A wire winding robot for repairing broken strands of a power transmission line and an operation method thereof

Abstract

The present invention discloses a wire winding robot for repairing broken strands of a power transmission line and an operation method thereof. The wire winding robot comprises a walking device, a wire winding device and a tape winding device. The wire winding device is located at the front end of the walking direction of the walking device, and the tape winding device is located at the rear end of the wire winding device. The wire winding robot proposed in this scheme is integrated with a tape winding device for fixing the broken strands of the power transmission line after the wire is wound back into the groove with tape, which replaces the scheme of using metal patching sheets in the prior art to temporarily fix the broken strands of the power transmission line after the wire is wound. The weight of the tape used for one repair is lighter than that of the clamping sheet, and the continuous repair operation of the wire winding robot can be realized under the premise of not causing additional burden to the power transmission line as much as possible, and it can also avoid the wire winding robot from going offline and hanging up the line multiple times during the repair process, thereby improving the repair efficiency of the wire winding robot.

Description

Technical Field

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

[0002] Transmission lines are often disturbed by external factors and exposed to the wild for a long time. They are affected by continuous mechanical tension, electrical flashover, material aging, etc., and transmission line strand breaks often occur. In the past, broken strands of transmission lines were mainly repaired by climbing towers manually. However, due to the large number of transmission lines distributed at various points and covering a wide area, most of them are far away from towns, and the terrain is complex and the natural environment is harsh. Maintenance personnel cannot climb towers and need to use lifts or helicopters to carry out maintenance operations, which greatly increases the cost and difficulty, and has low operation efficiency and poor safety, which has certain limitations.

[0003] At present, there are some repair robots at home and abroad that are specially used for repairing broken strands of transmission lines. They are mainly mounted on the transmission line and driven by the walking wheels to the broken strand of the transmission line for repair work. They have a high degree of automation and can effectively improve the repair efficiency and safety. The repair robots in the prior art generally use metal patch plates to temporarily fix the broken strands of the transmission line after the line is straightened, so that the broken strands of the transmission line can be permanently repaired by connecting strips in the subsequent repair process. During the process of hanging the line of the repair robot, the number of patch plates that can be carried is very limited. This is because the metal patch plates themselves have a certain weight. Carrying too much will cause additional burden on the transmission line; if the repair robot can only carry a small number of patch plates during the process of hanging the line, the repair robot needs to frequently return to the ground to replenish the patch plates, which greatly reduces the repair efficiency. Summary of the invention

[0004] The purpose of the present invention is to propose a wire winding robot for repairing broken strands of a transmission line, which is conducive to realizing the continuous repair operation of the wire winding robot and avoiding the wire winding robot from going offline and hanging on the line multiple times during the repair process, thereby improving the repair efficiency of the wire winding robot and overcoming the shortcomings of the prior art.

[0005] Another object of the present invention is to propose an operating method of a wire winding robot for repairing broken strands of a transmission line, which can effectively solve the technical problem of low repair efficiency in the prior art for repairing broken strands of a transmission line.

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

[0007] A wire winding robot for repairing broken strands of a power transmission line, comprising a walking device, a wire winding device and a tape winding device;

[0008] The walking device is used to walk along the extension direction of the power transmission line;

[0009] The wire-winding device and the tape winding device are both installed on the traveling device, and the wire-winding device is located at the front end of the traveling direction of the traveling device, and the wire-winding device is used to wind the wire back to the groove at the broken part of the transmission line;

[0010] The adhesive tape winding device is located at the rear end of the wire drawing device, and is used to fix the broken strands of the power transmission line after the wires are drawn back into the groove using adhesive tape.

[0011] Preferably, the tape winding device comprises a moving seat, a winding drive box and a winding assembly;

[0012] The moving seat is installed on the walking device;

[0013] The winding drive box is installed on the moving seat, and the winding drive box moves horizontally and vertically relative to the power transmission line through the moving seat, and the horizontal movement direction of the winding drive box is perpendicular to the walking direction of the walking device;

[0014] The winding assembly can be rotatably installed on the winding drive box around its own axis, and the axis of the winding assembly is parallel to the transmission line. The winding drive box is used to drive the rotation of the winding assembly; the winding assembly is used to use tape to wrap and fix the broken strands of the transmission line after the wire is drawn back into the groove.

[0015] Preferably, the winding assembly comprises a winding ring, a winding mounting seat, a packaging tape and a blade;

[0016] The winding ring is connected to the output end of the winding drive box so as to be rotatable around its own axis, and the winding ring is in a C-shape, and a winding cavity for accommodating a power transmission line is provided in the middle of the winding ring;

[0017] The package tape is rotatably mounted on one side of the winding ring, and the rotating shaft of the package tape is parallel to the traveling direction of the traveling device, and the package tape is used to provide tape to the power transmission line;

[0018] The winding mounting seat is protrudingly mounted on one side of the winding ring, and the winding mounting seat and the roll tape are located on the same side of the winding ring; the blade is mounted on the winding ring through the winding mounting seat, and the blade is used to cut the tape.

[0019] Preferably, the winding mounting seat is L-shaped, and the winding mounting seat comprises a horizontal mounting plate and a vertical mounting plate, and the top end of the vertical mounting plate is connected to an end of the horizontal mounting plate away from the opening of the winding cavity;

[0020] The roll tape is located above the horizontal mounting plate, and a tape avoidance opening is provided on the plate surface of the horizontal mounting plate, and the tape avoidance opening is used to avoid the end of the roll tape;

[0021] The blade is protrudingly mounted on the inner side wall of the vertical mounting plate, and the blade edge of the blade faces the middle of the winding cavity.

[0022] Preferably, the winding assembly further comprises an auxiliary block, and the side wall of the auxiliary block is inwardly recessed and provided with a groove for accommodating the power transmission line;

[0023] The auxiliary block is protrudingly mounted on the inner side wall of the vertical mounting plate, and the blade edge of the blade protrudes from the auxiliary block;

[0024] The groove is oriented toward the middle of the winding cavity.

[0025] Preferably, the winding assembly further comprises a pressing block;

[0026] The pressing block is protrudingly mounted on the lower surface of the horizontal mounting plate, and the pressing block is used to press the end of the tape against the power transmission line.

[0027] Preferably, the walking device comprises a walking seat, a mounting frame and walking wheels;

[0028] The mounting frames are installed at both ends of the top of the walking seat, the walking wheels are rotatably installed on the mounting frames, and the walking wheels are installed on the walking seat through the mounting frames;

[0029] The wire drawing device is located at the front end of all the traveling wheels along the traveling direction;

[0030] The tape winding device is located between the two traveling wheels.

[0031] Preferably, the wire drawing device comprises a mounting rod, a wire drawing drive box and a wire drawing ring;

[0032] One end of the mounting rod is connected to the mounting frame, and the other end of the mounting rod is connected to the wire drawing drive box;

[0033] The wire-winding ring is rotatably mounted on the wire-winding drive box around its own axis, and the axis of the wire-winding ring is parallel to the power transmission line. The wire-winding drive box is used to drive the rotation of the wire-winding ring;

[0034] The shape of the wire-winding ring is C-shaped, and a wire-winding cavity for accommodating the power transmission line is opened in the middle of the wire-winding ring. The rotation of the wire-winding ring is used to wind the wire back into the groove at the broken strand of the power transmission line.

[0035] Preferably, the end of the mounting rod is hinged to the mounting frame, and the hinge axis of the mounting rod is perpendicular to the walking direction of the walking device, and the wire drawing drive box swings relative to the mounting frame through the mounting rod;

[0036] The wire-winding driving box includes a wire-winding state and a walking state;

[0037] When the wire-winding driving box is in a wire-winding state, the power transmission line is located inside the wire-winding cavity, and the wire-winding cavity is coaxial with the power transmission line;

[0038] When the wire-winding driving box is in a walking state, the power transmission line is located outside the wire-winding cavity.

[0039] A method for operating a wire winding robot for repairing broken strands of a power transmission line, using the wire winding robot for repairing broken strands of a power transmission line, comprises the following steps:

[0040] A. Mounting the wire winding robot at the rear end of the broken strand of the power transmission line along the walking direction;

[0041] B. Using the walking device to make the wire winding robot walk along the power transmission line, and at the same time starting the wire winding device, while walking, use the wire winding device to wind the wires back to the groove at the broken strands of the power transmission line, until all the loose strands at the broken strands of the power transmission line are back to the groove;

[0042] C. Using the walking device to make the wire winding robot walk along the power transmission line until the tape winding device reaches the broken strand of the power transmission line;

[0043] D.

[0044] (1) The winding assembly is moved by the moving seat so that the broken strand of the transmission line enters the winding cavity;

[0045] (2) The winding assembly is moved by the moving seat, and the tape is attached to the broken strand of the power transmission line by the auxiliary block;

[0046] (3) moving the winding assembly by the moving seat so that the winding assembly is coaxial with the power transmission line;

[0047] (4) while walking, using the winding drive box to drive the winding assembly to rotate, so that the tape is wound around the broken strand of the transmission line until the tape completely covers the broken strand of the transmission line;

[0048] (5) After winding is completed, the winding assembly is moved by the moving seat so that the blade cuts the tape;

[0049] (6) The winding assembly is moved by the moving seat so that the pressing block presses the end of the tape against the power transmission line to complete the winding;

[0050] E. Move the winding assembly by the moving seat so that the broken strand of the repaired transmission line is moved out of the winding chamber, and use the walking device to make the wire winding robot walk along the transmission line until the tape winding device reaches the next broken strand of the transmission line.

[0051] The technical solution provided by the present invention may include the following beneficial effects:

[0052] 1. The wire winding robot proposed in this scheme is integrated with a tape winding device for fixing the broken strands of the power transmission line after the wire is wound back into the trough with tape, which replaces the scheme of using metal patch plates to temporarily fix the broken strands of the power transmission line after the wire is wound. The weight of the tape used for one repair is lighter than that of the clip. The continuous repair operation of the wire winding robot can be realized under the premise of not causing additional burden on the transmission line as much as possible, and the wire winding robot can be prevented from going offline and hanging on the line multiple times during the repair process, thereby improving the repair efficiency of the wire winding robot.

[0053] 2. This scheme also proposes an operating method for a wire winding robot for repairing broken strands of a transmission line. In particular, the winding action and sequence of the tape winding device are optimized, and the tape winding process is subdivided into six sub-steps: (1) cavity entry, (2) pasting, (3) coaxiality, (4) winding, (5) cutting, and (6) pressing. This makes the winding process smoother, which is beneficial to improving the winding efficiency during the repair process while ensuring the effectiveness of the tape winding. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 The present invention is a schematic structural diagram of a wire winding robot for repairing broken strands of a power transmission line.

[0055] Figure 2 It is a structural schematic diagram of the tape winding device in the present invention from one perspective.

[0056] Figure 3 It is a structural schematic diagram of the tape winding device of the present invention from another perspective.

[0057] Figure 4 It is a partial structural exploded view of the adhesive tape winding device in the present invention.

[0058] Figure 5 It is a schematic diagram of the winding process of the tape winding device in the present invention.

[0059] Figure 6 It is a structural schematic diagram of the walking device in the present invention.

[0060] Figure 7 It is a schematic structural diagram of the wire winding device in the present invention.

[0061] Figure 8 It is a side view of the wire winding device in the present invention.

[0062] Fig. 9 It is a partial structural schematic diagram of the wire winding device in the present invention.

[0063] Fig.10 It is a cross-sectional view of the wire winding device in the present invention in the wire winding state.

[0064] Fig.11 It is a cross-sectional view of the wire winding device in the present invention in a walking state.

[0065] Among them: walking device 1, walking seat 11, mounting frame 12, walking wheel 13, hanging rod 14, camera 15, balance rod 16;

[0066] The wire-winding device 2, the mounting rod 21, the wire-winding cavity 201, the wire-winding driving box 22, the box body 221, the driving wheel 222, the transmission wheel 223, the wire-winding driver 224, the wire-winding ring 23, and the telescopic driving rod 24;

[0067] The tape winding device 3, the winding chamber 301, the moving seat 31, the mounting base 311, the lifting frame 312, the winding drive box 32, the driving box body 321, the driving gear 322, the transmission gear 323, the winding driver 324, the winding assembly 33, the winding ring 331, the winding mounting seat 332, the horizontal mounting plate 3321, the vertical mounting plate 3322, the rolled tape 333, the blade 334, the auxiliary block 335, the groove 3351, and the pressing block 336;

[0068] Transmission lines 4. DETAILED DESCRIPTION

[0069] Embodiments of the present invention are described in detail below, examples of which 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 only used to explain the present invention, and cannot be understood as limiting the present invention.

[0070] The technical solution provides a wire winding robot for repairing broken strands of a power transmission line, comprising a walking device 1, a wire winding device 2 and a tape winding device 3;

[0071] The walking device 1 is used for walking along the extension direction of the power transmission line 4;

[0072] The wire-winding device 2 and the tape winding device 3 are both installed on the traveling device 1, and the wire-winding device 2 is located at the front end of the traveling direction of the traveling device 1. The wire-winding device 2 is used to wind the wire back to the groove at the broken strand of the transmission line 4;

[0073] The adhesive tape winding device 3 is located at the rear end of the wire drawing device 2, and the adhesive tape winding device 3 is used to fix the broken strands of the power transmission line 4 after the wires are drawn back into the groove using adhesive tape.

[0074] Repair robots in the prior art generally use metal patching pieces to temporarily fix the broken power transmission lines after the wires are straightened, so that the broken power transmission lines can be permanently repaired using connecting strips in the subsequent repair process. However, during a wire hanging operation of the repair robot, the number of patching pieces that can be carried is very limited. This is because the metal patching pieces themselves have a certain weight, and carrying too many will cause additional burden on the power transmission lines; and if the repair robot can only carry a small number of patching pieces during a wire hanging operation, the repair robot needs to frequently return to the ground to replenish the patching pieces, which greatly reduces the repair efficiency.

[0075] Therefore, in order to solve the technical problems in the prior art, the present technical solution proposes a wire winding robot for repairing broken strands of a transmission line, which is integrated with a tape winding device 3 for fixing the broken strands of the transmission line 4 after the wire is wound back into the groove with tape, such as Figure 1 As shown, it replaces the solution of using metal repair plates in the prior art to temporarily fix the broken power transmission line after wire winding. The weight of the tape used for one repair is lighter than that of the clip. It can realize the continuous repair operation of the wire winding robot without causing additional burden on the power transmission line as much as possible, and it can also avoid the wire winding robot from going offline and hanging on the line multiple times during the repair process, thereby improving the repair efficiency of the wire winding robot.

[0076] To further illustrate, the tape winding device 3 includes a moving seat 31, a winding drive box 32 and a winding assembly 33;

[0077] The moving seat 31 is installed on the walking device 1;

[0078] The winding drive box 32 is installed on the moving seat 31, and the winding drive box 32 moves horizontally and vertically relative to the power transmission line 4 through the moving seat 31, and the horizontal movement direction of the winding drive box 32 is perpendicular to the walking direction of the walking device 1;

[0079] The winding assembly 33 can be installed on the winding drive box 32 so as to rotate around its own axis, and the axis of the winding assembly 33 is parallel to the transmission line 4. The winding drive box 32 is used to drive the rotation of the winding assembly 33; the winding assembly 33 is used to use tape to wrap and fix the broken strands of the transmission line 4 after the wire is drawn back into the groove.

[0080] like Figure 2-3 As shown, the main structure of the tape winding device 3 of the present scheme includes a movable seat 31, a winding drive box 32 and a winding assembly 33, and the movable seat 31 and the winding drive box 32 are arranged so that the winding assembly 33 can realize horizontal movement, vertical movement and rotation relative to the transmission line 4, thereby improving the flexibility of the winding assembly 33, so that the winding assembly 33 can realize the winding and fixing of the broken strands of the transmission line 4.

[0081] Preferably, the mobile seat 31 includes a mounting base 311 and a lifting frame 312;

[0082] The mounting base 311 is mounted on the walking device 1;

[0083] The lifting frame 312 is horizontally movably mounted on the mounting base 311, and the horizontal movement direction of the lifting frame 312 is perpendicular to the walking direction of the walking device 1;

[0084] The winding driving box 32 is installed on the lifting frame 312 so as to be movable up and down.

[0085] In a specific embodiment of the above scheme, the movable seat 31 includes a mounting base 311 and a lifting frame 312, and the lifting frame 312 moves horizontally relative to the mounting base 311, and the winding drive box 32 moves up and down relative to the lifting frame 312, thereby realizing the all-round movement of the winding component 33 in a three-dimensional space, and the structure is simple and the performance is reliable.

[0086] To further illustrate, the winding assembly 33 includes a winding ring 331, a winding mounting seat 332, a wrapping tape 333 and a blade 334;

[0087] The winding ring 331 is connected to the output end of the winding drive box 32 so as to be rotatable around its own axis, and the winding ring 331 is in a C-shaped shape, and a winding cavity 301 for accommodating the power transmission line 4 is provided in the middle of the winding ring 331;

[0088] The package tape 333 is rotatably mounted on one side of the winding ring 331, and the rotating shaft of the package tape 333 is parallel to the walking direction of the walking device 1. The package tape 333 is used to provide tape to the power transmission line 4;

[0089] The winding mounting seat 332 is protrudingly mounted on one side of the winding ring 331, and the winding mounting seat 332 and the roll tape 333 are located on the same side of the winding ring 331; the blade 334 is mounted on the winding ring 331 through the winding mounting seat 332, and the blade 334 is used to cut the tape.

[0090] Specifically, the winding assembly 33 in this solution includes a winding ring 331 for realizing rotation relative to the transmission line 4, a winding mounting seat 332, a roll tape 333 for providing tape to the broken strands of the transmission line 4, and a blade 334 for cutting the tape.

[0091] In a specific implementation process of this embodiment, before the wire winding robot performs the wire hanging operation, the end tape of the roll tape 333 is separated from the body of the roll tape 333. After the wire winding robot hangs the wire, the winding assembly 33 is moved relative to the power transmission line 4 by the moving seat 31 until the adhesive surface of the end tape of the roll tape 333 is attached to the broken strand of the power transmission line 4; then the winding assembly 33 is moved to be coaxial with the power transmission line 4, and then the winding drive box 32 drives the winding assembly 33 to rotate, so that the tape is wound at the broken strand of the power transmission line 4; finally, the winding assembly 33 is moved relative to the power transmission line 4 by the moving seat 31 until the blade 334 cuts the tape, and a winding operation is completed.

[0092] Preferably, the winding driving box 32 includes a driving box body 321, a driving gear 322 and a transmission gear 323, and the transmission gear 323 is provided with a plurality;

[0093] The driving gear 322 and the plurality of transmission gears 323 are both rotatably mounted inside the driving box body 321, and the driving gear 322 and the transmission gear 323 are meshed with each other, and the rotation of the driving gear 322 drives the rotation of the plurality of transmission gears 323;

[0094] All the transmission gears 323 are meshed with the winding ring 331 , and the driving gear 322 drives the winding ring 331 to rotate through the transmission gears 323 .

[0095] In a specific embodiment of the above scheme, the present scheme realizes the rotation of the winding assembly 33 through a gear box (i.e., the winding drive box 32), which can effectively simplify the structure of the winding drive box 32 and reduce the dead weight of the winding drive box 32 to prevent the wire winding robot from causing additional burden on the transmission line 4.

[0096] Preferably, the winding drive box 32 further includes a winding driver 324;

[0097] The winding driver 324 is installed outside the driving box body 321 , and the output end of the winding driver 324 passes through the driving box body 321 and is connected to the driving gear 322 . The winding driver 324 is used to drive the driving gear 322 to rotate.

[0098] As a better embodiment of the above specific embodiment, a winding driver 324 is added outside the driving box body 321 to realize the rotation of the driving gear 322, so that the structural design of the winding driving box 32 is more compact and reasonable.

[0099] Further, the winding mounting seat 332 is L-shaped, and the winding mounting seat 332 includes a horizontal mounting plate 3321 and a vertical mounting plate 3322, and the top end of the vertical mounting plate 3322 is connected to an end of the horizontal mounting plate 3321 away from the opening of the winding chamber 301;

[0100] The roll tape 333 is located above the horizontal mounting plate 3321, and a tape avoidance opening is provided on the plate surface of the horizontal mounting plate 3321, and the tape avoidance opening is used to avoid the end of the roll tape 333;

[0101] The blade 334 is protrudingly mounted on the inner wall of the vertical mounting plate 3322 , and the blade edge of the blade 334 faces the middle of the winding chamber 301 .

[0102] like Figure 4 As shown, the winding mounting seat 332 of the present embodiment is L-shaped, and the packaging tape 333 is located above the horizontal mounting plate 3321, and the blade 334 is protrudingly mounted on the inner wall of the vertical mounting plate 3322. By optimizing the mounting positions of the packaging tape 333 and the blade 334, the winding process is made smoother, which is beneficial to improving the winding efficiency during the repair process while ensuring the effectiveness of the tape winding.

[0103] Further, the winding assembly 33 further includes an auxiliary block 335, and the side wall of the auxiliary block 335 is inwardly recessed to provide a groove 3351 for accommodating the power transmission line 4;

[0104] The auxiliary block 335 is protrudingly mounted on the inner side wall of the vertical mounting plate 3322 , and the blade edge of the blade 334 protrudes from the auxiliary block 335 ;

[0105] The groove 3351 faces the middle of the winding cavity 301 .

[0106] In addition, in order to further improve the effectiveness of tape winding, the present solution also adds an auxiliary block 335 with a groove 3351 in the winding assembly 33. Before the winding assembly 33 is rotated, the groove 3351 of the auxiliary block 335 can be used to make the adhesive surface of the end tape of the roll tape 333 fit the broken strand of the power transmission line 4 as much as possible, and at the same time, the bonding area between the end tape and the broken strand can be increased to a certain extent, so as to prevent the end tape from being separated from the power transmission line 4 during the winding process, thereby affecting the stability of the winding fixation.

[0107] To further illustrate, the winding assembly 33 also includes a pressing block 336;

[0108] The pressing block 336 is protrudingly mounted on the lower surface of the horizontal mounting plate 3321 , and the pressing block 336 is used to press the end of the tape against the power transmission line 4 .

[0109] After the tape is cut, the end of the tape wrapped around the broken strand may detach from the power transmission line 4. Preferably, in order to make the tape wrapped around the broken strand completely fit the power transmission line 4 to prevent the tape from loosening, the present solution further adds a clamping block 336 in the winding assembly 33. The clamping block 336 is used to clamp the end of the tape to the power transmission line 4, thereby further improving the stability of the winding fixation.

[0110] Preferably, the compression block 336 is a compression sponge.

[0111] To further illustrate, the walking device 1 includes a walking seat 11, a mounting frame 12 and walking wheels 13;

[0112] The mounting frames 12 are mounted on both ends of the top of the travel seat 11, the travel wheels 13 are rotatably mounted on the mounting frames 12, and the travel wheels 13 are mounted on the travel seat 11 through the mounting frames 12;

[0113] The wire winding device 2 is located at the front end of all the running wheels 13 along the running direction;

[0114] The tape winding device 3 is located between the two running wheels 13 .

[0115] like Figure 1 , 6 As shown, the traveling device 1 of the present scheme includes a traveling seat 11, a mounting frame 12 and traveling wheels 13, and the wire-winding device 2 is located at the front end of all the traveling wheels 13 along the traveling direction to prevent the traveling wheels 13 from directly applying pressure to the broken strands of the transmission line again, thereby increasing the difficulty of repair; and the tape winding device 3 is located between the two traveling wheels 13 to ensure stability during the winding operation.

[0116] Preferably, the walking device 1 further comprises a hoisting rod 14, wherein the hoisting rod 14 is connected between the two mounting frames 12, and the middle portion of the hoisting rod 14 is bent at an angle, wherein the angle is less than 180°.

[0117] In order to facilitate the hanging and unhanging of the wire winding robot and help the wire winding robot to overcome obstacles during walking, the present solution further adds a hoisting rod 14 to the walking device 1, and the middle of the hoisting rod 14 is bent at an angle. The existence of the hoisting rod 14 and its angle facilitates the technicians to realize the hanging, unhanging and obstacle crossing of the wire winding robot through the drone, and is more conducive to improving the operation safety of the robot.

[0118] Preferably, the walking device 1 further comprises a camera 15 , which is mounted on the walking seat 11 and / or the mounting frame 12 , and a shooting end of the camera 15 faces the power transmission line 4 .

[0119] Furthermore, the present solution also adds a camera 15 in the walking device 1 for assisting the wire winding robot in hanging the wire, unloading the wire and crossing obstacles, so that the technicians can observe the relative position of the wire winding robot and the transmission line 4.

[0120] It should be noted that the number and installation positions of the cameras 15 can be adjusted according to the actual situation of the power transmission line repair and are not limited here.

[0121] Preferably, the walking device 1 further comprises a balancing rod 16, the top end of the balancing rod 16 is connected to the mounting frame 12, and the end of the balancing rod 16 extends to the outside of the power transmission line 4 along the walking direction;

[0122] The balancing rod 16 and the walking seat 11 are connected to two ends of the mounting frame 12 respectively.

[0123] Furthermore, since the wire winding robot is hoisted online by a drone, when hanging the wire, the drone generally first hovers above the power transmission line 4 with the wire winding robot, and then descends until the two running wheels 13 are hung on the power transmission line 4. Since the running wheels 13 are relatively small, and the drone will swing to a certain extent when moving and descending with the wire winding robot, it is difficult for the running wheels 13 to land accurately on the power transmission line 4, which is particularly prominent in windy days, and it is extremely challenging for the pilot to control the drone. Therefore, this solution also adds a balance bar 16 on the opposite side of the walking seat 11 to maintain the overall balance of the robot, so as to reduce the difficulty of hanging the wire winding robot and reduce the swing of the wire winding robot when moving.

[0124] To further illustrate, the wire drawing device 2 includes a mounting rod 21, a wire drawing drive box 22 and a wire drawing ring 23;

[0125] One end of the mounting rod 21 is connected to the mounting frame 12, and the other end of the mounting rod 21 is connected to the wire-winding drive box 22;

[0126] The wire winding ring 23 is rotatably mounted on the wire winding drive box 22 around its own axis, and the axis of the wire winding ring 23 is parallel to the power transmission line 4. The wire winding drive box 22 is used to drive the rotation of the wire winding ring 23;

[0127] The wire-winding ring 23 is in a C-shape, and a wire-winding cavity 201 for accommodating the power transmission line 4 is provided in the middle of the wire-winding ring 23 . The rotation of the wire-winding ring 23 is used to wind the wire back into the groove at the broken strand of the power transmission line 4 .

[0128] like Figure 7-8 As shown, the wire-winding device 2 of the present invention comprises a mounting rod 21, a wire-winding driving box 22 and a wire-winding ring 23. The wire-winding ring 23 is rotated to wind the broken strands of the power transmission line 4 back into the groove. The structure is simple and the performance is reliable.

[0129] In a specific implementation process of this embodiment, the walking device 1 is first used to move the wire-winding device 2 to the rear end of the broken strand of the transmission line 4 along the walking direction, and then the wire-winding ring 23 is used to wind the broken strand of the transmission line 4 located inside the wire-winding cavity 201 back into the groove while walking, completing a wire-winding operation.

[0130] Preferably, the wire drawing driving box 22 comprises a box body 221, a driving wheel 222 and a transmission wheel 223, and a plurality of transmission wheels 223 are provided;

[0131] The driving wheel 222 and the plurality of transmission wheels 223 are both rotatably mounted inside the box body 221, and the driving wheel 222 and the transmission wheels 223 are meshed with each other, and the rotation of the driving wheel 222 drives the rotation of the plurality of transmission wheels 223;

[0132] All the transmission wheels 223 are meshed with the wire drawing ring 23 , and the driving wheel 222 drives the wire drawing ring 23 to rotate through the transmission wheels 223 .

[0133] In a specific embodiment of the above scheme, Fig. 9 As shown, the present solution realizes the rotation of the wire-winding ring 23 through a gear box (i.e., a wire-winding drive box 22), which can effectively simplify the structure of the wire-winding drive box 22 and reduce the dead weight of the wire-winding drive box 22 to prevent the wire-winding robot from causing additional burden on the power transmission line 4.

[0134] Preferably, the wire-winding drive box 22 further includes a wire-winding driver 224;

[0135] The wire-winding driver 224 is installed outside the box 221 , and the output end of the wire-winding driver 224 passes through the box 221 and is connected to the driving wheel 222 . The wire-winding driver 224 is used to drive the driving wheel 222 to rotate.

[0136] As a better embodiment of the above-mentioned specific embodiment, a wire-winding driver 224 is added outside the box body 221 to realize the rotation of the driving wheel 222, so that the structural design of the wire-winding driving box 22 is more compact and reasonable.

[0137] Preferably, two transmission wheels 223 are provided, and the axes of the two transmission wheels 223 are located on the same vertical line;

[0138] The axes of the driving wheel 222 and the wire drawing ring 23 are located on the same horizontal line.

[0139] like Figure 8 As shown, in this way, the structural balance of the wire drawing device 2 itself can be achieved during the wire drawing process, which is beneficial to the drawing back of the loose wire strands.

[0140] Further, the end of the mounting rod 21 is hinged to the mounting frame 12, and the hinge axis of the mounting rod 21 is perpendicular to the walking direction of the walking device 1, and the wire drawing drive box 22 swings relative to the mounting frame 12 through the mounting rod 21;

[0141] The wire-winding driving box 22 includes a wire-winding state and a walking state;

[0142] When the wire-winding driving box 22 is in a wire-winding state, the power transmission line 4 is located inside the wire-winding cavity 201, and the wire-winding cavity 201 is coaxial with the power transmission line 4;

[0143] When the wire-winding driving box 22 is in the running state, the power transmission line 4 is located outside the wire-winding cavity 201 .

[0144] In a preferred embodiment of the present technical solution, the wire-winding drive box 22 swings relative to the mounting frame 12 through the mounting rod 21, so that the wire-winding drive box 22 includes a wire-winding state (such as Fig.10 as shown) and walking status (as shown Fig.11 shown).

[0145] Specifically, when the wire-winding drive box 22 is in the wire-winding state, the power transmission line 4 is located inside the wire-winding cavity 201, and the wire-winding cavity 201 is coaxial with the power transmission line 4, which is conducive to the wire-winding return groove of the loose wires and ensures the wire-winding effect and quality.

[0146] When the wire-winding drive box 22 is in the walking state, the power transmission line 4 is located outside the wire-winding cavity 201, which is conducive to the smooth walking of the wire-winding robot and avoids the robot from stopping walking due to inability to pass through the wire-winding cavity 201 when encountering obstacles.

[0147] Preferably, the wire-winding device 2 also includes a telescopic drive rod 24, a fixed end of the telescopic drive rod 24 is hinged to the mounting frame 12, a telescopic end of the telescopic drive rod 24 is hinged to the wire-winding drive box 22, and the telescopic drive rod 24 is used to drive the wire-winding drive box 22 to swing.

[0148] In this way, the swing of the wire-winding driving box 22 can be achieved without causing a large additional burden on the power transmission line, thereby improving the degree of automation of the wire-winding device 2.

[0149] Preferably, the telescopic driving rod 24 is an electric push rod.

[0150] A method for operating a wire winding robot for repairing broken strands of a power transmission line, using the wire winding robot for repairing broken strands of a power transmission line, comprises the following steps:

[0151] A. Mount the wire winding robot on the rear end of the broken strand of the power transmission line 4 along the traveling direction;

[0152] B. Using the walking device 1 to make the wire winding robot walk along the power transmission line 4, and at the same time starting the wire winding device 2, while walking, use the wire winding device 2 to wind the wires back to the groove at the broken strands of the power transmission line 4, until all the loose strands at the broken strands of the power transmission line 4 are back to the groove;

[0153] C. Using the walking device 1, the wire winding robot moves along the power transmission line 4 until the tape winding device 3 reaches the broken strand of the power transmission line 4;

[0154] D.

[0155] (1) The winding assembly 33 is moved by the moving seat 31 so that the broken strand of the transmission line 4 enters the winding cavity 301;

[0156] (2) The winding assembly 33 is moved by the moving seat 31, and the tape is attached to the broken strand of the power transmission line 4 by the auxiliary block 335;

[0157] (3) The winding assembly 33 is moved by the moving seat 31 so that the winding assembly 33 is coaxial with the power transmission line 4;

[0158] (4) while walking, the winding drive box 32 is used to drive the winding assembly 33 to rotate, so that the tape is wound around the broken part of the power transmission line 4 until the tape completely covers the broken part of the power transmission line 4;

[0159] (5) After winding is completed, the winding assembly 33 is moved by the moving seat 31 so that the blade 334 cuts the tape;

[0160] (6) The winding assembly 33 is moved by the moving seat 31 so that the pressing block 336 presses the end of the tape against the power transmission line 4 to complete the winding;

[0161] E. Move the winding assembly 33 through the moving seat 31 so that the broken strand of the repaired transmission line 4 is moved out of the winding chamber 301, and use the walking device 1 to make the wire winding robot walk along the transmission line 4 until the tape winding device 3 reaches the next broken strand of the transmission line 4.

[0162] The present technical solution also proposes an operating method of a wire winding robot for repairing broken strands of a transmission line, and particularly optimizes the winding action and sequence of the tape winding device 3, which is beneficial to ensuring the stability of the winding fixation, while effectively solving the technical problem of low repair efficiency in the prior art for repairing broken strands of a transmission line.

[0163] like Figure 5 As shown, the present solution subdivides the tape winding process of step D into six sub-steps: (1) cavity entry, (2) pasting, (3) coaxial, (4) winding, (5) cutting, and (6) pressing. This is more conducive to making the winding process smoother and, on the premise of ensuring the effectiveness of the tape winding, is conducive to improving the winding efficiency during the repair process.

[0164] 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, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0165] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​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 accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0166] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the 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 devices or elements 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 contours of each component itself.

[0167] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. 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 figure. For example, if the device in the accompanying 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.

[0168] 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. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0169] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0170] The technical principle of the present invention is described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without paying creative labor, and these methods will fall within the scope of protection of the present invention.

Claims

1. A wire winding robot for repairing broken strands of a power transmission line, characterized in that: It includes a walking device, a wire drawing device and a tape winding device; The walking device is used to walk along the extension direction of the power transmission line; The wire-winding device and the tape winding device are both installed on the traveling device, and the wire-winding device is located at the front end of the traveling direction of the traveling device, and the wire-winding device is used to wind the wire back to the groove at the broken part of the transmission line; The adhesive tape winding device is located at the rear end of the wire drawing device, and is used to fix the broken strands of the power transmission line after the wires are drawn back into the groove using adhesive tape.

2. The wire winding robot for repairing broken strands of a power transmission line according to claim 1, characterized in that: The tape winding device comprises a moving seat, a winding drive box and a winding assembly; The moving seat is installed on the walking device; The winding drive box is installed on the moving seat, and the winding drive box moves horizontally and vertically relative to the power transmission line through the moving seat, and the horizontal movement direction of the winding drive box is perpendicular to the walking direction of the walking device; The winding assembly can be rotatably installed on the winding drive box around its own axis, and the axis of the winding assembly is parallel to the transmission line. The winding drive box is used to drive the rotation of the winding assembly; the winding assembly is used to use tape to wrap and fix the broken strands of the transmission line after the wire is drawn back into the groove.

3. The wire winding robot for repairing broken strands of a power transmission line according to claim 2, characterized in that: The winding assembly comprises a winding ring, a winding mounting seat, a packaging tape and a blade; The winding ring is connected to the output end of the winding drive box so as to be rotatable around its own axis, and the winding ring is in a C-shape, and a winding cavity for accommodating a power transmission line is provided in the middle of the winding ring; The package tape is rotatably mounted on one side of the winding ring, and the rotating shaft of the package tape is parallel to the traveling direction of the traveling device, and the package tape is used to provide tape to the power transmission line; The winding mounting seat is protrudingly mounted on one side of the winding ring, and the winding mounting seat and the roll tape are located on the same side of the winding ring; the blade is mounted on the winding ring through the winding mounting seat, and the blade is used to cut the tape.

4. The wire winding robot for repairing broken strands of a power transmission line according to claim 3, characterized in that: The winding mounting seat is L-shaped, and comprises a horizontal mounting plate and a vertical mounting plate, and the top end of the vertical mounting plate is connected to an end of the horizontal mounting plate away from the opening of the winding cavity; The roll tape is located above the horizontal mounting plate, and a tape avoidance opening is provided on the plate surface of the horizontal mounting plate, and the tape avoidance opening is used to avoid the end of the roll tape; The blade is protrudingly mounted on the inner side wall of the vertical mounting plate, and the blade edge of the blade faces the middle of the winding cavity.

5. The wire winding robot for repairing broken strands of a power transmission line according to claim 4, characterized in that: The winding assembly further comprises an auxiliary block, and a side wall of the auxiliary block is inwardly recessed and provided with a groove for accommodating a power transmission line; The auxiliary block is protrudingly mounted on the inner side wall of the vertical mounting plate, and the blade edge of the blade protrudes from the auxiliary block; The groove is oriented toward the middle of the winding cavity.

6. The wire winding robot for repairing broken strands of a power transmission line according to claim 5, characterized in that: The winding assembly also includes a pressing block; The pressing block is protrudingly mounted on the lower surface of the horizontal mounting plate, and the pressing block is used to press the end of the tape against the power transmission line.

7. The wire winding robot for repairing broken strands of a power transmission line according to claim 1, characterized in that: The walking device comprises a walking seat, a mounting frame and walking wheels; The mounting frames are installed at both ends of the top of the walking seat, the walking wheels are rotatably installed on the mounting frames, and the walking wheels are installed on the walking seat through the mounting frames; The wire drawing device is located at the front end of all the traveling wheels along the traveling direction; The tape winding device is located between the two traveling wheels.

8. The wire winding robot for repairing broken strands of a power transmission line according to claim 7, characterized in that: The wire drawing device comprises a mounting rod, a wire drawing drive box and a wire drawing ring; One end of the mounting rod is connected to the mounting frame, and the other end of the mounting rod is connected to the wire drawing drive box; The wire-winding ring is rotatably mounted on the wire-winding drive box around its own axis, and the axis of the wire-winding ring is parallel to the power transmission line. The wire-winding drive box is used to drive the rotation of the wire-winding ring; The shape of the wire-winding ring is C-shaped, and a wire-winding cavity for accommodating the power transmission line is opened in the middle of the wire-winding ring. The rotation of the wire-winding ring is used to wind the wire back into the groove at the broken strand of the power transmission line.

9. The wire winding robot for repairing broken strands of a power transmission line according to claim 8, characterized in that: The end of the mounting rod is hinged to the mounting frame, and the hinge axis of the mounting rod is perpendicular to the walking direction of the walking device, and the wire drawing drive box swings relative to the mounting frame through the mounting rod; The wire-winding driving box includes a wire-winding state and a walking state; When the wire-winding driving box is in a wire-winding state, the power transmission line is located inside the wire-winding cavity, and the wire-winding cavity is coaxial with the power transmission line; When the wire-winding driving box is in a walking state, the power transmission line is located outside the wire-winding cavity.

10. An operation method of a wire winding robot for repairing broken strands of a power transmission line, characterized in that: The wire winding robot for repairing broken strands of a power transmission line according to claim 6 comprises the following steps: A. Mounting the wire winding robot at the rear end of the broken strand of the power transmission line along the walking direction; B. Using the walking device to make the wire winding robot walk along the power transmission line, and at the same time starting the wire winding device, while walking, use the wire winding device to wind the wires back to the groove at the broken strands of the power transmission line, until all the loose strands at the broken strands of the power transmission line are back to the groove; C. Using the walking device to make the wire winding robot walk along the power transmission line until the tape winding device reaches the broken strand of the power transmission line; D、 (1) The winding assembly is moved by the moving seat so that the broken strand of the transmission line enters the winding cavity; (2) The winding assembly is moved by the moving seat, and the tape is attached to the broken strand of the power transmission line by the auxiliary block; (3) moving the winding assembly by the moving seat so that the winding assembly is coaxial with the power transmission line; (4) while walking, using the winding drive box to drive the winding assembly to rotate, so that the tape is wound around the broken strand of the transmission line until the tape completely covers the broken strand of the transmission line; (5) After winding is completed, the winding assembly is moved by the moving seat so that the blade cuts the tape; (6) The winding assembly is moved by the moving seat so that the pressing block presses the end of the tape against the power transmission line to complete the winding; E. Move the winding assembly by the moving seat so that the broken strand of the repaired transmission line is moved out of the winding chamber, and use the walking device to make the wire winding robot walk along the transmission line until the tape winding device reaches the next broken strand of the transmission line.

Images