High-voltage transmission line pin supplementing robot device

Abstract

The invention relates to the technical field of circuit maintenance, and provides a high-voltage transmission line pin supplementing robot device which comprises a second rotating frame, a nail supplementing mechanism, a bending part and a nail dismounting part, the second rotating frame comprises a blanking pipe shell and a feeding sleeve shell, the blanking pipe shell and the feeding sleeve shell are fixedly connected, the nail supplementing mechanism comprises a first telescopic piece and a U-shaped block, and the first telescopic piece is connected with the U-shaped block. The first telescopic piece is connected with the U-shaped block, the U-shaped block is slidably connected into the blanking pipe shell, the nail dismounting part comprises a second telescopic piece, a rigid pin body and a wedge-shaped block, one end of the second telescopic piece is fixedly connected with the U-shaped block, the rigid pin body and the wedge-shaped block are both connected with the other end of the second telescopic piece, and the rigid pin body penetrates through the surface of the U-shaped block; the elastic pin can be installed in the pin hole from multiple directions only through the U-shaped block, the elastic pin which is rusted or is abnormal after installation can be automatically disassembled through the U-shaped block and the rigid pin body, and the multi-angle pin supplementing and automatic pin disassembling device has the advantages of multi-angle pin supplementing and automatic pin disassembling.

Description

Technical Field

[0001] The invention relates to the technical field of circuit repair, and in particular to a high-voltage transmission line repair robot device. Background Art

[0002] The pins in the bolt openings of line connection fittings include round head pins, elastic pins and threaded pins, among which elastic pins (also called R-type pins) are more widely used.

[0003] After searching, the existing announcement number CN114865528B discloses a replenishing pin robot and a replenishing pin system. The replenishing pin system includes a replenishing pin robot, a camera system and a control terminal. The operator controls the replenishing pin robot through the control terminal to complete the replenishing pin operation according to the data transmitted by the camera system. The replenishing pin robot includes a replenishing pin mechanism and a driving mechanism. The replenishing pin mechanism includes a pin adsorbing part and a pin bending assembly. The pin adsorbing part adsorbs the pin. The driving mechanism is installed on the live working lifting platform of the power transmission line. The driving mechanism is connected to the replenishing pin mechanism and is used to drive the replenishing pin mechanism to perform lifting and lowering movements, translational movements and rotational movements relative to the pin shaft so that the pin adsorbed by the pin adsorbing part is aligned with the pin hole and inserted into the pin hole. The pin bending assembly is used to bend the part of the pin body that exposes the pin shaft. The replenishing pin robot has a good replenishing pin effect and can replace workers to perform replenishing pin operations, thereby reducing dangers, improving operation safety and reducing labor costs.

[0004] The existing replacement pin robot also has the following defects: (1) Since the pin shaft (also called pin) in the bolt opening of the line connection hardware is usually replaced when the pin shaft is damaged or corroded, it is necessary to manually remove the damaged or corroded pin shaft in the bolt opening before replacing the pin, and it is impossible to fully automate the pin removal and replacement operations; (2) When there is a problem of abnormal deformation or damage of the pin due to improper pressure control or other reasons during the replacement pinning process, the abnormal or damaged pin cannot be automatically removed from the bolt opening. Summary of the invention

[0005] The purpose of the present invention is to provide a high-voltage transmission line replenishment robot device, aiming to solve the problems existing in the existing replenishment robots.

[0006] To achieve the above object, the present invention provides the following technical solution: a high-voltage transmission line replenishment robot device, comprising: A second rotating frame, the second rotating frame comprises a blanking tube shell and a feeding sleeve shell, the blanking tube shell and the feeding sleeve shell are fixedly connected; A patching mechanism, the patching mechanism comprising a U-shaped block and a first telescopic member, the first telescopic member being connected to the U-shaped block, and the U-shaped block being slidably connected in the blanking tube shell; A bending portion corresponding to the position of the U-shaped block; The nail removing part includes a second telescopic member, a rigid pin body and a wedge-shaped block, one end of the second telescopic member is fixedly connected to the U-shaped block, the rigid pin body and the wedge-shaped block are both connected to the other end of the second telescopic member, and the rigid pin body penetrates the surface of the U-shaped block; A transmission part, the transmission part comprises an L-shaped bar, a wedge-shaped hole, a tooth groove and a second spring, the surface of the L-shaped bar is provided with a wedge-shaped hole, the wedge-shaped block is slidably connected to the wedge-shaped hole, the L-shaped bar is slidably connected to the surface of the U-shaped block, one end of the L-shaped bar is provided with a tooth groove, and the second spring is connected between the L-shaped bar and the U-shaped block; The material blocking part includes a material blocking rod, a rotating shaft and a second transmission gear. The material blocking rod and the second transmission gear are both fixedly connected to the rotating shaft, the tooth groove is transmission-connected to the second transmission gear, and the material blocking rod is distributed between the blanking tube shell and the feeding sleeve shell.

[0007] As a further solution of the present invention, the second rotating frame further comprises a first guide rail, a second guide rail and a central axis. The inner walls on both sides of the blanking tube shell are respectively provided with the first guide rail and the second guide rail. One end of the blanking tube shell is fixedly connected with the central axis.

[0008] As a further solution of the present invention, it also includes a first rotating frame, a robot body and a driving part, the first rotating frame is fixedly connected with a center sleeve, the first rotating frame is connected to the robot body, the center sleeve and the center axis surface are fixedly connected with a first transmission gear, the two first transmission gears are respectively connected to the two driving parts, the center axis is connected to the first rotating frame, and the first telescopic member is fixedly connected to the first rotating frame.

[0009] As a further solution of the present invention, a push block and a first spring are arranged in the feeding housing, the first spring is connected between the push block and the feeding housing, and the first guide rail is connected to the feeding housing.

[0010] As a further solution of the present invention, the patching mechanism also includes a hidden hole, a third guide rail, a movable rod and a first movable block. A hidden hole is provided on one side of the U-shaped block, the rigid pin body is slidably connected in the hidden hole, one end of the movable rod is fixedly connected to the U-shaped block, the other end of the movable rod is rotatably connected to the first movable block, the second telescopic member is fixedly connected to the first movable block, a third guide rail is provided on the surface of the U-shaped block, and the L-shaped strip is slidably connected in the third guide rail.

[0011] As a further solution of the present invention, it also includes a laser sensor, the laser sensor is fixedly connected to the other side of the U-shaped block, and a signal reflection core is embedded in the geometric center of the end of the rigid pin body.

[0012] As a further solution of the present invention, the material stopping portion also includes a radial block, a third spring, a fixed cover and a stop block. The fixed cover is embedded in the side wall of the blanking tube shell, and the rotating shaft passes through the fixed cover. The inner wall of the fixed cover and the surface of the rotating shaft are respectively fixedly connected with a stop block and a radial block, and the third spring is connected between the radial block and the stop block.

[0013] As a further solution of the present invention, the bending portion includes a boss, a third telescopic member and a third movable block, the third telescopic member is fixedly connected to the first rotating frame, the third movable block is fixedly connected to the third telescopic member, and the boss is fixedly connected to the third movable block.

[0014] The beneficial effects of the present invention are as follows: not only can the U-shaped block be used to install the elastic pin in the pin hole from multiple directions, but the U-shaped block and the rigid pin body can also be used to automatically remove the rusted or abnormal elastic pin after installation, and it has the characteristics of multi-angle pin replacement and automatic pin removal. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a first plan view schematic diagram of the present invention for making up for the pinning.

[0016] Figure 2 It is a three-dimensional diagram of a second rotating frame according to an embodiment of the present invention.

[0017] Figure 3 It is a three-dimensional diagram of the replenishment mechanism according to an embodiment of the present invention.

[0018] Figure 4 It is a three-dimensional diagram of a dismantling pin portion according to an embodiment of the present invention.

[0019] Figure 5 It is an assembly diagram of the transmission part and the material blocking part of an embodiment of the present invention.

[0020] Figure 6 It is a cross-sectional view of the transmission part and the material blocking part of an embodiment of the present invention.

[0021] Figure 7 It is a planar cross-sectional view of a material blocking portion according to an embodiment of the present invention.

[0022] Figure 8 It is a first cross-sectional view of the second rotating frame and the pin-replacing mechanism according to an embodiment of the present invention.

[0023] Fig. 9 It is a second cross-sectional view of the second rotating frame and the pin replenishing mechanism according to the embodiment of the present invention.

[0024] Fig.10 For the present invention Fig. 9 A partial enlarged view of point a in the middle.

[0025] Fig.11 It is a partial cross-sectional view of the present invention.

[0026] Fig.12 It is a partial plan view of the present invention when used for dismantling.

[0027] Fig.13 It is a partial plan view of the present invention when used for make-up pinning.

[0028] Fig.14 It is a second plan view schematically showing the method for making up for the pinning according to the present invention.

[0029] Reference numerals: 1 - robot body; 2-first rotating frame, 21-center sleeve; 3-second rotating frame, 31-dropping tube shell, 311-first guide rail, 312-second guide rail, 32-feeding sleeve shell, 321-push block, 322-first spring, 33-center axis, 34-first transmission gear; 4-pin-replenishing mechanism, 41-U-shaped block, 411-hidden hole, 412-third guide rail, 42-first telescopic member, 43-movable rod, 44-first movable block; 5-removal pin part, 51-second telescopic member, 52-rigid column, 521-signal reflection core, 53-second movable block, 54-wedge block; 6-transmission part, 61-L-shaped bar, 62-wedge-shaped hole, 63-tooth groove, 64-second spring, 65-limiting block; 7- material blocking part, 71- material blocking rod, 72- rotating shaft, 721- radial block, 73- second transmission gear, 74- third spring, 75- fixed cover, 751- block; 8-driving part, 9-bending part, 91-boss, 92-third telescopic member, 93-third movable block, 10-elastic pin, 11-laser sensor. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0031] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0032] See also Figures 1 to 14 In one embodiment of the present invention, a high voltage transmission line restocking robot device comprises: A second rotating frame 3, wherein the second rotating frame 3 comprises a blanking tube shell 31 and a feeding sleeve shell 32, wherein the blanking tube shell 31 and the feeding sleeve shell 32 are fixedly connected; The pin-replenishing mechanism 4 includes a U-shaped block 41 and a first telescopic member 42. The first telescopic member 42 is connected to the U-shaped block 41. The U-shaped block 41 is slidably connected in the blanking tube shell 31. In the initial state, the U-shaped block 41 is located at one end of the blanking tube shell 31 away from the central axis 33; A bending portion 9 corresponding to the position of the U-shaped block 41; The dismantling pin part 5 includes a second telescopic member 51, a rigid column 52, a second movable block 53 and a wedge-shaped block 54. One end of the second telescopic member 51 is fixedly connected to the U-shaped block 41. The rigid column 52 and the wedge-shaped block 54 are both fixedly connected to the second movable block 53. The second movable block 53 is fixedly connected to the other end of the second telescopic member 51. The rigid column 52 passes through the surface of the U-shaped block 41. The transmission part 6 comprises an L-shaped bar 61, a wedge-shaped hole 62, a tooth groove 63, a second spring 64 and a limit block 6565. The surface of the L-shaped bar 61 is provided with a wedge-shaped hole 62. The wedge block 54 is slidably connected with the wedge-shaped hole 62. The L-shaped bar 61 is slidably connected to the surface of the U-shaped block 41. One end of the L-shaped bar 61 is provided with a tooth groove 63. The second spring 64 is connected between the L-shaped bar 61 and the U-shaped block 41. The limit block 65 is fixedly connected with the other end of the L-shaped bar 61. The limit block 65 is used to limit the L-shaped bar 61 by contacting with the wedge block 54. The material blocking part 7 includes a material blocking rod 71, a rotating shaft 72, a second transmission gear 73, a radial block 721, a third spring 74, a fixed cover 75 and a block 751. The material blocking rod 71 and the second transmission gear 73 are both fixedly connected to the rotating shaft 72, and the tooth groove 63 is in transmission connection with the second transmission gear 73. The material blocking rod 71 is distributed between the blanking tube shell 31 and the feeding sleeve shell 32. The fixed cover 75 is embedded in the side wall of the blanking tube shell 31, and the rotating shaft 72 passes through the fixed cover 75. The inner wall of the fixed cover 75 and the surface of the rotating shaft 72 are respectively fixedly connected with a stopper 751 and a radial block 721. The third spring 74 is connected between the radial block 721 and the stopper 751. When the first telescopic member 42 is used to control the U-shaped block 41 to move toward the end close to the central axis 33, during this process, the moving L-shaped bar 61 is connected to the second transmission gear 73 by the tooth groove 63 and then disengaged, so that the blocking rod 71 can be driven to swing clockwise at a certain angle and then reset. The spring force of the first spring 322 drives the elastic pin 10 inside the first guide rail 311 and the second guide rail 312 of the feeding sleeve 32, so that the elastic pin 10 is in a compressed state, and the stopping rod 71 is used to block the first guide rail 311 after the stopping rod 71 is reset.

[0033] See also Figure 8 Furthermore, a push block 321 and a first spring 322 are provided in the feeding housing 32 , the first spring 322 is connected between the push block 321 and the feeding housing 32 , and the first guide rail 311 is connected to the feeding housing 32 .

[0034] See also Fig.11 and Fig.14 Further, the bending portion 9 includes a boss 91, a third telescopic member 92 and a third movable block 93, the third telescopic member 92 is fixedly connected to the first rotating frame 2, the third movable block 93 is fixedly connected to the third telescopic member 92, and the boss 91 is fixedly connected to the third movable block 93.

[0035] In the embodiment of the present invention, the first telescopic member 42, the second telescopic member 51 and the third telescopic member 92 are all electric telescopic rods, the two side surfaces of the end of the boss 91 are both inclined surfaces, the width of the boss 91 is greater than the aperture of the pin hole or the bolt opening, and the third telescopic member 92 controls the movement of the boss 91 to adjust the distance between the boss 91 and the bolt, thereby adjusting the bending size of the open end of the elastic pin 10.

[0036] See also Figure 2 , Figure 8 and Fig. 9 In one embodiment of the present invention, the second rotating frame 3 further includes a first guide rail 311, a second guide rail 312 and a central axis 33. The inner walls on both sides of the blanking tube shell 31 are respectively provided with the first guide rail 311 and the second guide rail 312. One end of the blanking tube shell 31 is fixedly connected to the central axis 33. A portion of the first guide rail 311 passes through the surface of the blanking tube shell 31 so as to be connected to the feeding sleeve shell 32. The other portion of the first guide rail 311 is closed.

[0037] See also Figure 1 , Fig.11 and Fig.14 , further, it also includes a first rotating frame 2, a robot body 1 and a driving unit 8, the first rotating frame 2 is fixedly connected with a center sleeve 21, the first rotating frame 2 is connected to the robot body 1, the center sleeve 21 and the surface of the center axis 33 are fixedly connected with a first transmission gear 34, the two first transmission gears 34 are respectively connected to the two driving units 8 for transmission, the center axis 33 is connected to the first rotating frame 2, the first telescopic member 42 is fixedly connected to the first rotating frame 2, the robot body 1 includes a self-driven pulley block, a working platform, a robotic arm and a power module, the self-driven pulley block, the robotic arm and the power module are all connected to the working platform, the self-driven pulley block is used to move along the high-voltage transmission line, the center sleeve 21 is connected to the robotic arm, the driving unit 8 for controlling the rotation of the first rotating frame 2 is connected to the robotic arm, and the driving unit 8 for controlling the rotation of the second rotating frame 3 is connected to a rotating frame.

[0038] See also Figure 3 , Figure 4 , Fig.10 , Fig.12 and Fig.13Furthermore, the pin replenishing mechanism 4 also includes a hidden hole 411, a third guide rail 412, a movable rod 43 and a first movable block 44. A hidden hole 411 is provided on one side of the U-shaped block 41, and the rigid column 52 is slidably connected in the hidden hole 411. One end of the movable rod 43 is fixedly connected to the U-shaped block 41, and the other end of the movable rod 43 is rotatably connected to the first movable block 44. The second telescopic member 51 is fixedly connected to the first movable block 44. A third guide rail 412 is provided on the surface of the U-shaped block 41, and the L-shaped bar 61 is slidably connected in the third guide rail 412.

[0039] In an embodiment of the present invention, a laser sensor 11 is fixedly connected to the other side of the U-shaped block 41, and a signal reflection core 521 is embedded in the geometric center of the end of the rigid column 52. The laser sensor 11 is used to emit and receive laser signals, and the signal reflection core 521 is used to reflect the laser signal emitted by the laser sensor 11. The laser sensor 11 and the signal reflection core 521 are used to determine whether the rigid column 52 is located at the center position of the circular end of the elastic pin 10, thereby facilitating the control of the rigid column 52 to be inserted into the circular end of the elastic pin 10.

[0040] Working principle: First, the robot body 1 is used to move to the specified position along the high-voltage transmission line, and then the center sleeve 21 of the first rotating frame 2 is aligned with the center of the bolt by the robot body 1. When it is necessary to remove the rusted elastic pin 10 in the bolt pin hole or the bolt opening, the first rotating frame 2 and the second rotating frame 3 are controlled to rotate with the center sleeve 21 as the axis, so as to move the blanking tube shell 31 to a position aligned with the circular end of the elastic pin 10, and then the second rotating frame 3 is controlled to rotate with the center axis 33 as the axis to adjust the direction of the U-shaped block 41 or the rigid column 52 according to the center line direction of the circular end of the elastic pin 10, and then the first telescopic member 4 is used to rotate. 2 controls the U-shaped block 41 to move to the position of the circular end of the elastic pin 10. When it is determined that the rigid column 52 is located at the center position of the circular end of the elastic pin 10 according to the signal between the laser sensor 11 and the signal reflection core 521, the rigid column 52 is controlled to be inserted into the circular end of the elastic pin 10 by the second telescopic member 51, and then the U-shaped block 41 is controlled to move in the reverse direction by the first telescopic member 42 to pull the elastic pin 10 out of the pin hole or the bolt opening. If the elastic pin 10 cannot be pulled out smoothly, the elastic pin 10 can be shaken by controlling the second rotating frame 3 and the U-shaped block 41 to rotate back and forth to ensure that the elastic pin 10 is pulled out smoothly from the pin hole or the bolt opening.

[0041] Since the second telescopic member 51 controls the rigid column 52 to be inserted into the circular end of the elastic pin 10, the wedge block 54 will be inserted into the wedge-shaped hole 62. Therefore, the wedge block 54 can drive the L-shaped bar 61 to move in the direction close to the wedge block 54 by slidingly connecting with the wedge-shaped hole 62. In this way, the tooth groove 63 at the end of the L-shaped bar 61 cannot drive the blocking rod 71 to swing by connecting with the second transmission gear 73. This can prevent the problem of automatically loading a new elastic pin 10 into the blanking tube shell 31 when the rusted elastic pin 10 is removed. When the second telescopic member 51 is used to control the rigid column 52 to hide in the hidden hole 411 again, the rusted elastic pin 10 can automatically fall to the outside of the blanking tube shell 31, and finally control the U-shaped block 41 to reset.

[0042] When a new elastic pin 10 needs to be installed, the first telescopic member 42 is first used to control the U-shaped block 41 to move a certain distance toward the end close to the central axis 33. When the blocking rod 71 swings clockwise, the elastic force of the first spring 322 drives the elastic pin 10 to enter the first guide rail 311 and the second guide rail 312. After resetting, the blocking rod 71 is used to block the first guide rail 311, and the first telescopic member 42 is used to control the U-shaped block 41 and the elastic pin 10 to move along the first guide rail 311 and the second guide rail 312. The limiting and guiding function of the first guide rail 311 and the second guide rail 312, on the one hand, prevents the phenomenon that the open end of the elastic pin 10 is not aligned with the boss 91, and on the other hand, the first guide rail 311 and the second guide rail 312 can ensure that the elastic pin 10 is in a compressed state, thereby facilitating the elastic pin 10 10 enters the bolt opening. After the elastic pin 10 enters the bolt opening, its own elastic tension drives the two sides of the elastic pin 10 to squeeze the inner side of the bolt opening. The third telescopic member 92 is used to control the boss 91 to move to a position close to the pin hole or the bolt opening, and then the first telescopic member 42 is used to control the U-shaped block 41 to squeeze the circular end of the elastic pin 10. In this process, the boss 91 bends the two sides of the elastic pin 10 from the open end of the elastic pin 10. After the installation is completed, the circular end of the elastic pin 10 is separated from the first guide rail 311 and the second guide rail 312. Finally, the U-shaped block 41 and the boss 91 are reset. When the elastic pin 10 is abnormal after installation (loosening, surface damage and cracking, or abnormal bending angle), the installed elastic pin 10 can be directly removed by the method of removing the rusted elastic pin 10.

[0043] To summarize, the present application utilizes a structural design in which the pin replacement mechanism 4, the pin removal portion 5, the transmission portion 6 and the material blocking portion 7 cooperate with each other. Not only can the U-shaped block 41 be used to install the elastic pin 10 in the pin hole or bolt opening from multiple directions, but the U-shaped block 41 and the rigid column 52 can also be used to automatically remove the elastic pin 10 that is rusted or abnormal after installation, and has the characteristics of multi-angle pin replacement and automatic pin removal.

[0044] For those skilled in the art, although several embodiments and examples of the present invention have been described, these embodiments and examples are provided as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the scope of the main purpose of the invention.

[0045] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A high voltage transmission line repair robot device, characterized in that: include: A second rotating frame (3), the second rotating frame (3) comprising a blanking tube shell (31) and a feeding sleeve shell (32), the blanking tube shell (31) and the feeding sleeve shell (32) being fixedly connected; A pin-replenishing mechanism (4), the pin-replenishing mechanism (4) comprising a U-shaped block (41) and a first telescopic member (42), the first telescopic member (42) being connected to the U-shaped block (41), and the U-shaped block (41) being slidably connected in the blanking tube shell (31); A bending portion (9) corresponding to the position of the U-shaped block (41); The pin removal part (5) comprises a second telescopic member (51), a rigid column (52) and a wedge-shaped block (54); one end of the second telescopic member (51) is fixedly connected to the U-shaped block (41); the rigid column (52) and the wedge-shaped block (54) are both connected to the other end of the second telescopic member (51); and the rigid column (52) penetrates the surface of the U-shaped block (41).

2. A high-voltage transmission line repair robot device according to claim 1, characterized in that: The invention also comprises a transmission part (6), wherein the transmission part (6) comprises an L-shaped bar (61), a wedge-shaped hole (62), a tooth groove (63) and a second spring (64); the surface of the L-shaped bar (61) is provided with a wedge-shaped hole (62); the wedge-shaped block (54) is slidably connected to the wedge-shaped hole (62); the L-shaped bar (61) is slidably connected to the surface of the U-shaped block (41); one end of the L-shaped bar (61) is provided with a tooth groove (63); and the second spring (64) is connected between the L-shaped bar (61) and the U-shaped block (41).

3. A high-voltage transmission line repair robot device according to claim 2, characterized in that: The invention also comprises a material blocking part (7), wherein the material blocking part (7) comprises a material blocking rod (71), a rotating shaft (72) and a second transmission gear (73); the material blocking rod (71) and the second transmission gear (73) are both fixedly connected to the rotating shaft (72); the tooth groove (63) is transmission-connected to the second transmission gear (73); the material blocking rod (71) is distributed between the blanking tube shell (31) and the feeding sleeve shell (32); the second rotating frame (3) further comprises a first guide rail (311), a second guide rail (312) and a central axis (33); the inner walls on both sides of the blanking tube shell (31) are respectively provided with the first guide rail (311) and the second guide rail (312); one end of the blanking tube shell (31) is fixedly connected to the central axis (33).

4. A high-voltage transmission line repair robot device according to claim 3, characterized in that: The second rotating frame (3) further comprises a first guide rail (311), a second guide rail (312) and a central axis (33); the first guide rail (311) and the second guide rail (312) are respectively arranged on the inner walls of both sides of the blanking tube shell (31); and one end of the blanking tube shell (31) is fixedly connected to the central axis (33).

5. A high-voltage transmission line repair robot device according to claim 4, characterized in that: The robot also comprises a first rotating frame (2), a robot body (1) and a driving part (8), wherein the first rotating frame (2) is fixedly connected to a center sleeve (21), the first rotating frame (2) is connected to the robot body (1), the center sleeve (21) and the surface of the center shaft (33) are both fixedly connected to a first transmission gear (34), the two first transmission gears (34) are respectively connected to two driving parts (8), the center shaft (33) is connected to the first rotating frame (2), and the first telescopic member (42) is fixedly connected to the first rotating frame (2).

6. A high-voltage transmission line repair robot device according to claim 3, characterized in that: A push block (321) and a first spring (322) are arranged in the feeding housing (32); the first spring (322) is connected between the push block (321) and the feeding housing (32); and the first guide rail (311) is in communication with the feeding housing (32).

7. A high-voltage transmission line repair robot device according to claim 5, characterized in that: The pin-replenishing mechanism (4) further comprises a hidden hole (411), a third guide rail (412), a movable rod (43) and a first movable block (44); a hidden hole (411) is provided on one side of the U-shaped block (41); the rigid column (52) is slidably connected in the hidden hole (411); one end of the movable rod (43) is fixedly connected to the U-shaped block (41); the other end of the movable rod (43) is rotatably connected to the first movable block (44); the second telescopic member (51) is fixedly connected to the first movable block (44); a third guide rail (412) is provided on the surface of the U-shaped block (41); and the L-shaped strip (61) is slidably connected in the third guide rail (412).

8. A high voltage transmission line repair robot device according to claim 7, characterized in that: It also comprises a laser sensor (11), the other side of the U-shaped block (41) is fixedly connected with the laser sensor (11), and the geometric center of the end of the rigid column (52) is embedded with a signal reflection core (521).

9. A high voltage transmission line repair robot device according to claim 1, characterized in that: The material blocking portion (7) further comprises a radial block (721), a third spring (74), a fixed cover (75) and a block (751); the fixed cover (75) is embedded in the side wall of the blanking tube shell (31); the rotating shaft (72) passes through the fixed cover (75); the inner wall of the fixed cover (75) and the surface of the rotating shaft (72) are respectively fixedly connected with a block (751) and a radial block (721); the third spring (74) is connected between the radial block (721) and the block (751).

10. A high voltage transmission line repair robot device according to claim 5, characterized in that: The bending portion (9) comprises a boss (91), a third telescopic member (92) and a third movable block (93); the third telescopic member (92) is fixedly connected to the first rotating frame (2); the third movable block (93) is fixedly connected to the third telescopic member (92); and the boss (91) is fixedly connected to the third movable block (93).

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