Automatic fixing and transferring mechanism for spacer installation and spacer installation method
By designing an automatic fixing and transfer mechanism, the spacer bars are automatically tightened and positioned using a tensioning component and a crank, which solves the safety risks and high costs of existing spacer bar installation methods, improves installation efficiency, and reduces maintenance costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-22
- Publication Date
- 2026-03-13
AI Technical Summary
Existing methods for installing spacers rely on manual high-altitude operations, which pose safety risks and are inefficient. High-cost robotic arms have complex structures, increasing usage and maintenance costs.
An automatic fixing and transfer mechanism was designed, including a tensioning component and a crank component. The crank component is driven to deflect by a first power component, which, together with the tensioning component, realizes the automatic tensioning and positioning of the spacer bar. Through a simple power source and mechanism design, the spacer bar can be installed on a four-split conductor.
It reduces installation costs, improves installation efficiency and safety, simplifies control complexity, enhances system integration and debugging efficiency, reduces failure rates, and lowers maintenance costs.
Smart Images
Figure CN121663369A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of auxiliary equipment for power transmission line construction, specifically relating to an automatic fixing and transferring mechanism and a method for installing spacers. Background Technology
[0002] The spacer bar installed on the four-split conductor mainly serves the following functions: 1. Maintain spacing between sub-conductors: Prevent the four sub-conductors from moving closer together due to wind swaying, short-circuit current electrodynamics or electromagnetic forces, avoid whipping, wear or tangling, and ensure that the split conductors always maintain the designed geometry. 2. Suppressing wind vibration and galloping: Reducing the independent vibration amplitude of sub-conductors through rigid connections, thereby reducing the risk of conductor fatigue and strand breakage; 3. Balanced current distribution: Reduces impedance differences between sub-conductors caused by uneven spacing, suppresses circulating current and additional losses, and improves transmission efficiency.
[0003] 4. Short-circuit current protection: In the event of a short-circuit fault, mechanical strength is used to resist the enormous electrodynamic force between the sub-conductors to prevent conductor deformation or spacer breakage.
[0004] 5. Reduce corona discharge: Maintain the uniformity of the electric field on the surface of the split conductor, avoid local electric field distortion caused by changes in the spacing of the sub-conductors, and reduce radio interference and audible noise.
[0005] In the construction and maintenance of power transmission lines in my country, the installation of spacers currently relies mainly on manual line walking or manual crane operation. This method not only requires a large number of workers to operate at heights, resulting in high labor intensity, but also poses serious safety risks such as falls and electric shocks. Especially in long-span lines or complex terrain conditions, the installation efficiency is low, seriously affecting the progress of the entire power transmission line construction. In addition, to improve installation efficiency, some units have tried to use helicopters to assist in the installation of spacers. Although this has improved efficiency to some extent, the high cost and safety risks of aerial operations limit its widespread application. Furthermore, there is also the use of six-degree-of-freedom robotic arms (multi-joint robotic arms) to achieve tensioning and positioning, but due to their complex structure and large number of joints, this increases the cost of use and maintenance. Summary of the Invention
[0006] To address the shortcomings of existing technologies, this invention provides an automatic fixing and transfer mechanism and a spacer installation method for spacer installation. It aims to achieve automatic tensioning and positioning of spacers before installation by employing a tensioning and positioning system composed of a crank component, a first power component, and a tensioning assembly. As an important component of intelligent construction, this invention can adapt to this development trend, promote a technological revolution in high-altitude operations for power transmission line construction, and improve the automation level of the entire overhead line construction.
[0007] To achieve the above objectives, the present invention provides the following technical solution: An automatic fixing and transferring mechanism for spacer installation is mounted on a robot capable of autonomously moving along a conductor. The robot has a carrier box containing the spacers. The mechanism includes a clamping assembly with a base mounted on the robot. The spacer has a vertical edge at its inner center. A clamping member on the clamping assembly has a V-shaped groove that matches the edge of the spacer. When the V-shaped groove clamps the edge of the spacer, the clamping member... Tighten Spacer bar; crank assembly connected to a bracing member via a mounting block, the crank assembly being used to swing the spacer bar from the spacer bar-loaded carrier box to the conductor where the spacer bar is to be installed.
[0008] Preferably, the transfer mechanism includes a base having a vertical surface, and a crank member connected to the base via a first power member, wherein the first power member drives the crank member to deflect along the vertical surface of the base. Mounting block, which is hinged to crank component and rotates 0-180° along crank component; bracing assembly, which is mounted on mounting block; The mounting block has a vertical surface, and the clamping assembly includes... The first bracket has a vertical surface and a horizontal surface, the vertical surface of the first bracket is fixedly connected to the horizontal surface of the first bracket, and the vertical surface of the first bracket is fixedly mounted on the vertical surface of the mounting block. A rotating component, which is rotatably mounted on the horizontal surface of the first bracket and arranged in the vertical direction. The second power component is fixedly installed on the horizontal surface of the first support, and the free end of the second power component is arranged vertically and extends to the upper surface of the horizontal surface of the first support. The rotating component is fixedly installed on the upper surface of the horizontal surface of the first support, driving the second power component. The free end of the second power component drives the rotating component to rotate horizontally on the horizontal surface of the first support. The lower surface of the second bracket is fixedly mounted on the upper surface of the rotating component and extends vertically to form a vertical surface of the second bracket. The upper end of the vertical surface of the second bracket is bent to form a horizontal surface of the second bracket. The tensioning assembly is mounted on the horizontal plane of the second bracket and rotates horizontally with the rotating component.
[0009] Preferably, the first power component includes The first motor has its fixed end fixedly mounted on the base, and its free end is horizontally positioned. The reduction gear set is rotatably sleeved on the free end of the first motor, and is also rotatably sleeved on the vertical surface of the base through the first rotating shaft.
[0010] Furthermore, the reduction gear set includes, The first gear is fixedly fitted onto the free end of the first motor. The second gear is rotatably sleeved on the vertical surface of the base via the first rotating shaft, and the first gear meshes with the second gear.
[0011] The crank assembly includes, A crank arm, sleeved on a first rotating shaft, allows it to swing along the vertical plane of the base under the drive of the first power component. The first connecting part of the crank is hinged at one end to one end of the crank arm and at the other end to the mounting block; The second crank connecting part has one end rotatably mounted on the vertical surface of the base via a second rotating shaft, and is located near the first rotating shaft. The second rotating shaft and the first rotating shaft are arranged parallel to each other on the vertical surface of the base. The second crank connecting part is also hinged to the first crank connecting part. The third crank connection has one end hinged to the third shaft at one end of the second crank connection, and the other end hinged to the mounting block, and is parallel to the hinge position of the first crank connection on the mounting plate; thus, the first crank connection, the second crank connection, the third crank connection, and the mounting plate form a four-crank assembly.
[0012] Preferably, the tensioning assembly includes, The mounting plate has a horizontal mounting plate surface and a vertical mounting plate surface. The horizontal mounting plate surface is fixedly mounted on the horizontal mounting plate surface of the second bracket, and the vertical mounting plate surface is fixedly mounted on the horizontal mounting plate surface. The vertical mounting plate surface has a length direction, and both ends of the vertical mounting plate surface extend bidirectionally along its length direction and are fixedly connected to mounting bases. The third power component is fixed on the vertical surface of the mounting plate, and its free end extends through and out of the vertical surface of the mounting plate; A connecting rod is fixedly installed on the free end of the third power member and is symmetrical relative to the third power member. The connecting rod performs rotational and telescopic movements through the transmission of the free end of the third power member. Two connecting columns are respectively movably sleeved on the mounting base and extend along the length direction. One end of each column is hinged to the end of the connecting rod, so that it moves horizontally along the length direction when the connecting rod rotates and extends. Two bracing members are fixedly installed at one end of the connecting column and are matched with the spacer bar.
[0013] Furthermore, the spacer has a vertical spacer edge at the inner middle position, and each of the tensioning members has a V-shaped groove that matches the edge of the spacer. When the V-shaped groove on the tensioning member clamps the edge of the spacer, the tensioning member clamps the spacer. Preferably, the second power component is a second motor, and the third power component is a third motor.
[0014] Preferably, a connecting frame is fixedly connected to the upper surface of the transport box. The connecting frame has four legs that match the four-split conductor, and the four legs extend upward in the vertical direction. Each of the four legs is rotatably connected to a traveling wheel, which travels on the four-split conductor. There are two fourth power components, and the two fourth power components are staggered on the two support legs. The free end of each fourth power component is fixed to the third shaft where the traveling wheel is located. The transport container has a transport container chamber that is open along the length of the conductor. A guide rail is installed inside the transport container chamber, extending along the length of the conductor. A linear motor is installed inside the transport container chamber, extending along the length of the conductor and parallel to the guide rail. A positioning block is fixedly connected to the free end of the linear motor. The positioning block is vertically positioned and located on the upper surface of the guide rail. The free end of the linear motor pushes the positioning block to move along the length of the conductor, causing the spacer assembly that the positioning block contacts to move along the length of the conductor until the spacer near the open part of the transport container chamber is tightened by the tensioning assembly.
[0015] Furthermore, the fourth power component is a fourth motor.
[0016] A spacer installation method is performed by the automatic fixing and transfer mechanism described above. First, the vertical upward position of the vertical surface of the installation block is set as the first initial position. Then, the edge of the spacer installed in the spacer cavity is set as the vertical position as the second initial position. Finally, the two horizontal wires at the bottom of the four split wires that are located on the same horizontal plane are set as the reference wires. Includes the following steps: S1. Drive the first power component, and the crank component deflects downward relative to the vertical plane of the base; at this time, the vertical plane of the mounting block deflects counterclockwise in the vertical direction and braces the component close to the middle area inside the spacer bar. S2. When the vertical surface of the mounting block is deflected 180° counterclockwise relative to the initial position, the tensioning assembly is vertically downward and enters the carrier box cavity, extending between the spacers. At this time, the third power component is driven to deflect the connecting rod, thereby causing the two connecting columns to extend bidirectionally in opposite directions relative to the length direction. The tensioning component moves toward the edge of the spacer until the V-shaped groove clamps the edge of the spacer. S3. Drive the first power component, and the crank component deflects upward relative to the vertical plane of the base. At this time, the vertical plane of the mounting block deflects clockwise in the vertical direction. When the vertical plane of the mounting block deflects 90° clockwise relative to the initial position, the spacer is clamped out of the carrier chamber by the support assembly. Until the spacer deflects 90° clockwise from the second initial position, that is, the edge of the spacer is horizontal and horizontal with the length direction of the guide wire, the position of the spacer is taken as the horizontal position of the spacer and maintains a predetermined distance from the reference guide wire. S4. Drive the second power component to make the clamping assembly rotate until the rotating seat on the clamping assembly rotates 90° clockwise. At this time, the spacer clamped by the clamping assembly deflects 90° clockwise relative to the horizontal position of the spacer and is located in the vertical space of the four-split conductor, so that the clamped spacer avoids the reference conductor in the vertical space. S5. Drive the first power component again, and the crank component will deflect relative to the vertical plane of the base until the crank component deflects to the first initial position. At this time, the spacer bar moves to the position of the reference guide in the vertical direction. S6. Drive the second power component to make the tensioning assembly rotate until the rotating seat on the clamping assembly rotates 90° counterclockwise. At this time, the spacer held by the tensioning assembly returns to the second initial position, and the four corners of the spacer correspond one-to-one with the four split wires; that is, the spacer is held in the installation position, and then the subsequent installation operation can be carried out. S7. After installation, drive the third power component to deflect the connecting rod, thereby causing the two connecting columns to shorten in both directions relative to the length direction and in opposite directions. At this time, the tensioning component moves away from the edge of the spacer bar until the V-shaped groove disengages from the edge of the spacer bar. Then drive the first power component to retract the four crank components, thereby causing the tensioning assembly to disengage from the spacer bar that has been installed on the four split conductors.
[0017] Preferably, in the first initial position, the four crank components are in a fully extended state.
[0018] Preferably, after completing step S5, the fourth power component drives the walking wheel to rotate on the four-split guide wire, so that the transport box walks on the four-split guide wire until it reaches the predetermined position. Then, the first power component drives the tensioning assembly back to the state of step S1, and uses the free end of the linear motor to push the positioning block to move along the length of the guide wire, so that the spacer group contacted by the positioning block moves along the length of the guide wire until the spacer near the opening of the transport box cavity corresponds to the tensioning assembly. Then, steps S1-S5 are performed to install the spacer.
[0019] Compared with the prior art, the beneficial effects of the present invention are: 1. Because the clamping assembly in this invention utilizes a first power component to drive a crank component to deflect relative to the base, causing the clamping assembly to deflect, and then uses the clamping components on the clamping assembly to grip the spacer bar. Through the cooperation of the first power component, the crank component, and the clamping components (excluding the clamping assembly itself), the spacer bar is brought into the installation position of the four-split wire, thus achieving clamping, opening and retraction, and obstacle avoidance actions. This requires only three drive sources: the first power component, the second power component, and the third power component. This clamping assembly is simple, and compared to existing six-degree-of-freedom manipulators, the number of components in this mechanism is significantly reduced. Furthermore, this invention uses a first motor to drive the crank component to rotate, automatically completing the gripping posture switching based on the crank geometry. The motion path is simple and controllable, eliminating the need for real-time multi-joint collaborative control algorithms. It also replaces manual wiring or manual gantry cranes, as well as helicopter assistance, thereby improving installation and positioning efficiency.
[0020] 2. Because this invention simplifies the mechanism and reduces costs, compared with traditional six-degree-of-freedom manipulators, this invention only requires a few motors and several cranks, significantly reducing manufacturing and assembly costs; it also reduces control complexity, eliminating the need for complex multi-joint inverse / forward kinematics calculations and multi-axis synchronous control, requiring only simple angle commands to each motor to complete actions such as tensioning, positioning, and avoidance, significantly improving system integration and debugging efficiency; it also improves reliability and ease of maintenance, with a short transmission link, fewer joints, and a low failure rate; standardized components are easy to replace, effectively controlling on-site maintenance time and costs. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the structure of the tensioning component in this invention; Figure 2 This is a schematic diagram showing the state of the tensioning component tensioning the spacer bar in this invention; Figure 3 This is a schematic diagram of the overall structure of the support assembly in the present invention, consisting of the base, crank, first power component, and mounting block. Figure 4 This is a schematic diagram of the structure of the support components other than the main support component in the support assembly of the present invention; Figure 5 This is a schematic diagram of the structure of the tensioning component in the tensioning assembly of the present invention; Figure 6 This is a schematic diagram of the structure of the four-split wire spacer rod installation robot in this invention; Figure 7 This is a schematic diagram of the four-split wire spacer installation robot of the present invention from another perspective; Figure 8 This is a front view of the robot for installing four-split wire spacers in this invention; Figure 9 This is a schematic diagram of the transport container in this invention; Figure 10 This is a flowchart of the process of the robot installing spacers on the four-split conductors in this invention, which tightens the spacers onto the four-split conductors. In the diagram: 1. Carrier box; 101. Carrier box chamber; 2. Connecting frame; 3. Four-split conductor; 4. Spacer bar; 41. Edge of spacer bar; 5. Fourth motor; 6. Walking wheel; 7. First motor; 8. Crank assembly; 801. Crank first connecting part; 802. Crank second connecting part; 803. Crank third connecting part; 804. Guide rail; 9. Base; 10. Base horizontal plane; 1001. Base vertical plane; 1002. Second motor; 11. Second gear; 12. First gear; 13. Mounting block; 14. Second through hole; 141. First bracket; 15. First through hole; 151. Rotating component; 16. Second bracket; 17. Second bracket vertical plane; 172. Second bracket horizontal plane; 18. Third motor; 19. Mounting plate; 191. Connecting column; 20. Supporting component; 21. V-groove; 22. Linear motor; 23. Positioning block; 24. Connecting rod; 25. Connecting rod first connecting part; 251. Connecting rod second connecting part; 252. Detailed Implementation
[0022] To make the technical means, creative features, objectives and effects of this invention easier to understand, the following embodiments are described in detail with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand this invention, but does not constitute a limitation of this invention.
[0023] In recent years, with the rapid development of robotics technology, the application of intelligent construction equipment in the power industry has gradually increased. Robots have advantages such as high automation, high operational precision, and good repeatability, enabling them to replace manual labor in hazardous environments and improve work efficiency and quality. Therefore, this invention designs a tensioning component and robot with high automation, high operational precision, and good repeatability to achieve the above objectives; specifically as follows: like Figure 1-5As shown, an automatic fixing and transfer mechanism for spacer bar installation is mounted on a robot capable of autonomously moving along the conductor. The robot has a transport box 1 carrying the spacers. The transport box 1 moves between the four-split conductors 3 via a fourth motor 5. A base 10 on the above-mentioned tensioning assembly is mounted on the transport box 1 (specifically, the base 10 also has a horizontal base surface 1001, the upper surface of which is fixed to the bottom of a vertical base surface 1002, which extends vertically, and the lower surface of the horizontal base surface 1001 is mounted on the upper surface of the transport box 1). The tensioning assembly holds the spacers 4 inside the transport box 1 firmly against the four-split conductors 3. The purpose is to precisely tension and adjust the position of the spacers 4 before installation, ensuring that the spacers 4 can avoid the conductors and be accurately positioned, achieving efficient and safe automated installation. It includes... Base 10, which has a vertical base surface 1002, The crank component 8 is connected to the base 10 via a first power component. The first power component drives the crank component 8 to deflect along the vertical surface 1002 of the base. Specifically, the first power component includes a reduction gear set, which is rotatably sleeved on the free end of the first motor and rotatably sleeved on the vertical surface of the base via a first rotating shaft. The purpose is to drive the crank component to reciprocate relative to the vertical surface of the base through the reduction gear set, thereby realizing the adjustment of the tensioning component at multiple angles in space. Specifically, the reduction gear set includes a first motor 7, whose fixed end is fixedly mounted on the base 10 and whose free end is horizontally set; a first gear 13, which is fixedly sleeved on the free end of the first motor 7; and a second gear 12, which is rotatably sleeved on the vertical surface 1002 of the base through a first rotating shaft, and the first gear 13 and the second gear 12 mesh with each other. Mounting block 14 is hinged to crank component 8 and rotates 0-180° along crank component 8; The tensioning component, which is mounted on the mounting block 14, is used to enter and clamp the spacer 4 or release and exit the spacer 4.
[0024] Mounting block 14 has a vertical mounting surface, and the clamping assembly includes... The first bracket 15 has a first bracket vertical surface and a first bracket horizontal surface. The first bracket vertical surface is fixedly connected to the first bracket horizontal surface, and the first bracket vertical surface is fixedly installed on the vertical surface of the mounting block (specifically: the first bracket vertical surface has a first through hole 151, and the mounting block vertical surface has a second through hole 141. The first through hole 151 and the second through hole 141 pass through a bolt together, and the first bracket vertical surface or the mounting block vertical surface is locked by a nut, so that the first bracket vertical surface is fixedly installed on the vertical surface of the mounting block). The rotating component 16 is rotatably mounted on the horizontal surface of the first support and is set in the vertical direction, so that the spacer 4 can achieve angular avoidance before installation to prevent interference with existing conductors; this structure provides a reliable mechanism for avoiding four-split conductors and improves operational adaptability. The second motor 11 is fixedly installed on the horizontal surface of the first bracket, and the free end of the second motor 11 is set vertically and extends to the upper surface of the horizontal surface of the first bracket. The rotating part 16 is fixedly installed on the upper surface of the horizontal surface of the first bracket, driving the second motor 11. The free end of the second motor 11 drives the rotating part 16 to rotate horizontally on the horizontal surface of the first bracket. The second bracket 17 has its lower surface fixedly mounted on the upper surface of the rotating member 16 and extends vertically to form a second bracket vertical surface 171. The upper end of the second bracket vertical surface 171 is bent to form a second bracket horizontal surface 172 so as to provide a horizontal platform for the installation of the bracing assembly. The tensioning assembly is mounted on the horizontal plane of the second bracket and rotates horizontally with the rotating component 16.
[0025] The crank assembly 8 includes a crank arm 801, which is sleeved on a first rotating shaft and swings along the vertical surface 1002 of the base under the drive of a first power component; a first crank connecting portion 802, one end of which is hinged to one end of the crank arm 801, and the other end of which is hinged to a mounting block 14; a second crank connecting portion 803, one end of which is rotatably mounted on the vertical surface 1002 of the base via a second rotating shaft and located near the first rotating shaft, with the second rotating shaft and the first rotating shaft arranged parallel to each other on the vertical surface 1002 of the base, and the second crank connecting portion 803 is also hinged to the first crank connecting portion 802; and a third crank connecting portion 804, one end of which is hinged to one end of the second crank connecting portion 803 via a third rotating shaft, and the other end of which is hinged to the mounting block 14, and is parallel to the hinge position of the first crank connecting portion 801 on the mounting plate 14; so that a portion of the first crank connecting portion 802, the second crank connecting portion 803, and the third crank connecting portion 804 are connected together. The three connecting parts 804 and the mounting plate 14 form a four-crank component; more specifically, the mounting block 14 has a vertical notch on a vertical surface and a horizontal notch on a horizontal surface, and the horizontal notch is connected to the vertical notch; the purpose is that when the crank third connecting part 804 rotates on the mounting plate 14, it rotates through the connection between the horizontal and vertical notches until the end of the crank third connecting part 804 contacts the opposite surface of the vertical surface of the mounting plate, at which point the crank third connecting part 804 is rotated into position, and the vertical surface of the mounting plate is in a vertical state, providing support for the subsequent tightening and positioning of the spacer bar; in addition, the crank third connecting part 804 has a bent part, the end of which is hinged to the mounting block 14; the purpose of providing this bent part is to enable the vertical surface of the mounting plate to be in a vertical state initially, which facilitates better support for the tightening and positioning of the spacer bar; The tensioning assembly includes a mounting plate 19 having a horizontal mounting plate surface and a vertical mounting plate surface. The horizontal mounting plate surface is fixedly mounted on the horizontal surface of the second bracket (specifically, the horizontal mounting plate surface is fixedly mounted on the horizontal surface of the second bracket by bolts), and the vertical mounting plate surface is fixedly mounted on the horizontal mounting plate surface. The vertical mounting plate surface has a length direction A (e.g., ...). Figure 5 As shown, the vertical surface of the mounting plate extends bidirectionally along its length direction A at both ends and is fixedly connected to mounting bases 191; a third motor 18 is fixed on the vertical surface of the mounting plate, with its free end penetrating and extending out of the vertical surface of the mounting plate; a connecting rod 25 is fixedly installed on the free end of the third motor 18 and is symmetrical relative to the third motor 18, so that the connecting rod 25 can rotate and extend due to the transmission of the free end of the third motor; two connecting columns 20 are respectively movably sleeved on the mounting bases 19 and extend along the length direction A, with one end of each column hinged to the end of the connecting rod 25, so that it can move horizontally along the length direction A when the connecting rod 25 rotates and extends; two bracing members 21 are respectively fixedly installed on one end of the connecting column 20 and are matched with the spacer 4.
[0026] The connecting rod 25 includes a first connecting part 251, the middle of which is fixedly sleeved on the free end of the third motor 18; two second connecting parts 252, which are respectively hinged to both ends of the first connecting part 251; and the other end of each second connecting part 252 is respectively hinged to the connecting post 20. Specifically, the spacer 4 has a vertical spacer edge 41 in the middle of its interior, and each tensioning member 21 has a V-shaped groove 22 that matches the spacer edge 41. When the V-shaped groove 22 on the tensioning member 21 clamps the spacer... When the spacer is at edge 41, the tensioning member 21 clamps the spacer 4. Conversely, the third motor 18 reverses, causing the connecting rod to retract. At this time, the two connecting columns 20 approach each other, thereby bringing the two tensioning members 21 closer together until the tensioning member 21 releases the spacer 4. The torque generated by the third motor 18 is transmitted to the tensioning member with V-groove 22 through the connecting rod and connecting column. The V-groove 22 is used to clamp or release the spacer 4. The tensioning assembly ensures tensioning stability and anti-slip performance, providing initial fixed support for subsequent pin insertion and installation work. A connecting frame 2 is fixedly connected to the upper surface of the transport box 1. The connecting frame 2 has four legs that match the four-split conductor 3, and the four legs extend upward in the vertical direction. Each of the four legs is rotatably connected to a traveling wheel 6, which travels on the four-split conductor 3. There are two fourth motors 5, and the two fourth motors 5 are installed alternately on the two support legs. The free end of each fourth motor 5 is fixed to the third rotating shaft where the walking wheel 6 is located.
[0027] The transport container 1 has a transport container chamber 101, which is open along the length of the conductor. A guide rail 9 is installed inside the transport container chamber 101, which extends along the length of the conductor. A linear motor 23 is installed inside the transport container chamber 101, which extends along the length of the conductor and is parallel to the guide rail 9. A positioning block 24 is fixedly connected to the free end of the linear motor 23. The positioning block 24 is arranged vertically and is located on the upper surface of the guide rail. The free end of the linear motor 23 pushes the positioning block 24 to move along the length of the conductor, so that the spacer bar group contacted by the positioning block 24 moves along the length of the conductor until the spacer bar 4 near the opening of the transport container chamber 101 can be tightened by the tensioning assembly.
[0028] like Figure 10 As shown, a spacer installation method is performed by the robot described above. First, the vertical upward position of the vertical surface of the installation block is set as the first initial position, and the vertical position of the edge of the spacer installed in the spacer cavity is set as the second initial position. The two horizontal wires at the bottom of the four split wires located on the same horizontal plane are set as the reference wires. Includes the following steps: S1. Drive the first power component, and the crank component deflects downward relative to the vertical plane of the base; at this time, the vertical plane of the mounting block deflects counterclockwise in the vertical direction and braces the component close to the middle area inside the spacer bar. S2. When the vertical surface of the mounting block is deflected 180° counterclockwise relative to the initial position, the tensioning assembly is vertically downward and enters the carrier box cavity, extending between the spacers. At this time, the third power component is driven to deflect the connecting rod, thereby causing the two connecting columns to extend bidirectionally in opposite directions relative to the length direction. The tensioning component moves toward the edge of the spacer until the V-shaped groove clamps the edge of the spacer. S3. Drive the first power component, and the crank component deflects upward relative to the vertical plane of the base. At this time, the vertical plane of the mounting block deflects clockwise in the vertical direction. When the vertical plane of the mounting block deflects 90° clockwise relative to the initial position, the spacer is clamped out of the carrier chamber by the support assembly. Until the spacer deflects 90° clockwise from the second initial position, that is, the edge of the spacer is horizontal and horizontal with the length direction of the guide wire, the position of the spacer is taken as the horizontal position of the spacer and maintains a predetermined distance from the reference guide wire. S4. Drive the second power component to make the clamping assembly rotate until the rotating seat on the clamping assembly rotates 90° clockwise. At this time, the spacer clamped by the clamping assembly deflects 90° clockwise relative to the horizontal position of the spacer and is located in the vertical space of the four-split conductor, so that the clamped spacer avoids the reference conductor in the vertical space. S5. Drive the first power component again, and the crank component will deflect relative to the vertical plane of the base until the crank component deflects to the first initial position. At this time, the spacer bar moves to the position of the reference guide in the vertical direction. S6. Drive the second power component to make the tensioning assembly rotate until the rotating seat on the clamping assembly rotates 90° counterclockwise. At this time, the spacer held by the tensioning assembly returns to the second initial position, and the four corners of the spacer correspond one-to-one with the four split wires; that is, the spacer is held in the installation position, and then the subsequent installation operation can be carried out. S7. After installation, drive the third power component to deflect the connecting rod, thereby causing the two connecting columns to shorten in both directions relative to the length direction and in opposite directions. At this time, the tensioning component moves away from the edge of the spacer bar until the V-shaped groove disengages from the edge of the spacer bar. Then drive the first power component to retract the four crank components, thereby causing the tensioning assembly to disengage from the spacer bar that has been installed on the four split conductors.
[0029] In the first initial position, the four crank components are in a fully extended state.
[0030] After completing step S5, the fourth motor 5 drives the walking wheels to rotate on the four-split guide wire, so that the transport box can walk on the four-split guide wire until it reaches the predetermined position. Then, the first power component drives the tensioning assembly back to the state of step S1, and the free end of the linear motor pushes the positioning block to move along the length of the guide wire, so that the spacer group contacted by the positioning block moves along the length of the guide wire until the spacer near the opening of the transport box cavity corresponds to the tensioning assembly. Then, the steps S1-S5 are performed to install the spacer.
[0031] Additionally, it should be noted that between steps S6 and S7, when the four corners of the spacer are respectively attached to the four-split conductor, existing equipment is mainly used. Since there are many similar spacer installation devices on the market, and this device is not the focus of this application, it will not be described in detail.
[0032] The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Various modifications or variations that can be made by those skilled in the art without creative effort within the scope of the appended claims are still within the scope of protection of this patent.
Claims
1. An automatic fixing and transferring mechanism for installing spacer bars, mounted on a robot capable of autonomously moving along a conductor, the robot having a carrier box containing the spacer bars, characterized in that, The transfer mechanism includes a tensioning assembly with a base mounted on the robot. The spacer bar has a vertical edge at its inner center. The tensioning member on the tensioning assembly has a V-shaped groove that matches the edge of the spacer bar. When the V-shaped groove on the tensioning member clamps the edge of the spacer bar, the tensioning member... Tighten Spacer bar; crank assembly connected to a bracing member via a mounting block, the crank assembly being used to swing the spacer bar from the spacer bar-containing carrier box to the conductor where the spacer bar is to be installed.
2. The automatic fixed transfer mechanism according to claim 1, characterized in that: The transfer mechanism includes a base having a vertical surface, and a crank connected to the base via a first power member, which drives the crank to deflect along the vertical surface of the base. Mounting block, which is hinged to crank component and rotates 0-180° along crank component; bracing assembly, which is mounted on mounting block; The mounting block has a vertical surface, and the clamping assembly includes... The first bracket has a vertical surface and a horizontal surface, the vertical surface of the first bracket is fixedly connected to the horizontal surface of the first bracket, and the vertical surface of the first bracket is fixedly mounted on the vertical surface of the mounting block. A rotating component, which is rotatably mounted on the horizontal surface of the first bracket and arranged in the vertical direction. The second power component is fixedly installed on the horizontal surface of the first support, and the free end of the second power component is arranged vertically and extends to the upper surface of the horizontal surface of the first support. The rotating component is fixedly installed on the upper surface of the horizontal surface of the first support, driving the second power component. The free end of the second power component drives the rotating component to rotate horizontally on the horizontal surface of the first support. The lower surface of the second bracket is fixedly mounted on the upper surface of the rotating component and extends vertically to form a vertical surface of the second bracket. The upper end of the vertical surface of the second bracket is bent to form a horizontal surface of the second bracket. The tensioning assembly is mounted on the horizontal plane of the second bracket and rotates horizontally with the rotating component.
3. The automatic fixed transfer mechanism according to claim 2, characterized in that: The second power component is the second motor.
4. The automatic fixed transfer mechanism according to claim 2, characterized in that: The first power component includes The first motor has its fixed end fixedly mounted on the base, and its free end set horizontally. The reduction gear set is rotatably sleeved on the free end of the first motor, and is also rotatably sleeved on the vertical surface of the base through the first rotating shaft.
5. The automatic fixing and transferring mechanism according to claim 4, characterized in that: The reduction gear set includes, The first gear is fixedly sleeved on the free end of the first motor. The second gear is rotatably sleeved on the vertical surface of the base via the first shaft, and the first gear meshes with the second gear.
6. The automatic fixed transfer mechanism according to claim 2, characterized in that: The tensioning component includes... The mounting plate has a horizontal mounting plate surface and a vertical mounting plate surface. The horizontal mounting plate surface is fixedly mounted on the horizontal mounting plate surface of the second bracket, and the vertical mounting plate surface is fixedly mounted on the horizontal mounting plate surface. The vertical mounting plate surface has a length direction, and both ends of the vertical mounting plate surface extend bidirectionally along its length direction and are fixedly connected to mounting bases. The third power component is fixed on the vertical surface of the mounting plate, and its free end extends through and out of the vertical surface of the mounting plate; A connecting rod is fixedly installed on the free end of the third power member and is symmetrical to the third power member. The connecting rod performs rotational and telescopic movements through the transmission of the free end of the third power member. Two connecting columns are respectively movably sleeved on the mounting base and extend along the length direction. One end of each column is hinged to the end of the connecting rod, so that it moves horizontally along the length direction when the connecting rod rotates and extends. Two bracing members are fixedly installed at one end of the connecting column and are matched with the spacer bar.
7. The automatic fixing and transferring mechanism according to claim 6, characterized in that: The third power component is a third motor.
8. The automatic fixed transfer mechanism according to claim 2, characterized in that: The transport container has a transport container chamber that is open along the length of the conductor. A guide rail is installed inside the transport container chamber, extending along the length of the conductor. A linear motor is installed inside the transport container chamber, extending along the length of the conductor and parallel to the guide rail. A positioning block is fixedly connected to the free end of the linear motor. The positioning block is vertically positioned and located on the upper surface of the guide rail. The free end of the linear motor pushes the positioning block to move along the length of the conductor, causing the spacer assembly that the positioning block contacts to move along the length of the conductor until the spacer near the open part of the transport container chamber is tightened by the tensioning assembly.
9. A method for installing spacer bars, performed by the automatic fixing and transferring mechanism according to any one of claims 1-8, characterized in that: First, set the vertical position of the mounting block vertically upward as the first initial position, and in the first initial position, the four crank components are in a fully extended state; set the position of the edge of the spacer in the spacer chamber vertically as the second initial position. The two horizontal traverses at the bottom of the four-split traverse that are on the same horizontal plane are set as the reference traverses; Includes the following steps: S1. Drive the first power component, and the crank component deflects downward relative to the vertical plane of the base; at this time, the vertical plane of the mounting block deflects counterclockwise in the vertical direction and braces the component close to the middle area inside the spacer bar. S2. When the vertical surface of the mounting block is deflected 180° counterclockwise relative to the initial position, the tensioning assembly is vertically downward and enters the carrier box cavity, extending between the spacers. At this time, the third power component is driven to deflect the connecting rod, thereby causing the two connecting columns to extend bidirectionally in opposite directions relative to the length direction. The tensioning component moves toward the edge of the spacer until the V-shaped groove clamps the edge of the spacer. S3. Drive the first power component, and the crank component deflects upward relative to the vertical plane of the base. At this time, the vertical plane of the mounting block deflects clockwise in the vertical direction. When the vertical plane of the mounting block deflects 90° clockwise relative to the initial position, the spacer is clamped out of the carrier chamber by the support assembly. Until the spacer deflects 90° clockwise from the second initial position, that is, the edge of the spacer is horizontal and horizontal with the length direction of the guide wire, the position of the spacer is taken as the horizontal position of the spacer and maintains a predetermined distance from the reference guide wire. S4. Drive the second power component to make the clamping assembly rotate until the rotating seat on the clamping assembly rotates 90° clockwise. At this time, the spacer clamped by the clamping assembly deflects 90° clockwise relative to the horizontal position of the spacer and is located in the vertical space of the four-split conductor, so that the clamped spacer avoids the reference conductor in the vertical space. S5. Drive the first power component again, and the crank component will deflect relative to the vertical plane of the base until the crank component deflects to the first initial position. At this time, the spacer bar moves to the position of the reference guide in the vertical direction. S6. Drive the second power component to make the tensioning assembly rotate until the rotating seat on the clamping assembly rotates 90° counterclockwise. At this time, the spacer held by the tensioning assembly returns to the second initial position, and the four corners of the spacer correspond one-to-one with the four split wires; that is, the spacer is held in the installation position, and then the subsequent installation operation can be carried out. S7. After installation, drive the third power component to deflect the connecting rod, thereby causing the two connecting columns to shorten in both directions relative to the length direction and in opposite directions. At this time, the tensioning component moves away from the edge of the spacer bar until the V-shaped groove disengages from the edge of the spacer bar. Then drive the first power component to retract the four crank components, thereby causing the tensioning assembly to disengage from the spacer bar that has been installed on the four split conductors.
10. The installation method according to claim 9, characterized in that, After completing step S5, the fourth power unit drives the walking wheel to rotate on the four-split guide wire, so that the transport box can walk on the four-split guide wire until it reaches the predetermined position. Then, the first power unit drives the tensioning assembly back to the state of step S1, and uses the free end of the linear motor to push the positioning block to move along the length of the guide wire, so that the spacer group contacted by the positioning block can move along the length of the guide wire until the spacer near the opening of the transport box cavity corresponds to the tensioning assembly. Then, the steps S1-S5 are performed again to install the spacer.