A robot for double-split conductors in power transmission lines and its loading and unloading method

Abstract

This application discloses a robot for double-split conductors of power transmission lines and its loading and unloading method, relating to the field of high-voltage power transmission line maintenance. It includes a drone, a robot body, and two sets of insulated hooks. The drone has a connecting base at its bottom, and the insulated hook sets are detachably connected to the connecting base. Each insulated hook set includes a connecting rod and two hooks, with an insulated rope below each hook. The robot body includes a frame, on which a rotatable winch and a lifting motor for driving its rotation are mounted. Four walking arms are rotatably connected to the frame, and a mounting assembly for driving the walking arms to rotate is also mounted on the frame. Self-powered walking wheels are rotatably connected to the walking arms. The loading and unloading method disclosed in this application includes steps such as rope attachment, lifting, mounting, walking, and unloading. Through the arrangement of the insulated hook sets, drone, winch, and walking arms, this application enables the robot body to quickly and stably rise to the conductor height via the insulated rope and complete the mounting.

Description

Technical Field

[0001] This application relates to the field of high-voltage transmission line maintenance technology, and in particular to a robot for double-split conductors of transmission lines and its loading and unloading methods. Background Technology

[0002] With the development of technology, many robots capable of inspecting and maintaining high-voltage power lines have emerged. For robots engaged in live-line work on high-voltage overhead transmission lines, the issues of loading, mounting, moving, working, and unloading the robots are unavoidable. To date, the loading and unloading of robots for live-line work on high-voltage overhead transmission lines is mainly done manually, with the robots being loaded onto the power lines and retrieved manually as well. Therefore, the loading and unloading mode of the robots remains the main challenge for power robot operations. Summary of the Invention

[0003] In order to efficiently and accurately complete the online and offline operations of the robot for live-line work on high-voltage overhead transmission lines, this application provides a robot for double-split conductors of transmission lines and its online and offline methods.

[0004] In a first aspect, this application provides a robot for double-split conductors of transmission lines, which adopts the following technical solution:

[0005] A robot for a double-split conductor of a power transmission line includes a robot body and two sets of insulating hooks; the sets of insulating hooks are mounted on the conductor by a drone, the drone has a connecting seat at its bottom, and the sets of insulating hooks are detachably connected to the connecting seat by a connecting component;

[0006] The insulating hook assembly includes a connecting rod and two hooks. The two hooks are arranged parallel to each other at both ends of the connecting rod. The connecting assembly is provided on the connecting rod. An insulating rope is provided below each of the two hooks.

[0007] The robot body includes a frame, on which four rotatable winches and a lifting motor for driving the winches are arranged in a square shape. The section of the insulating rope away from the hook is used to connect to the winches. Four walking arms are rotatably connected to the frame, and the rotation axis of the walking arms is set along the length of the conductor. The frame is also provided with a mounting assembly for driving the walking arms to rotate.

[0008] The traveling arm is rotatably connected to a traveling wheel, the axis of rotation of which is set along the horizontal direction of the vertical guide wire, and the traveling arm is also equipped with a direct drive motor for driving the traveling wheel to rotate.

[0009] By adopting the above technical solution, when the robot needs to be placed on the double-split conductor, the insulating hook group is first connected to the docking seat of the drone through the connecting component. After the drone transports the two insulating hook groups one by one to the guide, the connecting component is disconnected, thereby hanging the insulating hook group on the conductor. Then, the four insulating wires are connected to the four winches respectively. At this time, the four lifting motors are started simultaneously to drive the winches to wind up the insulating wires, thereby raising the robot body until it is close to the conductor. The four walking arms are driven outward by the mounting component, and then the lifting motors are started again to raise the robot body further until the walking wheels are higher than the conductor. Then, the walking arms are driven back to the center by the mounting component. Then, the winches release the insulating wires, so that all four walking wheels are hung on the conductor, thus completing the mounting of the robot. When it is necessary to retrieve the robot, the above steps are reversed to complete the retrieval, thereby achieving fast, accurate and stable loading and unloading of the robot.

[0010] Optionally, the connecting assembly includes a servo motor, a pin, and a crank. The pin is slidably connected to the connecting rod along its length. The crank includes two rotating rods rotatably connected to each other. One end of the crank is connected to the servo motor, and the other end is rotatably connected to the pin. The connecting rod has a through hole one along its length for the pin to slide into, and the connecting seat has a through hole two for the pin to slide into. The pin is simultaneously inserted into both through holes one and two to connect the insulating hook assembly to the UAV.

[0011] By adopting the above technical solution, the servo motor rotates, which drives the crank to rotate, thereby causing the pin to slide along the length of the connecting rod, so that the pin can automatically pass into or pass into through hole one and through hole two, thereby completing the connection and disconnection of the connecting component.

[0012] Optionally, the mounting assembly includes a swing arm and a sliding seat. The sliding seat is slidably connected to the frame along the width direction of the frame. One end of the swing arm is rotatably connected to the traveling arm, and the other end of the swing arm is rotatably connected to the sliding seat. The frame is also provided with a drive assembly for driving the sliding seat to slide.

[0013] By adopting the above technical solution, the sliding seat drives the rotation of the swing arm, thereby driving the rotation of the traveling arm.

[0014] Optionally, the drive assembly includes a mounting motor and a swivel arm screw. The swivel arm screw is rotatably connected to the frame, and the rotation axis of the swivel arm screw is set along the width direction of the frame. The mounting motor is used to drive the swivel arm screw to rotate, and the sliding seat is connected to the swivel arm screw through a screw nut.

[0015] By adopting the above technical solution, the mounted motor drives the rotating arm screw to rotate, and the rotation of the rotating arm screw causes the sliding seat to slide.

[0016] Optionally, the frame is further provided with a hook-removing assembly for attaching or detaching the insulating hook assembly from the wire; the traveling arm includes a fixed end and a telescopic end, the telescopic end is slidably connected to the fixed end along the length direction of the fixed end, and the fixed end is further provided with a telescopic assembly for driving the telescopic end to slide.

[0017] The hook-retrieving assembly includes a swaying rod and a hook-retrieving device. The hook-retrieving device is a curved rod with an inflection point. One end of the swaying rod is rotatably connected to the fixed end near the frame, and the other end of the swaying rod is rotatably connected to the hook-retrieving device. The inflection point of the hook-retrieving device is rotatably connected to the telescopic end. The end of the hook-retrieving device away from the swaying rod has a through hole three for the pin to be inserted. The telescopic end slides to drive the through hole three to align with or deviate from the pin.

[0018] By adopting the above technical solution, after the walking wheel is attached to the wire, the sliding belt at the telescopic end is driven by the telescopic component to rotate the hook taker, so that the three through holes are aligned with the pin. Then, the servo motor drives the pin to insert into the three through holes, completing the connection between the insulated hook assembly and the hook taker. Then, the sliding of the telescopic end drives the rotation of the hook taker again, so that the insulated hook assembly is detached from the wire. Thus, when the robot walks on the wire, the insulated hook assembly will not rub against the wire, and will not interfere with the rotation of the walking wheel.

[0019] Optionally, the telescopic assembly includes a telescopic motor and a telescopic lead screw. The telescopic lead screw is rotatably connected to the fixed end, and the rotation axis of the telescopic lead screw is set along the length direction of the fixed end. The telescopic motor is used to drive the telescopic lead screw to rotate. The telescopic end is connected to the telescopic lead screw through a lead screw nut.

[0020] By adopting the above technical solution, the telescopic motor drives the telescopic lead screw to rotate, thereby causing the telescopic end to slide.

[0021] Optionally, an equipotential arm is rotatably connected to the frame, the rotation axis of the equipotential arm is set along the width direction of the frame, and the frame is also provided with an electric push rod for driving the equipotential arm to rotate to hold the wire.

[0022] By adopting the above technical solution, before the walking wheels are attached to the wire, the equipotential arm is rotated by the electric push rod to hold the wire, so that the entire robot is equipotentially connected to the wire, thereby protecting the normal operation of each electronic component in the robot.

[0023] Secondly, this application also provides a method for loading and unloading a robot for double-split conductors in transmission lines, employing the following technical solution:

[0024] A method for loading and unloading a robot on a double-split conductor of a power transmission line includes the following steps:

[0025] Step 1: Attach the rope. Connect the insulating hook assembly to the drone via the connecting component, and then use the drone to attach the insulating hook assembly to the double-split conductor.

[0026] Step 2: Lifting. The four insulating ropes are fixedly connected to the four winches respectively. The lifting motor drives the winches to rotate and wind up the insulating ropes. The robot body begins to move upward and stops when it approaches the wire.

[0027] Step 3: Mounting. The mounting assembly drives the four walking arms to rotate and tilt outwards. Then, the winch rotates to lift the robot body until the walking wheels are above the conductor wire. The walking arms are then straightened. The winch rotates to loosen the insulating rope, allowing the walking wheels to be mounted on the conductor wire.

[0028] Step 4: Walking. The direct drive motor drives the walking wheels to rotate, thereby moving the robot body along the guide wire.

[0029] Step 5: Descend the wire. Drive the winch to rotate and wind up the insulating rope to detach the walking wheels from the wire. Drive the four walking arms outward through the mounting assembly. Then, rotate the winch to loosen the insulating rope so that the robot body can be removed from the wire.

[0030] By adopting the above technical solution, the process of the wire-laying robot going up and down the line can be completed accurately and quickly.

[0031] In summary, this application includes the following beneficial technical effects:

[0032] 1. This application enables the robot body to quickly and stably rise to the height of the conductor and complete the mounting by setting up an insulated hook assembly, a drone, a winch and a walking arm;

[0033] 2. By setting up the hook-removing component, this application enables the insulated hook assembly to detach from the wire after the walking arm is attached to the wire. This prevents the hook from abrading the wire when the robot moves along the wire and also avoids the insulated hook assembly from obstructing the movement of the walking wheels. At the same time, when the robot needs to be retrieved, the insulated hook assembly can be reattached to the wire for easy retrieval. Attached Figure Description

[0034] Figure 1This is a partial structural diagram of the UAV and insulation hook assembly in a robot for double-split conductors of power transmission lines according to this application;

[0035] Figure 2 yes Figure 1 A magnified view of part A in the middle;

[0036] Figure 3 This is a partial structural diagram of the main body of a robot used in a double-split conductor robot for power transmission lines.

[0037] Figure 4 yes Figure 3 Partial structural diagram of the mounted components;

[0038] Figure 5 This is a partial structural diagram of the walking arm and insulating hook assembly in a robot for double-split conductors of power transmission lines.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1. Unmanned Aerial Vehicle (UAV); 11. Connecting Seat; 2. Insulated Hook Assembly; 21. Connecting Rod; 22. Hook Body; 23. Servo Motor; 24. Curved Rod; 241. Rotating Rod; 25. Pin Rod; 26. Insulated Rope; 3. Robot Body; 31. Frame; 32. Walking Arm; 321. Walking Wheel; 322. Direct Drive Motor; 323. Fixed End; 324. Telescopic End; 33. Winch; 331. Lifting Motor; 34. Guide Frame; 41. Swing Rod; 42. Sliding Seat; 43. Mounting Motor; 44. Rotating Arm Lead Screw; 51. Shaking Rod; 52. Hook Retriever; 53. Telescopic Motor; 54. Telescopic Lead Screw; 61. Equipotential Arm; 62. Electric Push Rod. Detailed Implementation

[0041] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0042] This application discloses a robot for double-split conductors in power transmission lines, referring to... Figure 1 and Figure 3 The robot includes a robot body 3 and two insulating hook groups 2. The insulating hook groups 2 are mounted on the wire by a drone 1. The drone 1 has a connecting seat 11 at its bottom. Both insulating hook groups 2 are detachably connected to the connecting seat 11 by a connecting component. The insulating hook group 2 includes a connecting rod 21 and two hooks 22. The hooks 22 are arranged parallel to each other at both ends of the connecting rod 21. The connecting component is arranged on the connecting rod 21. An insulating rope 26 is provided at the lower end of the hook 22.

[0043] The robot body 3 includes a frame 31. Four rotatable winches 33 are arranged in a square at the four corners of the frame 31, and each winch 33 is equipped with a lifting motor 331 for driving its own rotation. Four walking arms 32 are rotatably connected to the frame 31. The rotation axis of the walking arms 32 is set along the length of the guide wire. The frame 31 is also equipped with a mounting assembly for driving the rotation of the walking arms 32. A walking wheel 321 is rotatably connected to the end of the walking arm 32 away from the frame 31. The walking wheel 321 is located on the side of the walking arm 32 closer to the frame 31, and its rotation axis is perpendicular to the length direction of the walking arm 32. A direct drive motor for driving the rotation of the walking wheel 321 is also provided on the walking arm 32.

[0044] When the robot is operating online, first connect one insulating hook group 2 to the connecting seat 11 of the drone 1. After the drone 1 carries the insulating hook group 2 to the height of the conductor, disconnect the connecting component so that the insulating hook group 2 is attached to the conductor. The other insulating hook group 2 is attached to the conductor in the same way. Then connect the insulating rope 26 of the same insulating hook group 2 to two winches 33 located on the same side. Drive the winches 33 to rotate through the lifting motor 331 to wind up the insulating rope 26, thereby lifting the frame 31. When the frame 31 is close to the conductor, drive the four walking arms 32 to rotate through the mounting component, so that they turn outward away from the frame 31 to avoid interference with the conductor during subsequent lifting. Then start the lifting motor 331 again to further raise the height of the frame 31. After the walking wheels 321 are higher than the conductor, drive the walking arms 32 to return to the vertical position through the mounting component. Then the winch 33 reverses to loosen the insulating rope 26, so that all four walking wheels 321 are attached to the conductor.

[0045] To ensure the stability of the robot body 3 during its ascent, a guide frame 34 is provided on the frame 31. The insulating rope 26 passes through the guide frame 34 and is connected to the winch 33. This also makes the winch 33 winding and unwinding the insulating rope 26 more smoothly. Considering the high voltage on the double-branched conductor, an equipotential arm 61 is rotatably connected to the frame 31. The rotation axis of the equipotential arm 61 is set along the width direction of the frame 31. The frame 31 is also provided with an electric push rod 62 for driving the rotation of the equipotential arm 61. The two ends of the electric push rod 62 are rotatably connected to the frame 31 and the equipotential arm 61, respectively. When the frame 31 is close to the conductor and the walking wheel 321 is not mounted on the conductor, the electric push rod 62 drives the equipotential arm 61 to rotate, so that the equipotential arm 61 clamps the conductor, thereby enabling the robot to complete the equipotential connection.

[0046] Reference Figure 1 and Figure 2In this embodiment, the connecting assembly includes a servo motor 23, a pin 25, and a crank 24. The pin 25 is slidably connected to the connecting rod 21 along its length. The crank 24 includes two rotating rods 241 that are rotatably connected to each other. One end of the crank 24 is connected to the output shaft of the servo motor 23, and the other end of the crank 24 is rotatably connected to the pin 25. The crank 24 rotates to drive the pin 25 to slide. At the same time, a through hole 1 is provided on the connecting rod 21 for the pin 25 to slide into, and a through hole 2 is provided on the connecting seat 11 for the pin 25 to slide into. When the insulating hook assembly 2 is connected to the connecting seat 11, the pin 25 is simultaneously inserted into both through holes 1 and 2. When the insulating hook assembly 2 needs to be disconnected from the connecting seat 11, the crank 24 is rotated by the servo motor 23, thereby causing the pin 25 to disengage from through holes 1 and 2.

[0047] Reference Figure 3 and Figure 4 In this embodiment, the mounting assembly includes a swing rod 41 and a sliding seat 42. A guide rail is provided on the frame 31 along its width direction, and the sliding seat 42 is slidably connected to the guide rail. One end of the swing rod 41 is rotatably connected to the traveling arm 32, and the other end of the swing rod 41 is rotatably connected to the sliding seat 42. At the same time, a mounting motor 43 and a rotating arm screw 44 are provided on the frame 31. The rotating arm screw 44 is rotatably connected to the frame 31, and the rotation axis of the rotating arm screw 44 is set along the width direction of the frame 31. The mounting motor 43 is used to drive the rotating arm screw 44 to rotate. The sliding seat 42 is connected to the rotating arm screw 44 through a screw nut. Therefore, the rotation of the rotating arm screw 44 drives the sliding seat 42 to slide, thereby driving the traveling arm 32 to rotate.

[0048] Reference Figure 4 and Figure 5 Considering that if the insulating hook group 2 is always attached to the wire when the robot body 3 walks on the wire, it will wear down the wire and interfere with the rotation of the walking wheel 321; therefore, a hook removal assembly for removing or attaching the insulating hook group 2 is also provided on the frame 31.

[0049] In this embodiment, the hook-retrieving assembly includes a swaying rod 51 and a hook-retrieving device 52, the hook-retrieving device 52 being a bent rod with an inflection point; simultaneously, the traveling arm 32 is telescopic, the traveling arm 32 including a fixed end 323 and a telescopic end 324; the fixed end 323 is rotatably connected to the frame 31, and the telescopic end 324 is slidably connected to the fixed end 323 along the length direction of the fixed end 323; the fixed end 323 is also provided with a telescopic motor 53 and a telescopic lead screw 54 for driving the telescopic end 324 to slide, the telescopic lead screw 54 is rotatably connected to the fixed end 323, and the rotation axis of the telescopic lead screw 54 is set along the length direction of the fixed end 323; the telescopic motor 53 is used to drive the telescopic lead screw 54 to rotate, and the telescopic end 324 is connected to the telescopic lead screw 54 through a lead screw nut.

[0050] One end of the swaying rod 51 is rotatably connected to the fixed end 323 near the frame 31, and the other end of the swaying rod 51 is rotatably connected to one end of the hook taker 52. The hook taker 52 is rotatably connected to the telescopic end 324 away from the frame 31 at its inflection point. The end of the hook taker 52 away from the swaying rod 51 has a through hole three for inserting the pin 25. When the traveling arm 32 extends and retracts via the telescopic motor 53 and the telescopic screw 54, it drives the hook taker 52 to rotate, thereby aligning or deviating the through hole three from the pin 25. When it is necessary to remove the insulating hook assembly 2, the traveling arm 32 is retracted, and after the through hole three is aligned with the pin 25, the servo motor 23 is driven to insert the pin 25 into the through hole three. Then, the traveling arm 32 is extended again to drive the hook taker 52 to rotate, thereby detaching the insulating hook assembly 2 from the wire. Similarly, when the robot needs to be unloaded, the above steps are reversed to reattach the insulating hook assembly 2 to the wire, allowing the robot to successfully complete the unloading operation.

[0051] It should be noted that since the hook-taking assembly is installed on the traveling arm 32, one of the two traveling arms 32 on the same side is located between the two winches 33, so the four traveling arms 32 are arranged in a parallelogram. Therefore, three mounting assemblies need to be configured on the frame 31. Among them, the rotating arm screw 44 in the middle mounting assembly is a bidirectional screw, and the two middle sliding seats 42 are connected to this bidirectional rotating arm screw 44 through screw nuts.

[0052] This application also provides a method for loading and unloading a robot on a double-split conductor of a power transmission line, which mainly includes the following steps:

[0053] Step 1: Attach the rope. Connect the insulating hook assembly 2 to the drone 1 via the connecting component. The drone 1 transports the insulating hook assembly 2 to the predetermined height. Then, activate the servo motor 23 to disengage the pin 25 from the connecting frame, thereby attaching the insulating hook assembly 2 to the wire. Similarly, attach the other insulating hook assembly 2 to the wire.

[0054] Step 2: Lifting. After passing the four insulating ropes 26 through the guide frame 34, connect them one by one to the four winches 33. Drive the winches 33 to wind up the insulating ropes 26 through the lifting motor 331, thereby lifting the robot body 3. Stop when the frame 31 is close to the wire.

[0055] Step 3: Connecting the wires. The electric push rod 62 drives the equipotential arm 61 to rotate, so that the equipotential arm 61 holds the wires.

[0056] Step 4: Mounting. The mounting motor 43 drives the boom screw 44 to rotate, thereby causing the sliding seat 42 to slide, so that the traveling arm 32 flips outward away from the frame 31. Then, the lifting motor 331 drives the winch 33 to wind up the insulating rope 26, so that the traveling wheel 321 is higher than the conductor. The mounting assembly drives the traveling arm 32 back to the center, and then the winch 33 releases the insulating rope 26, so that all the traveling wheels 321 are mounted on the conductor.

[0057] Step 5: Remove the hook. Control the extension and retraction of the traveling arm 32 through the telescopic assembly to make the hook remover 52 rotate so that the three through holes are aligned with the pin 25. Then, drive the pin 25 to slide and insert it into the three through holes through the servo motor 23. Then, drive the hook remover 52 to rotate again through the extension and retraction of the traveling arm 32, thereby removing the insulated hook assembly 2 from the wire.

[0058] Step Six: Walking. The walking wheels 321 are rotated by the direct drive motor, so that the robot walks on the guide wire.

[0059] Step 7: Unloading. The extension and retraction of the walking arm 32 is controlled by the telescopic component, causing the hook taker 52 to rotate and reattach the insulated hook assembly 2 to the conductor. Then, the connection between the hook taker 52 and the insulated hook assembly 2 is released by the servo motor 23. The winch 33 winds up the insulated rope 26, causing the walking wheel 321 to detach from the conductor. Then, the hanging component drives the walking arm 32 to flip outward. Finally, the winch 33 slowly releases the insulated rope 26, allowing the entire robot to be unloaded.

[0060] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robot for double-split conductors in power transmission lines, characterized in that: It includes a robot body (3) and two insulating hook groups (2); the insulating hook groups (2) are mounted on the wire by a drone (1), the drone (1) is provided with a connecting seat (11) at the bottom, and the insulating hook groups (2) are detachably connected to the connecting seat (11) by a connecting component; The insulating hook assembly (2) includes a connecting rod (21) and two hooks (22). The two hooks (22) are arranged in parallel at both ends of the connecting rod (21). The connecting assembly is provided on the connecting rod (21). An insulating rope (26) is provided below each of the two hooks (22). The robot body (3) includes a frame (31), on which four rotatable winches (33) and a lifting motor (331) for driving the winches (33) to rotate are arranged in a square shape. The end of the insulating rope (26) away from the hook (22) is used to connect to the winches (33). Four walking arms (32) are rotatably connected to the frame (31). The rotation axis of the walking arms (32) is set along the length of the conductor. The frame (31) is also provided with a mounting assembly for driving the walking arms (32) to rotate. The walking arm (32) is rotatably connected to a walking wheel (321), the axis of rotation of the walking wheel (321) is set along the direction perpendicular to the length of the walking arm (32), and the walking arm (32) is also provided with a direct drive motor for driving the walking wheel (321) to rotate. The connecting assembly includes a servo motor (23), a pin (25), and a crank (24). The pin (25) is slidably connected to the connecting rod (21) along its length. The crank (24) includes two rotating rods (241) that are rotatably connected to each other. One end of the crank (24) is connected to the servo motor (23), and the other end of the crank (24) is rotatably connected to the pin (25). The connecting rod (21) has a through hole 1 along its length for the pin (25) to slide into. The connecting seat (11) has a through hole 2 for the pin (25) to slide into. The pin (25) is inserted into both the through hole 1 and the through hole 2 to connect the insulating hook assembly (2) to the UAV (1). The frame (31) is also provided with a hook-taking assembly for attaching or detaching the insulating hook assembly (2) from the conductor; the two winches (33) on the same side are spaced apart by the traveling arm (32); the traveling arm (32) includes a fixed end (323) and a telescopic end (324), the telescopic end (324) is slidably connected to the fixed end (323) along the length direction of the fixed end (323), and the fixed end (323) is also provided with a telescopic assembly for driving the telescopic end (324) to slide; The hook-retrieving assembly includes a swaying rod (51) and a hook retriever (52). The hook retriever (52) is a bent rod with an inflection point. One end of the swaying rod (51) is rotatably connected to the side of the fixed end (323) near the frame (31), and the other end of the swaying rod (51) is rotatably connected to the hook retriever (52). The inflection point of the hook retriever (52) is rotatably connected to the telescopic end (324). The end of the hook retriever (52) away from the swaying rod (51) has a through hole three for the pin (25) to be inserted. The telescopic end (324) slides to drive the through hole three to align with or deviate from the pin (25).

2. The robot for a double-split conductor in a power transmission line according to claim 1, characterized in that: The mounting assembly includes a swing arm (41) and a sliding seat (42). The sliding seat (42) is slidably connected to the frame (31) along the width direction of the frame (31). One end of the swing arm (41) is rotatably connected to the walking arm (32), and the other end of the swing arm (41) is rotatably connected to the sliding seat (42). The frame (31) is also provided with a drive assembly for driving the sliding seat (42) to slide.

3. The robot for a double-split conductor in a power transmission line according to claim 2, characterized in that: The drive assembly includes a mounting motor (43) and a rotating arm screw (44). The rotating arm screw (44) is rotatably connected to the frame (31). The rotation axis of the rotating arm screw (44) is set along the width direction of the frame (31). The mounting motor (43) is used to drive the rotating arm screw (44) to rotate. The sliding seat (42) is connected to the rotating arm screw (44) through a screw nut.

4. The robot for a double-split conductor in a power transmission line according to claim 3, characterized in that: The telescopic assembly includes a telescopic motor (53) and a telescopic lead screw (54). The telescopic lead screw (54) is rotatably connected to the fixed end (323). The rotation axis of the telescopic lead screw (54) is set along the length direction of the fixed end (323). The telescopic motor (53) is used to drive the telescopic lead screw (54) to rotate. The telescopic end (324) is connected to the telescopic lead screw (54) through a lead screw nut.

5. A robot for a double-split conductor in a power transmission line according to claim 4, characterized in that: An equipotential arm (61) is rotatably connected to the frame (31). The rotation axis of the equipotential arm (61) is set along the width direction of the frame (31). An electric push rod (62) for driving the equipotential arm (61) is also provided on the frame (31). The equipotential arm (61) rotates to clamp the wire.

6. A method for loading and unloading a robot for a double-split conductor in a power transmission line, using the robot for a double-split conductor in a power transmission line as described in any one of claims 1-5, characterized in that: Includes the following steps: Step 1: Hanging rope, connect the insulating hook group (2) to the drone (1) through the connecting component, and hang the insulating hook group (2) on the double-split conductor through the drone (1); Step 2: Lifting, the four insulating ropes (26) are fixedly connected to the four winches (33) respectively. The lifting motor (331) drives the winches (33) to rotate to wind up the insulating ropes (26). The robot body (3) begins to move upward and stops when it gets close to the wire. Step 3: Mounting. The mounting assembly drives the four walking arms (32) to rotate and tilt outwards. Then, the winch (33) rotates to lift the robot body (3) until the walking wheels (321) are higher than the conductor. Then, the walking arms (32) are straightened. The winch (33) rotates to loosen the insulating rope (26) so that the walking wheels (321) are mounted on the conductor. Step 4: Walking. The direct drive motor drives the walking wheels (321) to rotate, thereby driving the robot body (3) to walk along the guide wire. Step 5: Descend the wire. Drive the winch (33) to rotate to wind up the insulating rope (26) so that the walking wheel (321) is detached from the wire. Drive the four walking arms (32) outward through the mounting assembly. Then, the winch (33) rotates to loosen the insulating rope (26) so that the robot body (3) can be removed from the wire.

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