An airborne power transmission line broken strand repair robot line straightening mechanism

Abstract

The application discloses an airborne power transmission line broken strand repairing robot wire straightening mechanism, which comprises a casing, a wire straightening assembly and a driving mechanism. The casing is used for being mounted on the front side of a walking mechanism of the repairing robot. The driving mechanism is mounted on the casing. The wire straightening assembly comprises a support, a rotating wheel, the driving mechanism and a wire straightening sleeve. The upper end of the support is mounted on the lower side of the casing. The rotating wheel is arranged on the support and is in transmission connection with the driving mechanism. The driving mechanism is used for driving the rotating wheel to rotate. The lower side of the wire straightening sleeve is provided with a first avoiding groove. The lower side of the support is provided with a second avoiding groove. The rotating wheel is provided with a third avoiding groove. The wire straightening mechanism can be mounted on a power transmission line downward and can rotate to straighten the wire.

Description

Technical Field

[0001] This invention relates to the field of power transmission line strand breakage technology, and in particular to a wire straightening mechanism for an airborne power transmission line strand breakage repair robot. Background Technology

[0002] Existing strand repair robots can be referenced from patent application number CN2022108257899, which includes a control platform, a walking mechanism, a repair mechanism, a clamp supply mechanism, and a wire straightening mechanism. The walking mechanism, repair mechanism, clamp supply mechanism, and wire straightening mechanism are all mounted on the upper side of the control platform. When the repair robot is working, the walking mechanism walks along the power transmission line, the wire straightening mechanism straightens the broken strand onto the power transmission line, the clamp supply mechanism delivers clamps to the repair mechanism, the repair mechanism moves vertically upward and presses the clamps onto the power transmission line, thereby pressing the broken strand firmly onto the power transmission line through the clamps.

[0003] Existing wire straightening mechanisms have the following drawbacks: First, they cannot be installed onto transmission lines from top to bottom, making installation cumbersome. Second, existing transmission lines consist of multiple strands of conductors twisted together, forming multiple spiral grooves on the surface of the line. Existing mechanisms cannot rotate to straighten the wires during operation, resulting in issues such as... Figure 11 As shown, the broken strand 400 is located on the lower side of the transmission line 500 along a straight line and cannot be well embedded in the groove on the surface of the transmission line. This results in the broken strand not fitting tightly enough with the transmission line, and the broken strand is prone to falling off again after being repaired by the repair robot. Summary of the Invention

[0004] To address the shortcomings of existing wire straightening mechanisms, such as the inability to be installed downwards on power transmission lines and the inability to rotate the wire straightening mechanism, this invention proposes an airborne power transmission line strand break repair robot wire straightening mechanism that can be installed downwards on power transmission lines and can rotate the wire straightening mechanism.

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

[0006] A wire-straightening mechanism for an airborne power transmission line strand break repair robot includes: a housing, a wire-straightening assembly, and a drive mechanism; the housing is mounted on the front side of the robot's walking mechanism; the drive mechanism is mounted on the housing; the wire-straightening assembly includes a bracket, a rotating wheel, a drive mechanism, and a wire-straightening sleeve, the upper end of the bracket is mounted on the lower side of the housing, the rotating wheel is mounted on the bracket and is connected to the drive mechanism for transmission, the drive mechanism is used to drive the rotating wheel to rotate, the wire-straightening sleeve is mounted at the center of the rotating wheel, the inner diameter of the wire-straightening sleeve is adapted to the outer diameter of the power transmission line, a first clearance groove is provided on the lower side of the wire-straightening sleeve, a second clearance groove is provided on the lower side of the bracket, and a third clearance groove is provided on the rotating wheel, one end of the third clearance groove extends toward the first clearance groove, the other end of the third clearance groove extends toward the second clearance groove, and the lower end of the second clearance groove is open so that the power transmission line can be embedded into the wire-straightening sleeve through the third clearance groove, the second clearance groove, and the first clearance groove.

[0007] With the above setup, firstly, the wire-straightening mechanism can be installed downwards on the power transmission line, making it possible for the entire repair robot to be mounted downwards on the line; secondly, after the wire-straightening sleeve rotates, the broken strand spiral can be straightened onto the power transmission line, making the broken strand fit more closely with the power transmission line.

[0008] Furthermore, one end of the winding sleeve is installed at the end of the second clearance groove near the center of the rotating wheel, and the other end of the winding sleeve protrudes forward on the front side of the rotating wheel. The front end of the winding sleeve is widened to form a flared mouth, and the first clearance groove passes through the lower side of the flared mouth. Several scrapers are fixedly connected to the inner side of the flared mouth along the circumference. The scrapers extend in the front-back direction, and there are gaps between adjacent scrapers to facilitate the entry of the root of the broken strand. When the winding sleeve is fastened to the upper side of the transmission line, the inner side of the scraper is attached to the transmission line.

[0009] Furthermore, the outer circumference of the rotating wheel is provided with gear teeth, and the winding assembly also includes two driven gears. The driven gears are rotatably connected to the bracket. During the rotation of the rotating wheel, at least one driven gear meshes with the rotating wheel, and the drive mechanism is connected to the driven gears to drive the two driven gears to rotate synchronously.

[0010] With the above configuration, the drive mechanism drives the rotating wheel to rotate via two driven gears.

[0011] Furthermore, the drive mechanism includes: a motor, a first pulley, a second pulley, and a transmission belt; the motor is mounted on the housing; the first pulley is connected to the motor for transmission; the driven gears are all coaxially fixedly connected to the second pulley; the first pulley is connected to the second pulley for transmission via the transmission belt.

[0012] With the above configuration, the motor drives the driven gear to rotate via the first pulley, the transmission belt, and the second pulley.

[0013] Furthermore, the cable straightening assembly also includes: a positioning plate and a through-beam sensor; the positioning plate is fixedly connected to the edge of the rotating wheel; the through-beam sensor is mounted on a bracket and set on the movement path of the positioning plate, and the through-beam sensor is used to detect the positioning plate so that the opening of the second clearance groove faces downward.

[0014] The above settings allow the rotating wheel of the cable winding assembly to rotate to a designated position, facilitating the loading or unloading of the cable winding assembly.

[0015] Furthermore, the bracket includes a connecting column and two clamping plates. The two clamping plates are fixedly connected by the connecting column. The upper end of the clamping plate is fixedly connected to the machine housing. The driven gear and the rotating wheel are rotatably connected between the two clamping plates. The second pulley is rotatably connected to the outside of the clamping plate. The second clearance groove is provided on the lower side of the clamping plate.

[0016] Two clamping plates are attached to the front and rear sides of the rotating wheel to prevent the rotating plate and driven gear from loosening and to ensure stable rotation of the rotating wheel and driven gear.

[0017] Furthermore, the bracket also includes several balls and a pressure plate. The clamping plate is provided with several limiting grooves along the circumference of the rotating wheel, and the balls are placed in the limiting grooves. An arc-shaped rolling groove is provided along the circumference of the rotating wheel, and the balls contact the bottom of the arc-shaped rolling groove. The pressure plate is installed on the outside of the clamping plate to prevent the balls from separating from the arc-shaped rolling groove.

[0018] The above settings reduce the rotational resistance of the rotating wheel.

[0019] Furthermore, the cable straightening mechanism is equipped with two cable straightening components, which are arranged one in front of the other.

[0020] The above settings make the connection between the broken strand and the transmission line closer.

[0021] Furthermore, the cable straightening mechanism also includes a cable-pulling mechanism. The front of the foremost cable straightening assembly is equipped with a cable-pulling mechanism, which includes a lever and an anti-detachment mechanism. The lower end of the clamp is C-shaped with an opening facing downwards, forming a clearance opening to avoid the lever and exposing the front of the rotating wheel to the air. One end of the lever is fixedly connected to the front of the rotating wheel and close to its upper edge. The other end of the lever forks into two forks, creating a space for strand separation between the two forks. The anti-detachment mechanism includes two connecting seats, which are connected to two… Each fork corresponds to a fork, and the connecting seat is fixedly connected to the front end of the fork and extends horizontally forward. The anti-detachment mechanism also includes a baffle and a torsion spring. Each connecting seat is hinged with a baffle. The free end of the baffle faces inward and contacts the free end of another baffle. A limiting part is provided on the front side of the baffle, and a limiting boss is provided at the front end of the connecting seat. The limiting boss contacts the limiting part to prevent the baffle from rotating forward. The free end of the baffle can rotate backward so that the broken strand can enter the broken strand's movement space. The torsion spring is installed between the rotating seat and the baffle and can drive the baffle to rotate forward.

[0022] With the above setup, the wire-pulling mechanism can pull the longer broken strands, causing the unstretched portion of the broken strands to rotate around the transmission line, so that the wire-pulling sleeve can successfully wind the broken strands onto the transmission line. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the wire straightening mechanism in an embodiment.

[0024] Figure 2 for Figure 1 Enlarged view of point A.

[0025] Figure 3 This is a schematic diagram of the hidden pressure plate of the wire winding assembly in an embodiment.

[0026] Figure 4This is a schematic diagram of the ball bearings and rotating components of the winding assembly in an embodiment.

[0027] Figure 5 This is a front view of the wire straightening mechanism in an embodiment.

[0028] Figure 6 The right view of the wire straightening mechanism in this embodiment.

[0029] Figure 7 This is a cross-sectional view of the wire straightening mechanism in an embodiment.

[0030] Figure 8 This is a cross-sectional view of the anti-detachment mechanism in an embodiment.

[0031] Figure 9 This is a schematic diagram illustrating the process of entering the stock trading space after a stock is sold off.

[0032] Figure 10 This is a schematic diagram of a wire-strapping mechanism, as an example, to straighten broken strands onto the power transmission line.

[0033] Figure 11 This is a schematic diagram of how an existing wire-strapping mechanism straightens broken strands onto the transmission line. Detailed Implementation

[0034] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0035] See Figures 1 to 10 A wire-straightening mechanism for an airborne power transmission line strand break repair robot includes: a housing 3, a wire-straightening assembly 4, and a drive mechanism 6. The housing 3 is mounted on the front side of the robot's walking mechanism 100. The drive mechanism is mounted on the housing. The wire-straightening assembly 4 includes a bracket 41, a rotating wheel 42, and a wire-straightening sleeve 44. The upper end of the bracket 41 is mounted on the lower side of the housing 3. The rotating wheel 42 is mounted on the bracket 41 and is connected to the drive mechanism for transmission. The drive mechanism drives the rotating wheel to rotate. The wire-straightening sleeve 44 is mounted at the center of the rotating wheel 42. The inner diameter of the cable sleeve 44 is adapted to the outer diameter of the transmission line 200. A first clearance groove 441 is provided on the lower side of the cable sleeve 44, a second clearance groove 411 is provided on the lower side of the bracket 41, and a third clearance groove 421 is provided on the rotating wheel 42. One end of the third clearance groove 421 extends toward the first clearance groove 441, and the other end of the third clearance groove 421 extends toward the second clearance groove 411. The lower end of the second clearance groove 411 is open so that the transmission line 200 can be embedded into the cable sleeve 44 through the third clearance groove 421, the second clearance groove 411 and the first clearance groove 441.

[0036] With the above settings, firstly, the wire-straightening mechanism can be installed downwards on the power transmission line 200, providing the possibility for the subsequent repair robot to be mounted downwards on the line; secondly, after the wire-straightening sleeve 44 rotates, the broken strand 300 can be spirally straightened onto the power transmission line 200, making the broken strand 300 and the power transmission line 200 fit together more closely.

[0037] Figure 1 The front, back, left, and right directions of the repair robot are indicated. Initially, the opening of the third clearance groove 421 faces downwards, and the third clearance groove 421 extends vertically. The upper end of the third clearance groove 421 extends to the center of the rotating wheel 42. The cable straightening sleeve 44 is installed at the center of the front side of the rotating wheel 42. The axis of the cable straightening sleeve 44 passes through the center of the rotating wheel 42 and extends in the front-back direction. When the cable straightening mechanism of this application is put into operation, the cable straightening mechanism can be placed downwards on the power transmission line 200. The power transmission line 200 is embedded into the cable straightening sleeve 44 through the third clearance groove 421, the second clearance groove 411, and the second clearance groove 411. The inner wall of the cable straightening sleeve 44 is in contact with the power transmission line 200, and the axis of the cable straightening sleeve 44 is basically coincident with the axis of the power transmission line 200. The width of the second clearance groove 411 gradually increases from top to bottom so that the power transmission line 200 can be inserted. The traveling mechanism moves forward along the transmission line 200. The driving mechanism 6 drives the winding sleeve 44 to rotate around its axis via the rotating wheel 42. The winding sleeve 44 moves forward along the axis of the transmission line 200 while rotating around its axis. That is, the inner wall of the winding sleeve 44 moves forward spirally. When the pitch of the inner wall of the winding sleeve is basically equal to the lay pitch of the conductor of the transmission line, the inner wall of the winding sleeve moves spirally along the groove on the surface of the transmission line. After the winding sleeve 44 contacts the root of the broken strand 300 on the transmission line 200, it drives the broken strand to rotate around the axis of the transmission line under the action of friction. The inner wall of the winding sleeve also attaches the broken strand to the transmission line. The broken strand 300 is spirally wound into the groove on the transmission line 200, making the broken strand 300 fit more tightly with the transmission line 200.

[0038] In one implementation, one end of the wire-straightening sleeve is installed at the end of the second clearance groove near the center of the rotating wheel, and the other end of the wire-straightening sleeve protrudes forward on the front side of the rotating wheel. The front end of the wire-straightening sleeve is widened to form a flared mouth 48. The first clearance groove passes forward through the lower side of the flared mouth. Several scrapers 49 are fixedly connected circumferentially to the inner side of the flared mouth. The scrapers extend in the front-back direction, and there are gaps between adjacent scrapers to facilitate the entry of the root of the broken strand. When the wire-straightening sleeve is fastened to the upper side of the transmission line, the inner side of the scraper is in contact with the transmission line. When the repair robot repairs the transmission line, the wire-straightening sleeve spirals forward around the transmission line. After the root of the broken strand enters the gap between the scrapers, the scrapers rotate the root of the broken strand, and the wire-straightening sleeve pulls the root of the broken strand into the groove on the surface of the transmission line.

[0039] As one implementation, the outer periphery of the rotating wheel 42 is provided with gear teeth 422, and the winding assembly 4 also includes two driven gears 45. The driven gears 45 are rotatably connected to the bracket 41. During the rotation of the rotating wheel 42, at least one driven gear 45 meshes with the rotating wheel 42. The drive mechanism 6 is connected to the driven gears 45 in a transmission connection to drive the two driven gears 45 to rotate synchronously.

[0040] With the above configuration, the drive mechanism 6 drives the rotating wheel 42 to rotate via two driven gears 45.

[0041] In this application, when the drive mechanism 6 drives the two driven gears 45 to rotate synchronously, the driven gears 45 drive the rotating wheel 42 to rotate around the axis of the winding sleeve 44 through the gear teeth 422. The third clearance groove 421 rotates synchronously with the rotating wheel 42. The groove opening of the third clearance groove 421 moves to one of the driven gears 45, and the driven gear 45 disengages from the rotating wheel 42. At this time, the other driven gear 45 is still meshed with the rotating wheel 42 and continues to drive the rotating wheel 42 to rotate. The groove opening of the third clearance groove 421 moves to the other driven gear 45, and the previous driven gear 45 re-meets with the rotating wheel 42, so that the rotating wheel 42 can continue to rotate.

[0042] As one implementation, the drive mechanism 6 includes: a motor 61, a first pulley 62, a second pulley 63, and a transmission belt 64; the motor 61 is mounted on the housing 3; the first pulley 62 is connected to the motor 61 in a transmission connection; the driven gears 45 are all coaxially fixedly connected to the second pulley 63; the first pulley 62 is connected to the second pulley 63 in a transmission connection through the transmission belt 64.

[0043] With the above configuration, the motor 61 drives the driven gear 45 to rotate via the first pulley 62, the transmission belt 64, and the second pulley 63.

[0044] As one implementation, the wire straightening assembly 4 also includes: a positioning plate 46 and a through-beam sensor 47; the positioning plate 46 is fixedly connected to the edge of the rotating wheel 42; the through-beam sensor 47 is mounted on the bracket 41 and set on the movement path of the positioning plate 46, and the through-beam sensor 47 is used to detect the positioning plate 46 so that the opening of the second clearance groove 411 faces downward.

[0045] With the above settings, the rotating wheel 42 of the cable winding assembly 4 can rotate to a designated position, making it convenient for the cable winding assembly 4 to be loaded or unloaded.

[0046] In this application, the through-beam sensor 47 is close to the upper side of the rotating wheel 42. Initially, when the opening of the third clearance groove 421 is downward, the positioning plate 46 is upward and detected by the through-beam sensor 47. The cable straightening mechanism also includes a controller, which can control the drive mechanism 6 to operate according to the signal from the through-beam sensor 47. In addition, the ground operator can send a signal to the controller via a remote control to control the operation of the repair robot. When the cable straightening mechanism needs to be put on or taken off the line, the drive mechanism 6 drives the rotating wheel 42 to rotate, and the positioning plate 46 rotates synchronously with the rotating wheel 42. After the positioning plate 46 rotates to the through-beam sensor 47, the through-beam sensor 47 detects the positioning plate 46, the controller stops the drive mechanism 6, and the cable straightening mechanism can be installed downward on the power transmission line 200 or moved upward away from the power transmission line 200.

[0047] As one implementation, the bracket 41 includes a connecting column 412 and two clamping plates 413. The two clamping plates 413 are fixedly connected by the connecting column 412. The upper end of the clamping plate 413 is fixedly connected to the housing 3. The driven gear 45 and the rotating wheel 42 are rotatably connected between the two clamping plates 413. The second pulley 63 is rotatably connected to the outside of the clamping plate 413. The second clearance groove 411 is provided on the lower side of the clamping plate 413.

[0048] Two clamping plates 413 are attached to the front and rear sides of the rotating wheel 42 to prevent the rotating plate and the driven gear 45 from loosening and to ensure that the rotating wheel 42 and the driven gear 45 rotate stably.

[0049] As one implementation, the bracket 41 also includes a number of balls 414 and a pressure plate 415. The clamping plate 413 is provided with a number of limiting grooves 423 along the circumference of the rotating wheel 42. The balls 414 are disposed in the limiting grooves 423. An arc-shaped rolling groove 424 is provided along the circumference of the rotating wheel 42. The balls 414 are in contact with the bottom of the arc-shaped rolling groove 424. The pressure plate 415 is installed on the outside of the clamping plate 413 to prevent the balls 414 from disengaging from the arc-shaped rolling groove 424.

[0050] The above settings reduce the rotational resistance of the rotating wheel 42.

[0051] Multiple balls 414 are provided on both the front and rear sides of the rotating wheel 42 along the circumference. The balls 414 support the front and rear sides of the rotating wheel 42 to prevent the rotating wheel 42 from loosening. The limiting groove 423 makes the balls 414 rotate stably. When the rotating wheel 42 rotates, the balls 414 roll along the arc-shaped rolling groove 424. The center of the arc-shaped rolling groove 424 coincides with the center of the rotating wheel 42. The arc-shaped rolling groove 424 and the balls 414 prevent the rotating wheel 42 from loosening radially.

[0052] As one implementation method, the wire straightening mechanism is provided with two wire straightening components 4, which are arranged one in front of the other.

[0053] The above settings make the connection between the broken strand 300 and the transmission line 200 closer.

[0054] In this application, the distance between the two winding sleeves 44 of the winding assembly 4 is consistent with the pitch of the winding sleeve 44 movement and also consistent with the pitch of the conductor of the transmission line 200. When the winding assembly 4 winds the wire, the front winding sleeve 44 winds the broken strand 300 onto the transmission line 200. After the winding sleeve 44 rotates once, the rear winding sleeve 44 winds the broken strand 300 a second time, further increasing the tightness between the broken strand 300 and the transmission line 200.

[0055] In addition, the output shaft of the motor 61 of this application is provided with two first pulleys 62, and the two first pulleys 62 correspond one-to-one with the two winding components 4. Each first pulley 62 drives the corresponding winding component 4 to run through the transmission belt 64 and the second pulley 63, and the two winding components 4 move synchronously.

[0056] As one implementation, the cable straightening mechanism also includes a cable-pulling mechanism 5. The cable-pulling mechanism 5 is located on the front side of the foremost cable straightening assembly 4. The cable-pulling mechanism 5 includes: a lever 51 and an anti-detachment mechanism 52. The lower end of the clamping plate 413 is C-shaped with an opening facing downwards, forming a clearance opening to avoid the lever 51 and exposing the front side of the rotating wheel 42 to the air. One end of the lever 51 is fixedly connected to the front side of the rotating wheel 42 and close to its upper edge. The other end of the lever 51 branches into two forks 511, forming a strand-breaking space 512 between the two forks 511. The anti-detachment mechanism 52 includes two connecting seats 521, each corresponding to one of the two forks 511. 21 is fixedly connected to the front end of the fork 511 and extends horizontally forward. The anti-detachment mechanism 52 also includes a baffle 522 and a torsion spring (not shown in the figure). Each connecting seat 521 is hinged with a baffle 522. The free end of the baffle 522 faces inward and contacts the free end of another baffle 522. A limiting part 5221 is provided on the front side of the baffle 522. A limiting boss 5211 is provided on the front end of the connecting seat 521. The limiting boss 5211 contacts the limiting part 5221 to prevent the baffle 522 from rotating forward. The free end of the baffle 522 can rotate backward so that the broken strand 300 can enter the broken strand activity space 512. The torsion spring is installed between the rotating seat and the baffle 522 and can drive the baffle 522 to rotate forward.

[0057] With the above settings, the wire-pulling mechanism 5 can pull the longer broken strand 300, causing the unstretched part of the broken strand 300 to rotate around the transmission line 200, so that the wire-pulling sleeve 44 can successfully spiral the broken strand 300 onto the transmission line 200.

[0058] Without the wire-pulling mechanism 5, if the broken strand is 300mm long and heavy, please refer to [the relevant documentation]. Figure 9When the winding sleeve 44 advances to the root of the broken strand 300, although the winding sleeve 44 is rotating, it cannot drive the broken strand 300 to rotate around the transmission line 200, so that the broken strand 300 cannot spirally wind around the transmission line 200.

[0059] The broken strand 300 hangs down under gravity. After the wire-straightening mechanism 5 is installed downwards onto the transmission line 200, during wire straightening, the drive mechanism 6 first drives the rotating wheel 42 to rotate 180 degrees, causing the lever 51 to face downwards. The traveling mechanism moves forward along the transmission line 200, and the lever 51 moves forward with the traveling mechanism, approaching the broken strand 300. Figure 8 Each baffle 522 has a bevel on its front side. The bevels of the two baffles 522 form a V-shaped groove that opens forward. After the winding mechanism moves forward, the broken strand 300 enters the V-shaped groove and pushes the baffle 522 to rotate backward. The limiting boss 5211 and the limiting part 5221 are separated. After the broken strand 300 passes the baffle 522, the torsion spring drives the baffle 522 to reset. The two baffles 522 block the outlet of the broken strand activity space 512 again. The limiting boss 5211 and the limiting part 5221 re-contact each other. The limiting boss 5211 and the limiting part 5221 make the baffle 522 rotate inward in only one direction. That is, the broken strand 300 can only move inward from the outside of the broken strand activity space 512 through the baffle 522 into the broken strand activity space 512, but cannot leave the broken strand activity space 512 outward through the baffle 522. Figure 8 After the broken strand 300 enters the broken strand activity space 512, it passes through the space and is positioned between the two forks 511. In this application, the distance between the end of the lever 51 furthest from the winding assembly 4 and the transmission line 200 is 20 to 40 centimeters. The drive mechanism 6 drives the rotating wheel 42 of the winding assembly 4 to rotate, and the lever 51 rotates synchronously with the wheel 42. After the lever 51 rotates, it moves the broken strand 300 around the transmission line 200 via the forks 511. The broken strand 300 slowly winds around the transmission line 200 via the lever 51. On line 200, the root of the broken strand 300 is spirally wound around the transmission line 200, and then tightened onto the transmission line 200 by the winding sleeve 44. As the winding proceeds, the length of the broken strand 300 becomes shorter and shorter. When the end of the broken strand 300 leaves the broken strand movement space 512, the broken strand 300 disengages from the lever 51 mechanism. At this point, the broken strand 300 is relatively short and lightweight. After the winding sleeve 44 rotates, it can drive the broken strand 300 to rotate around the axis of the transmission line 200, ultimately winding the entire broken strand 300 onto the transmission line 200. See [link to relevant documentation]. Figure 10 After the wire is straightened, lever 51 returns to the upward position, and the wire straightening mechanism can move upward away from the transmission line 200.

[0060] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A wire-straightening mechanism for an airborne transmission line strand break repair robot, characterized in that, include: A housing for mounting on the front side of the walking mechanism of the repair robot; A drive mechanism, which is mounted on the housing; A wire straightening assembly includes a bracket, a rotating wheel, and a wire straightening sleeve. The upper end of the bracket is mounted on the lower side of the housing. The rotating wheel is mounted on the bracket and is connected to a driving mechanism for driving the rotating wheel to rotate. The wire straightening sleeve is mounted at the center of the rotating wheel, and the inner diameter of the wire straightening sleeve is adapted to the outer diameter of the transmission line. A first clearance groove is provided on the lower side of the wire straightening sleeve, a second clearance groove is provided on the lower side of the bracket, and a third clearance groove is provided on the rotating wheel. One end of the third clearance groove extends toward the first clearance groove, and the other end extends toward the second clearance groove. The lower end of the second clearance groove is open to allow the transmission line to pass through the third clearance groove, the second clearance groove, and the first clearance groove and be embedded in the wire straightening sleeve. The bracket includes a connecting column and two clamping plates. The wire straightening mechanism also includes a wire pulling mechanism. The wire pulling mechanism is provided on the front side of the foremost wire straightening assembly. The wire pulling mechanism includes: The lever has a C-shaped opening at the lower end of the clamp to form a clearance opening for avoiding the lever and to expose the front side of the rotating wheel to the air. One end of the lever is fixedly connected to the front side of the rotating wheel and close to the upper edge of the rotating wheel. The other end of the lever is forked to form two forks, and a break-through movement space is formed between the two forks. The anti-detachment mechanism includes two connecting seats, each corresponding to one of the two forks. The connecting seats are fixedly connected to the front end of the forks and extend horizontally forward. The anti-detachment mechanism also includes a baffle and a torsion spring. Each connecting seat has a baffle hinged to it. The free end of each baffle faces inward and contacts the free end of the other baffle. A limiting portion is provided on the front side of each baffle, and a limiting boss is provided at the front end of each connecting seat. The limiting boss contacts the limiting portion to prevent the baffle from rotating forward. The free end of each baffle can rotate backward to allow a broken strand to enter the broken strand's movement space. The torsion spring is installed between the rotating seat and the baffle and can drive the baffle to rotate forward.

2. The wire-straightening mechanism of an airborne transmission line strand repair robot according to claim 1, characterized in that, One end of the winding sleeve is installed at the end of the second clearance groove near the center of the rotating wheel, and the other end of the winding sleeve protrudes forward from the front side of the rotating wheel. The front end of the winding sleeve is widened to form a flared mouth. The first clearance groove passes forward through the lower side of the flared mouth. Several scrapers are fixedly connected to the inner side of the flared mouth along the circumference. The scrapers extend in the front-back direction, and there are gaps between adjacent scrapers to facilitate the entry of the root of the broken strand. When the winding sleeve is fastened to the upper side of the transmission line, the inner side of the scraper is attached to the transmission line.

3. The wire-straightening mechanism of an airborne transmission line strand repair robot according to claim 1, characterized in that, The outer circumference of the rotating wheel is provided with gear teeth, and the winding assembly also includes two driven gears. The driven gears are rotatably connected to the bracket. During the rotation of the rotating wheel, at least one of the driven gears meshes with the rotating wheel. The drive mechanism is connected to the driven gears to drive the two driven gears to rotate synchronously.

4. The wire-straightening mechanism of an airborne transmission line strand repair robot according to claim 3, characterized in that, The drive mechanism includes: An electric motor, which is mounted on the housing; The first pulley is connected to the motor drive. The second pulley is coaxially and fixedly connected to each of the driven gears; A drive belt is used, and the first pulley is connected to the second pulley via the drive belt.

5. The wire-straightening mechanism of an airborne transmission line strand repair robot according to claim 1, characterized in that, The wire straightening assembly also includes: A positioning plate, which is fixedly connected to the edge of the rotating wheel; A through-beam sensor is mounted on the bracket and positioned along the movement path of the positioning plate. The through-beam sensor is used to detect the positioning plate so that the opening of the second clearance groove faces downward.

6. The wire-straightening mechanism of an airborne transmission line strand repair robot according to claim 4, characterized in that, The two clamping plates are fixedly connected by the connecting column. The upper end of the clamping plate is fixedly connected to the housing. The driven gear and the rotating wheel are rotatably connected between the two clamping plates. The second pulley is rotatably connected to the outside of the clamping plate. The second clearance groove is provided on the lower side of the clamping plate.

7. The wire-straightening mechanism of an airborne transmission line strand repair robot according to claim 6, characterized in that, The bracket also includes several rollers and a pressure plate. The clamping plate is provided with several limiting grooves along the circumference of the rotating wheel. The roller is disposed in the limiting groove. An arc-shaped rolling groove is provided along the circumference of the rotating wheel. The roller contacts the bottom of the arc-shaped rolling groove. The pressure plate is installed on the outside of the clamping plate to prevent the roller from disengaging from the arc-shaped rolling groove.

8. The wire-straightening mechanism of an airborne transmission line strand repair robot according to claim 1, characterized in that, The winding mechanism is provided with two winding components, which are arranged one in front of the other.

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