A high-voltage power distribution self-balancing three-legged hoisting device for online use

Abstract

The present invention discloses a high-voltage power distribution self-balancing three-legged online hoisting device, comprising a support assembly, a hoisting winch assembly, and a sensor assembly. The beneficial effects of the present invention are: effectively avoiding the current method of transporting distribution live working tools, which often relies on large auxiliary tools such as insulated boom trucks, and without the need for large auxiliary tools such as insulated boom trucks, the distribution live working robot automation device can be lifted and transported to a suitable height and position, thereby assisting the distribution live working robot automation device in subsequent automated live ignition work, thereby making distribution live working work safer, effectively reducing the labor intensity of operators, improving work efficiency and quality, significantly reducing power grid operating costs, improving the level of intelligent management technology of the distribution network, and promoting the improvement of lean management of the distribution network.

Description

Technical Field

[0001] The present invention relates to an online hoisting device, in particular to a high-voltage power distribution self-balancing tripod online hoisting device, belonging to the technical field of power distribution live operation. Background Art

[0002] With the continuous development of society and the improvement of people's quality of life, society's demand for power supply reliability has further increased. With the continuous development of smart grid technology, live working methods such as power distribution, network expansion, fault elimination, and maintenance have become increasingly common.

[0003] Traditional methods, which rely on workers performing live-line work, are not only labor-intensive and pose high safety risks, but also pose a harsh working environment. Wearing thick insulating clothing can be like being in a sauna, especially in the summer. Live-line work exposes workers to high voltages, strong electric fields, and high temperatures, which can easily lead to personal injury and death, and also significantly reduces work efficiency. Especially in complex terrain, such as mountainous areas and fields, live-line work vehicles cannot reach these sites, making subsequent high-altitude work impossible, leaving workers facing a dilemma. Furthermore, insulated steep-wall vehicles are relatively heavy, requiring significant time to transport equipment, resulting in low efficiency.

[0004] Since manual live-line work has its difficulties and limitations, there is no safe, reliable, efficient, convenient and adaptable high-voltage live-line emergency repair robot in the existing technology to overcome the difficulties and limitations of manual live-line work, especially during the lifting and moving process of the high-voltage live-line emergency repair robot, due to its heavy weight and the high height to be raised, it cannot be lifted by manpower or simple lifting devices; in addition, during the lifting process, the accuracy of the lifting height cannot be ensured. Summary of the Invention

[0005] The purpose of the present invention is to provide a high-voltage power distribution self-balancing tripod online lifting device in order to solve at least one of the above technical problems.

[0006] The present invention achieves the above-mentioned purpose through the following technical solutions: a high-voltage power distribution self-balancing tripod on-line lifting device, comprising

[0007] The support assembly constitutes the main support structure of the online hoisting device, and includes a support frame composed of a plurality of profiles fixedly connected, and a power distribution live operation robot automation device is also installed on the support frame;

[0008] The hoisting winch assembly constitutes the main hoisting structure of the online hoisting device, and is used to lift the support frame and the power distribution live operation robot automation device installed on the support frame to move them to the position where the fire cable and the high-altitude main line cable are fastened to the fire. The hoisting winch assembly includes a front hoisting winch, a left hoisting winch, and a right hoisting winch of the same structure. The front hoisting winch is installed in the middle of the front end of the support frame, and the left hoisting winch and the right hoisting winch are installed on the left and right sides of the rear end of the support frame respectively.

[0009] Each hoisting winch of the hoisting winch assembly includes a worm gear turbine self-locking motor, a winding drum, a winding drum central shaft and a winding drum support frame. One end of the winding drum central shaft is connected to the output shaft of the worm gear turbine self-locking motor, and the other end is supported by a bearing in the winding drum support frame. The winding drum support frame is fixed to the housing of the worm gear turbine self-locking motor. A left trip pin and a right trip pin are respectively fixed to the two ends of the winding drum central shaft. A winding drum is provided between the left trip pin and the right trip pin and is sleeved on the shaft body of the winding drum central shaft.

[0010] The sensor assembly is used to detect the lifting height and lifting inclination angle of the support frame during the lifting process and the power distribution live working robot automation device installed on the support frame, and to connect with the peripheral PLC automation control system for signal transmission. It includes a front-end height sensor and a rear-end height sensor installed at the front and rear ends of the support frame, and a tilt switch sensor installed in the middle part of the rear end of the support frame.

[0011] As a further solution of the present invention: lifting ropes are wound around the winding drums that constitute the lifting winch assembly, one end of one of the lifting ropes is wound around the winding drum of the front lifting winch, and the other end thereof is connected to the front hook, and both ends of the other lifting rope are respectively wound around the winding drums of the left lifting winch and the right lifting winch, and a rear hook is provided at the middle part thereof.

[0012] As a further solution of the present invention: the winding drum has a U-shaped cross-section, and two discs are provided on both sides. The threaded holes on the left and right discs are respectively engaged with the left double-ear engaging screw and the right double-ear engaging screw.

[0013] As a further solution of the present invention, a front conductor rod and a rear conductor rod are respectively installed on the front upper side and the rear upper side of the winding drum support frame.

[0014] As a further solution of the present invention, the tilt switch sensor pre-sets the set values of the maximum tilt angles of the X-axis and the Y-axis on the horizontal plane during the lifting process.

[0015] A distribution live working robot automation device with a high-voltage distribution self-balancing tripod online lifting device, the distribution live working robot automation device includes a self-balancing tripod online lifting device, a positioning and centering clamping device, a double-tooth relay driven spiral rotary insulation layer stripping device, a plum blossom self-disengaging clutch pneumatic thread feed device, a clamping and conveying device for the wiring, a fixed wire clamp installation and fastening device and an insulation box installation device.

[0016] When the live power distribution operation robot automation device is in operation, the following steps are specifically included:

[0017] The first step is to transport the online hoisting device to the bottom of the high-altitude main line cable and lift it to a suitable height through the self-balancing tripod online hoisting device. Then, through the positioning and centering clamping device, the distribution live operation robot automation device is quickly and accurately positioned at the appropriate position of the high-altitude cable, and then symmetrically clamped on the high-altitude cable;

[0018] In the second step, the pneumatic power feed device of the plum blossom self-release clutch pneumatic thread feed device is clamped on the high-altitude cable through the left and right thread guide clamping blocks, and the cutting tool is fed to the appropriate feed amount. After the feed is completed, the pneumatic power feed device retreats and automatically separates from the cutting tool through the plum blossom self-release clutch device;

[0019] The third step is to drive the cutting tool to perform a spiral rotary cutting motion on the high-altitude cable through the double-tooth relay-driven spiral rotary insulation stripping device's rotary motion and left and right feed motion, completing the rapid stripping of the high-altitude main line cable insulation layer. When the high-altitude cable insulation layer is quickly stripped to the appropriate length, the cutting tool automatically combines with the cutting tool through the plum blossom self-disconnection clutch device, allowing the cutting tool to quickly retract. This stage completes the stripping of the high-voltage cable insulation layer.

[0020] The fourth step is to clamp the stripped insulation layer of the fire cable through the wire clamping and conveying device and accurately deliver it to the upper docking position of the high-altitude cable stripping section;

[0021] The fifth step is to clamp, deliver and install a pair of split fastening wire clamps through the fastening wire clamp installation device. Finally, the high-voltage distribution insulation box is automatically delivered and mounted on the fastened fastening wire clamps through the high-voltage distribution insulation box installation device to ensure the insulation of the high-voltage cable from the outside world after the fire. The entire device is controlled by a PLC automatic control system and uses a touch screen for human-computer dialogue operation.

[0022] The beneficial effects of the present invention are: it effectively avoids the current method of transporting distribution live working tools with the help of large auxiliary tools such as insulated boom trucks, and can lift and transport the distribution live working robot automation device to a suitable height and position without the help of large auxiliary tools such as insulated boom trucks, thereby assisting the subsequent automated live ignition work of the distribution live working robot automation device, thereby making distribution live working work safer, effectively reducing the labor intensity of operators, improving work efficiency and quality, greatly reducing power grid operating costs, improving the intelligent management technology level of the distribution network, and promoting the improvement of lean management of the distribution network. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a three-dimensional diagram of the power distribution live working robot automation device of the present invention;

[0024] Figure 2 The invention provides a high-voltage power distribution self-balancing tripod online hoisting device;

[0025] Figure 3 This is a three-dimensional assembly diagram of the lifting winch of the present invention;

[0026] Figure 4 This is a planar assembly drawing of the hoisting winch of the present invention;

[0027] Figure 5 This is an assembly diagram of the worm gear self-locking motor, the winding disk center shaft, the left trip pin and the right trip pin of the present invention.

[0028] Figure: 1. Front hoisting winch, 2. Left hoisting winch, 3. Right hoisting winch, 4. Front hook, 5. Rear hook, 6. Hoisting rope, 7. Worm gear self-locking motor, 8. Winding reel, 9. Winding reel center shaft, 10. Left trip pin, 11. Right trip pin, 12. Left double-ear engaging screw, 13. Right double-ear engaging screw, 14. Winding reel support frame, 15. Front wire rod, 16. Rear wire rod, 17. Support frame, 18. Self-balancing tripod 19. Vertical line hoisting device, 20. Positioning and centering clamping device, 21. Double-tooth relay-driven spiral rotary insulation stripping device, 22. Plum blossom self-release clutch pneumatic thread feed device, 23. Fixed wire clamp installation and fastening device, 24. Insulation box installation device, 25. Fire cable, 26. High-altitude main line cable, 27. Tilt switch sensor, 28. Front-end height sensor, 29. Rear-end height sensor. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] Example 1

[0031] like Figures 1 to 5 As shown, a high-voltage power distribution self-balancing tripod online lifting device includes a support assembly, a lifting winch assembly and a sensor assembly.

[0032] The support assembly constitutes the main support structure of the online hoisting device, and includes a support frame 17 formed by welding a plurality of profiles, and a power distribution live operation robot automation device is also installed on the support frame 17;

[0033] The hoisting winch assembly constitutes the main hoisting structure of the online hoisting device, which is used to hoist the support frame 17 and the power distribution live operation robot automation device installed on the support frame 17 to the position where the fire cable 25 and the high-altitude main line cable 26 are fastened to the fire. The hoisting winch assembly includes a front hoisting winch 1, a left hoisting winch 2 and a right hoisting winch 3 of the same structure. The front hoisting winch 1 is installed in the middle of the front end of the support frame 17, and the left hoisting winch 2 and the right hoisting winch 3 are installed on the left and right sides of the rear end of the support frame 17 respectively.

[0034] Each hoisting winch of the hoisting winch assembly includes a worm gear turbine self-locking motor 7, a winding drum 8, a winding drum central shaft 9 and a winding drum support frame 14. One end of the winding drum central shaft 9 is connected to the output shaft of the worm gear turbine self-locking motor 7, and the other end is supported by a bearing in the winding drum support frame 14. The winding drum support frame 14 is fixed to the housing of the worm gear turbine self-locking motor 7. The two ends of the winding drum central shaft 9 are respectively fixed with a left trip pin 10 and a right trip pin 11. A winding drum 8 is provided between the left trip pin 10 and the right trip pin 11 and is loosely sleeved on the shaft body of the winding drum central shaft 9.

[0035] The sensor assembly is used to detect the lifting height and lifting inclination angle of the support frame 17 during the lifting process and the power distribution live working robot automation device installed on the support frame 17, and to connect with the peripheral PLC automation control system for signal transmission. It includes a front-end height sensor 28 and a rear-end height sensor 29 installed at the front and rear ends of the support frame 17, and a tilt switch sensor 27 installed in the middle part of the rear end of the support frame 17.

[0036] Example 2

[0037] like Figures 1 to 5As shown, in addition to all the technical features of the first embodiment, this embodiment also includes:

[0038] The winding drums 8 that constitute the lifting winch assembly are all wound with lifting ropes 6. One end of one lifting rope 6 is wound around the winding drum 8 of the front lifting winch 1, and the other end is connected to the front hook 4. The two ends of the other lifting rope 6 are respectively wound around the winding drums 8 of the left lifting winch 2 and the right lifting winch 3, and the middle part is provided with a rear hook 5. The three-point lifting of the support frame 17 can be achieved through the front and rear hooks, thereby ensuring the stability of the lifting.

[0039] The winding drum 8 has a U-shaped cross-section and two circular disks are provided on both sides. The threaded holes on the left and right circular disks are engaged with the left double-ear engaging screw 12 and the right double-ear engaging screw 13 respectively. When the worm gear self-locking motor 7 is energized to drive the winding drum central axis 9 to rotate, the left trip pin 10 and the right trip pin 11 of the winding drum central axis 9 also rotate accordingly. The left trip pin 10 and the right trip pin 11 instantly push the left double-ear engaging screw 12 and the right double-ear engaging screw 13 and rotate accordingly. The left double-ear engaging screw 12 and the right double-ear engaging screw 13 drive the winding drum 8 to rotate together, thereby winding or unwinding the lifting rope 6, and then controlling the lifting and lowering of the support frame 17.

[0040] The front conductor rod 15 and the rear conductor rod 16 are respectively installed on the front upper and rear upper sides of the winding drum support frame 14. Under the guidance of the front conductor rod 15 and the rear conductor rod 16, the lifting rope 6 is wound around the winding drum 8, thereby driving the distribution live operation robot automation device to rise and lift.

[0041] Example 3

[0042] like Figures 1 to 5 As shown, in addition to all the technical features of the first embodiment, this embodiment also includes:

[0043] The tilt switch sensor 27 pre-sets the maximum tilt angle of 5 degrees of the X-axis and Y-axis on the horizontal plane during the lifting process, ensuring that the front and rear, left and right tilt angles of the entire device during the lifting process will not exceed the pre-set values, and during the lifting process, the front lifting winch 1, the left lifting winch 2 and the right lifting winch 3 are slowly and steadily lifted in the process of continuous starting and stopping.

[0044] When the X-axis direction exceeds the set value of plus 5 degrees, it means that the lifting height of the left lifting winch 2 and the right lifting winch 3 is higher than the lifting height of the front lifting winch 1. At this time, the tilt switch sensor 27 will input the signal to the PLC automation control system. The PLC automation control system will issue an instruction to stop the left lifting winch 2 and the right lifting winch 3, and continue to lift the front lifting winch 1 until the tilt switch sensor 27 detects that the tilt value in the X-axis direction is less than the set value of plus 5 degrees. The left lifting winch 2 and the right lifting winch 3 will start lifting again. At this time, the front lifting winch 1, the left lifting winch 2 and the right lifting winch 3 are lifted at the same time.

[0045] Similarly, when the X-axis direction exceeds the set value of minus 5 degrees, it means that the lifting height of the left lifting winch 2 and the right lifting winch 3 is lower than the lifting height of the front lifting winch 1. At this time, the tilt switch sensor 27 will input the signal to the PLC automation control system. The PLC automation control system will issue an instruction to stop the front lifting winch 1 and continue to lift the left lifting winch 2 and the right lifting winch 3 until the tilt switch sensor 27 detects that the tilt value in the X-axis direction is less than the set value of minus 5 degrees. The front lifting winch 1 starts lifting again. At this time, the front lifting winch 1, the left lifting winch 2 and the right lifting winch 3 are lifting at the same time.

[0046] Similarly, when the Y-axis direction exceeds the set value of minus 5 degrees, it means that the lifting height of the left lifting winch 2 is higher than the lifting height of the right lifting winch 3. At this time, the tilt switch sensor 27 will input the signal to the PLC automation control system. The PLC automation control system will issue an instruction to stop the left lifting winch 2 and continue to lift the right lifting winch 3 until the tilt switch sensor 27 detects that the tilt value in the Y-axis direction is less than the set value of minus 5 degrees. The left lifting winch 2 starts lifting again. At this time, the front lifting winch 1, the left lifting winch 2 and the right lifting winch 3 are lifted at the same time.

[0047] Similarly, when the Y-axis direction exceeds the set value of plus 5 degrees, it means that the lifting height of the left lifting winch 2 is lower than the lifting height of the right lifting winch 3. At this time, the tilt switch sensor 27 will input the signal to the PLC automatic control system, and the PLC automatic control system will issue an instruction to stop the right lifting winch 3 and continue to lift the left lifting winch 2 until the tilt switch sensor 27 detects that the tilt value in the Y-axis direction is less than the set value of plus 5 degrees. The right lifting winch 3 will start lifting again. At this time, the front lifting winch 1, the left lifting winch 2 and the right lifting winch 3 are lifting at the same time.

[0048] Example 4

[0049] like Figure 1As shown, a distribution live working robot automation device with a high-voltage distribution self-balancing tripod online lifting device, the distribution live working robot automation device includes a self-balancing tripod online lifting device 18, a positioning and centering clamping device 19, a double-tooth relay driven spiral rotary insulation layer stripping device 20, a plum blossom self-disengaging clutch pneumatic thread feeding device 21, a clamping and conveying device for the wiring 22, a fixed wire clamp installation and fastening device 23 and an insulation box installation device 24.

[0050] When the live-line operation robot automation device for power distribution needs to work, it specifically includes the following steps:

[0051] In the first step, the online hoisting device is transported to the bottom of the high-altitude main line cable 26 and raised to a suitable height by the self-balancing tripod online hoisting device 18. Then, the distribution live working robot automation device is quickly and accurately centered at the appropriate position of the high-altitude cable through the positioning and clamping device 19, and then symmetrically clamped on the high-altitude cable;

[0052] In the second step, the pneumatic power feed device of the plum blossom self-release clutch pneumatic thread feed device 21 is clamped on the overhead cable through the left and right thread guide clamping blocks, and the cutting tool is fed to the appropriate feed amount. After the feed is completed, the pneumatic power feed device retreats and automatically separates from the cutting tool through the plum blossom self-release clutch device;

[0053] The third step is to drive the cutting tool to perform a spiral rotary cutting motion on the high-altitude cable by the double-tooth relay driving the spiral rotary insulation stripping device 20's rotary motion and the left and right feed motion, thereby completing the rapid stripping of the insulation layer of the high-altitude main line cable 26. When the high-altitude cable insulation layer is quickly stripped to a suitable length, the cutting tool automatically combines with the cutting tool through the plum blossom self-tripping clutch device, so that the cutting tool can be quickly retracted. At this stage, the stripping of the high-voltage cable insulation layer is completed;

[0054] The fourth step is to clamp the stripped insulation layer of the fire cable 25 through the clamping and conveying device 22 and accurately deliver it to the upper docking position of the aerial cable stripping section;

[0055] The fifth step is to clamp, deliver and install a pair of split fastening wire clamps through the fastening wire clamp installation fastening device 23, and finally automatically deliver the high-voltage distribution insulation box through the high-voltage distribution insulation box installation device 24 and put it on the fastened fastening wire clamp to ensure the insulation of the high-voltage cable from the outside world after the fire. The whole set of equipment is controlled by the PLC automatic control system and the touch screen is used for human-computer dialogue operation.

[0056] Working principle: When it is necessary to fasten and connect the high-altitude main line cable 26 and the fire cable 25, the upper line hoisting device is first transported to the bottom of the high-altitude main line cable 26 and smoothly lifted and transported to a suitable height by the self-balancing tripod upper line hoisting device 18 to ensure the subsequent automated live fire connection operation of the power distribution live operation robot automation device. The lifting process is as follows:

[0057] First, unscrew the left double-ear engaging screw 12 and the right double-ear engaging screw 13 on the left and right discs of the winding reel 8 until the left double-ear engaging screw 12 and the right double-ear engaging screw 13 are not blocked by the left trip pin 10 and the right trip pin 11 when the winding reel 8 rotates idly around the winding reel center axis 9. Then, pay out the lifting rope 6 wound on the winding reel 8. During the paying-out process, the winding reel 8 rotates idly on the winding reel center axis 9. Then, use auxiliary tools such as a long pole to hang the front hook 4 and the rear hook 5 for paying out the line on the high-altitude main line cable 26.

[0058] Subsequently, the left double-ear engaging screw 12 and the right double-ear engaging screw 13 are screwed into the left and right discs of the winding drum 8, and screwed out until the left double-ear engaging screw 12 and the right double-ear engaging screw 13 are reliably blocked by the left trip pin 10 and the right trip pin 11 when the winding drum 8 is idling around the winding drum central axis 9. Then, the three worm gear self-locking motors 7 of the front hoisting winch 1, the left hoisting winch 2 and the right hoisting winch 3 are energized, and the worm gear self-locking motors 7 drive the winding drum central axis 9. As the wire drum 8 rotates, the left trip pin 10 and the right trip pin 11 of the central axis 9 of the winding drum also rotate accordingly, and the left trip pin 10 and the right trip pin 11 instantly push the left double-ear engaging screw 12 and the right double-ear engaging screw 13 to rotate accordingly, and the left double-ear engaging screw 12 and the right double-ear engaging screw 13 drive the winding drum 8 to rotate together, and the lifting rope 6 is wound around the winding drum 8 under the guidance of the front conductor rod 15 and the rear conductor rod 16, thereby driving the distribution live operation robot automation device to rise and lift.

[0059] During the lifting process, the winding drum 8 is loosely sleeved between the left trip pin 10 and the right trip pin 11 of the winding drum central axis 9, which can prevent the winding drum 8 from moving left and right on the winding drum central axis 9.

[0060] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0061] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A high-voltage power distribution self-balancing tripod online lifting device, characterized by: include A support assembly constitutes the main support structure of the online hoisting device, and includes a support frame (17) formed by a plurality of profiles fixedly connected, and a power distribution live operation robot automation device is also installed on the support frame (17); A hoisting winch assembly constitutes the main hoisting structure of the online hoisting device, and is used to hoist the support frame (17) and the power distribution live operation robot automation device installed on the support frame (17) to a position where the fire cable (25) and the high-altitude main line cable (26) are fastened to the fire, and comprises a front hoisting winch (1), a left hoisting winch (2) and a right hoisting winch (3) of the same structure, wherein the front hoisting winch (1) is installed at the middle part of the front end of the support frame (17), and the left hoisting winch (2) and the right hoisting winch (3) are installed at the left and right sides of the rear end of the support frame (17) respectively; Each hoisting winch of the hoisting winch assembly comprises a worm gear turbine self-locking motor (7), a winding drum (8), a winding drum central shaft (9) and a winding drum support frame (14); one end of the winding drum central shaft (9) is connected to the output shaft of the worm gear turbine self-locking motor (7), and the other end thereof is supported by a bearing in the winding drum support frame (14); the winding drum support frame (14) and the worm gear turbine self-locking motor (7) housing are fixedly connected; the two ends of the winding drum central shaft (9) are respectively fixedly connected with a left trip pin (10) and a right trip pin (11); a winding drum (8) is provided between the left trip pin (10) and the right trip pin (11) and is loosely sleeved on the shaft body of the winding drum central shaft 9; A sensor assembly is used to detect the lifting height and lifting inclination angle of a support frame (17) and a power distribution live operation robot automation device installed on the support frame (17) during the lifting process, and is connected to a peripheral PLC automation control system for signal transmission. The sensor assembly includes a front height sensor (28) and a rear height sensor (29) installed at the front and rear ends of the support frame (17), and a tilt switch sensor (27) installed at the middle part of the rear end of the support frame (17).

2. The high-voltage power distribution self-balancing tripod online hoisting device according to claim 1, characterized in that: The winding drums (8) constituting the lifting winch assembly are all wound with lifting ropes (6), one end of one of the lifting ropes (6) is wound on the winding drum (8) of the front lifting winch (1), and the other end thereof is connected to the front hook (4); the two ends of the other lifting rope (6) are respectively wound on the winding drums (8) of the left lifting winch (2) and the right lifting winch (3), and the middle part thereof is provided with a rear hook (5).

3. The high-voltage power distribution self-balancing tripod online hoisting device according to claim 1, characterized in that: The winding drum (8) has a U-shaped cross section and is provided with two discs on both sides. The threaded holes on the left and right discs are respectively engaged with the left double-ear engaging screw (12) and the right double-ear engaging screw (13).

4. The high-voltage power distribution self-balancing tripod online hoisting device according to claim 1, characterized in that: A front conductor rod (15) and a rear conductor rod (16) are respectively installed on the front upper side and the rear upper side of the winding drum support frame (14).

5. The high-voltage power distribution self-balancing tripod online hoisting device according to claim 1 is characterized in that: The tilt switch sensor (27) pre-sets the set values of the maximum tilt angles of the X-axis and the Y-axis on the horizontal plane during the lifting process.

6. A power distribution live working robot automation device equipped with the high-voltage power distribution self-balancing tripod online lifting device according to claim 1, characterized in that: The distribution live operation robot automation device also includes a self-balancing tripod-type online hoisting device (18), a positioning and centering clamping device (19), a double-tooth relay-driven spiral rotary insulation layer stripping device (20), a plum blossom self-release clutch pneumatic thread feed device (21), a wire clamping and conveying device (22), a fixed wire clamp installation and fastening device (23), and an insulation box installation device (24).

7. An operating method based on the live-line working robot automation device of claim 6, characterized in that: The operation method includes: First, the online hoisting device is transported to the bottom of the high-altitude main line cable (26) and raised to a suitable height by the self-balancing tripod online hoisting device (18), and then the distribution live operation robot automation device is quickly and accurately centered at a suitable position on the high-altitude cable through the positioning and centering clamping device (19), and then symmetrically clamped on the high-altitude cable; Secondly, the pneumatic power feed device of the plum blossom self-release clutch pneumatic thread feed device (21) is clamped on the high-altitude cable through the left and right thread guide clamping blocks, and the cutting tool is fed to a suitable feed amount at the same time. After the feed is completed, the pneumatic power feed device retreats and automatically separates from the cutting tool through the plum blossom self-release clutch device; Third, the double-tooth relay drives the spiral rotary insulation stripping device (20) to perform a spiral rotary cutting motion and a left-right feed motion, thereby driving the cutting tool to perform a spiral rotary cutting motion on the high-altitude cable, thereby completing the rapid stripping of the insulation layer of the high-altitude main line cable (26). When the insulation layer of the high-altitude cable is rapidly stripped to a suitable length, the cutting tool is automatically coupled to the cutting tool through the plum blossom self-disengaging clutch device, thereby enabling the cutting tool to be rapidly retracted. At this stage, the stripping of the high-voltage cable insulation layer is completed. Fourth, the fire-laying cable (25) with the stripped insulation layer is clamped and accurately delivered to the upper docking position of the stripped section of the high-altitude cable by the clamping and conveying device (22) of the cable; Fifth, a pair of split fastening wire clamps are clamped, delivered, and installed and fastened by the fastening wire clamp installation fastening device (23). Finally, the high-voltage distribution insulation box is automatically delivered and mounted on the fastened fastening wire clamps by the high-voltage distribution insulation box installation device (24) to ensure the insulation between the high-voltage cable and the outside world after the fire. The entire device is controlled by a PLC automatic control system and a touch screen is used for human-computer dialogue operation.

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