A combined spacer robot and its usage method

Abstract

The present invention provides a combined spacer robot and a method for using the same, which relates to the technical field of spacer installation. The spacer robot includes a head robot and a tail robot that are sequentially connected front and rear; the head robot includes a front upper mounting module, a front hoisting mechanism, a front main body frame, and a driving component. The front upper mounting 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 upper mounting module. A storage bracket for storing spacers is connected to the lower side of the front main body frame; the tail robot includes a rear upper mounting module, a rear hoisting mechanism, a rear main body frame, a manipulator, a gripper, and a pressing device. The rear upper mounting module is slidably connected to the upper layer of the four-split conductor. The rear main body frame is connected to the lower side of the rear upper mounting module. The rear main body frame is connected to the front main body frame. The manipulator and the gripper are respectively installed inside the rear main body frame. The pressing device is installed at the output end of the manipulator. The present invention not only has a small volume and a light weight, but also is convenient to use.

Description

Technical Field

[0001] The present invention relates to the technical field of spacer installation, and particularly to a combined spacer robot and a method for using the same. Background Art

[0002] For a long time, the installation of spacers has been carried out by means of manual flying cars. A more mechanized way is only to pre-install through a spacer installation robot, and then manually follow up to check whether there are any unqualified installations. For example, a spacer installation robot disclosed in Chinese Patent CN202411173725.0 includes 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 spacers. The clamping mechanism is used to clamp a single prepared spacer. Then, the wire clamping mechanism reduces the distance between two conductors to prepare for the spacer to be put on the wire. The locking mechanism is used to grab and push the self-locking of the spacer. The spacer is completed by the robot from storage to being put on the wire, thereby improving the overall reliability and also enhancing the automation degree of the equipment.

[0003] However, the design of such spacer installation robots is relatively complex. Since the robot installs spacers through multiple mechanisms, the volume and weight of the overall device are too large, resulting in difficult actual use. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects and problems of the existing spacer robot having a large volume and a large weight, and to provide a combined spacer robot with a small volume and a light weight and a method for using the same.

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

[0006] The head robot includes a front upper mounting module, a front hoisting mechanism, a front main frame, and a driving component. The front upper mounting module is slidably connected to the upper layer of the four-split conductor. The front main frame is connected to the lower side of the front upper mounting module. The front hoisting mechanism and the driving component are respectively installed in the front main frame. A storage bracket for storing spacer plates is connected to the lower side of the front main frame;

[0007] The tail robot includes a rear upper mounting module, a rear hoisting mechanism, a rear main frame, and a pressing device. The rear upper mounting module is slidably connected to the upper layer of the four-split conductor. The rear main frame is connected to the lower side of the rear upper mounting module. The rear main frame is connected to the front main frame. A robotic arm and a gripper are installed in the rear main frame. The pressing device is installed at the output end of the robotic arm;

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

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

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

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

[0012] The clamping jaw is used to clamp the spacer;

[0013] The robotic arm is used to transfer the spacer on the front main frame to the inside of the four-split conductor through the pressing device.

[0014] The driving component includes a rotating base, a rotating swing arm, a driving motor, and a driving wheel. The rotating base is installed on the outside of the front main 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 in rolling connection with the upper layer of the four-split conductor.

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

[0016] A docking seat is connected to the rear side of the front main frame, and a docking guide post matching the docking seat is connected to the front side of the rear main frame. The docking guide post is provided with a pin hole in the radial direction, and the docking seat is provided with a pin hole in the radial direction. A locking pin is connected in the pin holes of the docking guide post and the docking seat.

[0017] Upper guide wheels are rotatably connected to the outside of the front upper mounting module and the outside of the rear upper mounting module. A lower guide wheel is rotatably connected to the outside of the rear main frame. The upper guide wheels are in rolling connection with the upper layer of the four-split conductor, and the lower guide wheel is in rolling connection with the lower layer of the four-split conductor. Guide pieces are inclined on the outside of the upper guide wheels and the lower guide wheel.

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

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

[0020] The power assembly includes a rotary motor, a driving pulley, a driven pulley, a synchronous belt, a double-threaded lead screw, and two lead screw nuts. The rotary motor is mounted on the upper side of the mounting base plate. The driving pulley is connected to the output shaft of the rotary motor. The driven pulley is connected to one end of the double-threaded lead screw. The synchronous belt is wound around the outer circumferential surfaces of the driving pulley and the driven pulley. The double-threaded lead screw is rotatably connected to the upper side of the mounting base plate. Threaded portions are respectively provided at both ends of the double-threaded lead screw. The thread directions of the two threaded portions are opposite. A chute is provided on the upper side of the mounting base plate. The two lead screw nuts are respectively threadedly connected to the two threaded portions. Mounting blocks are mounted on the outside of the two lead screw nuts. The mounting blocks are slidably connected to the chute and the lower sides are connected to the upper sides of the vertical mounting seats.

[0021] The pressing device includes a pressing plate, a pressing motor, a driving wheel, a driven wheel, a transmission belt, and a lead screw. The pressing plate is connected to the output end of the robotic arm. The pressing motor is connected to one side of the pressing plate. The driving wheel is connected to the output shaft of the pressing motor. The lead screw is rotatably connected to the pressing plate. The driven wheel is connected to one end of the lead screw. The transmission belt is wound around the outer circumferential surfaces of the driving wheel and the driven wheel. Two threaded portions are provided on the lead screw. The thread directions of the two threaded portions are opposite. Clamping blocks are threadedly connected to the outer circumferential surfaces of the threaded portions.

[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 mounted on the translation base. A rotating seat is connected to the rear side of the rear main body frame. The clamping jaw is connected to the rotating seat. The rotating seat is used to drive the clamping jaw to perform a circular motion along the axis of the rotating seat.

[0023] A usage method of a combined spacer robot, the usage method includes the following steps:

[0024] Step 1: Place the front upper mounting module on the upper layer of the quad-split conductor. Then, lift the front main frame through the front hoisting mechanism so that the front main frame is combined with the front upper mounting module at high altitude.

[0025] Step 2: Place the rear upper mounting module on the upper layer of the quad-split conductor. Then, lift the rear main frame through the rear hoisting mechanism so that the rear main frame is combined with the rear upper mounting module at high altitude.

[0026] Step 3: Move the head robot towards the head direction of the tail robot through the driving component. When the docking seat is successfully docked with the docking guide column of the tail robot, the pin holes on the docking guide column coincide with the pin holes of the docking seat. Then, control the locking pin to extend to complete the combination and locking of the head robot and the tail robot.

[0027] Step 4: The head robot moves along the quad-split conductor through the driving component. At the same time, the head robot drags the tail robot to move synchronously. When the tail robot moves to the specified installation position, control the manipulator to move so that the pressing device grabs the spacer on the head robot. Then, through the multi-degree-of-freedom movement of the manipulator, transfer the spacer to the inside of the quad-split conductor.

[0028] Step 5: The pressing device transfers the spacer to the gripper. When the gripper clamps the spacer, the gripper rotates after clamping the spacer. After the four grippers of the spacer are respectively matched with each conductor of the quad-split conductor, then drive the pressing device through the manipulator to respectively press each gripper of the spacer to complete the installation of the spacer.

[0029] Step 6: After the installation is completed, the manipulator withdraws to avoid the spacer. The head robot continues to walk on the quad-split conductor with the tail robot and installs the next spacer until all the spacers stored on the head robot are installed.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] 1. In the combined spacer robot and its usage method of the present invention, the storage and installation of the spacer are respectively completed by the combination of two robots, which greatly reduces the weight of a single robot, is very beneficial to the online, handling and application of the robot, and makes it closer to the actual application scenario. At the same time, the front robot is used as the "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 conductor per unit length, protects the conductor, and improves the climbing ability of the robot. At the same time, both the head robot and the tail robot adopt an upper and lower assembly structure, and most of the structures are placed in the lower structure, which greatly reduces the weight of the upper structure and makes the assembly of the overall structure smoother and the structure more stable. Therefore, the present invention is smaller in size and lighter in weight.

[0032] 2. In the combined spacer robot and its usage method of the present invention, the head robot and the tail robot are connected by a locking pin, enabling the two robots to be separated from each other. As a result, both the spacer storage and transportation robot and the spacer installation robot can be used independently. It can either provide transportation for manually installing spacers or automatically install spacers carried by humans, and can be flexibly configured according to actual situations, with a wide range of applications. Therefore, the present invention is convenient to use and has a wide range of applications.

[0033] 3. In the combined spacer robot and its usage method of the present invention, by setting a downward pressure guide plate, the wire can be guided into its groove. By setting a wire pressing device, powered by a power component, the pressing wheel moves outward to contact the lower layer of the four-split wire, pressing the wire in the lower layer of the four-split wire onto the lower guide wheel. At this time, the four-split wire is firmly fixed and maintains a fixed spacing, thus enabling the four-split wire to meet the spacer installation requirements. Therefore, the working process of the present invention is stable.

[0034] 4. In the combined spacer robot and its usage method of the present invention, by setting a translation base, after the spacer is installed, the robotic arm can be withdrawn to avoid the spacer; the gripper fixes the spacer from the internal space, and the pressing device fixes the spacer from the outside, and the two work simultaneously without interference. After the gripper clamps the spacer, the pressing device disengages, and the rotating seat starts to rotate, thus completing the threading of each chuck of the spacer; the pressing device can not only grasp the spacer but also press the spacer chuck. One fixture has two functions, reducing the complexity of the equipment and simultaneously reducing the weight of the fixture. Therefore, the present invention is convenient to install, has a relatively high working efficiency, and is relatively light in weight. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

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

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

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

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

[0043] Figure 9 It is a schematic structural diagram of the wire pressing device in the present invention.

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

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

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

[0047] In the figure: head robot 1, front upper mounting module 11, front hoisting mechanism 12, front rope winding 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 upper mounting module 21, rear hoisting mechanism 22, rear main frame 23, clamping jaw 24, pressing device 25, pressing plate 251, pressing motor 252, driving wheel 253, driven wheel 254, transmission belt 255, lead 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 lead screw 2625, lead screw nut 2626, mounting block 2627, sliding groove 2628, vertical mounting seat 263, slider 264, translation slide rail 265, vertical translation slide rail 266, connecting block 267, pressing wheel 268, downward pressing guide plate 269, docking guide post 27, translation base 28, guide rail 29, rotating seat 210, four-split conductor 3, spacer 4, robotic arm 5, upper guide wheel 6, lower guide wheel 7, guide piece 8. Detailed implementation manners

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

[0049] Embodiment 1:

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

[0051] The head robot 1 includes a front upper mounting module 11, a front hoisting mechanism 12, a front main body frame 13, and a driving component 14. The front upper mounting 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 mounting module 11. The front hoisting mechanism 12 and the driving component 14 are respectively installed inside the front main body frame 13. A storage bracket 15 for storing spacer plates is connected to the lower side of the front main body frame 13;

[0052] The tail robot 2 includes a rear upper mounting module 21, a rear hoisting mechanism 22, a rear main body frame 23, and a pressing device 25. The rear upper mounting 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 mounting module 21. The rear main body frame 23 is connected to the front main body frame 13. A robotic arm 5 and a gripper 24 are installed inside the rear main body frame 23. The pressing device 25 is installed at the output end of the robotic arm 5. A docking seat 16 is connected to the rear side of the front main body frame 13. A docking guide post 27 matching the docking seat 16 is connected to the front side of the rear main body frame 23. The docking guide post 27 is provided with a pin hole along the radial direction, and the docking seat 16 is provided with a pin hole along the radial direction. A locking pin 17 is connected inside the pin hole of the docking guide post 27 and the pin hole of the docking seat 16;

[0053] The driving component 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 lift the front main body frame 13 until it contacts the front upper mounting module 11;

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

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

[0057] The gripper 24 is used to clamp the spacer 4;

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

[0059] A usage method of the combined spacer robot, the usage method includes the following steps:

[0060] Step 1: Place the front upper mounting 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 is combined with the front upper mounting module 11 at high altitude;

[0061] Step 2: Place the rear upper mounting 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 is combined with the rear upper mounting module 21 at high altitude;

[0062] Step 3: Move the head robot 1 towards the head direction of the tail robot 2 through the driving component 14. When the docking seat 16 is successfully docked with the docking guiding column 27 of the tail robot 2, the pin holes on the docking guiding column 27 can coincide with the pin holes of the docking seat 16. Then, control the locking pin 17 to extend to complete 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. 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, control the manipulator 5 to move so that the pressing device 25 grabs the spacer 4 stored on the head robot 1. Then, through the multi-degree-of-freedom movement of the manipulator 5, transfer the spacer 4 into the four-split conductor 3;

[0064] Step 5: The pressing device 25 transfers the spacer 4 to the jaw 24. When the jaw 24 clamps the spacer 4, after the jaw 24 clamps the spacer 4, it rotates so that the four chucks of the spacer 4 are respectively matched with each conductor of the four-split conductor 3. Then, drive the pressing device 25 through the manipulator 5 to press each chuck of the spacer 4 respectively to complete the installation of the spacer 4;

[0065] Step 6: After the installation is completed, the manipulator 5 withdraws to avoid the spacer 4. The head robot 1 continues to walk on the four-split conductor 3 with the tail robot 2 and installs the next spacer 4 until all the spacers 4 stored on the head robot 1 are installed.

[0066] In this embodiment, the spacer 4 is a four-split spacer. The front upper mounting module 11 and the rear upper mounting module 21 can be placed on the upper layer of the four-split conductor 3 with the assistance of a drone or manually. Multiple spacers 4 are fixed on the storage bracket 15 and are distributed symmetrically left and right, which can not only facilitate the front main frame 13 to be hoisted onto the line but also be conveniently grabbed by the manipulator 5.

[0067] Embodiment 2:

[0068] The basic content is the same as that of Embodiment 1, and the differences are as follows:

[0069] See Figure 3 and Figure 4, the 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 body 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. The driving wheel 144 is in rolling connection with the upper layer of the four-split conductor 3.

[0070] In this embodiment, after the current upper loading module 11 and the front main body frame 13 are assembled, the multiple rotating swing arms 142 on the front main body frame 13 rotate through the rotating base 141, flip from below the front main body frame 13 to the wire, and the driving wheel 144 lands on the upper layer of the wire, completing the operation of the head robot 1 going onto the wire.

[0071] Embodiment 3:

[0072] The basic content is equivalent to that of Embodiment 1, the difference being:

[0073] See Figures 3 to 6 , the front hoisting mechanism 12 includes a front rope winding drum 121, a front lifting rope 122, a front self-winding reel 123, and a front driving motor 124. The front rope winding drum 121 is horizontally arranged and rotatably connected to the front upper loading 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 lifting rope 122 is wound around the front rope winding drum 121, and the other end of the front lifting rope 122 is wound around the front self-winding reel 123.

[0074] In this embodiment, a docking base 125 and a limit plate 126 can be provided on the lower side of the front upper mounting module 11. A plurality of mounting holes 127 are formed in the limit plate 126. A pair of anti-scratch rollers 128 are rotatably connected to the lower side of the limit plate 126. The front lifting rope passes through the two rollers of the anti-scratch rollers 128, changing from sliding friction to rolling friction to prevent the front lifting rope from being scratched and broken. A docking plate 1214 matching the mounting holes 127 can be provided on the front main frame. At the same time, a self-locking structure can be provided. The self-locking structure includes a mounting seat 129, a power device 1210, a transmission gear set 1211, a self-locking pin 1212, and a rotating sleeve 1213. The mounting seat 129 is 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. The head and the end of the transmission gear set 1211 are respectively installed on the output end of the power device 1210 and the lower end of the rotating sleeve 1213.

[0075] During use, first, the first guiding is realized through the docking of the docking plate 1214 and the mounting holes 127. When the self-locking pin 1212 contacts the docking bases 125 installed at the four corners of the front upper mounting module 11, the second guiding takes effect at this time. Through the pyramid-shaped guiding body designed on the self-locking pin 1212, it directly passes through the internal space of the docking base 125 until the front upper mounting module 11 and the front main frame 13 are in full contact without gaps. At this time, the docking work is completed. Then the power device 1210 starts to operate, 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 hole parallel to the docking base 125, whose direction is along the wire guiding direction, to the direction perpendicular to the wire guiding direction. The self-locking pin 1212 can no longer pass through the long hole of the docking base 125. Thus, the self-locking structures at the four corners all complete the self-locking action, and the front upper mounting module 11 and the front main frame 13 are firmly locked together and cannot be separated, ensuring the safety of subsequent operations.

[0076] Embodiment 4:

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

[0078] See Figures 7 to 11 On the outer sides of the front upper mounting module 11 and the rear upper mounting module 21, upper guide wheels 6 are rotatably connected. On the outer side of the rear main frame 23, a lower guide wheel 7 is rotatably connected. The upper guide wheels 6 are in rolling connection with the upper layer of the four-split conductor 3, and the lower guide wheel 7 is in rolling connection with the lower layer of the four-split conductor 3. Guide pieces 8 are inclined on the outer sides of the upper guide wheels 6 and the lower guide wheels 7.

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

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

[0081] The power assembly 262 includes a rotary 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 rotary 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 rotary 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 outer circumferences of 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 plate 261. Threaded portions are respectively provided at both ends of the double-threaded lead screw 2625, and the thread directions of the two threaded portions are opposite. A chute 2628 is formed on the upper side of the mounting base plate 261. The two lead screw nuts 2626 are respectively threadedly connected to the two threaded portions. Mounting blocks 2627 are mounted on the outer sides of the two lead screw nuts 2626. The mounting blocks 2627 are slidably connected to the chute 2628 and the lower sides thereof are connected to the upper sides of the vertical mounting seats 263.

[0082] In this embodiment, when the rear upper mounting module 21 is connected to the rear main body frame 23, the lower guide wheel 7 mounted on the rear main body frame 23 contacts the lower layer conductors of the quad-split conductor 3. It guides the conductors to its groove through the downward pressing guide plate 269. Then, the two vertical mounting seats 263 on the mounting base plate 261 slide out from the internal space along the translation slide rail 265. The left and right pressing wheels 268 respectively move downward along the vertical movement slide rail 266. With the assistance of the downward pressing guide plate 296, the lower layer conductors of the quad-split conductor 4 are pressed down onto the lower guide wheel 7. The rotary motor 2621 provides power. At this time, the quad-split conductor 3 has been firmly fixed and maintains a fixed spacing.

[0083] Example 5:

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

[0085] Refer to Figure 12 , the pressing device 25 includes a pressing plate 251, a pressing motor 252, a driving wheel 253, a driven wheel 254, a transmission belt 255, and a lead screw 256. The pressing plate 251 is connected to the output end of the robotic arm 5. The pressing motor 252 is connected to one side of the pressing plate 251. The driving wheel 253 is connected to the output shaft of the pressing motor 252. The lead screw 256 is rotatably connected to the pressing 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 circumferential surfaces of the driving wheel 253 and the driven wheel 254. Two threaded portions are provided on the lead screw 256, and the thread directions of the two threaded portions are opposite. A clamping block 257 is threadedly connected to the outer circumferential surface of the threaded portion.

[0086] In this embodiment, the clamping block 257 is L-shaped. By operating the pressing motor 252, the driving wheel 253 is driven to rotate. The driving wheel 253 drives the driven wheel 254 to rotate through the transmission belt 255, causing the lead screw 256 to rotate. The two clamping blocks 257 move towards each other to clamp the spacer 4. The spacer 4 is transported into the quadruply split conductor 3 by the robotic arm 5. By operating the pressing motor 252, the two clamping plates 257 move away from each other to hand the spacer 4 to the clamping jaw 24. When the clamping jaw 24 clamps the spacer 4, the clamping block 257 is moved by the robotic arm 5 to the chuck of the spacer 4. By operating the pressing motor 252, the two clamping plates 257 move towards each other to clamp the chuck and the quadruply split conductor 3. The pressing device 25 clamps the spacer 4 from the outside, and its structure can determine the rotation center of the spacer 4 through the outer shape of the spacer 4. At the same time, the clamping jaw 24 clamps the spacer 4 from the inside, and its structure can also ensure that the center of the spacer 4 coincides with the rotation center. When the clamping jaw 24 and the pressing device 25 work together, since their clamping parts are different and do not interfere with each other, they can work synchronously.

[0087] Example 6:

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

[0089] Refer to Figure 8 , a guide rail 29 is connected to the lower side of the rear main body frame 23. A translation base 28 is slidably connected to the guide rail 29. The robotic arm 5 is installed on the translation base 28. A rotating seat 210 is connected to the rear side of the rear main body frame 23. The clamping jaw 24 is connected to the rotating seat 210. The rotating seat 210 is used to drive the clamping jaw 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 includes a head robot (1) and a tail robot (2) connected in sequence before and after; The head robot (1) includes a front upper mounting module (11), a front hoisting mechanism (12), a front main frame (13), and a driving assembly (14). The front upper mounting module (11) is slidably connected to the upper layer of the quad-split conductor (3). The front main frame (13) is connected to the lower side of the front upper mounting module (11). The front hoisting mechanism (12) and the driving assembly (14) are respectively installed inside the front main frame (13). A storage bracket (15) for storing spacer plates is connected to the lower side of the front main frame (13); The tail robot (2) includes a rear upper mounting module (21), a rear hoisting mechanism (22), a rear main frame (23), and a pressing device (25). The rear upper mounting module (21) is slidably connected to the upper layer of the quad-split conductor (3). The rear main frame (23) is connected to the lower side of the rear upper mounting module (21). The rear main frame (23) is connected to the front main frame (13). A robotic arm (5) and a gripper (24) are installed inside the rear main frame (23). The pressing device (25) is installed at the output end of the robotic arm (5); The driving assembly (14) is used to drive the head robot (1) to slide on the quad-split conductor (3); The front hoisting mechanism (12) is used to lift the front main frame (13) until it contacts the front upper mounting module (11); The rear hoisting mechanism (22) is used to lift the rear main frame (23) until it contacts the rear upper mounting module (21); The pressing device (25) is used to grab the spacer damper (4) and clamp the chuck of the spacer damper (4) on the quad-split conductor (3); The gripper (24) is used to grip the spacer damper (4); The robotic arm (5) is used to transfer the spacer damper (4) on the front main frame (13) to the inside of the quad-split conductor (3) through the pressing device (25).

2. The combined spacer robot according to claim 1, characterized in that: The 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 outside 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). The driving wheel (144) is in rolling connection with the upper layer of the quad-split conductor (3).

3. The combined spacer robot according to claim 1, characterized in that: The front hoisting mechanism (12) includes a front rope winding drum (121), a front hoisting rope (122), a front self-winding reel (123), and a front driving motor (124). The front rope winding 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 thereof 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 winding drum (121), and the other end of the front hoisting rope (122) is wound around the front self-winding reel (123).

4. The combined spacer robot according to claim 1, wherein: A docking seat (16) is connected to the rear side of the front main body frame (13), and a docking guiding column (27) matching the docking seat (16) is connected to the front side of the rear main body frame (23). The docking guiding 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. A locking pin (17) is connected in the pin holes of the docking guiding column (27) and the docking seat (16).

5. The combined spacer robot according to claim 1, characterized in that: Upper guide wheels (6) are rotatably connected to the outside of the front upper mounting module (11) and the outside of the rear upper mounting module (21). A lower guide wheel (7) is rotatably connected to the outside of the rear main body frame (23). The upper guide wheels (6) are in rolling connection with the upper layer of the four-split conductor (3), and the lower guide wheel (7) is in rolling connection with the lower layer of the four-split conductor (3). Guide pieces (8) are obliquely arranged on the outside of the upper guide wheels (6) and the lower guide wheels (7).

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

7. The modular spacer robot according to claim 6, characterized in that: The power assembly (262) includes a rotary 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 rotary motor (2621) is installed on the upper side of the mounting base plate (261). The driving pulley (2622) is connected to the output shaft of the rotary 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 outer circumferential surfaces of 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 plate (261). Threaded portions are provided at both ends of the double-threaded lead screw (2625), and the thread directions of the two threaded portions are opposite. A chute (2628) is formed on the upper side of the mounting base plate (261). The two lead screw nuts (2626) are respectively threadedly connected to the two threaded portions. 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 chute (2628) and the lower sides thereof are connected to the upper side of the vertical mounting seat (263).

8. The combined spacer robot according to claim 1, characterized in that: The pressing device (25) includes a pressing plate (251), a pressing motor (252), a driving wheel (253), a driven wheel (254), a transmission belt (255), and a lead screw (256). The pressing plate (251) is connected to the output end of the robotic arm (5). The pressing motor (252) is connected to one side of the pressing plate (251). The driving wheel (253) is connected to the output shaft of the pressing motor (252). The lead screw (256) is rotatably connected to the pressing 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 circumferential surfaces of the driving wheel (253) and the driven wheel (254). Two threaded portions are provided on the lead screw (256), and the thread directions of the two threaded portions are opposite. Clamping blocks (257) are threadedly connected to the outer circumferential surfaces of the threaded portions.

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

10. A method for using the combined spacer robot described in claim 4, characterized in that: The usage method includes the following steps: Step 1: Place the front upper mounting module (11) on the upper layer of the quad-split conductor (3), and then lift the front main body frame (13) through the front hoisting mechanism (12) so that the front main body frame (13) is combined with the front upper mounting module (11) at high altitude; Step 2: Place the rear upper mounting module (21) on the upper layer of the quad-split conductor (3), and then lift the rear main frame (23) through the rear hoisting mechanism (22) to make the rear main frame (23) and the rear upper mounting module (21) combine at high altitude; Step 3: Move the head robot (1) towards the head direction of the tail robot (2) through the driving component (14). When the docking seat (16) is successfully docked with the docking guide post (27) of the tail robot (2), the pin holes on the docking guide post (27) coincide with the pin holes of the docking seat (16). Then, control the locking pin (17) to extend to complete the combination and locking of the head robot (1) and the tail robot (2); Step 4: The head robot (1) moves along the quad-split conductor (3) through the driving component (14). At the same time, the head robot (1) drags the tail robot (2) to move synchronously. After the tail robot (2) moves to the designated installation position, control the movement of the robotic arm (5) to make the pressing device (25) grab the spacer (4) stored on the head robot (1). Then, through the multi-degree-of-freedom movement of the robotic arm (5), transfer the spacer (4) into the quad-split conductor (3); Step 5: The pressing device (25) transfers the spacer (4) to the gripper (24). When the gripper (24) clamps the spacer (4), after the gripper (24) clamps the spacer (4), it rotates so that the four jaws of the spacer (4) are respectively matched with each conductor of the quad-split conductor (3). Then, drive the pressing device (25) through the robotic arm (5) to perform a pressing operation on each jaw of the spacer (4) respectively to complete the installation of the spacer (4); Step 6: After the installation is completed, the robotic arm (5) withdraws to avoid the spacer (4). The head robot (1) continues to walk on the quad-split conductor (3) with the tail robot (2) and installs the next spacer (4) until all the spacers (4) stored on the head robot (1) are installed.

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