Multi-rotor aircraft for repairing broken strands of electric power circuit and use method of multi-rotor aircraft

Abstract

The invention discloses a multi-rotor aircraft for repairing broken strands of an electric power circuit and a using method thereof, and the multi-rotor aircraft comprises a walking mechanism which can be fixed on a flying platform, a lifting mechanism which is fixed on a walking bracket or the flying platform, a wire stroking mechanism which is fixed on a wire stroking shell, and a wire wrapping mechanism which is fixed on a wire wrapping shell, the striker plate and the feeding mechanism are located on the two sides of the wire wrapping mechanism and fixed to the upper portion of the wire wrapping shell. Wherein the wire stroking shell and the wire wrapping shell are connected with each other through a shaft, and the wire stroking shell and the wire wrapping shell can be separated or combined; the camera shooting equipment is fixed on the wire covering shell, so that the covering condition can be conveniently observed in real time; conductive mechanisms are further fixed above the flying platform and located on the two sides of the walking mechanism. According to the invention, repair operation can be rapidly carried out in a complex terrain environment, the problem that a traditional wire hanging operation robot is inconvenient to go on / off a line is solved, traditional manpower can be replaced for repairing broken strands of a power transmission line, the operation efficiency is improved, and the operation cost is reduced.

Description

Technical Field

[0001] The present invention relates to a multi-rotor aircraft for repairing broken strands of a power line and a method for using the same, belonging to the technical field of power line safety devices. Background Art

[0002] High-voltage transmission lines are an important part and foundation of the operation of the power system. Due to the large cross-sectional area of the conductors, long span, high installation distance, and mostly being built in open areas such as ridges and plains, the conductors and overhead ground wires are constantly affected by harsh environments such as strong winds, icing, lightning strikes, and corrosion, and often suffer from broken strands, broken wires, etc. Under the action of natural wind, the broken aluminum wires will vibrate and spread out, and short-circuit with nearby conductors, posing a hidden danger to the safe operation of the transmission line. Therefore, power operation and maintenance departments in various places have to invest a large amount of manpower, material resources, and financial resources every year to conduct inspections and repairs on the broken strands of the transmission line to maintain its normal operation.

[0003] Traditional repair of broken strands of transmission lines mainly relies on manual operation. First, the inspection personnel observe and determine the damage, broken strand condition, and location of the conductor, and then the operators reach near the broken strand by climbing manually or by taking an insulated bucket truck, helicopter, etc., and use crimping tools to crimp or wind preformed strands to repair the broken strand of the transmission line.

[0004] With the development of science and technology, some semi-automatic on-line mobile broken strand repair robots have been developed and put into practical application. Such robots can significantly improve the operation efficiency and reduce the danger of manual operation, but there are still some problems that are difficult to solve, such as the robot needs manual tower climbing to assist it in getting on and off the line, has limited endurance, and cannot be applied in some complex environments.

[0005] Therefore, there is an urgent need for a multi-rotor aircraft for repairing broken strands of a power line. By means of a multi-rotor flight platform carrying a wire-hanging walking mechanism and a broken strand repair operation mechanism, the broken strand repair of the power line is realized. It can not only quickly carry out repair operations in complex terrain environments, but also solve the problem of inconvenient on / off line of traditional wire-hanging operation robots, and can replace traditional manual labor for repairing broken strands of transmission lines, improve operation efficiency, and reduce operation costs. It has the characteristics of strong environmental adaptability, high operation efficiency, light weight, small volume, easy to carry, simple operation, and high safety. Summary of the Invention

[0006] The technical problem solved by the present invention is to provide a multi-rotor aircraft for repairing broken strands of power lines and its usage method. By means of a multi-rotor flight platform carrying a wire-hanging walking mechanism and a broken-strand repair operation mechanism, the repair of broken strands of power lines is realized. It can not only quickly carry out repair operations in complex terrain environments, but also solve the problem of inconvenient up / down line of traditional wire-hanging operation robots. It can replace traditional manual work for repairing broken strands of transmission lines, improve operation efficiency, and reduce operation costs. It has the characteristics of strong environmental adaptability, high operation efficiency, light weight, small volume, easy to carry, simple operation, and high safety.

[0007] The technical solution of the present invention is: a multi-rotor aircraft for repairing broken strands of power lines and its usage method, including a walking mechanism that can be fixed on the flight platform, a lifting mechanism fixed on the walking bracket or the flight platform, a wire-straightening mechanism fixed on the wire-straightening housing, a wire-wrapping mechanism fixed on the wire-wrapping housing, a baffle plate and a feeding mechanism located on both sides of the wire-wrapping mechanism and fixed above the wire-wrapping housing. Among them, the wire-straightening housing and the wire-wrapping housing are connected to each other by a shaft, and the wire-straightening housing and the wire-wrapping housing can be separated or combined; a camera device is fixed on the wire-wrapping housing to facilitate real-time observation of the wrapping situation; a conductive mechanism is also fixed above the flight platform, and the conductive mechanism is located on both sides of the walking mechanism.

[0008] Preferably, the above-mentioned wire-straightening mechanism includes a wire-straightening motor with one end fixedly connected to the wire-straightening base and the other end connected to the wire-straightening connecting rod in a rotating shaft manner; a wire-straightening elongation motor with one end fixedly connected to the wire-straightening elongation base and the other end fixedly connected to the bottom end of the wire-straightening base; wire-straightening clamps respectively connected to the wire-straightening connecting rod and the wire-straightening base in a rotating shaft manner; the wire-straightening elongation base is fixedly connected to the bottom surface of the wire-straightening housing. Among them, the wire-straightening clamp is a semi-circular movable block, and an elastic block such as sponge, rubber or foam is fixed inside it, and the wire-straightening clamp is designed for quick disassembly and can be adjusted and replaced according to the size of the power line to adapt to power lines of various specifications.

[0009] Preferably, the above-mentioned wire-wrapping mechanism includes a wire-wrapping motor with one end fixedly connected to the wire-wrapping base and the other end connected to the wire-wrapping connecting rod in a rotating shaft manner; a wire-wrapping elongation motor with one end fixedly connected to the wire-wrapping elongation base and the other end fixedly connected to the bottom end of the wire-wrapping base; wire-wrapping clamps respectively connected to the wire-wrapping connecting rod and the wire-wrapping base in a rotating shaft manner; the wire-wrapping elongation base is fixedly connected to the bottom surface of the wire-wrapping housing. Among them, the wire-wrapping clamp is designed for quick disassembly and can be adjusted and replaced according to the size of the power line to adapt to power lines of various specifications.

[0010] Preferably, the feed mechanism comprises a feed base and a feed fixing seat fixed on the top of the wire-wrapped shell, a feed cover fixed to the upper end of the feed base through a slide rail, a feed push block matched with the feed base through a slot, and a sleeve fixed to the feed push block and the feed fixing seat at both ends. A repair clamp can be placed inside the feed base and closed by the feed cover to prevent the repair clamp from falling off, wherein the sleeve is a gas spring or damping mechanism, and the outer side is coated with a spring; the repair clamp is a cable tie design with multiple layers of buckles, which is suitable for power lines of various specifications.

[0011] Preferably, the lifting mechanism can be a rotary lifting mechanism, including a rotary fixing seat fixed on the side of the walking frame or the flying platform, a rotary motor fixed in the rotary fixing seat, and a shaft inserted into the walking frame through a bearing and fixedly connected to the rotary motor, wherein the rotary motor is a high torque motor.

[0012] Preferably, the above-mentioned lifting mechanism can be a linear lifting mechanism, which can achieve linear lifting through a push rod motor with one end fixed to the flying platform and the other end fixed to the wire wrapping shell and the wire drawing shell. At this time, the shaft and the walking bracket are limited by the sliding groove.

[0013] Preferably, the walking mechanism comprises a walking bracket fixed on the flight platform, a walking motor fixed in the walking bracket, and a walking wheel connected to the walking motor. The walking motor is a large torque motor; a sensor is installed on the walking bracket near the walking wheel, which can provide a basis for judging the distance between the power line and the walking bracket, so as to facilitate the walking mechanism to be mounted on the power line.

[0014] Preferably, the conductive mechanism comprises an insulating rod with conductive heads fixed at both ends, a resistor connected to the conductive head and fixed inside the insulating rod, an insulating head fixed in the middle of the insulating rod, a conductive rod sleeved on the outside of the insulating rod and connected to the top conductive head and the insulating head at both ends by a rotating shaft, a fixed base fixed on the flight platform and arranged separately, and a damper connected to the insulating head and a fixed base at both ends by a rotating shaft. The conductive head at the bottom end of the insulating rod is connected to another fixed base; the damper can be a gas spring or a combination of a spring and a sleeve; the conductive rod can roll on the power line.

[0015] Preferably, when the above multi-rotor aircraft for broken wire repair is working, it is divided into six steps: 1) The flight platform takes off and approaches the power line, and slowly approaches. First, make the conductive rod close to the power line, and then make the walking bracket contact the power line. At this time, data is transmitted back through the sensor, and the flight platform slowly descends until the walking wheels are fully mounted on the power line. At this time, the rotor motor is turned off; 2) The walking mechanism walks to near the broken wire, and the lifting mechanism raises the wire-straightening mechanism, wire-wrapping mechanism, feeding mechanism, etc. to appropriate positions; 3) The wire-straightening clamp is raised to the bottom of the broken wire by the wire-straightening elongation motor, and then the wire-straightening clamp is wrapped around the broken wire by the wire-straightening motor; 4) The walking mechanism advances to the position to be repaired, the wire-wrapping elongation motor sinks, and the repair clamp blocks are sequentially sent into the wire-wrapping mechanism through the feeding mechanism; 5) The wire-wrapping elongation motor rises to the bottom of the wire to be repaired, and the repair clamp blocks are clamped by the wire-wrapping motor to bundle the broken wire; 6) Repeat steps 3 and 4 above until the repair is completed or the repair clamp blocks are completely used. At this time, the wire-straightening mechanism and the wire-wrapping mechanism return to their initial positions, the lifting mechanism descends, the rotor starts, the flight platform slowly rises until the walking wheels leave the line, and at this time the flight platform slowly moves to the side away from the power line until it reaches an appropriate position and lands to complete the operation.

[0016] Preferably, the above flight platform is of the type with rotors mounted below, and an auxiliary wire-aligning device is also fixed on the flight platform, including any one or more of an airborne radar and a camera.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention realizes the repair of broken wires on power lines by the method of mounting a wire-hanging walking mechanism and a broken wire repair operation mechanism on a multi-rotor flight platform. It can not only quickly carry out repair operations in complex terrain environments, but also solve the problem of inconvenient up / down line of traditional wire-hanging operation robots. It can replace traditional manual labor for broken wire repair of transmission lines, improve operation efficiency, and reduce operation costs; 2) The wire-straightening clamp is a semi-circular movable block, and an elastic block such as sponge, rubber or foam is fixed inside it, which can adapt to power lines of various specifications and has strong adaptability; 3) The wire-straightening clamp and the wire-wrapping clamp are of a quick-disassembly design, and different sizes can be selected according to actual needs for quick replacement; 4) The feeding mechanism is a passive elastic feeding, which cooperates with the baffle plate, and through the up and down movement of the wire-wrapping mechanism, passive autonomous feeding can be realized; 5) The repair clamp block is of a tie-tape design and has multiple layers of buckles, which can meet the covering requirements of power lines of various specifications; 6) The wire-straightening housing and the wire-wrapping housing can be combined and installed in different ways according to different needs, with strong adaptability; 7) A camera device is fixed on the wire-wrapping housing, which is convenient for observing the covering situation in real time and has high safety; 8) Both the walking motor and the rotating motor are high-torque joint motors, which can be actively limited and are not prone to slipping. 9) The conductive mechanism can roll on the power line without damaging the power line itself, enabling the robot to perform live high-voltage operations. 10) An auxiliary wire alignment device is installed on the multi-rotor aircraft, which can achieve automatic / semi-automatic wire threading, with simple operation and high safety. Description of the Drawings

[0018] Figure 1 It is a schematic diagram of the structure of the multi-rotor aircraft; Figure 2 It is a schematic diagram of the linear lifting structure; Figure 3 It is a schematic diagram of the rotary lifting structure Figure 1 (The lifting mechanism is a rotary lifting mechanism, and the wire-straightening housing and the wire-wrapping housing are placed separately in the front and middle); Figure 4 It is a schematic diagram of the rotary lifting structure Figure 2 (The lifting mechanism is a rotary lifting mechanism, and the wire-straightening housing and the wire-wrapping housing are placed separately in the front and back); Figure 5 It is a schematic diagram of the rotary lifting structure Figure 3 (The lifting mechanism is a rotary lifting mechanism, and the wire-straightening housing and the wire-wrapping housing are combined); Figure 6 It is a schematic diagram of the structure of the wire-straightening mechanism; Figure 7 It is a schematic diagram of the structure of the wire-wrapping mechanism; Figure 8 It is a schematic diagram of the structure of the feeding mechanism; Figure 9 It is a schematic diagram of the structure of the rotary lifting mechanism; Figure 10 It is a schematic diagram of the structure of the walking mechanism; Figure 11 It is a schematic diagram of the structure of the conductive mechanism; Figure 12 Schematic diagram of the sectional state structure of the conductive mechanism; Figure 13 It is a schematic diagram of the operation of the multi-rotor aircraft Figure 1 (Wire threading state); Figure 14 It is a schematic diagram of the operation of the multi-rotor aircraft Figure 2 (Walking state); Figure 15 It is a schematic diagram of the operation of the multi-rotor aircraft Figure 3 (Repair state).

[0019] In the figure, 1 is a wire-straightening mechanism, 2 is a wire-wrapping mechanism, 3 is a feeding mechanism, 4 is a lifting mechanism, 5 is a wire-straightening housing, 6 is a wire-wrapping housing, 7 is a camera device, 8 is a baffle plate, 9 is a repair clamp block, 10 is a traveling mechanism, 11 is a conductive mechanism, 12 is a flying platform, 13 is an auxiliary wire-aligning device, and 14 is a broken-strand line; 101 is a wire-straightening motor, 102 is a wire-straightening base, 103 is a wire-straightening connecting rod, 104 is a wire-straightening clamp, 105 is a wire-straightening extension motor, 106 is a wire-straightening extension base, and 107 is an elastic block; 201 is a wire-wrapping motor, 202 is a wire-wrapping base, 203 is a wire-wrapping connecting rod, 204 is a wire-wrapping clamp, 205 is a wire-wrapping extension motor, and 206 is a wire-wrapping extension base; 301 is a feeding base, 302 is a feeding cover plate, 303 is a feeding push block, 304 is a sleeve, 305 is a feeding fixing seat, and 306 is a spring; 401 is a rotating motor, 402 is a rotating fixing seat, and 403 is a shaft; 1001 is a traveling motor, 1002 is a traveling wheel, 1003 is a traveling support, and 1004 is a bearing; 1101 is a resistor, 1102 is an insulating rod, 1103 is a conductive rod, 1104 is a conductive head, 1105 is an insulating head, 1106 is a fixing base, and 1107 is a damper. Detailed implementation manner

[0020] Next, the present invention will be further introduced in conjunction with the accompanying drawings and specific embodiments.

[0021] Embodiment 1: As Figures 1 to 15 shown, a multi-rotor aircraft for repairing broken strands of power lines and its usage method include a traveling mechanism 10 that can be fixed on the flying platform 12, a lifting mechanism 4 fixed on the traveling support 1003 or the flying platform 12, a wire-straightening mechanism 1 fixed on the wire-straightening housing 5, a wire-wrapping mechanism 2 fixed on the wire-wrapping housing 6, a baffle plate 8 and a feeding mechanism 3 located on both sides of the wire-wrapping mechanism 2 and fixed above the wire-wrapping housing 6. Among them, the wire-straightening housing 5 and the wire-wrapping housing 6 are connected to each other through the shaft 4, and the wire-straightening housing 5 and the wire-wrapping housing 6 can be separated or combined; a camera device 7 is fixed on the wire-wrapping housing 6 to facilitate real-time observation of the wrapping situation; a conductive mechanism 11 is also fixed above the flying platform 12, and the conductive mechanism 11 is located on both sides of the traveling mechanism 10.

[0022] Preferably, the above-mentioned camera device 7 uses a high-definition network camera.

[0023] Preferably, the wire-straightening mechanism 1 includes a wire-straightening motor 101 with one end fixedly connected to the wire-straightening base 102 and the other end connected to the wire-straightening connecting rod 103 by a rotating shaft; a wire-straightening elongation motor 105 with one end fixedly connected to the wire-straightening elongation base 106 and the other end fixedly connected to the bottom end of the wire-straightening base 102; a wire-straightening clamp 104 respectively connected to the wire-straightening connecting rod 103 and the wire-straightening base 102 by a rotating shaft; and the wire-straightening elongation base 106 is fixedly connected to the bottom surface of the wire-straightening housing 5. Among them, the wire-straightening clamp 104 is a semi-circular movable block, and an elastic block 107, such as sponge, rubber or foam, is fixed inside it, and the wire-straightening clamp 104 is of quick-release design and can be adjusted and replaced according to the size of the power line to adapt to power lines of various specifications.

[0024] Preferably, the wire-wrapping mechanism 2 includes a wire-wrapping motor 201 with one end fixedly connected to the wire-wrapping base 202 and the other end connected to the wire-wrapping connecting rod 203 by a rotating shaft; a wire-wrapping elongation motor 205 with one end fixedly connected to the wire-wrapping elongation base 206 and the other end fixedly connected to the bottom end of the wire-wrapping base 202; a wire-wrapping clamp 204 respectively connected to the wire-wrapping connecting rod 203 and the wire-wrapping base 202 by a rotating shaft; and the wire-wrapping elongation base 206 is fixedly connected to the bottom surface of the wire-wrapping housing 6. Among them, the wire-wrapping clamp 204 is of quick-release design and can be adjusted and replaced according to the size of the power line to adapt to power lines of various specifications.

[0025] Preferably, the feeding mechanism 3 includes a feeding base 301 and a feeding fixing seat 305 fixed above the wire-wrapping housing 6, a feeding cover plate 302 fixed to the upper end of the feeding base 301 through a slide rail, a feeding push block 303 fitted with the feeding base 301 through a notch, and a sleeve 304 with two ends respectively fixed to the feeding push block 303 and the feeding fixing seat 305. Among them, a repair clamp block 9 can be placed inside the feeding base 301 and is closed by the feeding cover plate 302 to prevent the repair clamp block 9 from falling off. The sleeve 304 is a gas spring or a damping mechanism, and a spring 306 is covered on the outside; the repair clamp block 9 is of a zip-tie design and has multiple layers of buckles to adapt to power lines of various specifications.

[0026] Preferably, the lifting mechanism 4 is a rotary lifting mechanism, including a rotary fixing seat 402 fixed to the side of the walking bracket 1003 or on the flight platform 12, a rotary motor 401 fixed inside the rotary fixing seat 402, and a shaft 403 clamped into the inside of the walking bracket 1003 through a bearing 1004 and fixedly connected to the rotary motor 401. The rotary motor 401 is a high-torque motor.

[0027] Preferably, the rotary motor 401 used is a robot joint motor of Muweidu or RMD.

[0028] Preferably, the lifting mechanism 4 is a linear lifting mechanism, which can realize linear lifting through a push rod motor with one end fixed on the flying platform 12 and the other end fixed to the wire wrapping shell 6 and the wire drawing shell 5. At this time, the shaft 403 and the walking bracket 1003 are limited by the slide groove.

[0029] Preferably, the walking mechanism 10 comprises a walking bracket 1003 fixed on the flying platform 12, a walking motor 1001 fixed in the walking bracket 1003, and a walking wheel 1002 connected to the walking motor 1001. The walking motor 1001 is a large torque motor; the walking bracket 1003 is equipped with a sensor near the walking wheel 1002, which can provide a basis for determining the distance between the power line and the walking bracket 1003, so as to facilitate the walking mechanism 10 to be mounted on the power line.

[0030] Preferably, the conductive mechanism 11 comprises an insulating rod 1102 with conductive heads 1104 fixed at both ends, a resistor 1101 connected to the conductive head 1104 and fixed inside the insulating rod 1102, an insulating head 1105 fixed to the middle of the insulating rod 1102, a conductive rod 1103 sleeved on the outside of the insulating rod 1102 and connected to the top conductive head 1104 and the insulating head 1105 via a rotating shaft at both ends, a fixed base 1106 fixed on the flying platform 12 and arranged separately, and a damper 1107 connected to the insulating head 1105 and a fixed base 1106 via a rotating shaft at both ends. The conductive head 1104 at the bottom end of the insulating rod 1102 is connected to another fixed base 1106; the damper 1107 can be a gas spring or a combination of a spring and a sleeve; and the conductive rod 11 can roll on the power line.

[0031] Preferably, the flying platform 12 is of the rotor-undermounted type, and an auxiliary alignment device 13 is also fixed on the flying platform 12, including any one or more of an airborne radar and a camera.

[0032] Preferably, in the auxiliary alignment device 13, the airborne radar used is a Lanwo 360 radar, and the camera used is a high-definition network camera.

[0033] Example 2: Figures 13 - 15As shown, preferably, when the above-mentioned multi-rotor aircraft for broken wire repair is working, it is divided into six steps: 1) The flight platform 12 takes off and approaches the power line, and slowly approaches. First, the conductive rod 11 is closely attached to the power line, and then the walking support 1003 is brought into contact with the power line. At this time, data is transmitted back through the sensor, and the flight platform 12 slowly descends until the walking wheels 1002 are completely mounted on the power line. At this time, the rotor motor is turned off; 2) The walking mechanism 10 walks to near the broken wire 14, and the lifting mechanism 4 raises the wire-straightening mechanism 1, the wire-wrapping mechanism 2, the feeding mechanism 3, etc. to appropriate positions; 3) The wire-straightening clamp 104 is raised to the bottom of the broken wire 14 by the wire-straightening extension motor 105, and then the wire-straightening motor 101 wraps the wire-straightening clamp 104 around the broken wire 14; 4) The walking mechanism 10 advances to the position to be repaired, the wire-wrapping extension motor 205 sinks, and the repair clamp block 9 is sequentially fed into the wire-wrapping mechanism 2 through the feeding mechanism 3; 5) The wire-wrapping extension motor 205 rises to the bottom of the wire to be repaired, and then the repair clamp block 9 is clamped by the wire-wrapping motor 201 to bundle the broken wire 14; 6) Repeat steps 3 and 4 above until the repair is completed or the repair clamp block 9 is completely used. At this time, the wire-straightening mechanism 1 and the wire-wrapping mechanism 2 return to their initial positions, the lifting mechanism 4 descends, the rotor starts, and the flight platform 12 slowly rises until the walking wheels 1002 are separated from the line. At this time, the flight platform 12 slowly displaces to the side away from the power line until it reaches an appropriate position and lands to complete the operation.

[0034] Preferably, the above-mentioned wire-straightening motor 101, wire-straightening extension motor 15, wire-wrapping motor 201, and wire-wrapping extension motor 205 use Royer push rods with encoders.

[0035] As mentioned above, only the specific implementation examples of the present invention are provided, and the protection scope of the present invention is not limited thereto. Those skilled in the art of this technology can easily find variations or replacement methods within the technical scope disclosed by the present invention, and these should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claimed rights.

Claims

1. A multi-rotor aircraft for repairing broken strands of a power line, characterized in that: It has a flight platform (11), including a walking mechanism (10) that can be fixed to the flight platform (11), a lifting mechanism (4) fixed to the walking support (1003) or the flight platform (11), a wire-straightening mechanism (1) fixed to the wire-straightening housing (5), a wire-wrapping mechanism (2) fixed to the wire-wrapping housing (6), a material-blocking (8) and a feeding mechanism (3) located on both sides of the wire-wrapping mechanism (2) and fixed above the wire-wrapping housing (6); Among them, the wire-straightening housing (5) and the wire-wrapping housing (6) are interconnected by a shaft (403), and the wire-straightening housing (5) and the wire-wrapping housing (6) can be separated or combined; a camera device (7) is fixed on the wire-wrapping housing (6) to facilitate real-time observation of the coating situation; a conductive mechanism (11) is also fixed above the flight platform (12), and the conductive mechanism (11) is located on both sides of the walking mechanism (10).

2. The multi-rotor aircraft for repairing broken strands of a power line according to claim 1, characterized in that: The above-mentioned wire-straightening mechanism (1) includes a wire-straightening motor (101) with one end fixedly connected to the wire-straightening base (102) and the other end connected to the wire-straightening connecting rod (103) in a rotating shaft manner; a wire-straightening elongation motor (105) with one end fixedly connected to the wire-straightening elongation base (106) and the other end fixedly connected to the bottom end of the wire-straightening base (102); a wire-straightening clamp (104) respectively connected to the wire-straightening connecting rod (103) and the wire-straightening base (102) in a rotating shaft manner; the wire-straightening elongation base (106) is fixedly connected to the bottom surface of the wire-straightening housing (5); Among them, the wire-straightening clamp (104) is a semi-circular movable block, and an elastic block (107) is fixed inside it. The elastic block (107) is made of sponge, rubber or foam, and the wire-straightening clamp (104) is designed with threaded quick disassembly, and can be adjusted and replaced according to the size of the power line to adapt to power lines of various specifications.

3. The multi-rotor aircraft for repairing broken strands of a power line according to claim 2, characterized in that: The above-mentioned wire-wrapping mechanism (2) includes a wire-wrapping motor (201) with one end fixedly connected to the wire-wrapping base (202) and the other end connected to the wire-wrapping connecting rod (203) in a rotating shaft manner; a wire-wrapping elongation motor (205) with one end fixedly connected to the wire-wrapping elongation base (206) and the other end fixedly connected to the bottom end of the wire-wrapping base (202); a wire-wrapping clamp (204) respectively connected to the wire-wrapping connecting rod (203) and the wire-wrapping base (202) in a rotating shaft manner; the wire-wrapping elongation base (206) is fixedly connected to the bottom surface of the wire-wrapping housing (6); Among them, the wire-wrapping clamp (204) is designed with threaded quick disassembly, and can be adjusted and replaced according to the size of the power line to adapt to power lines of various specifications.

4. A multi-rotor aircraft for repairing broken strands of a power line according to claim 2, characterized in that: The above-mentioned feeding mechanism (3) includes a feeding base (301) and a feeding fixed seat (305) fixed above the wire-wrapping housing (6), a feeding cover plate (302) fixed to the upper end of the feeding base (301) through a slide rail, a feeding push block (303) matched with the feeding base (301) through a notch, and a sleeve (304) with both ends respectively fixed to the feeding push block (303) and the feeding fixed seat (305); The repair clamp (9) can be placed inside the feed base (301) and is closed by a feed cover (302) to prevent the repair clamp (9) from falling off; the sleeve (304) is a gas spring or a damping mechanism, and is coated with a spring (306) on the outside; the repair clamp (9) is a cable tie design with multiple layers of buckles, and is suitable for power lines of various specifications.

5. A multi-rotor aircraft for repairing broken strands of a power line according to claim 4, characterized in that: The lifting mechanism (4) is a rotary lifting mechanism, comprising a rotary fixing seat (402) fixed to the side of the walking support (1003) or the flying platform (11), a rotary motor (401) fixed in the rotary fixing seat (402), and a shaft (403) inserted into the walking support (1003) through a bearing (1004) and fixedly connected to the rotary motor (401).

6. The multi-rotor aircraft for repairing broken strands of a power line and its usage method according to claim 1, characterized in that: The lifting mechanism (4) is a linear lifting mechanism, which can achieve linear lifting through a push rod motor with one end fixed on the flying platform (11) and the other end fixed to the wire wrapping shell (6) and the wire drawing shell (5). At this time, the shaft (403) and the walking bracket (1003) are limited by the slide groove.

7. A multi-rotor aircraft for repairing broken strands of a power line according to claim 1, wherein: The walking mechanism (10) comprises a walking support (1003) fixed on the flying platform (11), a walking motor (1001) fixed in the walking support (1003), and a walking wheel (1002) connected to the walking motor (1001); A sensor is installed on the side of the walking bracket (1003) close to the walking wheel (1002), which can provide a basis for determining the distance between the power line and the walking bracket (1003), thereby facilitating the walking mechanism (10) to be mounted on the power line.

8. A multi-rotor aircraft for repairing broken strands of a power line according to claim 1, characterized in that: The conductive mechanism (11) comprises an insulating rod (1102) with conductive heads (1104) fixed at both ends, a resistor (1101) connected to the conductive head (1104) and fixed inside the insulating rod (1102), an insulating head (1105) fixed at the middle of the insulating rod (1102), a conductive rod (1103) sleeved on the outside of the insulating rod (1102) and having its two ends respectively connected to the top conductive head (1104) and the insulating head (1105) by means of a rotating shaft, a fixed base (1106) fixed on the flying platform (12) and arranged separately, and a damper (1107) having its two ends respectively connected to the insulating head (1105) and a fixed base (1106) by means of a rotating shaft; The conductive head (1104) at the bottom end of the insulating rod (1102) is connected to another fixed base (1106); the damper (1107) can be a gas spring or a combination of a spring and a sleeve; and the conductive rod (11) can roll on the power line.

9. The repair method of a multi-rotor aircraft for repairing broken strands of a power line according to claim 1, wherein: The above-mentioned broken strand repair multi-rotor aircraft is divided into six steps when working: The flying platform (12) takes off and approaches the power line, and slowly approaches, firstly bringing the conductive rod (11) close to the power line, and then bringing the walking support (1003) into contact with the power line. At this time, the sensor transmits data back, and the flying platform (12) slowly descends until the walking wheel (1002) is completely mounted on the power line, and at this time, the rotor motor is turned off; 2) The traveling mechanism (10) travels to the vicinity of the broken-strand line (14), and the lifting mechanism (4) raises the wire-straightening mechanism (1), the wire-wrapping mechanism (2), the feeding mechanism (3), etc. to appropriate positions; 3) The wire-straightening clamp (104) is raised to the bottom of the broken-strand line (14) by the wire-straightening elongation motor (105), and then the wire-straightening clamp (104) is looped around the broken-strand line (14) by the wire-straightening motor (101); 4) The traveling mechanism (10) advances to the position to be repaired, the wire-wrapping elongation motor (205) sinks, and the repair clamp block (9) is sequentially fed into the wire-wrapping mechanism (2) through the feeding mechanism (3); 5) The wire-wrapping elongation motor (205) rises to the bottom of the line to be repaired, and the repair clamp block (9) is clamped by the wire-wrapping motor (201) to gather the broken-strand line (14); 6) Repeat the above steps 3) and 4) until the repair is completed or the repair clamp block (9) is completely used. At this time, the wire-straightening mechanism (1) and the wire-wrapping mechanism (2) return to their initial positions, the lifting mechanism (4) descends, the rotor starts, and the flying platform (12) slowly rises until the traveling wheels (1002) leave the line. At this time, the flying platform (12) slowly displaces towards the side away from the power line until it reaches an appropriate position and lands to complete the operation.

10. The multi-rotor aircraft for repairing broken strands of a power line according to claim 1, characterized in that: The above-mentioned flying platform (12) is of the type with a rotor installed below, and an auxiliary line-aligning device (13) is also fixed on the flying platform (12), including any one or more of an airborne radar and a camera.

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