Spacer for facilitating robot work and method for assembling and disassembling the same

Abstract

This invention relates to a spacer bar for easy robotic operation and its assembly / disassembly method, belonging to the fields of smart grid and power fittings technology. The locking pin is located in the flat groove of the outer clamp body, abutting against the support of the fixed rubber tile in the middle, and engaging with blind holes in the support at both ends. It can move inward under the elastic force of the support and outward under tool operation to unlock, preventing accidental contact, accidental unlocking, and other malfunctions. The fixed and movable rubber tiles jointly press the sub-lead wire, locked and unlocked by the clamp cover. The connecting strip is fastened to the clamp cover at its inner upper end and hinged to the outer clamp body at its outer lower end, allowing it to rotate relative to the outer clamp body and withstand tensile forces. The deformation and elastic recovery of the connecting strip prevent interference during assembly and disassembly, eliminating jamming, malfunctions, and operational failures, ensuring reliable operation, facilitating automated robotic operation, reducing workload, avoiding the risks of working at heights, and improving work efficiency.

Description

Technical Field

[0001] This invention relates to spacers for power transmission lines and their assembly / disassembly methods, belonging to the fields of smart grid and power fittings technology. Background Technology

[0002] Spacer bars are installed on the split conductors of transmission lines to fix the spacing between the sub-conductors, prevent whiplash, and suppress aerobatic vibrations and secondary span oscillations. Existing transmission line spacer bars generally have clamps and frames, with the clamps containing locking pins and closing pins. These locking and closing pins are relatively small, requiring delicate handling for installation and removal, making automated robotic operations impractical. This is especially true for ultra-high voltage and extra-high voltage transmission lines, which traverse China from east to west and often cross high-altitude plateaus and mountains; the thin air at high altitudes poses a significant challenge to manual high-altitude work. Therefore, it is essential to develop intelligent robots for automated installation and removal operations.

[0003] The installation of existing spacer bars requires first removing the locking pin and closing pin, then using a tool to press the cover plate of the spacer bar clamp, and then installing the locking pin and closing pin. The tool can only be removed after the cover plate is locked. This process easily leads to the removal of the locking pin and closing pin, requiring careful repetition of the process. To simplify installation and improve efficiency, several technical solutions have been proposed. Patent document CN119834145B (application number: 202510310145.X) discloses a multi-split spacer bar that facilitates high-altitude installation. Installers only need to rotate the inner and outer rings to simultaneously fix multiple cables, eliminating the need to tighten bolts one by one as with traditional spacer bars, thus improving installation efficiency and reducing installation difficulty. Utility model patent document CN220964286U (application number: 202322581761.8) discloses a quick-locking wire clamp and a spacer bar with the same, solving the problem of cumbersome installation and the failure of the locking structure of the pressure cap, which leads to the transmission line detaching from the wire clamp body. Invention patent document CN113937704B (application number: 202111347446.8) discloses a split conductor assembled anti-flying spacer bar, which sets the spacer frame and support arm as a detachable assembled structure. Each support arm can be installed one by one, and then the end of the support arm is connected to the spacer frame, reducing the labor intensity of the installers and reducing the danger of the installers carrying heavy objects at heights.

[0004] To facilitate automated installation and removal of spacer bars by robots and improve work efficiency, research and improvements have been conducted. Utility model patent document CN217335004U (application number: 202220485780.3) discloses a novel hardware clamp mechanism for phase-to-phase spacer bars in power distribution networks, featuring a pressure tongue extending between the top cover and the pressure cover. Through the countersunk hole and the pressure tongue, it can cooperate with a spacer bar installation robot for easy fastening, allowing for installation without on-line operation by workers. Utility model patent document CN220711085U (application number: 202322362448.5) discloses a spacer bar with a fixing mechanism that temporarily fixes the clamp cover relative to the clamp body, ensuring the clamp cover remains open under the action of the fixing mechanism. This reduces the difficulty of spacer bar installation and is suitable for automated equipment installation. The invention patent document CN116742560A (application number: 202310767951.0) discloses a self-locking spacer bar with easy-to-unlock claw engagement. When the wire enters between two rubber washers, the wire clamp body and wire clamp cover are squeezed to a fixed position. Pressing the handle causes the claw pin and claw groove to interlock, and the locking pin enters the locking pin groove. The operation is simple and efficient, and can be used with robots to install the spacer bar. During disassembly, rotating the rotating bolt drives the rack to move and pull out the claw pin, which can also achieve automated operation. In order to facilitate robot inspection operations, existing technologies have also proposed related technical solutions. The utility model patent document CN208904608U (application number: 201821942663.5) discloses a spacer bar that can be passed through by a line inspection robot. The double-frame plate quadrilateral structure can reduce weight; the arc-shaped channel allows the line inspection robot to pass smoothly, improving the line inspection robot's ability to cross obstacles and increasing line inspection efficiency.

[0005] With the rapid development of industrial robots and artificial intelligence technologies, various robots and drones capable of automatically assembling and disassembling spacers have emerged. However, the assembly and disassembly of existing spacers still require precise operation and are prone to jamming, malfunctions, and operational failures. This is especially true for existing self-locking spacers, which utilize elastic elements for locking and unlocking; these mechanisms are particularly susceptible to jamming or malfunction during operation and disassembly. Therefore, the existing spacer structure and its assembly / disassembly operations limit the application of industrial robots and artificial intelligence technologies, creating a technical bottleneck in the field of smart grid technology, requiring further research and improvement. Summary of the Invention

[0006] The purpose of this invention is to provide a spacer bar that facilitates robotic operation and its assembly / disassembly method. This invention simplifies the spacer bar structure and assembly / disassembly method, enabling automated robotic operation, eliminating jamming, malfunctions, and operational failures during assembly / disassembly, ensuring operational reliability, minimizing workload, avoiding the risks of working at heights, and improving operational efficiency. The specific technical solution of this invention is as follows.

[0007] A spacer bar for robot operation includes a wire clamp and a frame; the wire clamp includes a clamping arm, an outer clamp, and an inner clamp, the outer clamp and the inner clamp are connected by the clamping arm to form a whole; the outer clamp clamps the sub-wires and the inner clamp is connected to the frame to fix the spacing of each sub-wire, so that multiple sub-wires maintain a relatively spaced position and prevent whiplash.

[0008] The outer clamp comprises a body, a locking pin, a fixed rubber pad, a clamp cover, a movable rubber pad, a connecting strap, and a hinge pin. The fixed and movable rubber pads together compress the sub-wire, and the clamp cover locks and unlocks, suppressing micro-wind vibrations and secondary gap oscillations, thus providing a damping effect. The clamp arm is a transverse strip-shaped metal arm with a base plate. Its outer end is fixedly connected to the body of the outer clamp, and its inner end is fixedly connected to the inner clamp. The clamp arm has a U-shaped groove, forming a cavity. The clamp arm has a transverse lower through-slot in the longitudinal center of the base plate. An operating tool can be passed through the lower through-slot to operate the locking pin, unlocking the clamp cover and enabling the installation and removal of the spacer bar. The clamp arm has a pressing hole in the center of the base plate, allowing an operating tool to be passed through the pressing hole to press the clamp cover, thus enabling the installation and removal of the spacer bar.

[0009] The outer clamp body is a curved plate with a concave center, on which the fixed rubber tile is fixedly mounted. The outer clamp body has a longitudinal flat groove at its upper part. This groove is closed at both ends, accommodating the locking pin to effectively prevent it from falling out. The groove communicates with the cavity of the clamping arm at its longitudinal center, allowing the operating tool to pass through the lower through-slot and pressure hole of the clamping arm to operate the locking pin, simplifying assembly and disassembly and facilitating both robotic and manual operations. The fixed rubber tile has a horizontal support column. This column is located within the flat groove of the outer clamp body and can undergo elastic deformation to generate elastic force. The locking pin abuts against the support column of the fixed rubber tile at its outer center and is engaged with the support column at both ends. It can move inward under the elastic force of the support column and outward under the operation of the operating tool. The clamp cover includes a handle and a cover plate. The movable rubber tile is fixedly mounted via the cover plate, and the clamp cover is installed on the connecting belt. The handle has a locking hook.

[0010] The locking pin protrudes from the cavity of the clamping arm in the middle, capable of locking the locking hook of the clamp cover, and can also move outward under the operation of the tool to unlock the clamp cover; enabling the installation and removal of the spacer bar; facilitating automated operation of the robot, with convenient installation and removal operations; ensuring reliable operation, and effectively preventing accidental contact, accidental unlocking, and other malfunctions. The connecting strip is a laterally extending and curved metal strip, presenting a strip-shaped curved plate structure, including an inner upper end and an outer lower end; the connecting strip is fastened to the clamp cover by the inner upper end, and hinged to the body of the outer clamp by the outer lower end, allowing it to rotate relative to the body of the outer clamp and withstand tensile forces; the connecting strip can deform and elastically recover during installation and removal, avoiding interference between the clamp cover, moving rubber pad, and the body of the outer clamp, eliminating jamming, malfunctions, and operational failures during installation and removal, ensuring reliable operation, and facilitating automated operation of the robot.

[0011] The clamping arm is a transverse strip-shaped metal arm with a U-shaped groove in cross-section, featuring a front wall, a rear wall, and a base plate. It is fixedly connected to the outer clamp body at its outer end and to the inner clamp at its inner end, making the wire clamp a single unit. The clamping arm has a U-shaped groove between the front wall, rear wall, and base plate, forming a cavity. This cavity engages with the clamp cover, allowing the outer clamp to securely hold the sub-wire. The clamping arm has mating sections on the outer sides of the front and rear walls, which engage with the clamp cover to limit its forward and backward position, ensuring reliable locking. The upper surface of the mating sections is lower than the upper surface of the inner side of the clamping arm to avoid interference. Both the front and rear walls have inner bevels on the upper surface of the mating sections near the cavity, allowing the clamping arm to engage with the clamp cover via these inner bevels, further limiting the clamp cover's forward and backward position and ensuring reliable locking.

[0012] The clamping arm has a transverse through-slot running vertically down the center of the base plate, allowing an operating tool to pass through the through-slot to operate the locking pin, unlocking the clamping cover and enabling the installation and removal of the spacer bar. The clamping arm also has a vertically through-hole in the center of the base plate, allowing an operating tool to pass through the pressing hole to press the clamping cover, thus enabling the installation and removal of the spacer bar. The through-slot is flush with the outer end of the cavity at its outer end and communicates with the pressing hole on its inner side. This simplifies the structure of the operating tool, allowing it to pass through the through-slot and pressing hole of the clamping arm to operate the locking pin. After passing through, the operating tool rotates 90° to lock the clamping arm, simplifying the installation and removal operation and facilitating both robotic and manual work.

[0013] The body of the outer chuck is a curved plate with a concave center, curving upwards at both the outer and inner ends, forming a vertical straight plate at the inner end. This straight plate is fixedly connected to the outer end of the clamping arm via its inner surface, forming a single unit. The body of the outer chuck has a longitudinal flat groove on the upper part of the outer surface of the straight plate, which accommodates the locking pin. This flat groove is a horizontal, longitudinal groove, higher than the upper edge of the outer end of the body, avoiding interference and facilitating machining. The flat groove opens on the front surface of the straight plate of the outer chuck body on the outer side, has a semi-circular bottom surface on the inner side, and is closed at both ends, forming a blind groove that accommodates the locking pin internally, effectively preventing it from falling out. The flat groove communicates with the cavity of the clamping arm in the longitudinal center, allowing the operating tool to pass through the lower through-slot and pressure hole of the clamping arm to operate the locking pin, simplifying assembly and disassembly operations and facilitating both robotic and manual work.

[0014] The body of the outer clamp includes a horizontally recessed upper surface, and extends downwards along the front and rear edges to form a front lower edge and a rear lower edge. A lower curved groove is formed between the front lower edge and the rear lower edge, and the lower curved groove accommodates the connecting strip. The lower curved groove is located on the lower surface of the body of the outer clamp, between the front lower edge and the rear lower edge, and has an upper bottom surface with a "Π" shaped cross-section. The vertical dimensions of the front lower edge and the rear lower edge gradually decrease from the inside to the outside, so that the depth of the lower curved groove gradually decreases from the inside to the outside. This reduces the structural dimensions of the wire clamp outside the sub-conductor, avoiding obstruction of the passage of robots, electric flying vehicles, or other automated operating equipment, and facilitating robot operation.

[0015] The outer clamp body has longitudinal circular pin holes at the midpoint of its front and rear lower edges. A hinge pin passes through these pin holes and is securely fastened, allowing the connecting band to hinge with the outer clamp body and rotate relative to it. The outer clamp body has a through hole on its upper surface, through which a fastener passes to securely mount the fixed rubber sheet. The through hole extends vertically through the outer clamp body, and has a countersunk hole at its lower end that exposes the upper bottom surface of the lower curved groove, preventing interference between the fastener and the connecting band.

[0016] The locking pin is a longitudinally horizontal cylindrical pin located in the flat groove of the outer clamp body. It abuts against the fixed rubber tile on the outer side of the middle section and is engaged in the fixed rubber tile at both ends. It can move inward under the elastic force of the fixed rubber tile and also move outward under the operation of the tool, ensuring smooth movement and preventing jamming, malfunctions, and operational failures during assembly and disassembly, thus ensuring reliable assembly and disassembly operations. Under the elastic force of the fixed rubber tile, the locking pin abuts against the bottom surface of the flat groove, located on the inner side of the outer end of the lower through groove of the clamping arm, and protrudes in the cavity of the clamping arm in the middle section. It can lock and hold the clamp cover, and can also move smoothly inward and outward under the operation of the tool to unlock the clamp cover, ensuring reliable operation and effectively preventing accidental contact, accidental unlocking, and other malfunctions.

[0017] The fixed rubber tile is a semi-circular curved tile with its opening facing upwards. It has an outer end face parallel to the axis of the clamping arm and an inner end face inclined relative to the axis of the clamping arm. This facilitates contact with the moving rubber tile during installation, pressing the sub-lead wire, and automatic positioning, while also preventing interference. The fixed rubber tile has a semi-cylindrical upper surface, which contacts and presses the sub-lead wire. Its lower surface has a vertical chamfered surface at its inner end, which abuts against the straight outer surface of the outer clamp body, preventing interference. The lower surface of the fixed rubber tile is also semi-cylindrical, contacting and pressing the upper surface of the outer clamp body, thus fixing the fixed rubber tile to the body of the outer clamp.

[0018] The fixed-plate tile has a horizontal support column at the upper end of the cut surface, which abuts against and engages with the locking pin, causing the locking pin to abut against the bottom surface of the flat groove. The support column extends laterally inward, located within the flat groove of the outer clamp body, and is evenly distributed along the longitudinal direction of the locking pin, capable of elastic deformation and generating elastic force. The support column located at the middle of the longitudinal direction of the locking pin abuts against the outer surface of the locking pin; the support columns at both ends of the locking pin have longitudinal blind holes, which are used to engage the ends of the locking pin, preventing the locking pin from contacting the end faces of the front and rear ends of the flat groove. Therefore, the locking pin can move smoothly inward and outward under the elastic force of the support column and the operation of the tool, eliminating jamming, malfunctions, and operational failures during assembly and disassembly, ensuring reliable operation, and facilitating robot operation.

[0019] The fixed rubber sheet has a through hole running vertically through it. Fasteners pass through the through hole and the through hole of the outer clamp body to fix the fixed rubber sheet to the body of the outer clamp. The fixed rubber sheet has a lower metal plate inside to prevent the support column from shifting and to prevent the fasteners passing through its through hole from coming out, ensuring that the fixed rubber sheet is reliably fixed.

[0020] The clamp includes an inner handle and an outer cover plate. The handle is used to lock and unlock the clamp, and the cover plate is used to fix the movable rubber tile. The clamp is also installed on the connecting belt, so that the clamp and the movable rubber tile can rotate around the body of the outer clamp for assembly and disassembly.

[0021] The cover handle is a horizontally straight handle that narrows at the lower side and enters the cavity of the clamping arm, engaging with the inner inclined surface to limit the front-to-back position of the cover handle and ensure reliable locking of the cover. The cover handle has an outward-facing locking hook on its lower outer side, which can be used to engage the middle of the locking pin for locking, or to move the locking pin outward using an operating tool to unlock the cover. The locking hook has an outward-facing opening, and below the opening is an outward-facing hook tip, which can be used to engage the locking pin, placing the locking pin within the opening for locking. The hook tip has an inner hook surface and an outer hook surface; the inner hook surface is flat and located below the opening of the locking hook; the outer hook surface curves upward on the outer side and intersects with the inner hook surface to form the hook tip.

[0022] During installation, the outer hook surface of the locking hook first contacts the upper inner side of the locking pin and squeezes the locking pin, causing the locking pin to move outward and compressing the support of the fixed rubber tile, resulting in elastic deformation and generating elastic force. As the locking hook moves relative to the locking pin, the deformation of the support gradually increases, and the elastic force gradually increases. When the hook tip of the locking hook reaches the lower inner side of the locking pin, the locking pin automatically moves inward under the elastic force of the support, so that the clamping cover enters the locking state. This is simple, convenient, and easy for robot operation.

[0023] The cover handle has a vertically penetrating upper pressure hole on its inner side, allowing an operating tool to pass through the upper pressure hole and the lower pressure hole of the clamping arm to press the cover and clamping arm together. This ensures that the fixed and movable rubber tiles press against the lead wire, facilitating the inward and outward movement of the locking pin and enabling the installation and removal of the spacer bar. Therefore, the upper pressure hole and the lower pressure hole of the clamping arm are aligned. The cover handle also has a vertically penetrating upper groove, which aligns with the lower groove of the clamping arm. An operating tool can pass through the upper and lower grooves to operate the locking pin, unlocking the cover and enabling the installation and removal of the spacer bar. The upper groove communicates with the upper pressure hole on its inner side, simplifying the structure of the operating tool and facilitating the operation of the locking pin and the pressing of the cover.

[0024] The cover plate is a curved plate with a convex upward convexity in the middle laterally, bending downward at both the outer and inner ends. The inner end is fixedly connected to the outer end of the cover handle, forming a single unit. The cover plate includes an upper surface and a lower surface, aligned with the body of the outer clamp. It is securely connected to the connecting strip via the upper surface and to the movable rubber mat via the lower surface, allowing the fixed and movable rubber mats to jointly press the sub-lead wire. The upper surface of the cover plate is a curved surface with a convex upward convexity in the middle laterally, and straight longitudinally, fitting snugly against the connecting strip. This prevents excessive deformation of the cover plate during operation and contributes to weight reduction.

[0025] The cover plate extends downwards along its front and rear edges, resulting in an upward-curved groove on its lower surface in the longitudinal middle. This reduces structural weight, facilitates lightweight construction, and prevents interference with fasteners. The lower surface of the cover plate is a transversely convex curved surface in the middle, while remaining straight longitudinally, fitting snugly against the movable rubber sheet. The cover plate has a through-hole running vertically, allowing fasteners to pass through and securely connect the cover to the movable rubber sheet and the connecting strip. The through-hole exposes the upward-curved groove at its lower end, further preventing interference between the movable rubber sheet and the fasteners.

[0026] The movable rubber tile is a downward-facing semi-circular curved tile, comprising an upper and lower surface forming a semi-cylindrical surface, and an outer and inner end face forming a plane. It is aligned with the fixed rubber tile, with its upper surface fitting against the lower surface of the cover plate and being installed on the cover plate. Its lower surface contacts and presses the sub-wire with the upper surface of the fixed rubber tile. The outer end face of the movable rubber tile is located at the outer end, intersecting the outer ends of both the upper and lower surfaces, parallel to the axis of the clamping arm, and aligned with the outer end face of the fixed rubber tile. The inner end face of the movable rubber tile is located at the inner end, intersecting the inner ends of both the upper and lower surfaces, inclined relative to the axis of the clamping arm, and aligned with the inner end face of the fixed rubber tile. This facilitates the movable rubber tile's contact with the fixed rubber tile during installation, pressing the sub-wire and preventing interference.

[0027] The movable rubber sheet has a through hole running vertically through it, and fasteners pass through the through hole of the cover plate to fix the movable rubber sheet to the cover plate. The movable rubber sheet has an internal upper metal plate to prevent excessive deformation during operation and to prevent the fasteners passing through its through hole from coming loose, ensuring reliable installation. Both the fixed and movable rubber sheets are elastic, undergoing elastic deformation when the sub-conductor is compressed, which can absorb the energy of wind vibration and secondary span oscillation, providing a damping effect.

[0028] The connecting strip is a laterally extending and curved metal strip with a strip-shaped curved plate structure, including an outer surface and an inner surface, an inner upper end and an outer lower end. The inner upper end is fastened to the clamping cover, and the outer lower end is hinged to the body of the outer clamp, allowing it to rotate relative to the body of the outer clamp. The connecting strip can deform during assembly and disassembly, preventing interference between the clamping cover, the moving rubber sheet, and the body of the outer clamp. It also eliminates jamming, malfunctions, and operational failures during assembly and disassembly, ensuring reliable operation, facilitating automated robot operation, minimizing workload, avoiding the risks of working at heights, and improving work efficiency.

[0029] During operation, the connecting strip, through its inner surface, adheres to the bottom surface of the lower curved groove of the outer clamp and the upper surface of the cover plate, respectively, bearing tensile forces. This prevents repeated deformation of the connecting strip during operation, effectively avoiding fatigue fracture and ensuring reliable operation. The connecting strip bends outward from its upper inner portion near the inner upper end to form a straight section, and then bends downward at the inner end of the straight section to form a bent section. The straight section and the bent section adhere to and securely fasten to the cover handle of the clamp, ensuring reliable fastening and operation and effectively preventing relative slippage. The connecting strip has end grooves on its straight and bent sections that correspond to the upper through groove of the cover handle, facilitating the operation of locking pins by tools passing through these grooves and avoiding interference.

[0030] The connecting strip bends inward at its lower outer end to form a closed hook, creating a hinge hole at the lower outer end. This hinge hole engages with a hinge pin, allowing the connecting strip to hinge with the outer clamp and rotate relative to it. Fasteners are installed on the straight portion of the connecting strip, securing it firmly to the clamp cover and ensuring reliable fastening and operation, effectively preventing relative slippage. The connecting strip has a vertically penetrating groove in its longitudinal middle section, facilitating deformation during installation and reducing structural weight, thus contributing to weight reduction. The connecting strip also has vertically penetrating fastening holes through which fasteners pass, securing the connecting strip to the clamp cover.

[0031] The hinge pin passes through the hinge hole at the lower outer end of the connecting strap, and through and securely attaches to the through holes at the lower front and lower rear edges of the body of the outer clamp, so that the connecting strap and the body of the outer clamp are hinged and can rotate relative to each other. The inner clamp includes a hollow structure and is connected to the frame using the hollow structure to obtain the joint of the spacer bar, which has a damping effect.

[0032] A method for installing spacer bars is provided for robotic installation of the spacer bars described in this invention. The robot is equipped with a manipulator featuring jaws, and short cylindrical operating tools are mounted on the upper and lower sides of the jaws, respectively. The operating tools on the upper side of the jaws face downwards, and the operating tools on the lower side face upwards. The jaws are capable of opening and closing. When the jaws are closed, the axes of the two operating tools coincide, and their end faces contact each other. The diameter of the operating tools is smaller than the lower pressing hole of the clamping arm and the upper pressing hole of the clamping cover, allowing the operating tools to extend into the lower and upper pressing holes, preventing slippage and ensuring reliable operation.

[0033] The installation method includes the following steps: The first step is initialization; the frame of the spacer is rotated so that each sub-conductor is located within the clamp of the spacer and in contact with the upper surface of the fixed rubber tile. This operation is performed by the auxiliary installation device (also known as a tensioning tool, binding tool, clamping tool, or paralleling device) of the outgoing line operation platform (also known as a flyover or trolley). The outgoing line operation platform is installed on the conductor of the transmission line, can move on the conductor, transport the spacer, and is equipped with a robot for installing and removing the spacer and the auxiliary installation device; the auxiliary installation device can gather the sub-conductors and clamp the spacer to be installed.

[0034] The second step is to push the connecting belt, the movable rubber tile, and the clamping cover to rotate; the robot's jaws open, approach the body of the outer clamp and rotate, and the operating tool on the lower side of the jaws abuts against the middle outer surface of the connecting belt, so that the connecting belt, the movable rubber tile, and the clamping cover all rotate relative to the body of the outer clamp. When the locking hook of the cover abuts against the outer end of the body of the outer clamp, interference occurs, causing the connecting band to deform and the locking hook of the cover to slide relative to the body of the outer clamp. The connecting band continues to deform, and the locking hook of the clamp continues to slide, so that the moving rubber tile abuts against the outer end of the outer clamp body at the inner end of the lower surface and slides relative to it; The connecting band continues to deform, causing the locking hook to pass over the outer end of the outer clamp body and the sub-lead wire, reaching above the clamp arm, the moving rubber tile reaching above the sub-lead wire, and the upper surface of the fixed rubber tile and the lower surface of the moving rubber tile jointly contacting the sub-lead wire. Because the locking hook passes over the outer end of the outer clamp and the sub-wire, the connecting band elastically recovers, reducing the amount of deformation. During this process, due to the deformation and elastic recovery of the connecting band, the connecting band, the moving rubber tile, and the clamp cover cannot return to their pre-rotation state, thus preventing jamming, malfunctions, and installation failures, and ensuring reliable operation.

[0035] The third step is to lock the clamp cover; the robot's jaws move closer from the outside to the inside, so that the operating tool on the upper side of the jaws aligns with the upper pressing hole of the clamp cover, and the operating tool on the lower side of the jaws aligns with the lower pressing hole of the clamp arm. The robot's jaws close, allowing the operating tool on the upper side of the jaws to enter the upper pressure hole, and the operating tool on the lower side of the jaws to enter the lower pressure hole; The robot's jaws continue to close, causing the fixed rubber tile and the moving rubber tile to press together the sub-wire and undergo elastic deformation; causing the locking hook of the clamp to abut against the inner upper side of the locking pin through the outer hook surface and squeeze the locking pin, causing the locking pin to move outward. The locking pin moves outward, causing the support of the fixed rubber tile to compress and undergo elastic deformation, generating elastic force; the robot's jaws continue to close, causing the locking pin to continue moving outward; when the hook tip of the locking hook reaches the inner lower side of the locking pin, the locking pin moves inward under the elastic force of the support, causing the clamp cover to automatically enter the locking state.

[0036] Step four, installation complete; the robot's jaws continue to close, allowing the lower part of the cover handle to enter the cavity of the clamping arm; when the lower part of the cover handle abuts against the inner inclined surface of the clamping arm, the resistance to jaw closure increases sharply; when the resistance reaches a certain value, installation is complete. Determining whether installation is complete based on the magnitude of the jaw closure resistance is simple, convenient, and facilitates robot operation.

[0037] A method for disassembling a spacer bar, used for robotic disassembly of the spacer bar according to the present invention; the robot is equipped with a manipulator with jaws, and strip-shaped operating tools are respectively installed on the upper and lower sides of the jaws; the operating tool on the upper side of the jaws faces downwards, and the operating tool on the lower side of the jaws faces upwards, the jaws can open and close; when the jaws are closed, the end faces of the two operating tools can contact and align. The thickness of the operating tool is smaller than the lower through groove of the clamping arm and the upper through groove of the clamping cover, so that the operating tool can extend into the lower through groove and the upper through groove to operate the locking pin, ensuring reliable operation. The operating tool has a transition slope or arc surface at the end to avoid interference with the locking pin when extending into the lower through groove or the upper through groove.

[0038] The disassembly method includes the following steps: The first step is initialization; the robot's manipulator is aligned with the axis of the wire clamp on the spacer bar, and the jaws of the manipulator are open, facing the wire clamp. The robot's manipulator moves from the outside inwards towards the clamp of the spacer bar, so that the operating tool on the upper side of the jaws aligns with the upper through groove of the clamp cover, and the operating tool on the lower side of the jaws aligns with the lower through groove of the clamp arm.

[0039] The second step is to press the clamp cover and the clamp arm together; the robotic arm jaws close, so that the operating tool on the upper side of the jaws enters the upper through groove of the clamp cover, and the operating tool on the lower side of the jaws enters the lower through groove of the clamp arm; The jaws continue to close, causing the operating tool on the upper side of the jaws to pass downwards over the locking pin and be able to hold the middle of the locking pin on the front side; this compresses the fixed rubber tile and the moving rubber tile, causing elastic deformation; it also causes the inner hook surface of the locking hook to lose contact pressure with the locking pin, resulting in the locking pin being able to move smoothly in and out, avoiding jamming and facilitating the operation of the locking pin. The jaws continue to close; when the lower part of the cap handle abuts against the inner inclined surface of the clamping arm, the resistance to jaw closure increases sharply. When the resistance reaches a certain value, closing stops and the jaws remain in the closed position.

[0040] Third, operate the locking pin; the robot's manipulator rotates outward, causing the jaws of the manipulator to move outward and upward; it also causes the wire clamp of the spacer bar to rotate inward, causing the outer clamp to move inward and upward relative to the inner clamp; therefore, the operating tool on the upper side of the jaws presses the middle of the locking pin on the front side, causing the locking pin to move outward; the outward movement of the locking pin causes the support of the fixed rubber tile to be compressed, undergoing elastic deformation and generating elastic force; The robot's manipulator continues to rotate outward, causing the closing resistance of the upper jaw operating tool to gradually decrease, while the closing resistance of the lower jaw operating tool gradually increases. When the closing resistance of the upper jaw operating tool suddenly decreases, the tip of the locking hook of the clamp reaches the inner side of the locking pin. As the robotic arm continues to rotate outward, the jaws simultaneously open, causing the locking hook tip of the clamp cover to disengage from the locking pin, thus unlocking the clamp. The operating tool on the upper side of the jaws disengages from the locking pin. Under the elastic force of the support pillar of the fixed rubber tile, the locking pin automatically moves inward and returns to its original position, which can prevent malfunctions and ensure reliable operation.

[0041] Fourth step, push the connecting belt, moving rubber tile and clamp cover to rotate; the robot's manipulator jaws continue to open, so that the operating tool on the upper side of the jaws is stuck on the outer end of the upper through groove of the clamp cover, so that the operating tool on the lower side of the jaws is disengaged from the lower through groove of the clamp arm; The robot's manipulator continues to rotate outward, causing the operating tool on the upper side of the jaws to rotate the connecting belt, the movable rubber tile, and the clamping cap relative to the body of the outer clamp. This also causes the operating tool on the lower side of the jaws to abut against the bottom surface of the lower curved groove of the outer clamp body, which can force the movable rubber tile and the connecting belt to deform. When the movable rubber tile abuts against the middle of the upper side of the sub-conductor at the inner end of its lower surface, interference occurs, forcing both the movable rubber tile and the connecting strip to deform, and causing the movable rubber tile to slide relative to the sub-conductor; as the sliding proceeds, elastic recovery occurs.

[0042] Fifth step, disassembly operation ends; the robot's manipulator continues to rotate outward; when the inner end of the lower surface of the moving rubber tile abuts against the outer end face of the fixed rubber tile, interference continues, causing the moving rubber tile and connecting strip to continue to deform and slide relative to the outer end face of the fixed rubber tile; as the sliding proceeds, the degree of deformation gradually increases; The robot's manipulator continues to rotate outward; when the inner end of the lower surface of the movable rubber tile reaches above the outer end of the outer clamp body and disengages from the outer end face of the fixed rubber tile, the movable rubber tile and connecting strap undergo violent elastic recovery and rapid rotation, causing the movable rubber tile and clamp cover to disengage from the outer clamp body and the fixed rubber tile, and also causing the clamp cover to disengage from the operating tool on the upper side of the jaws; since the connecting strap, movable rubber tile, and clamp cover are located within the jaws of the manipulator, excessive impact and damage will not occur. Accompanying the elastic recovery, the outer hook surface of the clamp cover's locking hook interferes with the outer end of the outer clamp body, effectively preventing malfunctions and disassembly failures, ensuring reliable disassembly operations; The robot's manipulator continues to rotate outward; the disassembly operation ends when the manipulator is perpendicular to the axis of the clamp.

[0043] Supplementary explanation: (1) The lower through groove of the clamping arm is connected to the lower pressure hole on its inner side, so that the existing spacer bar operating tool can be rotated 90° after passing through the lower through groove and the lower pressure hole to lock the clamping arm. The existing spacer bar installation wrench includes a screw (also known as a pull rod) and a baffle (also known as a limiting plate, limiting pin, rotating pin, rotating plate), and the baffle rotates relative to the screw. Therefore, the lower through groove of the present invention is connected to the lower pressure hole, so that the baffle does not need to rotate relative to the screw, thus simplifying the structure of the existing spacer bar installation wrench, simplifying the assembly and disassembly operation, and facilitating robot and manual operation.

[0044] (2) The upper pressing hole of the cover handle is opposite to the lower pressing hole of the clamping arm; the upper through groove of the cover handle is opposite to the lower through groove of the clamping arm; the upper through groove is connected to the upper pressing hole on its inner side, and the lower through groove is connected to the lower pressing hole on its inner side; therefore, the operating tool can pass through the upper pressing hole and the upper through groove to operate the locking pin, and can also pass through the lower pressing hole and the lower through groove to operate the locking pin, so as to realize the installation and removal of the spacer bar, which is simple and convenient.

[0045] (3) The body of the outer clamp has a longitudinal circular pin hole at the transverse middle of the front lower edge and the rear lower edge, and a hinge pin is installed by passing through the pin hole and fastening it, so that the connecting strip is hinged to the body of the outer clamp and can rotate relative to it. Therefore, the lower curved groove of the body of the outer clamp has a guiding function; during installation, the lower part of the connecting strip is in contact with the upper bottom surface of the lower curved groove of the outer clamp, and the lower part of the connecting strip is located in the lower curved groove of the outer clamp, so that the lower side of the cover handle of the clamp can enter the cavity of the clamp arm and cooperate with the inner inclined surface, which can effectively prevent the connecting strip from deflecting.

[0046] (4) The fixed rubber tile has a lower metal plate inside and the movable rubber tile has an upper metal plate inside, which can prevent the fasteners passing through the through holes of the fixed rubber tile and the movable rubber tile from coming out, and ensure that the fixed rubber tile and the movable rubber tile are reliably fixed and installed; it can also ensure that the movable rubber tile will slide relative to each other during the installation and disassembly process, and avoid excessive deformation and damage.

[0047] (5) The robot for assembling and disassembling the spacer bar of the present invention is equipped with a manipulator with jaws; therefore, the manipulator has at least an upper finger, a lower finger, a hand joint, and an arm joint; the upper and lower fingers can rotate around the hand joint to form jaws; an operating tool is installed on the opposite side of the upper and lower fingers to realize the assembly and disassembly operation. The manipulator rotates around the arm joint to adjust its relative position with the spacer bar clamp to realize the assembly and disassembly operation. Preferably, a torque sensor is installed on the hand joint to obtain the closing resistance of the jaws and the operating tool.

[0048] In the third step of the disassembly method, the outward rotation of the robot's manipulator refers to the outward rotation of the manipulator around the arm joint, causing the jaws to move outward and upward. Since the inner clamp of the wire clamp is connected to the frame to form the joint of the spacer bar, the outward rotation of the manipulator can cause the wire clamp of the spacer bar to rotate inward, causing the outer clamp to move inward and upward relative to the inner clamp.

[0049] The beneficial effects of the present invention are as follows: (1) The present invention uses the fixed rubber tile and the moving rubber tile to press the sub-wire together, and uses the clamp cover to lock and unlock; the connecting strip is fastened to the clamp cover by the inner upper end, and is hinged to the body of the outer clamp by the outer lower end, and can rotate relative to the body of the outer clamp; the connecting strip can deform and elastically recover during assembly and disassembly, avoiding interference between the clamp cover, the moving rubber tile and the body of the outer clamp.

[0050] Therefore, compared with the spacers described in the authorization announcements CN217335004U, CN220711085U, and CN116742560A, and other prior art, the spacer of the present invention utilizes the deformation and elastic recovery of the connecting strip to avoid interference during the assembly and disassembly process, thereby eliminating jamming, malfunctions, and operational failures during the assembly and disassembly process, ensuring reliable operation, facilitating automated robot operations, minimizing workload, avoiding risks associated with working at heights, and improving work efficiency.

[0051] In addition, during operation, the connecting strip adheres to the bottom surface of the lower curved groove of the outer clamp and the upper surface of the cover plate through its inner surface, respectively, and bears the tensile force. This causes the depth of the lower curved groove to gradually decrease from the inside to the outside, which can reduce the structural size of the wire clamp on the outside of the sub-conductor, making it easier for robots, electric flying cars or other automated operating equipment to pass through. It can also reduce weight and facilitate lightweighting. It can effectively avoid fatigue fracture and ensure reliable operation.

[0052] (2) The locking pin of the present invention is located in the flat groove of the outer clamp body, abuts against the support of the fixed rubber tile on the outer side of the middle part, and is inserted into the blind hole of the fixed rubber tile at both the front and rear ends. It can move inward under the elastic force of the support of the fixed rubber tile, and can also move outward under the operation of the operating tool. Under the elastic force of the support of the fixed rubber tile, the locking pin abuts against the bottom surface of the flat groove, is located on the inner side of the outer end of the lower through groove of the clamping arm, and protrudes in the cavity of the clamping arm in the middle part. It can lock and lock the locking hook of the clamp cover, and can also move smoothly outward under the operation of the operating tool to unlock the clamp cover.

[0053] Existing self-locking spacers, equipped with a self-locking mechanism, rely on elastic elements for locking and unlocking, making them particularly prone to jamming or failure during operation and disassembly. Therefore, compared to existing spacers, the locking pin of this invention is located within the flat groove of the outer clamp body, engaging with the blind holes of the fixed rubber tile at both ends; ensuring smooth inward and outward movement, eliminating jamming, malfunctions, and operational failures during assembly and disassembly, and ensuring reliable assembly and disassembly operations. The locking pin engages and locks the locking hook of the clamp cover in the middle, allowing the operating tool to pass through the lower through groove and lower pressure hole of the clamp arm, or through the upper pressure hole and upper through groove, into the cavity of the clamp arm, and operate the locking pin to unlock, thus assembling and disassembling the spacer; facilitating automated robotic operations, making assembly and disassembly convenient; ensuring reliable operation, and effectively preventing accidental contact, accidental unlocking, and other malfunctions.

[0054] In addition, the locking pin is inserted into the blind hole of the fixed rubber tile at both ends and protrudes from the cavity of the clamping arm in the middle; this facilitates drainage, prevents freezing and cracking, and ensures reliable operation; it can also effectively prevent dust intrusion, jamming, or disassembly failure.

[0055] (3) The fixed rubber tile of the present invention has a lower metal plate inside, and the movable rubber tile has an upper metal plate inside, which can prevent the fasteners passing through the through holes of the fixed rubber tile and the movable rubber tile from coming out. Therefore, compared with the rubber tiles of the existing spacer bars, the fixed rubber tile and the movable rubber tile of the present invention both have metal plates inside, which can be fixed and installed by fasteners passing through their through holes, ensuring reliable fixed installation; it can also ensure that the movable rubber tile will slide relative to each other during the assembly and disassembly process, avoiding excessive deformation and damage; it also allows the spacer bar of the present invention to use the deformation and elastic recovery of the connecting strip to avoid interference during the assembly and disassembly process, eliminate jamming, malfunction and operation failure during the assembly and disassembly process, ensure reliable operation, and facilitate automated operation by robots.

[0056] In addition, the outer end face of the movable rubber tile is parallel to the axis of the clamping arm and opposite to the outer end face of the fixed rubber tile; the inner end face of the movable rubber tile is inclined relative to the axis of the clamping arm and opposite to the inner end face of the fixed rubber tile, so that the movable rubber tile can abut against the fixed rubber tile during installation and press the sub-wire tightly to avoid interference.

[0057] (4) In this invention, the lower through groove of the clamping arm communicates with the lower pressing hole on its inner side, and the upper through groove of the cover handle communicates with the upper pressing hole on its inner side; the upper pressing hole of the cover handle is opposite to the lower pressing hole of the clamping arm; the upper through groove of the cover handle is opposite to the lower through groove of the clamping arm. Therefore, compared with the existing spacer bar, the lower through groove and upper through groove of this invention are respectively connected to the lower pressing hole and the upper pressing hole, which can simplify the structure of the operating tool and its assembly and disassembly method, facilitate automated operation by the robot, and also facilitate manual assembly and disassembly, which is simple and convenient.

[0058] In addition, this invention proposes a new approach to simplify the structure of operating tools and their assembly and disassembly methods, which can improve the convenience and efficiency of spacer bar assembly and disassembly operations and avoid the risks of working at heights.

[0059] (5) The installation method of the present invention utilizes the operating tool on the lower side of the robot jaws to abut against the middle outer surface of the connecting strip, causing the connecting strip, the movable rubber pad, and the clamping cover to rotate relative to the body of the outer clamp, forcing the connecting strip to deform and elastically recover; the connecting strip, the movable rubber pad, and the clamping cover cannot return to their state before rotation, thus avoiding malfunctions and ensuring reliable operation. When the robot jaws close, the fixed rubber pad and the movable rubber pad together press the sub-wire and undergo elastic deformation; it also causes the locking pin to move automatically and lock the clamping cover, which is simple and convenient, and can prevent jamming, malfunctions, and installation failures.

[0060] (6) The disassembly method of the present invention utilizes an operating tool installed in the robot jaws to insert into the upper through groove of the clamp cover and the lower through groove of the clamp arm, respectively, to press the clamp cover and the clamp arm together; the robot's manipulator rotates outward, causing the locking pin to move outward; thus unlocking the locking hook of the clamp cover; the locking pin automatically returns to its original position, which can avoid malfunctions and ensure reliable operation. The robot's manipulator continues to rotate outward, pushing the connecting belt, the moving rubber tile, and the clamp cover to rotate; forcing the moving rubber tile and the connecting belt to deform, slip relative to each other, and elastically recover. The interference that occurs along with the elastic recovery can effectively avoid malfunctions and disassembly failures, ensuring reliable disassembly operation. The disassembly method is simple and convenient, which can improve work efficiency; it can also eliminate jamming, malfunctions, and installation failures. Therefore, the installation and disassembly method of the present invention can improve the intelligence level of spacer bar installation and disassembly operations and promote the development of smart grid technology. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of the wire clamp before installation; Figure 2 For the wire clamp in Figure 1 Top view of the location; Figure 3 for Figure 2 A magnified view of the area within the dashed circle. Figure 4 This is a schematic diagram of the wire clamp after installation; Figure 5 This is a schematic diagram of the assembly structure of the connecting strip, the movable rubber sheet, and the clamp cover; Figure 6 For the connecting strip in Figure 5 Top view of the location; Figure 7 This is a schematic diagram showing the interference state between the clamp cover and the outer clamp body.

[0062] Explanation of reference numerals in the attached drawings: 1-Clamping arm; 11-Cavity; 12-Matching section; 13-Inner inclined surface; 14-Lower through groove; 15-Lower pressing hole; 2-Outer clamp; 21-Flat groove; 22-Lower curved groove; 3-Locking pin; 4-Fixed rubber tile; 41-Support column; 42-Through hole; 43-Lower metal plate; 44-Blind hole; 5-Clamping cover; 51-Cover handle; 52-Cover plate; 53-Locking hook; 54-Upper pressing hole; 55-Upper through groove; 6-Moving rubber tile; 61-Upper metal plate; 7-Connecting strip; 71-Bending part; 72-Straight part; 73-Hook; 74-End groove; 75-Fastener; 76-Middle groove; 77-Fastening hole; 8-Hinge pin; 9-Inner clamp. Detailed Implementation

[0063] The orientations described in this manual are based on the spacer bar being assembled and disassembled; facing the spacer bar along the guide wire, the direction closer to the robot is front, and vice versa; the direction parallel to the guide wire is longitudinal, and the direction perpendicular to the guide wire is transverse; the transverse direction closer to the center of the spacer bar is inside, and other directions follow the same principle. Figure 1 In the diagram, the direction closest to the reader faces forward, which is the vertical orientation; other directions follow the same principle. The technical solution of this invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0064] Figure 1 This is a schematic diagram of the wire clamp before installation, where the double-dotted circle represents the sub-wire. Figure 2 For the wire clamp in Figure 1 A top view of the location. The wire clamp includes a clamping arm 1, an outer clamp 2, and an inner clamp 9. The outer clamp 2 includes a body, a locking pin 3, a fixed rubber pad 4, a clamping cover 5, a movable rubber pad 6, a connecting strap 7, and a hinge pin 8. The clamping arm 1 is a transverse strip-shaped metal arm with a U-shaped groove in cross-section, preferably made of aluminum alloy and formed by die casting. The cavity 11, mating section 12, inner inclined surface 13, lower through groove 14, and lower pressing hole 15 of the clamping arm 1 are preferably obtained in the forming process of the clamping arm 1.

[0065] The body of the outer chuck 2 is a curved plate with a concave middle section in the transverse direction. It curves upward at both the outer and inner ends, forming a vertical straight plate at the inner end. The inner surface of the straight plate is fixedly connected to the outer end of the clamping arm 1, forming a single unit. The outer chuck 2 and its above-mentioned structural features are preferably obtained during the forming process of the clamping arm 1. The body of the outer chuck 2 has a longitudinal flat groove 21 on the upper part of the outer surface of the straight plate. The flat groove 21 is a longitudinally horizontal straight groove, higher than the upper edge of the outer end of the body. The flat groove 21 opens on the front surface of the straight plate of the body of the outer chuck 2 on the outer side, has a semi-circular bottom surface on the inner side, and is closed at both ends, forming a blind groove. The flat groove 21 communicates with the cavity 11 of the clamping arm 1 in the longitudinal middle. The flat groove 21 and its above-mentioned structural features are preferably formed by milling.

[0066] The body of the outer chuck 2 includes a horizontally recessed upper surface, and extends downward along the front and rear edges to form a front lower edge and a rear lower edge, with a lower curved groove 22 formed between the front lower edge and the rear lower edge; the cross-section of the lower curved groove 22 is "Π"-shaped; the depth of the lower curved groove 22 gradually decreases from the inside to the outside; the lower curved groove 22 and its above-mentioned structural features are preferably obtained in the forming process of the clamping arm 1. The body of the outer chuck 2 has a longitudinal circular pin hole in the horizontal middle of the front lower edge and the rear lower edge, and the hinge pin 8 is installed and fastened by passing through the pin hole. The body of the outer chuck 2 has a through hole on the upper surface, and a fastener passes through the through hole; the through hole extends vertically through the body of the outer chuck 2, and has a countersunk hole at the lower end that exposes the upper bottom surface of the lower curved groove 22; the pin hole, through hole, and countersunk hole of the body of the outer chuck 2 are preferably machined.

[0067] The locking pin 3 is a longitudinally horizontal cylindrical pin located within the flat groove 21 of the outer clamp 2 body, protruding from the cavity 11 of the clamping arm 1 in the middle. It can lock and hold the clamping cover 5, allowing for smooth inward and outward movement. The locking pin 3 and its above-mentioned structural features are preferably formed by machining from stainless steel wire. Because stainless steel has strong corrosion resistance, high load-bearing capacity, and long service life, the locking pin 3 ensures reliable operation, smooth inward and outward movement, and effectively avoids jamming and disassembly failure.

[0068] The fixed rubber tile 4 is a semi-circular curved tile with its opening facing upwards. It has an outer end face parallel to the axis of the clamping arm 1 at its outer end, and an inner end face inclined relative to the axis of the clamping arm 1 at its inner end. The fixed rubber tile 4 has a semi-cylindrical surface on its upper surface and a vertical chamfered surface at the inner end of its lower surface. The fixed rubber tile 4 is elastic. The fixed rubber tile 4 and its above-mentioned structural features are preferably formed from synthetic rubber through molding and vulcanization. The fixed rubber tile 4 has a horizontally extending support 41 at the upper end of the chamfered surface. The support 41 extends inwards laterally, entering the flat groove 21 of the outer clamp 2 body, and is evenly distributed longitudinally along the locking pin 3, capable of elastic deformation. The support 41 and its above-mentioned structural features are preferably obtained during the forming process of the fixed rubber tile 4.

[0069] Figure 3 for Figure 2 The enlarged view of the area within the dashed circle shows the partial structural features of the end of the locking pin 3 and the support column 41. For example... Figure 3As shown, the support column 41 located at both ends of the locking pin 3 has longitudinal blind holes 44, which are used to engage the end of the locking pin 3. The fixed rubber tile 4 has a through hole 42 extending vertically. The through hole 42 of the fixed rubber tile 4 and the blind hole 44 of the support column 41 are preferably obtained during the forming process of the fixed rubber tile 4. The end of the locking pin 3 is preferably bonded to the inner surface of the blind hole 44 with a known adhesive to ensure that the end of the locking pin 3 is located within the blind hole 44, preventing the locking pin 3 from dislodging when it moves outward.

[0070] like Figure 1 , 2 As shown, the fixed-insulation tile 4 has a lower metal plate 43 inside. The lower metal plate 43 is located inside the fixed-insulation tile 4, preferably obtained during the forming process of the fixed-insulation tile 4. The lower metal plate 43 has a through hole, and the through hole is aligned with the through hole 42 of the fixed-insulation tile 4 to prevent fasteners passing through the through hole 42 from coming loose. The lower metal plate 43 and its through hole are preferably formed by stamping carbon steel sheet; the alignment is preferably obtained during the forming process of the fixed-insulation tile 4.

[0071] Figure 4 This is a schematic diagram of the wire clamp after installation; Figure 5 This is a schematic diagram of the assembly structure of the connecting strip 7, the movable rubber tile 6, and the clamping cover 5; Figure 4 and Figure 5 This describes the relative positions and structure of the components of the wire clamp after installation. For example... Figure 5 As shown, the cover 5 includes a cover handle 51 and a cover plate 52. The cover handle 51 is a horizontally straight handle that narrows at the lower side and has an outward-facing locking hook 53 below the outer side. The locking hook 53 has an outward-facing opening and an outward-facing hook tip below the opening. The hook tip has an inner hook surface and an outer hook surface. The inner hook surface is flat. The outer hook surface curves upward on the outer side and intersects with the inner hook surface to form the hook tip. The cover handle 51 has a vertically penetrating upper pressure hole 54 and a vertically penetrating upper through groove 55 on its inner side, which communicates with the upper pressure hole 54 on its inner side. The cover plate 52 is a horizontally convex curved plate that curves downward at both the outer and inner ends. It is fixedly connected to the outer end of the cover handle 51 at its inner end, forming a single unit. The cover plate 52 extends downward along its front and rear edges, so that the lower surface of the cover plate 52 has an upper curved groove in the middle of its longitudinal direction. The cover handle 51 and cover plate 52 of the clamp 5, and their aforementioned structural features, are preferably made of aluminum alloy and formed by die casting. The cover plate 52 has a through hole running vertically through the top and bottom, which is preferably formed by drilling.

[0072] The movable rubber tile 6 is a downward-facing semi-circular curved tile, comprising a planar outer end face and an inner end face, possessing elasticity, and preferably formed using the same material and process as the fixed rubber tile 4. The movable rubber tile 6 has a through hole running vertically through it, which is preferably formed during the forming process of the movable rubber tile 6. The movable rubber tile 6 has an upper metal plate 61 inside, which is preferably formed using the same material and process as the lower metal plate 43. Similarly, the upper metal plate 61 has a through hole, and the through hole of the upper metal plate 61 is aligned with the through hole of the movable rubber tile 6; this alignment is preferably achieved during the forming process of the movable rubber tile 6.

[0073] Figure 6 For the connecting band 7 in Figure 5 Top view of the location, and Figure 5 Together, they express the structural features of the connecting strip 7 and its assembly relationship with other parts. The connecting strip 7 is a laterally extending and curved metal strip, presenting a strip-shaped curved plate structure, including an inner upper end and an outer lower end. It is preferably formed by cutting and bending stainless steel spring plate, which facilitates elastic deformation and elastic recovery, avoids plastic deformation and damage during assembly and disassembly, and is also corrosion-resistant, ensuring reliable operation.

[0074] The connecting band 7 bends outward at its upper inner part near the upper inner end to form a straight portion 72. At the inner end of the straight portion, it bends downward to form a bent portion 71. At its lower outer end, it bends inward to form a closed hook 73. The bent portion 71, the straight portion 72, and the hook 73 are preferably formed by bending. The connecting band 7 has end grooves 74 in the straight portion 72 and the bent portion 71, a vertically penetrating central groove 76 in the middle longitudinal direction, and a vertically penetrating fastening hole 77. The end grooves 74, the central groove 76, and the fastening hole 77 are preferably formed by machining. The fastener 75 installed on the straight portion 72 of the connecting band 7 is preferably a standard rivet.

[0075] The hinge pin 8 passes through the hinge hole at the lower outer end of the connecting band 7, and passes through and is securely installed in the through holes at the lower front and lower rear edges of the body of the outer clamp 2. Preferably, existing standard pins are used, and existing anti-loosening technology is preferred to secure the pin in the through holes of the outer clamp 2 body to prevent it from falling off and ensure reliable operation. The inner clamp 9 includes a hollow structure and is connected to the frame using this hollow structure to obtain the joint of the spacer bar. The joint is preferably implemented using the existing joint structure and processing technology of spacers. A damping element is preferably installed inside the joint to provide damping. The damping element is preferably implemented using the existing rubber column of the spacer bar.

[0076] The installation and disassembly methods involve a lead-out platform, robot, and auxiliary installation device, preferably existing lead-out platform, robot, and auxiliary installation device products. In the fourth step of the installation method, the installation is considered complete when the resistance to jaw closure reaches a predetermined value. In the second step of the disassembly method, the closing is stopped when the resistance to jaw closure reaches a predetermined value. The predetermined value is obtained through testing to ensure reliability and facilitate robot operation. The robot for assembling and disassembling the spacer bar of this invention is equipped with a manipulator with jaws; the manipulator has at least an upper finger, a lower finger, a hand joint, and an arm joint; preferably, it is implemented using existing manipulators and their development technologies. Preferably, a torque sensor is installed on the hand joint; the torque sensor is preferably implemented using existing commercial torque sensor products.

[0077] Figure 7 This is a schematic diagram illustrating the interference state between the clamp cover 5 and the outer clamp 2 body. The double-dotted circle in the diagram represents the sub-wire. In the second step of the installation method, the connecting strap 7, the movable rubber mat 6, and the clamp cover 5 are rotated. When the locking hook 53 of the clamp cover 5 abuts against the outer end of the outer clamp 2 body at the outer hook surface, the following occurs: Figure 7 The interference shown is as follows. In the fifth step of the disassembly method, when the moving rubber tile 6 and the clamp 5 disengage from the body of the outer clamp 2 and the fixed rubber tile 4, the moving rubber tile 6 and the connecting belt 7 undergo violent elastic recovery and rapid rotation; therefore, after the connecting belt 7 undergoes violent elastic recovery and rapid rotation, the outer hook surface of the locking hook 53 of the clamp 5 separates from the outer end of the body of the outer clamp 2; when the connecting belt 7 touches the inner side of the jaws of the manipulator and rebounds, the outer hook surface of the locking hook 53 of the clamp 5 separates from the outer end of the body of the outer clamp 2 as shown. Figure 7 The interference shown can effectively avoid malfunctions and disassembly failures, ensuring reliable disassembly operations.

[0078] The above embodiments are merely preferred embodiments of the present invention and do not constitute a limitation thereof. Changes in materials and manufacturing processes, provided they meet the structural and performance requirements of the present invention, are all within the scope of protection of the present invention.

Claims

1. A spacer bar for robot operation, comprising a wire clamp and a frame, characterized in that: The wire clamp includes a clamping arm (1), an outer clamp (2), and an inner clamp (9). The clamping arm (1) connects the outer clamp (2) and the inner clamp (9). The outer clamp (2) clamps the sub-wire and the inner clamp (9) connects to the frame. The outer clamp (2) includes a body, a locking pin (3), a fixed rubber tile (4), a clamp cover (5), a movable rubber tile (6), and a connecting belt (7). The fixed rubber tile (4) and the movable rubber tile (6) together press the sub-wire. The clamping arm (1) is a horizontal strip metal arm with a base plate. It is fixedly connected to the body of the outer clamp (2) at its outer end and fixedly connected to the inner clamp (9) at its inner end. The clamping arm (1) has a "U"-shaped groove to form a cavity (11); The clamping arm (1) has a transverse lower through groove (14) in the longitudinal middle of the base plate; the locking pin (3) can be operated by passing through the lower through groove (14) with an operating tool to unlock the clamping cover (5) and realize the installation and removal of the spacer bar. The clamping arm (1) has a pressing hole (15) in the middle of the base plate, which can be used to press the clamping cover (5) through the pressing hole (15) to realize the installation and removal of the spacer bar. The body of the outer clamp (2) is a curved plate with a concave middle section in the horizontal direction, and the fixed rubber tile (4) is fixedly installed on the upper surface. The body of the outer clamp (2) has a longitudinal flat groove (21) on the upper part. The flat groove (21) is closed at both ends and accommodates the locking pin (3) inside, which can effectively prevent the locking pin (3) from falling off; The flat groove (21) is connected to the cavity (11) of the clamping arm (1) in the middle of the longitudinal direction, so that the operating tool can pass through the lower through groove (14) and the lower pressure hole (15) of the clamping arm (1) to operate the locking pin (3), which can simplify the assembly and disassembly operation and facilitate robot and manual operation. The fixed rubber tile (4) has a horizontal support column (41); the support column (41) is located in the flat groove (21) and can undergo elastic deformation to generate elastic force; The locking pin (3) abuts against the support column (41) on the outer side of the middle part and is inserted into the support column (41) at both the front and rear ends. It can move inward under the elastic force of the support column (41) and can also move outward under the operation of the operating tool. The clamp (5) includes a handle (51) and a cover plate (52). The movable rubber tile (6) is fixedly installed through the cover plate (52), and the clamp (5) is installed on the connecting belt (7). The handle (51) has a locking hook (53). The locking pin (3) is exposed in the cavity (11) of the clamping arm (1) in the middle, which can lock the locking hook (53) of the clamp cover (5), and can also move outward under the operation of the operating tool to unlock the clamp cover (5); It facilitates automated operation by robots and makes assembly and disassembly convenient; Ensure reliable operation and effectively prevent accidental touch, accidental unlocking, and other malfunctions; The connecting strip (7) is a horizontally extending and curved metal strip, presenting a strip-shaped curved plate structure, including an inner upper end and an outer lower end; The connecting strap (7) is fastened to the cover (5) by its inner upper end and hinged to the body of the outer clamp (2) by its outer lower end, so that it can rotate relative to the body of the outer clamp (2) and withstand tensile force. The connecting strip (7) can deform and elastically recover during assembly and disassembly, avoiding interference between the clamp (5), the moving rubber tile (6) and the outer clamp (2), eliminating jamming, malfunction and operation failure during assembly and disassembly, ensuring reliable operation and facilitating automated operation of the robot.

2. A spacer bar for facilitating robot operation according to claim 1, characterized in that: The clamping arm (1) is a transverse strip metal arm with a "U"-shaped groove in cross section, and has a front wall and a rear wall; The clamping arm (1) has a mating section (12) on the outside of the front and rear walls, which mates with the clamping cover (5) through the mating section (12); Both the front and rear walls have an inner inclined surface (13) on the side of the upper surface of the mating section (12) near the cavity (11), so that the clamping arm (1) engages with the clamping cover (5) through the inner inclined surface (13) to limit the front and rear position of the clamping cover (5) and ensure that the clamping cover (5) is locked reliably. The lower through groove (14) is flush with the outer end of the cavity (11) at its outer end and communicates with the lower pressure hole (15) on its inner side. This simplifies the structure of the operating tool, allowing the operating tool to pass through the lower through groove (14) and lower pressure hole (15) of the clamping arm (1) to operate the locking pin (3). This simplifies the assembly and disassembly operations and facilitates robot and manual operations.

3. A spacer bar for facilitating robot operation according to claim 1, characterized in that: The body of the outer clamp (2) is bent upward at both the outer and inner ends, forming a vertical straight plate at the inner end; The body of the outer clamp (2) has a longitudinal flat groove (21) on the upper part of the outer surface of the straight plate; the flat groove (21) opens on the front surface of the straight plate on the outside. The body of the outer clamp (2) extends downward at the front and rear edges to form a front lower edge and a rear lower edge, and a lower curved groove (22) is formed between the front lower edge and the rear lower edge, and the lower curved groove (22) is used to accommodate the connecting strip (7). The depth of the lower groove (22) gradually decreases from the inside to the outside, which can reduce the structural size of the wire clamp outside the sub-wire and facilitate robot operation.

4. A spacer bar for facilitating robot operation according to claim 1, characterized in that: The fixed rubber tile (4) is a semi-circular curved tile with the opening facing upward. It has an outer end face that is parallel to the axis of the clamping arm (1) at the outer end and an inner end face that is inclined relative to the axis of the clamping arm (1) at the inner end, so that it can abut against the moving rubber tile (6) during installation, press the sub-wire, and automatically position itself, and also avoid interference. The fixed rubber tile (4) has a semi-cylindrical surface on the upper surface and a vertical chamfered surface at the inner end of the lower surface. The fixed rubber tile (4) has a horizontal support (41) at the upper end of the cut surface. The support pillars (41) are evenly distributed along the longitudinal direction; The support column (41) located at both ends of the locking pin (3) has a longitudinal blind hole (44), and the end of the locking pin (3) is engaged by the blind hole (44); therefore, the locking pin (3) can move smoothly inside and outside, eliminating jamming, malfunction and operation failure during assembly and disassembly, ensuring reliable operation and facilitating robot operation.

5. A spacer bar for facilitating robot operation according to claim 2, characterized in that: The cover handle (51) is a horizontal straight handle that narrows at the front and back on the lower side and enters the cavity (11) of the clamping arm (1) to cooperate with the inner inclined surface (13) to limit the front and back position of the cover handle (51) and ensure that the clamping cover (5) is locked reliably. The locking hook (53) has an outward opening and an outward hook tip on the underside of the opening; The cover handle (51) has an upper pressure hole (54) that runs vertically through the inner side. An operating tool can be used to pass through the upper pressure hole (54) and the lower pressure hole (15) of the clamping arm (1) to press the cover (5) and the clamping arm (1) together, so that the fixed rubber tile (4) and the moving rubber tile (6) press the sub-wire, which facilitates the inward and outward movement of the locking pin (3) and realizes the installation and removal of the spacer bar. The cover handle (51) has an upper through groove (55) that runs vertically through the top and bottom, which is aligned with the lower through groove (14) of the clamping arm (1). An operating tool can be used to pass through the upper through groove (55) and the lower through groove (14) to operate the locking pin (3), unlock the clamp cover (5), and realize the installation and removal of the spacer bar. The upper through groove (55) communicates with the upper pressure hole (54) on its inner side, which simplifies the structure of the operating tool so as to facilitate the operation of the locking pin (3) and the clamping cover (5).

6. A spacer bar for facilitating robot operation according to claim 1, characterized in that: The cover plate (52) is a curved plate that convexes upward in the middle of the transverse direction and bends downward at both the outer and inner ends; The cover plate (52) includes an upper surface and a lower surface, which are aligned with the body of the outer clamp (2); The upper surface of the cover plate (52) is a curved surface with a convex center in the transverse direction, which fits with the connecting strip (7) to prevent the cover plate (52) from being excessively deformed during operation and to facilitate weight reduction. The lower surface of the cover plate (52) is a curved surface that convexes upward in the middle of the transverse direction and is in contact with the movable rubber tile (6).

7. A spacer bar for facilitating robot operation according to claim 4, characterized in that: The movable rubber tile (6) is a semi-circular curved tile with the opening facing downward. It includes an upper surface and a lower surface that present a semi-cylindrical surface, and an outer end surface and an inner end surface that present a plane. It is aligned with the fixed rubber tile (4). The upper surface is attached to the cover plate (52) and installed on the cover plate (52). The lower surface and the fixed rubber tile (4) are used to press the sub-wire together. The outer end face of the movable rubber tile (6) is parallel to the axis of the clamping arm (1) and is aligned with the outer end face of the fixed rubber tile (4); The inner end face of the movable rubber tile (6) is inclined relative to the axis of the clamping arm (1) and aligned with the inner end face of the fixed rubber tile (4), so that the movable rubber tile (6) can abut against the fixed rubber tile (4) during installation and press the sub-wire to avoid interference.

8. A spacer bar for facilitating robot operation according to claim 1, characterized in that: The fixed rubber tile (4) has a lower metal plate (43) inside to prevent the support column (41) from shifting and ensure reliable fixed installation; The movable rubber tile (6) has an upper metal plate (61) inside to avoid excessive deformation and ensure reliable fixed installation; Both the fixed rubber tile (4) and the moving rubber tile (6) are elastic and undergo elastic deformation when the sub-conductor is pressed. They can absorb the energy of wind vibration and secondary gap oscillation and have a damping effect.

9. A method for installing spacers, used in robotic installation operations of any of the spacers described in claims 1-8, characterized in that: The robot is equipped with a manipulator with jaws, and short cylindrical operating tools are installed on the upper and lower sides of the jaws respectively. The operating tool can extend into the lower pressure hole (15) and the upper pressure hole (54) to prevent slippage and ensure reliable operation; The installation method includes the following steps: The first step is to rotate the frame of the spacer so that each sub-wire is located in the clamp of the spacer and in contact with the upper surface of the fixed rubber tile (4); In the second step, the robot's jaws open, approach the body of the outer clamp (2) and rotate, and use the operating tool on the lower side of the jaws to abut against the middle of the connecting band (7), so that the connecting band (7), the moving rubber tile (6) and the clamp cover (5) all rotate relative to the body of the outer clamp (2). When the locking hook (53) of the cover (5) abuts against the outer end of the body of the outer clamp (2), interference occurs, causing the connecting band (7) to deform and the locking hook (53) of the cover (5) to slide relative to the body of the outer clamp (2); The connecting band (7) continues to deform, causing the locking hook (53) to pass over the outer end of the body of the outer clamp (2) and the sub-wire, and reach above the clamp arm (1), the moving rubber tile (6) reaches above the sub-wire, and the upper surface of the fixed rubber tile (4) and the lower surface of the moving rubber tile (6) jointly contact the sub-wire. As the locking hook (53) passes over the outer end of the main body and the sub-wire of the outer clamp (2), the connecting strip (7) elastically recovers; Since the connecting belt (7) has deformed and elastically recovered, the connecting belt (7), the moving rubber tile (6) and the clamp (5) cannot return to their state before rotation, which can prevent jamming, malfunction and installation failure, and ensure reliable operation; Third step, the jaws move closer from the outside to the inside, so that the operating tool on the upper side of the jaws aligns with the upper pressing hole (54) of the clamp cover (5), and the operating tool on the lower side of the jaws aligns with the lower pressing hole (15) of the clamp arm (1). The jaws close, allowing the operating tool on the upper side of the jaws to enter the upper pressure hole (54), and the operating tool on the lower side of the jaws to enter the lower pressure hole (15). The jaws continue to close, causing the locking hook (53) to press against the locking pin (3), resulting in the locking pin (3) moving outward; The locking pin (3) moves outward, causing the support (41) of the fixed rubber tile (4) to be compressed, undergoing elastic deformation and generating elastic force; When the hook tip of the locking hook (53) reaches the inner lower side of the locking pin (3), the locking pin (3) moves inward under the elastic force of the support column (41), so that the cover (5) automatically enters the locking state. Fourth step, the jaws continue to close, so that the lower part of the cover handle (51) enters the cavity (11) of the clamping arm (1). When the lower part of the cover handle (51) abuts against the inner inclined surface (13) of the clamp arm (1), the resistance to closing the jaws increases sharply. The installation is complete when the resistance reaches a certain value.

10. A method for disassembling a spacer bar, used in a robotic disassembly operation of any of the spacer bars described in claims 1-8, characterized in that: The robot is equipped with a manipulator with jaws, and strip-shaped operating tools are installed on the upper and lower sides of the jaws respectively; The operating tool can extend into the lower through groove (14) and the upper through groove (55) to operate the locking pin (3) and ensure reliable operation; The disassembly method includes the following steps: In the first step, the robotic arm and the wire clamp are aligned on the same axis, and the jaws are opened, facing the wire clamp. The robotic arm approaches the wire clamp from the outside in, so that the operating tool on the upper side of the jaws aligns with the upper through groove (55), and the operating tool on the lower side of the jaws aligns with the lower through groove (14). In the second step, the jaws close, allowing the operating tool on the upper side of the jaws to enter the upper through groove (55), and the operating tool on the lower side of the jaws to enter the lower through groove (14). The jaws continue to close, causing the operating tool on the upper side of the jaws to pass downwards over the locking pin (3); causing the locking hook (53) and the locking pin (3) to lose contact pressure, resulting in the locking pin (3) being able to move smoothly in and out; When the lower part of the cover handle (51) abuts against the inner inclined surface (13) of the clamp arm (1), the resistance to closing the jaws increases sharply. When the resistance reaches a certain value, the closing process stops. Third step, the robotic arm rotates outward, causing the jaws to move outward and upward, and the outer gripper (2) to move inward and upward; The operating tool on the upper side of the jaws presses the middle of the locking pin (3) on the front side, causing the locking pin (3) to move outward; The locking pin (3) moves outward, causing the support column (41) to compress, undergo elastic deformation, and generate elastic force; When the closing resistance of the upper side of the jaws of the operating tool suddenly decreases, the tip of the locking hook (53) reaches the inner side of the locking pin (3); The robotic arm continues to rotate outward, and the jaws open simultaneously, causing the hook tip of the locking hook (53) to leave the locking pin (3), thus unlocking the device; The locking pin (3) automatically moves inward and returns to its original position under the elastic force of the support column (41) of the fixed rubber tile (4), which can avoid malfunction and ensure reliable operation. Fourth step, the jaws continue to open, so that the operating tool on the lower side of the jaws exits the lower through groove (14). The robotic arm continues to rotate outward, causing the operating tool on the upper side of the jaws to rotate the connecting belt (7), the movable rubber tile (6), and the clamp (5), and also causing the operating tool on the lower side of the jaws to abut against the body of the outer clamp (2), forcing the movable rubber tile (6) and the connecting belt (7) to deform. When the movable rubber tile (6) abuts against the middle of the upper side of the sub-conductor at the inner end of the lower surface, interference occurs, forcing both the movable rubber tile (6) and the connecting strip (7) to deform, and causing the movable rubber tile (6) to slide relative to the sub-conductor. Fifth step, the robot's manipulator continues to rotate outward; when the inner end of the lower surface of the moving rubber tile (6) reaches above the outer end of the body of the outer clamp (2) and disengages from the outer end face of the fixed rubber tile (4), The movable rubber sheet (6) and the connecting belt (7) elastically recover and rotate. This causes the moving rubber tile (6) and the clamp (5) to disengage from the body of the outer clamp (2) and the fixed rubber tile (4); The locking hook (53) of the clamp (5) interferes with the outer end of the body of the outer clamp (2), which can avoid malfunction and disassembly failure and ensure reliable disassembly operation; The disassembly operation ends when the robotic arm is perpendicular to the axis of the clamp.

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