Automatic old cable repairing robot and repairing method

Abstract

The invention discloses an old cable automatic repair robot and a repair method, and belongs to the technical field of power equipment. The cable coating robot comprises a robot body, a coating assembly and a coating assembly, the coating assembly comprises two coating die bodies capable of moving relatively and a coating unit, the coating die bodies are movably connected with a self-propelled box body, the two coating die bodies can be combined to form a coating cavity used for coating a cable, the coating unit is connected with one of the coating die bodies through a pipeline, and the other coating die body is connected with the coating unit through a pipeline. An insulating coating is conveyed into the coating cavity; the coating assembly comprises two fusion modules, a moving unit and a winding unit, each fusion module comprises two half sleeve bodies capable of moving relative to the cable, and the half sleeve bodies can be connected with the insulating skin in a hot melting mode to form an insulating outer sleeve; the fusion modules are connected with the self-propelled box body through the moving unit, and the moving unit can drive the two fusion modules to move in a relative feeding mode so that one fusion module can move relative to the cable wrapped with the insulation leather sheath. According to the invention, an insulating layer can be regenerated on the surface of an aged cable.

Description

Technical Field

[0001] The present invention relates to the technical field of power equipment, and in particular to an automatic repair robot for old cables and a repair method therefor. Background Art

[0002] High-altitude cables located outdoors are in a harsh outdoor environment for a long time, exposed to wind, sun, rain, etc. Over time, they are prone to aging. In particular, their outer skin is prone to aging and cracking, and even small cracks can cause corrosive substances in rainwater to penetrate, accelerating the aging of high-altitude cables and reducing their lifespan.

[0003] Laying high-altitude cables is not easy, and the replacement cost is high. The reduction of their lifespan will greatly increase the power cost and pose a hidden danger to power transmission. Summary of the Invention

[0004] In view of this, it is necessary to provide an automatic repair robot for old cables and a repair method therefor to solve the problem of difficult repair of existing high-altitude cables.

[0005] In a first aspect, the present invention provides an automatic repair robot for old cables, comprising:

[0006] A robot body, the robot body comprising a self-propelled box that can move along the cable, and the upper part of the self-propelled box is open to form a working area that cooperates with the cable;

[0007] A coating assembly, the coating assembly comprising two relatively movable coating molds and a coating unit. The coating molds are movably connected to the self-propelled box, and the two coating molds can be combined to form a coating cavity for covering the cable. The coating unit is connected to one of the coating molds through a pipeline for supplying insulating paint into the coating cavity;

[0008] A covering assembly, the covering assembly comprising two fusion modules, a moving unit and a winding unit. The winding unit winds an insulating skin for cooperating with the fusion modules. The fusion module comprises two semi-sleeves that can move relative to the cable, and the semi-sleeves can thermally fuse the insulating skin into an insulating outer sleeve; the fusion module is connected to the self-propelled box through the moving unit, and the moving unit can drive the two fusion modules to move relatively forward, so that one of the fusion modules moves relative to the cable covered with the insulating skin sleeve.

[0009] Further, the moving unit comprises a longitudinal guide and a sliding member. The longitudinal guide is fixedly connected to the self-propelled box and is arranged parallel to the extension direction of the cable. The sliding member is slidably connected to the longitudinal guide, and the sliding member can move along the longitudinal guide. The sliding member is connected to the fusion module.

[0010] Further, the fusion module further includes a lateral guide member perpendicular to the cable. The lateral guide member is connected to the sliding member, and the two coating dies are respectively slidably connected to the lateral guide rail. The two coating dies can move towards or away from each other along the lateral guide rail.

[0011] Further, a hot melt plate is provided inside the half casing. The hot melt plate can heat and fuse the two insulating skins into an insulating outer sheath of the cable within the two half casings.

[0012] Further, the winding unit includes a rotatable spool around which the insulating skin is wound. The spool is rotatably connected to the self-propelled box body, and the spool can gradually unwind the insulating skin. The winding unit is arranged between the fusion module and the coating unit, and the winding unit is arranged opposite to the half casing. The included angle between the insulating skin and the cable is an acute angle.

[0013] Further, a mold cavity is provided in the coating die, and the inner diameter of the middle part of the mold cavity is larger than that of the two ends.

[0014] Further, the coating unit includes a tank for storing insulating paint and a pneumatic pump. The pneumatic pump and the tank are respectively communicated with the mold cavity through pipelines.

[0015] Further, the coating unit further includes a three-way valve and a solenoid valve. The tank and the pneumatic pump are respectively communicated with two inlets of the three-way valve through pipelines. The outlet of the three-way valve is communicated with the mold cavity through a pipeline. The solenoid valve is arranged between the pneumatic pump and the three-way valve to control the on-off of the air pressure.

[0016] Further, it further includes a traveling assembly. The traveling assembly includes a roller group connected to the self-propelled box body. The cable is movably inserted into the roller group, and the roller group can drive the self-propelled box body to feed relative to the cable.

[0017] In a second aspect, the present invention provides an automatic repair method for old cables, which is applied to the old cable automatic repair robot described above, and includes the following steps:

[0018] S1: Assembly of the robot body. Assemble the self-propelled box body onto the cable to be repaired so that the coating assembly and the covering assembly are adapted to the cable.

[0019] S2: Coating of insulating paint. The two coating dies are brought closer together relative to each other to cover the cable so that the cable is located in the coating cavity. The coating unit inputs the coating cavity into the coating cavity through a pipeline, and the insulating paint can penetrate into the aged and broken parts of the cable to form an insulating coating.

[0020] S3: Insulated leather sheath covering. The two fusion modules act on adjacent sections of the cable respectively. One fusion module moves relatively away from the other fusion module through the moving unit. The cable passing through the other fusion module continues to be covered with the insulating leather sheath, extending the initial length of the insulating leather sheath.

[0021] S4: The robot body moves forward. The half-sheaths of the fusion module located in the moving direction of the robot body move relatively away from each other to release the cable. The robot body moves forward along the cable for feeding. The other fusion module and the coating assembly act together to complete the continuous repair of the cable.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] (1) For an old cable automatic repair robot and a repair method of the present invention, a coating assembly is provided. The coating assembly includes a coating die body and coating units. The two coating units are respectively movably connected to the self-propelled box body. The two coating units can move relatively to assemble and form a coating cavity for covering the cable. The coating unit is connected to one of the coating die bodies through a pipeline. The coating unit can convey insulating paint into the coating cavity. The cable moving through the coating cavity can be evenly coated with insulating paint. The coated insulating paint can play a role in isolating air and moisture, reducing the penetration of corrosive substances, and thus delaying the aging of the cable. The function of the coating layer is to protect the cable from the external environment (such as rain, ultraviolet rays, etc.), thereby improving the durability of the cable.

[0024] (2) For an old cable automatic repair robot and a repair method of the present invention, a covering assembly is provided. The covering assembly includes two fusion modules, a moving unit, and a winding unit. The winding unit winds an insulating leather sheath for cooperating with the fusion module to continuously provide the insulating leather sheath for covering the cable to the fusion module. The fusion module includes two half-sheaths. The two half-sheaths can be closed and butted against the cable to hot-melt the insulating leather sheath onto the surface of the cable to form an insulating outer sheath. The two fusion modules are linearly arranged along the cable. The fusion module is connected to the self-propelled box body through the moving unit. The moving unit can drive the two fusion modules to move relatively forward, pushing one fusion module to move relative to the cable covered with the insulating leather sheath. The other fusion module always holds the cable, so that there is a protruding insulating outer sheath with hot-melt completed on the side of the other fusion module far from the winding unit. The protruding insulating outer sheath can increase the contact area between the insulating outer sheath and the cable in the initial stage, improve the friction between the insulating outer sheath and the cable, and prevent the insulating outer sheath from sliding relative to the cable during the feeding process of the self-propelled box body. In addition, the protruding insulating outer sheath completely detaches from the half-sheath, which can prevent the opening of the half-sheath from interacting with the end of the insulating outer sheath and hindering the extraction of the insulating outer sheath.

[0025] (3) An automatic repair robot and a repair method for old cables according to the present invention are provided with a robot body, which includes a self-propelled box body. The upper part of the self-propelled box body is open, and a working area that can cooperate with the cable can be formed, and the old cable is repaired in the working area. The self-propelled box body can move forward along the cable to repair all the old cables passing through the working area in sequence. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the schematic embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0027] Figure 1 is a schematic structural diagram of the whole of the present invention Figure 1 ;

[0028] Figure 2 is a schematic structural diagram of the whole of the present invention Figure 2 ;

[0029] Figure 3 is a schematic structural diagram of the coating assembly in the present invention;

[0030] Figure 4 is a schematic structural diagram of the fusion module in the present invention;

[0031] Figure 5 is a schematic structural diagram of the coating die body in the present invention Figure 1 ;

[0032] Figure 6 is a schematic structural diagram of the coating die body in the present invention Figure 2 ;

[0033] Figure 7 is a schematic structural diagram of the half body in the present invention;

[0034] Figure 8 is a schematic structural diagram of the coating unit in the present invention;

[0035] Figure 9 is a step diagram of the repair method in the present invention.

[0036] In the figure, 100, robot body; 110, self-propelled box body;

[0037] 200, coating assembly; 210, coating die body; 211, die cavity; 220, coating unit; 221, tank body; 222, air pressure pump; 223, three-way valve; 224, solenoid valve;

[0038] 300, Coating assembly; 310, Fusion module; 311, Half body; 312, Lateral guide; 320, Moving unit; 321, Longitudinal guide; 322, Sliding part; 330, Rewinding unit; 331, Wire coil; 332, Insulation sheath;

[0039] 400, Traveling assembly; 410, Roller group;

[0040] 500, Cable. Specific embodiments

[0041] The following will specifically describe the preferred embodiments of the present invention in conjunction with the accompanying drawings. The accompanying drawings form a part of this application and are used together with the embodiments of the present invention to explain the principles of the present invention, rather than to limit the scope of the present invention.

[0042] An automatic repair robot and a repair method in the present invention relate to the technical field of power equipment. By arranging the coating assembly 200 and the coating assembly 300 in parallel, an insulating layer is regenerated on the surface of the aged cable 500 by using insulating paint and the insulation sheath 332, so as to repair the aged cable 500, extend the service life of the aged cable 500, ensure the insulation of the cable 500, and ensure power transmission safety.

[0043] Please refer to Figures 1 to 8 , An automatic repair robot in this embodiment includes: a robot body 100, a coating assembly 200, and a coating assembly 300. The robot body 100 can move along the cable 500 to repair the cable 500 in sequence. The coating assembly 200 can apply insulating paint to the cable 500, and the coating assembly 300 can perform a sheathing process on the cable 500 coated with insulating paint to further improve the insulation and use safety of the aged cable 500.

[0044] The robot body 100 includes a self-propelled box body 110. The upper part of the self-propelled box body 110 is open, which can form a working area for cooperating with the cable 500, and the aged cable 500 is repaired in the working area. The self-propelled box body 110 can feed and move along the cable 500 to repair all the aged cables 500 passing through the working area in sequence.

[0045] The coating assembly 200 includes a coating die body 210 and coating units 220. The two coating units 220 are respectively movably connected to the self-propelled box body 110, and the two coating units 220 can move relative to each other, so as to be assembled and combined to form a coating cavity for coating the cable 500. The coating unit 220 is connected to one of the coating die bodies 210 through a pipeline. The coating unit 220 can transport insulating paint into the coating cavity, and the cable 500 moving through the coating cavity can be evenly coated with insulating paint. The coated insulating paint can play a role in isolating air and moisture, reducing the penetration of corrosive substances, and thus delaying the aging of the cable 500. The function of the coating layer is to protect the cable 500 from the external environment (such as rain, ultraviolet rays, etc.), thereby improving the durability of the cable 500.

[0046] The covering assembly 300 includes two fusion modules 310, a moving unit 320 and a winding unit 330. The winding unit 330 winds an insulating sheath 332 for cooperating with the fusion module 310, and continuously provides the insulating sheath 332 for covering the cable 500 to the fusion module 310.

[0047] The fusion module 310 includes two half bodies 311. The two half bodies 311 can be closed and butted against the cable 500, and the insulating sheath 332 is heat-melted and butted against the surface of the cable 500 to form an insulating outer sheath. The two fusion modules 310 are linearly arranged along the cable 500. The fusion module 310 is connected to the self-propelled box body 110 through the moving unit 320. The moving unit 320 can drive the two fusion modules 310 to move relatively forward, push one fusion module 310 to move relative to the cable 500 covered with the insulating sheath 332, and the other fusion module 310 always holds the cable 500, so that there is a protruding insulating outer sheath with heat-melting completed on the side of the other fusion module 310 away from the winding unit 330. The protruding insulating outer sheath can increase the contact area between the insulating outer sheath and the cable 500 in the initial stage, improve the friction between the insulating outer sheath and the cable 500, and prevent the insulating outer sheath from sliding relative to the cable 500 during the feeding process of the self-propelled box body 110. In addition, the protruding insulating outer sheath completely breaks away from the half body 311, which can prevent the opening of the half body 311 from interacting with the end of the insulating outer sheath and hindering the leading out of the insulating outer sheath.

[0048] During the use process, the two groups of fusion modules 310 are initially juxtaposed and abutted, and act on the insulating sheath 332 at the same time to form two adjacent insulating outer sheaths. One group of fusion modules 310 moves relative to the cable 500, pulling the insulating sheath 332 through the other group of fusion modules 310 to form an insulating outer sheath protruding from the other group of fusion modules 310. Finally, only need to control the two half bodies 311 of the previous group of fusion modules 310 to release the cable 500, and by driving the self-propelled box body 110 to move relative to the cable 500, the other group of fusion modules 310 can complete the covering of the insulating sheath 332 of the subsequent cable 500.

[0049] It should be noted that the insulating skin 331 drawn out from the coiling unit 330 can be naturally curled and sleeved on the cable 500. The two half sleeves 311 move relative to the cable 500, and the insulating skin 332 is locked between the cable 500 and the half sleeves 311. The heat-sealing sleeve formed by the two half sleeves 311 can connect the edges of the insulating skin 332 together to form a cylindrical insulating sleeve.

[0050] In some embodiments, please refer to Figure 1 and Figure 3 , the moving unit 320 includes a longitudinal guide 321 and a sliding member 322. The longitudinal guide 321 is fixedly connected to the self-propelled box body 110 and is arranged parallel to the extending direction of the cable 500. The sliding member 322 is slidably connected to the longitudinal guide 321. The sliding member 322 can move along the longitudinal guide 321. The sliding member 322 is connected to the fusing module 310. The sliding member 322 can drive the fusing module 310 to move along the longitudinal guide 321, so as to realize the movement of the fusing module 310 relative to the cable 500. The longitudinal guide 321, as a fixed guiding structure, can reduce the shaking and irregular movement of the fusing module 310, so that the fusing module 310 can move smoothly along the surface of the cable 500, avoiding possible vibration or deviation from the surface of the cable 500.

[0051] In the specific implementation process, the longitudinal guide 321 can be a guide rail, and the sliding member 322 can be a slider. The slider is slidably clamped in the guide rail and can move relative to the guide rail. A lead screw-nut pair is provided between the guide rail and the slider. The lead screw nut driven by the servo motor can drive the sliding member 322 to move relative to the longitudinal guide 321. At the same time, the lead screw-nut pair can also be replaced by devices such as a gear-rack mechanism and a linear motor.

[0052] In some embodiments, please refer to Figure 3 , the fusing module 310 further includes a transverse guide 312. The transverse guide 312 is perpendicular to the cable 500. The transverse guide 312 is connected to the sliding member 322. The two coating dies 210 are respectively slidably connected to the transverse guide rail. The two coating dies 210 can move towards or away from each other along the transverse guide rail to realize the closing and opening of the two coating dies 210.

[0053] In the specific implementation process, the transverse guide 312 is specifically a guide rail. The transverse guide 312 is connected to the sliding member 322 through a bracket. The two coating dies 210 are respectively slidably connected to the transverse guide rail. A lead screw-nut pair is provided between the guide rail and the slider. The lead screw is a two-section lead screw with left and right hand threads. The two threads are respectively connected to the two coating dies 210 through nuts. The two coating dies 210 can move towards or away from each other under the action of the lead screw-nut pair. In addition, the lead screw-nut pair can also be replaced by devices such as an electric push rod and a cylinder.

[0054] In some embodiments, referring to Figure 3 and Figure 4 , one side of the half sleeve 311 is fixedly connected to the main body of the fusion module 310, the other side of the half sleeve 311 is arranged opposite to the cable 500, the half sleeve 311 forms a semi-circular groove relative to the cable 500, and the two half sleeves 311 are combined to form a heat-sealing sleeve, and the two grooves form a heat-sealing cavity. A hot melt plate is arranged inside the half sleeve 311, and the hot melt plate is heated by an electric heating wire. The hot melt plate can heat the insulating skin 332, so that the overlapping parts of the insulating skin 332 along the length direction of the cable 500 are heat-sealed together to form a complete insulating outer sleeve. The two layers of insulating skin 332 after fusion will form a tight whole, which can effectively block the intrusion of external environmental factors (such as moisture, humidity, dust, corrosive substances, etc.), and ensure that the insulation effect of the cable 500 is not affected by the outside. During the power transmission process, the risk of electric leakage, short circuit and even fire of the cable 500 can be greatly reduced, and the safety of the power system can be improved.

[0055] In the specific implementation process, the cross-section of the insulating skin 332 is circular ring-shaped, the circular ring is greater than 180°, and the edges of the two groups of insulating skin 332 are staggered to form an overlapping ring. By hot-melting and plasticizing the ring-shaped insulating skin 332, the edges of the insulating skin 332 are connected into a whole, and the shaping of the insulating skin 332321 is realized.

[0056] As an alternative implementation method, only one set of winding units 330 can be provided. The cross-section of the insulating skin 332 is circular ring-shaped, the circular ring is greater than 180°, and the circumferential ends of the insulating skin 332 overlap each other. Using the heat of the fusion module 310, the insulating skin 332 can be connected into a cylindrical insulating outer sleeve.

[0057] In some embodiments, referring to Figure 3 , the winding unit 330 further includes a rotatable spool 331. The insulating skin 332 is wound around the spool 331. One end of the insulating skin 332 is connected to the spool 331, and the other end of the insulating skin 332 is arranged inside the half sleeve 311. The insulating skin 332 can be pulled out as the robot moves relative to the cable 500, completing the automatic feeding of the insulating skin 332 and realizing the unwinding of the spool 331 for the insulating skin 332.

[0058] In some embodiments, the winding unit 330 is arranged between the fusion module 310 and the coating unit 220. The winding unit 330 is fixedly connected to the self-propelled box body 110 and is arranged close to the fusion module 310. The winding unit 330 can continuously provide the insulating skin 332 for the fusion module 310, ensuring the continuous and stable progress of the insulating skin 332 coating process.

[0059] The rewinding unit 330 is disposed between the fusing module 310 and the coating unit 220, and the angle between the insulating sheath 332 and the cable 500 is an acute angle. Forming an acute angle (an angle less than 90 degrees) between the insulating sheath 332 and the surface of the cable 500 helps to increase the contact area between the insulating sheath 332 and the surface of the cable 500. A larger contact area can ensure that the insulating sheath 332 is more tightly wrapped around the outer layer of the cable 500, reducing the generation of voids or bubbles, and improving the uniformity and stability of the wrapping. The design of the acute angle helps the insulating sheath 332 to closely fit the surface of the cable 500, avoiding the risk of electric leakage caused by incomplete fitting during the coating or repair process, and ensuring the electrical safety of the cable 500.

[0060] The unwinding method of the acute angle ensures that the insulating sheath 332 can completely cover the surface of the cable 500 and form a better bond with the cable 500 during the heat-sealing process. The bonding effect of the insulating layer is improved, which can better prevent external factors (such as moisture, dust, chemical corrosion, etc.) from entering the cable 500 and extend the service life of the cable 500.

[0061] In some embodiments, refer to Figures 5 to 8 , in the coating die body 210, there is a die cavity 211. The two die cavities 211 can be docked with each other to form a coating cavity. The inner diameter of the middle part of the die cavity 211 is larger than the inner diameters at both ends. The coating cavity is a cavity with a large middle and small ends. The cavity can guide the coating fluid to concentrate in the middle part and be evenly distributed during the coating process, reducing the risk of local accumulation or uneven distribution of the coating, avoiding uneven flow of the coating on the surface of the cable 500, and thus improving the quality and uniformity of the coating layer.

[0062] At the same time, the two ends of the cavity are reduced relative to the middle part, which can effectively control the flow rate of the coating during the coating process, avoid excessive overflow or waste of the coating, save the coating cost, and ensure that the repair process is more accurate and efficient.

[0063] It should be noted that an electric heating plate for heating the insulating coating is embedded in the coating die body 210. The electric heating plate is arranged around the cavity and can heat the insulating coating located in the cavity to prevent the coating from solidifying prematurely.

[0064] In some embodiments, refer to Figure 8 , the coating unit 220 includes a tank body 221 for storing the insulating coating and a pneumatic pump 222. The pneumatic pump 222 and the tank body 221 are respectively connected to the die cavity 211 through pipelines. The pneumatic pump 222 can push the coating through air pressure and accurately and stably transport the coating from the tank body 221 to the die cavity 211. The pneumatic pump 222 can precisely control the conveying pressure and flow rate, so as to ensure that the coating flows evenly and precisely throughout the repair process, avoid the coating flowing too fast or too slow, and ensure that the coating evenly covers the surface of the cable 500.

[0065] The air pressure pump 222 can adjust the air pressure, thereby realizing the adjustment of the coating flow rate, and adjusting the coating amount of the coating according to the surface condition of the cable 500 (such as crack depth, surface roughness, etc.), so that the coating is neither too thin to play a protective role nor too thick to cause waste or uneven coating.

[0066] Through a stable air pressure supply, the air pressure pump 222 can ensure that the coating is always evenly delivered to the mold cavity 211 and evenly coated on the surface of the cable 500 through the flow in the mold cavity. Whether there are cracks on the surface of the cable 500 or not, the air pressure pump 222 can evenly distribute the coating with a stable pressure, avoiding inconsistent coatings caused by uneven coating supply.

[0067] At the same time, the air pressure pump 222 can smoothly transport the coating, and it is not easy to generate bubbles or voids during the transportation process of the coating, which can avoid bubbles and voids and greatly improve the insulation, sealing and durability of the coating on the surface of the cable 500.

[0068] In the specific implementation process, please continue to refer to Figure 8 The coating unit 220 further includes a three-way valve 223 and a solenoid valve 224. The tank body 221 and the air pressure pump 222 are respectively connected to two inlets of the three-way valve 223 through pipelines, and the outlet of the three-way valve 223 is connected to the mold cavity 211 through a pipeline. The three-way valve 223 can control the flow direction of the coating, making it flow from the tank body 221 to the mold cavity 211, and at the same time can switch or stop the coating supply according to needs. The solenoid valve 224 is arranged between the air pressure pump 222 and the three-way valve 223. The solenoid valve 224 is used to control the working state of the air pressure pump 222, so that the transportation of the coating can be started or stopped at any time, realizing precise control of the coating process.

[0069] Through the combination of the three-way valve 223 and the solenoid valve 224, the coating supply can be quickly opened when needed and closed when not needed, avoiding leakage or waste of the coating when not in use and improving the utilization rate of the repair material.

[0070] The solenoid valve 224 can control the opening and closing of the air pressure pump 222 through an electrical signal. The entire coating process can be intelligently controlled by a computer, a PLC or a remote control system, realizing automated operation, reducing manual intervention and improving work efficiency.

[0071] In some embodiments, please refer to Figure 1 and Figure 2, An automatic repair robot further includes a traveling assembly 400. The traveling assembly 400 includes a roller group 410. The roller group 410 is connected to the self-propelled box body 110. The cable 500 is movably inserted into the roller group 410, and the cable 500 is smoothly pushed forward or backward through the rolling action. The above driving method reduces the possible friction generated during the contact between the cable 500 and the equipment, ensuring that the cable 500 can be smoothly and evenly fed into the repair area during the repair process.

[0072] In the specific implementation process, the roller group 410 includes an upper roller and a lower roller. The servo motor is connected to one side of the self-propelled box body 110. The lower roller is installed on the drive shaft of the servo motor. The rotating shaft of the upper roller is connected to the other side of the self-propelled box body 110. A sliding unit is provided between the servo motor and the self-propelled box body 110. The sliding unit can drive the lower roller to move relative to the upper roller, adjust the distance between the two rollers, and realize the clamping of the cable 500. The cable 500 can be inserted through the gap between the upper roller and the lower roller to realize the clamping of the cable 500. The rotation of the lower roller can drive the whole repair robot to move relative to the cable 500.

[0073] It should be particularly noted that: a slider is provided on the outer shell of the servo motor. The slider is vertically clamped in the card slot of the outer shell. An electric push rod is provided between the slider and the outer shell. The slider of the electric push rod moves, thereby driving the lower roller to move relative to the upper roller to realize the clamping and support of the cable 500.

[0074] During use, the upper roller is mounted on the cable 500, and then the two outer shells are driven to move relative to each other so that the upper roller and the lower roller are arranged vertically opposite to each other. Finally, the upper roller moves relative to the lower roller to complete the loading of the cable 500.

[0075] Please refer to Figure 9 , The present invention provides an automatic repair method, which is applied to an automatic repair robot and includes the following steps:

[0076] S1: Robot body assembly

[0077] When fixing the robot body 100 to the cable 500, the self-propelled box body 110 is accurately installed on one side or the top of the cable 500 by using the roller group on the robot body 100. Ensure that the coating assembly 200 and the covering assembly 300 are adapted to the surface of the cable 500, and the surface state of the cable 500 is suitable for coating and covering repair, especially when there is no excessive moisture or contaminants on the surface of the cable 500, ensuring that the coating cavity can work effectively.

[0078] S2: Insulating paint coating

[0079] The coating die body 210 begins to move closer to each other through mechanical control to ensure the formation of a coating cavity suitable for wrapping the cable 500. The pressure and sealing between the dies should be strong enough to prevent paint leakage.

[0080] The coating unit 220 transports the insulating paint through a pipeline and precisely sprays or applies it within the coating cavity. The selected paint should have good adhesion, weather resistance, and insulation properties, and be able to penetrate into the tiny cracks on the surface of the cable 500 to form an effective protective layer.

[0081] During the coating process, special attention should be paid to the severely aged parts to enable the paint to penetrate deep into the cracks or damaged areas, repair the damaged regions of the cable 500, and prevent the penetration of external factors such as moisture and salt.

[0082] S3: Insulated sheath coating

[0083] Each fusion module 310 consists of two half-sets 311, which will heat, melt, and bond with the material of the insulated sheath 332 on the surface of the cable 500. The heating process ensures that the insulated sheath 332 can fully adhere to the surface of the cable 500 and form a solid protective layer after cooling.

[0084] With the help of the fusion module 310, the moving unit 320 will push the half-sets 311 to move along the cable 500 on the surface of the cable 500. In this way, the fusion module 310 continuously provides a new insulating layer to the surface of the cable 500 to ensure that the repaired area is completely covered.

[0085] Meanwhile, through the control system of the robot, parameters such as the temperature, pressure, and speed of the fusion module 310 will be precisely controlled to ensure that each section of the cable 500 can achieve the expected repair effect.

[0086] S4: Robot body movement

[0087] The robot body 100 begins to move slowly along the direction of the cable 500. At this time, the fusion module 310 (half-sets 311) in front will automatically separate to release the repaired part of the cable 500 and avoid interference with the unrepaired part.

[0088] During the movement of the robot, the coating assembly 200 and the fusion module 310 work in coordination. During the movement of the robot, the coating assembly 200 continues to coat the surface of the cable 500 to maintain continuous repair of the cable 500; while the fusion module 310 continues to wrap the insulated sheath 332 and maintains a stable repair speed to ensure that each section of the cable 500 can be evenly repaired.

[0089] To ensure the efficiency of the surface repair of the cable 500, the robot system will automatically adjust the traveling speed and the repair intensity according to the degree of damage of the cable 500 to maintain the consistency of the repair quality.

[0090] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed by the present invention should be covered by the present invention.

Claims

1. An automatic repair robot for old cables, characterized in that: include: A robot body, the robot body comprising a self-propelled box that can move along the cable, the upper opening of the self-propelled box being arranged to form a working area that cooperates with the cable; A coating assembly, the coating assembly comprising two coating molds that can move relatively to each other and a coating unit, the coating molds are movably connected to the self-propelled box, the two coating molds can be combined to form a coating cavity for coating the cable, and the coating unit is connected to one of the coating molds through a pipeline to transport insulating paint into the coating cavity; A sheathing assembly, the sheathing assembly includes two fusion modules, a moving unit and a winding unit, the winding unit winding an insulating skin for cooperating with the fusion module, the fusion module includes two half-sleeves movable relative to the cable, the half-sleeves can hot-melt connect the insulating skins into an insulating jacket; the fusion module is connected to the self-propelled box through the moving unit, the moving unit can drive the two fusion modules to move relative to each other, so that one of the fusion modules can move relative to the cable covered with the insulating jacket.

2. The old cable automatic repair robot according to claim 1, characterized in that: The moving unit includes a longitudinal guide and a sliding member, wherein the longitudinal guide is fixedly connected to the self-propelled box and is arranged parallel to the extension direction of the cable, the sliding member is slidably connected to the longitudinal guide, the sliding member can move along the longitudinal guide, and the sliding member is connected to the fusion module.

3. The old cable automatic repair robot according to claim 2, characterized in that: The fusion module also includes a transverse guide member, which is arranged perpendicular to the cable and connected to the sliding member. The two coating molds are respectively slidably connected to the transverse guide rail, and the two coating molds can move toward or away from each other along the transverse guide rail.

4. The old cable automatic repair robot according to claim 3, characterized in that: A hot melt plate is arranged on the inner side of the half sleeve, and the hot melt plate can heat and fuse the two insulating skins inside the two half sleeves to form an insulating jacket of the cable.

5. The old cable automatic repair robot according to claim 1, characterized in that: The winding unit includes a rotatable wire reel, the insulation skin is wound on the wire reel, the wire reel is rotatably connected to the self-propelled box, and the wire reel can gradually unwind the insulation skin; the winding unit is arranged between the fusion module and the coating unit, the winding unit is arranged relative to the half sleeve, and the angle between the insulation skin and the cable is an acute angle.

6. The old cable automatic repair robot according to claim 1, characterized in that: A mold cavity is provided in the coating mold body, and the inner diameter of the middle part of the mold cavity is larger than the inner diameters at the two ends.

7. The old cable automatic repair robot according to claim 6, characterized in that: The coating unit comprises a tank body for storing insulating paint and an air pressure pump, and the air pressure pump and the tank body are respectively connected to the mold cavity through pipelines.

8. The old cable automatic repair robot according to claim 7, characterized in that: The coating unit also includes a three-way valve and a solenoid valve. The tank body and the air pressure pump are connected to the two inlets of the three-way valve through pipelines respectively. The outlet of the three-way valve is connected to the mold cavity through a pipeline. The solenoid valve is arranged between the air pressure pump and the three-way valve to control the on and off of the air pressure.

9. The old cable automatic repair robot according to claim 1, characterized in that: It also includes a walking component, which includes a roller group. The roller group is connected to the self-propelled box, and the cable is movably inserted in the roller group. The roller group can drive the self-propelled box to feed relative to the cable.

10. A method for automatically repairing old cables, characterized in that: The invention relates to an automatic repair robot for old cables as claimed in any one of claims 1 to 9, comprising the following steps: S1: Assembling the robot body, assembling the robot box onto the cable to be repaired, so that the coating component and the sheathing component are adapted to the cable; S2: Insulating coating, the two coating molds are relatively close together, covering the cable, so that the cable is located in the coating cavity, the coating unit is input into the coating cavity through a pipeline, and the insulating coating can penetrate into the aging and broken parts of the cable to form an insulating coating; S3: Insulation sheath covering, the two fusion modules act on two adjacent cable sections respectively, one fusion module is relatively away from the other fusion module through a moving unit, and the cable passing through the other fusion module is continuously covered with insulation sheath, thereby extending the initial length of the insulation sheath; S4: the robot body moves, and the half-sleeve of the fusion module located in the moving direction of the robot body moves relatively away, loosening the cable; the robot body moves along the cable feed, and the other fusion module and the coating component work together to complete the continuous repair of the cable.

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