Broken strand repairing robot for power transmission line

Abstract

The invention relates to a broken strand repairing robot for a power transmission line, and the robot comprises a box body, and two sides of the upper end of the box body are provided with walking modules which cooperate with each other and are used for walking on the power transmission line. A supply platform and a repairing module are arranged at the upper end of the box body and located between the two walking modules, the repairing module is driven by a jacking mechanism to move between the strand breaking position and the supply platform, and the repairing module comprises a restorer and a hoop device. The restorer is internally provided with an opening allowing the broken strand power transmission line to enter and a clamping and stroking mechanism used for stroking and repairing the broken strand power transmission line, and the clamping device is used for bearing the buckle of the supply platform and clamping and fixing the buckle at the repaired part; a flying module is further connected to the upper portion of the box body. The robot is conveniently used for repairing the broken strand of the overhead ground wire of the power transmission line, improves the power grid operation and maintenance efficiency and reduces the labor cost.

Description

Technical Field

[0001] The invention relates to a robot for repairing broken strands of a power transmission line. Background Art

[0002] With the rapid development of the power system, the maintenance of transmission lines has become increasingly important. Among them, the problem of broken strands of overhead transmission lines occurs frequently, which not only threatens the safe and stable operation of the power grid, but may also lead to large-scale power outages. The traditional method of repairing broken strands mainly relies on manual high-altitude operations. Not only is manual repair time-consuming and inefficient, but it also poses a great safety risk. For example, during high-altitude operations, workers' insulating gloves directly contact live objects, posing a risk of electric shock. They also face multiple dangers such as falling and electric shock, especially in areas with bad weather or complex terrain, such as mountainous areas and deserts. Therefore, it is particularly important to develop an efficient and safe automated broken strand repair robot.

[0003] Currently, numerous research institutions and companies at home and abroad have developed various types of broken-wire repair robots. These robots utilize diverse technologies to accurately detect and repair broken cables. For example, Chongqing Nandian Technology Development Co., Ltd. has developed the CQSETXF2100, a live cable repair robot that uses a drone to perform repairs. State Grid Shaanxi Ultra-High Voltage Company has developed an intelligent robot that successfully solved the problem of broken overhead ground wires in mountainous areas, significantly improving grid reliability. State Grid Zhejiang Quzhou Power Supply Company also used a robot to repair broken ground wires on the ±800 kV UHV Binjin Line, further demonstrating the potential of robots for high-voltage transmission lines. Furthermore, State Grid Baoji Power Supply Company has also employed a combination of drones and multi-axis robotic arms for broken-wire repair. While these methods have improved efficiency, they still present challenges.

[0004] 1. Technical limitations: Drones and robots have limited operational capabilities in complex terrain and harsh environments, and the accuracy and stability of the repair process need to be improved.

[0005] 2. Equipment complexity: Existing robotic systems are usually composed of multiple independent modules, and the coordination between modules is poor, which increases the complexity of the system and the difficulty of maintenance.

[0006] 3. Poor environmental adaptability: The robot is not capable of operating under extreme weather conditions. Repair work is difficult to carry out smoothly in severe weather such as strong winds and heavy rains.

[0007] 4. High equipment complexity: Existing robotic systems usually require complex mechanical structures and control systems, which increases equipment costs and maintenance difficulty. Summary of the Invention

[0008] The object of the present invention is to provide a transmission line broken strand repair robot, which is convenient for repairing broken strands of overhead ground wires of power transmission lines, thereby improving the efficiency of power grid operation and maintenance and reducing labor costs.

[0009] The technical solution of the present invention is: a transmission line broken strand repair robot, including a box body, the upper end of the box body is provided with walking modules on both sides of which are matched for walking on the transmission line, the upper end of the box body and located between the two walking modules is provided with a supply platform and a repair module driven by a jacking mechanism to move between the broken strand and the supply platform, the repair module includes a resetter and a clamp, the resetter is provided with an opening for allowing the broken strand of the transmission line to enter and a clamping and straightening mechanism for straightening the broken strand of the transmission line for repair, the clamp is used to receive the buckle of the supply platform and realize the clamping and fixation of the buckle at the repair position; a flying module is also connected above the box body.

[0010] Furthermore, the walking module includes a seat plate installed at the upper end of the box body, and a longitudinal wheel axle driven by a first motor is installed on the upper part of the seat plate. A driving wheel is fixed on the longitudinal wheel axle, and auxiliary wheels are rotatably connected to both side ends of the upper part of the seat plate. A pair of locking mechanisms that can be opened and closed and used to lock the power transmission line are also provided on both sides of the upper part of the seat plate.

[0011] Furthermore, the locking mechanism includes a horizontal rotating shaft arranged on the front side of the upper part of the seat plate and driven to rotate by the second motor through the first gear pair, and the first driving gear is fixed at both ends of the horizontal rotating shaft, and the two sides of the seat plate are respectively provided with a pair of locking claws whose middle parts are rotatably connected to the seat plate, and the lower part of the locking claw has an arc-shaped hook portion, and the arc-shaped hook portions are arranged facing each other and located on the lower side of the auxiliary wheel, and meshing driven gears are provided between the pair of locking claws, and one of the driven gears is meshed with the driving gear on the corresponding side.

[0012] Furthermore, the resetter includes a fixed ring seat with an opening facing upward, an inner gear ring with a notch is rotatably connected to the fixed ring seat, two second drive gears driven by a third motor and meshing with the inner gear ring are installed on the fixed ring, and the clamping and wire-winding mechanism is fixedly connected to the inner gear ring.

[0013] Furthermore, the clamping and threading mechanism includes a fixed cylinder with an axial opening on the side wall, three claws radially slidingly connected to the fixed cylinder are arranged at intervals along the circumferential direction on the fixed cylinder, and three small bevel gears driven by a fourth motor are also installed at intervals along the circumferential direction on the fixed cylinder. An annular disk with an opening is rotatably connected in the fixed cylinder, and one end face of the annular disk is provided with a large bevel gear meshing with the small bevel gear, and the other end face of the annular disk is provided with an Archimedean spiral groove meshing with the groove on the back of the claw to drive the clamping claw to move radially.

[0014] Furthermore, a thread-straightening ball head is provided on the working end surface of the claw, and the thread-straightening ball head is made of nylon material.

[0015] Furthermore, the clamp includes a movable guide groove arranged longitudinally, and a front buckle clamping seat and a rear buckle clamping seat with arc openings facing each other are slidably connected in the longitudinal groove of the movable guide groove. The front buckle clamping seat and the rear buckle clamping seat are provided with arc grooves that cooperate to realize the insertion of the buckle, and a driving mechanism is provided in the movable guide groove to drive the front buckle clamping seat and the rear buckle clamping seat to move toward or away from each other.

[0016] Furthermore, the driving mechanism includes a circular plate arranged in the movable guide groove, the upper end surface of the circular plate is provided with two arc-shaped limit grooves, the lower ends of the front snap clamping seat and the rear snap clamping seat are provided with limit blocks extending into the corresponding arc-shaped limit grooves, and the lower end of the movable guide groove is vertically provided with a fifth motor that drives the circular plate to rotate to drive the front snap clamping seat and the rear snap clamping seat to move toward or away from each other.

[0017] Furthermore, the lifting mechanism includes a resetter rack and a clamp rack vertically slidingly arranged in the box body, the upper end of the resetter rack extends out of the box body and is provided with a resetter connecting part, the upper end of the clamp rack extends out of the box body and is provided with a clamp connecting part, a worm driven by a sixth motor is longitudinally arranged in the box body, a transverse shaft is rotatably connected in the box body, a worm wheel matching the worm is fixed in the middle of the transverse shaft, and third drive gears are fixed to the resetter rack and the clamp rack at both ends respectively.

[0018] Furthermore, the supply platform includes a placement table for horizontally placing multiple clips, and a push block is provided on one side of the placement table for pushing the clip laterally into the clamp when the clamp descends to the other side of the placement table. A connecting rod is provided in the box body with the middle hinged to it, and a telescopic rod is hinged in the box body and an electric push rod is hinged to the lower end of the connecting rod, and the upper end of the connecting rod is hinged to the push rod laterally fixed to the side end of the push block.

[0019] Compared with the prior art, the present invention has the following advantages: 1. The robot is mainly composed of a walking module, a detection module, and a flying module. It can detect, locate, and repair broken strands. It can replace manual work at high altitudes and is convenient for efficient and safe repair of broken strands in overhead ground wires of power transmission lines. It improves the efficiency of power grid operation and maintenance, reduces labor costs, and effectively avoids safety hazards such as falls and electric shocks for workers, ensuring the safe and stable operation of the power grid, thereby increasing operational safety.

[0020] 2. The robot is made of lightweight and high-strength materials and has good wind resistance and earthquake resistance.

[0021] 3. The robot can complete broken strand detection and repair work in a short period of time, and through information feedback from sensors, it can effectively coordinate the operation of various mechanisms, which can significantly improve work efficiency.

[0022] 4. The robot can be used for transmission lines of different voltage levels. The design of the broken strand repair robot takes into account a variety of complex environmental factors, such as large spans and steep slopes. The design of its walking mechanism enables it to flexibly cope with various terrains and obstacles, ensuring efficient operation in various environments.

[0023] 5. The lightweight and modular design distributes various functions to different mechanisms, enabling them to work in coordination with each other. This makes the broken strand repair robot easy to assemble and maintain, while reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of the broken leg repair robot of the present invention; Figure 2 It is a partial schematic diagram of the broken leg repairing robot of the present invention; Figure 3 Schematic diagram of the internal structure of the clamping mechanism in the reducer of the present invention Figure 1 ; Figure 4 Schematic diagram of the internal structure of the clamping mechanism in the reducer of the present invention Figure 2 ; Figure 5 This is a schematic diagram of the internal rotation mechanism of the reducer of the present invention; Figure 6 This is a schematic diagram of the working process of the clamping mechanism of the present invention; Figure 7 This is a schematic diagram of the working process of the rotating mechanism of the present invention; Figure 8 It is a schematic diagram of the clamp of the present invention; Figure 9 This is a schematic diagram of the limiting groove of the movable mechanism on the inner end surface of the clamp of the present invention; Figure 10 This is a schematic diagram of the working process of the clamp of the present invention; Figure 11 This is a schematic diagram of the buckle of the present invention being fixed on a broken strand; Figure 12 This is a schematic diagram of the process of replenishing the buckle of the clamp of the present invention; Figure 13 It is a schematic diagram of the lifting mechanism of the present invention; Figure 14 It is an overall schematic diagram of the walking module of the present invention; Figure 15 This is a side view schematic diagram of the walking module of the present invention; Figure 16 Schematic top view of the walking module of the present invention; Figure 17 A schematic diagram of a driving wheel and a clamping wheel of the present invention; Figure 18 Schematic diagram of locking the locking jaws of the present invention on the power grid; Figure 19 Schematic diagram of the locking jaws of the present invention releasing the power grid; In the figure: 1-box 2-travel module 201-base plate 202-first motor 203-drive wheel 204-auxiliary wheel 205-second motor 206-first gear pair 207-transverse shaft 208-first drive gear 209-clamping claw 210-driven gear 211-mounting seat 3-supply platform 301-placement table 302-push block 303-connecting rod 304-electric push rod 305-push rod 4-lifting mechanism 401-resetter rack 402-clamp rack 403-resetter connecting part 404-clamp connecting part 405-sixth motor 406-worm 407-transverse shaft 408-worm gear 409-third drive gear 5-resetter 501-fixed ring seat 502-inner ring gear 503-third motor 504-second drive gear 505-claw 506-fourth motor 507-small bevel gear 508-annular disk 509-large bevel gear 510-Archimedes spiral groove 511-straightening ball head 512-fixed cylinder 513-slot 6-clamp 601-movable guide groove 602-longitudinal groove 603-front buckle clamping seat 604-rear buckle clamping seat 605-arc-shaped groove 606-circular plate 607-arc-shaped limit groove 608-limiting block 609-fifth motor 620-semicircular ring 621-convex button 622-hole 630-removed buckle 640-buckle to be removed 7-flight module. DETAILED DESCRIPTION

[0025] To make the above features and advantages of the present invention more clearly understood, embodiments are given below with reference to the accompanying drawings for detailed description, but the present invention is not limited thereto.

[0026] refer to Figures 1 to 19 A transmission line broken strand repair robot capable of traveling on 500kV ultra-high voltage transmission lines and carrying specialized tools to retract and repair broken strands. The robot comprises a housing 1, the upper end of which is provided with walking modules 2 on both sides thereof, each of which is adapted to travel on the transmission line. A supply platform 3 is provided on the upper end of the housing, located between the two walking modules, and a repair module driven by a lifting mechanism 4 to move between the broken strand of the transmission line and the supply platform. The repair module comprises a resetter 5 and a clamp 6, both of which are arranged adjacent to each other. The resetter is provided with an opening for the broken strand of the transmission line to enter, and a clamping mechanism for retracting and repairing the broken strand of the transmission line. The clamp is used to receive the buckle of the supply platform and clamp it to the repair site. The broken strand is restored and fixed through the coordinated movement of the resetter and clamp. A flight module 7 is also connected to the upper portion of the housing. The flight module can be a six-winged drone and is connected to the rear of the housing via a fixed frame. The robot has stable propulsion, high precision, high success rate, and can cope with various complex weather conditions, and has broad prospects.

[0027] In this embodiment, the walking module includes an L-shaped seat plate 201 installed at the upper end of the box body, and the upper part of the seat plate has a mounting seat 211, in which a longitudinal wheel axle driven by a first motor 202 is installed, and a driving wheel 203 is fixed on the longitudinal wheel axle, and auxiliary wheels 204 are rotatably connected to both side ends of the upper part of the mounting seat. A pair of locking mechanisms that can be opened and closed and used to lock the power transmission line are also provided on both sides of the upper part of the mounting seat, so that the power transmission line can be clamped by the locking mechanism to ensure the stability of the robot on the power transmission line.

[0028] The wheel-drive design is equipped with a drive wheel and auxiliary wheels (for clamping). The drive wheel uses an optimized narrow-diameter wheel to increase adhesion and reduce energy consumption. The auxiliary wheel is used to work with the locking clamp when necessary to provide additional grip, ensuring that the robot can move stably on routes with larger slopes, thereby improving movement stability and traction on different terrains.

[0029] In this embodiment, the locking mechanism includes a transverse rotating shaft 207 disposed on the front side of the upper portion of the mounting base and driven to rotate by a second motor 205 via a first gear pair 206. The first gear pair can be a worm gear pair. A first drive gear 208 is fixed to each end of the transverse rotating shaft. A pair of locking jaws 209 are disposed on either side of the mounting base, located inside the auxiliary wheel. The middle portion of each locking jaw is rotatably connected to the mounting base. The lower portion of each locking jaw has an arcuate hook portion, which is positioned opposite each other and located below the auxiliary wheel. A driven gear 210 is disposed between each pair of locking jaws for engagement, with one driven gear meshing with the corresponding driving gear. Thus, when the second motor drives the transverse rotating shaft via the first gear pair, the first drive gear drives one of the driven gears, thereby driving the arcuate hook portions of the two pairs of locking jaws to move toward or away from each other. When the arcuate hook portions move toward each other, the power transmission line is locked; when the arcuate hook portions move away from each other, the power transmission line is released.

[0030] The locking mechanism is equipped with a force sensor. When the flight module moves the broken strand repair robot to the broken strand, the force sensor automatically adjusts the clamping force of the locking jaws according to the thickness of the wire, thus achieving a stable state and facilitating movement on the power grid. The walking module is also designed with an obstacle-crossing area. Located below the drive wheels, the space between the lower part of the L-shaped base plate and the box body can be used to cross obstacles such as shock absorbers. Figure 14 .

[0031] Figure 18 and Figure 19 , which represents the state change of the locking jaws on the power grid. The locking jaws monitor their posture and stability in real time using an inertial measurement unit (IMU) and force sensors. When the control system detects that they have landed on the power grid or are experiencing tilt or slippage, it dynamically adjusts the locking force to ensure stable robot movement. When the operation is complete, the locking jaws release under the control of the force sensors based on feedback, allowing the strand repair robot to successfully detach from the power grid.

[0032] In this embodiment, the resetter includes a fixed ring seat 501 with an opening facing upward, and an inner gear ring 502 with a notch is rotatably connected to the fixed ring seat. Two second drive gears 504 driven by a third motor 503 and meshing with the inner gear ring are installed on the fixed ring. The clamping and wire-spooling mechanism is fixedly connected to the inner gear ring, and the inner gear ring is rotated by driving the second drive gear through the third motor, thereby driving the clamping and wire-spooling mechanism to rotate.

[0033] In this embodiment, the clamping and winding mechanism includes a fixed cylinder 512 with an axial opening on the side wall, three claws 505 radially slidably connected to the fixed cylinder are arranged at intervals along the circumferential direction on the fixed cylinder, and three small bevel gears 507 driven by a fourth motor 506 are also installed at intervals along the circumferential direction on the fixed cylinder. An annular disk 508 with an opening is rotatably connected in the fixed cylinder, and one end surface of the annular disk is provided with a large bevel gear 509 meshing with the small bevel gear, and the other end surface of the annular disk is provided with an Archimedean spiral groove 510 (meshing with a groove 513 on the back of the claw) ), thus forming a three-jaw chuck structure. When the fourth motor drives the small bevel gear, it in turn drives the large bevel gear. The back of the large bevel gear has an Archimedean spiral groove that engages with the three clamping claws, driving radial movement of the clamping claws. When the broken strand enters the clamping and winding mechanism, the three clamping claws clamp the strand radially. The inner ring gear simultaneously drives the clamping and winding mechanism to rotate. As the clamping and winding mechanism rotates, the machine moves synchronously laterally, achieving spiral winding, clamping any loose strands during rotation. The overall two-degree-of-freedom design allows for flexible adjustment of the winding path based on the location of the broken strand.

[0034] In this embodiment, the working end faces of the jaws are each equipped with a thread-snapping ball 511, which aligns closely with the conductor slot. Made of wear-resistant nylon, the thread-snapping ball reduces wear on the wiring and ensures a successful repair. Rotation of the large bevel gear drives the three jaws radially, thereby clamping and releasing the workpiece.

[0035] In this embodiment, the openings on the various components have the same width, which facilitates the entry of the power transmission line into the resetter after the openings are rotated to the same position.

[0036] In this embodiment, the clamp includes a longitudinally arranged movable guide groove 601, and a front buckle clamping seat 603 and a rear buckle clamping seat 604 with arc openings facing each other are slidably connected in the longitudinal groove 602 of the movable guide groove. The front buckle clamping seat and the rear buckle clamping seat are provided with arc grooves 605 that cooperate to realize the insertion of the buckle, and the movable guide groove is provided with a driving mechanism that drives the front buckle clamping seat and the rear buckle clamping seat to move toward or away from each other.

[0037] In this embodiment, the buckle is two semicircular rings 620 hinged at one end, and the other end of each semicircular ring is provided with a matching convex button 621 and a hole 622 so that the convex button can be inserted into the hole to realize the buckle fastening.

[0038] In this embodiment, the driving mechanism includes a circular plate 606 disposed in a movable guide groove. The upper end surface of the circular plate is provided with two arc-shaped limit grooves 607. The lower ends of the front and rear clip clamping seats are both provided with limit blocks 608 extending into the corresponding arc-shaped limit grooves. The lower end of the movable guide groove is vertically provided with a fifth motor 609 for driving the circular plate to rotate. The fifth motor drives the circular plate to rotate, thereby driving the front and rear clip clamping seats to move toward or away from each other, thereby achieving the clamping and separation of the clamp. When the broken strand is successfully reset, the clamp clamps the clip it holds, thereby clamping and fixing the clip at the repaired part, and preventing the broken strand from scattering again through the clip. When the clip is successfully fixed, the fifth motor drives the circular plate to control the separation of the clamp, and then returns to the supply platform to replenish the clip through the lifting mechanism.

[0039] In this embodiment, in order to drive the clamp to move up and down between the broken strand and the supply platform, the lifting mechanism includes a resetter rack 401 and a clamp rack 402 vertically slidingly arranged in the box body, the upper end of the resetter rack extends out of the box body and is provided with a resetter connecting part 403 connected to the fixed ring seat of the resetter, the upper end of the clamp rack extends out of the box body and is provided with a clamp connecting part 404 connected to the clamp, a worm 406 driven by the sixth motor 405 is longitudinally arranged in the box body, and a transverse shaft 407 is rotatably connected in the box body, a worm gear 408 cooperating with the worm is fixed in the middle of the transverse shaft, and a third drive gear 409 is fixed at both ends of the transverse shaft respectively to the resetter rack and the clamp rack. The sixth motor provides power to drive the worm, which transmits power to the turbine. The turbine is coaxial with the two third drive gears, and finally transmits power to the rack group. The two third drive gears respectively drive the resetter rack and the clamp rack to rise and fall, so as to realize the movement of the resetter and the clamp between the broken strand and the supply platform.

[0040] In this embodiment, the supply platform includes a placement platform 301 for horizontally placing multiple clips. A push block 302 is provided on one side of the placement platform for pushing the clips horizontally into the clip when the clip is lowered to the other side of the placement platform. A connecting rod 303 is provided in the box body, and a telescopic rod is hinged to the box body and an electric push rod 304 is hinged to the lower end of the connecting rod. The upper end of the connecting rod is hinged to a push rod 305 fixed laterally to the side end of the push block and slides along the axial direction of the connecting rod. After the clip returns to the supply platform, the telescopic rod of the electric push rod extends a certain distance to drive the connecting rod, so that the connecting rod pushes the push rod, allowing the push block to accurately send the clips into the front clip clamping seat and the rear clip clamping seat to achieve clip replenishment.

[0041] In this embodiment, a battery for powering various devices is provided in the box, or a wire connected to a ground power supply is connected to the box.

[0042] In this embodiment, a strand break detection module is also included. The strand break detection module has a pyroelectric infrared long-distance sensor and a visual system.

[0043] During operation, the robot is mounted on a ground control console and undergoes a system self-check. Once the robot is activated, the flight module guides it to the vicinity of the broken strand, accurately dropping it onto the conductor. Locking jaws at each end of the walking module, detected by force sensors, clamp the conductor to stabilize the entire device. The control system uses a vision system to determine the extent of the broken strand, using real-time images of the conductor captured by the pyroelectric infrared long-range sensor in the broken strand detection module. The control system then plans a path that effectively avoids obstacles and optimally reaches the broken strand. The first drive wheel propels the robot along the overhead line to the vicinity of the broken strand for repair work. Once the repair is complete, the robot disengages the locking mechanism, releasing it from the power line, and the drone transports the entire device back to the ground. Data from the repair process is transmitted back to the ground control console in real time, allowing the operator to confirm the results and conclude the operation.

[0044] The above is only a preferred embodiment of the present invention. For ordinary technicians in this field, according to the teachings of the present invention, designing different forms of transmission line broken strand repair robots does not require creative labor. Without departing from the principles and spirit of the present invention, all equal changes, modifications, substitutions and variations made within the scope of the patent application of the present invention should be covered by the scope of the present invention.

Claims

1. A power transmission line broken strand repair robot, comprising a box, characterized in that: The upper end of the box is provided with walking modules on both sides for walking on the power transmission line. The upper end of the box and between the two walking modules are provided with a supply platform and a repair module driven by a lifting mechanism to move between the broken part and the supply platform. The repair module includes a resetter and a clamp. The resetter is provided with an opening for the broken power transmission line to enter and a clamping and straightening mechanism for straightening and repairing the broken power transmission line. The clamp is used to receive the buckle of the supply platform and realize the clamping and fixation of the buckle at the repair part. A flying module is also connected to the top of the box.

2. The power transmission line broken strand repair robot according to claim 1, characterized in that: The walking module includes a seat plate installed at the upper end of the box body, and a longitudinal wheel axle driven by a first motor is installed on the upper part of the seat plate. A driving wheel is fixed on the longitudinal wheel axle, and auxiliary wheels are rotatably connected to both side ends of the upper part of the seat plate. A pair of locking mechanisms that can be opened and closed and used to lock the power transmission line are also provided on both sides of the upper part of the seat plate.

3. The power transmission line broken strand repair robot according to claim 2, characterized in that: The locking mechanism includes a horizontal rotating shaft arranged on the front side of the upper part of the seat plate and driven to rotate by the second motor through the first gear pair, and the first driving gear is fixed at both ends of the horizontal rotating shaft, and a pair of locking claws with the middle part connected to the seat plate for rotation are respectively provided on both sides of the seat plate, and the lower part of the locking claw has an arc-shaped hook portion, and the arc-shaped hook portions are arranged facing each other and located on the lower side of the auxiliary wheel, and meshing driven gears are provided between the pair of locking claws, and one of the driven gears is meshed with the driving gear on the corresponding side.

4. The power transmission line broken strand repair robot according to claim 1, characterized in that: The resetter includes a fixed ring seat with an opening facing upward, an inner gear ring with a notch is rotatably connected to the fixed ring seat, two second drive gears driven by a third motor and meshing with the inner gear ring are installed on the fixed ring, and the clamping and wire-winding mechanism is fixedly connected to the inner gear ring.

5. The power transmission line broken strand repair robot according to claim 1 or 4, characterized in that: The clamping and threading mechanism includes a fixed cylinder with an axial opening on the side wall, three claws radially slidingly connected to the fixed cylinder are arranged at intervals along the circumferential direction on the fixed cylinder, three small bevel gears driven by a fourth motor are also installed at intervals along the circumferential direction on the fixed cylinder, an annular disk with an opening is rotatably connected in the fixed cylinder, one end face of the annular disk is provided with a large bevel gear meshing with the small bevel gear, and the other end face of the annular disk is provided with an Archimedean spiral groove meshing with the groove on the back of the claw to drive the clamping claw to move radially.

6. The power transmission line broken strand repair robot according to claim 5, characterized in that: The working end surfaces of the clamping claws are all provided with thread-straightening ball heads, and the thread-straightening ball heads are made of nylon material.

7. The power transmission line broken strand repairing robot according to claim 1, 2, 3, 4 or 6, characterized in that: The clamp includes a movable guide groove arranged longitudinally, and a front buckle clamping seat and a rear buckle clamping seat with arc openings facing each other are slidably connected in the longitudinal groove of the movable guide groove. The front buckle clamping seat and the rear buckle clamping seat are provided with arc grooves that cooperate to realize the insertion of the buckle, and a driving mechanism is provided in the movable guide groove to drive the front buckle clamping seat and the rear buckle clamping seat to move toward or away from each other.

8. The power transmission line broken strand repair robot according to claim 7, characterized in that: The driving mechanism includes a circular plate arranged in a movable guide groove, the upper end surface of the circular plate is provided with two arc-shaped limit grooves, the lower ends of the front snap clamping seat and the rear snap clamping seat are provided with limit blocks extending into the corresponding arc-shaped limit grooves, and the lower end of the movable guide groove is vertically provided with a fifth motor that drives the circular plate to rotate to drive the front snap clamping seat and the rear snap clamping seat to move toward or away from each other.

9. The power transmission line broken strand repairing robot according to claim 1, 2, 3, 4, 6 or 8, characterized in that: The jacking mechanism includes a resetter rack and a clamp rack vertically slidingly arranged in the box body, the upper end of the resetter rack extends out of the box body and is provided with a resetter connecting part, the upper end of the clamp rack extends out of the box body and is provided with a clamp connecting part, a worm driven by a sixth motor is longitudinally arranged in the box body, a transverse shaft is rotatably connected in the box body, a worm wheel matching the worm is fixed in the middle of the transverse shaft, and third drive gears are fixed to the resetter rack and the clamp rack at both ends respectively.

10. The power transmission line broken strand repairing robot according to claim 1, 2, 3, 4, 6 or 8, characterized in that: The supply platform includes a placement table for horizontally placing multiple clips, and a push block is provided on one side of the placement table for pushing the clip laterally into the clamp when the clamp descends to the other side of the placement table. A connecting rod is provided in the box body with the middle hinged to it, and a telescopic rod is hinged in the box body and an electric push rod is hinged to the lower end of the connecting rod, and the upper end of the connecting rod is hinged to the push rod laterally fixed to the side end of the push block.

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