Light four-split spacer mounting robot and use method thereof

Abstract

The invention belongs to the technical field of spacer installation, and particularly relates to a light four-split spacer installation robot and a using method thereof.The robot comprises a flying frame, a flying mechanism, a spacer installation device and a spacer fixing device, the flying mechanism is arranged at the top of the flying frame, and the spacer installation device comprises a swing arm and a chuck pressing device; the spacer fixing device comprises rotating tables, spacer clamps and swing arms, the rotating tables are arranged at the bottom of the flying frame in a sliding mode in the first direction, the swing arms are connected with the chuck pressing devices, the table tops of the rotating tables are arranged perpendicular to the first direction, and the spacer clamps are arranged on the table tops of the rotating tables. According to the invention, on-line installation and installation of the four-split spacer can be completed through self posture adjustment and sliding motion of the spacer installation device and the spacer fixing device, the risk of manual high-altitude operation is avoided, the framework is compact, and the integration degree is high.

Description

Technical Field

[0001] The invention belongs to the technical field of spacer bar installation, and in particular relates to a light four-split spacer bar installation robot and a use method thereof. Background Art

[0002] When laying high-voltage cables, spacers are used. Spacers are used to be installed between split conductors. Their main purpose is to separate multiple split conductors and limit the relative movement between the split conductors. The setting of spacers can not only prevent the split conductors from whipping against each other and causing collisions, but also prevent breeze vibration and sub-span oscillation of the split conductors due to the influence of the external environment, thereby ensuring the normal transmission of electricity. Existing overhead transmission line spacer installation machines require cranes or manual assistance to go online, and manual assistance at high altitudes also has a greater safety risk.

[0003] The utility model patent with application number 202122247752.6 provides an automatic disassembly and assembly spacer bar device based on a heavy-duty drone. The device uses a heavy-duty drone equipped with an automatic disassembly and assembly spacer bar assembly, and can assist in the automatic disassembly and assembly of the spacer bar through a remote control terminal, thereby ensuring the safety of the operator. However, in actual work, it is difficult for the device to place the four-split spacer bar between the four wires of the four-split wire and complete the subsequent installation. In addition, the design of the entire device is complex, the degree of integration is low, and the weight is heavy. Summary of the invention

[0004] The purpose of the present invention is to address the above-mentioned problems existing in the prior art and to provide a lightweight four-split spacer bar installation robot and its use method that can complete the automatic installation of four-split spacer bars and has a compact structure, a high degree of integration, a small size, a light weight, and high equipment practicality.

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

[0006] In the first aspect, the present invention provides a light four-split spacer bar installation robot, the installation robot comprises a flight frame, a flight mechanism, a spacer bar installation device, and a spacer bar fixing device, the spacer bar installation device comprises a swing arm and a chuck pressing device, the spacer bar fixing device comprises a rotating table and a spacer bar clamp, the swing arm and the rotating table are both slidably arranged at the bottom of the flight frame along a preset first direction, the swing arm is connected to the chuck pressing device, the swing arm is used to drive the chuck pressing device to move to the chuck of the four-split spacer bar, the chuck pressing device is used to clamp the chuck on the four-split spacer bar and the wire in the four-split wire together, the table top of the rotating table is arranged perpendicular to the first direction, the spacer bar clamp is arranged on the table top of the rotating table, the rotating table is used to drive the spacer bar clamp to rotate toward the opening direction of the chuck of the four-split spacer bar, and the spacer bar clamp is used to clamp the spacer bar frame of the four-split spacer bar;

[0007] The flying mechanism is arranged on the top of the flying frame, and is used to drive the installation robot to move and switch the posture of the installation robot to a first posture or a second posture. In the first posture, the first direction is perpendicular to the wire extension direction of the four-split wire, and the swing arm and the rotating table can be driven to move toward each other along the first direction. In the second posture, the first direction is parallel to the wire extension direction of the four-split wire, and the swing arm and the rotating table can be driven to move in opposite directions along the first direction.

[0008] The swing arm includes a front fixed plate, an upper swing arm, and a lower swing arm. One end of the front fixed plate is slidably arranged at the bottom of the flying frame along a first direction, the other end of the front fixed plate is rotatably connected to one end of the upper swing arm, the other end of the upper swing arm is rotatably connected to one end of the lower swing arm, and the other end of the lower swing arm is connected to a clamping device.

[0009] The chuck clamping device includes a rotating driving member and a clamping jaw, wherein the clamping jaw includes a clamp and a movable pressing block movably arranged on the clamp, the output end of the rotating driving member is connected to the movable pressing block, and the rotating driving member is used to drive the movable pressing block to cooperate with the clamp to close or release the chuck of the four-split spacer rod.

[0010] The rotating table includes a rear fixing plate and a rotating table body. One end of the rear fixing plate is slidably arranged at the bottom of the flying frame along a first direction, and the other end of the rear fixing plate is connected to the rotating table body. The spacer rod clamp is arranged on the table surface of the rotating table body.

[0011] The spacer rod clamp includes a grabbing base, a grabbing drive, and two grippers. The grabbing base is arranged on the table top of the rotating table body. The grabbing base is provided with a guide rail. The two grippers are slidably arranged on the guide rail. The two grippers are provided with a slot on the side away from each other. The slot is used to be clamped with the side wall of the center hole of the spacer rod frame. The output end of the grabbing drive is connected to the two grippers, and the grabbing drive is used to drive the two grippers to move toward or away from each other.

[0012] A slide rail is arranged at the bottom of the flying frame along a first direction, and one end of the front fixing plate and the rear fixing plate are respectively connected to a first slider and a second slider, and the first slider and the second slider are slidably matched with the slide rail.

[0013] The installation robot also includes two wire connecting devices, which are respectively arranged on both sides of the bottom of the flight frame. The spacer bar installation device and the spacer bar fixing device are both arranged between the two wire connecting devices. The wire connecting device is used to connect with the wires in the four-split wire.

[0014] The wire connecting device includes a connecting base, a connecting drive, and two wire clamps. The connecting base is arranged at the bottom of the flying frame. A bidirectional screw rod is rotatably arranged inside the connecting base. The tops of the two wire clamps are respectively connected to the two ends of the bidirectional screw rod by threads. A wire clamping groove is arranged on the side close to each other at the bottom of the two wire clamps. One end of the bidirectional screw rod is connected to the output end of the connecting drive. The connecting drive is used to drive the two wire clamps to move toward or away from each other.

[0015] The installation robot also includes four walking wheels arranged at the four corners of the bottom of the flying frame.

[0016] In a second aspect, the present invention provides a method for using a lightweight four-split spacer rod installation robot, the method comprising:

[0017] Step 1: Clamp the spacer frame of the four-split spacer to be installed by a spacer clamp;

[0018] Step 2: First, the installation robot is driven to take off and move to above the four split wires by the flight mechanism, and then the installation robot posture is switched to the first posture, and the swing arm and the rotating table are driven to move toward each other along the first direction;

[0019] Step 3: First, the installation robot is driven to fall between the two side wires of the four-split wire by the flying mechanism, and then the posture of the installation robot is adjusted to the second posture, and the swing arm and the rotating table are driven to move in the opposite direction along the first direction;

[0020] Step 4: First, use the rotating table to drive the four-split spacer to rotate toward the opening direction of the chuck until the wire enters the inside of the chuck, and then drive the chuck clamping device to move to the chuck of the four-split spacer through the swing arm, and close the chuck on the four-split spacer through the chuck clamping device to clamp the chuck on the four-split spacer and the wire in the four-split wire together;

[0021] Step 5: first open the spacer rod clamp to loosen the four-split spacer rods, then drive the swing arm and the rotating table to continue to move backwards in the first direction, so that the spacer rod installation device, the spacer rod fixing device and the four-split spacer rods are separated, and then drive the installation robot to take off and land on the ground through the flying mechanism.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The invention discloses a light four-split spacer bar installation robot, comprising a flight frame, a flight mechanism, a spacer bar installation device, and a spacer bar fixing device. The flight mechanism is arranged on the top of the flight frame, the spacer bar installation device comprises a swing arm and a clamp pressing device, and the spacer bar fixing device comprises a rotating table and a spacer bar clamp. The swing arm and the rotating table are both arranged at the bottom of the flight frame for sliding along a first direction, the swing arm is connected to the clamp pressing device, the table top of the rotating table is arranged perpendicular to the first direction, and the spacer bar clamp is arranged on the table top of the rotating table. When in use, the spacer bar frame of the four-split spacer bar to be installed is first clamped by the spacer bar clamp, and after the installation robot is driven by the flight mechanism to move above the four-split conductor, the posture of the installation robot is switched to the first posture, so that the four-split spacer bar is parallel to the extension direction of the conductor. , drive the swing arm and the rotating table to move toward each other along the first direction, so that the spacer bar installation device, the spacer bar fixing device and the four-split spacer bar clamped thereon can smoothly enter the interior of the four-split conductor, and after the installation robot is driven to fall between the conductors on both sides of the four-split conductor by the flying mechanism, the posture of the installation robot is adjusted to the second posture, and the swing arm and the rotating table are driven to move in the opposite directions along the first direction, so that the four-split spacer bar is perpendicular to the extension direction of the conductor; then the rotating table is used to drive the four-split spacer bar to rotate toward the opening direction of the chuck until the conductor enters the interior of the chuck, and the chuck clamping device is driven by the swing arm to move to the chuck of the four-split spacer bar, and the chuck on the four-split spacer bar is closed by the chuck clamping device to clamp the chuck on the four-split spacer bar and the conductor in the four-split conductor together. The installation robot described in the present invention has the characteristic of being able to fly. It can place the four-split spacer between the four wires of the four-split wire through its own posture adjustment and the sliding action of the spacer installation device and the spacer fixing device, thereby completing the installation of a single four-split spacer, avoiding the risks of manual high-altitude operations. In addition, the entire installation robot has a compact structure, a high degree of integration, a small size, a light weight, is easy to carry, and the equipment is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the installation robot described in the present invention.

[0025] Figure 2 Schematic diagram of the robot installation process before the rotating table rotates.

[0026] Figure 3 Schematic diagram of the robot installation after the rotating table is rotated 45 degrees.

[0027] Figure 4 It is a structural schematic diagram of the spacer rod installation device of the present invention.

[0028] Figure 5 It is a structural schematic diagram of the chuck clamping device in the present invention.

[0029] Figure 6 It is a schematic structural diagram of the spacer rod fixing device of the present invention.

[0030] Figure 7 It is a structural schematic diagram of the spacer rod clamp of the present invention.

[0031] Figure 8 It is a schematic structural diagram of the wire connecting device in the present invention.

[0032] Fig. 9 It is a schematic structural diagram of the wire clamp in the present invention.

[0033] Fig.10 Schematic diagram of the structure of the four-split spacer rod.

[0034] In the above figure, the flight frame 1, the slide rail 11, the first slider 12, the second slider 13, the flight mechanism 2, the spacer rod installation device 3, the swing arm 31, the front fixed plate 311, the upper swing arm 312, the lower swing arm 313, the clamp clamping device 32, the rotating drive member 321, the clamp 322, the movable pressure block 323, the spacer rod fixing device 4, the rotating table 41, the rear fixed plate 411, the rotating table body 412, the spacer rod clamp 42, the grab base 421, the clamp drive member 422, the gripper 423, the guide rail 424, the card slot 425, the four-split wire 5, the wire connecting device 6, the connecting base 61, the connecting drive member 62, the wire clamp 63, the bidirectional screw rod 64, the wire clamping slot 65, the walking wheel 7, the four-split spacer rod 8, and the spacer rod frame 81. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with specific implementation methods and drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] The four-split conductor includes four parallel conductors, which are numbered 1, 2, 3, and 4 in sequence. Conductor No. 1 and conductor No. 2 are upper conductors located in the same horizontal plane, and conductor No. 3 and conductor No. 4 are lower conductors located in another horizontal plane. Fig.10 A four-split wire spacer is shown. The four-split wire spacer 8 includes a spacer frame 81 and four clamps 82. The four clamps 82 are respectively arranged at the four corners of the spacer frame 81. When the clamps 82 are closed, through holes can be formed for the wires to pass through. In actual installation, the four-split wire spacer 8 can be placed in the middle of four wires, and the four clamps 82 are respectively connected to the four wires, so as to ensure the spacing of the four wires.

[0037] See also Figures 1 to 3A light four-split spacer installation robot comprises a flight frame 1, a flight mechanism 2, a spacer installation device 3, and a spacer fixing device 4. The spacer installation device 3 comprises a swing arm 31 and a chuck pressing device 32. The spacer fixing device 4 comprises a rotating table 41 and a spacer clamp 42. The swing arm 31 and the rotating table 41 are both slidably arranged at the bottom of the flight frame 1 along a preset first direction. The swing arm 31 is connected to the chuck pressing device 32. The swing arm 31 is used to drive the chuck pressing device 32 to move to the chuck 82 of the four-split spacer 8. The chuck pressing device 32 is used to clamp the chuck 82 on the four-split spacer 8 with the wires in the four-split wire 5 together. The table surface of the rotating table 41 is arranged perpendicular to the first direction. The spacer rod clamp 42 is arranged on the table surface of the rotating table 41, and the rotating table 41 is used to drive the spacer rod clamp 42 to rotate toward the opening direction of the clamp 82 of the four-split spacer rod 8. The spacer rod clamp 42 is used to clamp the spacer rod frame 81 of the four-split spacer rod 8. The flying mechanism 2 is arranged on the top of the flying frame 1, and the flying mechanism 2 is used to drive the installation robot to move and switch the installation robot posture to a first posture or a second posture. In the first posture, the first direction is perpendicular to the wire extension direction of the four-split wire 5, and the swing arm 31 and the rotating table 41 can be driven to move toward each other along the first direction. In the second posture, the first direction is parallel to the wire extension direction of the four-split wire 5, and the swing arm 31 and the rotating table 41 can be driven to move in opposite directions along the first direction.

[0038] The robot operation process is as follows: manually clamp the four-split spacer 8 to be installed on the spacer fixture 42, and then drive the robot to take off and move to the top of the four-split conductor 5 through the flying mechanism 2. Before the robot falls, switch the installation robot posture to the first posture, so that the four-split spacer 8 is parallel to the extension direction of the conductor, drive the spacer installation device 3 and the spacer fixing device 4 to move toward each other along the first direction, so that the thickness of the spacer installation device 3 and the spacer fixing device 4 after superposition is sufficient to pass through the gap between the No. 1 conductor and the No. 2 conductor in the four-split conductor; after the robot falls so that the four-split spacer 8 is located in the internal gap of the four-split conductor 5, adjust the robot posture to the second posture through the flying mechanism 2, so that the four-split spacer 8 is perpendicular to the extension direction of the conductor, drive the spacer installation device 3 and the spacer fixing device 4 to move back to back along the first direction to a suitable position, so that the spacer installation device 3 and the spacer fixing device 4 can carry out the installation operation normally;

[0039] During installation, the rotating table 41 is first used to drive the four-split spacer bar 8 to rotate toward the opening direction of the clamp 82 until the four clamps 82 are all rotated onto the four conductors, with a rotation angle of about 45 degrees; then the clamp clamping device 32 is driven by the swing arm 31 to move to the clamp 82 of the four-split spacer bar 8, and the clamp 82 on the four-split spacer bar 8 is closed by the clamp clamping device 32, and the clamp 82 on the four-split spacer bar 8 is clamped together with the conductors in the four-split conductor 5; after the four clamps 82 are all installed, the spacer bar clamp 42 is opened, and the spacer bar installation device 3 and the spacer bar fixing device 4 are driven to continue to move in the opposite direction along the first direction. After the spacer bar installation device 3 and the spacer bar fixing device 4 are away from the four-split spacer bar 8, the robot is driven to take off from the conductor and land on the ground through the flying mechanism 2, and finally the entire robot operation process is completed.

[0040] See also Figure 4 In another embodiment of the present invention, the swing arm 31 includes a front fixed plate 311, an upper swing arm 312, and a lower swing arm 313. One end of the front fixed plate 311 is slidably arranged at the bottom of the flying frame 1 along the first direction, and the other end of the front fixed plate 311 is rotatably connected to one end of the upper swing arm 312. The other end of the upper swing arm 312 is rotatably connected to one end of the lower swing arm 313, and the other end of the lower swing arm 313 is connected to the clamping device 32.

[0041] See also Figure 5 In another embodiment of the present invention, the chuck clamping device 32 includes a housing and a rotating driving member 321 and a clamping jaw disposed thereon. The clamping jaw includes a clamp 322 and a movable pressing block 323 movably disposed on the clamp 322. The output end of the rotating driving member 321 is connected to the movable pressing block 323. The rotating driving member 321 is used to drive the movable pressing block 323 to cooperate with the clamp 322 to close or release the chuck 82 of the four-split spacer 8. Specifically, the rotating driving member 321 can be a rotating motor, a hydraulic cylinder or a pneumatic cylinder, etc. In the present invention, the rotating driving member 321 is preferably a rotating motor. The driving end of the rotating motor is connected to the movable pressing block 323 through a screw assembly. The screw assembly is used to convert the rotary motion into a linear motion. The screw assembly here is preferably a screw assembly as described in the invention patent "Metal Fitting Assembly Device and Spacer Bar Installation Robot" with publication number CN115986629B.

[0042] See also Figure 6In another embodiment of the present invention, the rotating platform 41 includes a rear fixing plate 411 and a rotating platform body 412. One end of the rear fixing plate 411 is slidably disposed at the bottom of the flying frame 1 along the first direction, and the other end of the rear fixing plate 411 is connected to the rotating platform body 412. The spacer rod clamp 42 is disposed on the table surface of the rotating platform body 412. The rotating platform body 412 is connected to a rotating motor, and the rotating platform body 412 is driven by the rotating motor to rotate with the center of the rotating platform body 412 as the rotation center.

[0043] See also Figure 7 In another embodiment of the present invention, the spacer bar clamp 42 includes a gripping base 421, a gripping drive 422, and two grippers 423. The gripping base 421 is disposed on the table surface of the rotating table body 412. A guide rail 424 is disposed on the gripping base 421. Two grippers 423 are slidably disposed on the guide rail 424. A card slot 425 is disposed on the side of the two grippers 423 away from each other. The card slot 425 is used to engage with the side wall of the center hole of the spacer bar frame 81. The output end of the gripping drive 422 is connected to the two grippers 423. The gripping drive 422 is used to drive the two grippers 423 to move toward each other or away from each other. After the two grippers 423 move away from each other to a certain distance, the card slots 425 on the two grippers 423 engage with the side wall of the center hole of the spacer bar frame 81, thereby achieving the gripping of the four-split spacer bar 8.

[0044] In another embodiment of the present invention, a slide rail 11 is arranged at the bottom of the flying frame 1 along the first direction, and a first slider 12 and a second slider 13 are respectively connected to one end of the front fixed plate 311 and the rear fixed plate 411, and the first slider 12 and the second slider 13 are slidably matched with the slide rail 11, and the first slider 12 and the second slider 13 are connected to the output end of the sliding drive device, and the sliding drive device is used to drive the first slider 12 and the second slider 13 to move toward or away from each other along the first direction; as an implementation method, the sliding drive device can be a rotating motor, a hydraulic cylinder or a cylinder, etc. In the present invention, the sliding drive device is preferably a rotating motor, and the sliding drive device can be connected to the first slider 12 and the second slider 13 through a transmission mechanism such as a screw rod or a gear rack to realize the linear movement of the first slider 12 and the second slider 13 toward or away from each other along the slide rail 11.

[0045] In another embodiment of the present invention, the installation robot also includes two wire connecting devices 6, which are respectively arranged on both sides of the bottom of the flying frame 1, and the wire connecting devices 6 are used to connect with the wires in the four-split wire 5, and the spacer rod installation device 3 and the spacer rod fixing device 4 are both arranged between the two wire connecting devices 6.

[0046] See also Figure 8 , Fig. 9In another embodiment of the present invention, the wire connecting device 6 includes a connecting base 61, a connecting drive 62, two wire clamps 63, a bidirectional screw 64, and a guide rod. The connecting base 61 is arranged at the bottom of the flying frame 1, and the bidirectional screw 64 is rotatably arranged inside the connecting base 61. The two ends of the bidirectional screw 64 have external threads with opposite rotation directions. The tops of the two wire clamps 63 are respectively threadedly connected to the two ends of the bidirectional screw 64, and the two ends of the guide rod are fixedly connected to the connecting base 61. The two wire clamps 63 can slide along the guide rod. A wire clamping groove 65 is provided on the side close to each other at the bottom of the two wire clamps 63. One end of the bidirectional screw 64 is connected to the output end of the connecting drive 62. The connecting drive 62 is a rotating motor. The connecting drive 62 is used to drive the two wire clamps 63 to move toward or away from each other to grasp or release the wire.

[0047] During specific operations, after the robot's posture is adjusted to the second posture through the flying mechanism 2 so that the four-split spacer rod 8 is perpendicular to the extension direction of the wire, the robot continues to descend until the robot falls on the wire. At this time, the wire connecting device 6 is closed to grab the wire to prevent the robot from falling from a high altitude and at the same time position and connect the robot to the wire; after the four clamps 82 are installed, the wire connecting device 6 is opened to loosen the wire, and the robot can take off directly from the wire.

[0048] In another embodiment of the present invention, the installation robot also includes four running wheels 7 arranged at the four corners of the bottom of the flight frame 1, and the running wheels 7 are used to drive the entire robot to move on the wire. In order to prevent the running wheel 7 from falling off the wire, a V-shaped wire groove is provided on the running wheel 71. The running wheel 71 also plays a role in restraining the wire. The spacing between the No. 1 wire and the No. 2 wire is used as the design spacing between the running wheels 7 on both sides. The spacer bar installation device 3 and the spacer bar fixing device 4 are arranged between the wheel axles of the running wheels 7 on both sides, so that the installation of the four-split spacer bars is more accurate. As an implementation method, the running wheel 7 is connected to one end of the connecting plate, and the other end of the connecting plate is connected to the waist-shaped hole on the flight frame 1 by bolts. The waist-shaped hole is used to adjust the design spacing between the running wheels 7 on both sides to adapt to different wire spacings.

[0049] There are four flying mechanisms 2, which are respectively arranged at the four corners of the flying frame 1; as an implementation method, the flying mechanism 2 includes a controller, a rotor, and a rotor motor. The output end of the rotor motor is connected to the rotor, and the rotor motor is connected to the controller through a PWM signal. The controller is used to control the rotor motor, thereby realizing the take-off and landing control and attitude control of the installation robot.

[0050] In another embodiment of the present invention, a method for using a lightweight four-split spacer rod installation robot is provided, and the method for using the robot is performed in the following steps:

[0051] Step 1: Clamp the spacer frame 81 of the four-split spacer 8 to be installed by the spacer clamp 42;

[0052] Step 2: The installation robot is driven to take off and move to above the four-split conductor 5 by the flying mechanism 2, the installation robot posture is switched to the first posture, and the swing arm 31 and the rotating platform 41 are driven to move toward each other along the first direction;

[0053] Step 3: First, the installation robot is driven to fall between the two side wires of the four-split wire 5 by the flying mechanism 2, and then the posture of the installation robot is adjusted to the second posture, and the swing arm 31 and the rotating platform 41 are driven to move in the opposite direction along the first direction;

[0054] Step 4: First, use the rotating table 41 to drive the four-split spacer bar 8 to rotate around the opening direction of the clamp 82 until the wire enters the inside of the clamp 82, and then drive the clamp clamping device 32 to move to the clamp 82 of the four-split spacer bar 8 through the swing arm 31, and close the clamp 82 on the four-split spacer bar 8 through the clamp clamping device 32 to clamp the clamp 82 on the four-split spacer bar 8 and the wire in the four-split wire 5 together;

[0055] Step 5, first open the spacer rod clamp 42 to loosen the four-split spacer rod 8, then drive the swing arm 31 and the rotating table 41 to continue to move backwards along the first direction, so that the spacer rod installation device 3, the spacer rod fixing device 4 and the four-split spacer rod 8 are separated, and finally drive the installation robot to take off and land on the ground through the flying mechanism 2.

[0056] The present invention, based on the installation characteristics of four-split spacer bars, designs a four-split spacer bar installation robot that integrates flight, carrying, and installation functions. It does not pursue the storage and transportation of multiple spacer bars, but only installs a single spacer bar per unit time, which greatly reduces the volume and weight of the equipment, making it light enough and easy to carry. In addition, multiple four-split spacer bar installation robots are allowed to carry out spacer bar online and installation on the same line, which has the advantages of intelligent and clustered operation, making up for the disadvantage of only being able to install a single spacer bar at a time, and can greatly improve the efficiency and economy of the automated installation of four-split spacer bars.

Claims

1. A lightweight four-split spacer rod installation robot, characterized in that: The installation robot comprises a flight frame (1), a flight mechanism (2), a spacer bar installation device (3), and a spacer bar fixing device (4); the spacer bar installation device (3) comprises a swing arm (31) and a chuck pressing device (32); the spacer bar fixing device (4) comprises a rotating table (41) and a spacer bar clamp (42); the swing arm (31) and the rotating table (41) are both slidably arranged at the bottom of the flight frame (1) along a preset first direction; the swing arm (31) is connected to the chuck pressing device (32); the swing arm (31) is used to drive the chuck pressing device (32) to move to the fourth position; At the clamp (82) of the split spacer (8), the clamp pressing device (32) is used to clamp the clamp (82) on the four-split spacer (8) and the wires in the four-split wires (5) together, the table surface of the rotating table (41) is arranged perpendicular to the first direction, the spacer clamp (42) is arranged on the table surface of the rotating table (41), the rotating table (41) is used to drive the spacer clamp (42) to rotate toward the opening direction of the clamp (82) of the four-split spacer (8), and the spacer clamp (42) is used to clamp the spacer frame (81) of the four-split spacer (8); The flying mechanism (2) is arranged on the top of the flying frame (1), and is used to drive the installation robot to move and switch the posture of the installation robot to a first posture or a second posture. In the first posture, the first direction is perpendicular to the wire extension direction of the four-split wire (5), and the swing arm (31) and the rotating table (41) can be driven to move toward each other along the first direction. In the second posture, the first direction is parallel to the wire extension direction of the four-split wire (5), and the swing arm (31) and the rotating table (41) can be driven to move in opposite directions along the first direction.

2. A lightweight four-split spacer rod installation robot according to claim 1, characterized in that: The swing arm (31) comprises a front fixing plate (311), an upper swing arm (312), and a lower swing arm (313); one end of the front fixing plate (311) is slidably arranged at the bottom of the flying frame (1) along a first direction; the other end of the front fixing plate (311) is rotatably connected to one end of the upper swing arm (312); the other end of the upper swing arm (312) is rotatably connected to one end of the lower swing arm (313); and the other end of the lower swing arm (313) is connected to a clamping device (32).

3. A lightweight four-split spacer rod installation robot according to claim 2, characterized in that: The clamping device (32) comprises a rotating driving member (321) and a clamping jaw, wherein the clamping jaw comprises a clamp (322) and a movable pressing block (323) movably arranged on the clamp (322), the output end of the rotating driving member (321) is connected to the movable pressing block (323), and the rotating driving member (321) is used to drive the movable pressing block (323) to cooperate with the clamp (322) to close or release the clamp (82) of the four-split spacer rod (8).

4. A lightweight four-split spacer rod installation robot according to claim 2 or 3, characterized in that: The rotating table (41) comprises a rear fixing plate (411) and a rotating table body (412); one end of the rear fixing plate (411) is slidably arranged at the bottom of the flying frame (1) along a first direction; the other end of the rear fixing plate (411) is connected to the rotating table body (412); and the spacer rod clamp (42) is arranged on the table surface of the rotating table body (412).

5. A lightweight four-split spacer rod installation robot according to claim 4, characterized in that: The spacer rod clamp (42) comprises a gripping base (421), a gripping driving member (422), and two grippers (423); the gripping base (421) is arranged on the table surface of the rotating table body (412); a guide rail (424) is arranged on the gripping base (421); the two grippers (423) are slidably arranged on the guide rail (424); a clamping groove (425) is arranged on the side away from each other of the two grippers (423); the clamping groove (425) is used to be clamped with the side wall of the center hole of the spacer rod frame (81); the output end of the gripping driving member (422) is connected to the two grippers (423); the gripping driving member (422) is used to drive the two grippers (423) to move towards each other or away from each other.

6. A lightweight four-split spacer rod installation robot according to claim 4, characterized in that: A slide rail (11) is arranged at the bottom of the flying frame (1) along a first direction, and one end of the front fixing plate (311) and the rear fixing plate (411) are respectively connected to a first slider (12) and a second slider (13), and the first slider (12) and the second slider (13) are slidably matched with the slide rail (11).

7. A lightweight four-split spacer installation robot according to any one of claims 1 to 3, characterized in that: The installation robot also includes two wire connecting devices (6), the two wire connecting devices (6) are respectively arranged on both sides of the bottom of the flying frame (1), the spacer bar installation device (3) and the spacer bar fixing device (4) are both arranged between the two wire connecting devices (6), and the wire connecting device (6) is used to connect with the wires in the four-split wire (5).

8. A lightweight four-split spacer rod installation robot according to claim 7, characterized in that: The wire connecting device (6) comprises a connecting base (61), a connecting drive (62), and two wire clamps (63). The connecting base (61) is arranged at the bottom of the flying frame (1). A bidirectional screw rod (64) is rotatably arranged inside the connecting base (61). The tops of the two wire clamps (63) are respectively threadedly connected to the two ends of the bidirectional screw rod (64). A wire clamping groove (65) is arranged on the side close to each other at the bottom of the two wire clamps (63). One end of the bidirectional screw rod (64) is connected to the output end of the connecting drive (62). The connecting drive (62) is used to drive the two wire clamps (63) to move towards each other or away from each other.

9. A lightweight four-split spacer rod installation robot according to any one of claims 1 to 3, characterized in that: The installation robot also includes four running wheels (7) arranged at the four corners of the bottom of the flying frame (1).

10. The method for using a lightweight four-split spacer bar installation robot according to claim 1, characterized in that: The method of use includes: Step 1: Clamp the spacer bar frame (81) of the four-split spacer bar (8) to be installed by using the spacer bar clamp (42); Step 2: First, the flight mechanism (2) drives the installation robot to take off and move to above the four-split conductor (5), then the installation robot is switched to a first posture, and the swing arm (31) and the rotating platform (41) are driven to move toward each other along a first direction; Step 3: first, the flying mechanism (2) drives the installation robot to fall between the two side wires of the four-split wire (5), then adjusts the posture of the installation robot to a second posture, and drives the swing arm (31) and the rotating platform (41) to move in opposite directions along the first direction; Step 4: First, use the rotating table (41) to drive the four-split spacer bar (8) to rotate toward the opening direction of the clamp (82) until the wire enters the inside of the clamp (82), and then use the swing arm (31) to drive the clamp clamping device (32) to move to the clamp (82) of the four-split spacer bar (8), and close the clamp (82) on the four-split spacer bar (8) through the clamp clamping device (32) to clamp the clamp (82) on the four-split spacer bar (8) and the wire in the four-split wire (5) together; Step 5: first open the spacer rod clamp (42) to loosen the four-split spacer rod (8), then drive the swing arm (31) and the rotating table (41) to continue to move in the opposite direction along the first direction, so that the spacer rod installation device (3) and the spacer rod fixing device (4) are separated from the four-split spacer rod (8), and then drive the installation robot to take off and land on the ground through the flying mechanism (2).

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