Four-split spacer mounting robot and online and offline method

Abstract

The invention belongs to the technical field of spacer installation, and particularly relates to a four-split spacer installation robot and a wire feeding and discharging method.The robot comprises a wire feeding device, a storage box body, a grabbing device, an installation device, a wire shifting device and an auxiliary clamping device, and the wire shifting device comprises a first driving mechanism, a second driving mechanism and two wire shifting pieces; the first driving mechanism drives the second driving mechanism to move upwards or downwards in the vertical direction, the second driving mechanism is used for driving the two wire shifting pieces to move face to face or back to back in the horizontal direction, the wire shifting pieces are used for pressing a lower wire in the four-bundle wire to the auxiliary clamping device, the auxiliary clamping device is used for clamping the lower wire, and the auxiliary clamping device is used for clamping the lower wire. And the distance between the clamped lower lead and the upper lead in the four-split lead is equal to the split distance of the four-split spacer. According to the invention, the distance between the lower wire and the upper wire can be fixed, and the device is suitable for the installation of a four-split spacer and can adapt to the distance requirements of different four-split wires.

Description

Technical Field

[0001] The invention belongs to the technical field of spacer bar installation, and in particular relates to a four-split spacer bar installation robot and an on-line and off-line method. Background Art

[0002] When laying high-voltage cables, spacers are used. Spacers are used to be 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 against each other and causing collisions, but also prevent breeze vibration and sub-span oscillation of the split conductors due to the influence of the external environment, thereby ensuring the normal transmission of electricity. Existing overhead transmission line spacer installation machines require cranes or manual assistance to go online, and manual assistance at high altitudes also has a greater safety risk.

[0003] The invention patent with application number 202410149913.3 provides a four-split conductor spacer installation robot, which includes an online device and an installation device. The online device can be placed on two high conductors in advance, and the online device can release the suspension rope. The installation device can be lifted to a high altitude by the suspension rope, and then connected to the online device, thereby realizing the installation of the four-split conductor spacer. The spacer installation robot does not require manual or equipment such as a crane to go online, and the operation is convenient and quick. However, during actual installation, due to the large weight of the robot, after the robot goes online, the upper wire and the lower wire in the four-split conductor will be too close, which does not meet the installation spacing requirements of the four-split spacer. Therefore, the prior art has the problem of not being suitable for the four-split robot to go online. Summary of the invention

[0004] The purpose of the present invention is to provide a four-split spacer installation robot and an in-line and out-line method that can fix the line spacing of four-split conductors and is suitable for four-split spacer installation in view of the above-mentioned 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 four-split spacer installation robot, comprising an online device, a storage box, a gripping device, and an installation device, wherein the online device is used for the online four-split spacer installation robot, the storage box is used for storing the four-split spacer, the gripping device is used for taking the four-split spacer out of the storage box and moving it to the four-split conductor, and the installation device is used for installing the four-split spacer and the four-split conductor together;

[0007] The four-split spacer installation robot also includes a wire-prying device and an auxiliary clamping device arranged on the storage box body. The wire-prying device includes a first driving mechanism, a second driving mechanism, and two wire paddles. The second driving mechanism is arranged on the first driving mechanism, and the two wire paddles are both arranged on the second driving mechanism. The first driving mechanism is used to drive the second driving mechanism to move upward or downward in the vertical direction, and the second driving mechanism is used to drive the two wire paddles to move toward or away from each other in the horizontal direction. The wire paddle is used to press the lower wire of the four-split wires down to the auxiliary clamping device, and the auxiliary clamping device is used to clamp the lower wire. After clamping, the wire spacing between the lower wire and the upper wire of the four-split wires is equal to the split spacing of the four-split spacer.

[0008] The first driving mechanism includes a first power mechanism and a slide, the slide is slidably matched with the storage box body, the first power mechanism is used to drive the slide to slide upward or downward in the vertical direction, the second driving mechanism is arranged on the slide, the second driving mechanism includes a second power mechanism and two moving blocks, the two moving blocks are both slidably matched with the slide, the second power mechanism is used to drive the two moving blocks to move toward or away from each other, and the two wire picks are respectively arranged on the two moving blocks.

[0009] The auxiliary clamping device includes a front clamping device, which includes a third driving mechanism and two fourth driving mechanisms. The two fourth driving mechanisms are both arranged on the third driving mechanism. The fourth driving mechanism is provided with a front wheel group, and the front wheel group includes an upper tensioning wheel and a lower pressure wheel. 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, and the fourth driving mechanism is used to drive the upper tensioning wheel and the lower pressure wheel to move toward each other in the vertical direction to clamp the lower wire.

[0010] The auxiliary clamping device also includes a rear clamping device, which includes a fifth driving mechanism and two sixth driving mechanisms. The two sixth driving mechanisms are both arranged on the fifth driving mechanism. The sixth driving mechanism is provided with a rear wheel group, and the rear wheel group includes a rear pressure wheel. The fifth driving mechanism is used to drive the two sixth driving mechanisms to move toward or away from each other in the horizontal direction, and the sixth driving mechanism is used to drive the rear pressure wheel to move downward in the vertical direction to press down the wire.

[0011] The wire-pulling device also includes a seventh drive mechanism, two eighth drive mechanisms, and two walking mechanisms. The walking mechanism includes an upper clamping wheel and a lower tensioning wheel. The upper clamping wheels in the two walking mechanisms are respectively arranged on two moving blocks, the seventh drive mechanism is arranged on a slide, the two eighth drive mechanisms are both arranged on the seventh drive mechanism, and the lower tensioning wheels in the two walking mechanisms are respectively arranged on two eighth drive mechanisms. The seventh drive mechanism is used to drive the two eighth drive mechanisms to move toward or away from each other in the horizontal direction, and the eighth drive mechanism is used to drive the lower tensioning wheel to move upward in the vertical direction to clamp the upper wire of the four-split wire together with the upper clamping wheel.

[0012] A wire groove for accommodating the lower wire is provided at the bottom of the wire pick.

[0013] The online equipment includes an upper frame and a moving device and an upper lifting device arranged thereon. The upper moving device is used to drive the upper frame to move on the upper conductor. The upper lifting device is used to retract and release the suspension rope. A lower lifting device is arranged in the storage box body. The lower lifting device is used to connect and retract and release the suspension rope from the upper lifting device.

[0014] The grabbing device comprises a mechanical arm and a spacer rod grabbing mechanism, one end of the mechanical arm is arranged on the storage box body, and the other end of the mechanical arm is connected to the spacer rod grabbing mechanism, and the spacer rod grabbing mechanism is used to grab the four-split spacer rods.

[0015] The installation device includes a clamping arm and a clamping mechanism. One end of the clamping arm is arranged on the storage box body, and the other end of the clamping arm is connected to the clamping mechanism. The clamping mechanism is used to clamp the four clamps 72 in the four-split spacer rod and the four-split conductors.

[0016] In a second aspect, the present invention provides an on-line and off-line method for a four-split spacer installation robot, the on-line and off-line method comprising:

[0017] S1. Install the robot with four split spacer rods online through the online equipment;

[0018] S2, the first driving mechanism drives the second driving mechanism to move upward in the vertical direction, so that the two wire paddles extend between the upper wire and the lower wire, and then the second driving mechanism drives the two wire paddles to move backward, so that the two wire paddles move horizontally to above the two lower wires, and then the first driving mechanism drives the second driving mechanism to move downward in the vertical direction, so that the two wire paddles press the two lower wires to the auxiliary clamping device respectively;

[0019] S3, clamping two lower conductors of the four split conductors by an auxiliary clamping device, and after clamping, the line spacing between the lower conductors and the upper conductors is equal to the split spacing of the four split spacers;

[0020] S4, taking out the four-split spacer from the storage box through the grabbing device and moving it to the four-split conductor;

[0021] S5. Install the four-split spacer rod and the four-split conductor together by using the installation device;

[0022] S6. Loosen the two lower conductors of the four-split conductors through the auxiliary clamping device, and install the robot with the four-split spacer rods through the upper line equipment.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention provides a four-split spacer installation robot, including a line-up device, a storage box, a gripping device, an installation device, a wire-pickup device, and an auxiliary clamping device. The wire-pickup device includes a first driving mechanism, a second driving mechanism, and two wire paddles. The second driving mechanism is arranged on the first driving mechanism, and the two wire paddles are arranged on the second driving mechanism. The first driving mechanism drives the second driving mechanism to move upward or downward in the vertical direction. The second driving mechanism is used to drive the two wire paddles to move toward or away from each other in the horizontal direction. The wire paddle is used to press the lower wire of the four-split wire down to the auxiliary clamping device. The auxiliary clamping device is used to clamp the lower wire. After being clamped, the lower wire and The line spacing of the upper wire in the four-split wire is equal to the split spacing of the four-split spacer; the robot first uses the wire paddle to spread the lower wire and the upper wire in the four-split wire, and paddles them to a position where the auxiliary clamping device can capture them, and then completes the clamping of the lower wire through the auxiliary clamping device, thereby fixing the line spacing of the lower wire and the upper wire at the split spacing of the four-split spacer, ensuring that the subsequent installation operation of the four-split spacer can be carried out smoothly, and the first drive mechanism drives the second drive mechanism to move downward in the vertical direction, and the second drive mechanism drives the two wire paddles to move back in the horizontal direction. Both are adjustable, and can meet the spacing requirements of different four-split wires. Therefore, the present invention is not only suitable for the installation of four-split spacers, but also can meet the spacing requirements of different four-split wires.

[0025] 2. The present invention provides a wire-push device for a four-split spacer installation robot, which also includes a seventh drive mechanism, two eighth drive mechanisms, and two walking mechanisms. The walking mechanism includes an upper clamping wheel and a lower top clamping wheel. The upper clamping wheel and the wire paddle share a set of drive mechanisms, namely, a first drive mechanism and a second drive mechanism. After the auxiliary clamping device completes the clamping of the lower wire, the wire-push device can be detached from the lower wire, and the upper clamping wheel is hung on the upper wire by using the first drive mechanism and the second drive mechanism, and then the lower top clamping wheel and the upper clamping wheel are clamped by the seventh drive mechanism and the two eighth drive mechanisms, so that the walking mechanism is smoothly connected to the upper wire. Through this ingenious workflow design, the wire-push device has the functions of the walking wheel on the wire and the wire on the wire, which reduces the weight of the equipment, improves the concentration of the equipment, and avoids redundant design. Therefore, the present invention reduces the weight of the equipment and improves the concentration of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the present invention.

[0027] Figure 2 It is a structural schematic diagram of the wire-placing device and the traveling mechanism in the present invention.

[0028] Figure 3 It is a side view of the wire-pulling device and the traveling mechanism in the present invention.

[0029] Figure 4 It is a schematic structural diagram of the front clamping device in the present invention.

[0030] Figure 5 It is a side schematic diagram of the front clamping device in the present invention.

[0031] Figure 6 It is a side schematic diagram of the rear clamping device in the present invention.

[0032] Figure 7 It is a schematic diagram of the structure of the four-split spacer rod in the present invention.

[0033] In the above figure, the on-line device 1, the upper frame 11, the moving device 12, the upper lifting device 13, the storage box 2, the lower lifting device 21, the grabbing device 3, the mechanical arm 31, the spacer grabbing mechanism 32, the installation device 4, the clamping arm 41, the clamping mechanism 42, the wire pulling device 5, the first driving mechanism 51, the first power mechanism 511, the slide 512, the second driving mechanism 52, the second power mechanism 521, the moving block 522, the wire puller 53, the wire slot 531, the seventh driving mechanism 54, the eighth driving mechanism 55, the walking mechanism 56, the upper clamping wheel 561, the lower clamping wheel 562, the auxiliary clamping device 6, the front clamping device 61, the third driving mechanism 611, the fourth driving mechanism 612, the upper clamping wheel 613, the lower clamping wheel 614, the rear clamping device 62, the fifth driving mechanism 621, the sixth driving mechanism 622, the rear clamping wheel 623, the four-split spacer rod 7, the quadrilateral body 71, and the chuck 72. DETAILED DESCRIPTION

[0034] 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.

[0035] The four-split conductor includes four parallel conductors, which are numbered 1, 2, 3, and 4 in sequence. Conductor No. 1 and conductor No. 2 are upper conductors located in the same horizontal plane, and conductor No. 3 and conductor No. 4 are lower conductors located in another horizontal plane. Figure 7 A four-split conductor spacer is shown, which includes a quadrilateral body 71 and four clamps 72. The four clamps 72 are respectively arranged at the four corners of the quadrilateral body 71. The clamps 72 include a fixed portion and a clamping portion. One end of the clamping portion is rotatably connected to the fixed portion, and the other end of the clamping portion can be rotated to be clamped with the fixed portion. After clamping, a through hole for the wire to pass through can be formed between the clamping portion and the fixed portion. The clamping portions of the four clamps 72 can all rotate in the same direction to be clamped with the fixed portion. In actual installation, the four-split conductor spacer can be placed in the middle of the four wires, and the four clamps 72 are respectively connected to the four wires to ensure the spacing of the four wires.

[0036] See also Figure 1In one embodiment of the present invention, a four-split spacer installation robot is provided, including an online device 1, a storage box body 2, a gripping device 3, and an installation device 4. The online device 1 is used for the online four-split spacer installation robot, the storage box body 2 is used to store the four-split spacer 7, the gripping device 3 is used to take the four-split spacer 7 out of the storage box body 2 and move it to the four-split conductor, the installation device 4 is used to install the four-split spacer 7 and the four-split conductor together, and the four-split spacer installation robot also includes a wire dialing device 5 and an auxiliary clamping device 6 arranged on the storage box body 2, the wire dialing device 5 includes a first driving mechanism 51, A second driving mechanism 52 and two wire paddles 53. The second driving mechanism 52 is arranged on the first driving mechanism 51. The two wire paddles 53 are both arranged on the second driving mechanism 52. The first driving mechanism 51 is used to drive the second driving mechanism 52 to move upward or downward in the vertical direction. The second driving mechanism 52 is used to drive the two wire paddles 53 to move toward or away from each other in the horizontal direction. The wire paddles 53 are used to press the lower wire of the four-split wires down to the auxiliary clamping device 6. The auxiliary clamping device 6 is used to clamp the lower wire. After clamping, the line spacing between the lower wire and the upper wire of the four-split wires is equal to the split spacing of the four-split spacer rods 7.

[0037] During specific installation, firstly, the online storage box body 2 is put on the line through the online device 1, and then the first driving mechanism 51 drives the second driving mechanism 52 to move upward in the vertical direction, so that the two wire picks 53 extend between the upper wire and the lower wire, and then the second driving mechanism 52 drives the two wire picks 53 to move in the opposite direction, so that the two wire picks 53 move horizontally to the top of the two lower wires, and then the first driving mechanism 51 drives the second driving mechanism 52 to move downward in the vertical direction, so that the two wire picks 53 press down the two lower wires respectively, spread the lower wires apart from the upper wires, and press the lower wires down to the position where the auxiliary clamping device 6 can capture them; the two lower wires of the four-split wires are clamped by the auxiliary clamping device 6, and after the lower wires are clamped, the wire spacing between them and the upper wires is fixed at the split spacing of the four-split spacer 7; then the four-split spacer 7 is taken out of the storage box body 2 by the grasping device 3 and moved to the four-split wires; finally, the four-split spacer 7 and the four-split wires are installed together by the installation device 4.

[0038] See also Figure 2 , Figure 3In another embodiment of the present invention, to ensure the stability of movement, the first driving mechanism 51 includes a first power mechanism 511, a slide 512, and a guide rail. The guide rail is vertically arranged on one side of the storage box body 2, and the slide 512 is slidably arranged on the guide rail. The first power mechanism 511 is used to drive the slide 512 to slide upward or downward along the guide rail 512, and the second driving mechanism 52 is arranged on the slide 512; to ensure the synchronization of the movement of the two wire paddles 53, the second driving mechanism 52 includes a second power mechanism 521, a bidirectional screw rod, and two moving blocks 522. The bidirectional screw rod is arranged on the slide 512. The two moving blocks 522 are both slidably matched with the slide 512. The two moving blocks 522 are respectively matched with the two ends of the bidirectional screw rod by threads. The second power mechanism 521 is used to drive the bidirectional screw rod to rotate forward or reversely to drive the two moving blocks 522 to move toward or away from each other, and the two wire paddles 53 are respectively arranged on the two moving blocks 522.

[0039] See also Figure 4 , Figure 5 In another embodiment of the present invention, the auxiliary clamping device 6 includes a front clamping device 61, the front clamping device 61 includes a third driving mechanism 611 and two fourth driving mechanisms 612, the two fourth driving mechanisms 612 are both arranged on the third driving mechanism 611, and the fourth driving mechanism 612 is provided with a front wheel group, the front wheel group includes an upper tensioning wheel 613 and two lower pressure wheels 614, the third driving mechanism 611 is used to drive the two fourth driving mechanisms 612 to move toward or away from each other in the horizontal direction, and the fourth driving mechanism 612 is used to drive the upper tensioning wheel 613 and the lower pressure wheel 614 to move toward or away from each other in the vertical direction. As an implementation method, the third driving mechanism 611 may include a first base, a third power mechanism, a first slide rail, and two first sliders, the first slide rail is arranged on the first base, and the two fourth driving mechanisms 612 are respectively arranged on the two first sliders, and the third power mechanism is used to drive the two first sliders to move toward or away from each other in the horizontal direction; the fourth driving mechanism 612 may include a fourth power mechanism, a second base, a second slide rail, and two second sliders, the second slide rail is arranged on the second base, the upper tensioning wheel 613 is arranged on one second slider, and the two lower pressure wheels 614 are both arranged on the other second slider, and the fourth power mechanism is used to drive the two second sliders to move toward or away from each other in the vertical direction.

[0040] In actual application, after the lower conductor is pressed down to a position where the auxiliary clamping device 6 can capture it, the third driving mechanism 611 is first used to drive the two fourth driving mechanisms 612 to move back to back in the horizontal direction, and then the fourth driving mechanism 612 is used to drive the upper tensioning wheel 613 and the lower pressure wheel 614 to move toward each other in the vertical direction to clamp the lower conductor.

[0041] See also Figure 6In another embodiment of the present invention, the auxiliary clamping device 6 also includes a rear clamping device 62, the rear clamping device 62 includes a fifth driving mechanism 621 and two sixth driving mechanisms 622, the two sixth driving mechanisms 622 are both arranged on the fifth driving mechanism 621, the sixth driving mechanism 622 is provided with a rear wheel group, the rear wheel group includes a rear pressure wheel 623, the fifth driving mechanism 621 is used to drive the two sixth driving mechanisms 622 to move toward or away from each other in the horizontal direction, and the sixth driving mechanism 622 is used to drive the rear pressure wheel 623 to move downward in the vertical direction to press down the wire. As an implementation method, the fifth driving mechanism 621 may include a fifth power mechanism, a third base, a third slide rail, and two third sliders, the third slide rail is arranged on the third base, and the two sixth driving mechanisms 622 are respectively arranged on the two third sliders, and the fifth power mechanism is used to drive the two third sliders to move toward or away from each other in the horizontal direction; the sixth driving mechanism 622 may include a sixth power mechanism, a fourth base, a fourth slide rail, and a fourth slider, the fourth slide rail is arranged on the fourth base, the rear pressure wheel 623 is arranged on the fourth slider, and the sixth power mechanism is used to drive the fourth slider to move upward or downward in the vertical direction.

[0042] In actual application, after the lower conductor is pressed down to a position where the auxiliary clamping device 6 can capture it, the fifth drive mechanism 621 first drives the two sixth drive mechanisms 622 to move back to back in the horizontal direction, and then the sixth drive mechanism 622 drives the rear clamping wheel 623 to move downward in the vertical direction to press the lower conductor.

[0043] After the lower conductor is pressed to a position where the auxiliary clamping device 6 can capture it, the rear clamping device 62 first presses the lower conductor to a position where the front clamping device 61 can capture it, and then the front clamping device 61 captures the lower conductor. The front clamping device 61 is a centering mechanism that can fix the lower conductor at a set spacing, thereby ensuring that a spacing is formed between the four conductors in the four-split conductor for which a spacer bar can be installed, and at the same time ensuring that the conductors will not fall off.

[0044] See also Figure 2 , Figure 3In another embodiment of the present invention, the wire dialing device 5 also includes a seventh driving mechanism 54, two eighth driving mechanisms 55, and two walking mechanisms 56. The walking mechanism 56 includes an upper clamping wheel 561 and a lower tensioning wheel 562. The upper clamping wheels 561 of the two walking mechanisms 56 are respectively arranged on the two moving blocks 522. The seventh driving mechanism 54 is arranged on the slide 512. The two eighth driving mechanisms 55 are both arranged on the seventh driving mechanism 54. The lower tensioning wheels 562 of the two walking mechanisms 56 are respectively arranged on the two eighth driving mechanisms 55. The seventh driving mechanism 54 is used to drive the two eighth driving mechanisms 55 to move toward or away from each other in the horizontal direction. The eighth driving mechanism 55 is used to drive the lower tensioning wheel 562 to move upward in the vertical direction to clamp the upper wire of the four-split wire together with the upper clamping wheel 561.

[0045] In actual application, after the auxiliary clamping device completes the clamping of the lower wire, the first driving mechanism 51 drives the second driving mechanism 52 to move upward in the vertical direction, so that the wire paddle 53 is separated from the lower wire, and then the two moving blocks 522 are driven to move toward each other by the second driving mechanism, and the first driving mechanism 51 drives the second driving mechanism 52 to continue to move upward in the vertical direction, so that the two upper clamping wheels 561 move between the two upper wires, and then the two moving blocks 522 are driven to move in opposite directions by the second driving mechanism, and then the first driving mechanism 51 drives the second driving mechanism 52 to move downward in the vertical direction, so that the upper clamping wheel 561 is hung on the upper wire. Subsequently, the seventh driving mechanism drives the two eighth driving mechanisms to move upward in the vertical direction, and the eighth driving mechanism drives the lower clamping wheel 562 to press the upper clamping wheel 561, so that the walking mechanism can be smoothly connected to the upper wire.

[0046] See also Figure 2 In another embodiment of the present invention, a wire groove 531 for accommodating the lower wire is provided at the bottom of the wire pick 53 ; the wire groove 531 prevents the lower wire from escaping from the wire pick 53 .

[0047] See also Figure 1 In another embodiment of the present invention, the online device 1 includes an upper frame 11 and a moving device 12 and an upper lifting device 13 arranged thereon. The upper moving device 12 is used to drive the upper frame 11 to move on the upper conductor. The upper lifting device 13 is used to retract and release the suspension rope. A lower lifting device 21 is arranged in the storage box body 2. The lower lifting device 21 is used to connect and retract and release the suspension rope from the upper lifting device 13.

[0048] In specific applications, since the weight of the online device 1 is relatively light, the online device 1 can be placed on the upper conductor by the drone equipment, and the online device 1 can be moved to a suitable position by the upper moving device 12, and then the upper lifting device 13 lowers the suspension rope, and the lower lifting device 21 receives the suspension rope and completes the online operation by self-twisting the suspension rope, so that the storage box 2 is connected to the online device 1. This online operation method does not require a crane or manual assistance, has a high safety factor, is simple to operate, and has low energy consumption.

[0049] In another embodiment of the present invention, the grabbing device 3 includes a mechanical arm 31 and a spacer rod grabbing mechanism 32. One end of the mechanical arm 31 is arranged on the storage box body 2, and the other end of the mechanical arm 31 is connected to the spacer rod grabbing mechanism 32. The spacer rod grabbing mechanism 32 is used to grab the four-split spacer rod 7. As an implementation method, the spacer rod grabbing mechanism 32 may include a grabbing base, two grippers, and a grabbing drive. The grabbing base is connected to the mechanical arm 31, and a guide rail is arranged on the grabbing base. The two grippers are arranged on the guide rail and can move along the track direction of the guide rail. The two grippers are provided with a card slot on the side away from each other. The grabbing drive is used to drive the two grippers to approach or move away from each other, thereby realizing the grabbing and releasing action of the spacer rod. The mechanical arm 31 can be replaced by other mechanical devices that can realize multi-degree-of-freedom movement.

[0050] In another embodiment of the present invention, the installation device 4 includes a clamping arm 41 and a clamping mechanism 42. One end of the clamping arm 41 is arranged on the storage box body 2, and the other end of the clamping arm 41 is connected to the clamping mechanism 42. The clamping mechanism 42 is used to lock the four clamps 72 in the four-split spacer 7 with the four-split wires. As an implementation method, the clamping mechanism 42 may include a movable part, a fixed part and a driving part. The driving part is connected to the movable part. The driving part drives the movable part to approach or move away from the fixed part. By adjusting the clamping space formed by the movable part and the fixed part, the clamping part of the clamp 72 located in the clamping space can be clamped with the fixed part. In actual application, the clamping arm 41 drives the clamping mechanism 42 to lock the four clamps 72 with the four wires one by one. Similarly, the clamping arm 41 can also be replaced by other mechanical devices that can achieve multi-degree-of-freedom movement.

[0051] In one embodiment of the present invention, a method for mounting and dismounting the above-mentioned four-split spacer rod installation robot is provided, and the method for mounting and dismounting the robot is performed in the following steps:

[0052] S1, put the four-split spacer rod installation robot online through the online device 1;

[0053] S2, the first driving mechanism 51 drives the second driving mechanism 52 to move upward in the vertical direction, so that the two wire paddles 53 extend between the upper wire and the lower wire, and then the second driving mechanism 52 drives the two wire paddles 53 to move in the opposite direction, so that the two wire paddles 53 move horizontally to the top of the two lower wires, and then the first driving mechanism 51 drives the second driving mechanism 52 to move downward in the vertical direction, so that the two wire paddles 53 press the two lower wires to the auxiliary clamping device 6 respectively;

[0054] S3, clamping two lower conductors of the four split conductors by the auxiliary clamping device 6, and after clamping, the line spacing between the lower conductor and the upper conductor is equal to the split spacing of the four split spacer bars 7;

[0055] S4, taking out the four-split spacer bar 7 from the storage box 2 through the grabbing device 3 and moving it to the four-split conductor;

[0056] S5, installing the four-split spacer bar 7 and the four-split conductor together through the installation device 4;

[0057] S6. Loosen the two lower conductors of the four-split conductors through the auxiliary clamping device 6, and install the robot with the four-split spacer rods of the lower conductor through the upper conductor device 1.

Claims

1. A four-split spacer installation robot, comprising an online device (1), a storage box (2), a gripping device (3), and an installation device (4), wherein the online device (1) is used for the online four-split spacer installation robot, the storage box (2) is used for storing the four-split spacer (7), the gripping device (3) is used for taking the four-split spacer (7) out of the storage box (2) and moving it to the four-split conductor, and the installation device (4) is used for installing the four-split spacer (7) and the four-split conductor together, characterized in that: The four-split spacer installation robot also includes a wire-pickup device (5) and an auxiliary clamping device (6) arranged on the storage box body (2); the wire-pickup device (5) includes a first driving mechanism (51), a second driving mechanism (52), and two wire pickups (53); the second driving mechanism (52) is arranged on the first driving mechanism (51); the two wire pickups (53) are arranged on the second driving mechanism (52); the first driving mechanism (51) is used to drive the second driving mechanism (52) to move upward or downward in a vertical direction; the second driving mechanism (52) is used to drive the two wire pickups (53) to move toward or away from each other in a horizontal direction; the wire pickups (53) are used to press the lower wire of the four-split wires down to the auxiliary clamping device (6); the auxiliary clamping device (6) is used to clamp the lower wire; after being clamped, the line spacing between the lower wire and the upper wire of the four-split wires is equal to the split spacing of the four-split spacer (7).

2. A four-split spacer installation robot according to claim 1, characterized in that: The first driving mechanism (51) comprises a first power mechanism (511) and a slide (512), wherein the slide (512) is slidably matched with the storage box body (2), the first power mechanism (511) is used to drive the slide (512) to slide upward or downward in a vertical direction, the second driving mechanism (52) is arranged on the slide (512), the second driving mechanism (52) comprises a second power mechanism (521) and two moving blocks (522), the two moving blocks (522) are both slidably matched with the slide (512), the second power mechanism (521) is used to drive the two moving blocks (522) to move towards or away from each other, and the two wire picks (53) are respectively arranged on the two moving blocks (522).

3. A four-split spacer installation robot according to claim 1, characterized in that: The auxiliary clamping device (6) comprises a front clamping device (61), the front clamping device (61) comprises a third driving mechanism (611) and two fourth driving mechanisms (612), the two fourth driving mechanisms (612) are both arranged on the third driving mechanism (611), the fourth driving mechanism (612) is provided with a front wheel group, the front wheel group comprises an upper tensioning wheel (613) and a lower pressure wheel (614), the third driving mechanism (611) is used to drive the two fourth driving mechanisms (612) to move towards or away from each other in a horizontal direction, and the fourth driving mechanism (612) is used to drive the upper tensioning wheel (613) and the lower pressure wheel (614) to move towards each other in a vertical direction to clamp the lower conductor.

4. A four-split spacer bar installation robot according to claim 1, characterized in that: The auxiliary clamping device (6) also includes a rear clamping device (62), and the rear clamping device (62) includes a fifth driving mechanism (621) and two sixth driving mechanisms (622). The two sixth driving mechanisms (622) are both arranged on the fifth driving mechanism (621). The sixth driving mechanism (622) is provided with a rear wheel group, and the rear wheel group includes a rear pressure wheel (623). The fifth driving mechanism (621) is used to drive the two sixth driving mechanisms (622) to move toward or away from each other in the horizontal direction, and the sixth driving mechanism (622) is used to drive the rear pressure wheel (623) to move downward in the vertical direction to press down the wire.

5. A four-split spacer bar installation robot according to claim 2, characterized in that: The wire-pulling device (5) further comprises a seventh driving mechanism (54), two eighth driving mechanisms (55), and two walking mechanisms (56); the walking mechanism (56) comprises an upper clamping wheel (561) and a lower clamping wheel (562); the upper clamping wheels (561) in the two walking mechanisms (56) are respectively arranged on two moving blocks (522); the seventh driving mechanism (54) is arranged on a slide (512); the two eighth driving mechanisms (55) are both arranged on the seventh driving mechanism (54); the lower clamping wheels (562) in the two walking mechanisms (56) are respectively arranged on two eighth driving mechanisms (55); the seventh driving mechanism (54) is used to drive the two eighth driving mechanisms (55) to move toward or away from each other in a horizontal direction; the eighth driving mechanism (55) is used to drive the lower clamping wheel (562) to move upward in a vertical direction so as to clamp the upper wire of the four-split wire together with the upper clamping wheel (561).

6. A four-split spacer installation robot according to claim 1, characterized in that: The bottom of the wire pick (53) is provided with a wire groove (531) for accommodating the lower wire.

7. A four-split spacer installation robot according to claim 1, characterized in that: The upper wire device (1) comprises an upper frame (11) and a moving device (12) arranged thereon, and an upper lifting device (13); the upper moving device (12) is used to drive the upper frame (11) to move on the upper wire; the upper lifting device (13) is used to retract and release the suspension rope; a lower lifting device (21) is arranged in the storage box (2); the lower lifting device (21) is used to connect and retract the suspension rope from the upper lifting device (13).

8. The four-split spacer bar installation robot according to claim 1, characterized in that: The grabbing device (3) comprises a mechanical arm (31) and a spacer rod grabbing mechanism (32); one end of the mechanical arm (31) is arranged on the storage box body (2); the other end of the mechanical arm (31) is connected to the spacer rod grabbing mechanism (32); and the spacer rod grabbing mechanism (32) is used to grab the four-split spacer rod (7).

9. A four-split spacer installation robot according to claim 1, characterized in that: The mounting device (4) comprises a clamping arm (41) and a clamping mechanism (42); one end of the clamping arm (41) is arranged on the storage box body (2); the other end of the clamping arm (41) is connected to the clamping mechanism (42); the clamping mechanism (42) is used to clamp four clamps in the four-split spacer rod (7) and the four-split conductors.

10. The method for mounting and dismounting a robot for mounting a four-split spacer rod according to claim 1, characterized in that: The online and offline methods include: S1, putting the four-split spacer rod installation robot online through the online device (1); S2, the first driving mechanism (51) drives the second driving mechanism (52) to move upward in the vertical direction, so that the two wire paddles (53) extend between the upper wire and the lower wire, and then the second driving mechanism (52) drives the two wire paddles (53) to move in the opposite direction, so that the two wire paddles (53) move horizontally to the top of the two lower wires, and then the first driving mechanism (51) drives the second driving mechanism (52) to move downward in the vertical direction, so that the two wire paddles (53) press the two lower wires down to the auxiliary clamping device (6) respectively; S3, clamping two lower conductors of the four split conductors by the auxiliary clamping device (6), and after clamping, the line spacing between the lower conductors and the upper conductors is equal to the split spacing of the four split spacer bars (7); S4, taking out the four-split spacer bar (7) from the storage box (2) through the grabbing device (3) and moving it to the four-split conductor; S5, installing the four-split spacer bar (7) and the four-split conductor together through the installation device (4); S6. Loosen the two lower conductors of the four-split conductors through the auxiliary clamping device (6), and install the robot for the lower four-split spacer rod through the upper line device (1).

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