A wire hanging device from a self-winding and a flaw detection robot

Abstract

The application discloses a self-winding hanging line device and a flaw detection robot thereof, which comprises a rack and a lifting rope, first winding mechanisms and second winding mechanisms are arranged on the two sides of the rack respectively, lifting mechanisms are arranged on the two sides of the rack respectively, liftable line holders are arranged on the lifting mechanisms, the line holders can be extended upwards to the rack, rope penetrating holes are arranged on the top of the line holders, one end of the lifting rope is arranged in the first winding mechanism, the other end of the lifting rope is sequentially arranged through the two rope penetrating holes and in the second winding mechanism, the first winding mechanism and the second winding mechanism are used for performing unwinding or winding actions on the lifting rope or driving the self-winding hanging line device to climb along the lifting rope, after the hanging action is completed, the line holder is lifted through the lifting mechanism, the line holder holds the lifting rope upward to separate from the cable line, the working robot avoids dragging the lifting rope when walking, the lifting rope is always suspended above the cable line, the safety of the robot walking is ensured, and the lifting rope is prevented from being wound into the robot.

Description

Technical Field

[0001] This invention relates to the field of high-voltage cable maintenance technology, and in particular to a self-winding cable hanging device and its flaw detection robot. Background Technology

[0002] Currently, the maintenance of high-voltage cables has begun to use automated robots to replace manual labor. Existing automated robots, such as coating robots and flaw detection robots, usually need to use a hanger in conjunction with a crane or drone to complete the hanging action. However, since the hanger is suspended on the cable, when the robot is working and walking along the cable, the hanging rope is easily caught in the robot when dragging the hanger, which can cause damage to the robot.

[0003] It is evident that existing technologies still need improvement and enhancement. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a self-winding cable hanging device, which does not require the aid of a hanging device when hanging the cable, and allows the hanging rope to be suspended on the cable when the robot moves, thus preventing the hanging rope from getting into the robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A self-winding wire-hanging device includes a frame and a suspension rope. A first winch mechanism and a second winch mechanism are respectively arranged on both sides of the frame. A lifting mechanism is also arranged on both sides of the frame. A liftable wire-lifting frame is provided on the lifting mechanism. The wire-lifting frame can extend upwards from the frame. A rope-passing hole is provided at the top of the wire-lifting frame. One end of the suspension rope is wound around the first winch mechanism, and the other end of the suspension rope passes through the two rope-passing holes in sequence and is wound around the second winch mechanism. Both the first winch mechanism and the second winch mechanism are used to unwind or wind up the suspension rope or to drive the self-winding wire-hanging device to climb along the suspension rope.

[0007] In the self-winding wire-hanging device, the first winch mechanism and the second winch mechanism have the same structure. The first winch mechanism includes a mounting plate, a winch reel, and a winch cover. The mounting plate is connected to the frame. The winch reel is disposed on one side of the mounting plate. A winch motor that is drivenly connected to the winch reel is disposed on the other side of the mounting plate. The winch cover is disposed over the winch reel. The top of the winch cover is respectively provided with a wire inlet and a wire outlet. The hoisting rope enters the winch cover from the wire inlet, winds around the winch reel, and then exits from the wire outlet.

[0008] In the self-winding cable hanging device, a rope separating block is provided between the cable inlet and the cable outlet, and the winch cover is detachably connected to the rope separating block; the rope separating block is used to separate the cable inlet end and the cable outlet end.

[0009] In the self-winding wire hanging device, a guide bucket is provided on the mounting plate. The guide bucket is located above the wire inlet and the wire outlet. A wire splitter is provided at the bottom of the guide bucket, and the guide bucket is rotatably connected to the wire splitter. Wire grooves are provided on both sides of the wire splitter. The two wire grooves are located above the wire inlet and the wire outlet, respectively, and a guide wheel is provided on one side of the wire groove.

[0010] In the self-winding wire hanging device, wire outlet seats are respectively provided on both sides of the frame and above the guide bucket. The wire outlet seats are provided with wire outlet grooves, and wire outlet rollers are respectively provided on both sides of the wire outlet grooves.

[0011] In the self-winding cable hanging device, a guide groove is provided inside the guide hopper, the opening of the guide groove gradually narrows towards the cable outlet seat, and the guide hopper is connected to the cable distributor seat through a pin assembly.

[0012] In the self-winding wire-hanging device, the lifting mechanism includes a lifting rail, an upper fixed frame, a lower fixed frame, and a lifting motor. The upper and lower ends of the lifting rail are connected to the frame through the upper fixed frame and the lower fixed frame, respectively. The lifting motor is located on one side of the lower fixed frame. A drive wheel assembly is provided on the lower fixed frame and is driven by the lifting motor. A driven wheel assembly is provided on the upper fixed frame and is driven by the drive wheel assembly through a synchronous belt. The wire-lifting frame is slidably connected to the lifting rail and is connected to the synchronous belt.

[0013] In the self-winding wire-hanging device, the wire-lifting frame includes a wire-lifting rod, which is slidably connected to the lifting rail. A wire-lifting ring is provided at the top of the wire-lifting rod, and a rope-threading hole is located on the wire-lifting ring. A belt clamp is provided at the bottom of the wire-lifting rod, and a pressure groove for clamping the timing belt is provided on the belt clamp.

[0014] In the self-winding cable hanging device, the frame includes two opposing equalizing ring frames. The tops of the two equalizing ring frames are connected by a set of upper crossbeams, and the bottoms of the two equalizing ring frames are connected by a base frame. The upper crossbeams and the base frame are connected by at least one column. The first winch mechanism and the second winch mechanism are respectively mounted on the base frame. The two ends of the lifting mechanism are respectively connected to the base frame and the equalizing ring frames. The cable outlet is mounted between the two upper crossbeams, and the cable distributor is mounted on the column.

[0015] This application also provides a flaw detection robot, including the self-winding wire hanging device as described above.

[0016] Beneficial effects:

[0017] This invention provides a self-winding cable hanging device. The device operates in two states during the hanging process. First, the hoisting rope is laid across the cable. Then, a first and a second hoisting mechanism winds up both ends of the rope, bringing the self-winding cable hanging device closer to the cable. During the upward movement, the lifting frame presses down on the rope via a lifting mechanism. Specifically, the lifting mechanism controls the downward movement of the lifting frame, allowing it to press against the rope body through the rope hole. This ensures the self-winding cable hanging device hangs smoothly during the hanging process. It is more stable, avoiding the problem of the hoisting rope swaying or vibrating during the hoisting process; after the hoisting action is completed, the lifting mechanism raises the lifting frame, so that the lifting frame lifts the hoisting rope upward through the rope hole, so that the hoisting rope is separated from the cable. This ensures that the hoisting rope will not be dragged by the working robot when it walks on the cable, and the hoisting rope will always be suspended above the cable, ensuring the safety of the working robot and preventing the hoisting rope from getting into the working robot. In addition, raising the hoisting rope also makes it easier for the working robot to cross the anti-vibration hammer when walking. Attached Figure Description

[0018] Figure 1 A schematic diagram of the overall structure of the self-winding wire-hanging device provided by the present invention;

[0019] Figure 2 A schematic diagram of the internal structure of the self-winding wire-hanging device provided by the present invention;

[0020] Figure 3 for Figure 2 Enlarged view of region A in the middle;

[0021] Figure 4 for Figure 2 Enlarged view of region B in the middle;

[0022] Figure 5 This is a schematic diagram of the overall structure of the flaw detection robot provided by the present invention.

[0023] Key component symbols: 1-Frame, 11-Equalizing ring frame, 12-Upper crossbeam, 13-Bottom frame, 14-Column, 2-First hoisting mechanism, 21-Mounting plate, 22-Hoisting disc, 23-Hoisting cover, 24-Hoisting motor, 25-Line inlet, 26-Line outlet, 27-Rope divider, 28-Clamping block, 29-Snap fastener, 3-Second hoisting mechanism, 4-Lifting mechanism, 41-Lifting rail, 42-Upper fixed frame, 43-Lower fixed frame Frame, 44-Lifting motor, 421-Driven wheel assembly, 431-Driven wheel assembly, 5-Wire lifting frame, 51-Wire lifting rod, 52-Wire lifting ring, 53-Clip clamp, 54-Pressure groove, 55-Rope threading hole, 6-Guide bucket, 61-Pin assembly, 7-Wire divider, 71-Wire guide groove, 72-Guide wheel, 8-Wire outlet seat, 81-Wire outlet clamp groove, 82-Wire outlet roller, 101-Walking module, 102-Flaw detection module, 103-Imaging module. Detailed Implementation

[0024] This invention provides a self-winding wire-hanging device and its flaw detection robot. To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0025] In the description of this invention, it should be understood that the terms "middle," "inner side," "outer side," etc., indicate the orientation or positional relationship of this invention based on the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features.

[0026] Please refer to Figure 1 to... Figure 5 This invention provides a self-winding cable-hanging device, comprising a frame 1 and a suspension rope (not shown in the figure). A first winch mechanism 2 and a second winch mechanism 3 are respectively provided on both sides of the frame 1. A lifting mechanism 4 is also provided on both sides of the frame 1. A liftable cable-lifting frame 5 is provided on the lifting mechanism 4. The cable-lifting frame 5 can extend upwards from the frame 1. A rope-passing hole 55 is provided at the top of the cable-lifting frame 5. One end of the suspension rope is wound around the first winch mechanism 2, and the other end of the suspension rope passes through the two rope-passing holes 55 in sequence and is wound around the second winch mechanism 3. Both the first winch mechanism 2 and the second winch mechanism 3 are used to unwind or rewind the suspension rope or to drive the self-winding cable-hanging device to climb along the suspension rope.

[0027] In practical use, this application requires the use of a work robot. Workers use a drone to directly suspend the rope onto the cable. At this point, the rope spans the cable with both ends hanging to the ground. Workers attach both ends of the rope to the self-winding cable-hanging device, first passing the rope end through the rope hole 55 of the lifting frame 5, and then winding the rope end around the first winch mechanism 2 or the second winch mechanism 3, thus completing the pre-installation. During the hanging operation, the first winch mechanism 2 and the second winch mechanism 3, either separately or simultaneously, wind the rope, bringing the self-winding cable-hanging device closer to the cable. During the upward movement of the self-winding cable-hanging device, the lifting frame 5 presses down on the rope through the lifting mechanism 4, i.e., the lifting... The lowering mechanism 4 controls the lifting frame 5 to move downwards, so that the lifting frame 5 uses the rope hole 55 to press against the rope body, thereby making the self-winding lifting device more stable during lifting and avoiding the problem of the rope swaying or vibrating during lifting. After the working robot completes the lifting action, the lifting mechanism 4 raises the lifting frame 5, so that the lifting frame 5 uses the rope hole 55 to lift the rope upwards, so that the rope is far away from the cable and the two are separated. This prevents the rope from being dragged by the working robot when it walks on the cable and keeps the rope suspended above the cable, ensuring the safety of the working robot and preventing the rope from getting caught in the working robot. In addition, raising the rope upwards also makes it easier for the working robot to cross the anti-vibration hammer when walking.

[0028] like Figures 1 to 5 As shown, the first hoisting mechanism 2 and the second hoisting mechanism 3 have the same structure. The first hoisting mechanism 2 includes a mounting plate 21, a hoisting disc 22, and a hoisting cover 23. The mounting plate 21 is connected to the frame 1. The hoisting disc 22 is disposed on one side of the mounting plate 21. A hoisting motor 24, which is drivenly connected to the hoisting disc 22, is disposed on the other side of the mounting plate 21. The hoisting cover 23 covers the hoisting disc 22. The top of the hoisting cover 23 is provided with an inlet 25 and an outlet 26. The hoisting rope enters the hoisting cover 23 from the inlet 25 and winds around... The winch reel 22 extends out from the outlet 26. During operation, the hoisting rope enters the winch reel 22 through the inlet 25, wraps around the winch reel 22 once, and then exits from the outlet 26. The winch motor 24 drives the winch reel 22 to rotate, causing the winch reel 22 to move up and down along the rope. The hoisting rope remains hanging down during the lifting and lowering process and does not need to be wound up in the first winch mechanism 2 and the second winch mechanism 3. This avoids the problem of rope tangling between the hoisting rope and the first winch mechanism 2 and the second winch mechanism 3, thereby improving the stability of the first winch mechanism 2 and the second winch mechanism 3 during winding.

[0029] like Figures 1 to 5As shown, a rope dividing block 27 is further provided between the inlet 25 and the outlet 26, and the winch cover 23 is detachably connected to the rope dividing block 27; the rope dividing block 27 is used to separate the inlet end and the outlet end of the hoisting rope; by setting the rope dividing block 27 to separate the hoisting rope body at the inlet 25 and the outlet 26, the problem of friction or entanglement of the rope body at both ends during the hoisting process is avoided, thereby improving the stability of the first hoisting mechanism 2 and the second hoisting mechanism 3 during hoisting; in addition, setting the winch cover 23 and the rope dividing block 27 as a detachable structure makes it convenient for operators to install and disassemble the hoisting rope.

[0030] In this embodiment, the rope dividing block 27 is triangular in shape, and the two hypotenuses of the triangle guide the ropes at both ends to prevent friction or entanglement between the ropes.

[0031] In another embodiment, the rope dividing block 27 is provided with a locking block 28, one end of the winch cover 23 is hinged to the mounting plate 21, and the other end of the winch cover 23 is provided with a buckle 29 that cooperates with the locking block 28; the opening and closing action of the winch cover 23 is realized by the buckle 29 cooperating with the locking block 28, so that the operator can quickly install and remove the winch cover 23.

[0032] like Figures 1 to 5 As shown, further, a guide bucket 6 is provided on the mounting plate 21. The guide bucket 6 is located above the inlet 25 and the outlet 26. A wire splitter 7 is provided at the bottom of the guide bucket 6, and the guide bucket 6 is rotatably connected to the wire splitter 7. Wire grooves 71 are provided on both sides of the wire splitter 7, and the two wire grooves 71 are located above the inlet 25 and the outlet 26, respectively. A guide wheel 72 is provided on one side of each wire groove 71. In use, one end of the hoisting rope enters the first hoisting mechanism 2 along the guide bucket 6. Alternatively, with the second hoisting mechanism 3, the hoisting rope first enters the inlet 25 through any of the wire grooves 71 of the wire distributor 7, then winds around once in the first hoisting mechanism 2 or the second hoisting mechanism 3, and then exits sequentially from the outlet 26 and another wire groove 71, thus completing the entire rope winding action. The guide bucket 6, in conjunction with the wire distributor 7, makes the first hoisting mechanism 2 and the second hoisting mechanism 3 more stable during winding, avoiding the problem of the hoisting ropes getting tangled or rubbing against each other. In addition, the rope body is guided and slid through the guide wheel 72 in the wire groove 71, improving the smoothness of the hoisting.

[0033] like Figures 1 to 5As shown, further, cable outlet seats 8 are respectively provided on both sides of the frame 1 and above the guide bucket 6. Cable outlet seats 8 are provided with cable outlet clamping grooves 81, and cable outlet rollers 82 are respectively provided on both sides of the cable outlet clamping grooves 81. The two cable outlet rollers 82 clamp the lifting rope in the cable outlet clamping grooves 81, so that the two ends of the lifting rope are limited by the two cable outlet seats 8, avoiding the problem of the lifting rope swaying or vibrating when the self-winding cable hanging device is hanging, and improving the stability of the self-winding cable hanging device when hanging. In addition, the cable outlet rollers 82 make the sliding movement between the lifting rope and the cable outlet seat 8 smoother.

[0034] It should be noted that the cable exit roller 82 and the cable exit seat 8 are rotatably connected by a rotating shaft.

[0035] like Figures 1 to 5 As shown, the guide bucket 6 is further provided with a guide groove (not shown in the figure). The opening of the guide groove gradually narrows towards the cable outlet seat 8, and the guide bucket 6 is connected to the cable distributor seat 7 through a pin assembly 61. By setting the guide bucket 6 to a gradually narrowing shape, the displacement of the hoisting rope in the guide groove is limited, preventing large-scale swaying between the hoisting rope and the self-winding cable hanging device, thus improving the stability of the self-winding cable hanging device during climbing. In addition, the guide bucket 6 and the cable distributor seat 7 are rotatably connected by the pin assembly 61, so that the guide bucket 6 can adaptively adjust the cable outlet angle when pressed by the hoisting rope, avoiding hard contact between the guide bucket 6 and the hoisting rope.

[0036] It should be noted that the pin assembly 61 is a connection structure consisting of a pin and a torsion spring, which uses the counter-coiling torque of the torsion spring to counteract the pressure of the lifting rope on the guide bucket 6.

[0037] like Figures 1 to 5As shown, the lifting mechanism 4 further includes a lifting rail 41, an upper fixed frame 42, a lower fixed frame 43, and a lifting motor 44. The upper and lower ends of the lifting rail 41 are connected to the frame 1 through the upper fixed frame 42 and the lower fixed frame 43, respectively. The lifting motor 44 is located on one side of the lower fixed frame 43. A drive wheel set 431 is provided on the lower fixed frame 43, and the drive wheel set 431 is drivenly connected to the lifting motor 44. A driven wheel set 421 is provided on the upper fixed frame 42, and the driven wheel set 421 is connected to the drive wheel set 43 through a synchronous belt (not shown in the figure). 1. Transmission connection; The lifting frame 5 is slidably connected to the lifting rail 41, and the lifting frame 5 is connected to the synchronous belt; During operation, the lifting motor 44 drives the synchronous belt to perform low-speed transmission between the upper fixed frame 42 and the lower fixed frame 43. The lifting action of the lifting frame 5 is realized by controlling different transmission directions. For example, when the synchronous belt rotates clockwise, it drives the lifting frame 5 to rise along the length direction of the lifting rail 41, and vice versa, it lowers along the length direction of the lifting rail 41. This adjusts the tension between the lifting frame 5 and the hoisting rope, so that the lifting frame 5 can switch between lifting the hoisting rope or pressing against the hoisting rope.

[0038] It should be noted that the driving pulley set 431 and the driven pulley set 421 are composed of at least one driving pulley, and the transmission direction of the synchronous belt is consistent with the length direction of the lifting track. The synchronous belt only needs to be tensioned between the driving pulley set 431 and the driven pulley set 421.

[0039] like Figures 1 to 5 As shown, the lifting frame 5 further includes a lifting rod 51, which is slidably connected to the lifting track 41. A lifting ring 52 is provided at the top of the lifting rod 51, and a rope threading hole 55 is located on the lifting ring 52. A clamp 53 is provided at the bottom of the lifting rod 51, and a pressure groove 54 for clamping the timing belt is provided on the clamp 53. During operation, the timing belt drives the lifting rod 51 to move along the length direction of the lifting track 41 through the clamp 53, thereby realizing the lifting ring 52 lifting or pressing action on the suspension rope.

[0040] In this embodiment, the belt clamp 53 includes a clamp base and a clamping plate, and the pressure groove 54 is located between the clamp base and the clamping plate; the belt body of the timing belt is at least partially clamped in the pressure groove 54, and then the timing belt is fixed between the clamp base and the clamping plate by a bolt assembly, thereby completing the fixed connection between the belt clamp 53 and the timing belt.

[0041] like Figures 1 to 5As shown, the frame 1 further includes two opposing equalizing ring frames 11. The tops of the two equalizing ring frames 11 are connected by a set of upper crossbeams 12, and the bottoms of the two equalizing ring frames 11 are connected by a bottom frame 13. The upper crossbeams 12 and the bottom frame 13 are connected by at least one column 14. The first hoisting mechanism 2 and the second hoisting mechanism 3 are respectively disposed on the bottom frame 13. The two ends of the lifting mechanism 4 are respectively connected to the bottom frame 13 and the equalizing ring frame 11. The outlet seat 8 is disposed between the two upper crossbeams 12, and the branch seat 7 is disposed on the column 14. The equalizing ring frames 11, together with the upper crossbeams 12 and the bottom frame 13, form a closed loop in the frame 1, that is, the overall structure of the frame 1 forms an equalizing ring structure, thereby enabling the frame 1 to achieve the function of equalizing voltage, preventing sudden voltage changes on the high-voltage tower from causing serious electromagnetic interference to this self-hoisting wire-hanging device, and improving the stability of this self-hoisting wire-hanging device during use.

[0042] like Figure 5 As shown, this application also provides a flaw detection robot, including the self-winding cable hanging device as described above, and further including a walking module 101, a flaw detection module 102 and an imaging module 103; the walking module 101 is used to realize the cable hanging action and walking action, and the flaw detection module 102 and the imaging module 103 are both used to perform flaw detection on the cable.

[0043] In summary, this invention has two working states during the entire hanging process. When hanging, the hoisting rope is first laid across the cable, and the first winch mechanism 2 and the second winch mechanism 3 wind up both ends of the rope to bring the self-winding hoisting device closer to the cable. During the upward movement of the self-winding hoisting device, the lifting frame 5 presses down on the hoisting rope through the lifting mechanism 4. That is, the lifting mechanism 4 controls the lifting frame 5 to move downward, so that the lifting frame 5 uses the rope hole 55 to press against the rope body, thereby making the self-winding hoisting device more stable during hanging. This prevents the hoisting rope from swaying or vibrating during the hoisting process. After the hoisting is completed, the lifting mechanism 4 raises the lifting frame 5, allowing the lifting frame 5 to lift the hoisting rope upwards through the rope hole 55. This separates the hoisting rope from the cable, ensuring that the hoisting rope is not dragged by the robot when it walks on the cable and that the hoisting rope remains suspended above the cable, thus ensuring the safety of the robot's movement and preventing the hoisting rope from getting caught in the robot. In addition, raising the hoisting rope also makes it easier for the robot to pass over the anti-vibration hammer when it moves.

[0044] It is understood that those skilled in the art can make equivalent substitutions or modifications to the technical solution and inventive concept of the present invention, and all such substitutions or modifications should fall within the protection scope of the appended claims.

Claims

1. A self-winding hoisting wire hanging device, characterized in that, The device includes a frame and a hoisting rope. A first winch mechanism and a second winch mechanism are respectively installed on both sides of the frame. A lifting mechanism is also installed on both sides of the frame. A liftable cable-holding frame is installed on the lifting mechanism and can extend upwards from the frame. A rope-passing hole is provided at the top of the cable-holding frame. One end of the hoisting rope is wound around the first winch mechanism, and the other end of the hoisting rope passes through the two rope-passing holes and is wound around the second winch mechanism. Both the first and second winch mechanisms are used to unwind or wind the hoisting rope or to drive the self-winding cable-hanging device to climb along the hoisting rope. The lifting mechanism is used to drive the cable-holding frame downwards during the hanging action, allowing the cable-holding frame to press against the rope body using the rope-passing hole, and to drive the cable-holding frame upwards after the hanging action is completed, allowing the cable-holding frame to lift the hoisting rope upwards using the rope-passing hole, so that the hoisting rope is suspended above the cable.

2. The self-winding hoisting wire-hanging device according to claim 1, characterized in that, The first winch mechanism and the second winch mechanism have the same structure. The first winch mechanism includes a mounting plate, a winch disc, and a winch cover. The mounting plate is connected to the frame. The winch disc is disposed on one side of the mounting plate. A winch motor that is drivenly connected to the winch disc is disposed on the other side of the mounting plate. The winch cover is disposed over the winch disc. The top of the winch cover is respectively provided with an inlet and an outlet. The hoisting rope enters the winch cover from the inlet, winds around the winch disc, and exits from the outlet.

3. The self-winding hoisting wire-hanging device according to claim 2, characterized in that, A rope dividing block is provided between the inlet and the outlet, and the winch cover is detachably connected to the rope dividing block; the rope dividing block is used to separate the inlet end and the outlet end of the hoisting rope.

4. The self-winding hoisting wire-hanging device according to claim 2, characterized in that, The mounting plate is provided with a guide bucket, which is located above the inlet and outlet of the cable. A cable splitter is provided at the bottom of the guide bucket, and the guide bucket is rotatably connected to the cable splitter. A wire groove is provided on both sides of the cable splitter, and the two wire grooves are located above the inlet and outlet of the cable, respectively. A guide wheel is provided on one side of the wire groove.

5. A self-winding hoisting wire-hanging device according to claim 4, characterized in that, On both sides of the frame and above the guide bucket, there are cable outlet seats, each with a cable outlet groove, and on both sides of the cable outlet groove, there are cable outlet rollers.

6. The self-winding hoisting wire-hanging device according to claim 5, characterized in that, The guide hopper is provided with a guide groove, the opening of which gradually narrows toward the cable outlet, and the guide hopper is connected to the cable outlet via a pin assembly.

7. The self-winding hoisting wire-hanging device according to claim 1, characterized in that, The lifting mechanism includes a lifting rail, an upper fixed frame, a lower fixed frame, and a lifting motor. The upper and lower ends of the lifting rail are connected to the frame via the upper and lower fixed frames, respectively. The lifting motor is located on one side of the lower fixed frame. A drive wheel assembly is mounted on the lower fixed frame and is driven by the lifting motor. A driven wheel assembly is mounted on the upper fixed frame and is driven by the drive wheel assembly via a synchronous belt. The lifting frame is slidably connected to the lifting rail and is also connected to the synchronous belt.

8. A self-winding wire-hanging device according to claim 7, characterized in that, The lifting frame includes a lifting rod, which is slidably connected to the lifting rail. A lifting ring is provided at the top of the lifting rod, and a rope threading hole is located on the lifting ring. A belt clamp is provided at the bottom of the lifting rod, and the belt clamp is provided with a pressure groove for clamping the timing belt.

9. A self-winding hoisting wire-hanging device according to claim 5, characterized in that, The frame includes two opposing equalizing ring frames, the tops of which are connected by a set of upper crossbeams, and the bottoms of which are connected by a base frame. The upper crossbeams and the base frame are connected by at least one column. The first hoisting mechanism and the second hoisting mechanism are respectively mounted on the base frame. The two ends of the lifting mechanism are respectively connected to the base frame and the equalizing ring frame. The cable outlet is mounted between the two upper crossbeams, and the cable distributor is mounted on the column.

10. A flaw detection robot, characterized in that, The flaw detection robot includes the self-winding wire-hanging device as described in any one of claims 1-9.

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