A four-split spacer rod installation robot based on a movable lifting and rotating platform

Abstract

The present invention belongs to the technical field of spacer bar installation, and specifically relates to a four-split spacer bar installation robot based on a movable lifting and rotating platform, wherein the robot comprises an installation frame and a spacer bar storage device arranged thereon, a movable lifting and rotating platform, and a wire clamp locking device, wherein the movable lifting and rotating platform comprises a walking chassis, a walking drive mechanism, a lifting mechanism, a rotating drive mechanism, a spacer bar gripper, and a wire lap drive mechanism, wherein the walking chassis is movably arranged on the installation frame, the driving end of the walking drive mechanism is connected to the walking chassis, the bottom of the lifting mechanism is rotatably arranged on the walking chassis, the spacer bar gripper is arranged on the top of the lifting mechanism, and the driving end of the wire lap drive mechanism is connected to the spacer bar gripper. The present invention can not only realize the automatic installation of four-split wire spacer bars, but also has a simple control program and high working efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of spacer bar installation, and in particular relates to a four-split spacer bar installation robot based on a movable lifting and rotating platform. Background Art

[0002] The most direct way to increase the transmission capacity of transmission lines is to increase the voltage level and increase the outgoing line loops. However, if the outgoing line loops are increased, not only the investment will be increased, but also the difficulty of handling the line corridor will be increased. Compact lines use multiple split conductors to achieve the purpose of increasing the natural transmission power of transmission lines and reducing the area occupied by line corridors. However, there is a prominent contradiction that the transmission lines are prone to adjacent conductors touching each other and air insulation breakdown between lines under the influence of various external factors such as breeze vibration of conductors and wake-induced vibration. The most effective way to solve this contradiction is to install insulating spacers between adjacent conductors to ensure sufficient insulation distance between adjacent conductors.

[0003] Conventional spacer installation construction often relies on manual installation. Installing spacers by personnel at high altitudes will increase the safety burden of personnel at high altitudes. If a person is not careful, the person or the spacer will fall from the altitude, causing loss of personnel and materials. At the same time, manual installation will increase the cost of the project. Due to time and space constraints, the efficiency of the staff in installing the spacers will be reduced, and the burden of the project will be increased. The invention patent with application number 202410149913.3 provides a four-split conductor spacer installation robot, which can be put into operation in a variety of complex terrain environments and realize the automated installation of four-split conductor spacers. However, the gripping device in the robot is designed with a multi-degree-of-freedom robotic arm. The control program for the multi-degree-of-freedom robotic arm to reach the specified position is complex, and the robot has poor working efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a four-split conductor spacer installation robot based on a movable lifting and rotating platform, which can realize the automated installation of four-split conductor spacers and has a simple control program and high working efficiency in view of the above problems existing in the prior art.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] A four-split spacer bar installation robot based on a movable lifting and rotating platform, the robot comprises an installation frame and a spacer bar storage device arranged thereon, a movable lifting and rotating platform, and a wire clamp locking device, the movable lifting and rotating platform comprises a walking chassis, a walking drive mechanism, a lifting mechanism, a rotating drive mechanism, a spacer bar gripper, and a wire lap drive mechanism, the walking chassis is movably arranged on the installation frame, the driving end of the walking drive mechanism is connected to the walking chassis, the bottom of the lifting mechanism is rotatably arranged on the walking chassis, the spacer bar gripper is arranged on the top of the lifting mechanism, and the driving end of the wire lap drive mechanism is connected to the spacer bar gripper;

[0007] The travel drive mechanism is used to drive the travel chassis to move to the spacer bar storage device, and is used to drive the travel chassis to move to a preset spacer bar installation position after the spacer bar gripper grabs the four-split spacer bars stored in the spacer bar storage device;

[0008] The rotary drive mechanism is used to drive the lifting mechanism to rotate forward after the walking chassis moves to the spacer installation position, until the grasped four-split spacer is parallel to the extension direction of the four-split conductor, and to drive the lifting mechanism to rotate reversely after the grasped four-split spacer moves between the four-split conductors, until the grasped four-split spacer is perpendicular to the extension direction of the four-split conductor;

[0009] The lifting mechanism is used to lift the spacer gripper after the grasped four-split spacer is parallel to the extension direction of the four-split conductor, until the grasped four-split spacer moves between the four-split conductors;

[0010] The wire overlap driving mechanism is used to drive the spacer gripper to rotate forward until the wire clamp of the four-split spacer is staggered from the extension direction of the four-split wire after the grasped four-split spacer is parallel to the extension direction of the four-split wire, and to drive the spacer gripper to rotate reversely after the grasped four-split spacer moves between the four-split wires until the wire clamp of the grasped four-split spacer is overlapped on the four-split wire;

[0011] The wire clamp locking device is used to lock the wire clamp overlapped on the four-split conductor.

[0012] The mounting frame includes a lower frame, and the travel drive mechanism includes a travel motor and a travel gear. The travel motor is arranged on a travel chassis, and the output shaft of the travel motor is transmission-connected with the travel gear. The travel gear is meshed with a rack track arranged at the bottom of the lower frame. The travel motor is used to drive the travel gear to rotate, and the rotation of the travel gear drives the travel chassis to move along the rack track.

[0013] The lifting mechanism includes a lifting rod and a lifting motor. The top of the lifting rod is connected to the output shaft of the lifting motor. The spacer rod gripper is arranged at the top of the lifting rod. The lifting motor is used to drive the lifting rod to perform lifting actions. The rotating drive mechanism includes a rotating motor and multiple rotating wheels. The rotating motor is arranged at the bottom of the lifting rod. The output shaft of the rotating motor is connected to the multiple rotating wheels in a transmission manner. The multiple rotating wheels are rotatably arranged at the bottom of the lifting rod. The rotating wheels cooperate with the rotating track arranged on the walking chassis. The rotating motor is used to drive the rotating wheels to rotate along the rotating track to drive the lifting rod to rotate with a first direction as the axis. The first direction is perpendicular to the extension direction of the four-split conductor.

[0014] The wire splicing drive mechanism includes a micro-motor, a first adjusting gear, and a second adjusting gear. The micro-motor is arranged at the top of the lifting rod. The output shaft of the micro-motor is connected to the first adjusting gear. The first adjusting gear is meshed with the second adjusting gear. The spacer rod gripper is arranged on the second adjusting gear. The micro-motor is used to drive the first adjusting gear and the second adjusting gear to rotate, so as to drive the spacer rod gripper to rotate with the second direction as the axis. The second direction is parallel to the extension direction of the four-split wire.

[0015] The mounting frame also includes an upper frame arranged on the lower frame, and the wire clamp locking device includes a linear drive mechanism and a mechanical claw. The linear drive mechanism is installed on the top of the upper frame, and the driving end of the linear drive mechanism is connected to the mechanical claw. The mechanical claw is movably arranged on the top of the upper frame, and the four grippers of the mechanical claw are provided with a locking mechanism. The linear drive mechanism is used to drive the mechanical claw to move along a third direction toward a four-split spacer rod overlapped on the four-split conductor, and the third direction is parallel to the extension direction of the four-split conductor. The locking mechanism is used to lock the wire clamp overlapped on the four-split conductor.

[0016] The mechanical claw includes a bracket, a base, a rotating cylinder, a threaded block, a threaded rod, and four grippers. The bracket is movably arranged on the top of the upper frame, and the driving end of the linear drive mechanism is connected to the bracket. The base and the rotating cylinder are both arranged on the bracket. The output shaft of the rotating cylinder passes through the base and is connected to one end of the threaded rod. The outer wall of the threaded rod is threadedly matched with the inner wall of the threaded block. The outer wall of the threaded block is movably connected to the middle part of the gripper through a connecting rod, and one end of the gripper is movably connected to the base, and the other end of the gripper is connected to the locking mechanism; the linear drive mechanism is used to drive the bracket to move toward the four-split spacer rod overlapped on the four-split conductor, and the rotating cylinder is used to drive the threaded rod to rotate forward or reversely. When the threaded rod rotates forward, it drives the threaded block to move toward one end of the threaded rod away from the rotating cylinder, so that the gripper opens until the wire clamp enters the locking mechanism on the gripper.

[0017] The locking mechanism includes a shell, a clamping drive, a clamp, and a movable pressure block. The shell is arranged on the second adjusting gear, and the clamping drive and the clamp are both arranged on the shell. The output end of the clamping drive is connected to the movable pressure block, and the movable pressure block is movably arranged on the clamp. The clamping drive is used to drive the movable pressure block to cooperate with the clamp to lock the wire clamp overlapped on the four-split conductor.

[0018] The spacer rod storage device includes a guide rod and two side support rods. One end of the guide rod is connected to the top of the lower frame, and the guide rod is used to be inserted into and cooperate with the guide hole on the four-split spacer rod. The two side support rods are respectively connected to the two sides of the lower frame, and the side support rods are used to contact the side edges of the frame of the four-split spacer rod.

[0019] A distance position sensor is arranged on the traveling chassis, and the distance position sensor is used to detect the distance between the traveling chassis and the four-split spacer bars stored in the spacer bar storage device.

[0020] An angular velocity sensor and a lifting position sensor are arranged at the bottom of the lifting rod. The angular velocity sensor is used to detect the rotational angular velocity of the lifting rod, and the lifting position sensor is used to detect the lifting position of the lifting rod.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention discloses a four-split spacer bar installation robot based on a movable lifting and rotating platform, comprising an installation frame and a spacer bar storage device, a movable lifting and rotating platform, and a wire clamp locking device arranged thereon. The movable lifting and rotating platform comprises a walking chassis, a walking drive mechanism, a lifting mechanism, a rotating drive mechanism, a spacer bar gripper, and a wire overlapping drive mechanism. The walking chassis is movably arranged on the installation frame, the driving end of the walking drive mechanism is connected to the walking chassis, the bottom of the lifting mechanism is rotatably arranged on the walking chassis, the spacer bar gripper is arranged on the top of the lifting mechanism, and the driving end of the wire overlapping drive mechanism is connected to the spacer bar gripper. During the installation operation, the walking drive mechanism first drives the walking chassis to move to the spacer bar storage device, and after the spacer bar gripper grabs the four-split spacer bars stored in the spacer bar storage device, the walking drive mechanism drives the walking chassis to move to a preset spacer bar installation position, and then the rotating drive mechanism drives the lifting mechanism to rotate forward to the extension direction of the four-split spacer bars and the four-split wires. The four-split wires are parallel to each other, and then the lifting mechanism lifts the four-split spacer to between the four-split wires. At the same time, the wire lap drive mechanism drives the spacer gripper to rotate forward until the wire clamp of the four-split spacer is staggered with the extension direction of the four-split wire. Then the rotary drive mechanism drives the lifting mechanism to rotate in the opposite direction until the four-split spacer is perpendicular to the extension direction of the four-split wire. At the same time, the wire lap drive mechanism drives the spacer gripper to rotate in the opposite direction until the wire clamp of the four-split spacer is overlapped on the four-split wire. Finally, the wire clamp locking device locks the wire clamp overlapped on the four-split wire. On the one hand, the above design realizes the automatic installation of the spacer without manual installation of the spacer, which not only improves the installation efficiency of the spacer, but also reduces the labor intensity of the operators and reduces the safety risks of manual operations. On the other hand, a movable lifting and rotating platform is designed. Compared with the traditional multi-degree-of-freedom robot arm, it can meet the installation operation requirements through fewer mechanism application settings, solving the problem of many traditional spacer installation robot applications. Therefore, the present invention can not only realize the automatic installation of the four-split wire spacer, but also has a simple control program and high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the robot described in the present invention.

[0024] Figure 2 It is a working schematic diagram of the movable lifting and rotating platform of the present invention when it moves to the spacer rod storage device.

[0025] Figure 3 It is a working schematic diagram of the movable lifting and rotating platform in the present invention when it moves to the spacer rod installation position.

[0026] Figure 4 It is a structural schematic diagram of the center line clamp locking device of the present invention.

[0027] Figure 5It is a structural schematic diagram of the locking mechanism in the present invention.

[0028] Figure 6 It is a structural schematic diagram of the installation frame in the present invention.

[0029] In the above figure, the mounting frame 1, the lower frame 11, the rack rail 111, the upper frame 12, the spacer rod storage device 2, the guide rod 21, the side support rod 22, the movable lifting and rotating platform 3, the walking chassis 31, the rotating track 311, the walking drive mechanism 32, the walking motor 321, the walking gear 322, the lifting mechanism 33, the lifting rod 331, the angular velocity sensor 332, the lifting position sensor 333, the rotating drive mechanism 34, the rotating motor 341, the rotating wheel 342, and the distance position sensor 35 , spacer bar gripper 36, wire overlap drive mechanism 37, micro-rotor motor 371, first adjusting gear 372, second adjusting gear 373, wire clamp locking device 4, linear drive mechanism 41, mechanical claw 42, bracket 421, base 422, rotary cylinder 423, threaded block 424, threaded rod 425, gripper 426, connecting rod 427, locking mechanism 43, shell 431, clamping drive 432, clamp 433, movable pressure block 434, four-split spacer bar 5, wire clamp 51, frame 52. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with specific implementation methods and drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figure 1 In one embodiment of the present invention, a four-split spacer rod installation robot based on a movable lifting and rotating platform is provided. The robot includes an installation frame 1 and a spacer rod storage device 2, a movable lifting and rotating platform 3, and a wire clamp locking device 4 arranged thereon. The movable lifting and rotating platform 3 includes a walking chassis 31, a walking drive mechanism 32, a lifting mechanism 33, a rotating drive mechanism 34, a spacer rod gripper 36, and a wire overlapping drive mechanism 37. The walking chassis 31 is movably arranged on the installation frame 1, the driving end of the walking drive mechanism 32 is connected to the walking chassis 31, the bottom of the lifting mechanism 33 is rotatably arranged on the walking chassis 31, the spacer rod gripper 36 is arranged on the top of the lifting mechanism 33, and the driving end of the wire overlapping drive mechanism 37 is connected to the spacer rod gripper 36.

[0032] During the specific installation, first, the walking drive mechanism 32 drives the walking chassis 31 to move to the spacer bar storage device 2. After the spacer bar gripper 36 grabs the four-split spacer bar 5 stored in the spacer bar storage device 2, the walking drive mechanism 32 drives the walking chassis 31 to move to the preset spacer bar installation position; then, the rotating drive mechanism 34 drives the lifting mechanism 33 to rotate forward 90 degrees. At this time, the grabbed four-split spacer bar 5 is parallel to the extension direction of the four-split conductor; then, the lifting mechanism 33 lifts the spacer bar gripper until the four-split spacer bar 5 is located between the four-split conductors, and at the same time, the conductor overlap drive mechanism 37 drives the spacer bar gripper 36 to rotate forward to the four-split conductor. The wire clamp of the spacer bar is staggered with the extension direction of the four-split conductor, for example, it is rotated forward 45 degrees to change the four-split spacer bar from a square to a rhombus; then the rotary drive mechanism 34 drives the lifting mechanism 33 to rotate reversely 90 degrees until the grasped four-split spacer bar 5 is perpendicular to the extension direction of the four-split conductor, and at the same time the wire overlapping drive mechanism 37 drives the spacer bar gripper 36 to rotate reversely, for example, reversely rotate 45 degrees to change the four-split spacer bar from a rhombus to a square, at this time, the wire clamp 51 of the grasped four-split spacer bar 5 is overlapped on the four-split conductor; finally, the wire clamp locking device 4 locks the wire clamp 51 overlapped on the four-split conductor to complete the installation operation of the four-split spacer bar.

[0033] See also Figure 2 , Figure 3 In another embodiment of the present invention, the mounting frame 1 includes a lower frame 11, an electrical installation board is provided at the bottom of the lower frame 11, two rack rails 111 are provided on the electrical installation board, and the rack rails 111 are arranged along the length direction of the lower frame 11; the walking drive mechanism 32 includes two walking motors 321 and four walking gears 322, the walking motor 321 is arranged on the walking chassis 31, the walking motor 321 is a double-axis walking motor, and a transmission shaft is provided on each of the left and right sides thereof, and the two transmission shafts are connected by a coupling, each transmission shaft is respectively connected to a walking gear 322 for transmission, and the bottom of the walking gear 322 is meshed with the rack rail 111; the walking gear 322 is driven to rotate by the walking motor 321, and the rotation of the walking gear 322 drives the walking chassis 31 to move along the rack rail 111, thereby realizing the reciprocating motion of the walking chassis 31 between the spacer rod storage device 2 and the spacer rod installation position.

[0034] See also Figure 2 , Figure 3In another embodiment of the present invention, the lifting mechanism 33 includes a lifting rod 331 and a lifting motor. The lifting motor is arranged inside the lifting rod 331. The output shaft of the lifting motor is connected to the top of the lifting rod 331. The spacer rod gripper 36 is arranged on the top of the lifting rod 331. The lifting motor is used to drive the lifting rod 331 to perform a lifting action; the rotating drive mechanism 34 includes a rotating chassis, a rotating motor 341, and four rotating wheels 342. The rotating chassis is arranged at the bottom of the lifting rod 331. The rotating motor 341 is arranged on the rotating chassis. The four rotating wheels 342 can The rotating device is arranged at the bottom of the lifting rod 331, and the output shaft of the rotating motor 341 is connected to the four rotating shafts, and the four rotating wheels 342 are respectively connected to the four rotating shafts. The rotating wheel 342 cooperates with the rotating track 311 arranged on the walking chassis 31. As an implementation mode, the rotating track 311 can be a groove opened on the inner wall of the walking chassis 31; the rotating motor 341 drives the rotating wheel 342 to rotate along the rotating track 311 to drive the lifting rod 331 to rotate with the first direction as the axis, and the first direction is perpendicular to the extension direction of the four split conductors.

[0035] See also Figure 3 In another embodiment of the present invention, the wire splicing drive mechanism 37 includes a micro-motor 371, a first adjusting gear 372, and a second adjusting gear 373. The micro-motor 371 is arranged at the top of the lifting rod 331, and the output shaft of the micro-motor 371 is transmission-connected with the first adjusting gear 372. The first adjusting gear 372 is meshed with the second adjusting gear 373, and the spacer rod gripper 36 is arranged on the second adjusting gear 373; the first adjusting gear 372 and the second adjusting gear 373 are driven to rotate by the micro-motor 371 to drive the spacer rod gripper 36 to rotate with the second direction as the axis, and the second direction is parallel to the extension direction of the four-split wire.

[0036] See also Figure 1 In another embodiment of the present invention, the mounting frame 1 further comprises an upper frame 12 arranged on the lower frame 11, and a walking mechanism is arranged on the upper frame 12, and the walking mechanism drives the four-split conductor to move along the mounting frame 1; the wire clamp locking device 4 comprises a linear drive mechanism 41 and a mechanical claw 42, the linear drive mechanism 41 is installed on the top of the upper frame 12, the driving end of the linear drive mechanism 41 is connected to the mechanical claw 42, the mechanical claw 42 is movably arranged on the top of the upper frame 12, and the four grippers 426 of the mechanical claw 42 are all provided with a locking mechanism 43; the mechanical claw 42 is driven by the linear drive mechanism 41 to move along the third direction toward the four-split spacer bar 5 overlapped on the four-split conductor, and the third direction is parallel to the extension direction of the four-split conductor. During the movement, the mechanical claw 42 opens synchronously until the wire clamp 51 enters the locking mechanism 43, and the wire clamp 51 overlapped on the four-split conductor is locked by the locking mechanism 43.

[0037] See also Figure 4 In another embodiment of the present invention, the mechanical claw 42 includes a bracket 421, a base 422, a rotating cylinder 423, a threaded block 424, a threaded rod 425, and four grippers 426. The bracket 421 is movably arranged on the top of the upper frame 12, the driving end of the linear drive mechanism 41 is connected to the bracket 421, the base 422 and the rotating cylinder 423 are both arranged on the bracket 421, the output shaft of the rotating cylinder 423 passes through the base 422 and is connected to one end of the threaded rod 425, the outer wall of the threaded rod 425 is threadedly matched with the inner wall of the threaded block 424, and the outer wall of the threaded block 424 is connected to the gripper 426 through the connecting rod 427 The middle part is movably connected, one end of the gripper 426 is movably connected to the base 422, and the other end of the gripper 426 is connected to the locking mechanism 43; the linear drive mechanism 41 drives the bracket 421 to move toward the four-split spacer rod 5 overlapped on the four-split conductor, and the rotating cylinder 423 drives the threaded rod 425 to rotate forward or reversely. When the threaded rod 425 rotates forward, it drives the threaded block 424 to move toward the end of the threaded rod 425 away from the rotating cylinder 423, so that the gripper 426 opens until the wire clamp 51 enters the locking mechanism 43 on the gripper 426, and the locking mechanism 43 locks the wire clamp 51 overlapped on the four-split conductor.

[0038] See also Figure 5 In another embodiment of the present invention, the locking mechanism 43 includes a shell 431, a clamping drive 432, a clip 433, and a movable pressure block 434. The shell 431 is arranged on the second adjusting gear 373, the clamping drive 432 and the clip 433 are both arranged on the shell 431, the output end of the clamping drive 432 is connected to the movable pressure block 434, and the movable pressure block 434 is movably arranged on the clip 433; after the wire clamp 51 enters the area between the movable pressure block 434 and the clip 433, the clamping drive 432 drives the movable pressure block 434 to cooperate with the clip 433 to lock the wire clamp 51 overlapped on the four-split conductor.

[0039] See also Figure 6 In another embodiment of the present invention, the spacer rod storage device 2 includes a guide rod 21 and two side support rods 22. One end of the guide rod 21 is connected to the top of the lower frame 11, and the guide rod 21 is used to be inserted into and matched with the guide hole on the four-split spacer rod 5 to store the four-split spacer rod 5; the two side support rods 22 are respectively connected to the two sides of the lower frame 11, and the side support rods 22 are used to contact the side edges of the frame 52 of the four-split spacer rod 5 to limit the left and right sides of the four-split spacer rod 5.

[0040] See also Figure 2In another embodiment of the present invention, a distance position sensor 35 is provided on the traveling chassis 31, and the distance position sensor 35 is used to detect the distance between the traveling chassis 31 and the four-split spacer bars 5 stored in the spacer bar storage device 2. Based on the distance detected by the distance position sensor 35, the traveling driving mechanism 32 is controlled to drive the traveling chassis 31 to move toward the spacer bar storage device 2.

[0041] See also Figure 2 , Figure 3 In another embodiment of the present invention, an angular velocity sensor 332 and a lifting position sensor 333 are provided at the bottom of the lifting rod 331. The angular velocity sensor 332 is used to detect the rotational angular velocity of the lifting rod 331, and based on the rotational angular velocity detected by the angular velocity sensor 332, the rotating motor 341 is controlled to drive the rotating wheel 342 to rotate; the lifting position sensor 333 is used to detect the lifting position of the lifting rod 331, and based on the lifting position detected by the lifting position sensor 333, the lifting motor is controlled to drive the lifting rod 331 to perform a lifting action.

Claims

1. A four-split spacer rod installation robot based on a movable lifting and rotating platform, characterized in that: The robot comprises a mounting frame (1) and a spacer bar storage device (2) arranged thereon, a movable lifting and rotating platform (3), and a wire clamp locking device (4); the movable lifting and rotating platform (3) comprises a walking chassis (31), a walking drive mechanism (32), a lifting mechanism (33), a rotating drive mechanism (34), a spacer bar gripper (36), and a wire lap drive mechanism (37); the walking chassis (31) is movably arranged on the mounting frame (1); a driving end of the walking drive mechanism (32) is connected to the walking chassis (31); a bottom of the lifting mechanism (33) is rotatably arranged on the walking chassis (31); the spacer bar gripper (36) is arranged on the top of the lifting mechanism (33); and a driving end of the wire lap drive mechanism (37) is connected to the spacer bar gripper (36); The travel drive mechanism (32) is used to drive the travel chassis (31) to move to the spacer bar storage device (2), and to drive the travel chassis (31) to move to a preset spacer bar installation position after the spacer bar gripper (36) grabs the four-split spacer bars (5) stored in the spacer bar storage device (2); The rotary drive mechanism (34) is used to drive the lifting mechanism (33) to rotate forward after the walking chassis (31) moves to the spacer bar installation position, until the grasped four-split spacer bar (5) is parallel to the extension direction of the four-split conductor, and to drive the lifting mechanism (33) to rotate reversely after the grasped four-split spacer bar (5) moves between the four-split conductors, until the grasped four-split spacer bar (5) is perpendicular to the extension direction of the four-split conductor; The lifting mechanism (33) is used to lift the spacer gripper (36) after the grasped four-split spacer (5) is parallel to the extension direction of the four-split conductor, until the grasped four-split spacer (5) moves between the four-split conductors; The wire overlap driving mechanism (37) is used to drive the spacer gripper (36) to rotate forward until the wire clamp (51) of the four-split spacer (5) is misaligned with the extension direction of the four-split wire after the grasped four-split spacer (5) is parallel to the extension direction of the four-split wire, and to drive the spacer gripper (36) to rotate reversely after the grasped four-split spacer (5) moves between the four-split wires until the wire clamp (51) of the grasped four-split spacer (5) is overlapped on the four-split wire; The wire clamp locking device (4) is used to lock a wire clamp (51) overlapped on the four-split conductor.

2. According to claim 1, a four-split spacer rod installation robot based on a movable lifting and rotating platform is characterized in that: The mounting frame (1) comprises a lower frame (11); the travel drive mechanism (32) comprises a travel motor (321) and a travel gear (322); the travel motor (321) is arranged on a travel chassis (31); an output shaft of the travel motor (321) is transmission-connected to the travel gear (322); the travel gear (322) is meshed with a rack track (111) arranged at the bottom of the lower frame (11); the travel motor (321) is used to drive the travel gear (322) to rotate; the travel gear (322) rotates to drive the travel chassis (31) to move along the rack track (111).

3. The four-split spacer rod installation robot based on a movable lifting and rotating platform according to claim 2 is characterized in that: The lifting mechanism (33) comprises a lifting rod (331) and a lifting motor. The top of the lifting rod (331) is connected to the output shaft of the lifting motor. The spacer rod gripper (36) is arranged at the top of the lifting rod (331). The lifting motor is used to drive the lifting rod (331) to perform a lifting action. The rotation drive mechanism (34) comprises a rotating motor (341) and a plurality of rotating wheels (342). The rotating motor (341) is arranged at the bottom of the lifting rod (331). The output shaft of the rotating motor (341) is transmission-connected to the plurality of rotating wheels (342). The plurality of rotating wheels (342) are rotatably arranged at the bottom of the lifting rod (331). The rotating wheels (342) cooperate with a rotating track (311) arranged on the walking chassis (31). The rotating motor (341) is used to drive the rotating wheels (342) to rotate along the rotating track (311) to drive the lifting rod (331) to rotate with a first direction as an axis. The first direction is perpendicular to the extension direction of the four-split conductor.

4. The four-split spacer rod installation robot based on a movable lifting and rotating platform according to claim 3 is characterized in that: The wire splicing drive mechanism (37) comprises a micro-rotating motor (371), a first adjusting gear (372), and a second adjusting gear (373); the micro-rotating motor (371) is arranged at the top of the lifting rod (331); the output shaft of the micro-rotating motor (371) is transmission-connected to the first adjusting gear (372); the first adjusting gear (372) and the second adjusting gear (373) are meshed; the spacer rod gripper (36) is arranged on the second adjusting gear (373); the micro-rotating motor (371) is used to drive the first adjusting gear (372) and the second adjusting gear (373) to rotate, so as to drive the spacer rod gripper (36) to rotate with a second direction as an axis, and the second direction is parallel to the extension direction of the four-split wire.

5. A four-split spacer rod installation robot based on a movable lifting and rotating platform according to any one of claims 1 to 3, characterized in that: The mounting frame (1) further comprises an upper frame (12) arranged on the lower frame (11); the wire clamp locking device (4) comprises a linear drive mechanism (41) and a mechanical claw (42); the linear drive mechanism (41) is mounted on the top of the upper frame (12); the driving end of the linear drive mechanism (41) is connected to the mechanical claw (42); the mechanical claw (42) is movably arranged on the top of the upper frame (12); four grippers (426) of the mechanical claw (42) are each provided with a locking mechanism (43); the linear drive mechanism (41) is used to drive the mechanical claw (42) to move along a third direction toward a four-split spacer (5) overlapped on the four-split conductor, the third direction being parallel to the extension direction of the four-split conductor; the locking mechanism (43) is used to lock the wire clamp (51) overlapped on the four-split conductor.

6. The four-split spacer rod installation robot based on a movable lifting and rotating platform according to claim 5 is characterized in that: The mechanical claw (42) comprises a bracket (421), a base (422), a rotating cylinder (423), a threaded block (424), a threaded rod (425), and four grippers (426); the bracket (421) is movably arranged on the top of the upper frame (12); the driving end of the linear drive mechanism (41) is connected to the bracket (421); the base (422) and the rotating cylinder (423) are both arranged on the bracket (421); the output shaft of the rotating cylinder (423) passes through the base (422) and is connected to one end of the threaded rod (425); the outer wall of the threaded rod (425) is threadedly matched with the inner wall of the threaded block (424); the outer wall of the threaded block (424) is connected to the outer wall of the threaded block (424) by a connecting rod ( 427) is movably connected to the middle part of the gripper (426), one end of the gripper (426) is movably connected to the base (422), and the other end of the gripper (426) is connected to the locking mechanism (43); the linear drive mechanism (41) is used to drive the bracket (421) to move toward the four-split spacer rod (5) overlapped on the four-split conductor, and the rotary cylinder (423) is used to drive the threaded rod (425) to rotate forward or reverse, and when the threaded rod (425) rotates forward, it drives the threaded block (424) to move toward one end of the threaded rod (425) away from the rotary cylinder (423), so that the gripper (426) opens until the wire clamp (51) enters the locking mechanism (43) on the gripper (426).

7. The four-split spacer rod installation robot based on a movable lifting and rotating platform according to claim 5 is characterized in that: The locking mechanism (43) comprises a housing (431), a clamping drive member (432), a clamp (433), and a movable pressure block (434); the housing (431) is arranged on the second adjusting gear (373); the clamping drive member (432) and the clamp (433) are both arranged on the housing (431); an output end of the clamping drive member (432) is connected to the movable pressure block (434); the movable pressure block (434) is movably arranged on the clamp (433); the clamping drive member (432) is used to drive the movable pressure block (434) to cooperate with the clamp (433) to lock the wire clamp (51) overlapped on the four-split wire.

8. The four-split spacer rod installation robot based on a movable lifting and rotating platform according to claim 2 is characterized in that: The spacer bar storage device (2) comprises a guide rod (21) and two side support rods (22), one end of the guide rod (21) is connected to the top of the lower frame (11), the guide rod (21) is used to be inserted into and matched with the guide hole on the four-split spacer bar (5), the two side support rods (22) are respectively connected to the two sides of the lower frame (11), and the side support rods (22) are used to contact the side of the frame (52) of the four-split spacer bar (5).

9. A four-split spacer rod installation robot based on a movable lifting and rotating platform according to any one of claims 1 to 3, characterized in that: A distance position sensor (35) is provided on the traveling chassis (31), and the distance position sensor (35) is used to detect the distance between the traveling chassis (31) and the four-split spacer bars (5) stored in the spacer bar storage device (2).

10. The four-split spacer rod installation robot based on a movable lifting and rotating platform according to claim 3 is characterized in that: An angular velocity sensor (332) and a lifting position sensor (333) are provided at the bottom of the lifting rod (331); the angular velocity sensor (332) is used to detect the rotational angular velocity of the lifting rod (331); and the lifting position sensor (333) is used to detect the lifting position of the lifting rod (331).

Images