A quad-bundle spacer installation robot and method of use

Abstract

This invention belongs to the field of spacer installation technology, specifically relating to a robot for installing four-split conductor spacers and its usage method. The robot includes a loading and unloading device and a lower installation device. The lower installation device includes a middle frame and a lower frame mounted on it, a spacer clamping mechanism, and a spacer pressing mechanism. The spacer clamping mechanism is used to clamp the four-split spacers horizontally stored in the lower frame and move them to the installation position. The spacer pressing mechanism includes a first rotating platform and four pressing heads. The first rotating platform is used to drive the four pressing heads to rotate to the four clamps of the four-split spacers, and the pressing heads are used to engage the clamps of the four-split spacers. In this invention, the four-split spacers are stored horizontally and a corresponding spacer clamping mechanism is designed, which not only increases the number of spacers that can be stored, but also eliminates the need for a spacer pushing device, resulting in a high degree of weight reduction; in addition, it has the characteristics of high installation efficiency.

Description

Technical Field

[0001] This invention belongs to the field of spacer installation technology, specifically relating to a four-split conductor spacer installation robot and its usage method. Background Technology

[0002] Spacers are used during the installation of high-voltage cables. They are installed between split conductors to separate multiple split conductors and restrict their relative movement. Spacers prevent whiplash and collisions between split conductors, and also prevent aerobatic vibrations and span oscillations caused by external environmental factors, ensuring normal power transmission.

[0003] Due to the high risks associated with manual high-altitude installation, a four-split spacer installation robot is used instead. Patent application number 202410149913.3 discloses a four-split conductor spacer installation robot, which includes an online device and an installation device. The online device can be pre-placed on two conductors at a high position. The online device can release a traction rope, allowing the installation device to be lifted to a high position and connected to the online device, thus achieving the installation of the four-split conductor spacers. This spacer installation robot does not require manual labor or the assistance of cranes for online installation, making operation convenient and quick. However, since the spacers are placed vertically, if the number stored is too small, the robot needs to frequently go up and down to replenish the spacers. If the number stored is too large, it becomes difficult to grip the spacers, necessitating the design of a spacer pushing device to push the spacers from the inside to a position that the spacer gripping mechanism can reach, increasing the robot's weight. Furthermore, during actual installation, due to the robot's heavy weight, the wires were bent after the robot was put on the line, and the upper and lower sets of wires of the four-split wire were squeezed together, making it impossible to smoothly install the four-split spacer onto the upper and lower sets of wires. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems in the prior art by providing a four-split conductor spacer installation robot and its usage method that not only increases the number of spacers that can be stored but also achieves a high degree of lightweight design.

[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 robot for installing spacers in four-split conductors. The robot includes a loading / unloading device and a lower installation device. The lower installation device includes a middle frame and a lower frame mounted thereon, a spacer clamping mechanism, and a spacer pressing mechanism. The loading / unloading device is used to load / unload the lower installation device after it is mounted onto the upper layer of the four-split conductors. The lower frame is used to horizontally store the four-split spacers. The spacer clamping mechanism is used to clamp the four-split spacers stored in the lower frame and move them to the installation position. When the four-split spacers are in the installation position, the four conductors of the four-split conductors are located in the four clamps of the four-split spacers. The spacer pressing mechanism includes a first rotating platform mounted on the middle frame. The rotation surface of the first rotating platform is perpendicular to the extension direction of the conductors. Four pressing heads are mounted on the first rotating platform. The first rotating platform is used to drive the four pressing heads to rotate to the four clamps of the four-split spacers. The pressing heads are used to engage the clamps of the four-split spacers.

[0007] The spacer bar gripping mechanism includes a second rotating platform, a first arm, a second arm, and a third arm. The second rotating platform is connected to the middle of the first arm. The rotation surface of the second rotating platform is parallel to the extension direction of the conductor. The second arm is slidably mounted on the first arm and is perpendicular to the first arm. The third arm is slidably mounted on the second arm and is perpendicular to both the first and second arms. A third rotating platform is provided at the top of the third arm. A spacer bar gripper is mounted on the third rotating platform. The third rotating platform is used to drive the spacer bar gripper to rotate around the third arm as a rotation axis. The spacer bar gripper is used to grip the four-split spacer bar.

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

[0009] The loading and unloading device includes an upper frame and a walking mechanism and a support arm clamping mechanism mounted on it. The walking mechanism is used to drive the loading and unloading device to move along the extension direction of the conductor after the upper conductor of the four-split conductor is loaded onto the loading and unloading device. The support arm clamping mechanism is used to clamp the lower conductor of the four-split conductor after the upper conductor of the loading and unloading device is loaded onto the upper conductor of the four-split conductor.

[0010] The arm clamping mechanism includes an arm, a first retractable drive member, and a lower wire clamp. The middle part of the arm is movably connected to the upper frame, and the top of the arm is connected to the retractable end of the first retractable drive member. The other end of the first retractable drive member is connected to the upper frame. The first retractable drive member is used to move the bottom of the arm away from the lower wire in the four-split wire when its retractable end retracts, and to move the bottom of the arm closer to the lower wire in the four-split wire when its retractable end extends. The bottom of the arm is connected to the lower wire clamp, which is used to clamp the lower wire in the four-split wire.

[0011] The lower wire clamp includes a housing and a fixed block, a movable block, and a second retractable drive member disposed inside the housing. The housing is connected to the bottom of the support arm, and the movable block is connected to the retractable end of the second retractable drive member. The second retractable drive 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 set on the upper frame. The structure of the upper wire clamp is the same as that of the lower wire clamp. The upper wire clamp is used to clamp the upper wire in the four-split wire.

[0013] The mounting and dismounting device also includes an upper hoisting mechanism mounted on the upper frame, and the lower mounting device also includes a lower hoisting device mounted on the middle frame. The lower hoisting device is used to connect with the upper hoisting mechanism via a self-twisting hoisting rope.

[0014] The loading and unloading device also includes a connector on the upper frame, which is used to connect to the grippers on the aircraft.

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

[0016] S1. Connect the upper and lower wire devices to the four-split conductor;

[0017] S2. The lower installation device is connected to the upper and lower line device for spacer installation. The spacer installation is specifically as follows: First, the spacer clamping mechanism is controlled to clamp the four-split spacer stored in the lower frame and move it to the installation position. When the four-split spacer is in the installation position, its four clamps are respectively connected to the four wires in the four-split conductor. Then, the first rotating table in the spacer clamping mechanism is controlled to rotate the four clamping heads to the four clamps of the four-split spacer. Then, the four clamping heads are controlled to simultaneously engage the four clamps of the four-split spacer to complete the installation of the four-split spacer.

[0018] S3. After completing the installation of all four-split spacers in the lower frame, use the upper and lower line device to lower the lower installation device and fill 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. Use the upper and lower wire connection device to remove the lower installation device from the wire.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. The present invention provides a robot for installing spacers in four-split conductors, comprising a loading / unloading device and a lower installation device. The lower installation device includes a middle frame and a lower frame mounted thereon, a spacer clamping mechanism, and a spacer pressing mechanism. The loading / unloading device is used to load / unload the lower installation device after it has loaded itself onto the upper layer of the four-split conductor. The lower frame is used to horizontally store the four-split spacers. The spacer clamping mechanism is used to clamp the four-split spacers stored in the lower frame and move them to the installation position. When the four-split spacers are in the installation position, the four conductors of the four-split conductor are located in the four clamps of the four-split spacers. The spacer pressing mechanism includes a first rotating platform mounted on the middle frame. The rotating surface of the rotary table is perpendicular to the extension direction of the conductor. Four clamping heads are provided on the first rotary table, which drives the four clamping heads to rotate to the four clamps of the four-split spacer. The clamping heads engage the clamps of the four-split spacer. In this design, the four-split spacers are stored horizontally and a corresponding spacer clamping mechanism is designed. Compared to vertically placing the spacers, this increases the number of spacers that can be stored and eliminates the need for a spacer pushing device. This not only facilitates manual replenishment of spacers but also makes it easier for the spacer clamping mechanism to handle them, resulting in a high degree of weight reduction. Furthermore, the spacer clamping mechanism has four clamping heads, which can simultaneously engage the four clamps of the four-split spacer, improving installation efficiency. Therefore, this invention features high weight reduction and high installation efficiency.

[0022] 2. In the four-split conductor spacer installation robot of the present invention, the upper and lower wire mounting device includes an upper frame and a walking mechanism and a support arm clamping mechanism mounted on it. After the upper and lower wire mounting device mounts the upper conductor of the four-split conductor, the support arm clamping mechanism clamps the lower conductor of the four-split conductor to fix the spacing between the upper and lower conductors in the four-split conductor. This prevents the upper and lower conductors from being squeezed together when the lower mounting device mounts the wire, which would affect the spacer installation operation. Furthermore, the support arm clamping mechanism has a simple structure, further improving the robot's lightweight design. Therefore, the present invention can fix the spacing between the upper and lower conductors in a four-split conductor, and its simple structure further improves the robot's lightweight design. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the four-split conductor spacer rod installation robot described in this invention.

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

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

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

[0027] Figure 5 for Figure 2 A schematic diagram of the structure of the middle and lower layer conductor clamp.

[0028] Figure 6 for Figure 1 A schematic diagram of the intermediate spacer clamping mechanism.

[0029] In the diagram above, the components are: upper and lower wire assembly 1, upper frame 11, walking mechanism 12, support arm clamping mechanism 13, support arm 131, first telescopic drive component 132, lower wire clamp 133, housing 134, fixing block 135, moving block 136, second telescopic drive component 137, upper wire clamp 14, upper hoisting mechanism 15, connector 16, lower mounting device 2, middle frame 21, lower frame 22, spacer clamping mechanism 23, second rotating platform 231, first arm 232, second arm 233, third arm 234, third rotating platform 235, spacer clamp 236, spacer pressing mechanism 24, first rotating platform 241, pressing head 242, lower hoisting device 25, four-split wire 3, four-split spacer 4, and clamp 41. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0031] See Figure 1This invention provides a robot for installing spacers on four-split conductors, including a loading / unloading device 1 and a lower installation device 2. The lower installation device 2 includes a middle frame 21 and a lower frame 22 mounted thereon, a spacer clamping mechanism 23, and a spacer pressing mechanism 24. The loading / unloading device 1 is used to load / unload the lower installation device 2 after it is mounted onto the upper layer of the four-split conductor 3. The lower frame 22 is used to horizontally store the four-split spacers 4, and the spacer clamping mechanism 23 is used to clamp the four-split spacers 4 stored in the lower frame 22 and move them. When the spacer bar 4 is in the installation position, the four wires of the four-split wire 3 are located in the four clamps 41 of the spacer bar 4. The spacer bar clamping mechanism 24 includes a first rotating platform 241 set on the middle frame 21. The rotating surface of the first rotating platform 241 is perpendicular to the extension direction of the wire. The first rotating platform 241 is provided with four clamping heads 242. The first rotating platform 241 is used to drive the four clamping heads 242 to rotate to the four clamps 41 of the spacer bar 4. The clamping heads 242 are used to engage the clamps 41 of the spacer bar 4.

[0032] The four-split conductor consists of four parallel conductors, numbered 1, 2, 3, and 4. Conductors 1 and 2 are upper-layer conductors on the same horizontal plane, while conductors 3 and 4 are lower-layer conductors on another horizontal plane. The working principle of the four-split conductor spacer installation robot is as follows: First, the loading and unloading device 1 is mounted to the upper conductor of the four-split conductor 3 using an aircraft. Then, the lower installation device 2 is mounted using the loading and unloading device 1 to install the spacer. Specifically, the spacer installation involves controlling the spacer clamping mechanism 23 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 respectively overlap with the four conductors in the four-split conductor 3. Then, the spacer pressing mechanism 24 is controlled. The first rotating platform 241 rotates the four clamping heads 242 to the four clamps 41 of the four-split spacer 4, and finally controls the four clamping heads 242 to simultaneously engage the four clamps 41 of the four-split spacer 4, thus completing the installation of the four-split spacer 4. After the installation of all the four-split spacers 4 in the lower frame 22 is completed, the lower mounting device 2 is unmounted using the upper and lower wiring device 1 to load the four-split spacers 4. The above steps are repeated until the installation of the required four-split spacers 4 on the four-split conductor 3 is completed, and the lower mounting device 2 is unmounted using the upper and lower wiring device 1.

[0033] See Figure 6In another embodiment of the present invention, the spacer bar clamping mechanism 23 includes 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 of the first arm 232. The rotation surface of the second rotating platform 231 is parallel to the extension direction of the conductor. The second arm 233 is slidably disposed on the first arm 232 and is perpendicular to the first arm 232. The third arm 234 is slidably disposed on the second arm 233 and is perpendicular to the first arm 232 and the second arm 233. A third rotating platform 235 is provided at the top of the third arm 234. A spacer bar clamp 236 is installed on the third rotating platform 235. The third rotating platform 235 is used to drive the spacer bar clamp 236 to rotate around the third arm 234 as the rotation axis. The spacer bar clamp 236 is used to clamp the four-split spacer bar 4.

[0034] The working principle of the spacer bar clamping mechanism 23 is as follows: First, the first arm 232 is rotated to be perpendicular to the four-split spacer bar 4 via the second rotating table 231. Then, the spacer bar clamp 236 is moved to the center hole of the four-split spacer bar 4 through the sliding cooperation of the first arm 232, the second arm 233, and the third arm 234. 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 rotated to be parallel to the extension direction of the conductor via the second rotating table 231. Simultaneously, the spacer clamp 236 is rotated by the third rotating platform 235 so that the four-split spacer 4 is parallel to the direction of wire extension. Then, the spacer clamp 236 is moved to the middle position of the four-split wire through the sliding cooperation of the first arm 232, the second arm 233, and the third arm 234. Then, the spacer clamp 236 is rotated by the third rotating platform 235 so that the four-split spacer 4 is perpendicular to the direction of wire extension. At this time, the four wires of the four-split wire enter the four clamps 41 of the four-split spacer 4.

[0035] In one implementation, the first arm 232, the second arm 233, and the third arm 234 can be linear guide rails.

[0036] In one embodiment, the spacer bar clamp 236 includes a gripping base, a gripping drive, and two grippers. The gripping base is connected to a third rotary table 235. A guide rail is provided on the gripping base, and the two grippers are slidably mounted on the guide rail. Each gripper has a slot on its opposite side. The output end of the gripping drive is connected to the two grippers. The gripping drive can be a linear cylinder, used to drive the two grippers to move towards each other or away from each other. After the two grippers move away from each other to a certain distance, the slots on the two grippers engage with the sidewall of the central hole of the four-split spacer bar 4, thereby clamping the four-split spacer bar 4.

[0037] In one embodiment, the clamping head 242 includes a clamping head housing and a rotary drive member and a gripper disposed thereon. The gripper includes a clamp and a movable pressure block movably disposed on the clamp. The output end of the rotary drive member is connected to the movable pressure block. The rotary drive 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 bar 4.

[0038] See Figure 1 In another embodiment of the present invention, to reduce the number of times the wire is removed from the production line, at least two storage areas are sequentially arranged inside the lower frame 22 along a first direction. Each storage area can horizontally store multiple four-split spacer bars 4. To improve robot stability and prevent the robot from tilting, the first direction is set to be parallel to the direction of wire extension. The second rotating platform 231 is slidably arranged at the bottom of the middle frame 21 along the first direction to grip the four-split spacer bars 4 in different storage areas. As one implementation, a slide rail is provided at the bottom of the middle frame 21, and a slider that slides along the slide rail is provided on the second rotating platform 231. The slider is driven to move along the slide rail by a third driving member.

[0039] See Figures 2 to 4 In another embodiment of the present invention, the loading and unloading device 1 includes an upper frame 11 and a traveling mechanism 12 and a support arm clamping mechanism 13 disposed thereon. The traveling mechanism 12 is used to drive the loading and unloading device 1 to travel along the extension direction of the conductor after the upper layer of the four-split conductor 3 is loaded onto the loading and unloading device 1. As one embodiment, the traveling mechanism 12 can be a traveling wheel. The support arm clamping mechanism 13 is used to clamp the lower layer of the four-split conductor 3 after the upper layer of the loading and unloading device 1 is loaded onto the four-split conductor 3. The number of support arm clamping mechanisms 13 is four.

[0040] In another embodiment of the present invention, the arm clamping mechanism 13 includes an arm 131, a first retractable drive member 132, and a lower wire clamp 133. The middle part of the arm 131 is movably connected to the upper frame 11, the top of the arm 131 is connected to the retractable end of the first retractable drive member 132, and the other end of the first retractable drive member 132 is connected to the upper frame 11. When the retractable end of the first retractable drive member 132 retracts, it drives the bottom of the arm 131 away from the lower wire in the four-split wire 3, at which time the arm clamping mechanism 13 is in the open state. When the retractable end of the first retractable drive member 132 extends, it drives the bottom of the arm 131 closer to the lower wire in the four-split wire 3, at which time the arm clamping mechanism 13 is in the clamping state. The bottom of the arm 131 is connected to the lower wire clamp 133, which is used to clamp the lower wire in the four-split wire 3 when the arm clamping mechanism 13 is in the clamping state. In one implementation, the first retractable drive member 132 can be a cylinder drive member.

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

[0042] See Figure 1 In another embodiment of the present invention, to prevent the robot from falling from a height and to improve the connection between the robot and the four-split wire, the upper and lower wire connection device 1 further includes an upper wire clamp 14 disposed on the upper frame 11. The upper wire clamp 14 is used to clamp the upper wire of the four-split wire 3. As one implementation, the structure of the upper wire clamp 14 is the same as the structure of the lower wire clamp 133. There are two upper wire clamps 14.

[0043] See Figure 1 In another embodiment of the present invention, the upper and lower installation device 1 further includes an upper hoisting mechanism 15 disposed on the upper frame 11, the upper hoisting mechanism 15 being used to retract and extend the hoisting rope, and the lower installation device 2 further includes a lower hoisting device 25 disposed on the middle frame 21, the lower hoisting device 25 being used to connect and retract the hoisting rope from the upper lifting device 13, thereby completing the upper installation of the lower installation device 2 by self-twisting of the hoisting rope.

[0044] In practical applications, due to the light weight of the loading / unloading device 1, it can be first placed on the upper conductor of the four-split conductor by the aircraft. The walking mechanism 12 then moves the device to a suitable position, and the device lowers the hoisting rope. The lower hoisting device 25 receives the rope and completes the loading process through rope self-winding, connecting the lower mounting device 2 to the loading / unloading device 1. This loading method eliminates the need for cranes or manual assistance, ensuring high safety, simple operation, and low energy consumption. When additional spacers are needed, only the lower mounting device 2 needs to be lowered; the entire robot does not need to be reloaded.

[0045] See Figure 1 In another embodiment of the present invention, the loading and unloading device 1 further includes a connector 16 disposed on the upper frame 11. The connector 16 is a ball head and is used to connect with the gripper on the aircraft.

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

[0047] S1. Connect the upper and lower wires of the upper wire in the four-split wire 3 to the upper wire;

[0048] S2. Use the upper and lower line device 1 to put the lower installation device 2 on the line for spacer installation. The spacer installation is as follows: First, control the spacer clamping mechanism 23 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 to the four wires in the four-split wire 3. Then, control the first rotating table 241 in the spacer clamping mechanism 24 to rotate the four clamping heads 242 to the four clamps 41 of the four-split spacer 4. Then, control the four clamping heads 242 to simultaneously engage the four clamps 41 of the four-split spacer 4 to complete the installation of the four-split spacer 4.

[0049] S3. After completing the installation of all four-split spacers 4 in the lower frame 22, use the upper and lower line device 1 to lower the lower installation device 2 and fill the four-split spacers 4.

[0050] S4. Repeat S2-S3 until the installation of the required four-split spacer 4 on the four-split conductor 3 is completed. Use the upper and lower wire device 1 to remove the lower installation device 2 from the wire.

Claims

1. A quad-bundle spacer installation robot, characterized in that: the robot comprises an up-and-down device (1) and a lower installation device (2), the lower installation device (2) comprises a middle frame (21) and a lower frame (22), a spacer clamping mechanism (23) and a spacer pressing mechanism (24) arranged on the middle frame (21), the up-and-down device (1) is used for up-and-down after being up to the upper conductor in the quad-bundle (3), the lower frame (22) is used for horizontally storing the quad-bundle spacer (4), the spacer clamping mechanism (23) is used for clamping and moving the quad-bundle spacer (4) stored in the lower frame (22) to the installation position, when the quad-bundle spacer (4) is in the installation position, the four conductors in the quad-bundle (3) are located in the four clamping heads (41) of the quad-bundle spacer (4), the spacer pressing mechanism (24) comprises a first rotating table (241) arranged on the middle frame (21), the rotating surface of the first rotating table (241) is perpendicular to the direction of the conductor extension, four pressing heads (242) are arranged on the first rotating table (241), the first rotating table (241) is used for driving the four pressing heads (242) to rotate to the four clamping heads (41) of the quad-bundle spacer (4), the pressing head (242) is used for buckling the clamping head (41) of the quad-bundle spacer (4); the spacer clamping mechanism (23) comprises 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 direction of the conductor extension, the second arm (233) is slidingly arranged on the first arm (232), the second arm (233) is perpendicular to the first arm (232), the third arm (234) is slidingly arranged on the second arm (233), the third arm (234) is perpendicular to the first arm (232) and the second arm (233), the top end of the third arm (234) is provided with a third rotating table (235), the third rotating table (235) is provided with a spacer clamp (236), the third rotating table (235) is used for driving the spacer clamp (236) to rotate around the third arm (234) as the rotating shaft, the spacer clamp (236) is used for clamping the quad-bundle spacer (4).

2. A quad bundle spacer bar installation robot according to claim 1, characterized in that: the lower frame (22) is used for horizontally storing a plurality of quad-bundle spacers (4) in sequence along a first direction, the second rotating table (231) is slidingly arranged on the bottom of the middle frame (21) along the first direction, and the first direction is parallel to the direction of the conductor extension.

3. A quad bundle spacer bar installation robot according to claim 1 or 2, characterized in that: The up-and-down device (1) comprises an upper frame (11), a walking mechanism (12) and a supporting arm clamping mechanism (13) arranged on the upper frame (11), the walking mechanism (12) is used to drive the up-and-down device (1) to walk along the extension direction of the conductor after the up-and-down device (1) is connected to the conductor in the upper layer of the four-split conductor (3), and the supporting arm clamping mechanism (13) is used to clamp the conductor in the lower layer of the four-split conductor (3) after the up-and-down device (1) is connected to the conductor in the upper layer of the four-split conductor (3).

4. A quad bundle spacer bar installation robot according to claim 3, characterized in that: The supporting arm clamping mechanism (13) comprises a supporting arm (131), a first telescopic driving member (132) and a lower-layer conductor clamp (133), the middle part of the supporting arm (131) is movably connected with the upper frame (11), the top of the supporting arm (131) is connected with the telescopic end of the first telescopic driving member (132), the other end of the first telescopic driving member (132) is connected with the upper frame (11), the first telescopic driving member (132) is used to drive the bottom of the supporting arm (131) to move away from the conductor in the lower layer of the four-split conductor (3) when the telescopic end of the first telescopic driving member (132) is retracted, and the first telescopic driving member (132) is used to drive the bottom of the supporting arm (131) to move close to the conductor in the lower layer of the four-split conductor (3) when the telescopic end of the first telescopic driving member (132) is extended, the bottom of the supporting arm (131) is connected with the lower-layer conductor clamp (133), and the lower-layer conductor clamp (133) is used to clamp the conductor in the lower layer of the four-split conductor (3).

5. A quad bundle spacer bar installation robot according to claim 4, characterized in that: The lower-layer conductor clamp (133) comprises a housing (134), a fixed block (135), a moving block (136) and a second telescopic driving member (137), the housing (134) is connected with the bottom of the supporting arm (131), the moving block (136) is connected with the telescopic end of the second telescopic driving member (137), and the second telescopic driving member (137) is used to drive the moving block (136) to move towards the fixed block (135) to clamp the conductor when the telescopic end of the second telescopic driving member (137) is extended.

6. A quad bundle spacer bar installation robot according to claim 5, characterized in that: The up-and-down device (1) further comprises an upper-layer conductor clamp (14) arranged on the upper frame (11), the structure of the upper-layer conductor clamp (14) is consistent with the structure of the lower-layer conductor clamp (133), and the upper-layer conductor clamp (14) is used to clamp the conductor in the upper layer of the four-split conductor (3).

7. A quad bundle spacer bar installation robot according to claim 3, characterized in that: The up-and-down device (1) further comprises an upper hoisting mechanism (15) arranged on the upper frame (11), and the lower mounting device (2) further comprises a lower hoisting device (25) arranged on the middle frame (21), the lower hoisting device (25) is connected with the upper hoisting mechanism (15) through a self-stranding hoisting rope.

8. The quad bundle spacer installation robot of claim 3, wherein: The up-and-down device (1) further comprises a connecting head (16) arranged on the upper frame (11), and the connecting head (16) is used to be connected with a clamping jaw on an aircraft.

9. A method for using the four-split conductor spacer mounting robot of claim 1, wherein: The method comprises: S1, connecting the up-and-down device (1) to the four-split conductor (3). S2, the lower installation device (2) is put on line by using the up and down line device (1), and the spacer rod is installed; the spacer rod installation is specifically as follows: first, the spacer rod clamping mechanism (23) is controlled to clamp the four-split spacer rod (4) stored in the lower frame (22) and move it to the installation position, when the four-split spacer rod (4) is in the installation position, four clamping heads (41) of the four-split spacer rod (4) are respectively overlapped with four wires in the four-split wire (3), then the first rotating table (241) in the spacer rod pressing mechanism (24) is controlled to rotate four pressing heads (242) to the four clamping heads (41) of the four-split spacer rod (4), then the four pressing heads (242) are controlled to simultaneously buckle the four clamping heads (41) of the four-split spacer rod (4), and the installation of the four-split spacer rod (4) is completed; S3, after the installation of all the four-split spacer rods (4) in the lower frame (22) is completed, the lower installation device (2) is put off line by using the up and down line device (1), and the four-split spacer rod (4) is filled; S4, repeat S2-S3 until the installation of the required four-split spacer rod (4) on the four-split wire (3) is completed, the lower installation device (2) is put off line by using the up and down line device (1), and the up and down line device (1) is put off line.

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