On-line device of multi-split strain clamp detection robot and automatic on-line method

Abstract

The invention relates to the technical field of wire detection, and particularly discloses a wire feeding device of a multi-split strain clamp detection robot and an automatic wire feeding method, and the device comprises a wiring mechanism, a lifting adjustment mechanism, a spacing adjustment mechanism, a traction winding and unwinding mechanism and a winding lifting mechanism. After the unmanned aerial vehicle pulls the free end of the pulling rope to cross the strain clamp, the winding units on the two sides synchronously wind the pulling rope, and the support is driven to be lifted in the z direction of the wiring arm. The distance adjusting mechanism dynamically adjusts the distance between the wiring arms on the two sides. The winding box synchronously winds and unwinds the stay wire and is matched with the pulley assembly to guide and lift the traction rope so as to ensure that the wiring mechanism stably moves in the x direction; the lifting adjusting mechanism adjusts the height of the bracket; the coiling lifting mechanism draws the pulley assembly to get close to the center through a coiling box coiling stay wire, and the traction rope is tensioned to make the walking wheel crimp the surface of the multi-split conductor, thereby completing wire feeding. Self-adaptive online in a high-altitude complex wire clamp environment is realized, and the stability and the automation level of robot deployment are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wire detection, in particular to an on-line device and an automatic on-line method for a multi-split tension clamp detection robot. Background Art

[0002] The four-split tension clamp is a core hardware used to fix and connect four-split conductors in high-voltage and ultra-high-voltage transmission lines. It is mainly deployed at key stress points on tension towers. Made of high-strength aluminum alloy or cast steel, the clamp is lightweight while also being corrosion-resistant. Its structure consists of four independent clamp units, each consisting of a crimping sleeve, a U-bolt, and an anchor end, which can clamp four sub-conductors separately to achieve distributed load transfer. When high-voltage transmission lines cross large spans such as mountains and river valleys, the weight of the conductors and external tension are concentrated on the tension clamp. Its structural strength and reliability directly determine the stability of the transmission system. In particular, it must withstand long-term wind vibration, temperature difference deformation, and extreme mechanical stress. It is a core component to ensure the safety of power transmission.

[0003] At present, the defect detection objects of four-split tension clamps are basically in service. Usually, it is necessary to cooperate with drones to achieve the mounting of multi-split conductors, and then walk along the multi-split conductors to the tension clamp position to perform defect detection on the tension clamp. For example, Chinese patent publication number CN118566265B discloses a non-destructive testing device for transmission line tension clamps based on a drone platform, which includes a drone body, the lower ends of the wings of the drone body are respectively fixedly connected to four groups of first electric telescopic rods, the lower ends of the four groups of first electric telescopic rods are fixedly connected to airbags, the lower end of the drone body is fixedly connected to a mounting plate, the outer side of the mounting plate is provided with a circular slot, and the front end of the mounting plate is equipped with a detection mechanism, the detection mechanism includes a C-shaped fixing plate, the inner side of the C-shaped fixing plate is fixedly connected to a X-ray machine, the inner side of the C-shaped fixing plate is fixedly connected to an imaging plate opposite to the X-ray machine, and the upper end of the second electric telescopic rod is equipped with a spraying mechanism. This device can enable the X-ray machine and the imaging plate to rotate 360 ​​degrees, so as to comprehensively detect the outer side of the tension clamp.

[0004] When using the above-mentioned online method, due to the large mass of the inspection robot, a large-load drone is required to complete the online operation. The large-load drone is relatively expensive, and the posture of the inspection robot hanging on the line and rising needs to be precisely controlled, making the online operation difficult.

[0005] In order to solve the above problems, some flaw detection robots that are suspended online by hanging ropes have emerged, such as a self-winding online X-ray flaw detection robot disclosed in Chinese Patent Publication No. CN116706763A, and an X-ray flaw detection robot for overhead lines disclosed in Chinese Patent Publication No. CN117996631A. These X-ray flaw detection robots can only be successfully put online through the coordination of hanging ropes and visual detection, and cannot be automatically put online.

[0006] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0007] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide an online device and an automatic online method for a multi-split tension clamp inspection robot to solve the above-mentioned problems.

[0008] A multi-split tension clamp inspection robot on-line device, comprising a routing mechanism, a lifting and adjusting mechanism, and a spacing adjustment mechanism. The routing mechanism comprises four routing arms extending in the z-direction, and a travel assembly provided on the routing arms. The travel assembly comprises a guide frame fixed to the routing arms, and a travel wheel provided below the guide frame and capable of traveling along the x-direction on the multi-split conductor. The lifting and adjusting mechanism comprises a bracket capable of lifting and lowering along the z-direction on the four routing arms. The spacing adjustment mechanism is provided on the bracket and is used to adjust the spacing between two routing arms along the y-direction. The invention also includes: Two traction and retracting mechanisms are respectively arranged on both sides of the bracket in the y direction. The traction and retracting mechanisms include a driving unit, a winding unit and a traction rope. The two winding units are respectively arranged on both sides of the bracket along the y direction. After one free end of the traction rope is pulled across the tension clamp by the drone, it is wound by one of the winding units, and the other free end is controlled by the other winding unit to be reeled in to raise the height of the upper line device; The wire winding and lifting mechanism includes a wire winding box fixed to the guide frame, a pull wire spanning the two guide frames along the x-direction, and a pulley assembly provided on the pull wire. The wire winding box is used to synchronously reel in or release the pull wire; the upper end of the traction rope passes through the pulley assembly along the y-direction and is driven upward by the pulley assembly.

[0009] Specifically, the guide frame is provided with a guide structure for guiding multiple split conductors to the lower end of the traveling wheel.

[0010] Specifically, the pulley assembly includes a pulley frame, a first pulley and a second pulley rotatably arranged on the pulley frame, the axes of the first pulley and the second pulley are perpendicular to each other, the pull wire passes through the second pulley at its corresponding position along the x direction, and the upper end of the traction rope passes around the two first pulleys along the y direction in sequence.

[0011] Specifically, the online device further includes: A side support assembly is provided on the routing arm and is used for rolling support on the side of the multiple split conductors; The bottom supporting assembly is arranged on the bracket and is used for rolling supporting the bottom surface of the multi-split conductors.

[0012] Specifically, the spacing adjustment mechanism includes forward and reverse screws for driving the two routing arms along the y-direction to move synchronously in opposite directions.

[0013] Specifically, the driving unit includes a fixing seat, a fourth motor and a bearing, the fixing seat is fixed to the bracket, and the fourth motor is fixed to the fixing seat through the bearing; the winding unit includes a winding disk, a cover and a locking member, and the winding disk is driven by the driving unit to rewind; The reel is provided with a V-shaped annular groove, in which a plurality of spirally distributed ridges are formed, and the traction rope is wound around the annular groove; One end of the surface cover is hinged to the fixing base, and the other end is locked and connected to the fixing base through the locking piece.

[0014] A method for automatically running a multi-split tension clamp detection robot includes the following steps: S1. Use the drone to pull the traction rope across the multiple split conductors, so that the two ends of the traction rope form ground connection points; S2. Pass both ends of the traction rope through the two pulley assemblies and connect them to the winding units on both sides, and simultaneously unfold the synchronous pull wire across the multi-split conductors; S3, synchronously reeling in the traction rope to lift the upper line device, and releasing the pull wire in linkage so that the pull wire touches the multi-split conductor; S4. Adjust the distance between the wiring arms and lower the walking wheels to crimp the wires. S5. Recover the pulling wire until the traction rope is out of contact with the multi-split conductor, completing the line-up.

[0015] Specifically, in step S3, the synchronous winding is achieved by differential speed control of the winding units on both sides, and the release of the pulling wire is linked to the winding action of the traction rope.

[0016] Specifically, in step S5, the recovery of the pulling wire is completed by the automatic winding function of the winding box, and the release speed of the traction rope during the recovery process is linked and matched with the lowering speed of the walking wheel.

[0017] Beneficial effects of the present invention: The online device of the present application can be applied to a multi-split tension clamp detection robot and an automatic online method. The online process is simplified by the coordinated operation of the traction and retraction mechanism and the multi-directional adjustment mechanism. Before going online, the free end of the traction rope of the drone crosses the multi-split conductor, and the winding units on both sides synchronously rewind the traction rope, driving the bracket to lift along the z-direction of the routing arm. The spacing adjustment mechanism dynamically adjusts the y-direction spacing of the routing arms on both sides to adapt to the arrangement of conductors with different split spacings; the winding box synchronously retracts and releases the wire, and cooperates with the pulley assembly to guide and lift the traction rope to ensure that the routing mechanism moves smoothly along the x-direction; the lifting adjustment mechanism is used to adjust the height of the bracket; the winding and lifting mechanism rewinds the wire through the winding box to pull the pulley assembly toward the x-center, synchronously tensioning the traction rope so that the walking wheel presses against the surface of the multi-split conductor to complete the online process. The device realizes adaptive online in a high-altitude complex conductor environment through traction spanning, multi-dimensional adjustment and synchronous retraction and release control, significantly improving the stability and automation level of robot deployment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of the upper line device and the tension clamp of the present application; Figure 2 for Figure 1 Enlarged view of part A; Figure 3 for Figure 1 Enlarged view of part B; Figure 4 A three-dimensional cross-sectional view of the upper line device and the tension clamp of the present application; Figure 5 A three-dimensional diagram of the wiring mechanism and bracket of this application; Figure 6 for Figure 5 Enlarged view of part C; Figure 7 The three-dimensional traction and retracting mechanism of this application Figure 1 ; Figure 8 The three-dimensional traction and retracting mechanism of this application Figure 2 ; Figure 9 This is a schematic diagram of the structure of the online process of the online device of this application Figure 1 ; Figure 10 This is a schematic diagram of the structure of the online process of the online device of this application Figure 2 ; Figure 11 This is a schematic diagram of the structure of the online process of the online device of this application Figure 3 .

[0019] The accompanying drawings are marked as follows: a wiring mechanism 10, a wiring arm 11, a walking assembly 12, a guide frame 121, a walking wheel 122, a lifting adjustment mechanism 20, a bracket 21, a spacing adjustment mechanism 30, a traction and retracting mechanism 40, a driving unit 41, a winding unit 42, a traction rope 43, a multi-split conductor 50, a mounting frame 13, a first motor 14, a winding box 15, a pulling wire 16, a pulley assembly 17, a pulley frame 171, a first pulley 172, a second pulley 173, a side support assembly 18, a first rolling frame 181, a first roller 182, and a bottom support. Component 22, second rolling frame 221, second roller 222, second motor 23, driving wheel 24, driven wheel 25, screw 26, first slider 27, third motor 31, first bevel gear 32, second bevel gear 33, forward and reverse screw 34, second slider 35, fixed seat 411, fourth motor 412, bearing 413, winding disk 421, surface cover 422, locking piece 423, annular groove 4211, locking head 4231, elastic component 4232, locking tongue 4233, guide component 414, guide seat 4141, guide roller 4142. DETAILED DESCRIPTION

[0020] The present invention provides a multi-split tension clamp inspection robot on-line device and automatic on-line method. To clarify the objectives, technical solutions, and effects of the present invention, the present invention is further described below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention.

[0021] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0022] Please refer to Figures 1 to 11 The present embodiment provides an online device for a multi-split tension clamp inspection robot, including a routing mechanism 10, a lifting and adjusting mechanism 20, and a spacing adjustment mechanism 30. The routing mechanism 10 includes four routing arms 11 extending in the z-direction, a walking assembly 12 provided on the routing arms 11, the walking assembly 12 including a guide frame 121 fixed to the routing arms 11, and a walking wheel 122 provided below the guide frame 121 and capable of traveling along the x-direction on the multi-split conductor 50. The guide frame 121 is used to guide the multi-split conductor 50 to below the walking wheel 122 so that the walking wheel 122 can travel along the multi-split conductor 50. The lifting and adjusting mechanism 20 includes a bracket 21 that can be lifted and lowered along the z-direction on the four routing arms 11. The spacing adjustment mechanism 30 is provided on the bracket 21 and is used to adjust the spacing between the two routing arms 11 along the y-direction. The present invention also includes: Two traction and retraction mechanisms 40 are respectively provided on either side of the bracket 21 along the y-direction. The traction and retraction mechanisms 40 include a drive unit 41, a winding unit 42, and a traction rope 43. The two winding units 42 are respectively provided on either side of the bracket 21 along the y-direction. After one free end of the traction rope 43 is pulled across the multi-split conductor 50 by the drone, it is wound by one of the winding units 42. The other free end is controlled by the other winding unit 42 to be reeled in to raise the height of the upper line device. The wire winding and lifting mechanism includes a wire winding box 15 fixed to the guide frame 121, a pull wire 16 spanning the two guide frames 121 along the x-direction, and a pulley assembly 17 provided on the pull wire 16. The wire winding box 15 is used to synchronously wind or release the pull wire 16; the upper end of the traction rope 43 passes through the pulley assembly 17 along the y-direction and is driven upward by the pulley assembly 17.

[0023] The online device of this embodiment can be used in a multi-split tension clamp detection robot. When online operation is required, after the free end of the traction rope 43 of the drone crosses the multi-split conductor 50, the winding units 42 on both sides synchronously reel in the traction rope 43, driving the bracket 21 to rise along the z-direction of the routing arm 11. The spacing adjustment mechanism 30 dynamically adjusts the y-direction spacing of the routing arms 11 on both sides to adapt to the arrangement of conductors with different split spacings. The winding box 15 synchronously reels in and releases the pulley 16, and cooperates with the pulley assembly 17 to guide and lift the traction rope 43, ensuring that the routing mechanism 10 moves smoothly along the x-direction. The lifting adjustment mechanism 20 is used to adjust the height of the bracket 21; the winding lifting mechanism reels in the pulley 16 through the winding box 15 and pulls the pulley assembly 17 toward the x-center, synchronously tightening the traction rope 43 so that the walking wheel 122 presses against the surface of the multi-split conductor 50 to complete the online operation. The device achieves adaptive online operation in complex high-altitude wire clamp environments through traction spanning, multi-dimensional adjustment, and synchronous retraction and extension control, significantly improving the stability and automation level of robot deployment.

[0024] This embodiment is also provided with a lifting adjustment mechanism 20, which can control the bracket 21 to rise and fall along the routing arm 11, thereby adjusting the overall z-axis height of the upper line device to adapt to the position of the multiple-split conductors 50, and the spacing adjustment mechanism 30 can adjust the spacing between the routing arms 11 on both sides in the y-axis to ensure that the upper line device can adapt to multiple-split conductors 50 with different spacings.

[0025] In addition, the traction and retraction mechanism 40 of this embodiment uses a winding unit 42 and a traction rope 43 symmetrically arranged on both sides of the bracket. The drone only needs to pull the free end of the traction rope 43 across the multi-split conductor 50, and the traction rope 43 is reeled in simultaneously by the driving units 41 on both sides, so that the online device is smoothly lifted along the traction direction and hung in place. Compared with the traditional drone mounting method that requires direct suspension of the detection equipment, the online device transfers the main load-bearing link to the traction and retraction mechanism 40 with synchronous reeling capability, which greatly reduces the requirements for the drone's load capacity. It also allows the traction rope 43 to be separated from the power transmission line during the subsequent walking process to avoid interference during the walking process. At the same time, the automatic guidance function of the walking wheel 122, combined with the adjustable position bracket 21, avoids the complex posture control requirements in the traditional method, thereby achieving a more stable online action.

[0026] Please refer to Figure 1 and Figure 2 The walking assembly 12 of this embodiment also includes a mounting frame 13 fixed to the top of the routing arm 11, and a first motor 14 fixed to the mounting frame 13. The output end of the first motor 14 is transmission-connected to a running wheel 122. A guide frame 121 is fixed to the upper end of the mounting frame 13, and the guide frame 121 is provided with an inclined guide surface. The walking assembly 12 of this embodiment integrates drive and guidance functions through the mounting frame 13, achieving autonomous positioning of the device. When the traction rope 43 is released, the running wheel 122 naturally adheres to the surface of the multi-split conductor 50 under the action of gravity. At this time, the inclined guide surface of the guide frame 121 contacts the multi-split conductor 50, and the inclined guide action automatically pushes the multi-split conductor 50 directly under the running wheel 122, preventing the line-up device from deviating. The first motor 14 can be a servo motor. The first motor 14 drives the running wheel 122 to roll along the x-direction, driving the line-up device to move stably along the multi-split conductor 50 to complete the initial position calibration. The mounting frame 13 serves as a rigid support structure, ensuring that the coordinated action of the guide frame 121 and the running wheel 122 is not subject to external interference.

[0027] Furthermore, the inclined guide surface design enables the device to self-correct upon contact with the conductor. Combined with the active drive of the running wheels 122, precise mounting can be achieved without relying on the drone to fine-tune its horizontal position. The vertical arrangement of the guide frame 121 and running wheels 122 further optimizes space utilization, allowing the device to integrate guidance and travel functions within a limited height. This structure, through its mechanically adaptive properties, simplifies the onboarding process, reduces reliance on drone control accuracy, and improves the device's adaptability to varying surface conditions of the multi-split conductor 50, ensuring the stability of subsequent inspection operations.

[0028] Please refer to Figure 2 and Figure 3In this embodiment, each guide frame 121 is also fixed with a winding box 15, and a pull wire 16 is connected between the two winding boxes 15 along the x-direction, and a pulley assembly 17 is provided on the pull wire 16; the pulley assembly 17 includes a pulley frame 171, a first pulley 172 and a second pulley 173 rotatably arranged on the pulley frame 171, and the axes of the first pulley 172 and the second pulley 173 are perpendicular to each other. The pull wire 16 passes through the second pulley 173 at its corresponding position along the x-direction, and the upper end of the traction rope 43) passes around the two first pulleys 172 along the y-direction in sequence; the pull wire 16 passes through the second pulley 173 at its corresponding position along the x-direction, and the upper end of the traction rope 43 passes around the two first pulleys 172 along the y-direction in sequence. When it is necessary to mount, the drone carries a free end of the traction rope 43 across the multi-split conductor 50 and lands on the opposite side of the ground, forming two free ends on the ground; the pull line 16 in the winding box 15 is pulled out and passes through the second pulley 173 at the corresponding position along the x direction, and the two free ends of the traction rope 43 are respectively passed through the pulley assembly 17, and then respectively wound and fixed on the two winding units 42; the winding units 42 on both sides synchronously reel in the traction rope 43, lift the upper line device to a preset height, and at the same time the winding box 15 releases the pull line 16 to make the pulley assembly 17 move along the x direction. Unfold until the pulling wire 16 touches the multi-split conductor 50; the spacing adjustment mechanism 30 drives the two routing arms 11 along the y direction to narrow the spacing, so that the walking wheel 122 moves to be directly above the multi-split conductor 50; the winding unit 42 releases the traction rope 43 in the reverse direction, so that the walking wheel 122 is lowered, and the walking wheel 122 presses the surface of the multi-split conductor 50. While lowering, the winding box 15 automatically retracts the pulling wire 16 until the pulling wire 16 is in a horizontal state. At this time, the traction rope 43 forms a suspended state with the multi-split conductor 50 under the action of the pulley assembly 17, and the line is completed.

[0029] like Figure 3 As shown, the axes of the first pulley 172 and the second pulley 173 in the pulley assembly 17 of this embodiment are designed to be orthogonal, which not only ensures the freedom of retraction and extension of the pull wire 16 in the x-direction, but also provides guiding support for the traction rope 43 in the y-direction. This structure disperses the traction force through the flexible load-bearing of the pull wire 16 during the traction process, avoiding the device from being offset due to the deviation of the traction posture of the drone. After the device is online, the winding box 15 can recycle the pull wire 16 to raise the height of the pulley assembly 17, avoiding interference between the pull wire 16 and the multi-split conductor 50 in subsequent inspections. This design achieves seamless connection between traction positioning and walking positioning by dynamically adjusting the tension of the pull wire 16 and the height of the pulley assembly 17, further reducing the dependence on the control accuracy of the drone, and improving the success rate and stability of the device online.

[0030] Please refer to Figure 5 and Figure 6In this embodiment, the mounting frame 13 is further provided with a side support assembly 18 on the end facing the multi-split conductor 50. This side support assembly 18 comprises a first rolling frame 181 fixed to the mounting frame 13 and a first roller 182 rotatably mounted on the first rolling frame 181. The first roller 182 is located below and to one side of the travel wheel 122. As the travel wheel 122 rolls along the surface of the multi-split conductor 50, the first roller 182 also rolls along the surface of the multi-split conductor 50. Its rolling direction forms an orthogonal constraint with the x-direction movement of the travel wheel 122, effectively suppressing deviation of the device in the y-direction. The mounting frame 13 secures the first roller 182 via the first rolling frame 181, reducing resistance through rolling friction when it contacts the side of the wire clamp, thus preventing jamming.

[0031] After the inclined guiding surface of the guide frame 121 guides the wire clamp under the walking wheel 122, the first roller 182 contacts the side of the wire clamp synchronously, forming a dual positioning mechanism of "downward pressure walking wheel + lateral rolling support". This design enables the device to maintain x-direction movement through the active drive of the walking wheel 122 when moving on the surface of a complex multi-split conductor 50, and to adaptively adjust the lateral gap through the passive rolling of the first roller 182 to prevent the risk of derailment caused by the uneven surface of the multi-split conductor 50 or traction deviation. The spatial coordination between the side support assembly 18 and the guide frame 121 optimizes the force distribution of the device, reduces the risk of overturning caused by unilateral suspension during movement, and thus improves the overall reliability of the online and detection process.

[0032] The upper end of the bracket 21 is equipped with multiple bottom support assemblies 22. These assemblies include a second rolling frame 221 fixed to the bracket 21 and a second roller 222 rotatably mounted on the second rolling frame 221. The second roller 222 rotates in the same direction as the running wheel 122. When the lifting adjustment mechanism 20 drives the bracket 21 upward in the z-direction, the second roller 222 abuts upward from the bottom of the multi-branch conductor 50. Its x-direction rolling direction aligns with the drive direction of the running wheel 122, ensuring that the bottom roller and the top running wheel form a synchronized rolling support when the device moves in the x-direction. The second rolling frame 221 secures the second roller 222 to the bracket 21, distributing vertical loads through rolling contact and preventing localized compression and deformation of the multi-branch conductor 50.

[0033] The bottom support assembly 22 and the side support assembly 18 together form a three-dimensional constraint system: the travel wheel 122 compresses the upper surface of the multi-split conductor 50, the first roller 182 limits y-axis displacement, and the second roller 222 constrains z-axis displacement. As the device moves, the second roller 222 adaptively rolls along the bottom contour of the clamp, eliminating the risk of the travel wheel 122 slipping due to the curvature or surface undulations of the multi-split conductor 50. This synchronized rolling design allows the device to maintain stable contact on complex conductor structures, enhancing its ability to withstand bumps while reducing movement resistance through rolling friction. This ensures a stable and controllable posture during inspection, further improving inspection accuracy and operational safety.

[0034] Please refer to Figure 2 and Figure 4 The lifting and adjusting mechanism 20 includes a second motor 23 fixed to the mounting frame 13, a driving wheel 24 connected to the output shaft of the second motor 23, a driven wheel 25 driven by a belt to the driving wheel 24, a screw 26 coaxially driven with the driven wheel 25 and arranged in the z-direction, and a first slider 27 threadedly engaged with the screw 26. The first slider 27 drives the bracket 21 to move up and down in the z-direction. The lifting and adjusting mechanism 20 drives the driving wheel 24 to rotate via the second motor 23, which in turn drives the driven wheel 25 and the screw 26 to rotate synchronously via the belt, causing the first slider 27 to rise and fall along the z-direction threaded trajectory of the screw 26, thereby adjusting the height of the bracket 21 and the bottom support assembly 22 as a whole. When the threading device needs to adapt to different conductor positions, the second motor 23 controls the raising and lowering of the bracket 21 through the precise screw drive of the screw 26, actively adjusting the vertical clamping distance between the second roller 222 of the bottom support assembly 22 and the running wheel 122, ensuring that the second roller 222 always conforms to the bottom contour of the conductor. The mechanism maintains a stable lifting position through the self-locking characteristics of the screw drive, and combined with the rolling limit function of the bottom support component 22, forms a dynamic balance of synchronous up and down rolling when the device is moving, avoiding vertical shaking of the device due to the undulations of the wire surface, while improving adaptability to changes in wire size.

[0035] Please refer to Figure 4The spacing adjustment mechanism 30 of this embodiment includes a third motor 31 fixed to the bracket 21, a first bevel gear 32 connected to the output shaft of the third motor 31, a second bevel gear 33 meshing with the first bevel gear 32, a forward and reverse screw 34 coaxially driven with the second bevel gear 33 and arranged along the y-direction, and two second sliders 35 threadedly engaged with the forward and reverse screw 34. The two first sliders 27 along the y-direction are respectively fixedly connected to the two second sliders 35. The spacing adjustment mechanism 30 drives the first bevel gear 32 and the second bevel gear 33 to mesh and transmit through the third motor 31, driving the forward and reverse screw 34 to rotate, causing the two second sliders 35 to move synchronously in opposite directions along the y-direction, thereby adjusting the spacing between the wiring arms 11 on both sides. When the device is online, the third motor 31 pushes the second slider 35 through the symmetrical threads of the forward and reverse screw 34, causing the wiring arm 11 to narrow or expand, so that the two running wheels 122 along the y-direction are precisely aligned with the installation position of the double-split and multi-split conductors 50. This mechanism, through the combined transmission of the first and second bevel teeth 32, 33, and forward and reverse screws 34, achieves stepless adjustment of the Y-axis spacing while maintaining the stability of the adjusted spacing through the self-locking properties of the threads. This ensures that the three-dimensional constraints between the travel wheel 122 and the top surface of the multi-split conductor 50, the first roller 182 and the side of the wire clamp, and the second roller 222 and the bottom of the conductor are synchronized. This adaptive adjustment capability enables the device to accommodate multi-split conductors 50 with varying split spacings. Combined with the vertical positioning of the lifting and lowering mechanism 20, this achieves multi-degree-of-freedom coordinated control, further enhancing the reliability and adaptability of the device during both onboard and operational operations.

[0036] Please refer to Figure 7 and Figure 8 The driving unit 41 of this embodiment includes a fixed seat 411, a fourth motor 412 and a bearing 413. The fixed seat 411 is fixed to the bracket 21, and the fourth motor 412 is fixed to the fixed seat 411 through the bearing 413; the winding unit 42 includes a winding disk 421, a surface cover 422 and a locking member 423; the winding disk 421 is transmission-connected to the output shaft of the fourth motor 412, and the winding disk 421 is provided with a V-shaped annular groove 4211, and a plurality of spirally distributed ridges are formed in the annular groove 4211, and the traction rope 43 is wound around the annular groove 4211; one end of the surface cover 422 is hinged to the fixed seat 411, and the other end is locked with the fixed seat 411 through the locking member 423.

[0037] The drive unit 41 and winding unit 42 of this embodiment utilize a coordinated structural design to achieve stable, synchronized retraction and extension of the traction rope 43. The fourth motor 412 is supported on the fixed base 411 via a bearing 413, ensuring uniform resistance during motor shaft rotation, thereby driving the reel 421 to rotate about its axis. The traction rope 43 is wound within the V-shaped annular groove 4211 of the reel 421. The spirally distributed ridges engage the surface of the traction rope 43 at multiple points, increasing friction to prevent slippage and guiding the traction rope 43 along its spiral trajectory, preventing the rope from accumulating and jamming during reeling.

[0038] The cover 422 is hinged with the locking member 423 to achieve quick opening and closing. When the traction rope 43 needs to be replaced or maintained, the cover 422 can be opened by unlocking the locking member 423, exposing the reel 421 for convenient operation. When the traction rope 43 is reeled in, the fourth motor 412 drives the reel 421 to rotate, and the wedge effect of the V-groove and the limiting effect of the ridges are used to keep the traction rope 43 always close to the groove wall, ensuring that the tension during the retraction and release process is controllable. This structure uses mechanical constraints and motor drive to coordinate. After the drone completes the initial guidance of the traction rope 43 across the multi-split conductors 50, the winding units 42 on both sides can be precisely and synchronously reeled in, avoiding excessive traction on one side that causes the device to tilt, while reducing the reliance on the drone's continuous hovering accuracy, further improving the safety and efficiency of the online process.

[0039] Furthermore, the locking member 423 includes a locking head 4231 fixed to the fixing seat 411, and a locking tongue 4233 that is retracted and moved relative to the cover 422 via an elastic component 4232. The locking tongue 4233 is locked to the locking head 4231. When the cover 422 is closed, the locking tongue 4233 is compressed back. After the cover 422 is completely in contact with the fixing seat 411, the elastic component 4232 pushes the locking tongue 4233 to automatically pop out and engage with the locking head 4231, forming a mechanical interlock. To unlock, the locking tongue 4233 is manually pressed to disengage it from the locking head 4231, allowing the cover 422 to be opened around the hinge axis. This structure utilizes the self-resetting function of the elastic component 4232 and the inclined guide design of the locking tongue 4233. While ensuring the stability of the traction rope 43 reeling operation when the cover 422 is closed, it can be operated with one hand without the need for tools, facilitating the installation and maintenance of the traction rope 43 and avoiding the cumbersome disassembly problem of traditional bolt fixing methods.

[0040] Please refer to Figure 7 The fixed seat 411 is also provided with a guide assembly 414 for guiding the traction rope 43. The guide assembly 414 includes a guide seat 4141 fixed to the fixed seat 411 and a guide roller 4142 rotatably mounted on the guide seat 4141. When the traction rope 43 is towed by the drone or reeled up by the winding unit 42, the guide roller 4142 rotates freely with the movement of the traction rope 43, limiting the in and out direction of the traction rope 43 to a preset angle, thereby preventing friction and wear between the traction rope 43 and the edge of the fixed seat 411. The guide seat 4141 is fixed to the outlet end of the fixed seat 411 near the reel 421, so that the traction rope 43 first passes through the transition guide of the guide roller 4142 before being reeled up, ensuring that the rope body is always tightly wound along the spiral trajectory of the annular groove 4211. This design reduces the risk of the rope falling out of the groove or overlapping during the winding process by reducing the bending curvature and lateral swing amplitude of the traction rope 43. Combined with the V-groove ridge structure of the winding unit 42, it further ensures the uniformity of the tension and orderly arrangement of the traction rope 43, thereby improving the synchronous winding accuracy and the stability of the device's online process.

[0041] This embodiment also discloses an automatic online method for a multi-split tension clamp detection robot, comprising the following steps: S1. The drone carries a free end of the traction rope 43 across the multi-split conductor 50 and lands on the ground on the opposite side, forming two free ends on the ground; S2, pull out the pull wire 16 from the winding box 15, and pass it through the second pulley 173 at the corresponding position along the x direction, and pass the two free ends of the traction rope 43 through the pulley assembly 17 respectively, and then wind them around and fix them on the two winding units 42 respectively; S3, the winding units 42 on both sides synchronously reel in the traction rope 43, raising the upper line device to a preset height, and at the same time, the winding box 15 releases the pull wire 16 to move the pulley assembly 17 toward the multi-split conductor 50 until the pull wire 16 touches the multi-split conductor 50, wherein: the synchronous reeling is achieved by differential speed control of the winding units 42 on both sides, and the release of the pull wire 16 is linked to the reeling action of the traction rope 43; S4, the spacing adjustment mechanism 30 drives the two routing arms 11 along the y direction to narrow the spacing, so that the traveling wheel 122 moves to the top of the multi-split conductor 50; S5. The winding unit 42 releases the traction rope 43 in the reverse direction, causing the walking wheel 122 to be lowered. The walking wheel 122 presses against the surface of the multi-split conductor 50. While lowering, the winding box 15 automatically retracts the pull wire 16 until the pull wire 16 is in a horizontal state. At this time, the traction rope 43 forms a suspended state with the multi-split conductor 50 under the action of the pulley assembly 17, completing the wiring. The recovery of the pull wire 16 is completed by the automatic winding function of the winding box 15, and the release speed of the traction rope 43 during the recovery process is linked to the lowering speed of the walking wheel 122.

[0042] The above specifically describes the preferred embodiments of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A line-up device for a multi-split tension clamp detection robot, comprising a line-running mechanism (10), a lifting and adjusting mechanism (20) and a spacing adjusting mechanism (30), wherein the line-running mechanism (10) comprises four line-running arms (11) extending in the z direction, a walking assembly (12) provided on the line-running arms (11), the walking assembly (12) comprising a guide frame (121) fixed to the line-running arms (11), and a walking wheel (122) provided below the guide frame (121) and capable of traveling along the x direction on the multi-split conductor (50); the lifting and adjusting mechanism (20) comprises a bracket (21) capable of being lifted and lowered along the z direction on the four line-running arms (11); the spacing adjusting mechanism (30) is provided on the bracket (21) and is used to adjust the spacing between two line-running arms (11) along the y direction, characterized in that: Also includes: Two traction and retracting mechanisms (40) are respectively arranged on both sides of the bracket (21) in the y direction. The traction and retracting mechanisms (40) include a driving unit (41), a winding unit (42) and a traction rope (43). The two winding units (42) are respectively arranged on both sides of the bracket (21) in the y direction. After one free end of the traction rope (43) is pulled across the multi-split conductor (50) by the drone, it is wound by one of the winding units (42), and the other free end is controlled to be retracted by the other winding unit (42) to raise the height of the upper line device. A wire winding and lifting mechanism comprises a wire winding box (15) fixed to the guide frame (121), a pull wire (16) spanning the two guide frames (121) along the x-direction, and a pulley assembly (17) provided on the pull wire (16); the wire winding box (15) is used for synchronously winding or releasing the pull wire (16); the upper end of the traction rope (43) passes through the pulley assembly (17) along the y-direction and is driven upward by the pulley assembly (17).

2. The on-line device of a multi-split tension clamp detection robot according to claim 1, characterized in that: The guide frame (121) is provided with a guide structure for guiding the multi-split conductors (50) to the lower end of the running wheel (122).

3. The on-line device of a multi-split tension clamp inspection robot according to claim 1, characterized in that: The pulley assembly (17) includes a pulley frame (171), a first pulley (172) and a second pulley (173) rotatably arranged on the pulley frame (171), wherein the axes of the first pulley (172) and the second pulley (173) are perpendicular to each other, the pulling wire (16) passes through the second pulley (173) at its corresponding position along the x-direction, and the upper end of the traction rope (43) sequentially passes around the two first pulleys (172) along the y-direction.

4. The on-line device of a multi-split tension clamp inspection robot according to claim 1, characterized in that: The online device also includes: A side support assembly (18) is provided on the routing arm (11) and is used for rolling support of the side of the multi-split conductor (50); A bottom supporting assembly (22) is provided on the bracket (21) and is used for rolling and supporting the bottom surface of the multi-split conductor (50).

5. The on-line device of a multi-split tension clamp inspection robot according to claim 1, characterized in that: The spacing adjustment mechanism (30) comprises a forward and reverse screw (34) for driving the two routing arms (11) along the y-direction to move synchronously in opposite directions.

6. The on-line device of a multi-split tension clamp inspection robot according to claim 1, characterized in that: The driving unit (41) comprises a fixing seat (411), a fourth motor (412) and a bearing (413); the fixing seat (411) is fixed to the bracket (21); and the fourth motor (412) is fixed to the fixing seat (411) via the bearing (413); The winding unit (42) comprises a winding disk (421), a surface cover (422) and a locking member (423); the winding disk (421) is driven by the driving unit (41) to rewind; The winding disc (421) is provided with a V-shaped annular groove (4211), a plurality of spirally distributed ridges are formed in the annular groove (4211), and the traction rope (43) is wound around the annular groove (4211); One end of the surface cover (422) is hinged to the fixing seat (411), and the other end is locked and connected to the fixing seat (411) via the locking member (423).

7. An automatic on-line method for a multi-split tension clamp detection robot, applied to the on-line device of the multi-split tension clamp detection robot according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1, using the drone to pull the traction rope (43) across the multiple split conductors (50), so that both ends of the traction rope (43) form ground connection points; S2, passing both ends of the traction rope (43) through the two pulley assemblies (17) and connecting them to the winding units (42) on both sides, while simultaneously unfolding the pull wire (16) across the multi-split conductor (50); S3, synchronously reeling in the traction rope (43) to lift the upper line device, and releasing the pull wire (16) in a linked manner so that the pull wire (16) touches the multi-split conductor (50); S4, adjust the spacing of the wiring arms (11) and lower the walking wheels (122) to crimp the wires; S5, retrieving the pull line (16) until the traction rope (43) is out of contact with the multi-split conductor (50), completing the line-up.

8. The automatic online method according to claim 7, characterized in that: In step S3, the synchronous winding is achieved by differential speed control of the winding units (42) on both sides, and the release of the pulling wire (16) is linked to the winding action of the traction rope (43).

9. The automatic online method according to claim 7, characterized in that: In step S5, the recovery of the pulling wire (16) is completed by the automatic winding function of the winding box (15), and the release speed of the traction rope (43) and the lowering speed of the walking wheel (122) are linked and matched during the recovery process.

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