CN117300564B - Automatic installation robot for warning balls - Google Patents
Automatic installation robot for warning ballsInfo
- Publication number
- CN117300564B CN117300564B CN202311469379.6A CN202311469379A CN117300564B CN 117300564 B CN117300564 B CN 117300564B CN 202311469379 A CN202311469379 A CN 202311469379A CN 117300564 B CN117300564 B CN 117300564B
- Authority
- CN
- China
- Prior art keywords
- main body
- axis
- lead screw
- driving
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The application discloses an automatic warning ball mounting robot, which relates to the field of high-voltage transmission and comprises a main body and two lifting mechanisms, wherein the lifting mechanisms comprise a winch, a hook and an insulating rope, the winch is rotatably connected to the main body, the hook is used for being connected to a lead in a hanging mode, a lifting motor is further arranged on the main body, the main body is slidably connected with a sliding seat in the length direction of the main body, an adjusting seat is slidably connected to the main body in the vertical direction, two clamping arms are slidably connected to the main body in the width direction of the main body, a first driving component for driving the sliding seat to slide, a second driving component for driving the adjusting seat to slide and a third driving component for driving the clamping arms to slide are arranged on the main body, and a mounting component is further arranged on the clamping arms.
Description
Technical Field
The application relates to the field of high-voltage power transmission, in particular to an automatic warning ball mounting robot.
Background
The warning ball generally appears on overhead high-voltage transmission cable, and the effect is to remind pedestrian, vehicle, tower crane, boats and ships etc. below not to be close to high-voltage wire, makes past crowd and vehicle discover early, in time prevent to the emergence of public security accident, electric wire netting incident is alleviateed. The installation warning ball mainly relies on manual work at present, carries the warning ball through the manual work and goes up the line, wears the workman of protective clothing and carries out the installation of warning ball through electric wire netting instrument, and manual operation intensity of labour is big, still has the potential safety hazard.
Disclosure of Invention
In order to quickly and automatically install the warning ball, the application provides an automatic warning ball installation robot.
The application provides an automatic warning ball mounting robot, which adopts the following technical scheme:
The automatic warning ball mounting robot comprises a main body and two lifting mechanisms, wherein the two lifting mechanisms are distributed at two ends of the main body along the length direction of the main body, the lifting mechanisms comprise a winch, a hook and an insulating rope, the winch is rotationally connected to the main body, the rotation axis of the winch is arranged along the horizontal direction, the hook is used for being connected to a wire in a hanging mode, one end of the insulating rope is connected with the hook, the other end of the insulating rope is connected with the winch in a winding mode, and a lifting motor for driving the winch to rotate is further arranged on the main body;
The main body is connected with a sliding seat in a sliding manner along the length direction of the main body, an adjusting seat is connected to the sliding seat in a sliding manner along the vertical direction, two clamping arms for clamping the warning balls are connected to the adjusting seat in a sliding manner along the width direction of the main body, a first driving assembly for driving the sliding seat to slide is arranged on the main body, a second driving assembly for driving the adjusting seat to slide is arranged on the sliding seat, a third driving assembly for driving the clamping arms to slide is further arranged on the adjusting seat, and a mounting assembly for screwing screws to assemble the warning balls is further arranged on the clamping arms.
According to the technical scheme, before the warning balls are installed, the hooks are firstly hung on the wires through the unmanned aerial vehicle or manually, after the two hooks are hung, the winch is driven by the lifting motor to wind the insulating rope, so that the main body is lifted, after the main body reaches a preset position, the driving assembly I, the driving assembly II and the driving assembly III control the two clamping arms to slide, the hemispheres of the two warning balls on the two clamping arms clamp the wires, and then the installation can be completed by splicing the hemispheres of the two warning balls through the installation assembly.
Optionally, a guide device is slidingly connected on the main body along the axis direction of the winch, the insulating rope passes through the guide device and is wound and connected with the winch, a guide screw rod is rotationally connected on the main body, the guide screw rod is a bidirectional screw rod, the rotation axis of the guide screw rod is arranged along the axis direction of the winch, the guide device is connected on the guide screw rod through a screw rod nut, and the lifting motor drives the winch and the guide screw rod to rotate simultaneously through a speed reducer.
Through adopting above-mentioned technical scheme, when capstan winch rolling or loosening insulating rope, the direction lead screw also can rotate to drive the director and slide, make insulating rope can the equipartition on the capstan winch, be favorable to the rolling and the release of insulating rope.
Optionally, the installation component includes self-adaptation sleeve and swinging boom, the swinging boom rotates to be connected on the arm for clamping, the axis of rotation of swinging boom is followed the main part width direction sets up, still be equipped with on the arm for clamping and be used for driving the swinging boom pivoted rotating electrical machines, the swinging boom is followed main part width direction sliding connection has the installation piece, self-adaptation sleeve rotates to be connected on the installation piece, the axis of rotation of self-adaptation sleeve is followed main part width direction sets up, still be equipped with on the swinging boom and be used for driving installation piece gliding feed screw and feed electrical machines, the feed screw rotates to be connected on the swinging boom, the axis of rotation of feed screw is followed main part width direction sets up, the feed electrical machines is used for driving the feed screw rotates, still be equipped with on the installation piece and be used for driving self-adaptation sleeve pivoted installation electrical machines.
Through adopting above-mentioned technical scheme, through rotating electrical machines control swinging boom rotation, make self-adaptation sleeve align the screw hole on the warning ball, drive feed screw through feed motor afterwards and rotate, make the bolt on the self-adaptation sleeve insert the screw hole, drive self-adaptation sleeve through the installation motor simultaneously and rotate, make the bolt screw in the screw hole accomplish the assembly of warning ball.
Optionally, the rotating arm is telescopic, the rotating arm comprises a fixed end and a telescopic end, the fixed end is rotatably connected to the clamping arm, the self-adaptive sleeve, the feed screw and the feed motor are arranged on the telescopic end, the rotating motor is used for driving the fixed end to rotate, the telescopic end is slidably connected to the fixed end along the length direction of the rotating arm, and a telescopic assembly used for driving the telescopic end to slide is further arranged on the fixed end.
Through adopting above-mentioned technical scheme, through the slip of flexible end of flexible subassembly control to change self-adaptation telescopic position, make the device can install the warning ball of equidimension.
Optionally, the flexible subassembly includes flexible lead screw and flexible motor, flexible lead screw rotates to be connected on the fixed end, flexible lead screw's axis of rotation is followed swinging boom length direction sets up, flexible motor is used for driving flexible lead screw rotates.
By adopting the technical scheme, the telescopic motor drives the telescopic screw rod to rotate so as to drive the telescopic end to slide.
Optionally, the first driving component comprises an X-axis motor and an X-axis screw rod, the X-axis screw rod is rotationally connected to the main body, a rotation axis of the X-axis screw rod is arranged along the length direction of the main body, the X-axis motor is used for driving the X-axis screw rod to rotate, and the sliding seat is connected with the X-axis screw rod through a screw rod nut.
Through adopting above-mentioned technical scheme, X axle motor drives X axle lead screw and rotates to order about the sliding seat and slide along main part length direction, thereby adjust the position of sliding seat and centre gripping arm.
Optionally, the second driving component comprises a Z-axis screw rod and a Z-axis motor, the Z-axis screw rod is rotationally connected to the main body, a rotation axis of the Z-axis screw rod is arranged along a vertical direction, the Z-axis motor is used for driving the Z-axis screw rod to rotate, and the adjusting seat is connected with the Z-axis screw rod through a screw rod nut.
Through adopting above-mentioned technical scheme, Z axle motor drives Z axle lead screw and rotates to order about to adjust the seat and slide, thereby change the position of adjusting seat and centre gripping arm.
Optionally, the third driving component comprises a Y-axis screw rod and a Y-axis motor, the Y-axis screw rod is rotatably connected to the adjusting seat, a rotation axis of the Y-axis screw rod is arranged along the width direction of the main body, the clamping arm is connected with the Y-axis screw rod through a screw nut, and the Y-axis motor is used for driving the Y-axis screw rod to rotate.
Through adopting above-mentioned technical scheme, Y axle motor drives Y axle lead screw and rotates to order about two centre gripping arms and be close to each other or keep away from, finally make the warning ball can press from both sides the wire in the centre.
In summary, the application has the following beneficial technical effects:
according to the application, through the arrangement of the mounting assembly and the lifting mechanism, the main body can automatically move to the preset position with the hemispheres of the two warning balls, and then the two warning balls can be automatically assembled together through the mounting assembly, so that the complex and dangerous manual operation is avoided.
Drawings
FIG. 1 is an overall construction diagram of an automatic warning ball mounting robot according to the present application;
FIG. 2 is a partial block diagram of the guide of FIG. 1;
FIG. 3 is a partial block diagram of the clamp arm of FIG. 1;
fig. 4 is a partial block diagram of the mounting assembly of fig. 1.
Reference numerals illustrate:
1. The main body comprises 11 parts of a winch, 12 parts of a hook, 13 parts of an insulating rope, 14 parts of a lifting motor, 15 parts of a guide screw, 16 parts of a guide, 2 parts of a sliding seat, 21 parts of an X-axis motor, 22 parts of an X-axis screw, 3 parts of an adjusting seat, 31 parts of a Z-axis screw, 32 parts of a Z-axis motor, 4 parts of a clamping arm, 41 parts of a Y-axis motor, 42 parts of a Y-axis screw, 51 parts of a rotating arm, 511 parts of a fixed end, 512 parts of a telescopic end, 52 parts of a mounting block, 53 parts of a self-adaptive sleeve, 54 parts of a rotating motor, 55 parts of a feeding screw, 56 parts of a feeding motor, 57 parts of a telescopic motor, 58 parts of a telescopic screw.
Detailed Description
The application is described in further detail below with reference to fig. 1-4.
The embodiment of the application discloses an automatic warning ball mounting robot, which comprises a main body 1 and two lifting mechanisms, wherein the two lifting mechanisms are distributed at two ends of the main body 1 along the length direction of the main body 1, the lifting mechanisms comprise a winch 11, a hook 12 and an insulating rope 13, the winch 11 is rotatably connected to the main body 1, the rotating axis of the winch 11 is along the length direction of the main body 1, a lifting motor 14 for driving the winch 11 to rotate is further arranged on the main body 1, one section of the insulating rope 13 is connected with the hook 12, the other end of the insulating rope 13 is fixedly connected with the winch 11 in a winding way, the hook 12 is used for being mounted on a wire, when the robot works for the first time, the hook 12 needs to be mounted on the wire through an unmanned aerial vehicle, and then the lifting motor 14 drives the winch 11 to wind the insulating rope 13, so that the main body 1 is integrally lifted to the vicinity of the wire.
In order to improve stability of the main body 1 in a lifting process, a guide screw rod 15 is rotatably connected to the main body 1, a rotation axis of the guide screw rod 15 is arranged along an axis direction of the winch 11, a lifting motor 14 drives the winch 11 and the guide screw rod 15 to rotate simultaneously through a synchronous pulley, the guide screw rod 15 is a bidirectional screw rod, a guide 16 is connected to the guide screw rod 15 through a screw nut, one end of an insulating rope 13 passes through the guide 16 and is fixedly connected with the winch 11 in a winding manner, and when the lifting motor 14 notifies, the guide 16 slides along the axis direction of the winch 11, so that the insulating rope 13 can be driven to uniformly wind on the winch 11.
Referring to fig. 1 and 3, simultaneously, a guide rod is provided on the main body 1 along its length direction, a sliding seat 2 is slidably connected to the guide rod, an adjusting seat 3 is slidably connected to the sliding seat 2 along the vertical direction, a clamping arm 4 for clamping a warning ball is slidably connected to the adjusting seat 3 along the width direction of the main body 1, the warning ball is divided into two hemispheres and is clamped on the clamping arm 4, and the two clamping arms 4 slide to approach or separate from each other.
The main body 1 is provided with a first driving component for driving the sliding seat 2 to slide, the sliding seat 2 is provided with a second driving component for driving the adjusting seat 3 to slide, the adjusting seat 3 is provided with a third driving component for driving the clamping arm 4 to slide, and meanwhile, the clamping arm 4 is also provided with a mounting component for screwing a screw so as to assemble the two warning ball hemispheres into a complete warning ball.
After the main body 1 is close to the power transmission cable, the positions of the sliding seat 2, the adjusting seat 3 and the clamping arm 4 are adjusted through the first driving component, the second driving component and the third driving component, so that the power transmission cable is clamped in the warning ball, and then the two warning ball hemispheres are assembled through the mounting component.
Referring to fig. 2 and 3, in this embodiment, the mounting assembly includes an adaptive sleeve 53 and a rotating arm 51, the rotating arm 51 is rotatably connected to the clamping arm 4, the rotating arm 51 is slidably connected to the mounting block 52 along the width direction of the main body 1, the adaptive sleeve 53 is rotatably connected to the mounting block 52, the rotating axes of the rotating arm 51 and the adaptive sleeve 53 are both disposed along the width direction of the main body 1, a mounting motor for driving the adaptive sleeve 53 to rotate is further disposed on the mounting block 52, a rotating motor 54 for driving the rotating arm 51 to rotate is simultaneously disposed on the clamping arm 4, a feed screw 55 and a feed motor 56 for driving the rotating arm 51 to slide are disposed on the mounting block 52, the feed screw 55 is rotatably connected to the mounting block 52, the rotating arm 51 is connected to the feed screw 55 through a screw nut, and the feed motor 56 is used for driving the feed screw 55 to rotate.
After the power transmission cable is clamped in the warning ball, the rotating arm 51 is driven to rotate through the rotating motor 54, the self-adaptive sleeve 53 can be aligned with the screw hole of the warning ball, then the feeding screw rod 55 is driven to rotate through the feeding motor 56, meanwhile, the mounting motor drives the self-adaptive sleeve 53 to rotate, so that the bolt is screwed into the screw hole, the mounting of the bolt on one side of the warning ball is completed, the self-adaptive sleeve 53 is aligned with the screw hole on the other side of the warning ball through the rotating motor 54, and the steps are repeated, so that the mounting of the bolt on the other side is completed.
In order to mount warning balls with different sizes, the rotary arm 51 is split into a fixed end 511 and a telescopic end 512, the fixed end 511 is rotatably connected to the clamping arm 4, the mounting block 52 and the self-adaptive sleeve 53 are both arranged on the telescopic end 512, the rotary motor 54 is used for driving the fixed end 511 to rotate, the telescopic end 512 is slidably connected to the fixed end 511 along the length direction of the rotary arm 51, the telescopic screw 58 is rotatably connected to the telescopic end 512, the rotation axis of the telescopic screw 58 is arranged along the length direction of the rotary arm 51, meanwhile, the telescopic motor 57 is arranged on the telescopic end 512 and is used for driving the telescopic screw 58 to rotate, and accordingly the telescopic end 512 is driven to slide, so that the whole length of the rotary arm 51 is changed to adapt to warning balls with different sizes.
In this embodiment, the first driving component includes an X-axis motor 21 and an X-axis screw 22, the X-axis screw 22 is rotatably connected to the main body 1, a rotation axis of the X-axis is disposed along a length direction of the main body 1, the X-axis motor 21 is used for driving the X-axis screw 22 to rotate, the sliding seat 2 is connected with the X-axis screw 22 through a screw nut, and when the X-axis motor 21 drives the X-axis screw 22 to rotate, the sliding seat 2 can be driven to slide to adjust a position.
In this embodiment, the second driving component includes a Z-axis screw rod 31 and a Z-axis motor 32, the Z-axis screw rod 31 is rotatably connected to the sliding seat 2, a rotation axis of the Z-axis screw rod 31 is arranged in a vertical direction, the Z-axis motor 32 is used for driving the Z-axis screw rod 31 to rotate, the adjusting seat 3 is connected with the Z-axis screw rod 31 through a screw nut, and similarly, the Z-axis motor 32 rotates to drive the Z-axis screw rod 31 to rotate so as to change a position of the adjusting seat 3.
In this embodiment, the driving assembly three includes a Y-axis screw 42 and a Y-axis motor 41, the Y-axis screw 42 is rotatably connected to the adjusting seat 3, a rotation axis of the Y-axis screw 42 is set along a width direction of the main body 1, the Y-axis motor 41 is used to drive the Y-axis screw 42 to rotate, and similarly, the Y-axis screw 42 rotates to drive the two clamping arms 4 to approach or separate from each other.
The first driving component, the second driving component and the third driving component can clamp the power transmission cable in the warning ball under the combined action of the first driving component, the second driving component and the third driving component, and finally the assembly of the single warning ball can be completed through the installation component.
The implementation principle of the automatic warning ball mounting robot is that a hook 12 is mounted on a cable in an unmanned plane or a manual mode, an insulating rope 13 is wound up through a winch 11 to lift a main body 1, in the process, a guide 16 slides to ensure the lifting stability of the main body 1, after the main body 1 reaches a preset position, the position of the warning ball is adjusted through a first driving component, a second driving component and a third driving component, the cable is clamped in the warning ball, and then the assembly of the warning ball is completed through a mounting component.
The above embodiments are not intended to limit the scope of the application, so that the equivalent changes of the structure, shape and principle of the application are covered by the scope of the application.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311469379.6A CN117300564B (en) | 2023-11-06 | 2023-11-06 | Automatic installation robot for warning balls |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311469379.6A CN117300564B (en) | 2023-11-06 | 2023-11-06 | Automatic installation robot for warning balls |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117300564A CN117300564A (en) | 2023-12-29 |
| CN117300564B true CN117300564B (en) | 2026-04-14 |
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ID=89297433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311469379.6A Active CN117300564B (en) | 2023-11-06 | 2023-11-06 | Automatic installation robot for warning balls |
Country Status (1)
| Country | Link |
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| CN (1) | CN117300564B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119609635B (en) * | 2024-12-13 | 2025-12-12 | 国网湖南省电力有限公司 | Automatic robot for mounting and dismounting warning ball |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101633165A (en) * | 2009-06-11 | 2010-01-27 | 福建省厦门电业局 | Robot for assembling and disassembling alarming ball of electric transmission line |
| CN105710518A (en) * | 2016-04-25 | 2016-06-29 | 中国五冶集团有限公司 | A hollow bolt ball welding tool |
| CN206010371U (en) * | 2016-08-31 | 2017-03-15 | 青岛华创风能有限公司 | A kind of automatic screwing down apparatus of wind generator unit wheel hub bearing bolt |
| CN116231541A (en) * | 2023-03-03 | 2023-06-06 | 长沙理工大学 | A clamping component, a wire broken strand repair robot and its application method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4885835A (en) * | 1989-02-02 | 1989-12-12 | Osgood George M | Method of assembling line marker into suspended power line |
| BR0103416A (en) * | 2001-04-23 | 2003-01-14 | Furnas Centrais Eletricas S A | Device for installing signaling balls in lightning conductor cables, and methods for installing signaling balls in lightning conductor cables using said device |
| CN202922579U (en) * | 2012-12-10 | 2013-05-08 | 山东电力集团公司电力科学研究院 | Automatic assembling and disassembling robot of aeronautical marking ball |
| CN114421362A (en) * | 2022-01-19 | 2022-04-29 | 广东电网能源发展有限公司 | Marker ball fixing method, marker ball fixing system, aerial marker device and storage medium |
| CN115224631B (en) * | 2022-08-05 | 2024-10-11 | 贵州电网有限责任公司 | Distribution network live working robot capable of operating simultaneously in three phases and working method |
| CN116564178A (en) * | 2023-06-15 | 2023-08-08 | 广东电网能源发展有限公司 | An aviation marking ball loading and unloading equipment |
-
2023
- 2023-11-06 CN CN202311469379.6A patent/CN117300564B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101633165A (en) * | 2009-06-11 | 2010-01-27 | 福建省厦门电业局 | Robot for assembling and disassembling alarming ball of electric transmission line |
| CN105710518A (en) * | 2016-04-25 | 2016-06-29 | 中国五冶集团有限公司 | A hollow bolt ball welding tool |
| CN206010371U (en) * | 2016-08-31 | 2017-03-15 | 青岛华创风能有限公司 | A kind of automatic screwing down apparatus of wind generator unit wheel hub bearing bolt |
| CN116231541A (en) * | 2023-03-03 | 2023-06-06 | 长沙理工大学 | A clamping component, a wire broken strand repair robot and its application method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117300564A (en) | 2023-12-29 |
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