CN112873170A - Spacer installation and maintenance robot - Google Patents
Spacer installation and maintenance robot Download PDFInfo
- Publication number
- CN112873170A CN112873170A CN202110102592.8A CN202110102592A CN112873170A CN 112873170 A CN112873170 A CN 112873170A CN 202110102592 A CN202110102592 A CN 202110102592A CN 112873170 A CN112873170 A CN 112873170A
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- rotating shaft
- module
- plate frame
- hanging
- connecting arm
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- 125000006850 spacer group Chemical group 0.000 title claims abstract description 49
- 238000009434 installation Methods 0.000 title claims abstract description 28
- 238000012423 maintenance Methods 0.000 title abstract description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 239000004020 conductor Substances 0.000 claims description 28
- 230000009471 action Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a spacer installation and maintenance robot which comprises an operation bearing module and a mounting walking module connected to the operation bearing module; the operation bearing module is provided with a seat plate frame, a hanging tool assembly and a tool box; the rack components are arranged on the left side surface and the right side surface of the seat plate frame and can be used for hanging a plurality of spacers; the tool box is arranged on the front side of the seat plate frame and can be used for placing and supporting feet of an operator; the mounting traveling module comprises a plurality of mounting traveling devices, and each mounting traveling device comprises a connecting arm, a traveling wheel, a driving motor and a wire locking mechanism; the walking wheels and the driving motor are arranged at the upper end of the connecting arm, and the driving motor is connected with the walking wheels; the lower end of the connecting arm is connected to the operation supporting module; the wire locking mechanism is arranged on the connecting arm and can form a wire locking area with the travelling wheel. The invention obviously improves the convenience of installing the spacer on the high-voltage lead by operators.
Description
Technical Field
The invention relates to the technical field of spacer installation, in particular to a spacer installation and maintenance robot.
Background
When the high-voltage lead is erected, the spacer is used. The spacer is used for being installed between split conductors, and the main purpose of the spacer is to separate a plurality of cables and limit relative movement between the cables. The setting of conductor spacer can avoid the collision between the cable, also can avoid the winding confusion between the cable that causes because external environment's influence, guarantees the normal transmission of electric power. In order to improve the capability of the power grid in resisting natural disasters, spacer rods need to be reasonably arranged.
In the prior art, the partition plates are erected and installed through manual carrying, and because the erection of the conducting wires is field operation and the distance between the installation towers is far, the transportation and installation of the partition rods are realized through a manual carrying mode, and the labor intensity of workers is high. Simultaneously because of physical limitation and conductor spacer weight reason, the conductor spacer quantity that the workman can bear at every turn is very little, and the physical demands is big during the installation, leads to the installation effectiveness low. There is a need in the art for a device that assists an operator in installing spacers between high voltage conductors.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the spacer installation and maintenance robot, which obviously improves the convenience of operators for installing the spacers on the high-voltage wires.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a conductor spacer installation overhauls robot, characterized by: comprises an operation bearing module and a mounting walking module connected with the operation bearing module;
the operation bearing module is provided with a seat plate frame, a hanging tool assembly and a tool box; the rack components are arranged on the left side surface and the right side surface of the seat plate frame and can be used for hanging a plurality of spacers; the tool box is arranged on the front side of the seat plate frame and can be used for placing and supporting feet of an operator;
the mounting traveling module comprises a plurality of mounting traveling devices, and each mounting traveling device comprises a connecting arm, a traveling wheel, a driving motor and a wire locking mechanism; the walking wheels and the driving motor are arranged at the upper end of the connecting arm, and the driving motor is connected with the walking wheels so as to drive the walking wheels to rotate; the lower end of the connecting arm is connected to the operation supporting module; the wire locking mechanism is arranged on the connecting arm and can form a wire locking area with the travelling wheel.
Preferably, the seat frame is of a hollow structure, and a cover plate capable of being turned over is arranged on an upper opening of the seat frame.
Preferably, the hanger assembly comprises a plurality of hangers, and each hanger comprises a connecting seat, a hanging rod and a stop block;
the connecting seat is connected to the side surface of the seat plate frame;
the first end of the hanging rod is fixed on the connecting seat, and the second end of the hanging rod extends back to the connecting seat so as to be hung in by the spacing rod;
the stop block is hinged to the second end of the hanging rod, and when the stop block rotates to be perpendicular to the hanging rod, the stop block can limit the spacing rods on the hanging rod.
Preferably, the tool box is provided with a tool placing groove, and the left side surface and the right side surface of the tool box are provided with foot pedals.
Preferably, the plurality of the mounting traveling devices are divided into two groups, and the two groups are respectively a front driving mechanism and a rear driving mechanism, wherein the traveling wheels in the front driving mechanism are hung on the split upper conductor, and the traveling wheels in the rear driving mechanism are hung on the split lower conductor.
Preferably, the wire locking mechanism comprises a rotating shaft, an adjusting handle and a supporting component;
the end part of the rotating shaft is connected with a bearing assembly, and the rotating shaft is arranged on the connecting arm through the bearing assembly;
the adjusting handle is circumferentially limited and axially movably connected to the rotating shaft and can drive the rotating shaft to rotate, a limiting pin is arranged on the adjusting handle or the rotating shaft, and the bearing assembly is provided with an upper limiting groove and a lower limiting groove which are used for the limiting pin to be clamped in to limit the rotation of the rotating shaft;
the supporting component is arranged on the rotating shaft and rotates along with the rotating shaft, and when the limiting pin is matched with the upper limiting groove, the supporting component and the walking wheel form a wire locking area.
Preferably, the adjusting handle is sleeved on the end part of the rotating shaft, and a positioning spring is arranged between the rotating shaft and the adjusting handle; the limiting pin is fixed on the adjusting handle, and an avoiding groove for the limiting pin to pass through is formed in the rotating shaft.
Preferably, the support assembly comprises two slide bars perpendicular to the rotating shaft and matched with the rotating shaft and a shaft roller assembled between the two slide bars, and a support spring for pushing the shaft roller outwards is arranged between the slide bars and the rotating shaft.
Preferably, the lower end of the connecting arm is connected with a portable connecting assembly, and the portable connecting assembly comprises a connecting seat, a connecting sleeve and a positioning pin;
the connecting seat is fixed on the seat plate frame and is provided with a connecting rod, and an annular limiting groove coaxial with the connecting rod is formed in the connecting rod;
the connecting sleeve is fixed on the connecting arm, sleeved on the connecting rod and capable of swinging left and right on the connecting rod;
the locating pin is installed on the connecting sleeve, and the end part of the connecting pin facing the connecting rod is matched in the annular limiting groove.
Preferably, the mounting walking module is connected with a distance measuring sensor and a camera.
The invention has the advantages that: the conductor spacer can be mounted on the split conductors to move through the mounting walking module, and meanwhile, a plurality of conductor spacers can be mounted on the operation bearing module, so that a worker can sit on the operation bearing module to conveniently mount the conductor spacers between the split conductors.
Drawings
Fig. 1 is a schematic view of a spacer installation and maintenance robot provided in the present embodiment;
fig. 2 is a schematic view of a task support module according to the present embodiment;
fig. 3 is a cross-sectional view of the portable connection assembly provided in this embodiment;
fig. 4 is a schematic view of a hanger according to the present embodiment;
FIG. 5 is a cross-sectional view of the stopper according to the present embodiment;
fig. 6 is a sectional view of the mounting traveling device provided in the present embodiment;
fig. 7 is a schematic view illustrating the engagement between the limiting pin and the upper limiting groove or the lower limiting groove provided in this embodiment.
Detailed Description
The spacer installation and overhaul robot of the present invention will be further described with reference to fig. 1 to 7.
The utility model provides a conductor spacer installation overhauls robot, characterized by: comprises an operation bearing module 2 and a mounting walking module connected on the operation bearing module 2.
The task support module 2 has a seat frame 21, a hanger assembly and a tool box 23. The hanger assemblies are mounted to the left and right sides of the seat frame 21 and can be hung by a plurality of spacers 200. The tool box 23 is installed on the front side of the seat frame 21 and can be used for placing and supporting the feet of the operator.
The mounting traveling module comprises a plurality of mounting traveling devices 1, and each mounting traveling device 1 comprises a connecting arm 19, a traveling wheel 12, a driving motor 11 and a wire locking mechanism 10. The walking wheels 12 and the driving motor 11 are installed on the left and right sides of the upper end of the connecting arm 19, and the driving motor 11 is connected with the walking wheels 12 to drive the walking wheels 12 to rotate. The lower end of the connecting arm 19 is detachably connected to the working support module 2; the wire locking mechanism 10 is mounted on the connecting arm 19 and forms a wire locking area 101 with the road wheel 12 to lock the corresponding wire 100 between the road wheel 12 and the wire locking mechanism.
Based on the structure, the split conductor mounting and moving device can be hung on the split conductor 100 through the hanging and moving module and can automatically move on the split conductor 100; a plurality of spacers 200 can be hung on the left and right sides of the work support module 2. Therefore, when the operator operates, the operator only needs to sit on the operation bearing module, and the driving motor 11 drives the traveling wheels 12 to rotate so as to drive the operator to move; when the worker moves to the corresponding position, the spacer 200 is removed from the side of the task support module and installed between the split conductors 100. After installation, the driving motor 11 continues to drive the spacer bar 200 to move to the next spacer bar 200 installation position, so that installation is realized, the installation efficiency of the spacer bars 200 can be improved, and the labor cost can be reduced.
As shown in fig. 2, the seat frame 21 is a section bar framework with a hollow structure, so that a driving circuit of a driving motor and a control circuit of the whole robot can be arranged in the hollow structure; an overturnable cover plate 211 is arranged on the upper opening of the seat frame 21, and a cushion 212 is arranged on the upper surface of the cover plate 211 so as to improve the working comfort of workers.
As shown in fig. 1/4/5, the hanger assembly includes a plurality of hangers 22, the plurality of hangers 22 are arranged in the front-rear direction on both side surfaces of the seat frame 21, and each hanger 22 includes a connection seat 221, a hanging bar 222, and a stopper 223. The connection seat 221 is connected to a side surface of the seat plate frame 21 by bolts. The first end of the hanging rod 222 is inserted into or screwed with the connecting seat 221, and the second end extends away from the connecting seat 221 for hanging the spacer 200, i.e. the spacer 200 has a hanging hole for hanging the hanging rod 222. The stopper 223 is hinged to the second end of the hanging rod, when the stopper 223 rotates to be perpendicular to the hanging rod 222, the spacing rod 200 on the hanging rod 222 can be limited, and when the stopper 223 rotates to be in the same straight line position with the hanging rod 222, the spacing rod 200 can be hung on the hanging rod 222 or taken down from the hanging rod 222, and the operation is convenient.
In this embodiment, in order to prevent the spacer 200 from sliding on the hanging rod 222, a rubber sleeve is sleeved on the hanging rod 222.
The through hole is formed in the stopper 223, the positioning pin 2231 is arranged in the through hole, the positioning spring 2232 is arranged between the positioning pin 2231 and the through hole, the positioning spring 2232 can push the positioning pin 2231 outwards, so that the positioning pin 2231 abuts against the hanging rod 222, and the rotating resistance of the stopper 223 is improved to position the stopper 223 after rotation.
The tool box 23 has a tool placing groove 231, and foot pedals 232 are provided on both left and right sides of the tool box 23. The tool placing groove 231 can be used for placing tools for installing the spacer 200, and the pedal 232 can be used for treading by workers, so that the comfort degree can be improved, and the stability of the gravity center of the workers can be guaranteed.
As shown in fig. 1/2, a first connecting plate 214 is connected to the front side of the seat frame 21 by bolts, and a second connecting plate 233 is provided on the tool box 23, and the first connecting plate and the second connecting plate are inserted and fitted by T-shaped grooves and T-shaped blocks, that is, the T-shaped blocks of the second connecting plate are inserted into the T-shaped grooves on the first connecting plate from top to bottom. Locating holes are formed in the first connecting plate 214 and the second connecting plate, when the T-shaped block is inserted in the T-shaped groove in place, the two locating holes are in butt joint, and locating pins are inserted, so that the tool box 23 can be installed on the seat frame 21.
As shown in fig. 1/3/6/7, the mounting walking module has the following specific structure: the number of the mounting traveling devices 1 is the same as that of the conductors in the split conductor, and the plurality of mounting traveling devices 1 are respectively mounted on each conductor. In this embodiment, the plurality of mounting traveling devices 1 are divided into two groups, which are a front drive mechanism and a rear drive mechanism, respectively. The invention is used for installing the spacer 200 on the 4-split conductor, so the front driving mechanism and the rear driving mechanism are both provided with two hanging traveling devices 1. The walking wheels 12 in the front driving mechanism are hung on the two wires 100 at the upper part of the split conductor 100, and the walking wheels 12 in the rear driving mechanism are hung on the two wires 100 at the lower part of the split conductor 100, namely, the height dimension of the connecting arm 19 in the front driving mechanism is larger than that of the connecting arm in the rear driving mechanism. The four hanging walking devices 1 are respectively hung on the four leads 100 of the 4-split lead 100, so that the stability of hanging on the leads 100 can be ensured, the four leads 100 can be drawn towards the center, and the spacer 200 can be conveniently installed by workers.
As shown in fig. 6/7, the lead locking mechanism 10 includes a spindle 13, an adjustment handle 16, and a support assembly 14. A bearing assembly 15 is attached to the shaft 13 near one of the ends thereof, the shaft 13 being mounted to the connecting arm 19 by the bearing assembly 15, the bearing assembly 15 including a bearing 151 and a bearing cap 152 mounted to an end surface of the bearing. The adjusting handle 16 can be connected to one end of the rotating shaft 13 corresponding to the connecting bearing assembly 15 in a circumferential limiting axial direction and can drive the rotating shaft 13 to rotate. A limit pin 17 is arranged on the adjusting handle 16 or the rotating shaft 13, and the bearing assembly 15 is provided with an upper limit groove 1521 and a lower limit groove 1522 for the limit pin 17 to be clamped in to limit the rotation of the rotating shaft 13. The supporting component 14 is mounted on the rotating shaft 13 and rotates with the rotating shaft 13, and when the limiting pin 17 is fitted in the upper limiting groove 1521, a wire locking area 101 is formed between the supporting component 14 and the traveling wheel 12. The rotating shaft 13 can be driven to rotate through the adjusting handle 16, when the limiting pin 17 is clamped into the upper limiting groove 1521, the rotating shaft 13 is limited to rotate, the supporting component 14 is matched with the walking wheel 12 to clamp the wire 100, and the problem that the wire 100 is separated from the walking wheel 12 is avoided; when the walking wheel is required to be detached from the wire 100, the limiting pin 17 is moved out of the upper limiting groove 1521, then the rotating shaft 13 is rotated, the supporting component 14 is turned downwards, the lower limiting of the wire 100 is cancelled, and the walking wheel 12 can be detached from the wire 100.
The adjusting handle 16 is sleeved on the end part of the rotating shaft 13, and the adjusting handle 16 is sleeved on the rotating shaft 13 in a polygonal fit manner, so that the adjusting handle 16 and the rotating shaft 13 synchronously rotate. A positioning spring 18 is arranged between the rotating shaft 13 and the adjusting handle 16, and the positioning spring 18 can push the adjusting handle 16 away from the rotating shaft 13; the limit pin 17 is fixed on the adjusting handle 16, the rotating shaft 13 is provided with an avoiding groove 131 for the limit pin 17 to pass through, and the notches of the upper limit groove 1521 and the lower limit groove 1522 face the rotating shaft 13, so that when the limit pin 17 is matched in the upper limit groove 1521 or the lower limit groove 1522, under the thrust action of the positioning spring 18, the limit pin 17 cannot be separated from the upper limit groove 1521 or the lower limit groove 1522; when the rotating shaft 13 needs to be rotated, the adjusting handle 16 is pressed to the rotating shaft 13, the positioning spring 18 is compressed, the limiting pin 17 is separated from the upper limiting groove or the lower limiting groove, and in this state, the rotating shaft 13 can be rotated through the adjusting handle 16 to adjust the position of the supporting component 14, so that the structure is simple and stable, and the operation is convenient.
The support assembly 14 includes two slide bars 141 perpendicular to the rotating shaft 13 and fitted on the rotating shaft 13, and a shaft roller 142 fitted between the two slide bars 141, and a support spring 143 for urging the shaft roller outward is provided between the slide bars 141 and the rotating shaft 13. The wire 100 can be clamped through the shaft roller 142, the sliding rod 141 and the wheel groove on the road wheel 12; the supporting spring can play a role in damping the spring and can also play a role in adapting to different specifications of the lead 100.
As shown in fig. 2/3, the lower end of the connecting arm 19 is connected to a portable connecting assembly 213, and the portable connecting assembly 213 includes a connecting seat 2131, a connecting sleeve 2133 and a positioning pin 2134. The connecting seats 2131 are fixed on the seat plate frame 21, specifically, two connecting seats 2131 in the front drive mechanism are fixed on the front side surface of the seat plate frame 21 through bolts, and two connecting seats 2131 in the rear drive mechanism are fixed on the rear side surface of the seat plate frame 21 through bolts, that is, the four connecting seats 2131 are respectively fixed at four top corners of the seat plate frame 21. The connecting seat 2131 is provided with a connecting rod 2132, the connecting rod 2132 is provided with an annular limiting groove 2135 which is coaxial with the connecting rod 2132, and in this embodiment, the annular limiting groove is of a semi-annular structure. The connecting sleeve 2133 is fixed at the lower end of the connecting arm 19 through a bolt, sleeved on the connecting rod 2132 and capable of swinging left and right on the connecting rod 2132. The positioning pin 2134 is mounted on the connecting sleeve 2133, and the end of the positioning pin facing the connecting rod 2132 is fitted in the annular limiting groove 2135. Under this structure, adapter sleeve 2133 can the circumferential direction for connecting rod 2132, and is spacing axially simultaneously for linking arm 19 can the horizontal hunting, with the different distances between the adaptation split conductor 100. On the other hand, under the action of the gravity of the invention and the staff, four wires 100 in the 4-bundle wires 100 can be pulled to the central point of the swing, so that the 4-bundle wires 100 passed by the invention are always in a clamping state, and the operation of the staff is convenient.
The mounting walking module is connected with a distance measuring sensor 20 and a camera 30. Specifically, the distance measuring sensor is mounted on the sliding rod 141, and can measure the walking distance of the present invention on the conductor 100 in real time, and accurately position the device on the 4-split conductor 100. The cameras are respectively positioned near the 4 wires 100, detect and identify the identification objects in the installation process of the spacer 200 in real time, and determine the strategy according to the positions of the identification objects.
Unless otherwise specified, in the present invention, if there is an orientation or positional relationship indicated by terms of "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, rather than to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, the terms describing orientation or positional relationship in the present invention are for illustrative purposes only, and should not be construed as limiting the present patent, specific meanings of the above terms can be understood by those of ordinary skill in the art in light of the specific circumstances in conjunction with the accompanying drawings.
Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are used broadly and encompass, for example, being fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. The utility model provides a conductor spacer installation overhauls robot, characterized by: comprises an operation bearing module and a mounting walking module connected with the operation bearing module;
the operation bearing module is provided with a seat plate frame, a hanging tool assembly and a tool box; the rack components are arranged on the left side surface and the right side surface of the seat plate frame and can be used for hanging a plurality of spacers; the tool box is arranged on the front side of the seat plate frame and can be used for placing and supporting feet of an operator;
the mounting traveling module comprises a plurality of mounting traveling devices, and each mounting traveling device comprises a connecting arm, a traveling wheel, a driving motor and a wire locking mechanism; the walking wheels and the driving motor are arranged at the upper end of the connecting arm, and the driving motor is connected with the walking wheels so as to drive the walking wheels to rotate; the lower end of the connecting arm is connected to the operation supporting module; the wire locking mechanism is arranged on the connecting arm and can form a wire locking area with the travelling wheel.
2. A spacer installation and service robot as claimed in claim 1, wherein: the seat plate frame is of a hollow structure, and a cover plate capable of being turned over is arranged on an upper opening of the seat plate frame.
3. A spacer installation and service robot as claimed in claim 1, wherein: the hanger assembly comprises a plurality of hangers, and each hanger comprises a connecting seat, a hanging rod and a stop block;
the connecting seat is connected to the side surface of the seat plate frame;
the first end of the hanging rod is fixed on the connecting seat, and the second end of the hanging rod extends back to the connecting seat so as to be hung in by the spacing rod;
the stop block is hinged to the second end of the hanging rod, and when the stop block rotates to be perpendicular to the hanging rod, the stop block can limit the spacing rods on the hanging rod.
4. A spacer installation and service robot as claimed in claim 1, wherein: the tool box is provided with a tool placing groove, and the left side surface and the right side surface of the tool box are provided with foot pedals.
5. A spacer installation and service robot as claimed in claim 1, wherein: the plurality of hanging traveling devices are divided into two groups and respectively comprise a front driving mechanism and a rear driving mechanism, the traveling wheels in the front driving mechanism are hung on the split upper part lead, and the traveling wheels in the rear driving mechanism are hung on the split lower part lead.
6. A spacer installation and service robot as claimed in claim 1, wherein: the wire locking mechanism comprises a rotating shaft, an adjusting handle and a supporting component;
the end part of the rotating shaft is connected with a bearing assembly, and the rotating shaft is arranged on the connecting arm through the bearing assembly;
the adjusting handle is circumferentially limited and axially movably connected to the rotating shaft and can drive the rotating shaft to rotate, a limiting pin is arranged on the adjusting handle or the rotating shaft, and the bearing assembly is provided with an upper limiting groove and a lower limiting groove which are used for the limiting pin to be clamped in to limit the rotation of the rotating shaft;
the supporting component is arranged on the rotating shaft and rotates along with the rotating shaft, and when the limiting pin is matched with the upper limiting groove, the supporting component and the walking wheel form a wire locking area.
7. A spacer installation and service robot as claimed in claim 6, wherein: the adjusting handle is sleeved on the end part of the rotating shaft, and a positioning spring is arranged between the rotating shaft and the adjusting handle; the limiting pin is fixed on the adjusting handle, and an avoiding groove for the limiting pin to pass through is formed in the rotating shaft.
8. A spacer installation and service robot as claimed in claim 7 wherein: the supporting component comprises two sliding rods which are vertical to the rotating shaft and are matched with the rotating shaft and a shaft roller which is assembled between the two sliding rods, and a supporting spring which pushes the shaft roller outwards is arranged between the sliding rods and the rotating shaft.
9. A spacer installation and service robot as claimed in claim 1, wherein: the lower end of the connecting arm is connected with a portable connecting assembly, and the portable connecting assembly comprises a connecting seat, a connecting sleeve and a positioning pin;
the connecting seat is fixed on the seat plate frame and is provided with a connecting rod, and an annular limiting groove coaxial with the connecting rod is formed in the connecting rod;
the connecting sleeve is fixed on the connecting arm, sleeved on the connecting rod and capable of swinging left and right on the connecting rod;
the locating pin is installed on the connecting sleeve, and the end part of the connecting pin facing the connecting rod is matched in the annular limiting groove.
10. A spacer installation and service robot as claimed in claim 1, wherein: and the mounting walking module is connected with a distance measuring sensor and a camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110102592.8A CN112873170A (en) | 2021-01-26 | 2021-01-26 | Spacer installation and maintenance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110102592.8A CN112873170A (en) | 2021-01-26 | 2021-01-26 | Spacer installation and maintenance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112873170A true CN112873170A (en) | 2021-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110102592.8A Pending CN112873170A (en) | 2021-01-26 | 2021-01-26 | Spacer installation and maintenance robot |
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| CN (1) | CN112873170A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114029920A (en) * | 2021-11-17 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Rail robot with sliding track |
| CN116140958A (en) * | 2022-12-13 | 2023-05-23 | 国家电网有限公司 | Automatic alignment system |
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| CN109950849A (en) * | 2019-04-19 | 2019-06-28 | 桂林电子科技大学 | The travel wheel locking device of overhead line deicing robot |
| CN212038452U (en) * | 2020-01-08 | 2020-12-01 | 中国医学科学院肿瘤医院 | Infusion hook and suspension type infusion rod |
| CN211530577U (en) * | 2020-01-22 | 2020-09-18 | 陈志恒 | Electric flying vehicle |
| CN112072547A (en) * | 2020-09-07 | 2020-12-11 | 广东电网有限责任公司 | Auxiliary wiring vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114029920A (en) * | 2021-11-17 | 2022-02-11 | 北京华能新锐控制技术有限公司 | Rail robot with sliding track |
| CN116140958A (en) * | 2022-12-13 | 2023-05-23 | 国家电网有限公司 | Automatic alignment system |
| CN116140958B (en) * | 2022-12-13 | 2024-05-10 | 国家电网有限公司 | Automatic alignment system |
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