Cable wrapping robot and cable wrapping method

Abstract

The present invention relates to the technical field of insulating layer covering of overhead lines, and in particular to a cable covering robot and a covering method thereof, the robot comprising: a support frame, a lifting mechanism at both ends of the support frame, a forming mechanism in the middle of the support frame, an insulating skin being laid on the forming mechanism; a swinging mechanism, the swinging mechanism comprising two swinging frames arranged to swing relative to each other, both swinging frames having a first running wheel, a second running wheel and a pressing plate; wherein the pressing plate is arranged correspondingly to the forming mechanism, the position of the first running wheel on the swinging frame is higher than the second running wheel, when the lifting mechanism lifts the support frame to a first height, the angle between the two swinging frames is rotated to a first angle, so that the two first running wheels are hung on the overhead line for walking; when walking to a position where the cable is to be covered, the lifting mechanism lifts the support frame to a second height, the angle between the two swinging frames is rotated to a second angle, so that the two second running wheels are hung on the overhead line, and at this time the pressing plate cooperates with the forming mechanism to achieve the covering of the insulating skin.

Description

Technical Field

[0001] The present invention relates to the technical field of insulating layer coating of overhead lines, and in particular to a cable wrapping robot and a wrapping method thereof. Background Art

[0002] A cable wrapping robot refers to a walking robot used to wrap an insulating layer on an exposed overhead line. In the prior art, the cable wrapping robot is mostly wrapped by the walking wheels of the walking robot and the insulating layer synchronously. For example, a Chinese invention patent application with application publication number CN108988232A disclosed on December 11, 2018, discloses an overhead bare cable automatic wrapping robot, which has a buckling mechanism for wrapping the insulating skin on the cable between the walking mechanisms, and uses the buckle-shaped insulating skin to wrap the insulating tape while walking;

[0003] However, when implementing the above scheme, the inventors found that this type of automatic wrapping robot can only perform continuous wrapping operations, that is, wrap the insulation layer while the robot is walking. When cable wrapping operations need to be performed at a specific location, the robot needs to be taken offline, and then aligned at the location where wrapping is required and put back online. This operation method not only increases the difficulty of the operation, but also reduces the operation efficiency. Summary of the invention

[0004] In view of at least one of the above technical problems, the present invention provides a cable wrapping robot and a wrapping method thereof to realize the cable insulation layer wrapping operation at any position on the overhead cable.

[0005] According to a first aspect of the present invention, there is provided a cable wrapping robot, comprising:

[0006] A support frame, wherein both ends of the support frame are provided with lifting mechanisms, the middle of the support frame is provided with a forming mechanism, and the forming mechanism is covered with an insulating skin;

[0007] The swing mechanism comprises two swing frames that are relatively swingable, the same end of the two swing frames is rotatably connected to the support frame, and the two swing frames are provided with a first running wheel, a second running wheel and a pressing plate;

[0008] Among them, the pressing plate is arranged correspondingly to the forming mechanism, the position of the first walking wheel on the swing frame is higher than the second walking wheel, and when the lifting mechanism lifts the support frame to the first height, the angle between the two swing frames is rotated to the first angle, so that the two first walking wheels are hung on the overhead line for walking; when walking to the position where the cable is to be covered, the lifting mechanism lifts the support frame to the second height, and the angle between the two swing frames is rotated to the second angle, so that the two second walking wheels are hung on the overhead line, and at this time, the pressing plate cooperates with the forming mechanism to realize the covering of the insulation skin, the first height is smaller than the second height, and the first angle is smaller than the second angle.

[0009] In some embodiments of the present invention, the two first running wheels are in the two swing frames, one of the first running wheels is arranged at one end of one of the swing frames, and the other first running wheel is arranged at the other end of the other swing frame.

[0010] In some embodiments of the present invention, the first running wheel has an annular groove on its wheel surface, and the wheel diameter of the first running wheel in the axial direction close to the swing frame side is smaller than the wheel diameter away from the swing frame side.

[0011] In some embodiments of the present invention, the two swing frames are also connected to the support frame through gear meshing to achieve synchronous rotation.

[0012] In some embodiments of the present invention, the lifting mechanism includes a winch, an insulating rope wound on the winch, a spring seat for the insulating rope to pass through, and a cover body movably connected to the spring seat;

[0013] The cover body is provided with an elastic tube, one end of which is connected to the middle of the cover body, and the other end is connected to the side of the cover body to form a closed ring structure. The insulating rope passes through one end of the elastic tube to the other end and is fixed on the cover body.

[0014] In some embodiments of the present invention, when the first running wheel or the second running wheel is hung on the overhead line, the annular structure formed by the elastic tube is arranged around the overhead line.

[0015] In some embodiments of the present invention, the molding mechanism includes a tugboat and molding plates arranged on both sides of the tugboat, the tugboat has an annular molding groove, and the molding plate has a bracket corresponding to the annular molding groove.

[0016] In some embodiments of the present invention, the wheel surface of the second running wheel is in a quarter-circular structure, and when the angle between the two swing frames rotates to a second angle, the two opposite second running wheels are assembled into a semicircular structure with the opening facing downward.

[0017] In some embodiments of the present invention, when the included angle of the two swing frames is rotated to a second angle, the two parallel and opposite end portions of the two pressing plates are partially overlapped to overlap and seal the two sides of the insulating skin.

[0018] According to a second aspect of the present invention, there is also provided a cable wrapping method of the cable wrapping robot as described in any one of the first aspects, comprising the following steps:

[0019] Hanging the lifting mechanism on the overhead line, and driving the lifting mechanism to lift the support frame to a first height;

[0020] The swing mechanism is driven to rotate the included angle of the two swing frames to a first angle, at which time the two first running wheels are hung on the overhead wire;

[0021] Drive the first traveling wheel to travel on the overhead line to a set covering starting point position;

[0022] Continue to drive the lifting mechanism so that the overhead cable falls into the forming mechanism, on which the insulation skin is pre-laid;

[0023] Continue to drive the swing mechanism to rotate the included angle of the two swing frames to a second angle. At this time, the two second running wheels are hung on the overhead line, and the two pressing plates are pressed on the forming mechanism to achieve the insulation covering the cable, and the two sides of the insulation are overlapped and bonded;

[0024] The second traveling wheel is driven to move to realize the insulation covering operation of the overhead line.

[0025] The beneficial effects of the present invention are as follows: through the arrangement of the first walking wheel on the swinging mechanism, when the two swinging frames swing to an included angle of a first angle, only the first walking wheel is mounted on the overhead line, thereby completing the cable wrapping robot walking on the overhead line without wrapping; after reaching the set position, the second walking wheel is mounted on the overhead line through the cooperation of the lifting mechanism and the swinging frame, and the insulating skin is wrapped on the cable through the pressure plate on the swinging frame and the forming mechanism on the support frame, thereby achieving wrapping while walking; compared with the prior art, the walking and wrapping operations of the wrapping robot are achieved by swinging the swinging frame at different angles, thereby achieving wrapping at different positions, and improving the accuracy and efficiency of cable wrapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1Schematic diagram of the structure of the cable wrapping robot in an embodiment of the present invention;

[0028] Figure 2 It is a structural schematic diagram of the swing-in mechanism in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure in which the first traveling wheel is mounted on the overhead line in an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure in which the second traveling wheel is mounted on the overhead line in an embodiment of the present invention;

[0031] Figure 5 It is a structural schematic diagram of a lifting mechanism in an embodiment of the present invention;

[0032] Figure 6 It is a structural schematic diagram of a forming mechanism in an embodiment of the present invention;

[0033] Figure 7 It is a flow chart of the steps of the wrapping method of the cable wrapping robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0035] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0037] like Figures 1 to 6 The cable wrapping robot shown in the figure comprises a support frame 1 and a swing mechanism 4, wherein Figure 1As shown in FIG. 1 , the two ends of the support frame 1 are provided with a lifting mechanism 2, the middle of the support frame 1 is provided with a forming mechanism 3, and the forming mechanism 3 is covered with an insulating skin; it should be pointed out here that the operation of the lifting mechanism 2 is to lift the entire support frame 1;

[0038] like Figure 1 and Figure 2 As shown in the figure, the swinging mechanism 4 includes two swinging frames 41 that are relatively swingably arranged, and the same ends of the two swinging frames 41 are rotatably connected to the support frame 1. The two swinging frames 41 are provided with a first walking wheel 42, a second walking wheel 43 and a pressing plate 44; in the embodiment of the present invention, the two swinging frames 41 are in a structural form in which the top is opened and the bottom is rotatably connected to the support frame 1. The role of the swinging frame 41 in the embodiment of the present invention is to realize the conversion of two walking modes by changing the angle between the two swinging frames 41. The first walking mode is that the cable wrapping robot walks alone on the overhead line, and the insulation layer is not wrapped at this time. When walking to the place where the coating is required, it is switched to the second walking mode. The second walking mode The method is synchronized with the coating of the insulating skin, that is, the insulation layer is coated while walking. It should be pointed out here that there are many forms of insulating layer coating on cables in the prior art, such as hot melt, adhesive or snap-on. The contribution of the present invention to the prior art is that, through the cooperation of the lifting mechanism 2 and the swinging mechanism 4, the two walking modes can be switched when the angle of the swing frame 41 changes, thereby reducing the problem of repeated coating of the insulating skin or deviation in the coating position caused by the inaccurate online position in the prior art; by walking to the set position first and then coating, the coating accuracy is improved, and repeated online and offline operations are avoided, thereby improving the coating efficiency.

[0039] The specific switching process is as follows: Figure 3 and Figure 4 As shown in the embodiment of the present invention, the pressing plate 44 is arranged corresponding to the forming mechanism 3, and is used to wrap the insulating skin and fit it on the overhead line; please refer to Figures 1 to 3 In the embodiment of the present invention, the position of the first running wheel 42 on the swing frame 41 is higher than the second running wheel 43, and the first running wheel 42 corresponds to the first walking mode, such as Figure 3As shown in, when the lifting mechanism 2 lifts the support frame 1 to the first height, the angle between the two swing frames 41 rotates to the first angle, so that the two first walking wheels 42 are hung on the overhead line for walking; it should be pointed out here that in the embodiment of the present invention, the value range of the first angle is 120~150 degrees. Since the height of the first walking wheel 42 is higher than that of the second walking wheel 43, and the first walking wheel 42 is arranged at the top position of the inner side of the two swing frames 41 and protrudes inward, the first walking wheel 42 first contacts the overhead line, and is thus hung on the overhead line. By driving the first walking wheel 42, the first walking wheel 42 drives the entire packaging robot to walk on the overhead line; it should be pointed out here that in the embodiment of the present invention, the mechanism for driving the first walking wheel 42 and the second walking wheel 43 is realized by conventional motors, reducers, etc. in conjunction with gears or transmission belts, which will not be described in detail here. Those skilled in the art can make relevant settings according to actual needs;

[0040] When the cable is moved to the position to be coated, the lifting mechanism 2 lifts the support frame 1 to a second height. Figure 4 As shown in , the angle between the two swing frames 41 rotates to the second angle. It should be pointed out here that in the embodiment of the present invention, the numerical range of the second angle is between 80 and 120. Since the position of the second running wheel 43 is lower than the first running wheel 42 and is inside the swing frame 41, when the angle between the two swing frames 41 is further reduced, the two second running wheels 43 can be hung on the overhead line, and at this time, the pressing plate 44 cooperates with the forming mechanism 3 to achieve the covering of the insulating skin, the first height is less than the second height, and the first angle is less than the second angle. Through the above settings, the two walking forms of the cable wrapping robot in the embodiment of the present invention are realized, first walking on the line to the wrapping position, and then the second method of walking and wrapping is carried out, thereby achieving the effect of improving accuracy and efficiency.

[0041] In the above embodiment, by setting the first walking wheel 42 on the swinging mechanism 4, when the two swinging frames 41 swing to the included angle of the first angle, only the first walking wheel 42 is installed on the overhead line, so that the cable wrapping robot only walks on the overhead line without wrapping. After reaching the set position, the second walking wheel 43 is installed on the overhead line through the cooperation of the lifting mechanism 2 and the swinging frame 41, and the insulating skin is wrapped on the cable through the pressure plate 44 on the swinging frame 41 and the forming mechanism 3 on the support frame 1, so that the robot can wrap while walking. Compared with the prior art, the walking and wrapping operations of the wrapping robot are realized by swinging the swinging frame 41 at different angles, thereby realizing wrapping at different positions, and improving the accuracy and efficiency of cable wrapping.

[0042] On the basis of the above embodiment, in order to avoid the collision between the two first running wheels 42 when the swing frame 41 is closed, in the embodiment of the present invention, as shown in FIG. Figure 2As shown in the figure, the two first running wheels 42 are in the two swing frames 41, one first running wheel 42 is arranged at one end of one of the swing frames 41, and the other first running wheel 42 is arranged at the other end of the other swing frame 41. That is, one of the two first running wheels 42 is arranged on the left side of the swing frame 41, and the other is arranged on the right side of the swing frame 41. Through this arrangement, the stability of the first running wheels 42 hanging on the overhead line can be improved.

[0043] Further, the specific structure of the first traveling wheel 42 is as follows: Figure 2 and Figure 3 As shown in the figure, the first traveling wheel 42 has an annular groove on the wheel surface, and the function of the annular groove is to hang the first traveling wheel 42 on the overhead line, and the wheel diameter of the first traveling wheel 42 in the axial direction close to the swing frame 41 is smaller than the wheel diameter away from the swing frame 41, that is, the wheel surface of the first traveling wheel 42 at the far end in the axial direction is larger, thereby preventing the overhead line from falling off the first traveling wheel 42 when hanging, thereby improving the walking reliability.

[0044] Please continue to refer to Figure 3 or Figure 4 In the embodiment of the present invention, in order to improve the synchronization of the two swing frames 41 during operation, the two swing frames 41 are also connected by gear meshing at the connection with the support frame 1 to achieve synchronous rotation. It should be pointed out here that in the embodiment of the present invention, there are many forms of driving the swing frame 41, for example, it can be driven by a motor meshing with the gears at the bottom of the swing frame 41, or the shaft is connected to the bottom of the swing frame 41, and the shaft is driven by a worm gear, etc.; it should also be pointed out here that in the embodiment of the present invention, the angle adjustment of the first walking wheel 42, the second walking wheel 43 and the swing frame 41 are all achieved by remote control. In the embodiment of the present invention, a camera facing the overhead cable is also set on the swing frame 41, and the camera is transmitted to the hand controller through communication. The operator observes the video and controls it through the hand controller, thereby improving the convenience and accuracy of the operation.

[0045] In some embodiments of the present invention, the specific structure of the lifting mechanism 2 is as follows: Figure 5 As shown in the figure, the lifting mechanism 2 includes a winch 21, an insulating rope 22 wound on the winch 21, a spring seat 23 for the insulating rope 22 to pass through, and a cover 24 movably connected to the spring seat 23; the winch 21 here refers to a conventional structure composed of a motor, a reducer and a reel, and the insulating rope 22 is wound by rotating the winch 21 to achieve height adjustment of the cable covering robot in the height direction;

[0046] Please continue to refer to Figure 5In the embodiment of the present invention, an elastic tube 25 is provided on the cover body 24, one end of the elastic tube 25 is connected to the middle of the cover body 24, and the other end is connected to the side of the cover body 24 to form a closed ring structure. The insulating rope 22 passes through one end of the elastic tube 25 to the other end and is fixed on the cover body 24. When the configuration is performed specifically, the closed structure formed by the elastic tube 25 is hung on the overhead line. Specifically, the hanging method is that one end of the insulating rope 22 is fixed to the side of the elastic tube 25 fixed on the cover 24, and then the insulating rope 22 passes through the middle of the cover 24 after passing through the overhead line. Then, during the contraction of the insulating rope 22, the free end of the elastic tube 25 finally passes through the overhead line to form a closed structure. Then, as the insulating rope 22 continues to be rolled up, the support frame 1 is lifted until the spring seat 23 contacts the cover 24. At this time, the spring seat 23 is compressed, and the height of the support frame 1 is further increased. When the first walking wheel 42 or the second walking wheel 43 is hung on the overhead line, the overall height of the closed structure surrounded by the elastic tube 25 is slightly increased, so that the closed structure formed by the elastic tube 25 can be ensured not to contact the overhead line, and thus does not affect the walking of the robot. That is, when the first walking wheel 42 or the second walking wheel 43 is hung on the overhead line, the annular structure formed by the elastic tube 25 is set around the overhead line. The surrounding here means that there is a certain gap between the closed structure and the outer diameter of the overhead line.

[0047] In some embodiments of the present invention, the specific structure of the forming mechanism 3 is as follows: Figure 6 As shown in the figure, the forming mechanism 3 includes a tugboat 31 and a forming plate 32 arranged on both sides of the tugboat 31. The tugboat 31 has an annular forming groove, and the forming plate 32 has a bracket corresponding to the annular forming groove. The forming groove and the bracket here are both semicircular structures adapted to the bottom of the outer diameter of the overhead line, so that the insulating tape can be laid in the forming groove. When the support frame 1 rises until the overhead line falls into the forming groove and the bracket, the insulating tape is pressed down to achieve the insulation tape covering the middle and both sides of the overhead line; please refer to Figure 1 and Figure 6 When the swing frame 41 further reduces the angle to the process of the second running wheel 43 being hung on the overhead line, the pressing plate 44 rotates to the second angle at the angle between the two swing frames 41, and the two pressing plates 44 are parallel and the opposite ends are partially overlapped. Through this arrangement, the two pressing plates 44 can fit the insulation skin on the overhead line and overlap and seal the two sides of the insulation skin when they are combined. In the embodiment of the present invention, the pressing plate has a certain gap in the height direction, so that when the angle of the swing frame 41 is reduced, the two sides of the insulation belt can be pushed toward the middle, and finally the free ends of the two sides of the insulation belt are overlapped. In the embodiment of the present invention, the insulation belt is selected to have a structure with adhesive on one side, and then when it is staggered and overlapped, it cooperates with the extrusion of the pressing plate 44 at the top to achieve self-adhesion.

[0048] In the embodiment of the present invention, the specific structure of the second traveling wheel 43 is as follows: Figure 3 and Figure 4 As shown in the figure, the wheel surface of the second running wheel 43 is a quarter-circular structure, and when the angle between the two swing frames 41 rotates to the second angle, the two opposite second running wheels 43 are assembled into a semicircular structure with the opening facing downward. Through this arrangement, not only can it be hung on the overhead line, but the second running wheel 43 behind the forming mechanism 3 also further presses the bonding point on the top of the insulating layer, thereby improving the bonding effect of the insulating tape.

[0049] In an embodiment of the present invention, there is also provided a Figure 7 The wrapping method of the cable wrapping robot shown in the figure comprises the following steps:

[0050] S10: Hang the lifting mechanism 2 on the overhead line and drive the lifting mechanism 2 to lift the support frame 1 to a first height; the first height here refers to Figure 3 The height position shown in , that is, the overhead wire is on the moving path of the bottom of the first running wheel 42 when the swing frame 41 is merged;

[0051] S20: driving the swing mechanism 4 so that the angle between the two swing frames 41 rotates to the first angle, and at this time, the two first running wheels 42 are hung on the overhead line; by hanging the two first running wheels 42, the entire cable covering robot is reliably hung on the overhead line; of course, it should be pointed out here that in the embodiment of the present invention, the running wheels, the tug wheel 31, and the pressing plate 44 are all of insulating structure to improve the safety when the insulating skin is laid;

[0052] S30: driving the first walking wheel 42 to walk on the overhead line to the set wrapping starting point; it should be noted here that when the first walking wheel 42 is walking, the forming mechanism 3 does not start working, which is different from the prior art. Through this setting, compared with the prior art in which workers observe the robot lifting point on the ground, the wrapping starting point is determined by the robot walking on the overhead line, which improves the wrapping accuracy;

[0053] S40: Continue to drive the lifting mechanism 2 so that the overhead cable falls into the forming mechanism 3, on which the insulating skin is pre-laid; the specific process of covering the cable with the insulating skin and bonding it has been mentioned above, and those skilled in the art can refer to the above to understand, and will not be repeated here;

[0054] S50: Continue to drive the swing mechanism 4, so that the angle between the two swing frames 41 rotates to the second angle, at which time the two second running wheels 43 are hung on the overhead wire, and the two pressing plates 44 are pressed on the forming mechanism 3, so that the insulation skin covers the cable, and the two sides of the insulation skin are overlapped and bonded;

[0055] S60: driving the second traveling wheel 43 to move, so as to implement the insulation sheathing operation on the overhead line.

[0056] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A cable wrapping robot, characterized in that: include: A support frame, wherein both ends of the support frame are provided with lifting mechanisms, the middle of the support frame is provided with a forming mechanism, and the forming mechanism is covered with an insulating skin; The swing mechanism comprises two swing frames that are relatively swingable, the same end of the two swing frames is rotatably connected to the support frame, and the two swing frames are provided with a first running wheel, a second running wheel and a pressing plate; Among them, the pressing plate is arranged correspondingly to the forming mechanism, the position of the first walking wheel on the swing frame is higher than the second walking wheel, and when the lifting mechanism lifts the support frame to the first height, the angle between the two swing frames is rotated to the first angle, so that the two first walking wheels are hung on the overhead line for walking; when walking to the position where the cable is to be covered, the lifting mechanism lifts the support frame to the second height, and the angle between the two swing frames is rotated to the second angle, so that the two second walking wheels are hung on the overhead line, and at this time, the pressing plate cooperates with the forming mechanism to achieve the covering of the insulation skin, the first height is smaller than the second height, and the first angle is larger than the second angle.

2. The cable wrapping robot according to claim 1, characterized in that: The two first running wheels are in the two swing frames, one of the first running wheels is arranged at one end of one of the swing frames, and the other first running wheel is arranged at the other end of the other swing frame.

3. The cable wrapping robot according to claim 2, characterized in that: The first running wheel has an annular groove on its wheel surface, and the wheel diameter of the first running wheel at a side close to the swing frame in the axial direction is smaller than the wheel diameter at a side away from the swing frame.

4. The cable wrapping robot according to claim 1, characterized in that: The two swing frames are also meshedly connected with the support frame through gears to achieve synchronous rotation.

5. The cable wrapping robot according to claim 1, characterized in that: The lifting mechanism comprises a winch, an insulating rope wound on the winch, a spring seat for the insulating rope to pass through, and a cover body movably connected to the spring seat; The cover body is provided with an elastic tube, one end of which is connected to the middle of the cover body, and the other end is connected to the side of the cover body to form a closed ring structure. The insulating rope passes through one end of the elastic tube to the other end and is fixed on the cover body.

6. The cable wrapping robot according to claim 5, characterized in that: When the first running wheel or the second running wheel is hung on the overhead line, the annular structure formed by the elastic tube is arranged around the overhead line.

7. The cable wrapping robot according to claim 1, characterized in that: The forming mechanism comprises a tugboat and forming plates arranged on both sides of the tugboat, the tugboat is provided with an annular forming groove, and the forming plate is provided with a bracket corresponding to the annular forming groove.

8. The cable wrapping robot according to claim 7, characterized in that: The wheel surface of the second running wheel is in a quarter-circle structure, and when the angle between the two swing frames rotates to a second angle, the two opposite second running wheels are assembled into a semicircular structure with the opening facing downward.

9. The cable wrapping robot according to claim 7, characterized in that: When the included angle of the two swing frames is rotated to a second angle, the two pressing plates are parallel and the two opposite ends are partially overlapped to overlap and seal the two sides of the insulating skin.

10. A wrapping method for a cable wrapping robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: Hanging the lifting mechanism on the overhead line, and driving the lifting mechanism to lift the support frame to a first height; The swing mechanism is driven to rotate the included angle of the two swing frames to a first angle, at which time the two first running wheels are hung on the overhead wire; Drive the first traveling wheel to travel on the overhead line to a set covering starting point position; Continue to drive the lifting mechanism so that the overhead cable falls into the forming mechanism, on which the insulation skin is pre-laid; Continue to drive the swing mechanism to rotate the included angle of the two swing frames to a second angle. At this time, the two second running wheels are hung on the overhead line, and the two pressing plates are pressed on the forming mechanism to achieve the insulation covering the cable, and the two sides of the insulation are overlapped and bonded; The second traveling wheel is driven to move to realize the insulation covering operation of the overhead line.

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