Power transmission line strand repair flying robot and operation method thereof

Abstract

The application discloses a power transmission line broken strand repairing flying robot and a working method thereof. The repairing flying robot comprises a multi-modal moving mechanism, a wire straightening mechanism and a repairing mechanism. The wire straightening mechanism is used for straightening the broken strand of the power transmission line. The repairing mechanism is used for repairing the broken strand of the power transmission line by using a repairing piece. The multi-modal moving mechanism comprises a moving platform, walking wheels, flying wings and a mounting frame. The walking wheels are rotatably installed in the middle of the moving platform. The flying wings are installed on both sides of the moving platform along the walking direction. The mounting frame is installed at the bottom of the moving platform. A gap is arranged in the middle of the mounting frame for avoiding the walking wheels. The scheme can effectively solve the technical problems of high cost, great difficulty, low working efficiency and great environmental influence repairing limitation of the broken strand repairing of the power transmission line in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission line repair, in particular to a power transmission line broken strand repair flying robot and a working method thereof. BACKGROUND

[0002] The power transmission line is often disturbed by external factors and exposed to the wild for a long time, and is affected by continuous mechanical tension, electrical flashover and material aging, etc. The broken strand of the power transmission line often occurs. At present, the broken strand of the power transmission line is mainly repaired by manual tower climbing, but since the power transmission line is distributed in many points and covers a wide range, most of which are far away from towns, the terrain is complex and the natural environment is harsh, the maintenance personnel cannot climb the tower, and the repair work needs to be carried out by means of a lifting vehicle or a helicopter, which greatly increases the cost and difficulty, and has low working efficiency and poor safety, and has certain limitations.

[0003] At present, there are also some repair robots for repairing the broken strand of the power transmission line at home and abroad, which are mainly hung on the power transmission line by walking wheels to drive to the broken strand of the power transmission line for repair work, and have high automation degree, which can effectively improve the repair efficiency and safety. But in the working process of the above-mentioned repair robot, the equipment needs to be installed and disassembled by manual tower climbing, and it is difficult to carry out work at the power transmission line across rivers, lakes and marshes; and when the robot is hung on the power transmission line, it is also difficult to overcome obstacles, and the working efficiency is still limited. SUMMARY

[0004] The purpose of the present application is to provide a power transmission line broken strand repair flying robot and a working method thereof, which can effectively solve the technical problems of high cost, great difficulty, low working efficiency and great environmental influence repair limitation in the prior art.

[0005] To achieve this purpose, the following technical solutions are adopted in the present application:

[0006] A power transmission line broken strand repair flying robot, comprising a multi-modal moving mechanism, a wire straightening mechanism and a repair mechanism, the wire straightening mechanism and the repair mechanism are installed on the same side of the multi-modal moving mechanism along the walking direction, and the wire straightening mechanism is used for straightening the broken strand of the power transmission line, and the repair mechanism is used for repairing the broken strand of the power transmission line with a repair patch;

[0007] The multi-modal moving mechanism comprises a moving platform, a walking wheel, a flight wing and a mounting bracket; the walking wheel is rotatably installed in the middle of the moving platform, and the flight wing is installed on both sides of the moving platform along the walking direction; the mounting bracket is installed at the bottom of the moving platform, and the middle part of the mounting bracket is provided with an avoiding gap for avoiding the walking wheel;

[0008] The wire-straightening mechanism is installed on the mobile platform, and the wire-straightening mechanism is located on the outside of the mobile platform along the walking direction; the repair mechanism is installed on the mounting frame, and the repair mechanism is located on the outside of the wire-straightening mechanism.

[0009] Preferably, the wire-straightening mechanism includes a wire-straightening bracket, a first wire-straightening rod and a second wire-straightening rod;

[0010] The wire-winding bracket is protrudingly mounted on the edge of the mobile platform, and the wire-winding bracket is located outside the traveling direction of the walking wheel; a receiving position is provided at the bottom of the wire-winding bracket, and the first wire-winding rod and the second wire-winding rod are relatively installed inside the receiving position; a first hinge position and a second hinge position are relatively protrudingly provided on the inner side wall of the receiving position, the outer end portion of the first hinge position is hinged to the middle portion of the first wire-winding rod, and the outer end portion of the second hinge position is hinged to the middle portion of the second wire-winding rod;

[0011] The thread-winding mechanism is provided with a free state and a thread-winding state:

[0012] When the wire-straightening mechanism is in a free state, the first wire-straightening rod and the second wire-straightening rod together form a wire-straightening groove;

[0013] When the thread-straightening mechanism is in the thread-straightening state, the first thread-straightening rod and the second thread-straightening rod together form a thread-straightening cavity.

[0014] Preferably, the thread-winding mechanism further comprises a first elastic member and a second elastic member;

[0015] The first elastic member is connected between the inner side wall of the accommodation position and the first thread-straightening rod;

[0016] The second elastic member is connected between the inner side wall of the accommodating position and the second thread-straightening rod.

[0017] Preferably, the repair mechanism comprises a mounting seat, a clamping device and a feeding device, wherein the mounting seat is mounted on the outside of the mounting frame, the clamping device and the feeding device are sequentially mounted on the mounting seat from the inside to the outside, and the clamping device moves up and down relative to the mounting seat;

[0018] The repair mechanism further includes a mounting bracket; the mounting bracket includes a connecting end and a mounting end, the connecting end being connected to the mounting surface of the mounting seat, and the mounting end being used to mount the feeding device; the connecting end is located below the clamping device, and the mounting end is located within the movement range of the active end of the clamping device;

[0019] The feeding device is used to transport the patch to the active end of the clamping device, and the clamping device is used to clamp the broken part of the power transmission line using the patch.

[0020] Preferably, the repair mechanism further comprises a lifting device, wherein the lifting device is provided between the mounting seat and the clamping device, and the clamping device is moved up and down relative to the mounting seat by means of the lifting device;

[0021] The lifting device includes a lifting drive, a lifting rod and a lifting transmission block; the lifting drive is installed at the lower part of the mounting surface, and the lifting drive is located below the mounting bracket; the lifting transmission block is protrudingly installed on the upper part of the inner side wall of the clamping device; the lifting rod extends vertically through the mounting bracket, and the end of the lifting rod is connected to the output end of the lifting drive, and the top of the lifting rod is connected to the lifting transmission block, and the lifting drive is used to drive the clamping device to move up and down through the lifting rod.

[0022] Preferably, the feeding device includes a storage seat and a pushing block;

[0023] A storage cavity extending in a horizontal direction is provided on the top of the storage seat, and a plurality of patch sheets are accommodated in the interior of the storage cavity in parallel in a horizontal direction; the pushing block can be installed in the interior of the storage cavity in a horizontally movable manner, and the pushing block is located at the outer end of the storage cavity, and the pushing block is used to push the patch sheet out of the inner end of the storage cavity.

[0024] Preferably, the clamping device comprises a clamping seat, a supporting block, a first clamping jaw and a second clamping jaw; the clamping seat is mounted on the outside of the mounting seat, and the clamping seat moves up and down relative to the mounting seat;

[0025] The supporting block is installed at the top center of the clamping seat, and the upper surface of the supporting block is inwardly recessed to form a supporting position, which is used to receive and place the repair piece pushed out by the feeding device; the first clamping jaw and the second clamping jaw are respectively movably hinged to the two sides of the supporting block;

[0026] The clamping device includes an open state and a clamping state:

[0027] When the clamping device is in an open state, an opening is left between the first clamping jaw and the second clamping jaw, and the opening is located at the top of the clamping device;

[0028] When the clamping device is in a clamping state, the first clamping jaw and the second clamping jaw together form a clamping cavity, and the first clamping jaw and the second clamping jaw are used together to clamp the patch to the outside of the power transmission line.

[0029] Preferably, the first clamping jaw and the second clamping jaw are both provided with a hinge end and a clamping end;

[0030] The hinge end of the first clamping jaw and the clamping end of the first clamping jaw are respectively located at both ends of the first clamping jaw, the first clamping jaw is hinged to the supporting block via the hinge end, and the first clamping jaw rotates around the hinge end as an axis; the edge of the clamping end is recessed inward to form a clamping position;

[0031] The hinge end of the second clamping jaw and the clamping end of the second clamping jaw are respectively located at both ends of the second clamping jaw, the second clamping jaw is hinged to the supporting block via the hinge end, and the second clamping jaw rotates around the hinge end as an axis; a clamping piece is provided on an edge of the clamping end protruding outward;

[0032] The clamping position and the clamping sheet are arranged opposite to each other, and the clamping sheet can be accommodated inside the clamping position. The first clamping jaw and the second clamping jaw jointly form a sealed clamping cavity through the clamping position and the clamping sheet.

[0033] Preferably, the multimodal mobile mechanism further includes a camera device, which is mounted on the top of the mobile platform, and the camera end of the camera device is aligned with the power transmission line.

[0034] A method for using a flying robot to repair a broken strand of a power transmission line, using the flying robot to repair a broken strand of a power transmission line, comprising the following steps:

[0035] A. Using the flying wings, the power transmission line broken strand repair flying robot is flown to the rear of the broken strand of the power transmission line along the traveling direction; wherein the wire-winding mechanism and the repairing mechanism are both located at the rear side of the multimodal moving mechanism along the traveling direction;

[0036] B. Using the walking wheels, the power transmission line broken strand repair flying robot moves along the power transmission line until the wire straightening mechanism straightens the broken strand of the power transmission line and then stops moving;

[0037] C. The repair mechanism uses a repair piece to repair the broken part of the transmission line.

[0038] The technical solution provided by the present invention can have the following beneficial effects:

[0039] 1. The multimodal mobile mechanism has newly added flying wings installed on the mobile platform. During the robot's operation, the flying wings can be used to move the equipment online and offline, eliminating the need for additional drones for lifting equipment online, tower technicians, and supporting lifting tools. This helps reduce the difficulty of hanging the robot's lines and reduces safety hazards during operations, while effectively improving the robot's hanging efficiency. Moreover, the ability to fly can make the robot's operation more flexible. When encountering obstacles, it does not need to roll over them, but can directly fly over them. Compared to the existing repair robot's operation method of directly walking to the broken part of the transmission line using walking wheels, the combination of flying and walking in this solution is more conducive to improving the robot's operation safety.

[0040] 2. By adding an elastic member between the receiving position and the thread-winding rod, the thread-winding mechanism can function properly without the need for a separate driver. Compared to the existing method of using an electrically driven thread-winding mechanism to open and close the thread-winding chamber, this solution is more energy-efficient.

[0041] 3. To ensure efficient patch supply, this solution lays the patches side by side in the storage chamber. A pusher block pushes the patches forward, pushing them to the output end of the storage chamber to complete the feeding process. This side-by-side arrangement of the patches ensures that only one patch is pushed out at a time, regardless of their thickness. This reduces the need for high precision machining of the patch's shape and dimensions. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 The present invention is a schematic structural diagram of a flying robot for repairing broken strands of a power transmission line.

[0043] Figure 2 yes Figure 1 Enlarged view of point A in the middle.

[0044] Figure 3 The present invention is a schematic diagram of the operation of a flying robot for repairing broken strands of a power transmission line.

[0045] Figure 4 The diagram is a partial structural diagram of a flying robot for repairing broken strands of a power transmission line according to the present invention.

[0046] Figure 5 yes Figure 4 Enlarged view of point B in the middle.

[0047] Figure 6 2 is a schematic diagram of the first embodiment of the thread-winding mechanism of the present invention.

[0048] Figure 7 2 is a schematic diagram of a second embodiment of the thread-winding mechanism of the present invention.

[0049] Figure 8It is a structural diagram of the repair mechanism in the present invention.

[0050] Figure 9 This is a structural exploded view of the repair mechanism of the present invention from a first perspective.

[0051] Figure 10 It is a structural exploded view of the repair mechanism of the present invention from a second perspective.

[0052] Figure 11 It is a front view of the feeding device in the present invention.

[0053] Figure 12 It is a structural schematic diagram of the feeding device of the present invention from a first perspective.

[0054] Figure 13 It is a structural schematic diagram of the feeding device of the present invention from a second perspective.

[0055] Figure 14 It is a partial structural schematic diagram of the feeding device in the present invention.

[0056] Figure 15 It is a schematic diagram of the use of the clamping device in the present invention.

[0057] Figure 16 It is a structural schematic diagram of the clamping device in the present invention in an open state.

[0058] Figure 17 It is a partial structural schematic diagram of the clamping device in the present invention in an open state.

[0059] Figure 18 It is a structural schematic diagram of the clamping device in the present invention in a clamping state.

[0060] Figure 19 It is a partial structural schematic diagram of the clamping device in the present invention in a clamping state.

[0061] Among them: multimodal mobile mechanism 1, mobile platform 11, running wheels 12, flying wings 13, mounting frame 14, avoidance gap 141, camera device 15;

[0062] Thread-winding mechanism 2, thread-winding bracket 21, first hinge position 211, second hinge position 212, first thread-winding rod 22, thread-winding roller 221, upper locking rod 2211, thread-winding sleeve 2212, lower locking rod 222, limiting piece 223, second thread-winding rod 23, first elastic member 24, second elastic member 25, thread-winding groove 201, thread-winding cavity 202, limiting groove 203;

[0063] The repairing mechanism 3, the mounting seat 31, the mounting face 311, the clamping device 32, the clamping seat 321, the supporting block 322, the supporting position 3221, the first clamping jaw 323, the clamping position 3231, the second clamping jaw 324, the clamping piece 3241, the first sliding piece 325, the displacement block 3251, the connecting rod 3252, the second sliding piece 326, the clamping driving assembly 327, the synchronous lead screw 3271, the clamping driver 3272, the first transmission wheel 3273, the second transmission wheel 3274, the opening 301, the clamping cavity 302, the feeding device 33, the storage seat 332, the first fixed part 3321, the storage part 3322, the second fixed part 3323, the storage cavity 3324, the pushing gap 3325, the pushing block 333, the pushing driving assembly 334, the pushing driver 3341, the telescopic sleeve rod 3342, the pressing block 335, the first fixed plate 3351, the pressing part 3352, the second fixed plate 3353, the lifting device 34, the lifting driver 341, the lifting rod 342, the lifting transmission block 343, the guide slide rail 344, the guide sliding block 345, the sliding groove 3451, the mounting support 35;

[0064] The power transmission line 4;

[0065] The repairing patch 5. DETAILED DESCRIPTION

[0066] Embodiments of the present application are described in detail below with reference to the attached drawings, which show by way of example, embodiments in which the same or similar elements or elements having the same or similar functions are denoted by the same reference signs and in which:

[0067] The technical solution provides a power transmission line broken strand repairing flying robot, which comprises a multi-modal moving mechanism 1, a wire straightening mechanism 2 and a repairing mechanism 3, the wire straightening mechanism 2 and the repairing mechanism 3 are installed on the same side of the multi-modal moving mechanism 1 along the walking direction, the wire straightening mechanism 2 is used for straightening the broken strand of the power transmission line 4, and the repairing mechanism 3 is used for repairing the broken strand of the power transmission line 4 by using a repairing patch 5.

[0068] The multi-modal moving mechanism 1 comprises a moving platform 11, a walking wheel 12, a flying wing 13 and a mounting frame 14, the walking wheel 12 is rotatably installed in the middle of the moving platform 11, the flying wing 13 is installed on both sides of the moving platform 11 along the walking direction, the mounting frame 14 is installed at the bottom of the moving platform 11, and a avoiding gap 141 for avoiding the walking wheel 12 is formed in the middle of the mounting frame 14.

[0069] The wire-winding mechanism 2 is installed on the mobile platform 11 and is located on the outside of the mobile platform 11 along the walking direction; the repair mechanism 3 is installed on the mounting frame 14 and is located on the outside of the wire-winding mechanism 2.

[0070] In order to solve the technical problems of high cost, great difficulty, low efficiency and great limitation of repairing broken strands of transmission lines in the existing technology, this technical solution proposes a transmission line broken strand repair flying robot, such as Figure 1-2 As shown, it includes a multimodal mobile mechanism 1 for realizing the switching of the robot between the flying state and the walking state, a straightening mechanism 2 for straightening the broken part of the transmission line 4, and a repairing mechanism 3 for repairing the broken part of the transmission line 4 using a repair piece 5.

[0071] Specifically, the multimodal mobile mechanism 1 of this solution is newly equipped with flying wings 13 mounted on the mobile platform 11. During the robot's operation, the flying wings 13 can be used to achieve equipment on and off the line, eliminating the need for additional drones to hoist the equipment online, and eliminating the need for tower technicians and supporting hoisting tools. This helps reduce the difficulty of hanging the robot's lines and reduces safety hazards during operations, while effectively improving the robot's hanging efficiency. Moreover, the availability of a flying state can make the robot's operation more flexible. When encountering obstacles, it does not need to roll over them, but can directly fly over them. Compared to the existing repair robot's operation method of directly walking to the broken part of the transmission line 4 using its running wheels, the combination of flying and walking modes in this solution is more conducive to improving the robot's operational safety.

[0072] Furthermore, in existing repair robot designs, the location of the repair mechanism and the thread-straightening mechanism are typically spaced a certain distance apart, preventing the final repair piece from being positioned at the end of the broken strand. This can cause the strand end to tilt, preventing optimal overall repair. To address this technical issue, the repair mechanism 3 in this solution is located outside the thread-straightening mechanism 2, keeping them close together. This ensures a more complete repair of the broken strand.

[0073] To further illustrate, the wire-winding mechanism 2 includes a wire-winding bracket 21 , a first wire-winding rod 22 and a second wire-winding rod 23 ;

[0074] The wire-winding bracket 21 is protrudingly mounted on the edge of the mobile platform 11, and the wire-winding bracket 21 is located outside the traveling direction of the walking wheel 12; a receiving position is provided at the bottom of the wire-winding bracket 21, and the first wire-winding rod 22 and the second wire-winding rod 23 are relatively installed inside the receiving position; the inner side wall of the receiving position is relatively protrudingly provided with a first hinge position 211 and a second hinge position 212, the outer end portion of the first hinge position 211 is hinged to the middle portion of the first wire-winding rod 22, and the outer end portion of the second hinge position 212 is hinged to the middle portion of the second wire-winding rod 23;

[0075] The thread-winding mechanism 2 is provided with a free state and a thread-winding state:

[0076] When the thread-straightening mechanism 2 is in a free state, the first thread-straightening rod 22 and the second thread-straightening rod 23 together form a thread-straightening groove 201;

[0077] When the thread-winding mechanism 2 is in the thread-winding state, the first thread-winding rod 22 and the second thread-winding rod 23 together form a thread-winding cavity 202 .

[0078] In a preferred embodiment of the present technical solution, the wire drawing mechanism 2 includes a wire drawing support 21, a first wire drawing rod 22 and a second wire drawing rod 23. Figure 4-5 As shown, the first and second straightening rods 22 and 23 rotate relative to the straightening bracket 21 to realize the opening and closing of the straightening cavity 202. When the straightening mechanism 2 is in a free state, the first and second straightening rods 22 and 23 together form a straightening groove 201, that is, the straightening cavity 202 is open to facilitate the entry of the transmission line 4; when the straightening mechanism 2 is in a straightening state, the first and second straightening rods 22 and 23 together form a straightening cavity 202, that is, the straightening cavity 202 is closed, so that the transmission line 4 is buckled in the straightening cavity 202. During the walking process of the robot, the broken part of the transmission line 4 can be lifted and straightened by the straightening mechanism 2 during the walking process, so that it can be repaired by the subsequent repair mechanism 3.

[0079] To further illustrate, the thread winding mechanism 2 further includes a first elastic member 24 and a second elastic member 25;

[0080] The first elastic member 24 is connected between the inner side wall of the accommodation position and the first thread-straightening rod 22;

[0081] The second elastic member 25 is connected between the inner side wall of the accommodation position and the second thread-straightening rod 23 .

[0082] In order to simplify the structure of the thread-winding mechanism 2 and reduce its manufacturing cost, this solution also proposes a structure that enables the thread-winding chamber 202 to be opened and closed without requiring a driving force. By adding elastic members (24, 25) between the receiving position and the thread-winding rods (22, 23), the thread-winding mechanism 2 can function normally without requiring an additional driver. Compared to the prior art method of using an electric drive to open and close the thread-winding mechanism 2, this solution is more energy-efficient.

[0083] It should be noted that the unpowered thread-winding action of this scheme is achieved by the following methods:

[0084] When the thread-winding mechanism 2 is in a free state, the first thread-winding rod 22 is under the action of the first elastic member 24, and the second thread-winding rod 23 is under the action of the second elastic member 25, so that the first thread-winding rod 22 and the second thread-winding rod 23 together form a thread-winding groove 201;

[0085] When the wire-straightening mechanism 2 is in the wire-straightening state, the walking wheel 12 will fall on the transmission line 4. Using the downward gravity of the robot itself, the transmission line 4 moves upward relative to the wire-straightening mechanism 2 and counteracts the first wire-straightening rod 22 and the second wire-straightening rod 23 through the wire-straightening groove 201. At this time, under the action of the transmission line 4, the first wire-straightening rod 22 overcomes the action of the first elastic member 24 and rotates. At the same time, the second wire-straightening rod 23 overcomes the action of the second elastic member 25 and rotates. The first wire-straightening rod 22 and the second wire-straightening rod 23 rotate at the same time and together form a wire-straightening cavity 202, buckling the transmission line 4 inside the wire-straightening cavity 202.

[0086] Preferably, when the wire-winding mechanism 2 is in the wire-winding state, the first wire-winding rod 22 and the second wire-winding rod 23 both abut against the inner top wall of the accommodating position, and the first wire-winding rod 22 and the second wire-winding rod 23 together form a sealed wire-winding cavity 202 .

[0087] As a preferred embodiment of the above, the first wire-straightening rod 22 and the second wire-straightening rod 23 together form a sealed wire-straightening cavity 202, which can prevent the transmission line 4 from being scratched against the wire-straightening bracket 21 during the process of running and straightening the wire, thereby causing secondary damage to the transmission line 4.

[0088] Preferably, the first wire drawing rod 22 and the second wire drawing rod 23 have the same structure;

[0089] The first wire drawing rod 22 includes a wire drawing roller 221 and a lower locking rod 222 that are connected and angled with each other, and the angle is toward the middle of the accommodating position. The hinge of the first wire drawing rod 22 is located between the wire drawing roller 221 and the lower locking rod 222.

[0090] Furthermore, the first wire drawing rod 22 and the second wire drawing rod 23 of the present embodiment both include wire drawing rollers 221 and lower locking rods 222 that are connected and angled with each other, and can quickly buckle the transmission line 4 in the wire drawing cavity 202 when the robot descends on the transmission line 4, thereby improving the repair efficiency of the robot.

[0091] Preferably, the wire drawing roller 221 and the lower locking rod 222 are perpendicular to each other.

[0092] As a preference of the above embodiment, the volume of the thread-winding mechanism 2 can be made more compact while ensuring the normal realization of the thread-winding function.

[0093] Preferably, the wire-winding roller 221 includes an upper locking rod 2211 and a wire-winding sleeve 2212 , the upper locking rod 2211 is connected end to end with the lower locking rod 222 , the wire-winding sleeve 2212 is rotatably mounted on the outside of the upper locking rod 2211 , and the wire-winding sleeve 2212 is used to abut against the power transmission line 4 .

[0094] As another preferred embodiment of the above embodiment, the wire-straightening roller 221 includes an upper locking rod 2211 connected to the lower locking rod 222 and a wire-straightening sleeve 2212 rotatably arranged on the outside of the upper locking rod 2211. In the process of straightening while walking, since the transmission line 4 will be against the wire-straightening roller 221 located on the upper part of the first wire-straightening rod 22 and the second wire-straightening rod 23, the rolling wire-straightening sleeve 2212 can effectively avoid friction between the transmission line 4 and the first wire-straightening rod 22 and the second wire-straightening rod 23. On the one hand, it can prevent the above-mentioned friction from affecting the walking of the robot, and on the other hand, it can also avoid damage to the transmission line 4 caused by friction.

[0095] As a first embodiment of the thread-winding mechanism, the first elastic member 24 and the second elastic member 25 are both tension springs;

[0096] One end of the first elastic member 24 is connected to the lower portion of the inner side wall of one side of the accommodating position, and the other end of the first elastic member 24 is connected to the lower locking rod 222 of the first thread-winding rod 22;

[0097] One end of the second elastic member 25 is connected to the lower portion of the inner side wall on the other side of the accommodating position, and the other end of the second elastic member 25 is connected to the lower locking rod 222 of the second thread-winding rod 23 .

[0098] In the first embodiment of this solution, the first elastic member 24 and the second elastic member 25 are both tension springs. Figure 6 shown.

[0099] Specifically, when the wire drawing mechanism 2 is in a free state, the first wire drawing rod 22 is under the tension of the tension spring, and the second wire drawing rod 23 is under the tension of the tension spring, so that the first wire drawing rod 22 and the second wire drawing rod 23 together form a wire drawing groove 201;

[0100] When the wire-straightening mechanism 2 is in the wire-straightening state, the walking wheel 12 will fall on the transmission line 4. Using the downward gravity of the robot itself, the transmission line 4 moves upward relative to the wire-straightening mechanism 2 and counteracts the first wire-straightening rod 22 and the second wire-straightening rod 23 through the wire-straightening groove 201. At this time, under the action of the transmission line 4, the first wire-straightening rod 22 overcomes the tension of the tension spring and rotates. At the same time, the second wire-straightening rod 23 overcomes the tension of the tension spring and rotates. The first wire-straightening rod 22 and the second wire-straightening rod 23 rotate at the same time and jointly form a wire-straightening cavity 202, and the tension spring is in an extended state, buckling the transmission line 4 inside the wire-straightening cavity 202.

[0101] Preferably, a limiting groove 203 is provided in the middle of the inner top wall of the accommodation position, and the limiting groove 203 is used to accommodate the top end of the first wire-straightening rod 22 and the top end of the second wire-straightening rod 23.

[0102] In order to avoid excessive rotation of the first and second winding rods 22 and 23 and ensure that the first and second winding rods 22 and 23 form a sealed winding cavity 202, the present solution further provides a limiting groove 203 in the middle of the inner top wall of the accommodating position, so that the first and second winding rods 22 and 23 can be rotated to abut against the inner top wall of the accommodating position and be accommodated in the limiting groove 203.

[0103] As a second embodiment of the thread-winding mechanism, the first elastic member 24 and the second elastic member 25 are both compression springs;

[0104] The first thread-straightening rod 22 and the second thread-straightening rod 23 each further include a limiting piece 223 , the limiting piece 223 being located outside the thread-straightening roller 221 , and the end of the locking rod 2211 being connected to the end of the limiting piece 223 ;

[0105] One end of the first elastic member 24 is connected to the upper portion of the inner side wall of one side of the accommodating position, and the other end of the first elastic member 24 is connected to the limiting piece 223 of the first thread-straightening rod 22;

[0106] One end of the second elastic member 25 is connected to the upper portion of the inner side wall on the other side of the accommodating position, and the other end of the second elastic member 25 is connected to the limiting piece 223 of the second thread-straightening rod 23;

[0107] The first thread-straightening rod 22 and the second thread-straightening rod 23 are both pressed against the inner top wall of the accommodation position via a limiting piece 223 .

[0108] In the second embodiment of this solution, the first elastic member 24 and the second elastic member 25 are both compression springs. Figure 7 shown.

[0109] Specifically, when the wire drawing mechanism 2 is in a free state, the first wire drawing rod 22 is under the action of the compression spring, and the second wire drawing rod 23 is under the action of the compression spring, so that the first wire drawing rod 22 and the second wire drawing rod 23 together form a wire drawing groove 201;

[0110] When the wire-straightening mechanism 2 is in the wire-straightening state, the walking wheel 12 will fall on the transmission line 4. Using the downward gravity of the robot itself, the transmission line 4 moves upward relative to the wire-straightening mechanism 2 and is against the first wire-straightening rod 22 and the second wire-straightening rod 23 through the wire-straightening groove 201. At this time, under the action of the transmission line 4, the first wire-straightening rod 22 applies pressure to the compression spring and rotates, while the second wire-straightening rod 23 applies pressure to the compression spring and rotates. The first wire-straightening rod 22 and the second wire-straightening rod 23 rotate at the same time and together form a wire-straightening cavity 202, and the compression spring is in a compressed state, buckling the transmission line 4 inside the wire-straightening cavity 202.

[0111] In addition, in order to achieve effective connection between the compression spring and the first and second winding rods 22, 23, and to avoid excessive rotation of the first and second winding rods 22, 23, the present solution also adds a limiting plate 223 in the first and second winding rods 22, 23, so that the limiting plate 223 is abutted against the inner top wall of the accommodating position, thereby ensuring that the first and second winding rods 22, 23 form a sealed winding cavity 202.

[0112] To further illustrate, the repair mechanism 3 includes a mounting seat 31, a clamping device 32, and a feeding device 33. The mounting seat 31 is mounted on the outside of the mounting frame 14. The clamping device 32 and the feeding device 33 are sequentially mounted on the mounting seat 31 from the inside to the outside, and the clamping device 32 moves up and down relative to the mounting seat 31.

[0113] The repair mechanism 3 further includes a mounting bracket 35; the mounting bracket 35 includes a connecting end and a mounting end, the connecting end being connected to the mounting surface 311 of the mounting seat 31, and the mounting end being used to mount the feeding device 33; the connecting end is located below the clamping device 32, and the mounting end is located within the movement range of the active end of the clamping device 32;

[0114] The feeding device 33 is used to transport the patch 5 to the active end of the clamping device 32 , and the clamping device 32 is used to clamp the broken part of the power transmission line 4 using the patch 5 .

[0115] The repair mechanism used in the prior art to repair the power transmission line 4 mainly includes a feeding device for providing the patch sheet 5 and a clamping device for bundling and clamping the power transmission line 4 and the broken wire using the patch sheet 5. The two devices are independently installed on the top of the repair platform and are far apart. On the one hand, this is not conducive to the effective delivery of the patch sheet 5, and on the other hand, it is not conducive to reducing the volume of the repair mechanism.

[0116] In order to solve the above technical problems, the repair mechanism 3 proposed in this solution includes a mounting seat 31, a clamping device 32 for clamping the broken part of the transmission line 4 using the repair piece 5, and a feeding device 33 for feeding the repair piece 5 to the clamping device 32. Figure 8-10 Specifically, the clamping device 32 and feeding device 33 of this solution are sequentially mounted on the mounting base 31 from the inside out, effectively reducing the distance between the two devices. Furthermore, the feeding device 33 is mounted on the mounting surface 311 of the mounting base 31 via a mounting bracket 35, and the mounting end is positioned within the moving range of the active end of the clamping device 32. This reduces the distance between the discharge end of the feeding device 33 and the active end of the clamping device 32, enabling seamless transfer of the patch 5 from the feeding device 33 to the clamping device 32 while making the repair mechanism 3 more compact.

[0117] It should be noted that the repair process of the repair mechanism 3 of this scheme is as follows: the broken part of the straightened transmission line 4 is located at the top of the repair mechanism 3; first, the clamping device 32 is moved downward relative to the mounting seat 31, so that the feeding device 33 conveys the repair piece 5 to the active end of the clamping device 32; then the clamping device 32 is moved upward relative to the mounting seat 31, and the repair piece 5 in the clamping device 32 is abutted against the bottom of the broken part of the straightened transmission line 4, and the clamping device 32 clamps the repair piece 5, so that the transmission line 4 and the broken strand are bundled to achieve repair.

[0118] To further illustrate, the repair mechanism 3 further includes a lifting device 34, which is disposed between the mounting seat 31 and the clamping device 32. The clamping device 32 is moved up and down relative to the mounting seat 31 by the lifting device 34.

[0119] The lifting device 34 includes a lifting drive 341, a lifting rod 342 and a lifting transmission block 343; the lifting drive 341 is installed at the lower part of the mounting surface 311, and the lifting drive 341 is located below the mounting bracket 35; the lifting transmission block 343 is protrudingly installed on the upper part of the inner wall of the clamping device 32; the lifting rod 342 extends vertically through the mounting bracket 35, and the end of the lifting rod 342 is connected to the output end of the lifting drive 341, and the top of the lifting rod 342 is connected to the lifting transmission block 343, and the lifting drive 341 is used to drive the clamping device 32 to move up and down through the lifting rod 342.

[0120] In one embodiment of this technical solution, the clamping device 32 is moved up and down relative to the mounting base 31 using a lifting device 34. Specifically, the lifting device 34 includes a lifting driver 341, a lifting rod 342, and a lifting transmission block 343. The lifting driver 341 drives the clamping device 32 up and down via the lifting rod 342, resulting in a simple structure and reliable performance. Furthermore, the coordinated positional relationship between the lifting device 34 and the mounting bracket 35 makes the structural design of the repair mechanism 3 more compact.

[0121] Preferably, the lifting device 34 also includes a guide rail 344 and a guide slider 345; the guide rail 344 is vertically extended and installed on both sides of the upper part of the installation surface 311, and the guide slider 345 is protrudingly installed on both sides of the lower part of the inner wall of the clamping device 32; a vertically extending slide groove 3451 is opened on the inner side of the guide slider 345, and the guide slider 345 can be slidably installed on the guide rail 344 through the slide groove 3451.

[0122] As a preferred embodiment of the above embodiment, the lifting device 34 also includes a guide rail 344 and a guide slider 345. The guide slider 345 can be slidably installed on the guide rail 344 through a slide groove 3451. On the one hand, it is beneficial to increase the connection strength between the clamping device 32 and the mounting seat 31 and reduce the load on the lifting drive 341 and the lifting rod 342. On the other hand, it is beneficial to ensure the stable movement of the clamping device 32 on the mounting seat 31.

[0123] To further illustrate, the feeding device 33 includes a storage seat 332 and a pushing block 333;

[0124] A storage cavity 3324 extending in the horizontal direction is provided at the top of the storage seat 332, and multiple repair pieces 5 are accommodated in the interior of the storage cavity 3324 in parallel in the horizontal direction; the pushing block 333 can be horizontally movably installed in the interior of the storage cavity 3324, and the pushing block 333 is located at the outer end of the storage cavity 3324, and the pushing block 333 is used to push the repair piece 5 out of the inner end of the storage cavity 3324.

[0125] In the prior art, a feeding device for providing patch sheets 5 generally stacks the patch sheets 5 together, uses a spring in the feeding device to push the sheets upward, and then pushes the patch sheets 5 horizontally one by one to the discharge end. When the thickness of the patch sheet 5 is relatively small, the clearance left for the pusher to push out is relatively small, and the shape and size of the patch sheet 5 must be very accurate. This is because if there is a slight error in the shape processing of the patch sheet 5, the pusher may easily push out the next patch sheet 5 together, causing the feeding action to be blocked and preventing continuous feeding.

[0126] Therefore, in order to ensure the effective supply of the patch 5, the present technical solution lays the patch 5 side by side in the storage cavity 3324, as shown in FIG. Figure 11-14 As shown, the pusher block 333 pushes the patch 5 forward to the output end (i.e., the inner end) of the storage chamber 3324, completing the feeding function. The patch 5 is laid out side by side, ensuring that only one patch 5 is pushed out at a time, regardless of how thin the patch 5 is, and the shape and size of the patch 5 do not require high processing accuracy.

[0127] Preferably, a material pushing gap 3325 extending in the horizontal direction is formed at the bottom of the material storage seat 332, and the material storage cavity 3324 and the material pushing gap 3325 are communicated with each other;

[0128] The feeding device 33 also includes a pushing drive component 334, which is installed at the bottom of the storage seat 332, and the output end of the pushing drive component 334 passes through the pushing gap 3325 and is connected to the pushing block 333. The pushing drive component 334 is used to drive the horizontal movement of the pushing block 333.

[0129] In one embodiment of this technical solution, horizontal movement of the pusher block 333 is achieved through a pusher drive assembly 334, resulting in a simple structure and reliable performance. Furthermore, the pusher drive assembly 334 of this solution is mounted at the bottom of the storage base 332, with its output end connected to the pusher block 333 via a pusher gap 3325 that communicates with the storage chamber 3324. This allows for a more compact structure of the feeder 33 while ensuring horizontal movement of the pusher block 333.

[0130] Preferably, the pushing drive assembly 334 includes a pushing drive 3341 and a telescopic sleeve 3342; the pushing drive 3341 is located at the inner end of the storage seat 332, one end of the telescopic sleeve 3342 is connected to the output end of the pushing drive 3341, and the other end of the telescopic sleeve 3342 is connected to the outer end of the pushing block 333, and the pushing drive 3341 is used to drive the extension and retraction of the telescopic sleeve 3342.

[0131] As a preferred embodiment of the above embodiment, the pushing drive assembly 334 includes a pushing drive 3341 and a telescopic sleeve 3342. The pushing drive 3341 drives the telescopic sleeve 3342 to extend and retract, thereby driving the pushing block 333 to move horizontally in the storage chamber 3324, which is beneficial to increase the moving range of the pushing block 333 without increasing the structural volume.

[0132] Preferably, the feeding device 33 further includes a pressing block 335, which is detachably mounted on the top of the storage seat 332, and the shape of the pressing block 335 matches the shape of the storage cavity 3324;

[0133] A material pushing channel is reserved between the material storage seat 332 and the pressing block 335 , and the material pushing channel is used to avoid the repair piece 5 and the material pushing block 333 .

[0134] In another embodiment of the present technical solution, in order to avoid stacking of the patch pieces 5 arranged side by side in the storage chamber 3324, the present solution further provides a clamping block 335 on the top of the storage seat 332, so that a pushing channel (not shown in the figure) that can only accommodate one patch piece 5 is left between the storage seat 332 and the clamping block 335, to further ensure that only one patch piece 5 is pushed out at a time.

[0135] Preferably, the material storage seat 332 includes a first fixed part 3321, a material storage part 3322 and a second fixed part 3323 connected in sequence, the upper surfaces of the first fixed part 3321 and the second fixed part 3323 are both horizontal planes, the material storage part 3322 is provided with the material storage cavity 3324, and the shape of the material storage cavity 3324 is U-shaped.

[0136] Preferably, the pressing block 335 includes an integrally formed first fixing plate 3351 , a pressing portion 3352 , and a second fixing plate 3353 ;

[0137] The lower surfaces of the first fixing plate 3351 and the second fixing plate 3353 are both horizontal surfaces, and the upper surface of the first fixing portion 3321 is in contact with the lower surface of the first fixing plate 3351, and the upper surface of the second fixing portion 3323 is in contact with the lower surface of the second fixing plate 3353;

[0138] The lower surface of the pressing portion 3352 is U-shaped, and the material pushing channel is reserved between the material storage portion 3322 and the pressing portion 3352 .

[0139] As a preferred embodiment of the above embodiment, the present solution further optimizes the shapes of the material storage seat 332 and the pressing block 335 to facilitate the disassembly and installation of the two.

[0140] Preferably, the outer end of the storage cavity 3324 and the outer end of the pushing gap 3325 are aligned with each other, and the length of the storage cavity 3324 is greater than the length of the pushing gap 3325.

[0141] Further, the length of the storage cavity 3324 and the length of the pushing gap 3325 are preferably set so that the inner end of the pushing gap 3325 serves as a limit for the stroke of the pushing block 333, thereby ensuring that the patch 5 is just pushed out of the feeding device 33, so as to prevent over-pushing and deformation or falling of the patch 5.

[0142] Further, the clamping device 32 comprises a clamping seat 321, a supporting block 322, a first clamping jaw 323 and a second clamping jaw 324; the clamping seat 321 is installed on the outer side of the mounting seat 31, and the clamping seat 321 moves up and down relative to the mounting seat 31;

[0143] The supporting block 322 is installed on the top center of the clamping seat 321, and the upper surface of the supporting block 322 is inwardly recessed to be provided with a supporting position 3221 for receiving and placing the patch 5 pushed out by the feeding device 33; the first clamping jaw 323 and the second clamping jaw 324 are respectively movably hinged on the two sides of the supporting block 322;

[0144] The clamping device 32 comprises an open state and a clamping state:

[0145] When the clamping device 32 is in the open state, an opening 301 is left between the first clamping jaw 323 and the second clamping jaw 324, and the opening 301 is located at the top of the clamping device 32;

[0146] When the clamping device 32 is in the clamping state, a clamping cavity 302 is jointly formed by the first clamping jaw 323 and the second clamping jaw 324, and the first clamping jaw 323 and the second clamping jaw 324 are jointly used for clamping the patch 5 outside the power transmission line 4.

[0147] In the prior art, the clamping device for bundling and clamping the power transmission line 4 with the broken strand by using the patch 5 generally lacks a supporting structure for placing the patch 5. If the patch 5 is directly placed in the center of the two clamping arms for clamping the patch 5, it is likely that the patch 5 will be displaced (even fall) and it is difficult to effectively apply clamping force to the patch 5 and make it deform as required, thereby causing the patch 5 to be scrapped and the current repair to fail.

[0148] Therefore, in order to ensure the effectiveness of each clamping action, the present application adds a supporting block 322 to the clamping device 32, as shown in Figure 15-19 The upper surface of the supporting block 322 is provided with a recessed supporting position 3221 for receiving and placing the patch 5, so as to ensure the effective feeding of the patch 5 in the clamping device 32 and further ensure the effective implementation of the repair effect in the subsequent clamping process.

[0149] Preferably, the inner side surfaces of the first clamping jaw 323 and the second clamping jaw 324 are both C-shaped.

[0150] This is to fit the shape of the power transmission line 4 and completely clamp the power transmission line 4 and the broken strand.

[0151] To further illustrate, both the first clamping jaw 323 and the second clamping jaw 324 are provided with a hinge end and a clamping end;

[0152] The hinge end of the first clamping jaw 323 and the clamping end of the first clamping jaw 323 are respectively located at both ends of the first clamping jaw 323. The first clamping jaw 323 is hinged to the supporting block 322 via the hinge end, and the first clamping jaw 323 rotates around the hinge end. The edge of the clamping end is recessed inward to form a clamping position 3231.

[0153] The hinged end and the clamping end of the second clamping jaw 324 are respectively located at both ends of the second clamping jaw 324. The second clamping jaw 324 is hinged to the supporting block 322 via the hinged end, and the second clamping jaw 324 rotates around the hinged end. A clamping piece 3241 is protruding outward from the edge of the clamping end.

[0154] The clamping position 3231 and the clamping piece 3241 are arranged opposite to each other, and the clamping piece 3241 can be accommodated inside the clamping position 3231 . The first clamping jaw 323 and the second clamping jaw 324 jointly form a sealed clamping cavity 302 through the clamping position 3231 and the clamping piece 3241 .

[0155] In order to avoid the effective bundling of the transmission line 4 and the broken strands by the patch 5, the present solution also optimizes the specific structure of the first clamping jaw 323 and the second clamping jaw 324, so that the first clamping jaw 323 and the second clamping jaw 324 can jointly form a sealed clamping cavity 302 through the clamping position 3231 and the clamping piece 3241, ensuring that the patch 5 reaches the required clamping degree.

[0156] Preferably, the clamping device 32 further includes a first sliding member 325 and a second sliding member 326, wherein the first sliding member 325 and the second sliding member 326 are installed on both sides of the interior of the clamping seat 321, and the first sliding member 325 and the second sliding member 326 both move horizontally relative to the clamping seat 321;

[0157] The first sliding member 325 and the second sliding member 326 each include a displacement block 3251 and a connecting rod 3252 , and the connecting rod 3252 is located on the top of the displacement block 3251 ;

[0158] One end of the connecting rod 3252 of the first sliding member 325 is hinged to the top outer side of the displacement block 3251 of the first sliding member 325, and the other end of the connecting rod 3252 is hinged to the middle of the back side of the first clamping jaw 323. The horizontal movement of the first sliding member 325 is used to drive the rotation of the first clamping jaw 323.

[0159] One end of the connecting rod 3252 of the second sliding member 326 is hinged to the top outer side of the displacement block 3251 of the second sliding member 326, and the other end of the connecting rod 3252 is hinged to the middle of the back side of the second clamping jaw 324; the horizontal movement of the second sliding member 326 is used to drive the rotation of the second clamping jaw 324.

[0160] In one embodiment of the present technical solution, the first clamping jaw 323 is rotated relative to the supporting block 322 through the first sliding member 325, and the second clamping jaw 324 is rotated relative to the supporting block 322 through the second sliding member 326; and the first sliding member 325 and the second sliding member 326 both include a displacement block 3251 and a connecting rod 3252, which can effectively convert the horizontal movement of the displacement block 3251 into the rotation of the two clamping jaws (323, 324), with a simple structure and reliable performance.

[0161] Preferably, the first sliding member 325 and the second sliding member 326 move toward each other and away from each other synchronously relative to the clamping seat 321 .

[0162] As a preference of the above embodiment, the displacement of the first sliding member 325 and the second sliding member 326 is synchronous relative movement, which is conducive to achieving the synchronization of opening and closing of the two clamping jaws (323, 324), thereby improving the clamping efficiency.

[0163] Preferably, the clamping device 32 also includes a clamping drive assembly 327, which is installed at the bottom of the clamping seat 321. The clamping drive assembly 327 is respectively connected to the first sliding member 325 and the second sliding member 326, and the clamping drive assembly 327 is used to drive the synchronous movement of the first sliding member 325 and the second sliding member 326.

[0164] Furthermore, this solution also adds a clamping drive component 327 to the clamping device 32 for driving the first sliding member 325 and the second sliding member 326 to move synchronously, and it is installed at the bottom of the clamping seat 321, which can effectively save the space occupied by the clamping device 32 and make the volume of the clamping device 32 more compact.

[0165] Preferably, the clamping drive assembly 327 includes a synchronization screw 3271, which is rotatably mounted inside the clamping seat 321; the displacement block 3251 of the first sliding member 325 and the displacement block 3251 of the second sliding member 326 are respectively mounted on both ends of the synchronization screw 3271, and the rotation of the synchronization screw 3271 is used to drive the first sliding member 325 and the second sliding member 326 to move toward each other and move away from each other synchronously relative to the clamping seat 321.

[0166] Specifically, this solution sets a synchronization screw 3271 inside the clamping seat 321 to drive the synchronous movement of the first sliding member 325 and the second sliding member 326, so that the rotation of the synchronization screw 3271 drives the first sliding member 325 and the second sliding member 326 to move toward each other and toward each other relative to the clamping seat 321, thereby ensuring the normal implementation of the synchronization function while maintaining a compact size.

[0167] Preferably, the clamping drive assembly 327 further includes a clamping driver 3272, a first transmission wheel 3273, and a second transmission wheel 3274; the clamping driver 3272 is installed inside the clamping seat 321 and is located below the synchronization screw 3271; the first transmission wheel 3273 and the second transmission wheel 3274 are rotatably installed on the outside of the clamping seat 321, and the first transmission wheel 3273 and the second transmission wheel 3274 are engaged with each other;

[0168] The first transmission wheel 3273 is connected to the output end of the clamping driver 3272, and the second transmission wheel 3274 is connected to the end of the synchronization screw rod 3271. The clamping driver 3272 drives the rotation of the synchronization screw rod 3271 through the first transmission wheel 3273 and the second transmission wheel 3274.

[0169] More specifically, the clamping drive assembly 327 of this solution also includes a clamping driver 3272, a first transmission wheel 3273 and a second transmission wheel 3274, so that the clamping driver 3272 drives the rotation of the synchronous screw rod 3271 through the first transmission wheel 3273 and the second transmission wheel 3274. The transmission structure is simple and reliable, and effectively reduces equipment costs.

[0170] To further explain, the multimodal mobile mechanism 1 further includes a camera device 15 , which is installed on the top of the mobile platform 11 , and the camera end of the camera device 15 is aligned with the power transmission line 4 .

[0171] In addition, the scheme is also configured with a camera 15 for shooting the power transmission line 4 in the multi-modal mobile mechanism 1, so as to accurately fall on the predetermined position (such as the broken strand position, etc.) of the power transmission line 4 under the driving of the flight wing 13. In some embodiments, the camera 15 of the scheme is a camera.

[0172] An action method of the power transmission line broken strand repair flying robot, using the above-mentioned power transmission line broken strand repair flying robot, comprising the following steps:

[0173] A. The flight wing 13 is used to fly the power transmission line broken strand repair flying robot to the rear of the broken strand position of the power transmission line 4 along the walking direction; wherein the line straightening mechanism 2 and the repair mechanism 3 are both located at the rear side of the multi-modal mobile mechanism 1 along the walking direction;

[0174] B. The walking wheel 12 is used to make the power transmission line broken strand repair flying robot walk along the power transmission line 4 until the line straightening mechanism 2 straightens the broken strand position of the power transmission line 4 and stops walking;

[0175] C. The repair mechanism 3 uses the repair patch 5 to repair the broken strand position of the power transmission line 4.

[0176] In order to ensure the repair effect of the robot on the broken strand position, the scheme also proposes an action method of the above-mentioned power transmission line broken strand repair flying robot, which makes the robot fly to the rear of the broken strand position of the power transmission line 4 along the walking direction, and makes the line straightening mechanism 2 and the repair mechanism 3 sequentially located at the rear side of the multi-modal mobile mechanism 1 along the walking direction, as shown in Figure 3 The direction indicated by the arrow is the walking direction. After the broken strand position is repaired, the continuous walking of the walking wheel 12 will not crush the repair patch 5 just repaired, preventing the repair patch 5 from being loosened due to crushing, thereby affecting the repair effect.

[0177] It should be noted that the terms used herein are only for the purpose of describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a presence of the features, steps, operations, devices, components and / or combinations thereof.

[0178] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0179] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0180] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0181] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0182] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0183] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and are not to be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will readily conceive of other specific embodiments of the present invention without inventive effort, and such embodiments will fall within the scope of protection of the present invention.

Claims

1. A flying robot for repairing broken strands in power transmission lines, characterized in that: The utility model comprises a multi-modal moving mechanism, a wire-straightening mechanism and a repairing mechanism. The wire-straightening mechanism and the repairing mechanism are installed on the same side of the multi-modal moving mechanism along the moving direction. The wire-straightening mechanism is used to straighten the broken strands of the power transmission line. The repairing mechanism is used to repair the broken strands of the power transmission line using a repair piece. The multimodal mobile mechanism includes a mobile platform, running wheels, flying wings, and a mounting frame; the running wheels are rotatably mounted on the middle of the mobile platform, and the flying wings are mounted on both sides of the mobile platform along the traveling direction; the mounting frame is mounted on the bottom of the mobile platform, and a clearance is provided in the middle of the mounting frame for avoiding the running wheels; The wire-winding mechanism is installed on the mobile platform, and the wire-winding mechanism is located on the outside of the mobile platform along the walking direction; the repair mechanism is installed on the mounting frame, and the repair mechanism is located on the outside of the wire-winding mechanism; The repair mechanism includes a mounting seat, a clamping device and a feeding device, wherein the mounting seat is mounted on the outside of the mounting frame, the clamping device and the feeding device are sequentially mounted on the mounting seat from the inside to the outside, and the clamping device moves up and down relative to the mounting seat; The repair mechanism further includes a mounting bracket; the mounting bracket includes a connecting end and a mounting end, the connecting end being connected to the mounting surface of the mounting seat, and the mounting end being used to mount the feeding device; the connecting end is located below the clamping device, and the mounting end is located within the movement range of the active end of the clamping device; The feeding device is used to transport the patch to the active end of the clamping device, and the clamping device is used to clamp the broken part of the power transmission line using the patch.

2. A transmission line broken strand repair flying robot according to claim 1, characterized in that: The wire-straightening mechanism includes a wire-straightening bracket, a first wire-straightening rod and a second wire-straightening rod; The wire-winding bracket is protrudingly mounted on the edge of the mobile platform, and the wire-winding bracket is located outside the traveling direction of the walking wheel; a receiving position is provided at the bottom of the wire-winding bracket, and the first wire-winding rod and the second wire-winding rod are relatively installed inside the receiving position; a first hinge position and a second hinge position are relatively protrudingly provided on the inner side wall of the receiving position, the outer end portion of the first hinge position is hinged to the middle portion of the first wire-winding rod, and the outer end portion of the second hinge position is hinged to the middle portion of the second wire-winding rod; The thread-winding mechanism is provided with a free state and a thread-winding state: When the wire-straightening mechanism is in a free state, the first wire-straightening rod and the second wire-straightening rod together form a wire-straightening groove; When the thread-straightening mechanism is in the thread-straightening state, the first thread-straightening rod and the second thread-straightening rod together form a thread-straightening cavity.

3. A transmission line broken strand repair flying robot according to claim 2, characterized in that: The thread-winding mechanism further includes a first elastic member and a second elastic member; The first elastic member is connected between the inner side wall of the accommodation position and the first thread-straightening rod; The second elastic member is connected between the inner side wall of the accommodating position and the second thread-straightening rod.

4. The power transmission line broken strand repair flying robot according to claim 1, characterized in that: The repair mechanism further includes a lifting device, which is disposed between the mounting seat and the clamping device, and the clamping device is moved up and down relative to the mounting seat by the lifting device; The lifting device includes a lifting driver, a lifting rod and a lifting transmission block; The lifting drive is installed at the lower part of the mounting surface, and the lifting drive is located below the mounting bracket; the lifting transmission block is protrudingly installed at the upper part of the inner side wall of the clamping device; The lifting rod extends vertically through the mounting bracket, and the end of the lifting rod is connected to the output end of the lifting drive, and the top of the lifting rod is connected to the lifting transmission block. The lifting drive is used to drive the clamping device to move up and down through the lifting rod.

5. The power transmission line broken strand repair flying robot according to claim 1, characterized in that: The feeding device includes a material storage seat and a material pushing block; A storage cavity extending in a horizontal direction is provided on the top of the storage seat, and a plurality of patch sheets are accommodated in the interior of the storage cavity in parallel in a horizontal direction; the pushing block can be installed in the interior of the storage cavity in a horizontally movable manner, and the pushing block is located at the outer end of the storage cavity, and the pushing block is used to push the patch sheet out of the inner end of the storage cavity.

6. The transmission line broken strand repair flying robot according to claim 1, characterized in that: The clamping device includes a clamping seat, a supporting block, a first clamping jaw and a second clamping jaw; the clamping seat is installed on the outside of the mounting seat, and the clamping seat moves up and down relative to the mounting seat; The supporting block is installed at the top center of the clamping seat, and the upper surface of the supporting block is inwardly recessed to form a supporting position, which is used to receive and place the repair piece pushed out by the feeding device; the first clamping jaw and the second clamping jaw are respectively movably hinged to the two sides of the supporting block; The clamping device includes an open state and a clamping state: When the clamping device is in an open state, an opening is left between the first clamping jaw and the second clamping jaw, and the opening is located at the top of the clamping device; When the clamping device is in a clamping state, the first clamping jaw and the second clamping jaw together form a clamping cavity, and the first clamping jaw and the second clamping jaw are used together to clamp the patch to the outside of the power transmission line.

7. The power transmission line broken strand repair flying robot according to claim 6, characterized in that: The first clamping jaw and the second clamping jaw are both provided with a hinge end and a clamping end; The hinge end of the first clamping jaw and the clamping end of the first clamping jaw are respectively located at both ends of the first clamping jaw, the first clamping jaw is hinged to the supporting block via the hinge end, and the first clamping jaw rotates around the hinge end as an axis; the edge of the clamping end is recessed inward to form a clamping position; The hinge end of the second clamping jaw and the clamping end of the second clamping jaw are respectively located at both ends of the second clamping jaw, the second clamping jaw is hinged to the supporting block via the hinge end, and the second clamping jaw rotates around the hinge end as an axis; a clamping piece is provided on an edge of the clamping end protruding outward; The clamping position and the clamping sheet are arranged opposite to each other, and the clamping sheet can be accommodated inside the clamping position. The first clamping jaw and the second clamping jaw jointly form a sealed clamping cavity through the clamping position and the clamping sheet.

8. The transmission line broken strand repair flying robot according to claim 1, characterized in that: The multimodal mobile mechanism further includes a camera device, which is installed on the top of the mobile platform, and the camera end of the camera device is aimed at the power transmission line.

9. A method for repairing broken strands of a power transmission line by a flying robot, characterized in that: The method of using the transmission line broken strand repair flying robot according to any one of claims 1 to 8 comprises the following steps: A. Using the flying wings, the power transmission line broken strand repair flying robot is flown to the rear of the broken strand of the power transmission line along the traveling direction; wherein the wire-winding mechanism and the repairing mechanism are both located at the rear side of the multimodal moving mechanism along the traveling direction; B. Using the walking wheels, the power transmission line broken strand repair flying robot moves along the power transmission line until the wire straightening mechanism straightens the broken strand of the power transmission line and then stops moving; C. The repair mechanism uses a repair piece to repair the broken part of the transmission line.

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