appear, but the two split conductor spacer installation robot of this kind places the spacer installation position outside the support wheel in order to simplify the structure of the robot. Because the conductor is flexible, the pin hole axis of the spacer on the conductor is not parallel to the slope of the position of the robot, such as Figure 2 It is difficult to identify the space posture of pin hole, so there is a problem of low success rate of pin insertion, therefore, it is of great significance to develop a two split conductor spacer installation robot capable of accurately inserting pin for the batch automatic installation of two split conductor spacers. SUMMARY

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

[0006] The purpose of the present application is achieved by the following technical solutions:

[0007] A two split conductor spacer installation robot, comprising a walking mechanism for walking on electric wire, a spacer storage mechanism for storing spacers, a pin shaft storage mechanism for storing pin shafts, an operating arm for carrying spacers and installing pin shafts, and a clamping mechanism for clamping spacers on electric wire;

[0008] The walking mechanism comprises a front walking mechanism and a rear walking mechanism, the front walking mechanism comprises front walking wheels and a front walking driving mechanism; the rear walking mechanism comprises rear walking wheels, a rear wheel frame and a turnover driving mechanism, the rear walking wheels, the rear wheel frame and the turnover driving mechanism are each provided with two groups, each group of rear walking wheels at least comprises three rear walking wheels arranged uniformly along a circumferential direction, and the rear walking wheels are rotationally connected to the rear wheel frame; the turnover driving mechanism is power-connected with the rear wheel frame, and a rotation center of the rear wheel frame is perpendicular to a moving direction of the robot;

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

[0010] In one preferred scheme of the present application, the front walking wheels are two and are respectively used for walking on two electric wires;

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

[0012] In one preferred scheme of the present application, the front walking mechanism further comprises a pressing mechanism, the pressing mechanism is provided with a pressing wheel, a pressing transverse driving mechanism for driving the pressing wheel to move transversely and a pressing vertical driving mechanism for driving the pressing wheel to move vertically, a driving direction of the pressing transverse driving mechanism is perpendicular to a moving direction of the robot, and in the working state, the pressing wheel is located directly below the front walking wheels to press the electric wire.

[0013] Further, the pressing transverse driving mechanism comprises a pressing transverse moving seat, a pressing transverse driving motor and a pressing transverse transmission assembly, the pressing transverse moving seat is rotationally connected with the pressing wheel, the pressing transverse transmission assembly comprises a pressing transverse screw rod and a pressing transverse screw rod nut, and the pressing transverse moving seat is fixedly connected with the pressing transverse screw rod nut.

[0014] Further, the pressing vertical driving mechanism comprises a pressing vertical moving seat and a pressing vertical electric push rod, the pressing transverse driving mechanism is arranged on the pressing vertical moving seat, and the pressing vertical electric push rod is arranged on the frame of the robot through a fixing seat.

[0015] Through the above structure, when the robot is online and the preparation work is completed, the pressure wheel is moved to the front of the walking wheel through the pressure of the horizontal drive motor driving the pressure horizontal moving seat to move horizontally, and then the pressure wheel is moved up to press on the wire through the pressure vertical electric push rod driving the pressure vertical moving seat to move up, so that the front walking wheel can be prevented from slipping on the wire.

[0016] Further, the pressure mechanism further comprises a distance detection module arranged on the pressure horizontal moving seat and connected with the pressure wheel, and the walking distance of the robot can be calculated through the number of turns of the pressure wheel.

[0017] In one preferred embodiment of the application, the overturning driving mechanism comprises an overturning driving motor fixedly connected with the frame of the robot, and the output shaft of the overturning driving motor is directly or indirectly connected with the rear wheel frame.

[0018] In one preferred embodiment of the application, the spacer rod storage mechanism comprises a placing rack, a pushing mechanism and a limiting component.

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

[0020] Further, the pushing direction of the pushing mechanism is parallel to the moving direction of the robot, and the pushing mechanism comprises a pushing plate, a pushing driving motor and a pushing transmission component, the pushing plate is located behind the last spacer rod in the pushing direction, the pushing transmission component comprises a pushing lead screw and a pushing lead screw nut, the pushing lead screw nut is fixedly connected with the pushing plate, and the pushing driving motor is connected with the pushing lead screw through a shaft coupling.

[0021] Further, the limiting component is used for limiting the frontmost spacer rod, and the limiting component comprises a swing limiting member and a swing driving steering engine, and the swing limiting member is connected with the swing driving steering engine.

[0022] Through the above structure, the spacer rod is placed on the placing rack in advance, and the guide rod penetrates through the guide hole on the spacer rod so that the spacer rod moves along the specified route. When the spacer rod needs to be taken for installation, the swing limiting member is driven away from the frontmost spacer rod by the swing driving steering engine to cancel the limiting, so that the operating arm takes away the frontmost spacer rod; after the frontmost spacer rod is taken away, the pushing plate is driven forward by the pushing driving motor, and all the spacer rods are synchronously moved forward by one position by the pushing plate, and then the limiting component enters the limiting state.

[0023] In one preferred embodiment of the present application, the pin shaft storage mechanism comprises a storage box, a positioning seat arranged in the storage box, and an electromagnetic suction plate arranged below the positioning seat, wherein the positioning seat is provided with a plurality of positioning holes for placing pin shafts, and the electromagnetic suction plate is connected with an electromagnetic suction structure, and the pin shafts are electromagnetically fixed by the electromagnetic suction plate through the positioning holes. Through the above structure, the pin shafts can be stably fixed on the positioning seat, and the pin shafts are prevented from being separated from the positioning seat.

[0024] Further, the pin shaft is provided with two symmetrical self-locking elastic arms, one end of each self-locking elastic arm is fixed on the pin shaft, and the other end thereof extends outwardly and obliquely. In this way, when the pin shaft is inserted, the self-locking elastic arms are pressed and elastically deformed to pass through the pin hole, and after passing through the pin hole, the self-locking elastic arms restore the deformation and are clamped behind the pin hole to prevent the pin shaft from being loosened.

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

[0026] In one preferred embodiment of the present application, the end of the operating arm is provided with a second grabbing mechanism for grabbing the pin shaft, and the second grabbing mechanism comprises an electromagnetic suction seat.

[0027] In one preferred embodiment of the present application, the end of the operating arm is provided with 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.

[0028] Through the above structure, the grippers are in an open state in advance, and when the grippers reach the clamping position, the grippers are closed to clamp the middle part of the body of the spacer rod. When the spacer rod is carried to the installation position and is in a state of being ready to be installed with the pin shaft, the second grabbing mechanism reaches the pin shaft suction position in a state of sucking the pin shaft, the electromagnetic elements in the electromagnetic suction seat are powered on, the electromagnetic suction seat has a magnetic attraction force, and the electromagnetic suction seat successfully sucks the pin shaft. Subsequently, the second grabbing mechanism reaches the rear of the spacer rod, the visual positioning module is used to identify and position the pin hole in a state of facing the pin hole of the spacer rod, and then the operating arm is guided to install the pin shaft. After the installation is completed, the operating arm abuts against the rear end surface of the spacer rod, the force sensor detects that the force for pushing forward rapidly increases, and then the pin shaft is stopped from being pushed forward, the electromagnetic suction seat is powered off, and the operating arm smoothly exits.

[0029] Further, the robot further comprises a light shield cover arranged above the clamping mechanism to help the visual positioning module to reduce the interference of outdoor strong light when identifying the pin hole.

[0030] In one preferred embodiment of the present application, the clamping mechanism is provided with two sets of symmetrically arranged clamping mechanisms for clamping the clamping heads at both ends of the spacer rod, each set of clamping mechanism comprising 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, which are arranged in parallel.

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

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

[0034] Through the above structure, before the robot is connected to the power line, the two sets of clamping mechanisms are in a retracted state to avoid interference with the power line; after the robot is connected to the power line, the rotary mounting seat is driven to rotate in the corresponding direction by the clamping rotary drive motor, so that the fixed clamping plate is rotated to a position parallel to the fixed end of the clamping head of the spacer rod, at this time, the two sets of clamping mechanisms are in an open eight-shaped posture; the spacer rod is carried to the specified installation position of the power line by the operating arm, at this time, the fixed end of the clamping head of the spacer rod is placed on the power line, the movable end of the clamping head is freely hanging, and at the same time, the clamping head of the spacer rod 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 clamping head of the spacer rod by the clamping linear electric push rod, and then the movable end of the clamping head is clamped on the power line by the movable clamping plate, at this time, the fixed end and the movable end of the clamping head of the spacer rod are wrapped outside the power line; finally, the pin shaft is inserted into the pin hole of the fixed end of the clamping head of the spacer rod by the operating arm to limit the movable end of the clamping head, and the installation work is completed.

[0035] Further, the clamping rotary drive mechanism is arranged on the adaptive support structure, the adaptive support structure comprises a bottom plate, an adaptive spring and an adaptive support rod, the bottom plate is fixedly connected on the frame of the robot, the adaptive support rod is vertically movably through the bottom plate, two upper and lower limiting portions are arranged on the adaptive support rod, and the bottom plate is located between the two limiting portions; the adaptive spring is sleeved on the adaptive support rod, and two ends of the adaptive spring are abutting against the limiting portion located above and the bottom plate respectively; and the top of the adaptive support rod is connected with the clamping rotary drive motor through the motor mounting seat. Through the above structure, when the clamping linear motor-driven push rod drives the clamping plate to extrude the movable end of the clamp head of the spacer rod, the spacer rod will act on the clamping linear motor-driven push rod in the opposite direction, and then the adaptive spring is extruded downward by the clamping rotary drive motor, so that the posture of the entire clamping mechanism is adaptively adjusted, the movable end and the fixed end of the clamp head of the spacer rod are clamped in a suitable position, and the installation work is ensured to be completed smoothly.

[0036] Further, a vertical guide structure is arranged between the motor mounting seat and the frame of the robot, the vertical guide structure comprises a vertical guide rail and a vertical sliding block, the vertical guide rail is fixedly arranged on the frame of the robot, and the vertical sliding block is fixedly connected on the motor mounting seat.

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

[0038] 1. The installation robot of the present application arranges the installation position of the spacer rod between the support points, ensures that the axis of the pin hole of the spacer rod is parallel to the slope where the robot is located, eliminates the identification operation of the space posture of the pin hole, and improves the installation efficiency and success rate.

[0039] 2. By arranging the rear walking wheel and the turnover drive mechanism, the spacer rod that has been installed can be crossed, and the installation work of other spacer rods can be continued. BRIEF DESCRIPTION OF DRAWINGS

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

[0041] Figure 2 It is a working state diagram of the existing installation robot.

[0042] Figure 3 It is a working state diagram of the two-split conductor spacer rod installation robot of the present application.

[0043] Figures 4-5 It is a three-dimensional structure schematic diagram of the two-split conductor spacer rod installation robot of the present application from two different perspectives, Figure 5 The light shield is hidden.

[0044] Figure 6It is a perspective view of the front walking mechanism of the application.

[0045] Figure 7 It is a perspective view of the rear walking mechanism of the application.

[0046] Figures 8-9 It is a perspective view of the spacer rod storage mechanism of the application from two different angles.

[0047] Figure 10 It is a perspective view of the pin shaft storage mechanism of the application.

[0048] Figure 11 It is a sectional view of the pin shaft storage mechanism of the application.

[0049] Figure 12 It is a perspective view of the operating arm of the application.

[0050] Figure 13 It is a front view of the clamping mechanism of the application.

[0051] Figure 14 It is a side view of the clamping mechanism of the application. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the technical solutions of the application, the application will be further described below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the application are not limited thereto.

[0053] Referring to Figure 3 , the two-split wire spacer rod installation robot of the embodiment comprises a walking mechanism for walking on the electric wires, a spacer rod storage mechanism for storing the spacer rods 1, a pin shaft storage mechanism for storing the pin shafts 2, an operating arm 3 for carrying the spacer rods 1 and installing the pin shafts 2, and a clamping mechanism for clamping the spacer rods 1 on the electric wires.

[0054] Referring to Figure 6 , the walking mechanism comprises a front walking mechanism and a rear walking mechanism, the front walking mechanism comprises front walking wheels 4 and a front walking driving mechanism; wherein the front walking wheels 4 are provided with two and are respectively used for walking on two electric wires; the front walking driving mechanism comprises a front walking driving motor 5 and a front walking transmission assembly, the front walking driving motor 5 is fixedly arranged on a frame 6 of the robot, the front walking transmission assembly comprises a transmission shaft, a synchronous belt and a pulley, 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 driving motor 5 and the transmission shaft.

[0055] Referring to Figure 6, the front walking mechanism further comprises a pressing mechanism, the pressing mechanism is provided with a pressing wheel 7, a pressing transverse driving mechanism for driving the pressing wheel 7 to move transversely and a pressing vertical driving mechanism for driving the pressing wheel 7 to move vertically, the driving direction of the pressing transverse driving mechanism is perpendicular to the moving direction of the robot; in the working state, the pressing wheel 7 is located directly below the front walking wheel 4 to press the wire.

[0056] Further, the pressing transverse driving mechanism comprises a pressing transverse moving seat 8, a pressing transverse driving motor 9 and a pressing transverse transmission assembly, the pressing transverse moving seat 8 is rotationally connected with the pressing wheel 7, and the pressing transverse transmission assembly comprises a pressing transverse lead screw and a pressing transverse lead screw nut, and the pressing transverse moving seat 8 is fixedly connected with the pressing transverse lead screw nut.

[0057] Further, the pressing vertical driving mechanism comprises a pressing vertical moving seat 10 and a pressing vertical electric push rod 11, the pressing transverse driving mechanism is arranged on the pressing vertical moving seat 10, and the pressing vertical electric push rod 11 is arranged on the frame 6 of the robot through a fixing seat 12.

[0058] Through the above structure, when the robot is online and completes the preparation work, the pressing transverse moving seat 8 is driven to move transversely by the pressing transverse driving motor 9, so that the pressing wheel 7 moves to the position directly below the front walking wheel 4, then the pressing vertical moving seat 10 is driven to move upward by the pressing vertical electric push rod 11, so that the pressing wheel 7 is pressed on the wire, thereby the front walking wheel 4 can be inhibited from slipping on the wire.

[0059] Further, the pressing mechanism further comprises a distance detection module 13, the distance detection module 13 is arranged on the pressing transverse moving seat 8 and connected with the pressing wheel 7, and the walking distance of the robot can be calculated through the number of rotations of the pressing wheel 7.

[0060] Referring to Figure 7 , the rear walking mechanism comprises rear walking wheels 14, rear wheel frames 15 and a turnover driving mechanism, the rear walking wheels 14, the rear wheel frames 15 and the turnover driving mechanism are all provided with two groups, each group of rear walking wheels 14 at least comprises three rear walking wheels 14 (four rear walking wheels 14 are provided in the embodiment) which are uniformly arranged along the circumferential direction, and the rear walking wheels 14 are rotationally connected with the rear wheel frames 15; the turnover driving mechanism is power-connected with the rear wheel frames 15, the rotation center of the rear wheel frames 15 is perpendicular to the moving direction of the robot; in the working state, the installation position of the spacer rod 1 on the wire is located between the front walking wheel 4 and the rear walking wheel 14.

[0061] Further, the overturning driving mechanism comprises an overturning driving motor 16 fixedly connected with the frame 6 of the robot, and an output shaft of the overturning driving motor 16 is directly or indirectly connected with the rear wheel frame 15.

[0062] Referring to Figures 8-9 , the spacer storage mechanism comprises a placing rack 17, a pushing mechanism and a limiting assembly, the placing rack 17 is arranged above the frame 6 of the robot, and a guide rod 18 is arranged on the placing rack 17, the guide rod 18 passes through a guide hole on the spacer 1.

[0063] Further, the pushing direction of the pushing mechanism is parallel to the moving direction of the robot, the pushing mechanism comprises a pushing plate 19, a pushing driving motor 20 and a pushing transmission assembly, in the pushing direction, the pushing plate 19 is located behind the last spacer 1; the pushing transmission assembly comprises a pushing screw rod and a pushing screw rod nut, the pushing screw rod nut is fixedly connected with the pushing plate 19, and the pushing driving motor 20 is connected with the pushing screw rod through a shaft coupling.

[0064] Further, the limiting assembly is used for limiting the frontmost spacer 1, and the limiting assembly comprises a swing limiting piece 21 and a swing driving steering engine 22, the swing limiting piece 21 is connected with the swing driving steering engine 22.

[0065] Through the above structure, the spacer 1 is placed on the placing rack 17 in advance, and the guide rod 18 passes through the guide hole on the spacer 1, so that the spacer 1 moves along the specified route. When the spacer 1 needs to be taken for installation, the swing limiting piece 21 is driven away from the frontmost spacer 1 by the swing driving steering engine 22, the limiting is cancelled, so that the operating arm 3 takes away the frontmost spacer 1; after the frontmost spacer 1 is taken away, the pushing plate 19 is driven to move forward by the pushing driving motor 20, all the spacers 1 are synchronously moved forward by one position by the pushing plate 19, and the limiting assembly enters the limiting state again.

[0066] Referring to Figures 10-11 , the pin shaft storage mechanism comprises a storage box 23 and 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 with an electromagnetic suction structure, and the pin shaft 2 is electromagnetically fixed by the electromagnetic suction plate 25 through the positioning hole 24-1. Through the above structure, the pin shaft 2 can be stably fixed on the positioning seat 24, and the pin shaft 2 is prevented from being separated from the positioning seat 24.

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

[0068] Referring to Figure 12 , the end of the operating arm 3 is provided with a first grabbing mechanism for grabbing the spacer rod 1, which includes an electric claw 26 and two grippers 27 symmetrically arranged on the two driving ends of the electric claw 26.

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

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

[0071] Further, the robot further comprises a light shield 30 arranged above the clamping mechanism to help the visual positioning module 29 to reduce the interference of outdoor strong light when identifying the pin hole.

[0072] Through the above structure, the gripper 27 is in an open state in advance, and when the operating arm 3 reaches the clamping position, the gripper 27 is closed to clamp the middle part of the body of the spacer rod 1. When the spacer rod 1 is transported to the installation position and is in the state of being ready to install the pin shaft 2, the second grabbing 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 magnetic attraction force, and the electromagnetic suction seat 28 successfully sucks the pin shaft 2. Subsequently, the second grabbing mechanism comes to the rear of the spacer rod 1, adopts the visual positioning module 29 to identify and position the pin hole in the posture of facing the pin hole of the spacer rod 1, and then guides the operating arm 3 to install the pin shaft 2. After the installation is completed, the operating arm 3 abuts against the rear end surface of the spacer rod 1, the force sensor detects that the force pushing forward rapidly increases, and then the pin shaft 2 is stopped from being pushed forward, the electromagnetic suction seat 28 is de-energized, and the operating arm 3 smoothly exits.

[0073] Referring to Figures 13-14The clamping mechanism is provided with two groups and is symmetrically arranged, and is respectively used for clamping the chuck at both ends of the spacer rod 1. Each group of clamping mechanisms comprises a clamping assembly, a clamping linear driving mechanism and a clamping rotary driving mechanism. The clamping assembly comprises a fixed clamping plate 31 and a movable clamping plate 32, and the fixed clamping plate 31 and the movable clamping plate 32 are arranged in parallel. The clamping linear driving mechanism comprises a clamping linear electric push rod 33, and the movable clamping plate 32 is fixedly arranged on the telescopic rod of the clamping linear electric push rod 33. The clamping rotary driving mechanism comprises a clamping rotary driving motor 34, and the output shaft of the clamping rotary driving motor 34 is directly or indirectly fixedly connected with a rotary mounting seat 35. The fixed clamping plate 31 is fixedly arranged at one end of the rotary mounting seat 35, and the other end of the rotary mounting seat 35 is fixedly connected with the clamping linear electric push rod 33.

[0074] Through the above structure, before the robot is on line, the two groups of clamping mechanisms are in the retracted state, so as to avoid interference with the electric wire. After the robot is on line, the rotary mounting seat 35 is driven to rotate in the corresponding direction by the clamping rotary driving motor 34, so that the fixed clamping plate 31 is rotated to the position parallel to the fixed end of the chuck of the spacer rod 1. At this time, the two groups of clamping mechanisms are in the open eight-shaped posture. The spacer rod 1 is carried to the specified installation position of the electric wire by the operating arm 3. At this time, the fixed end of the chuck of the spacer rod 1 is placed on the electric wire, the movable end of the chuck is freely hung down, and at the same time, the chuck of the spacer rod 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 rod 1 by the clamping linear electric push rod 33, and then the movable end of the chuck is clamped on the electric wire by the movable clamping plate 32. At this time, the fixed end and the movable end of the chuck of the spacer rod 1 are wrapped outside the electric wire. Finally, the pin shaft 2 is inserted into the pin hole of the fixed end of the chuck of the spacer rod 1 by the operating arm 3, and the movable end of the chuck is limited, and the installation work is completed.

[0075] Further, the clamping rotary drive mechanism is arranged on an adaptive support structure, which comprises a bottom plate 36, an adaptive spring 37 and an adaptive support rod 38, the bottom plate 36 is fixedly connected to the frame 6 of the robot, the adaptive support rod 38 is vertically movably arranged through the bottom plate 36, and two limiting portions are arranged on the adaptive support rod 38 in an up-down manner, and the bottom plate 36 is located between the two limiting portions; the adaptive spring 37 is sleeved on the adaptive support rod 38, and the two ends of the adaptive spring 37 are abutted against the limiting portion located above and the bottom plate 36 respectively, and the top of the adaptive support rod 38 is connected with the clamping rotary drive motor 34 through a motor mounting seat 41. Through the above structure, when the clamping linear electric push rod 33 drives the clamping plate 32 to press the movable end of the clamp of the spacer rod 1, the spacer rod 1 will act on the clamping linear electric push rod 33 in the opposite direction, and then the clamping rotary drive motor 34 will press the adaptive spring 37 downward, so as to adaptively adjust the posture of the entire clamping mechanism, and obtain a suitable position to clamp the fixed end and the movable end of the clamp of the spacer rod 1, so as to ensure the smooth completion of the installation work.

[0076] Further, a vertical guide structure is arranged between the motor mounting seat 41 and the frame 6 of the robot, and the vertical guide structure comprises a vertical guide rail 39 and a vertical sliding block 40, the vertical guide rail 39 is fixedly arranged on the frame 6 of the robot, and the vertical sliding block 40 is fixedly connected to the motor mounting seat 41.

[0077] Referring to Figures 3-14 The working principle of the bifurcated wire spacer rod installation robot of the embodiment is as follows:

[0078] When working, the installation robot is erected on two wires, and the front walking wheel 4 and the rear walking wheel 14 are respectively placed on the wires, wherein the rear walking wheels 14 of the same group are arranged on the wires; the front walking wheel 4 is driven to rotate by the front walking drive mechanism, so as to drive the entire installation robot to move on the wires; when reaching the installation position of the spacer rod 1, the robot stops advancing, and the installation position is located between the front walking wheel 4 and the rear walking wheel 14.

[0079] The operation arm 3 drives the gripper 27 to approach the spacer rod 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 rod 1, and then the spacer rod 1 is carried to the installation position; at this time, the fixed end of the chuck of the spacer rod 1 is placed on the wire, the movable end of the chuck is freely hanging, and at the same time the chuck of the spacer rod 1 is located between the fixed clamping plate 31 and the movable clamping plate 32; the movable clamping plate 32 is driven by the clamping linear electric push rod 33 to approach the movable end of the chuck of the spacer rod 1, 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 and the movable end of the chuck of the spacer rod 1 are wrapped outside the wire; the second grabbing mechanism reaches the suction pin shaft 2 position in the suction pin shaft 2 posture, the electromagnetic elements in the electromagnetic suction seat 28 are electrified, the electromagnetic suction seat 28 has magnetic attraction force, and the electromagnetic suction seat 28 successfully sucks the pin shaft 2. Then the second grabbing mechanism comes to the rear of the spacer rod 1, the visual positioning module 29 is used to identify and position the pin hole towards the spacer rod 1 pin hole, and then the operation arm 3 is guided to insert the pin shaft 2 into the pin hole, after insertion, the electromagnetic suction seat 28 is de-energized, the operation arm 3 smoothly exits, and the installation of the spacer rod 1 is completed.

[0080] The front walking driving mechanism continues to drive the front walking wheel 4 to move forward, when the rear walking wheel 14 approaches the installed spacer rod 1, the rear wheel frame 15 is driven to rotate in the corresponding direction by the turnover driving mechanism, so that the overhanging rear walking wheel 14 rotates in the direction of the front rear walking wheel 14 on the wire, and then the front movement is matched, so that the rear wheel frame 15 is turned over forward, and the overhanging rear walking wheel 14 adjacent to the front rear walking wheel 14 on the wire will cross the installed spacer rod 1 and fall on the wire, at this time the rear walking wheel 14 behind the wire has been turned over to leave the wire, at this time the installed spacer rod 1 is located between the two rear walking wheels 14 on the wire; continue to drive the rear wheel frame 15 to turn over forward by the turnover driving mechanism, until the installed spacer rod 1 moves to the rear of all the rear walking wheels 14.

[0081] The above is the preferred embodiment of the present application, but the embodiment of the present application is not limited by the above, any change, modification, replacement, combination, simplification made without departing from the spirit and principle of the present application should be an equivalent replacement method, which is included in the protection scope of the present application.

Claims

1. A two-split conductor spacer installation robot, characterized by, The walking mechanism includes a front walking mechanism and a rear walking mechanism, the front walking mechanism includes a front walking wheel and a front walking driving mechanism; the rear walking mechanism includes a rear walking wheel, a rear wheel frame and a turnover driving mechanism, the rear walking wheel, the rear wheel frame and the turnover driving mechanism are each provided with two groups, each group of the rear walking wheel includes at least three rear walking wheels which are uniformly arranged along a circumferential direction, and the rear walking wheels are rotationally connected to the rear wheel frame; the turnover driving mechanism is power-connected with the rear wheel frame, and a rotation center axis of the rear wheel frame is perpendicular to a moving direction of the robot; In a working state, the installation position of the spacer on the electric wire is located between the front walking wheel and the rear walking wheel; The clamping mechanism is provided with two groups of symmetrically arranged clamping mechanisms, and the two groups of clamping mechanisms are respectively used for clamping the clamping heads at two ends of the spacer; each group of clamping mechanisms includes a clamping assembly, a clamping linear driving mechanism and a clamping rotary driving mechanism; the clamping assembly includes 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 driving mechanism includes a clamping linear electric push rod, and the movable clamping plate is fixedly arranged on an extension rod of the clamping linear electric push rod; the clamping rotary driving mechanism includes a clamping rotary driving motor, an output shaft of the clamping rotary driving motor is directly or indirectly fixedly connected with a rotary mounting seat, the fixed clamping plate is fixedly arranged at one end of the rotary mounting seat, and the other end of the rotary mounting seat is fixedly connected with the clamping linear electric push rod; The clamping rotary driving mechanism is arranged on an adaptive support structure, the adaptive support structure includes a bottom plate, an adaptive spring and an adaptive support rod, the bottom plate is fixedly connected to a rack of the robot, the adaptive support rod is vertically movably penetrated through the bottom plate, two upper and lower limiting portions are arranged on the adaptive support rod, and the bottom plate is located between the two limiting portions; the adaptive spring is sleeved on the adaptive support rod, and two ends of the adaptive spring are abutting against the upper limiting portion and the bottom plate respectively; and the top of the adaptive support rod is connected with the clamping rotary driving motor through a motor mounting seat. The front walking wheel is provided with two front walking wheels which are respectively used for walking on two electric wires; 2. The bipole conductor spacer installation robot of claim 1, wherein, The front walking driving mechanism includes a front walking driving motor and a front walking transmission assembly, the front walking driving motor is fixedly arranged on a rack of the robot, and the front walking transmission assembly includes a transmission shaft, a synchronous belt and a pulley, the transmission shaft is connected between the two front walking wheels, and the synchronous belt and the pulley are connected between the front walking driving motor and the transmission shaft. The front walking mechanism further includes a pressing mechanism, the pressing mechanism includes a pressing wheel, a pressing transverse driving mechanism for driving the pressing wheel to move transversely and a pressing vertical driving mechanism for driving the pressing wheel to move vertically, and a driving direction of the pressing transverse driving mechanism is perpendicular to a moving direction of the robot; in a working state, the pressing wheel is located directly below the front walking wheel to press the electric wire.

3. The bipole conductor spacer installation robot of claim 2, wherein, ​ The pressing transverse driving mechanism comprises a pressing transverse moving seat, a pressing transverse driving motor and a pressing transverse transmission assembly, the pressing transverse moving seat is rotationally connected with the pressing wheel, and the pressing transverse transmission assembly comprises a pressing transverse screw rod and a pressing transverse screw rod nut which are threadedly connected with each other, and the pressing transverse moving seat is fixedly connected with the pressing transverse screw rod nut; The pressing vertical driving mechanism comprises a pressing vertical moving seat and a pressing vertical electric push rod, and the pressing transverse driving mechanism is arranged on the pressing vertical moving seat, and the pressing vertical electric push rod is arranged on the frame of the robot through a fixing seat; The pressing mechanism further comprises a distance detection module, which is arranged on the pressing transverse moving seat and connected with the pressing wheel, and the walking distance of the robot can be calculated by the number of rotations of the pressing wheel.

4. The bipole conductor spacer installation robot of claim 1, wherein, The spacer rod storage mechanism comprises a placing rack, a pushing mechanism and a limiting assembly; The placing rack is arranged above the frame of the robot, and a guide rod is arranged on the placing rack, and the guide rod passes through a guide hole on the spacer rod; The pushing direction of the pushing mechanism is parallel to the moving direction of the robot, and the pushing mechanism comprises a pushing plate, a pushing driving motor and a pushing transmission assembly, and in the pushing direction, the pushing plate is located behind the last spacer rod; the pushing transmission assembly comprises a pushing screw rod and a pushing screw rod nut, the pushing screw rod nut is fixedly connected with the pushing plate, and the pushing driving motor is connected with the pushing screw rod through a shaft coupling; The limiting assembly is used for limiting the frontmost spacer rod, and the limiting assembly comprises a swing limiting piece and a swing driving steering engine, and the swing limiting piece is connected with the swing driving steering engine.

5. The bipole conductor spacer installation robot of claim 1, wherein, The pin shaft storage mechanism comprises a storage box, a positioning seat arranged in the storage box and an electromagnetic suction plate, a plurality of positioning holes for placing pin shafts are arranged on the positioning seat, the electromagnetic suction plate is located below the positioning seat, the electromagnetic suction plate is connected with an electromagnetic suction structure, and the pin shaft passes through the positioning hole and is electromagnetically fixed by the electromagnetic suction plate.

6. The bipole spacer installation robot according to claim 1 or 5, characterized in that The pin shaft is provided with a self-locking elastic arm, the self-locking elastic arm is provided with two symmetrical self-locking elastic arms, one end of the self-locking elastic arm is fixed on the pin shaft, and the other end is inclinedly extended outward.

7. The bipole conductor spacer installation robot of claim 1, wherein, A first grabbing mechanism for grabbing the spacer rod is arranged on the end of the operating arm, the first grabbing 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 shaft is arranged on the end of the operating arm, and the second grabbing mechanism comprises an electromagnetic suction seat. 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 arranged on the end of the operating arm. The robot further comprises a light shield, which is arranged above the clamping mechanism, and is used for helping the visual positioning module to reduce the interference of outdoor strong light when identifying the pin hole.

8. The bipole conductor spacer installation robot of claim 1, wherein, A vertical guide structure is arranged between the motor mounting seat and the frame of the robot, the vertical guide structure comprises a vertical guide rail and a vertical sliding block, the vertical guide rail is fixedly arranged on the frame of the robot, and the vertical sliding block is fixedly connected with the motor mounting seat.

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