A split-type double-split conductor spacer installation robot and its application method

Abstract

This invention discloses a split-type double-split conductor spacer installation robot and its usage method, belonging to the technical field of automated equipment for power transmission conductor construction. It includes a spacer storage and conveying module and a robot body module. The spacer storage and conveying module includes an upper frame and a storage and conveying device. The robot body module further includes a walking device, a lower frame, a locking device, a clamping device, a prying mechanism, and a gripping device. The spacer storage and conveying module and the robot body module are movably connected via the locking device. The clamping device and gripping device are located on one side of the lower frame, and the prying mechanism is connected to the side of the clamping device. Both the spacer storage and conveying module and the robot body module of this spacer installation robot can be carried to the conductor by a drone and assembled on the conductor at high altitude, eliminating the need for aerial hoisting ropes. Under high-altitude operation, it can quickly and accurately align and automatically assemble, eliminating the risk of detachment or fall, and significantly improving operational safety.

Description

Technical Field

[0001] This invention relates to the field of automated equipment technology for power transmission line construction, specifically to a split-type double-split conductor spacer installation robot and its usage method. Background Technology

[0002] Currently, the power industry has increasingly stringent requirements for the installation of spacers on outdoor overhead steel-cored aluminum stranded conductors. Existingly, spacer installation is mostly done manually. After climbing the tower and extending the line, workers first clamp the locking components at both ends of the spacer onto the split conductors, then manually hammer in the spacer pins to lock and secure it, thus achieving locking and positioning between the spacer and the split conductors. Manual high-altitude line extension work is not only inefficient, but also exposes workers to a high-voltage environment for extended periods, greatly increasing the risk of falls, electric shocks, and conductor entanglement. To replace manual labor, automated spacer installation robots for overhead conductors have been introduced to the market. However, these devices are currently in the trial phase and still have many problems, making it difficult to meet the routine construction requirements of ultra-high voltage transmission lines.

[0003] The existing spacer bar installation robots mainly have the following problems: The system adopts a split structure, with the upper part serving as a hoisting module. A drone carries the overhead wire, and the upper part lowers a rope onto the overhead wire. The lower robot body then automatically winds its way up the wire via the upper rope, and the two parts combine in mid-air. In practical applications, this method requires finding a suitable work point for the robot to hoist each time it is deployed. High-altitude suspended operations pose significant safety risks. The wind and airflow at high altitudes in the field are highly unpredictable, and the robot body is prone to large swings during the hoisting and climbing process, which can easily lead to collisions with the overhead wire, insulators, and tower components. This can cause minor damage to the equipment or, in severe cases, cause the entire robot to detach from the rope and fall.

[0004] Due to the complex structure, large size, and high overall weight of the robot's lower body, the hoisting ropes are significantly affected by wind disturbances when lifting the large main unit, causing severe swaying and shaking in the air. This makes the hoisting ropes prone to breakage, with potentially disastrous consequences. Summary of the Invention

[0005] The purpose of this invention is to provide a split-type double-split conductor spacer installation robot and its usage method. This spacer installation robot does not rely on high-altitude hoisting ropes for installation. Under high-altitude operation, it can quickly and accurately align and automatically assemble, eliminating the risk of falling or detaching from heights and greatly improving operational safety.

[0006] The technical solution adopted by this invention to solve its technical problem is: a split-type double-split conductor spacer installation robot, including a spacer storage and conveying module and a robot body module. The top of the spacer storage and conveying module and the robot body module are respectively provided with drone grippers. The top of the robot body module is provided with a walking device that travels along the conductor. The spacer storage and conveying module includes an upper frame and a storage and conveying device for conveying spacers. The robot body module also includes a lower frame, a locking device, a clamping device, a prying mechanism, and a gripping device. The spacer storage and conveying module and the robot body module are movably connected through the locking device. The clamping device and the gripping device are located on one side of the lower frame. The prying mechanism is connected to the side of the clamping device. The prying mechanism realizes the closing of the spacer grippers. The clamping device closes the spacer in the clamped state and securely fixes it to the conductor.

[0007] Furthermore, the robot body module also includes a clamping device located below the walking device. The clamping device includes a fixed base, a sliding mechanism, a moving base, a drive mechanism, and a lifting wheel assembly. The fixed base is connected to the lower frame. The sliding mechanism is located on the upper part of the fixed base. There are two lifting wheel assemblies. The lower part of each of the two lifting wheel assemblies is provided with a drive mechanism. The bottom of the drive mechanism is connected to the moving base. The moving base is connected to the sliding mechanism. The sliding mechanism drives the two lifting wheel assemblies to move relative to or away from each other to meet the installation of double-split wires with different spacing.

[0008] Furthermore, the sliding mechanism includes a servo motor, a bidirectional lead screw, a lead screw mounting base, a transmission mechanism, a first sliding seat, a connecting block, a second sliding seat, and a slide rail. The servo motor is connected to the fixed base. Both ends of the bidirectional lead screw are connected to the fixed base via the lead screw mounting base. One end of the bidirectional lead screw is connected to the output end of the servo motor via the transmission mechanism. The servo motor drives the bidirectional lead screw to rotate. The slide rail is located on one side of the fixed base. The first sliding seat is threadedly connected to the bidirectional lead screw. The second sliding seat is slidably connected to the slide rail. The movable seat is fixedly connected to the top of the second sliding seat. One end of the connecting block is fixedly connected to the first sliding seat, and the other end of the connecting block is fixedly connected to the movable seat.

[0009] Furthermore, the storage and conveying device includes spacer guide rods, a push belt, a blocking component, and a driving device. There are two spacer guide rods, which are respectively connected to one side of the upper frame. A push belt for conveying spacer rods is provided on the outer side of the two spacer guide rods. The push belt is connected to the driving device, which drives the push belt to rotate. The blocking component to prevent the spacer rods from slipping is located on one side of the upper frame.

[0010] Furthermore, the locking device includes a locking pin, a gear transmission, a second drive mechanism, and a first mounting base. The first mounting base is connected to the lower frame, the second drive mechanism is located at the lower part of the mounting base, the drive mechanism is connected to the gear transmission, and the locking pin is connected to the output end of the gear transmission. The drive mechanism drives the locking pin to rotate to achieve locking or unlocking.

[0011] Furthermore, the clamping device is provided in two sets, which are located on both sides of one end of the lower frame. The clamping device is movably connected to the lower frame. The clamping device includes a fixing part, a clamping block, a driving part, and a second mounting base. The rear side of the fixing part is connected to the lower frame, and the lower end of the fixing part is provided with the second mounting base. The driving part is connected to the top wall of the second mounting base, and the clamping block is connected to the output end of the driving part. The driving part drives the upper part of the clamping block to move.

[0012] Furthermore, the clamping device includes a mounting base three, a slide rail, a sliding seat, a drive mechanism three, a clamping head assembly, and a drive mechanism four. The mounting base three and the slide rail are both connected to the lower frame. The sliding seat is slidably connected to the slide rail. The drive mechanism three is connected to the upper part of the sliding seat. The clamping head assembly is located at the output end of the drive mechanism three. The drive mechanism four is located on one side of the clamping head assembly. The drive mechanism four drives the clamping head assembly to clamp or release.

[0013] Furthermore, the lever mechanism includes a mounting frame, a servo motor, a gear transmission structure, and a lever. The mounting frame is connected to one side of the clamping device. The gear transmission structure is located inside the mounting frame. The lever is located outside the mounting frame and is connected to the gear transmission structure. The servo motor drives the gear transmission structure to rotate, and the rotation of the gear transmission structure drives the lever to rotate.

[0014] Furthermore, the bottom of the spacer bar storage and conveying module is provided with a guide rod, and the top of the robot body module is provided with a guide component, and the guide rod and the guide component are connected in a cooperative manner.

[0015] A method for using a split-type double-split conductor spacer installation robot includes the following steps: Bottom line: The drone carries the robot body module upward and attaches to the guide wire through the walking device. Then the clamping device unfolds to both sides and pushes upward against the double split guide wire. The robot body module is now online. Upper part online: The drone carrying the robot spacer storage and delivery module moves up the guide rail. After the guide rod of the spacer storage and delivery module is connected with the guide component of the robot body module, the drone slowly lowers the robot spacer storage and delivery module. Then, the locking device in the robot body module is rotated to lock the spacer storage and delivery module. The drone then leaves, and the robot is fully online. Spacer installation: The robot moves to the spacer installation position, the storage and conveying device of the spacer storage and conveying module pushes the spacer to the outermost clamping position, the blocking device opens, the clamping device clamps the spacer and places the spacer on the guide wire, and then the spacer clamp is closed by rotating the lever assembly. The clamping device sends the closed spacer to the inside of the clamping device, the clamping device clamps the spacer clamp to complete the installation, the clamping device resets, and the robot moves to the next installation position. Spacer replenishment: If the spacers run out during installation, simply use a drone to retrieve the upper part of the robot and replenish the spacers. Then, carry the spacer storage and delivery module to a high altitude and combine it with the robot body module to complete the spacer replenishment.

[0016] The beneficial effects of this invention are: The spacer installation robot of the present invention has a spacer storage and transportation module and a robot body module that can be carried to the conductor by drone and assembled on the high-altitude conductor. It does not require high-altitude hoisting ropes or special hoisting operation points. At the same time, it is compatible with substation double-split conductors and overhead transmission line operations, which greatly improves the robot's applicability.

[0017] Because the robot body module is equipped with a bowl-shaped guide component and a guide rod on the upper part, it forms a mechanical self-positioning guide docking structure. Under high-altitude operation, it can quickly and accurately align and automatically combine. The docking fault tolerance is high, and after docking, it is locked with a mechanical structure to eliminate the risk of falling from a height, which greatly improves the safety of operation.

[0018] By setting a clamping component and a gripping component on one side of the lower frame, the spacer bar is gripped by the gripping component to the installation wire, and then the spacer bar in the closed state is sent to the clamping chuck inside the clamping component. This solves the problem that existing robots require multiple flipping actions when installing spacer bars, and that spacer bars are prone to collision and entanglement with wires.

[0019] Because the robot adopts a split design, once the spacer bars are exhausted, only the spacer bar storage and conveying module needs to be retrieved, and the spacer bar storage device can be used to replenish the material. There is no need to take the whole machine off the production line, which results in high material replenishment efficiency, short operation time, and reduced safety hazards of working at heights. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the spacer storage and conveying module in this invention; Figure 3 This is a schematic diagram of the storage and conveying device. Figure 4 for Figure 3 A structural diagram from another angle; Figure 5This is a schematic diagram of the robot body module in this invention; Figure 6 This is a schematic diagram of the guide component. Figure 7 This is a schematic diagram of the locking device. Figure 8 This is a schematic diagram of the clamping device; Figure 9 for Figure 8 Enlarged view of a portion of the image; Figure 10 This is a schematic diagram of the clamping device; Figure 11 This is a schematic diagram of the mechanism for adjusting the parts; Figure 12 for Figure 11 A structural diagram from another angle; Figure 13 This is a schematic diagram of the clamping device. Figure 14 This is a schematic diagram of the state interval bar storage and conveying module structure of the present invention; Figure 15 This is a schematic diagram of the spacer bar structure; Figure 16 This is a schematic diagram of the connection structure between the clamping device and the lower frame.

[0021] In the picture: 1. Spacer bar storage and conveying module; 11. Upper frame; 12. Guide rod; 13. UAV clamp 1; 14. Storage and conveying device; 141. Spacer bar guide rod; 142. Push belt; 143. Blocking component; 144. Drive device; 21. Lower frame; 211. Waist hole; Walking device; Tightening device; 231, fixed base; 232, sliding mechanism; 2321, servo motor; 2322, double-acting lead screw; 2323, lead screw mounting base; 2324, transmission mechanism; 2325, sliding seat one; 2326, connecting block; 2327, sliding seat two; 2328, slide rail; 233, moving seat; 234, drive mechanism one; 235, lifting wheel assembly; 24. Drone clamp two; 25. Locking device; 251. Locking pin; 252. Gear transmission; 253. Drive mechanism two; 254. Mounting base one; 26. Guide assembly; 261. Connecting seat; 262. Conical guide groove; 27. Clamping device; 271. Fixing part; 272. Clamping block; 273. Driving part; 274. Mounting base two; 28. Toggle mechanism; 281. Mounting bracket; 282. Servo motor; 283. Gear transmission structure; 284. Toggle lever; 29. Clamping device; 291. Mounting base three; 292. Slide rail; 293. Sliding seat; 294. Drive mechanism three; 295. Clamping head assembly; 296. Drive mechanism four; 210. Driven wheel; Spacer bars; Double-split conductor. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] like Figures 1 to 14 As shown, the present invention discloses a split-type double-split conductor spacer installation robot, comprising a spacer storage and conveying module 1 and a robot body module 2. The spacer storage and conveying module 1 is equipped with a drone gripper 13, and the top of the robot body module 2 is equipped with a drone gripper 24. By setting drone grippers on the upper and lower robot body modules, drone lifting can be facilitated. The top of the robot body module 2 is equipped with a walking device 22 for traveling along the conductor, and a driven wheel 213 is also provided on one side of the lower frame 21 to improve the reliability of the machine's travel along the conductor. The spacer storage and conveying module 1 includes an upper frame 11 and a storage and conveying device 14 for conveying spacers. The robot body module 2 also includes a lower frame 21, a locking device 25, a clamping device 27, a prying mechanism 28, and a gripping device 29. The clamping device 27 and the gripping device 29 are located on one side of the lower frame 21, and the prying mechanism 28 is connected to the side of the clamping device 27. The spacer bar storage and conveying module 1 has a guide rod 12 at its bottom, and the robot body module 2 has a guide component 26 at its top. The guide rod 12 and the guide component 26 are interlocked to achieve precise docking of the upper robot body module. The bottom of the lower frame has a conical structure, which guides the robot body module when it is lowered between the double-split wires, allowing the walking device to quickly and accurately engage with the wires.

[0024] The guide assembly 26 includes a connecting seat 261 and a tapered guide groove 262. The connecting seat 261 is connected to the lower frame 21. The tapered guide groove 262 is located in the middle of the connecting seat 261 and extends into the lower frame. Through the guide rod and the tapered guide groove, the spacer bar storage and conveying module and the robot body module can be quickly and accurately docked and automatically molded. Finally, the robot body module is locked by the locking device, which improves the safety of operation.

[0025] The robot body module 2 also includes a clamping device 23 located below the walking device 22. For example... Figure 8 , Figure 9 As shown, the clamping device 23 includes a fixed base 231, a sliding mechanism 232, a movable base 233, a drive mechanism 234, and a lifting wheel assembly 235. The fixed base 231 is connected to the lower frame 21. The sliding mechanism 232 is located on the upper part of the fixed base 231. There are two lifting wheel assemblies 235. The lower part of the two lifting wheel assemblies is respectively provided with a drive mechanism 234. The bottom of the drive mechanism 234 is connected to the movable base. The movable base is connected to the sliding mechanism. The sliding mechanism 232 drives the two lifting wheel assemblies to move relative to or away from each other. The sliding mechanism 232 includes a servo motor 2321, a bidirectional lead screw 2322, a lead screw mounting base 2323, a transmission mechanism 2324, a first sliding seat 2325, a connecting block 2326, a second sliding seat 2327, and a slide rail 2328. The servo motor 2321 is connected to the fixed base 231. Both ends of the bidirectional lead screw 2322 are connected to the fixed base 231 via the lead screw mounting base 2323. One end of the bidirectional lead screw is connected to the output end of the servo motor via the transmission mechanism. The servo motor 2321 drives the bidirectional lead screw. The double-screw 2322 rotates, with the slide rail 2328 located on one side of the fixed seat. The first sliding seat is threadedly connected to the double-screw, and the second sliding seat 2327 is slidably connected to the slide rail 2328. The movable seat 233 is fixedly connected to the top of the second sliding seat 2327. One end of the connecting block 2326 is fixedly connected to the first sliding seat 2325, and the other end is fixedly connected to the movable seat. The rotation of the double-screw 2322 causes the first sliding seat and the connecting block fixed to the sliding seat and movable seat to slide along the slide rail, thereby adjusting the position of the lifting wheel assembly. Driven by the double-screw, the lifting wheel assembly unfolds to both sides. During operation, the clamping device unfolds to both sides below the double-split guide wire 4, then pushes upwards against the guide wire. The lifting wheel assembly and the walking device clamp the guide wire, increasing friction for the robot and preventing it from tipping over.

[0026] like Figure 3 , Figure 4As shown, the storage and conveying device 14 includes spacer guide rods 141, a push belt 142, a blocking component 143, and a drive device 144. Two spacer guide rods 141 are provided, each connected to one side of the upper frame 11. A push belt 142 for conveying spacer rods 3 is attached to the outer side of the two spacer guide rods. The push belt 142 is connected to the drive device 144, which can be a pulley or gear transmission structure; any structure that allows the push belt to rotate is a modification of the drive device. The blocking component 143, preventing spacer rods from slipping, is located on one side of the upper frame 11. Multiple spacer rods 3 are stored and fitted onto the spacer guide rods 141. The push belt 142 moves the spacer rods in the installation direction, ready for gripping by the clamping device. The spacer rod blocking device at the end of the upper frame 11 prevents spacer rods from falling from a height; the blocking device only opens when the robot grips a spacer rod.

[0027] like Figure 7 As shown, the locking device 25 is mainly used to lock the spacer bar storage and conveying module and the robot body module. When the upper and lower parts of the robot are combined, the locking device rotates, locking the two parts through a mechanical structure to prevent the robot from falling. The locking device 25 includes a locking pin 251, a gear transmission 252, a second drive mechanism 253, and a first mounting base 254. The first mounting base 254 is connected to the lower frame 21. The second drive mechanism 253 is located at the lower part of the first mounting base 254. The second drive mechanism is a servo motor, which is connected to the gear transmission. The locking pin is connected to the output end of the gear transmission. The motor drives the locking pin to rotate to achieve the locking or unlocking action.

[0028] The clamping device is provided in two sets, which are located on both sides of one end of the lower frame, and the clamping device is movably connected to the lower frame. Figure 10 As shown, the clamping device 27 includes a fixing part 271, a clamping block 272, a driving part 273, and a mounting base 274, as follows: Figure 16 As shown, the rear side of the fixing part 271 is movably connected to the lower frame through the waist hole 211 and bolts. The distance and height of the two clamping devices can be adjusted by loosening the bolts to accommodate the clamping of different types of spacers, ensuring strong applicability for switching between transmission line spacers and substation spacers. The lower end of the fixing part is provided with a second mounting base. The driving part is connected to the top wall of the second mounting base, and the clamping block is connected to the output end of the driving part. The driving part 273 can be driven by a cylinder. The telescopic end of the cylinder is connected to the clamping block 272. The telescopic movement of the cylinder rod drives the clamping block to move up and down. The clamping device 29 clamps the spacer and moves it to the clamping device 27. The clamping block 272 moves upward under the drive of the driving part, thereby clamping the spacer clamp.

[0029] The clamping device 29 is mainly used to clamp the spacer bar, which can hold the spacer bar from the storage and conveying device and place it at the installation position on the conductor. For example... Figure 13 As shown, the clamping device 29 includes a mounting base 291, a slide rail 292, a sliding seat 293, a drive mechanism 294, a clamp assembly 295, and a drive mechanism 296. The mounting base 291 and slide rail 292 are both connected to the lower frame 21. The sliding seat 293 is slidably connected to the slide rail 292. The drive mechanism 294 is connected to the upper part of the sliding seat 293. The clamp assembly is located at the output end of the drive mechanism 293, and the drive mechanism 296 is located on one side of the clamp assembly 295. The drive mechanism 296 is a servo motor. The chuck assembly 295 includes a movable clamping block, a jaw, and a lead screw assembly. The movable clamping block is located in the jaw. The drive end of the servo motor is connected to the movable clamping block through the lead screw assembly. The servo motor drives the lead screw assembly to rotate. The rotation of the lead screw drives the movable clamping block to cooperate with the clamp to clamp or release the spacer bar, thereby realizing the function of clamping the spacer bar.

[0030] The motor of drive mechanism three 294 drives the sliding seat 293 and the clamp assembly to move along the slide rail, so that the clamp assembly 295 approaches the spacer bar, and through drive mechanism four, the clamp assembly clamps the spacer bar, so that the spacer bar moves along the double-split conductor 4 to the installation position, and finally the clamping device 27 clamps and closes the spacer bar. Figure 15 As shown, a rubber block connects the spacer clamp to the frame, and the spacer is a damping type, suitable for windy and vibrating areas. The damping spacer can be installed simply by pressing the spacer clamp, facilitating robot storage and installation.

[0031] like Figure 11 , Figure 12 As shown, the lever mechanism 28 includes a mounting frame 281, a servo motor 282, a gear transmission structure 283, and a lever 284. The mounting frame 281 is connected to one side of the clamping device 27. The gear transmission structure 283 is located inside the mounting frame 281, and the lever 284 is located outside the mounting frame and is connected to the gear transmission structure 283. The servo motor 282 drives the gear transmission structure to rotate, which in turn drives the lever 284 to rotate. The lever 284 rotates upward to close the spacer bar clamp, moving the spacer bar clamp from the open state to the closed state. The spacer bar with the clamp closed is then moved to the clamping device by the clamping device.

[0032] How to use: Lower part online: The drone carries the robot body module to the guide wire through the drone clamp two, and then attaches to the guide wire through the walking device. Then the two lifting wheel groups of the clamping device unfold to the sides and push upward to hold the double split guide wire, and the lower part of the robot online is completed.

[0033] Upper part online: The drone carries the spacer storage and delivery module through the drone clamp to the guide wire, and then docks the spacer storage and delivery module with the robot body module. After the guide rod of the spacer storage and delivery module docks with the bowl-shaped guide component of the robot body module, the drone slowly lowers the robot spacer storage and delivery module, and then controls the locking device to rotate, locking it with the spacer storage and delivery module through the locking pin. The drone then withdraws, and the robot's overall online process is completed.

[0034] Spacer installation: The robot moves to the spacer installation position, the upper storage and conveying device pushes the spacer to the outermost clamping position, the blocking device opens, the clamping device clamps the spacer and places it on the guide wire, then the spacer lever rotates to close the spacer clamp, the clamping device sends the closed spacer to the inside of the clamping device, the clamping device clamps the spacer clamp to complete the installation, the clamping device resets, and the robot moves to the next installation position.

[0035] Spacer replenishment: If the spacers run out during installation, simply use a drone to retrieve the upper part of the robot and replenish the spacers. Then, carry the spacer storage and delivery module to a high altitude and combine it with the robot body module to complete the spacer replenishment. The whole process is efficient and convenient.

[0036] The robot's offline process is the reverse of its online process.

[0037] The spacer bar installation robot of the present invention adopts a split structure. The whole machine is operated by remote control and can quickly move the robot up and down the wire with the assistance of drone. It can also replenish the spacer bars independently, which solves the problems of complex wire movement and spacer bar replenishment in the prior art.

[0038] The above description is merely an illustration of some principles of the present invention. This specification is not intended to limit the present invention to the specific structures and applicable scope shown. Therefore, all possible modifications and equivalents that may be used fall within the scope of the patent application of this invention.

[0039] Apart from the technical features described in the specification, all other technical features are known to those skilled in the art.

Claims

1. A split-type double-split conductor spacer installation robot, comprising a spacer storage and conveying module and a robot body module, wherein the top of the spacer storage and conveying module and the robot body module are respectively provided with a drone gripper, and the top of the robot body module is provided with a walking device for traveling along the conductor, characterized in that, The spacer bar storage and conveying module includes an upper frame and a storage and conveying device for conveying spacer bars. The robot body module also includes a lower frame, a locking device, a clamping device, a prying mechanism, and a gripping device. The spacer bar storage and conveying module is movably connected to the robot body module through the locking device. The clamping device and the gripping device are located on one side of the lower frame, and the prying mechanism is connected to the side of the clamping device.

2. The split-type double-split wire spacer installation robot according to claim 1, characterized in that, The robot body module also includes a clamping device located below the walking device. The clamping device includes a fixed base, a sliding mechanism, a moving base, a drive mechanism, and a lifting wheel assembly. The fixed base is connected to the lower frame. The sliding mechanism is located on the upper part of the fixed base. There are two lifting wheel assemblies. The lower part of each of the two lifting wheel assemblies is provided with a drive mechanism. The bottom of the drive mechanism is connected to the moving base. The moving base is connected to the sliding mechanism. The sliding mechanism drives the two lifting wheel assemblies to move relative to or away from each other.

3. The split-type double-split wire spacer installation robot according to claim 2, characterized in that, The sliding mechanism includes a servo motor, a bidirectional lead screw, a lead screw mounting base, a transmission mechanism, a first sliding seat, a connecting block, a second sliding seat, and a slide rail. The servo motor is connected to the fixed base. Both ends of the bidirectional lead screw are connected to the fixed base via the lead screw mounting base. One end of the bidirectional lead screw is connected to the output end of the servo motor via the transmission mechanism. The servo motor drives the bidirectional lead screw to rotate. The slide rail is located on one side of the fixed base. The first sliding seat is threadedly connected to the bidirectional lead screw. The second sliding seat is slidably connected to the slide rail. The movable seat is fixedly connected to the top of the second sliding seat. One end of the connecting block is fixedly connected to the first sliding seat, and the other end of the connecting block is fixedly connected to the movable seat.

4. The split-type double-split wire spacer installation robot according to claim 1, characterized in that, The storage and conveying device includes spacer guide rods, a push belt, a blocking component, and a driving device. There are two spacer guide rods, which are respectively connected to one side of the upper frame. A push belt for conveying spacer rods is provided on the outer side of the two spacer guide rods. The push belt is connected to the driving device, which drives the push belt to rotate. The blocking component to prevent the spacer rods from slipping is located on one side of the upper frame.

5. A split-type double-split wire spacer installation robot according to claim 1, characterized in that, The locking device includes a locking pin, a gear transmission, a second drive mechanism, and a first mounting base. The first mounting base is connected to the lower frame. The second drive mechanism is located at the lower part of the mounting base and is connected to the gear transmission. The locking pin is connected to the output end of the gear transmission. The drive mechanism drives the locking pin to rotate to achieve locking or unlocking.

6. A split-type double-split wire spacer installation robot according to claim 1, characterized in that, The clamping device is provided in two sets, which are located on both sides of one end of the lower frame. The clamping device is movably connected to the lower frame. The clamping device includes a fixing part, a clamping block, a driving part, and a second mounting base. The rear side of the fixing part is connected to the lower frame, and the lower end of the fixing part is provided with the second mounting base. The driving part is connected to the top wall of the second mounting base, and the clamping block is connected to the output end of the driving part. The driving part drives the clamping block to move up and down.

7. A split-type double-split wire spacer installation robot according to claim 1, characterized in that, The clamping device includes a mounting base three, a slide rail, a sliding seat, a drive mechanism three, a clamping head assembly, and a drive mechanism four. The mounting base three and the slide rail are both connected to the lower frame. The sliding seat is slidably connected to the slide rail. The drive mechanism three is connected to the upper part of the sliding seat. The clamping head assembly is located at the output end of the drive mechanism three. The drive mechanism four is located on one side of the clamping head assembly. The drive mechanism four drives the clamping head assembly to clamp or release.

8. A split-type double-split wire spacer installation robot according to claim 1, characterized in that, The lever mechanism includes a mounting frame, a servo motor, a gear transmission structure, and a lever. The mounting frame is connected to one side of the clamping device. The gear transmission structure is located inside the mounting frame. The lever is located outside the mounting frame and is connected to the gear transmission structure. The servo motor drives the gear transmission structure to rotate, and the rotation of the gear transmission structure drives the lever to rotate.

9. A split-type double-split wire spacer installation robot according to claim 1, characterized in that, The bottom of the spacer bar storage and conveying module is provided with a guide rod, and the top of the robot body module is provided with a guide component. The guide rod and the guide component are connected in a cooperative manner.

10. A method of using a split-type double-split wire spacer installation robot according to any one of claims 1 to 9, characterized in that, Includes the following steps: Bottom line: The drone carries the robot body module upward and attaches to the guide wire through the walking device. Then the clamping device unfolds to both sides and pushes upward against the double split guide wire. The robot body module is now online. Upper part online: The drone carrying the robot spacer storage and delivery module moves up above the guide wire. After the guide rod of the spacer storage and delivery module is connected with the guide component of the robot body module, the drone slowly lowers the robot spacer storage and delivery module. Then, the locking device in the robot body module is rotated to lock the spacer storage and delivery module. The drone then leaves, and the robot is fully online. Spacer installation: The robot moves to the spacer installation position, the storage and conveying device of the spacer storage and conveying module pushes the spacer to the outermost clamping position, the blocking device opens, the clamping device clamps the spacer and places the spacer on the guide wire, and then the spacer clamp is closed by rotating the lever assembly. The clamping device sends the closed spacer to the inside of the clamping device, the clamping device clamps the spacer clamp to complete the installation, the clamping device resets, and the robot moves to the next installation position. Spacer replenishment: If the spacers run out during installation, simply use a drone to retrieve the upper part of the robot and replenish the spacers. Then, carry the spacer storage and delivery module to a high altitude and combine it with the robot body module to complete the spacer replenishment.

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