Installation method and installation device of bird repeller and robot with same

Abstract

The present application relates to the installation field of bird repeller, in particular to a kind of installation method and installation device of bird repeller and robot with it.The installation device of bird repeller, comprising: base plate;Grabbing structure, is located on the mounting surface of the base plate, with the installation space for accommodating and fixed bird repeller vertical pole;Tightening structure, is located on the mounting surface of the base plate, and with the grabbing structure is correspondingly arranged, including the fixed seat for installing the base of bird repeller, allow the base of bird repeller to be inserted and the action force that it is separated from the first to be installed pole is applied to cylinder and the first power piece of driving the rotation of the cylinder;First sensing structure and second sensing structure, separately arranged in the mounting seat and cylinder, when the cylinder rotates, the first sensing structure receives the signal of the second sensing structure, to separate the base of bird repeller from the first to be installed pole.The present application solves the problem of uncertainty of bolt fastening when installing bird repeller.

Description

Technical Field

[0001] This invention relates to the field of bird deterrent installation, and more specifically to a bird deterrent installation method and installation device, as well as a robot having the same. Background Technology

[0002] Bird damage is a major potential hazard in power line operation. One method for preventing bird damage is manual installation of bird deterrents on high-voltage towers, a highly dangerous practice. Currently, there are two main methods for installing live bird deterrents: one is manual installation by personnel wearing insulated gloves and clothing in an insulated bucket truck; the other is installation using a live bird deterrent installation tool. When installing the bird deterrent and the tool, the tightness of the bolts is judged based on the current, voltage, and torque generated by the motor. However, if a bolt is misaligned or stuck in the threaded hole for other reasons, it will also result in the same extreme current, voltage, and torque, leading to misjudgment and installation failure. This can even cause the bird deterrent to fall from a height, posing a safety hazard. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defects of the existing bird repeller in terms of the uncertainty of bolt tightening during installation and the large safety hazards, so as to provide a bird repeller installation method and installation device and a robot having the same.

[0004] To address the above problems, the present invention provides an installation device for a bird deterrent, comprising:

[0005] substrate;

[0006] The gripping structure is provided on the mounting surface of the substrate and has mounting space for accommodating and fixing the vertical rod of the bird deterrent device;

[0007] The tightening structure is provided on the mounting surface of the substrate and is correspondingly provided with the gripping structure. It includes a fixing seat for mounting the base of the bird repeller, a cylinder that allows the base of the bird repeller to be inserted and applies a force to it to separate it from the first rod to be installed, and a first power member that drives the cylinder to rotate.

[0008] The first sensing structure and the second sensing structure are respectively disposed in the mounting base and the cylinder. When the cylinder rotates, the first sensing structure receives the signal from the second sensing structure to separate the base of the bird repeller from the first rod to be installed.

[0009] Optionally, the first sensing structure is a Hall sensor, and the second sensing structure is a magnet.

[0010] Optionally, it also includes a controller that is signal-connected to the gripping structure, the tightening structure, and the first sensing structure.

[0011] Optionally, the gripping structure includes a first gripper and a second gripper. The first gripper is fixed to the base plate, and the second gripper moves toward or away from the first gripper under the drive of a second power component to form an installation space for the vertical rod of the bird repeller, thereby gripping or releasing the vertical rod of the bird repeller.

[0012] Optionally, the second gripper has two protruding rods facing the first gripper, and the two protruding rods cooperate with the holes provided on the first gripper to form a mortise and tenon structure.

[0013] Optionally, the mounting base is provided with a groove that fits into the base of the bird repeller.

[0014] Optionally, it also includes a pair of limiting members disposed on both sides of the mounting base, the limiting members being signal-connected to the controller.

[0015] A robot is also provided, including the mounting device for the bird deterrent described above.

[0016] A method for installing a bird deterrent device is also provided, including:

[0017] The robot first grabs the bird repeller installation device, then moves the bird repeller installation device to the first pole to be installed, fixes the vertical pole of the bird repeller to the grabbing structure, and rotates the cylinder in the opposite direction to separate the base of the bird repeller inserted therein from the first pole to be installed. During the rotation, the first sensing structure in the mounting base receives the signal from the second sensing structure in the cylinder.

[0018] The bird repeller and the installation device are transported together to the installation position. The driving cylinder is rotated in the forward direction to fix the second rod to be installed to the base (16) of the bird repeller. During the rotation, the first sensing structure in the installation seat receives the signal of the second sensing structure in the cylinder so that the base of the bird repeller is fastened to the second rod to be installed.

[0019] Optionally, it also includes adjusting the position of the bird repeller until it is properly connected when it is sensed that the second rod to be installed is not properly connected to the base of the bird repeller.

[0020] The technical solution of this invention has the following advantages:

[0021] 1. The bird repeller mounting device provided by the present invention includes a base plate; a gripping structure disposed on the mounting surface of the base plate, having an mounting space for accommodating and fixing the vertical rod of the bird repeller; a tightening structure disposed on the mounting surface of the base plate, and correspondingly disposed to the gripping structure, including a fixing seat for mounting the base of the bird repeller, a cylinder that allows the base of the bird repeller to be inserted and applies a force to it to separate it from the first rod to be installed, and a first power member for driving the cylinder to rotate; a first sensing structure and a second sensing structure, respectively disposed in the mounting seat and the cylinder, wherein when the cylinder rotates, the first sensing structure receives a signal from the second sensing structure to separate the base of the bird repeller from the first rod to be installed. The mounting surface of the base plate is provided with a gripping structure and a tightening structure correspondingly disposed therein. The gripping structure has an mounting space to accommodate the vertical rod of the bird repeller, and the tightening structure has a fixing seat for mounting the base of the bird repeller. After the base of the bird repeller is inserted, the first power member drives the cylinder to rotate so that the base of the bird repeller is separated from the first rod to be installed. When the cylinder rotates, the second sensing structure on the cylinder rotates with the cylinder, and the first sensing structure on the mounting base receives the signal from the second sensing structure to sense the number of rotations of the bird repeller base inserted into the cylinder. The number of rotations is used to calculate the elongation of the bird repeller base and the torque calculated from the rotation of the first power component to determine whether the bird repeller base is separated from the first rod to be installed. This eliminates the uncertainty of the bird repeller base during installation and the safety hazards during bird repeller installation, thereby improving the success rate of bird repeller installation.

[0022] 2. The bird repeller installation device provided by the present invention further includes a controller that is signal-connected to the grasping structure, the tightening structure, and the first sensing structure. The controller controls the grasping structure to grasp the vertical rod of the bird repeller, and based on the information sent by the second sensing structure sensed by the first sensing structure, enables the tightening structure to tighten the base of the bird repeller to the horizontal bar of the first pole to be installed or the utility pole, thereby automating and intelligentizing the entire working process of the installation device.

[0023] 3. The bird repeller mounting device provided by the present invention includes a gripping structure comprising a first gripper and a second gripper. The first gripper is fixed to a base plate, and the second gripper moves toward or away from the first gripper under the drive of a second power component to form an mounting space for the vertical rod of the bird repeller, thereby gripping or releasing the vertical rod of the bird repeller. The first gripper is fixed, and the second gripper is movably configured relative to the first gripper, allowing different sizes of mounting spaces to be formed between them. This enhances the gripping strength, accommodates the diameter of the vertical rod of different models of bird repellers, and improves the compatibility of the mounting device.

[0024] 4. The bird deterrent installation device provided by the present invention has two protruding rods in the direction of the second gripper toward the first gripper. The two protruding rods cooperate with the holes provided on the first gripper to form a mortise and tenon structure, which ensures that even if there is a sudden situation where the torque of the driving component of the tightening structure is too large, the gripping structure will not break apart, thus enhancing the firmness of the gripping.

[0025] 5. The bird repeller mounting device provided by the present invention has a groove in the mounting base that is adapted to the base of the bird repeller. When the drive component of the tightening structure rotates, the groove design better reduces the vibration force on the base of the bird repeller during rotation, reduces the swing amplitude of the base, and helps the clamping structure to firmly hold the vertical rod of the bird repeller. In addition, the groove design can also reduce the overall weight of the mounting device, achieving the purpose of lightweight design.

[0026] 6. The bird deterrent installation device provided by the present invention further includes a pair of limiting members disposed on both sides of the mounting base, the limiting members being signal-connected to the controller. The limiting members determine whether there is a signal indicating that the first rod to be installed has been inserted, and promptly feed back the signal to the controller from the start of insertion until it is fully inserted, so that the controller can perform the next operation in real time based on the signal from the limiting members.

[0027] 7. The robot provided by the present invention includes a bird repeller installation device to realize the function of automated installation of the robot load installation device, improve the accuracy of bird repeller installation, avoid the risk of personnel injury during installation, and improve the work efficiency of bird repeller installation.

[0028] 8. The bird repeller installation method provided by this invention involves a robot first grasping the bird repeller installation device, then moving the device to the first installation rod, fixing the vertical rod of the bird repeller to the grasping structure, and rotating the cylinder in the reverse direction to separate the base of the bird repeller inserted therein from the first rod to be installed. During the rotation, a first sensing structure in the mounting base receives a signal from a second sensing structure in the cylinder to determine whether the base of the bird repeller is separated from the first rod to be installed. The bird repeller and the installation device are then transported together to the installation position, and the cylinder is driven to rotate forward to fix the second installation rod to the base of the bird repeller. During the rotation, the first sensing structure in the mounting base receives a signal from the second sensing structure in the cylinder to ensure that the base of the bird repeller is securely fastened to the second rod to be installed. By first separating the first rod to be installed from the base of the bird repeller, and then fastening the second rod to the base after the cylinder rotates, the bird repeller maintains a secure connection with the installation structure during the transfer process and after final installation, eliminating potential safety hazards.

[0029] 9. The bird repeller installation method provided by this invention allows for adjustment of the bird repeller's position until it is properly connected to the base of the bird repeller when the second rod to be installed is detected as not being properly connected. In case of unexpected connection issues during installation, the installation device can also adjust the position of the bird repeller until it is properly connected, ensuring reliable installation and the ability to handle complex situations. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a front view of the bird deterrent mounting device provided in an embodiment of the present invention;

[0032] Figure 2 This is a left view of the mounting device for the bird repeller provided in an embodiment of the present invention;

[0033] Figure 3 This is a rear view of the mounting device for the bird repeller provided in an embodiment of the present invention;

[0034] Figure 4 A bottom view of the bird repeller provided in an embodiment of the present invention;

[0035] Figure 5 This is a front view of the bird repeller provided in an embodiment of the present invention;

[0036] Figure 6 A top view of the gripping structure of the bird deterrent mounting device provided in an embodiment of the present invention;

[0037] Figure 7 A-A view of the gripping structure of the bird repeller mounting device provided in the embodiment of the present invention;

[0038] Figure 8 A top view of the tightening structure of the bird deterrent mounting device provided in an embodiment of the present invention;

[0039] Figure 9 This is a front view of the tightening structure of the bird deterrent mounting device provided in an embodiment of the present invention;

[0040] Figure 10 The main view of the bird deterrent device provided in the embodiment of the present invention, after the bolt enters the cylinder and begins to grasp the rod;

[0041] Figure 11 A front view of the bird deterrent device provided in an embodiment of the present invention, showing the motor reversing to loosen the bolt after the bolt enters the cylinder;

[0042] Figure 12 This is a front view of the bird deterrent device provided in an embodiment of the present invention, showing the motor rotating forward to tighten the bolt after the bolt enters the cylinder.

[0043] Explanation of reference numerals in the attached drawings: 1. Second gripper; 2. Limiting component; 3. Camera; 4. Second sensing structure; 5. Base plate; 6. First gripper; 7. Mounting base; 8. Cylinder; 9. Tightening structure; 10. Protruding structure; 11. First sensing structure; 12. Grasping structure; 13. Second power component; 14. Controller; 15. Power supply; 16. Base of the bird deterrent device; 17. Irregular bolt; 18. Side plate of the gripping structure; 19. Sliding shaft; 20. End cap; 21. Trapezoidal lead screw; 22. Motor connecting plate; 23. Trapezoidal nut; 24. Bearing; 25. Fixing base; 26. First power component; 27. Vertical rod. Detailed Implementation

[0044] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0047] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0048] like Figure 1 , Figure 2 , Figure 3 One specific embodiment of the bird deterrent installation device shown includes: a base plate 5 and a first rod to be installed, a gripping structure 12 and a tightening structure 9 disposed on the mounting surface of the base plate 5, wherein the tightening structure 9 is correspondingly disposed to the gripping structure 12.

[0049] like Figure 1 , Figure 2 , Figure 6 As shown, the upper part of the substrate 5 has an opening, which is a rectangular hole. The gripping structure 12 is installed in the opening and includes: a second power member 13 installed on the rear side of the substrate 5, and a first gripper 6 and a second gripper 1 extending from the hole to the front panel of the substrate 5. Specifically, the second power member 13 is a micro worm gear servo motor. The first gripper 6 is fixed on the side plate 18 of the gripping structure 12. Driven by the micro worm gear servo motor, the second gripper 1 rotates relative to the first gripper 6 through a trapezoidal nut 23 and a trapezoidal screw 21 to form the installation space for the vertical rod 27 of the bird deterrent. The end of the trapezoidal screw 21 is provided with an end cap 20 for axial fixation of the trapezoidal screw 21. At the same time, the second gripper 1 is constrained in a horizontal position through the cooperation of a linear bearing 24 and a sliding shaft 19. Two protruding rods are provided at the front end of the gripping position of the second gripper 1 facing the first gripper 6. The two protruding rods cooperate with the holes provided on the first gripper 6 to form a mortise and tenon structure. The miniature worm gear servo motor selected in this embodiment has the advantages of small overall structure and large output torque, and can grasp the vertical rod 27 of bird deterrents of different weights. It is connected to the grasping structure 12 through the motor connecting plate 22.

[0050] like Figure 1 , Figure 2 , Figure 8 , Figure 9 As shown, the tightening structure 9 includes a fixing seat 25 for mounting the bird repeller base 16, a cylinder 8 that allows the bird repeller base 16 to be inserted and applies a force to it to tighten the first rod to be installed, and a first power component 26 for driving the cylinder 8 to rotate. The bird repeller base 16 is a U-shaped base with an M10 threaded hole in its center, into which a rectangular bolt 17 is installed. Specifically, the first power component 26 is a permanent magnet brushless DC servo motor connected to the fixing seat 25. The cylinder 8 is connected to the flange of the permanent magnet brushless DC servo motor by bolts to achieve power connection, thereby driving the irregular bolt 17 of the bird repeller inserted into the cylinder 8 to tighten. The outer wall of the cylinder 8 has mounting holes, in which a magnet serving as a second sensing structure 4 is installed. Correspondingly, a Hall sensor serving as a first sensing structure 11 is located at the lower center of the mounting seat 7. When the cylinder 8 rotates, the first sensing structure 11 receives a signal from the second sensing structure 4 to secure the base 16 of the bird deterrent device to the first rod to be installed. Specifically, the first rod to be installed is the robot's built-in crossbar.

[0051] like Figure 3As shown, in order to achieve automatic control, a controller 14 is also included, which is signal-connected to the gripping structure 12, the tightening structure 9 and the Hall sensor. The controller 14 is located on the rear side of the base plate 5 and communicates with the robot body via WiFi.

[0052] like Figure 1 , Figure 2 As shown, a fixed positioning U-shaped base is provided. A protruding structure 10 is provided in the middle of the mounting surface of the base plate 5. The mounting seat 7 is located in the protruding structure 10, and the mounting seat 7 has a groove adapted to the U-shaped base. A pair of symmetrical limiting members 2 are also provided on both sides of the mounting seat 7. The limiting members 2 are signal-connected to the controller 14. Specifically, the limiting members 2 are limit switches. The controller 14 can only proceed to the next action when both limit switches simultaneously detect the crossarm.

[0053] like Figure 1 , Figure 2 As shown, a camera 3 is installed below the right limit switch to observe the bolt tightening status in real time. The camera 3 can capture images of the bolt tightening status so that the monitoring personnel in the control backend can retrieve the images at any time.

[0054] like Figure 3 As shown, in order to provide the necessary electrical energy to the bird deterrent device, a power supply 15 is also provided on the rear side of the base plate 5, which is controlled by the controller 14 to provide power to other structures of the device.

[0055] To reduce the overall weight of the bird deterrent device, most of the fasteners such as the base plate 5, mounting base 7, and fixing base 25 are made of aluminum alloy, the trapezoidal lead screw 21 is made of No. 45 steel, and the trapezoidal nut 23 is made of brass, so as to make the device wear-resistant, durable, and inexpensive.

[0056] A robot is also provided, including the mounting device for the bird deterrent described above.

[0057] A method for installing a bird repeller is also provided. The actions of the bird repeller installation device are divided into gripping and tightening, that is, gripping the cylindrical vertical rod 27 of the bird repeller and tightening the special-shaped bolt 17 of the bird repeller, including the following steps:

[0058] like Figure 10As shown, before installation onto the second pole to be installed (specifically, the crossarm of a utility pole), the bird deterrent is bolted to the robot's own crossarm. During the process of the robot grasping the vertical rod 27 of the bird deterrent, it aligns with the cylinder 8 according to a pre-set path and first inserts the irregular bolt 17. The controller 14 then controls the micro-worm gear servo motor to reverse, loosening the irregular bolt 17 so that the U-shaped base is no longer fixed to the robot's own crossarm. During the loosening process, the Hall sensor receives signals from the magnet to record the rotation parameters of the cylinder 8. Finally, the elongation calculated from the number of revolutions and the torque calculated from the motor current are used to determine whether the bird deterrent has been separated from the robot's own crossarm before grasping the vertical rod 27. During the grasping process, the first gripper 6 remains stationary, while the second gripper 1, as a horizontal moving component, moves towards the first gripper 6 under the drive of the servo micro-worm gear motor to form an installation space. This installation space accommodates and fixes the vertical rod 27 of the bird deterrent. Figure 11 As shown, after the vertical pole 27 of the bird deterrent is grasped, the installation device of the bird deterrent remains clamped. Then, the robot lifts the installation device of the bird deterrent to the installation position, so that the crossarm of the utility pole to be installed is inserted into the cavity of the U-shaped base of the bird deterrent. The limit switches on both sides determine whether the crossarm has an insertion signal and feed it back to the controller 14. If no insertion signal is detected, the signal is transmitted to the monitoring personnel in the background. The monitoring personnel, combined with the image of the camera 3, adjust the posture using radar until both limit switches show signal feedback, and then the controller 14 performs the next operation. Figure 12 As shown, once the crossarm is inserted, the gripping structure 12 maintains the rod's state, and the controller 14 controls the micro worm gear servo motor to rotate forward to tighten the irregular bolt 17. Simultaneously, the Hall sensor senses the magnet to record the number of rotations of the cylinder 8 and feeds it back to the controller 14 in real time. The controller 14 calculates the elongation of the irregular bolt 17 based on the number of rotations and performs a dual judgment based on the torque calculated from the current of the micro worm gear servo motor to comprehensively analyze whether the tightening and fixing of the U-shaped base of the bird deterrent to the crossarm of the utility pole has been completed. After installation, the robot exits the installation area according to the planned path.

[0059] The bird deterrent installation device and robot provided by this invention are suitable for live-line work on 10kV power distribution networks. During operation, it can perform dual tasks: automatically picking up the bird deterrent and automatically installing it onto the crossarm. It boasts advantages such as good compatibility and low cost. It can identify whether the crossarm is correctly positioned and inserted into the mounting slot, avoiding instability caused by misaligned installation. The bird deterrent installation method provided by this invention proposes a novel method for comprehensive judgment and control of bolt tightening based on pitch calculation to handle elongation and detection of motor torque current. This achieves intelligent communication with the robot and control backend, enabling the robot to complete tasks independently. This effectively improves the installation efficiency, success rate, and accuracy of autonomous robot operation, reduces on-site personnel involvement, and lowers safety hazards and labor costs during operation.

[0060] As an alternative implementation, the second power component 13 may also be a power device such as a hydraulic cylinder.

[0061] As an alternative implementation, the first sensing structure 11 may also be a signal emitting element such as a light source.

[0062] As an alternative implementation, the second sensing structure 4 may also be a photosensitive element or other sensing element.

[0063] As an alternative implementation, the limiting member 2 may also be a position sensing element such as a photoelectric sensing element.

[0064] As an alternative implementation, the limiting member 2 can also be set symmetrically depending on the actual situation of the crossarm.

[0065] As an alternative implementation, the shaped bolt 17 may also be a regular bolt or other threaded rod adapted to the cylinder 8.

[0066] As an alternative implementation, the number of grasping structures 12 can also be two, three, or even more.

[0067] As an alternative implementation, the tightening structure 9 can also be in two, three or even more sets.

[0068] As an alternative implementation, the connection between the tightening structure 9 and the base plate 5 can also be a sliding connection to accommodate different positions of the bolts in the U-shaped structure of the bird deterrent.

[0069] As an alternative implementation, the power supply 15 can also be mounted on the robot to reduce the overall weight of the bird deterrent mounting device.

[0070] As an alternative implementation, the mounting base 5, mounting seat 7, fixing seat 25, and other fasteners of the bird deterrent device can also be made of lightweight materials such as 304 stainless steel.

[0071] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A bird deterrent device, characterized in that, include: base(5); The gripping structure (12) is provided on the mounting surface of the substrate (5) and has a mounting space for accommodating and fixing the vertical rod (27) of the bird deterrent. The tightening structure (9) is provided on the mounting surface of the base plate (5) and is provided in correspondence with the gripping structure (12). It includes a fixing seat (25) for mounting the base (16) of the bird repeller, a cylinder (8) that allows the base (16) of the bird repeller to be inserted and applies a force to it that separates it from the first rod to be installed, and a first power member (26) that drives the cylinder (8) to rotate. The first sensing structure (11) and the second sensing structure (4) are respectively located in the mounting base (7) and the cylinder (8). When the cylinder (8) rotates, the first sensing structure (11) receives the signal from the second sensing structure (4) to separate the base (16) of the bird repeller from the first rod to be installed. When the cylinder (8) rotates, the second sensing structure (4) on the cylinder (8) rotates with the cylinder (8). The first sensing structure (11) on the mounting base (7) receives the signal from the second sensing structure (4) to sense the number of rotations of the bird repeller base (16) inserted into the cylinder (8). The extension of the bird repeller base (16) is calculated based on the number of rotations, and the torque calculated by the rotation of the first power component (26) is used to determine whether the bird repeller base (16) is separated from the first rod to be installed.

2. The installation device for the bird repeller according to claim 1, characterized in that, The first sensing structure (11) is a Hall sensor, and the second sensing structure (4) is a magnet.

3. The installation device for the bird repeller according to claim 1, characterized in that, It also includes a controller (14) that is signal-connected to the gripping structure (12), the tightening structure (9) and the first sensing structure (11).

4. The installation device for the bird repeller according to any one of claims 1-3, characterized in that, The gripping structure (12) includes a first gripper (6) and a second gripper (1). The first gripper (6) is fixed on the base plate (5). The second gripper (1) moves toward or away from the first gripper (6) under the drive of the second power member (13) to form an installation space for the vertical rod (27) of the bird repeller, and grips or releases the vertical rod (27) of the bird repeller.

5. The installation device for the bird repeller according to claim 4, characterized in that, The second clamp (1) has two protruding rods facing the first clamp (6), and the two protruding rods cooperate with the holes provided on the first clamp (6) to form a mortise and tenon structure.

6. The installation device for the bird repeller according to claim 3, characterized in that, The mounting base (7) has a groove that is adapted to the base (16) of the bird deterrent device.

7. The installation device for the bird repeller according to claim 6, characterized in that, It also includes a pair of limiting members (2) located on both sides of the mounting base (7), the limiting members (2) being signal connected to the controller (14).

8. A robot, characterized in that, The mounting device for the bird deterrent as described in any one of claims 1-7.

9. A method for installing a bird deterrent, characterized in that: The robot first grabs the bird repeller installation device as described in claim 1, then moves the bird repeller installation device to the first pole to be installed, fixes the vertical rod (27) of the bird repeller to the grabbing structure (12), and rotates the cylinder (8) in the opposite direction to separate the base (16) of the bird repeller inserted therein from the first pole to be installed. During the rotation, the first sensing structure (11) provided in the mounting base (7) receives the signal from the second sensing structure (4) provided in the cylinder (8). The bird repeller and its installation device are transported together to the installation position. The driving cylinder (8) is rotated in the forward direction to fix the second rod to be installed to the base (16) of the bird repeller. During the rotation, the first sensing structure (11) in the mounting base (7) receives the signal from the second sensing structure (4) in the cylinder (8) so that the base (16) of the bird repeller is fastened to the second rod to be installed.

10. The method for installing a bird repeller according to claim 9, characterized in that, It also includes adjusting the position of the bird repeller until it is properly connected when the second rod to be installed is not properly connected to the base (16) of the bird repeller.

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