Split-type spacer mounting robot for double-split three-phase conductor and online and offline and cooperative positioning method of split-type spacer mounting robot

Abstract

The invention discloses a split-type spacer installation robot for a double-split three-phase conductor and an on-line and off-line and cooperative positioning method of the split-type spacer installation robot for the double-split three-phase conductor, and the robot comprises an upper installation module and a lower installation module, and the upper installation module is provided with walking wheels and at least one pair of take-up and pay-off devices; the loading guide mechanism and the loading docking mechanism are detachably mounted; the lower assembly module is provided with a lower assembly guide mechanism and a lower assembly butt joint mechanism which are detachably installed, and the lower assembly butt joint mechanism is matched with the upper assembly butt joint mechanism to achieve rapid butt joint; the loading guide mechanism is controlled to be in an inverted V shape when passing through the wire upwards and to be in a positive V shape when passing through the wire downwards; and the down-loading guide mechanism is used for pushing the wire aside when the wire passes through the down-loading guide mechanism upwards. The method is easy and convenient to operate and accurate in positioning, the three-phase wires of the split-type spacer mounting robot can be loaded and unloaded only through the unmanned aerial vehicle, and the method has good universality for the three-phase wires in different arrangement modes.

Description

Technical Field

[0001] This invention belongs to the technical field of transmission line tooling for installation and uninstallation, specifically relating to a split-type spacer bar installation robot for double-split three-phase conductors and its installation, uninstallation, and collaborative positioning method. Background Technology

[0002] The split-type spacer installation robot is an intelligent robot capable of automating spacer installation. It consists of an upper module and a lower module. The upper module assists the lower module in loading and unloading, while the lower module is the main body responsible for the spacer installation. The loading process typically involves: a drone hoisting the upper module onto the line; the upper module lowering its cable; and the lower module then automatically winding itself onto the line via the cable.

[0003] In the power system field, high-voltage overhead lines with voltage levels of 10kV and above generally adopt a three-phase three-wire system. The three lines correspond to the A, B, and C phases of AC power, respectively, and power transmission is achieved through a sinusoidal AC potential with a 120° phase difference. The three-phase conductors can be arranged horizontally, vertically, in a triangle, in an umbrella shape, or in a hexagonal shape. When using a spacer bar installation robot to simultaneously install three-phase conductor spacers, certain arrangements of the three-phase conductors can affect the vertical movement of the split-type spacer bar installation robot. Taking a hexagonal arrangement as an example, the three layers from top to bottom are phase A, phase B, and phase C conductors. Phase A and phase C conductors are on the same vertical plane, approximately 7m apart. Phase B conductor is located between phase A and phase C conductors, approximately 2m apart horizontally. For phase B conductors, the split-type spacer bar installation robot can move up and down normally, while the vertical movement of phase A and phase C conductors will be affected by conductor interference. In addition, the installation requirements for three-phase conductor spacers stipulate that the three-phase spacers should preferably be in the same vertical plane (《Construction and Acceptance Specification for 110~750kV Overhead Transmission Lines》 (GB 50233-2014)), which places high demands on the robot's positioning. Summary of the Invention

[0004] To overcome the shortcomings of the prior art, this invention provides a split-type spacer bar installation robot for double-split three-phase conductors and its loading / unloading and collaborative positioning method. This method is simple to operate and has accurate positioning. It can realize the loading / unloading of three-phase conductors by split-type spacer bar installation robot using only drones, and has good versatility for three-phase conductors with different layouts.

[0005] According to one aspect of the present invention, a split-type spacer bar installation robot for double-split three-phase conductors is provided, the robot comprising an upper module and a lower module, wherein: The upper module is equipped with walking wheels and at least one pair of cable take-up and take-down devices, as well as a detachable upper module guide mechanism and an upper module docking mechanism. The lower module is equipped with a detachable lower guide mechanism and a lower docking mechanism, which are matched with the upper docking mechanism to achieve rapid docking. The upper guide mechanism is controlled to form an inverted V shape when passing through the wire upwards and a regular V shape when passing through the wire downwards; the lower guide mechanism is used to push the wire away when passing through the wire upwards.

[0006] As a further technical solution, the upper assembly docking mechanism includes a male docking head, and the lower assembly docking mechanism includes a female docking head, a guide cone plate, and a locking plate. The female docking head is adapted to the male docking head, the guide cone plate is used to guide the male docking head to align with the female docking head, and the locking plate is used to lock the male docking head.

[0007] As a further technical solution, the lower assembly guiding mechanism includes at least one set of first guide plates disposed around the lower assembly module. The at least one set of first guide plates are symmetrically disposed on both sides of the lower assembly module, and an inclined guide is disposed on the top of each first guide plate.

[0008] As a further technical solution, the upper guide mechanism includes at least one set of second guide plates. The at least one set of second guide plates is symmetrically arranged in the direction perpendicular to the conductor, and each second guide plate is connected to a motor through a connecting rod. The motor drives the connecting rod to rotate, thereby driving at least one set of second guide plates to rotate, so that the two upper inclined surfaces of each set of second guide plates form an inverted V shape, or the two lower inclined surfaces form a positive V shape.

[0009] As a further technical solution, the motor is disposed on the side of the upper module perpendicular to the wire, the second guide plate is disposed on the side of the upper module parallel to the wire, and the plane where the connecting rod is located is perpendicular to the plane where the second guide plate is located and parallel to the plane where the motor is located.

[0010] As a further technical solution, the upper module is also equipped with a wire clamping mechanism.

[0011] According to one aspect of the present invention, a method for installing a split-type spacer bar robot for a double-split three-phase conductor is provided. The three-phase conductor includes three phases A, B, and C, each corresponding to a split-type spacer bar robot. Each phase robot is equipped with an upper assembly docking mechanism and a lower assembly docking mechanism. When phases A and C are in the same vertical plane, the lower assembly module of phase A is equipped with a lower assembly guide mechanism, and the upper assembly module of phase C is equipped with an upper assembly guide mechanism. The method for installing phases A and C includes: After hoisting the A-phase mounting module onto the A-phase conductor, the A-phase mounting module lowers its cable to the preset position; The A-phase lower module and the C-phase upper module are joined together by a docking mechanism and then connected to the line by self-twisting of the cable. When entering the preset distance range of the C-phase conductor, the A-phase lower module and the C-phase upper module pass upward through the C-phase conductor via the guide mechanism. Then, the C-phase upper module detaches from the A-phase lower module via the docking mechanism and falls onto the C-phase conductor. The lower module of phase A continues to rise by self-twisting until it aligns with the upper module of phase A. The upper C-phase module hangs down with a cable, and the lower C-phase module rises by self-twisting through the cable to mate with the upper C-phase module.

[0012] According to one aspect of the present invention, a method for unloading a split-type spacer bar installation robot for a double-split three-phase conductor is provided. The three-phase conductor includes three phases A, B, and C, each corresponding to a split-type spacer bar installation robot. Each phase robot is equipped with an upper assembly docking mechanism and a lower assembly docking mechanism. When phases A and C are in the same vertical plane, the lower assembly module of phase A is equipped with a lower assembly guide mechanism, and the upper assembly module of phase C is equipped with an upper assembly guide mechanism. The method for unloading phases A and C includes: The lower modules of phases A and C are detached from the upper modules of phases A and C respectively and descend by self-twisting. When the C-phase lower module descends to the preset position and completes its unloading, the A-phase lower module enters the preset distance range of the C-phase conductor and combines with the C-phase upper module through the docking mechanism. The A-phase lower module and the C-phase upper module pass downward through the C-phase conductor via a guide mechanism, and then descend to a preset position to complete the unloading process. Phase A module is lifted off the production line.

[0013] As a further technical solution, when the three phase conductors (A, B, and C) are all in the same vertical plane, each phase robot is equipped with an upper docking mechanism and a lower docking mechanism. Specifically, the lower docking modules of phase A and phase B are equipped with lower guide mechanisms, and the upper docking modules of phase B and phase C are equipped with upper guide mechanisms.

[0014] According to one aspect of this specification, a collaborative positioning method for a split-type spacer installation robot for a double-split three-phase conductor is provided. The three-phase conductor includes three phases A, B, and C, with each phase corresponding to one of the aforementioned split-type spacer installation robots. After completing the online process, the upper module of phase B is hoisted online, and the lower module of phase B is self-twisted online. Subsequently, a master-slave collaborative method is adopted, with one phase robot as the master and the other two phase robots as slaves, to perform the following collaborative positioning steps: The three-phase robot moves to the vicinity of the target location using a GNSS system; Based on the physical markings pre-set on the guide wire, the host uses a binocular camera to identify the distance between the robot and the markings, obtain coordinates, and move to the position where the spacer bar is installed; The slave unit uses a laser rangefinder and an angle encoder to perform triangulation to obtain relative coordinates with the host as the reference. The slave unit moves to position the three-phase robot on the same vertical plane to meet the installation requirements of the three-phase spacer.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The robot can be installed and disembarked without the need for manual labor or crane assistance. It can be done using only drones, which has broad application prospects in high-altitude power construction. 2. Based on the existing split-type spacer bar installation robot structure and online / offline scheme, only simple modifications are needed to make the robot suitable for three-phase conductors. It is economical, easy to operate, and has high versatility for three-phase conductors with different arrangements. 3. By adopting a master-slave collaborative positioning method, the slave robot does not need to pursue high cost or independent absolute accuracy. It solves the core problem of "three-phase robots sharing a vertical plane" with the lowest cost, the most direct measurement, and the simplest control logic. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the docking mechanism of a split-type spacer bar installation robot for double-split three-phase conductors provided in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the guiding mechanism structure provided in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the positive V-shaped structure of the guiding mechanism provided in an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the inverted V-shaped structure of the guiding mechanism provided in an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram illustrating the online principle provided in an embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the online process provided in an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the offline principle provided in an embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram of the offline process provided in an embodiment of the present invention.

[0025] Figure 9 This is a schematic diagram of the three-phase robot cooperative positioning process provided in an embodiment of the present invention.

[0026] Figure reference numerals: 1-Phase A conductor; 2-Phase C conductor; 3-UAV; 4-Phase A upper module; 5-Cable; 6-Phase A lower module; 7-Phase C upper module; 8-Phase C lower module; 9-Male connector; 10-Female connector; 11-Guide cone; 12-Clamping plate; 13-Lower module guide plate; 14-Second guide plate; 15-Motor; 16-Connecting rod; 17-Upper slope; 18-Lower slope. Detailed Implementation

[0027] To address the limitations of existing technologies where the installation of spacers for three-phase conductors is subject to interference from conductors, and where robot positioning is critical, this invention proposes a split-type spacer installation robot for double-split three-phase conductors. Through improvements to the rapid docking mechanism and guiding mechanism, a simple installation and unloading method and a precise collaborative positioning method are achieved. The installation method can be found in [reference needed]. Figure 5 As shown, specifically: S1: The UAV 3 hoists the A-phase upper module 4 onto the A-phase conductor 1.

[0028] S2: The cable 5 of the upper module 4 of phase A is lowered to the ground or a support platform for placing the upper module 4 of phase A is placed.

[0029] S3: The lower module 6 of phase A and the upper module 7 of phase C are combined through a quick docking mechanism and are automatically connected to the line via cable 5.

[0030] S4: After approaching the C-phase conductor 2, the A-phase lower module 6 and the C-phase upper module 7 pass upward through the C-phase conductor 2 via the guide mechanism.

[0031] S5: After the A-phase lower module 6 and the C-phase upper module 7 pass through the C-phase conductor 2, the C-phase upper module 7 detaches from the A-phase lower module 6 through the quick docking mechanism and falls onto the C-phase conductor 2.

[0032] S6: The lower A-phase module 6 continues to rise by self-twisting until it mates with the upper A-phase module 4.

[0033] S7: The upper C-phase module 7 lowers the cable 5, and the lower C-phase module 8 on the ground or support platform rises by self-twisting through the cable 5 to engage with the upper C-phase module 7.

[0034] Phase A and C conductors 2 are now online. Phase B conductor is not interfered with by phase A and C conductors and can be normally hoisted online using UAV 3 to load the upper module, while the lower module is automatically twisted up for online loading.

[0035] For instructions on how to log off, please refer to [link / reference]. Figure 7 As shown, specifically: S10: The lower modules 6 and 8 of phases A and C are detached from the upper modules 4 and 7 of phases A and C respectively and descend by self-twisting.

[0036] S20: When the C-phase lower module 8 descends to the ground or support platform and completes its unloading, the A-phase lower module 6 approaches the C-phase conductor 2 and combines with the C-phase upper module 7 through a quick docking mechanism.

[0037] S30: The A-phase lower module 6 and the C-phase upper module 7 pass downward through the C-phase conductor 2 via a guide mechanism.

[0038] S40: The A-phase lower module 6 and the C-phase upper module 7 are lowered to the ground or support platform, completing the offline process.

[0039] S50: Phase A module 4 is lifted off the production line by drone 3.

[0040] Phase A and C conductors 1 and 2 are now unloaded. Phase B conductor is not interfered with by phase A and C conductors and can be unloaded normally using a drone to lift the upper module. The lower module is then unloaded via self-twisting.

[0041] After deployment, the collaborative positioning method for the three-phase robots is as follows: a master-slave collaborative approach is adopted, with one phase robot as the master and the other two phase robots as slaves. First, coarse positioning is performed: the three-phase robots move to the vicinity of the target location using a GNSS system. Next, fine positioning is performed: based on pre-set physical markers on the guide wire, the master robot uses a binocular camera to identify the distance between the robot and the markers, obtains precise coordinates, and moves to the precise position for installing the spacer bars; the slave robots use a laser rangefinder and angle encoder to perform triangulation, obtaining relative coordinates with the master robot as the reference. The slave robots move to ensure that the three-phase robots are on the same vertical plane, meeting the installation requirements of the three-phase spacer bars.

[0042] The terms “comprising” and “having”, and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover a non-exclusive inclusion, such as a process, method, system, product, or apparatus that includes a series of steps or units, not necessarily limited to those explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying 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 those skilled in the art without creative effort are within the scope of protection of the present invention. In addition, the technical features of the various embodiments or individual embodiments provided by the present invention can be arbitrarily combined to form new technical solutions. Such combinations are not bound by the order of steps and / or structural composition patterns, but must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention. Example 1

[0044] This embodiment provides a split-type spacer installation robot for double-split three-phase conductors. The robot includes an upper module and a lower module, wherein: The upper module is equipped with walking wheels and at least one pair of cable take-up and take-down devices, as well as a detachable upper module guide mechanism and an upper module docking mechanism. The lower module is equipped with a detachable lower guide mechanism and a lower docking mechanism. The lower docking mechanism matches the upper docking mechanism and forms a quick docking mechanism to achieve quick docking. The upper guide mechanism is controlled to form an inverted V shape when passing through the wire upwards and a regular V shape when passing through the wire downwards; the lower guide mechanism is used to push the wire away when passing through the wire upwards.

[0045] Preferably, the upper assembly docking mechanism includes a male docking head 9, and the lower assembly docking mechanism includes a female docking head 10, a guide cone plate 11, and a clamping plate 12. The female docking head 10 is adapted to the male docking head 9, the guide cone plate 11 is used to guide the male docking head 9 to align with the female docking head 10, and the clamping plate 12 is used to clamp the male docking head 9.

[0046] like Figure 1 As shown, taking a hexagonal arrangement of three-phase conductors as an example, phase A and phase C conductors are on the same vertical plane. The male connector 9 is located on the upper module 7 of phase C, while the female connector 10, guide cone 11, and clamping plate 12 are located on the lower module 6 of phase A. When the lower module 6 of phase A and the upper module 7 of phase C are connected, the male connector 9 is quickly aligned with the female connector 10 with the help of the guide cone 11, and the male connector 9 is clamped by the clamping plate 12 to achieve rapid connection. Similarly, when the lower module and upper module of the same phase are connected, the male connector 9 can also be quickly aligned with the female connector 10 with the help of the guide cone 11, and the male connector 9 can be clamped by the clamping plate 12 to achieve rapid connection.

[0047] Preferably, the lower assembly guiding mechanism includes at least one set of first guide plates 13 disposed around the lower assembly module. The at least one set of first guide plates 13 is symmetrically disposed on both sides of the lower assembly module to facilitate upward pulling of the wires. Two sets of first guide plates 13 may be provided, spaced apart around the lower assembly module.

[0048] like Figure 2 As shown, taking a hexagonal arrangement of three-phase conductors as an example, phase A conductors and phase C conductor 2 are on the same vertical plane. When passing upward through phase C conductor 2, the first guide plate 13 of the lower module 6 of phase A can push aside phase C conductor 2. Considering that the focus here is on how to better pass phase C conductors upward, and that phase A conductors are a certain distance from phase C conductor 2, the attached figure only shows phase C conductor 2. Preferably, an inclined guide can be provided at the top of each of the first guide plates 13 to make it easier to push aside the conductor.

[0049] Preferably, the upper guide mechanism includes at least one set of second guide plates 14, which are symmetrically arranged in the direction perpendicular to the conductor. Each second guide plate 14 is connected to a motor 15 via a connecting rod 16. The motor 15 drives the connecting rod 16 to rotate, thereby causing at least one set of second guide plates 14 to form a positive V-shape or an inverted V-shape.

[0050] Furthermore, the motor 15 is disposed on the side of the upper module perpendicular to the conductor, and the second guide plate 14 is disposed on the side of the upper module parallel to the conductor. The plane containing the connecting rod 16 is perpendicular to the plane containing the second guide plate 14 and parallel to the plane containing the motor 15. The end of the second guide plate 14 away from the connecting rod 16 is provided with two inclined surfaces, wherein the upper inclined surface 17 and the lower inclined surface 18 are set at an acute angle.

[0051] Taking a hexagonal arrangement of three-phase conductors as an example, phase A conductors and phase C conductors 2 are on the same vertical plane, and motor 15 is a hub motor. When passing upward through phase C conductor 2, the guiding mechanism of phase C upper module 7 drives the connecting rod 16 to rotate via motor 15, which in turn drives the two opposing second guide plates 14 to rotate, so that the upper inclined surfaces 17 of the two second guide plates 14 form an inverted V shape, so as to smoothly pass through the middle of phase C conductor. Figure 4 As shown, when passing upward through the C-phase conductor 2, the second guide plates 14 on both sides rotate, causing the two corresponding upper inclined surfaces 17 on both sides to form an inverted V shape. When passing downward through the C-phase conductor, the C-phase upper module guiding mechanism controls the rotation of the two opposing second guide plates 14, causing the lower inclined surfaces 18 of the two second guide plates 14 to form a positive V shape, thereby separating the C-phase conductor. Figure 3As shown, when passing downward through the C-phase conductor, the second guide plates 14 on both sides rotate, so that the two corresponding lower inclined surfaces 18 on both sides form a positive V shape.

[0052] Preferably, the upper module is further provided with a wire clamping mechanism, which can be used to prevent the upper module's wheels from falling off when they land on the wire. Example 2

[0053] This embodiment uses a hexagonal arrangement of three-phase conductors as an example. From top to bottom, the three layers are phase A, phase B, and phase C conductors. Phase A and phase C conductors are on the same vertical plane, approximately 7 meters apart. Phase B conductor is located between phase A and phase C conductors, approximately 2 meters apart horizontally. For phase B conductors, the split-type spacer installation robot can normally move up and down the line; for phase A and phase C conductors, refer to... Figures 5 to 6 As shown, the deployment method is as follows: First, determine the installation location. For split-type spacer-mounted robots, the installation location should be close to the tower end. Due to the robot's weight, the wire sag is smaller when installing near the tower end, which can improve the robot's installation stability.

[0054] The robot modules to be deployed are: Phase A upper module 4, Phase A lower module 6, Phase C upper module 7, and Phase C lower module 8. After preparing each module on the ground, the Phase A upper module 4 is hoisted onto the Phase A conductor 1 using drone 3. When the Phase A upper module 4 is lowered onto the conductor, since it is difficult to observe the situation at high altitude from the ground, another drone equipped with a camera is needed to assist in observation.

[0055] After the A-phase upper module 4 is lowered onto the A-phase conductor 1, the upper module uses a clamping device to clamp the conductor to prevent movement, overturning and falling. Then, the A-phase upper module 4 lowers the cable 5 to the ground. It is necessary to control the cable 5 to pass through the two double-split conductors of the C phase.

[0056] On the ground, the A-phase lower module 6 and the C-phase upper module 7 are joined together via a quick-connect mechanism and ascend by self-winding via cable 5. Considering the large weight of the A-phase lower module 6 and the C-phase upper module 7, and the large size of the self-winding winch and self-winding motor, they are placed in the lower module. At the same time, a set of small winches is set in the upper module, which can effectively reduce the weight of the upper module.

[0057] When the lower A-phase module 6 and upper C-phase module 7 approach the C-phase conductor 2, the guide mechanism of the upper C-phase module 7 is controlled to form an inverted V-shape, slowing down the upward speed. This allows the first guide plate 13 of the lower A-phase module 6 to slowly push aside the C-phase conductor 2, allowing it to continue rising and passing through the C-phase conductor 2. The deformation of the guide mechanism of the upper C-phase module 7 is controlled by the motor 15. When the hub motor 15 retracts, the guide mechanism forms an inverted V-shape; when the motor 15 extends, the guide mechanism forms a positive V-shape.

[0058] After the A-phase lower module 6 and C-phase upper module 7 pass through the C-phase conductor 2, with the assistance of a wingman drone, the winch is slowly lowered, causing the wheel assembly of the C-phase upper module 7 to land on the C-phase conductor 2. Once the conductor clamping mechanism of the C-phase upper module 7 clamps the conductor, the quick-connection mechanism unlocks, separating the A-phase lower module 6 and the C-phase upper module 7, completing the online connection of the C-phase upper module 7. During the online connection process, when the C-phase upper module lands on the C-phase conductor, the rotation angle of the cable's self-twisting is controlled to ensure the wheel assembly of the C-phase upper module lands on the conductor, and the conductor clamping mechanism prevents it from falling.

[0059] Subsequently, the A-phase lower module 6 continues to ascend by self-twisting, and aligns with the A-phase upper module 4 on the A-phase conductor 1. Simultaneously, the C-phase upper module 7 lowers cable 5, and the C-phase lower module 8 on the ground ascends via cable 5. At this point, the A and C phase separate spacer installation robot has completed its online deployment.

[0060] It should be noted that when the drone is hoisting the A-phase and B-phase upper-mount modules onto the line, the drone must be positioned above the highest conductor of the A-phase line and kept at a safe distance to prevent the drone from colliding with the conductor.

[0061] After three robots complete the installation of spacer bars for one span of a three-phase conductor, they need to be taken offline for spacer bar replenishment or crossing power towers. For phase B conductors, the split-type spacer bar installation robot can be taken offline normally; for phase A and C conductors, refer to... Figures 7 to 8 As shown, the offline process is as follows: First, control the A-phase and C-phase robots to be roughly on the same vertical plane. The lower modules of A and C phases are detached from the upper modules of A and C phases respectively and descend by self-winding. The lower module 8 of C phase lands directly on the ground to complete the unloading. Then, the upper module 7 of C phase retracts the cable 5.

[0062] The lower module 6 of phase A descends above the upper module 7 of phase C. The winch is then slowly lowered, and with the assistance of a wingman drone, the upper docking mechanism of the upper module 7 of phase C docks with the lower docking mechanism of the lower module 6 of phase A. For details, please refer to... Figure 1 As shown, the male connector 9 of the upper module 7 of phase C is inserted into the female connector 10 of the lower module 6 of phase A. Then, the clamping plate 12 locks the male connector 9 in place, completing the docking. With the help of the guide cone plate 11, the male connector 9 can be quickly aligned with the female connector 10, reducing the difficulty of high-altitude docking.

[0063] The clamping device of the C-phase upper module 7 is controlled to release the conductor. The winch is controlled to make the A-phase lower module 6 and the C-phase upper module 7 rise slightly away from the conductor, leaving space for the C-phase upper module guide mechanism to deform. Then, the motor 15 is controlled to make the C-phase upper module 7 guide mechanism into a positive V shape. The winch is controlled to make the A-phase lower module 6 and the C-phase upper module 7 slowly descend. The guide plate 14 of the C-phase upper module 7 is used to push aside the C-phase conductor 2 and continue to descend through the C-phase conductor 2.

[0064] Phase A lower module 6 and Phase C upper module 7 land on the ground and are unloaded. Phase A upper module 4 is then retrieved by cable 5 and lifted off the production line by a drone. Thus, the A and C phase split spacer installation robot has completed its production line installation. Example 3

[0065] This embodiment describes a method for collaborative localization of three-phase robots after deployment. (Refer to...) Figure 9 As shown. Assuming the B-phase robot is the master unit and the A and C-phase robots are slave units, after the three-phase robots are online, they first move to the vicinity of the target location using a GNSS positioning system to complete coarse positioning. Then, the binocular camera on the master unit photographs the nearest physical marker on the power line, and the distance between the master unit and the nearest physical marker is obtained through visual ranging. The physical markers are pre-installed on the power line, with intervals of 5m, 10m, or 20m, depending on the span of the transmission line where the spacers are to be installed. The spacers on the power line need to maintain a certain spacing, therefore, there is a precise distance between the spacer installation position and the nearest physical marker. d design The host computer uses visual ranging to determine the distance between itself and the nearest physical marker. d measured Approaching d design This satisfies the installation position accuracy of the spacer bars, at which point the main unit completes precise positioning. Specifically, when... At that time, the host completes precise positioning, among which δ To ensure the accuracy of the spacer bar installation position.

[0066] After the master unit completes precise positioning, the slave unit uses a laser rangefinder to emit a laser beam that hits the laser target on the master unit and receives the reflected laser beam. By measuring the flight time of the laser beam from emission to its reflection back from the master unit, the precise straight-line distance between the slave and master units is calculated. d In addition, the deflection angle of the laser beam at this time is recorded by an angle encoder. θ and φ Calculate the distance the slave device needs to move. During the movement of the slave device, calculations are continuously performed using a laser rangefinder and an angle encoder. ,when When the installation accuracy of the three-phase spacer rods on the same vertical plane is less than that of the vertical plane, the slave unit completes the precise positioning.

[0067] Specifically, let the direction in which the robot moves along the guide wire be x The axis, the robot's longitudinal direction is z Axis, and x , z The orthogonal direction of the axis is y The axis is the origin of the robot's geometric center. O Then the angle θ For the laser beam in xOy Projection on a plane and y Angle between axes, angle φ For the laser beam in yOz The angle between the projection on the plane and the y-axis, and the offset of the slave device relative to the master device on the conductor are:

[0068] Control the slave device to move along the wire When the measurement is obtained At that time, the machine's precision positioning is completed. Among them, ε To ensure the vertical plane accuracy of the three-phase spacer bar installation.

[0069] Subsequently, the three-phase robot performs the spacer installation operation. After the spacer installation is completed, the coarse positioning and fine positioning operations are repeated until the spacer installation of one spacing is completed. Example 4

[0070] Besides a hexagonal arrangement, three-phase conductors can also be arranged vertically. In this arrangement, all three phases (A, B, and C) are on the same vertical plane. In this case, the robot's up and down movement along phase A will cross the phases B and C, making the movement more difficult. However, the method in Example 2 can be analogized to the vertically arranged three-phase conductors, as described below: The robot modules to be deployed include: Phase A upper module, Phase A lower module, Phase B upper module, Phase B lower module, Phase C upper module, and Phase C lower module. Among these, the following modules require the installation of a guiding mechanism: Phase A lower module, Phase B upper module, Phase B lower module, and Phase C upper module.

[0071] Upon deployment, the A-phase upper module was first hoisted onto the A-phase conductor using a drone, and the cable was lowered. The A-phase lower module and B-phase upper module were then connected on the ground, and subsequently, the module was automatically twisted into place.

[0072] During the ascent of the A-phase lower module and the B-phase upper module, they will first pass through the C-phase conductor and then through the B-phase conductor. After passing through the B-phase conductor, the B-phase upper module will land on the B-phase conductor, and the A-phase lower module will continue to rise and mate with the A-phase upper module. The method of threading and unloading the wires is the same as in Example 1.

[0073] Subsequently, the B-phase upper module lowers its cable, and the B-phase lower module and the C-phase upper module on the ground are connected as one unit through a quick docking mechanism. The cable is twisted and raised, and after passing through the C-phase conductor, the C-phase upper module is lowered. The B-phase lower module continues to rise and connects with the B-phase upper module.

[0074] Finally, the upper module of phase C lowers its cable, and the lower module of phase C is automatically wound onto the line via the cable. At this point, the installation of the split-type spacer bar for phases A, B, and C is complete.

[0075] During the unloading process, the C-phase lower module is first unloaded via cable twisting. The B-phase lower module also descends and mates with the C-phase upper module, then passes through the C-phase conductor and continues to descend to the ground to complete the unloading.

[0076] Similarly, the A-phase lower module descends by twisting and connects with the B-phase upper module, then passes down through the B-phase conductor and the C-phase conductor, continuing to descend to the ground to complete the unloading process.

[0077] Finally, the A-phase superstructure module was lifted and rolled off the production line using a drone. With this, the robot for installing the split-type spacer bars for phases A, B, and C was successfully completed.

[0078] In summary, this invention discloses a method for the loading, unloading, and collaborative positioning of a split-type spacer installation robot for double-split three-phase conductors. The split-type spacer installation robot consists of an upper module and a lower module. Double-split three-phase conductors have three phases: A, B, and C. The special arrangement of the three-phase conductors makes loading and unloading difficult using conventional methods. Therefore, a method for loading and unloading a split-type spacer installation robot for double-split three-phase conductors is proposed. The loading method is as follows: First, an A-phase upper module is hoisted onto the A-phase conductor using a drone. Then, the A-phase upper module lowers its cable, and the A-phase lower module and the C-phase upper module are combined through a quick-connection mechanism. They are then loaded together via cable self-twisting and pass through the C-phase conductor using a guiding mechanism. The C-phase upper module then detaches from the A-phase lower module and falls onto the C-phase conductor, and the cable is lowered to load the C-phase lower module. The A-phase lower module continues to self-twist and lift, combining with the A-phase upper module. The specific unloading method is as follows: the C-phase lower module is first unloaded by self-twisting, followed by the A-phase lower module's self-twisting descent and rapid docking with the C-phase upper module. It then passes through the C-phase conductor via a guide mechanism and falls to the ground. Finally, the A-phase upper module is unloaded by a drone. The rapid docking mechanism includes a male docking connector, a female docking connector, a guide cone plate, and a locking plate. The guide mechanism includes an upper module guide mechanism and a lower module guide mechanism. The upper module guide mechanism includes a second guide plate, connecting rods, and a motor, while the lower module guide mechanism includes a first guide plate. The robot's positioning on the three-phase conductor uses a master-slave collaborative method. First, coarse positioning is performed: the robot moves to the vicinity of the target location using a GNSS system. Then, fine positioning is performed: the master robot uses a binocular camera to identify the distance between the robot and the pre-set physical markers on the conductor, obtaining precise coordinates. The slave robot uses a laser rangefinder and an angle encoder to perform triangulation, obtaining relative coordinates with the master robot as the reference. The slave robot moves to position the three-phase robots on the same vertical plane to meet the requirements for three-phase spacer installation. The method disclosed in this invention is simple to operate and has precise positioning. It can realize the installation and uninstallation of three-phase conductors by a split spacer bar installation robot using only a drone, and has good versatility for three-phase conductors with different layouts.

[0079] Any details not covered above are all well-known technologies in this field.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of the present invention.

Claims

1. A split-type spacer bar installation robot for double-split three-phase conductors, characterized in that, The robot includes an upper module and a lower module, wherein: The upper module is equipped with walking wheels and at least one pair of cable take-up and take-down devices, as well as a detachable upper module guide mechanism and an upper module docking mechanism. The lower module is equipped with a detachable lower guide mechanism and a lower docking mechanism, which are matched with the upper docking mechanism to achieve rapid docking. The upper guide mechanism is controlled to form an inverted V shape when passing through the wire upwards and a regular V shape when passing through the wire downwards; the lower guide mechanism is used to push the wire away when passing through the wire upwards.

2. The split-type spacer bar installation robot for double-split three-phase conductors according to claim 1, characterized in that, The upper assembly docking mechanism includes a male connector, and the lower assembly docking mechanism includes a female connector, a guide cone plate, and a locking plate. The female connector is adapted to the male connector, the guide cone plate is used to guide the male connector to align with the female connector, and the locking plate is used to lock the male connector.

3. The split-type spacer bar installation robot for double-split three-phase conductors according to claim 1, characterized in that, The lower assembly guiding mechanism includes at least one set of first guide plates disposed around the lower assembly module. The at least one set of first guide plates are symmetrically disposed on both sides of the lower assembly module, and an inclined guide is disposed on the top of each first guide plate.

4. The split-type spacer bar installation robot for double-split three-phase conductors according to claim 1, characterized in that, The upper guide mechanism includes at least one set of second guide plates, which are symmetrically arranged in a direction perpendicular to the conductor. Each second guide plate is connected to a motor via a connecting rod. The motor drives the connecting rod to rotate, thereby causing at least one set of second guide plates to rotate, so that the two upper inclined surfaces of each set of second guide plates form an inverted V shape, or the two lower inclined surfaces form a positive V shape.

5. The split-type spacer bar installation robot for double-split three-phase conductors according to claim 4, characterized in that, The motor is located on the side of the upper module perpendicular to the conductor, the second guide plate is located on the side of the upper module parallel to the conductor, and the plane of the connecting rod is perpendicular to the plane of the second guide plate and parallel to the plane of the motor.

6. The split-type spacer bar installation robot for double-split three-phase conductors according to claim 1, characterized in that, The upper module is also equipped with a wire clamping mechanism.

7. A method for deploying a split-type spacer installation robot for a double-split three-phase conductor, wherein the three-phase conductor includes three phases A, B, and C, and each phase corresponds to a split-type spacer installation robot as described in any one of claims 1 to 6, characterized in that... Each phase robot is equipped with an upper assembly docking mechanism and an lower assembly docking mechanism. When phases A and C are in the same vertical plane, the lower assembly module of phase A is equipped with a lower assembly guiding mechanism, and the upper assembly module of phase C is equipped with an upper assembly guiding mechanism. The online docking methods for phases A and C include: After the A-phase upper module is hoisted onto the A-phase conductor, the A-phase upper module lowers its cable to the preset position; The A-phase lower module and the C-phase upper module are joined together by a docking mechanism and then connected to the line by self-twisting of the cable. When entering the preset distance range of the C-phase conductor, the A-phase lower module and the C-phase upper module pass upward through the C-phase conductor via the guide mechanism. Then, the C-phase upper module detaches from the A-phase lower module via the docking mechanism and falls onto the C-phase conductor. The lower module of phase A continues to rise by self-twisting until it aligns with the upper module of phase A. The upper C-phase module hangs down with a cable, and the lower C-phase module rises by self-twisting through the cable to mate with the upper C-phase module.

8. A method for launching a split-type spacer installation robot for a double-split three-phase conductor, wherein the three-phase conductor includes three phases A, B, and C, and each phase corresponds to a split-type spacer installation robot as described in any one of claims 1 to 6, characterized in that... Each phase robot is equipped with an upper assembly docking mechanism and an lower assembly docking mechanism. When phases A and C are in the same vertical plane, the lower assembly module of phase A is equipped with a lower assembly guide mechanism, and the upper assembly module of phase C is equipped with an upper assembly guide mechanism. The unloading methods for phases A and C include: The lower modules of phases A and C are detached from the upper modules of phases A and C respectively and descend by self-twisting. When the C-phase lower module descends to the preset position and completes its unloading, the A-phase lower module enters the preset distance range of the C-phase conductor and combines with the C-phase upper module through the docking mechanism. The A-phase lower module and the C-phase upper module pass downward through the C-phase conductor via a guide mechanism, and then descend to a preset position to complete the unloading process. Phase A module is hoisted and rolled off the production line.

9. The method according to claim 7 or 8, characterized in that, When all three phases (A, B, and C) of the conductors are in the same vertical plane, each phase robot is equipped with an upper docking mechanism and a lower docking mechanism. Specifically, the lower docking modules of phase A and phase B are equipped with lower docking guide mechanisms, and the upper docking modules of phase B and phase C are equipped with upper docking guide mechanisms.

10. A collaborative positioning method for a split-type spacer bar installation robot for a double-split three-phase conductor, wherein the three-phase conductor includes three phases A, B, and C, and each phase corresponds to a split-type spacer bar installation robot as described in any one of claims 1 to 6, characterized in that... After completing the online process described in claim 7, the B-phase upper module is hoisted online, and the B-phase lower module is self-twisted online; then, a master-slave collaborative method is adopted, with one phase robot as the master and the other two phase robots as slaves, to perform the following collaborative positioning steps: The three-phase robot moves to the vicinity of the target location using a GNSS system; Based on the physical markings pre-set on the guide wire, the host uses a binocular camera to identify the distance between the robot and the markings, obtain coordinates, and move to the position where the spacer bar is installed; The slave unit uses a laser rangefinder and an angle encoder to perform triangulation to obtain relative coordinates with the host as the reference. The slave unit moves to position the three-phase robot on the same vertical plane to meet the installation requirements of the three-phase spacer.

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