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 robot comprises a robot body, a coating assembly and a wrapping assembly. The robot body comprises two combining units which are oppositely arranged and a moving unit, and the two ends of the moving unit are connected with the two combining units correspondingly; the coating assembly comprises two coating die bodies which are oppositely arranged and a coating unit, the two coating die bodies are connected with the two combining units respectively, the two coating die bodies can be combined to form a coating cavity used for coating a cable, and the coating unit is connected with one of the coating die bodies through a pipeline so as to convey insulating paint into the coating cavity; the wrapping assembly comprises fusing units and a winding unit, the winding unit is wound with insulating skins used for being matched with the fusing units, and the two fusing units are oppositely spliced to form a heat sealing sleeve body for connecting the two insulating skins outside the cable in a hot melting mode. 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 particularly to an automatic repair robot for old cables and a repair method. 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 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,

[0006] including:

[0007] A robot body that moves relative to the cable. The robot body includes two merging units and a moving unit that are oppositely arranged. The two ends of the moving unit are respectively connected to the two merging units to drive the two merging units to approach or move away from the cable relative to each other;

[0008] A coating assembly. The coating assembly includes two coating molds and a coating unit that are oppositely arranged. The two coating molds are respectively connected to the two merging units. 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 to supply insulating paint into the coating cavity;

[0009] A covering assembly. The covering assembly includes a fusing unit and a winding unit. The winding unit winds an insulating skin for cooperating with the fusing unit. The two fusing units can be spliced relatively to form a heat-sealing sleeve body for heat-fusing and connecting the two insulating skins outside the cable.

[0010] Further, a semi-cavity is provided in the coating mold. The two semi-cavities are combined to form the coating cavity. The inner diameter of the middle part of the semi-cavity is larger than the inner diameters at both ends.

[0011] Further, the coating unit includes a tank for storing insulating paint and a pneumatic pump. The pneumatic pump and the tank are respectively connected to the semi-cavity through pipelines.

[0012] Further, the coating unit further includes a three-way valve and a solenoid valve. The tank body and the air pressure pump are respectively connected to two inlets of the three-way valve through pipelines. The outlet of the three-way valve is connected to the half mold cavity through a pipeline. The solenoid valve is arranged between the air pressure pump and the three-way valve to control the on-off of the air pressure.

[0013] Further, the fusion unit includes a half sleeve body. The two half sleeve bodies are combined to form the heat-sealing sleeve body. A hot melt plate is arranged inside the half sleeve body, and the hot melt plate can heat and fuse the two insulating skins into an insulating outer sheath of the cable inside the heat-sealing sleeve body.

[0014] Further, the winding unit further includes a rotatable wire reel. The insulating skin is wound around the wire reel. The wire reel is rotationally connected to the combining unit, and the wire reel can gradually unwind the insulating skin.

[0015] Further, the two winding units are respectively arranged on the two combining units. The winding unit is arranged between the fusion unit and the coating unit. The included angle between the insulating skin and the cable is an acute angle.

[0016] Further, the moving unit includes a guide rail perpendicular to the combining unit and a linear driving member. The bottom of the combining unit is slidably clamped with the guide rail. The linear driving member is respectively connected to the guide rail and the combining unit. The linear driving member can drive the two combining units to move relative to each other; the tops of the two combining units are relatively open to form an opening for the cable to enter and exit.

[0017] Further, it further includes a walking assembly. The walking assembly includes a roller group. The roller group is connected to the combining unit. The cable is movably inserted into the roller group, and the roller group can drive the combining unit to feed relative to the cable.

[0018] In a second aspect, the present invention provides an old cable automatic repair method, which is applied to the old cable automatic repair robot described above, and includes the following steps:

[0019] S1: Assembling the robot body. The two combining units are opened relatively, and the robot body is assembled onto the cable to be repaired so that the coating assembly and the covering assembly are adapted to the cable.

[0020] S2: Closing the combining units. The combining units respectively drive the coating die body and the fusion unit to close relative to the cable, so that the two parts of the cable are respectively located in the coating cavity and the heat-sealing sleeve body.

[0021] S3: Insulating paint coating. The coating unit injects insulating paint into the coating die body through a pipeline. The insulating paint can penetrate into the aged and broken parts of the cable to form an insulating coating.

[0022] S4: Insulating leather covering. The robot body moves relative to the cable, and the cable area coated with the insulating coating moves into the heat-sealing sleeve body, and an insulating leather is heat-sealed and covered outside the cable coated with the insulating coating.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] (1) For an old cable automatic repair robot and a repair method thereof according to the present invention, a coating assembly is provided. The coating assembly includes two relatively arranged coating die bodies and a coating unit. The two coating die bodies are respectively connected to two combining units. The combining unit can drive the two coating die bodies to move relative to each other. The two coating die bodies are combined to 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 transports the insulating paint into the coating cavity through the pipeline. The coating die body can evenly coat the insulating paint on the surface of the cable. 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.

[0025] (2) For an old cable automatic repair robot and a repair method thereof according to the present invention, a covering assembly is provided, including a fusing unit and a winding unit. The two fusing units are respectively connected to the two combining units. The combining unit can drive the two fusing units to move relative to each other. The winding units are arranged corresponding to the fusing units one by one. The winding units wind insulating leather for cooperating with the fusing units. The two fusing units are spliced relatively to form a heat-sealing sleeve body. The heat-sealing sleeve body can heat-fuse and combine the two insulating leathers, so that the two insulating leathers are connected to form a cylindrical insulating outer sleeve. The insulating outer sleeve helps to form a barrier for protecting the outer layer of the cable, enhancing the anti-mechanical damage, anti-external corrosion and waterproof capabilities of the cable.

[0026] (3) For an old cable automatic repair robot and a repair method thereof according to the present invention, a robot body is provided which can move relative to the cable to repair the cable along the cable. The robot body includes two relatively arranged combining units and a moving unit. The two ends of the moving unit are respectively connected to the two combining units. The moving unit can drive the two combining units to close to or away from the cable relative to each other, thereby driving the coating assembly and the covering assembly to move relative to each other to complete the repair of the cable. Description of the Drawings

[0027] The accompanying drawings described herein are used to provide a further understanding of the present invention, and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the drawings:

[0028] Figure 1 is the structural schematic of the whole of the present invention Figure 1 ;

[0029] Figure 2 is the structural schematic of the whole of the present invention Figure 2 ;

[0030] Figure 3 is the structural schematic diagram of the coating assembly, the covering assembly and the walking assembly in the present invention;

[0031] Figure 4 is the structural schematic diagram of the fusion unit in the present invention;

[0032] Figure 5 is the structural schematic diagram of the coating die body in the present invention;

[0033] Figure 6 is the structural schematic diagram of the half body in the present invention;

[0034] Figure 7 is the structural schematic diagram of the coating unit in the present invention;

[0035] Figure 8 is the step diagram of the repair method in the present invention.

[0036] In the figure, 100, robot body; 110, merging unit; 120, moving unit; 121, guide rail; 122, linear driving member;

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

[0038] 300, covering assembly; 310, fusion unit; 311, half body; 320, winding unit; 321, insulating skin; 322, wire coil;

[0039] 400, walking assembly; 410, roller group;

[0040] 500, cable. Detailed embodiments

[0041] The following will specifically describe the preferred embodiments of the present invention in conjunction with the accompanying drawings. Among them, the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to explain the principle of the present invention, and are not used to limit the scope of the present invention.

[0042] An automatic repair robot for old cables and a repair method in this embodiment relate to the technical field of power equipment. By arranging a coating component 200 and a covering component 300 in parallel, an insulating layer is regenerated on the surface of the aged cable 500 by using insulating paint and an insulating skin 321, so as to repair the old cable 500, extend the service life of the old cable 500, ensure the insulation of the cable 500, and ensure the safety of power transmission.

[0043] Please refer to Figures 1 to 7 , an automatic repair robot for old cables in this embodiment includes: a robot body 100, a coating component 200, and a covering component 300. The robot body 100 can automatically move on the cable 500 to repair the cable 500. The coating component 200 can coat insulating paint on the surface of the old cable 500, and the covering component 300 can heat-melt the insulating skin 321 on the surface of the coated paint into an insulating sleeve. The insulating paint and the insulating sleeve act together to repair the old cable 500 and extend the service life of the cable 500.

[0044] The robot body 100 can move relative to the cable 500 and repair the cable 500 along the cable 500. The robot body 100 includes two merging units 110 arranged oppositely and a moving unit 120. The two ends of the moving unit 120 are respectively connected to the two merging units 110. The moving unit 120 can drive the two merging units 110 to approach or move away from the cable 500, thereby driving the coating component 200 and the covering component 300 to move relatively to complete the repair of the cable 500.

[0045] The coating component 200 includes two coating molds 210 arranged oppositely and a coating unit 220. The two coating molds 210 are respectively connected to the two merging units 110. The merging unit 110 can drive the two coating molds 210 to move relatively. The two coating molds 210 are combined to form a coating cavity for covering the cable 500. The coating unit 220 is connected to one of the coating molds 210 through a pipeline. The coating unit 220 transports the insulating paint into the coating cavity through the pipeline. The coating mold 210 can evenly coat the insulating paint on the surface of the cable 500. 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 coating assembly 300 includes a fusion unit 310 and a winding unit 320. The two fusion units 310 are respectively connected to the two merging units 110. The merging units 110 can drive the two fusion units 310 to move relative to each other. The winding units 320 are arranged in one-to-one correspondence with the fusion units 310. The winding units 320 wind insulating skins 321 for cooperating with the fusion units 310. The two fusion units 310 are spliced relative to each other to form a heat-sealing sleeve body. The heat-sealing sleeve body can thermally fuse the two insulating skins 321, so that the two insulating skins 321 are connected to form a cylindrical insulating outer sleeve. The insulating outer sleeve helps to form a barrier for protecting the outer layer of the cable 500, enhancing the cable 500's resistance to mechanical damage, external corrosion, and waterproof ability.

[0047] It should be noted that the insulating skin 321 drawn out from the winding unit 320 can be naturally curled and sleeved on the cable 500. The two fusion units 310 move relative to the cable 500, and the insulating skin 321 is locked between the cable 500 and the fusion units 310. The heat-sealing sleeve body formed by the two fusion units 310 can connect the edges of the insulating skin 321 together to form a cylindrical insulating sleeve.

[0048] In some embodiments, please refer to Figures 3 to 6 , a half mold cavity 211 is provided in the coating mold body 210. Driven by the merging unit 110, the two half mold cavities 211 are butted against each other to form a coating cavity. The inner diameter of the middle part of the half mold cavity 211 is larger than that of the two 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.

[0049] 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 precise and efficient.

[0050] It should be noted that an electric heating plate for heating the insulating coating is embedded in the coating mold 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.

[0051] In some embodiments, please refer to Figure 6, the coating unit 220 includes a tank 221 for storing insulating paint and a pneumatic pump 222. The pneumatic pump 222 and the tank 221 are respectively connected to the half mold cavity 211 through pipelines. The pneumatic pump 222 can push the paint through air pressure, accurately and stably conveying the paint from the tank 221 to the half mold cavity 211. The pneumatic pump 222 can precisely control the conveying pressure and flow rate, thus ensuring that the paint flows evenly and precisely throughout the repair process, avoiding the paint flowing too fast or too slow, and ensuring that the paint evenly covers the surface of the cable 500.

[0052] The pneumatic pump 222 can adjust the air pressure, thereby realizing the adjustment of the paint flow rate, and adjusting the coating amount of the paint according to the surface conditions 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.

[0053] Through a stable air pressure supply, the pneumatic pump 222 can ensure that the paint is always evenly conveyed into the half 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 pneumatic pump 222 can evenly distribute the paint with a stable pressure, avoiding inconsistent coatings caused by uneven paint supply.

[0054] At the same time, the pneumatic pump 222 can smoothly convey the paint, and the paint is not easy to generate bubbles or voids during the conveying process, which can avoid bubbles and voids and greatly improve the insulation, sealing and durability of the coating on the surface of the cable 500.

[0055] In the specific implementation process, please continue to refer to Figure 6 , the coating unit 220 further includes a three-way valve 223 and a solenoid valve 224. The tank 221 and the pneumatic pump 222 are respectively connected to two inlets of the three-way valve 223 through pipelines. The outlet of the three-way valve 223 is connected to the half mold cavity 211 through a pipeline. The three-way valve 223 can control the flow direction of the paint, making it flow from the tank 221 to the half mold cavity 211, and at the same time can switch or stop the paint supply according to needs. The solenoid valve 224 is arranged between the pneumatic pump 222 and the three-way valve 223. The solenoid valve 224 is used to control the working state of the pneumatic pump 222, so that the conveying of the paint can be started or stopped at any time, realizing precise control of the coating process.

[0056] Through the combination of the three-way valve 223 and the solenoid valve 224, the paint supply can be quickly opened when needed and closed when not needed, avoiding leakage or waste of the paint when not in use, and improving the utilization rate of the repair materials.

[0057] The solenoid valve 224 can control the opening and closing of the pneumatic pump 222 through an electrical signal. The entire coating process can be intelligently controlled by a computer, PLC or remote control system, realizing automated operation, reducing manual intervention and improving work efficiency.

[0058] In some embodiments, refer to Figure 7 , the fusion unit 310 includes a semi-sleeve 311. One side of the semi-sleeve 311 is fixedly connected to the main body of the fusion unit 310. The other side of the semi-sleeve 311 is arranged opposite to the cable 500. The semi-sleeve 311 forms a semi-circular groove relative to the cable 500. Two semi-sleeves 311 are combined to form a heat-sealing sleeve, and two grooves form a heat-sealing cavity. A hot-melt plate is provided on the inner side of the semi-sleeve 311. The hot-melt plate is heated by an electric heating wire. The hot-melt plate can heat the insulating skin 321, so that the overlapping parts of the insulating skin 321 along the length direction of the cable 500 are heat-melted and connected together to form a complete insulating outer sleeve. The two layers of insulating skin 321 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 power transmission, 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.

[0059] In the specific implementation process, the cross-section of the insulating skin 321 is circular-ring-shaped, the circular-ring shape is greater than 180°, and the edges of two groups of insulating skin 321 are staggered to form an overlapping ring. By hot-melt plasticizing the ring-shaped insulating skin 321, the edges of the insulating skin 321 are connected into a whole, realizing the shaping of the insulating skin 321.

[0060] In some embodiments, refer to Figure 3 , the winding unit 320 further includes a rotatable spool 322. The insulating skin 321 is wound around the spool 322. One end of the insulating skin 321 is connected to the spool 322, and the other end of the insulating skin 321 is arranged in the semi-sleeve 311. The insulating skin 321 can be pulled out as the robot moves relative to the cable 500, completing the automatic feeding of the insulating skin 321 and realizing the unwinding of the spool 322 for the insulating skin 321.

[0061] In some embodiments, two winding units 320 are respectively arranged on two merging units 110. The winding unit 320 located on one merging unit 110 remains unchanged relative to the fusion unit 310. The winding unit 320 can continuously provide the insulating skin 321 for the fusion unit 310, ensuring the continuous and stable progress of the insulating skin 321 coating process.

[0062] As an alternative implementation, only one set of winding unit 320 can be provided. The cross-section of the insulating skin 321 is circular-ring-shaped, the circular-ring shape is greater than 180°, and the circumferential ends of the insulating skin 321 overlap each other. Using the heat of the fusion unit 310, the insulating skin 321 can be connected into a cylindrical insulating outer sleeve.

[0063] The coiling unit 320 is arranged between the fusing unit 310 and the coating unit 220, and the angle between the insulating sheath 321 and the cable 500 is an acute angle. Forming an acute angle (an angle less than 90 degrees) between the insulating sheath 321 and the surface of the cable 500 helps to increase the contact area between the insulating sheath 321 and the surface of the cable 500. A larger contact area can ensure that the insulating sheath 321 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.

[0064] The design of the acute angle helps the insulating sheath 321 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. The unwinding method of the acute angle ensures that the insulating sheath 321 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 sheath 321 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.

[0065] In some embodiments, refer to Figure 2 , the moving unit 120 includes a guide rail 121 perpendicular to the merging unit 110 and a linear driving member 122. The bottom of the merging unit 110 is slidably clamped to the guide rail 121. The linear driving member 122 is respectively connected to the guide rail 121 and the merging unit 110. The connection design of the linear driving member 122 with the guide rail 121 and the merging unit 110 enables the driving member to precisely control the relative movement of the merging unit 110. Through the control of the linear driving member 122, the system can precisely adjust the distance between the merging units 110 to ensure that it can adapt to the size change of the cable 500 or the specific position of the crack when repairing the cable 500, thereby ensuring the accurate wrapping of the insulating sheath 321.

[0066] In the specific implementation process, the linear driving member 122 is a slider driven by a linear motor. The linear motor and the slider are both arranged on the guide rail 121 and can drive the two merging units 110 to move relative to each other or away from each other.

[0067] As another implementation method, the moving unit 120 can also be a lead screw-nut driving structure. The lead screw is arranged along the guide rail 121 and connected to both ends of the guide rail 121. The nut is connected to the merging unit 110 and threadedly connected to the lead screw. Rotating the lead screw can drive the two merging units 110 to move relative to each other or away from each other. Two sets of lead screw-nuts can act on the two merging units 110 respectively to drive them to move relative to each other. In addition, the lead screw can be a lead screw with left and right hand threads, and the lead screw-nut acts on the two merging units 110 simultaneously to drive them.

[0068] In the specific implementation process, the merging unit 110 includes a housing. The housing is a semi-enclosed structure, and a connection structure for connecting to the coating assembly 200 and the covering assembly 300 respectively is provided inside the housing. The top of the housing is relatively open to form an opening for the cable 500 to enter and exit. The opening provides a smooth passage for the cable 500 to enter and exit, avoiding the situation where the cable 500 may be stuck or blocked during the repair process. Through the top opening, the cable 500 during the repair process can enter the repair area more easily without unnecessary friction or damage caused by limited space.

[0069] The design of the opening enables the device to adapt to cables 500 with different diameters and shapes. The cable 500 can smoothly enter and exit the repair area while remaining unobstructed. Even when the cable 500 has a large deformation or needs to be adjusted during the repair, the opening can provide sufficient space to avoid compression or damage to the cable 500 due to restriction.

[0070] In some embodiments, please refer to Figure 1 and Figure 2 , an old cable 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 a merging unit 110, and the cable 500 is movably inserted into the roller group 410. By rolling, the cable 500 is smoothly pushed forward or backward. The above driving method reduces the possible friction generated during the contact between the cable 500 and the device, ensuring that the cable 500 can be smoothly and evenly fed into the repair area during the repair process.

[0071] In the specific implementation process, the roller group 410 includes an upper roller and a lower roller. The servo motor is connected to a housing. The lower roller is installed on the drive shaft of the servo motor, and the rotating shaft of the upper roller is connected to another housing. A sliding unit is provided between the servo motor and the housing. The sliding unit can drive the lower roller to move relative to the upper roller to adjust the distance between the two rollers and achieve clamping of the cable 500. The cable 500 can be inserted through the gap between the upper roller and the lower roller to achieve clamping of the cable 500. The rotation of the lower roller can drive the entire repair robot to move relative to the cable 500.

[0072] It should be particularly noted that: a slider is provided on the housing of the servo motor. The slider is vertically clamped in the card slot of the housing. An electric push rod is provided between the slider and the housing. The slider of the electric push rod moves, thereby driving the lower roller to move relative to the upper roller to achieve clamping and support of the cable 500.

[0073] During use, the upper roller is mounted on the cable 500, then the two housings are driven to move relative to each other so that the upper roller and the lower roller are arranged vertically opposite each other. Finally, the upper roller moves relative to the lower roller to complete the loading of the cable 500.

[0074] Please refer to Figure 8 , the present invention provides an automatic repair method for old cables, and there is an automatic repair robot for old cables, including the following steps:

[0075] S1: Assembly of the robot body

[0076] Install the robot body at the cable position

[0077] First, install the robot body 100 on the high-altitude cable 500 to be repaired, ensure its stable position, and be able to adapt to the length and direction of the cable 500. Adjust the position of the robot to ensure the proper relative position between the robot and the cable 500, so that its splicing unit 110, coating assembly 200, and covering assembly 300 can be correctly docked and operated.

[0078] The splicing unit opens relatively

[0079] During the installation process, the splicing unit 110 (including the coating die body 210 and the fusion unit 310) is in an open state. The two parts of the splicing unit 110 are controlled by the drive system to adapt to the size of the cable 500. The open state of the splicing unit 110 allows the cable 500 to enter the repair area, ensuring that the cable 500 can be smoothly coated and covered.

[0080] Adaptation of the coating assembly and the covering assembly

[0081] At this time, the coating assembly 200 (including the coating die body 210 and the coating unit 220) and the covering assembly 300 (including the fusion unit 310 and the winding unit 320) have been adapted to the surface of the cable 500. The internal size of the coating die body 210 should match the surface shape of the cable 500 to ensure uniform coating of the insulating paint. The heating function of the fusion unit 310 will ensure that the appropriate temperature can be reached when covering the insulating skin 321 to complete the heat-sealing operation.

[0082] S2: Closing of the splicing unit

[0083] The driving closing action of the splicing unit

[0084] After ensuring that the cable 500 has been stably positioned, the drive system of the robot body 100 starts to work, and the splicing unit 110 is gradually closed by the control system. Specifically, the coating die body 210 and the fusion unit 310 close to both sides of the cable 500, tightly surrounding two parts of the cable 500.

[0085] The closing process ensures that the repair areas on both sides of the cable 500 are completely surrounded, providing the necessary space for subsequent coating and covering.

[0086] Two parts of the cable 500 enter the coating cavity (the area formed by the coating die body 210) and the heat-sealing sleeve body (the area formed by the fusing unit 310) respectively. The coating cavity will be filled with insulating paint, while the heat-sealing sleeve body provides a heating environment for covering the insulating sheath 321.

[0087] Ensure the tight docking of the coating cavity and the heat-sealing sleeve body

[0088] By precisely controlling the closing action of the fusing unit 110, ensure that the cable 500 is in the appropriate position. The damaged or aged part of the cable 500 is located in the coating cavity, while the outer area of the cable 500 is located in the heat-sealing sleeve body. At this time, the areas for the coating and covering processes are ready for subsequent repair.

[0089] S3: Insulating paint coating

[0090] Start the coating unit and inject insulating paint

[0091] After the fusing unit 110 closes, the coating unit 220 of the robot body 100 starts. The coating unit 220 injects the pre-stored insulating paint into the interior of the coating die body 210 through a pipeline.

[0092] The insulating paint is evenly injected through the pores or nozzles of the coating die body 210, and ensure that it can penetrate into the damaged area of the cable 500, fill the aged or cracked parts on the surface of the cable 500, and form a good insulating layer.

[0093] The insulating paint penetrates and forms a coating

[0094] The insulating paint will penetrate into the cracks, aged parts or any damaged places on the surface of the cable 500, and form a tight bond with the surface of the cable 500 through its adhesive property, forming a complete insulating coating. This coating can not only prevent water and corrosion, but also effectively isolate external current, ensuring the safety of the cable 500.

[0095] Ensure coating uniformity and coverage

[0096] During the coating process, the robot system will monitor the coating uniformity through sensors and control systems to ensure that the insulating paint can evenly cover the entire repair area and avoid missed coating or over-thick coating. This is to ensure that the repaired cable 500 has good electrical insulation performance and mechanical protection ability.

[0097] S4: Insulating sheath covering

[0098] Move the cable area to the heat-sealing sleeve body

[0099] The robot body 100 starts to move relative to the cable 500, and the area of the cable 500 coated with an insulating coating is gradually guided into the heat-sealing sleeve. At this time, the area of the cable 500 coated with the insulating coating starts to enter the repair area of the coated insulating skin 321, preparing for the subsequent coating preparation work.

[0100] Unwinding and Coating Operation of the Insulating Skin

[0101] The winding unit 320 in the robot body 100 starts to gradually unwind the stored insulating skin 321 and ensures that the insulating skin 321 can accurately cover the outer layer of the coated area of the cable 500. The coordinated work between the winding unit 320 and the fusion unit 310 ensures the precise laying of the insulating skin 321. The winding unit 320 controls the tension and laying speed of the insulating skin 321, ensuring uniformity and stability during the coating process.

[0102] Heat Sealing and Heating Coating Operation

[0103] After the insulating skin 321 is completely covered, the fusion unit 310 starts to work, fusing the two layers of insulating skin 321 with the surface of the coated cable 500 through heating. The hot melt plate in the heat-sealing sleeve provides a stable and appropriate temperature, enabling the insulating skin 321 to form a tight and seamless protective layer on the surface of the cable 500. The heat-sealing process ensures the adhesion between the insulating skin 321 and the surface of the cable 500, providing effective protection for the surface of the cable 500.

[0104] As described above, it is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of 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 moves relative to the cable, the robot body comprising two merging units and a moving unit arranged opposite to each other, two ends of the moving unit are respectively connected to the two merging units to drive the two merging units to move closer to or away from the cable; A coating assembly, the coating assembly comprising two coating molds arranged opposite to each other and a coating unit, the two coating molds are respectively connected to the two merging units, the two coating molds can be combined to form a coating cavity for coating the cable, the coating unit is connected to one of the coating molds through a pipeline to transport insulating coating into the coating cavity; The sheathing assembly comprises a fusion unit and a winding unit, wherein the winding unit winds up an insulating skin for cooperating with the fusion unit, and the two fusion units can be relatively spliced ​​to form a heat-sealed sleeve that heat-melts and connects the two insulating skins to the outside of the cable.

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

3. The old cable automatic repair robot according to claim 2, 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 with the half-mold cavity through pipelines.

4. The old cable automatic repair robot according to claim 3, 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 half 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.

5. The old cable automatic repair robot according to claim 1, characterized in that: The fusion unit comprises a half sleeve, two half sleeves are combined to form the heat-sealing sleeve, 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 in the heat-sealing sleeve to form the insulating jacket of the cable.

6. The old cable automatic repair robot according to claim 1, characterized in that: The winding unit further comprises a rotatable wire roll, the insulation skin is wound on the wire roll, the wire roll is rotationally connected to the merging unit, and the wire roll can gradually unwind the insulation skin.

7. The old cable automatic repair robot according to claim 1, characterized in that: The two winding units are respectively arranged on the two merging units, and the winding unit is arranged between the fusion unit and the coating unit. The angle between the insulation skin and the cable is an acute angle.

8. The old cable automatic repair robot according to claim 1, characterized in that: The moving unit includes a guide rail and a linear drive member arranged perpendicular to the merging unit. The bottom of the merging unit is slidably engaged with the guide rail. The linear drive member is respectively connected to the guide rail and the merging unit. The linear drive member can drive the two merging units to move relative to each other. The tops of the two merging units are relatively open to form an opening for the cables to enter and exit.

9. The old cable automatic repair robot according to claim 1, characterized in that: It also includes a traveling assembly, which includes a roller group, the roller group is connected to the merging unit, the cable is movably plugged into the roller group, and the roller group can drive the merging unit 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, the two merging units are relatively opened, and the robot body is assembled on the cable to be repaired, so that the coating component and the sheathing component are adapted to the cable; S2: the merging unit is closed, and the merging unit drives the coating mold and the fusion unit to close relative to the cable, so that the two parts of the cable are respectively located in the coating cavity and the heat-sealing sleeve; S3: Insulating coating, the coating unit injects insulating coating into the coating mold through a pipeline, and the insulating coating can penetrate into the aged and broken parts of the cable to form an insulating coating; S4: Insulation coating, the robot body moves relative to the cable, the cable area coated with the insulation coating moves into the heat-sealed sleeve, and the insulation coating is heat-sealed on the outside of the cable coated with the insulation coating.

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