An upper line device and an automatic upper line method of a multi-split strain clamp detection robot

Abstract

The application relates to the technical field of wire detection, and particularly discloses a wire-up device and an automatic wire-up method for a multi-split strain clamp detection robot, which comprises a wire-moving mechanism, a lifting adjusting mechanism, a spacing adjusting mechanism, a traction take-up mechanism and a winding lifting mechanism. After the free end of the traction rope pulled by the unmanned aerial vehicle crosses the strain clamp, the two side winding units synchronously wind the traction rope, and drive the support to be lifted along the z direction of the wire-moving arm. The spacing adjusting mechanism dynamically adjusts the spacing of the two wire-moving arms. The winding box synchronously takes up and releases the pull wire, cooperates with the pulley assembly to guide and lift the traction rope, ensures that the wire-moving mechanism moves stably along the x direction, and the lifting adjusting mechanism adjusts the height of the support. The winding lifting mechanism winds the pull wire through the winding box to pull the pulley assembly to the center, tightens the traction rope, makes the walking wheel press the surface of the multi-split wire, and completes the wire-up. The self-adapting wire-up under the high-altitude complex clamp environment is realized, and the stability and the automation level of the robot deployment are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of conductor inspection technology, and in particular to a loading device and automatic loading method for a multi-split tension clamp inspection robot. Background Technology

[0002] Four-split tension clamps are core hardware used to fix and connect four-split conductors in high-voltage and ultra-high-voltage transmission lines, mainly deployed at key stress points on tension towers. These clamps are made of high-strength aluminum alloy or cast steel, ensuring lightweight construction while also providing corrosion resistance. Their structure comprises four independent clamp units, each consisting of a crimp sleeve, U-bolts, and anchoring ends, capable of clamping four sub-conductors to achieve distributed load transfer. In high-voltage transmission lines crossing large spans such as mountains and valleys, the conductor's own weight and external tension are concentrated in the tension clamps. Their structural strength and reliability directly determine the stability of the transmission system, especially needing to withstand long-term wind vibration, temperature deformation, and extreme mechanical stress. They are a core component ensuring the safety of power transmission.

[0003] Currently, defect inspection of four-split tension clamps primarily targets in-service applications. This typically requires the use of drones to mount the multi-split conductors and then travel along them to the tension clamp location for defect inspection. For example, Chinese Patent Publication No. CN118566265B discloses a drone-based non-destructive testing device for transmission line tension clamps. This device includes a drone body with four sets of first electric telescopic rods fixedly connected to the lower ends of its wings. Each set of first electric telescopic rods has an airbag fixedly connected to its lower end. A mounting plate is fixedly connected to the lower end of the drone body, with a circular slot on its outer side. A testing mechanism is mounted at the front end of the mounting plate. The testing mechanism includes a C-shaped fixing plate, with a X-ray machine fixedly connected to the inner side of the C-shaped fixing plate. An imaging plate is fixedly connected to the opposite side of the X-ray machine on the inner side of the C-shaped fixing plate. A spraying mechanism is mounted on the upper end of the second electric telescopic rod. This device allows the X-ray machine and imaging plate to rotate 360 ​​degrees, comprehensively inspecting the outer side of the tension clamp.

[0004] Using the above-mentioned deployment method, due to the large mass of the inspection robot, a heavy-duty drone is required to complete the deployment. Heavy-duty drones are expensive, and precise control of the inspection robot's ascending posture while it is attached to the wire is required, making deployment difficult.

[0005] To address these issues, some X-ray flaw detection robots have emerged that are suspended from overhead lines using ropes. Examples include a self-winding X-ray flaw detection robot disclosed in Chinese Patent Publication No. CN116706763A and an X-ray flaw detection robot for overhead lines disclosed in Chinese Patent Publication No. CN117996631A. These X-ray flaw detection robots can only be successfully deployed by combining ropes with visual inspection, and therefore cannot achieve automated deployment.

[0006] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0007] In view of the shortcomings of the prior art, the purpose of this invention is to provide a loading device and automatic loading method for a multi-split tension clamp inspection robot to solve the above problems.

[0008] A wire feeding device for a multi-split tension clamp inspection robot includes a wire feeding mechanism, a lifting and adjusting mechanism, and a spacing adjusting mechanism. The wire feeding mechanism includes four wire feeding arms extending along the z-direction and a traveling assembly disposed on the wire feeding arms. The traveling assembly includes a guide frame fixed to the wire feeding arm and traveling wheels disposed below the guide frame and capable of traveling along the x-direction on the multi-split conductor. The lifting and adjusting mechanism includes a bracket that can be raised and lowered along the z-direction to move between the four wire feeding arms. The spacing adjusting mechanism is disposed on the bracket and is used to adjust the spacing between two wire feeding arms along the y-direction. It also includes:

[0009] Two traction and retraction mechanisms are respectively set on both sides of the bracket along the y direction. Each traction and retraction mechanism includes a drive unit, a winding unit, and a traction rope. The two winding units are respectively set on both sides of the bracket along the y direction. One free end of the traction rope is pulled by a drone across the tension clamp and then wound by one of the winding units. The other free end is controlled by the other winding unit to rewind in order to raise the height of the upper line device.

[0010] The cable winding lifting mechanism includes a cable winding box fixed to the guide frame, a pull cable spanning the two guide frames along the x-direction, and a pulley assembly disposed on the pull cable. The cable winding box is used to synchronously wind up or release the pull cable. The upper end of the traction rope passes through the pulley assembly along the y-direction and is driven upward by the pulley assembly.

[0011] Specifically, the guide frame is equipped with a guide structure for guiding the multi-split wires to the lower end of the walking wheel.

[0012] Specifically, the pulley assembly includes a pulley frame, a first pulley and a second pulley rotatably mounted on the pulley frame, the axes of the first pulley and the second pulley being perpendicular to each other, the pull line passing through the second pulley at its corresponding position along the x-direction, and the upper end of the traction rope sequentially passing around the two first pulleys along the y-direction.

[0013] Specifically, the online device also includes:

[0014] A side support assembly is provided on the cable routing arm for rolling support of the sides of the multi-split conductor;

[0015] A bottom support component, located on the bracket, is used to roll and support the bottom surface of the multi-split conductor.

[0016] Specifically, the spacing adjustment mechanism includes positive and negative screws for driving the two wiring arms along the y-direction to move synchronously in opposite directions.

[0017] Specifically, the drive unit includes a fixed base, a fourth motor, and a bearing. The fixed base is fixed to the bracket, and the fourth motor is fixed to the fixed base via the bearing. The winding unit includes a take-up reel, a cover, and a locking element. The take-up reel is driven by the drive unit to wind up the winding mechanism.

[0018] The winding reel is provided with a V-shaped annular groove, and a number of spirally distributed protrusions are formed in the annular groove. The traction rope is wound around the annular groove.

[0019] One end of the cover is hinged to the fixed base, and the other end is locked to the fixed base through the locking member.

[0020] An automated online method for deploying a multi-split tension clamp inspection robot includes the following steps:

[0021] S1. Use a drone to pull a traction rope across a multi-split conductor, so that the two ends of the traction rope form a ground connection point;

[0022] S2. Pass both ends of the traction rope through the two pulley assemblies and connect them to the winding units on both sides, while simultaneously unfolding the synchronous pull line that spans the multi-split conductor.

[0023] S3. Synchronously retract the traction rope to lift the upper line device, and release the pull line in conjunction to make the pull line contact the multi-split conductor.

[0024] S4. Adjust the spacing of the cable routing arms and lower the traveling wheels to crimp the wires;

[0025] S5. Retrieve the pull line until the traction rope is no longer in contact with the multi-split conductor, completing the online process.

[0026] Specifically, in step S3, the synchronous winding is achieved through differential speed control of the two winding units, and the release of the pull line is linked to the winding action of the traction rope.

[0027] Specifically, in step S5, the retrieval of the pull cable is completed by the automatic winding function of the cable reel box, and the release speed of the traction rope and the lowering speed of the walking wheel are linked and matched during the retrieval process.

[0028] The beneficial effects of this invention are:

[0029] The online mounting device of this application can be applied to multi-split tension clamp inspection robots and automatic online mounting methods. The online mounting process is simplified through the coordinated operation of a traction and retraction mechanism and a multi-directional adjustment mechanism. Before online mounting, the free end of the traction rope pulled by the drone crosses the multi-split conductor, and the winding units on both sides simultaneously wind up the traction rope, driving the support to rise along the z-axis of the cable-carrying arm. The spacing adjustment mechanism dynamically adjusts the y-axis spacing of the cable-carrying arms on both sides to adapt to conductor arrangements with different split spacings; the cable reel simultaneously winds up and unwinds the cable, cooperating with the pulley assembly to guide and lift the traction rope, ensuring smooth movement of the cable-carrying mechanism along the x-axis; the lifting adjustment mechanism is used to adjust the height of the support; the cable reeling lifting mechanism, through the cable reel reel, pulls the pulley assembly towards the x-axis center, simultaneously tensioning the traction rope so that the traveling wheels press against the surface of the multi-split conductor, completing the online mounting. This device, through traction crossing, multi-dimensional adjustment, and synchronous wind-up and unwinding control, achieves adaptive online mounting in complex high-altitude conductor environments, significantly improving the stability and automation level of robot deployment. Attached Figure Description

[0030] Figure 1 This is a perspective view of the online device and tension clamp of this application;

[0031] Figure 2 for Figure 1 Enlarged view of section A;

[0032] Figure 3 for Figure 1 Enlarged view of section B;

[0033] Figure 4 This is a perspective sectional view of the online device and tension clamp of this application;

[0034] Figure 5 This is a perspective view of the wiring mechanism and bracket of this application;

[0035] Figure 6 for Figure 5 Enlarged view of section C;

[0036] Figure 7 The three-dimensional traction and deployment mechanism of this application Figure 1 ;

[0037] Figure 8 The three-dimensional traction and deployment mechanism of this application Figure 2 ;

[0038] Figure 9 This is a structural schematic diagram of the online process of the online device in this application. Figure 1 ;

[0039] Figure 10 This is a structural schematic diagram of the online process of the online device in this application. Figure 2 ;

[0040] Figure 11 This is a structural schematic diagram of the online process of the online device in this application. Figure 3 .

[0041] The attached figures are labeled as follows: cable routing mechanism 10, cable routing arm 11, traveling assembly 12, guide frame 121, traveling wheel 122, lifting adjustment mechanism 20, bracket 21, spacing adjustment mechanism 30, traction and retraction mechanism 40, drive unit 41, winding unit 42, traction rope 43, multi-split conductor 50, mounting frame 13, first motor 14, cable reel box 15, pull wire 16, pulley assembly 17, pulley frame 171, first pulley 172, second pulley 173, side support assembly 18, first rolling frame 181, first roller 182, bottom support. Component 22, second rolling frame 221, second roller 222, second motor 23, driving wheel 24, driven wheel 25, lead screw 26, first slider 27, third motor 31, first helical tooth 32, second helical tooth 33, positive and negative screw 34, second slider 35, fixed seat 411, fourth motor 412, bearing 413, take-up reel 421, cover 422, locking element 423, annular groove 4211, lock head 4231, elastic element 4232, locking tongue 4233, guide assembly 414, guide seat 4141, guide roller 4142. Detailed Implementation

[0042] This invention provides a loading device and automatic loading method for a multi-split tension clamp inspection robot. To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0043] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0044] Please refer to Figures 1 to 11 The mounting device of a multi-split tension clamp inspection robot according to this embodiment includes a cable routing mechanism 10, a lifting and adjusting mechanism 20, and a spacing adjusting mechanism 30. The cable routing mechanism 10 includes four cable routing arms 11 extending along the z-direction and a walking assembly 12 disposed on the cable routing arms 11. The walking assembly 12 includes a guide frame 121 fixed to the cable routing arms 11 and a walking wheel 122 disposed below the guide frame 121 and capable of moving along the x-direction on the multi-split conductor 50. The guide frame 121 is used to guide the multi-split conductor 50 to below the walking wheel 122 so that the walking wheel 122 can move along the multi-split conductor 50. The lifting and adjusting mechanism 20 includes a bracket 21 that can be lifted and lowered along the z-direction on the four cable routing arms 11. The spacing adjusting mechanism 30 is disposed on the bracket 21 and is used to adjust the spacing between two cable routing arms 11 along the y-direction. It also includes:

[0045] Two traction and retraction mechanisms 40 are respectively set on both sides of the support 21 along the y direction. The traction and retraction mechanism 40 includes a drive unit 41, a winding unit 42 and a traction rope 43. The two winding units 42 are respectively set on both sides of the support 21 along the y direction. One free end of the traction rope 43 is pulled by the drone across the multi-split conductor 50 and then wound by one of the winding units 42. The other free end is controlled by the other winding unit 42 to rewind in order to raise the height of the upper line device.

[0046] The cable lifting mechanism includes a cable reel box 15 fixed to the guide frame 121, a pull cable 16 spanning the two guide frames 121 along the x-direction, and a pulley assembly 17 disposed on the pull cable 16. The cable reel box 15 is used to synchronously wind up or release the pull cable 16. The upper end of the traction rope 43 passes through the pulley assembly 17 along the y-direction and is driven upward by the pulley assembly 17.

[0047] The wire-laying device of this embodiment can be applied to a multi-split tension clamp inspection robot. When wire-laying is required, the free end of the traction rope 43 pulled by the drone crosses the multi-split conductor 50, and the winding units 42 on both sides simultaneously wind up the traction rope 43, driving the bracket 21 to rise along the z-direction of the wire-laying arm 11. The spacing adjustment mechanism 30 dynamically adjusts the y-direction spacing of the wire-laying arms 11 on both sides to adapt to conductor arrangements with different split spacings. The winding box 15 simultaneously winds up and unwinds the pull wire 16, and works with the pulley assembly 17 to guide and lift the traction rope 43, ensuring that the wire-laying mechanism 10 moves smoothly along the x-direction. The lifting adjustment mechanism 20 is used to adjust the height of the bracket 21; the winding lifting mechanism, through the winding box 15 winding up the pull wire 16, pulls the pulley assembly 17 toward the x-direction center, simultaneously tensioning the traction rope 43 so that the traveling wheel 122 presses against the surface of the multi-split conductor 50, completing the wire-laying. This device achieves adaptive deployment in complex high-altitude wire clamp environments through traction crossing, multi-dimensional adjustment, and synchronous retraction and extension control, significantly improving the stability and automation level of robot deployment.

[0048] This embodiment also includes a lifting adjustment mechanism 20, which can control the support 21 to rise and fall along the cable arm 11, thereby adjusting the overall z-axis height of the upper cable device to adapt to the position of the multi-split conductor 50. The spacing adjustment mechanism 30 can adjust the spacing of the cable arms 11 on both sides in the y-axis direction to ensure that the upper cable device can adapt to multi-split conductors 50 with different spacings.

[0049] Furthermore, the traction and deployment mechanism 40 in this embodiment employs winding units 42 and traction ropes 43 symmetrically arranged on both sides of the support. The drone only needs to pull the free end of the traction rope 43 across the multi-split conductor 50, and the two drive units 41 simultaneously wind up the traction rope 43, allowing the mounting device to be smoothly lifted and suspended in place along the traction direction. Compared to the traditional drone mounting method that requires direct suspension of the testing equipment, this mounting device transfers the main load-bearing link to the traction and deployment mechanism 40 with synchronous winding capability, significantly reducing the load-bearing capacity requirements of the drone. It also allows the traction rope 43 to be separated from the power transmission line during subsequent movement, avoiding interference during movement. At the same time, the automatic guidance function of the walking wheels 122, combined with the adjustable support 21, avoids the complex attitude control requirements of traditional methods, thereby achieving more stable mounting actions.

[0050] Please refer to Figure 1 and Figure 2 The walking assembly 12 in this embodiment also includes a mounting frame 13 fixed to the top of the cable-laying arm 11 and a first motor 14 fixed to the mounting frame 13. The output end of the first motor 14 is connected to the walking wheel 122 for transmission. A guide frame 121 is fixed to the upper end of the mounting frame 13 and has an inclined guide surface. The walking assembly 12 in this embodiment integrates driving and guiding functions through the mounting frame 13 to achieve autonomous positioning of the device. When the traction rope 43 is released, the walking wheel 122 naturally adheres to the surface of the multi-split conductor 50 under the action of gravity. At this time, the inclined guide surface of the guide frame 121 contacts the multi-split conductor 50, and the multi-split conductor 50 is automatically pushed under the walking wheel 122 by the inclined guide action, preventing the cable-laying device from shifting. The first motor 14 can be a servo motor. The first motor 14 drives the walking wheel 122 to roll in the x-direction, driving the cable-laying device to move stably along the multi-split conductor 50 and completing the initial position calibration. The mounting frame 13 serves as a rigid support structure to ensure that the coordinated action of the guide frame 121 and the walking wheel 122 is not affected by external interference.

[0051] Furthermore, the inclined guide surface design enables the device to self-correct upon contact with the conductor. Combined with the active drive of the walking wheels 122, precise mounting can be achieved without relying on the drone for fine-tuning of its horizontal attitude. The vertical arrangement of the guide frame 121 and the walking wheels 122 further optimizes space utilization, allowing the device to integrate guidance and movement functions within a limited height. This structure simplifies the mounting process through its mechanical self-adaptive characteristics, reduces reliance on the precision of drone control, and enhances the device's adaptability to different surface conditions of the multi-split conductor 50, ensuring the stability of subsequent inspection operations.

[0052] Please refer to Figure 2 and Figure 3 In this embodiment, each guide frame 121 is also fixed with a cable reel 15. A pull line 16 is connected between the two cable reels 15 along the x-direction. A pull line 16 is provided with a pulley assembly 17. The pulley assembly 17 includes a pulley frame 171, a first pulley 172 and a second pulley 173 rotatably disposed on the pulley frame 171. The axes of the first pulley 172 and the second pulley 173 are perpendicular to each other. The pull line 16 passes through the second pulley 173 at its corresponding position along the x-direction. The upper end of the traction rope 43 passes around the two first pulleys 172 along the y-direction in sequence. The pull line 16 passes through the second pulley 173 at its corresponding position along the x-direction. The upper end of the traction rope 43 passes around the two first pulleys 172 along the y-direction in sequence. When mounting is required, the drone carries one free end of the traction rope 43 across the multi-split conductor 50 and lands on the opposite side of the ground, forming two free ends on the ground. The pull wire 16 in the reel box 15 is pulled out and passes through the second pulley 173 at the corresponding position along the x-direction. The two free ends of the traction rope 43 are then passed through the pulley assembly 17 respectively and then wound and fixed to the two winding units 42 respectively. The two winding units 42 simultaneously wind up the traction rope 43, raising the upper cable device to the preset height. At the same time, the reel box 15 releases the pull wire 16, causing the pulley assembly 17 to move along the x-direction. Unfold until the pull wire 16 touches the multi-split conductor 50; the spacing adjustment mechanism 30 drives the two cable-carrying arms 11 along the y-direction to narrow the spacing, so that the traveling wheel 122 moves directly above the multi-split conductor 50; the winding unit 42 releases the traction rope 43 in the opposite direction, so that the traveling wheel 122 is lowered and pressed against the surface of the multi-split conductor 50. At the same time as it is lowered, the cable reel box 15 automatically retracts the pull wire 16 until the pull wire 16 is in a horizontal state. At this time, the traction rope 43 forms a suspended state with the multi-split conductor 50 under the action of the pulley assembly 17, and the cable is loaded.

[0053] like Figure 3As shown, in this embodiment, the orthogonal design of the axes of the first pulley 172 and the second pulley 173 in the pulley assembly 17 ensures the freedom of the pull cable 16 in the x-direction and provides y-direction guidance support for the traction rope 43. During traction, this structure disperses the traction force through the flexible bearing capacity of the pull cable 16, preventing the device from shifting due to deviations in the drone's traction attitude. After the device is online, the cable reel 15 can retract the pull cable 16 to raise the height of the pulley assembly 17, preventing interference between the pull cable 16 and the multi-split wire 50 during subsequent testing. This design, by dynamically adjusting the tension of the pull cable 16 and the height of the pulley assembly 17, achieves seamless integration of traction positioning and walking positioning, further reducing the dependence on the drone's control precision and improving the success rate and stability of the device's online operation.

[0054] Please refer to Figure 5 and Figure 6 In this embodiment, the mounting bracket 13 is further provided with a side support assembly 18 at the end facing the multi-split conductor 50. The side support assembly 18 includes a first rolling frame 181 fixed to the mounting bracket 13 and a first roller 182 rotatably disposed on the first rolling frame 181. The first roller 182 is located on the side below the traveling wheel 122. When the traveling wheel 122 rolls along the surface of the multi-split conductor 50, the first roller 182 also rolls along the multi-split conductor 50. Its rolling direction forms an orthogonal constraint with the x-direction movement of the traveling wheel 122, effectively suppressing the device's offset in the y-direction. The mounting bracket 13 fixes the first roller 182 through the first rolling frame 181, so that when it contacts the side of the wire clamp, it reduces resistance through rolling friction and avoids jamming.

[0055] After the inclined guide surface of the guide frame 121 guides the wire clamp under the traveling wheel 122, the first roller 182 simultaneously contacts the side of the wire clamp, forming a dual positioning mechanism of "pressing down on the traveling wheel + lateral rolling support". This design allows the device to maintain x-axis movement actively driven by the traveling wheel 122 when moving on the surface of the complex multi-split conductor 50, and to adaptively adjust the lateral clearance through the passive rolling of the first roller 182, preventing the risk of derailment caused by unevenness of the surface of the multi-split conductor 50 or deviation of traction force. The spatial coordination between the side support component 18 and the guide frame 121 optimizes the force distribution of the device, reduces the risk of overturning caused by unilateral suspension during movement, and thus improves the overall reliability of the online and inspection processes.

[0056] The upper end of the bracket 21 is provided with multiple bottom support components 22. Each bottom support component 22 includes a second rolling frame 221 fixed to the bracket 21 and a second roller 222 rotatably mounted on the second rolling frame 221. The second roller 222 rotates in the same direction as the traveling wheel 122. When the lifting adjustment mechanism 20 drives the bracket 21 to rise along the z-axis, the second roller 222 abuts upward from the bottom of the multi-split conductor 50, and its x-axis rolling direction is consistent with the driving direction of the traveling wheel 122, so that the bottom roller and the top traveling wheel form synchronous rolling support when the device moves along the x-axis. The second rolling frame 221 fixes the second roller 222 to the bracket 21, and disperses the vertical load through rolling contact, avoiding local pressure deformation of the multi-split conductor 50.

[0057] The bottom support component 22 and the side support component 18 together form a three-dimensional constraint system: the traveling wheel 122 presses against the upper surface of the multi-split conductor 50, the first roller 182 restricts y-axis displacement, and the second roller 222 constrains z-axis displacement. When the device moves, the second roller 222 adaptively rolls with the bottom contour of the wire clamp, eliminating the risk of slippage of the traveling wheel 122 caused by the curvature or surface undulation of the multi-split conductor 50. This synchronous rolling design allows the device to maintain stable contact on complex conductor structures, enhancing its resistance to bumps and reducing movement resistance through rolling friction, ensuring the stability and controllability of the device's posture during testing, and further improving testing accuracy and operational safety.

[0058] Please refer to Figure 2 and Figure 4 The lifting and adjusting mechanism 20 includes a second motor 23 fixed to the mounting bracket 13, a drive wheel 24 connected to the output shaft of the second motor 23, a driven wheel 25 driven by the drive wheel 24 via a belt, a lead screw 26 coaxially driven by the driven wheel 25 and arranged along the z-direction, and a first slider 27 threadedly engaged with the lead screw 26. The first slider 27 drives the bracket 21 to move up and down along the z-direction. The lifting and adjusting mechanism 20 drives the drive wheel 24 to rotate via the second motor 23, which drives the driven wheel 25 and the lead screw 26 to rotate synchronously via the belt drive, causing the first slider 27 to move up and down along the z-direction threaded trajectory of the lead screw 26, thereby driving the bracket 21 and the bottom support assembly 22 to adjust the overall height. When the upper wire device needs to adapt to different wire positions, the second motor 23 controls the lifting and lowering of the bracket 21 through the precise helical transmission of the lead screw 26, so that the second roller 222 of the bottom support assembly 22 and the traveling wheel 122 form an active adjustment of the vertical clamping distance, ensuring that the second roller 222 always fits the bottom contour of the wire. The mechanism maintains a stable lifting position through the self-locking characteristic of the screw drive. Combined with the rolling limit function of the bottom support component 22, it forms a dynamic balance of synchronous rolling up and down when the device moves, avoiding vertical swaying of the device due to undulations on the surface of the conductor, while improving adaptability to changes in conductor size.

[0059] Please refer to Figure 4The spacing adjustment mechanism 30 in this embodiment includes a third motor 31 fixed to the bracket 21, a first helical gear 32 connected to the output shaft of the third motor 31, a second helical gear 33 meshing with the first helical gear 32, a positive and negative screw 34 coaxially driven with the second helical gear 33 and arranged along the y-direction, and two second sliders 35 threadedly engaged with the positive and negative screw 34. Two first sliders 27 along the y-direction are respectively fixedly connected to the two second sliders 35. The spacing adjustment mechanism 30 drives the first helical gear 32 and the second helical gear 33 to mesh and drive the positive and negative screw 34 to rotate, causing the two second sliders 35 to move synchronously in opposite directions along the y-direction, thereby adjusting the spacing of the two cable routing arms 11. When the device is in operation, the third motor 31 pushes the second sliders 35 through the symmetrical threads of the positive and negative screw 34, causing the cable routing arms 11 to narrow or expand, so that the two traveling wheels 122 along the y-direction are precisely aligned with the installation position of the double-split / multi-split conductor 50. This mechanism, through the combined transmission of the first helical tooth 32, the second helical tooth 33, and the forward and reverse screws 34, achieves stepless adjustment of the y-axis spacing while maintaining the stability of the adjusted spacing using the self-locking characteristic of the threads. This ensures that the three-dimensional constraints between the traveling wheel 122 and the upper surface of the multi-split conductor 50, the first roller 182 and the side of the wire clamp, and the second roller 222 and the bottom of the conductor are simultaneously effective. Its adaptive adjustment capability allows the device to be compatible with multi-split conductors 50 with different split spacings. Combined with the vertical positioning of the lifting adjustment mechanism 20, it forms multi-degree-of-freedom collaborative control, further improving the reliability and adaptability of the device during its online and traveling processes.

[0060] Please refer to Figure 7 and Figure 8 In this embodiment, the drive unit 41 includes a fixed base 411, a fourth motor 412, and a bearing 413. The fixed base 411 is fixed to the bracket 21, and the fourth motor 412 is fixed to the fixed base 411 through the bearing 413. The winding unit 42 includes a take-up reel 421, a cover 422, and a locking member 423. The take-up reel 421 is connected to the output shaft of the fourth motor 412. The take-up reel 421 is provided with a V-shaped annular groove 4211. Several spirally distributed protrusions are formed in the annular groove 4211. The traction rope 43 is wound around the annular groove 4211. One end of the cover 422 is hinged to the fixed base 411, and the other end is locked to the fixed base 411 through the locking member 423.

[0061] In this embodiment, the drive unit 41 and the winding unit 42 achieve stable and synchronous winding and unwinding of the traction rope 43 through a structurally coordinated design. The fourth motor 412 is supported on the fixed base 411 by the bearing 413, ensuring uniform resistance when the motor shaft rotates, driving the take-up reel 421 to rotate around the shaft. The traction rope 43 is wound in the V-shaped annular groove 4211 of the take-up reel 421, and the spirally distributed convex ridges form multi-point engagement with the surface of the traction rope 43, which not only increases friction to prevent slippage, but also guides the traction rope 43 to be arranged in an orderly manner along the spiral trajectory, avoiding the rope from stacking and getting stuck during the winding process.

[0062] The cover 422 is hinged and locked by a locking element 423 for quick opening and closing. When the traction rope 43 needs to be replaced or maintained, the cover 422 can be opened by unlocking the locking element 423, exposing the winding reel 421 for convenient operation. When the traction rope 43 is wound up, the fourth motor 412 drives the winding reel 421 to rotate. Utilizing the wedge effect of the V-groove and the limiting effect of the convex ridge, the traction rope 43 is kept in close contact with the groove wall, ensuring controllable tension during the winding and unwinding process. Through the combination of mechanical constraints and motor drive, this structure allows for precise and synchronous winding of the two winding units 42 after the UAV completes the initial guidance of the traction rope 43 across the multi-split conductor 50. This avoids excessive traction force on one side causing the device to tilt, while reducing reliance on the UAV's continuous hovering accuracy, further improving the safety and efficiency of the online process.

[0063] Furthermore, the locking component 423 includes a lock head 4231 fixed to the fixing base 411 and a locking tongue 4233 that extends and retracts on the face cover 422 via an elastic component 4232. The locking tongue 4233 is latched to the lock head 4231. When the face cover 422 is closed, the locking tongue 4233 is compressed back. After the face cover 422 is fully in contact with the fixing base 411, the elastic component 4232 pushes the locking tongue 4233 to automatically pop out and engage with the lock head 4231, forming a mechanical interlock. To unlock, the locking tongue 4233 is manually pressed to disengage from the lock head 4231, allowing the face cover 422 to be lifted around the hinge axis. This structure utilizes the self-resetting function of the elastic component 4232 and the inclined guide design of the locking tongue 4233 to ensure the stability of the traction rope 43 winding operation when the face cover 422 is closed, while allowing for one-handed operation without tools. This facilitates the installation and maintenance of the traction rope 43 and avoids the cumbersome disassembly problem of traditional bolt fixing methods.

[0064] Please refer to Figure 7 The fixed base 411 is also provided with a guide assembly 414 for guiding the traction rope 43. The guide assembly 414 includes a guide seat 4141 fixed to the fixed base 411 and a guide roller 4142 rotatably disposed on the guide seat 4141. When the traction rope 43 is pulled by the drone or wound by the winding unit 42, the guide roller 4142 moves and rotates freely with the traction rope 43, limiting the in-and-out direction of the traction rope 43 within a preset angle to avoid friction and wear between the traction rope 43 and the edge of the fixed base 411. The guide seat 4141 is fixed to the fixed base 411 near the exit end of the take-up reel 421, so that the traction rope 43 passes through the transition guide of the guide roller 4142 before winding, ensuring that the rope is always tightly wound along the spiral trajectory of the annular groove 4211. This design reduces the risk of the rope derailing or overlapping during winding by decreasing the bending curvature and lateral swing amplitude of the traction rope 43. Combined with the V-groove protrusion structure of the winding unit 42, it further ensures the tension uniformity and orderly arrangement of the traction rope 43, thereby improving the synchronous winding accuracy and the stability of the device during the online process.

[0065] This embodiment also discloses an automatic online deployment method for a multi-split tension clamp inspection robot, including the following steps:

[0066] S1. The drone carries one free end of the tow rope 43 across the multi-split conductor 50 and lands on the opposite side of the ground, forming two free ends on the ground.

[0067] S2. Pull out the pull wire 16 from the winding box 15 and pass it through the second pulley 173 at the corresponding position along the x direction. After passing the two free ends of the traction rope 43 through the pulley assembly 17, they are then wound and fixed to the two winding units 42 respectively.

[0068] S3. The two winding units 42 simultaneously wind up the traction rope 43, raising the upper wire device to a preset height. At the same time, the winding box 15 releases the pull wire 16, causing the pulley assembly 17 to move toward the multi-split conductor 50 until the pull wire 16 touches the multi-split conductor 50. The synchronous winding is achieved through differential speed control of the two winding units 42, and the release of the pull wire 16 is linked to the winding action of the traction rope 43.

[0069] S4. The spacing adjustment mechanism 30 drives the two cable arms 11 along the y direction to narrow the spacing, so that the walking wheel 122 moves directly above the multi-split conductor 50.

[0070] S5. The winding unit 42 releases the traction rope 43 in the reverse direction, causing the traveling wheel 122 to lower. The traveling wheel 122 presses against the surface of the multi-split conductor 50. At the same time as it lowers, the winding box 15 automatically retracts the pull wire 16 until the pull wire 16 is in a horizontal state. At this time, the traction rope 43 forms a suspended state with the multi-split conductor 50 under the action of the pulley assembly 17, completing the upper winding. The retraction of the pull wire 16 is completed by the automatic winding function of the winding box 15, and the release speed of the traction rope 43 during the retraction process is linked and matched with the lowering speed of the traveling wheel 122.

[0071] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. A wire mounting device for a multi-split tension clamp inspection robot, comprising a wire routing mechanism (10), a lifting adjustment mechanism (20), and a spacing adjustment mechanism (30), wherein the wire routing mechanism (10) comprises four wire routing arms (11) extending along the z-direction, and a walking assembly (12) disposed on the wire routing arms (11), the walking assembly (12) comprising a guide frame (121) fixed to the wire routing arms (11), and a walking wheel (122) disposed below the guide frame (121) and capable of moving along the x-direction on the multi-split conductor (50); the lifting adjustment mechanism (20) comprises a bracket (21) capable of lifting and lowering along the z-direction on the four wire routing arms (11); the spacing adjustment mechanism (30) is disposed on the bracket (21) and used to adjust the spacing between two wire routing arms (11) along the y-direction, characterized in that, Also includes: Two traction and retraction mechanisms (40) are respectively set on both sides of the bracket (21) along the y direction. The traction and retraction mechanism (40) includes a drive unit (41), a winding unit (42) and a traction rope (43). The two winding units (42) are respectively set on both sides of the bracket (21) along the y direction. One free end of the traction rope (43) is pulled by the drone across the multi-split conductor (50) and then wound by one of the winding units (42). The other free end is controlled by the other winding unit (42) to rewind in order to raise the height of the upper line device. The cable lifting mechanism includes a cable reel (15) fixed to the guide frame (121), a pull cable (16) spanning the two guide frames (121) along the x-direction, and a pulley assembly (17) provided on the pull cable (16). The cable reel (15) is used to synchronously wind up or release the pull cable (16). The upper end of the traction rope (43) passes through the pulley assembly (17) along the y-direction and is driven upward by the pulley assembly (17).

2. The online device for a multi-split tension clamp inspection robot according to claim 1, characterized in that, The guide frame (121) is provided with a guide structure for guiding the multi-split conductor (50) to the lower end of the walking wheel (122).

3. The online device for a multi-split tension clamp inspection robot according to claim 1, characterized in that, The pulley assembly (17) includes a pulley frame (171), a first pulley (172) and a second pulley (173) rotatably mounted on the pulley frame (171). The axes of the first pulley (172) and the second pulley (173) are perpendicular to each other. The pull line (16) passes through the second pulley (173) at its corresponding position along the x-direction. The upper end of the traction rope (43) passes around the two first pulleys (172) along the y-direction in sequence.

4. The online device for a multi-split tension clamp inspection robot according to claim 1, characterized in that, The online device also includes: Side support assembly (18) is provided on the cable arm (11) for rolling support of the side of the multi-split conductor (50); Bottom support assembly (22), located on the bracket (21), is used to roll support the bottom surface of the multi-split conductor (50).

5. The online device for a multi-split tension clamp inspection robot according to claim 1, characterized in that, The spacing adjustment mechanism (30) includes positive and negative screws (34) for driving the two wiring arms (11) along the y direction to move synchronously in opposite directions.

6. The online device for a multi-split tension clamp inspection robot according to claim 1, characterized in that: The drive unit (41) includes a fixed base (411), a fourth motor (412) and a bearing (413). The fixed base (411) is fixed to the bracket (21), and the fourth motor (412) is fixed to the fixed base (411) through the bearing (413). The winding unit (42) includes a take-up reel (421), a cover (422), and a locking member (423), wherein the take-up reel (421) is driven to take up by the drive unit (41); The winding reel (421) has a V-shaped annular groove (4211), and a number of spirally distributed protrusions are formed in the annular groove (4211). The traction rope (43) is wound around the annular groove (4211). One end of the cover (422) is hinged to the fixing seat (411), and the other end is locked to the fixing seat (411) through the locking member (423).

7. An automatic loading method for a multi-split tension clamp inspection robot, applied to the loading device of the multi-split tension clamp inspection robot as described in any one of claims 1-6, characterized in that, Includes the following steps: S1. The traction rope (43) is pulled by the drone to cross the multi-split conductor (50), so that the two ends of the traction rope (43) form a ground connection point; S2. Pass both ends of the traction rope (43) through the two pulley assemblies (17) and connect them to the winding units (42) on both sides, while unfolding the pull line (16) across the multi-split conductor (50). S3. Simultaneously retract the traction rope (43) to lift the upper wire device, and release the pull wire (16) in conjunction to make the pull wire (16) contact the multi-split conductor (50); S4. Adjust the spacing of the cable routing arms (11) and lower the traveling wheels (122) to crimp the wires; S5. Retrieve the pull line (16) until the traction rope (43) and the multi-split conductor (50) are no longer in contact, and the online process is completed.

8. The automatic online method according to claim 7, characterized in that, In step S3, the synchronous winding is achieved through differential speed control of the two winding units (42), and the release of the pull line (16) is linked to the winding action of the traction rope (43).

9. The automatic online method according to claim 7, characterized in that, In step S5, the retrieval of the pull line (16) is completed by the automatic winding function of the winding box (15), and the release speed of the traction rope (43) during the retrieval process is linked and matched with the lowering speed of the walking wheel (122).

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