A method for installing a spacer post installation platform of a spacer post installation robot for quad-bundle conductors

Abstract

The application discloses a kind of installation methods of spacer rod installation platform of four-split conductor spacer rod installation robot, and the platform includes platform pallet, hollow rotating platform pallet, hollow rotating platform, guide shaft, elevator, electromagnet and telescopic ejector pin;Platform pallet is set in the upper of hollow rotating platform pallet, is connected by bolt;Hollow rotating platform passes through the center position of hollow rotating platform pallet, and then is connected with the lower surface of platform pallet by bolt;Guide shaft is set in the lower surface of hollow rotating platform pallet;Elevator is located at the bottom, and its upper end is connected with the lower end of hollow rotating platform by elevator screw;Electromagnet is set in the upper surface of platform pallet;Telescopic ejector pin is set in the upper surface of platform pallet.The application solves the problem that six-degree-of-freedom robot is limited in the activity of four-split conductor limited space, and significantly improves the installation efficiency and quality of four-split conductor spacer rod.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power engineering automation equipment for power transmission line construction, in particular to a method for installing a spacer rod installation platform of a four-split conductor spacer rod installation robot. BACKGROUND

[0002] In the power transmission system, four-split conductor is an important power transmission line structure, and its stability and efficiency are crucial. As an important part of four-split conductor, the spacer rod is used to maintain the distance between the conductors and prevent line dancing, which plays an important role in the safe operation of the power system. However, the traditional installation process of the spacer rod often relies on manual operation, which is not only inefficient but also has safety risks. In particular, in the high-altitude working environment, manual installation of the spacer rod is extremely difficult, the precision is difficult to guarantee, and the skill requirement for the operator is extremely high.

[0003] In the four-split conductor spacer rod installation robot, the four-split spacer rod fitting and the six-degree-of-freedom mechanical arm of the four-split conductor spacer rod installation robot move in the limited space in the four-split conductor, which is a difficult task. An installation platform with auxiliary installation function is needed to complete the installation of the four-split spacer rod and the movement of the robot. SUMMARY

[0004] The purpose of the present application is to provide a method for installing a spacer rod installation platform of a four-split conductor spacer rod installation robot, which combines the advantages of the elevator and the hollow rotating platform to realize the movement of the four-split spacer rod installation fixture in the four-split conductor, and assists the mechanical arm of the robot to realize the installation of the four-split spacer rod.

[0005] The present application adopts the following technical scheme: a method for installing a spacer rod installation platform of a four-split conductor spacer rod installation robot, comprising:

[0006] S1, through the main controller in the four-split spacer rod installation robot case, control the electromagnet of the spacer rod installation platform to be in the attraction state, and through the platform supporting plate, attract and fix the four-split spacer rod fixture, and the contact point of the telescopic pin and the four-split spacer rod fixture is communicated, to provide electrical and signal communication for it.

[0007] S2, the four-split spacer rod installation robot travels to the installation position of the four-split spacer rod on the four-split high-voltage transmission line, the main controller starts the spacer rod installation platform, the elevator and the lifting screw are rotated in the forward direction, the spacer rod installation platform rises by a set distance, so that the corner part above the four-split spacer rod is higher than the upper line of the four-split high-voltage transmission line, and the corner part below the four-split spacer rod is higher than the lower line of the four-split high-voltage transmission line.

[0008] S3, the hollow rotating platform support plate is connected with the platform support plate, the main controller in the four-split spacer rod installation robot machine box sends an instruction to drive the hollow rotating platform to drive the hollow rotating platform support plate and the platform support plate to rotate clockwise by 90 degrees, so that the four-split spacer rod is perpendicular to the four-split high-voltage transmission line.

[0009] S4, the main controller in the four-split spacer rod installation robot machine box sends an instruction to adjust the height of the spacer rod installation platform by rotating the elevator, and the four-split spacer rod installation robot installs the four-split spacer rod on the four-split high-voltage transmission line.

[0010] S5, the main controller in the four-split spacer rod installation robot machine box sends an instruction to reversely rotate the elevator and the lifting screw rod, and the spacer rod installation platform is lowered by a set distance, and the spacer rod installation platform is separated from the four-split spacer rod.

[0011] S6, the four-split spacer rod installation robot moves forward by a set distance, and the four-split spacer rod installation robot leaves the installed four-split spacer rod; the main controller in the four-split spacer rod installation robot machine box sends an instruction to drive the hollow rotating platform to drive the hollow rotating platform support plate and the platform support plate to rotate counterclockwise by 90 degrees, so that the four-split spacer rod is parallel to the four-split high-voltage transmission line.

[0012] S7, reversely rotating the elevator and the lifting screw rod, the hollow rotating platform support plate drives the four-split spacer rod clamp on the platform support plate to descend and return to the initial position.

[0013] S8, the four-split spacer rod installation on the four-split spacer rod installation robot is completed, the spacer rod installation platform control electromagnet is in the loose state, so that the unmanned aerial vehicle hoists away the four-split spacer rod clamp, and the four-split spacer rod installation robot goes to the next installation point.

[0014] Further, when the spacer rod installation platform rises and falls, the movement range of the spacer rod installation platform is limited by the guide shaft, so that the hollow rotating platform support plate and the platform support plate are not inclined.

[0015] Further, in step S2, the set distance is 25 cm.

[0016] Further, in step S5, the set distance is 12 cm.

[0017] Further, in step S6, the set distance is 50 cm.

[0018] Further, the spacer rod installation platform comprises a platform support plate, a hollow rotating platform support plate, a hollow rotating platform, a guide shaft, an elevator, an electromagnet and a telescopic pin.

[0019] The platform support plate is arranged above the hollow rotating platform support plate and connected through bolts; the hollow rotating platform passes through the center of the hollow rotating platform support plate and is connected to the lower surface of the platform support plate through bolts; the guide shaft is arranged on the lower surface of the hollow rotating platform support plate; the elevator is located at the bottom and the upper end thereof is connected to the lower end of the hollow rotating platform through the elevator lead screw.

[0020] The electromagnet is arranged on the upper surface of the platform support plate; and the telescopic ejector pin is arranged on the upper surface of the platform support plate.

[0021] Further, the number of guide shafts is four, which are arranged at four corners of the lower surface of the hollow rotating platform support plate through the optical axis fixing seat.

[0022] Further, the number of electromagnets is two and the number of telescopic ejector pins is three.

[0023] Further, the hollow rotating platform support plate is internally provided with a driving device for driving the four-split spacer rod clamp to rotate.

[0024] Compared with the prior art, the above technical scheme has the following technical effects:

[0025] The six-degree-of-freedom mechanical arm is not limited in movement in the limited space of the four-split conductor, and the installation efficiency and quality of the four-split conductor spacer rod are significantly improved, the error rate in the installation process is effectively reduced through accurate control of the movement and rotation of the platform, and the labor intensity of the operator is reduced. In addition, the stability and safety of the power system are improved, and strong support is provided for the sustainable development of the power industry. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is the front view of the spacer rod installation platform of the four-split conductor spacer rod installation robot of the application.

[0027] Figure 2 is the top view of the spacer rod installation platform of the four-split conductor spacer rod installation robot of the application.

[0028] Figure 3 is the installation method flowchart of the spacer rod installation platform of the four-split conductor spacer rod installation robot of the application.

[0029] Reference signs: 1, platform support plate; 2, hollow rotating platform support plate; 3, hollow rotating platform; 4, guide shaft; 5, elevator; 6, electromagnet; 7, telescopic ejector pin. DETAILED DESCRIPTION

[0030] The application will be further described below with reference to the drawings. The following examples are only used to more clearly illustrate the technical solutions of the application, and cannot be used to limit the protection scope of the application.

[0031] To achieve the above-mentioned purpose, the application provides a spacer rod installation platform of a four-split conductor spacer rod installation robot, as shown in Figure 1 , 2 , comprising:

[0032] A platform base plate 1, a hollow rotating platform base plate 2, a hollow rotating platform 3, a guide shaft 4, an elevator 5, an electromagnet 6 and a telescopic ejector pin 7.

[0033] The platform base plate 1 is arranged above the hollow rotating platform base plate 2 and connected by bolts; the hollow rotating platform 3 passes through the center position of the hollow rotating platform base plate 2 and is further connected to the lower surface of the platform base plate 1 by bolts; the guide shaft 4 is four in number and arranged at the four corners of the lower surface of the hollow rotating platform base plate 2 through an optical axis fixing seat; the elevator 5 is located at the bottom and its upper end is connected to the lower end of the hollow rotating platform 3 through an elevator lead screw.

[0034] The platform base plate 1 and the hollow rotating platform base plate 2 are used to realize the support and fastening of the four-split spacer rod clamp and drive the four-split spacer rod clamp to rotate.

[0035] The inside of the hollow rotating platform base plate 2 is provided with a driving device for driving the four-split spacer rod clamp to rotate to adapt to the installation requirements of different angles.

[0036] The guide shaft 4 is used to realize the motion of the installation platform to keep the posture set and limit the maximum amplitude of the action.

[0037] The elevator 5 is used to realize the up and down movement of the installation platform so that the four-split spacer rod to be installed is in the appropriate position of the four-split conductor. The elevator 5 can drive the hollow rotating platform 3 to move up and down in the vertical direction when working.

[0038] The electromagnet 6 is two in number and arranged on the upper surface of the platform base plate 1; the telescopic ejector pin 7 is three in number and arranged on the upper surface of the platform base plate 1.

[0039] The electromagnet 6 is used to form a magnetic force connection with the four-split spacer rod clamp to realize fast and stable fastening; the telescopic ejector pin 7 is used in cooperation with the electromagnet assembly to further ensure the close connection with the four-split spacer rod clamp through telescopic action and provide an electrical conduction path. The connection state with the four-split spacer rod clamp is automatically detected and adjusted to ensure the reliability and stability of the connection.

[0040] The elevator 5, the hollow rotating platform support plate 2, the guide shaft 4, the electromagnet 6 and the telescopic ejector pin 7 are electrically connected with the control system, are uniformly dispatched and controlled by the control system, and an automatic installation process is realized.

[0041] In the embodiment, the platform support plate 1 is made of aluminum material through CNC processing and anodic oxidation, and the size is 340mm*260mm*20mm. The hollow rotating platform support plate 2 is made of Q235B through laser cutting, welding and baking varnish, and the size is 260mm*260mm*43mm. The model of the hollow rotating platform 3 is HT100. The guide shaft 4 is made of SUS304, and the diameter is 12mm*250mm. The model of the elevator 5 is SWL1T. The diameter of the electromagnet 6 is 80mm*10mm. The size of the telescopic ejector pin 7 is 36mm*20mm*12mm.

[0042] As shown in Figure 3 In the application, the method for installing the spacer rod installation platform of the robot by using the above-mentioned four-split spacer rod installation machine is specifically as follows:

[0043] In the first step, the main controller in the four-split spacer rod installation robot machine box controls the electromagnet of the spacer rod installation platform to be in the attracted state, the four-split spacer rod clamp is attracted and fixed through the platform support plate, the telescopic ejector pin is in communication with the contact point of the four-split spacer rod clamp, and the four-split spacer rod clamp is provided with electrical and signal communication.

[0044] In the second step, the four-split spacer rod installation robot travels to the installation position of the four-split spacer rod on the four-split high-voltage transmission line, the main controller starts the spacer rod installation platform, the elevator and the lifting screw rod are rotated in the forward direction, the spacer rod installation platform is lifted by 25cm, the corner parts above the three four-split spacer rods are higher than the upper line of the four-split high-voltage transmission line, and the corner parts below the three four-split spacer rods are higher than the lower line of the four-split high-voltage transmission line.

[0045] During the lifting process, the movement range of the spacer rod installation platform is limited by the guide shaft, so that the hollow rotating platform support plate and the platform support plate are not inclined.

[0046] In the third step, the hollow rotating platform support plate is connected with the platform support plate, the main controller in the four-split spacer rod installation robot machine box issues an instruction to drive the hollow rotating platform to rotate the hollow rotating platform support plate and the platform support plate clockwise by 90 degrees, so that the four-split spacer rod is perpendicular to the four-split high-voltage transmission line.

[0047] In the fourth step, the main controller in the four-split spacer rod installation robot machine box issues an instruction to adjust the height of the spacer rod installation platform by rotating the elevator, and the four-split spacer rod installation robot installs the four-split spacer rod on the four-split high-voltage transmission line.

[0048] The main controller in the four-split spacer bar installation robot cabinet sends a command to reverse the elevator and the lifting screw, and the spacer bar installation platform is lowered by 12 cm, so that the spacer bar installation platform is separated from the four-split spacer bar.

[0049] During the lowering process, the movement range of the spacer bar installation platform is limited by the guide shaft, so that the hollow rotating platform support plate and the platform support plate are not tilted.

[0050] In the sixth step, the four-split spacer bar installation robot moves forward by 50 cm, so that the four-split spacer bar installation robot is away from the installed four-split spacer bar. The main controller in the four-split spacer bar installation robot cabinet sends a command to drive the hollow rotating platform to rotate the hollow rotating platform support plate and the platform support plate counterclockwise by 90 degrees, so that the four-split spacer bar is parallel to the four-split high-voltage transmission line.

[0051] In the seventh step, the elevator and the lifting screw are reversed, the hollow rotating platform support plate drives the four-split spacer bar clamp on the platform support plate to descend and return to the initial position.

[0052] In the eighth step, the four-split spacer bar installation on the four-split spacer bar installation robot is completed, the spacer bar installation platform control electromagnet is in the loose state, so that the unmanned aerial vehicle lifts off the four-split spacer bar clamp, and the four-split spacer bar installation robot goes to the next installation point.

[0053] The above is only the preferred embodiment of the present application, it should be noted that for ordinary skilled in the art, without departing from the technical principles of the present application, can make several improvements and modifications, these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A method of installing a spacer post installation platform of a quad-bundle spacer post installation robot, characterized by, The application relates to a four-split spacer rod installation method and device. S1, a main controller in a four-split spacer rod installation robot cabinet controls electromagnets of a spacer rod installation platform to be in an attraction state, four-split spacer rod clamps are fixed by attraction through a platform supporting plate, and telescopic pins are communicated with contact points of the four-split spacer rod clamps to provide electrical and signal communication; S2, the four-split spacer rod installation robot travels to a four-split spacer rod installation position on a four-split high-voltage transmission line, the main controller starts the spacer rod installation platform, the elevator and the lifting screw are positively rotated, the spacer rod installation platform is lifted by a set distance, an upper corner part of the four-split spacer rod is higher than an upper line of the four-split high-voltage transmission line, and a lower corner part of the four-split spacer rod is higher than a lower line of the four-split high-voltage transmission line; S3, a hollow rotating platform supporting plate is connected with a platform supporting plate, the main controller in the four-split spacer rod installation robot cabinet sends an instruction to drive the hollow rotating platform to rotate the hollow rotating platform supporting plate and the platform supporting plate clockwise by 90 degrees, so that the four-split spacer rod is perpendicular to the four-split high-voltage transmission line; S4, the main controller in the four-split spacer rod installation robot cabinet sends an instruction to adjust the height of the spacer rod installation platform through the rotating elevator, and the four-split spacer rod installation robot installs the four-split spacer rod on the four-split high-voltage transmission line; S5, the main controller in the four-split spacer rod installation robot cabinet sends an instruction to reversely rotate the elevator and the lifting screw, the spacer rod installation platform is lowered by a set distance, and the spacer rod installation platform is separated from the four-split spacer rod; S6, the four-split spacer rod installation robot moves forward by a set distance, the four-split spacer rod installation robot leaves the installed four-split spacer rod, the main controller in the four-split spacer rod installation robot cabinet sends an instruction to drive the hollow rotating platform to rotate the hollow rotating platform supporting plate and the platform supporting plate counterclockwise by 90 degrees, so that the four-split spacer rod is parallel to the four-split high-voltage transmission line; S7, the elevator and the lifting screw are reversely rotated, the four-split spacer rod clamp on the platform supporting plate driven by the hollow rotating platform supporting plate is lowered, and the four-split spacer rod clamp returns to an initial position; S8, the four-split spacer rod installation robot is installed, the electromagnets of the spacer rod installation platform are in a loosening state, a drone lifts away the four-split spacer rod clamp, and the four-split spacer rod installation robot goes to a next installation position.

2. The spacer bar installation method of the spacer bar installation platform of the quad-bundle spacer bar installation robot according to claim 1, characterized by, When the spacer rod installation platform is lifted and lowered, the movement range of the spacer rod installation platform is limited through guide shafts, so that the hollow rotating platform supporting plate and the platform supporting plate are not inclined.

3. The spacer bar installation method of the spacer bar installation platform of the quad-bundle spacer bar installation robot according to claim 1, characterized by, In step S2, the set distance is 25 cm.

4. The spacer bar installation method of the spacer bar installation platform of the quad-bundle spacer bar installation robot according to claim 1, characterized by, In step S5, the set distance is 12 cm.

5. The spacer bar installation method of the spacer bar installation platform of the quad-bundle spacer bar installation robot according to claim 1, characterized by, In step S6, the set distance is 50 cm.

6. The spacer bar installation method of the spacer bar installation platform of the quad-bundle spacer bar installation robot according to claim 1, characterized by, The spacer rod installation platform comprises a platform supporting plate (1), a hollow rotating platform supporting plate (2), a hollow rotating platform (3), a guide shaft (4), an elevator (5), electromagnets (6) and telescopic pins (7). The platform support plate (1) is arranged above the hollow rotating platform support plate (2) and connected by bolts; the hollow rotating platform (3) passes through the center of the hollow rotating platform support plate (2) and is connected to the lower surface of the platform support plate (1) by bolts; the guide shaft (4) is arranged on the lower surface of the hollow rotating platform support plate (2); the elevator (5) is located at the bottom, and the upper end thereof is connected to the lower end of the hollow rotating platform (3) through an elevator lead screw. The electromagnet (6) is arranged on the upper surface of the platform support plate (1); and the telescopic ejector pin (7) is arranged on the upper surface of the platform support plate (1).

7. The spacer bar installation method of the spacer bar installation platform of the quad-bundle spacer bar installation robot according to claim 6, characterized by, The number of the guide shafts (4) is four, which are arranged at four corners of the lower surface of the hollow rotating platform support plate (2) through optical axis fixing seats.

8. The spacer bar installation method of the spacer bar installation platform of the quad-bundle spacer bar installation robot according to claim 6, characterized by, The number of the electromagnets (6) is two, and the number of the telescopic ejector pins (7) is three.

9. The spacer bar installation method of the spacer bar installation platform of the quad-bundle spacer bar installation robot according to claim 6, characterized by, The hollow rotating platform support plate (2) is internally provided with a driving device for driving the four-split interval rod clamp to rotate.

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