Combined spacer robot and use method thereof

Abstract

The invention provides a combined spacer robot and a use method thereof, and relates to the technical field of spacer installation, and the spacer robot comprises a head robot and a tail robot which are sequentially connected from front to back; the head robot comprises a front loading module, a front hoisting mechanism, a front main body frame and a driving assembly, the front loading module is slidably connected to the upper layer of the four-split conductor, the front main body frame is connected to the lower side of the front loading module, and the lower side of the front main body frame is connected with a storage bracket for storing a spacing board; the tail robot comprises a rear loading module, a rear hoisting mechanism, a rear main body frame, a mechanical arm, a clamping jaw and a pressing device, the rear loading module is slidably connected to the upper layer of the four-bundle conductor, the rear main body frame is connected to the lower side of the rear loading module and connected with the front main body frame, and the mechanical arm and the clamping jaw are installed in the rear main body frame; the pressing device is installed at the output end of the mechanical arm. The device is small in size, light in weight and convenient to use.

Description

Technical Field

[0001] The present invention relates to the technical field of spacer bar installation, and in particular to a combined spacer bar robot and a use method thereof. Background Art

[0002] For a long time, the installation of spacer bars has been carried out by manual flying, and the mechanized method is only to pre-install them by spacer bar installation robots, and then manually follow up to check whether there are any unqualified installations. For example, Chinese patent CN202411173725.0 discloses a spacer bar installation robot, including a frame, a storage mechanism, a clamping mechanism, a wire clamping mechanism and a locking mechanism. The storage mechanism is used to store and prepare spacer bars, the clamping mechanism is used to clamp the prepared single spacer bar, and then the distance between the two wires is reduced by the wire clamping mechanism to prepare for the spacer bar to be put on the line. The locking mechanism is used to grasp and push the self-locking of the spacer bar. The spacer bar is completed from storage to online by the robot, thereby improving the overall reliability and the degree of automation of the equipment.

[0003] However, the design of this type of spacer bar installation robot is relatively complex. Since the robot installs the spacer bars through multiple mechanisms, the size and weight of the overall device are too large, making it difficult to use in practice. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects and problems of the prior art spacer robot, which is large in size and heavy in weight, and to provide a small-volume, light-weight combined spacer robot and a method for using the same.

[0005] To achieve the above objectives, the technical solution of the present invention is: a combined spacer robot, comprising a head robot and a tail robot connected in sequence front and back;

[0006] The head robot comprises a front upper loading module, a front hoisting mechanism, a front main body frame, and a driving assembly. The front upper loading module is slidably connected to the upper layer of the four-split conductors, the front main body frame is connected to the lower side of the front upper loading module, the front hoisting mechanism and the driving assembly are respectively installed in the front main body frame, and the lower side of the front main body frame is connected to a storage bracket for storing the partition plate;

[0007] The tail robot comprises a rear upper loading module, a rear hoisting mechanism, a rear main body frame, and a clamping device. The rear upper loading module is slidably connected to the upper layer of the four-split conductors, the rear main body frame is connected to the lower side of the rear upper loading module, the rear main body frame is connected to the front main body frame, a mechanical arm and a clamp are installed in the rear main body frame, and the clamping device is installed at the output end of the mechanical arm;

[0008] The driving assembly is used to drive the head robot to slide on the four-split wires;

[0009] The front hoisting mechanism is used to hoist the front main body frame until it contacts the front upper mounting module;

[0010] The rear hoisting mechanism is used to hoist the rear main body frame until it contacts the rear upper mounting module;

[0011] The clamping device is used to grab the spacer bar and clamp the clamp of the spacer bar on the four-split conductor;

[0012] The clamping jaws are used to clamp the spacer rods;

[0013] The mechanical arm is used to transfer the spacer rods on the front main body frame into the interior of the four-split conductor through a clamping device.

[0014] The driving assembly includes a rotating base, a rotating swing arm, a driving motor, and a driving wheel. The rotating base is installed on the outer side of the front main body frame, the rotating swing arm is rotatably connected to the rotating base, the driving motor is installed at one end of the rotating swing arm away from the rotating base, the driving wheel is connected to the output end of the driving motor, and the driving wheel is rollingly connected to the upper layer of the four-split conductor.

[0015] The front lifting mechanism includes a front rope-collecting drum, a front lifting rope, a front self-winding reel, and a front driving motor. The front rope-collecting drum is horizontally arranged and rotatably connected to the front upper loading module. The front self-winding reel is horizontally arranged and rotatably connected to the front main body frame. The front driving motor is installed on the front main body frame and the output shaft is connected to one side of the front self-winding reel. One end of the front lifting rope is wound around the front rope-collecting drum, and the other end of the front lifting rope is wound around the front self-winding reel.

[0016] The rear side of the front main frame is connected to a docking seat, and the front side of the rear main frame is connected to a docking guide column matching the docking seat. The docking guide column is radially provided with pin holes, and the docking seat is radially provided with pin holes. The pin holes of the docking guide column and the pin holes of the docking seat are connected with locking pins.

[0017] The outer sides of the front upper mounting module and the rear upper mounting module are both rotatably connected with upper guide wheels, the outer side of the rear main body frame is rotatably connected with lower guide wheels, the upper guide wheels are rollingly connected to the upper layer of the four-split conductors, the lower guide wheels are rollingly connected to the lower layer of the four-split conductors, and guide plates are obliquely provided on the outer sides of the upper guide wheels and the lower guide wheels.

[0018] The tail robot also includes a wire pressing device, which includes a mounting base, the mounting base is mounted on the rear main body frame, a power assembly is mounted on the upper side of the mounting base, an output end of the power assembly passes through the mounting base and is connected to two vertical mounting seats, a slider is connected to the upper side of the vertical mounting seat, a translational slide rail is connected to the lower side of the mounting base, the slider is slidably connected to the translational slide rail, the outer side of the vertical mounting seat is connected to the vertical slide rail, a connecting block is slidably connected to the vertical slide rail, a clamping wheel is rotatably connected to the connecting block, and a downward pressing guide plate is connected to the outer side of the clamping wheel;

[0019] The power assembly is used to drive the two vertical mounting seats to move toward each other or away from each other.

[0020] The power assembly includes a rotating motor, a driving pulley, a driven pulley, a synchronous belt, a double-threaded screw and two screw nuts. The rotating motor is installed on the upper side of the mounting base plate, the driving pulley is connected to the output shaft of the rotating motor, the driven pulley is connected to one end of the double-threaded screw, the synchronous belt is wound around the outer circumferential surfaces of the driving pulley and the driven pulley, the double-threaded screw is rotatably connected to the upper side of the mounting base plate, both ends of the double-threaded screw are respectively provided with threaded portions, the threads of the two threaded portions are in opposite directions, a sliding groove is opened on the upper side of the mounting base plate, the two screw nuts are respectively threadedly connected to the two threaded portions, and mounting blocks are installed on the outer sides of the two screw nuts, the mounting blocks are slidably connected to the sliding groove and the lower side is connected to the upper side of the vertical mounting seat.

[0021] The clamping device includes a clamping plate, a clamping motor, a driving wheel, a driven wheel, a transmission belt, and a lead screw. The clamping plate is connected to the output end of the robotic arm, the clamping motor is connected to one side of the clamping plate, the driving wheel is connected to the output shaft of the clamping motor, the lead screw is rotatably connected to the clamping plate, the driven wheel is connected to one end of the lead screw, the transmission belt is wound around the outer circumference of the driving wheel and the driven wheel, and two threaded portions are provided on the lead screw, the threaded directions of the two threaded portions are opposite, and the outer circumference of the threaded portion is threadedly connected with a clamping block.

[0022] A guide rail is connected to the lower side of the rear main body frame, a translation base is slidably connected to the guide rail, the robotic arm is installed on the translation base, a rotating seat is connected to the rear side of the rear main body frame, the clamp is connected to the rotating seat, and the rotating seat is used to drive the clamp to perform circular motion along the axis of the rotating seat.

[0023] A method for using a combined spacer robot, the method comprising the following steps:

[0024] Step 1: Place the front upper loading module on the upper layer of the four split conductors, and then lift the front main frame through the front hoisting mechanism to combine the front main frame with the front upper loading module at high altitude;

[0025] Step 2: Place the rear upper module on the upper layer of the four split conductors, and then lift the rear main frame through the rear hoisting mechanism so that the rear main frame and the rear upper module are combined at high altitude;

[0026] Step 3: Move the head robot toward the head direction of the tail robot through the driving assembly. When the docking seat and the docking guide column of the tail robot are successfully docked, the pin hole on the docking guide column coincides with the pin hole of the docking seat, and then control the locking pin to extend, completing the combination and locking of the head robot and the tail robot;

[0027] Step 4: The head robot moves along the four-split conductors through the driving assembly, and at the same time, the head robot drags the tail robot to move synchronously. When the tail robot moves to the designated installation position, the clamping device grabs the spacer stored on the head robot by controlling the movement of the robotic arm, and then transfers the spacer to the inside of the four-split conductor through the multi-degree-of-freedom movement of the robotic arm;

[0028] Step 5: The clamping device hands over the spacer bar to the clamping claw. When the clamping claw clamps the spacer bar, the clamping claw rotates after clamping the spacer bar, so that the four clamps of the spacer bar are matched with each of the four split wires one by one, and then the clamping device is driven by the mechanical arm to clamp each clamp of the spacer bar respectively to complete the installation of the spacer bar;

[0029] Step 6. After the installation is completed, the robotic arm withdraws to avoid the spacer bar, and the head robot leads the tail robot to continue walking on the four-split conductor and install the next spacer bar until all the spacer bars stored on the head robot are installed.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. In a combined spacer robot and a method for using the same, the storage and installation of the spacer are completed by two robots, which greatly reduces the weight of a single robot and is very conducive to the robot's online operation, transportation and application, making it closer to the actual application scenario; at the same time, the front robot acts as a "locomotive" to drag the rear robot, which facilitates the replacement of the power section and the replenishment of the spacer, reduces the load on the wire per unit length, protects the wire, and improves the robot's climbing ability; at the same time, the head robot and the tail robot both adopt a structure assembled from top to bottom, and most of the structure is placed in the lower structure, which greatly reduces the weight of the upper structure, making the assembly of the overall structure smoother and the structure more stable. Therefore, the present invention is small in size and light in weight.

[0032] 2. In the combined spacer robot and the use method thereof of the present invention, the head robot and the tail robot are connected by a locking pin, so that the two robots can be separated, so that the spacer storage and transportation robot and the spacer installation robot can be used separately, which can provide spacer transportation for manual installation of spacer, and can also be automatically installed by manually carrying the spacer robot, can be flexibly configured according to actual conditions, and has a wide range of applications. Therefore, the present invention is easy to use and has a wide range of applications.

[0033] 3. In the combined spacer robot and the use method thereof of the present invention, by setting a downward pressing guide plate, the wire can be guided into its groove, and by setting a wire pressing device, the power component provides power to make the pressing wheel move outward to contact the lower layer of the four-split wire, so that the wires of the lower layer of the four-split wire are pressed down onto the lower guide wheel, and the four-split wire is firmly fixed and keeps a fixed spacing, so that the four-split wire meets the spacer installation requirements. Therefore, the working process of the present invention is stable.

[0034] 4. In a combined spacer rod robot and a method of using the same, a translation base is provided, so that after the spacer rod is installed, the robot arm can be evacuated to avoid the spacer rod; the clamp fixes the spacer rod from the internal space, and the clamp fixes the spacer rod from the outside, and the two work simultaneously without interfering with each other. After the clamp clamps the spacer rod, the clamp disengages and starts to rotate through the rotating seat, thereby completing the online operation of each clamp of the spacer rod; the clamp can not only grab the spacer rod, but also clamp the spacer rod clamp, and one clamp has two functions, which reduces the complexity of the equipment and reduces the weight of the clamp. Therefore, the present invention is easy to install, has high working efficiency, and is light in weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of the present invention.

[0036] Figure 2 It is a structural schematic diagram of the head robot in the present invention.

[0037] Figure 3 It is a structural schematic diagram of the front upper mounting module, the front hoisting mechanism and the front main body frame in the present invention.

[0038] Figure 4 It is a structural schematic diagram of the front main body frame in the present invention.

[0039] Figure 5 It is a partial structural schematic diagram of the front hoisting mechanism in the present invention.

[0040] Figure 6 It is a structural schematic diagram of the self-locking structure in the present invention.

[0041] Figure 7 It is a structural schematic diagram of the tail robot in the present invention.

[0042] Figure 8 It is a structural schematic diagram of the rear main body frame in the present invention.

[0043] Fig. 9 It is a structural schematic diagram of the medium voltage line device of the present invention.

[0044] Fig.10 It is a structural schematic diagram of the installation base plate, slider and translation slide rail in the present invention.

[0045] Fig.11 It is a structural schematic diagram of the power component in the present invention.

[0046] Fig.12 It is a structural schematic diagram of the pressing device in the present invention.

[0047] In the figure: head robot 1, front loading module 11, front lifting mechanism 12, front rope drum 121, front lifting rope 122, front self-winding reel 123, front drive motor 124, docking base 125, limit plate 126, mounting hole 127, anti-scratch roller 128, mounting seat 129, power equipment 1210, transmission gear set 1211, self-locking pin 1212, rotating sleeve 1213, docking plate 1214, front main frame 13, drive assembly 14, rotating base 141, rotating swing arm 142, drive motor 143, drive wheel 144, storage bracket 15, docking seat 16, locking pin 17, tail robot 2, rear loading module 21, rear lifting mechanism 22, rear main frame 23, clamping claw 24, clamping device 25, clamping Plate 251, clamping motor 252, driving wheel 253, driven wheel 254, transmission belt 255, screw 256, clamping block 257, wire pressing device 26, mounting base plate 261, power assembly 262, rotating motor 2621, driving pulley 2622, driven pulley 2623, synchronous belt 2624, double-threaded screw 2625, screw nut 2626, mounting block 2627, slide groove 2628, vertical mounting seat 263, slider 264, translation slide rail 265, vertical slide rail 266, connecting block 267, clamping wheel 268, downward pressure guide plate 269, docking guide column 27, translation base 28, guide rail 29, rotating seat 210, four-split wire 3, spacer rod 4, mechanical arm 5, upper guide wheel 6, lower guide wheel 7, guide sheet 8. DETAILED DESCRIPTION

[0048] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0049] Embodiment 1:

[0050] See also Figures 1 to 6, a combined spacer robot, comprising a head robot 1 and a tail robot 2 connected in sequence front and back;

[0051] The head robot 1 includes a front upper loading module 11, a front hoisting mechanism 12, a front main body frame 13, and a driving assembly 14. The front upper loading module 11 is slidably connected to the upper layer of the four-split conductor 3, the front main body frame 13 is connected to the lower side of the front upper loading module 11, the front hoisting mechanism 12 and the driving assembly 14 are respectively installed in the front main body frame 13, and the lower side of the front main body frame 13 is connected to a storage bracket 15 for storing a partition plate;

[0052] The tail robot 2 includes a rear upper loading module 21, a rear hoisting mechanism 22, a rear main body frame 23, and a clamping device 25. The rear upper loading module 21 is slidably connected to the upper layer of the four-split conductor 3, the rear main body frame 23 is connected to the lower side of the rear upper loading module 21, the rear main body frame 23 is connected to the front main body frame 13, a mechanical arm 5 and a clamping claw 24 are installed in the rear main body frame 23, and the clamping device 25 is installed at the output end of the mechanical arm 5. The rear side of the front main body frame 13 is connected to a docking seat 16, and the front side of the rear main body frame 23 is connected to a docking guide column 27 matching the docking seat 16, the docking guide column 27 is provided with a pin hole in the radial direction, and the docking seat 16 is provided with a pin hole in the radial direction, and the pin hole of the docking guide column 27 and the pin hole of the docking seat 16 are connected with a locking pin 17;

[0053] The driving assembly 14 is used to drive the head robot 1 to slide on the four-split conductor 3;

[0054] The front hoisting mechanism 12 is used to hoist the front main frame 13 until it contacts the front upper mounting module 11;

[0055] The rear hoisting mechanism 22 is used to hoist the rear main body frame 23 until it contacts the rear upper mounting module 21;

[0056] The clamping device 25 is used to grab the spacer bar 4 and clamp the clamp of the spacer bar 4 on the four-split conductor 3;

[0057] The clamping jaws 24 are used to clamp the spacer rods 4;

[0058] The mechanical arm 5 is used to transfer the spacer rod 4 on the front main frame 13 to the inside of the four-split conductor 3 through the clamping device 25;

[0059] A method for using a combined spacer robot, the method comprising the following steps:

[0060] Step 1: Place the front upper module 11 on the upper layer of the four-split conductor 3, and then lift the front main frame 13 through the front hoisting mechanism 12, so that the front main frame 13 and the front upper module 11 are combined at high altitude;

[0061] Step 2: Place the rear upper module 21 on the upper layer of the four-split conductor 3, and then lift the rear main frame 23 through the rear hoisting mechanism 22, so that the rear main frame 23 and the rear upper module 21 are combined at high altitude;

[0062] Step 3: Move the head robot 1 toward the head direction of the tail robot 2 through the driving assembly 14. When the docking seat 16 and the docking guide column 27 of the tail robot 2 are successfully docked, the pin hole on the docking guide column 27 can overlap with the pin hole of the docking seat 16, and then control the locking pin 17 to extend, completing the combination and locking of the head robot 1 and the tail robot 2;

[0063] Step 4, the head robot 1 moves along the four-split conductor 3 through the driving component 14, and at the same time, the head robot 1 drags the tail robot 2 to move synchronously. When the tail robot 2 moves to the designated installation position, the clamping device 25 grabs the spacer 4 stored on the head robot 1 by controlling the movement of the mechanical arm 5, and then the spacer 4 is transported to the inside of the four-split conductor 3 through the multi-degree-of-freedom movement of the mechanical arm 5;

[0064] Step 5, the clamping device 25 hands over the spacer bar 4 to the clamping jaw 24. When the clamping jaw 24 clamps the spacer bar 4, the clamping jaw 24 rotates after clamping the spacer bar 4, so that the four clamps of the spacer bar 4 are matched with each of the four split conductors 3 one by one, and then the clamping device 25 is driven by the mechanical arm 5 to clamp each clamp of the spacer bar 4 respectively, so as to complete the installation of the spacer bar 4;

[0065] Step 6. After the installation is completed, the robot arm 5 withdraws to avoid the spacer bar 4, and the head robot 1 leads the tail robot 2 to continue walking on the four-split conductor 3 and install the next spacer bar 4 until all the spacer bars 4 stored on the head robot 1 are installed.

[0066] In this embodiment, the spacer rod 4 is a four-split spacer rod. The front upper module 11 and the rear upper module 21 can be placed on the upper layer of the four-split conductor 3 by drone or manual assistance. Multiple spacer rods 4 are fixed on the storage bracket 15 in a left-right symmetrical distribution posture, which can facilitate the front main frame 13 to be put online and can also be easily grasped by the robotic arm 5.

[0067] Embodiment 2:

[0068] The basic content is the same as that of Example 1, except that:

[0069] See also Figure 3 and Figure 4The driving assembly 14 includes a rotating base 141, a rotating swing arm 142, a driving motor 143, and a driving wheel 144. The rotating base 141 is installed on the outer side of the front main frame 13, the rotating swing arm 142 is rotatably connected to the rotating base 141, the driving motor 143 is installed at one end of the rotating swing arm 142 away from the rotating base 141, the driving wheel 144 is connected to the output end of the driving motor 143, and the driving wheel 144 is rollingly connected to the upper layer of the four-split conductor 3.

[0070] In this embodiment, after the upper module 11 and the front main body frame 13 are assembled, the front, rear, left and right multiple rotating swing arms 142 on the front main body frame 13 are rotated through the rotating base 141, flipped from the bottom of the front main body frame 13 to the wire, and the driving wheel 144 falls on the upper wire, completing the online action of the head robot 1.

[0071] Embodiment 3:

[0072] The basic content is the same as that of Example 1, except that:

[0073] See also Figures 3 to 6 The front hoisting mechanism 12 includes a front rope-collecting drum 121, a front hoisting rope 122, a front self-winding reel 123, and a front driving motor 124. The front rope-collecting drum 121 is horizontally arranged and rotatably connected to the front upper mounting module 11. The front self-winding reel 123 is horizontally arranged and rotatably connected to the front main body frame 13. The front driving motor 124 is installed on the front main body frame 13 and the output shaft is connected to one side of the front self-winding reel 123. One end of the front hoisting rope 122 is wound around the front rope-collecting drum 121, and the other end of the front hoisting rope 122 is wound around the front self-winding reel 123.

[0074] In this embodiment, a docking base 125 and a limiting plate 126 can be provided at the lower side of the front upper mounting module 11. The limiting plate 126 is provided with a plurality of mounting holes 127. A pair of anti-scratch rollers 128 are rotatably connected to the lower side of the limiting plate 126. The anti-scratch rollers 128 allow the front suspension rope to pass through the two rollers, changing the sliding friction into rolling friction, thereby preventing the front suspension rope from being scratched and causing the front suspension rope to break. A docking plate 1214 matching the mounting hole 127 can be provided on the front main body frame, and a self-locking structure can be provided at the same time. The self-locking structure includes a mounting seat 129, The power device 1210, the transmission gear set 1211, the self-locking pin 1212, the rotating sleeve 1213, the mounting seat 129 are connected to the upper side of the front main frame 13, the power device 1210 is installed on the mounting seat 129, the rotating sleeve 1213 is rotatably connected to the upper side of the front main frame 13, the self-locking pin 1212 is connected to the upper end of the rotating sleeve 1213 and is arranged relative to the docking base 125, and the head end and the tail end of the transmission gear set 1211 are respectively installed at the output end of the power device 1210 and the lower end of the rotating sleeve 1213;

[0075] When in use, firstly, the first guiding is realized by docking the docking plate 1214 with the mounting hole 127. When the self-locking pin 1212 contacts the docking base 125 installed at the four corners of the front upper loading module 11, the second guiding takes effect at this time. Through the pyramid-shaped guide body designed on the self-locking pin 1212, the inner space of the docking base 125 is directly passed through, until the front upper loading module 11 and the front main body frame 13 are completely in contact with each other without gaps, and the docking work is completed at this time; then the power equipment 1210 starts to start, and the torque is transmitted to the self-locking pin 1212 through the transmission gear set 1211. The self-locking pin 1212 rotates 90° around the rotating sleeve 1213, from the long strip hole parallel to the docking base 125, its direction is along the wire direction, and rotates to the direction perpendicular to the wire direction. The self-locking pin 1212 just cannot pass through the long strip hole of the docking base 125, so the self-locking structures of the four corners all complete the self-locking action, and the front upper loading module 11 and the front main body frame 13 are firmly locked together and cannot be separated, thereby ensuring the safety of subsequent operations.

[0076] Embodiment 4:

[0077] The basic content is the same as that of Example 1, except that:

[0078] See also Figures 7 to 11 The outer sides of the front upper mounting module 11 and the rear upper mounting module 21 are both rotatably connected with upper guide wheels 6, the outer sides of the rear main body frame 23 are rotatably connected with lower guide wheels 7, the upper guide wheels 6 are rollingly connected to the upper layer of the four-split conductor 3, the lower guide wheels 7 are rollingly connected to the lower layer of the four-split conductor 3, and guide plates 8 are obliquely provided on the outer sides of the upper guide wheels 6 and the lower guide wheels 7.

[0079] The tail robot 2 also includes a wire pressing device 26, which includes a mounting base plate 261, which is mounted on the rear main body frame 23, and a power assembly 262 is mounted on the upper side of the mounting base plate 261, and the output end of the power assembly 262 passes through the mounting base plate 261 and is connected to two vertical mounting seats 263, and a slider 264 is connected to the upper side of the vertical mounting seat 263, and a translation rail 265 is connected to the lower side of the mounting base plate 261, and the slider 264 is slidably connected to the translation rail 265, and a vertical sliding rail 266 is connected to the outer side of the vertical mounting seat 263, and a connecting block 267 is slidably connected to the vertical sliding rail 266, and a clamping wheel 268 is rotatably connected to the connecting block 267, and a downward pressing guide plate 269 is connected to the outer side of the clamping wheel 268;

[0080] The power assembly 262 is used to drive the two vertical mounting seats 263 to move toward each other or away from each other.

[0081] The power assembly 262 includes a rotating motor 2621, a driving pulley 2622, a driven pulley 2623, a synchronous belt 2624, a double-threaded lead screw 2625 and two lead screw nuts 2626. The rotating motor 2621 is installed on the upper side of the mounting base 261, the driving pulley 2622 is connected to the output shaft of the rotating motor 2621, the driven pulley 2623 is connected to one end of the double-threaded lead screw 2625, and the synchronous belt 2624 is wound around the outer circumference of the driving pulley 2622 and the driven pulley 2623. The double-threaded screw 2625 is rotatably connected to the upper side of the mounting base plate 261, and threaded portions are respectively provided at both ends of the double-threaded screw 2625, and the threads of the two threaded portions have opposite rotation directions. A slide groove 2628 is provided on the upper side of the mounting base plate 261, and the two screw nuts 2626 are respectively threadedly connected to the two threaded portions, and mounting blocks 2627 are installed on the outer sides of the two screw nuts 2626. The mounting blocks 2627 are slidably connected to the slide groove 2628 and the lower side is connected to the upper side of the vertical mounting seat 263.

[0082] In this embodiment, when the rear upper module 21 is connected to the rear main body frame 23, the lower guide wheel 7 installed on the rear main body frame 23 contacts the lower layer of the wires of the four-split wire 3, and guides the wires to its groove by pressing down the guide plate 269, and then the two vertical mounting seats 263 on the installation base plate 261 slide out of the internal space along the translation slide rail 265, and the left and right clamping wheels 268 move downward along the vertical slide rail 266 respectively, and with the assistance of pressing down the guide plate 296, the lower layer of the wires of the four-split wire 4 are pressed down onto the lower guide wheel 7, and the rotating motor 2621 provides power. At this time, the four-split wire 3 has been firmly fixed and maintained at a fixed distance.

[0083] Embodiment 5:

[0084] The basic content is the same as that of Example 1, except that:

[0085] See also Fig.12 The clamping device 25 includes a clamping plate 251, a clamping motor 252, a driving wheel 253, a driven wheel 254, a transmission belt 255, and a lead screw 256. The clamping plate 251 is connected to the output end of the robot arm 5, the clamping motor 252 is connected to one side of the clamping plate 251, the driving wheel 253 is connected to the output shaft of the clamping motor 252, the lead screw 256 is rotatably connected to the clamping plate 251, the driven wheel 254 is connected to one end of the lead screw 256, the transmission belt 255 is wound around the outer circumference of the driving wheel 253 and the driven wheel 254, and two threaded portions are provided on the lead screw 256. The threaded directions of the two threaded portions are opposite, and the outer circumference of the threaded portion is threadedly connected with a clamping block 257.

[0086] In this embodiment, the clamping block 257 is L-shaped, and the clamping motor 252 is operated to drive the driving wheel 253 to rotate, and the driving wheel 253 drives the driven wheel 254 to rotate through the transmission belt 255, so that the lead screw 256 rotates, and the two clamping blocks 257 move toward each other to clamp the spacer bar 4, and the spacer bar 4 is transferred to the four-split conductor 3 by the mechanical arm 5. The clamping motor 252 is operated to make the two clamping plates 257 move in reverse to pass the spacer bar 4 to the clamping claw 24. When the clamping claw 24 clamps the spacer bar 4, the clamping block 257 is moved by the mechanical arm 5. 7 to the chuck of the spacer bar 4, the clamping motor 252 is operated to make the two clamps 257 move toward each other to clamp the chuck and the four-split conductor 3, the clamping device 25 clamps the spacer bar 4 from the outside, and its structure can determine the rotation center of the spacer bar 4 through the spacer bar shape 4, and at the same time, the clamping claw 24 clamps the spacer bar 4 from the inside, and its structure can also ensure that the center of the spacer bar 4 coincides with the rotation center. At the same time, when the clamping claw 24 and the clamping device 25 work together, due to the different clamping positions of the two, they do not interfere with each other and can work synchronously.

[0087] Embodiment 6:

[0088] The basic content is the same as that of Example 1, except that:

[0089] See also Figure 8 The lower side of the rear main frame 23 is connected with a guide rail 29, and a translation base 28 is slidably connected to the guide rail 29. The robotic arm 5 is installed on the translation base 28. The rear side of the rear main frame 23 is connected with a rotating seat 210, and the clamp 24 is connected to the rotating seat 210. The rotating seat 210 is used to drive the clamp 24 to make a circular motion along the axis of the rotating seat 210.

[0090] In this embodiment, the robotic arm 5 on the tail robot 2 moves along the guide rail 29 to the tail of the head robot 1 through the translation base 28, grabs the spacer rod 4 stored on the head robot 1 through the clamping device 25, and then transfers the spacer rod 4 to the inside of the four-split conductor 3 through the multi-degree-of-freedom movement of the robotic arm. After the installation of the spacer rod 4 is completed, the robotic arm 5 is evacuated to avoid the spacer rod 4 through the translation base 28.

Claims

1. A combined spacer robot, characterized in that: It comprises a head robot (1) and a tail robot (2) which are connected in sequence front and back; The head robot (1) comprises a front upper loading module (11), a front hoisting mechanism (12), a front main body frame (13), and a driving assembly (14); the front upper loading module (11) is slidably connected to the upper layer of the four-split conductor (3); the front main body frame (13) is connected to the lower side of the front upper loading module (11); the front hoisting mechanism (12) and the driving assembly (14) are respectively installed in the front main body frame (13); and the lower side of the front main body frame (13) is connected to a storage bracket (15) for storing a partition plate; The tail robot (2) comprises a rear upper loading module (21), a rear hoisting mechanism (22), a rear main body frame (23), and a clamping device (25); the rear upper loading module (21) is slidably connected to the upper layer of the four-split conductor (3); the rear main body frame (23) is connected to the lower side of the rear upper loading module (21); the rear main body frame (23) is connected to the front main body frame (13); a mechanical arm (5) and a clamp (24) are installed in the rear main body frame (23); and the clamping device (25) is installed at the output end of the mechanical arm (5); The driving assembly (14) is used to drive the head robot (1) to slide on the four-split wire (3); The front hoisting mechanism (12) is used to hoist the front main body frame (13) until it contacts the front upper mounting module (11); The rear hoisting mechanism (22) is used to hoist the rear main body frame (23) until it contacts the rear upper mounting module (21); The clamping device (25) is used to grab the spacer bar (4) and clamp the clamp of the spacer bar (4) onto the four-split conductor (3); The clamping claw (24) is used to clamp the spacer rod (4); The mechanical arm (5) is used to transfer the spacer rod (4) on the front main frame (13) to the inside of the four-split conductor (3) through the clamping device (25).

2. A combined spacer robot according to claim 1, characterized in that: The driving assembly (14) comprises a rotating base (141), a rotating swing arm (142), a driving motor (143), and a driving wheel (144); the rotating base (141) is mounted on the outside of the front main body frame (13); the rotating swing arm (142) is rotatably connected to the rotating base (141); the driving motor (143) is mounted on an end of the rotating swing arm (142) away from the rotating base (141); the driving wheel (144) is connected to the output end of the driving motor (143); and the driving wheel (144) is rollingly connected to the upper layer of the four-split conductor (3).

3. A combined spacer robot according to claim 1, characterized in that: The front hoisting mechanism (12) comprises a front rope-collecting drum (121), a front hoisting rope (122), a front self-winding reel (123), and a front driving motor (124); the front rope-collecting drum (121) is arranged horizontally and is rotatably connected to the front upper mounting module (11); the front self-winding reel (123) is arranged horizontally and is rotatably connected to the front main body frame (13); the front driving motor (124) is installed on the front main body frame (13) and the output shaft is connected to one side of the front self-winding reel (123); one end of the front hoisting rope (122) is wound around the front rope-collecting drum (121), and the other end of the front hoisting rope (122) is wound around the front self-winding reel (123).

4. A combined spacer robot according to claim 1, characterized in that: The rear side of the front main frame (13) is connected to a docking seat (16), and the front side of the rear main frame (23) is connected to a docking guide column (27) matching the docking seat (16). The docking guide column (27) is provided with a pin hole in the radial direction, and the docking seat (16) is provided with a pin hole in the radial direction. The pin hole of the docking guide column (27) and the pin hole of the docking seat (16) are connected with a locking pin (17).

5. The combined spacer robot according to claim 1, characterized in that: The outer sides of the front upper mounting module (11) and the rear upper mounting module (21) are both rotatably connected to upper guide wheels (6), and the outer sides of the rear main body frame (23) are rotatably connected to lower guide wheels (7). The upper guide wheels (6) are rollingly connected to the upper layer of the four-split conductors (3), and the lower guide wheels (7) are rollingly connected to the lower layer of the four-split conductors (3). Guide plates (8) are obliquely arranged on the outer sides of the upper guide wheels (6) and the lower guide wheels (7).

6. The combined spacer robot according to claim 1, characterized in that: The tail robot (2) further comprises a wire pressing device (26), wherein the wire pressing device (26) comprises a mounting base plate (261), wherein the mounting base plate (261) is mounted on the rear main body frame (23), wherein a power assembly (262) is mounted on the upper side of the mounting base plate (261), wherein an output end of the power assembly (262) passes through the mounting base plate (261) and is connected to two vertical mounting seats (263), wherein the upper side of the vertical mounting seats (263) is connected to a slider ( 264), the lower side of the mounting base (261) is connected to a translational slide rail (265), the slider (264) is slidably connected to the translational slide rail (265), the outer side of the vertical mounting seat (263) is connected to a vertical slide rail (266), the vertical slide rail (266) is slidably connected to a connecting block (267), the connecting block (267) is rotatably connected to a pressure wheel (268), and the outer side of the pressure wheel (268) is connected to a downward pressure guide plate (269); The power assembly (262) is used to drive the two vertical mounting seats (263) to move toward each other or away from each other.

7. A combined spacer robot according to claim 6, characterized in that: The power assembly (262) comprises a rotating motor (2621), a driving pulley (2622), a driven pulley (2623), a synchronous belt (2624), a double-threaded lead screw (2625) and two lead screw nuts (2626); the rotating motor (2621) is mounted on the upper side of the mounting base plate (261); the driving pulley (2622) is connected to the output shaft of the rotating motor (2621); the driven pulley (2623) is connected to one end of the double-threaded lead screw (2625); the synchronous belt (2624) is wound around the driving pulley (2622) and the driven pulley (2623); ), the double-threaded lead screw (2625) is rotatably connected to the upper side of the mounting base (261), the two ends of the double-threaded lead screw (2625) are respectively provided with threaded portions, the threads of the two threaded portions are in opposite directions, a slide groove (2628) is provided on the upper side of the mounting base (261), the two lead screw nuts (2626) are respectively threadedly connected to the two threaded portions, and mounting blocks (2627) are installed on the outer sides of the two lead screw nuts (2626), the mounting blocks (2627) are slidably connected to the slide groove (2628) and the lower side is connected to the upper side of the vertical mounting seat (263).

8. The combined spacer robot according to claim 1, characterized in that: The clamping device (25) comprises a clamping plate (251), a clamping motor (252), a driving wheel (253), a driven wheel (254), a transmission belt (255), and a lead screw (256); the clamping plate (251) is connected to the output end of the mechanical arm (5); the clamping motor (252) is connected to one side of the clamping plate (251); the driving wheel (253) is connected to the output shaft of the clamping motor (252); the lead screw (256) is rotatably connected to the clamping plate (251); the driven wheel (254) is connected to one end of the lead screw (256); the transmission belt (255) is wound around the outer circumference of the driving wheel (253) and the driven wheel (254); and the lead screw (256) is provided with two threaded portions, the threaded directions of the two threaded portions are opposite, and the outer circumference of the threaded portion is threadedly connected with a clamping block (257).

9. The combined spacer robot according to claim 1, characterized in that: The lower side of the rear main body frame (23) is connected to a guide rail (29), and a translation base (28) is slidably connected to the guide rail (29). The mechanical arm (5) is installed on the translation base (28). The rear side of the rear main body frame (23) is connected to a rotating base (210), and the clamping jaw (24) is connected to the rotating base (210). The rotating base (210) is used to drive the clamping jaw (24) to perform circular motion along the axis of the rotating base (210).

10. A method for using the combined spacer robot according to claim 4, characterized in that: The method of use comprises the following steps: Step 1: Place the front upper loading module (11) on the upper layer of the four split conductors (3), and then lift the front main frame (13) through the front lifting mechanism (12), so that the front main frame (13) and the front upper loading module (11) are combined at high altitude; Step 2: Place the rear upper module (21) on the upper layer of the four-split conductors (3), and then lift the rear main frame (23) through the rear hoisting mechanism (22) so that the rear main frame (23) and the rear upper module (21) are combined at high altitude; Step 3: The head robot (1) is moved toward the head direction of the tail robot (2) by the driving assembly (14). When the docking seat (16) and the docking guide column (27) of the tail robot (2) are successfully docked, the pin hole on the docking guide column (27) coincides with the pin hole of the docking seat (16), and then the locking pin (17) is controlled to extend, thereby completing the combination and locking of the head robot (1) and the tail robot (2); Step 4: The head robot (1) moves along the four-split conductor (3) through the driving assembly (14), and at the same time, the head robot (1) drags the tail robot (2) to move synchronously. When the tail robot (2) moves to the specified installation position, the clamping device (25) grabs the spacer rod (4) stored on the head robot (1) by controlling the movement of the mechanical arm (5), and then the spacer rod (4) is transferred to the inside of the four-split conductor (3) through the multi-degree-of-freedom movement of the mechanical arm (5); Step 5, the clamping device (25) hands over the spacer bar (4) to the clamping claw (24). When the clamping claw (24) clamps the spacer bar (4), the clamping claw (24) rotates after clamping the spacer bar (4), so that the four clamping heads of the spacer bar (4) are matched with each of the four split conductors (3) one by one, and then the clamping device (25) is driven by the mechanical arm (5) to perform a clamping operation on each clamping head of the spacer bar (4) respectively, thereby completing the installation of the spacer bar (4); Step 6. After the installation is completed, the robot arm (5) withdraws to avoid the spacer bar (4), and the head robot (1) leads the tail robot (2) to continue walking on the four-split conductor (3) and install the next spacer bar (4) until all the spacer bars (4) stored on the head robot (1) are installed.

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