CN220782843U - Spacer installation robot online equipment and spacer installation system - Google Patents

Abstract

The utility model relates to the technical field of spacer installation, and provides spacer installation robot online equipment and a spacer installation system. The spacer installation robot online device includes: the device comprises a frame, a moving piece and a lifting assembly, wherein the moving piece is connected with the top of the frame and is used for driving the frame to move so as to enable the frame to be arranged on two leads which are arranged at intervals; the lifting assembly is arranged on the frame and used for driving the spacer installation robot to move to the bottom of the frame to be in butt joint with the frame. According to the utility model, the moving part is connected with the top of the frame, and the moving part can place the spacing rod installation robot wire feeding equipment on two wires arranged at a high space interval; the lifting assembly can drive the spacing rod installation robot with large volume and large weight to move in complex terrains, and is in butt joint with the frame to form a whole, so that the spacing rod installation robot can be on line. The utility model has simple structure, convenient online of the spacer installation robot and wide application scene.

Description

Spacer installation robot online equipment and spacer installation system

Technical Field

The utility model relates to the technical field of spacer installation, in particular to spacer installation robot online equipment and a spacer installation system.

Background

With the continuous development of the high-voltage power grid, the workload of operators is continuously increased, and a series of operation difficulties are brought along with the workload. The personnel required by the construction operation of the high-voltage transmission line are greatly increased, and the contradiction of insufficient strength of the personnel for constructing the high-voltage transmission line is increasingly prominent.

In the existing spacer installation technology, manual installation of the spacer is required to manually climb a pole tower to stand on a high-voltage cable for installation, people stand on the cable to perform high-altitude operation, good balance capacity is required, psychological test capacity to installation staff is extremely high, and the risk is high.

The robot is installed on the spacer rod in the power grid industry, manual work is replaced by the robot to install the spacer rod at high altitude, and when the spacer rod is installed automatically, the biggest difficulty of the spacer rod installation robot is how to install the high altitude wire on the robot, the robot is large in size and heavy in weight, the equipment is hung on the wire by a crane in the prior art, meanwhile, the wire is difficult to be installed by manual assistance, hidden danger exists, the crane operation can be supported by means of good topography required by the crane on line, at present, most power grid infrastructure areas are remote, no traffic roads are available, and therefore, the spacer rod robot cannot be installed mechanically under most conditions, and the robot is quite inconvenient.

Disclosure of utility model

The utility model provides spacer installation robot wire feeding equipment and a spacer installation system, which are used for solving the problem that a spacer robot in the prior art cannot be mechanically fed in most cases.

The utility model provides a spacer installation robot on-line device, comprising: the device comprises a frame, a moving piece and a lifting assembly, wherein the moving piece is connected with the top of the frame and is used for driving the frame to move so that the frame is arranged on two guide wires which are arranged at intervals; the lifting assembly is arranged on the frame and used for driving the spacer rod installation robot to move to the bottom of the frame to be in butt joint with the frame.

According to the spacer installation robot wire feeding device provided by the utility model, the spacer installation robot wire feeding device further comprises a walking assembly, and the walking assembly is used for driving the frame to move along the extending direction of the lead.

According to the spacer mounting robot online equipment provided by the utility model, the walking assembly comprises a driving wheel set, a driven wheel set and a first driving motor, and the driving wheel set and the driven wheel set are arranged at intervals along the length direction of the frame; the first driving motor is connected with the driving wheel group; the driving wheel set comprises two driving wheels which are arranged at intervals, the driven wheel set comprises two driven wheels which are arranged at intervals, and the two driving wheels and the two driven wheels are respectively pressed on the corresponding lead wires.

According to the spacer installation robot wire feeding device provided by the utility model, the spacer installation robot wire feeding device further comprises two locking plates which are arranged at intervals, the two locking plates are respectively connected to any side of the length direction of the frame in a rotating mode, and the locking plates are arranged at the bottoms of the wires in a rotating mode, so that the wires are locked between the locking plates and the driving wheels and between the locking plates and the driven wheels.

According to the spacer bar mounting robot wire feeding equipment provided by the utility model, the spacer bar mounting robot wire feeding equipment further comprises a first clamping piece and a second clamping piece, the two wires are a first wire and a second wire respectively, the first clamping piece and the second clamping piece are respectively arranged on two sides of the frame in the width direction, the first clamping piece is used for clamping the first wire, and the second clamping piece is used for clamping the second wire.

According to the spacer installation robot wire feeding equipment provided by the utility model, the spacer installation robot wire feeding equipment further comprises a driving assembly, wherein the driving assembly comprises a first lead screw, a second lead screw, a transmission shaft and a second driving motor; the first screw rod and the second screw rod are respectively connected with two ends of the transmission shaft, the first clamping piece is in threaded connection with the first screw rod, the second clamping piece is in threaded connection with the second screw rod, the second driving motor is connected with the transmission shaft, and the second driving motor is used for driving the transmission shaft to drive the first clamping piece and the second clamping piece to be close to or far away from each other.

According to the spacer installation robot wire feeding device provided by the utility model, the spacer installation robot wire feeding device further comprises a plurality of guide plates, wherein the plurality of guide plates are respectively arranged on two sides of the width direction of the frame, and each guide plate is obliquely arranged downwards and is used for pressing the corresponding wire.

According to the spacer bar installation robot wire feeding device provided by the utility model, the lifting assembly comprises at least two winding drums and a third driving motor, a cable is wound on each winding drum, the free end of the cable is used for being connected with the spacer bar installation robot, and the third driving motor is connected with the winding drums.

According to the spacer bar installation robot online equipment provided by the utility model, the spacer bar installation robot online equipment further comprises a control component, and the moving component, the walking component, the lifting component, the two locking plates, the first clamping component, the second clamping component and the driving component are respectively connected with the control component.

The utility model also provides a spacer installation system which comprises a spacer installation robot and the spacer installation robot line-feeding equipment, wherein the spacer installation robot is arranged at the bottom of the frame.

According to the spacer installation robot wire-feeding equipment and the spacer installation system, the moving piece is connected with the top of the frame, so that the spacer installation robot wire-feeding equipment can be placed on two guide wires arranged in a high space at intervals by the moving piece; through locating lifting unit on the frame, lifting unit can be connected with the big, heavy conductor spacer installation robot of volume in complicated topography, drives conductor spacer installation robot and removes, forms a whole with the frame butt joint installation, realizes conductor spacer installation robot's upper line. The spacer installation robot online equipment provided by the utility model has the advantages of simple structure, convenience and rapidness in online of the spacer installation robot and wide application scene.

Drawings

In order to more clearly illustrate the utility model or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the utility model, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a spacer mounting robot on-line device provided by the utility model;

fig. 2 is a top view of the spacer mounting robot on-line apparatus provided by the present utility model;

Fig. 3 is a bottom view of the spacer mounting robot threading apparatus provided by the present utility model;

reference numerals:

1. A frame; 2. a driving wheel; 3. driven wheel; 4. a first driving motor; 5. a locking plate; 6. a guide plate; 7. a first clamping member; 8. a second clamping member; 9. a first lead screw; 10. a second lead screw; 11. a first slide bar; 12. a second slide bar; 13. a transmission shaft; 14. a second driving motor; 15. a reel; 16. a third driving motor; 17. and a control assembly.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In describing embodiments of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present utility model will be understood in detail by those of ordinary skill in the art.

In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

The following disclosure provides many different embodiments, or examples, for implementing different structures of the utility model. In order to simplify the present disclosure, components and arrangements of specific examples are described below. They are, of course, merely examples and are not intended to limit the utility model. Furthermore, the present utility model may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present utility model provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the applicability of other processes and/or the use of other materials.

The following describes a spacer mounting robot wire-feeding apparatus and a spacer mounting system provided by the present utility model with reference to fig. 1 to 3.

The spacer mounting robot on-line equipment provided by the utility model comprises: the device comprises a frame 1, a moving piece and a lifting assembly, wherein the moving piece is connected with the top of the frame 1 and is used for driving the frame 1 to move so that the frame 1 is arranged on two leads which are arranged at intervals; the lifting assembly is arranged on the frame 1 and used for driving the spacer rod installation robot to move to the bottom of the frame 1 to be in butt joint with the frame 1.

The moving part is an unmanned aerial vehicle, the top of the frame 1 is provided with a connecting part, the unmanned aerial vehicle can be connected with the connecting part, and the frame 1 is driven to move to a target position, namely, the frame 1 is driven to be placed on two parallel wires which are arranged at intervals.

The moving part in the utility model can also be a crane, and the crane drives the spacer installation robot wire feeding equipment to be arranged on two wires which are arranged at intervals. In addition, the spacer mounting robot wire feeding device can be arranged on the two wires arranged at intervals in a manual auxiliary manner.

The spacer installation robot line feeding equipment further comprises a lifting component, wherein the lifting component is arranged on the frame 1 and is used for being connected with the spacer installation robot, and the lifting component is started to drive the spacer installation robot to move upwards, so that the spacer installation robot is arranged below the frame 1 and is in butt joint with the bottom plate of the frame 1 to form a whole, and the spacer installation robot line feeding is completed. After the spacer is installed, the lifting assembly can drive the spacer installation robot to move downwards to the ground.

It can be understood that a gap is arranged right below the frame 1 corresponding to the lifting assembly, so that the lifting assembly drives the spacer bar mounting robot to move up and down; the spacer mounting robot may also move up the lifting assembly to the bottom of the frame by itself. In addition, be equipped with locating hole and mounting hole on the frame 1, can fix a position fast when lifting assembly drives the spacing rod installation robot and removes to the below of frame 1, realize with the butt joint of frame 1.

According to the spacer installation robot wire feeding equipment provided by the utility model, the moving part is connected with the top of the frame 1, so that the moving part can place the spacer installation robot wire feeding equipment on two leads arranged at a high space interval; through locating lifting unit on the frame 1, lifting unit can be connected with the big, heavy conductor spacer installation robot of volume in complicated topography, drives conductor spacer installation robot and removes, forms a whole with frame 1 butt joint installation, realizes the upper line of conductor spacer installation robot. The spacer installation robot online equipment provided by the utility model has the advantages of simple structure, convenience and rapidness in online of the spacer installation robot and wide application scene.

The spacer mounting robot wire feeding equipment provided by the utility model further comprises a walking assembly, wherein the walking assembly is used for driving the frame 1 to move along the extending direction of the lead.

The unmanned aerial vehicle drives the frame 1 to arrange on two wires that the interval set up, namely walking subassembly presses and locates on two wires, and walking subassembly drives frame 1 and moves to the target position along the extending direction of wire, and lifting unit drives the spacing rod installation robot and upwards moves and dock with frame 1 and form a whole, or the spacing rod installation robot along lifting unit to frame 1 remove and dock with frame 1 and form a whole, and then realize the upper wire to the spacing rod installation robot.

Or the unmanned aerial vehicle drives the frame 1 to be arranged on two wires which are arranged at intervals, the lifting assembly drives the spacing rod installation robot to move upwards to be in butt joint with the frame 1 to form a whole (or the spacing rod installation robot moves to the frame 1 along the lifting assembly to be in butt joint with the frame 1 to form a whole.); the walking assembly drives the frame 1 and the spacer mounting robot to move to a target position along the extending direction of the lead.

Further, the walking assembly comprises a driving wheel set, a driven wheel set and a first driving motor 4, and the driving wheel set and the driven wheel set are arranged at intervals along the length direction of the frame 1; the first driving motor 4 is connected with the driving wheel group; the driving wheel set comprises two driving wheels 2 which are arranged at intervals, the driven wheel set comprises two driven wheels 3 which are arranged at intervals, and the two driving wheels 2 and the two driven wheels 3 are respectively pressed on corresponding leads.

Referring to fig. 1 and 2, the two wires are a first wire and a second wire, respectively, the walking assembly comprises a driving wheel 2 group and a driven wheel 3 group, the driving wheel 2 group and the driven wheel 3 group are arranged at intervals along the length direction of the frame 1, and the length direction of the frame 1 is consistent with the extending direction of the wires.

Specifically, the driving wheel set comprises two driving wheels 2 which are arranged at intervals, namely a first driving wheel and a second driving wheel, wherein the first driving wheel is pressed on the first guide wire, and the second driving wheel is pressed on the second guide wire; the driven wheel group comprises a first driven wheel and a second driven wheel, the first driven wheel is pressed on the first guide wire, and the second driven wheel is pressed on the second guide wire.

Further, the first driving motor 4 is connected with the driving wheel group, namely the first driving wheel and the second driving wheel are respectively connected with the first driving motor 4, the first driving motor 4 is started, the first driving wheel and the second driving wheel drive the first driven wheel and the second driven wheel to move along the extending direction of the lead, so that the frame 1 is placed at a position which is convenient for the spacer installation robot to be in butt joint with the frame 1, and the lifting assembly is started to realize the spacer installation robot to be in line; after the wire feeding is completed, the spacer installation robot is driven to move to a position where the spacer needs to be installed for installation; the operation is simple and quick, and the requirement of the complex terrain spacer installation robot on line is met.

The driving wheel sets and the driven wheel sets are multiple, the multiple driving wheel sets are arranged at intervals along the length direction of the frame 1, the multiple driven wheel sets are arranged at intervals along the length direction of the frame 1, and each driving wheel set is connected with a first driving motor 4.

In the utility model, each driving wheel 2 is connected with a first driving motor 4, and all driving wheels can also be connected with one first driving motor 4.

On the basis of the above embodiment, the spacer bar mounting robot wire feeding device further comprises two locking plates 5 arranged at intervals, wherein the two locking plates 5 are respectively connected to any side of the frame 1 in the length direction in a rotating manner, and the rotating locking plates 5 are arranged at the bottoms of the wires, so that the wires are locked between the locking plates 5 and the driving wheels 2 and between the locking plates 5 and the driven wheels 3.

Referring to fig. 1 and 2, the two locking plates 5 are a first locking plate and a second locking plate, which are both connected with a fourth driving motor, and the first locking plate and the second locking plate are both located at one side of the frame 1 in the length direction, and the first locking plate is rotatably connected to one side of the frame 1 close to the first wire, the fourth driving motor is started to drive the first locking plate to rotate 180 °, the first locking plate is located at the bottom of the first wire, at this time, the first driving wheel and the first driven wheel are located above the first wire, the first locking plate is located below the first wire, and the first wire is locked.

Similarly, the second locking plate is rotatably connected to one side of the frame 1, which is close to the second wire, and the fourth driving motor is started to drive the second locking plate to rotate 180 degrees, the second locking plate is positioned at the bottom of the second wire, at this time, the second driving wheel and the second driven wheel are positioned above the second wire, and the second locking plate is positioned below the second wire, so that the second wire is locked. After the first wire and the second wire are locked, the unmanned aerial vehicle can fly away, and the walking assembly can move to the target position along the extending direction of the wires.

The first locking plate and the second locking plate can be positioned on the same side of the frame 1 in the length direction, can also be positioned on two sides of the frame 1 in the length direction, can be quickly connected with a wire, and can prevent the spacer installation robot wire feeding equipment from falling.

The spacer bar mounting robot wire feeding equipment further comprises a first clamping piece 7 and a second clamping piece 8, wherein the first wire and the second wire are respectively arranged on two sides of the frame 1 in the width direction, the first clamping piece 7 is used for clamping the first wire, and the second clamping piece 8 is used for clamping the second wire.

The first clamping piece 7 and the second clamping piece 8 comprise a fixed part and a movable part, the fixed part and the movable part are matched to form an accommodating space for accommodating the wires, namely, the movable part is controlled to rotate so that the wires can be clamped in the accommodating space, and the wires are fixed.

The first clamping piece 7 can be a first clamping jaw, the second clamping piece 8 can be a second clamping jaw, after the spacer bar installation robot wire feeding equipment moves to a target position, the first clamping jaw is used for fixing the first wire, the second clamping jaw is used for fixing the second wire, sliding of the frame 1 in the process of the spacer bar installation robot wire feeding is avoided, stability is good, and operation is convenient.

Further, the spacer bar mounting robot online equipment further comprises a driving assembly, wherein the driving assembly comprises a first lead screw 9, a second lead screw 10, a transmission shaft 13 and a second driving motor 14; the first screw rod 9 and the second screw rod 10 are respectively connected with two ends of the transmission shaft 13, the first clamping piece 7 is in threaded connection with the first screw rod 9, the second clamping piece 8 is in threaded connection with the second screw rod 10, the second driving motor 14 is connected with the transmission shaft 13, and the second driving motor 14 is used for driving the transmission shaft 13 to drive the first clamping piece 7 and the second clamping piece 8 to be close to or far away from each other.

Referring to fig. 1 and 3, the length direction of the transmission shaft 13 is perpendicular to the length direction of the frame 1, that is, parallel to the width direction of the frame 1, two ends of the transmission shaft 13 are respectively connected with a first lead screw 9 and a second lead screw 10, wherein the first lead screw 9 and the second lead screw 10 are respectively positioned at two sides of the frame 1, the first clamping piece 7 is in threaded connection with the first lead screw 9, the second clamping piece 8 is in threaded connection with the second lead screw 10, the transmission shaft 13 is rotated, the first lead screw 9 is rotated, and the first clamping piece 7 can be close to or far from the frame 1 along the extending direction of the first lead screw 9, that is, close to or far from the first lead wire, so that the first clamping piece 7 can clamp the first lead wire conveniently; at the same time, the second lead screw 10 also rotates, and the second clamping piece 8 can be close to or far away from the frame 1 along the extending direction of the second lead screw 10, namely, close to or far away from the second lead wire, so that the second clamping piece 8 can clamp the second lead wire conveniently.

Further, the second driving motor 14 is connected with the transmission shaft 13, the second driving motor 14 is started, the transmission shaft 13 drives the first lead screw 9 and the second lead screw 10 to rotate simultaneously, and then drives the first clamping piece 7 and the second clamping piece 8 to be close to or far away from each other, namely, the first clamping piece 7 is close to the first lead wire so as to clamp the first lead wire; the second clamping member 8 is adjacent to the second clamping member 8 for clamping the second conductor.

It will be appreciated that the end of the first screw rod 9 far from the frame 1 and the end of the second screw rod 10 far from the frame 1 are respectively provided with a fixing piece for fixing the first screw rod 9 and the second screw rod 10 respectively, so as to ensure the stable operation of the first screw rod 9 and the second screw rod 10.

The driving assembly provided by the utility model further comprises a plurality of first slide bars 11 and a plurality of second slide bars 12, wherein at least one side of the first lead screw 9 is provided with a plurality of first slide bars 11, the plurality of first slide bars 11 are arranged in parallel with the first lead screw, and the first clamping piece 7 is connected with the first slide bars 11 in a sliding way; at least one side of the second screw 10 is provided with a plurality of second slide bars 12, the plurality of second slide bars 12 are arranged in parallel with the second screw 10, and the second clamping piece 8 is connected with the second slide bars 12 in a sliding manner.

Referring to fig. 3, two sides of the first lead screw 9 are respectively provided with a first slide bar 11, the first slide bars 11 are arranged in parallel with the first lead screw 9, the first clamping piece 7 is in threaded connection with the first lead screw 9, the first clamping piece 7 is respectively in sliding connection with the two first slide bars 11, the second driving motor 14 is started, the first clamping piece 7 can move along the extending direction of the first slide bars 11, the first slide bars 11 on two sides are used for supporting the first clamping piece 7, the position of the first clamping piece 7 is limited, the first clamping piece 7 is prevented from deflecting in the transmission process, and the stability of the first clamping piece 7 is ensured.

The both sides of second lead screw 10 are equipped with a second slide bar 12 respectively, second slide bar 12 and second lead screw 10 parallel arrangement, second clamping piece 8 and second lead screw 10 threaded connection, and second clamping piece 8 respectively with two second slide bars 12 sliding connection, start second driving motor 14, second clamping piece 8 can follow the extending direction of second slide bar 12 and remove, the second slide bar 12 of both sides is used for supporting second clamping piece 8, restriction second clamping piece 8's position, avoid second clamping piece 8 to take place the deflection at driven in-process, guarantee the stability of second clamping piece 8.

The position of the first slide bar 11 in this embodiment is not particularly limited, and one or more first slide bars 11 may be disposed on either side of the first lead screw 9, or one or more first slide bars 11 may be disposed on both sides of the first lead screw 9.

The position of the second slide bar 12 in this embodiment is not particularly limited, and one or more second slide bars 12 may be disposed on either side of the second screw 10, or one or more second slide bars 12 may be disposed on both sides of the second screw 10.

The spacer mounting robot wire feeding equipment provided by the utility model further comprises a plurality of guide plates 6, wherein the plurality of guide plates 6 are respectively arranged on two sides of the frame 1 in the width direction, and each guide plate 6 is obliquely arranged downwards and is used for pressing corresponding wires.

Referring to fig. 1 to 3, the number of the guide plates 6 is four, two guide plates 6 are respectively arranged on two opposite sides of the width direction of the frame 1, namely, two guide plates 6 are respectively arranged on the outer sides of two wires, the guide plates 6 are rotatably connected with the driving wheel 2 or the driven wheel 3, and the guide plates 6 are obliquely arranged downwards, namely, an included angle exists between the guide plates 6 and the top surface of the frame 1; when the unmanned aerial vehicle carries the spacer installation robot wire equipment to be located high altitude wire top, slowly descend, by the quick wire of hanging of four deflector 6 direction.

According to the utility model, the guide plates 6 are respectively arranged on two sides of the width direction of the frame 1, and each guide plate 6 is obliquely arranged downwards, so that the spacer is convenient for installing the robot wire feeding equipment to quickly hang on the wires, and the unmanned aerial vehicle is convenient for hanging on the wires from top to bottom.

The number and the mounting positions of the guide plates 6 on the two sides of the frame 1 in the width direction are not particularly limited, and the guide plates can be arranged according to actual conditions, so that the guide plates are convenient to hang.

The lifting assembly comprises at least two reels 15 and a third driving motor 16, wherein a cable is wound on each reel 15, the free end of the cable is used for being connected with a spacer mounting robot, and the third driving motor 16 is connected with the reels 15.

Referring to fig. 1, a notch is formed in a frame 1, a winding drum 15 is arranged in the notch, a third driving motor 16 is started, the winding drum 15 rotates in the notch, a cable wound on the winding drum 15 is slowly lowered downwards through the notch until the free end of the cable is placed on the ground, at the moment, an operator on the ground assists to connect the free end of the cable with a spacer mounting robot, and then the third driving motor 16 is driven to rotate reversely to drive the spacer mounting robot to move upwards to the lower side of the frame 1 to be in butt joint with the frame 1, so that a whole is formed; the spacer mounting robot can also butt joint by moving the self-twisting wire to the bottom of the frame to form a whole, so that the wire feeding of the spacer mounting robot is completed; positioning can be performed through positioning holes on the frame 1 during the butt joint process.

The number of the third driving motors 16 in the utility model can be the same as that of the reels 15, and each reel 15 is connected with one third driving motor 16 to realize one-to-one correspondence control.

The utility model adopts the winding drum 15 to wind and pay off the cable, thereby being convenient for winding and hoisting the spacer installation robot on the bottom surface. The number of the reels 15 in the utility model is not particularly limited, but can be three, so that the spacer mounting robot can be conveniently driven to move up and down, and the shaking of the equipment in the moving process can be reduced.

The spacer bar mounting robot wire feeding device further comprises a control component 17, and a moving component, a walking component, a lifting component, two locking plates 5, a first clamping component 7, a second clamping component 8 and a driving component are respectively connected with the control component 17.

In the actual operation process, the control assembly 17 controls the unmanned aerial vehicle to carry the spacer installation robot wire-feeding equipment to move upwards, when the unmanned aerial vehicle carries the equipment to be located above two wires which are arranged at intervals in the high altitude, the unmanned aerial vehicle slowly descends and quickly hangs on the wires under the guidance of the guide plate 6, wherein the driving wheel 2 and the driven wheel 3 are respectively pressed on the corresponding wires; further, the control assembly 17 controls the corresponding driving motor to drive the two locking plates 5 to rotate 180 degrees, so that the two locking plates 5 are respectively located below the first conducting wire and below the second conducting wire, the conducting wires are locked under the action of the driving wheel 2 and the driven wheel 3, and the unmanned aerial vehicle flies away.

Further, the control assembly 17 controls the first driving motor 4 to start, the driving wheel group and the driven wheel group are driven to move along the extending direction of the conducting wire, the spacer installation robot wire feeding device walks on the conducting wire, after moving to the target position (the position convenient for abutting the spacer installation robot), the control assembly 17 drives the second driving motor 14 to start, the first lead screw 9 and the second lead screw 10 are driven to drive the first clamping piece 7 and the second clamping piece 8 to move respectively, so that the first clamping piece 7 is close to the first conducting wire, the first clamping piece 7 is convenient to lock the first conducting wire, the second clamping piece 8 is close to the second conducting wire, the second clamping piece 8 is convenient to lock the second conducting wire, and further the spacer installation robot wire feeding device is prevented from sliding in later operation.

The control assembly 17 controls the third driving motor 16 to start, the winding drum 15 rotates, the cable wound on the winding drum 15 is put down until the free end of the cable is placed on the ground, the operator assists to connect the free end with the spacer mounting robot, the control assembly 17 controls the third driving motor 16 to rotate reversely, the spacer mounting robot is driven to move upwards, or the spacer mounting robot moves to the bottom of the frame 1 along the cable from the winch to be matched and butted with a positioning hole on the bottom of the frame 1 to form a whole, and then the wire feeding of the spacer mounting robot is completed.

The utility model can realize quick and accurate positioning, can keep stable on the lead in an operation state, and can not move or slip on the lead; compared with the prior art, the utility model can send the spacing rod installation robot with large volume and heavy weight to the high-altitude operation in some complicated terrain areas, and has simple and quick operation.

The utility model also provides a spacer installation system, which comprises the spacer installation robot wire feeding equipment in any embodiment, and further comprises a spacer installation robot, wherein the spacer installation robot is in butt joint with the bottom of the frame 1 to form a whole, so that the spacer installation robot is facilitated to install the spacer in high air, and the spacer installation robot wire feeding equipment can move along the extending direction of a wire together, and the installation position of the spacer installation robot is changed.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims (10)

1. Spacing rod installation robot equipment of coming online, characterized in that includes: the device comprises a frame, a moving piece and a lifting assembly, wherein the moving piece is connected with the top of the frame and is used for driving the frame to move so that the frame is arranged on two guide wires which are arranged at intervals;

the lifting assembly is arranged on the frame and used for driving the spacer rod installation robot to move to the bottom of the frame to be in butt joint with the frame.

2. The spacer-mounting robot threading apparatus of claim 1 further comprising a walking assembly for driving the frame to move in the direction of extension of the wire.

3. The spacer-mounting robot online device of claim 2, wherein the walking assembly comprises a driving wheel set, a driven wheel set, and a first driving motor, the driving wheel set and the driven wheel set being spaced apart along a length direction of the frame; the first driving motor is connected with the driving wheel group;

the driving wheel set comprises two driving wheels which are arranged at intervals, the driven wheel set comprises two driven wheels which are arranged at intervals, and the two driving wheels and the two driven wheels are respectively pressed on the corresponding lead wires.

4. A spacer mounting robot feeding apparatus according to claim 3, further comprising two lock plates provided at intervals, the two lock plates being rotatably connected to either side of the frame in the longitudinal direction, respectively, the lock plates being rotated to be placed at the bottoms of the wires so that the wires are locked between the lock plates and the driving wheels and between the lock plates and the driven wheels.

5. The spacer mounting robot feeding apparatus according to claim 4, further comprising a first clamping member and a second clamping member, wherein the two wires are a first wire and a second wire, respectively, the first clamping member and the second clamping member are disposed on both sides of the frame in a width direction, respectively, the first clamping member is used for clamping the first wire, and the second clamping member is used for clamping the second wire.

6. The spacer-mounting robotic threading device of claim 5, further comprising a drive assembly including a first lead screw, a second lead screw, a drive shaft, and a second drive motor;

The first screw rod and the second screw rod are respectively connected with two ends of the transmission shaft, the first clamping piece is in threaded connection with the first screw rod, the second clamping piece is in threaded connection with the second screw rod, the second driving motor is connected with the transmission shaft, and the second driving motor is used for driving the transmission shaft to drive the first clamping piece and the second clamping piece to be close to or far away from each other.

7. The spacer mounting robot feeding apparatus according to claim 1, further comprising a plurality of guide plates, a plurality of guide plates being provided on both sides of the frame in the width direction, each guide plate being provided obliquely downward for pressing the corresponding wire.

8. The spacer mounting robot threading apparatus of claim 1 wherein the lifting assembly includes at least two reels and a third drive motor, each of the reels having a cable wound thereon, a free end of the cable for connection with the spacer mounting robot, the third drive motor being connected with the reels.

9. The spacer mounting robot tooling of claim 6 further comprising a control assembly, wherein the moving member, the walking assembly, the lifting assembly, the two locking plates, the first clamping member, the second clamping member, and the drive assembly are respectively coupled to the control assembly.

10. A spacer installation system comprising a spacer installation robot and a spacer installation robot line device according to any one of claims 1 to 9, said spacer installation robot being provided at the bottom of said frame.