A hoop, a hoop installation apparatus, and a hoop installation method

Abstract

The application provides a hoop, a hoop mounting device and a hoop mounting method. The hoop comprises a hoop body and a cable. The hoop body comprises a plurality of hoop petals which are sequentially hinged. A torsional spring is arranged at the hinge between two adjacent hoop petals. When the torsional spring is deformed, the hoop petals are away from each other, so that the hoop body is unfolded. When the torsional spring is reset, the hoop petals are close to each other, so that the hoop body is folded. After the hoop body is folded, the hoop petals at the first end and the hoop petals at the last end are detachably connected. A limiting tube is arranged on the outer circumferential wall of each hoop petal. The cable sequentially passes through the limiting tubes and extends out. Limiting members are arranged at the two ends of the cable which extend out. When the hoop body needs to be unfolded, one end of the cable is pulled, and the limiting member at the other end is fixed by the limiting tube close to the limiting member, so that the torsional spring is deformed to unfold the hoop body. Thus, the application solves the problem of low installation efficiency of the existing hoop and its mounting method.

Description

Technical Field

[0001] This invention relates to the field of pipe fitting fixing technology, and in particular to a clamp, clamp installation equipment, and clamp installation method. Background Technology

[0002] Currently, clamps are classified as fasteners, which are components made of one material to hold or clamp another material. When performing live-line work such as connecting and disconnecting leads on outdoor overhead lines, it is usually necessary to secure the movable lead to be connected in the air. Therefore, a clamp needs to be installed near the overhead line. The clamp is equipped with components such as crossarms and insulators to provide an air-mounted fixing point for the movable lead.

[0003] In traditional manual installation, workers typically need to climb the utility pole, align the two separate clamp rings, and then tighten them to form a ring that grips the pole. The existing clamp installation process requires multiple reinforcing parts and several separate components that need to be hoisted onto the pole or carried up by personnel in batches. When safety distances are insufficient, live-line work must be carried out manually, requiring insulation shielding and other protective procedures for each phase conductor. Furthermore, the installation process is complex, involves numerous steps, and has low overall efficiency. In conclusion, existing clamp technology and its installation methods suffer from low installation efficiency. Summary of the Invention

[0004] This application proposes a clamp, clamp installation equipment, and clamp installation method, aiming to solve the problem of low installation efficiency in existing clamps and their installation methods.

[0005] This application proposes a clamp, including a clamp body and a cable. The clamp body includes multiple clamp petals that are hinged sequentially. A torsion spring is provided at the hinge point of two adjacent clamp petals. When the torsion spring deforms, the clamp petals move away from each other, causing the clamp body to unfold. When the torsion spring returns to its original position, the clamp petals move closer to each other, causing the clamp body to close. After the clamp body is closed, the clamp petal at the first end and the clamp petal at the last end are detachably connected. Each clamp petal has a limit tube on its outer peripheral wall. The cable passes through each limit tube sequentially and extends out. Limiting elements are provided at both ends of the cable. When it is necessary to unfold the clamp body, one end of the cable is pulled, and the limiting element at the other end is fixed by the limiting tube near the limiting element, thereby causing the torsion spring to deform and unfold the clamp body.

[0006] In one embodiment, the clamp flap at the head end and the clamp flap at the tail end extend outward to form a head flange and a tail flange, respectively. The clamp body also includes a quick-release assembly for locking the head flange and the tail flange when the clamp body is closed.

[0007] In one embodiment, the quick-release assembly includes a tension bolt, a tension nut, and a positioning nut. A first connecting hole is formed on the head flange, and a second connecting hole is formed on the tail flange. When the clamp body is closed, the tension bolt passes through the positioning nut, the first connecting hole, the second connecting hole, and the tension nut in sequence to lock the clamp body.

[0008] In one embodiment, along the direction from the first end to the last end of the clamp body, the elastic coefficient of each torsion spring gradually decreases, gradually increases, or remains equal.

[0009] In one embodiment, the clamp body includes a clamp segments and a included angle b between two adjacent clamp segments, wherein 2≤a≤5 and 0°≤b≤90°.

[0010] In one embodiment, the limiting tube is perpendicular to the axis of the clamp and tangent to the outer peripheral wall of the clamp.

[0011] This application also proposes a clamp installation device, including the clamp described above, and further including: a lifting platform and a robotic arm, the robotic arm being disposed on the lifting platform; an installation assembly, the installation assembly including a clamping mechanism, a pulling mechanism and a connecting mechanism, the robotic arm being connected to the clamping mechanism, the pulling mechanism and the connecting mechanism respectively, the clamping mechanism being connected to the pulling mechanism, the clamping mechanism being used to clamp one end of the cable, the pulling mechanism being connected to the clamping mechanism and being used to provide a pulling force to the clamping mechanism to tighten the cable, and the connecting mechanism being used to connect the clamping flap located at the first end and the clamping flap located at the last end.

[0012] In one embodiment, the clamping mechanism is provided with double fork teeth, the pulling mechanism is a linear motion structure, and the connecting mechanism is a hollow sleeve structure.

[0013] In one embodiment, the joints of the robotic arm are provided with a flexible protective element to withstand excessive torque.

[0014] This application also proposes a clamp installation method, which utilizes the clamp installation equipment described above, and includes the following steps:

[0015] S1, connecting clamps and clamp installation equipment;

[0016] S2, control the movement of the lifting platform and the robotic arm, so that the clamp moves to the first preset position;

[0017] S3 controls the movement of the robotic arm, thereby causing the pulling mechanism to tighten the cable to unfold the clamp body;

[0018] S4 controls the movement of the lifting platform and the robotic arm, causing the clamp to move to the second preset position;

[0019] S5 controls the movement of the robotic arm, causing the pulling mechanism to gradually loosen the cable, the torsion spring to reset and the clamp body to close, and then the clamping mechanism to disengage from the cable;

[0020] S6 controls the movement of the robotic arm, thereby moving the connecting mechanism to connect the clamp at the head end and the clamp at the tail end, and to lock the clamp onto the pole.

[0021] This application proposes a clamp, clamp installation equipment, and clamp installation method. Specifically, the clamp includes multiple clamp segments sequentially hinged by torsion springs, with cables threaded through the outer periphery of the clamp segments. The clamp installation equipment and a robotic arm can control the movement of the cables to achieve automatic opening and closing of the clamp. This eliminates the need for manual labor, thus solving the problem of low efficiency in existing clamps and their installation methods. Attached Figure Description

[0022] Figure 1 This is a structural schematic diagram of an embodiment of the clamp of this application;

[0023] Figure 2 This is a top view of the clamp in the unfolded state of this application;

[0024] Figure 3 This is a top view of the clamp in the closing process of this application;

[0025] Figure 4 This is a top view of the clamp after it has been closed in this application;

[0026] Figure 5 This is a schematic diagram of the structure of the clamp part of this application after it is attached to the pole;

[0027] Figure 6 This is a schematic diagram of the structure of the clamp installed on the pole according to this application.

[0028]

[0029] Detailed Implementation

[0030] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0031] In the description of this invention, it should be understood that the orientations or positional relationships indicated by terms such as "front," "rear," "up," "down," "left," "right," "longitudinal," "horizontal," "vertical," "horizontal," "top," "bottom," "inner," "outer," "head," and "tail" are based on the orientations or positional relationships shown in the accompanying drawings, and are constructed and operated in a specific orientation. They are only for the convenience of describing this technical solution and do not indicate that the device or element referred to must have a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0032] A clamp is a type of fastener, which is a component made of one material to hold or clamp another material.

[0033] When performing live-line work such as splicing and disconnecting leads on outdoor overhead lines, it is usually necessary to secure the movable lead to be connected in the air. Therefore, a clamp needs to be installed near the overhead line, with components such as crossarms and insulators fixed to it, providing an aerial anchor point for the movable lead. In traditional manual work, workers typically need to climb the pole, align the two separate clamp rings, and then tighten them at both ends to form a ring that grips the pole. The existing clamp installation and disassembly process requires multiple reinforcement parts, and multiple separate components need to be hoisted onto the pole or carried up by personnel in batches. When the safety distance is insufficient, manual live-line work is required, necessitating insulation and shielding of each phase conductor. Furthermore, the installation process is complex, involves many steps, and has low overall efficiency. Therefore, a method and device suitable for rapid clamp installation using a robot for live-line work on overhead lines is needed to solve these problems.

[0034] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4This application proposes a clamp 100, including a clamp body 10 and a cable 20. The clamp body 10 includes a plurality of clamp petals 11 that are hinged in sequence. A torsion spring 12 is provided at the hinge of two adjacent clamp petals 11. When the torsion spring 12 deforms, the clamp petals 11 move away from each other, causing the clamp body 10 to unfold. When the torsion spring 12 returns to its original position, the clamp petals 11 move closer to each other, causing the clamp body 10 to close. After the clamp body 10 is closed, the clamp petal 11 at the first end and the clamp petal 11 at the last end are detachably connected. Each of the clamping segments 11 has a limiting tube 13 on its outer peripheral wall. The limiting tube 13 is perpendicular to the axis of the clamping segment 11 and tangent to the outer peripheral wall of the corresponding clamping segment 11. The cable 20 passes through each limiting tube 13 in sequence and extends out. The two ends of the cable 20 are provided with limiting members 21. When it is necessary to unfold the clamping body 10, one end of the cable 20 is pulled, and the limiting member 21 at the other end is fixed to the limiting tube 13 near the limiting member 21, thereby causing the torsion spring 12 to twist and deform to unfold the clamping body 10.

[0035] Thus, this application proposes a clamp 100 suitable for automated live-line operation of robotic arms. The clamp body 10 includes two or more arc-shaped clamp segments 11, which can be enclosed to form a ring structure. Optionally, the clamp segments 11 at the first and last ends are referred to as the first clamp segment 111 and the last clamp segment 113, respectively, and the clamp segment 11 between them is referred to as the middle clamp segment 112. There may be one or more middle clamp segments 112. Further, the two ends of the middle clamp segment 112 are provided with hinged portions, which are sleeved on pins 121, and torsion springs 12 are also sleeved on pins 121. For ease of manufacturing, the shape and structure of the first clamp segment 111 and the last clamp segment 113 are similar to those of the middle clamp segment 112. Optionally, a horizontal crossarm is connected to the first clamp segment 111 for installing electrical fittings. In another embodiment, the limiting member 21 is provided with a clamping groove 21a, which is arranged in a ring shape. During operation, the robotic arm clamps the clamping groove 21a.

[0036] The clamp 100 can maintain an unfolded and a closed fixed form before and after installation, respectively. Before installation, the tangent of the outer peripheral wall of each clamp segment 11 of the clamp 100 is perpendicular to the vertical axis of the clamp, and it gradually unfolds while maintaining this state. After installation, each clamp segment 11 of the clamp 100 forms a ring with the same diameter as the pole. Furthermore, the clamp body also includes a quick-release assembly 16. After the clamp 100 is closed on the pole, the first clamp segment 111 and the last clamp segment 113 can be detachably connected through the quick-release assembly 16. At this time, each clamp 100 forms a ring with a small notch.

[0037] Thus, in the tightening process, the clamp 100 proposed in this application utilizes the elastic force generated by the return of the torsion spring 12, replacing the force required for manual closing. Only one end of the cable 20 needs to be tensioned to close the clamp 100, a simple operation that can be accomplished by a robotic arm. Therefore, the clamp 100 proposed in this application eliminates the need for manual pole climbing for live-line work, enabling rapid installation of the clamp 100 by a robotic arm and improving installation efficiency.

[0038] Please see Figure 1 In one embodiment, the clamp flaps 11 at the head end and the clamp flaps 11 at the tail end extend outward to form a head flange 14 and a tail flange 15, respectively. The clamp body 10 also includes a quick-release assembly 16, which is used to lock the head flange 14 and the tail flange 15 when the clamp body 10 is closed. Specifically, after the clamp 100 is closed, each clamp flap 11 forms an annulus with a small notch. At this time, the clamp 100 needs to be further locked by the quick-release assembly 16 to make the clamp 100 and the pole interference fit, thus completing the installation of the clamp 100. It is worth noting that, for better locking, the head flange 14 and the tail flange 15 are connected to the clamp flaps 11 with zero degrees of freedom, that is, the relative movement between the head flange 14 and the clamp flaps 11, and between the tail flange 15 and the clamp flaps 11 is restricted. To achieve this effect, optionally, limit structures are provided on both horizontal sides of the connection between the flange and the clamp flaps 11.

[0039] The quick-release assembly 16 includes a tension bolt 161, a tension nut 162, and a positioning nut 163. The head flange 14 and the tail flange 15 each have a first connecting hole and a second connecting hole, respectively. When the clamp body 10 is closed, the tension bolt 161 passes sequentially through the positioning nut 163, the first connecting hole, the second connecting hole, and the tension nut 162 to lock the clamp body 10. Specifically, after the tension bolt 161 passes sequentially through the positioning nut 163, the first connecting hole, the second connecting hole, and the tension nut 162, the tension nut 162 and the tension bolt 161 are tightened. At this time, the head flange 14 and the tail flange 15 gradually approach each other to achieve locking of the clamp body 10. The head of the tension bolt 161 is hexagonal, and a cylindrical tension nut 162 is screwed onto its tail. The tail of the tension nut 162 is flush with and welded to the tail of the tension bolt 161.

[0040] Please see Figure 2In one embodiment, the number of clamp petals 11 is set to be relatively small. Optionally, the clamp body 10 includes multiple types of clamp petals 11. Specifically, the clamp body includes a first clamp petal 111, a middle clamp petal 112, and a last clamp petal 113. The torsion springs 12 have equal elastic coefficients, so that the unfolding angle and speed of each clamp petal 11 are consistent. When other external forces are overcome, the tension of the cable 20 is released, the torsion spring 12 returns to its original position, and the two free ends of the torsion spring press the clamp petals 11 on both sides to close them together and form a concentric arc segment. In another embodiment, along the direction from the first end to the last end of the clamp body 10, the elastic coefficient of each torsion spring 12 gradually decreases, so that the unfolding angle and speed of each clamp petal 11 gradually decrease from the first clamp petal 111 to the last clamp petal 113. The elastic coefficient of the torsion spring 12 is directly proportional to its elastic force. The greater the elastic force, the slower the unfolding speed of the clamping segments 11 near the clamping point when the clamping cable unfolds, and the smaller the unfolding angle in the same amount of time, due to the restriction of the torsion spring 12. Since the clamping 100 requires tension to be applied to one end of the first clamping segment 111 during installation, this factor needs to be considered when there are a large number of clamping segments 11. In another embodiment, the elastic coefficient of each torsion spring 12 gradually increases along the direction from the first end to the last end, thus causing the unfolding angle and speed of each clamping segment 11 to gradually decrease from the first clamping segment 111 to the last clamping segment 113.

[0041] In one embodiment, the clamp body 10 includes *a* clamp segments 11, and the included angle *b* between two adjacent clamp segments 11, wherein 2 ≤ *a* ≤ 5, and 0° ≤ *b* ≤ 90°. Please refer to [link / reference]. Figures 2 to 4 The states of the clamp 100 are, in sequence, the unfolded state, the partially closed state, and the fully closed state, with the included angle b being the angle between the sidewalls of two adjacent clamp segments 11. During the closing process of the clamp 100, the angle b gradually decreases. Further, the clamp body 10 includes three clamp segments 11, in which case the clamp 100 includes a first clamp segment 111, a middle clamp segment 112, and a final clamp segment 113, which are hinged sequentially. In another embodiment, the number of middle clamp segments 112 can be one or more depending on the actual size of the pole. In one embodiment, the first clamp segment 111, the middle clamp segment 112, and the final clamp segment 113 adopt the same configuration, which reduces production costs and facilitates maintenance and replacement. Furthermore, as the number of middle clamp segments 112 changes, the opening and closing range of the included angle between two adjacent clamp segments 11 also changes. When there are three clamping flaps 11, the included angle between two adjacent clamping flaps 11 is between 0 and 60° during the unfolding and closing of the clamp 100. This ensures that when the clamp 100 is in the closed state, all clamping flaps 11 are concentrically positioned, meaning the included angle between two adjacent clamping flaps 11 is 0°, thus providing better fit to the pole. When the clamp 100 is in the unfolded state, the included angle does not exceed 60°, preventing damage to the torsion spring 12 due to an excessively large unfolding angle.

[0042] Please see Figure 1 , Figure 2 In one embodiment, the limiting tube 13 is perpendicular to the axis of the clamp 11 and tangent to the outer peripheral wall of the clamp 11. It is worth noting that during the installation of the clamp 100 on the pole, to achieve better installation results, its axis needs to be parallel to the axis of the pole, while the pole is generally set perpendicular to the horizontal plane. At this time, the force applied to the clamp 100 by the clamp installation equipment includes the force applied by pulling one end of the cable 20. To minimize the impact of this applied force on the axis of the clamp 100 and prevent the clamp 100 from tilting in the horizontal direction, each limiting tube 13 should be set on the same horizontal plane and parallel to the tangent of each clamp 11.

[0043] This application also proposes a clamp 100 installation device, including the clamp 100 described above, and further including: a lifting platform and a robotic arm, the robotic arm being disposed on the lifting platform; an installation assembly, the installation assembly including a clamping mechanism, a pulling mechanism and a connecting mechanism, the robotic arm being connected to the clamping mechanism, the pulling mechanism and the connecting mechanism respectively, the clamping mechanism being connected to the pulling mechanism, the clamping mechanism being used to clamp one end of the cable 20, the pulling mechanism being connected to the clamping mechanism being used to tighten the cable 20, and the connecting mechanism being used to connect the clamping flap 11 located at the first end and the clamping flap 11 located at the last end.

[0044] A mechanical platform is used to transport the robotic arm and clamp 100 to the vicinity of the installation position of the clamp 100 on the utility pole. The robotic arm is used to adjust the precise position and posture of the clamp 100, and to unfold, close, and lock the clamp 100 by clamping the cable 20 and the connector respectively. The robotic arm can be a multi-degree-of-freedom robotic arm robot. Thus, this application proposes a clamp 100 suitable for robot installation, as well as a robot and a lifting platform for installing the clamp 100. This enables live-line work on overhead power lines by robots, greatly improving the installation efficiency of the clamp 100.

[0045] Please see Figure 5 , Figure 6 This application also proposes a method for installing the clamp 100, which uses the clamp 100 installation equipment described above, and includes the following steps:

[0046] S1, connect the clamp 100 and the clamp 100 mounting device. The clamp 100 is connected to the mounting assembly via a movable buckle. The mounting assembly is connected to the end of the robot's robotic arm wrist. At this time, the end of the robotic arm is connected to a gripping mechanism, a pulling mechanism, and a connecting mechanism. The gripping mechanism is connected to the limiting member 21 at one end of the pull cable 20 and is engaged in the limiting groove provided in the limiting member 21. The pulling mechanism is connected to the gripping mechanism. The connecting mechanism is connected to the head flange 14 or the tail flange. In one embodiment, the gripping mechanism is a double-forked tooth structure adapted to the gripping groove 21a on the limiting member 21. The double-forked tooth structure is a mechanical component consisting of two intersecting teeth, typically used for gripping and positioning objects. Its shape is similar to a "+", and the intersection of the two teeth forms a positioning point. This structure can provide a larger contact area than a single tooth, thereby reducing the pressure and stress when the object is gripped. In addition, the double-forked tooth structure can also provide better support and stability, making the object more reliable and safer during operation.

[0047] S2 controls the movement of the lifting platform and the robotic arm, causing the clamp 100 to move to the first preset position. The robotic arm is installed inside the insulated platform of the insulated bucket truck and can reach the first preset position, i.e., the high-altitude work point on the overhead line, which is usually the intermediate potential height of the overhead line pole near the energized overhead transmission and distribution conductor.

[0048] S3, control the movement of the robotic arm, thereby causing the pulling mechanism to tighten the cable to unfold the clamp body 10; after the robotic arm reaches the predetermined high-altitude work point, it adjusts its spatial posture so that the axis of the clamp 100 is parallel to the vertical center axis of the pole, and the clamp 100 and the pole maintain sufficient distance in the horizontal direction; then, the robotic arm controls the clamping mechanism to clamp one end of the cable, and the pulling mechanism unfolds the quick-release clamp 100 into an open shape by tightening the cable 20. In one embodiment, the pulling mechanism is a linear motion structure. This motion mode makes it unsuitable for the central axis of the clamp 100 to tilt, reducing the alignment error between the central axis of the clamp 100 and the central axis of the pole.

[0049] S4 controls the movement of the lifting platform and robotic arm, causing the clamp 100 to move to the second preset position. Please refer to [link / reference]. Figure 5 , Figure 6 This operation involves moving the clamp 100 into the predetermined installation position. The robotic arm then adjusts its spatial posture again, so that the axis of the clamp 100 is parallel to the vertical center axis of the pole, and gradually approaches the pole until the first segment 111 of the clamp 100 is basically in contact with the pole.

[0050] S5 controls the movement of the robotic arm, causing the pulling mechanism to gradually loosen the cable 20, and the torsion springs 12 at the hinges of each section of the quick-release clamp 100 to reset and release the compression potential energy; each section of the clamp 100 gradually closes until each section of the clamp 11 surrounds and forms a ring shape; finally, the clamping mechanism releases the clamped cable head and disengages from the cable 20.

[0051] S6, control the movement of the robotic arm, thereby moving the connecting mechanism to connect the hoop 11 at the first end and the hoop 11 at the last end, and lock the clamp 100 onto the pole. After confirming that each hoop 11 segment is formed and the head flange 14 and tail flange 15 are aligned, the robot controls the clamp 100 installation tool to gradually tighten the tension bolt 161; the quick-release clamp 100 is gradually tightened and clamped onto the pole, achieving an interference fit with the pole. The connecting mechanism is a hollow sleeve structure. It can mate with the tension bolt 161 on the first hoop 11 of the clamp 100; driven by rotational power, the sleeve can tighten the bolt on the first hoop 11. The sleeve is inserted into the head of the tension bolt 161 of the quick-release clamp 100, and the two are axially slidably connected. The sleeve provides rotational torque to tighten the tension bolt 161.

[0052] In one embodiment, the robotic arm is equipped with a sensor. The sensor is used to detect the force and torque between the robotic arm and the clamp 100. It is worth noting that during the tightening of the quick-release clamp 100 in the previous step, due to the alignment error between the central axis of the clamp 100 and the central axis of the pole, the clamp 100 will generate a reverse force or torque in the spatial direction on the machine during tightening, causing adverse effects. To eliminate this effect, after detecting the reverse force or torque through the sensor, the robotic arm fine-tunes its own posture to adapt.

[0053] In another embodiment, the joints of the robotic arm are equipped with over-torque flexible protection components. Over-torque flexible protection is also provided at each joint. Over-torque, also known as jamming, is a safety design feature in robotics used to prevent the robotic arm or end effector from causing harm to the surrounding environment or people under excessive torque. This protection mechanism ensures that when the force applied by the robotic arm or end effector exceeds a predetermined threshold, the robot immediately stops or reverses its rotation, thereby avoiding damage to surrounding people or objects. Over-torque flexible protection is an important component of robot safety design; it improves the safety and reliability of the robot, ensuring that the robot does not cause harm to the surrounding environment or people during operation.

[0054] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A clamp installation device, characterized in that, Includes clamps, lifting platforms, robotic arms, and installation components; The clamp includes: The clamp body includes multiple clamp segments hinged sequentially. A torsion spring is provided at the hinge point of adjacent clamp segments. When the torsion spring deforms, the clamp segments move away from each other, causing the clamp body to unfold. When the torsion spring returns to its original position, the clamp segments move closer together, causing the clamp body to close. After the clamp body closes, the clamp segment at the first end and the clamp segment at the last end are detachably connected. The cable has a limiting tube on the outer peripheral wall of each of the clamps. The cable passes through each limiting tube in sequence and extends out. The two ends of the cable are provided with limiting members. When the clamp body needs to be unfolded, one end of the cable is pulled and the limiting member at the other end is fixed by the limiting tube close to the limiting member, thereby causing the torsion spring to deform to unfold the clamp body. The robotic arm is mounted on the lifting platform. The mounting assembly includes a clamping mechanism, a pulling mechanism, and a connecting mechanism. The robotic arm is connected to the clamping mechanism, the pulling mechanism, and the connecting mechanism. The clamping mechanism is connected to the pulling mechanism and is used to clamp one end of the cable. The pulling mechanism is connected to the clamping mechanism and is used to provide a pulling force to the clamping mechanism to tighten the cable. The connecting mechanism is used to connect the clamping flap at the beginning and the clamping flap at the end.

2. The clamp installation equipment as described in claim 1, characterized in that, The clamp flaps located at the head end and the clamp flaps located at the tail end extend outward to form a head flange and a tail flange, respectively. The clamp body also includes a quick-release assembly, which is used to lock the head flange and the tail flange when the clamp body is closed.

3. The clamp installation equipment as described in claim 2, characterized in that, The quick-release assembly includes a tension bolt, a tension nut, and a positioning nut. A first connecting hole is formed on the head flange, and a second connecting hole is formed on the tail flange. When the clamp body is closed, the tension bolt passes through the positioning nut, the first connecting hole, the second connecting hole, and the tension nut in sequence to lock the clamp body.

4. The clamp installation equipment as described in claim 1, characterized in that, Along the direction from the first end to the last end of the clamp body, the elastic coefficients of each torsion spring are equal, gradually decreasing, or gradually increasing.

5. The clamp installation equipment as described in claim 1, characterized in that, The main body of the clamp includes a clamp segments and a included angle b between two adjacent clamp segments, wherein 2≤a≤5 and 0°≤b≤90°.

6. The clamp installation equipment as described in claim 1, characterized in that, The limiting tube is perpendicular to the axis of the clamp and tangent to the outer peripheral wall of the clamp.

7. The clamp installation equipment as described in claim 1, characterized in that, The clamping mechanism is provided with double fork teeth, the pulling mechanism is a linear motion structure, and the connecting mechanism is a hollow sleeve structure.

8. The clamp installation equipment as described in claim 1, characterized in that, The joints of the robotic arm are equipped with flexible protective components to withstand excessive torque.

9. A clamp installation method, employing the clamp installation equipment as described in any one of claims 1-8, characterized in that, Includes the following steps: S1, connecting clamps and clamp installation equipment; S2, control the movement of the lifting platform and the robotic arm, so that the clamp moves to the first preset position; S3 controls the movement of the robotic arm, thereby causing the pulling mechanism to tighten the cable to unfold the clamp body; S4 controls the movement of the lifting platform and the robotic arm, causing the clamp to move to the second preset position; S5 controls the movement of the robotic arm, causing the pulling mechanism to loosen the cable and the torsion spring to reset, causing the clamp body to close. Disengage the clamping mechanism from the cable; S6 controls the movement of the robotic arm, thereby moving the connecting mechanism to connect the clamp at the head end and the clamp at the tail end, and to lock the clamp onto the pole.

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