A quadrupole split spacer installation robot and on-off line method

Abstract

The present application belongs to the technical field of spacer installation, and particularly relates to a four-split spacer installation robot and an on-off line method. The robot comprises an on-line device, a storage box, a grabbing device, an installation device, a wire poking device and an auxiliary clamping device. The wire poking device comprises a first driving mechanism, a second driving mechanism and two wire poking pieces. The first driving mechanism drives the second driving mechanism to move upward or downward in the vertical direction. The second driving mechanism is used for driving the two wire poking pieces to move toward or away from each other in the horizontal direction. The wire poking pieces are used for pressing the lower wire in the four-split wire downward to the auxiliary clamping device. The auxiliary clamping device is used for clamping the lower wire. After being clamped, the line spacing between the lower wire and the upper wire in the four-split wire is equal to the split spacing of the four-split spacer. The present application can not only fix the line spacing between the lower wire and the upper wire, but also is suitable for four-split spacer installation and can adapt to the spacing requirements of different four-split wires.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of spacer installation, and particularly relates to a four-split spacer installation robot and an up-and-down line method. BACKGROUND

[0002] When high-voltage cable erection is carried out, a spacer is used, which is used to be installed between split conductors, and its main purpose is to separate multiple split conductors and limit the relative movement between the split conductors. The setting of the spacer can not only avoid the collision caused by the mutual whipping between the split conductors, but also avoid the wind vibration and sub-span oscillation of the split conductors caused by the influence of the external environment, so as to ensure the normal transmission of power. The existing overhead transmission line spacer installation machine needs to be hoisted or manually assisted to be up-and-down, and manual assistance in high altitude also has a great safety risk.

[0003] The application No. 202410149913.3 provides a four-split conductor spacer installation robot, which comprises an up-line device and an installation device. The up-line device can be placed in advance on two conductors at a high position, the up-line device can release a lifting rope, and the installation device can be lifted to a high altitude through the lifting rope, and then connected with the up-line device, so as to realize the installation of the four-split conductor spacer. The spacer installation robot does not need manual or hoist-assisted up-and-down, and is convenient and fast to operate. However, in actual installation, due to the large weight of the robot, the upper conductor and the lower conductor of the four-split conductor are too close after the robot is up-and-down, which does not meet the installation spacing requirement of the four-split spacer. Therefore, the existing technology has the problem of being not applicable to the up-and-down line of the four-split robot. SUMMARY

[0004] The purpose of the present application is to solve the above-mentioned problems existing in the prior art, and to provide a four-split spacer installation robot and an up-and-down line method which can fix the line spacing of the four-split conductor and are suitable for the installation of the four-split spacer.

[0005] To achieve the above purpose, the technical scheme of the present application is as follows:

[0006] In the first aspect, the present application provides a four-split spacer installation robot, which comprises an up-line device, a storage box, a grabbing device and an installation device. The up-line device is used to up-line the four-split spacer installation robot. The storage box is used to store the four-split spacer. The grabbing device is used to take out the four-split spacer from the storage box and move it to the four-split conductor. The installation device is used to install the four-split spacer and the four-split conductor together.

[0007] The four-split spacer mounting robot further comprises a wire pushing device and an auxiliary clamping device arranged on the storage box, the wire pushing device comprises a first driving mechanism, a second driving mechanism and two wire pushing pieces, the second driving mechanism is arranged on the first driving mechanism, and the two wire pushing pieces are arranged on the second driving mechanism, the first driving mechanism is used to drive the second driving mechanism to move upward or downward in the vertical direction, the second driving mechanism is used to drive the two wire pushing pieces to move towards or away from each other in the horizontal direction, and the wire pushing piece is used to press the lower wire in the four-split wire downward to the auxiliary clamping device, and the auxiliary clamping device is used to clamp the lower wire, and the line spacing between the lower wire and the upper wire in the four-split wire after being clamped is equal to the split spacing of the four-split spacer.

[0008] The first driving mechanism comprises a first power mechanism and a sliding table, the sliding table is in sliding cooperation with the storage box, the first power mechanism is used to drive the sliding table to slide upward or downward in the vertical direction, the second driving mechanism is arranged on the sliding table, the second driving mechanism comprises a second power mechanism and two moving blocks, the two moving blocks are in sliding cooperation with the sliding table, the second power mechanism is used to drive the two moving blocks to move towards or away from each other, and the two wire pushing pieces are arranged on the two moving blocks respectively.

[0009] The auxiliary clamping device comprises a front clamping device, the front clamping device comprises a third driving mechanism and two fourth driving mechanisms, the two fourth driving mechanisms are arranged on the third driving mechanism, a front wheel set is arranged on the fourth driving mechanism, the front wheel set comprises an upper pressing wheel and a lower pressing wheel, the third driving mechanism is used to drive the two fourth driving mechanisms to move towards or away from each other in the horizontal direction, and the fourth driving mechanism is used to drive the upper pressing wheel and the lower pressing wheel to move towards each other in the vertical direction to clamp the lower wire.

[0010] The auxiliary clamping device further comprises a rear clamping device, the rear clamping device comprises a fifth driving mechanism and two sixth driving mechanisms, the two sixth driving mechanisms are arranged on the fifth driving mechanism, a rear wheel set is arranged on the sixth driving mechanism, the rear wheel set comprises a rear pressing wheel, the fifth driving mechanism is used to drive the two sixth driving mechanisms to move towards or away from each other in the horizontal direction, and the sixth driving mechanism is used to drive the rear pressing wheel to move downward in the vertical direction to press the lower wire.

[0011] The wire pushing device further comprises a seventh driving mechanism, two eighth driving mechanisms, and two walking mechanisms, the walking mechanisms comprise upper pressing wheels and lower pressing wheels, the upper pressing wheels of the two walking mechanisms are arranged on the two moving blocks respectively, the seventh driving mechanism is arranged on the sliding table, the two eighth driving mechanisms are arranged on the seventh driving mechanism, the lower pressing wheels of the two walking mechanisms are arranged on the two eighth driving mechanisms respectively, the seventh driving mechanism is used to drive the two eighth driving mechanisms to move towards or away from each other in the horizontal direction, and the eighth driving mechanisms are used to drive the lower pressing wheels to move upwards in the vertical direction to jointly clamp the upper wires in the four-split wires with the upper pressing wheels.

[0012] The bottom of the wire pushing piece is provided with a wire slot for accommodating the lower wires.

[0013] The upper wire equipment comprises an upper frame, a moving device arranged on the upper frame, and an upper lifting device, the upper moving device is used to drive the upper frame to move on the upper wires, and the upper lifting device is used to wind and unwind the lifting ropes.

[0014] The grabbing device comprises a mechanical arm and a spacer rod grabbing mechanism, one end of the mechanical arm is arranged on the storage box body, the other end of the mechanical arm is connected with the spacer rod grabbing mechanism, and the spacer rod grabbing mechanism is used to grab the four-split spacers.

[0015] The mounting device comprises a clamping arm and a clamping mechanism, one end of the clamping arm is arranged on the storage box body, the other end of the clamping arm is connected with the clamping mechanism, and the clamping mechanism is used to clamp the four clamping heads 72 in the four-split spacers and the four-split wires.

[0016] In the second aspect, the application provides an up-and-down wire method of a four-split spacer mounting robot, and the up-and-down wire method comprises the following steps.

[0017] S1, upwire the four-split spacer mounting robot through the upwire equipment;

[0018] S2, drive the second driving mechanism to move upwards along the vertical direction through the first driving mechanism, so that the two wire pushing pieces extend into the upper wires and the lower wires, then drive the two wire pushing pieces to move away from each other through the second driving mechanism, so that the two wire pushing pieces move to the upper sides of the two lower wires along the horizontal direction respectively, and then drive the second driving mechanism to move downwards along the vertical direction through the first driving mechanism, so that the two wire pushing pieces press the two lower wires downwards to the auxiliary clamping device respectively;

[0019] S3, clamp the two lower wires in the four-split wires through the auxiliary clamping device, and the wire spacing between the lower wires and the upper wires after clamping is equal to the split spacing of the four-split spacer;

[0020] S4, taking out the quadrupling spacer from the storage box by the grabbing device and moving to the quadrupling conductor;

[0021] S5, installing the quadrupling spacer and the quadrupling conductor together by the installing device;

[0022] S6, loosening two lower conductors in the quadrupling conductor by the auxiliary clamping device, and lowering the quadrupling spacer installation robot by the wire-up device.

[0023] Compared with the prior art, the beneficial effects of the present application are:

[0024] 1. The quadrupling spacer installation robot provided by the present application comprises a wire-up device, a storage box, a grabbing device, an installing device, a wire shifting device and an auxiliary clamping device, the wire shifting device comprises a first driving mechanism, a second driving mechanism and two wire shifting pieces, the second driving mechanism is arranged on the first driving mechanism, and the two wire shifting pieces are arranged on the second driving mechanism; the first driving mechanism drives the second driving mechanism to move upward or downward in the vertical direction, and the second driving mechanism is used to drive the two wire shifting pieces to move towards or away from each other in the horizontal direction; the wire shifting piece is used to press the lower conductor in the quadrupling conductor downward to the auxiliary clamping device, and the auxiliary clamping device is used to clamp the lower conductor; after being clamped, the line spacing between the lower conductor and the upper conductor in the quadrupling conductor is equal to the quadrupling spacing of the quadrupling spacer; the robot first uses the wire shifting piece to separate the lower conductor and the upper conductor in the quadrupling conductor, and then shifts them to a position that can be captured by the auxiliary clamping device, and then clamps the lower conductor by the auxiliary clamping device, so as to fix the line spacing between the lower conductor and the upper conductor at the quadrupling spacing of the quadrupling spacer, and ensure that the subsequent installation operation of the quadrupling spacer can be smoothly performed; in addition, the downward moving distance of the second driving mechanism in the vertical direction driven by the first driving mechanism and the away moving distance of the two wire shifting pieces in the horizontal direction driven by the second driving mechanism are both adjustable, and can meet the spacing requirements of different quadrupling conductors. Therefore, the present application is not only suitable for the installation of the quadrupling spacer, but also can meet the spacing requirements of different quadrupling conductors.

[0025] 2, The wire pulling device of the four-split spacer rod mounting robot further comprises a seventh driving mechanism, two eighth driving mechanisms and two walking mechanisms, the walking device comprises an upper pressing wheel and a lower pressing wheel, the upper pressing wheel and the wire pulling piece share a set of driving mechanisms, namely, share the first driving mechanism and the second driving mechanism; after the auxiliary clamping device completes clamping of the lower wire, the wire pulling device can be separated from the lower wire, the first driving mechanism and the second driving mechanism are used to hang the upper pressing wheel on the upper wire, then the seventh driving mechanism and the two eighth driving mechanisms are used to press the lower pressing wheel and the upper pressing wheel, and the walking mechanism is successfully connected with the upper wire; through the ingenious work flow design, the wire pulling device has the functions of walking wheel wire pulling and wire pressing, the equipment weight is reduced, the equipment concentration is improved, and redundant design is avoided. Therefore, the equipment weight is reduced, and the equipment concentration is improved. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the present application.

[0027] Figure 2 It is a structural schematic diagram of the wire pulling device and the walking mechanism in the present application.

[0028] Figure 3 It is a side view of the wire pulling device and the walking mechanism in the present application.

[0029] Figure 4 It is a structural schematic diagram of the front clamping device in the present application.

[0030] Figure 5 It is a side view of the front clamping device in the present application.

[0031] Figure 6 It is a side view of the rear clamping device in the present application.

[0032] Figure 7 It is a structural schematic diagram of the four-split spacer rod in the present application.

[0033] In the above figure, the upper line equipment 1, the upper frame 11, the moving device 12, the upper lifting device 13, the storage box body 2, the lower lifting device 21, the grabbing device 3, the mechanical arm 31, the spacer rod grabbing mechanism 32, the mounting device 4, the clamping arm 41, the clamping mechanism 42, the wire pulling device 5, the first driving mechanism 51, the first power mechanism 511, the sliding table 512, the second driving mechanism 52, the second power mechanism 521, the moving block 522, the wire guide 53, the wire slot 531, the seventh driving mechanism 54, the eighth driving mechanism 55, the walking mechanism 56, the upper pressing wheel 561, the lower pressing wheel 562, the auxiliary clamping device 6, the front clamping device 61, the third driving mechanism 611, the fourth driving mechanism 612, the upper pressing wheel 613, the lower pressing wheel 614, the rear clamping device 62, the fifth driving mechanism 621, the sixth driving mechanism 622, the rear pressing wheel 623, the four-split spacer rod 7, the quadrilateral body 71, the chuck 72. DETAILED DESCRIPTION

[0034] The application will be described in further detail below with reference to the drawings. It is apparent that the described embodiments are only a part of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0035] The four-split wire includes four parallel wires, and the four wires are sequentially numbered as No. 1, No. 2, No. 3 and No. 4. No. 1 wire and No. 2 wire are upper wires in the same horizontal plane, and No. 3 wire and No. 4 wire are lower wires in another horizontal plane. Figure 7 A four-split wire spacer rod is shown, which includes a quadrilateral body 71 and four chucks 72. The four chucks 72 are respectively arranged at four corners of the quadrilateral body 71. The chuck 72 includes a fixed part and a clamping part. One end of the clamping part is rotatably connected to the fixed part, and the other end of the clamping part can be rotated to be clamped with the fixed part. After clamping, a through hole for the wire to pass through can be formed between the clamping part and the fixed part. The clamping parts of the four chucks 72 can be rotated in the same direction to be clamped with the fixed part. In actual installation, the four-split wire spacer rod can be placed in the middle of the four wires, and the four chucks 72 are respectively connected with the four wires, so as to ensure the spacing of the four wires.

[0036] Reference Figure 1In one embodiment of the present application, a four-split spacer mounting robot is provided, comprising an online device 1, a storage box 2, a grabbing device 3, a mounting device 4, the online device 1 is used for online four-split spacer mounting robot, the storage box 2 is used for storing four-split spacers 7, the grabbing device 3 is used for taking out the four-split spacers 7 from the storage box 2 and moving to the four-split conductors, the mounting device 4 is used for mounting the four-split spacers 7 and the four-split conductors together, the four-split spacer mounting robot further comprises a wire shifting device 5 and an auxiliary clamping device 6 arranged on the storage box 2, the wire shifting device 5 comprises a first driving mechanism 51, a second driving mechanism 52 and two wire shifting pieces 53, the second driving mechanism 52 is arranged on the first driving mechanism 51, and the two wire shifting pieces 53 are arranged on the second driving mechanism 52, the first driving mechanism 51 is used for driving the second driving mechanism 52 to move upward or downward in the vertical direction, the second driving mechanism 52 is used for driving the two wire shifting pieces 53 to move toward or away from each other in the horizontal direction, the wire shifting piece 53 is used for pressing the lower conductor in the four-split conductors downward to the auxiliary clamping device 6, and the auxiliary clamping device 6 is used for clamping the lower conductor, and the line spacing between the lower conductor and the upper conductor in the four-split conductors after being clamped is equal to the split spacing of the four-split spacers 7.

[0037] In specific installation, the storage box 2 is first online through the online device 1, then the second driving mechanism 52 is driven by the first driving mechanism 51 to move upward in the vertical direction, so that the two wire shifting pieces 53 extend into the upper conductor and the lower conductor, then the two wire shifting pieces 53 are driven by the second driving mechanism 52 to move away from each other in the horizontal direction, so that the two wire shifting pieces 53 move above the two lower conductors respectively, then the second driving mechanism 52 is driven by the first driving mechanism 51 to move downward in the vertical direction, so that the two wire shifting pieces 53 press the two lower conductors downward respectively, and the two lower conductors are separated from the upper conductor and are pressed to a position that can be captured by the auxiliary clamping device 6; the two lower conductors in the four-split conductors are clamped by the auxiliary clamping device 6, and the line spacing between the lower conductor and the upper conductor after being clamped is fixed at the split spacing of the four-split spacers 7; then the four-split spacers 7 are taken out from the storage box 2 by the grabbing device 3 and moved to the four-split conductors; finally, the four-split spacers 7 and the four-split conductors are mounted together by the mounting device 4.

[0038] Referring to Figure 2 , Figure 3In another embodiment of the present application, in order to ensure the stability of the movement, the first driving mechanism 51 comprises a first power mechanism 511, a sliding table 512, and a guide rail vertically arranged on one side of the storage box body 2, the sliding table 512 is slidingly arranged on the guide rail, the first power mechanism 511 is used to drive the sliding table 512 to slide upwards or downwards along the guide rail 512, and the second driving mechanism 52 is arranged on the sliding table 512; in order to ensure the synchronization of the movement of the two wire prongs 53, the second driving mechanism 52 comprises a second power mechanism 521, a bidirectional screw rod, and two moving blocks 522, the bidirectional screw rod is arranged on the sliding table 512, the two moving blocks 522 are slidingly matched with the sliding table 512, the two moving blocks 522 are threadedly matched with two ends of the bidirectional screw rod respectively, and the second power mechanism 521 is used to drive the bidirectional screw rod to rotate forward or reversely to drive the two moving blocks 522 to move towards each other or away from each other, and the two wire prongs 53 are arranged on the two moving blocks 522 respectively.

[0039] Referring to Figure 4 , Figure 5 In another embodiment of the present application, the auxiliary clamping device 6 comprises a front clamping device 61, the front clamping device 61 comprises a third driving mechanism 611 and two fourth driving mechanisms 612, the two fourth driving mechanisms 612 are arranged on the third driving mechanism 611, a front wheel set is arranged on the fourth driving mechanism 612, the front wheel set comprises an upper pressing wheel 613 and two lower pressing wheels 614, the third driving mechanism 611 is used to drive the two fourth driving mechanisms 612 to move towards each other or away from each other in the horizontal direction, and the fourth driving mechanism 612 is used to drive the upper pressing wheel 613 and the lower pressing wheels 614 to move towards each other or away from each other in the vertical direction. As an implementation manner, the third driving mechanism 611 can comprise a first base, a third power mechanism, a first sliding rail, and two first sliding blocks, the first sliding rail is arranged on the first base, the two fourth driving mechanisms 612 are arranged on the two first sliding blocks respectively, and the third power mechanism is used to drive the two first sliding blocks to move towards each other or away from each other in the horizontal direction; the fourth driving mechanism 612 can comprise a fourth power mechanism, a second base, a second sliding rail, and two second sliding blocks, the second sliding rail is arranged on the second base, the upper pressing wheel 613 is arranged on one of the second sliding blocks, and the two lower pressing wheels 614 are arranged on the other second sliding block, and the fourth power mechanism is used to drive the two second sliding blocks to move towards each other or away from each other in the vertical direction.

[0040] In actual application, after the lower wire is pressed to a position that can be captured by the auxiliary clamping device 6, the third driving mechanism 611 is used to drive the two fourth driving mechanisms 612 to move away from each other in the horizontal direction, and then the fourth driving mechanism 612 is used to drive the upper pressing wheel 613 and the lower pressing wheels 614 to move towards each other in the vertical direction to clamp the lower wire.

[0041] Referring to Figure 6In another embodiment of the present application, the auxiliary clamping device 6 further comprises a rear clamping device 62, the rear clamping device 62 comprising a fifth driving mechanism 621, two sixth driving mechanisms 622, each of which is arranged on the fifth driving mechanism 621, and a rear wheel set arranged on the sixth driving mechanism 622, the rear wheel set comprising a rear pressing wheel 623, the fifth driving mechanism 621 being configured to drive the two sixth driving mechanisms 622 to move towards or away from each other in the horizontal direction, and the sixth driving mechanism 622 being configured to drive the rear pressing wheel 623 to move downward in the vertical direction to press the lower conductor. As an implementation, the fifth driving mechanism 621 can comprise a fifth power mechanism, a third base, a third sliding rail, and two third sliding blocks, the third sliding rail being arranged on the third base, and the two sixth driving mechanisms 622 being arranged on the two third sliding blocks respectively, the fifth power mechanism being configured to drive the two third sliding blocks to move towards or away from each other in the horizontal direction; and the sixth driving mechanism 622 can comprise a sixth power mechanism, a fourth base, a fourth sliding rail, and a fourth sliding block, the fourth sliding rail being arranged on the fourth base, and the rear pressing wheel 623 being arranged on the fourth sliding block, the sixth power mechanism being configured to drive the fourth sliding block to move upward or downward in the vertical direction.

[0042] In actual application, after the lower conductor is pressed to a position that can be captured by the auxiliary clamping device 6, the fifth driving mechanism 621 is used to drive the two sixth driving mechanisms 622 to move away from each other in the horizontal direction, and then the sixth driving mechanism 622 is used to drive the rear pressing wheel 623 to move downward in the vertical direction to press the lower conductor.

[0043] After the lower conductor is pressed to a position that can be captured by the auxiliary clamping device 6, the rear clamping device 62 is used to press the lower conductor to a position that can be captured by the front clamping device 61, and then the front clamping device 61 is used to capture the lower conductor, the front clamping device 61 being a centering mechanism that can fix the lower conductor at a set distance, thereby ensuring that the four conductors in the four-split conductor form a distance that can be installed by a spacer rod, and at the same time ensuring that the conductors do not come off.

[0044] Referring to Figure 2 , Figure 3In another embodiment of the present application, the wire pushing device 5 further comprises a seventh driving mechanism 54, two eighth driving mechanisms 55, and two walking mechanisms 56, each of the walking mechanism 56 comprising an upper pressing wheel 561 and a lower pressing wheel 562, the upper pressing wheels 561 of the two walking mechanisms 56 are respectively arranged on the two moving blocks 522, the seventh driving mechanism 54 is arranged on the sliding table 512, the two eighth driving mechanisms 55 are arranged on the seventh driving mechanism 54, the lower pressing wheels 562 of the two walking mechanisms 56 are respectively arranged on the two eighth driving mechanisms 55, the seventh driving mechanism 54 is used to drive the two eighth driving mechanisms 55 to move towards or away from each other in the horizontal direction, and the eighth driving mechanism 55 is used to drive the lower pressing wheel 562 to move upwards in the vertical direction to jointly hold the upper wire of the four-split wire with the upper pressing wheel 561.

[0045] In actual application, after the auxiliary holding device completes the holding of the lower wire, the first driving mechanism 51 drives the second driving mechanism 52 to move upwards in the vertical direction, so that the wire pushing piece 53 is separated from the lower wire, then the second driving mechanism drives the two moving blocks 522 to move towards each other, the first driving mechanism 51 drives the second driving mechanism 52 to continue moving upwards in the vertical direction, so that the two upper pressing wheels 561 move to between the two upper wires, then the second driving mechanism drives the two moving blocks 522 to move away from each other, and the first driving mechanism 51 drives the second driving mechanism 52 to move downwards in the vertical direction, so that the upper pressing wheels 561 are hung on the upper wires. Subsequently, the seventh driving mechanism drives the two eighth driving mechanisms to move upwards in the vertical direction, and the eighth driving mechanism drives the lower pressing wheel 562 to be pressed by the upper pressing wheel 561, so that the walking mechanism can be successfully connected with the upper wire.

[0046] Referring to Figure 2 In another embodiment of the present application, the bottom of the wire pushing piece 53 is provided with a wire groove 531 for accommodating the lower wire, so that the lower wire is prevented from being separated from the wire pushing piece 53.

[0047] Referring to Figure 1 In another embodiment of the present application, the wire lifting device 1 comprises an upper frame 11, a moving device 12 arranged on the upper frame 11, and an upper lifting device 13, the moving device 12 is used to drive the upper frame 11 to move on the upper wire, and the upper lifting device 13 is used to wind and unwind the lifting rope, a lower lifting device 21 is arranged in the storage box 2, and the lower lifting device 21 is used to connect and wind and unwind the lifting rope from the upper lifting device 13.

[0048] In a specific application, the upper line device 1 is light in weight, and can be placed on the upper line by the unmanned aerial vehicle device, moved to a suitable position by the upper moving device 12, and then lowered by the upper lifting device 13, so that the storage box body 2 is connected with the upper line device 1. This upper line method does not need a crane or manual assistance for upper line, has a high safety factor, and is simple to operate and low in energy consumption.

[0049] In another embodiment of the present application, the grabbing device 3 comprises a mechanical arm 31 and a spacer rod grabbing mechanism 32, one end of the mechanical arm 31 is arranged on the storage box body 2, the other end of the mechanical arm 31 is connected with the spacer rod grabbing mechanism 32, and the spacer rod grabbing mechanism 32 is used for grabbing the four-split spacer rod 7. As an implementation manner, the spacer rod grabbing mechanism 32 can comprise a grabbing base, two grippers and a grabbing driving member, the grabbing base is connected to the mechanical arm 31, the grabbing base is provided with a guide rail, the two grippers are arranged on the guide rail and can move along the track direction of the guide rail, the two grippers are provided with clamping grooves on the sides away from each other, and the grabbing driving member is used for driving the two grippers to approach or move away from each other, so as to realize the spacer rod grabbing and loosening actions. The mechanical arm 31 can be replaced by other mechanical devices capable of realizing multi-degree-of-freedom movement.

[0050] In another embodiment of the present application, the mounting device 4 comprises a clamping arm 41 and a clamping mechanism 42, one end of the clamping arm 41 is arranged on the storage box body 2, the other end of the clamping arm 41 is connected with the clamping mechanism 42, and the clamping mechanism 42 is used for locking the four clamping heads 72 in the four-split spacer rod 7 and the four-split line. As an implementation manner, the clamping mechanism 42 can comprise a movable member, a fixed member and a driving member, the driving member is connected with the movable member, the driving member drives the movable member to approach or move away from the fixed member, and the clamping space formed by adjusting the movable member and the fixed member can clamp the clamping portion and the fixed portion of the clamping head 72 in the clamping space. In actual application, the clamping arm 41 drives the clamping mechanism 42 to lock the four clamping heads 72 and the four lines one by one. Similarly, the clamping arm 41 can also be replaced by other mechanical devices capable of realizing multi-degree-of-freedom movement.

[0051] In an embodiment of the present application, the upper and lower line method of the four-split spacer rod mounting robot is provided, and the method is sequentially performed according to the following steps:

[0052] S1, the four-split spacer rod mounting robot is upper lined by the upper line device 1;

[0053] S2, drive the second driving mechanism 52 upward along the vertical direction by the first driving mechanism 51, make the two wire pokers 53 extend into the space between the upper and lower wires, then drive the two wire pokers 53 to move backward by the second driving mechanism 52, make the two wire pokers 53 move to the upper of the two lower wires along the horizontal direction respectively, then drive the second driving mechanism 52 downward along the vertical direction by the first driving mechanism 51, make the two wire pokers 53 press the two lower wires respectively to the auxiliary clamping device 6;

[0054] S3, clamp the two lower wires in the four-split wire by the auxiliary clamping device 6, the line spacing between the lower wires and the upper wire after clamping is equal to the split spacing of the four-split spacer 7;

[0055] S4, take out the four-split spacer 7 from the storage box 2 and move it to the four-split wire by the grabbing device 3;

[0056] S5, install the four-split spacer 7 and the four-split wire together by the installation device 4;

[0057] S6, loosen the two lower wires in the four-split wire by the auxiliary clamping device 6, and lower the four-split spacer installation robot by the upper wire equipment 1.

Claims

1. A four-split spacer installation robot, comprising a line-up device (1), a storage box (2), a grabbing device (3), and an installation device (4), the line-up device (1) is used for lining up the four-split spacer installation robot, the storage box (2) is used for storing the four-split spacer (7), the grabbing device (3) is used for taking out the four-split spacer (7) from the storage box (2) and moving to the four-split conductor, and the installation device (4) is used for installing the four-split spacer (7) and the four-split conductor together, characterized in that: the four-split spacer installation robot further comprises a wire pulling device (5) and an auxiliary clamping device (6) arranged on the storage box (2), the wire pulling device (5) comprises a first driving mechanism (51), a second driving mechanism (52), and two wire pulling pieces (53), the second driving mechanism (52) is arranged on the first driving mechanism (51), the two wire pulling pieces (53) are arranged on the second driving mechanism (52), the first driving mechanism (51) is used for driving the second driving mechanism (52) to move upward or downward in the vertical direction, the second driving mechanism (52) is used for driving the two wire pulling pieces (53) to move toward or away from each other in the horizontal direction, and the wire pulling piece (53) is used for pressing the lower conductor in the four-split conductor downward to the auxiliary clamping device (6), and the auxiliary clamping device (6) is used for clamping the lower conductor, and the line spacing between the lower conductor and the upper conductor in the four-split conductor after being clamped is equal to the split spacing of the four-split spacer (7). The first driving mechanism (51) comprises a first power mechanism (511) and a sliding table (512), the sliding table (512) is in sliding fit with the storage box (2), the first power mechanism (511) is used for driving the sliding table (512) to slide upward or downward in the vertical direction, the second driving mechanism (52) is arranged on the sliding table (512), and the second driving mechanism (52) comprises a second power mechanism (521) and two moving blocks (522), the two moving blocks (522) are in sliding fit with the sliding table (512), the second power mechanism (521) is used for driving the two moving blocks (522) to move toward or away from each other, and the two wire pulling pieces (53) are arranged on the two moving blocks (522) respectively.

2. The four-split spacer installation robot according to claim 1, characterized in that: ​ The auxiliary clamping device (6) comprises a front clamping device (61), the front clamping device (61) comprises a third driving mechanism (611), two fourth driving mechanisms (612) are arranged on the third driving mechanism (611), a front wheel set is arranged on the fourth driving mechanism (612), the front wheel set comprises an upper pressing wheel (613) and a lower pressing wheel (614), the third driving mechanism (611) is used for driving the two fourth driving mechanisms (612) to move towards or away from each other in the horizontal direction, and the fourth driving mechanism (612) is used for driving the upper pressing wheel (613) and the lower pressing wheel (614) to move towards each other in the vertical direction to clamp the lower conductor.

3. The four-split spacer installation robot according to claim 1, characterized in that: The auxiliary clamping device (6) further comprises a rear clamping device (62), the rear clamping device (62) comprises a fifth driving mechanism (621) and two sixth driving mechanisms (622), the two sixth driving mechanisms (622) are arranged on the fifth driving mechanism (621), a rear wheel set is arranged on the sixth driving mechanism (622), the rear wheel set comprises a rear pressing wheel (623), the fifth driving mechanism (621) is used for driving the two sixth driving mechanisms (622) to move towards or away from each other in the horizontal direction, and the sixth driving mechanism (622) is used for driving the rear pressing wheel (623) to move downwards in the vertical direction to press the lower conductor.

4. The four-split spacer installation robot according to claim 1, characterized in that: The wire shifting device (5) further comprises a seventh driving mechanism (54), two eighth driving mechanisms (55) and two walking mechanisms (56), the walking mechanism (56) comprises an upper pressing wheel (561) and a lower pressing wheel (562), the upper pressing wheel (561) in each of the two walking mechanisms (56) is arranged on a moving block (522), the seventh driving mechanism (54) is arranged on a sliding table (512), the two eighth driving mechanisms (55) are arranged on the seventh driving mechanism (54), the lower pressing wheel (562) in each of the two walking mechanisms (56) is arranged on an eighth driving mechanism (55), the seventh driving mechanism (54) is used for driving the two eighth driving mechanisms (55) to move towards or away from each other in the horizontal direction, and the eighth driving mechanism (55) is used for driving the lower pressing wheel (562) to move upwards in the vertical direction to clamp the upper conductor in the four-split conductor together with the upper pressing wheel (561).

5. The four-split spacer installation robot according to claim 1, characterized in that: A wire groove (531) for accommodating the lower conductor is formed in the bottom of the wire shifting piece (53).

6. The four-split spacer installation robot according to claim 1, characterized in that: The upper line equipment (1) comprises an upper frame (11), a moving device (12) arranged on the upper frame (11), and an upper lifting device (13), wherein the moving device (12) is used for driving the upper frame (11) to move on the upper guide wire, and the upper lifting device (13) is used for winding and unwinding the lifting rope; the storage box body (2) is provided with a lower lifting device (21), and the lower lifting device (21) is used for connecting and winding and unwinding the lifting rope from the upper lifting device (13).

7. The four-split spacer installation robot of claim 1, wherein: The grabbing device (3) comprises a mechanical arm (31) and a spacer grabbing mechanism (32), one end of the mechanical arm (31) is arranged on the storage box body (2), the other end of the mechanical arm (31) is connected with the spacer grabbing mechanism (32), and the spacer grabbing mechanism (32) is used for grabbing the four-split spacer (7).

8. The four-split spacer installation robot of claim 1, wherein: The installation device (4) comprises a clamping arm (41) and a clamping mechanism (42), one end of the clamping arm (41) is arranged on the storage box body (2), the other end of the clamping arm (41) is connected with the clamping mechanism (42), and the clamping mechanism (42) is used for clamping the four clamps in the four-split spacer (7) and the four-split guide wire.

9. The method for the upper and lower line of the four-split spacer installation robot of claim 1, wherein: The method comprises the following steps: S1, the four-split spacer installation robot is put on the line through the upper line equipment (1); S2, the second driving mechanism (52) is driven to move upward along the vertical direction through the first driving mechanism (51), so that the two guide wire pushers (53) are inserted between the upper guide wire and the lower guide wire, then the second driving mechanism (52) is driven to move backward, so that the two guide wire pushers (53) are moved to the upper side of the two lower guide wires along the horizontal direction respectively, and then the second driving mechanism (52) is driven to move downward along the vertical direction through the first driving mechanism (51), so that the two guide wire pushers (53) press the two lower guide wires to the auxiliary clamping device (6) respectively; S3, the two lower guide wires in the four-split guide wire are clamped through the auxiliary clamping device (6), and the line spacing between the lower guide wire and the upper guide wire after clamping is equal to the split spacing of the four-split spacer (7); S4, the four-split spacer (7) is taken out from the storage box body (2) and moved to the four-split guide wire through the grabbing device (3); S5, the four-split spacer (7) is installed with the four-split guide wire through the installation device (4); S6, the two lower guide wires in the four-split guide wire are loosened through the auxiliary clamping device (6), and the four-split spacer installation robot is put off the line through the upper line equipment (1).

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