A clamping assembly, wire breakage repair robot and application method thereof

Abstract

The application discloses a clamping assembly, a wire breakage repairing robot and an application method thereof. The wire breakage repairing robot comprises a robot body provided with an upper and lower wire assembly, a walking assembly and a repairing operation mechanism. The robot body is provided with a clamping assembly for clamping pre-stranding wire and a wire. A pair of wire clamping jaws of the clamping assembly are provided with wire stabilizing clamping blocks. The two wire stabilizing clamping blocks form a hollow pipe segment structure. The outer side of the wire stabilizing clamping blocks is provided with a pre-stranding wire clamping module for clamping the pre-stranding wire. The pre-stranding wire clamping module comprises a plurality of clamping seats. The clamping seats are provided with oppositely arranged outer clamping blocks and inner clamping blocks. The clamping surfaces of the outer clamping blocks and the inner clamping blocks are provided with clamping teeth. The application can improve the coaxiality of the pre-stranding wire wrapped around the wire, firmly and reliably position the pre-stranding wire, and conveniently and labor-savingly exit. The application can effectively improve the wire breakage repairing operation quality and efficiency of the wire breakage repairing robot, and achieve safe, fast and efficient wire repairing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of overhead transmission line broken strand repair operation equipment, in particular to a clamping assembly, a wire broken strand repair robot and an application method thereof. BACKGROUND

[0002] Overhead transmission line is the main way of long-distance power transmission at present. Due to its own height and the reason of transmitting large current, as well as the influence of wind damage, lightning strike and local strand overcurrent, etc., partial wire broken strand is caused. The current solution is to find the broken strand point by unmanned aerial vehicle line inspection, and then repair the wire at the broken strand point by artificial tower. The traditional operation method not only has many safety hazards, but also needs maintenance personnel to climb the tower and line, and also causes great work intensity, low operation efficiency and other adverse factors. In view of the above problems of the current repair operation, the existing wire broken strand repair robot is used to replace the operation personnel to complete the wire repair work, for example, a wire broken strand repair robot can use pre-stranding wire to wrap around the position of the broken strand of the wire. However, the above wire broken strand repair robot has two problems in the application process: (1) the conventional jaw structure is difficult to realize the coaxiality of the pre-stranding wire wrapping the wire. (2) The conventional jaw structure has poor positioning effect on the pre-stranding wire. Since the stress generated during the winding of the pre-stranding wire is large, the pre-stranding wire is prone to mispositioning, which affects the wire repair quality and efficiency. SUMMARY

[0003] The technical problem to be solved by the present application is: in view of the above problems of the prior art, a clamping assembly, a wire broken strand repair robot and an application method thereof are provided, which can improve the coaxiality of the pre-stranding wire wrapping the wire, firmly and reliably position the pre-stranding wire, and be easy and labor-saving when withdrawing, which can effectively improve the wire broken strand repair operation quality and efficiency of the wire broken strand repair robot, and achieve safe, fast and efficient wire repair.

[0004] In order to solve the above technical problems, the technical scheme adopted by the present application is:

[0005] A clamping assembly for wire broken strand repair robot, comprising a clamping support seat, a pair of wire clamping jaws for clamping wires are arranged on the clamping support seat, a wire stabilizing clamp block for clamping and stabilizing wires is arranged on each wire clamping jaw, and a hollow pipe section structure for clamping and stabilizing wires is formed between the two wire stabilizing clamp blocks to improve the coaxiality of the pre-stranded wire wrapped around the wire, a pre-stranded wire clamping module for clamping the pre-stranded wire is arranged on the outer side of the wire stabilizing clamp block, the pre-stranded wire clamping module comprises an adjusting head fixed on the wire stabilizing clamp block, a plurality of installation grooves arranged in the radial direction of the wire are arranged on the adjusting head, a clamping seat is arranged in the installation grooves, an outer clamp block and an inner clamp block are arranged opposite to each other on the clamping seat, the outer clamp block is fixed on the clamping seat, the inner clamp block is mounted on the clamping seat through a sliding block, the sliding block is slidingly arranged in the clamping seat and is fixed on the clamping seat through a fastener, and clamping teeth for positioning the pre-stranded wire are arranged on the clamping surfaces of the outer clamp block and the inner clamp block.

[0006] The clamping surface is in the form of a ring, and the middle part of the clamping surface of the outer clamp block is provided with a roller for abutting against and rolling on the pre-stranded wire.

[0007] A clamping jaw motor, a clamping jaw screw rod nut module and an inclined pushing connecting rod are mounted on the clamping support seat, the clamping jaw motor is drivingly connected with the screw rod of the clamping jaw screw rod nut module, the nuts of the clamping jaw screw rod nut module are respectively connected with two inclined pushing connecting rods, each inclined pushing connecting rod is connected with the outer side end of one wire clamping jaw, the middle part of the wire clamping jaw is hingedly fixed on the clamping support seat, and the wire stabilizing clamp block is mounted on the inner side end of the wire clamping jaw.

[0008] In addition, the application also provides a wire broken strand repair robot, comprising a robot body provided with an up-and-down wire assembly, a walking assembly and a repair operation mechanism, a clamping assembly for clamping pre-stranded wires and wires is arranged on the robot body, and the clamping assembly is the aforementioned clamping assembly for wire broken strand repair robot.

[0009] The up-and-down wire assembly comprises a groove plate, a winch mechanism and a hook, the groove plate is connected with the robot body, the winch mechanism is fixed on the groove plate, the end of an insulating rope on the winch mechanism is connected with the hook, the winch mechanism comprises a winch motor, a winch box, a rope disc, a synchronous transmission mechanism, a reciprocating screw rod, a track and a limiting knot, the winch motor drives the rope disc through a winch transmission mechanism mounted in the winch box, the rope disc and the reciprocating screw rod are connected through the synchronous transmission mechanism, the rope disc, the reciprocating screw rod and the track are all mounted on the winch box, the insulating rope is arranged through the limiting knot, the limiting knot is mounted on the track and is threadedly connected with the reciprocating screw rod to be driven by the reciprocating screw rod to reciprocate on the track and uniformly wind the insulating rope on the rope disc.

[0010] The opening of the hook is arranged downward and a rotatable pressing plate is hinged on one side of the opening, the front end of the pressing plate is arranged opposite to the opening end of the hook, the rear end is connected with the end of the insulating rope of the hoisting mechanism, and a tension spring is connected between the rear end of the pressing plate and the hook for pulling the pressing plate away from the opening of the hook.

[0011] The walking assembly comprises a wire walking mechanism, a horizontal rotation mechanism and a vertical moving mechanism connected in sequence, the horizontal rotation mechanism comprises a horizontal rotation seat and a worm and gear module arranged in the horizontal rotation seat, the horizontal rotation seat is connected with the vertical moving mechanism, the wire walking mechanism is fixedly connected with a worm of the worm and gear module, a rotation motor is installed on the horizontal rotation seat, the rotation motor is in transmission connection with a gear of the worm and gear module for driving a wheel column to rotate to avoid the wire, the wire walking mechanism comprises a wheel column and a wheel seat installed on the wheel column, the wheel seat is installed with a walking wheel for walking on the wire and a walking motor for driving the walking wheel, the wheel column is hollow and is respectively provided with a tension motor and a tension screw nut module, the tension motor is in driving connection with a screw rod of the tension screw nut module, a nut of the tension screw nut module is slidably arranged in the wheel column and is installed with a tension seat, one or more tension wheels are arranged on the tension seat for tightly clamping and fixing the wire between the walking wheel and the tension wheel or releasing the wire from the walking wheel and the tension wheel; the vertical moving mechanism comprises a stand column and a stand column motor installed on one end of the stand column, the stand column is internally provided with a straight tooth pair and a lifting screw nut module, the stand column motor is connected through a screw rod of the straight tooth pair and the lifting screw nut module, and a vertical moving seat for fixed connection between the robot body is arranged on a nut of the lifting screw nut module.

[0012] The repair operation mechanism comprises a straightening assembly for straightening the pre-twisted wire, the straightening assembly comprises a translation plate slidingly arranged on the robot body, a slide module with adjustable height in the vertical direction is arranged on the translation plate, a horizontal turntable is arranged on the slide module, a straightening fixing seat is arranged on the horizontal turntable, a rotatable straightening rotary tooth is arranged in the middle of the straightening fixing seat, a groove for placing the wire is arranged in the middle of the straightening fixing seat and the straightening rotary tooth, a straightening bridge tooth is hinged at the groove of the straightening rotary tooth, the straightening bridge tooth and the straightening rotary tooth jointly form a complete gear in the closed state, a rotating seat is arranged on one side of the straightening fixing seat, a straightening limiting ring with a notch is installed at the groove of the straightening fixing seat, the straightening limiting ring and the rotating seat are fixed on the straightening rotary tooth in front-to-back direction, the other side is provided with a straightening rotating motor for driving the rotating seat and the straightening rotary tooth to rotate synchronously, a set of forward and reverse lead screws and slide rails are arranged on the rotating seat, a pair of clamping blocks are arranged on the slide rails in opposite directions, the clamping blocks are threadedly matched with the forward and reverse screw threads on the forward and reverse lead screws respectively, a tightening motor is arranged on the rotating seat, the tightening motor drives the forward and reverse lead screws to rotate through a transmission mechanism to control the clamping blocks to clamp or loosen, and a pressing wheel is arranged on the clamping surface of the clamping block.

[0013] The repair operation mechanism comprises a rotating assembly for rotating the pre-laid wire to wrap outside the conductor, the rotating assembly comprises a rotating fixed seat connected with the robot body, a rotating rotary tooth with a rotating bridge tooth is arranged at the middle inner hole of the rotating fixed seat, the rotating rotary tooth is fixed at the middle inner hole of the rotating fixed seat through rotating limiting rings on both sides, the rotating bridge tooth is hingedly installed at the opening of the rotating rotary tooth and forms a complete gear with the rotating rotary tooth after being closed, a rotating drive motor is installed on the rotating fixed seat to drive the rotating rotary tooth to rotate to rotate the pre-laid wire relative to the conductor, a plurality of front guide mechanisms for guiding the pre-laid wire are arranged on the front side of the rotating rotary tooth, a plurality of rear guide mechanisms for guiding the pre-laid wire are arranged on the rear side of the rotating rotary tooth, and the plurality of rear guide mechanisms are connected to the same pressure equalizing ring; the front guide mechanism comprises a front guide frame, a compression spring, a swing rod and a wire passing groove, the front guide frame is installed on the rotating rotary tooth and is movably connected through a plurality of swing rods and wire passing grooves, the wire passing grooves of the plurality of front guide mechanisms are arranged in a central symmetry around the conductor passing through the middle, a pulley or a roller is installed in the wire passing groove, and the compression spring is connected between the swing rod and the front guide frame to apply a radial outward tension to the swing rod on the front guide frame to make the wire passing groove with the pre-laid wire therein outwardly open; the rear guide mechanism comprises a connecting plate and a rear guide frame, the rear guide frame is connected with the rotating rotary tooth through the connecting plate, the rear guide frame is provided with a guide hole, and a pulley or a roller is installed in the guide hole; the front guide mechanism is located between the clamping assembly and the rear guide mechanism, and the distance from each rear guide mechanism to the central axis of the conductor is greater than the distance from the front guide mechanism to the central axis of the conductor, so that the guide channel formed by the rear guide mechanism and the front guide mechanism guides the pre-laid wire to the central axis of the conductor to reduce the maximum outer diameter of the pre-laid wire rotating at the rear guide mechanism.

[0014] An application method of the aforementioned conductor broken strand repair robot, comprising:

[0015] S1, starting the conductor broken strand repair robot, moving the rotating assembly to the position farthest from the clamping assembly to leave a channel for the conductor to enter the rotating assembly;

[0016] S2, hanging the hooks of the up and down wire assembly on the conductor, and installing the pre-laid wire on the rotating assembly and the clamping assembly;

[0017] S3, lifting and suspending the conductor broken strand repair robot on the conductor through the up and down wire assembly;

[0018] S4, releasing the hooks of the up and down wire assembly, and separating the up and down wire assembly from the conductor;

[0019] S5, identifying the broken strand point of the conductor through the camera of the conductor broken strand repair robot, and controlling the walking assembly to move the conductor broken strand repair robot to the broken strand point of the conductor;

[0020] S6, the pre-stranded wire is fixed on one side of the broken strand point by the clamping assembly, the rotating assembly is controlled to rotate and translate to the other side of the broken strand point to wrap the pre-stranded wire on the conductor wire;

[0021] S7, the smoothing assembly is controlled to move to one side of the broken strand point, a pair of clamping blocks on the rotating seat of the smoothing assembly are controlled to clamp and start rotating the pre-stranded wire outside the conductor wire to smooth the pre-stranded wire, and the smoothing assembly is controlled to translate to the other side of the broken strand point to smooth all the pre-stranded wire outside the conductor wire.

[0022] S8, the clamping assembly is loosened, the conductor wire broken strand repairing robot is reset, and the conductor wire broken strand repairing robot is lowered from the conductor wire to the ground by the up-and-down wire assembly.

[0023] Compared with the prior art, the present application mainly has the following advantages:

[0024] 1, the clamping assembly of the present application is provided with a wire stabilizing clamping block on each conductor wire clamping jaw for clamping and stabilizing the conductor wire, and a hollow pipe section structure for clamping and stabilizing the conductor wire is formed between the two wire stabilizing clamping blocks to improve the coaxiality of the pre-stranded wire wrapped around the conductor wire.

[0025] 2, the pre-stranded wire clamping module of the clamping assembly of the present application includes an adjusting head fixed on the wire stabilizing clamping block, the adjusting head is provided with a plurality of installation grooves arranged along the radial direction of the conductor wire, and a clamping seat is arranged in the installation grooves, through the above structure, the size of the clamping seat can be adjusted to meet the repair requirements of pre-stranded wires and conductor wires of different sizes.

[0026] 3, the clamping assembly of the present application is provided with an outer clamping block and an inner clamping block arranged oppositely on the clamping seat, the outer clamping block is fixed on the clamping seat, and the inner clamping block is installed on the clamping seat through a sliding block, the sliding block is slidingly arranged in the clamping seat and is fixed on the clamping seat through a fastener, the clamping gap size of the outer clamping block and the inner clamping block can be conveniently adjusted through the fastener, and the size of the clamping seat can be further adjusted to meet the repair requirements of pre-stranded wires and conductor wires of different sizes.

[0027] 4, the clamping assembly of the present application is provided with an outer clamping block and an inner clamping block arranged oppositely on the clamping seat, and clamping teeth for positioning the pre-stranded wire are arranged on the clamping surfaces of the outer clamping block and the inner clamping block, the positioning of the pre-stranded wire is firm and reliable, and it is labor-saving and convenient to withdraw, which can effectively improve the conductor wire broken strand repair operation quality and efficiency of the conductor wire broken strand repair robot, and achieve safe, fast and efficient conductor repair. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a schematic diagram of the three-dimensional structure of the clamping assembly in the embodiment of the present application, wherein a is a pre-stranded wire.

[0029] Figure 2Another perspective view of the clamping assembly in the embodiment of the present application.

[0030] Figure 3 A perspective view of the wire breakage repairing robot in the embodiment of the present application.

[0031] Figure 4 A perspective view of the up-and-down wire assembly in the embodiment of the present application.

[0032] Figure 5 A perspective view of the walking assembly in the embodiment of the present application.

[0033] Figure 6 A perspective view of the smoothing assembly in the embodiment of the present application.

[0034] Figure 7 Another perspective view of the smoothing assembly in the embodiment of the present application.

[0035] Figure 8 A perspective view of the rotating assembly in the embodiment of the present application.

[0036] Figure 9 A perspective view of the frame part of the robot body in the embodiment of the present application.

[0037] Figure 10 A basic flowchart of the application method in the embodiment of the present application.

[0038] Legend: 1, up and down line assembly; 11, groove plate; 12, hoisting mechanism; 120, insulating rope; 121, hoisting motor; 122, hoisting box; 123, rope disc; 124, synchronous transmission mechanism; 125, reciprocating screw rod; 126, track; 127, limit section; 13, hook; 131, pressing plate; 132, tension spring; 2, walking assembly; 21, wire walking mechanism; 211, wheel column; 212, wheel seat; 213, walking wheel; 214, walking motor; 215, jacking seat; 216, jacking wheel; 22, horizontal rotation mechanism; 221, horizontal rotation angle seat; 222, rotation angle motor; 23, vertical movement mechanism; 231, stand column; 232, stand column motor; 233, straight tooth pair; 234, lifting screw nut module; 235, vertical movement seat; 3, clamping assembly; 31, clamping support seat; 311, clamping jaw motor; 312, clamping jaw screw nut module; 313, inclined push connecting rod; 32, wire clamping jaw; 33, wire stabilizing clamp block; 34, pre-twisted wire clamping module; 341, adjusting head; 342, mounting groove; 343, clamping seat; 344, outer clamp block; 345, inner clamp block; 346, sliding block; 347, fastener; 348, roller; 4, straightening assembly; 41, translation plate; 42, sliding table module; 43, horizontal rotation table; 44, straightening fixed seat; 441, straightening rotary tooth; 442, groove position; 443, straightening over-bridge tooth; 444, straightening limit ring; 45, rotation seat; 451, forward and reverse screw rod; 452, sliding rail; 453, clamp block; 454, tightening motor; 455, compression wheel; 46, straightening rotation motor; 5, rotation assembly; 51, rotation fixed seat; 511, horizontal seat; 512, vertical support rod; 52, rotation rotary tooth; 521, rotation over-bridge tooth; 522, rotation limit ring; 523, rotation drive motor mounted on the upper; 53, front guide mechanism; 531, front guide frame; 532, compression spring; 533, swing rod 533; 534, wire groove; 54, rear guide mechanism; 541, connecting plate; 542, rear guide frame; 543, guide hole; 55, pressure equalizing ring; 6, horizontal movement module; 601, transmission seat; 602, horizontal movement motor; 603, main connecting plate; 604, horizontal movement plate; 605, guide shaft; 606, support frame; 607, horizontal movement screw rod; 608, positioning rod; 609, machine box. DETAILED DESCRIPTION

[0039] As Figure 1 And Figure 2As shown, the clamping assembly of the wire strand repair robot in the embodiment comprises a clamping support base 31, and a pair of wire clamping jaws 32 for clamping the wire is arranged on the clamping support base 31. Each wire clamping jaw 32 is provided with a wire stabilizing clamping block 33 for clamping and stabilizing the wire, and a hollow pipe segment structure for clamping and stabilizing the wire is formed between the two wire stabilizing clamping blocks 33 to improve the coaxiality of the pre-stranded wire wrapped around the wire (which can be a power transmission line or a ground wire). The outer side of the wire stabilizing clamping block 33 is provided with a pre-stranded wire clamping module 34 for clamping the pre-stranded wire. The pre-stranded wire clamping module 34 comprises an adjusting head 341 fixed on the wire stabilizing clamping block 33, a plurality of mounting grooves 342 arranged in the radial direction of the wire are arranged on the adjusting head 341, a clamping seat 343 is arranged in the mounting groove 342, and an outer clamping block 344 and an inner clamping block 345 are arranged opposite to each other on the clamping seat 343. The outer clamping block 344 is fixed on the clamping seat 343, and the inner clamping block 345 is installed on the clamping seat 343 through a sliding block 346. The sliding block 346 is slidingly arranged in the clamping seat 343 and is fixed on the clamping seat 343 through a fastener 347. Clamping teeth for positioning the pre-stranded wire (as shown in a of Figure 1 ) are arranged on the clamping surfaces of the outer clamping block 344 and the inner clamping block 345. In the embodiment, two mounting grooves 342 arranged in the radial direction of the wire are arranged on the adjusting head 341, and a total of four mounting grooves 342 are arranged for clamping four pre-stranded wires, as shown in Figure 1 .

[0040] In order to firmly fix the pre-stranded wire on the clamping surfaces of the outer clamping block 344 and the inner clamping block 345, the clamping surfaces in the embodiment are in the form of a ring structure. In addition, due to the winding and bonding structure between the pre-stranded wire and the wire, the end of the pre-stranded wire is often loose. Considering that the protruding side of the pre-stranded wire is always in contact with the clamping surface of the outer clamping block 344 when the pre-stranded wire is clamped in the clamping assembly, in order to facilitate the withdrawal of the clamping assembly at the end of the operation without affecting the winding and bonding structure between the pre-stranded wire and the wire, as shown in Figure 2 , a roller 348 for abutting against the pre-stranded wire and capable of rolling is arranged in the middle of the clamping surface of the outer clamping block 344. The number of rollers 348 can be one or more. Since the roller 348 is in the form of a tube needle structure, it can also be referred to as a roller pin.

[0041] The movement of the wire clamping jaw 32 can also be driven by a required driving structure as needed. For example, as an alternative embodiment, as shown in Figure 1As shown, the clamping support base 31 in the embodiment is provided with a clamping jaw motor 311, a clamping jaw screw-nut module 312 and a bevel push connecting rod 313. The clamping jaw motor 311 is drivingly connected with the screw rod of the clamping jaw screw-nut module 312. The screw nut of the clamping jaw screw-nut module 312 is connected with two bevel push connecting rods 313 respectively. Each bevel push connecting rod 313 is connected with the outer end of a wire clamping jaw 32. The middle part of the wire clamping jaw 32 is hingedly fixed on the clamping support base 31. A wire stabilizing clamping block 33 is installed on the inner end of the wire clamping jaw 32. The clamping assembly is installed with all other parts based on the clamping support base 31. The two wire clamping jaws 32 are openable and closable movable parts. The clamping jaw motor 311 installed inside controls the rotation of the T10 type clamping jaw screw-nut module 312. In operation, the clamping jaw motor 311 drives the rotation of the screw rod of the clamping jaw screw-nut module 312. The screw nut of the clamping jaw screw-nut module 312 drives the movement of the two bevel push connecting rods 313. Thus, the two wire clamping jaws 32 can be clamped or opened by the forward rotation and reverse rotation of the clamping jaw motor 311. The wire stabilizing clamping block 33 on the wire clamping jaw 32 can clamp the pre-stranded wire and the wire.

[0042] As shown in the drawings, Figure 3 The embodiment also provides a wire strand breakage repairing robot. The robot body is provided with an up-and-down wire assembly 1, a walking assembly 2 and a repairing operation mechanism. The robot body is provided with a clamping assembly 3 for clamping the pre-stranded wire and the wire. The clamping assembly 3 is the clamping assembly for the wire strand breakage repairing robot as described above. In the embodiment, the clamping assembly 3 is on the central axis of the robot body.

[0043] As shown in the drawings, Figure 4 The up-and-down wire assembly 1 in the embodiment includes a groove plate 11, a winch mechanism 12 and a hook 13. The groove plate 11 is connected with the robot body. The winch mechanism 12 is fixed on the groove plate 11. The end of an insulating rope 120 on the winch mechanism 12 is connected with the hook 13. The winch mechanism 12 includes a winch motor 121, a winch box 122, a rope reel 123, a synchronous transmission mechanism 124, a reciprocating screw rod 125, a track 126 and a limiting section 127. The winch motor 121 drives the rope reel 123 through the winch transmission mechanism installed in the winch box 122. The rope reel 123 and the reciprocating screw rod 125 are connected through the synchronous transmission mechanism 124. The rope reel 123, the reciprocating screw rod 125 and the track 126 are installed on the winch box 122. The insulating rope 120 is arranged through the limiting section 127. The limiting section 127 is installed on the track 126 and threadedly cooperates with the reciprocating screw rod 125 to be driven by the reciprocating screw rod 125 to reciprocate on the track 126 to uniformly wind the insulating rope 120 on the rope reel 123 (to orderly and reciprocally wind the insulating rope 120 on the rope reel 123).

[0044] The winch transmission mechanism and the synchronous transmission mechanism 124 can adopt a required transmission mechanism as required. For example, as an optional embodiment, the winch transmission mechanism in the embodiment adopts a turbine worm with self-locking function, so that the worm is output by the winch motor 121 to rotate the rope disc 123 fixed with the turbine at a low speed, so as to increase the winch torque, and the synchronous mechanism 124 connected with the other end of the turbine drives the upper end of the rope disc 123 to rotate the reciprocating screw rod, so that the limiting joint 127 fixed on the reciprocating screw rod 125 moves on the rope disc 123. As an optional embodiment, the synchronous transmission mechanism 124 in the embodiment adopts a belt transmission.

[0045] Further, in order to improve the portability of the hook 13 suspended to the wire in the air and enhance the suspension reliability in the wire-up and wire-down process, as shown in Figure 4 the opening of the hook 13 in the embodiment is arranged downward and a rotatable pressing plate 131 is hingedly connected on one side of the opening, the front end of the pressing plate 131 is arranged opposite to the opening end of the hook 13, the rear end of the pressing plate 131 is connected with the end of the insulating rope 120 of the winch mechanism 12, a tension spring 132 is connected between the rear end of the pressing plate 131 and the hook 13 for pulling the pressing plate 131 away from the opening of the hook 13, through the above structure, the tension spring 132 can automatically pull the pressing plate 131 away from the opening of the hook 13 in the case that the insulating rope 120 is not under force, and the pressing plate 131 can close the opening of the hook 13 to prevent the wire from falling off the hook 13 in the case that the insulating rope 120 is under force.

[0046] As shown in Figure 3 it can be known that, as an optional embodiment, the robot body of the wire strand repair robot in the embodiment is provided with one wire-up and wire-down assembly 1 at each end of the central axis of the robot body, and the two wire-up and wire-down assemblies 1 are arranged in angular symmetry, that is, the opening directions of the hooks 13 of the two wire-up and wire-down assemblies 1 are opposite, so as to improve the reliability of the two wire-up and wire-down assemblies 1. Of course, more wire-up and wire-down assemblies 1 can also be adopted as required to realize the wire-up and wire-down operation of the robot body.

[0047] As shown in Figure 5 the walking assembly 2 in the embodiment includes a wire walking mechanism 21, a horizontal rotation mechanism 22 and a vertical moving mechanism 23 connected in sequence, the horizontal rotation mechanism 22 includes a horizontal rotation seat 221 and a turbine worm module arranged in the horizontal rotation seat 221, the horizontal rotation seat 221 is connected with the vertical moving mechanism 23, the wire walking mechanism 21 is fixedly connected with the turbine of the turbine worm module, a rotation motor 222 is installed on the horizontal rotation seat 221, the rotation motor 222 is in transmission connection with the worm of the turbine worm module for driving the wheel column 211 to rotate to avoid the wire (when the robot is wire-up and wire-down, the walking wheel is partially rotated to avoid the wire), compared with the relative translation avoidance mode, the structure is simpler, the strength is better, and the cost is lower.

[0048] As shown in Figure 5 , the wire walking mechanism 21 in the embodiment comprises a wheel column 211 and a wheel seat 212 mounted on the wheel column 211, the wheel seat 212 is provided with a walking wheel 213 for walking on the wire and a walking motor 214 for driving the walking wheel 213, the wheel column 211 is hollow inside and is respectively provided with a tensioning motor and a tensioning screw nut module, the tensioning motor is drivingly connected with the screw rod of the tensioning screw nut module, and the nut of the tensioning screw nut module is slidingly arranged in the wheel column 211 and is provided with a tensioning seat 215, one or more tensioning wheels 216 are arranged on the tensioning seat 215 for clamping and fixing the wire between the walking wheel 213 and the tensioning wheel 216 or releasing the wire from the walking wheel 213 and the tensioning wheel 216.

[0049] As shown in Figure 5 , the vertical moving mechanism 23 in the embodiment comprises a column 231 and a column motor 232 mounted on one end of the column 231, the column 231 is internally provided with a straight tooth pair 233 and a lifting screw nut module 234, the column motor 232 is connected through the screw rod of the straight tooth pair 233 and the lifting screw nut module 234, and the nut of the lifting screw nut module is provided with a vertical moving seat 235 for fixed connection between the robot body. In the embodiment, the vertical moving seat 235 is mounted on two trusses (as shown in b of Figure 5 ) of the robot body. Since the tensioning screw nut module has the transmission characteristics of converting the rotation of the screw rod into the linear motion of the nut, the tensioning wheel 216 is controlled to move up and down by the tensioning motor to tighten and release the wire. In the embodiment, one end of the horizontal rotation angle seat 221 is processed into a door type for inserting into one side of the top end of the column 231 and fixing thereon. The column 231 is vertically arranged as a whole, the column motor 232 is mounted on the other side of the top, a T12 type lifting screw nut module is mounted inside, the two are drivingly connected through the top straight tooth pair 233, and due to the transmission characteristics of the screw nut, the nut in the lifting screw nut module moves linearly, so that the vertical moving seat 235 fixed with the nut moves up and down, that is, after the walking wheel 213 is hung on the cable, the robot body moves up and down.

[0050] As shown in Figure 3 , it can be seen that, as an optional embodiment, the wire strand repair robot in the embodiment is provided with one walking assembly 2 at each end of the central axis of the robot body, and the two walking assemblies 2 are arranged in angular symmetry, that is, the walking wheels 213 of the two walking assemblies 2 face opposite directions, so as to improve the reliability of the two walking assemblies 2. It is needless to say that more walking assemblies 2 can also be used to realize the walking operation of the robot body according to the needs.

[0051] As shown in Figure 6 and Figure 7As shown, the repair work mechanism in the embodiment includes a straightening assembly 4 for straightening the pre-twisted wire, the straightening assembly 4 including a translation plate 41 slidingly arranged on the robot body, the translation plate 41 being provided with a slide module 42 adjustable in height in the vertical direction, the slide module 42 being provided with a horizontal turntable 43, the horizontal turntable 43 being provided with a straightening fixing seat 44, the middle part of the straightening fixing seat 44 being provided with a rotatable straightening rotary tooth 441, the middle part of the straightening fixing seat 44 and the straightening rotary tooth 441 being provided with a groove 442 for placing the wire, the straightening rotary tooth 441 being hingedly connected with a straightening over-bridge tooth 443 at the groove 442, the straightening over-bridge tooth 443 and the straightening rotary tooth 441 together forming a complete gear in the closed state, one side of the straightening fixing seat 44 being provided with a rotating seat 45, the groove 442 of the straightening fixing seat 44 being provided with a straightening limiting ring 444 with a notch, the straightening limiting ring 444 and the rotating seat 45 being fixed in front and back directions on the straightening rotary tooth 441, the other side being provided with a straightening rotating motor 46 for driving the rotating seat 45 and the straightening rotary tooth 441 to rotate synchronously, the rotating seat 45 being provided with a set of forward and reverse lead screws 451 and slide rails 452, the slide rails 452 being provided with a pair of clamping blocks 453 arranged oppositely, the clamping blocks 453 being threadedly engaged with the forward and reverse threads on the forward and reverse lead screws 451, the rotating seat 45 being provided with a tightening motor 454, the tightening motor 454 driving the forward and reverse lead screws 451 to rotate through a transmission mechanism to control the clamping blocks 453 to clamp or release, the clamping faces of the clamping blocks 453 being provided with pressing wheels 455.

[0052] The straightening over-bridge tooth 443 needs to be opened before the wire is fed in, so that the wire can be fed into the groove 442 of the straightening rotary tooth 441 after the wire is fed in, and the straightening rotary tooth 441 can be rotated after the wire is fed into the groove 442 of the straightening rotary tooth 441, so that the straightening over-bridge tooth 443 moves to the side of the groove 442 under the pushing force of the straightening fixing seat 44 to close the straightening over-bridge tooth 443 and the straightening rotary tooth 441 to form a complete gear, and the end of the straightening over-bridge tooth 443 and the joint part of the straightening rotary tooth 441 are provided with magnets in the embodiment to ensure that the straightening over-bridge tooth 443 is closed firmly and reliably. For example, the end of the straightening over-bridge tooth 443 is provided with a magnet, the joint part of the straightening rotary tooth 441 is iron, or the end of the straightening over-bridge tooth 443 is iron, the joint part of the straightening rotary tooth 441 is provided with a magnet, or the end of the straightening over-bridge tooth 443 is provided with a magnet, the joint part of the straightening rotary tooth 441 is provided with a magnet with opposite magnetic properties, etc.

[0053] The smoothing fixed seat 44 is the base of the smoothing assembly 4. The smoothing over-bridge tooth 443 and the smoothing rotary tooth 441 are rotatable in the base. The smoothing limiting ring 444 limits the smoothing rotary tooth 441 in the smoothing fixed seat 44. The smoothing rotary tooth 441 is partially tooth-shaped. The center part is hollowed out. The smoothing over-bridge tooth 443 is hinged to the opening of the smoothing rotary tooth 441. The smoothing over-bridge tooth 443 and the smoothing rotary tooth 441 form a complete gear. The smoothing rotary tooth 441 is the key component of the smoothing assembly 4. The smoothing rotary tooth 441 is rotatable under the drive of the smoothing rotary motor 46. The relative rotation of the rotating seat 45 is used to achieve the purpose of smoothing the pre-stranded wire. In this embodiment, the sliding table module 42 is used to realize the lifting movement. The horizontal rotating table 43 is used to realize the horizontal rotation. Both of them are commercially available standard parts, which are used to adjust the horizontal angle and height of the smoothing fixed seat 44. The translation plate 41 is installed on a T16 screw rod slide block in the horizontal moving module on the robot body. The horizontal position of the smoothing part can be adjusted to adapt to the state and position of the wire that needs to be smoothed.

[0054] As Figure 8As shown, the repairing mechanism in the embodiment includes a rotating assembly 5 for rotating the pre-spiral to wrap outside the conductor, the rotating assembly 5 includes a rotating fixed seat 51 connected with the robot body, a rotating swing tooth 52 with a rotating bridge tooth 521 is arranged at the middle inner hole of the rotating fixed seat 51, the rotating swing tooth 52 is fixed at the middle inner hole of the rotating fixed seat 51 through the rotating limiting rings 522 on both sides, the rotating bridge tooth 521 is hingedly installed at the opening of the rotating swing tooth 52 and forms a complete gear with the rotating swing tooth 52 after being closed, a rotating drive motor 523 is installed on the rotating fixed seat 51 for driving the rotating swing tooth 52 to rotate to rotate the pre-spiral relative to the conductor, a plurality of front guide mechanisms 53 for guiding the pre-spiral are arranged at the front side of the rotating swing tooth 52, a plurality of rear guide mechanisms 54 for guiding the pre-spiral are arranged at the rear side of the rotating swing tooth 52, and the plurality of rear guide mechanisms 54 are commonly connected to the same pressure equalizing ring 55 (for making the robot have no potential difference between annular parts during live working). The rotating drive motor 523 drives the rotating swing tooth 52 to rotate, so that the rotating swing tooth 52 drives the front guide mechanism 53 and the rear guide mechanism 54 to rotate together, so that the pre-spiral can be rotated to be wound on the conductor. The rotating swing tooth 52 is a key component of the rotating assembly 5, in order to reduce the weight and access the conductor to be repaired, the missing tooth shape for installing the rotating bridge tooth 521 on the rotating swing tooth 52 is hollowed out to the center from the rotating swing tooth 52 in the embodiment, for reducing the weight and accessing the conductor to be repaired, and the hollow structure of the rotating swing tooth 52 passes through between the front guide mechanism 53 and the rear guide mechanism 54 to form a straight-through channel structure. Similarly, the rotating bridge tooth 521 needs to be opened before the wire is wound, so that the conductor enters the opening of the rotating swing tooth 52 after the wire is wound, and the rotating swing tooth 52 is rotated after the conductor enters the opening of the rotating swing tooth 52, so that the rotating bridge tooth 521 is moved to the opening side by the thrust of the rotating fixed seat 51 to close the rotating swing tooth 52 to form a complete gear, and the end of the rotating bridge tooth 521 and the joint part of the rotating swing tooth 52 are provided with magnets in the embodiment to ensure that the rotating bridge tooth 521 is closed firmly and reliably. For example, a magnet is arranged at the end of the rotating bridge tooth 521, the joint part of the rotating swing tooth 52 is made of iron, or the end of the rotating bridge tooth 521 or the whole is made of iron, the joint part of the rotating swing tooth 52 is provided with a magnet, or a magnet is arranged at the end of the rotating bridge tooth 521 and a magnet with opposite magnetism is arranged at the joint part of the rotating swing tooth 52.

[0055] Referring to Figure 8The front guide mechanism 53 in the embodiment comprises a front guide frame 531, a compression spring 532, a swing lever 533, and a wire passing groove 534. The front guide frame 531 is installed on the rotary rotating tooth 52 and is movably connected through a plurality of swing levers 533 and wire passing grooves 534. The wire passing grooves 534 of the plurality of front guide mechanisms 53 are arranged in central symmetry around the wire passing in the middle. A pulley or a roller is installed in the wire passing groove 534 to reduce the resistance of the pre-stranded wire in the passage and to limit the pre-stranded wire during winding repair. The compression spring 532 is connected between the swing lever 533 and the front guide frame 531 to apply a radial outward tension to the swing lever 533 on the front guide frame 531 so that the wire passing groove 534 together with the pre-stranded wire therein is opened outward to better wind the pre-stranded wire on the wire.

[0056] Referring to Figure 8 The rear guide mechanism 54 in the embodiment comprises a connecting plate 541 and a rear guide frame 542. The rear guide frame 542 is connected with the rotary rotating tooth 52 through the connecting plate 541. The rear guide frame 542 is provided with a guide hole 543. A pulley or a roller is installed in the guide hole 543 to reduce the resistance of the pre-stranded wire in the passage and to limit the pre-stranded wire during winding repair. Figure 8 It can be seen that the front guide mechanism 53 is located between the clamping assembly 3 and the rear guide mechanism 54. The distance from each rear guide mechanism 54 to the central axis of the wire is greater than the distance from the front guide mechanism 53 to the central axis of the wire. The guide passage formed by the rear guide mechanism 54 and the front guide mechanism 53 guides the pre-stranded wire to the central axis of the wire to reduce the maximum outer diameter of the pre-stranded wire rotating at the rear guide mechanism 54. Without the front guide mechanism 53, the maximum outer diameter of the pre-stranded wire rotating at the rear guide mechanism 54 is larger. In the process of winding the pre-stranded wire, the pre-stranded wire is easy to interfere with the robot body, which affects the operation range and efficiency of the wire repair. By increasing the front guide mechanism 53, the maximum outer diameter of the pre-stranded wire rotating at the rear guide mechanism 54 is reduced, so that longer pre-stranded wire can be wound, thereby improving the operation range and efficiency of the wire repair.

[0057] Referring to Figure 8 The horizontal seat 511 is installed below the rotary fixed seat 51. The horizontal seat 511 is fixed between the two ends and the rotary fixed seat 51 through the vertical support rod 512 to form a triangular shape to enhance the stability of the rotary fixed seat 51 during operation.

[0058] As shown in Figure 1 The robot body in the embodiment is provided with a horizontal movement module 6. The horizontal movement module 6 is used to realize the support and translation of the smoothing assembly 4 and the rotating assembly 5.

[0059] As shown in Figure 9As shown, the horizontal moving module 6 comprises a transmission seat 601, a horizontal moving motor 602, a main connecting plate 603, a horizontal moving plate 604, a guide shaft 605, a supporting frame 606, a horizontal moving screw 607, a positioning rod 608 and a machine box 609. The main connecting plate 603 is arranged in front and back, and holds two positioning rods 608 in the middle, forming the main body of the horizontal moving module. The machine box 609 is hung below, and the control system and power supply are in the machine box 609. The outer part of one end of the main connecting plate 603 is installed with two groups of transmission seats 601 and horizontal moving motors 602 in up and down positions, respectively controlling the rotation of the two horizontal moving screws 607 (T16 type) in the upper and lower parts of the main body, so that the two nuts on the two horizontal moving screws 607 move horizontally. One of the nuts is fixed and locked with the horizontal moving plate 604, and the other nut is fixed and locked with the supporting frame 606 and then locked on another horizontal moving plate 604, so that the two nuts drive the two horizontal moving plates 604 to move along the screw shaft, and the guide shafts 605 on both sides play a supporting and guiding role, so that the parts installed on the horizontal moving plate 604 move smoothly.

[0060] The working process of the broken wire repair robot of the embodiment is as follows: the line to be repaired is a power transmission conductor, before the robot is put on the line, the operating personnel tie the insulating rope 120 to the large hole at the rear end of the pressing plate 131 in the hook 13, and climb to the vicinity of the line to be repaired on the iron tower, use the operating rod to prop up the two hooks 13, and mount them on the line to be operated, and adjust the distance between the two hooks 13 to be approximately equal to the distance between the hoist mechanisms installed on the upper and lower line assemblies 1 at both ends of the robot, and then lower the insulating rope 120; the ground personnel connect the hanging insulating rope 120 in the rope disc 123 of the upper and lower line assemblies 1, at this time, the robot is started, the conductor clamping jaw 32 of the clamping assembly 3 is opened, the smoothing rotation tooth 441 of the smoothing assembly 4 and the rotation rotation tooth 52 of the rotation assembly 5 are opened to facilitate the robot to go on the line, the conductor enters this part, the walking wheels 213 at both ends of the robot are adjusted to the highest position of the robot, the transverse moving lead screw 607 in the transverse moving module 68 is adjusted, the rotation assembly 5 is farthest away from the clamping assembly 3, the smoothing assembly 4 is close to the clamping assembly 3, and the slide table module 42 of the smoothing assembly 4 is adjusted so that the smoothing assembly 4 is at a lower position; then the ground operating personnel select the corresponding pre-stranding wire according to the type of the conductor to be repaired, pass the four pre-stranding wires through the pre-stranding wire passage of the rotation assembly 5 respectively, and lock one end of the pre-stranding wire in the clamping seat 343 of the clamping assembly 3; start the hoist motor 121 in the upper and lower line assemblies 1 to drive the rope disc 123 to rotate and wind the insulating rope 120, and lift the whole robot, because the insulating rope 120 is tied to the large hole at the rear end of the pressing plate 131 in the hook 13, when the insulating rope 120 is stressed, the large hole end of the pressing plate 131 will be pulled down, so that the other end of the pressing plate 131 tightly presses the conductor at the hanging point position, thereby the hook 13 hanging on the conductor cannot move, at the same time, the gyroscope in the case 609 can automatically control the leveling to make the robot stably go on the line; when the robot rises to the position near the lower side of the conductor, the corner motor 222 in the walking part drives the turbine worm gear transmission in the horizontal corner seat 221 to horizontally rotate the walking wheels 213 at both ends by 180° to avoid the upper conductor, then the rope disc 123 continues to rotate to continue lifting the robot, when the walking wheels 213 are higher than the conductor, the walking wheels 213 at both ends return to the original position, the rope disc 123 reverses, the robot descends, the walking wheels 213 are mounted on the conductor, the rope disc 123 continues to reverse, the insulating rope 120 tied with the pressing plate 131 is relaxed, and the load of the whole robot is transferred from the hook 13 to the walking wheels 213; at this time, the operating personnel on the iron tower use the operating rod to take off the hooks 13 at both ends of the robot, the rope disc 123 is rotated in the positive direction to lock the hooks 13 in the upper and lower line assemblies 1; the jacking wheel 216 rises to jack up the conductor, then the walking wheels 213 move to the position of the conductor that needs to be repaired, when reaching the repair position, the walking wheels 213 stop rotating, the stand motor 232 is started, the lifting lead screw nut module T12 is driven to lift the whole robot along the stands 231 at both ends to the position where the rotation rotation tooth 52 in the rotation assembly 5 is coaxial with the conductor axis;The wire clamping jaw 32 of the clamping assembly 3 is closed to clamp the wire, and the rotating assembly 5 is driven by the horizontal movement module 6 to move towards the clamping assembly 3 until the four wire passing grooves 534 at the front end of the rotating assembly 5 press the wire under the action of the pre-stranding wire, and then the rotating rotating tooth 52 rotates, which is automatically closed during rotation. At the same time, the rotating assembly 5 as a whole moves away from the clamping mechanism under the control of the horizontal movement screw 607 in the horizontal movement module 6, so as to drive the pre-stranding wire to rotate along its spiral direction, so as to wrap the wire. With the rotation of the rotating rotating tooth 52 of the rotating assembly 5, the pre-stranding wire gradually exits along its channel until it is completely removed. After the wire is completely covered by the pre-stranding wire, the control walking wheel 213 moves the entire robot to make the pre-stranding wire exit the clamping seat 343; the position needing to be straightened is observed and determined by the multi-point camera inside the robot, the sliding table module 42 controls the overall upward movement of the straightening assembly 4, and the front and rear positions are controlled by the horizontal movement screw 607 in the horizontal movement module 6. After the wire falls into the center of the straightening rotating tooth 441, the tightening motor 454 starts to rotate the positive and negative screw rod 451, so that the two clamping blocks 453 with the compression wheel 455 move towards each other to clamp the position. The straightening rotating motor 46 installed on the other side of the straightening fixed seat 44 drives the rotating seat 45 to rotate as a whole, so that the compression wheel 455 rolls around the wire to achieve the purpose of straightening and smoothing. After completing the repair and straightening work, the robot returns to the original wire position, and the operator uses the operating rod to re-mount the hook 13 on the wire to start the offline work of the robot. The offline process is opposite to the online process. After the robot is offline, the operator recovers the hook 13 from the wire, and thus the entire wire repair work of the robot is completed. Through the above method, the maintenance personnel can complete the wire repair without climbing the tower. This scheme has the advantages of greatly improving the work efficiency of the maintenance personnel and shortening the working time under the condition of ensuring safety. In summary, the wire breakage repair robot of the embodiment can quickly and efficiently realize the movement of the robot on the high-voltage wire, quickly repair the wire breakage point, and reduce the labor intensity of manual maintenance and improve the work efficiency. In addition, the robot has high intelligence and high structural reliability.

[0061] As shown in Figure 10 , the embodiment provides an application method of the foregoing wire breakage repair robot, comprising:

[0062] S1, start the wire breakage repair robot, and move the rotating assembly 5 to the position farthest from the clamping assembly 3 to leave a channel for the wire to enter the rotating assembly 5;

[0063] S2, hang the hook 13 of the up and down line assembly 1 to the wire, and install the pre-stranding wire on the rotating assembly 5 and the clamping assembly 3;

[0064] S3, the broken wire repair robot is lifted and fixed to the wire by the up and down wire assembly 1;

[0065] S4, the hook 13 of the up and down wire assembly 1 is loosened, and the up and down wire assembly 1 is separated from the wire;

[0066] S5, the broken point of the wire is identified by the camera of the broken wire repair robot, and the walking assembly 2 is controlled to move the broken wire repair robot to the broken point of the wire;

[0067] S6, the pre-strand is fixed on one side of the broken point by the clamping assembly 3, and the rotating assembly 5 is controlled to rotate and translate to the other side of the broken point to wind the pre-strand on the wire;

[0068] S7, the smoothing assembly 4 is controlled to move to one side of the broken point, the pair of clamping blocks 453 on the rotating seat 45 of the smoothing assembly 4 are controlled to clamp and start to rotate the pre-strand outside the wire, and the smoothing assembly 4 is controlled to translate to the other side of the broken point to smooth the pre-strand outside the wire;

[0069] S8, the clamping assembly 3 is loosened, the broken wire repair robot is reset, and the broken wire repair robot is lowered from the wire to the ground by the up and down wire assembly 1. Then the working tool can be recovered to end the work.

[0070] The above is only the preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiment. Any technical solution falling within the concept of the present application shall fall within the protection scope of the present application. It should be noted that, for ordinary skilled in the art, some improvements and decorations without departing from the principle of the present application shall also be considered as the protection scope of the present application.

Claims

1. A gripping assembly for a wire breakage repair robot, characterized in that, The clamping support base (31) is provided with a pair of wire clamping jaws (32) for clamping the wire, each wire clamping jaw (32) is provided with a wire stabilizing clamping block (33) for clamping the wire, and the two wire stabilizing clamping blocks (33) form a hollow pipe section structure for clamping the wire to improve the coaxiality of the pre-stranded wire wrapped wire, the outer side of the wire stabilizing clamping block (33) is provided with a pre-stranded wire clamping module (34) for clamping the pre-stranded wire, the pre-stranded wire clamping module (34) includes an adjusting head (341) fixed on the wire stabilizing clamping block (33), the adjusting head (341) is provided with a plurality of installation grooves (342) arranged in the radial direction of the wire, the installation grooves (342) are provided with clamping seats (343), the clamping seats (343) are provided with oppositely arranged outer clamping blocks (344) and inner clamping blocks (345), the outer clamping blocks (344) are fixed on the clamping seats (343), the inner clamping blocks (345) are installed on the clamping seats (343) through a sliding block (346), the sliding block (346) is slidingly arranged in the clamping seat (343) and is fixed on the clamping seat (343) through a fastener (347), the clamping faces of the outer clamping blocks (344) and the inner clamping blocks (345) are provided with clamping teeth for positioning the pre-stranded wire, the clamping support base (31) is provided with a clamping jaw motor (311), a clamping jaw screw rod nut module (312), and an inclined push connecting rod (313), the clamping jaw motor (311) is drivingly connected with the screw rod of the clamping jaw screw rod nut module (312), the nuts of the clamping jaw screw rod nut module (312) are respectively connected with two inclined push connecting rods (313), each inclined push connecting rod (313) is connected with the outer side end of one wire clamping jaw (32), the middle part of the wire clamping jaw (32) is hingedly fixed on the clamping support base (31), and the wire stabilizing clamping block (33) is installed on the inner side end of the wire clamping jaw (32).

2. The gripping assembly for a wire breakage repair robot according to claim 1, characterized in that, The clamping face is an annular structure, and the middle part of the clamping face of the outer clamping block (344) is provided with a roller (348) for abutting against and rolling the pre-stranded wire.

3. A wire broken strand repairing robot comprising a robot body with an upper and lower wire assembly (1), a walking assembly (2) and a repairing operation mechanism, characterized in that, The robot body is provided with a clamping assembly (3) for clamping the pre-stranded wire and the wire, and the clamping assembly (3) is the clamping assembly for the wire breakage repair robot according to claim 1 or 2.

4. The wire breakage repair robot according to claim 3, characterized in that, The up-down line assembly (1) comprises a groove plate (11), a hoisting mechanism (12) and a hook (13), the groove plate (11) is connected with a robot body, the hoisting mechanism (12) is fixed on the groove plate (11), the end of an insulating rope (120) on the hoisting mechanism (12) is connected with the hook (13), the hoisting mechanism (12) comprises a hoisting motor (121), a hoisting box (122), a rope reel (123), a synchronous transmission mechanism (124), a reciprocating wire rod (125), a track (126) and a limiting knot (127), the hoisting motor (121) drives the rope reel (123) through a hoisting transmission mechanism installed in the hoisting box (122), the rope reel (123) and the reciprocating wire rod (125) are connected through the synchronous transmission mechanism (124), the rope reel (123), the reciprocating wire rod (125) and the track (126) are all installed on the hoisting box (122), the insulating rope (120) is arranged through the limiting knot (127), the limiting knot (127) is installed on the track (126) and is threadedly connected with the reciprocating wire rod (125) to be driven by the reciprocating wire rod (125) to reciprocate on the track (126) and uniformly wind the insulating rope (120) on the rope reel (123).

5. The wire breakage repair robot according to claim 4, characterized in that, The opening of the hook (13) is arranged downward and a rotatable pressing plate (131) is hingedly connected on one side of the opening, the front end of the pressing plate (131) is arranged opposite to the opening end of the hook (13) and the rear end is connected with the end of the insulating rope (120) of the hoisting mechanism (12), a tension spring (132) for pulling the pressing plate (131) away from the opening of the hook (13) is connected between the rear end of the pressing plate (131) and the hook (13).

6. The wire breakage repair robot of claim 3, wherein, The walking assembly (2) comprises a wire walking mechanism (21), a horizontal rotation mechanism (22) and a vertical moving mechanism (23) connected in sequence, the horizontal rotation mechanism (22) comprises a horizontal rotation corner seat (221) and a worm gear module arranged in the horizontal rotation corner seat (221), the horizontal rotation corner seat (221) is connected with the vertical moving mechanism (23), the wire walking mechanism (21) is fixedly connected with a worm of the worm gear module, a rotation corner motor (222) is arranged on the horizontal rotation corner seat (221), the rotation corner motor (222) is in transmission connection with a worm gear of the worm gear module to drive a wheel column (211) to rotate to avoid the wire, the wire walking mechanism (21) comprises the wheel column (211) and a wheel seat (212) arranged on the wheel column (211), the wheel seat (212) is provided with a walking wheel (213) for walking on the wire and a walking motor (214) for driving the walking wheel (213), the wheel column (211) is hollow and is respectively provided with a tensioning motor and a tensioning screw nut module, the tensioning motor is in driving connection with a screw rod of the tensioning screw nut module, a nut of the tensioning screw nut module is slidably arranged in the wheel column (211) and is provided with a tensioning seat (215), one or more tensioning wheels (216) are arranged on the tensioning seat (215) to clamp and fix the wire between the walking wheel (213) and the tensioning wheel (216) or release the wire from the walking wheel (213) and the tensioning wheel (216); the vertical moving mechanism (23) comprises a stand column (231) and a stand column motor (232) arranged at one end of the stand column (231), the stand column (231) is internally provided with a straight tooth pair (233) and a lifting screw nut module (234), the stand column motor (232) is connected with a screw rod of the straight tooth pair (233) and the lifting screw nut module (234), and a vertical moving seat (235) for fixed connection between the robot body is arranged on a nut of the lifting screw nut module.

7. The wire breakage repair robot of claim 6, wherein, The repair operation mechanism comprises a straightening assembly (4) for straightening the pre-twisted wire, the straightening assembly (4) comprises a translation plate (41) slidingly arranged on the robot body, the translation plate (41) is provided with a slide module (42) capable of adjusting the height in the vertical direction, the slide module (42) is provided with a horizontal turntable (43), the horizontal turntable (43) is provided with a straightening fixing seat (44), the middle part of the straightening fixing seat (44) is provided with a rotatable straightening rotary tooth (441), the middle part of the straightening fixing seat (44) and the straightening rotary tooth (441) is provided with a slot (442) for placing the wire, the slot (442) of the straightening rotary tooth (441) is hinged with a straightening bridge tooth (443), the straightening bridge tooth (443) and the straightening rotary tooth (441) jointly form a complete gear in the closed state, one side of the straightening fixing seat (44) is provided with a rotating seat (45), the slot (442) of the straightening fixing seat (44) is provided with a straightening limiting ring (444) with a notch, the straightening limiting ring (444) and the rotating seat (45) are fixed on the straightening rotary tooth (441) in front-to-back direction, the other side is provided with a straightening rotary motor (46) for driving the rotating seat (45) and the straightening rotary tooth (441) to rotate synchronously, the rotating seat (45) is provided with a group of positive and negative screw rods (451) and slide rails (452), the slide rails (452) are provided with a pair of clamping blocks (453) arranged oppositely, the clamping blocks (453) are matched with the positive and negative screw threads on the positive and negative screw rods (451) respectively, the rotating seat (45) is provided with a tightening motor (454), the tightening motor (454) drives the positive and negative screw rods (451) to rotate through a transmission mechanism to control the clamping blocks (453) to clamp or loosen, the clamping faces of the clamping blocks (453) are provided with pressing wheels (455).

8. The wire breakage repair robot according to claim 7, characterized in that, The repair operation mechanism comprises a rotating assembly (5) for rotating the pre-laid wire to wrap outside the conductor, the rotating assembly (5) comprises a rotating fixed seat (51) connected with the robot body, a rotating rotary tooth (52) with a rotating bridge tooth (521) is arranged at the middle inner hole of the rotating fixed seat (51), the rotating rotary tooth (52) is fixed at the middle inner hole of the rotating fixed seat (51) through rotating limiting rings (522) on both sides, the rotating bridge tooth (521) is hingedly installed at the opening of the rotating rotary tooth (52) and jointly forms a complete gear with the closed rotating rotary tooth (52), a rotating drive motor (523) is installed on the rotating fixed seat (51) for driving the rotating rotary tooth (52) to rotate to rotate the pre-laid wire relative to the conductor, a plurality of front guide mechanisms (53) for guiding the pre-laid wire are arranged on the front side of the rotating rotary tooth (52), a plurality of rear guide mechanisms (54) for guiding the pre-laid wire are arranged on the rear side of the rotating rotary tooth (52), and the plurality of rear guide mechanisms (54) are jointly connected to the same pressure equalizing ring (55); the front guide mechanism (53) comprises a front guide frame (531), a compression spring (532), a swing rod (533) and a wire passing groove (534), the front guide frame (531) is installed on the rotating rotary tooth (52) and is movably connected through a plurality of swing rods (533) and wire passing grooves (534), the wire passing grooves (534) of the plurality of front guide mechanisms (53) are arranged in a central symmetry around the conductor passing through the middle, a pulley or a roller is installed in the wire passing groove (534), the compression spring (532) is connected between the swing rod (533) and the front guide frame (531) for applying a radial outward tension to the swing rod (533) on the front guide frame (531) to make the wire passing groove (534) together with the pre-laid wire therein outwardly open; the rear guide mechanism (54) comprises a connecting plate (541) and a rear guide frame (542), the rear guide frame (542) is connected with the rotating rotary tooth (52) through the connecting plate (541), the rear guide frame (542) is provided with a guide hole (543), and a pulley or a roller is installed in the guide hole (543); the front guide mechanism (53) is located between the clamping assembly (3) and the rear guide mechanism (54), and the distance from each rear guide mechanism (54) to the central axis of the conductor is greater than the distance from the front guide mechanism (53) to the central axis of the conductor, so that the guide channel formed by the rear guide mechanism (54) and the front guide mechanism (53) guides the pre-laid wire to the central axis of the conductor to reduce the maximum outer diameter of the pre-laid wire rotating at the rear guide mechanism (54).

9. A method of using the wire breakage repair robot of claim 8, wherein, It comprises: S1, start the conductor broken strand repair robot, move the rotating assembly (5) to the position farthest from the clamping assembly (3) to leave a channel for the conductor to enter the rotating assembly (5); S2, hang the hooks (13) of the upper and lower wire assembly (1) to the conductor, and install the pre-laid wire on the rotating assembly (5) and the clamping assembly (3); S3, raise and suspend the conductor broken strand repair robot to the conductor through the upper and lower wire assembly (1); S4, release the hook (13) of the up and down wire assembly (1), and separate the up and down wire assembly (1) from the wire; S5, identify the broken strand point of the wire through the camera of the wire broken strand repair robot, and control the walking assembly (2) to move the wire broken strand repair robot to the broken strand point of the wire; S6, fix the pre-strand on one side of the broken strand point through the clamping assembly (3), control the rotating assembly (5) to rotate and translate to the other side of the broken strand point to wind the pre-strand on the wire out of the broken strand point; S7, control the smoothing assembly (4) to move to one side of the broken strand point, control a pair of clamping blocks (453) on the rotating seat (45) of the smoothing assembly (4) to clamp and start rotating the pre-strand outside the wire to smooth the pre-strand, and simultaneously control the smoothing assembly (4) to translate to the other side of the broken strand point to smooth all the pre-strand outside the wire; S8, release the clamping assembly (3), reset the wire broken strand repair robot, and use the up and down wire assembly (1) to lower the wire broken strand repair robot from the wire to the ground.

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