Tension-based wire tail rope pulling manipulator

Abstract

The application discloses a kind of based on tension pay-off wire tail rope pulling manipulator, including fixed frame, mechanical arm and end mechanism, wherein: fixed frame is fixedly connected with mounting surface, for the fixation of overall equipment;Mechanical arm is installed on fixed frame at one end, and end mechanism is installed at the other end of mechanical arm, and mechanical arm is used for adjusting the position and posture of end mechanism, and the pulling of wire tail rope;End mechanism includes active line wheel assembly and passive line wheel assembly, and wire passes between active line wheel assembly and passive line wheel assembly and is compressed, for wire tensioning and providing continuous tension force.The application can adjust the relative spatial position of end mechanism and wire tail rope by mechanical arm, and then clamps it by end mechanism, and after clamping, driving mechanical arm can realize the tensioning and pulling of tail rope when changing disc.The application can improve the automation level of tension pay-off machine, improve construction operation safety factor, and reduce manual labor.

Description

Technical Field

[0001] This invention belongs to the field of power transmission line stringing construction technology, and particularly relates to a tension-based conductor tail rope pulling robot. Background Technology

[0002] With the development of my country's economy and the progress of science and technology, the production technology level in the field of power grid construction has also achieved a qualitative leap. In recent years, voltage levels have also been continuously increasing. my country's highest AC voltage level is 1000kV (Changzhi-Jingmen line), which was put into operation on December 30, 2008. Along with the increase in voltage levels, the cross-sectional area of ​​the conductors supporting them has also been continuously increasing. In tension stringing construction, the tension of the tensioning machine has been continuously increasing due to factors such as conductor cross-section and voltage level, reaching up to 70% of the rated tension of the required tensioning equipment. Temporary anchoring of the conductors is required during construction processes such as changing conductors, handling line problems, conductor crimping, and conductor lead-out.

[0003] For example, according to the "Guidelines for Tension Stringing Construction Technology of Overhead Transmission Lines, Part 1: String Laying": 1) The conductor spool should have a braking device. The tension at the tail end should not be too high to avoid excessive interlayer compression of the conductor on the delivery reel and violent vibration during the laying process; nor should it be too low to avoid the conductor sliding on the conductor pulley of the tensioning machine and loosening on the conductor delivery reel. The tension at the tail end of the conductor should be between 1000N and 5000N.

[0004] 2) During the centralized crimping operation, when cutting off the remaining conductor and connecting the wire mesh connector, it is necessary to temporarily anchor the tail wire (the anchoring force is the tension at the tail of the conductor).

[0005] It is evident that temporary anchoring of conductors is an important requirement of the tension stringing construction process for overhead transmission lines.

[0006] Specifically, when changing conductor reels in the tension field, the main purpose of temporarily anchoring the conductor is to prevent "rope slippage" caused by insufficient tension and excessive traction in the direction of the tensioner when there is too little conductor on the conductor laying frame. The specific operation involves manually pulling the tail rope and temporarily anchoring it using a conductor clamp after the tensioner operator receives the stop signal and the tensioner has come to a stable stop. At least 3-5 people are needed to install and remove the conductor clamps before and after completing the mesh sleeve connection. These personnel must tighten the tensioner promptly when it stops and tighten it while sending it into the air after removing the conductor clamps and replacing the new conductor reel.

[0007] As can be seen from the above, the existing operation method mainly relies on cumbersome manual operation, which leads to complicated operation, requires a large number of operators, and has a relatively low safety factor. Summary of the Invention

[0008] In order to solve the problems in the prior art, the present invention provides a tension-based wire release conductor tail rope pulling robot.

[0009] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A tension-based conductor tail rope pulling robot includes a fixed frame, a robotic arm, and an end effector, wherein: The mounting bracket is fixedly connected to the mounting surface for securing the entire device. One end of the robotic arm is mounted on a fixed frame, and the other end of the robotic arm is mounted on an end effector. The robotic arm is used to adjust the position and posture of the end effector and to pull the lead wire tail rope. The end mechanism includes an active pressure roller assembly and a passive pressure roller assembly. The conductor passes between the active pressure roller assembly and the passive pressure roller assembly and is pressed, which is used to tension the conductor and provide continuous tension force.

[0010] Furthermore, the end mechanism includes an end mechanism frame, which includes two sets of sliding tracks extending in the left-right direction, with a left fixing plate and a right fixing plate fixed at the front and rear ends of the sliding tracks, respectively. The active and passive crimping wheel assemblies are symmetrically installed on the left and right sides of the sliding track and are slidably connected to the sliding track. The passive crimping wheel assembly is in contact with the left fixed plate, and the active crimping wheel assembly is connected to a pressing drive device, which drives the active crimping wheel assembly to move along the sliding track.

[0011] Furthermore, the left and right fixed plates are respectively fixed with an upper left slide rail and an upper right slide rail extending in the left and right directions; a gap is left between the upper left slide rail and the upper right slide rail; The passive pressure roller assembly is simultaneously slidably connected to the upper left slide rail, and the active pressure roller assembly is simultaneously slidably connected to the upper right slide rail.

[0012] Furthermore, a pressure sensor is provided between the left fixed plate and the passive pressure wheel assembly, and the pressure sensor is mounted on the passive pressure wheel assembly or the left fixed plate.

[0013] Furthermore, the pressing drive device includes a limit gear mounting seat fixedly installed on the lower side of the two sets of sliding tracks, and a limit gear is provided on the limit gear mounting seat; the two limit gears are respectively connected to a power unit, and the power unit drives the limit gear to rotate. It also includes a limiting roller that is set between the two sets of sliding tracks and extends in the front-back direction, with the two ends of the limiting roller being rotatably connected to the two sets of sliding tracks respectively. It also includes a sliding frame, which includes a sliding frame strip plate extending in the left and right directions, and a sliding frame push plate is fixed to the right end of the sliding frame strip plate; The upper surface of the sliding frame strip is smooth, and the upper surface of the sliding frame strip is in contact with the limiting roller to form an upper limit. The lower surface of the sliding frame strip is provided with two sets of racks extending in the left and right directions at the front and rear positions respectively. The two racks mesh with two limit gears respectively to form the lower limit. The lower limit and the upper limit are arranged at intervals in the left and right directions. The sliding frame push plate is provided with a guide hole, and a guide post is fixedly installed on the active pressing wheel assembly extending to the right. The guide post slides through the guide hole, and a compression spring is sleeved on the guide post at the position between the sliding frame push plate and the active pressing wheel assembly.

[0014] Furthermore, both ends of the limiting roller are connected to two sets of sliding tracks via limiting roller support seats.

[0015] Furthermore, the power unit is a servo motor reducer assembly.

[0016] Furthermore, the active wire pressing wheel assembly includes upper and lower frame plates, which are supported and fixed together by a support column. Two sets of sprockets are respectively provided at the front and rear positions of the upper and lower frame plates. The two ends of the sprocket shaft are respectively connected to the upper and lower frame plates. A torque limiter is also integrated on the sprocket. A chain is also provided in cooperation with the two sets of sprockets. Wire pressing seats are evenly distributed on the outer side of the chain. The wire pressing seats have an arc-shaped surface that cooperates with the wire. A ratchet is also installed on the sprocket shaft, and the ratchet rotates synchronously with the sprocket; a pawl is provided on one side of the ratchet to cooperate with it, and the cooperation between the pawl and the ratchet allows the ratchet, sprocket and chain to rotate in only one direction; The passive pressure roller assembly and the active pressure roller assembly have the same structure.

[0017] Furthermore, the robotic arm is a four-axis robotic arm.

[0018] Furthermore, the fixing frame is a spiral anchor type fixing frame, including a spiral anchor and an equipment support frame fixed at the upper end of the spiral anchor, with the robotic arm installed on the equipment support frame; screw lifting supports are also provided around the equipment support frame.

[0019] The beneficial effects of this invention are: 1. This invention uses a robotic arm to adjust the relative spatial position of the end effector and the conductor tail rope, and then the end effector clamps it. After clamping, driving the robotic arm enables tensioning and pulling of the tail rope during reel changes. Alternatively, it provides continuous tension to the conductor tail rope during normal tension laying, further reducing the risk of conductor slippage.

[0020] This invention can replace the cumbersome manual operation of temporary anchoring of existing conductors, improve the automation level of tension laying machinery, increase the safety factor of construction operations, and reduce manual labor.

[0021] 2. This invention, through the cooperation of pawls and ratchet, ensures that the pressure wheel composed of sprockets and chains can only rotate in one direction. That is, when the conductor, after being pressed by the end mechanism's pressure wheel, moves towards the wire release direction, the ratchet and pawl within the end mechanism exert resistance on the conductor; this resistance does not occur in the opposite direction. This provides continuous tension to the conductor's tail rope during normal tension release, further reducing the risk of conductor slippage.

[0022] 3. The present invention can adjust the tension of the conductor tail rope by adjusting the torque limiter on the sprocket and the force stored on the compression spring, which has strong adaptability. Attached Figure Description

[0023] Figure 1 This is a front view of the entire invention; Figure 2 This is a side view of the entire invention; Figure 3 This is a three-dimensional schematic diagram of the end effector in this invention; Figure 4 for Figure 3 The main view; Figure 5 for Figure 3 The left view; Figure 6 This is a three-dimensional schematic diagram of the end mechanism frame in this invention; Figure 7 This is a three-dimensional schematic diagram of the sliding frame in this invention; Figure 8 This is a schematic diagram of the active pressure roller assembly in this invention; Figure 9 This is an exploded view of the active pressure roller assembly in this invention; Figure 10 This is a schematic diagram of the spiral ground anchor fixing frame in this invention.

[0024] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. Detailed Implementation

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0026] like Figures 1 to 2As shown, this embodiment provides a tension-based conductor tail rope pulling robot, which mainly consists of three parts: a spiral ground anchor type fixing frame 3, a four-axis heavy-duty load-bearing robot arm 2, and an end effector 1. The relative spatial position between the end effector 1 and the conductor tail rope can be adjusted by the four-axis heavy-duty load-bearing robot arm 2, and then clamped by the end effector 1. After clamping, driving the four-axis heavy-duty load-bearing robot arm 2 can realize the tensioning and pulling of the tail rope when changing reels.

[0027] The above components are described in detail below.

[0028] The spiral ground anchor type fixing frame 3 is fixedly connected to the ground and used to fix the entire equipment.

[0029] like Figure 10 As shown, the spiral ground anchor type fixing frame 3 includes a spiral ground anchor 33 and an equipment support frame 31 fixed at the upper end of the spiral ground anchor 33. The four-axis heavy load mechanical arm 2 is installed on the equipment support frame 31. Screw lifting supports 32 are also provided around the equipment support frame 31.

[0030] When fixing the spiral ground anchor type fixing frame 3, the spiral ground anchor 33 is driven into the ground and the equipment support frame 31 is installed through the flange. The frame is stabilized by adjusting the adjusting screw lifting support 32. The overall installation is quick and convenient, and it is suitable for rapid installation and temporary anchoring of this equipment in various terrains.

[0031] One end of the four-axis heavy-duty robotic arm 2 is mounted on a spiral ground anchor type frame 3, and the other end of the four-axis heavy-duty robotic arm 2 is mounted on an end effector 1. The four-axis heavy-duty robotic arm 2 is used to adjust the position and attitude of the end effector (including height and angle adjustment), as well as to pull the guide rope.

[0032] like Figures 3 to 9 As shown, the end mechanism 1 includes an end mechanism frame 10, an active wire pressing wheel assembly 20, and a passive wire pressing wheel assembly 30. The active wire pressing wheel assembly 20 and the passive wire pressing wheel assembly 30 are mounted on the end mechanism frame 10. The wire passes between the active wire pressing wheel assembly 20 and the passive wire pressing wheel assembly 30 and is pressed, which is used to tension the wire and provide continuous tension force.

[0033] The lower side of the end mechanism frame 10 is provided with a servo hollow turntable 60, which is connected to the four-axis heavy-duty robotic arm 2.

[0034] Specifically, the end mechanism frame 10 includes two sets of sliding tracks 11 extending in the left-right direction, with a left fixed plate 12 and a right fixed plate 13 fixed at the front and rear ends of the sliding tracks 11, respectively. The active pressing wheel assembly 20 and the passive pressing wheel assembly 30 are symmetrically installed at the left and right positions of the sliding tracks 11 and are slidably connected to the sliding tracks 11.

[0035] Meanwhile, the left fixed plate 12 and the right fixed plate 13 are respectively fixed with left upper slide rail 121 and right upper slide rail 131 extending in the left and right directions. The passive pressing wheel assembly 20 is slidably connected to the left upper slide rail 121, and the active pressing wheel assembly 20 is slidably connected to the right upper slide rail 131.

[0036] A gap is left between the upper left slide 121 and the upper right slide 131 to facilitate the wire falling between the active wire pressing wheel assembly 20 and the passive wire pressing wheel assembly 30.

[0037] The passive pressure roller assembly 30 is in contact with the left fixed plate 12. At the same time, a pressure sensor 14 is provided on the left fixed plate 12 at a position corresponding to the passive pressure roller assembly. The passive pressure roller assembly 30 is in contact with the pressure sensor 14. After the end mechanism is pressed, the pressure sensor 14 provides the pressing force value in real time and provides feedback to ensure stable tail rope tension.

[0038] The active crimping roller assembly 20 is connected to a crimping drive device, which drives the active crimping roller assembly to move along the sliding track.

[0039] The clamping drive device includes limit gear mounting seats 15 fixedly installed on the lower sides of two sets of sliding tracks, and limit gears 16 are provided on the limit gear mounting seats 15; the two limit gears 16 are respectively connected to servo motor reducer assemblies 50, and the servo motor reducer assemblies 50 drive the limit gears 16 to rotate. The servo motor reducer assemblies 50 are respectively fixed on motor reducer mounting seats 17 distributed at the front and rear.

[0040] It also includes a limiting roller 18 disposed between the two sets of sliding tracks 11 and extending in the front-back direction, with both ends of the limiting roller 18 rotatably connected to the two sets of sliding tracks 11 respectively. In specific installation, both ends of the limiting roller 18 are connected to the two sets of sliding tracks 11 through limiting roller support seats 19 respectively.

[0041] The clamping drive device also includes a sliding frame 40, which includes a sliding frame strip 41 extending in the left and right direction, and a sliding frame push plate 42 is fixed to the right end of the sliding frame strip 41.

[0042] The upper surface of the sliding frame strip 41 is smooth, and the upper surface of the sliding frame strip 41 contacts and engages with the limiting roller 18 to form an upper limit.

[0043] The lower surface of the sliding frame strip 41 is provided with two sets of racks 45 extending in the left and right directions at the front and rear positions respectively. The two racks 45 mesh with two limiting gears 16 respectively and form a lower limit.

[0044] The lower and upper limits are arranged at intervals in the left and right directions to ensure that the sliding frame strip 41 can move back and forth in a straight line. Alternatively, multiple limit rollers 18 can be set.

[0045] The sliding frame push plate 42 is provided with a guide hole, and a bushing 43 is embedded in the guide hole and limited by a step and a baffle 44. A guide post 23 is fixedly installed on the active pressure wheel assembly 20 extending to the right. The guide post 23 slides through the bushing 43 in the guide hole, and a compression spring 24 is sleeved on the guide post 23 at the position between the sliding frame push plate 42 and the active pressure wheel assembly 20.

[0046] The passive crimping roller assembly and the active crimping roller assembly have the same structure. The following will take the active crimping roller assembly as an example for detailed explanation.

[0047] like Figures 8 to 9 As shown, the active pressure roller assembly 20 includes upper and lower frame plates 21, which are supported and fixed by a support column 26. Two sets of sprockets 29 are respectively provided at the front and rear positions of the upper and lower clamping plates. The two ends of the sprocket shaft 291 are rotatably connected to the upper and lower frame plates 21 respectively. A torque limiter is also integrated on the sprocket 29. A chain 211 is also provided in cooperation with the two sets of sprockets 29.

[0048] Wire clamps 212 are evenly distributed on the outer side of the chain 211. Each wire clamp 212 has an arc-shaped surface that mates with the wire. The wire clamps 212 are made of nylon blocks, and their arc-shaped surfaces contact the wire to prevent damage to the wire surface during tensioning and clamping.

[0049] A ratchet 28 is also installed on the sprocket shaft 291, and the ratchet 28 rotates synchronously with the sprocket 29. In specific installation, the ratchet 28 and the sprocket 29 are limited by the keyway on the sprocket shaft 291 and the shaft platform, and the bearings installed at both ends are limited to the middle of the upper and lower frame plates 21.

[0050] A pawl 27 is provided on one side of the ratchet 28 to cooperate with it. The cooperation between the pawl 27 and the ratchet 28 allows the ratchet 28, the sprocket 29 and the chain 211 to rotate in only one direction, thereby achieving the purpose of preventing the wire from slipping or running when the wire moves forward.

[0051] Specifically, when the conductor, after being clamped by the end-effector's clamping wheel, moves towards the lead-out section, the ratchet and pawl within the end-effector engage to generate resistance on the conductor, but not in the opposite direction. This ensures continuous tension on the conductor's tail rope during normal tension lead-out, further reducing the risk of conductor slippage.

[0052] When the guide post 23 is installed with the active pressure roller assembly, a guide post mounting block 25 is provided at one end of the guide post 23, and the guide post mounting block 25 is threadedly connected to the upper and lower frame plates 21.

[0053] A sliding rod is also provided on the upper shelf of the upper shelf plate 21 to cooperate with the upper right slide rail 131. A limit ring 22 is installed at the end of the sliding rod to prevent the pressure wheel assembly from sliding down in the opposite direction.

[0054] A tensioning sprocket 210 is also provided in the middle of the upper and lower frame plates 21 for tensioning the chain 211.

[0055] The working principle of this invention is as follows: The equipment is temporarily anchored between the tensioner and the conductor frame using a spiral ground anchor type fixing frame 3. Once securely installed, it can be operated to tension or pull the conductor tail rope. Due to site conditions, the spatial angle between the conductor and the ground varies each time. Therefore, the equipment needs to be installed below or to the side of the conductor as much as possible. Then, the four-axis heavy-duty robotic arm 2 is operated to lower the conductor into the pressure roller on the end mechanism 1. After the equipment is started, the end mechanism 1 will automatically press and tension the conductor, providing continuous tension force. When the conductor, after being pressed by the pressure roller of the end mechanism 1, moves towards the outlet, the ratchet and pawl inside the end mechanism will act to generate a certain resistance to the conductor; there is no resistance in the opposite direction.

[0056] This invention can replace the cumbersome manual operation of temporary anchoring of existing conductors, improve the automation level of tension laying machinery, increase the safety factor of construction operations, and reduce manual labor.

[0057] The present invention can also adjust the tension of the conductor tail rope by adjusting the torque limiter of the sprocket 39 and the force stored on the compression spring 33, thus having strong adaptability.

[0058] The above embodiments are only used to illustrate and not limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention without departing from the spirit and scope of the present invention. Any modifications or partial substitutions should be covered within the scope of the claims of the present invention.

[0059] If the terms "first" or "second" are used in this document to define components, those skilled in the art should know that the use of "first" or "second" is merely for the convenience of describing the invention and simplifying the description, and unless otherwise stated, the above terms have no special meaning.

[0060] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0061] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A manipulator for pulling the tail rope of a tension-released conductor, characterized in that: Includes a fixed frame, a robotic arm, and an end effector, wherein: The mounting bracket is fixedly connected to the mounting surface for securing the entire device. One end of the robotic arm is mounted on a fixed frame, and the other end of the robotic arm is mounted on an end effector. The robotic arm is used to adjust the position and posture of the end effector and to pull the lead wire tail rope. The end mechanism includes an active wire clamping wheel assembly and a passive wire clamping wheel assembly. The conductor passes between the active wire clamping wheel assembly and the passive wire clamping wheel assembly and is clamped, which is used to tension the conductor and provide a continuous tension force. The end mechanism includes an end mechanism frame, which includes two sets of sliding tracks extending in the left and right direction. The front and rear ends of the sliding tracks are respectively fixed with a left fixing plate and a right fixing plate. The active and passive crimping wheel assemblies are symmetrically installed on the left and right sides of the sliding track and are slidably connected to the sliding track. The passive crimping wheel assembly is in contact with the left fixed plate, and the active crimping wheel assembly is connected to a pressing drive device, which drives the active crimping wheel assembly to move along the sliding track. The pressing drive device includes a limit gear mounting seat fixedly installed on the lower side of two sets of sliding tracks, and a limit gear is provided on the limit gear mounting seat; the two limit gears are respectively connected to a power unit, and the power unit drives the limit gear to rotate. It also includes a limiting roller that is set between the two sets of sliding tracks and extends in the front-back direction, with the two ends of the limiting roller being rotatably connected to the two sets of sliding tracks respectively. It also includes a sliding frame, which includes a sliding frame strip plate extending in the left and right directions, and a sliding frame push plate is fixed to the right end of the sliding frame strip plate; The upper surface of the sliding frame strip is smooth, and the upper surface of the sliding frame strip is in contact with the limiting roller to form an upper limit. The lower surface of the sliding frame strip is provided with two sets of racks extending in the left and right directions at the front and rear positions respectively. The two racks mesh with two limit gears respectively to form the lower limit. The lower limit and the upper limit are arranged at intervals in the left and right directions. The sliding frame push plate is provided with a guide hole, and a guide post is fixedly installed on the active pressing wheel assembly extending to the right. The guide post slides through the guide hole, and a compression spring is sleeved on the guide post at the position between the sliding frame push plate and the active pressing wheel assembly.

2. The tension-based conductor tail rope pulling robot according to claim 1, characterized in that: The left and right fixed plates are respectively fixed with an upper left slide rail and an upper right slide rail extending in the left and right directions; a gap is left between the upper left slide rail and the upper right slide rail; The passive pressure roller assembly is simultaneously slidably connected to the upper left slide rail, and the active pressure roller assembly is simultaneously slidably connected to the upper right slide rail.

3. The tension-based conductor tail rope pulling robot according to claim 1, characterized in that: A pressure sensor is provided between the left fixed plate and the passive pressure wheel assembly, and the pressure sensor is installed on the passive pressure wheel assembly or the left fixed plate.

4. The tension-based wire release conductor tail rope pulling robot according to claim 1, characterized in that: Both ends of the limiting roller are connected to two sets of sliding tracks via limiting roller support seats.

5. The tension-based conductor tail rope pulling robot according to claim 1, characterized in that: The power unit is a servo motor and reducer assembly.

6. The tension-based conductor tail rope pulling robot according to claim 1, characterized in that: The active wire pressing wheel assembly includes upper and lower frame plates, which are supported and fixed together by a support column. Two sets of sprockets are respectively provided at the front and rear positions of the upper and lower frame plates. The two ends of the sprocket shaft are connected to the upper and lower frame plates respectively. A torque limiter is also integrated on the sprocket. A chain is also provided in cooperation with the two sets of sprockets. Wire pressing seats are evenly distributed on the outer side of the chain. The wire pressing seats have an arc-shaped surface that cooperates with the wire. A ratchet is also installed on the sprocket shaft, and the ratchet rotates synchronously with the sprocket; a pawl is provided on one side of the ratchet to cooperate with it, and the cooperation between the pawl and the ratchet ensures that the ratchet, sprocket and chain can only rotate in one direction. The passive pressure roller assembly and the active pressure roller assembly have the same structure.

7. The tension-based wire release conductor tail rope pulling robot according to claim 1, characterized in that: The robotic arm is a four-axis robotic arm.

8. The tension-based conductor tail rope pulling robot according to claim 1, characterized in that: The fixed frame is a spiral ground anchor type fixed frame, including a spiral ground anchor and an equipment support frame fixed at the upper end of the spiral ground anchor. The robotic arm is installed on the equipment support frame; screw lifting supports are also provided around the equipment support frame.

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