A mechanical gripper for spacer bar installation

Abstract

This application relates to a mechanical gripper for spacer installation, belonging to the field of overhead transmission line construction and maintenance technology. It includes a hanger connected to the spacer, a lead screw stepper motor mounted on the hanger, and a clamping block connected to the lead screw of the stepper motor. The clamping block cooperates with the hanger to clamp the cable. A magnetic suction plate is mounted on the hanger, electrically connected to the lead screw stepper motor. A magnetic connector is connected to the hanger, and the magnetic connector is connected to the magnetic suction plate. This application achieves continuous and stable power supply to the battery and motor unaffected by external environmental factors, makes the device lighter, increases the service life of the drone and battery, and improves the efficiency of spacer installation.

Description

Technical Field

[0001] This application relates to the field of overhead transmission line construction and maintenance technology, and in particular to a mechanical grab for installing spacer bars. Background Technology

[0002] Spacer bars are components installed on split conductors. Their main function is to maintain a fixed distance between conductors to prevent them from rubbing against each other, reduce vibrations caused by light winds, and suppress oscillations within the span.

[0003] Currently, the installation of spacers is mostly done with the assistance of drones. The spacer is fixedly connected to the spacer installation device. In use, the drone lifts the battery and the spacer installation device. The spacer installation device includes a mounting shell, inside which is a motor. The outer shell of the mounting shell is equipped with conductive plates and magnetic rings. The motor is connected to the battery wires through the conductive plates and magnetic rings, so that the battery can supply power to the motor. The motor is connected to a gear set, and the gear set drives the clamp to move and clamp the cable, thus completing the installation of the spacer.

[0004] The battery and the conductive plate are connected by a magnetic ring, so that the battery can supply power to the motor through the conductive plate. However, since this device is often used for high-altitude operations, it is difficult to ensure that the magnetic ring can make stable contact with the connecting piece at the top of the battery wire under the action of wind or other external forces, making it difficult for the device to be stably connected and supply power.

[0005] The motor drives the gear set transmission, and the gear set is fixedly connected to the threaded sleeve to drive the screw for transmission. This will reduce the mechanical transmission efficiency and also has the risk of jamming. The reduced transmission efficiency means that the motor needs to consume more battery power to complete the operation. At the same time, the use of gear sets will also increase the drone's load, accelerate the drone's power consumption, and require the drone to frequently return to charge and replace the battery, reducing the efficiency of spacer bar installation. Utility Model Content

[0006] In order to achieve a continuous and stable power supply for the battery and motor without being affected by the external environment, make the device lighter, increase the service life of the drone and the battery, and improve the efficiency of spacer installation, this application provides a mechanical gripper for spacer installation.

[0007] The mechanical gripper for installing spacer bars provided in this application adopts the following technical solution:

[0008] A mechanical gripper for installing spacer bars includes a hanger connected to the spacer bar, the hanger being equipped with a lead screw stepper motor, the lead screw of the lead screw stepper motor being connected to a clamping block, the clamping block cooperating with the hanger to clamp the cable;

[0009] The hanger is equipped with a magnetic suction plate, which is electrically connected to the lead screw stepper motor. The magnetic suction plate is connected to a magnetic connector, which is connected to the drone.

[0010] The hanger is connected to a magnetic connector, and the magnetic connector is connected to the magnetic plate.

[0011] By adopting the above technical solution, a lead screw stepper motor is used instead of a gear set and a motor, which reduces energy loss in transmission. At the same time, the structure is simpler, the device is lighter, the weight of the drone is reduced, the stability of the drone in loaded flight is improved, the device's alignment and clamping success rate of the cable is improved, the power consumption of a single operation is reduced, the number of times the drone and battery can be operated on a single charge is increased, the frequency of battery replacement for the drone and battery is reduced, and the operating efficiency of the device is improved.

[0012] Meanwhile, the lead screw stepper motor has a large torque. Using the lead screw stepper motor to drive the lead screw to push the clamping block can make the clamping block and the hanger clamp more tightly, realize the stable clamping and fixing of the cable, and improve the stability of the spacer installation. The magnetic structure of the magnetic suction plate and magnetic suction connector can avoid the loosening problem of the device under the influence of the environment, make the power supply between the battery and the motor more stable, and improve the continuity of stable power supply.

[0013] Optionally, the hanger includes a hook plate, the hook plate is connected to a connector, the connector is connected to a spacer bar, and the hook plate is provided with a hook.

[0014] Optionally, the connector includes an inner clamping plate and two outer clamping plates. The inner clamping plate is bolted to the hook plate. The inner clamping plate has a plurality of first connecting holes, and the outer clamping plates have second connecting holes. The inner clamping plate is located between the two outer clamping plates. The inner clamping plate and the two outer clamping plates are bolted together through corresponding first connecting holes and second connecting holes. The spacer is bolted to both outer clamping plates.

[0015] By adopting the above technical solution, using different opposite first and second connecting holes to connect the inner and outer clamping plates, the elongation length of the connector can be controlled to adapt to the connection requirements of cables with different spacing, thus improving the versatility of the equipment.

[0016] Optionally, the hook plate has a stepped groove, and the outer clamping plate below the inner clamping plate is supported on the stepped surface of the stepped groove. The inner clamping plate and the outer clamping plate are connected by connecting bolts, and the connecting bolts are set in the stepped groove.

[0017] By adopting the above technical solution, the stepped surface of the stepped groove can support the outer clamping plate below the inner clamping plate, preventing the outer clamping plate from deflecting under force, thus affecting the spacing effect of the spacer bar on the cable, and causing the cables to whip each other; the stepped groove also makes room for the connecting bolts, and can also prevent the bolts from being exposed to the outside and being hit or worn, while making the overall structure more compact and reducing the interference of external factors on the connection structure.

[0018] Optionally, the hook is connected to an electromagnetic spring release device.

[0019] By adopting the above technical solutions, the electromagnetic control release method responds quickly and controls precisely, avoiding the jamming or misoperation that may occur with mechanical release. At the same time, it realizes the automated remote control release of the hook, which is suitable for high-altitude operation scenarios and improves operational safety and efficiency.

[0020] Optionally, the hook plate is provided with a mounting shell, which is positioned opposite the hook portion of the hook plate. The lead screw stepper motor is located inside the mounting shell. An end cover plate is provided at the end of the mounting shell away from the clamping block. A first through hole is provided in the center of the end cover plate, through which the lead screw of the lead screw stepper motor can pass. The magnetic suction plate is provided on the mounting shell.

[0021] By adopting the above technical solution, the mounting shell encloses the lead screw stepper motor, which can reduce the interference of external dust, collisions and other factors on the lead screw stepper motor, effectively protect the lead screw stepper motor, and extend the service life of the lead screw stepper motor. The first through hole provides a channel for the movement of the lead screw of the lead screw stepper motor.

[0022] Optionally, an insulating element is provided on each side of the hook plate opposite to the clamping block, and both insulating elements are provided with arc-shaped grooves, which are arranged opposite to each other.

[0023] By adopting the above technical solutions, the insulating component can block current conduction, avoid the risk of leakage between equipment and cables, improve the safety of operation, and the arc groove is compatible with the cable, which can increase the contact area between the insulating component and the cable, enhance the fit during clamping, improve clamping stability, and reduce the situation where the insulating component causes squeezing damage to the cable surface.

[0024] Optionally, the end of the clamping block away from the insulating member is provided with anti-collision rubber.

[0025] By adopting the above technical solution, the anti-collision rubber can buffer the contact between the clamping block and the mounting shell, reduce mechanical wear, and protect the components.

[0026] In summary, this application includes at least one of the following beneficial technical effects:

[0027] 1. Replacing gear sets and motors with lead screw stepper motors reduces energy loss in transmission. Simultaneously, the structure is simpler, the device is lighter, reducing the drone's load and improving its stability during loaded flight. This enhances the device's alignment and clamping success rate for cables, reduces power consumption per operation, increases the number of operations per charge for both the drone and battery, reduces the frequency of battery swapping, and improves the device's operational efficiency. Furthermore, the lead screw stepper motor's larger torque allows for a tighter clamping between the clamping block and the hanger, ensuring stable cable clamping and improving the stability of the spacer bar installation.

[0028] 2. The combination design of the magnetic connection plate and the magnetic connector solves the problem of traditional installation methods that use only a single magnetic ring to connect to the battery wires, which is prone to falling off under environmental conditions and causing power outages. This ensures that the battery can provide a continuous and stable power supply to the lead screw stepper motor, unaffected by the environment, and further enhances the continuity of the installation operation.

[0029] 3. The hanger is firmly connected to the spacer through connectors. The bolt connection structure of the three-layer clamping plate can adapt to cables with various spacings by matching different bolt holes, which greatly improves the versatility of the equipment. The stepped groove design provides stable support and positioning for the outer clamping plate, avoiding the deflection of the outer clamping plate under force and the resulting reduction in the effectiveness of the spacer. At the same time, the stepped groove makes way for the connecting bolts, hiding the connecting bolts in the groove, reducing the interference of external collisions on the structure, and making the overall structure more compact and durable.

[0030] 4. The insulating parts on the hook plate and clamping block adopt an arc groove design, which not only blocks the risk of leakage through insulation characteristics, but also enhances clamping stability by increasing the contact area, reducing cable slippage and surface damage; the anti-collision rubber further buffers mechanical contact, reduces component wear, and protects the components.

[0031] 5. The electromagnetic control release method offers rapid response and precise control, avoiding potential jamming or misoperation that can occur with mechanical release. Both the electromagnetic spring release device and the magnetic connector can be remotely controlled for automated release via a control box, making operation simpler and faster. It is suitable for high-altitude work scenarios, improving operational safety and efficiency. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application.

[0033] Figure 2 This is a cross-sectional schematic diagram of an embodiment of this application.

[0034] Figure 3 This is a schematic diagram illustrating the structure of the magnetic absorbing plate in an embodiment of this application.

[0035] Figure 4 This is a schematic diagram illustrating the structure of the magnetic connector in an embodiment of this application.

[0036] Explanation of reference numerals in the attached drawings: 1. Hanger; 11. Hook plate; 111. Stepped groove; 112. Waist-shaped groove; 1121. Second through hole; 12. Mounting shell; 13. Connector; 131. Inner clamping plate; 1311. First connecting hole; 132. Outer clamping plate; 1321. Second connecting hole; 133. Connecting bolt; 14. End cover plate; 141. First through hole; 15. Hook; 16. Mushroom head flange bolt; 2. Lead screw stepper motor; 21. Clamping block; 22. Insulating component; 221. Arc groove; 23. Anti-collision rubber; 3. Magnetic suction plate; 31. Pad plate; 32. Magnetic suction female head; 4. Magnetic suction connector; 41. Shell; 42. Limiting plate; 43. Magnetic suction male head; 44. Magnet block; 5. Electromagnetic elastic release device. Detailed Implementation

[0037] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0038] This application discloses a mechanical gripper for installing spacer bars.

[0039] like Figure 1 and Figure 2 A mechanical gripper for installing spacer bars includes a hanger 1, which includes a hook plate 11. One end of the hook plate 11 is a hook portion, and a mounting shell 12 is provided at the end of the hook plate 11 away from the hook portion. The mounting shell 12 and the hook plate 11 are integrally formed, and the mounting shell 12 and the hook portion of the hook plate 11 are arranged opposite to each other. A waist-shaped groove 112 is provided at the bottom of the hook plate 11, and two second through holes 1121 are provided in the waist-shaped groove 112 to communicate with the top of the hook plate 11. A stepped groove 111 is provided at the top of the hook plate 11 away from the hook portion, and the stepped groove 111 connects to the end away from the hook portion of the hook plate 11.

[0040] One end of the mounting housing 12 away from the hook portion of the hook plate 11 is bolted to an end cover plate 14. The end cover plate 14 has a first through hole 141 in the center. A lead screw stepper motor 2 is fixedly connected inside the mounting housing 12. The lead screw of the lead screw stepper motor 2 can pass through the first through hole 141 in the center of the end cover plate 14. The end of the lead screw of the lead screw stepper motor 2 away from the end cover plate 14 passes through the mounting housing 12 and is connected to a clamping block 21. The clamping block 21 and the lead screw of the lead screw stepper motor 2 are fixedly connected by a set screw. The top of the clamping block 21 abuts against the bottom of the hook plate 11, so that the lead screw of the lead screw stepper motor 2 can move horizontally along its axis without deflection during the movement.

[0041] The clamping block 21 has an arc-shaped groove at the end away from the lead screw stepper motor 2, and two mounting holes are provided at the end of the clamping block 21 near the lead screw stepper motor 2, with an anti-collision rubber 23 being snapped into each mounting hole.

[0042] The hook portion of the hook plate 11 and the clamping block 21 are each fixedly connected to an insulating component 22 by two screws. In this embodiment, the insulating component 22 can be weather-resistant rubber or polyurethane block. The insulating component 22 is an arc-shaped column with two chord surfaces facing each other. The arc surfaces of the two insulating components 22 can be adapted to the arc-shaped grooves of the hook portion of the hook plate 11 and the clamping block 21 respectively. Arc-shaped grooves 221 are provided on the chord surfaces of the two insulating components 22, and the two arc-shaped grooves 221 are arranged opposite each other.

[0043] like Figure 3 A magnetic suction plate 3 is provided on one side of the mounting shell 12. The magnetic suction plate 3 includes a magnetic suction head 32 and a pad 31. The position and connection relationship between the pad 31 and the mounting shell 12, the connection relationship between the magnetic suction head 32 and the pad 31, and the magnetic suction head 32 are electrically connected to the lead screw stepper motor 2.

[0044] like Figure 4 The pad 31 is magnetically connected to a magnetic connector 4. The magnetic connector 4 includes a housing 41 and a limiting plate 42. The four corners of the limiting plate 42 are provided with four round holes for bolt connection between the limiting plate 42 and the housing 41. The center of the limiting plate 42 is provided with an oblong hole. Several magnet blocks 44 are provided on the limiting plate 42 and are located inside the housing 41. The housing 41 is fixedly connected to a magnetic male head 43, and the magnetic male head 43 is located exactly in the oblong hole of the limiting plate 42.

[0045] The magnetic connector 4 and the magnetic connector plate 3 are magnetically connected by a pad 31 and a magnet block 44, so that the magnetic male connector 43 and the magnetic female connector 32 can be connected to supply power to the lead screw stepper motor 2.

[0046] The magnetic connector 4 is connected to the control box via a core wire. The control box contains a battery, which can power the lead screw stepper motor 2 through the magnetic connector 4 and the magnetic connector plate 3. Two mushroom-head flange screws 16 are fixedly connected to the end of the hook plate 11 away from the hook part. A hook 15 is connected to the mushroom-head flange screw 16. The hook 15 is suspended from the mushroom-head flange screw 16 at the bend. An electromagnetic spring release device 5 is connected to the end of the hook 15 away from the bend. The electromagnetic spring release device 5 is also connected to the control box. The locking and releasing of the hanger 1 can be controlled by operating the control box.

[0047] A connector 13 is fixedly connected to the top of the hook plate 11. The connector 13 includes an inner clamping plate 131 and two outer clamping plates 132. Both the inner clamping plate 131 and the outer clamping plates 132 are waist-shaped plates. The inner clamping plate 131 is located between the two outer clamping plates 132. A plurality of first connecting holes 1311 are equidistantly provided on the inner clamping plate 131 along its length direction, and a plurality of second connecting holes 1321 are equidistantly provided on the outer clamping plates 132 along their length direction. When one of the first connecting holes 1311 and the second connecting hole 1321 are aligned, the other first connecting holes 1311 and the second connecting holes 1321 on the overlapping part of the inner clamping plate 131 and the outer clamping plate 132 also correspond one-to-one. Two hexagonal bolts are used for separation. Do not pass through the two second through holes 1121 opened on the waist-shaped groove 112 and the two first connecting holes 1311 on the inner clamping plate 131, so that the hook plate 11 is bolted to the inner clamping plate 131. The inner clamping plate 131 and the outer clamping plate 132 are bolted together by a connecting bolt 133. The connecting bolt 133 passes through the corresponding first connecting hole 1311 and second connecting hole 1321. The screw head of the connecting bolt 133 extends into the stepped groove 111. The outer clamping plate 132 below the inner clamping plate 131 is supported on the stepped surface of the stepped groove 111. The ends of the two outer clamping plates 132 away from the inner clamping plate 131 are bolted together with a spacer bar. The spacer bar is located between the two outer clamping plates 132.

[0048] The implementation principle of this application embodiment is as follows: During operation, the control drone, equipped with a battery and control box, connects two hooks 15 via an electromagnetic spring release device 5 to lift two hangers 1. The outer clamps 132 of the two hangers 1 each clamp one end of the spacer bar, and the magnetic connector 4 is connected to the magnetic connector plate 3. The control drone moves the spacer bar above the cable and then lowers it between the hook part of the hook plate 11 and the clamping block 21. After confirming the position, the control box drives the lead screw stepper motor 2 to operate. The lead screw of the lead screw stepper motor 2 pushes the clamping block 21 to move towards the hook part of the hook plate 11, so that the arc grooves 221 of the two insulating parts 22 clamp the cable. After confirming the clamping, the control box stops supplying power, so that the electromagnetic spring release device 5 and the magnetic connector 4 are detached from the hanger 1, completing the installation of the spacer bar.

[0049] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A mechanical gripper for installing spacer bars, characterized in that: Includes a hanger (1), the hanger (1) is connected to a spacer bar, the hanger (1) is equipped with a lead screw stepper motor (2), the lead screw of the lead screw stepper motor (2) is connected to a clamping block (21), the clamping block (21) cooperates with the hanger (1) to clamp the cable; The hanger (1) is provided with a magnetic suction plate (3), which is electrically connected to the lead screw stepper motor (2). The magnetic suction plate (3) is connected to a magnetic connector (4), which is connected to the UAV.

2. The mechanical gripper for installing spacer bars according to claim 1, characterized in that: The hanger (1) includes a hook plate (11), the hook plate (11) is connected to a connector (13), the connector (13) is connected to a spacer bar, and a hook (15) is provided on the hook plate (11).

3. The mechanical gripper for installing spacer bars according to claim 2, characterized in that: The connector (13) includes an inner clamping plate (131) and two outer clamping plates (132). The inner clamping plate (131) is bolted to the hook plate (11). The inner clamping plate (131) has a plurality of first connecting holes (1311), and the outer clamping plates (132) have second connecting holes (1321). The inner clamping plate (131) is located between the two outer clamping plates (132). The inner clamping plate (131) and the two outer clamping plates (132) are bolted together through the corresponding first connecting holes (1311) and second connecting holes (1321). The spacer is bolted together with the two outer clamping plates (132).

4. The mechanical gripper for installing spacer bars according to claim 3, characterized in that: The hook plate (11) has a stepped groove (111). The outer clamping plate (132) below the inner clamping plate (131) is supported on the stepped surface of the stepped groove (111). The inner clamping plate (131) and the outer clamping plate (132) are connected by connecting bolts (133), which are located in the stepped groove (111).

5. The mechanical gripper for installing spacer bars according to claim 2, characterized in that: The hook (15) is connected to an electromagnetic elastic release device (5).

6. The mechanical gripper for installing spacer bars according to claim 2, characterized in that: The hook plate (11) is provided with a mounting shell (12), which is positioned opposite the hook portion of the hook plate (11). The lead screw stepper motor (2) is located inside the mounting shell (12). An end cover plate (14) is provided at one end of the mounting shell (12) away from the clamping block (21). A first through hole (141) is provided in the center of the end cover plate (14), through which the lead screw of the lead screw stepper motor (2) can pass. The magnetic suction plate (3) is provided on the mounting shell (12).

7. The mechanical gripper for installing spacer bars according to claim 2, characterized in that: An insulating element (22) is provided on each side of the hook plate (11) opposite to the pressing block (21). Both insulating elements (22) are provided with arc-shaped grooves (221), and the two arc-shaped grooves (221) are arranged opposite to each other.

8. The mechanical gripper for installing spacer bars according to claim 7, characterized in that: The end of the clamping block (21) away from the insulating member (22) is provided with anti-collision rubber (23).

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