Four-split high-voltage line robot line self-adaptive on-line device and self-adaptive on-line method

Abstract

The invention discloses a self-adaptive line feeding device and a self-adaptive line feeding method for a four-split high-voltage line robot line. The device comprises a cable, a transmission wheel set, a line pressing wheel set, a lower wheel set and a front wheel set, the transmission wheel set is connected with the upper end of a cable upper-row line, the line pressing wheel set is connected with the lower end of the cable upper-row line, the lower wheel set is connected with the left end and the right end of a cable lower-row line, the front wheel set is kept horizontal with the cable lower-row line through lifting, and the front wheel set fixes a roller on the cable lower-row line. The transmission wheel set comprises two stepping gear motors, two synchronous belts, two tensioning wheels and four driving wheel sets. The line pressing wheel set comprises four line pressing wheel components. The lower wheel group comprises four roller groups; the front wheel set comprises a lifter, a guide shaft, two optical shaft fixing seats, a linear bearing, a front wheel set supporting plate and two front wheel components. According to the invention, the problems of hoisting and adaptability when the spacer is mounted on the four-split high-voltage transmission conductor are solved, and the mounting efficiency and the operation safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment for electric power transmission line construction, and in particular to a four-split high-voltage line robot line adaptive online device and an adaptive online method. Background Art

[0002] In the four-split high-voltage transmission line, the spacing and sag of the four-split conductors in different line sections are inconsistent, resulting in the fact that the climbing wheel and tightening wheel of the four-split conductor spacer installation robot cannot adapt to the four-split conductor well, resulting in failure to go online. At present, there are no reports of the four-split spacer installation robot automatically adapting to the line; in the existing spacer installation robot, the climbing wheel and tightening wheel are fixed structures, and during the online process, the online process needs to be assisted by a hoisting vehicle and accompanying personnel; in some high-voltage transmission line hoisting robots, they are mainly for the upper two-split transmission line of the two-split or four-split, and the line is climbed by retracting the line and flipping the wheel pair. Summary of the invention

[0003] The purpose of the present invention is: the present invention proposes a four-split high-voltage line robot line adaptive online device and adaptive online method, using advanced adaptive control technology, so that the robot can automatically adjust the position and posture of the climbing wheel and the tightening wheel according to the real-time environment and the conductor state, thereby achieving precise adaptation to four-split conductors with different spacings and sags, so as to achieve safe and accurate online installation of the four-split conductor spacer rod installation robot.

[0004] The present invention adopts the following technical solution: a four-split high-voltage line robot line adaptive online device, comprising:

[0005] Cable, transmission wheel assembly, wire pressing wheel assembly, lower wheel assembly and front wheel assembly.

[0006] The transmission wheel group is connected to the upper end of the upper cable line, the wire pressing wheel group is connected to the lower end of the upper cable line, the lower wheel group is connected to the left and right ends of the lower cable line, the front wheel group is kept horizontal with the lower cable line after lifting, and the front wheel group fixes the roller on the lower cable line.

[0007] The transmission wheel set includes two stepping reduction motors, two synchronous belts, two tensioning wheels and four driving wheel sets.

[0008] The crimping wheel assembly includes four crimping wheel components; the crimping wheel components include a supporting plate, a stepping motor, a second rotating shaft, a second limiting nut, a plane thrust bearing, a rotating arm, a first electric push rod and a crimping wheel.

[0009] The lower wheel group includes four roller groups; two roller groups are arranged in a staggered manner along the left and right directions.

[0010] The front wheel set includes a lift, a guide shaft, two optical axis fixing seats, linear bearings, a front wheel set support plate, and two front wheel components.

[0011] Further, four driving wheel sets are arranged at the endpoints of two vertical frame plates, and the driving wheel sets on the same side are on the same horizontal line; the four driving wheel sets are divided into two front driving wheel sets and two rear driving wheel sets.

[0012] Two stepper reduction motors are arranged on the same side. The output shafts of the stepper reduction motors are respectively connected to the front driving wheel sets through bolts; the synchronous belts are wound around the front driving wheel sets and the rear driving wheel sets on the same side; the tensioning wheels are installed on the inner side of the synchronous belts.

[0013] Further, the driving wheel set includes a driving wheel, a synchronous wheel, a bearing seat, a first rotating shaft, and a first limit nut.

[0014] The first rotating shaft sequentially passes through the first limit nut, the driving wheel, the bearing seat, and the synchronous wheel, and is connected to the stepper reduction motor; the bearing seat is fixed to the vertical frame plate through bolts.

[0015] The driving wheel group connects the driving wheel and the upper end of the upper row of cable lines through a hoisting method.

[0016] Further, the output shafts of the stepper reduction motors are respectively connected to the synchronous wheels of the front driving wheel sets through bolts; the first rotating shaft is connected to the first limit nut through threads.

[0017] Further, the support plate is fixed to the vertical frame plate by welding, the stepper motor is fixed below the support plate through bolts, the planar thrust bearing is fixed in the concave hole above the support plate through the concave hole, and one end of the rotating arm is arranged above the planar thrust bearing in a contact manner; the second rotating shaft sequentially passes through the second limit nut, the rotating arm, the planar thrust bearing, and the support plate, and is connected to the stepper motor through bolts; the other end of the rotating arm vertically fixes the first electric push rod upward through bolts, and a wire pressing wheel is fixed to the push rod of the first electric push rod through bolts.

[0018] The wire pressing wheel component on the wire pressing wheel group is connected to the lower end of the upper row of cable lines.

[0019] Further, the second rotating shaft is connected to the support plate by a key method, and the second rotating shaft is connected to the second limit nut through threads.

[0020] Further, the roller group includes two first rollers, a first buffer rubber, a first roller connecting plate, a first roller slider, a second electric push rod, and a first linear module; the first linear module is a wire wheel and lead screw type structure.

[0021] The first linear module is fixed to the platform of the frame by bolts; the first roller connecting plate is fixed above the slider in the first linear module by bolts; the second electric push rod is fixed to one end above the first roller connecting plate by bolts; a slider is added below the first roller slider and is arranged in the chute at the other end above the first roller connecting plate by bolts; the side of the first roller slider facing the second electric push rod is fixed to the push rod connecting piece of the second electric push rod by bolts; the first roller at the front end is fixed below the edge of the other end of the first roller connecting plate by bolts, and the first roller at the rear end is fixed to the first roller connecting plate directly below the corresponding first roller slider by bolts; the first buffer rubber is arranged in the middle above the two first rollers and is fixed to the lower part of the first roller connecting plate by bolts.

[0022] The rollers on the lower wheel set are connected to the left and right ends of the cable in the lower row.

[0023] Further, the elevator is fixed to the lowermost part inside the frame by bolts, and the lead screw of the elevator extends upward; the center position below the front wheel set support plate is fixed to the lead screw flange of the elevator by bolts; the two optical axis fixing seats are respectively fixed to the left and right sides below the front wheel set support plate by bolts and are symmetrically distributed with the center of the front wheel set support plate as the center; one end of the guide shaft is fixed inside the optical axis fixing seat by bolts; the linear bearing passes through the other end of the guide shaft and is fixed to the panel of the frame by bolts; the two front wheel components are respectively fixed to the two ends above the front wheel set support plate.

[0024] Further, the front wheel component includes a second linear module, two second rollers, a second buffer rubber, a second roller connecting plate, a second roller slider and a third electric push rod.

[0025] The second roller connecting plate is fixed above the slider in the second linear module by bolts, the third electric push rod is fixed to one end above the second roller connecting plate by bolts, a slider is added below the second roller slider and is arranged in the chute at the other end above the second roller connecting plate by bolts, the side of the second roller slider facing the third electric push rod is fixed to the push rod connecting piece of the third electric push rod by bolts, the two second rollers are fixed to the other end above the second roller connecting plate by bolts, and the second buffer rubber is arranged in the middle of the lower ends of the two second rollers and is fixed to the upper part of the second roller connecting plate by bolts.

[0026] The front wheel component is fixed above the front wheel set support plate by the second linear module using bolts.

[0027] The front wheel set fixes the rollers to the cable through the second linear module.

[0028] Further, the present invention also proposes an adaptive online method for the adaptive online device of a four-split high-voltage line robot line, including:

[0029] S1. The four-split high-voltage line robot line adaptive online device is lifted by a drone, transported above the four-split high-voltage transmission line, and placed in the gap of the four-split high-voltage line. At this time, each wheel set on the four-split high-voltage line robot line adaptive online device is in the initial state.

[0030] S2. The drone lifts the chassis of the four-split conductor spacer installation robot and descends to the middle of the conductors below the four-split spacer. Rotate the lower wheel set and the front wheel set. The first linear module and the second linear module serve as the power for the large stroke movement of the wheels, pushing the second electric push rod and the third electric push rod, so that a first roller and a second roller extend to both sides. After extension, the width between the first roller and the second roller is greater than the line distance of the four-split high-voltage transmission line; the two first rollers and the two second rollers clamp the lower row of high-voltage lines.

[0031] S3. By adjusting the position of the drone, align the four-split high-voltage line robot line adaptive online device with the four-split high-voltage transmission line. When the transmission wheel set is at a set distance from the upper high-voltage transmission line, start the pressure wheel set to rotate outwards and align with the two upper high-voltage transmission lines. Use the drone to adjust the pressure wheel set so that the two upper high-voltage transmission lines are caught in the card slots of the pressure wheel set; continue to rotate the pressure wheel set to align it with the wire grooves of the transmission wheel set, and press the two upper high-voltage transmission lines tightly in the card slots of the transmission wheel set; after the four driving wheel sets come into contact with the high-voltage lines, align the four pressure wheel components with the four driving wheel sets, and the first electric push rod presses the high-voltage lines.

[0032] S4. Rotate the elevator of the front wheel set so that the front wheel set lifts the two lower high-voltage transmission lines to contact the first roller connecting plate of the lower wheel set.

[0033] S5. Rotate the lower wheel set and the front wheel set so that the first roller and the second roller clamp the two lower high-voltage transmission lines, release the drone hanging hook, and drive the drone to fly away to complete the adaptive online of the four-split conductor spacer installation robot; two stepper reduction motors are used as power to drive the four-split conductor spacer installation robot to perform linear motion.

[0034] Compared with the prior art, the present invention adopts the above technical solutions and has the following technical effects:

[0035] The present invention solves the problems of hoisting and adaptability during the installation of spacer dampers on four-split high-voltage transmission conductors. Through the design of a transmission group, a wire pressing group, a lower wheel group, and a front wheel group, the device can automatically adapt to four-split high-voltage transmission conductors at different positions, ensuring the safe and accurate hoisting of the four-split conductor installation robot onto the line. At the same time, the present invention also endows the device with the driving ability on high-voltage transmission conductors, achieving flexible movement, greatly improving the installation efficiency and operation safety. The present invention not only simplifies the installation process but also reduces the labor cost, which is of great significance for the maintenance and construction of high-voltage transmission lines. Brief Description of the Drawings

[0036] Figure 1 is the front view of the overall structure of the present invention.

[0037] Figure 2 is the left view of the overall structure of the present invention.

[0038] Figure 3 is the structural diagram of the transmission wheel group of the present invention.

[0039] Figure 4 is the structural diagram of the wire pressing wheel group of the present invention.

[0040] Figure 5 is the structural diagram of the lower wheel group of the present invention.

[0041] Figure 6 is the structural diagram of the front wheel group of the present invention.

[0042] Reference Signs: 1, cable; 2, transmission wheel group; 3, wire pressing wheel group; 4, lower wheel group; 5, front wheel group; A1, stepper reduction motor; A2, driving wheel; A3, synchronous belt; A4, synchronous pulley; A5, tensioning pulley; A6, bearing block; A7, first rotating shaft; A8, first limit nut; B1, support plate; B2, stepper motor; B3, second rotating shaft; B4, second limit nut; B5, planar thrust bearing; B6, rotating arm; B7, first electric push rod; B8, wire pressing wheel; C1, first roller; C2, first buffer rubber; C3, first roller connecting plate; C4, first roller slider; C5, second electric push rod; C6, first linear module; D1, elevator; D2, guide shaft; D3, optical axis fixing seat; D4, linear bearing; D5, front wheel group support plate; D6, second linear module; D7, second roller; D8, second buffer rubber; D9, second roller connecting plate; D10, second roller slider; D11, third electric push rod. Detailed Embodiments

[0043] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and cannot be used to limit the protection scope of the present invention.

[0044] To achieve the above object, the present invention provides a line adaptive online device for a four-split high-voltage line robot, as Figure 1 , 2 shown, including:

[0045] Cable 1, drive wheel group 2, wire pressing wheel group 3, lower wheel group 4 and front wheel group 5.

[0046] The drive wheel group 2 is used to realize the main drive wheel for climbing the line of the four-split conductor spacer installation robot and is the main power for the robot to move forward. The four-wheel drive mode is adopted to fix the horizontal spacing of the four-split conductors.

[0047] The wire pressing wheel group 3 is used to press the upper line of the four-split conductor, assist the wire to be clamped into the wire groove of the main drive wheel and load the main drive wheel to perform the climbing action.

[0048] The lower wheel group 4 is used to gather and clamp the lower line of the four-split conductor and provide rollers to assist the main drive wheel to move forward.

[0049] The front wheel group 5 is used to automatically adjust the front wheel components up, down, left and right, and the rollers are fixed on the cable. The purpose is to make the lower conductor reach the position of the lower wheel group 4 and keep the body of the four-split conductor spacer installation robot balanced through the front wheel group 5.

[0050] The drive wheel group 2 is connected to the upper end of the upper row of the cable 1, the wire pressing wheel group 3 is connected to the lower end of the upper row of the cable 1, the lower wheel group 4 is connected to the left and right ends of the lower row of the cable 1, the front wheel group 5 is kept horizontal with the lower row of the cable 1 by lifting, and the front wheel group 5 fixes the rollers on the lower row of the cable 1.

[0051] As Figure 3 shown, the drive wheel group 2 includes two stepper reduction motors A1, two synchronous belts A3, two tension wheels A5 and four active wheel groups.

[0052] The four active wheel groups are arranged at the endpoints of two vertical plates of the frame and the active wheel groups on the same side are on the same horizontal line; the four active wheel groups are divided into two front active wheel groups and two rear active wheel groups.

[0053] Among them, the active wheel group includes an active wheel A2, a synchronous wheel A4, a bearing seat A6, a first rotating shaft A7 and a first limit nut A8.

[0054] The first rotating shaft A7 sequentially passes through the first limit nut A8, the driving wheel A2, the bearing block A6, and the synchronous wheel A4, and is connected to the stepping reduction motor A1. The bearing block A6 is fixed to the vertical plate of the frame by bolts, and the bearing block A6 is used to support the first rotating shaft A7. The first rotating shaft A7 is in threaded cooperation with the first limit nut A8. Tightening the first limit nut A8 can axially position the first rotating shaft A7 to prevent axial movement during rotation, ensure the relative fixation of the position of the driving wheel A2, and enable the wire climbing wheel to operate stably.

[0055] The first rotating shaft A7 drives the rear driving wheel group to rotate through the synchronous belt A3 to achieve four-wheel drive.

[0056] Two stepping reduction motors A1 are arranged on the same side. The output shafts of the stepping reduction motors A1 are respectively connected to the synchronous wheels A4 of the front driving wheel group by bolts to ensure that the synchronous wheels A4 rotate synchronously with the motor shafts. The synchronous belt A3 is wound around the front driving wheel group and the rear driving wheel group on the same side. The tensioning wheel A5 is installed inside the synchronous belt A3. By adjusting the position of the tensioning wheel A5, the tightness of the synchronous belt A3 can be changed to ensure that the synchronous belt always maintains an appropriate tension and prevent slipping.

[0057] The driving wheel group 2 connects the driving wheel A2 to the upper end of the upper row of lines of the cable 1 by means of hoisting.

[0058] As Figure 4 shown, the wire pressing wheel group 3 includes four wire pressing wheel components; the wire pressing wheel component includes a support plate B1, a stepping motor B2, a second rotating shaft B3, a second limit nut B4, a flat thrust bearing B5, a rotating arm B6, a first electric push rod B7, and a wire pressing wheel B8; when in use, the wire pressing wheel rotates to the use position through the stepping motor and rotates into the machine when not in use. The wire pressing wheel presses against the high-voltage line through the electric push rod.

[0059] The support plate B1 is fixed to the vertical plate of the frame by welding. The stepping motor B2 is fixed to the lower side of the support plate B1 by bolts. The flat thrust bearing B5 is fixed in the concave hole above the support plate B1 through the concave hole. One end of the rotating arm B6 is in contact with the upper side of the flat thrust bearing B5. The second rotating shaft B3 sequentially passes through the second limit nut B4, the rotating arm B6, the flat thrust bearing B5, and the support plate B1, and is connected to the stepping motor B2 by bolts. The other end of the rotating arm B6 vertically fixes the first electric push rod B7 upward by bolts, and the wire pressing wheel B8 is fixed to the push rod of the first electric push rod B7 by bolts.

[0060] Among them, the second rotating shaft B3 is connected to the support plate B1 by a key, and the second rotating shaft B3 is connected to the second limit nut B4 by a thread.

[0061] The wire pressing wheel components on the wire pressing wheel group 3 are connected to the lower end of the upper row of lines of the cable 1.

[0062] As Figure 5 shown, the lower wheel set 4 includes four roller sets; along the left - right direction, two roller sets are arranged in a staggered manner respectively.

[0063] The roller set includes two first rollers C1, a first buffer rubber C2, a first roller connecting plate C3, a first roller slider C4, a second electric push rod C5, and a first linear module C6; the first linear module C6 is a wire - wheel and screw - rod type structure.

[0064] The first linear module C6 is fixed to the platform of the frame by bolts; the first roller connecting plate C3 is fixed above the slider in the first linear module C6 by bolts; the second electric push rod C5 is fixed to one end above the first roller connecting plate C3 by bolts; a slider is added below the first roller slider C4 and is arranged in the chute at the other end above the first roller connecting plate C3 by bolts; the side of the first roller slider C4 facing the second electric push rod C5 is fixed to the push - rod connecting part of the second electric push rod C5 by bolts; the front first roller C1 is fixed below the edge of the other end of the first roller connecting plate C3 by bolts, and the rear first roller C1 is fixed to the first roller connecting plate C3 directly below the corresponding first roller slider C4 by bolts; the first buffer rubber C2 is arranged in the middle above the two first rollers C1 and is fixed to the lower part of the first roller connecting plate C3 by bolts.

[0065] The roller sets on the lower wheel set 4 are connected to the left and right ends of the lower - row lines of the cable 1.

[0066] As Figure 6 shown, the front wheel set 5 includes a lift D1, a guide shaft D2, two optical - axis fixing seats D3, linear bearings D4, a front - wheel - set support plate D5, and two front - wheel components; the front - wheel components include a second linear module D6, two second rollers D7, a second buffer rubber D8, a second roller connecting plate D9, a second roller slider D10, and a third electric push rod D11.

[0067] The lift D1 is fixed to the lowermost part inside the frame by bolts, and the screw rod of the lift D1 extends upward; the center position below the front - wheel - set support plate D5 is fixed to the screw - rod flange of the lift D1 by bolts; the two optical - axis fixing seats D3 are fixed to the left and right sides below the front - wheel - set support plate D5 by bolts respectively and are symmetrically distributed with the center of the front - wheel - set support plate D5 as the center; one end of the guide shaft D2 is fixed inside the optical - axis fixing seat D3 by bolts; the linear bearing D4 passes through the other end of the guide shaft D2 and is fixed to the panel of the frame by bolts; the two front - wheel components are respectively fixed to the two ends above the front - wheel - set support plate D5.

[0068] The second roller connecting plate D9 is fixed above the slider in the second linear module D6 by bolts. The third electric push rod D11 is fixed at one end above the second roller connecting plate D9 by bolts. A slider is added below the second roller slider D10 and is arranged in the chute at the other end above the second roller connecting plate D9 by bolts. The side of the second roller slider D10 facing the third electric push rod D11 is fixed to the push rod connecting piece of the third electric push rod D11 by bolts. Two second rollers D7 are fixed at the other end above the second roller connecting plate D9 by bolts, and the second buffer rubber D8 is arranged in the middle of the lower ends of the two second rollers D7 and is fixed above the second roller connecting plate D9 by bolts.

[0069] The front wheel component is fixed above the front wheel group support plate D5 by bolts using the second linear module D6.

[0070] The front wheel group 5 fixes the rollers on the cable through the second linear module D6.

[0071] During use:

[0072] First step: The drone hoists the four-split high-voltage line robot line adaptive online device, transports it above the four-split high-voltage transmission line, and places it in the middle of the gap of the four-split high-voltage line. At this time, each wheel group on the four-split high-voltage line robot line adaptive online device is in the initial state.

[0073] Second step: The drone hoists the chassis of the four-split conductor spacer installation robot and descends to the middle of the conductor below the four-split spacer. Rotate the lower wheel group and the front wheel group. The first linear module and the second linear module serve as the power for the large-stroke movement of the wheels, pushing the second electric push rod and the third electric push rod, and then causing one first roller and one second roller to extend to both sides. After the extension, the width between the first roller and the second roller is greater than the line distance of the four-split high-voltage transmission line, so as to fix the line below the four-split transmission line when recovering the wheel group later. Since the other first roller and the other second roller are fixedly installed, the two first rollers and the two second rollers can clamp the lower row of high-voltage lines. The lower wheel group is used to limit the distance between the four high-voltage lines.

[0074] Step 3: Adjust the position of the drone to align the line adaptive online device of the four-split high-voltage line robot with the four-split high-voltage transmission line. When the drive wheel set is 5 cm away from the upper high-voltage transmission line, start the pressure wheel set to rotate outwards and align it with the two upper high-voltage transmission lines. Use the drone to finely adjust the pressure wheel set so that the two upper high-voltage transmission lines are stuck into the card slots of the pressure wheel set. Continue to rotate the pressure wheel set to align it with the wire grooves of the drive wheel set, and press the two upper high-voltage transmission lines tightly in the card slots of the drive wheel set. After the four active wheel sets come into contact with the high-voltage wires, align the four pressure wheel components with the four active wheel sets, and the first electric push rod presses the high-voltage wires to increase the friction of the wheels and prevent the V-shaped grooves of the wheels from derailing.

[0075] Step 4: Rotate the elevator of the front wheel set so that the front wheel set lifts the two lower high-voltage transmission lines into contact with the first roller connecting plate of the lower wheel set.

[0076] Step 5: Rotate the lower wheel set and the front wheel set so that the first roller and the second roller can clamp the two lower high-voltage transmission lines. At this point, the drone hanging buckle can be loosened, and the drone is driven to fly away, and the four-split conductor spacer installation robot adapts to the online successfully. Two stepper reduction motors are used as power to drive the four-split conductor spacer installation robot to move linearly.

[0077] When the device is hoisted onto the high-voltage line, it can adapt to different four-split high-voltage transmission conductors and different positions of the four-split high-voltage transmission conductors. Through the drive group, pressure group, lower wheel group and front wheel group, it can automatically adapt to the high-voltage transmission conductors, realize the safe and accurate hoisting and online of the four-split conductor spacer installation robot, and can drive the device to move on the high-voltage transmission conductors.

[0078] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A four-split high-voltage line robot line adaptive online device, characterized in that: include: Cable (1), transmission wheel set (2), wire pressing wheel set (3), lower wheel set (4) and front wheel set (5); The transmission wheel group (2) is connected to the upper end of the upper line of the cable (1), the wire pressing wheel group (3) is connected to the lower end of the upper line of the cable (1), the lower wheel group (4) is connected to the left and right ends of the lower line of the cable (1), and the front wheel group (5) is kept horizontal with the lower line of the cable (1) through lifting, and the front wheel group (5) fixes the roller on the lower line of the cable (1); The transmission wheel set (2) comprises two stepping reduction motors (A1), two synchronous belts (A3), two tension wheels (A5) and four driving wheel sets; The crimping wheel assembly (3) comprises four crimping wheel components; the crimping wheel components comprise a support plate (B1), a stepping motor (B2), a second rotating shaft (B3), a second limiting nut (B4), a plane thrust bearing (B5), a rotating arm (B6), a first electric push rod (B7) and a crimping wheel (B8); The lower wheel group (4) includes four roller groups; two roller groups are arranged in a staggered manner along the left and right directions; The front wheel assembly (5) comprises a lifter (D1), a guide shaft (D2), two optical axis fixing seats (D3), a linear bearing (D4), a front wheel assembly support plate (D5) and two front wheel components.

2. The four-split high-voltage line robot line adaptive online device according to claim 1 is characterized in that: The four driving wheel groups are arranged at the end points of the two frame vertical plates, and the driving wheel groups on the same side are on the same horizontal line; the four driving wheel groups are divided into two front driving wheel groups and two rear driving wheel groups; Two stepping reduction motors (A1) are arranged on the same side, and the output shafts of the stepping reduction motors (A1) are respectively connected to the front driving wheel group through bolts; a synchronous belt (A3) is wrapped around the front driving wheel group and the rear driving wheel group on the same side; and a tensioning wheel (A5) is installed on the inner side of the synchronous belt (A3).

3. The four-split high-voltage line robot line adaptive online device according to claim 1 is characterized in that: The driving wheel group comprises a driving wheel (A2), a synchronous wheel (A4), a bearing seat (A6), a first rotating shaft (A7) and a first limiting nut (A8); The first rotating shaft (A7) passes through the first limiting nut (A8), the driving wheel (A2), the bearing seat (A6) and the synchronous wheel (A4) in sequence, and is connected to the stepping reduction motor (A1); the bearing seat (A6) is fixed to the frame vertical plate by bolts; The transmission wheel group (2) connects the driving wheel (A2) to the upper end of the upper line of the cable (1) by means of a hoisting method.

4. The four-split high-voltage line robot line adaptive online device according to claim 3 is characterized in that: The output shaft of the stepping reduction motor (A1) is connected to the synchronous wheel (A4) of the front driving wheel group through bolts; the first rotating shaft (A7) is connected to the first limiting nut (A8) through threads.

5. The four-split high-voltage line robot line adaptive online device according to claim 1 is characterized in that: The support plate (B1) is fixed on the vertical plate of the frame by welding, the stepper motor (B2) is fixed to the bottom of the support plate (B1) by bolts, the plane thrust bearing (B5) is fixed in the concave hole above the support plate (B1) through the concave hole, and one end of the rotating arm (B6) is arranged above the plane thrust bearing (B5) by contacting; the second rotating shaft (B3) passes through the second limiting nut (B4), the rotating arm (B6), the plane thrust bearing (B5) and the support plate (B1) in sequence, and is connected to the stepper motor (B2) by bolts; the other end of the rotating arm (B6) is fixed to the first electric push rod (B7) vertically by bolts, and the wire pressing wheel (B8) is fixed on the push rod of the first electric push rod (B7) by bolts; The crimping wheel component on the crimping wheel assembly (3) is connected to the lower end of the upper line of the cable (1).

6. The four-split high-voltage line robot line adaptive online device according to claim 5 is characterized in that: The second rotating shaft (B3) is connected to the supporting plate (B1) by means of a key, and the second rotating shaft (B3) is connected to the second limiting nut (B4) by means of a thread.

7. The four-split high-voltage line robot line adaptive online device according to claim 1 is characterized in that: The roller assembly comprises two first rollers (C1), a first buffer rubber (C2), a first roller connecting plate (C3), a first roller slider (C4), a second electric push rod (C5) and a first linear module (C6); the first linear module (C6) is a wire wheel and screw rod structure; The first linear module (C6) is fixed to the platform of the frame by bolts; the first roller connecting plate (C3) is fixed above the slider in the first linear module (C6) by bolts; the second electric push rod (C5) is fixed to one end above the first roller connecting plate (C3) by bolts; a slider is added below the first roller slider (C4) and is arranged in the slide groove at the other end above the first roller connecting plate (C3) by bolts; the side of the first roller slider (C4) facing the second electric push rod (C5) is fixed to the push rod connecting piece of the second electric push rod (C5) by bolts; the first roller (C1) at the front end is fixed below the edge of the other end of the first roller connecting plate (C3) by bolts, and the first roller (C1) at the rear end is fixed to the first roller connecting plate (C3) directly below the corresponding first roller slider (C4) by bolts; the first buffer rubber (C2) is arranged in the middle above the two first rollers (C1) and is fixed below the first roller connecting plate (C3) by bolts; The roller assembly on the lower wheel assembly (4) is connected to the left and right ends of the lower row of lines of the cable (1).

8. The four-split high-voltage line robot line adaptive online device according to claim 1 is characterized in that: The lift (D1) is fixed at the bottom of the frame by bolts, and the screw of the lift (D1) is extended upward; the center position below the front wheel assembly support plate (D5) is fixed to the screw flange of the lift (D1) by bolts; two optical axis fixing seats (D3) are respectively fixed to the left and right sides below the front wheel assembly support plate (D5) by bolts, and are symmetrically distributed with the center of the front wheel assembly support plate (D5) as the center; one end of the guide shaft (D2) is fixed in the optical axis fixing seat (D3) by bolts; the linear bearing (D4) passes through the other end of the guide shaft (D2) and is fixed to the panel of the frame by bolts; and the two front wheel components are respectively fixed to the two ends above the front wheel assembly support plate (D5).

9. The four-split high-voltage line robot line adaptive online device according to claim 1 is characterized in that: The front wheel component comprises a second linear module (D6), two second rollers (D7), a second buffer rubber (D8), a second roller connecting plate (D9), a second roller slider (D10) and a third electric push rod (D11); The second roller connecting plate (D9) is fixed above the slider in the second linear module (D6) by bolts, the third electric push rod (D11) is fixed to one end above the second roller connecting plate (D9) by bolts, a slider is added below the second roller slider (D10) and is arranged in a slide groove at the other end above the second roller connecting plate (D9) by bolts, the side of the second roller slider (D10) facing the third electric push rod (D11) is fixed to the push rod connecting piece of the third electric push rod (D11) by bolts, the two second rollers (D7) are fixed to the other end above the second roller connecting plate (D9) by bolts, and the second buffer rubber (D8) is arranged in the middle of the lower ends of the two second rollers (D7) and is fixed above the second roller connecting plate (D9) by bolts; The front wheel component is fixed on the top of the front wheel assembly support plate (D5) by means of bolts through a second linear module (D6); The front wheel assembly (5) fixes the roller on the cable through the second linear module (D6).

10. The adaptive on-line method applied to the adaptive on-line device of the four-split high-voltage line robot line according to claim 1 is characterized in that: include: S1. The drone lifts the four-split high-voltage line robot line adaptive online device, transports it to the top of the four-split high-voltage transmission line, and places it in the middle of the gap of the four-split high-voltage line. At this time, each wheel group on the four-split high-voltage line robot line adaptive online device is in the initial state; S2. The UAV lifts the chassis of the four-split conductor spacer installation robot and descends to the middle of the conductor below the four-split spacer. The lower wheel group and the front wheel group are rotated. The first linear module and the second linear module are used as the wheel travel moving power to push the second electric push rod and the third electric push rod, so that a first roller and a second roller extend to both sides. After the extension, the width between the first roller and the second roller is greater than the line spacing of the four-split high-voltage transmission line; the two first rollers and the two second rollers clamp the lower row of high-voltage wires; S3. By adjusting the position of the drone, the four-split high-voltage line robot line adaptive line device is aligned with the four-split high-voltage transmission line. When the transmission wheel group is at a set distance from the upper high-voltage transmission line, the wire pressing wheel group is started to rotate outward and align with the two upper high-voltage transmission lines. The wire pressing wheel group is adjusted by the drone so that the two upper high-voltage transmission lines are inserted into the slots of the wire pressing wheel group; the wire pressing wheel group is continued to be rotated to align with the wire slots of the transmission wheel group, and the two upper high-voltage transmission lines are pressed tightly in the slots of the transmission wheel group; after the four driving wheel groups are in contact with the high-voltage line, the four wire pressing wheel components are aligned with the four driving wheel groups, and the first electric push rod presses the high-voltage line; S4, rotating the elevator of the front wheel assembly so that the front wheel assembly lifts up the two high-voltage transmission lines below and contacts the first roller connecting plate of the lower wheel assembly; S5, rotating the lower wheel group and the front wheel group so that the first roller and the second roller clamp the two high-voltage transmission lines below, releasing the drone hook, driving the drone to fly away, and completing the adaptive online operation of the four-split conductor spacer installation robot; Two stepping reduction motors are used as the power to drive the four-split wire spacer bar installation robot to perform linear motion.

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