Two-split conductor spacer mounting robot online and offline auxiliary device and method

Abstract

The invention relates to the technical field of power equipment, and provides a two-split conductor spacer mounting robot online and offline auxiliary device and method. An upper disc is fixedly connected to the upper end of a lead screw, a lower disc is slidably connected to the bottom end of the lead screw, an upper long rib is hinged to the upper end of the lead screw and the outer end of the upper disc, a clamping horse is arranged in the middle of the inner side of the upper long rib, the clamping horse and the outer end of the lower disc are hinged to a short rib, and a lower long rib is hinged to the lower end of the upper long rib through a rotating motor. A linear motor is arranged between the lower disc and the lead screw in a sleeving mode, the upper long bone and the lower long bone are driven to be unfolded and folded by controlling starting and stopping of the linear motor and the rotating angle of the rotating motor, the space position of the bead tail is controlled, and the bead tail is connected with the two split conductor spacer installation robot. Therefore, the distance between the conductor and the guide wheel of the robot for installing the spacer of the two split conductors can be accurately adjusted, the tower climbing task of workers is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of electric power equipment, and in particular to a robot upper and lower line auxiliary device and method for installing a two-split conductor spacer. Background Art

[0002] With the development of my country's power industry, while accelerating the construction of power stations, the construction of power grids is also accelerating. In the construction of transmission lines, the urgent issue to be solved is to increase the transmission capacity of transmission lines and reasonably arrange the increasingly tight line corridors. The most direct way to increase the transmission capacity of the line is to increase the voltage level and increase the outgoing line loops, but if the outgoing line loops are increased, not only the investment will be increased, but also the difficulty of handling the line corridor will be increased.

[0003] Although the compact line scheme has achieved the purpose of reducing the area occupied by the line corridor and increasing the natural transmission power, there is a prominent contradiction that is, the transmission line is prone to adjacent phase conductors touching each other and air insulation breakdown between lines under the influence of various external factors such as conductor breeze vibration and wake-induced vibration. The most effective way to solve this contradiction is to install interphase insulation spacers between adjacent phase conductors to ensure that there is sufficient insulation distance between adjacent phase conductors. In combination with my country's actual situation, the use of interphase insulation spacers to achieve line compactness has economic and practical significance. However, the traditional installation method of spacer bars is mostly installed by manual wiring or human flying, so the operators need to work at high altitude, which poses a great safety risk. With the development of various transmission line operation robots, they gradually replace operators to enter high-voltage live environments to complete various daily tasks. Two split conductor spacer bar installation robots have also emerged. The invention patent with application number 202210219054.1 discloses a distribution network line spacer bar installation robot, which greatly reduces the safety risk of operators.

[0004] However, in use, the two-split conductor spacer installation robot still faces many challenges when going online. The main existing methods for going online include: laying special tracks to allow the two-split conductor spacer installation robots to go up and down the tracks, manual lifting, and using drones to directly lift up and down the lines. However, since electric robots are usually heavy and high-voltage electric fields will interfere with their operation, these methods have high safety risks in actual operation. First, there are many types of towers, and laying special tracks one by one is costly and difficult to implement; manual lifting uses a single operation process of the device used. When the spacer installation robot approaches the conductor, the distance between the spacer installation robot and the conductor is not easy to adjust, and the guide wheel is not easy to engage with the conductor, resulting in a low online rate.

[0005] Therefore, there is an urgent need to develop an innovative two-split conductor spacer installation robot up and down line auxiliary device and method to improve the safety and efficiency of operation and ensure the safe and stable operation of power lines. Summary of the invention

[0006] The purpose of the present invention is to solve the deficiencies of the prior art and to provide a robot upper and lower line auxiliary device and method for installing two split conductor spacer rods.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions: A two-split conductor spacer installation robot upper and lower line auxiliary device, mainly comprising: an insulating pulley and an extended auxiliary upper and lower line device, the extended auxiliary upper and lower line device comprising a screw rod, an upper plate fixedly connected to the upper end of the screw rod, a lower plate slidably connected to the bottom end of the screw rod, an upper long bone hinged at the upper end and the outer end of the upper plate, a clamping horse arranged at the middle part of the inner side of the upper long bone, a short bone hinged at one end to the clamping horse and the other end to the outer end of the lower plate, a lower long bone hinged at the upper end to the lower end of the upper long bone through a rotating motor, an arc-shaped bead tail is arranged at the lower end of the lower long bone, a linear motor is sleeved between the lower plate and the screw rod, the upper long bone, the short bone, the rotating There are two groups of rotating motors and lower long bones, which are arranged in mirror image on both sides of the screw rod. A hanging ring is provided on the top of the upper plate. The upper end of the insulating pulley is fixed on the lifting line, and the lower end of the insulating pulley is connected to the extendable auxiliary upper and lower line device through an insulating lifting rope. The bead tail is used to connect two split conductor spacer rods to install the robot. A battery, a communication module and a controller are provided inside the lower plate to control the driving linear motor. A battery module is built into the cylindrical surface of the rotating motor to power it, and wireless communication is used to receive instructions from the control module. The two small protrusions on the outside of the cylindrical surface are wireless receiving modules; the control module of the rotating motor is built into the lower plate.

[0008] Preferably, the input end of the controller is connected to the output end of the communication module, the output end of the controller is connected to the controlled end of the linear motor, and the battery is used to power the linear motor, the controller and the communication module.

[0009] Preferably, the communication module communicates with an external remote control through a wireless communication network, receives instructions from the remote control, controls the movement of the linear motor, controls the up and down movement of the lower plate on the screw rod, thereby controlling the opening and closing of the upper long bone, and combined with the control of the rotation angle of the rotating motor, it can further accurately adjust the vertical height and lateral distance between the two split conductor spacer installation robots and the conductors.

[0010] Preferably, the bead tail is bent upward, and the bead tail is in contact with the two split conductor spacer rod installation robots on the side away from the screw rod.

[0011] Preferably, a pulley is provided at the bottom of the insulating pulley, and an insulating lifting rope passes through the pulley.

[0012] Preferably, the rotating motor synchronously controls the rotation angle to avoid the center of gravity from shifting.

[0013] Preferably, a return spring is provided between the upper plate and the lower plate, the upper end of the return spring is fixedly connected to the bottom of the upper plate, and the lower end of the return spring is fixedly connected to the upper end of the lower plate, and the return spring is in a stretched state when the lower plate is located below the middle of the screw rod.

[0014] Preferably, a limiting column is provided at the bottom end of the screw rod.

[0015] Another object of the present invention is to propose a method for installing a robot up and down line using the above-mentioned two-split conductor spacer rod installation robot, comprising the following steps: S1. Pass the insulating hoisting rope through the pulley at the bottom of the insulating pulley, let it hang on both sides of the pulley, and hang the insulating pulley on the hoisting line; S2. Connect one end of the insulating hoisting rope to the hanging ring, unfold the extendable auxiliary line-up and down-line device to a certain angle, and mount the two split conductor spacer bar installation robots that need to be put online on the bead tail; S3. Pull the other end of the insulating hoisting rope to pull the extendable auxiliary upper and lower wire device and the two-split conductor spacer bar installation robot upward, so that the guide wheel of the two-split conductor spacer bar installation robot is above the wire, and remotely control the start and stop of the linear motor and the rotation angle of the rotary motor through the remote control, so as to accurately adjust the distance between the wire and the guide wheel, which is convenient for the docking between the two-split conductor spacer bar installation robot and the wire; S4, remotely control the start and stop of the linear motor and the rotation angle of the rotary motor through the remote control, so as to control the bead tail to separate from the two split conductor spacer installation robots, and the online operation is completed; S5, by controlling the start and stop of the linear motor and the rotation angle of the rotary motor through the remote controller, the bead tail is controlled to be connected with the two split conductor spacer installation robots that need to be offline; S6. After the connection is completed, loosen the insulating lifting rope to control the extendable auxiliary up and down line device and the two split conductor spacer rod installation robots to move downward, and the down line is completed.

[0016] The present invention discloses a robot upper and lower line auxiliary device and method for installing two-split conductor spacer bars, which have the following beneficial effects.

[0017] Firstly, the extendable auxiliary up-and-down line device of the present invention is designed by utilizing the umbrella-shaped structural characteristics, and is used as an auxiliary equipment for the up-and-down line work of two split conductor spacer installation robots. An upper plate is fixedly connected to the upper end of the screw rod, a lower plate is slidably connected to the bottom end of the screw rod, an upper long bone is hinged between the upper end and the outer end of the upper plate, a clamping horse is provided in the middle part of the inner side of the upper long bone, the clamping horse and the outer end of the lower plate are respectively hinged to the short bone, the lower end of the upper long bone is hinged to the lower long bone through a rotating motor, an arc-shaped bead tail is provided at the lower end of the lower long bone, a linear motor is sleeved between the lower plate and the screw rod, and the start and stop of the linear motor and the rotation angle of the rotating motor are controlled to drive the expansion and closing of the upper long bone and the lower long bone, thereby controlling the spatial position of the bead tail, and the bead tail is connected to the two split conductor spacer installation robots, so as to be able to accurately adjust the distance between the wire and the guide wheel of the two split conductor spacer installation robots.

[0018] Secondly, the present invention remotely controls the start and stop of the linear motor and the rotation angle of the rotary motor through a remote controller, thereby controlling the distance between the guide wheels of the two split conductor spacer installation robots and the precise distance between the conductors, further reducing the tower climbing tasks of the staff and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the extendable auxiliary upper and lower wire device of the present invention.

[0020] Figure 2 It is a front view structural schematic diagram of the folded extendable auxiliary upper and lower wire device of the present invention.

[0021] Figure 3 It is a front view structural schematic diagram of the extendable auxiliary upper and lower wire device of the present invention after being unfolded.

[0022] Figure 4 It is a schematic diagram of the side structure of the insulating pulley of the present invention.

[0023] Figure 5 Schematic diagram of the three-dimensional structure of the robot for installing the two split conductor spacer bars in Example 1.

[0024] Figure 6 Schematic diagram of the partial three-dimensional structure of the robot for installing the two split conductor spacer bars in Example 1.

[0025] Figure 7 This is a schematic diagram of the online state of the present invention in Example 1.

[0026] In the attached drawings: 1. Two split conductor spacer rod installation robot; 101. Cross arm; 102. Clamping wheel; 103. Guide wheel; 104. Driving wheel; 105. Camera; 2. Extendable auxiliary upper and lower wire device; 201. Screw rod; 202. Upper plate; 203. Lower plate; 204. Upper long bone; 205. Clamp; 206. Short bone; 207. Rotating motor; 208. Lower long bone; 209. Bead tail; 210. Linear motor; 211. Limiting column; 212. Hanging ring; 3. Insulated pulley; 4. Split wire; 5. Hoisting line; 6. Insulated hoisting rope. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0028] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Example 1

[0029] Please refer to Figure 1 The two-split conductor spacer installation robot upper and lower line auxiliary device of this embodiment includes: an insulating pulley 3 and an extended auxiliary upper and lower line device 2, the extended auxiliary upper and lower line device 2 includes a screw rod 201, an upper plate 202 vertically connected to the upper end of the screw rod 201 through a bearing, a lower plate 203 slidably connected to the bottom end of the screw rod 201, an upper long bone 204 hinged at the upper end and the outer end of the upper plate 202, a clamping horse 205 provided in the middle of one side of the upper long bone 204 close to the screw rod 201, one end of which is hinged to the clamping horse 205 and the other end of which is hinged to the outer end of the lower plate 203 The short bone 206 connected to the upper plate 203, the lower long bone 208 whose upper end is hinged to the lower end of the upper long bone 204 through a rotating motor 207, the lower end of the lower long bone 208 is provided with an arc-shaped bead tail 209, a linear motor 210 is sleeved between the lower plate 203 and the screw rod 201, the upper long bone 204, the short bone 206, the rotating motor 207 and the lower long bone 208 are all two groups, which are arranged in a mirror image on both sides of the screw rod 201, specifically on the left and right sides of the screw rod 201, a hanging ring 212 is welded on the top of the upper plate 202, and the hanging ring 212 is in the same plane as the two upper long bones 204, such as Figure 4 and Figure 7As shown, the upper end of the insulating pulley 3 is fixed on the lifting line 5, and the lower end of the insulating pulley 3 is connected to the extendable auxiliary upper and lower line device 2 through the insulating lifting rope 6. The bead tail 209 is used to connect the two split conductor spacer rods to install the robot 1. The lower plate 203 is provided with a battery, a communication module and a controller for controlling the driving linear motor 210. The cylindrical surface of the rotating motor 207 has a built-in battery module for powering it, and wireless communication is used to receive control module instructions. The two small protrusions on the outer side of the cylindrical surface are wireless receiving modules; the control module of the rotating motor is built into the lower plate. In this embodiment, the communication module model is RS485, the controller and the control module model of the rotating motor 207 are STM32F407, the linear motor 210 model is 86BYGH98, the rotating motor 207 model is CRA-RI70-90 reduction joint motor, and the wireless receiving module model is E32-433T30D.

[0030] In this embodiment, a pulley is provided at the bottom of the insulating pulley 3, and an insulating lifting rope 6 passes through the pulley. The rotating motor 207 synchronously controls the rotation angle to avoid the center of gravity from shifting. In order to reduce the load of the linear motor 210, a reset spring is provided between the upper plate 202 and the lower plate 203. The upper end of the reset spring is fixedly connected to the bottom of the upper plate 202, and the lower end of the reset spring is fixedly connected to the upper end of the lower plate 203. When the lower plate 203 is located below the middle of the screw rod 201, the reset spring is in a stretched state, and a limiting column 211 is provided at the bottom of the screw rod 201.

[0031] In this embodiment, Figure 5 The two split conductor spacer installation robots 1 shown in the figure perform up and down line operations, such as Figure 5 As shown, the two-split conductor spacer installation robot 1 is divided into two installation units arranged in mirror image, and the installation units are provided with a cross arm 101, a clamping wheel 102, a guide wheel 103, a driving wheel 104, a camera 105, and an insulating rod; Figure 6As shown, the insulating rod is hinged to the installation unit, the guide wheel 103 and the driving wheel 104 are above the splitting line 4 when working, and the clamping wheel 102 is below the splitting line 4 when working. A downward U-shaped protrusion is provided at the center of the cross arm 101, and the center of gravity of the installation unit is located directly below the U-shaped protrusion. The U-shaped protrusion is hung on the bead tail 209. Specifically, the bead tail 209 is bent upward, and the bead tail 209 is away from the side of the screw rod 201 and is clamped with the U-shaped protrusion on the cross arm 101 of the two split conductor spacer rod installation robot 1. An upper plate 202 is fixedly connected to the upper end of the screw rod 201, a lower plate 203 is slidably connected to the bottom end of the screw rod 201, an upper long bone 204 is hinged to the outer end of the upper plate 202, a clamping horse 205 is provided in the middle of the inner side of the upper long bone 204, and a clamping The outer ends of the horse 205 and the lower plate 203 are hinged to the short bone 206 respectively, and the lower end of the upper long bone 204 is hinged to the lower long bone 208 through the rotating motor 207. The lower end of the lower long bone 208 is provided with an arc-shaped bead tail 209. A linear motor 210 is sleeved between the lower plate 203 and the screw rod 201. By controlling the start and stop of the linear motor 210 and the rotation angle of the rotating motor 207, the upper long bone 204 and the lower long bone 208 are driven to expand and close, thereby controlling the spatial position of the bead tail 209, and the bead tail 209 is clamped with the U-shaped protrusion, so that the distance between the splitting line 4 and the clamping wheel 102, the guide wheel 103, and the driving wheel 104 of the robot 1 for installing the two split conductor spacer rods can be accurately adjusted, thereby improving work efficiency. Example 2

[0032] This embodiment discloses a scenario in which the distribution network line spacer installation robot in Example 1 is operated on and off the line by using the two split conductor spacer installation robot auxiliary devices in Example 1.

[0033] A method for installing a two-split conductor spacer rod installation robot on and off the line comprises the following steps: S1, such as Figure 4 and Figure 7 As shown, the insulating hoisting rope 6 passes through the pulley at the bottom of the insulating pulley 3, hangs on both sides of the pulley, and hangs the insulating pulley 3 on the hoisting line 5; S2, connect one end of the insulating lifting rope 6 to the hanging ring 212, such as Figure 4 As shown, the extendable auxiliary line-up and down-line device 2 is unfolded to a certain angle, and the distribution network line spacer installation robot that needs to be put online is hung on the bead tail 209 through the U-shaped protrusion; S3, pull the other end of the insulating hoisting rope 6, pull the extendable auxiliary up and down line device 2 and the distribution network line spacer installation robot upward, and the overall center of gravity is located below the center line of the hanging ring 212, such as Figure 7As shown, the guide wheel 103 and the driving wheel 104 of the distribution network line spacer installation robot are located above the splitting line 4, and the clamping wheel 102 is located below the splitting line 4 when working. In this embodiment, since the distribution network line spacer installation robot is provided with a camera 105, the positional relationship between the guide wheel 103, the driving wheel 104 and the clamping wheel 102 and the splitting line 4 can be observed by calling the camera 105, and the start and stop of the linear motor 210 and the rotation angle of the rotary motor 207 are remotely controlled by the remote controller, thereby driving the expansion and closing of the upper long bone 204 and the lower long bone 208, thereby controlling the spatial position of the bead tail 209. In this embodiment, since the insulating rod is hinged to the installation unit, when the bead tail 209 is opened on both sides, the installation unit will rotate with the cross arm 101 as the axis, and the installation unit guide wheel 103, the driving wheel 104 and the clamping wheel 102 on-line angle can be flexibly adjusted, and fine adjustment can be made within the height range, thereby accurately adjusting the distance between the splitting line 4 and the guide wheel 103, so as to facilitate the docking between the distribution network line spacer installation robot and the splitting line 4; S4, remotely control the start and stop of the linear motor 210 and the rotation angle of the rotary motor 207 through the remote control, so as to control the bead tail 209 to be separated from the U-shaped protrusion of the distribution network line spacer installation robot, and the online operation is completed, and the clamping wheel 102 is controlled to move upward to cooperate with the driving wheel 104 and the guide wheel 103 to clamp the splitting line 4; S5, by controlling the start and stop of the linear motor 210 and the rotation angle of the rotary motor 207 through the remote control, the bead tail 209 is controlled to be connected with the distribution network line spacer installation robot that needs to be offline, and the clamping wheel 102 is controlled to move downward to release the split line 4; S6, after the connection is completed, by loosening the insulating lifting rope 6, the extendable auxiliary up-and-down line device 2 and the distribution network line spacer installation robot are controlled to move downward, and the down-line is completed. Example 3

[0034] This embodiment discloses a scenario in which the two-split conductor spacer installation robot up and down line auxiliary device in Embodiment 1 is used to perform up and down line operations on the two-split conductor spacer installation robot 1 .

[0035] A method for installing a two-split conductor spacer rod installation robot on and off the line comprises the following steps: S1, pass the insulating hoisting rope 6 through the pulley at the bottom of the insulating pulley 3, drop it on both sides of the pulley, and hang the insulating pulley 3 on the hoisting line 5; S2, connect one end of the insulating hoisting rope 6 to the hanging ring 212, unfold the extendable auxiliary line-up and down-line device 2 to a certain angle, mount the two split conductor spacer installation robots 1 that need to be put online on the bead tail 209, weld a connecting protrusion above the center of gravity of each installation unit of the two split conductor spacer installation robots 1, and mount the connecting protrusion on the bead tail 209; S3, pull the other end of the insulating lifting rope 6, pull the extendable auxiliary upper and lower wire device 2 and the two split conductor spacer rod installation robot 1 upward, so that the guide wheel 103 of the two split conductor spacer rod installation robot 1 is above the split line 4, remotely control the start and stop of the linear motor 210 through the remote control, drive the expansion and closing of the upper long bone 204 and the lower long bone 208, and control the rotation angle of the rotating motor 207 to control the relative rotation between the upper long bone 204 and the lower long bone 208, so as to accurately adjust the vertical distance between the split line 4 and the guide wheel 103, as well as the horizontal distance, so as to facilitate the docking between the two split conductor spacer rod installation robot 1 and the split line 4; S4, remotely control the start and stop of the linear motor 210 and the rotation angle of the rotary motor 207 through the remote controller, so as to control the bead tail 209 to separate from the two split conductor spacer rod installation robots 1, and the online operation is completed; S5, by controlling the start and stop of the linear motor 210 and the rotation angle of the rotary motor 207 through the remote controller, the bead tail 209 is controlled to be connected with the two split conductor spacer bar installation robots 1 that need to be offline; S6, after the connection is completed, by loosening the insulating lifting rope 6, the extendable auxiliary up and down line device 2 and the two split conductor spacer rod installation robot 1 are controlled to move downward, and the down line is completed.

[0036] The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The substitution may be a substitution of a part of the structure, device, method step, or a complete technical solution. The equivalent replacement or change according to the technical solution and the inventive concept of the present invention shall be covered within the protection scope of the present invention.

Claims

1. A two-split conductor spacer installation robot upper and lower line auxiliary device, characterized in that: include: An insulating pulley and a stretchable auxiliary upper and lower wire device, the stretchable auxiliary upper and lower wire device comprises a screw rod, an upper plate fixedly connected to the upper end of the screw rod, a lower plate slidably connected to the bottom end of the screw rod, an upper long bone whose upper end is hinged to the outer end of the upper plate, a clamping horse arranged at the middle part of the inner side of the upper long bone, a short bone whose one end is hinged to the clamping horse and the other end is hinged to the outer end of the lower plate, and a lower long bone whose upper end is hinged to the lower end of the upper long bone through a rotating motor, an arc-shaped bead tail is arranged at the lower end of the lower long bone, a linear motor is sleeved between the lower plate and the screw rod, and the upper long bone, the short bone, the rotating motor and the lower long bone are all in two groups. Mirror images are arranged on both sides of the screw rod, a hanging ring is provided on the top of the upper plate, the upper end of the insulating pulley is fixed on the lifting line, the lower end of the insulating pulley is connected to the extendable auxiliary upper and lower line device through an insulating lifting rope, and the bead tail is used to connect the two split conductor spacer rod installation robots. A battery, a communication module and a controller are provided inside the lower plate to control the driving linear motor. A battery module is built into the cylindrical surface of the rotating motor to power it, and wireless communication is used to receive control module instructions. The two small protrusions on the outside of the cylindrical surface are wireless receiving modules, and the control module of the rotating motor is built into the lower plate.

2. The robot upper and lower line auxiliary device for installing two split conductor spacer bars according to claim 1, characterized in that: The input end of the controller is connected to the output end of the communication module, the output end of the controller is connected to the controlled end of the linear motor, and the battery is used to supply power to the linear motor, the controller and the communication module.

3. The robot upper and lower line auxiliary device for installing two split conductor spacer bars according to claim 2, characterized in that: The communication module communicates with an external remote control through a wireless communication network, receives instructions from the remote control, controls the movement of the linear motor, controls the up and down movement of the lower plate on the screw rod, thereby controlling the opening and closing of the upper long bone, and combined with the control of the rotation angle of the rotating motor, it can further accurately adjust the vertical height and lateral distance between the two split conductor spacer installation robots and the conductors.

4. The robot upper and lower line auxiliary device for installing two split conductor spacer bars according to claim 1, characterized in that: The bead tail is bent upwards, and the bead tail is away from the side of the screw rod and contacts with the two split conductor spacer rod installation robots.

5. The robot upper and lower line auxiliary device for installing two split conductor spacer bars according to claim 1, characterized in that: A pulley is provided at the bottom of the insulating pulley, and an insulating lifting rope passes through the pulley.

6. The robot upper and lower line auxiliary device for installing two split conductor spacer bars according to claim 1, characterized in that: The rotating motor synchronously controls the rotation angle to avoid the center of gravity from shifting.

7. The robot upper and lower line auxiliary device for installing two split conductor spacer bars according to claim 1, characterized in that: A return spring is arranged between the upper plate and the lower plate, the upper end of the return spring is fixedly connected to the bottom of the upper plate, the lower end of the return spring is fixedly connected to the upper end of the lower plate, and the return spring is in a stretched state when the lower plate is located below the middle of the screw rod.

8. The robot upper and lower line auxiliary device for installing two split conductor spacer bars according to claim 1, characterized in that: A limiting column is arranged at the bottom end of the screw rod.

9. A method for installing a two-split conductor spacer rod on and off a robot, using the two-split conductor spacer rod installation robot on and off line auxiliary device as described in any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Pass the insulating hoisting rope through the pulley at the bottom of the insulating pulley, let it hang on both sides of the pulley, and hang the insulating pulley on the hoisting line; S2. Connect one end of the insulating hoisting rope to the hanging ring, unfold the extendable auxiliary line-up and down-line device to a certain angle, and mount the two split conductor spacer bar installation robots that need to be put online on the bead tail; S3. Pull the other end of the insulating hoisting rope to pull the extendable auxiliary upper and lower wire device and the two-split conductor spacer bar installation robot upward, so that the guide wheel of the two-split conductor spacer bar installation robot is above the wire, and remotely control the start and stop of the linear motor and the rotation angle of the rotary motor through the remote control, so as to accurately adjust the distance between the wire and the guide wheel, which is convenient for the docking between the two-split conductor spacer bar installation robot and the wire; S4, remotely control the start and stop of the linear motor and the rotation angle of the rotary motor through the remote control, so as to control the bead tail to separate from the two split conductor spacer installation robots, and the online operation is completed; S5, by controlling the start and stop of the linear motor and the rotation angle of the rotary motor through the remote controller, the bead tail is controlled to be connected with the two split conductor spacer rod installation robots that need to be offline; S6. After the connection is completed, loosen the insulating lifting rope to control the extendable auxiliary up and down line device and the two split conductor spacer rod installation robots to move downward, and the down line is completed.

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