On-line auxiliary support for four-split spacer installation robot and use method of on-line auxiliary support

Abstract

The invention relates to an on-line auxiliary support for a four-bundle spacer installation robot and a use method of the on-line auxiliary support, and the on-line auxiliary support comprises a frame, a wire jacking frame, a hoisting connecting piece, a wire fixing assembly and a traction rope, the tops of two fork-shaped limiting frames in the wire fixing assembly are movably connected with the two sides of the bottom of the frame respectively; one end of the traction rope is connected with the bottom of one fork-shaped limiting frame, the other end of the traction rope sequentially penetrates through one side of the top of the frame and the other side of the top of the frame and then is connected with the bottom of the other fork-shaped limiting frame, the hoisting connecting piece comprises a butt joint rod and a guide sleeve, and the guide sleeve is fixedly connected with the middle of the frame; the bottom of the butt joint rod is movably arranged in the guide sleeve and fixedly connected with a wire jacking frame erected between the frame and the traction rope. According to the wire feeding auxiliary support, the wire spacing of four split wires can be fixed through the fork-shaped limiting frame, the structure is simple, electric control is not needed, and reliability is high.

Description

Technical Field

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

[0002] When laying high-voltage cables, spacers are used. Spacers are 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 each other and causing collisions, but also prevent the split conductors from experiencing breeze vibration and sub-span oscillation due to the influence of the external environment, thus ensuring the normal transmission of electricity.

[0003] Due to the high risk of manual high-altitude installation work, a four-split spacer installation robot is used to perform the spacer installation work. The invention patent with application number 202410149913.3 provides a four-split conductor spacer installation robot, which includes an online device and an installation device. The online device can be placed on two high-positioned conductors in advance. The online device can release the traction rope. The installation device can be lifted to a high altitude by the traction rope, and then connected to the online device, thereby realizing the installation of the four-split conductor spacer. The spacer installation robot does not require manual or crane-assisted online operation, and the operation is convenient and quick. However, during the actual installation, due to the heavy weight of the robot, the robot causes the wires to be bent after going online, and the upper and lower groups of wires of the four-split conductor are squeezed together, making it impossible for the four-split spacer to be smoothly installed on the upper and lower groups of wires. Summary of the invention

[0004] The purpose of the present invention is to provide a line auxiliary bracket and a use method thereof that can assist a four-split spacer installation robot in fixing the spacing between upper and lower groups of conductors in order to solve the above problems in the prior art.

[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 an online auxiliary bracket for a four-split spacer installation robot, the online auxiliary bracket comprises a frame, a top wire frame, a lifting connector, a wire fixing assembly, and a traction rope, the wire fixing assembly comprises two fork-shaped limit frames symmetrically arranged on both sides of the frame, the tops of the two fork-shaped limit frames are respectively movably connected to the two sides of the bottom of the frame, one end of the traction rope is connected to the bottom of one fork-shaped limit frame, and the other end of the traction rope passes through one side of the top of the frame and the other side of the top in turn and is connected to the bottom of the other fork-shaped limit frame, the lifting connector comprises a docking rod and a guide sleeve, the guide sleeve is fixedly connected to the middle part of the frame, the bottom of the docking rod is movably arranged inside the guide sleeve, and is fixedly connected to the top wire frame erected between the frame and the traction rope;

[0007] When the docking rod moves upward relative to the guide sleeve, the top wire frame is pushed up and the traction rope is tightened, driving the bottom of the fork-shaped limit frame to lift up; when the docking rod moves downward relative to the guide sleeve, the top wire frame is lowered and the traction rope is released, driving the bottom of the fork-shaped limit frame to fall back.

[0008] A first fork is provided inside the fork-shaped limit frame, and the first fork is used to limit the upper conductor in the four split conductors. A second fork is provided at the bottom of the fork-shaped limit frame, and the second fork is used to limit the lower conductor in the four split conductors.

[0009] The fork-shaped limit frame includes a first rod, a second rod, a third rod, and a fourth rod. The first rod is vertically arranged, the middle part of the first rod is fixedly connected to the bottom of the second rod, the bottom of the first rod is fixedly connected to the tops of the third rod and the fourth rod, the first fork refers to a fork-shaped structure formed by the second rod and the first rod, and the second fork refers to a fork-shaped structure formed by the third rod and the fourth rod.

[0010] The lifting connector also includes a mounting plate and a connecting plate. A through hole is opened in the middle of the mounting plate. The bottom of the guide sleeve passes through the through hole and is fixedly connected to the middle of the frame. One end of the connecting plate is fixedly connected to the inner wall of the through hole. The other end of the connecting plate passes through a movable hole vertically opened on the guide sleeve and is fixedly connected to the bottom outer wall of the docking rod. The top wire rack is fixedly connected to the upper surface of the mounting plate.

[0011] The frame includes a square frame and a support rod group. The support rod group includes a second vertical rod and a third vertical rod. The bottoms of the second vertical rod and the third vertical rod are respectively fixedly connected to the two sides of the square frame, the middle of the square frame is fixedly connected to the bottom of the guide sleeve, and the two sides of the square frame are respectively movably connected to the tops of two fork-shaped limit frames. One end of the traction rope is connected to the bottom of a fork-shaped limit frame, and the other end of the traction rope passes through the top of the second vertical rod and the top of the third vertical rod in turn and is connected to the bottom of the other fork-shaped limit frame.

[0012] The top wire rack includes a first cross bar and a first vertical bar. The first vertical bar is arranged between the second vertical bar and the third vertical bar and is located below the traction rope. The bottom of the first vertical bar is fixedly connected to the end of the first cross bar, and the middle part of the first cross bar is fixedly connected to the upper surface of the mounting plate.

[0013] A traction rope clamping groove is arranged on the top of the first vertical rod.

[0014] A drone docking joint is provided on the top of the docking rod, and the drone docking joint is used to connect with the gripper of the drone.

[0015] The number of conductor fixing components, traction ropes, support rod groups, and top wire racks are two each.

[0016] In a second aspect, the present invention provides a method for using an on-line auxiliary bracket for a four-split spacer installation robot, the method comprising:

[0017] Step 1: Connect the top of the docking rod to the drone. After the drone takes off, the docking rod is driven to move upward relative to the guide sleeve, so that the top wire frame is pushed up and the traction rope is tightened. After the traction rope is tightened, the bottoms of the two fork-shaped limit frames are driven to lift up;

[0018] Step 2: The drone places the entire online auxiliary bracket on the upper conductor of the four-split conductor and then detaches it from the top of the docking rod. The docking rod moves downward relative to the guide sleeve under the action of its own gravity, the top wire rack descends and releases the traction rope, driving the bottoms of the two fork-shaped limit racks to fall back, and the upper and lower wires of the four-split conductor are limited by the upper and lower parts of the fork-shaped limit racks respectively.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention discloses an online auxiliary bracket for a four-split spacer installation robot, comprising a frame, a top wire frame, a lifting connector, a wire fixing assembly, and a traction rope. The wire fixing assembly comprises two fork-shaped limit frames symmetrically arranged on both sides of the frame, the tops of the two fork-shaped limit frames are respectively movably connected to the two sides of the bottom of the frame, one end of the traction rope is connected to the bottom of one fork-shaped limit frame, and the other end of the traction rope passes through one side of the top of the frame and the other side of the top in sequence and is connected to the bottom of the other fork-shaped limit frame. The lifting connector comprises a docking rod and a guide sleeve, the guide sleeve is fixedly connected to the middle part of the frame, the bottom of the docking rod is movably arranged inside the guide sleeve, and is fixedly connected to the top wire frame erected between the frame and the traction rope; when in use, the top of the docking rod is connected to the drone After the drone takes off, it drives the docking rod to move upward relative to the guide sleeve, so that the top wire rack is pushed up and the traction rope is tensioned. After the traction rope is tensioned, it drives the bottom of the fork-shaped limit frame to lift up. When the entire online auxiliary bracket moves to above the four-split conductor, the top of the docking rod is separated from the drone. The docking rod moves downward relative to the guide sleeve under the action of its own gravity, the top wire rack descends and releases the traction rope, driving the bottom of the fork-shaped limit frame to fall back, and the upper and lower wires are limited by the fork-shaped limit frame to prevent the upper and lower layers of the four-split conductor from being squeezed together, which is beneficial to the robot's online and installation operations; the online auxiliary bracket is a purely mechanical structure, and the state conversion of the fork-shaped limit frame is achieved only by the tension of the traction rope and its own gravity. No electric control is required, and the structure is simple and the reliability is high. Therefore, the present invention can fix the position of the upper and lower layers of the four-split conductor, and it has a simple structure and high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the online auxiliary bracket of the present invention.

[0022] Figure 2 It is a cross-sectional view of the auxiliary support for threading of the present invention.

[0023] Figure 3 It is a schematic diagram of the working of the online auxiliary bracket of the present invention after going online.

[0024] Figure 4 for Figure 1 Schematic diagram of the structure of the middle frame.

[0025] In the above figure, frame 1, square frame 11, support rod group 12, second vertical rod 121, third vertical rod 122, top wire rack 2, first cross bar 21, first vertical rod 22, lifting rope slot 221, lifting connector 3, docking rod 31, drone docking joint 311, guide sleeve 32, movable hole 321, mounting plate 33, through hole 331, connecting plate 34, lifting rope 4, fork-shaped limit frame 5, first fork 51, second fork 52, first rod 53, second rod 54, third rod 55, fourth rod 56. DETAILED DESCRIPTION

[0026] 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.

[0027] See also Figures 1 to 4 The present invention provides an online auxiliary bracket for a four-split spacer installation robot, comprising a frame 1, a top wire frame 2, a lifting connector 3, a wire fixing assembly, and a traction rope 4. The wire fixing assembly comprises two fork-shaped limit frames 5 symmetrically arranged on both sides of the frame 1, and the tops of the two fork-shaped limit frames 5 are respectively movably connected to the two sides of the bottom of the frame 1, one end of the traction rope 4 is connected to the bottom of a fork-shaped limit frame 5, and the other end of the traction rope 4 passes through one side of the top and the other side of the top of the frame 1 in turn and is connected to the bottom of the other fork-shaped limit frame 5. The lifting connector 3 comprises a docking rod 31 and a guide sleeve 32. The guide sleeve 32 is fixedly connected to the middle part of the frame 1, and the bottom of the docking rod 31 is movably arranged inside the guide sleeve 32 and is fixedly connected to the top wire frame 2 erected between the frame 1 and the traction rope 4.

[0028] The four-split conductor includes four parallel conductors, which are numbered 1, 2, 3, and 4 in sequence. Wire No. 1 and Wire No. 2 are upper conductors located in the same horizontal plane, and Wire No. 3 and Wire No. 4 are lower conductors located in another horizontal plane. Connect the drone to the top of the docking rod 31, and use the drone to achieve the online auxiliary bracket; after the drone takes off, due to the gravity of the online auxiliary bracket, the docking rod 31 will move up relative to the guide sleeve 32, so that the top wire frame 2 is pushed up and the traction rope 4 is tensioned. At this time, the traction rope 4 drives the bottom of the two fork-shaped limit frames 5 to lift up; the drone drives the online auxiliary bracket to move to the top of the upper conductor and then adjusts its posture so that one fork-shaped limit frame 5 is on the outside of wire No. 1 and wire No. 3, and the other fork-shaped limit frame 5 is on the outside of wire No. 2 and wire No. 4; the drone is disconnected from the top of the docking rod 31 , thereby placing the entire online auxiliary bracket on the upper conductor. At this time, due to the gravity of the docking rod 31 itself, the docking rod 31 will move downward relative to the guide sleeve 32, causing the top wire frame 2 to descend and release the traction rope 4. After the traction rope 4 is released, the bottoms of the two fork-shaped limiting frames 5 fall back; after falling back, the upper and lower parts of one fork-shaped limiting frame 5 respectively limit the No. 1 conductor and the No. 3 conductor, and the upper and lower parts of the other fork-shaped limiting frame 5 respectively limit the No. 2 conductor and the No. 4 conductor. In this way, even if the robot has a large weight after the four-split spacer installation robot goes online, the upper and lower conductors will not be squeezed together.

[0029] In another embodiment of the present invention, a first fork 51 is provided at the inner side of the fork-shaped limiting frame 5 , and a second fork 52 is provided at the bottom of the fork-shaped limiting frame 5 .

[0030] After the bottom of the fork-shaped limiting frame 5 falls back, the upper conductor enters the first fork 51, and the first fork 51 limits the upper conductor; after the bottom of the fork-shaped limiting frame 5 falls back, the lower conductor is located below the second fork 52, and the four-split spacer installation robot presses down the upper conductor after going online, and the distance between the lower conductor and the upper conductor is gradually shortened until the lower conductor enters the second fork 52, and the second fork 52 limits the lower conductor.

[0031] In another embodiment of the present invention, the fork-shaped limit frame 5 includes a first rod 53, a second rod 54, a third rod 55, and a fourth rod 56. The first rod 53 is vertically arranged, the middle part of the first rod 53 is fixedly connected to the bottom of the second rod 54, the bottom of the first rod 53 is fixedly connected to the top of the third rod 55 and the fourth rod 56, the first fork 51 refers to a fork-shaped structure formed by the second rod 54 and the first rod 53, which is used to prevent the upper wire from slipping out, and the second fork 52 refers to a fork-shaped structure formed by the third rod 55 and the fourth rod 56, which is used to press down the upper wire after the robot goes online to shorten the distance between the upper wire and the lower wire, so that the lower wire can enter the second fork to limit the lower wire. Exemplarily, the angle between the second rod 54 and the first rod 53 can be set to 45 degrees, and the angle between the third rod 55 and the fourth rod 56 can be set to 90 degrees.

[0032] In another embodiment of the present invention, the lifting connector 3 also includes a mounting plate 33 and a connecting plate 34. A through hole 331 is opened in the middle of the mounting plate 33. The bottom of the guide sleeve 32 passes through the through hole 331 and is fixedly connected to the middle of the frame 1. One end of the connecting plate 34 is fixedly connected to the inner wall of the through hole 331. The other end of the connecting plate 34 passes through a movable hole 321 vertically opened on the guide sleeve 32 and is fixedly connected to the bottom outer wall of the docking rod 31. The top wire rack 2 is fixedly connected to the upper surface of the mounting plate 33.

[0033] When the docking rod 31 moves upward relative to the guide sleeve 32, it drives the connecting plate 34 to move along the bottom of the movable hole 321 to the top of the movable hole 321. The upward movement of the connecting plate 34 drives the mounting plate 33 to move upward, and then drives the top wire frame 2 to move upward, tightening the traction rope 4.

[0034] In another embodiment of the present invention, in order to facilitate the gripping of the drone by the gripper, a spherical drone docking joint 311 is provided on the top of the docking rod 31 .

[0035] In another embodiment of the present invention, the frame 1 includes a square frame 11 and a support rod group 12. The support rod group 12 includes a second vertical rod 121 and a third vertical rod 122. The bottoms of the second vertical rod 121 and the third vertical rod 122 are fixedly connected to the two sides of the square frame 11 respectively, the middle of the square frame 11 is fixedly connected to the bottom of the guide sleeve 32, the two sides of the square frame 11 are movably connected to the tops of the two fork-shaped limit frames 5 respectively, one end of the traction rope 4 is connected to the bottom of one fork-shaped limit frame 5, and the other end of the traction rope 4 passes through the top of the second vertical rod 121 and the top of the third vertical rod 122 in turn and is connected to the bottom of the other fork-shaped limit frame 5. The tops of the second vertical rod 121 and the third vertical rod 122 can be provided with slots or rings for convenient passage of the traction rope 4.

[0036] In another embodiment of the present invention, the top wire rack 2 includes a first cross bar 21 and a first vertical bar 22. The first vertical bar 22 is arranged between the second vertical bar 121 and the third vertical bar 122 and is located below the traction rope 4. The bottom of the first vertical bar 22 is fixedly connected to the end of the first cross bar 21, and the middle part of the first cross bar 21 is fixedly connected to the upper surface of the mounting plate 33.

[0037] In another embodiment of the present invention, in order to prevent the traction rope 4 from sliding off the top wire rack 2 when being tensioned, a traction rope slot 221 is provided at the top of the first vertical rod 22 .

[0038] In another embodiment of the present invention, in order to improve working stability, the number of the conductor fixing assembly, the traction rope 4, the support rod group 12, and the top wire rack 2 are all set to two.

[0039] The present invention also provides a method for using an online auxiliary bracket, which is performed in the following steps:

[0040] Step 1: Connect the top of the docking rod 31 to the drone. After the drone takes off, the docking rod 31 is driven to move upward relative to the guide sleeve 32, so that the top wire frame 2 is pushed up and the traction rope 4 is tensioned. After the traction rope 4 is tensioned, the bottoms of the two fork-shaped limit frames 5 are driven to lift up;

[0041] Step 2. The drone places the entire online auxiliary bracket on the upper conductor of the four-split conductor and then detaches it from the top of the docking rod 31. The docking rod 31 moves downward relative to the guide sleeve 32 under the action of its own gravity, and drives the top wire frame 2 to descend. After the top wire frame 2 descends, the traction rope 4 is released, and the bottoms of the two fork-shaped limit frames 5 naturally fall back after the traction rope 4 is released. The upper and lower parts of the fork-shaped limit frames 5 respectively limit the upper and lower conductors to fix the spacing between the upper and lower conductors, which is helpful for the subsequent online operation of the four-split spacer installation robot and the spacer installation operation.

Claims

1. The online auxiliary bracket for the four-split spacer installation robot is characterized by: The upper line auxiliary bracket comprises a frame (1), a top line frame (2), a hanging connector (3), a wire fixing assembly, and a traction rope (4); the wire fixing assembly comprises two fork-shaped limit frames (5) symmetrically arranged on both sides of the frame (1); the tops of the two fork-shaped limit frames (5) are movably connected to the two sides of the bottom of the frame (1), one end of the traction rope (4) is connected to the bottom of one fork-shaped limit frame (5); the other end of the traction rope (4) passes through one side of the top of the frame (1) and the other side of the top in sequence, and is connected to the bottom of the other fork-shaped limit frame (5); the hanging connector (3) comprises a docking rod (31) and a guide sleeve (32); the guide sleeve (32) is fixedly connected to the middle part of the frame (1); the bottom of the docking rod (31) is movably arranged inside the guide sleeve (32) and is fixedly connected to the top line frame (2) erected between the frame (1) and the traction rope (4); When the docking rod (31) moves upward relative to the guide sleeve (32), the top wire frame (2) is pushed up and the traction rope (4) is tensioned, thereby driving the bottom of the fork-shaped limiting frame (5) to be lifted up; when the docking rod (31) moves downward relative to the guide sleeve (32), the top wire frame (2) is lowered and the traction rope (4) is released, thereby driving the bottom of the fork-shaped limiting frame (5) to fall back.

2. The on-line auxiliary bracket for the four-split spacer installation robot according to claim 1, characterized in that: A first fork (51) is provided on the inner side of the fork-shaped limiting frame (5), and the first fork (51) is used to limit the position of the upper conductor in the four-split conductor. A second fork (52) is provided on the bottom of the fork-shaped limiting frame (5), and the second fork (52) is used to limit the position of the lower conductor in the four-split conductor.

3. The on-line auxiliary bracket for the four-split spacer installation robot according to claim 2, characterized in that: The fork-shaped limiting frame (5) comprises a first rod (53), a second rod (54), a third rod (55), and a fourth rod (56); the first rod (53) is vertically arranged; the middle of the first rod (53) is fixedly connected to the bottom of the second rod (54); the bottom of the first rod (53) is fixedly connected to the tops of the third rod (55) and the fourth rod (56); the first fork (51) refers to a fork-shaped structure formed by the second rod (54) and the first rod (53); and the second fork (52) refers to a fork-shaped structure formed by the third rod (55) and the fourth rod (56).

4. The on-line auxiliary bracket for the four-split spacer installation robot according to any one of claims 1 to 3, characterized in that: The hoisting connector (3) further comprises a mounting plate (33) and a connecting plate (34); a through hole (331) is provided in the middle of the mounting plate (33); the bottom of the guide sleeve (32) passes through the through hole (331) and is fixedly connected to the middle of the frame (1); one end of the connecting plate (34) is fixedly connected to the inner wall of the through hole (331); the other end of the connecting plate (34) passes through a movable hole (321) vertically provided on the guide sleeve (32) and is fixedly connected to the bottom outer wall of the docking rod (31); and the top wire rack (2) is fixedly connected to the upper surface of the mounting plate (33).

5. The on-line auxiliary bracket for the four-split spacer installation robot according to any one of claims 1 to 3, characterized in that: The frame (1) comprises a square frame (11) and a support rod group (12); the support rod group (12) comprises a second vertical rod (121) and a third vertical rod (122); the bottoms of the second vertical rod (121) and the third vertical rod (122) are respectively fixedly connected to the two sides of the square frame (11); the middle of the square frame (11) is fixedly connected to the bottom of the guide sleeve (32); the two sides of the square frame (11) are respectively movably connected to the tops of two fork-shaped limiting frames (5); one end of the traction rope (4) is connected to the bottom of one fork-shaped limiting frame (5); the other end of the traction rope (4) passes through the top of the second vertical rod (121) and the top of the third vertical rod (122) in sequence and is connected to the bottom of the other fork-shaped limiting frame (5).

6. The on-line auxiliary bracket for the four-split spacer installation robot according to claim 4, characterized in that: The top wire rack (2) comprises a first cross bar (21) and a first vertical bar (22); the first vertical bar (22) is arranged between the second vertical bar (121) and the third vertical bar (122) and is located below the traction rope (4); the bottom of the first vertical bar (22) is fixedly connected to the end of the first cross bar (21); and the middle of the first cross bar (21) is fixedly connected to the upper surface of the mounting plate (33).

7. The on-line auxiliary bracket for the four-split spacer installation robot according to claim 6, characterized in that: A traction rope slot (221) is provided on the top of the first vertical rod (22).

8. The on-line auxiliary bracket for a four-split spacer installation robot according to any one of claims 1 to 3, characterized in that: A drone docking joint (311) is provided on the top of the docking rod (31), and the drone docking joint (311) is used to be connected to the clamping claw of the drone.

9. The on-line auxiliary bracket for the four-split spacer installation robot according to claim 5, characterized in that: The number of the conductor fixing assembly, the traction rope (4), the support rod group (12), and the top wire rack (2) are all two.

10. The method for using the online auxiliary bracket for the four-split spacer installation robot according to claim 1, characterized in that: The method of use includes: Step 1: Connect the top of the docking rod (31) to the drone. After the drone takes off, the docking rod (31) is driven to move upward relative to the guide sleeve (32), so that the top wire frame (2) is pushed up and the traction rope (4) is tensioned. After the traction rope (4) is tensioned, the bottoms of the two fork-shaped limit frames (5) are driven to lift up; Step 2: The drone places the entire upper line auxiliary bracket on the upper conductor of the four-split conductor and then detaches it from the top of the docking rod (31). The docking rod (31) moves downward relative to the guide sleeve (32) under the action of its own gravity. The top line frame (2) descends and releases the traction rope (4), driving the bottoms of the two fork-shaped limiting frames (5) to fall back. The upper conductor and the lower conductor of the four-split conductor are limited by the upper and lower parts of the fork-shaped limiting frames (5) respectively.

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