A robot for repairing broken overhead ground wires

Abstract

The present invention belongs to the technical field of broken strand repair of power transmission lines, and particularly relates to a broken strand repair robot for overhead ground wires. The robot comprises a walking mechanism, an electrical control box, and a broken strand retracting and fixing system, wherein the walking mechanism is used to enable the robot to move on the overhead ground wire; the broken strand retracting and fixing system comprises a broken strand retracting device and a broken strand fixing device, wherein the broken strand retracting device is used to retract the broken strand; the broken strand fixing device is used to clamp the broken strand retracted by the broken strand retracting device; the electrical control box is used to support and control the actions of the walking mechanism, the broken strand retracting device, and the broken strand fixing device. The present invention can walk safely on the overhead ground wire, and utilizes the broken strand retracting and fixing system to realize automatic retracting and fixing of the broken strand, thereby avoiding the problem of potential safety hazards in manually repairing the broken strand, and can shorten the repair time, reduce labor, reduce labor intensity, and improve the safety of operation and work efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of broken strand repair of power transmission lines, and in particular relates to a broken strand repair robot for overhead ground wires. Background Art

[0002] In addition to the thermal effects of short-circuit current, load current, and lightning current, overhead ground wires are also attacked and damaged by the harsh external environment during operation, which can cause damage to the ground wire or even breakage. Broken strands will not only cause uneven stress distribution of the ground wire, excessive local stress, and further increase the possibility of wire breakage, but also reduce the lightning protection effect of the ground wire, increase the risk of lightning strikes on the line, and ultimately cause the line to stop operating. Especially for EHV and UHV lines, their ground wires also shoulder the mission of serving as carrier communication channels and supplying power to low-power users. Therefore, it is extremely important to ensure the safe and stable operation of overhead ground wires. At present, the domestic general method of artificial repair is to repair broken strands of ground wires, that is, the staff use flying cars or pulleys to reach the damaged broken strands along the ground wire and adopt corresponding repair methods. Sometimes, live work is required to ensure normal power supply. This method has safety hazards, especially for ground wires with smaller diameters. In addition, the mechanical strength of the broken strands is further reduced after the damage, which may cause the ground wire to be pulled off during walking. Therefore, researching and developing a safe and reliable overhead ground wire repair device to replace the staff in performing ground wire repair work can not only reduce work risks but also improve work efficiency, which is of great significance to the safe and stable operation of transmission lines. Summary of the invention

[0003] In view of the above problems, the purpose of the present invention is to provide a robot for repairing broken overhead ground wires, so as to solve the problems of safety hazards and low work efficiency in manual repair of broken overhead ground wires.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] An embodiment of the present invention provides a robot for repairing broken overhead ground wires, comprising:

[0006] A walking mechanism, used to move the robot on the overhead ground wire;

[0007] A broken strand reeling and fixing system, comprising a broken strand reeling device and a broken strand fixing device, wherein the broken strand reeling device is used to reel the broken strand; the broken strand fixing device is used to clamp the broken strand reeled by the broken strand reeling device;

[0008] The electrical control box is used to support and control the actions of the walking mechanism, the broken strand retracting device and the broken strand fixing device.

[0009] In one possible implementation, the broken strand retracting device includes a lifting drive mechanism, a wire retracting mechanism, an opening and closing linear guide rail, and an opening and closing drive mechanism, wherein the lifting drive mechanism is arranged on the electrical control box and outputs power in a vertical direction, the opening and closing linear guide rail is arranged on the lifting drive mechanism along a direction perpendicular to the walking direction of the walking mechanism, the wire retracting mechanism is slidably connected to the opening and closing linear guide rail through two opening and closing sliders, the opening and closing drive mechanism is arranged on the lifting drive mechanism and connected to the two opening and closing sliders, and the opening and closing drive mechanism is used to drive the wire retracting mechanism to open or close, so as to enable the wire retracting mechanism to clamp or release the broken strands.

[0010] In a possible implementation, the wire-winding mechanism includes a wire-winding part, a rotation drive assembly and a rotation guide assembly, wherein the wire-winding part is arranged on the two opening and closing sliders through the rotation guide assembly, and the wire-winding part can rotate around its own central axis, and the rotation guide assembly is used to position and guide the wire-winding part; the rotation drive assembly is arranged on one of the opening and closing sliders, and is used to drive the wire-winding part to rotate;

[0011] A proximity sensor is provided on an opening and closing slide block, and the proximity sensor is used to detect the rotation angle of the wire drawing part.

[0012] The wire drawing part includes two half wire drawing bodies;

[0013] The semi-winding body includes a winder core, a winder sleeve and a winder gear which are coaxially installed from the inside to the outside, wherein a trumpet-shaped slot is axially provided inside the winder core, and a winder groove is provided at the end with a small inner diameter; the outer edges of both ends of the winder sleeve are provided with guide protrusions which cooperate with the rotating guide assembly, and the winder gear is meshed with the rotating drive assembly.

[0014] In one possible implementation, the rotary guide assembly includes an inner guide group and an outer guide group that are concentrically arranged;

[0015] The outer guide group includes a plurality of V-groove wheel shafts arranged on the two opening and closing slide blocks along the circumferential direction, each V-groove wheel shaft is parallel to the axis of the wire drawing part, and each V-groove wheel shaft is provided with two V-groove wheels, and the two V-groove wheels are respectively slidably matched with the guide protrusions at both ends of the wire drawing sleeve;

[0016] The inner guide group includes a plurality of roller bearings which are circumferentially arranged on the two opening and closing slide blocks, and the plurality of roller bearings are in contact with the inner surface of the end of the wire drawing sleeve.

[0017] In one possible implementation, the broken strand fixing device includes an elastic clip, a storage clip bin and a push-and-clamp mechanism, wherein the storage clip bin can be slidably connected to the broken strand pulling back device along a vertical direction; the elastic clip is arranged on the top of the storage clip bin, and the push-and-clamp mechanism is arranged on the broken strand pulling back device, which is used to drive the storage clip bin to rise and fall and drive the elastic clip to engage, so as to realize the clamping and fixing of the broken strand after being pulled back by the elastic clip.

[0018] In one possible implementation, the push-clamp mechanism includes a push-clamp drive assembly, a slider push plate, a support compression spring, a push-clamp actuator assembly and a push-clamp guide rail, wherein the push-clamp guide rail and the buckle storage bin can be slidably connected in the vertical direction, the push-clamp actuator assembly and the slider push plate are fixedly arranged at the upper and lower ends of the push-clamp guide rail, and the push-clamp actuator assembly contacts the bottom of the elastic buckle; the support compression spring is sleeved on the push-clamp guide rail, and the upper and lower ends are respectively abutted against the buckle storage bin and the slider push plate; the push-clamp drive assembly is arranged on the broken stock retracting device, and the output end is connected to the slider push plate, and the push-clamp drive assembly is used to drive the push-clamp guide rail to rise and fall, thereby driving the elastic buckle to buckle through the push-clamp actuator assembly.

[0019] In one possible implementation, a top spring is provided at the inner bottom of the buckle storage bin, an automatic feeding push plate is provided above the top spring, the elastic clip is provided on the automatic feeding push plate, and the elastic clip is exposed at the top of the buckle storage bin under the elastic force of the top spring.

[0020] In one possible implementation, the walking mechanism includes a driving wheel, a pressure wheel, a pressure wheel tension spring, a support rod and a pressure wheel lifting assembly, wherein the support rod is vertically arranged on the electrical control box, the pressure wheel lifting assembly is arranged on the support rod, and two rocker arms arranged in a V shape are hinged on the pressure wheel lifting assembly, the two rocker arms are connected by a pressure wheel tension spring, and the tops of the two rocker arms are rotatably installed with pressure wheels; the driving wheel is arranged at the top of the support rod and is located above the two pressure wheels.

[0021] In one possible implementation, the broken strand pulling back and fixing system is divided into two groups and located at the front and rear sides of the electrical control box respectively. A wire-pushing and obstacle-crossing device is connected between the two groups of the broken strand pulling back and fixing system. The wire-pushing and obstacle-crossing device is used to push the broken strand away when the robot crosses the broken strand.

[0022] The advantages and beneficial effects of the present invention are as follows: the invention provides a broken strand repair robot for overhead ground wires, which walks on the overhead ground wires through a walking mechanism, and the walking process is safe and reliable; the broken strand retracting and fixing system is used to realize automatic retracting and fixing of the broken strands, thus avoiding the safety hazard problem of manual repair of broken strands, and can shorten the repair time, reduce labor, reduce labor intensity, and improve the safety and work efficiency of the operation, thereby achieving the purpose of saving labor, time and safety.

[0023] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0024] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 This is a schematic structural diagram of a robot for repairing broken overhead ground wires according to the present invention;

[0027] Figure 2 It is a schematic structural diagram of the interrupted strand pulling back device of the present invention;

[0028] Figure 3 It is a transmission schematic diagram of the interrupted strand pulling back device of the present invention;

[0029] Figure 4 It is a schematic diagram of the thread-pulling principle of the interrupted strand pulling-back device of the present invention;

[0030] Figure 5 It is an exploded view of the wire drawing part in the present invention;

[0031] Figure 6 It is a structural schematic diagram of the lifting drive mechanism in the present invention;

[0032] Figure 7 This is one of the structural schematic diagrams of the interrupted strand fixing device of the present invention;

[0033] Figure 8 A side view of the interrupted strand fixation device of the present invention;

[0034] Fig. 9 This is the second structural schematic diagram of the interrupted strand fixing device of the present invention;

[0035] Fig.10 It is a schematic diagram of the elastic clip in the present invention clamping the ground wire;

[0036] Fig.11 It is a structural schematic diagram of the walking mechanism in the present invention;

[0037] Fig.12 It is a schematic diagram of the clamping state of the clamping wheel of the traveling mechanism in the present invention.

[0038] In the figure: 1-broken strand retracting device; 2-traveling mechanism; 3-broken strand fixing device; 4-wire pulling obstacle crossing device; 5-electrical control box; 101-wire pulling motor; 102-wire pulling drive gear shaft; 103-V-groove wheel; 104-proximity sensor; 105-wire pulling core; 1051-wire pulling core working surface; 106-wire pulling sleeve; 107-elastic limit bead; 108-roller bearing; 109-bidirectional screw; 110-opening and closing linear guide; 111-limit switch; 112-opening and closing motor; 113-opening and closing slider; 114-opening and closing transmission gear; 115-wire pulling transmission gear; 116-wire pulling gear; 117-lifting rack; 118-lifting drive gear; 119-lifting motor; 120-mounting frame; 121-pillar guide rail; 201 -driving wheel; 202-pressure wheel; 203-pressure wheel tension spring; 204-pulley frame; 205-pulley driving gear; 206-rack; 207-pulley support column; 208-pulley motor; 209-pulley wheel; 210-cross connecting block; 301-elastic clip; 3011-clip; 3012-spring sheet; 302-buckle storage bin; 3021-top spring; 3022-limiting slot plate; 303-automatic feeding push plate; 304-push clamp transmission gear; 305-push clamp motor; 306-push clamp screw rod; 307-slider push plate; 308-support compression spring; 309-push clamp device mounting frame; 310-push clamp actuator; 3101-push clamp actuator block; 311-push clamp guide rail; 312-buckle storage bin guide rail; 313-buckle storage bin slider. DETAILED DESCRIPTION

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0041] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0043] The embodiment of the present invention provides a broken strand repair robot for overhead ground wires, which can automatically retract and fix the broken strands, thereby improving the safety and work efficiency of broken strand repair. Figure 1 As shown, the overhead ground wire broken strand repair robot comprises a walking mechanism 2, an electrical control box 5 and a broken strand retracting and fixing system, wherein the walking mechanism 2 is used to enable the robot to move on the overhead ground wire; the broken strand retracting and fixing system comprises a broken strand retracting device 1 and a broken strand fixing device 3, wherein the broken strand retracting device 1 is used to retract the broken strand; the broken strand fixing device 3 is used to clamp the broken strand retracted by the broken strand retracting device 1; and the electrical control box 5 is used to support and control the actions of the walking mechanism 2, the broken strand retracting device 1 and the broken strand fixing device 3. The present invention walks on the overhead ground wire through the walking mechanism 2, and the walking process is safe and reliable; the broken strand retracting and fixing system is used to realize the automatic retracting and fixing of the broken strand, thereby avoiding the problem of safety hazards in manual repair of broken strands, and can shorten the time for repairing broken strands, reduce labor, and reduce labor intensity, thereby improving the safety and work efficiency of broken strand repair operations, thereby achieving the purpose of saving labor, time, and safety.

[0044] See also Figure 2 , Figure 3 As shown, in an embodiment of the present invention, the broken strand rewinding device 1 includes a lifting drive mechanism, a wire rewinding mechanism, an opening and closing linear guide rail 110 and an opening and closing drive mechanism, wherein the lifting drive mechanism is arranged on the electrical control box 5, and outputs power in the vertical direction, the opening and closing linear guide rail 110 is arranged on the lifting drive mechanism along a walking direction perpendicular to the walking mechanism 2, the wire rewinding mechanism is an opening and closing structure, and is slidably connected to the opening and closing linear guide rail 110 through two opening and closing sliders 113, the opening and closing drive mechanism is arranged on the lifting drive mechanism and is connected to the two opening and closing sliders 113, the opening and closing drive mechanism is used to drive the wire rewinding mechanism to open or close, so as to realize the wire rewinding mechanism clamping or releasing the broken strand, and the wire rewinding mechanism cooperates with the forward movement of the walking mechanism 2 to rewind the scattered ground wires into the original groove, and the wire rewinding effect is good.

[0045] In an embodiment of the present invention, the wire-strapping mechanism includes a wire-strapping portion, a rotational drive assembly, and a rotational guide assembly, wherein the wire-strapping portion is disposed on two opening and closing sliders 113 through a rotational guide assembly, and the wire-strapping portion can rotate around its own central axis, and the rotational guide assembly is used to position and guide the wire-strapping portion; the rotational drive assembly is disposed on an opening and closing slider 113, and is used to drive the wire-strapping portion to rotate. Specifically, the wire-strapping portion is a split structure, and when the wire-strapping portion is in a closed state, the rotational drive assembly can provide rotational motion, and cooperate with the forward motion of the walking mechanism 2 to form a spiral motion of the wire-strapping portion, thereby strapping the scattered ground wire back into the original groove.

[0046] Furthermore, a proximity sensor 104 is provided on an opening and closing slider 113, and the proximity sensor 104 is used to detect the rotation angle of the wire drawing part, and ensure that the opening of the wire drawing part is vertically upward after the wire drawing part stops rotating, so as to facilitate the broken strands to fall into the wire drawing part, or facilitate the wire drawing part to release the broken strands. In other words, the proximity sensor 104 is used to detect whether the wire drawing part rotates a multiple of 180°, so that the wire drawing part can stop rotating only when it rotates a multiple of 180°.

[0047] See also Figure 5 As shown, in the embodiment of the present invention, the wire drawing part includes two half wire drawing bodies; specifically, the half wire drawing body includes a wire drawing core 105, a wire drawing sleeve 106 and a wire drawing gear 116 which are coaxially installed from the inside to the outside, wherein the inside of the wire drawing core 105 is provided with a trumpet-shaped slot along the axial direction, and a wire drawing groove is provided at the end with a small inner diameter, and the wire drawing groove has a wire drawing core working surface 1051; the outer edges of both ends of the wire drawing sleeve 106 are provided with guide protrusions that cooperate with the rotating guide assembly, and the wire drawing gear 116 is meshed with the rotating drive assembly. In this embodiment, when the two half wire drawing bodies are closed, a complete wire drawing part is formed, and the internal shape of the wire drawing core 105 is trumpet-shaped. When the rotating axis of the wire drawing part and the ground wire axis are at a small range of angles (0±5°), the wire drawing work can still be carried out, and the adaptability is high.

[0048] See also Figures 2 to 4 As shown, the rotary guide assembly includes an inner guide group and an outer guide group which are arranged concentrically; the outer guide group includes a plurality of V-groove wheel shafts which are arranged on two opening and closing sliders 113 along the circumferential direction, each V-groove wheel shaft is parallel to the axis of the wire-straightening part, and each V-groove wheel shaft is provided with two V-groove wheels 103, and the two V-groove wheels 103 are respectively slidably matched with the guide protrusions at both ends of the wire-straightening sleeve 106. The inner guide group includes a plurality of roller bearings 108 which are arranged on two opening and closing sliders 113 along the circumferential direction, and the plurality of roller bearings 108 are in contact with the inner surface of the end of the wire-straightening sleeve 106. In this embodiment, the wire-straightening sleeve 106 is limited in radial and axial freedom by the plurality of roller bearings 108 and the plurality of V-groove wheels 103 which are arranged inside and outside, and the wire-straightening sleeve 106 can only perform rotational motion.

[0049] In this embodiment, two housings are fixed on opposite sides of the opening and closing slider 113, and the wire drawing part is located between the two housings; there are five V-groove wheel shafts arranged around the wire drawing sleeve 106, and the two ends of each V-groove wheel shaft are respectively connected to the housings on both sides, and there are ten V-groove wheels 103. The roller bearing 108 is rotatably mounted on the housing and is located on the inner side of the guide protrusion at the end of the wire drawing sleeve 106. The V-groove wheel 103 and the roller bearing 108 cooperate to limit the degree of freedom of the wire drawing sleeve 106. The proximity sensor 104 is mounted on the housing and is located on the side of the wire drawing sleeve 106. By detecting the screws fixed on the wire drawing sleeve 106, it is determined whether the wire drawing sleeve 106 has rotated a multiple of 180°. If the screw is rotated by multiples of 180°, ensuring that the joint surface of the two half-wire-drawing bodies is in a vertical state, the wire-drawing part can be closed or opened to facilitate the clamping or loosening of the overhead ground wire by the wire-drawing part.

[0050] Further, see Figure 2 , Figure 3 As shown, an elastic limiting bead 107 is installed on the shell of the opening and closing slider 113, and a groove is provided at the end of the wire drawing sleeve 106; when the wire drawing part is opened, the elastic limiting bead 107 on the shell slides into the groove at the end of the wire drawing sleeve 106 to realize the positioning of the wire drawing sleeve 106 and restrict the rotation of the wire drawing sleeve 106. When the applied rotational torque exceeds a certain value, the steel ball of the elastic limiting bead 107 will be pressed in, so that the elastic limiting bead 107 will be separated from the groove at the end of the wire drawing sleeve 106, and the restriction on the wire drawing sleeve 106 will be released, and the wire drawing sleeve 106 can rotate; when it is not working and stationary, the deadweight of the wire drawing part cannot reach the torque value, and the elastic limiting bead 107 will limit the freedom of rotation. Specifically, the elastic limiting bead 107 is a commercially available ball screw.

[0051] See also Figure 2 As shown, in an embodiment of the present invention, the rotary drive assembly includes a wire drawing motor 101, a transmission assembly, and a wire drawing drive gear shaft 102, wherein the wire drawing motor 101 and the wire drawing drive gear shaft 102 are both arranged on an opening and closing slider 113, and the output end of the wire drawing motor 101 is connected to the wire drawing drive gear shaft 102 through the transmission assembly, and the wire drawing drive gear shaft 102 is meshed with a wire drawing gear 116. Specifically, the transmission assembly includes two wire drawing drive gears 115 meshing with each other, and the two wire drawing drive gears 115 are respectively arranged on the output shaft of the wire drawing motor 101 and the wire drawing drive gear shaft 102. The wire drawing motor 101 drives the wire drawing drive gear shaft 102 to rotate through the two meshing wire drawing drive gears 115, and the wire drawing drive gear shaft 102 drives the wire drawing gear 116 to rotate, so that the wire drawing part rotates to repair the broken strands.

[0052] In the embodiment of the present invention, the opening and closing drive mechanism includes a bidirectional screw 109, an opening and closing motor 112, an opening and closing transmission gear 114 and a limit switch 111, wherein the bidirectional screw 109 is arranged in parallel with the opening and closing linear guide 110, and the two ends are supported by a support seat, the opening and closing motor 112 is arranged on the support seat at the end of the opening and closing linear guide 110, and the output end is connected to the bidirectional screw 109 through two mutually meshing opening and closing transmission gears 114; the bidirectional screw 109 is threadedly connected with two groups of opening and closing sliders 113; the limit switch 111 is arranged at the end of the opening and closing linear guide 110, and the limit switch 111 is used to limit the maximum displacement of the opening and closing slider 113. When working, the opening and closing motor 112 drives the bidirectional screw 109 to rotate through the opening and closing transmission gear 114, so that the two groups of opening and closing sliders 113 are close to or away from each other, thereby realizing the closing or opening of the wire drawing part. Specifically, the opening and closing drive mechanism can also adopt any existing technology that can realize bidirectional linear drive, which is not specifically limited here.

[0053] See also Figure 6 As shown, in an embodiment of the present invention, the lifting drive mechanism includes a support rail 121, a lifting pulley Ⅰ and a mounting frame 120, wherein the support rail 121 is vertically arranged on the top of the electrical control box 5, the lifting pulley Ⅰ is installed on the support rail 121 and can move up and down along the support rail 121, the mounting frame 120 is connected to the lifting pulley Ⅰ, and the mounting frame 120 provides support and force for supporting the wire drawing mechanism, the opening and closing linear guide rail 110 and the opening and closing drive mechanism.

[0054] Specifically, the lifting pulley I includes a pulley body I, a lifting rack 117, a lifting drive gear 118 and a lifting motor 119, wherein the pulley body I is movably connected to the support rail 121 through a guide wheel, and the lifting motor 119 is arranged on the pulley body I and the output end is connected to the lifting drive gear 118; the lifting rack 117 is arranged on the support rail 121 in the vertical direction and meshes with the lifting drive gear 118. The lifting motor 119 provides lifting power, and the lifting motor 119 drives the lifting drive gear 118 to rotate, thereby driving the pulley body I to perform lifting action. Preferably, the support rail 121 adopts a carbon fiber tube. Specifically, the lifting pulley I can also be replaced by any existing technology that can realize lifting movement, which is not specifically limited here.

[0055] See also Figures 7 to 9 As shown, in an embodiment of the present invention, the broken strand fixing device 3 includes an elastic clip 301, a storage clip bin 302 and a pushing and clamping mechanism, wherein the storage clip bin 302 can be slidably connected to the broken strand retracting device 1 along the vertical direction; the elastic clip 301 is arranged on the top of the storage clip bin 302, and the pushing and clamping mechanism is arranged on the broken strand retracting device 1, which is used to drive the storage clip bin 302 to rise and fall and drive the elastic clip 301 to buckle, so as to realize the clamping and fixing of the broken strand by the elastic clip 301 after being retracted, and utilize the clamping force of the elastic clip 301 to constrain the broken strand.

[0056] Specifically, see Figure 8 As shown, a buckle storage bin guide rail 312 is provided on the outer side wall of the buckle storage bin 302 in the vertical direction, and the buckle storage bin guide rail 312 is slidably matched with the buckle storage bin slider 313, and the buckle storage bin slider 313 is connected to the push-clamp device mounting frame 309, and the push-clamp device mounting frame 309 is connected to the support seat of the broken strand retracting device 1. The up and down movement of the buckle storage bin 302 is guided by the buckle storage bin guide rail 312 and the buckle storage bin slider 313, so as to improve the stability of the lifting movement.

[0057] See also Figure 7 As shown, in an embodiment of the present invention, the pushing and clamping mechanism includes a pushing and clamping driving assembly, a slider pushing plate 307, a supporting compression spring 308, a pushing and clamping executing assembly 310 and a pushing and clamping guide rail 311, wherein the pushing and clamping guide rail 311 and the buckle storage bin 302 can be slidably connected in a vertical direction, the pushing and clamping executing assembly 310 and the slider pushing plate 307 are fixedly arranged on the upper and lower ends of the pushing and clamping guiding rail 311, and the pushing and clamping executing assembly 310 is in contact with the bottom of the elastic buckle 301; the supporting compression spring 308 is sleeved on the pushing and clamping guiding rail 311, and the upper and lower ends are respectively abutted against the buckle storage bin 302 and the slider pushing plate 307; the pushing and clamping driving assembly is arranged on the supporting seat of the broken stock pulling back device 1, and the output end is connected to the slider pushing plate 307, and the pushing and clamping driving assembly is used to drive the pushing and clamping guiding rail 311 to be lifted and lowered, thereby driving the elastic buckle 301 to buckle through the pushing and clamping executing assembly 310.

[0058] See also Fig. 9 As shown, in the embodiment of the present invention, the push-clip actuator assembly 310 includes a U-shaped fixed block and a push-clip actuator block 3101, wherein the two sides of the U-shaped fixed block are respectively fixedly connected with two driving push-clip guide rails 311, and the push-clip actuator block 3101 is rotatably installed at the opening of the U-shaped fixed block, and the push-clip actuator block 3101 extends to the bottom of the elastic clip buckle 301. When the push-clip guide rail 311 drives the push-clip actuator 310 to rise, because one side of the push-clip actuator block 3101 is restricted by the bottom of the elastic clip buckle 301, the push-clip actuator block 3101 rotates relative to the U-shaped fixed block, thereby pushing the elastic clip buckle 301 to buckle. When the push-clip guide rail 311 drives the push-clip actuator 310 to descend, the push-clip actuator block 3101 releases the elastic clip buckle 301, and the elastic clip buckle 301 automatically resets and opens.

[0059] Specifically, the push-clip driving mechanism includes a push-clip transmission gear 304, a push-clip motor 305 and a push-clip screw 306, wherein the push-clip motor 305 and the push-clip screw 306 are both arranged in the vertical direction, and the output end of the push-clip motor 305 is connected to the push-clip screw 306 through two mutually meshing push-clip transmission gears 304, and the push-clip screw 306 is threadedly connected to the slider push plate 307. When working, the push-clip motor 305 drives the push-clip screw 306 to rotate through the two mutually meshing push-clip transmission gears 304, thereby driving the slider push plate 307 and the push-clip guide rail 311 to rise and fall.

[0060] See also Fig. 9 As shown, in the embodiment of the present invention, a top spring 3021 is provided at the inner bottom of the buckle storage bin 302, an automatic feeding push plate 303 is provided above the top spring 3021, and an elastic clip 301 is provided on the automatic feeding push plate 303. The elastic clip 301 is exposed at the top of the buckle storage bin 302 under the elastic force of the top spring 3021. Preferably, a plurality of elastic clips 301 arranged in parallel can be stored in the buckle storage bin 302 to improve the clamping and fixing effect of the broken strands.

[0061] See also Fig.10 As shown, in an embodiment of the present invention, the elastic clip 301 includes a clip 3011 and a spring sheet 3012, wherein the spring sheet 3012 is made by curling both sides of a long leaf spring inward, and a clip 3011 is installed on both sides of the spring sheet 3012, and the inner side surface of the clip 3011 is arc-shaped to fit the overhead ground wire, and an anti-slip paint is applied on the inner side of the arc to increase the friction with the overhead ground wire.

[0062] In an embodiment of the present invention, the elastic clip 301 is stored in the clip storage bin 302 and is used to fix the broken strands after they are pulled back; the top spring 3021 and the clip automatic feeding push plate 303 installed in the clip storage bin 302 ensure that the elastic clip 301 is always above the clip storage bin 302; a clip limiting slot plate 3022 is also installed on the inner side of the clip storage bin 302 to limit the freedom of the elastic clip 301; the push-clip transmission gear 304 and the push-clip motor 305 drive the push-clip screw rod 306 to rotate through the push-clip transmission gear 304, providing upward power for the slider push plate 307; because the push-clip motor 305 and the push-clip device mounting frame 309 are installed on the broken strand pulling back device 1, they remain stationary throughout the broken strand fixing work. Because the buckle storage bin guide rail 312 and the buckle storage bin slider 313 are connected by a moving pair, the buckle storage bin 302 can only move vertically; the buckle storage bin 302 and the push-clamp guide rail 311 are connected by a moving pair, and a support spring 308 is installed between the buckle storage bin 302 and the slider push plate 307; when fixing the broken stocks, when the buckle storage bin 302 is not in contact with the ground wire, the push-clamp actuator 310, the slider push plate 307, the push-clamp guide rail 311, the buckle storage bin 302, and the support spring 308 move up together; ... The storage bin 302 is in contact with the ground wire, the storage bin 302 remains stationary, the support compression spring 308 is compressed, the push-clamp actuator 310, the slider push plate 307, and the push-clamp guide rail 311 continue to move upward, and the push-clamp actuator 310 moves upward relative to the storage bin 302; because the push-clamp actuator block 3101 and the U-shaped fixed block are connected by a rotating pair, when the push-clamp actuator 310 moves upward relative to the storage bin 302, the push-clamp actuator block 3101 rotates and pushes the elastic clip 301 to buckle, thereby clamping and fixing the broken strand. In this embodiment, the broken strand is constrained by the clamping elastic force of the elastic clip 301, the clamping force is large, the clamping effect is good, and it is stable and does not fall off the line. The storage bin 302 can also store multiple elastic clips 301 to increase the restraining force on the broken strand and improve the efficiency of the broken strand fixing work. In the broken strand fixing device 3, the storage buckle bin 302 is elastically connected to the slider push plate 307 through the support compression spring 308 and the push clamp guide rail 311, and the push clamp actuator 310 is fixed on the push clamp guide rail 311. After the push clamping work is completed, the elastic clip 301 is automatically loaded under the action of the support compression spring 308 and the top spring 3021 in the storage buckle bin 302. The push clamp driving mechanism is efficient and compact, has only one degree of freedom, is simple and reliable. The storage buckle bin 302 can store multiple elastic clips 301 and realize automatic loading, thereby improving the working efficiency of the broken strand fixing.

[0063] See also Fig.11 , Fig.12As shown, in the embodiment of the present invention, the walking mechanism 2 includes a driving wheel 201, a clamping wheel 202, a clamping wheel tension spring 203, a pulley support column 207 and a clamping wheel lifting assembly, wherein the pulley support column 207 is vertically arranged on the electrical control box 5, the clamping wheel lifting assembly is arranged on the support rod 207, and two swing rods arranged in a V shape are hinged on the clamping wheel lifting assembly, the two swing rods are connected by the clamping wheel tension spring 203, and the tops of the two swing rods are rotatably mounted with clamping wheels 202; the driving wheel 201 is arranged on the top of the pulley support column 207 and is located above the two clamping wheels 202. The clamping wheel lifting assembly drives the two clamping wheels 202 to rise to clamp the overhead ground wire, so that the clamped overhead ground wire is clamped between the driving wheel 201 and the clamping wheel 202, so as to improve the walking stability and safety of the walking mechanism 2 on the overhead ground wire.

[0064] In this embodiment, the pressure wheel lifting assembly includes a lifting pulley II and a pulley frame 204, wherein the lifting pulley II is arranged on the pulley support column 207 and can move up and down along the pulley support column 207, the pulley frame 204 is connected to the lifting pulley II, and two swing arms are hinged on the pulley frame 204. In this embodiment, the lifting pulley II includes a pulley body II, a pulley driving gear 205, a rack 206, a pulley motor 208 and a pulley wheel 209, wherein the pulley body II is movably connected to the pulley support column 207 through the pulley wheel 209, the pulley motor 208 is arranged on the pulley body II and the output end is connected to the pulley driving gear 205, the rack 206 is arranged on the pulley support column 207 along the vertical direction and meshes with the pulley driving gear 205, and the pulley frame 204 is connected to the pulley body II. During operation, the pulley motor 208 drives the driving gear 205 to rotate, thereby driving the pulley frame 204 and the pulley body II to move up and down along the pulley support column 207. Specifically, the lifting pulley II can also be replaced by any existing technology that can achieve lifting movement, which is not specifically limited here.

[0065] Preferably, the pulley support column 207 is made of a carbon fiber tube, and the upper end is connected to the support rail 121 in the broken strand retracting device 1 through a cross connecting block 210 and a transverse carbon fiber tube to improve the structural stability of the entire device.

[0066] In the embodiment of the present invention, a driving wheel 201 is arranged at the top of the walking mechanism 2, and the driving wheel 201 is provided with a V-shaped groove, which is used to be placed on the overhead ground wire, so as to realize the robot hanging on the ground wire and patrolling the line. A clamping wheel 202 is arranged below the driving wheel 201, and the clamping wheel 202 is provided with an arc-shaped groove, which is used to form a clamping force with the driving wheel 201, thereby improving the friction of the driving wheel 201 and the safety of the robot; the clamping wheel tension spring 203 is installed between the two swing rods of a pair of clamping wheels 202, and provides a clamping force according to the deformation amount, and can also provide a buffering effect for the clamping wheel 202. Preferably, the pulley frame 204 is composed of an aluminum alloy frame and an aluminum alloy bracket, and the pulley frame 204 provides support for the clamping wheel 202. The transmission of the pulley driving gear 205 and the rack 206 realizes the lifting and lowering action of the clamping wheel 202, the pulley support column 207 serves as a frame to provide support for the driving wheel 201 and a series of clamping wheel components, and the pulley motor 208 provides power for the driving gear 205. The pulley 209 is provided with a circular groove for clamping the pulley support column 207, and cooperates with other pulleys to limit the freedom of the lifting pulley II, so that the lifting pulley II has only one degree of freedom of moving up and down.

[0067] On the basis of the above-mentioned embodiments, the present invention provides a broken strand repair robot for overhead ground wires, comprising two sets of broken strand retracting and fixing systems, the two sets of broken strand retracting and fixing systems are respectively located at the front and rear sides of the electrical control box 5, and the two sets of broken strand retracting and fixing systems are respectively used for retracting and fixing the broken strands when the walking mechanism 2 is walking in the forward direction and in the reverse direction. Furthermore, a wire-pushing and obstacle-crossing device 4 is connected between the two sets of broken strand retracting and fixing systems, and the wire-pushing and obstacle-crossing device 4 is used to push the broken strands away when the robot crosses the broken strands.

[0068] In the embodiment of the present invention, the wire-pushing and obstacle-crossing device 4 is a frame structure, including two connecting rods connected to the front and rear broken strands and wire-straighting device mounting frames 120 and a crossbar connected to the ends of the two connecting rods. When the robot crosses the broken strand, the wire-pushing and obstacle-crossing device 4 is used to push away the broken strand on the other side, so that the robot crosses the broken strand and starts wire-straighting in the reverse direction. The robot can cross the broken strand obstacle through the walking mechanism 2, reversely straighten and fix the broken strand on the other side, and can complete the broken strand repair work on both sides at one time, greatly improving the work efficiency.

[0069] In the embodiment of the present invention, a single chip microcomputer control system adopting a dual MCU design is provided in the electrical control box 5, and the single chip microcomputer control system controls the operation of the broken strand retracting device 1, the walking mechanism 2 and the broken strand fixing device 3.

[0070] An embodiment of the present invention provides a broken overhead ground wire repairing robot, and a method for using the robot comprises the following steps:

[0071] Step A: Drop the broken strand retracting devices 1 on the front and rear sides and the clamping wheels 202 in the walking mechanism 2 to the lowest positions, place the broken strand retracting devices 1 in an open state, and place the pushing and clamping mechanism in the lowest position;

[0072] According to the outer diameter of the ground wire to be repaired, select the corresponding size of the winding core 105 and the elastic clip 301; install the two pairs of selected winding cores 105 in the broken strand winding device 1 on the front and rear sides respectively, and install the six elastic clips 301 in the storage bins 302 of the front and rear broken strand fixing devices 3 respectively;

[0073] Step B: hoist the robot onto the overhead ground wire, and after the robot is successfully online, raise the clamping wheel 202 to put it in a clamping state;

[0074] Step C: Move the robot by the driving wheel 201 in the walking mechanism 2, and drive to the front of the anti-vibration hammer to prepare for obstacle crossing. Lower the front clamping wheel 202, and after the front driving wheel 201 passes over the anti-vibration hammer, raise the front clamping wheel 202, and lower the rear clamping wheel 202. After the rear driving wheel 201 passes over the anti-vibration hammer, raise the rear clamping wheel 202, and the anti-vibration hammer obstacle crossing work is completed.

[0075] Step D: The mobile robot patrols the line until it reaches the broken ground wire and is ready to start repairing the broken wire;

[0076] Step E: The wire-winding mechanism is lifted by the lifting pulley I until the rotation center of the wire-winding mechanism coincides with the axis of the ground wire, and the front opening and closing driving mechanism is controlled to close the wire-winding part on the front side so that the wire-winding core 105 of the wire-winding part surrounds the ground wire;

[0077] Step F: The wire drawing part is controlled to rotate by the rotary drive assembly, and the walking mechanism 2 moves forward at the same time, so that the wire drawing part moves forward in a spiral manner, performs the broken strand drawing back operation, and stops rotating and moving forward when the broken strand is drawn back to the end, and keeps the wire drawing part closed;

[0078] Step G: The pushing and clamping mechanism performs the pushing and clamping work, and the buckle storage bin 302 moves upward. After the pushing and clamping mechanism pushes out the elastic buckle 301 and clamps the ground wire and the broken strand, the buckle storage bin 302 falls down, the wire reeling part opens, and the entire broken strand reeling device 1 falls down;

[0079] Step H: The wire-pushing and obstacle-crossing device 4 pushes away the broken strand on the other side, so that the robot passes over the broken strand and starts the wire-pushing work in the reverse direction;

[0080] Step I: Repeat steps E, F, and G until the broken strand on that side is pulled back and fixed, and the entire broken strand repair work is completed;

[0081] Step J: The robot returns and repeats step C to complete the obstacle crossing work of the anti-vibration hammer;

[0082] Step K: All the clamping wheels 202 are lowered and the robot is hoisted off the production line.

[0083] The present invention provides a broken strand repair robot for overhead ground wires. The robot is moved along the ground wire patrol line through a walking mechanism 2, crosses the vibration-proof hammer obstacle, and provides forward power for the broken strand reeling operation. The clamping wheel 202 cooperates with the driving wheel 201 to clamp the ground wire to increase friction and improve safety; the broken strand reeling device 1 is a split structure, which can provide rotational motion in a closed state, and forms a spiral motion of the reeling part in cooperation with the forward motion of the walking mechanism 2, which is used to reel the scattered ground wire back into the original groove; the broken strand reeling device 1 has a compact structure, light weight, and good reeling effect. The broken strand fixing device 3 clamps the retracted broken strand through the elastic clip 301, and uses the clamping force of the elastic clip 301 to constrain the broken strand. The clamping force is large, the clamping effect is good, and it is stable and does not fall off the line; the elastic clip 301 is pushed out from the storage buckle bin 302 to clamp the ground wire through the push-and-clamp mechanism. The push-and-clamp mechanism is efficient and compact, has only one degree of freedom, and is simple and reliable to operate; the storage buckle bin 302 can store multiple elastic clips 301, further improving the clamping force, and realizing automatic loading, thereby improving the efficiency of broken strand fixing. The wire-pulling obstacle crossing device 4 is used for the robot to cross the broken strand obstacle. The robot can cross the broken strand obstacle through the walking mechanism 2, reversely reel and fix the broken strand on the other side, and can complete the broken strand repair work on both sides at one time, greatly improving the efficiency of broken strand repair work.

[0084] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A robot for repairing broken overhead ground wires, characterized in that: include: A walking mechanism (2), used to enable the robot to move on the overhead ground wire; A broken strand reeling and fixing system comprises a broken strand reeling device (1) and a broken strand fixing device (3), wherein the broken strand reeling device (1) is used to reel back the broken strand; and the broken strand fixing device (3) is used to clamp the broken strand reeled back by the broken strand reeling device (1); An electrical control box (5) is used to support and control the actions of the walking mechanism (2), the broken strand retracting device (1) and the broken strand fixing device (3); The broken strand rewinding device (1) comprises a lifting drive mechanism, a wire rewinding mechanism, an opening and closing linear guide rail (110) and an opening and closing drive mechanism, wherein the lifting drive mechanism is arranged on the electrical control box (5) and outputs power in a vertical direction, the opening and closing linear guide rail (110) is arranged on the lifting drive mechanism in a direction perpendicular to the travel direction of the travel mechanism (2), the wire rewinding mechanism is slidably connected to the opening and closing linear guide rail (110) via two opening and closing sliders (113), the opening and closing drive mechanism is arranged on the lifting drive mechanism and connected to the two opening and closing sliders (113), and the opening and closing drive mechanism is used to drive the wire rewinding mechanism to open or close, so as to enable the wire rewinding mechanism to clamp or release the broken strand; The wire-strapping mechanism comprises a wire-strapping part, a rotational driving component and a rotational guiding component, wherein the wire-strapping part is arranged on two of the opening and closing sliders (113) through the rotational guiding component, the wire-strapping part can rotate around its own central axis, and the rotational guiding component is used to position and guide the wire-strapping part; the rotational driving component is arranged on one of the opening and closing sliders (113) and is used to drive the wire-strapping part to rotate; A proximity sensor (104) is provided on an opening and closing slider (113), and the proximity sensor (104) is used to detect the rotation angle of the thread-winding part; The wire drawing part includes two half wire drawing bodies; The semi-threading body comprises a threading core (105), a threading sleeve (106) and a threading gear (116) which are coaxially installed from the inside to the outside, wherein the threading core (105) is provided with a trumpet-shaped slot hole along the axial direction, and the end with a small inner diameter is provided with a threading groove; the outer edges of both ends of the threading sleeve (106) are provided with guide protrusions which cooperate with the rotating guide component, and the threading gear (116) is meshed with the rotating drive component; The rotary guide assembly comprises an inner guide group and an outer guide group which are arranged concentrically; The outer guide group comprises a plurality of V-groove wheel shafts arranged on the two opening and closing slide blocks (113) along the circumferential direction, each V-groove wheel shaft is parallel to the axis of the thread-straightening portion, and each V-groove wheel shaft is provided with two V-groove wheels (103), and the two V-groove wheels (103) are respectively slidably matched with guide protrusions at both ends of the thread-straightening sleeve (106); The inner guide group comprises a plurality of roller bearings (108) arranged on the two opening and closing slide blocks (113) along the circumferential direction, and the plurality of roller bearings (108) are in contact with the inner surface of the end of the wire drawing sleeve (106).

2. The overhead ground wire broken strand repair robot according to claim 1, characterized in that: The broken strand fixing device (3) comprises an elastic clip (301), a clip storage bin (302) and a push-and-clamp mechanism, wherein the clip storage bin (302) can be slidably connected to the broken strand retracting device (1) in a vertical direction; the elastic clip (301) is arranged on the top of the clip storage bin (302), and the push-and-clamp mechanism is arranged on the broken strand retracting device (1) and is used to drive the clip storage bin (302) to rise and fall and drive the elastic clip (301) to snap, so as to achieve the clamping and fixing of the retracted broken strand by the elastic clip (301).

3. The overhead ground wire broken strand repair robot according to claim 2, characterized in that: The clamp pushing mechanism comprises a clamp pushing driving assembly, a slider pushing plate (307), a supporting compression spring (308), a clamp pushing executing assembly (310) and a clamp pushing guide rail (311), wherein the clamp pushing guide rail (311) is slidably connected with the buckle storage bin (302) in a vertical direction, the clamp pushing executing assembly (310) and the slider pushing plate (307) are fixedly arranged at the upper and lower ends of the clamp pushing guide rail (311), and the clamp pushing executing assembly (310) contacts the bottom of the elastic buckle (301); the supporting compression spring (308) is sleeved on the clamp pushing guide rail (311), and the upper and lower ends thereof are respectively in contact with the buckle storage bin (302) and the slider pushing plate (307); The push-clamp driving component is arranged on the broken strand retracting device (1), and the output end is connected to the slider push plate (307). The push-clamp driving component is used to drive the push-clamp guide rail (311) to move up and down, thereby driving the elastic clamp (301) to engage through the push-clamp actuator component (310).

4. The overhead ground wire broken strand repair robot according to claim 2, characterized in that: A top spring (3021) is provided at the inner bottom of the buckle storage bin (302), an automatic feeding push plate (303) is provided above the top spring (3021), the elastic clip (301) is provided on the automatic feeding push plate (303), and the elastic clip (301) is exposed at the top of the buckle storage bin (302) under the elastic force of the top spring (3021).

5. The overhead ground wire broken strand repairing robot according to claim 1, characterized in that: The walking mechanism (2) comprises a driving wheel (201), a clamping wheel (202), a clamping wheel tension spring (203), a support rod (207) and a clamping wheel lifting assembly, wherein the support rod (207) is vertically arranged on the electrical control box (5), the clamping wheel lifting assembly is arranged on the support rod (207), two swing arms arranged in a V shape are hinged on the clamping wheel lifting assembly, the two swing arms are connected by a clamping wheel tension spring (203), and the tops of the two swing arms are rotatably mounted with clamping wheels (202); the driving wheel (201) is arranged on the top of the support rod (207) and is located above the two clamping wheels (202).

6. The overhead ground wire broken strand repairing robot according to claim 1, characterized in that: The broken strand retracting and fixing system comprises two groups, and are respectively located at the front and rear sides of the electrical control box (5). A wire-pushing and obstacle-crossing device (4) is connected between the two groups of the broken strand retracting and fixing system. The wire-pushing and obstacle-crossing device (4) is used to push the broken strand away when the robot crosses the broken strand.

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