CN119944496A - A four-split conductor spacer installation robot and use method thereof - Google Patents
A four-split conductor spacer installation robot and use method thereof Download PDFInfo
- Publication number
- CN119944496A CN119944496A CN202411898514.3A CN202411898514A CN119944496A CN 119944496 A CN119944496 A CN 119944496A CN 202411898514 A CN202411898514 A CN 202411898514A CN 119944496 A CN119944496 A CN 119944496A
- Authority
- CN
- China
- Prior art keywords
- split
- spacer
- arm
- conductor
- wire
- 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.)
- Granted
Links
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Processing Of Terminals (AREA)
Abstract
The invention belongs to the technical field of spacer installation, in particular to a four-split conductor spacer installation robot and a using method thereof, wherein the robot comprises an upper wire feeding device, a lower wire feeding device and a lower installation device, the lower installation device comprises a middle frame and a lower frame, a spacer clamping mechanism and a spacer pressing mechanism which are arranged on the middle frame, the spacer rod clamping mechanism is used for clamping and horizontally storing the four split spacers in the lower frame and moving the four split spacers to the installation position, the spacer rod pressing mechanism comprises a first rotary table and four pressing heads, the first rotary table is used for driving the four pressing heads to rotate to the four clamping heads of the four split spacers, and the pressing heads are used for clamping the clamping heads of the four split spacers. The four split spacers are stored horizontally, and the corresponding spacer clamping mechanism is designed, so that the storage quantity of the spacers can be increased, a spacer pushing device is not required to be designed in a matching way, the light weight degree is high, and the mounting operation efficiency is high.
Description
Technical Field
The invention belongs to the technical field of spacer installation, and particularly relates to a four-split conductor spacer installation robot and a use method thereof.
Background
When high voltage cables are installed, spacers are used and installed between split conductors, and the spacers are mainly used for separating a plurality of split conductors and limiting the relative movement between the split conductors. The spacer can avoid collision caused by whipping of split conductors, and also avoid breeze vibration and secondary gear distance vibration of the split conductors caused by the influence of external environment, so that normal transmission of electric power is ensured.
Because high risk exists in manual high-altitude installation operation, the four-split spacer installation robot is used for spacer installation operation. The invention patent with the application number 202410149913.3 provides a four-split conductor spacer installation robot, which comprises a wire feeding device and an installation device, wherein the wire feeding device can be placed on two high-position conductors in advance, the wire feeding device can release a traction rope, and the installation device can be lifted to the high air through the traction rope and then connected with the wire feeding device, so that the four-split conductor spacer is installed. The spacer installation robot does not need to be manually or assisted to be on line by means of equipment such as a crane, and is convenient and quick to operate. The spacer is placed vertically, if the storage quantity is too small, the robot needs to frequently go up and down to supplement the spacer, if the storage quantity is too large, the spacer is not favorable for clamping, a spacer pushing device is required to be matched, the spacer is pushed from the inside to the position which can be clamped by the spacer clamping mechanism, and the dead weight of the robot is increased. In addition, in actual installation, because the dead weight of the robot is heavy, the robot leads to the wire to be bent after being on line, and the upper and lower two groups of wires of the four-split wire are extruded together, so that the four-split spacer cannot be smoothly installed on the upper and lower two groups of wires.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provide a four-split conductor spacer mounting robot which can improve the storage quantity of spacers and has high light weight degree and a use method thereof.
In order to achieve the above object, the technical scheme of the present invention is as follows:
In a first aspect, the invention provides a four-split conductor spacer mounting robot, the robot comprises an upper wire-arranging device and a lower wire-arranging device, the lower wire-arranging device comprises a middle frame and a lower frame arranged on the middle frame, a spacer clamping mechanism and a spacer pressing mechanism, the upper wire-arranging device is used for carrying out upper and lower wires of the lower wire-arranging device after being arranged on wires on the upper layer among four-split conductors, the lower frame is used for horizontally storing the four-split spacer, the spacer clamping mechanism is used for clamping the four-split spacer stored in the lower frame and moving the four-split conductor spacer to a mounting position, when the four-split spacer is arranged at the mounting position, the four wires in the four-split conductor are arranged in four chucks of the four-split spacer, the spacer pressing mechanism comprises a first rotary table arranged on the middle frame, a rotating surface of the first rotary table is perpendicular to the extending direction of the wires, four pressing heads are arranged on the first rotary table and used for driving the four pressing heads to rotate to four chucks of the four-split conductor spacers, and the four chucks are used for fastening the four chucks of the rotary table.
The spacer rod clamping mechanism comprises a second rotating table, a first arm, a second arm and a third arm, wherein the second rotating table is connected with the middle of the first arm, the rotating surface of the second rotating table is parallel to the extending direction of a wire, the second arm is arranged on the first arm in a sliding mode, the second arm is perpendicular to the first arm, the third arm is arranged on the second arm in a sliding mode, the third arm is perpendicular to the first arm and the second arm, a third rotating table is arranged at the top end of the third arm, a spacer rod clamp is arranged on the third rotating table and used for driving the spacer rod clamp to rotate by taking the third arm as a rotating shaft, and the spacer rod clamp is used for clamping four split spacer rods.
The lower frame is used for horizontally storing a plurality of four-split spacing rods in sequence along a first direction, the second rotating table is arranged at the bottom of the middle frame in a sliding mode along the first direction, and the first direction is parallel to the extending direction of the lead.
The upper and lower wire device comprises an upper frame and a travelling mechanism and a support arm clamping mechanism which are arranged on the upper frame, wherein the travelling mechanism is used for driving the upper and lower wire device to travel along the extending direction of the wires after the upper wire device is used for feeding wires to the wires at the upper layer in the four split wires, and the support arm clamping mechanism is used for clamping the wires at the lower layer in the four split wires after the upper wire device is used for feeding wires to the wires at the upper layer in the four split wires.
The support arm clamping mechanism comprises a support arm, a first telescopic driving piece and a lower wire clamp head, wherein the middle of the support arm is movably connected with an upper frame, the top of the support arm is connected with the telescopic end of the first telescopic driving piece, the other end of the first telescopic driving piece is connected with the upper frame, the first telescopic driving piece is used for driving the bottom of the support arm to be far away from a wire positioned at the lower layer in the four-split wire when the telescopic end of the first telescopic driving piece is retracted, and driving the bottom of the support arm to be close to the wire positioned at the lower layer in the four-split wire when the telescopic end of the first telescopic driving piece extends out, the bottom of the support arm is connected with the lower wire clamp head, and the lower wire clamp head is used for clamping the wire positioned at the lower layer in the four-split wire.
The lower-layer wire chuck comprises a shell, a fixed block, a moving block and a second telescopic driving piece, wherein the fixed block, the moving block and the second telescopic driving piece are arranged inside the shell, the shell is connected with the bottom of the support arm, the moving block is connected with the telescopic end of the second telescopic driving piece, and the second telescopic driving piece is used for driving the moving block to move towards the fixed block to clamp wires when the telescopic end of the second telescopic driving piece stretches out.
The upper and lower line device also comprises an upper layer wire clamping head arranged on the upper frame, the structure of the upper layer wire clamping head is consistent with that of the lower layer wire clamping head, and the upper layer wire clamping head is used for clamping wires positioned on the upper layer in the four-split wires.
The upper and lower line device further comprises an upper hoisting mechanism arranged on the upper frame, the lower mounting device further comprises a lower hoisting device arranged on the middle frame, and the lower hoisting device is used for being connected with the upper hoisting mechanism through a hoisting rope in a self-twisting mode.
The winding and unwinding device further comprises a connector arranged on the upper frame, and the connector is used for being connected with clamping jaws on the aircraft.
In a second aspect, the present invention provides a method for using a four-split conductor spacer mounting robot, the method comprising:
s1, winding a winding device and a winding device to four split conductors;
S2, winding the lower installation device by using the winding and unwinding device to install the spacer, wherein the spacer installation specifically comprises the steps of firstly controlling a spacer clamping mechanism to clamp the four split spacers stored in the lower frame and move the four split spacers to an installation position, respectively overlapping four chucks of the four split conductors when the four split spacers are positioned at the installation position, controlling a first rotary table in a spacer pressing mechanism to rotate the four pressing heads to the four chucks of the four split spacers, and then controlling the four pressing heads to simultaneously buckle the four chucks of the four split spacers to finish the installation of the four split spacers;
S3, after the installation of all the four split spacers in the lower frame is completed, the lower installation device is taken off line by utilizing the upper and lower line device, and the four split spacers are filled;
S4, repeating the steps S2-S3 until the installation of the required four-split spacer on the four-split conductor is completed, and using the upper and lower line devices to lower the lower installation device and lower the upper and lower line devices.
Compared with the prior art, the invention has the beneficial effects that:
1. The invention relates to a four-split conductor spacer mounting robot, which comprises an upper wire-arranging device and a lower wire-arranging device, wherein the lower wire-arranging device comprises a middle frame, a lower frame, a spacer clamping mechanism and a spacer pressing mechanism, the lower frame is arranged on the middle frame, the lower frame is used for carrying out upper and lower wires of the lower wire-arranging device after the upper wires are arranged on the upper wires among the four-split conductors, the lower frame is used for horizontally storing the four-split conductors, the spacer clamping mechanism is used for clamping the four-split conductors stored in the lower frame and moving the four-split conductors to an installation position, when the four-split conductors are arranged at the installation position, the four conductors in the four-split conductors are positioned in the four chucks of the four-split conductors, the spacer pressing mechanism comprises a first rotary table arranged on the middle frame, the rotary surface of the first rotary table is perpendicular to the extending direction of the conductors, the first rotary table is provided with four pressing heads, and the first rotary table is used for driving the four pressing heads to rotate to the four chucks of the four-split conductors, and the pressing heads are used for buckling the chucks of the four-split conductors; in the design, the four split spacers are stored horizontally and the corresponding spacer clamping mechanism is designed, compared with the vertically placed spacers, on one hand, the storage quantity of the spacers can be improved, on the other hand, a spacer pushing device is not required to be matched, manual spacer supplement is facilitated, the spacer clamping mechanism is convenient to clamp, the light weight degree is high, in addition, the spacer pressing mechanism is provided with four pressing heads, and can simultaneously clamp four chucks of the four split spacers, so that the installation operation efficiency is improved. Therefore, the invention has high light weight and high installation operation efficiency.
2. The invention relates to a four-split conductor spacer installation robot, which comprises an upper frame, a travelling mechanism and a support arm clamping mechanism, wherein the travelling mechanism and the support arm clamping mechanism are arranged on the upper frame, after the upper frame and the lower frame are arranged on the upper frame to the upper layer of conductors in the four-split conductors, the lower layer of conductors in the four-split conductors are clamped by the support arm clamping mechanism so as to fix the space between the upper layer of conductors and the lower layer of conductors in the four-split conductors, the upper layer of conductors and the lower layer of conductors are prevented from being extruded together by the lower installation device, the spacer installation operation is influenced, the support arm clamping mechanism is simple in structure, and the light weight degree of the robot is further improved. Therefore, the invention can fix the distance between the upper layer wire and the lower layer wire in the four-split wire, has simple structure and further improves the light weight degree of the robot.
Drawings
Fig. 1 is a schematic structural view of a four-split conductor spacer mounting robot according to the present invention.
Fig. 2 is an internal structural view of the up-down line device in fig. 1.
FIG. 3 is a schematic view of the arm clamping mechanism of the present invention in an open position.
FIG. 4 is a schematic view of the arm clamping mechanism of the present invention in a clamped state.
Fig. 5 is a schematic structural view of the lower wire clamp of fig. 2.
Fig. 6 is a schematic structural view of the spacer bar gripping mechanism of fig. 1.
In the upper drawing, the wire feeding and discharging device 1, the upper frame 11, the traveling mechanism 12, the arm clamping mechanism 13, the arm 131, the first retractable driving piece 132, the lower wire gripping head 133, the housing 134, the fixed block 135, the movable block 136, the second retractable driving piece 137, the upper wire gripping head 14, the upper hoisting mechanism 15, the connector 16, the lower mounting device 2, the middle frame 21, the lower frame 22, the spacer gripping mechanism 23, the second rotary table 231, the first arm 232, the second arm 233, the third arm 234, the third rotary table 235, the spacer gripping device 236, the spacer pressing mechanism 24, the first rotary table 241, the pressing head 242, the lower hoisting device 25, the four split wires 3, the four split spacers 4, and the gripping head 41.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and the accompanying drawings. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, the invention provides a four-split conductor spacer mounting robot, which comprises an upper wire-arranging device 1 and a lower wire-arranging device 2, wherein the lower wire-arranging device 2 comprises a middle frame 21 and a lower frame 22 arranged on the middle frame, a spacer clamping mechanism 23 and a spacer pressing mechanism 24, the upper wire-arranging device 1 is used for carrying out upper and lower wires of the lower wire-arranging device 2 after being arranged on wires on the upper layer among the four-split conductors 3, the lower frame 22 is used for horizontally storing the four-split spacer 4, the spacer clamping mechanism 23 is used for clamping the four-split spacer 4 stored in the lower frame 22 and moving the four-split spacer 4 to an arranging position, the four wires in the four-split conductor 3 are positioned in four chucks 41 of the four-split spacer 4 when the four-split spacer 4 is positioned at the arranging position, the spacer pressing mechanism 24 comprises a first rotary table 241 arranged on the middle frame 21, the rotary surface of the first rotary table 241 is perpendicular to the extending direction of the wires, four pressing heads 242 are arranged on the first rotary table 241, and the first rotary table 241 is used for driving the four pressing heads 242 to rotate to the four chucks 41 for driving the four clamping heads 242 to rotate to the four chucks 4 to press the four spacers 41.
The four split conductors comprise four parallel conductors, the four conductors are sequentially numbered 1,2, 3,4, 1 and 2 are upper conductors positioned in the same horizontal plane, and 3 and 4 are lower conductors positioned in another horizontal plane. The working principle of the four-split conductor spacer installation robot is that an aircraft is used for installing the spacer by firstly installing the upper and lower conductor devices 1 to the upper conductor among the four-split conductors 3 and then installing the lower installation device 2 by using the upper and lower conductor devices 1, the spacer installation is specifically characterized in that the four-split conductor spacer 4 stored in the lower frame 22 is clamped and moved to an installation position by using the spacer clamping mechanism 23, four clamping heads 41 of the four-split conductor spacer 4 are respectively overlapped with four conductors among the four-split conductors 3 when the four-split conductor spacer 4 is in the installation position, then a first rotary table 241 in the spacer pressing mechanism 24 is controlled to rotate four pressing heads 242 to the four clamping heads 41 of the four-split conductor spacer 4, finally the four clamping heads 41 of the four-split conductor spacer 4 are controlled to be buckled simultaneously, the four-split conductor spacer 4 is installed, the lower installation device 2 is installed by using the upper and lower conductor spacer device 1 after the installation of all the four-split conductor spacer 4 in the lower frame 22 is completed, and the four-split conductor spacer 4 is installed by using the upper and lower conductor spacer pressing mechanism 24 until the upper and lower conductor spacer 4 is installed by using the upper and lower conductor spacer 1.
Referring to fig. 6, in another embodiment of the present invention, the spacer gripping mechanism 23 includes a second rotating table 231, a first arm 232, a second arm 233, and a third arm 234, where the second rotating table 231 is connected to the middle of the first arm 232, the rotating surface of the second rotating table 231 is parallel to the extending direction of the wires, the second arm 233 is slidably disposed on the first arm 232, the second arm 233 is perpendicular to the first arm 232, the third arm 234 is slidably disposed on the second arm 233, the third arm 234 is perpendicular to the first arm 232 and the second arm 233, a third rotating table 235 is disposed at the top end of the third arm 234, a spacer fixture 236 is mounted on the third rotating table 235, and the third rotating table 235 is used for driving the spacer fixture 236 to rotate about the third arm 234 as a rotation axis, and the spacer fixture 236 is used for gripping the four split spacers 4.
The spacer clamping mechanism 23 works on the principle that a first arm 232 is rotated to be perpendicular to a four-split spacer 4 through a second rotating table 231, a spacer clamp 236 is moved to a center hole of the four-split spacer 4 through sliding fit of the first arm 232, the second arm 233 and a third arm 234, the spacer clamp 236 is controlled to clamp the center hole of the four-split spacer 4, after the four-split spacer 4 is clamped, the first arm 232 is rotated to be parallel to the extending direction of a wire through the second rotating table 231, the four-split spacer 4 on which the spacer clamp 236 is rotated to be parallel to the extending direction of the wire through the third rotating table 235, the spacer clamp 236 is moved to the middle position of the four-split wire through sliding fit of the first arm 232, the second arm 233 and the third arm 234, the spacer clamp 236 is rotated to the center hole of the four-split spacer 4 through the third rotating table 235, and the four-split spacer 4 of the four-split wire enters four chucks 41 of the four-split spacer 4 at the moment.
As an embodiment, the first arm 232, the second arm 233, and the third arm 234 may be linear guides.
As an embodiment, the spacer fixture 236 includes a grabbing base, a clamping driving member, two grippers, where the grabbing base is connected with the third rotating table 235, a guide rail is disposed on the grabbing base, the two grippers are slidably disposed on the guide rail, a clamping groove is disposed on one side of the two grippers away from each other, and an output end of the clamping driving member is connected with the two grippers, and the clamping driving member may be a linear cylinder for driving the two grippers to move in opposite directions or move in opposite directions. After the two grippers move back to a certain distance, the clamping grooves on the two grippers are clamped with the side wall of the central hole of the four-split spacer 4, so that the four-split spacer 4 is clamped.
As an embodiment, the pressing head 242 includes a pressing head housing, a rotary driving member and a clamping jaw, wherein the rotary driving member and the clamping jaw are arranged on the pressing head housing, the clamping jaw includes a clamp and a movable pressing block movably arranged on the clamp, an output end of the rotary driving member is connected with the movable pressing block, and the rotary driving member is used for driving the movable pressing block to be matched with the clamp to close or loosen the clamping head 41 of the four-split spacer 4.
Referring to fig. 1, in another embodiment of the present invention, in order to reduce the number of times of wire-down, at least two storage areas are sequentially provided in the lower frame 22 along a first direction, each of which can horizontally store a plurality of four-split spacers 4, in order to improve the stability of the robot and prevent the robot from tilting, the first direction is set parallel to the wire extending direction, and a second rotary table 231 is slidably provided at the bottom of the middle frame 21 along the first direction so as to clamp the four-split spacers 4 in different storage areas. As an embodiment, a sliding rail is provided at the bottom of the middle frame 21, a sliding block slidingly engaged with the sliding rail is provided on the second rotating table 231, and the sliding block is driven by a third driving member to move along the sliding rail.
Referring to fig. 2 to 4, in another embodiment of the present invention, the wire feeding and discharging device 1 includes an upper frame 11, a travelling mechanism 12 and a support arm clamping mechanism 13, wherein the travelling mechanism 12 is used for driving the wire feeding and discharging device 1 to travel along the extending direction of the wires after the wire feeding and discharging device 1 feeds the wires to the upper layer of the four split wires 3, the travelling mechanism 12 may be a travelling wheel, and the support arm clamping mechanism 13 is used for clamping the wires to the lower layer of the four split wires 3 after the wire feeding and discharging device 1 feeds the wires to the upper layer of the four split wires 3. The number of arm clamping mechanisms 13 is four.
In another embodiment of the present invention, the arm clamping mechanism 13 includes an arm 131, a first telescopic driving member 132, and a lower wire collet 133, where the middle of the arm 131 is movably connected to the upper frame 11, the top of the arm 131 is connected to the telescopic end of the first telescopic driving member 132, the other end of the first telescopic driving member 132 is connected to the upper frame 11, when the telescopic end of the first telescopic driving member 132 is retracted, the bottom of the arm 131 is driven to be far away from the wire located at the lower layer in the four-split wire 3, and the arm clamping mechanism 13 is in an open state, when the telescopic end of the first telescopic driving member 132 is extended, the bottom of the arm 131 is driven to be close to the wire located at the lower layer in the four-split wire 3, and the arm clamping mechanism 13 is in a clamped state, and the bottom of the arm 131 is connected to the lower wire collet 133, and the lower wire collet 133 is used to clamp the wire located at the lower layer in the four-split wire 3 when the arm clamping mechanism 13 is in the clamped state. As one embodiment, the first telescoping drive 132 may be a cylinder drive.
Referring to fig. 5, in another embodiment of the present invention, the lower wire grip 133 includes a housing 134, a fixed block 135 disposed inside the housing 134, a moving block 136, and a second telescopic driving member 137, the housing 134 is connected to the bottom of the arm 131, the moving block 136 is connected to the telescopic end of the second telescopic driving member 137, the second telescopic driving member 137 is used to drive the moving block 136 to move toward the fixed block 135 to grip the wire when the telescopic end thereof is extended, and a groove for accommodating the wire is disposed on one side of the moving block 136 adjacent to the fixed block 135. As one embodiment, the second telescopic drive 137 may be a cylinder drive.
Referring to fig. 1, in another embodiment of the present invention, in order to prevent the robot from falling from the high altitude and improve the connection firmness of the robot and the four-split conductor, the wire feeding and discharging device 1 further includes an upper layer wire clamping head 14 disposed on the upper frame 11, and the upper layer wire clamping head 14 is used for clamping the upper layer conductor in the four-split conductor 3. As one embodiment, the structure of upper conductor clamp 14 is identical to the structure of lower conductor clamp 133. The number of upper conductor clamps 14 is two.
Referring to fig. 1, in another embodiment of the present invention, the upper and lower line device 1 further includes an upper hoist 15 provided on the upper frame 11, the upper hoist 15 is used for winding and unwinding a hoist rope, the lower mounting device 2 further includes a lower hoist 25 provided on the middle frame 21, and the lower hoist 25 is used for connecting and winding and unwinding the hoist rope from the upper hoist 13, thereby completing the upper line of the lower mounting device 2 by self-twisting the hoist rope.
In specific application, due to the light dead weight of the wire feeding and discharging device 1, the wire feeding and discharging device 1 can be placed on an upper layer wire in the four-split wire by an aircraft, the wire feeding and discharging device 1 is moved to a proper position through the travelling mechanism 12, then the lifting rope is discharged by the wire feeding and discharging device 1, the lifting rope is received by the lower lifting device 25, and the wire feeding is completed through self-twisting of the lifting rope, so that the lower mounting device 2 and the wire feeding and discharging device 1 are connected together. The online mode does not need a crane or manual assistance for online, and has the advantages of high safety coefficient, simple operation and low energy consumption. When the spacer is needed to be supplemented, the lower installation device 2 is only required to be offline, and the whole robot is not required to be offline again.
Referring to fig. 1, in another embodiment of the present invention, the wire feeding and discharging device 1 further includes a connector 16 provided on the upper frame 11, and the connector 16 is a ball head for connecting with a clamping jaw on the aircraft.
The invention also provides a use method of the four-split conductor spacer installation robot, which comprises the following steps:
S1, winding a winding and unwinding device 1 to a wire positioned at the upper layer in a four-split wire 3;
The spacer installation specifically comprises the steps of firstly controlling a spacer clamping mechanism 23 to clamp and move a four-split spacer 4 stored in a lower frame 22 to an installation position, respectively overlapping four chucks 41 of the four-split spacer 4 with four wires of the four-split wire 3 when the four-split spacer 4 is in the installation position, then controlling a first rotary table 241 in a spacer pressing mechanism 24 to rotate four pressing heads 242 to the four chucks 41 of the four-split spacer 4, and then controlling the four pressing heads 242 to simultaneously clamp the four chucks 41 of the four-split spacer 4 to finish the installation of the four-split spacer 4;
S3, after the installation of all the four-split spacers 4 in the lower frame 22 is completed, the lower installation device 2 is taken off by the upper and lower line device 1, and the four-split spacers 4 are filled;
s4, repeating the steps S2-S3 until the installation of the required four-split spacer 4 on the four-split conductor 3 is completed, and using the upper and lower wire device 1 to lower the lower installation device 2 and using the upper and lower wire device 1 to lower the wire.
Claims (10)
1. A four-split conductor spacer mounting robot is characterized by comprising an upper wire-arranging device (1) and a lower wire-arranging device (2), wherein the lower wire-arranging device (2) comprises a middle frame (21) and a lower frame (22) arranged on the middle frame, a spacer clamping mechanism (23) and a spacer pressing mechanism (24), the upper wire-arranging device (1) is used for carrying out upper wire-arranging and lower wire-arranging of the lower wire-arranging device (2) after being arranged on a wire on an upper layer in a four-split conductor (3), the lower frame (22) is used for horizontally storing the four-split spacer (4), the spacer clamping mechanism (23) is used for clamping the four-split spacer (4) stored in the lower frame (22) and moving the four-split spacer clamping mechanism to a mounting position, when the four-split spacer (4) is in the mounting position, the four conductors in the four-split spacer pressing mechanism (24) are arranged in four chucks (41) of the four-split spacer clamping mechanism (4), the spacer pressing mechanism (24) comprises a first split conductor (241) arranged on the middle frame (21) and a fourth split conductor (241) is arranged on a rotary table (4), the fourth rotary table (242) is arranged on the rotary table (4) in a vertical direction, and is used for pressing the fourth split conductor (4) to rotate, the pressing head (242) is used for buckling the clamping head (41) of the four-split spacer (4).
2. The four-split conductor spacer mounting robot according to claim 1, wherein the spacer clamping mechanism (23) comprises a second rotary table (231), a first arm (232), a second arm (233) and a third arm (234), the second rotary table (231) is connected with the middle part of the first arm (232), the rotating surface of the second rotary table (231) is parallel to the extending direction of the conductor, the second arm (233) is slidably arranged on the first arm (232), the second arm (233) is perpendicular to the first arm (232), the third arm (234) is slidably arranged on the second arm (233), the third arm (234) is perpendicular to the first arm (232) and the second arm (233), a third rotary table (235) is arranged at the top end of the third arm (234), a spacer clamp (236) is mounted on the third rotary table (235), the third rotary table (235) is used for driving the spacer clamp (236) to rotate by taking the third arm (234) as a rotating shaft, and the spacer clamp (236) is used for clamping the four-split conductor spacer 4.
3. A four-split conductor spacer mounting robot as claimed in claim 2, wherein the lower frame (22) is adapted to store a plurality of four-split conductors (4) horizontally in sequence in a first direction, and the second turntable (231) is slidably disposed at the bottom of the middle frame (21) in the first direction, the first direction being parallel to the conductor extending direction.
4. A four-split conductor spacer mounting robot according to any one of claims 1-3, wherein the wire feeding and discharging device (1) comprises an upper frame (11) and a traveling mechanism (12) and a support arm clamping mechanism (13) arranged on the upper frame, the traveling mechanism (12) is used for driving the wire feeding and discharging device (1) to travel along the conductor extending direction after feeding wires positioned on the upper layer in the wire feeding and discharging device (1) to four-split conductors (3), and the support arm clamping mechanism (13) is used for clamping wires positioned on the lower layer in the four-split conductors (3) after feeding wires positioned on the upper layer in the wire feeding and discharging device (1).
5. A four-split conductor spacer mounting robot as set forth in claim 4, wherein the arm clamping mechanism (13) comprises an arm (131), a first telescopic driving member (132) and a lower conductor clamp (133), wherein the middle part of the arm (131) is movably connected with the upper frame (11), the top part of the arm (131) is connected with the telescopic end of the first telescopic driving member (132), the other end of the first telescopic driving member (132) is connected with the upper frame (11), the first telescopic driving member (132) is used for driving the bottom part of the arm (131) to be far away from a conductor positioned at the lower layer of the four-split conductor (3) when the telescopic end thereof is retracted, and driving the bottom part of the arm (131) to be close to the conductor positioned at the lower layer of the four-split conductor (3) when the telescopic end thereof is extended, the bottom part of the arm (131) is connected with the lower conductor clamp (133), and the lower conductor clamp (133) is used for clamping the conductor positioned at the lower layer of the four-split conductor (3).
6. The four-split conductor spacer mounting robot as claimed in claim 5, wherein the lower conductor clamping head (133) comprises a housing (134), a fixed block (135) arranged inside the housing (134), a moving block (136) and a second telescopic driving member (137), wherein the housing (134) is connected with the bottom of the support arm (131), the moving block (136) is connected with the telescopic end of the second telescopic driving member (137), and the second telescopic driving member (137) is used for driving the moving block (136) to move towards the fixed block (135) to clamp the conductor when the telescopic end of the second telescopic driving member extends.
7. A four-split conductor spacer mounting robot as set forth in claim 6, wherein the upper and lower wire guides (1) further comprise upper wire guides (14) provided on the upper frame (11), the upper wire guides (14) being structured to conform to the structure of the lower wire guides (133), the upper wire guides (14) being for clamping upper wires of the four-split conductors (3).
8. The four-split conductor spacer mounting robot as claimed in claim 4, wherein the upper and lower wire devices (1) further comprise upper hoisting mechanisms (15) arranged on the upper frames (11), the lower mounting device (2) further comprises lower hoisting devices (25) arranged on the middle frames (21), and the lower hoisting devices (25) are used for being connected with the upper hoisting mechanisms (15) through hoisting ropes in a self-twisting mode.
9. A four-split conductor spacer mounting robot as claimed in claim 4, wherein the upper and lower line device (1) further comprises a connector (16) provided on the upper frame (11), the connector (16) being for connection with a jaw on an aircraft.
10. A method of using the four-split conductor spacer mounting robot of claim 1, wherein:
the using method comprises the following steps:
S1, winding a winding device (1) to a quadrifilar conductor (3);
S2, winding the lower installation device (2) by using the winding and unwinding device (1) to install the spacer, wherein the spacer installation specifically comprises the steps of firstly controlling a spacer clamping mechanism (23) to clamp and move the four split spacers (4) stored in the lower frame (22) to an installation position, respectively overlapping four chucks (41) of the four split spacers (4) with four wires in the four split wires (3) when the four split spacers (4) are positioned at the installation position, controlling a first rotary table (241) in a spacer pressing mechanism (24) to rotate the four pressing heads (242) to the four chucks (41) of the four split spacers (4), and then controlling the four pressing heads (242) to simultaneously clamp the four chucks (41) of the four split spacers (4) to finish the installation of the four split spacers (4);
S3, after the installation of all the four split spacers (4) in the lower frame (22) is completed, the lower installation device (2) is taken off by the upper and lower line device (1) to carry out the filling of the four split spacers (4);
S4, repeating the steps S2-S3 until the installation of the required four-split spacer (4) on the four-split wire (3) is completed, and using the upper and lower wire device (1) to lower the lower installation device (2) and lower the upper and lower wire device (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411898514.3A CN119944496B (en) | 2024-12-23 | 2024-12-23 | A robot for installing four-split conductor spacers and its usage method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411898514.3A CN119944496B (en) | 2024-12-23 | 2024-12-23 | A robot for installing four-split conductor spacers and its usage method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN119944496A true CN119944496A (en) | 2025-05-06 |
| CN119944496B CN119944496B (en) | 2026-01-06 |
Family
ID=95550425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411898514.3A Active CN119944496B (en) | 2024-12-23 | 2024-12-23 | A robot for installing four-split conductor spacers and its usage method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119944496B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN121791012A (en) * | 2026-03-09 | 2026-04-03 | 成都优艾维智能科技有限责任公司 | A guide and limit spacer rod installation and removal device |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01148009A (en) * | 1987-12-04 | 1989-06-09 | Hitachi Ltd | Method and device for attaching torsion preventive damper |
| JPH02119522A (en) * | 1988-10-28 | 1990-05-07 | Hitachi Ltd | Fitting device for distortion preventive damper |
| JPH1132407A (en) * | 1997-07-09 | 1999-02-02 | Chubu Electric Power Co Inc | Spacer mounting device for multi-conductor transmission lines |
| CN115954799A (en) * | 2023-01-05 | 2023-04-11 | 国网冀北电力有限公司秦皇岛供电公司 | Robot for automatic installation and removal of damping spacers for overhead lines |
| CN116073284A (en) * | 2023-04-07 | 2023-05-05 | 国网山东省电力公司潍坊供电公司 | An overhead split wire spacer rod auxiliary installation trolley |
| US20230183026A1 (en) * | 2021-12-10 | 2023-06-15 | 9374-4399 Québec Inc. | Stick laying apparatus and stick distributing unit for laying a plurality of spacer sticks over a board layer |
| US20230352917A1 (en) * | 2022-05-02 | 2023-11-02 | Ft Holdings Inc. | Apparatus and method for installing spacers on spans of wire |
| CN117458329A (en) * | 2023-10-11 | 2024-01-26 | 武汉楚前电力技术有限公司 | Multi-split spacer installation robot |
| CN117498216A (en) * | 2023-11-06 | 2024-02-02 | 国网湖南省电力有限公司 | A transmission line spacer rod and its installation robot and installation method |
| CN118074006A (en) * | 2024-02-02 | 2024-05-24 | 武汉楚前电力技术有限公司 | Four split conductor spacer installation robots |
| CN118123789A (en) * | 2024-05-07 | 2024-06-04 | 国网湖北省电力有限公司经济技术研究院 | A large-capacity magazine-type double-split spacer rod installation robot and its use method |
| CN118970716A (en) * | 2024-07-19 | 2024-11-15 | 上海合时无人机科技有限公司 | Automatic installation device and method of four-split gap rod based on drone |
-
2024
- 2024-12-23 CN CN202411898514.3A patent/CN119944496B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01148009A (en) * | 1987-12-04 | 1989-06-09 | Hitachi Ltd | Method and device for attaching torsion preventive damper |
| JPH02119522A (en) * | 1988-10-28 | 1990-05-07 | Hitachi Ltd | Fitting device for distortion preventive damper |
| JPH1132407A (en) * | 1997-07-09 | 1999-02-02 | Chubu Electric Power Co Inc | Spacer mounting device for multi-conductor transmission lines |
| US20230183026A1 (en) * | 2021-12-10 | 2023-06-15 | 9374-4399 Québec Inc. | Stick laying apparatus and stick distributing unit for laying a plurality of spacer sticks over a board layer |
| US20230352917A1 (en) * | 2022-05-02 | 2023-11-02 | Ft Holdings Inc. | Apparatus and method for installing spacers on spans of wire |
| CN115954799A (en) * | 2023-01-05 | 2023-04-11 | 国网冀北电力有限公司秦皇岛供电公司 | Robot for automatic installation and removal of damping spacers for overhead lines |
| CN116073284A (en) * | 2023-04-07 | 2023-05-05 | 国网山东省电力公司潍坊供电公司 | An overhead split wire spacer rod auxiliary installation trolley |
| CN117458329A (en) * | 2023-10-11 | 2024-01-26 | 武汉楚前电力技术有限公司 | Multi-split spacer installation robot |
| CN117498216A (en) * | 2023-11-06 | 2024-02-02 | 国网湖南省电力有限公司 | A transmission line spacer rod and its installation robot and installation method |
| CN118074006A (en) * | 2024-02-02 | 2024-05-24 | 武汉楚前电力技术有限公司 | Four split conductor spacer installation robots |
| CN118123789A (en) * | 2024-05-07 | 2024-06-04 | 国网湖北省电力有限公司经济技术研究院 | A large-capacity magazine-type double-split spacer rod installation robot and its use method |
| CN118970716A (en) * | 2024-07-19 | 2024-11-15 | 上海合时无人机科技有限公司 | Automatic installation device and method of four-split gap rod based on drone |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN121791012A (en) * | 2026-03-09 | 2026-04-03 | 成都优艾维智能科技有限责任公司 | A guide and limit spacer rod installation and removal device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN119944496B (en) | 2026-01-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN119944496B (en) | A robot for installing four-split conductor spacers and its usage method | |
| CN118074006A (en) | Four split conductor spacer installation robots | |
| CN113937665A (en) | Cable tensioning device for overhead laying of cables based on electric power engineering | |
| CN116231541B (en) | A clamping assembly, a robot for repairing broken wire strands, and its application method. | |
| CN114242342A (en) | Frame winch with automatic hanging wall function | |
| CN114927995A (en) | Wire broken strand preformed armor rod repairing device | |
| CN117728311A (en) | A drone-mounted robot operating system for fastening high-voltage transmission line bolts | |
| CN119703740B (en) | Ship lock type four-split spacer installation robot and use method thereof | |
| CN115947173A (en) | A cable retracting device for electric power engineering | |
| CN119542864B (en) | Automatic wire connecting device and automatic wire connecting method | |
| CN219341236U (en) | Cable winding and unwinding devices for power engineering | |
| CN118458612A (en) | GIS equipment lifting machine convenient to aim at | |
| CN115890727A (en) | Spacer grabbing device and spacer installation robot | |
| CN116759945A (en) | Electrical conduit laying device and conduit laying method | |
| CN114348767A (en) | Auxiliary device for large square cable coiling | |
| CN210393166U (en) | Paying-off device | |
| CN116647086A (en) | Double-station flying fork winding machine | |
| CN116281663A (en) | Frock is used in assembly of heavy truck front beam | |
| CN107337121B (en) | High efficiency tower horn | |
| CN221293095U (en) | Battery replacing device and battery replacing station | |
| CN224118445U (en) | Cable paying-off device for electric power facility planning | |
| CN113753661A (en) | Automatic wiring device for wiring harness | |
| CN219525811U (en) | Stranded wire flexible support | |
| CN218161161U (en) | Earth connection dismouting device | |
| CN219535850U (en) | Double-station winding host machine of flying fork winding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |