A wire straightening mechanism for a power transmission line broken strand repair operation

Abstract

The application discloses a kind of wire smoothing mechanism of transmission line broken strand repair operation, including multimodal mobile device and wire smoothing device;The multimodal mobile device includes moving platform, walking wheel, flight wing and balance frame;The walking wheel is rotatably installed in the middle of the moving platform, and the flight wing is installed in the moving platform along the direction of two sides of walking;The balance frame is installed in the bottom of the moving platform;The wire smoothing device includes wire smoothing support, first wire smoothing stick and second wire smoothing stick;When the wire smoothing device is in free state, the first wire smoothing stick and the second wire smoothing stick jointly enclose wire smoothing groove;When the wire smoothing device is in wire smoothing state, the first wire smoothing stick and the second wire smoothing stick jointly enclose wire smoothing cavity.This scheme can realize the quick up and down line of wire smoothing mechanism on the one hand, on the other hand, under the premise of ensuring that wire smoothing function is normally realized, the weight of wire smoothing mechanism is reduced, and secondary damage to transmission line is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line repair, and in particular to a wire-winding mechanism for repairing broken strands of a power transmission line. Background Art

[0002] Transmission lines are constantly exposed to external factors and are subject to constant mechanical tension, electrical flashovers, and material aging. Consequently, line breakage is a common occurrence. Currently, broken lines are primarily repaired by climbing towers. However, due to the large number of transmission lines located across a wide area, most of which are far from urban areas, situated in complex terrain and harsh natural environments, tower climbing is difficult for maintenance personnel. Consequently, repairs require the use of lifts or helicopters, significantly increasing costs and complexity. Furthermore, the work is inefficient and unsafe, presenting certain limitations.

[0003] Currently, there are some repair robots specifically designed for repairing broken strands in power transmission lines, both domestically and internationally. These robots are primarily mounted on the transmission line, with wheels driving them to the broken strand to perform repair operations. These robots have a high degree of automation, effectively improving repair efficiency and safety. However, during operation, these robots still require manual installation and removal from towers, making them difficult to operate on transmission lines that cross rivers, lakes, and swamps. Furthermore, since the robots are mounted on the transmission line, they have difficulty navigating obstacles, limiting their efficiency.

[0004] In addition, the wire-straightening mechanism used to straighten broken wires in existing repair robots is mainly a wire-straightening disk. The structure of the wire-straightening disk is mostly complex, and requires the cooperation between multiple gears and multiple wire-straightening rotating columns to realize the wire-straightening function, which increases the weight of the wire-straightening mechanism itself, which undoubtedly increases the burden on the robot's walking. At the same time, an overweight robot may cause damage to the transmission lines. Summary of the Invention

[0005] The purpose of the present invention is to propose a wire-straightening mechanism for repairing broken strands in a transmission line. On the one hand, the wire-straightening mechanism can be quickly installed and removed from the line. On the other hand, the weight of the wire-straightening mechanism can be reduced while ensuring the normal implementation of the wire-straightening function, thereby avoiding secondary damage to the transmission line.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A wire-straightening mechanism for repairing broken strands of a power transmission line comprises a multi-modal moving device and a wire-straightening device, wherein the wire-straightening device is mounted on one side of the multi-modal moving device and is used to straighten the broken strands of the power transmission line;

[0008] The multimodal mobile device includes a mobile platform, running wheels, flying wings, and a gimbal; the running wheels are rotatably mounted in the middle of the mobile platform, and the flying wings are mounted on both sides of the mobile platform along the traveling direction; the gimbal is mounted on the bottom of the mobile platform, and a clearance is provided in the middle of the gimbal for avoiding the running wheels;

[0009] The wire-straightening device comprises 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 wire drawing device is provided with a free state and a wire drawing state:

[0012] When the wire-straightening device 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 wire-strapping device is in a wire-strapping state, the first wire-strapping rod and the second wire-strapping rod together form a wire-strapping cavity.

[0014] Preferably, the thread-winding device 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, when the wire-straightening device is in the wire-straightening state, the first wire-straightening rod and the second wire-straightening rod both abut against the inner top wall of the accommodating position, and the first wire-straightening rod and the second wire-straightening rod together form a sealed wire-straightening cavity.

[0018] Preferably, the first wire drawing rod and the second wire drawing rod have the same structure;

[0019] The first wire drawing rod includes a wire drawing roller and a lower locking rod which are connected and form an angle with each other, and the angle is toward the middle of the accommodating position. The hinge of the first wire drawing rod is located between the wire drawing roller and the lower locking rod.

[0020] Preferably, the wire drawing roller and the lower locking rod are perpendicular to each other.

[0021] Preferably, the wire drawing roller includes an upper locking rod and a wire drawing sleeve, the upper locking rod is connected end to end with the lower locking rod, the wire drawing sleeve is rotatably mounted on the outside of the upper locking rod, and the wire drawing sleeve is used to abut against the power transmission line.

[0022] Preferably, the first elastic member and the second elastic member are tension springs;

[0023] One end of the first elastic member 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 is connected to the lower locking rod of the first thread-straightening rod;

[0024] One end of the second elastic member 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 is connected to the lower locking rod of the second thread-winding rod.

[0025] Preferably, a limiting groove is provided in the middle of the inner top wall of the accommodating position, and the limiting groove is used to accommodate the top end of the first wire-smoothing rod and the top end of the second wire-smoothing rod.

[0026] Preferably, the first elastic member and the second elastic member are both compression springs;

[0027] The first wire drawing rod and the second wire drawing rod each further include a limiting plate, the limiting plate being located on the outer side of the wire drawing roller, and the end of the locking rod is connected to the end of the limiting plate;

[0028] One end of the first elastic member 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 is connected to the limiting piece of the first threading rod;

[0029] One end of the second elastic member 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 is connected to the limiting piece of the second thread-straightening rod;

[0030] The first wire-straightening rod and the second wire-straightening rod are both pressed against the inner top wall of the accommodating position through a limiting piece.

[0031] Preferably, the multimodal mobile device further comprises 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.

[0032] The technical solution provided by the present invention can have the following beneficial effects:

[0033] 1. The multimodal mobile mechanism is newly equipped with a flying wing installed on a mobile platform. During the operation of the wire-straightening mechanism, the flying wing can be used to achieve the installation and removal of equipment. There is no need for additional drones to hoist the equipment online, and there is no need for tower technicians and supporting hoisting tools. This helps to reduce the difficulty of hanging the wires in the wire-straightening mechanism and reduce safety hazards in the operation, while effectively improving the efficiency of the wire-straightening mechanism. Moreover, the availability of a flying state can make the operation of the wire-straightening mechanism more flexible. When encountering obstacles, there is no need to roll over the obstacles, but to fly over them directly. Compared with the existing repair robot's operation method of directly walking to the broken part of the transmission line via the walking wheels, the combination of flying and walking methods in this solution is more conducive to improving the operation safety of the wire-straightening mechanism.

[0034] 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 The present invention is a structural schematic diagram of a wire-winding mechanism for repairing broken strands of a transmission line from one perspective.

[0036] Figure 2 It is a structural schematic diagram of another perspective of a wire-winding mechanism for repairing broken strands of a transmission line according to the present invention.

[0037] Figure 3 yes Figure 2 Enlarged view of point B in the middle.

[0038] Figure 4 2 is a schematic diagram of a first embodiment of a wire drawing device according to the present invention.

[0039] Figure 5 2 is a schematic diagram of a second embodiment of the wire drawing device of the present invention.

[0040] Wherein: a multimodal mobile device 1, a mobile platform 11, running wheels 12, flying wings 13, a gimbal 14, an avoidance gap 141, and a camera device 15;

[0041] Wire drawing device 2, wire drawing bracket 21, first hinge position 211, second hinge position 212, first wire drawing rod 22, wire drawing roller 221, upper locking rod 2211, wire drawing sleeve 2212, lower locking rod 222, limiting piece 223, second wire drawing rod 23, first elastic member 24, second elastic member 25, wire drawing groove 201, wire drawing cavity 202, limiting groove 203;

[0042] Transmission line 4. DETAILED DESCRIPTION

[0043] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0044] The present technical solution provides a wire-straightening mechanism for repairing broken strands of a transmission line, comprising a multi-modal moving device 1 and a wire-straightening device 2. The wire-straightening device 2 is mounted on one side of the multi-modal moving device 1 and is used to straighten the broken strands of a transmission line 4.

[0045] The multimodal mobile device 1 includes a mobile platform 11, running wheels 12, flying wings 13, and a gimbal 14; the running wheels 12 are rotatably mounted in the middle of the mobile platform 11, and the flying wings 13 are mounted on both sides of the mobile platform 11 along the travel direction; the gimbal 14 is mounted on the bottom of the mobile platform 11, and an avoidance gap 141 is defined in the middle of the gimbal 14 for avoiding the running wheels 12;

[0046] The wire drawing device 2 includes a wire drawing support 21, a first wire drawing rod 22 and a second wire drawing rod 23;

[0047] 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;

[0048] The winding device 2 is provided with a free state and a winding state:

[0049] When the wire drawing device 2 is in a free state, the first wire drawing rod 22 and the second wire drawing rod 23 together form a wire drawing groove 201;

[0050] When the thread-straightening device 2 is in the thread-straightening state, the first thread-straightening rod 22 and the second thread-straightening rod 23 together form a thread-straightening cavity 202 .

[0051] In order to solve the technical problems of high cost, great difficulty, low working efficiency and great limitation of repairing broken strands of transmission lines in the existing technology, this technical solution proposes a wire-winding mechanism for repairing broken strands of transmission lines, such as Figure 1-2 As shown, it comprises a multi-modal mobile device 1 for realizing the switching of the wire straightening mechanism between the flying state and the walking state and a wire straightening device 2 for straightening the broken strand of the power transmission line 4.

[0052] Specifically, the multi-modal mobile device 1 of the present scheme is additionally provided with a flying wing 13 mounted on the mobile platform 11. During the operation of the wire straightening mechanism, the flying wing 13 can be used to realize the up-and-down line of the device, without the need for additional unmanned aerial vehicle hoisting, without the need for tower technicians and supporting hoisting tools, which is conducive to reducing the hanging difficulty of the wire straightening mechanism and reducing the safety hazards of the operation, while effectively improving the hanging efficiency of the wire straightening mechanism. Moreover, the possession of the flying state can make the operation mode of the wire straightening mechanism more flexible, and when encountering obstacles, it can directly fly over the obstacles instead of rolling over the obstacles. Compared with the existing repair robot which directly walks to the broken strand of the power transmission line 4 by walking wheels, the combination of the flying mode and the walking mode in the present scheme is more conducive to improving the operation safety of the wire straightening mechanism.

[0053] More specifically, the wire straightening device 2 of the present scheme comprises a wire straightening support 21, a first wire straightening rod 22 and a second wire straightening rod 23, as shown in Figure 3-5 The first wire straightening rod 22 and the second wire straightening rod 23 are both rotated relative to the wire straightening support 21 to realize the opening and closing of the wire straightening cavity 202. When the wire straightening device 2 is in the free state, the first wire straightening rod 22 and the second wire straightening rod 23 jointly enclose the wire straightening groove 201, i.e. the wire straightening cavity 202 is opened, so as to facilitate the entry of the power transmission line 4; when the wire straightening device 2 is in the wire straightening state, the first wire straightening rod 22 and the second wire straightening rod 23 jointly enclose the wire straightening cavity 202, i.e. the wire straightening cavity 202 is closed, so as to allow the power transmission line 4 to be buckled in the wire straightening cavity 202. In the walking process of the wire straightening mechanism, the broken strand of the power transmission line 4 can be lifted and straightened by the wire straightening device 2, so as to facilitate subsequent repair.

[0054] Further, the wire straightening device 2 further comprises a first elastic member 24 and a second elastic member 25;

[0055] The first elastic member 24 is connected between the inner side wall of the accommodation site and the first wire straightening rod 22;

[0056] The second elastic member 25 is connected between the inner side wall of the accommodation site and the second wire straightening rod 23.

[0057] In order to simplify the structure of the thread-strapping device 2 and reduce its manufacturing cost, the present invention also proposes a structure that enables the thread-strapping 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-strapping rods (22, 23), the thread-strapping device 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-strapping chamber 202, the present invention is more energy-efficient.

[0058] It should be noted that the unpowered thread-winding action of this scheme is achieved by the following methods:

[0059] When the wire drawing device 2 is in a free state, the first wire drawing rod 22 is under the action of the first elastic member 24, and the second wire drawing rod 23 is under the action of the second elastic member 25, so that the first wire drawing rod 22 and the second wire drawing rod 23 together form a wire drawing groove 201;

[0060] When the wire-strapping device 2 is in the wire-strapping state, the running wheel 12 will fall on the transmission line 4. Using the downward gravity of the wire-strapping mechanism itself, the transmission line 4 moves upward relative to the wire-strapping device 2 and is offset against the first wire-strapping rod 22 and the second wire-strapping rod 23 through the wire-strapping groove 201. At this time, under the action of the transmission line 4, the first wire-strapping rod 22 overcomes the action of the first elastic member 24 and rotates. At the same time, the second wire-strapping rod 23 overcomes the action of the second elastic member 25 and rotates. The first wire-strapping rod 22 and the second wire-strapping rod 23 rotate at the same time and together form a wire-strapping cavity 202, buckling the transmission line 4 inside the wire-strapping cavity 202.

[0061] To further illustrate, when the wire-strapping device 2 is in the wire-strapping state, the first wire-strapping rod 22 and the second wire-strapping rod 23 both abut against the inner top wall of the accommodating position, and the first wire-strapping rod 22 and the second wire-strapping rod 23 together form a sealed wire-strapping cavity 202 .

[0062] 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.

[0063] To further illustrate, the first thread-straightening rod 22 and the second thread-straightening rod 23 have the same structure;

[0064] 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.

[0065] Further, the first and second line straightening rods 22 and 23 each comprise a line straightening roller 221 and a lower locking rod 222 connected to each other and at an angle, so as to quickly buckle the power transmission line 4 in the line straightening cavity 202 during the lowering of the line straightening mechanism, thereby improving the line straightening efficiency of the line straightening mechanism.

[0066] Further, the line straightening roller 221 and the lower locking rod 222 are perpendicular to each other.

[0067] As a preferred embodiment of the above embodiment, the volume of the line straightening device 2 can be made more compact while ensuring the normal implementation of the line straightening function.

[0068] Further, the line straightening roller 221 comprises an upper locking rod 2211 and a line straightening sleeve 2212, the upper locking rod 2211 is connected to the lower locking rod 222, and the line straightening sleeve 2212 is rotatably sleeved on the outside of the upper locking rod 2211 and is used to abut against the power transmission line 4.

[0069] As another preferred embodiment of the above embodiment, the line straightening roller 221 comprises an upper locking rod 2211 connected to the lower locking rod 222 and a line straightening sleeve 2212 rotatably arranged on the outside of the upper locking rod 2211. During the walking and straightening process, the power transmission line 4 abuts against the line straightening roller 221 located at the upper part of the first and second line straightening rods 22 and 23, and the line straightening sleeve 2212 arranged in a rolling manner can effectively avoid the friction between the power transmission line 4 and the first and second line straightening rods 22 and 23, which can prevent the above-mentioned friction from affecting the walking of the line straightening mechanism and can also avoid the damage to the power transmission line 4 caused by the friction.

[0070] Further, the first and second elastic members 24 and 25 are both tension springs.

[0071] One end of the first elastic member 24 is connected to the lower part 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 line straightening rod 22.

[0072] One end of the second elastic member 25 is connected to the lower part of the inner side wall of 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 line straightening rod 23.

[0073] In the first embodiment of the present scheme, the first and second elastic members 24 and 25 are both tension springs, as shown in Figure 4

[0074] ​Specifically, when the wire drawing device 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;

[0075] When the wire-strapping device 2 is in the wire-strapping state, the running wheel 12 will fall on the transmission line 4. Using the downward gravity of the wire-strapping mechanism itself, the transmission line 4 moves upward relative to the wire-strapping device 2 and is offset against the first wire-strapping rod 22 and the second wire-strapping rod 23 through the wire-strapping groove 201. At this time, under the action of the transmission line 4, the first wire-strapping rod 22 overcomes the tension of the tension spring and rotates, while the second wire-strapping rod 23 overcomes the tension of the tension spring and rotates. The first wire-strapping rod 22 and the second wire-strapping rod 23 rotate at the same time and together form a wire-strapping cavity 202, and the tension spring is in an extended state, buckling the transmission line 4 inside the wire-strapping cavity 202.

[0076] To further illustrate, 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 winding rod 22 and the top end of the second winding rod 23.

[0077] 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.

[0078] To further illustrate, the first elastic member 24 and the second elastic member 25 are both compression springs;

[0079] 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 ;

[0080] 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;

[0081] 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;

[0082] 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 .

[0083] In the second embodiment of this solution, the first elastic member 24 and the second elastic member 25 are both compression springs. Figure 5 shown.

[0084] Specifically, when the wire drawing device 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;

[0085] When the wire-strapping device 2 is in the wire-strapping state, the running wheel 12 will fall on the transmission line 4. Using the downward gravity of the wire-strapping mechanism itself, the transmission line 4 moves upward relative to the wire-strapping device 2 and is against the first wire-strapping rod 22 and the second wire-strapping rod 23 through the wire-strapping groove 201. At this time, under the action of the transmission line 4, the first wire-strapping rod 22 applies pressure to the compression spring and rotates, while the second wire-strapping rod 23 applies pressure to the compression spring and rotates. The first wire-strapping rod 22 and the second wire-strapping rod 23 rotate at the same time and together form a wire-strapping cavity 202, and the compression spring is in a compressed state, buckling the transmission line 4 inside the wire-strapping cavity 202.

[0086] 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.

[0087] To further explain, the multimodal mobile device 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 aimed at the power transmission line 4 .

[0088] In addition, the multimodal mobile device 1 is equipped with a camera 15 for photographing the power transmission line 4, so that the flying wing 13 can accurately land on a predetermined position (such as a broken strand) of the power transmission line 4. In some embodiments, the camera 15 of the present embodiment is a camera.

[0089] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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 wire-winding mechanism for repairing broken strands in a transmission line, characterized by: The utility model comprises a multi-modal moving device and a wire straightening device, wherein the wire straightening device is installed on one side of the multi-modal moving device and is used to straighten the broken strands of the power transmission line; The multimodal mobile device includes a mobile platform, running wheels, flying wings, and a gimbal; the running wheels are rotatably mounted in the middle of the mobile platform, and the flying wings are mounted on both sides of the mobile platform along the traveling direction; the gimbal is mounted on the bottom of the mobile platform, and a clearance is provided in the middle of the gimbal for avoiding the running wheels; The wire-straightening device comprises 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 wire drawing device is provided with a free state and a wire drawing state: When the wire-straightening device 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 device is in the thread-straightening state, the first thread-straightening rod and the second thread-straightening rod together form a thread-straightening cavity; The first wire drawing rod and the second wire drawing rod have the same structure; The first wire drawing rod includes a wire drawing roller and a lower locking rod which are connected and form an angle with each other, and the angle is toward the middle of the accommodating position. The hinge of the first wire drawing rod is located between the wire drawing roller and the lower locking rod.

2. The wire-winding mechanism for repairing broken strands of a power transmission line according to claim 1, characterized in that: The thread-winding device 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.

3. The wire-winding mechanism for repairing broken strands of a power transmission line according to claim 1, characterized in that: When the wire-strapping device is in the wire-strapping state, the first wire-strapping rod and the second wire-strapping rod both abut against the inner top wall of the accommodating position, and the first wire-strapping rod and the second wire-strapping rod together form a sealed wire-strapping cavity.

4. The wire-winding mechanism for repairing broken strands of a power transmission line according to claim 1, characterized in that: The wire drawing roller and the lower locking rod are perpendicular to each other.

5. The wire-winding mechanism for repairing broken strands of a power transmission line according to claim 2, characterized in that: The wire drawing roller includes an upper locking rod and a wire drawing sleeve. The upper locking rod is connected end to end with the lower locking rod. The wire drawing sleeve is rotatably mounted on the outside of the upper locking rod, and the wire drawing sleeve is used to abut against the power transmission line.

6. The wire-winding mechanism for repairing broken strands of a power transmission line according to claim 2, characterized in that: The first elastic member and the second elastic member are both tension springs; One end of the first elastic member 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 is connected to the lower locking rod of the first thread-straightening rod; One end of the second elastic member 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 is connected to the lower locking rod of the second thread-winding rod.

7. The wire-winding mechanism for repairing broken strands of a power transmission line according to claim 6, characterized in that: A limiting groove is provided in the middle of the inner top wall of the accommodating position, and the limiting groove is used to accommodate the top end of the first wire-smoothing rod and the top end of the second wire-smoothing rod.

8. The wire-winding mechanism for repairing broken strands of a power transmission line according to claim 5, characterized in that: The first elastic member and the second elastic member are both compression springs; The first wire drawing rod and the second wire drawing rod each further include a limiting plate, the limiting plate being located on the outer side of the wire drawing roller, and the end of the locking rod is connected to the end of the limiting plate; One end of the first elastic member 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 is connected to the limiting piece of the first threading rod; One end of the second elastic member 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 is connected to the limiting piece of the second thread-straightening rod; The first wire-straightening rod and the second wire-straightening rod are both pressed against the inner top wall of the accommodating position through a limiting piece.

9. The wire-winding mechanism for repairing broken strands of a power transmission line according to claim 1, characterized in that: The multimodal mobile device 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.

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