Ship lock type four-split spacer mounting robot and use method thereof

Abstract

The invention belongs to the technical field of spacer installation, and particularly relates to a ship lock type four-split spacer installation robot and a using method thereof.The ship lock type four-split spacer installation robot comprises an installation frame, a spacer conveying mechanism, a spacer grabbing mechanism and a spacer clamping mechanism, and the spacer conveying mechanism comprises a guiding device, a pushing device and a blocking device; the guiding device comprises a guiding sliding plate and a guiding rod which are arranged in the wire extending direction, the guiding sliding plate is used for placing the four-split spacer, the top of a body of the four-split spacer is movably arranged on the guiding rod, and the blocking device comprises a first blocking plate, a first lifting driving device, a second blocking plate and a second lifting driving device. And the first barrier plate and the second barrier plate are respectively arranged in front of and behind the transfer position along the wire extension direction. According to the invention, the pushing of the four-split spacer is realized through the guiding device and the pushing device, and the spacer can be prevented from falling from high altitude due to the inclination of the robot by combining with the ship lock type blocking device.

Description

Technical Field

[0001] The invention belongs to the technical field of spacer bar installation, and in particular relates to a ship lock type four-split spacer bar installation robot and a use method thereof. Background Art

[0002] When laying high-voltage cables, spacers are used. Spacers are installed between split conductors. Their main purpose is to separate multiple split conductors and limit the relative movement between the split conductors. The setting of spacers can not only prevent the split conductors from whipping each other and causing collisions, but also prevent the split conductors from experiencing breeze vibration and sub-span oscillation due to the influence of the external environment, thus ensuring the normal transmission of electricity.

[0003] The traditional manual installation of spacers at high altitudes is highly dangerous. The power grid industry is vigorously promoting spacer installation robots, using robots to replace manual installation of spacers at high altitudes. The invention patent with application number 202410145513.3 provides a four-split conductor spacer installation robot, in which a storage device can store four-split conductor spacers, a grasping device can grasp four-split conductor spacers, and a clamping device can allow the four-split conductor spacers to clamp the conductors, thereby completing the installation of the four-split spacers. However, the robot lacks the function of pushing spacers. It is difficult to remove the spacers deep in the storage device by relying solely on the grasping device, and during the actual pushing process, the robot will tilt due to factors such as breeze vibration and sub-spacing oscillation. Once tilted, the remaining spacers stored inside will slide from high altitude and cause a safety accident. The invention patent with application number 202211505500.2 provides a spacer bar installation robot, which includes a walking device, a storage device, a transfer device and a hardware assembly device. The walking device is used to walk along the extension direction of the conductor, the storage device is used to store the spacer bars to be installed, the transfer device is used to transfer the spacer bars on the storage device to the transfer position, and the hardware assembly device is used to connect the spacer bar clamp located at the transfer position to the conductor, thereby completing the installation of the double-split spacer bars. However, the above-mentioned installation robot is not suitable for pushing four-split spacer bars, and although a stop block is set at the transfer position, after the stop block is opened and the spacer bars in the transfer position are clamped, the specific position of the remaining spacer bars cannot be limited. The installation robot also has the problem that the spacer bars stored inside are easy to slip when tilted. Summary of the invention

[0004] The purpose of the present invention is to provide a ship-lock type four-split spacer installation robot and a method of using the same, which can prevent the four-split spacer from sliding out of the robot when the robot is tilted, in view of the above problems existing in the prior art.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows:

[0006] In a first aspect, the present invention provides a ship lock type four-split spacer bar installation robot, comprising an installation frame;

[0007] The robot also includes a spacer bar transport mechanism, a spacer bar grabbing mechanism, and a spacer bar clamping mechanism arranged on the mounting frame. The spacer bar transport mechanism includes a guide device, a pushing device, and a blocking device. The guide device includes a guide slide and a guide rod arranged along the extension direction of the conductor. The guide slide is used to place the four-split spacer bars. The top of the body of the four-split spacer bar is movably arranged on the guide rod. The pushing device is used to push the four-split spacer bars forward along the extension direction of the conductor until they are pushed to the transfer position. The blocking device includes a first blocking plate, a first lifting drive device, a second blocking plate, and a second lifting drive device. The first blocking plate and the second blocking plate are respectively arranged in front of and behind the transfer position along the extension direction of the wire. The retractable ends of the first lifting drive device and the second lifting drive device are respectively connected to the first blocking plate and the second blocking plate. The first lifting drive device is used to drive the first blocking plate to perform lifting and lowering movements. The second lifting drive device is used to drive the second blocking plate to perform lifting and lowering movements. The spacer bar grabbing mechanism is used to grab the four-split spacer bar on the transfer position and move it to the four-split wire. The spacer bar clamping mechanism is used to connect the clamp of the four-split spacer bar on the installation position to the four-split wire.

[0008] The guide device also includes a side guide plate, which is arranged on the mounting frame and is used to limit the outer side edges of the four-split spacer rods.

[0009] The distance between the first blocking plate and the second blocking plate is equal to the thickness of the four-split spacer bar.

[0010] The pushing device includes an upper conveyor belt and a lower conveyor belt extending along the extension direction of the conductor, and the upper conveyor belt and the lower conveyor belt are connected by a synchronous belt. The upper conveyor belt and the lower conveyor belt are respectively provided with a first pushing block and a second pushing block, and the first pushing block and the second pushing block are respectively used to push the top and the bottom of the body of the four-split spacer rod forward along the extension direction of the conductor.

[0011] The spacer rod grabbing mechanism comprises a mechanical arm and a grabbing device. One end of the mechanical arm is rotatably arranged on the mounting frame, and the other end of the mechanical arm is connected to the grabbing device. The grabbing device is used to grab the body of the four-split spacer rod.

[0012] The spacer bar clamping mechanism includes a swing arm and a clamping device. One end of the swing arm is rotatably arranged on the mounting frame, and the other end of the swing arm is connected to the clamping device. The clamping mechanism is used to clamp the clamp in the four-split spacer bar and the four-split conductor.

[0013] The robot also includes a line-up device and a rope-twisting device. The line-up device is used to lower the suspension rope after the drone puts it online to the upper conductor of the four-split conductor. The rope-twisting device is arranged on the installation frame. The rope-twisting device is used to connect with the suspension rope lowered by the line-up device and then realize the line-up of the robot through self-twisting of the suspension rope.

[0014] The robot also includes a wire shifting device and an auxiliary clamping device, both of which are arranged on the mounting frame. The wire shifting device is used to shift the lower layer wire of the four-split wire to a position where the auxiliary clamping device can capture it, and the auxiliary clamping device is used to clamp the lower layer wire of the four-split wire.

[0015] The guide slide plate is made of non-metallic self-lubricating material.

[0016] In a second aspect, the present invention provides a method for using a ship lock type four-split spacer installation robot, the method comprising:

[0017] S1. After the robot goes online, it first drives the first blocking plate down through the first lifting drive device, drives the second blocking plate up through the second lifting drive device, and then uses the pushing device to push the four-split spacer forward along the extension direction of the wire. After the four-split spacer is pushed to the transfer position, the pushing device stops pushing;

[0018] S2, first drive the second blocking plate down to its original position by the second lifting drive device, then grab the four-split spacer at the transfer position by the spacer grabbing mechanism, and then drive the first blocking plate up to its original position by the first lifting drive device;

[0019] S3, first move the grasped four-split spacer bar to the four-split conductor by the spacer bar grasping mechanism, and then connect the clamp of the four-split spacer bar to the four-split conductor by the clamping mechanism, so as to complete the installation of the four-split spacer bar;

[0020] S4. Repeat S1 to S3 until all four-split spacer bars in the robot are installed, and the robot goes offline.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The ship lock type four-split spacer installation robot of the present invention comprises an installation frame and a spacer transport mechanism, a spacer grasping mechanism and a spacer clamping mechanism arranged thereon, the spacer transport mechanism comprises a guiding device, a pushing device and a blocking device, the guiding device comprises a guiding slide and a guide rod, the guiding slide and the guide rod are arranged along the extension direction of the conductor, the guiding slide is used to place the four-split spacer, the top of the body of the four-split spacer is movably arranged on the guide rod, the blocking device comprises a first blocking plate, a first lifting drive device, a second blocking plate and a second lifting drive device, the first blocking plate and the second blocking plate are respectively arranged in front of and behind the transfer position along the extension direction of the conductor, the retractable ends of the first lifting drive device and the second lifting drive device are respectively connected to the first blocking plate and the second blocking plate; the present invention realizes the pushing of the four-split spacer through the guiding device and the pushing device, and combined with the ship lock type blocking device, it can ensure that all the spacer bars are in a controllable state when conveying and grasping the four-split spacer, and the spacer bars will not fall from a high altitude due to the tilt of the robot. Therefore, the present invention not only realizes the pushing of the four-split spacer bar, but also can ensure that the spacer bar will not fall from a high altitude due to the tilt of the robot when conveying and grabbing the four-split spacer bar. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a diagram of the internal structure of the robot described in the present invention.

[0024] Figure 2 It is a front view of the robot described in the present invention.

[0025] Figure 3 for Figure 1 Schematic diagram of the structure of the intermediate spacer transport mechanism.

[0026] Figure 4 for Figure 2 Schematic diagram of the structure of the blocking device.

[0027] Figure 5 Schematic diagram of the structure of the four-split spacer rod.

[0028] In the above figure, the installation frame 1, the spacer rod transport mechanism 2, the guide device 21, the guide slide plate 211, the guide rod 212, the side guide plate 213, the pushing device 22, the upper conveyor belt 221, the lower conveyor belt 222, the synchronous belt 223, the first push block 224, the second push block 225, the blocking device 23, the first blocking plate 231, the first lifting drive device 232, the second blocking plate 233, the second lifting drive device 234, the spacer rod grasping mechanism 3, the mechanical arm 31, the grasping device 32, the spacer rod clamping mechanism 4, the swing arm 41, the clamping device 42, the four-split spacer rod 5, the main body 51, the chuck 52, the rope twisting device 6, the second drive motor 61, the second rope drum 62, the wire dialing device 7, the first drive mechanism 71, the second drive mechanism 72, the wire dial 73, the auxiliary clamping device 8, the upper tensioning wheel 81, and the lower pressure wheel 82. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below in conjunction with specific implementation methods and drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figures 1 to 5The present invention proposes a ship lock type four-split spacer installation robot, comprising an installation frame 1 and a spacer transport mechanism 2, a spacer grasping mechanism 3, and a spacer clamping mechanism 4 arranged thereon, the spacer transport mechanism 2 comprising a guide device 21, a pushing device 22, and a blocking device 23, the guide device 21 comprises a guide slide 211 and a guide rod 212, the guide slide 211 and the guide rod 212 are arranged along the extension direction of the conductor, the guide slide 211 is used to place the four-split spacer 5, the top of the body 51 of the four-split spacer 5 is movably arranged on the guide rod 212, the pushing device 22 is used to push the four-split spacer 5 forward along the extension direction of the conductor until it is pushed to the transfer position, the blocking device 23 comprises a first blocking plate 231, a first lifting drive device 232, a second blocking plate 233, and a second lifting drive device 234, the first lifting drive device 234 The output ends of the lowering drive device 232 and the second lifting drive device 234 are respectively connected to the first blocking plate 231 and the second blocking plate 233, which are respectively arranged in front of and behind the transfer position along the extension direction of the wire. The retractable ends of the first lifting drive device 232 and the second lifting drive device 234 are respectively connected to the first blocking plate 231 and the second blocking plate 233, the first lifting drive device 232 is used to drive the first blocking plate 231 to perform lifting and lowering movements, and the second lifting drive device 234 is used to drive the second blocking plate 233 to perform lifting and lowering movements. The spacer bar grasping mechanism 3 is used to grasp the four-split spacer bar 5 on the transfer position and move it to the four-split wire, and the spacer bar clamping mechanism 4 is used to connect the clamp 52 of the four-split spacer bar 5 on the installation position to the four-split wire.

[0031] The working process of the above-mentioned robot is as follows: the robot is put online. After the robot is online, the first blocking plate 231 is driven to descend by the first lifting drive device 232, and the second blocking plate 233 is driven to ascend by the second lifting drive device 234, and then the pushing device 22 is used to push the four-split spacer 5 forward; the first blocking plate 231 descends to prevent the four-split spacer 5 from falling from the inside of the robot due to excessive pushing, and the second blocking plate 233 rises to avoid hindering the spacer pushing process; after a four-split spacer 5 is pushed to the transfer position, the pushing device 22 stops pushing, and the second lifting drive device 234 is used to drive the second blocking plate 233 to descend to the original position, and then the spacer 5 is pushed forward. The four-split spacer bars 5 outside the transfer position are limited, and then the four-split spacer bars 5 at the transfer position are grabbed by the spacer bar grabbing mechanism 3. After being grabbed in place, the first blocking plate 231 is driven to rise to the original position by the first lifting drive device 232 to prevent the four-split spacer bars 5 at the transfer position from falling from the inside of the robot before being grabbed; thereafter, the grabbed four-split spacer bars 5 are moved to the four-split wire by the spacer bar grabbing mechanism 3, and then the clamping mechanism 4 is used to connect the clamp 52 of the four-split spacer bar 5 to the four-split wire to complete the installation of the four-split spacer bar 5; repeat the above steps until the installation of all four-split spacer bars 5 in the robot is completed and the robot is offline.

[0032] In another embodiment, the distance between the first blocking plate 231 and the second blocking plate 233 is equal to the thickness of the quadruple spacer 5 .

[0033] Specifically, in order to adapt to the four-split spacer bars 5 of different thicknesses, the first lifting drive device 232 can be movably arranged on the mounting frame 1 along the extension direction of the wire. As an embodiment, the blocking device 23 also includes a mounting plate, which is arranged on the mounting frame 1, and a waist round hole and a bolt hole are opened on the mounting plate. The top of the first lifting drive device 232 is connected to the waist round hole by bolts, and the bottom of the first lifting drive device 232 is a retractable end connected to the first blocking plate 231. The top of the second lifting drive device 234 is connected to the bolt hole by bolts, and the bottom of the second lifting drive device 234 is a retractable end connected to the second blocking plate 233. During installation, the position of the first lifting drive device 232 is manually adjusted according to the thickness of the four-split spacer bar 5, and then connected to the waist round hole by bolts. Specifically, the first lifting drive device 232 and the second lifting drive device 234 are preferably linear cylinders.

[0034] Specifically, in order to adapt to the spacer bars of different heights, the guide rod 212 can be movably arranged on the installation frame 1 in the vertical direction. As an embodiment, the end of the guide rod 212 away from the transfer position is connected to the oval hole opened on the installation frame 1 by a bolt, and a stop block is arranged at the end of the guide rod 212 close to the transfer position. The top of the stop block is movably connected to the installation frame 1, and the bottom of the stop block is provided with a slot that can be engaged with the outer wall of the guide rod 212. The stop block is used to stop the four-split spacer bar 5 and also has the function of fixing the guide rod 212. The stop block can swing to a first position and a second position under the drive of the rotary drive member. In the first position, the slot is engaged with the outer wall of the guide rod 212 to stop the four-split spacer bar 5. In the second position, the stop block is lifted as a whole to the top of the four-split spacer bar 5 to release the four-split spacer bar 5. A position sensor is arranged on the stop block. When a four-split spacer bar 5 is pushed to the transfer position, the position sensor is triggered, and the rotary drive member drives it to swing from the first position to the second position. The rotary drive member is preferably a rotary cylinder.

[0035] In another embodiment, to ensure the smooth pushing of the spacer bar, the pushing device 22 includes an upper conveyor belt 221 and a lower conveyor belt 222 arranged along the extension direction of the conductor, and the upper conveyor belt 221 and the lower conveyor belt 222 are respectively provided with a first push block 224 and a second push block 225, and the first push block 224 and the second push block 225 are respectively used to push the top and bottom of the body 51 of the four-split spacer bar 5 forward along the extension direction of the conductor. This up and down pushing method can avoid the problem of the spacer bar tilting or the spacer bar being stuck due to only pushing the upper part or only pushing the lower part. In order to ensure the synchronization of the up and down pushing, the upper conveyor belt 221 and the lower conveyor belt 222 are connected by a synchronous belt 223.

[0036] In another embodiment, the guide device further includes a side guide plate 213, which is disposed on the mounting frame 1 and is used to limit the outer sides of the four-split spacer bar 5. Further, there are two side guide plates 213, which are respectively disposed on both sides of the mounting frame 1 and are used to limit the two outer sides of the four-split spacer bar 5. The two side guide plates 213, the guide slide plate 211 and the guide rod 212 are combined to realize the positioning of the spacer bar inside the mounting frame 1.

[0037] In another embodiment, the guide slide plate 211 is made of non-metallic self-lubricating material, which can reduce the friction during pushing, thereby avoiding friction damage to the spacer rods and making the transportation of the spacer rods smoother and more labor-saving.

[0038] In another embodiment, the spacer rod grasping mechanism 3 includes a mechanical arm 31 and a grasping device 32. One end of the mechanical arm 31 is rotatably arranged on the mounting frame 1, and the other end of the mechanical arm 31 is connected to the grasping device 32. The grasping device 32 is used to grasp the body 51 of the four-split spacer rod 5. As an implementation method, the spacer rod grasping mechanism 32 may include a grasping base, two graspers, and a grasping drive. The grasping base is connected to the mechanical arm 31, and a guide rail is arranged on the grasping base. The two graspers are slidably arranged on the guide rail. The two graspers are provided with a card slot on the side away from each other. The grasping drive is used to drive the two graspers to approach or move away from each other. When the two graspers are away from each other, they grasp the spacer rod, and when the two graspers are close to each other, they release the spacer rod. The mechanical arm 31 can be replaced by other mechanical devices that can realize multi-degree-of-freedom movement.

[0039] In another embodiment, the spacer bar clamping mechanism 4 includes a swing arm 41 and a clamping device 42. One end of the swing arm 41 is rotatably disposed on the mounting frame 1, and the other end of the swing arm 41 is connected to the clamping device 42. The clamping mechanism 42 is used to clamp the chuck 52 in the four-split spacer bar 5 with the four-split conductor. As an implementation method, the clamping mechanism 42 may include a clamping jaw, a movable block, and a driving member. The driving member is connected to the movable member. The driving member drives the movable block to move closer to or away from the clamping jaw to adjust the clamping space formed by the movable block and the clamping jaw, thereby locking the chuck 52 located in the clamping space with the four-split conductor. Similarly, the swing arm 41 may also be replaced by other mechanical devices that can achieve multi-degree-of-freedom movement.

[0040] In another embodiment, the ship lock type four-split spacer installation robot also includes a line-up device and a rope-twisting device 6. The line-up device is used to lower the rope after the drone puts it on the two upper conductors of the four-split conductor. The rope-twisting device 6 is arranged on the installation frame 1. The rope-twisting device 6 is used to connect with the rope lowered by the line-up device and then realize the robot going online through the self-twisting of the rope. As an implementation mode, the line-up device has an upper frame and a first driving motor and a first rope drum arranged inside the upper frame. The rope-twisting device 6 has a second driving motor 61 and a second rope drum 62. The first driving motor is started to drive the first rope drum to rotate, and the rope wound on the first rope drum is lowered until the free end of the rope is placed on the ground. The free end of the rope is manually connected to the second rope drum 62, and the second driving motor 61 is started to drive the second rope drum 62 to rotate. The rope is continuously wound on the second rope drum 62, driving the entire installation frame 1 to move upward until the top of the installation frame 1 is docked with the bottom of the upper frame to form a whole, and the robot is completed online. Specifically, the on-line device also includes a running wheel arranged on the upper frame, and the running wheel is used to drive the robot to move from front to back along the extension direction of the wire, so that the movement of the robot will not interfere with the installation operation of the spacer rod.

[0041] In another embodiment, the ship lock type four-split spacer installation robot also includes a wire shifting device 7 and an auxiliary clamping device 8, both of which are arranged on the installation frame 1, and the wire shifting device 7 is used to shift the lower layer wire of the four-split wire to a position where the auxiliary clamping device 8 can capture it, and the auxiliary clamping device 8 is used to clamp the lower layer wire of the four-split wire. As an embodiment, the wire shifting device 7 includes a first driving mechanism 71, a second driving mechanism 72, and two symmetrically arranged wire paddles 73, the second driving mechanism 72 is arranged on the first driving mechanism 71, the first driving mechanism 71 is used to drive the second driving mechanism 72 to move upward or downward in the vertical direction, the second driving mechanism 72 is used to drive the two wire paddles 73 to move toward or away from each other in the horizontal direction, and the two wire paddles 73 are used to press the two lower layer wires of the four-split wire down to the auxiliary clamping device 8. The auxiliary clamping device 8 includes a third driving mechanism and two symmetrically arranged fourth driving mechanisms. The third driving mechanism is used to drive the two fourth driving mechanisms to move toward or away from each other in the horizontal direction. Two upper tensioning wheels 81 and a lower pressure wheel 82 are slidably arranged on the fourth driving mechanism. The fourth driving mechanism is used to drive the two upper tensioning wheels 81 and the lower pressure wheel 82 to move toward or away from each other in the vertical direction.

[0042] After the robot is online, the first driving mechanism 71 drives the second driving mechanism 72 to move upward in the vertical direction, so that the two wire picks 73 extend between the upper wire and the lower wire, and then the second driving mechanism 72 drives the two wire picks 73 to move backward, so that the two wire picks 73 move horizontally to the top of the two lower wires, and then the first driving mechanism 71 drives the second driving mechanism 72 to move downward in the vertical direction, so that the two wire picks 73 press down the two lower wires respectively. After the lower wire is pressed down to the position where the auxiliary clamping device 8 can capture it, the third driving mechanism first drives the two fourth driving mechanisms to move backward in the horizontal direction until the lower wire is located between the two upper tensioning wheels and the lower pressure wheel, and then the fourth driving mechanism drives the two upper tensioning wheels 81 and the lower pressure wheel 82 to move toward each other in the vertical direction to clamp the lower wire. After being clamped, the line spacing between the lower wire and the upper wire is fixed at the split spacing of the four-split spacer 7.

[0043] In another embodiment, the present invention further proposes a method for using a ship lock type four-split spacer installation robot, the specific steps are as follows:

[0044] S1. After the robot is online, the first lifting drive device 232 drives the first blocking plate 231 to descend, and the second lifting drive device 234 drives the second blocking plate 233 to ascend, and then the pushing device 22 is used to push the four-split spacer 5 forward. After the four-split spacer 5 is pushed to the transfer position, the pushing device 22 stops pushing;

[0045] S2, first drive the second blocking plate 233 down to the original position through the second lifting drive device 234, then grab the four-split spacer 5 at the transfer position through the spacer grabbing mechanism 3, and then drive the first blocking plate 231 up to the original position through the first lifting drive device 232;

[0046] S3, first move the grasped four-split spacer 5 to the conductor through the spacer grasping mechanism 3, and then connect the clamp 52 of the four-split spacer 5 to the four-split conductor through the clamping mechanism 4 to complete the installation of the four-split spacer 5;

[0047] S4, repeat S1 to S3 until all the four-split spacer bars 5 in the robot are installed, and the robot goes offline.

[0048] The present invention can smoothly transport the four-split spacer bar 5 and use the blocking device 23 to accurately position the four-split spacer bar 5 in the transport and clamping state, thereby preventing the four-split spacer bar 5 from falling due to gravity when the robot is tilted. The overall structure is simple, flexible and retractable, and has high reliability.

Claims

1. A ship lock type four-split spacer rod installation robot, comprising an installation frame (1), characterized in that: The robot further comprises a spacer bar transport mechanism (2), a spacer bar grabbing mechanism (3), and a spacer bar clamping mechanism (4) arranged on the mounting frame (1); the spacer bar transport mechanism (2) comprises a guiding device (21), a pushing device (22), and a blocking device (23); the guiding device (21) comprises a guiding slide plate (211) and a guide rod (212) arranged along the extension direction of the conductor; the guiding slide plate (211) is used to place the four-split spacer bar (5); the top of the body (51) of the four-split spacer bar (5) is movably arranged on the guide rod (212); the pushing device (22) is used to push the four-split spacer bar (5) forward along the extension direction of the conductor to a transfer position; the blocking device (23) comprises a first blocking plate (231), a first lifting drive device (232), a second blocking plate (233), and a second lifting drive device (234). The invention relates to a lifting drive device (234), wherein the first blocking plate (231) and the second blocking plate (233) are respectively arranged in front of and behind the transfer position along the extension direction of the wire, and the retractable ends of the first lifting drive device (232) and the second lifting drive device (234) are respectively connected to the first blocking plate (231) and the second blocking plate (233), the first lifting drive device (232) is used to drive the first blocking plate (231) to perform a lifting action, and the second lifting drive device (234) is used to drive the second blocking plate (233) to perform a lifting action, the spacer bar grabbing mechanism (3) is used to grab the four-split spacer bar (5) on the transfer position and move it to the four-split wire, and the spacer bar clamping mechanism (4) is used to connect the clamp (52) of the four-split spacer bar (5) on the installation position to the four-split wire.

2. A ship lock type four-split spacer rod installation robot according to claim 1, characterized in that: The guide device (21) further comprises a side guide plate (213), wherein the side guide plate (213) is arranged on the mounting frame (1), and the side guide plate (213) is used to limit the outer side edge of the four-split spacer rod (5).

3. A ship lock type four-split spacer installation robot according to claim 1 or 2, characterized in that: The distance between the first blocking plate (231) and the second blocking plate (233) is equal to the thickness of the four-split spacer bar (5).

4. A ship lock type four-split spacer installation robot according to claim 1 or 2, characterized in that: The pushing device (22) comprises an upper conveyor belt (221) and a lower conveyor belt (222) arranged along the extension direction of the conductor. The upper conveyor belt (221) and the lower conveyor belt (222) are connected via a synchronous belt (223). The upper conveyor belt (221) and the lower conveyor belt (222) are respectively provided with a first pushing block (224) and a second pushing block (225). The first pushing block (224) and the second pushing block (225) are respectively used to push the top and the bottom of the body (51) of the four-split spacer bar (5) forward along the extension direction of the conductor.

5. A ship lock type four-split spacer installation robot according to claim 1 or 2, characterized in that: The spacer rod grasping mechanism (3) comprises a mechanical arm (31) and a grasping device (32); one end of the mechanical arm (31) is rotatably arranged on the mounting frame (1); the other end of the mechanical arm (31) is connected to the grasping device (32); and the grasping device (32) is used to grasp the body (51) of the four-split spacer rod (5).

6. A ship lock type four-split spacer installation robot according to claim 1 or 2, characterized in that: The spacer bar clamping mechanism (4) comprises a swing arm (41) and a clamping device (42); one end of the swing arm (41) is rotatably arranged on the mounting frame (1); the other end of the swing arm (41) is connected to the clamping device (42); and the clamping mechanism (4) is used to clamp a clamp (52) in the four-split spacer bar (5) and the four-split conductor.

7. A ship lock type four-split spacer installation robot according to claim 1 or 2, characterized in that: The robot further comprises a line-up device and a rope-twisting device (6). The line-up device is used to lower a suspension rope after the drone puts the robot online on the upper conductor of the four-split conductor. The rope-twisting device (6) is arranged on the mounting frame (1). The rope-twisting device (6) is used to connect with the suspension rope lowered by the line-up device and then achieve the line-up of the robot by self-twisting of the suspension rope.

8. A ship lock type four-split spacer bar installation robot according to claim 1 or 2, characterized in that: The robot further comprises a wire shifting device (7) and an auxiliary clamping device (8), both of which are arranged on the mounting frame (1); the wire shifting device (7) is used to shift the lower layer wire of the four-split wire to a position where the auxiliary clamping device (8) can capture it, and the auxiliary clamping device (8) is used to clamp the lower layer wire of the four-split wire.

9. A ship lock type four-split spacer bar installation robot according to claim 1 or 2, characterized in that: The guide slide plate (211) is made of non-metallic self-lubricating material.

10. The method for using a ship lock type four-split spacer bar installation robot according to claim 1, characterized in that: The method of use includes: S1. After the robot is online, the first lifting drive device (232) is used to drive the first blocking plate (231) to descend, and the second lifting drive device (234) is used to drive the second blocking plate (233) to ascend, and then the pushing device (22) is used to push the four-split spacer (5) forward along the extension direction of the wire, and after the four-split spacer (5) is pushed to the transfer position, the pushing device (22) stops pushing; S2, firstly, the second blocking plate (233) is driven to descend to the original position by the second lifting drive device (234), and then the four-split spacer (5) at the transfer position is grabbed by the spacer grabbing mechanism (3), and then the first blocking plate (231) is driven to rise to the original position by the first lifting drive device (232); S3, firstly, the grasped four-split spacer bar (5) is moved to the four-split conductor by the spacer bar grasping mechanism (3), and then the clamping head (52) of the four-split spacer bar (5) is connected to the four-split conductor by the clamping mechanism (4), thereby completing the installation of the four-split spacer bar (5); S4, repeat S1 to S3 until all the four-split spacer bars (5) in the robot are installed, and the robot goes offline.

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