Four-bundle conductor spacer mounting robot and use method thereof

Abstract

The invention belongs to the technical field of spacer installation, and particularly relates to a four-bundle conductor spacer installation robot and a using method thereof.The robot comprises an upper wire feeding and discharging device and a lower installation device, and the lower installation device comprises a middle frame, a lower frame arranged on the middle frame, a spacer clamping mechanism and a spacer pressing mechanism; the spacer clamping mechanism is used for clamping the four-split spacer horizontally stored in the lower frame and moving the four-split spacer to a mounting position, the spacer pressing mechanism comprises a first rotating table and four pressing heads, and the first rotating table is used for driving the four pressing heads to rotate to four chucks of the four-split spacer; and the pressing head is used for buckling a chuck of the four-split spacer. The four-split spacers are horizontally stored, and the corresponding spacer clamping mechanism is designed, so that the number of the stored spacers can be increased, a spacer pushing device does not need to be designed in a matched manner, and the lightweight degree is high; and in addition, the mounting operation efficiency is high.

Description

Technical Field

[0001] The invention belongs to the technical field of spacer bar installation, and in particular relates to a four-split conductor 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] Due to the high risk of manual high-altitude installation work, a four-split spacer installation robot is used to perform the spacer installation work. 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. The online device can release the traction rope. The installation device can be lifted to a high altitude by the traction 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 crane-assisted online operation, and the operation is convenient and quick. The spacer is placed vertically. If the number of storage is too small, the robot needs to frequently go online to replenish the spacer. If the number of storage is too large, it is not conducive to the clamping of the spacer. It is necessary to design a matching spacer pushing device to push the spacer from the inside to the position where the spacer clamping mechanism can clamp it, thereby increasing the robot's own weight. In addition, during the actual installation, due to the heavy weight of the robot, the wires were bent after the robot was put online, and the upper and lower groups of wires of the four-split wire were squeezed together, making it impossible to smoothly install the four-split spacer bar on the upper and lower groups of wires. Summary of the invention

[0004] The purpose of the present invention is to address the above-mentioned problems existing in the prior art and to provide a four-split conductor spacer installation robot and a method for using the robot, which can not only increase the number of spacer storages but also has a high degree of lightness.

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

[0006] In the first aspect, the present invention provides a four-split conductor spacer installation robot, the robot includes an upper and lower line device, a lower installation device, the lower installation device includes a middle frame and a lower frame arranged thereon, a spacer clamping mechanism, and a spacer clamping mechanism, the upper and lower line device is used to perform the upper and lower lines of the lower installation device after the upper frame is put on the wire located on the upper layer of the four-split conductor, the lower frame is used to horizontally store the four-split spacer bars, the spacer clamping mechanism is used to clamp the four-split spacer bars stored in the lower frame and move them to an installation position, when the four-split spacer bars are in the installation position, the four wires in the four-split conductor are located in the four clamps of the four-split spacer bars, the spacer clamping mechanism includes a first rotating table arranged on the middle frame, the rotating surface of the first rotating table is perpendicular to the extension direction of the conductor, four clamping heads are arranged on the first rotating table, the first rotating table is used to drive the four clamping heads to rotate to the four clamps of the four-split spacer bars, and the clamping heads are used to buckle the clamps of the four-split spacer bars.

[0007] The spacer rod clamping mechanism includes a second rotating table, a first arm, a second arm, and a third arm. The second rotating table is connected to the middle part of the first arm. The rotating surface of the second rotating table is parallel to the extension direction of the wire. The second arm is slidably arranged on the first arm. The second arm is perpendicular to the first arm. The third arm is slidably arranged on the second arm. The third arm is perpendicular to the first arm and the second arm. A third rotating table is arranged on the top of the third arm. A spacer rod clamp is installed on the third rotating table. The third rotating table is used to drive the spacer rod clamp to rotate with the third arm as the rotation axis. The spacer rod clamp is used to clamp the four-split spacer rods.

[0008] The lower frame is used to store a plurality of four-split spacer rods horizontally in sequence along a first direction, and the second rotating platform is slidably arranged at the bottom of the middle frame along the first direction, and the first direction is parallel to the extension direction of the wire.

[0009] The upper and lower wire devices include an upper frame and a walking mechanism and a support arm clamping mechanism arranged thereon. The walking mechanism is used to drive the upper and lower wire devices to walk along the extension direction of the wire after the upper and lower wire devices are put on line to the wire located at the upper layer among the four-split wires. The support arm clamping mechanism is used to clamp the wire located at the lower layer among the four-split wires after the upper and lower wire devices are put on line to the wire located at the upper layer among the four-split wires.

[0010] The support arm clamping mechanism includes a support arm, a first retractable driving member, and a lower-layer wire clamp. The middle part of the support arm is movably connected to the upper frame, the top of the support arm is connected to the retractable end of the first retractable driving member, and the other end of the first retractable driving member is connected to the upper frame. The first retractable driving member is used to drive the bottom of the support arm away from the wire located at the lower layer of the four-split wires when its retractable end retracts, and to drive the bottom of the support arm close to the wire located at the lower layer of the four-split wires when its retractable end extends. The bottom of the support arm is connected to the lower-layer wire clamp, and the lower-layer wire clamp is used to clamp the wire located at the lower layer of the four-split wires.

[0011] The lower wire clamp includes a shell and a fixed block, a movable block, and a second retractable driving member arranged inside the shell. The shell is connected to the bottom of the support arm, and the movable block is connected to the retractable end of the second retractable driving member. The second retractable driving member is used to drive the movable block to move toward the fixed block to clamp the wire when its retractable end is extended.

[0012] The upper and lower wire device also includes an upper wire clamp arranged on the upper frame. The structure of the upper wire clamp is consistent with that of the lower wire clamp. The upper wire clamp is used to clamp the wire located at the upper layer of the four-split wire.

[0013] The upper and lower wire devices also include an upper hoisting mechanism arranged on the upper frame, and the lower installation device also includes a lower hoisting device arranged on the middle frame. The lower hoisting device is used to be connected to the upper hoisting mechanism through self-twisting of a hoisting rope.

[0014] The upper and lower wire device also includes a connector arranged on the upper frame, and the connector is used to be connected to a clamping claw on the aircraft.

[0015] In a second aspect, the present invention provides a method for using a four-split conductor spacer installation robot, the method comprising:

[0016] S1. Put the upper and lower line devices online to the four-split conductors;

[0017] S2. Use the upper and lower line devices to put the lower installation device online to install the spacer bars; the installation of the spacer bars is specifically as follows: first control the spacer bar clamping mechanism to clamp the four-split spacer bars stored in the lower frame and move them to the installation position, when the four-split spacer bars are in the installation position, the four clamps thereof are respectively overlapped with the four wires in the four-split wires, then control the first rotating table in the spacer bar clamping mechanism to rotate the four clamps to the four clamps of the four-split spacer bars, and then control the four clamps to simultaneously buckle the four clamps of the four-split spacer bars to complete the installation of the four-split spacer bars;

[0018] S3. After completing the installation of all the four-split spacers in the lower frame, the lower installation device is offlined using the upper and lower line devices to load the four-split spacers;

[0019] S4. Repeat S2-S3 until the installation of the required four-split spacer bars on the four-split conductor is completed, and the lower installation device is offline using the upper and lower line devices, and the upper and lower line devices are offline.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. A robot for installing a spacer bar of a four-split conductor includes an upper and lower line device and a lower installation device. The lower installation device includes a middle frame and a lower frame arranged thereon, a spacer bar clamping mechanism, and a spacer bar pressing mechanism. The upper and lower line device is used to perform the upper and lower line of the lower installation device after the upper frame is put on the wire located on the upper layer of the four-split conductor. The lower frame is used to store the four-split spacer bars horizontally. The spacer bar clamping mechanism is used to clamp the four-split spacer bars stored in the lower frame and move them to the installation position. When the four-split spacer bars are in the installation position, the four wires in the four-split conductor are located in the four clamps of the four-split spacer bars. The spacer bar pressing mechanism includes a first rotating table arranged on the middle frame, a first The rotating surface of the rotating table is perpendicular to the extension direction of the wire. Four clamping heads are arranged on the first rotating table. The first rotating table is used to drive the four clamping heads to rotate to the four clamping heads of the four-split spacer bars. The clamping heads are used to buckle the clamping heads of the four-split spacer bars. In the above design, the four-split spacer bars are stored horizontally and a corresponding spacer bar clamping mechanism is designed. Compared with the vertical placement of the spacer bars, on the one hand, the number of spacer bars stored can be increased, and on the other hand, there is no need to design a matching spacer bar pushing device, which is not only convenient for manual replenishment of the spacer bars, but also convenient for the spacer bar clamping mechanism to clamp, and has a high degree of lightness. In addition, the spacer bar clamping mechanism has four clamping heads, which can buckle the four clamping heads of the four-split spacer bars at the same time, thereby improving the installation operation efficiency. Therefore, the present invention has a high degree of lightness and high installation operation efficiency.

[0022] 2. In a four-split conductor spacer bar installation robot of the present invention, the upper and lower line devices include an upper frame and a walking mechanism and a support arm clamping mechanism arranged thereon. After the upper and lower line devices are put online to the wire located at the upper layer of the four-split conductor, the support arm clamping mechanism is used to clamp the wire located at the lower layer of the four-split conductor to fix the spacing between the upper and lower wires in the four-split conductor, so as to avoid the upper and lower wires being squeezed together when the lower installation device is put online, thereby affecting the installation of the spacer bar, and the support arm clamping mechanism has a simple structure, which further improves the lightweight degree of the robot. Therefore, the present invention can fix the spacing between the upper and lower wires in the four-split conductor, and has a simple structure, which further improves the lightweight degree of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the four-split conductor spacer installation robot of the present invention.

[0024] Figure 2 for Figure 1 Internal structure diagram of the middle and upper line devices.

[0025] Figure 3 It is a schematic structural diagram of the support arm clamping mechanism in the present invention in an open state.

[0026] Figure 4 It is a structural schematic diagram of the support arm clamping mechanism in the clamping state in the present invention.

[0027] Figure 5 for Figure 2 Schematic diagram of the structure of the middle and lower layer wire clamps.

[0028] Figure 6 for Figure 1 Schematic diagram of the structure of the middle spacer clamping mechanism.

[0029] In the above figure, the upper and lower wire devices 1, the upper frame 11, the walking mechanism 12, the support arm clamping mechanism 13, the support arm 131, the first telescopic driving member 132, the lower wire clamp 133, the shell 134, the fixed block 135, the moving block 136, the second telescopic driving member 137, the upper wire clamp 14, the upper hoisting mechanism 15, the connecting head 16, the lower installation device 2, the middle frame 21, the lower frame 22, the spacer bar clamping mechanism 23, the second rotating table 231, the first arm 232, the second arm 233, the third arm 234, the third rotating table 235, the spacer bar clamp 236, the spacer bar clamping mechanism 24, the first rotating table 241, the clamping head 242, the lower hoisting device 25, the four-split wire 3, the four-split spacer bar 4, and the clamp 41. DETAILED DESCRIPTION

[0030] 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.

[0031] See also Figure 1The present invention provides a four-split conductor spacer installation robot, comprising an upper and lower wire device 1 and a lower installation device 2. The lower installation device 2 comprises a middle frame 21 and a lower frame 22 arranged thereon, a spacer clamping mechanism 23, and a spacer pressing mechanism 24. The upper and lower wire device 1 is used to perform the upper and lower wires of the lower installation device 2 after it is put on the upper wire of the four-split conductor 3. The lower frame 22 is used to store the four-split spacer 4 horizontally. The spacer clamping mechanism 23 is used to clamp the four-split spacer 4 stored in the lower frame 22 and move it to the lower frame 22. Move to the installation position, when the four-split spacer bar 4 is in the installation position, the four wires in the four-split wire 3 are located in the four clamps 41 of the four-split spacer bar 4, and the spacer bar clamping mechanism 24 includes a first rotating table 241 arranged on the middle frame 21, and the rotating surface of the first rotating table 241 is perpendicular to the extension direction of the wire, and four clamping heads 242 are arranged on the first rotating table 241. The first rotating table 241 is used to drive the four clamping heads 242 to rotate to the four clamps 41 of the four-split spacer bar 4, and the clamping heads 242 are used to buckle the clamps 41 of the four-split spacer bar 4.

[0032] 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. The working principle of the above-mentioned four-split conductor spacer installation robot is as follows: first, the upper and lower line devices 1 are put online to the upper conductors in the four-split conductor 3 by the aircraft, and then the lower installation device 2 is put online by the upper and lower line devices 1 to install the spacer; the installation of the spacer is specifically as follows: first, the spacer clamping mechanism 23 is controlled to clamp the four-split spacer 4 stored in the lower frame 22 and move it to the installation position. When the four-split spacer 4 is in the installation position, its four clamps 41 are respectively connected with the four conductors in the four-split conductor 3, and then the spacer clamping mechanism 24 is controlled. The first rotating table 241 rotates the four clamping heads 242 to the four clamps 41 of the four-split spacer bars 4, and finally controls the four clamping heads 242 to simultaneously engage the four clamps 41 of the four-split spacer bars 4 to complete the installation of the four-split spacer bars 4; after completing the installation of all the four-split spacer bars 4 in the lower frame 22, use the upper and lower line devices 1 to take the lower installation device 2 offline, and load the four-split spacer bars 4; repeat the above steps until the installation of the required four-split spacer bars 4 on the four-split conductor 3 is completed, and use the upper and lower line devices 1 to take the lower installation device 2 offline, and take the upper and lower line devices 1 offline.

[0033] See also Figure 6In another embodiment of the present invention, the spacer rod clamping mechanism 23 includes a second rotating table 231, a first arm 232, a second arm 233, and a third arm 234. The second rotating table 231 is connected to the middle part of the first arm 232. The rotating surface of the second rotating table 231 is parallel to the extension direction of the wire. The second arm 233 is slidably set on the first arm 232. The second arm 233 is perpendicular to the first arm 232. The third arm 234 is slidably set on the second arm 233. The third arm 234 is perpendicular to the first arm 232 and the second arm 233. A third rotating table 235 is set at the top of the third arm 234. A spacer rod clamp 236 is installed on the third rotating table 235. The third rotating table 235 is used to drive the spacer rod clamp 236 to rotate with the third arm 234 as the rotation axis. The spacer rod clamp 236 is used to clamp the four-split spacer rod 4.

[0034] The working principle of the spacer bar clamping mechanism 23 is as follows: firstly, the first arm 232 is rotated to be perpendicular to the four-split spacer bar 4 by the second rotating platform 231, and then the spacer bar clamp 236 is moved to the center hole of the four-split spacer bar 4 by the sliding cooperation of the first arm 232, the second arm 233, and the third arm 234, and then the spacer bar clamp 236 is controlled to clamp the center hole of the four-split spacer bar 4; after clamping the four-split spacer bar 4, the first arm 232 is first rotated to be parallel to the extension direction of the wire by the second rotating platform 231, At the same time, the spacer rod clamp 236 is rotated by the third rotating table 235 until the four-split spacer rod 4 thereon is parallel to the extension direction of the wire, and then the spacer rod clamp 236 is moved to the middle position of the four-split wire by the sliding cooperation of the first arm 232, the second arm 233, and the third arm 234, and then the spacer rod clamp 236 is rotated by the third rotating table 235 until the four-split spacer rod 4 thereon is perpendicular to the extension direction of the wire, at this time, the four wires of the four-split wire enter the four clamps 41 of the four-split spacer rod 4.

[0035] As an implementation manner, the first arm 232 , the second arm 233 , and the third arm 234 may be linear guide rails.

[0036] As an implementation mode, the spacer bar clamp 236 includes a gripping base, a gripping drive, and two grippers. The gripping base is connected to the third rotating platform 235. A guide rail is provided on the gripping base. Two grippers are slidably arranged on the guide rail. A card slot is provided on the side of the two grippers away from each other. The output end of the gripping drive is connected to the two grippers. The gripping drive can be a linear cylinder for driving the two grippers to move toward or away from each other. After the two grippers move away from each other to a certain distance, the card slots on the two grippers are engaged with the side walls of the center hole of the four-split spacer bar 4, thereby achieving the gripping of the four-split spacer bar 4.

[0037] As an embodiment, the clamping head 242 includes a clamping head shell and a rotating driving member and a clamping jaw arranged thereon, the clamping jaw includes a clamp and a movable pressure block movably arranged on the clamp, the output end of the rotating driving member is connected to the movable pressure block, and the rotating driving member is used to drive the movable pressure block to cooperate with the clamp to close or release the clamp 41 of the four-split spacer rod 4.

[0038] See also Figure 1 In another embodiment of the present invention, in order to reduce the number of offline times, at least two storage areas are sequentially arranged inside the lower frame 22 along the first direction, and each storage area can store multiple four-split spacers 4 horizontally. In order to improve the stability of the robot and prevent the robot from tilting, the first direction is set to be parallel to the extension direction of the wire; the second rotating platform 231 is slidably arranged at the bottom of the middle frame 21 along the first direction, so as to clamp the four-split spacers 4 in different storage areas. As an embodiment, a slide rail is arranged at the bottom of the middle frame 21, and a slider that slides with the slide rail is arranged on the second rotating platform 231, and the slider is driven to move along the slide rail by a third driving member.

[0039] See also Figures 2 to 4 In another embodiment of the present invention, the upper and lower wire device 1 includes an upper frame 11 and a walking mechanism 12 and a support arm clamping mechanism 13 arranged thereon. The walking mechanism 12 is used to drive the upper and lower wire device 1 to walk along the extension direction of the wire after the upper and lower wire device 1 is threaded to the wire located at the upper layer among the four-split wires 3. As an implementation mode, the walking mechanism 12 can be a walking wheel; the support arm clamping mechanism 13 is used to clamp the wire located at the lower layer among the four-split wires 3 after the upper and lower wire device 1 is threaded to the wire located at the upper layer among the four-split wires 3. The number of the support arm clamping mechanisms 13 is four.

[0040] In another embodiment of the present invention, the support arm clamping mechanism 13 includes a support arm 131, a first retractable driving member 132, and a lower layer wire clamp 133. The middle part of the support arm 131 is movably connected to the upper frame 11, the top of the support arm 131 is connected to the retractable end of the first retractable driving member 132, and the other end of the first retractable driving member 132 is connected to the upper frame 11; when the retractable end of the first retractable driving member 132 retracts, the bottom of the support arm 131 is driven away from the wire located at the lower layer in the four-split wire 3, and the support arm clamping mechanism 13 is in an open state at this time; when the retractable end of the first retractable driving member 132 is extended, the bottom of the support arm 131 is driven close to the wire located at the lower layer in the four-split wire 3, and the support arm clamping mechanism 13 is in a clamping state at this time; the bottom of the support arm 131 is connected to the lower layer wire clamp 133, and the lower layer wire clamp 133 is used to clamp the wire located at the lower layer in the four-split wire 3 when the support arm clamping mechanism 13 is in the clamping state. As an implementation, the first retractable driving member 132 may be a cylinder driving member.

[0041] See also Figure 5 In another embodiment of the present invention, the lower wire clamp 133 includes a housing 134 and a fixed block 135, a moving block 136, and a second retractable driving member 137 arranged inside the housing 134. The housing 134 is connected to the bottom of the support arm 131, and the moving block 136 is connected to the retractable end of the second retractable driving member 137. The second retractable driving member 137 is used to drive the moving block 136 to move toward the fixed block 135 to clamp the wire when the retractable end thereof is extended. A groove for accommodating the wire is provided on one side of the moving block 136 close to the fixed block 135. As an embodiment, the second retractable driving member 137 can be a cylinder driving member.

[0042] See also Figure 1 In another embodiment of the present invention, in order to prevent the robot from falling from a high altitude and improve the connection firmness between the robot and the four-split wire, the upper and lower wire device 1 further includes an upper wire clamp 14 arranged on the upper frame 11, and the upper wire clamp 14 is used to clamp the wire located at the upper layer of the four-split wire 3. As an embodiment, the structure of the upper wire clamp 14 is consistent with the structure of the lower wire clamp 133. The number of the upper wire clamps 14 is two.

[0043] See also Figure 1 In another embodiment of the present invention, the upper and lower line devices 1 also include an upper hoisting mechanism 15 arranged on the upper frame 11, and the upper hoisting mechanism 15 is used to retract and release the hoisting rope. The lower installation device 2 also includes a lower hoisting device 25 arranged on the middle frame 21, and the lower hoisting device 25 is used to connect and retract and release the hoisting rope from the upper lifting device 13, thereby completing the upper line of the lower installation device 2 through self-twisting of the hoisting rope.

[0044] In specific applications, since the upper and lower line devices 1 are light in weight, the upper and lower line devices 1 can be placed on the upper conductor of the four-split conductor by the aircraft, and the upper and lower line devices 1 can be moved to a suitable position by the walking mechanism 12, and then the upper and lower line devices 1 lower the lifting rope, and the lower lifting device 25 receives the lifting rope and completes the lifting line by self-twisting the lifting rope, so that the lower installation device 2 is connected to the upper and lower line devices 1. This method of lifting the line does not require a crane or manual assistance, has a high safety factor, is simple to operate, and has low energy consumption. When the spacer rod needs to be supplemented, it is only necessary to lower the lower installation device 2 without having to put the entire robot online again.

[0045] See also Figure 1 In another embodiment of the present invention, the upper and lower wire device 1 further includes a connector 16 disposed on the upper frame 11, and the connector 16 is a ball head for connecting with a clamp on the aircraft.

[0046] The present invention also provides a method for using a four-split conductor spacer installation robot, the method comprising:

[0047] S1, putting the upper and lower wire device 1 online to the wire located at the upper layer among the four split wires 3;

[0048] S2, use the upper and lower line devices 1 to put the lower installation device 2 online to install the spacer bars; the installation of the spacer bars is specifically as follows: first control the spacer bar clamping mechanism 23 to clamp the four-split spacer bar 4 stored in the lower frame 22 and move it to the installation position, when the four-split spacer bar 4 is in the installation position, its four clamps 41 are respectively overlapped with the four wires in the four-split wire 3, and then control the first rotating table 241 in the spacer bar clamping mechanism 24 to rotate the four clamps 242 to the four clamps 41 of the four-split spacer bar 4, and then control the four clamps 242 to simultaneously buckle the four clamps 41 of the four-split spacer bar 4 to complete the installation of the four-split spacer bar 4;

[0049] S3, after completing the installation of all the four-split spacers 4 in the lower frame 22, the lower installation device 2 is offlined using the upper and lower line device 1 to load the four-split spacers 4;

[0050] S4, repeat S2-S3 until the installation of the required four-split spacer bars 4 on the four-split conductor 3 is completed, and the lower installation device 2 is offline using the upper and lower line device 1, and the upper and lower line device 1 is offline.

Claims

1. A four-split conductor spacer installation robot, characterized in that: The robot comprises an upper and lower line device (1) and a lower installation device (2); the lower installation device (2) comprises a middle frame (21) and a lower frame (22) arranged thereon, a spacer bar clamping mechanism (23), and a spacer bar pressing mechanism (24); the upper and lower line device (1) is used to perform the upper and lower line operation of the lower installation device (2) after the upper frame (21) is put on the upper conductor of the four-split conductor (3); the lower frame (22) is used to store the four-split spacer bars (4) horizontally; the spacer bar clamping mechanism (23) is used to clamp the four-split spacer bars (4) stored in the lower frame (22) and move them to the installation position; the four-split conductor (3) is placed on the upper conductor (3) and the spacer bar clamping mechanism (23) is used to clamp the four-split spacer bars (4) stored in the lower frame (22) and move them to the installation position; When the spacer bar (4) is in the installation position, four conductors in the four-split conductor (3) are located in the four clamps (41) of the four-split spacer bar (4), and the spacer bar clamping mechanism (24) comprises a first rotating platform (241) arranged on the middle frame (21), the rotating surface of the first rotating platform (241) is perpendicular to the extension direction of the conductor, and four clamping heads (242) are arranged on the first rotating platform (241), and the first rotating platform (241) is used to drive the four clamping heads (242) to rotate to the four clamps (41) of the four-split spacer bar (4), and the clamping heads (242) are used to buckle the clamps (41) of the four-split spacer bar (4).

2. A four-split conductor spacer installation robot according to claim 1, characterized in that: The spacer rod clamping mechanism (23) comprises a second rotating platform (231), a first arm (232), a second arm (233), and a third arm (234); the second rotating platform (231) is connected to the middle part of the first arm (232); the rotating surface of the second rotating platform (231) is parallel to the extension direction of the wire; the second arm (233) is slidably arranged on the first arm (232); the second arm (233) is perpendicular to the first arm (232); the third arm (234) is slidably arranged on the first arm (232); The third arm (234) is vertically arranged on the second arm (232) and the second arm (233). A third rotating platform (235) is arranged at the top of the third arm (234). A spacer rod clamp (236) is installed on the third rotating platform (235). The third rotating platform (235) is used to drive the spacer rod clamp (236) to rotate with the third arm (234) as the rotation axis. The spacer rod clamp (236) is used to clamp the four-split spacer rod (4).

3. A four-split conductor spacer installation robot according to claim 2, characterized in that: The lower frame (22) is used to store a plurality of four-split spacer bars (4) horizontally in sequence along a first direction, and the second rotating platform (231) is slidably arranged at the bottom of the middle frame (21) along the first direction, and the first direction is parallel to the extension direction of the wire.

4. A four-split conductor spacer installation robot according to any one of claims 1 to 3, characterized in that: The upper and lower wire device (1) comprises an upper frame (11) and a walking mechanism (12) and a support arm clamping mechanism (13) arranged thereon; the walking mechanism (12) is used to drive the upper and lower wire device (1) to walk along the extension direction of the wire after the upper and lower wire device (1) is threaded to the wire located at the upper layer among the four-split wires (3); and the support arm clamping mechanism (13) is used to clamp the wire located at the lower layer among the four-split wires (3) after the upper and lower wire device (1) is threaded to the wire located at the upper layer among the four-split wires (3).

5. A four-split conductor spacer installation robot according to claim 4, characterized in that: The support arm clamping mechanism (13) comprises a support arm (131), a first retractable driving member (132), and a lower layer wire clamp (133); the middle part of the support arm (131) is movably connected to the upper frame (11); the top of the support arm (131) is connected to the retractable end of the first retractable driving member (132); the other end of the first retractable driving member (132) is connected to the upper frame (11); the first retractable driving member (132) is used to drive the bottom of the support arm (131) away from the wire located at the lower layer of the four-split wires (3) when the retractable end thereof is retracted, and to drive the bottom of the support arm (131) close to the wire located at the lower layer of the four-split wires (3) when the retractable end thereof is extended; the bottom of the support arm (131) is connected to the lower layer wire clamp (133); the lower layer wire clamp (133) is used to clamp the wire located at the lower layer of the four-split wires (3).

6. A four-split conductor spacer installation robot according to claim 5, characterized in that: The lower wire clamp (133) comprises a shell (134) and a fixed block (135), a movable block (136) and a second retractable driving member (137) arranged inside the shell (134); the shell (134) is connected to the bottom of the support arm (131); the movable block (136) is connected to the retractable end of the second retractable driving member (137); the second retractable driving member (137) is used to drive the movable block (136) to move toward the fixed block (135) to clamp the wire when the retractable end of the second retractable driving member (137) is extended.

7. A four-split conductor spacer installation robot according to claim 6, characterized in that: The upper and lower wire device (1) further comprises an upper wire clamp (14) arranged on the upper frame (11); the structure of the upper wire clamp (14) is consistent with the structure of the lower wire clamp (133); the upper wire clamp (14) is used to clamp the wire located at the upper layer of the four-split wire (3).

8. A four-split conductor spacer installation robot according to claim 4, characterized in that: The upper and lower wire devices (1) further include an upper hoisting mechanism (15) arranged on the upper frame (11), and the lower installation device (2) further includes a lower hoisting device (25) arranged on the middle frame (21), and the lower hoisting device (25) is used to be connected to the upper hoisting mechanism (15) by self-twisting of a hoisting rope.

9. A four-split conductor spacer installation robot according to claim 4, characterized in that: The upper and lower wire device (1) further comprises a connecting head (16) arranged on the upper frame (11), and the connecting head (16) is used to connect with a clamping claw on the aircraft.

10. A method for using the four-split conductor spacer installation robot according to claim 1, characterized in that: The method of use includes: S1, putting the upper and lower wire device (1) online to the four-split conductor (3); S2. Use the upper and lower line devices (1) to put the lower installation device (2) online and install the spacer bars; the installation of the spacer bars is specifically as follows: first control the spacer bar clamping mechanism (23) to clamp the four-split spacer bar (4) stored in the lower frame (22) and move it to the installation position, when the four-split spacer bar (4) is in the installation position, its four clamps (41) are respectively overlapped with the four wires in the four-split wire (3), and then control the first rotating table (241) in the spacer bar clamping mechanism (24) to rotate the four clamps (242) to the four clamps (41) of the four-split spacer bar (4), and then control the four clamps (242) to simultaneously buckle the four clamps (41) of the four-split spacer bar (4) to complete the installation of the four-split spacer bar (4); S3, after completing the installation of all the four-split spacer bars (4) in the lower frame (22), the lower installation device (2) is offlined using the upper and lower line device (1) to load the four-split spacer bars (4); S4, repeat S2-S3 until the installation of the required four-split spacer bars (4) on the four-split conductor (3) is completed, and the lower installation device (2) is offline using the upper and lower line device (1), and the upper and lower line device (1) is offline.

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