Four-bundle conductor spacer mounting robot and self-adaptive obstacle crossing method thereof

Abstract

The invention provides a four-split conductor spacer installation robot and a self-adaptive obstacle crossing method thereof, and relates to the technical field of spacer installation, and the four-split conductor spacer installation robot comprises an upper installation device which is provided with a clamping assembly used for clamping an upper-layer conductor; the unloading device comprises a main body frame, a plurality of driving wheel sets, a plurality of auxiliary wheel sets, a plurality of guide pressing wheel sets and a jacking assembly, and the driving wheel sets are vertically and slidably connected to the left side and the right side of the main body frame through first vertical displacement assemblies; the multiple auxiliary wheel sets correspond to the multiple driving wheel sets one to one and are vertically and slidably connected to the front sides of the multiple driving wheel sets correspondingly, the multiple guide pressing wheel sets are vertically and slidably connected to the main body frame through the second vertical displacement assembly, the jacking assembly is installed on the upper side of the main body frame, and the spacer installation device is installed on the rear side of the main body frame. And the hoisting device is connected between the main body frame and the loading device. The obstacle crossing robot is convenient for obstacle crossing and is safe and stable.

Description

Technical Field

[0001] This invention relates to the field of spacer bar installation technology, and more particularly to a four-split conductor spacer bar installation robot and its adaptive obstacle-crossing method. Background Technology

[0002] Spacer bars are hardware used to fix the spacing of overhead transmission lines. For a long time, spacer bar installation was carried out manually using a mobile crane. However, manual installation of spacer bars requires high-altitude wiring, which poses significant safety risks. Therefore, spacer bar installation robots have been used to replace manual installation. Since spacer bar installation robots can carry multiple spacer bars at once and complete batch installation, their use in transmission and transformation circuits is quite frequent. However, the walking mechanism of current spacer bar installation robots is mostly a fixed-spacing wheel set. For example, Chinese patent CN112787267A discloses a spacer bar installation and maintenance robot with a mounting and walking module, which mainly realizes the robot's attachment and movement on split conductors. This robot can only adapt to changes in conductor diameter, which means that the walking module cannot autonomously cross crimped pipes and other obstacles, requiring manual assistance for adjustment, making it inconvenient to use in practice. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings and problems of the existing spacer bar robot in terms of inconvenience in obstacle crossing, and to provide a four-split wire spacer bar installation robot with convenient obstacle crossing and its adaptive obstacle crossing method.

[0004] To achieve the above objectives, the technical solution of the present invention is: a four-split conductor spacer bar installation robot, comprising an upper mounting device, a hoisting device, a lower mounting device, and a spacer bar installation device that slide along the upper layer conductor of the four-split conductor, wherein the upper mounting device is equipped with a clamping component for clamping the upper layer conductor.

[0005] The lower assembly includes a main frame, multiple drive wheel sets, multiple auxiliary wheel sets, multiple guide and clamping wheel sets, and a lifting assembly. The main frame contains spacer bars. The multiple drive wheel sets are vertically slidably connected to the left and right sides of the main frame via a first vertical displacement assembly. The multiple auxiliary wheel sets correspond one-to-one with the multiple drive wheel sets and are vertically slidably connected to the front side of the multiple drive wheel sets. The multiple guide and clamping wheel sets are vertically slidably connected to the main frame via a second vertical displacement assembly. The lifting assembly is installed on the upper side of the main frame. The spacer bar installation device is installed on the rear side of the main frame. The hoisting device is connected between the main frame and the upper assembly.

[0006] The drive wheel assembly is used to slide against the upper side of the upper conductor.

[0007] The auxiliary wheel set is used to slide against the upper side of the upper conductor;

[0008] The guide clamping wheel assembly is used to slide against the upper side of the lower layer of the four-split conductor.

[0009] The hoisting device is used to connect, lock, and separate the upper structure from the main frame;

[0010] The lifting assembly is used to lift the upper device after it is separated from the main frame;

[0011] The spacer bar installation device is used to clamp the spacer bar, install the spacer bar onto the four-split conductor, and press it tightly.

[0012] The hoisting device includes an upper reel, a guide wheel assembly, a guide cylinder, a guide cone, a lower reel, a self-locking assembly, and a rope winding motor. The upper reel, guide wheel assembly, and guide cylinder are installed on the upper structure. The guide cone and self-locking assembly are installed on the upper side of the main frame. The lower reel is vertically rotatably connected to the main frame. A hoisting rope is wound on the upper reel. One end of the hoisting rope passes through the guide wheel assembly, guide cylinder, and guide cone in sequence and is connected to the lower reel. The rope winding motor is installed inside the main frame, and its output shaft is connected to one end of the lower reel. The shape of the guide cone matches the inner wall of the guide cylinder. The self-locking assembly is used to lock and separate the upper structure from the main frame.

[0013] The lifting assembly includes multiple mounting plates, which are connected to the outside of the guide cylinder in a circumferential direction. A top rod is connected to the lower side of each mounting plate, and the lower end of the top rod passes through the upper device and is connected to a lifting mechanism. The lifting mechanism is mounted on the main frame.

[0014] The lifting mechanism is used to lift the lifting rod.

[0015] The drive wheel assembly includes a drive support, a drive bracket, and a drive motor. The drive support is vertically slidably connected to the outside of the main frame via a first vertical displacement component. The drive bracket and the auxiliary wheel assembly are slidably connected to the lower side of the drive support via a horizontal sliding component. The drive motor is mounted on the drive bracket. The output shaft of the drive motor passes through the drive bracket and is connected to a main drive wheel. The main drive wheel is rotatably connected to the upper side of the upper conductor. One end of the main drive wheel is connected to a pressure wheel.

[0016] The auxiliary wheel assembly includes an auxiliary wheel, a vertical sliding assembly, and a support rod. One end of the support rod is vertically slidably connected to the drive bracket via the vertical sliding assembly, and the other end of the support rod is connected to an auxiliary pressure wheel. The auxiliary wheel is sleeved on the outside of the support rod and is tumbledly connected to the upper side of the upper conductor.

[0017] The lower assembly also includes multiple clamping wheel sets, each of which is vertically slidably connected to the main frame via a clamping component. Each clamping wheel set is located between the drive wheel set and the auxiliary wheel set, and a telescopic component is connected between the clamping wheel sets located on the left and right sides.

[0018] The telescopic assembly is used to enable the two clamping wheel sets to expand or retract in the horizontal direction.

[0019] The tensioning wheel assembly includes a tensioning wheel and a tensioning bracket. The tensioning bracket is vertically slidably connected to the main frame via the tensioning assembly. The tensioning wheel is rotatably connected to the upper side of the tensioning bracket and is rollingly connected to the lower side of the upper conductor.

[0020] The guide clamping wheel assembly includes two symmetrically arranged guide frames, a lateral displacement component is connected between the two guide frames, and each guide frame is equipped with a second vertical displacement component. The output end of the second vertical displacement component is rotatably connected to a lower guide wheel, and the lower guide wheel is rolledly connected to the upper side of the lower conductor.

[0021] The lateral displacement component is used to drive the two guide frames to expand or retract in the horizontal direction.

[0022] The upper device includes an upper frame, with upper guide wheels rotatably connected to the left and right sides of the upper frame. The upper guide wheels are tumbled to the upper side of the upper conductor. The clamping assembly includes two symmetrically arranged clamping frames. Each clamping frame is equipped with a clamping motor, a driven clamping gear, a clamping screw, and two movable plates. The output shaft of the clamping motor is connected to a driving clamping gear. The driven clamping gear is meshed with the driving clamping gear. One end of the clamping screw is connected to the driven clamping gear, and the other end is rotatably connected to the clamping frame. The outer circumferential surface of the clamping screw is symmetrically provided with a forward thread and a reverse thread along the center. The two movable plates are respectively threaded to the forward thread and the reverse thread and are slidably connected to the clamping frame. The lower side of each movable plate is connected to a jaw, and the two jaws together form a slot for accommodating the upper conductor.

[0023] An adaptive obstacle-crossing method for a four-split wire spacer installation robot, the adaptive obstacle-crossing method comprising the following steps:

[0024] Step 1: Place the upper device on the upper conductor, then clamp the upper conductor with the clamping assembly, and use the hoisting device to connect and lock the lower device to the upper device.

[0025] Step 2: The drive wheel assembly moves down through the first vertical displacement component and presses down on the lower conductor, while the guide and pressing wheel assembly is attached to the lower conductor. Then the drive wheel assembly moves up through the first vertical displacement component and is attached to the upper conductor.

[0026] Step 3: The clamping assembly loosens the upper wire, the spacer is clamped by the spacer installation device and placed on the four-split wire, and then the spacer installation device clamps the four clamps of the spacer to complete the spacer installation. Then the spacer installation device loosens the spacer, and the robot moves forward to detach from the spacer by controlling the drive wheel set.

[0027] Step 4: The robot walks on the four-split guide tube. When the auxiliary wheel set walks to the crimping tube, the upper and lower parts are unlocked by the hoisting device. At the same time, the lifting component lifts the upper part, and then the auxiliary wheel set rises to be level with the crimping tube. The auxiliary wheel set walks on the crimping tube. When the drive wheel set walks to the crimping tube, the drive wheel set rises through the first vertical displacement component and is level with the crimping tube. At the same time, the auxiliary wheel set descends and is level with the crimping tube again. At this time, the auxiliary wheel set and the drive wheel set walk on the crimping tube at the same time.

[0028] After the auxiliary wheel assembly crosses the pressure pipe, it descends and attaches to the upper conductor. Then, the auxiliary wheel assembly travels on the upper conductor. After the drive wheel assembly crosses the pressure pipe, it descends through the first vertical displacement component and attaches to the upper conductor. At the same time, the auxiliary wheel assembly descends and remains in contact with the upper conductor. The lifting component stops lifting, and the upper and lower components are locked by the hoisting device.

[0029] Step 5: When the first guide clamping wheel assembly moves to the crimping pipe, the first guide clamping wheel assembly rises to be flush with the crimping pipe via the second vertical displacement component. The first guide clamping wheel assembly moves on the crimping pipe. After the first guide clamping wheel assembly crosses the crimping pipe, the first guide clamping wheel assembly descends via the second vertical displacement component and attaches to the lower conductor. When the subsequent guide clamping wheel assembly moves to the crimping pipe, the above steps are repeated until the last guide clamping wheel assembly crosses the crimping pipe.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] 1. In the four-split conductor spacer bar installation robot and its adaptive obstacle-crossing method of the present invention, the upper device achieves self-locking and separation from the lower device through a hoisting device. When the lower device crosses the pressure pipe, the upper device is lifted by a lifting component to avoid interference between the upper device and the pressure pipe. At the same time, the lower device is equipped with multiple drive wheel sets and guide clamping wheel sets, each of which can be autonomously raised and lowered. With the help of auxiliary wheel sets, it can cross the pressure pipes on four conductors. The robot can walk autonomously and without obstacles on the conductors without human intervention to cross the pressure pipes, thus ensuring stability and safety during the crossing process. Therefore, the present invention facilitates obstacle crossing.

[0032] 2. In the four-split conductor spacer installation robot and its adaptive obstacle-crossing method of the present invention, the release and retraction of the suspension rope are achieved through a rope-releasing assembly and a rope-winding assembly, thereby facilitating the loading and unloading of the lower assembly. Precise guidance before docking is achieved through a guide cylinder and a guide cone, allowing the lower assembly and upper assembly to fit tightly together. A self-locking assembly then mechanically locks the upper and lower assemblies together, preventing detachment. After the self-locking assembly unlocks, a push rod lifts the guide cylinder, separating the upper and lower assemblies to facilitate the subsequent crossing of the pressure pipe by the upper assembly. Therefore, the present invention is convenient to use and has high safety.

[0033] 3. In the four-split conductor spacer bar installation robot and its adaptive obstacle-crossing method of the present invention, after the lower assembly is installed, the upper and lower conductors are very close due to gravity. To address this, the first vertical displacement component drives the main drive wheel downwards, and then the horizontal sliding component causes the pressure wheel to press down on the lower conductor. This facilitates the lower guide wheel to unfold outwards and attach to the lower conductor via the horizontal displacement component. Then, the first vertical displacement component drives the main drive wheel upwards and presses down on the upper conductor, and the clamping wheel presses the upper conductor firmly. The mechanical structure limits the conductor, ensuring the four-split conductor is in a regular quadrilateral shape, facilitating the subsequent installation of the spacers. Therefore, the present invention is stable in operation and convenient to use.

[0034] 4. In the four-split conductor spacer installation robot and its adaptive obstacle-crossing method of the present invention, when the auxiliary wheel walks to the crimping pipe, a vertical sliding component is set to drive the auxiliary wheel to move up and down to match the size of the auxiliary wheel with that of the crimping pipe. Then, a first vertical displacement component drives the main drive wheel to move up and down to match the size of the auxiliary wheel with that of the crimping pipe. This allows both the auxiliary wheel and the main drive wheel to adapt to changes in the size of the conductor. Furthermore, because the auxiliary wheel and the main drive wheel walk one after the other across the crimping pipe, the main drive wheel provides support when the auxiliary wheel rises, and vice versa, making the process of the robot crossing the crimping pipe more stable and smooth. Therefore, the present invention has a wide range of applications and a stable working process.

[0035] 5. In the four-split conductor spacer installation robot and its adaptive obstacle-crossing method of the present invention, the clamping wheel can slide vertically through the clamping assembly. When the main drive wheel crosses the pressure pipe, the clamping wheel can simultaneously descend and press against the bottom of the pressure pipe, thereby making the robot more stable when crossing the pressure pipe. At the same time, the clamping wheel can be extended and retracted through the telescopic assembly, so that multiple independent drive components have driving capabilities when the main drive wheel presses down on the upper conductor, giving the robot multi-drive functionality. Simultaneously, the clamping wheel can work in tandem with the main drive wheel to clamp the upper conductor, preventing the robot from slipping and enabling it to move on long-span, steep-slope conductors. Therefore, the present invention is convenient to use and operates stably.

[0036] 6. In the four-split conductor spacer installation robot and its adaptive obstacle-crossing method of the present invention, when the lower guide wheel crosses the pressure pipe, the vertical sliding of the lower guide wheel can be realized by the second vertical displacement component, so that the lower guide wheel can adapt to the dimensional changes on the conductor. The lower guide wheel can be unfolded and retracted by the lateral displacement component, thus facilitating the lower guide wheel to attach to the lower conductor. Therefore, the present invention is convenient to use and has a wide range of applications.

[0037] 7. In the four-split conductor spacer bar installation robot and its adaptive obstacle-crossing method of the present invention, before the lower device and the upper device are docked, the two grippers move closer to each other and clamp the upper conductor under the drive of the clamping motor and the clamping screw, thereby fixing the upper device and avoiding inaccurate docking due to loosening of the upper device. After the upper device and the lower device are docked and locked, the two grippers move away from each other under the drive of the clamping motor and the clamping screw, loosening the upper device and facilitating its subsequent movement on the conductor. Therefore, the present invention has high stability and high docking accuracy.

[0038] 8. In this invention, a robot for installing four-split conductor spacers and its adaptive obstacle-crossing method, a multi-independently driven mechanical structure design is employed. Multiple independent drive wheels unfold to press down the lower conductor, allowing the conductor clamping wheel set to unfold to both sides and engage with the lower conductor of the four-split conductor. Then, four sets of drive wheels rise and engage with the upper conductor of the four-split conductor, and the clamping wheel presses firmly against the upper conductor, ensuring the four-split conductor remains in a regular quadrilateral shape. This enables automated installation of four-split spacers and allows for adjustable spacing to adapt to transmission lines and spacers of different voltage levels. Furthermore, the sequential rising and falling of auxiliary and drive wheel sets, as well as the rising and falling of the guide clamping wheel set, allows for adaptive crossing of obstacles on conductors such as clamping pipes, overcoming the limitation of existing four-split conductor spacer robots that cannot cross clamping pipes. Therefore, this invention provides convenient spacer installation and adaptive obstacle crossing. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of a four-split wire spacer rod installation robot according to the present invention.

[0040] Figure 2 This is a schematic diagram of the lower assembly device in this invention.

[0041] Figure 3 This is a schematic diagram of the storage rack and spacer bars in this invention.

[0042] Figure 4 This is a schematic diagram of the storage rack structure in this invention.

[0043] Figure 5 This is a schematic diagram of the shelf structure in this invention.

[0044] Figure 6 This is a partial structural diagram of the upper assembly and hoisting device in this invention.

[0045] Figure 7 This is a schematic diagram of the rope-releasing assembly in this invention.

[0046] Figure 8 This is a structural schematic diagram of the lifting assembly and guide wheel assembly in this invention.

[0047] Figure 9 This is a schematic diagram of the drive wheel assembly in this invention.

[0048] Figure 10 This is a schematic diagram of the auxiliary wheel assembly in this invention.

[0049] Figure 11 This is a schematic diagram of the top clamping wheel assembly in this invention.

[0050] Figure 12 This is a schematic diagram of the guide pressure wheel assembly in this invention.

[0051] Figure 13 This is a schematic diagram of the upper device in this invention.

[0052] Figure 14 This is a schematic diagram of the clamping component in this invention.

[0053] Figure 15 This is a structural schematic diagram of the main frame and spacer rod installation device in this invention.

[0054] Figure 16 This is a schematic diagram of the spacer clamping assembly in this invention.

[0055] Figure 17 This is a schematic diagram of the spacer bar clamping assembly in this invention.

[0056] In the diagram: Upper assembly 1, Upper frame 11, Clamping assembly 12, Upper guide wheel 13, Housing 14, Baffle 15, Clamping frame 121, Clamping motor 122, Active clamping gear 123, Driven clamping gear 124, Clamping screw 125, Movable plate 126, Gripper 127, Slot 128, Slide rod 129, Upper guide wheel 13, Lifting device 2, Rope unwinding assembly 21, Upper winding reel 211, Rope unwinding motor 212, Guide wheel assembly 213, Connecting... Components: 2131, guide roller 2132, pulley 214, belt 215, through hole 216, rope winding assembly 22, lower winding reel 221, rope winding motor 222, bearing seat 223, guide assembly 23, guide cylinder 231, guide cone 232, base plate 233, self-locking assembly 24, drive mechanism 241, self-locking pin 242, oblong hole 243, lower assembly 3, main frame 31, drive wheel set 32, drive support 321, horizontal sliding assembly 3 22. Drive bracket 323. Drive motor 324. Main drive wheel 325. Pressing wheel 326. Auxiliary wheel assembly 33. Auxiliary wheel 331. Vertical sliding assembly 332. Support rod 333. Auxiliary pressing wheel 334. Guide pressing wheel assembly 34. Guide frame 341. Lateral displacement assembly 342. Lower guide wheel 343. Lifting assembly 35. Mounting plate 351. Lifting mechanism 352. Top rod 353. First vertical displacement assembly 36. Second vertical displacement assembly Component 37, clamping wheel assembly 38, clamping wheel 381, clamping bracket 382, ​​support 383, clamping assembly 39, telescopic assembly 310, spacer bar installation device 4, spacer bar clamping assembly 41, robotic arm 411, clamp 412, spacer bar pressing assembly 42, mounting base 421, sliding base 422, rotating device 423, rotary joint 424, power equipment 425, pressing jaw 426, spacer bar 5, storage rack 6, steel pipe 61, shelf 62. Detailed Implementation

[0057] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0058] Example 1:

[0059] See Figures 1 to 5 A four-split conductor spacer bar installation robot includes an upper mounting device 1 that slides along the upper conductor of the four-split conductor, a hoisting device 2, a lower mounting device 3, and a spacer bar installation device 4. The upper mounting device 1 is equipped with a clamping assembly 12 for clamping the upper conductor.

[0060] The lower assembly 3 includes a main frame 31, multiple drive wheel sets 32, multiple auxiliary wheel sets 33, multiple guide and clamping wheel sets 34, and a lifting assembly 35. The main frame 31 contains spacer bars 5. The multiple drive wheel sets 32 are vertically slidably connected to the left and right sides of the main frame 31 through a first vertical displacement assembly 36. The multiple auxiliary wheel sets 33 correspond one-to-one with the multiple drive wheel sets 32 and are vertically slidably connected to the front side of the multiple drive wheel sets 32 respectively. The multiple guide and clamping wheel sets 34 are vertically slidably connected to the main frame 31 through a second vertical displacement assembly 37. The lifting assembly 35 is installed on the upper side of the main frame 31. The spacer bar installation device 4 is installed on the rear side of the main frame 31. The hoisting device 2 is connected between the main frame 31 and the upper assembly 1.

[0061] The drive wheel assembly 32 is used to slide against the upper side of the upper conductor.

[0062] The auxiliary wheel set 33 is used to slide on the upper side of the upper conductor;

[0063] The guide clamping wheel assembly 34 is used to slide against the upper side of the lower layer of the four-split conductor.

[0064] The hoisting device 2 is used to connect, lock, and separate the upper device 1 from the main frame 31;

[0065] The lifting assembly 35 is used to lift the upper device 1 after it is separated from the main frame 31.

[0066] The spacer rod installation device 4 is used to clamp the spacer rod 5, install the spacer rod 5 onto the four-split conductor, and press it tightly.

[0067] In this embodiment, a storage rack 6 is installed on the lower side of the main frame 31. The storage rack 6 can provide an additional space to place the spacer bar 5, thereby reducing the space occupied by the main frame 31. The storage rack 6 and the main frame 31 can be detachably connected, so the storage rack 6 and the robot body are independent modules. They can be separated during transportation and combined during use. Separation during transportation facilitates transportation, and combination during operation facilitates the robotic arm's grasping. Compared with other designs, this simplifies the system composition, reduces the robot's weight, and improves the convenience and stability of operation. The upper end of the storage rack 6 can be connected to the main frame 31 using a quick-locking structure. At the same time, the storage rack 6 itself can adopt a lightweight modular frame, which can significantly reduce the robot's total weight and volume, making it easier to transport and use the robot. When installing the spacer bar 5, the spacer bar installation device 4 uses a straight up and down method to achieve the upper part of the spacer bar 5.

[0068] The storage rack 6 can be equipped with multiple vertical steel pipes 61, which are used to limit the spacer bars 5. Multiple shelves 62 are spaced apart on the steel pipes 61. The shelves 62 can rotate vertically on the steel pipes 61. A spacer bar 5 is placed between two adjacent shelves 62. In this way, the shelves 62 and the steel pipes 61 can position each spacer bar 5. Specifically, a torsion spring can be installed between the shelf 62 and the steel pipe 61. The shelf 62 is initially tilted. When the spacer bar 5 is placed on the storage rack 6, the shelf 62 flips to the horizontal and the torsion spring is compressed. The shelf 62 can also adopt a triangular plate structure, with the horizontal right-angled side used to support the spacer bar 5.

[0069] After the spacer 5 is removed, the shelf 62 on top will flip under the action of gravity or torsion spring, without affecting the gripping of the second spacer 5. The shelf 62 is used to position each spacer 5, avoiding the use of complex sensors for positioning. The problem of spacer 5 identification and gripping is solved by mechanical positioning.

[0070] There are four drive wheel sets 32 and four auxiliary wheel sets 33. The four drive wheel sets 32 and the four auxiliary wheel sets 33 are symmetrically arranged around the main frame 31. Each drive wheel set 32 ​​can be independently raised and lowered by the first vertical displacement component 36. There are two guide and pressing wheel sets 34. The two guide and pressing wheel sets 34 are symmetrically arranged on the front and rear sides of the main frame 31. The drive wheel sets 32 act as the driving wheels, and the guide and pressing wheel sets 34 act as the driven wheels. The first vertical displacement component 36 can adopt a screw drive structure to achieve vertical displacement.

[0071] In use, the upper device 1 can be placed on the upper conductor of the four-split conductor by drone or manual placement. Then, the clamping component 12 clamps the upper conductor to fix the upper device 1, facilitating subsequent docking. The lower device 3 is then docked with the upper device 1 by the hoisting device 2. At the same time, the hoisting device 2 moves the lower device 3 upward and locks it after it comes into contact with the upper device. When the lower device 33 crosses the crimping pipe, it is first unlocked by the hoisting device 2, and then the lifting component 35 lifts the upper device 1 to avoid interference between the upper device 1 and the crimping pipe when it crosses the crimping pipe. Meanwhile, the lower device 3 crosses the crimping pipe of the upper conductor by rising and falling in sequence through multiple drive wheel sets 32 and auxiliary wheel sets 33, and crosses the crimping pipe of the lower conductor by rising and falling in sequence through multiple guide clamping wheel sets 34. Thus, it can autonomously cross the crimping pipe of the four-split conductor. The robot can walk autonomously and without obstacles on the conductor without human intervention to cross the crimping pipe, thus ensuring stability and safety during the crossing process.

[0072] Example 2:

[0073] The basic content is the same as in Example 1, except that:

[0074] See Figures 6 to 8 The hoisting device 2 includes a rope releasing assembly 21, a rope winding assembly 22, a guide assembly 23, and a self-locking assembly 24. The guide assembly 23 includes a guide cylinder 231 and a guide cone 232. The rope releasing assembly 21 and the guide cylinder 231 are installed on the upper device 1. The rope releasing assembly 21 contains a hoisting rope. The rope winding assembly 22 is installed inside the main frame 31. The guide cone 232 and the self-locking assembly 24 are installed on the upper side of the main frame 31. The shape of the guide cone 232 matches the inner wall of the guide cylinder 231.

[0075] The rope lowering assembly 21 is used to lower the hoisting rope to the ground;

[0076] The rope winding assembly 22 is used to retract the hoisting rope and tightly attach the main frame 31 to the upper device 1;

[0077] The self-locking component 24 is used to lock and separate the upper device 1 from the main frame 31.

[0078] In this embodiment, the rope unwinding assembly 21 includes an upper winding reel 211, a rope unwinding motor 212, and a guide wheel assembly 213. The upper winding reel 211 is horizontally rotatably connected to the upper device 1, and the rope unwinding motor 212 is vertically mounted on the upper device 1. Both its output shaft and the lower end of the upper winding reel 211 are connected to pulleys 214. A belt 215 is wound around the pulleys 214, and the rotation of the upper winding reel 211 is achieved through belt drive. Multiple through holes 216 are provided on the upper winding reel 211 to reduce overall weight. A lifting rope is wound on the upper winding reel 211. The guide wheel assembly 213 includes a connecting seat 2131 and multiple guide rollers 214 horizontally rotatably connected to the connecting seat 2131. 132, the middle of multiple guide rollers 2132 is concave arc shape to facilitate the passage of the suspension rope. The guide cylinder 231 is cylindrical and has a base plate 233 at the bottom. At the same time, the guide cone 232 is hollow inside and also has a base plate 233 on its lower side. The upper end of the guide cone 232 is chamfered to facilitate the guide cone 232 to be connected to the guide cylinder 231. The rope winding assembly 22 includes a lower winding reel 221, a rope winding motor 222, and a bearing seat 223. The rope winding motor 222 and the bearing seat 223 are respectively installed on the main frame 31. The lower winding reel 221 is arranged vertically and one end is rotatably connected to the bearing seat 223, and the other end is connected to the output shaft of the rope winding motor 222.

[0079] When the upper device 1 is placed on the upper guide wire, the rope release motor 212 drives the upper winding reel 211 to release the rope. The rope passes through multiple guide rollers 2132 in sequence and is then placed on the ground. The guide rollers 2132 keep the rope taut, preventing it from becoming loose and causing instability when hoisting the lower device 3. The worker connects the rope to the lower winding reel 221 in the rope winding assembly 22, and then the rope winding motor 222 works to wind up the rope. At this time, the main frame 31 rises vertically. The guide cone 232 and the guide cylinder 231 can be precisely guided before docking. The guide cone 232 moves upward and guides the rope. Inside the guide cylinder 231, when the bottom plate 233 of the guide cone 232 is in contact with the bottom plate of the guide cylinder 231, the main frame 31 is tightly in contact with the bottom of the upper device 1. Then, the lower device 3 and the upper device 1 are self-locked by the self-locking component 24. When the robot is off the line, the self-locking component 24 is released, and then the rope winding motor 222 works to release the rope. The main frame 31 descends vertically, the guide cone 232 separates from the guide cylinder 231, and after the lower device 3 is placed on the ground, the hanging rope is removed from the lower winding reel 221. Then, the rope releasing motor 212 works to retrieve the hanging rope.

[0080] Example 3:

[0081] The basic content is the same as Example 2, except that:

[0082] See Figure 7 The self-locking component 24 includes a drive mechanism 241 and a self-locking pin 242. The drive mechanism 241 is installed on the upper side of the main frame 31, and the self-locking pin 242 is connected to the output end of the drive mechanism 241. An elongated hole 243 is provided at the bottom of the upper device 1. The width of the top end of the self-locking pin 242 is smaller than the width of the elongated hole 243, and the length of the top end of the self-locking pin 242 is greater than the width of the elongated hole 243.

[0083] The drive mechanism 241 is used to drive the self-locking pin 242 to rotate vertically.

[0084] In this embodiment, four self-locking pins 242 are symmetrically arranged at the four corners of the main frame 31, providing a good locking effect. The drive mechanism 241 can be a drive motor, and the output shaft of the drive motor can be equipped with a gear set. The self-locking pins 242 are connected to the gear set. The upper end of the self-locking pin 242 is designed as a pyramid-shaped guide body, which can easily pass through the elongated hole 243. When the main frame 31 is tightly fitted with the bottom of the upper device 1, the upper end of the self-locking pin 242 passes through the elongated hole 243. Then, the drive motor drives the gear set to rotate the self-locking pin 242 90 degrees, from parallel to the elongated hole 243 to perpendicular to the elongated hole 243. In this way, the upper end of the self-locking pin 242 abuts against the outside of the elongated hole 243 and cannot move down. Thus, the self-locking structure at all four corners completes the self-locking action, and the main frame 31 and the upper device 1 are firmly locked together and cannot be separated, ensuring the safety of subsequent operations.

[0085] Example 4:

[0086] The basic content is the same as Example 2, except that:

[0087] See Figure 8 The lifting assembly 35 includes multiple mounting plates 351, which are connected to the outer side of the guide cylinder 23 along the circumferential direction. A top rod 353 is connected to the lower side of the mounting plate 351. The lower end of the top rod 353 passes through the upper device 1 and is connected to a lifting mechanism 352. The lifting mechanism 352 is installed on the main frame 31.

[0088] The lifting mechanism 352 is used to lift the lifting rod 353.

[0089] In this embodiment, there are two mounting plates 351, which are symmetrically arranged on the left and right sides of the guide cylinder 23. The lifting mechanism 352 can be a lifting motor. The output shaft of the lifting motor can be equipped with a gear set, and a lead screw is connected to the gear set. A lead screw nut is threaded on the outside of the lead screw. The lifting rod 353 is hollow inside and its lower end is connected to the lead screw nut. During lifting, the lifting motor drives the gear set to drive the lead screw to rotate. At the same time, the lead screw nut will rise vertically because it is threaded. The lifting rod 353 lifts the mounting plates 351 and the guide cylinder 231, so that the guide cylinder 231 separates from the guide cone 232, thus completing the lifting of the upper device 1, so that the upper device 1 can automatically overcome obstacles.

[0090] Example 5:

[0091] The basic content is the same as in Example 1, except that:

[0092] See Figure 9 and Figure 10The drive wheel assembly 32 includes a drive support 321, a drive bracket 323, and a drive motor 324. The drive support 321 is vertically slidably connected to the outside of the main frame 31 via a first vertical displacement component 36. The drive bracket 323 and the auxiliary wheel assembly 33 are slidably connected to the lower side of the drive support 321 via a horizontal sliding component 322. The drive motor 324 is mounted on the drive bracket 323. The output shaft of the drive motor 324 passes through the drive bracket 323 and is connected to a main drive wheel 325. The main drive wheel 325 is rotatably connected to the upper side of the upper conductor. One end of the main drive wheel 325 is connected to a pressure wheel 326.

[0093] In this embodiment, the horizontal sliding component 322 can be driven by a lead screw, and the driving component is a motor. To avoid the horizontal sliding component 322 being too long, the motor is installed on one side of the lead screw. The motor and the lead screw are driven by a synchronous belt. The lead screw is threaded to the outside of the lead screw and a lead screw nut is connected to the lower side of the lead screw nut. The mounting block is connected to the drive bracket 323. When the motor is working, it drives the lead screw to rotate through the synchronous belt. The lead screw drives the lead screw nut to move back and forth, causing the drive bracket 322 to move back and forth, thereby driving the lateral movement of the main drive wheel 325. A slide rail and a slider can be placed between the drive bracket 323 and the drive support 321 to make the sliding of the drive bracket 323 more stable.

[0094] After the upper device 1 and the lower device 3 are locked, due to gravity, the upper and lower layers of the four-split conductors are very close together. Four independent drive wheel sets 32 need to be deployed. The first vertical displacement component 36 drives the drive wheel sets 32 to move downward, while the horizontal sliding component 322 drives the main drive wheel 325 to move laterally, so that the pressure wheel 326 presses down on the lower conductor. This allows the two sets of guide pressing wheel sets 34 to be deployed to both sides and hook onto the lower conductor of the four-split conductor. Then, the four drive wheels 32 rise upward, while the horizontal sliding component 322 drives the main drive wheel 325 to move laterally, so that the main drive wheel 325 hooks onto the upper conductor of the four-split conductor. Then, the drive motor 324 works, driving the main drive wheel 325 to move on the upper conductor.

[0095] Example 6:

[0096] The basic content is the same as Example 5, except that:

[0097] See Figure 9 and Figure 10The auxiliary wheel assembly 33 includes an auxiliary wheel 331, a vertical sliding assembly 332, and a support rod 333. One end of the support rod 333 is vertically slidably connected to the drive bracket 323 through the vertical sliding assembly 332, and the other end of the support rod 333 is connected to an auxiliary pressure wheel 334. The auxiliary wheel 331 is sleeved on the outside of the support rod 333 and is tumbledly connected to the upper side of the upper conductor.

[0098] In this embodiment, the vertical sliding component 332 can be driven by a screw drive, with a motor as the driving component. To avoid the vertical sliding component 332 being too long, the motor is installed on one side of the screw, and the motor and the screw are driven by a synchronous belt. The screw nut is threaded on the outside of the screw, and the support rod 333 is connected to the screw nut. When the motor is working, it drives the screw to rotate through the synchronous belt drive, and the screw drives the screw nut to move up and down, so that the auxiliary wheel 331 can move up and down. A slide rail and a slider can be placed between the auxiliary wheel 331 and the drive bracket 323 to make the sliding of the auxiliary wheel 331 more stable. When the pressure wheel 326 presses down on the lower layer of wire, the auxiliary pressure wheel 33 presses down on the lower layer of wire at the same time, resulting in a better pressing effect. When the auxiliary wheel 331 contacts the pressure tube, the motor drives the auxiliary wheel 331 to move upward until it is flush with the pressure tube. Then, after the auxiliary wheel 331 crosses the pressure tube, the motor drives the auxiliary wheel 331 to move downward and attach to the upper layer of wire.

[0099] Example 7:

[0100] The basic content is the same as in Example 1, except that:

[0101] See Figure 11 The lower device 3 also includes multiple clamping wheel sets 38. The multiple clamping wheel sets 38 are vertically slidably connected to the main frame 31 through clamping components 39. Each clamping wheel set 38 is located between the drive wheel set 32 ​​and the auxiliary wheel set 33. A telescopic component 310 is connected between the clamping wheel sets 38 located on the left and right sides.

[0102] The telescopic component 310 is used to enable the two clamping wheel sets 38 to expand or retract in the horizontal direction.

[0103] In this embodiment, there are four clamping wheel sets 38, which are symmetrically arranged on the main frame 31. The clamping wheel sets 38 on the left and right sides are mounted on the lower side of the base, and the base is provided with a transverse slide rail. The top of the clamping wheel set 38 is slidably connected to the transverse slide rail by a slider. The telescopic component 310 can be driven by a motor. The output shaft of the motor is connected to a screw through a synchronous belt. The outside of the screw is provided with a forward thread and a reverse thread. Nuts are threaded onto both the forward thread and the reverse thread. The nuts are connected to the clamping wheel set 38 through a connecting plate. When it is necessary to clamp the upper conductor, the motor drives the screw to rotate, which in turn drives the two nuts to move away from each other, so that the clamping wheel set 38 moves to the bottom of the upper conductor. Then the clamping component 39 lifts the clamping wheel set 38 upward, so that the clamping wheel set 38 presses the upper conductor.

[0104] Example 8:

[0105] The basic content is the same as Example 7, except that:

[0106] See Figure 11 The tensioning wheel assembly 38 includes a tensioning wheel 381 and a tensioning bracket 382. The tensioning bracket 382 is vertically slidably connected to the main frame 31 through the tensioning assembly 39. The tensioning wheel 381 is rotatably connected to the upper side of the tensioning bracket 382 and is rollingly connected to the lower side of the upper conductor.

[0107] In this embodiment, the clamping assembly can be a clamping motor, which is mounted on the support 383. The output end of the clamping motor is connected to a lead screw via a belt drive. The lead screw is threaded to a lead screw nut on the outside. The upper end of the lead screw nut is connected to a lifting rod. The upper end of the lifting rod is connected to the lower end of the clamping bracket 382. A slider rail is set between the clamping bracket 382 and the support 383 to realize the vertical sliding of the clamping bracket 382. When the main drive wheel 325 crosses the pressure tube, the clamping motor works to drive the lead screw to rotate, causing the lifting rod to move downward. The clamping wheel 381 moves downward and contacts the lower side of the pressure tube, cooperating with the main drive wheel 325 to achieve stable movement on the pressure tube.

[0108] Example 9:

[0109] The basic content is the same as in Example 1, except that:

[0110] See Figure 12 The guide clamping wheel assembly 34 includes two symmetrically arranged guide frames 341, and a lateral displacement component 342 is connected between the two guide frames 341. Each guide frame 341 is equipped with a second vertical displacement component 37. The output end of the second vertical displacement component 37 is rotatably connected to a lower guide wheel 343, and the lower guide wheel 343 is rolledly connected to the upper side of the lower conductor.

[0111] The lateral displacement component 342 is used to drive the two guide frames 341 to expand or retract in the horizontal direction.

[0112] In this embodiment, a slider is provided on the lower side of the guide frame 341, and a slide rail is provided on the upper side of the lateral displacement component 342. The slider is laterally slidably connected to the slide rail. The lateral displacement component 342 can be driven by a motor. The output shaft of the motor is connected to a screw via a synchronous belt. The screw has a forward thread and a reverse thread on its outer side. Nuts are threaded onto both the forward thread and the reverse thread. The nuts are connected to the lower side of the guide frame 341 via a mounting block. The second vertical displacement component 37 can be driven by a lead screw. The driving component is a motor. The motor is mounted on one side of the lead screw. The motor and the lead screw are driven by a synchronous belt. The lead screw is threadedly connected to a lead screw nut on its outer side. A connecting block is connected to the outer side of the lead screw nut. The lower guide wheel 343 is rotatably connected to the connecting block.

[0113] The motor drives the screw to rotate, which in turn drives the two nuts to move away from each other, causing the two lower guide wheels 343 to unfold to both sides. At the same time, the screw rotates, causing the lower guide wheels 343 to move down and attach to the lower layer of the four-split conductor. When the lower guide wheel 343 contacts the crimping tube, the lower guide wheel 343 rises up through the second vertical displacement component 37 and moves parallel to the crimping tube. After the lower guide wheel 343 crosses the crimping tube, the lower guide wheel 343 descends through the second vertical displacement component 37 and attaches to the lower layer of the conductor.

[0114] Example 10:

[0115] The basic content is the same as Example 2, except that:

[0116] See Figure 13 and Figure 14The upper mounting device 1 includes an upper mounting frame 11, with upper guide wheels 13 rotatably connected to the left and right sides of the upper mounting frame 11. The upper guide wheels 13 are rolledly connected to the upper side of the upper conductor. The clamping assembly 12 includes two symmetrically arranged clamping frames 121. Each clamping frame 121 is equipped with a clamping motor 122, a driven clamping gear 124, a clamping screw 125, and two movable plates 126. The output shaft of the clamping motor 122 is connected to a driving clamping gear 123, and the driven clamping gear 124 is meshed with the driving clamping screw 125. A clamping gear 123 is provided. One end of the clamping screw 125 is connected to the driven clamping gear 124, and the other end of the clamping screw 125 is rotatably connected to the clamping frame 121. The outer circumferential surface of the clamping screw 125 is symmetrically provided with a forward thread and a reverse thread along the center. Two movable plates 126 are respectively threaded to the forward thread and the reverse thread and are slidably connected to the clamping frame 121. A jaw 127 is connected to the lower side of the movable plate 126. The two jaws 127 together form a slot 128 for accommodating the upper wire.

[0117] In this embodiment, the upper frame 11 is installed inside the outer shell 14, and the upper guide wheels 13 are symmetrically arranged around the outer shell 14. A through groove can be opened on the upper part of the outer shell 14, and a baffle 15 is connected to the through groove by a hinge. The baffle 15 can be made of transparent material, which facilitates the access of the internal components of the upper device 1. The internal components can be installed, disassembled and repaired by opening the baffle 15. A hoisting rod is provided on the upper part of the outer shell 14 for hoisting. The hoisting method can be carried out by drone or manual. The inside of the gripper 127 is provided with anti-slip texture to better grip the wire. In order to improve the stability of the movable plate 126 when it moves, slide rods 129 are arranged on both sides of the clamping screw 125. The movable plate 126 can slide back and forth on the slide rods 129.

[0118] In use, the upper device 1 is hoisted onto the upper layer of the four-split wire using a boom. Then, the clamping motor 122 drives the active clamping gear 123 to rotate, and the driven clamping gear 124 drives the clamping screw 125 to rotate, causing the two movable plates 126 to come closer together and the grippers 127 to press the wire, thus fixing the upper device 1. After the robot is completed, the clamping motor 122 drives the active clamping gear 123 to rotate in the opposite direction, causing the two grippers 127 to separate and release the wire.

[0119] Example 11:

[0120] An adaptive obstacle-crossing method for a four-split conductor spacer installation robot, the adaptive obstacle-crossing method being applied to the four-split conductor spacer installation robot described in Example 1, the adaptive obstacle-crossing method comprising the following steps:

[0121] Step 1: Place the upper device 1 on the upper conductor, then clamp the upper conductor with the clamping assembly 12, and use the hoisting device 2 to connect and lock the lower device 3 to the upper device 1.

[0122] Step 2: Drive wheel assembly 32 moves down through the first vertical displacement component 36 and presses down on the lower conductor, while guide and press wheel assembly 34 is attached to the lower conductor. Then drive wheel assembly 32 moves up through the first vertical displacement component 36 and is attached to the upper conductor.

[0123] Step 3: The clamping assembly 12 releases the upper wire, the spacer 5 is clamped by the spacer installation device 4 and placed on the four-split wire, and then the spacer installation device 4 clamps the four clamps of the spacer 5 to complete the installation of the spacer 5. Then the spacer installation device 4 releases the spacer 5 and the robot moves forward to disengage from the spacer 5 by controlling the drive wheel set 32.

[0124] Step 4: The robot walks on the four-split guide tube. When the auxiliary wheel set 33 walks to the crimping tube, the upper device 1 and the lower device 3 are unlocked by the hoisting device 2. At the same time, the lifting component 35 lifts the upper device 1. Then the auxiliary wheel set 33 rises and is level with the crimping tube. The auxiliary wheel set 33 walks on the crimping tube. When the drive wheel set 32 ​​walks to the crimping tube, the drive wheel set 32 ​​rises through the first vertical displacement component 36 and is level with the crimping tube. At the same time, the auxiliary wheel set 33 descends and is level with the crimping tube again. At this time, the auxiliary wheel set 33 and the drive wheel set 32 ​​walk on the crimping tube at the same time.

[0125] After the auxiliary wheel assembly 33 crosses the pressure pipe, the auxiliary wheel assembly 33 descends and attaches to the upper conductor. Then the auxiliary wheel assembly 33 travels on the upper conductor. After the drive wheel assembly 32 crosses the pressure pipe, the drive wheel assembly 32 descends through the first vertical displacement component 36 and attaches to the upper conductor. At the same time, the auxiliary wheel assembly 33 descends and maintains contact with the upper conductor. The lifting component 35 stops lifting, and the upper device 1 and the lower device 3 are locked by the hoisting device 2.

[0126] Step 5: When the first guide clamping wheel assembly 34 travels to the crimping pipe, the first guide clamping wheel assembly 34 rises to be flush with the crimping pipe via the second vertical displacement component 37. The first guide clamping wheel assembly 34 travels on the crimping pipe. After the first guide clamping wheel assembly 34 crosses the crimping pipe, the first guide clamping wheel assembly 34 descends via the second vertical displacement component 37 and attaches to the lower conductor. When the subsequent guide clamping wheel assembly 34 travels to the crimping pipe, the above steps are repeated until the last guide clamping wheel assembly 34 crosses the crimping pipe.

[0127] In this embodiment, after the robot installs the spacer bar 5, it clamps the upper wire through the clamping component 12, drives the wheel assembly 32 to rise through the first vertical displacement component 36 and retracts inward, then guides the clamping wheel assembly 34 to rise through the second vertical displacement component 37 and retracts inward, and then the hoisting device 2 unlocks the upper device 1 and the lower device 3, the lower device 3 is unwound by itself, and then the upper device 1 is unwound by drone or manually.

[0128] Example 12:

[0129] The basic content is the same as in Example 1, except that:

[0130] See Figures 15 to 17 The spacer bar installation device 4 includes a spacer bar clamping assembly 41 and a spacer bar pressing assembly 42. The spacer bar clamping assembly 41 can be a robotic arm 411. The robotic arm 411 can directly move the spacer bar 5, and can realize flipping and up-down movements. The end of the robotic arm 411 is connected to a clamp 412. The clamp 412 is equipped with claws that can move closer or further apart. The robotic arm 411 can move the clamp 412 into the storage rack 6. The claws clamp the spacer bar 5 from the inside to the outside. Then the robotic arm 411 flips and connects the spacer bar 5 to the four-split wire in a straight up-down manner, which can quickly complete the online installation of the four-split spacer bar, greatly improving the online installation efficiency and installation efficiency of the spacer bar 5, and also improving the installation accuracy of the spacer bar 5.

[0131] The spacer bar clamping assembly 42 can be composed of a mounting base 421, a sliding base 422, a rotating device 423, a rotary joint 424, a power device 425, and clamping jaws 426. The mounting base 421 is installed on the rear side of the main frame 31. The sliding base 422 is slidably connected to the mounting base 421 along the length of the mounting base 421. The input end of the rotating device 423 is connected to the sliding base 422, and the output end of the rotating device 423 is connected to the rotary joint 424. One side of the rotary joint 424 is connected to the power device 425. The clamping jaws 426 are connected to the output end of the power device 425. The rotary joint 424 drives the clamping jaws 425 to rotate, thereby clamping the four clamps of the spacer bar 5.

[0132] Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A robot for installing four-split wire spacers, characterized in that: It includes an upper device (1) that slides along the upper conductor of the four-split conductor, a hoisting device (2), a lower device (3), and a spacer rod mounting device (4). The upper device (1) is equipped with a clamping assembly (12) for clamping the upper conductor. The lower assembly (3) includes a main frame (31), multiple drive wheel sets (32), multiple auxiliary wheel sets (33), multiple guide and clamping wheel sets (34), and a lifting assembly (35). The main frame (31) contains spacer bars (5). The multiple drive wheel sets (32) are vertically slidably connected to the left and right sides of the main frame (31) through a first vertical displacement assembly (36). The multiple auxiliary wheel sets (33) correspond one-to-one with the multiple drive wheel sets (32) and are vertically slidably connected to the front side of the multiple drive wheel sets (32). The multiple guide and clamping wheel sets (34) are vertically slidably connected to the main frame (31) through a second vertical displacement assembly (37). The lifting assembly (35) is installed on the upper side of the main frame (31). The spacer bar installation device (4) is installed on the rear side of the main frame (31). The hoisting device (2) is connected between the main frame (31) and the upper assembly (1). The drive wheel assembly (32) is used to slide on the upper side of the upper conductor; The auxiliary wheel assembly (33) is used to slide on the upper side of the upper conductor; The guide clamping wheel assembly (34) is used to slide against the upper side of the lower layer of the four-split conductor. The hoisting device (2) is used to connect, lock and separate the upper device (1) from the main frame (31); The lifting assembly (35) is used to lift the upper device (1) after the upper device (1) is separated from the main frame (31); The spacer rod installation device (4) is used to clamp the spacer rod (5), install the spacer rod (5) onto the four-split conductor and press it tightly.

2. The robot for installing four-split wire spacers according to claim 1, characterized in that: The hoisting device (2) includes a rope releasing assembly (21), a rope winding assembly (22), a guide assembly (23), and a self-locking assembly (24). The guide assembly (23) includes a guide cylinder (231) and a guide cone (232). The rope releasing assembly (21) and the guide cylinder (231) are installed on the upper device (1). The rope releasing assembly (21) contains a hoisting rope. The rope winding assembly (22) is installed inside the main frame (31). The guide cone (232) and the self-locking assembly (24) are installed on the upper side of the main frame (31). The shape of the guide cone (232) matches the inner wall of the guide cylinder (231). The rope lowering assembly (21) is used to lower the hoisting rope to the ground; The rope winding assembly (22) is used to retract the hoisting rope and tightly fit the main frame (31) with the upper device (1); The self-locking component (24) is used to lock and separate the upper device (1) from the main frame (31).

3. The robot for installing four-split wire spacers according to claim 2, characterized in that: The self-locking assembly (24) includes a drive mechanism (241) and a self-locking pin (242). The drive mechanism (241) is installed on the upper side of the main frame (31). The self-locking pin (242) is connected to the output end of the drive mechanism (241). The bottom of the upper device (1) is provided with an elongated hole (243). The width of the top end of the self-locking pin (242) is smaller than the width of the elongated hole (243), and the length of the top end of the self-locking pin (242) is greater than the width of the elongated hole (243). The drive mechanism (241) is used to drive the self-locking pin (242) to rotate vertically.

4. The robot for installing four-split wire spacers according to claim 1, characterized in that: The drive wheel assembly (32) includes a drive support (321), a drive bracket (323), and a drive motor (324). The drive support (321) is vertically slidably connected to the outside of the main frame (31) via a first vertical displacement component (36). The drive bracket (323) and the auxiliary wheel assembly (33) are slidably connected to the lower side of the drive support (321) via a horizontal sliding component (322). The drive motor (324) is mounted on the drive bracket (323). The output shaft of the drive motor (324) passes through the drive bracket (323) and is connected to a main drive wheel (325). The main drive wheel (325) is tumbledly connected to the upper side of the upper conductor. One end of the main drive wheel (325) is connected to a pressure wheel (326).

5. A four-split wire spacer installation robot according to claim 4, characterized in that: The auxiliary wheel assembly (33) includes an auxiliary wheel (331), a vertical sliding assembly (332), and a support rod (333). One end of the support rod (333) is vertically slidably connected to the drive bracket (323) through the vertical sliding assembly (332). The other end of the support rod (333) is connected to an auxiliary pressure wheel (334). The auxiliary wheel (331) is sleeved on the outside of the support rod (333) and is tumbledly connected to the upper side of the upper conductor.

6. The robot for installing four-split wire spacers according to claim 1, characterized in that: The lower assembly (3) also includes multiple clamping wheel sets (38), each of which is vertically slidably connected to the main frame (31) via a clamping component (39). Each clamping wheel set (38) is located between the drive wheel set (32) and the auxiliary wheel set (33), and a telescopic component (310) is connected between the clamping wheel sets (38) on the left and right sides. The telescopic assembly (310) is used to enable the two clamping wheel sets (38) to expand or retract in the horizontal direction.

7. A four-split conductor spacer installation robot according to claim 6, characterized in that: The tensioning wheel assembly (38) includes a tensioning wheel (381) and a tensioning bracket (382). The tensioning bracket (382) is vertically slidably connected to the main frame (31) via the tensioning assembly (39). The tensioning wheel (381) is rotatably connected to the upper side of the tensioning bracket (382) and is rollingly connected to the lower side of the upper conductor.

8. The robot for installing four-split wire spacers according to claim 1, characterized in that: The guide clamping wheel assembly (34) includes two symmetrically arranged guide frames (341), and a lateral displacement assembly (342) is connected between the two guide frames (341). Each guide frame (341) is equipped with a second vertical displacement assembly (37). The output end of the second vertical displacement assembly (37) is rotatably connected to a lower guide wheel (343), and the lower guide wheel (343) is rolledly connected to the upper side of the lower conductor. The lateral displacement component (342) is used to drive the two guide frames (341) to unfold or retract in the horizontal direction.

9. A four-split wire spacer installation robot according to claim 1, characterized in that: The upper device (1) includes an upper frame (11), with upper guide wheels (13) rotatably connected to the left and right sides of the upper frame (11). The upper guide wheels (13) are rolled to the upper side of the upper conductor. The clamping assembly (12) includes two symmetrically arranged clamping frames (121). The clamping frame (121) is provided with a clamping motor (122), a driven clamping gear (124), a clamping screw (125), and two movable plates (126). The output shaft of the clamping motor (122) is connected to a driving clamping gear (123), and the driven clamping gear (124) is meshed with the upper conductor. An active clamping gear (123) is provided. One end of the clamping screw (125) is connected to the driven clamping gear (124), and the other end of the clamping screw (125) is rotatably connected to the clamping frame (121). The outer circumferential surface of the clamping screw (125) is symmetrically provided with a forward thread and a reverse thread along the center. Two movable plates (126) are respectively threaded to the forward thread and the reverse thread and are slidably connected to the clamping frame (121). A jaw (127) is connected to the lower side of the movable plate (126), and the two jaws (127) together form a slot (128) for accommodating the upper wire.

10. An adaptive obstacle-crossing method for a four-split wire spacer rod installation robot, characterized in that: The adaptive obstacle-crossing method is applied to the four-split wire spacer installation robot according to any one of claims 1-9, and the adaptive obstacle-crossing method includes the following steps: Step 1: Place the upper device (1) on the upper conductor, then clamp the upper conductor with the clamping assembly (12), and connect and lock the lower device (3) with the upper device (1) through the hoisting device (2); Step 2: The drive wheel assembly (32) moves down and presses down on the lower conductor through the first vertical displacement component (36), while the guide and pressing wheel assembly (34) is attached to the lower conductor. Then the drive wheel assembly (32) moves up and is attached to the upper conductor through the first vertical displacement component (36). Step 3: The clamping assembly (12) loosens the upper wire, clamps the spacer (5) through the spacer installation device (4) and places it on the four-split wire. Then the spacer installation device (4) clamps the four clamps of the spacer (5) to complete the installation of the spacer (5). Then the spacer installation device (4) loosens the spacer (5) and controls the robot to move forward and detach from the spacer (5) through the drive wheel set (32). Step 4: The robot walks on the four-split guide wire. When the auxiliary wheel group (33) walks to the crimping pipe, the upper device (1) and the lower device (3) are unlocked by the hoisting device (2). At the same time, the lifting component (35) lifts the upper device (1), and then the auxiliary wheel group (33) rises to be level with the crimping pipe. The auxiliary wheel group (33) walks on the crimping pipe. When the drive wheel group (32) walks to the crimping pipe, the drive wheel group (32) rises through the first vertical displacement component (36) and is level with the crimping pipe. At the same time, the auxiliary wheel group (33) descends and is level with the crimping pipe again. At this time, the auxiliary wheel group (33) and the drive wheel group (32) walk on the crimping pipe at the same time. After the auxiliary wheel assembly (33) crosses the pressure pipe, the auxiliary wheel assembly (33) descends and attaches to the upper conductor. Then the auxiliary wheel assembly (33) travels on the upper conductor. After the drive wheel assembly (32) crosses the pressure pipe, the drive wheel assembly (32) descends through the first vertical displacement component (36) and attaches to the upper conductor. At the same time, the auxiliary wheel assembly (33) descends and remains in contact with the upper conductor. The lifting component (35) stops lifting and the upper device (1) and lower device (3) are locked by the hoisting device (2). Step 5: When the first guide clamping wheel assembly (34) moves to the crimping pipe, the first guide clamping wheel assembly (34) is raised to be flush with the crimping pipe by the second vertical displacement component (37). The first guide clamping wheel assembly (34) moves on the crimping pipe. After the first guide clamping wheel assembly (34) crosses the crimping pipe, the first guide clamping wheel assembly (34) is lowered by the second vertical displacement component (37) and attached to the lower conductor. When the subsequent guide clamping wheel assembly (34) moves to the crimping pipe, the above steps are repeated until the last guide clamping wheel assembly (34) crosses the crimping pipe.

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