CN114552486A - Distribution network line spacer installation robot - Google Patents
Distribution network line spacer installation robot Download PDFInfo
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- CN114552486A CN114552486A CN202210219054.1A CN202210219054A CN114552486A CN 114552486 A CN114552486 A CN 114552486A CN 202210219054 A CN202210219054 A CN 202210219054A CN 114552486 A CN114552486 A CN 114552486A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
- H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G7/00—Overhead installations of electric lines or cables
- H02G7/12—Devices for maintaining distance between parallel conductors, e.g. spacer
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Abstract
The invention discloses a distribution network line spacer installation robot which comprises two monomer working units and an insulating rod, wherein the two monomer working units are used for installing phase-to-phase spacers and are arranged in a mirror symmetry mode, and the insulating rod is arranged between the two monomer working units; the interphase spacer comprises a spacer matrix and hardware clamps arranged at two ends of the spacer matrix, wherein each hardware clamp comprises two clamp bodies which are hinged and fastened through bolts to clamp a wire; the single working unit comprises a rack, and a motion system, a bearing system and a control system which are arranged on the rack; the bearing system comprises a supporting rod for loading the interphase spacers, a mandril mechanism for pushing the two hinged clamps on the hardware clamp to be combined and a fastening mechanism for screwing a bolt to fasten the two clamps of the hardware clamp; the control system is in communication connection with ground station remote control equipment for realizing remote control. The invention can replace the traditional manual wiring installation mode, avoid the risk of manual wiring and improve the installation efficiency of the interphase spacers.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a distribution network line spacer installation robot.
Background
The tripping faults are frequent in the operation process of the distribution network line, the overhead line is the most serious, and the large-span line has larger tripping proportion due to external factors. Particularly, for a 10kV plateau distribution network large-span line, the elevation difference of a power transmission line passing through mountain and river valleys is large, and faults such as large-span windage partial discharge, wire breakage and the like are frequently caused under the influence of seasonal strong wind in local areas.
At present, effective measures for treating the problem of large-span windage yaw are to install interphase spacers or increase the number of electric poles, but the installation of the interphase spacers or new electric poles on the commissioned lines is difficult, the field conditions are not allowed, and the popularization and the use are difficult. Therefore, the installation device for the phase-to-phase spacers, which is convenient, reliable and convenient to operate, can be provided, and is a problem that needs to be solved urgently by technical personnel at the present stage.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a distribution network line spacer mounting robot, which can not only load the interphase spacers to walk on a lead, but also complete the mounting of the interphase spacers after reaching a preset position.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows.
A distribution network line spacer installation robot comprises two single working units and an insulating rod, wherein the two single working units are used for installing phase-to-phase spacers and are arranged in a mirror symmetry mode, and the insulating rod is arranged between the two single working units and hinged with the two single working units; the interphase spacer comprises a spacer base body and hardware clamps arranged at two ends of the spacer base body, wherein each hardware clamp comprises two clamp bodies which are hinged and fastened through bolts to clamp a wire; the single working unit comprises a rack, and a motion system, a bearing system and a control system which are arranged on the rack;
the motion system comprises a driving wheel for driving the corresponding single working unit to walk, a guide wheel for cooperating with the driving wheel to walk and giving consideration to the guiding function, and a pressing wheel which can move up and down to cooperate with the driving wheel and the guide wheel to ensure the motion reliability;
the bearing system comprises a supporting rod for loading the interphase spacers, a mandril mechanism for pushing the two hinged clamps on the hardware clamp to be combined and a fastening mechanism for screwing a bolt to fasten the two clamps of the hardware clamp;
the control system comprises a controller for controlling the corresponding single working unit and a camera for shooting the self condition and the ambient condition of the corresponding single working unit in real time in the running state; the output end of the camera is connected with the input end of the controller; the output end of the controller is respectively connected with the controlled ends of the motion system and the bearing system, and the controller is also in communication connection with ground station remote control equipment for the workers to realize remote control.
Preferably, the rack is provided with a first arm and a second arm; the motion system also comprises a driving motor arranged on the first arm, the controlled end of the driving motor is connected with the output end of the controller, and a first transmission gear is arranged on a rotating shaft of the driving motor; the driving wheel is arranged on the first arm and consists of a gear meshed with the first transmission gear and a grooved wheel used for walking on the lead; the guide wheel is of a grooved wheel structure used for walking on the lead and is arranged on the second arm.
Preferably, the motion system further comprises a pressing motor and a pressing arm which are arranged on the frame; the controlled end of the compaction motor is connected with the output end of the controller, and a rotating shaft of the compaction motor is provided with a third transmission gear; the pressing wheel is of a grooved wheel structure used for pressing the wires from the bottom of the wires and is arranged on the pressing arm, and a first rack which is meshed with the transmission gear to drive the pressing wheel to move up and down to realize pressing and releasing actions is longitudinally arranged on the pressing arm.
Preferably, the control system further comprises a first angular velocity sensor arranged on the first arm to collect the rotation state and rotation information of the driving wheel and a second angular velocity sensor arranged on the second arm to collect the rotation state and rotation information of the guide wheel; and the output ends of the first angular velocity sensor and the second angular velocity sensor are respectively connected with the input end of the controller.
Preferably, the supporting rod is arranged on the first arm; the lower edges of the hardware wire clamps are all on the same axis when the driving wheel, the guide wheel and the support rod drag the interphase spacers; the pinch roller is arranged between the driving wheel and the guide wheel, and when the pinch roller is in a compression state, the driving wheel, the guide wheel and the pinch roller are stressed at three points.
Preferably, a fastening platform positioned above the support rod is arranged on the first arm, a fastening mechanism is arranged on the fastening platform, the fastening mechanism comprises a feeding motor, a feeding moving rod and a fastening motor, and controlled ends of the feeding motor and the fastening motor are respectively connected with an output end of the controller; a second transmission gear is arranged on a rotating shaft of the feeding motor, and a second rack which is meshed with the second transmission gear to drive the feeding moving rod to move up and down is longitudinally arranged on the feeding moving rod; the fastening motor is arranged at the lower end of the feeding moving rod, and a universal sleeve used for sleeving a bolt preassembled on the hardware clamp is arranged on a rotating shaft of the fastening motor.
Preferably, the control system further comprises a force sensor which is embedded between the fastening motor and the universal sleeve and used for collecting torque to judge the fastening state of the bolt, and the output end of the force sensor is connected with the input end of the controller.
Preferably, the ejector rod mechanism comprises an ejector rod electric cylinder arranged on the rack and an ejector rod arranged on the ejector rod electric cylinder; and the controlled end of the ejector rod electric cylinder is connected with the output end of the controller.
Preferably, the control system further comprises an angle sensor arranged at the hinged position of the single working unit and the insulating rod, and the output end of the angle sensor is connected with the input end of the controller.
Preferably, a cross beam is arranged at the top of the rack, and an inverted U-shaped groove for facilitating hoisting in the process of getting on and off the robot line is arranged on the cross beam; the bottom of the rack is provided with a groove which is used for facilitating the robot to control the posture of the robot by matching with the insulating rod in the process of going up and down the line.
Due to the adoption of the technical scheme, the technical progress of the invention is as follows.
The invention is designed by utilizing the advantages of the remote control and the walking mechanism, the running state of the equipment is controlled by the mutual communication between the ground station remote control equipment and the controller, the equipment is used for replacing the traditional manual wiring installation mode, the manual operation is reduced, the risk during manual wiring is avoided, the installation efficiency of the interphase spacers is improved, and the invention has very strong practical significance and practicability.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the structure of a single working unit according to the present invention;
FIG. 3 is a side view of a single working unit of the present invention;
FIG. 4 is a front view of a single working unit of the present invention;
FIG. 5 is a schematic view of the pressing state of the pressing wheel of the single working unit of the present invention;
FIG. 6 is a schematic view of a single working unit of the present invention showing a loose state of a pinch roller;
FIG. 7 is a schematic view of the hinge joint of the single working unit and the insulating rod;
FIG. 8 is a schematic diagram of the present invention in use.
Wherein: 1. the device comprises a lead, 2, a cross beam, 3, a transmission gear II, 4, a fastening platform, 5, a mandril, 6, a mandril electric cylinder, 7, a rack, 8, a controller, 9, a pressing arm, 10, a transmission gear III, 11, a pressing motor, 12, a battery module, 13, a camera, 14, a feeding moving rod, 15, a universal sleeve, 16, an arm I, 17, a pressing wheel, 18, an arm II, 19, a guide wheel, 20, a transmission gear I, 21, a driving motor, 22, a driving wheel, 23, an insulating rod, 24, a feeding motor, 25, a fastening motor, 26, a force sensor, 27, an angular velocity sensor I, 28, an angular velocity sensor II, 29, an angular velocity sensor and 30 support rods.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
A distribution network line spacer mounting robot is shown in a combined figure 1-4 and comprises two single working units and an insulating rod 23, wherein the two single working units are arranged in a mirror symmetry mode and used for mounting a phase-to-phase spacer, the phase-to-phase spacer comprises a spacer base body and hardware clamps arranged at two ends of the spacer base body, and each hardware clamp comprises two clamp bodies which are hinged and fastened through bolts to clamp a lead 1; an insulating rod 23 is disposed between the two single working units.
The single working unit comprises a rack 7, and a movement system, a bearing system and a control system which are arranged on the rack 7, wherein the movement system is used for driving the single working unit to reliably walk on the lead 1; the bearing system is used for loading the interphase spacers and completing the installation of the interphase spacers; the output end of the control system is respectively connected with the controlled ends of the motion system and the bearing system and is used for controlling the corresponding single working units.
The frame 7 is provided with a first arm 16 and a second arm 18, and the motion system comprises a driving motor 21, a driving wheel 22, a guide wheel 19, a pressing motor 11, a pressing arm 9 and a pressing wheel 17. The driving motor 21 and the driving wheel 22 are arranged on the first arm 16, wherein a first transmission gear 20 is arranged on a rotating shaft of the driving motor 21; the driving wheel 22 consists of a gear and a grooved pulley, the gear is meshed with the first transmission gear 20, and the grooved pulley is used for walking on the lead 1; when the single working unit works, the driving motor 21 drives the first transmission gear 20 to rotate forwards, and the first transmission gear 20 drives the driving wheel 22 to rotate forwards in a forward mode, so that the corresponding single working unit moves forwards; the driving motor 21 reversely rotates to drive the first transmission gear 20 to reversely rotate, and the first transmission gear 20 reversely rotates to drive the driving wheel 22 to reversely rotate, so that the corresponding single working units are driven to move backwards, and the robot can move forwards. The guide wheel 19 is arranged on the second arm 18, and the guide wheel 19 is of a grooved wheel structure and is used for walking on the lead 1, so that the guide wheel can run in cooperation with the driving wheel 22 and has the function of guiding.
A third transmission gear 10 is arranged on a rotating shaft of the compaction motor 11; the pressing wheel 17 is of a grooved wheel structure and is arranged on the pressing arm 9, a first rack is longitudinally arranged on the pressing arm 9, and the first rack is meshed with the third transmission gear 10; when the device works, the pressing motor 11 rotates forwards to drive the transmission gear III 10 to rotate forwards, the transmission gear III 10 rotates forwards to drive the pressing arm 9 to move upwards, the pressing arm 9 moves upwards to drive the pressing wheel 17 to move upwards, and the pressing action of the pressing wheel 17 is realized; the compaction motor 11 reversely rotates to drive the transmission gear III 10 to reversely rotate, the transmission gear III 10 reversely rotates to drive the compaction arm 9 to move downwards, the compaction arm 9 moves downwards to drive the compaction wheel 17 to move downwards, and loosening of the compaction wheel 17 is achieved.
The pressing wheel 17 is arranged between the driving wheel 22 and the guide wheel 19, when the pressing wheel 17 is in a pressing state, the upper edge of the grooved wheel structure of the pressing wheel 17 is on the same axis with the wire 1, the driving wheel 22 and the guide wheel 19, the driving wheel 22, the guide wheel 19 and the pressing wheel 17 are stressed at three points, the pressing wheel 17 presses the wire 1 from the bottom of the wire 1, and the purpose of ensuring the movement reliability by matching with the driving wheel 22 and the guide wheel 19 is achieved, as shown in fig. 5; when the pinch roller 17 is in a relaxed state, the grooved structure of the pinch roller 17 is away from the conductor 1, as shown in fig. 6.
The bearing system comprises a supporting rod 30, a push rod mechanism and a fastening mechanism, wherein the supporting rod 30 is arranged on the first arm 16, and the supporting rod 30 is used for dragging the phase-to-phase spacers, so that the load of the single working units on the phase-to-phase spacers is realized. When the support rod 30 drags the phase-to-phase spacer, the hardware clamp, the driving wheel 22 and the lower edge of the guide wheel 19 are all on the same axis, which is beneficial to the installation of the phase-to-phase spacer.
The ejector rod mechanism comprises an ejector rod electric cylinder 6 and an ejector rod 5, the ejector rod electric cylinder 6 is arranged on the rack 7, and the ejector rod 5 is arranged on the ejector rod electric cylinder 6; when the clamp works, the ejector rod electric cylinder 6 pushes the ejector rod 5 to move upwards, and the ejector rod 5 moves upwards to push the two hinged clamp bodies on the hardware clamp to be combined, so that the wire 1 is clamped.
The first arm 16 is provided with a fastening platform 4, and the fastening platform 4 is positioned above the supporting rod 30. The fastening mechanism is arranged on the fastening platform 4 and comprises a feeding motor 24, a feeding moving rod 14 and a fastening motor 25, wherein a transmission gear II 3 is arranged on a rotating shaft of the feeding motor 24; a second rack is longitudinally arranged on the feeding moving rod 14 and is meshed and connected with the second transmission gear 3; the fastening motor 25 is arranged at the lower end of the feeding moving rod 14, a universal sleeve 15 is arranged on a rotating shaft of the fastening motor 25, and the universal sleeve 15 is used for sleeving a bolt preassembled on the hardware clamp.
When the bearing system works, the rotating shaft of the feeding motor 24 rotates positively to drive the transmission gear II 3 to rotate positively, the transmission gear II 3 rotates positively to drive the feeding movable rod 14 to move downwards, and the feeding movable rod 14 moves downwards to drive the fastening motor 25 and the universal sleeve 15 to move downwards, so that the universal sleeve 15 sleeves the bolt preassembled on the hardware clamp; the rotation shaft of the fastening motor 25 rotates to drive the universal sleeve 15 to rotate, so that the bolt is screwed to fasten the two clamp bodies of the hardware clamp, and the installation of the interphase spacers is completed. After the installation is completed, the fastening motor 25 stops rotating, the rotating shaft of the feeding motor 24 rotates reversely to drive the second transmission gear 3 to rotate reversely, the second transmission gear 3 rotates reversely to drive the feeding movable rod 14 to move upwards, and the feeding movable rod 14 moves upwards to drive the fastening motor 25 and the universal sleeve 15 to move upwards for resetting.
As shown in fig. 7, two ends of the insulating rod 23 are hinged to the two single working units, so that the two single working units are convenient to detach and mount, and the problem of inconsistent height difference of the two phase wires 1 in the vertical direction can be solved by the hinging method when the robot runs across the two phase wires 1.
The control system comprises a controller 8, a camera 13, a first angular velocity sensor 27, a second angular velocity sensor 28, a force sensor 26 and an angle sensor 29, wherein the camera 13 is used for shooting the self condition and the ambient condition of the corresponding single working unit in a running state in real time; the first angular velocity sensor 27 is arranged on the first arm 16, the second angular velocity sensor 28 is arranged on the second arm 18, the first angular velocity sensor 27 and the second angular velocity sensor 28 can collect the rotation states of the driving wheel 22 and the guide wheel 19 on one hand to judge whether the driving wheel 22 of the robot slips or not, and on the other hand, the real-time displacement of the robot can be calculated through the collected rotation information; the force sensor 26 is embedded between the fastening motor 25 and the universal sleeve 15 and is used for collecting torque to judge the fastening state of the bolt; the angle sensor 29 is arranged at the hinged position of the single working unit and the insulating rod 23 and collects the height difference of the single working unit of the robot in real time.
The input end of the controller 8 is respectively connected with the output ends of the camera 13, the first angular velocity sensor 27, the second angular velocity sensor 28, the force sensor 26 and the angle sensor 29; the output end of the controller 8 is respectively connected with the controlled ends of the driving motor 21, the pressing motor 11, the ejector rod electric cylinder 6, the feeding motor 24 and the fastening motor 25; still be provided with communication module on the controller 8, controller 8 has ground station remote control equipment through communication module communication connection, the information that record was observed by staff's accessible ground station remote control equipment long-range watching camera 13 and the information of accepting relevant sensor collection, thereby realize that remote control controller 8 accomplishes driving motor 21, compress tightly motor 11, ejector pin electric cylinder 6, the start-stop and positive and negative rotation of feeding motor 24 and fastening motor 25, and then carry out required action, thereby accomplish the control to corresponding monomer work unit, and then realize the control to the robot.
The frame 7 is also provided with a battery module 12, and the battery module 12 is connected with the controller 8, the camera 13, the first angular velocity sensor 27, the second angular velocity sensor 28, the force sensor 26, the angle sensor 29, the driving motor 21, the pressing motor 11, the ejector rod electric cylinder 6, the feeding motor 24 and the fastening motor 25 respectively so as to supply power to the robot.
The top of the rack 7 is provided with a cross beam 2, the cross beam 2 is provided with an inverted U-shaped groove, and the inverted U-shaped groove is used for facilitating hoisting in the process of getting on and off the line of the robot; the bottom of the frame 7 is provided with a groove, and the groove is used for facilitating the robot to control the posture of the robot by matching with the insulating rod in the process of going up and down the line.
The single working unit takes the frame 7 as a main body, and the gravity center of the single working unit is positioned under the lead 1 after being constrained by the spatial arrangement of related spare parts, thereby further facilitating the reliability of the robot movement.
When the device is used, as shown in fig. 8, the posture of the robot is adjusted through the U-shaped groove on the cross beam 2, the groove at the bottom of the rack 7 and the insulating rod used in cooperation, the robot loaded with the alternate spacing rods is hoisted on the two-phase lead 1, and the compaction motor 11 is driven to drive the compaction wheel 17 to move upwards to be matched with the driving wheel 22 and the guide wheel 19 to compact the two-phase lead 1; driving the driving wheel 22 to walk the robot to a designated place; the ejector rod electric cylinder 6 is driven to drive the ejector rod 5 to move upwards, so that the two clamp bodies of the hardware clamp are combined; the drive feeding motor 24 drives the fastening motor 25 and the universal sleeve 15 to move downwards, the drive fastening motor 25 drives the universal sleeve 15 to rotate, so that the bolt on the hardware clamp is twisted to fasten two clamp bodies of the hardware clamp, the installation of the phase-to-phase spacer support is completed, manual operation is reduced, the risk of manual wiring is avoided, and the installation efficiency of the phase-to-phase spacer is improved.
After the installation is finished, the ejector rod electric cylinder 6 is driven to drive the ejector rod 5 to move downwards for resetting, the fastening motor 25 stops rotating, and the feeding motor 24 drives the fastening motor 25 and the universal sleeve 15 to move upwards for resetting; the pressing motor 11 drives the pressing wheel 17 to move downwards for resetting, so that the pressing wheel 17 is in a relaxed state, and the lead 1 is not pressed; the position posture of the robot is adjusted through the insulating rod; through the U type groove on crossbeam 2, the robot hoist and mount line down.
Claims (10)
1. The utility model provides a join in marriage net twine way conductor spacer installation robot which characterized in that: the device comprises two single working units which are used for installing phase-to-phase spacers and are arranged in mirror symmetry, and an insulating rod (23) which is arranged between the two single working units and is hinged with the two single working units; the interphase spacer comprises a spacer matrix and hardware clamps arranged at two ends of the spacer matrix, wherein each hardware clamp comprises two clamp bodies which are hinged and fastened through bolts to clamp a lead (1); the single working unit comprises a rack (7), and a motion system, a bearing system and a control system which are arranged on the rack (7);
the motion system comprises a driving wheel (22) for driving the corresponding single working unit to walk, a guide wheel (19) for cooperating with the driving wheel (22) to walk and giving consideration to the guiding function, and a pressing wheel (17) which can move up and down to cooperate with the driving wheel (22) and the guide wheel (19) to ensure the motion reliability;
the bearing system comprises a supporting rod (30) for loading the interphase spacers, a mandril mechanism for pushing the two hinged clamps on the hardware clamp to be combined and a fastening mechanism for screwing a bolt to fasten the two clamps of the hardware clamp;
the control system comprises a controller (8) for controlling the corresponding single working unit and a camera (13) for shooting the self condition and the ambient condition of the corresponding single working unit in real time in the running state; the output end of the camera (13) is connected with the input end of the controller (8); the output end of the controller (8) is respectively connected with the controlled ends of the motion system and the bearing system, and the controller (8) is also in communication connection with ground station remote control equipment for the workers to realize remote control.
2. The distribution network line spacer mounting robot of claim 1, wherein: the rack (7) is provided with a first arm (16) and a second arm (18); the motion system also comprises a driving motor (21) arranged on the first arm (16), the controlled end of the driving motor (21) is connected with the output end of the controller (8), and a first transmission gear (20) is arranged on the rotating shaft of the driving motor (21); the driving wheel (22) is arranged on the first arm (16), and the driving wheel (22) consists of a gear meshed with the first transmission gear (20) and a grooved wheel used for walking on the lead (1); the guide wheel (19) is of a grooved wheel structure used for walking on the lead (1) and is arranged on the second arm (18).
3. The distribution network line spacer mounting robot of claim 2, wherein: the motion system also comprises a pressing motor (11) and a pressing arm (9) which are arranged on the frame (7); the controlled end of the compaction motor (11) is connected with the output end of the controller (8), and a rotating shaft of the compaction motor (11) is provided with a third transmission gear (10); the pressing wheel (17) is of a grooved wheel structure used for pressing the lead (1) from the bottom of the lead (1) and is arranged on the pressing arm (9), and a first rack which is meshed with the third transmission gear (10) to drive the pressing wheel (17) to move up and down to realize pressing and releasing actions is longitudinally arranged on the pressing arm (9).
4. The distribution network line spacer mounting robot of claim 3, wherein: the control system also comprises a first angular velocity sensor (27) arranged on the first arm (16) for collecting the rotation state and the rotation information of the driving wheel (22) and a second angular velocity sensor (28) arranged on the second arm (18) for collecting the rotation state and the rotation information of the guide wheel (19); the output ends of the first angular velocity sensor (27) and the second angular velocity sensor (28) are respectively connected with the input end of the controller (8).
5. The distribution network line spacer mounting robot of claim 3, wherein: the supporting rod (30) is arranged on the first arm (16); the lower edges of the hardware wire clamps are on the same axis when the driving wheel (22), the guide wheel (19) and the support rod (30) drag the phase-to-phase spacers; the pressing wheel (17) is arranged between the driving wheel (22) and the guide wheel (19), and when the pressing wheel (17) is in a pressing state, the driving wheel (22), the guide wheel (19) and the pressing wheel (17) are stressed at three points.
6. The distribution network line spacer mounting robot of claim 5, wherein: a fastening platform (4) positioned above the supporting rod (30) is arranged on the first arm (16), a fastening mechanism is arranged on the fastening platform (4), the fastening mechanism comprises a feeding motor (24), a feeding moving rod (14) and a fastening motor (25), and controlled ends of the feeding motor (24) and the fastening motor (25) are respectively connected with an output end of the controller (8); a second transmission gear (3) is arranged on a rotating shaft of the feeding motor (24), and a second rack which is meshed with the second transmission gear (3) to drive the feeding moving rod (14) to move up and down is longitudinally arranged on the feeding moving rod (14); the fastening motor (25) is arranged at the lower end of the feeding moving rod (14), and a universal sleeve (15) used for sleeving a bolt preassembled on the hardware clamp is arranged on a rotating shaft of the fastening motor (25).
7. The distribution network line spacer installation robot of claim 6, wherein the working units comprise: the control system also comprises a force sensor (26) which is embedded between the fastening motor (25) and the universal sleeve (15) and is used for collecting torque to judge the fastening state of the bolt, and the output end of the force sensor (26) is connected with the input end of the controller (8).
8. The distribution network line spacer mounting robot of claim 1, wherein: the ejector rod mechanism comprises an ejector rod electric cylinder (6) arranged on the rack (7) and an ejector rod (5) arranged on the ejector rod electric cylinder (6); the controlled end of the ejector rod electric cylinder (6) is connected with the output end of the controller (8).
9. The robot for installing the distribution network line spacer according to claim 1, wherein the working units comprise: the control system further comprises an angle sensor (29) arranged at the hinged position of the single working unit and the insulating rod (23), and the output end of the angle sensor (29) is connected with the input end of the controller (8).
10. The distribution network line spacer installation robot of claim 1, wherein the working units comprise: the top of the rack (7) is provided with a cross beam (2), and the cross beam (2) is provided with an inverted U-shaped groove for facilitating hoisting in the process of getting on and off the line of the robot; the bottom of the rack (7) is provided with a groove for facilitating the robot to control the posture of the robot by matching with the insulating rod in the process of going up and down the line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210219054.1A CN114552486A (en) | 2022-03-08 | 2022-03-08 | Distribution network line spacer installation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210219054.1A CN114552486A (en) | 2022-03-08 | 2022-03-08 | Distribution network line spacer installation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114552486A true CN114552486A (en) | 2022-05-27 |
Family
ID=81663985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210219054.1A Pending CN114552486A (en) | 2022-03-08 | 2022-03-08 | Distribution network line spacer installation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114552486A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115275872A (en) * | 2022-08-03 | 2022-11-01 | 云南电网有限责任公司电力科学研究院 | Complex phase conductor spacer mounting equipment |
-
2022
- 2022-03-08 CN CN202210219054.1A patent/CN114552486A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115275872A (en) * | 2022-08-03 | 2022-11-01 | 云南电网有限责任公司电力科学研究院 | Complex phase conductor spacer mounting equipment |
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