An automatic casing machine and its casing method

Abstract

This invention relates to the field of power equipment technology, and in particular to an automatic bushing machine and its bushing method. The bushing machine has a feeding station on its top surface; a lifting assembly is used to suspend the machine on an overhead cable and drive it to rise and fall; two independently controlled traveling assemblies are used to suspend the machine on the cable and drive it to travel along the overhead cable, or either traveling assembly can be used as a fulcrum to suspend the machine on the overhead cable while the other traveling assembly is suspended from the cable, causing the machine to tilt in preparation for bushing feeding; multiple bushings are stored in a feeding assembly and the stored bushings are transported to the feeding station; an opening assembly is used to open the openings of closed bushings; a first pushing unit pushes a portion of the bushings onto the overhead cable, and a second pushing unit takes over from the first pushing unit to push the remaining bushings; the machine can autonomously travel, position, feed, and install bushings on the overhead cable, and the feeding assembly can carry multiple bushings for continuous supply.

Description

Technical Field

[0001] This invention relates to the field of power equipment technology, and in particular to an automatic bushing machine and its bushing method. Background Technology

[0002] Sleeves are flexible or semi-rigid conduits made of polymer insulating materials (such as silicone rubber, EPDM, etc.), mainly used to wrap wires, cables, or pipes, providing electrical insulation and mechanical protection. Their snap-lock design forms a sealed insulating layer through the complete closure of the edges and openings, effectively isolating live parts from the external environment. They are used for localized insulation upgrades (such as insulation repair of line breaks, fractures, and joints).

[0003] Currently, installing such protective sleeves on overhead cables mainly relies on manual labor by high-altitude workers (such as "spider-men" or using boom lifts). The operation process is cumbersome, including: carrying the sleeve up to the height, positioning it on the conductor, manually opening the sleeve opening, laboriously pushing the sleeve to the target position, and ensuring that the sleeve is completely closed and locked.

[0004] Working at heights while the power is on or off is inherently extremely dangerous. When moving or operating on power lines, there are significant safety risks, including falls from heights, electric shock, and errors due to excessive physical exertion. These risks are amplified, especially in complex terrain (such as above mountains, rivers, or major transportation routes) or under adverse weather conditions.

[0005] Installation quality (such as the degree of sleeve opening, the smoothness of pushing, the tightness of closure, and the positional accuracy) is highly dependent on the operator's skill level and physical condition. It is easy to cause problems such as improper installation, poor sealing, or even damage to the sleeve or cable, which will affect the protective effect.

[0006] Prolonged, high-altitude, and high-intensity work poses a significant challenge to workers' physical fitness, easily leading to fatigue and impacting work efficiency and safety. Simultaneously, high labor costs, safety assurance costs (such as insurance and monitoring), and prolonged power outages or extended work windows due to inefficiency all significantly increase maintenance costs.

[0007] Although some auxiliary installation tools or semi-automatic equipment (such as simple pipe pushers and spreaders) exist on the market, most still require close-range manual operation or assistance, failing to fundamentally solve the core risk problem of manual operation at heights.

[0008] Covering overhead cables with insulating protective sleeves is a crucial operation and maintenance step in ensuring power grid safety. However, traditional manual methods face severe challenges in terms of efficiency, safety, quality, and cost. Existing semi-automatic or automated equipment still has significant shortcomings in terms of environmental adaptability, functional completeness (especially automatic feeding, efficient opening and pushing, and multi-pipe docking), intelligence level, and safe and reliable operation. Therefore, there is an urgent need to develop intelligent equipment that can be fully or highly automated, safe and reliable, adaptable to complex overhead line environments, and efficiently complete key processes such as sleeve storage, feeding, opening, pushing, positioning, and closing. This would fundamentally change the current situation of relying on high-risk manual operations and improve the modernization level of power line operation and maintenance. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to provide an automatic sleeve machine and a sleeve method thereon in order to solve the problems existing in the prior art described in the background.

[0010] The technical solution adopted by this invention to solve its technical problem is: an automatic sleeve machine, comprising...

[0011] The casing machine body has an extension extending out of the top of the casing machine body, and a feeding station is located on the top surface of the casing machine body.

[0012] The lifting components are installed at both ends of the casing machine body to suspend it on the overhead cable and drive the casing machine to rise and fall.

[0013] The traveling components are installed at both ends of the casing machine body, and the two traveling components are independently controlled. They are used to suspend the casing machine body on the cable and drive it to travel along the overhead cable, or one traveling component can be used as a fulcrum to suspend the overhead cable while the other traveling component is detached from the overhead cable and suspended in the air, so that the casing machine body tilts to prepare for casing feeding.

[0014] The material storage and feeding assembly is installed at both ends of the casing machine body. The feeding station is located in the return section of the material storage and feeding assembly. Multiple casings are stored on it and the stored casings are transported to the feeding station.

[0015] An opening assembly is installed on the suspended end of the extension on the main body of the casing machine to open the opening of the closed casing.

[0016] The material pushing assembly includes a first material pushing unit and a second material pushing unit. The first material pushing unit pushes part of the sleeve onto the overhead cable, and the second material pushing unit takes over from the first material pushing unit to push the remaining sleeve.

[0017] The first pushing unit is installed on the main body of the casing machine, and the clamping port of the first pushing unit is located at the feeding station;

[0018] The first pushing unit is used to push the sleeve located at the feeding station to the opening assembly. The second pushing unit is movably installed at the discharge end of the opening assembly. The opening assembly and the second pushing unit are flexibly installed to accommodate overhead cables.

[0019] Furthermore, the material storage and feeding assembly includes a feeding drive assembly and several sprockets. The sprockets are respectively installed at the four corners of the mounting plate of the main body of the casing machine in the axial direction. A chain is sleeved on the sprocket, and several buckles for locking the casing are installed on the chain. The opening of the buckles is set downward. The return section of the chain is directly opposite the feeding station. The output end of the feeding drive assembly meshes with any of the sprockets to drive the chain to rotate.

[0020] Furthermore, the first pushing unit includes a first pushing mounting frame, on which a first pushing component and a clamping wheel assembly are mounted. After the clamping wheel assembly and the first pushing component are engaged, they form a clamping area for placing the sleeve.

[0021] Furthermore, the first pusher includes a first pusher wheel mounting bracket, on which a first pusher wheel assembly is vertically mounted, and a first pusher drive is mounted on the first pusher wheel mounting bracket. The output end of the first pusher drive is connected to the first pusher wheel assembly through a transmission component to drive the first pusher wheel assembly to rotate and push the sleeve.

[0022] Furthermore, the clamping wheel assembly includes a clamping wheel drive mounted on a first pusher mounting frame, the output end of which is equipped with a connecting shaft that passes through the first pusher mounting frame, and a clamping wheel arm is mounted on the connecting shaft.

[0023] Furthermore, the second pushing unit includes a second pushing mounting bracket, a second pushing wheel assembly drive, a connecting bracket, and a clamping assembly. The second pushing mounting bracket is elastically mounted on the suspended end of the connecting bracket, and one end of the connecting bracket is movably mounted between the connecting bracket and the opening assembly, with the two connected by a spring.

[0024] The second pusher assembly is horizontally mounted in the middle of the second pusher mounting frame. The output end of the second pusher assembly drive unit is connected to the second pusher assembly through a transmission component to drive the second pusher assembly to push the sleeve. The clamping assembly is vertically arranged between the second pusher assembly and the sleeve to clamp it.

[0025] Furthermore, the clamping assembly includes clamping parts and push rods. The clamping parts are movably installed on both sides of the second pusher mounting frame. After the two clamping parts are joined together, they form a clamping area for placing the sleeve. The two ends of the push rod are respectively connected to the two clamping parts. The extension and retraction of the push rod drives the two clamping parts to close or open, applying a clamping force to the sleeve and pressing the sleeve.

[0026] Furthermore, the opening assembly includes a mounting bracket, on the middle of which a guide plate is mounted. The inlet end of the guide plate is pointed, and the guide plate is inserted into the sleeve to open the sleeve.

[0027] Furthermore, both the walking assembly and the opening assembly are equipped with vision sensors. The lens of the vision sensor on one walking assembly is directed toward the first pushing unit to monitor in real time the opening and closing status of the first pushing unit, the tail of the sleeve, the opening and closing of the other walking assembly, and whether the connecting weight in the lifting assembly is in contact with or away from the overhead cable.

[0028] The lens of the vision sensor on the other walking component is facing the opening component, and the lens of the vision sensor on the opening component is facing the second pushing unit, in order to monitor the connection status of the two sleeves between the second pushing unit and the opening component in real time.

[0029] Furthermore, a sensor for sensing the tail end of the sleeve is installed on the first feeding unit.

[0030] Furthermore, a battery is installed at the lower end of the casing machine body. The battery is positioned on the same side as the suspended walking component to increase the weight of the suspended end of the casing machine, making it easier for the casing machine to tilt.

[0031] Furthermore, the walking assembly includes a walking seat, a rotary drive, and a walking frame. The walking seat is mounted on the main body of the casing machine, the rotary drive is mounted on the walking seat, and the walking seat and the walking frame are movably connected. The walking frame has arc-shaped teeth, and the gear on the output shaft of the rotary drive meshes with the arc-shaped teeth to drive the walking frame to rotate.

[0032] The traveling frame is equipped with a traveling wheel and a traveling drive unit at its transverse suspended end. One end of the traveling wheel has a traveling wheel gear on its circumferential wall. The gear on the output shaft of the traveling drive unit meshes with the traveling wheel gear, thereby driving the traveling wheel to travel on the overhead cable.

[0033] Furthermore, the lifting assembly includes a lifting rope assembly and a connecting weight assembly. The lifting rope assembly is installed in the middle of the casing machine body, and the connecting weight assembly is installed on both sides of the top of the casing machine body.

[0034] The lifting rope assembly includes a lifting frame, a spool reel, and a lifting drive assembly. One end of the lifting frame is equipped with a spool reel for winding the lifting rope, the output end of the lifting drive assembly is connected to the spool reel, and the other end of the lifting frame is equipped with a splitter reel.

[0035] The connecting weight assembly includes a connecting weight base, on which a connecting weight is mounted. A lifting rope is threaded through the connecting weight in the spool, and a transverse spool is mounted on the inner wall of the connecting weight base.

[0036] Furthermore, the sleeve includes a sleeve body, the end of which is provided with a flared opening, the end of which is provided with a locking part, and a handle is provided on the outer wall of the sleeve body. The handle is located near the flared opening to facilitate pulling the sleeve on the overhead cable vertically downward.

[0037] The tail end of the sleeve body is provided with a protrusion that engages with the locking part of another sleeve, and the tail end of the sleeve body is provided with a chamfer.

[0038] Furthermore, the casing body includes a tube body with an opening and two flanges installed at the opening of the tube body, and the inner flanges of both flanges are provided with mutually intersecting V-shaped teeth.

[0039] An automatic sleeving machine method, comprising the automatic sleeving machine described in any one of the above claims, includes the following steps:

[0040] Step 1: The lifting assembly is started, which drives the entire casing machine to rise until it reaches the set position;

[0041] Step 2: One walking component starts to return to center, while the other walking component remains unchanged;

[0042] Step 3: The lifting assembly descends until the vision sensor on the opening assembly detects in real time that the overhead cable has been inserted into the clamping area of ​​the second pushing unit, or the vision sensor on another traveling assembly observes that there is no contact between the connecting weight on the lifting assembly and the overhead cable, that is, the descent is in place;

[0043] Step 4: The material storage and feeding assembly feeds the material, and the sleeve on it is transported to the feeding station;

[0044] Step 5: The material storage and feeding assembly is restarted, and the sleeve located at the feeding station in Step 4 is disengaged from the material storage and feeding assembly;

[0045] Step 6: Under the action of the pressure wheel drive, the clamping wheel assembly of the first pushing unit closes and clamps the sleeve. The first push drive in the first pushing unit is started, driving the first push wheel group to rotate and pushing the sleeve to move towards the opening assembly.

[0046] Step 7: The guide plate in the opening assembly is inserted into the closed sleeve to open the sleeve. The first pushing unit continues to push the sleeve to insert the open sleeve into the overhead cable.

[0047] Step 8: The first pushing unit continues to push the sleeve, and the second pushing unit, under the elastic force of the spring, pushes the sleeve against the overhead cable. The sleeve completely covers the overhead cable and continues to move forward along the direction of the overhead cable.

[0048] Step 9: When the tail of the sleeve approaches the first pushing unit, the sensor or the vision sensor at another walking component detects the tail of the sleeve, the first pushing unit stops pushing, the clamping component of the second pushing unit closes and clamps the sleeve, and the pressure wheel component of the first pushing unit opens.

[0049] Step 10: The second pushing unit takes over from the first pushing unit and continues to push the remaining sleeve onto the overhead cable until the vision sensor on the opening assembly detects that the tail of the sleeve is between the opening assembly and the second pushing unit, at which point the second pushing unit stops pushing.

[0050] Step 11: The material storage and feeding assembly continues to feed material, repeating steps 4 to 7. The first pushing unit pushes the head of the second sleeve to connect with the tail of the first sleeve, and the first sleeve and the second sleeve are connected as a whole.

[0051] Step 12: After the docking is completed, the second pushing unit opens and the first pushing unit continues to push the material. This process is repeated until the required number of sleeves are covered.

[0052] Step 13: The lifting assembly drives the entire casing machine to rise, the connecting weight in the lifting assembly contacts the overhead cable, a traveling assembly disengages from the overhead cable, and the traveling assembly starts to return to the initial position;

[0053] Alternatively, another traveling component can be activated to return to the center position. Both traveling components can be suspended on the overhead cable simultaneously, and both traveling components can be activated at the same time to drive the bushing machine to travel on the overhead cable.

[0054] The beneficial effects of this invention are:

[0055] 1. It can move, position, load materials, and install conduits on overhead cables completely autonomously. Operators only need to monitor and issue commands from the ground, fundamentally eliminating the risk of serious personal safety accidents such as falls from heights and electric shocks, and greatly improving the safety of power operation and maintenance.

[0056] 2. Automated continuous operation replaces the time-consuming and labor-intensive manual climbing, positioning, spreading, and pushing processes. The material storage and feeding assembly can carry multiple sleeves for continuous supply; the first and second pushing units push in relay, significantly shortening the installation time of a single sleeve and the protection construction cycle of the entire line, effectively reducing planned power outage time or improving the efficiency of live-line work; in addition, mechanical pushing is more stable and controllable than manual pulling, reducing the risk of damaging the sleeve body or scratching the cable insulation layer during installation.

[0057] 3. The mechanized opening, pushing, and closing process avoids errors caused by manual operation and physical exertion, ensuring that each sleeve can be evenly opened, accurately pushed into place, and firmly closed and locked to achieve a consistent protective effect.

[0058] 4. The unique “single-sided suspension tilting” mode of the independently controlled walking components at both ends (one walking component is the fulcrum, and the other walking component is suspended in the air) is specially designed for efficient material loading and solves the problem that traditional equipment is difficult to operate stably in a tilted state.

[0059] 5. The elastic connection between the second pushing unit and the opening assembly, as well as the battery counterweight design, enable the equipment to automatically adapt to the sag and local undulations of the cable, ensuring effective contact and thrust with the sleeve during the pushing process, thus improving the passability and operational stability on complex lines.

[0060] 6. Multiple sets of visual sensors provide real-time status feedback, enabling the equipment to perceive the environment and monitor key processes, enhancing its autonomous decision-making and fault tolerance capabilities in complex scenarios, and reducing human intervention.

[0061] 7. Significantly reduces the demand for and number of skilled aerial workers, saving high labor costs, safety training costs, and insurance premiums. It can replace or reduce the use of auxiliary equipment such as boom lifts and large scissor lifts. Automated operation is fast, with a large coverage area per unit and high utilization rate. High-quality installation also extends the protective life of the casing, reducing the need for early replacement due to poor installation.

[0062] 8. The storage and feeding assembly's multi-tube storage capacity and the continuous movement capability of the traveling assembly, combined with the series design of the tubes, enable this device to move long distances along cables in a single operation and continuously install multiple tubes. This is particularly suitable for areas with large spans, overcoming the bottlenecks of limited tube quantity and difficult movement caused by manual labor. It absolutely guarantees personnel safety, significantly improves operational efficiency and quality, greatly enhances adaptability to complex terrain, substantially reduces overall operation and maintenance costs, and achieves long-distance continuous and reliable operation. This not only improves the modernization and intelligence of power grid operation and maintenance but also provides strong technical support for the safe, stable, and economical operation of the power system. Attached Figure Description

[0063] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0064] Figure 1 This is a schematic diagram of the structure of the present invention;

[0065] Figure 2 This is a schematic diagram of the structure of the material storage and feeding assembly of the present invention;

[0066] Figure 3 This is the present invention. Figure 2 A structural diagram from another direction;

[0067] Figure 4 This is a schematic diagram of the structure of the first feeding unit of the present invention;

[0068] Figure 5 This is a schematic diagram of the structure of the second feeding unit of the present invention;

[0069] Figure 6 This is a schematic diagram of the structure of the opening component of the present invention;

[0070] Figure 7 This is a schematic diagram of the walking component of the present invention;

[0071] Figure 8 This is the present invention. Figure 7 A structural diagram from another direction;

[0072] Figure 9 This is a schematic diagram of the lifting assembly of the present invention;

[0073] Figure 10 This is a schematic diagram of the structure of the sleeve of the present invention;

[0074] Figure 11 This is the present invention. Figure 10 The right view;

[0075] Figure 12 This is a schematic diagram of the casing machine of the present invention during casing;

[0076] Figure 13 This is a schematic diagram of the casing machine of the present invention during its movement;

[0077] In the picture:

[0078] 1. Main body of the casing machine,

[0079] 21. Lifting assembly; 22. Lifting frame; 23. Wire spool reel; 24. Lifting drive assembly; 25. Wire distributor reel; 26. Wire guide reel; 27. Connecting weight base; 28. Connecting weight; 29. ​​Horizontal wire reel.

[0080] 3. Walking assembly; 31. Walking base; 32. Rotary drive component; 33. Walking frame; 34. Arc-shaped gear; 35. Walking wheel; 36. Walking drive component; 37. Walking wheel gear.

[0081] 4. Material storage and feeding assembly; 41. Feeding drive assembly; 42. Sprocket; 43. Chain; 44. Buckle.

[0082] 5. Sleeve, 51. Sleeve body, 511. Tube body, 512. Flange, 513. Flange V-shaped teeth, 52. Trumpet-shaped opening, 53. Protrusion, 54. Locking part, 55. Handle,

[0083] 6. Opening assembly; 61. Mounting bracket; 62. Guide plate; 63. Guide pulley.

[0084] 7. Material feeding assembly,

[0085] 71. First pushing unit; 711. First pushing mounting frame; 712. First pushing component; 7121. First push wheel mounting frame; 7122. First push wheel assembly; 7123. First push drive component; 713. Pressure wheel assembly; 7131. Pressure wheel drive component; 7132. Pressure wheel arm.

[0086] 72. Second pushing unit; 721. Second pushing mounting bracket; 722. Second pushing wheel assembly; 723. Second pushing wheel assembly drive unit; 724. Connecting bracket; 725. Clamping assembly; 7251. Clamping component; 7252. Push rod.

[0087] 73. Spring,

[0088] 8. Vision sensor, 9. Sensor. Detailed Implementation

[0089] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0090] like Figures 1-13 An automatic sleeve-making machine is shown, comprising:

[0091] The sleeve machine body 1 has an extension extending out of the top of the sleeve machine body 1, providing additional length so that the opening component 6 can be suspended under the overhead cable for easy operation. The top surface of the sleeve machine body 1 has a feeding station, which is where the material storage and feeding component 4 delivers the sleeve to the designated position and waits for the first pushing unit 71 to hug and push it.

[0092] Lifting components 2 are installed at both ends of the casing machine body 1 to reliably suspend the entire casing machine on the overhead cable and drive the casing machine to lift and lower in the vertical direction.

[0093] The walking components 3 are installed at both ends of the casing machine body 1, and the two walking components 3 are independently controlled. They are used to suspend on the cable and drive the casing machine body 1 to walk along the overhead cable, or one walking component 3 can be used as a fulcrum to suspend on the overhead cable, while the other walking component 3 is detached from the overhead cable and suspended in the air, so that the casing machine body 1 tilts to prepare for the casing 5 to be fed.

[0094] The material storage and feeding assembly 4 is installed at both ends of the casing machine body 1. The feeding station is located in the return section of the material storage and feeding assembly 4. The material storage and feeding assembly 4 is installed on one side of the casing machine body 1. The remaining components in the casing machine body 1 are installed on the other side of the casing machine body 1. Multiple casings 5 ​​are stored on it and the stored casings 5 ​​are transported to the feeding station to ensure that the casings 5 ​​are accurately delivered. At the same time, the device can be put into operation continuously once, without the need for multiple loading and unloading, reducing repetitive labor and improving work efficiency.

[0095] The opening assembly 6 is installed on the suspended end of the extension of the sleeve machine body 1 to open the opening of the closed sleeve 5, in preparation for the subsequent sleeve 5 to be put on the overhead cable.

[0096] The pushing assembly 7 consists of two units working together to push the sleeve 5 onto the overhead cable. It includes a first pushing unit 71 and a second pushing unit 72. The first pushing unit 71 and the second pushing unit 72 can both drive the sleeve 5 forward and backward. The first pushing unit 71 pushes part of the sleeve 5 onto the overhead cable, and the second pushing unit 72 takes over from the first pushing unit 71 to push the remaining sleeve 5.

[0097] The first pushing unit 71 is installed on the main body 1 of the casing machine, and the clamping port of the first pushing unit 71 is located at the feeding station;

[0098] The first pushing unit 71 is used to push the sleeve 5 located at the feeding station to the opening component 6. The second pushing unit 72 is movably installed at the discharge end of the opening component 6. The opening component 6 and the second pushing unit 72 are elastically installed so that they can float up and down according to the actual position and curvature of the overhead cable, ensuring that an effective pushing force is always applied to the sleeve 5 during the pushing process to adapt to the undulation of the overhead cable.

[0099] It also includes control components (not shown in the figure) to control the movement of each component in the entire casing machine, so that workers on the ground can operate the entire machine at height from the road surface.

[0100] The feeding station, the first pushing unit 71, the second pushing unit 72, and the opening assembly 6 are coaxially arranged.

[0101] like Figures 2-3As shown, the material storage and feeding assembly 4 occupies half of the mounting plate in the main body 1 of the casing machine. The material storage and feeding assembly 4 includes a feeding drive assembly 41 and several sprockets 42. The sprockets 42 are respectively installed at the four corners of the mounting plate in the axial direction of the main body 1 of the casing machine. The sprockets 42 are respectively installed at the four corners of the half of the mounting plate of the main body 1 of the casing machine. A chain 43 is sleeved on the sprocket 42. Several buckles 44 for locking the casing 5 are installed on the chain 43. The opening of the buckles 44 is set downward. The return section of the chain 43 is directly opposite the feeding station. The output end of the feeding drive assembly 41 meshes with any sprocket 42 to drive the chain 43 to rotate.

[0102] like Figure 4 As shown, the first pushing unit 71 includes a first pushing mounting frame 711, on which a first pushing component 712 and a clamping wheel assembly 713 are mounted. After the clamping wheel assembly 713 and the first pushing component 712 are engaged, they form a clamping area for placing the sleeve 5.

[0103] like Figure 4 As shown, the first pusher 712 includes a first pusher wheel mounting bracket 7121, on which a first pusher wheel assembly 7122 is vertically mounted, and a first pusher drive 7123 is mounted on the first pusher wheel mounting bracket 7121. The output end of the first pusher drive 7123 is connected to the first pusher wheel assembly 7122 through a transmission component to drive the first pusher wheel assembly 7122 to rotate and push the sleeve 5.

[0104] like Figure 4 As shown, the clamping wheel assembly 713 includes a clamping wheel drive 7131 mounted on a first pusher mounting frame 711. The output end of the clamping wheel drive 7131 is equipped with a connecting shaft that passes through the first pusher mounting frame 711, and a clamping wheel arm 7132 is mounted on the connecting shaft.

[0105] like Figure 5 As shown, the second pushing unit 72 includes a second pushing mounting bracket 721, a second pushing wheel assembly drive component 723, a connecting bracket 724, and a clamping assembly 725. The second pushing mounting bracket 721 is elastically mounted on the suspended end of the connecting bracket 724. One end of the connecting bracket 724 is movably mounted between the connecting bracket and the opening assembly 6, and the two are connected by a spring 73.

[0106] The second pusher mounting bracket 721 has a second pusher wheel assembly 722 mounted horizontally in the middle. The output end of the second pusher wheel assembly drive component 723 is connected to the second pusher wheel assembly 722 through a transmission component to drive the second pusher wheel assembly 722 to push the sleeve 5. The clamping component 725 is vertically arranged between the second pusher wheel assembly 722 to clamp the sleeve 5 and prevent it from slipping or shifting during the pushing process.

[0107] like Figure 5As shown, the clamping assembly 725 includes clamping members 7251 and push rods 7252. The clamping members 7251 are movably installed on both sides of the second pusher mounting frame 721. After the two clamping members 7251 are engaged, they form a clamping area for placing the sleeve 5. The two ends of the push rod 7252 are respectively connected to the two clamping members 7251. The extension and retraction of the push rod 7252 drives the two clamping members 7251 to close or open, applying a clamping force to the sleeve 5 and pressing the sleeve 5.

[0108] like Figure 6 As shown, the opening assembly 6 includes a mounting bracket 61, with a guide plate 62 installed in the middle of the mounting bracket 61. The inlet end of the guide plate 62 is pointed. The guide plate 62 is inserted into the sleeve 5 to open the sleeve 5. Several guide pulleys 63 are installed on both sides of the guide plate 62 to reduce friction. The guide pulleys 63 contact the inner wall of the sleeve 5, applying a force to the inner wall of the sleeve 5, which is more conducive to opening the sleeve 5 and reducing the coefficient of friction between the inner wall of the sleeve 5 and the guide plate 62.

[0109] In addition, both the walking assembly 3 and the opening assembly 6 are equipped with vision sensors 8. The vision sensors 8 are ultra-high-definition wide-angle cameras. The lens of the vision sensor 8 on one walking assembly 3 is facing the first pushing unit 71 to monitor the opening and closing status of the first pushing unit 71, the tail of the sleeve 5, the opening and closing of the other walking assembly 3, and the contact or distance of the connecting weight 28 in the lifting assembly 2 from the overhead cable.

[0110] The lens of the vision sensor 8 on the other walking component 3 is directed toward the opening component 6, and the lens of the vision sensor 8 on the opening component 6 is directed toward the second pushing unit 72, in order to monitor in real time the docking status of the two sleeves 5 between the second pushing unit 72 and the opening component 6 and the second pushing unit 72.

[0111] In other words, the vision sensor 8 is installed in a key position to provide real-time visual monitoring and closed-loop control of the status of each key link in the casing machine, providing visual basis for the automatic control, safe operation and fault diagnosis of the casing machine.

[0112] like Figure 4 As shown, a sensor 9 for sensing the tail of the sleeve 5 can also be installed on the first pushing unit 71 to accurately detect whether the tail of the sleeve 5 has been pushed to the designated position and trigger subsequent actions, such as stopping the pushing, or the second pushing unit 72.

[0113] A battery (not shown in the figure) is installed at the lower end of the casing machine body 1. The battery provides power to the drive components, sensors and other components of the entire casing machine. The battery is located on the same side as the suspended walking component 3 to increase the weight of the suspended end of the casing machine and facilitate the tilting of the casing machine.

[0114] A counterweight (not shown in the figure) can also be installed on the main body 1 of the casing machine. When the casing machine enters the inclined feeding preparation state, the weight of the suspended end of the casing machine is increased, making it easier and more stable for the casing machine to maintain the required tilt angle, which facilitates the pushing operation.

[0115] like Figures 7-8 As shown, the walking assembly 3 includes a walking seat 31, a rotary drive 32, and a walking frame 33. The walking seat 31 is mounted on the casing machine body 1, and the rotary drive 32 is mounted on the walking seat 31. The walking seat 31 and the walking frame 33 are movably connected. The walking frame 33 has an arc-shaped toothed portion 34. The gear on the output shaft of the rotary drive 32 meshes with the arc-shaped toothed portion 34 to drive the walking frame 33 to rotate.

[0116] The vertical cross-sectional shape of the traveling frame 33 is inverted L-shaped. The traveling frame 33 is equipped with a traveling wheel 35 and a traveling drive component 36 at its horizontally suspended end. One end of the traveling wheel 35 has a traveling wheel gear 37 on its circumferential wall. The gear on the output shaft of the traveling drive component 36 meshes with the traveling wheel gear 37, thereby driving the traveling wheel 35 to travel on the overhead cable.

[0117] Specifically: In the initial state, the two walking components 3 are set at an angle. When the walking components 3 return to the center, the rotary drive 32 is activated. The gear on the output shaft of the rotary drive 32 meshes with the arc-shaped tooth 34 on the walking frame 33, thereby determining that the walking frame 33 rotates back to the center. After returning to the center, the bottom of the walking components 3 is directly facing the overhead cable.

[0118] When installing the casing, simply return the traveling component 3, which serves as the fulcrum, to the center.

[0119] When the walking component 3 needs to travel on the overhead cable, the walking drive component 36 is activated. The gear on the output shaft of the walking drive component 36 meshes with the walking wheel gear 37 on the walking wheel 35, driving the walking wheel 35 to rotate, thereby driving the casing machine to travel on the overhead cable.

[0120] like Figure 9 As shown, the lifting assembly 2 includes a lifting rope group and a connecting weight group. The lifting rope group is installed in the middle position of the casing machine body 1, and the connecting weight group is installed on both sides of the top of the casing machine body 1.

[0121] The lifting rope assembly includes a lifting frame 21, a spool reel 22, and a lifting drive assembly 23. One end of the lifting frame 21 is equipped with a spool reel 22 for winding the lifting rope, the output end of the lifting drive assembly 23 is connected to the spool reel 22, and the other end of the lifting frame 21 is equipped with a splitter reel 24.

[0122] Several guide wheels 25 are installed on one inner wall of the lifting frame 21. The guide wheels 25 are divided into guide wheels 25a, guide wheels 25b and guide wheels 25c, which are used to separate the two lifting ropes on the spool wheel 22. Guide wheels 26 are provided at both ends of the inner wall of the lifting frame 21.

[0123] The connecting weight assembly includes a connecting weight seat 27, on which a connecting weight 28 is mounted. The lifting rope in the spool 22 is threaded through the connecting weight 28, and a transverse spool 29 is mounted on the inner wall of the connecting weight seat 27.

[0124] Specifically: The spool 22 has two lifting ropes wound around it, namely lifting rope a and lifting rope b. First, the two lifting ropes are pulled and wound around the dividing spool 24, and the two lifting ropes are respectively locked in the two grooves of the dividing spool 24.

[0125] Secondly, the two lifting ropes are separated. One of the lifting ropes, a, is wound around the guide wheel 25a and guide wheel 25b in sequence, and then around the guide wheel 26 on the left. Finally, the lifting rope a is wound around the transverse line wheel 29 on the corresponding side and connected to the suspension rope in the connecting weight 28 on the left.

[0126] Another lifting rope b goes around the guide wheel 25c, then around the guide wheel 26 on the right, and finally the lifting rope b goes around the transverse line wheel 29 on the corresponding side and connects to the suspension rope in the connecting weight 28 on the right.

[0127] A traction rope is attached to the movable end of the suspension rope inside the connecting weight 28, and the workers on the ground hang the suspension rope on the overhead cable; the lifting drive component 23 is activated, and the drive cup wheel 22 rotates, thereby winding up the two lifting ropes. Finally, the two lifting ropes pull the suspension rope, causing the whole machine to rise until the whole machine is in place.

[0128] like Figures 10-11 As shown, the sleeve 5 includes a sleeve body 51. The sleeve body 51 has a flared opening 52 at its end, which makes it easy for the sleeve 5 to be pushed onto the overhead cable. The end of the sleeve body 51 has a locking part 54. The outer wall of the sleeve body 51 has a handle 55. The handle 55 is located near the flared opening 52. The handle 55 provides a point for manual intervention, which makes it easy for the operator to pull the sleeve 5 on the overhead cable vertically downward after installation or when necessary.

[0129] The tail of the sleeve body 51 is provided with a protrusion 53 that cooperates with the locking part 54 of another sleeve 5. This design is used for multiple sleeves 5 connected in series. The tail of the sleeve body 51 is provided with a chamfer to facilitate the smooth sliding of the sleeves 5 when they are connected.

[0130] like Figures 10-11As shown, the bushing body 51 includes a tube body 511 with an opening and two flanges 512 installed at the opening of the tube body 511. The inner walls of the two flanges 512 are provided with mutually intersecting flange V-shaped teeth 513. The V-shaped grooves increase the creepage distance on the insulation surface, force the electric arc to bend and deflect, block the continuous arc on and off, prevent flashover, and improve the insulation reliability.

[0131] An automatic sleeving machine method, comprising the automatic sleeving machine described in any one of the above claims, includes the following steps:

[0132] In the initial state, the walking component 3, the first pushing unit 71, and the second pushing unit 72 are all in the open state;

[0133] The sleeve 5 is pre-installed on the material storage and feeding assembly 4, with the opening of the sleeve 5 facing downwards;

[0134] The second pushing unit 72 and the opening component 6 are pulled together by a spring 73; the second pushing unit 72 and the opening component 6 have a bent structure with the inward concave opening facing upward.

[0135] Of the two walking components 3, one walking component 3 serves as a fulcrum, while the other walking component 3 is suspended in the air;

[0136] casing:

[0137] Step 1: The lifting assembly 2 is started, which drives the entire casing machine to rise until it reaches the set position. At this time, the two traveling assemblies 3 are located above the overhead cable, and the connecting weight 28 in the lifting assembly 2 is in contact with the overhead cable.

[0138] Step 2: One walking component 3 starts to return to center, while the other walking component 3 remains unchanged;

[0139] Step 3: The lifting assembly 2 descends until the vision sensor 8 on the opening assembly 6 observes that the overhead cable has been inserted into the engagement area of ​​the second pushing unit 72, or the vision sensor 8 on another traveling assembly 3 observes that there is no contact between the connecting weight 28 on the lifting assembly 2 and the overhead cable, i.e., it has descended to the designated position; specifically:

[0140] Step 31: The lifting assembly 2 descends. In step 2, one of the traveling components 3 is suspended on the overhead cable. At this time, the connecting weight 28 in the lifting assembly 2 is not in contact with the overhead cable.

[0141] Step 32: The lifting component 2 continues to descend, with one walking component 3 as the fulcrum, and the other walking component 3 descends, thereby causing the entire casing machine to begin to tilt. The overhead cable is inserted into the clamping opening of the second pushing unit 72, and the end of the second pushing unit 72 abuts against the overhead cable. The connection between the second pushing unit 72 and the opening component 6 is still a bent structure.

[0142] Step 33: The lifting component 2 descends again, and the other walking component 3 continues to descend until the clamping opening of the second pushing unit 72 is completely in contact with the overhead cable;

[0143] Step 4: The material storage and feeding assembly 4 feeds the material and transports the sleeve 5 on it to the feeding station. At the same time, the sleeve 5 is also located in the clamping area of ​​the first pushing unit 71.

[0144] Step 5: The material storage and feeding assembly 4 is restarted, and the sleeve 5 located at the feeding station in step 4 is disengaged from the clip 44 in the material storage and feeding assembly 4. At this time, the open end of the sleeve 5 is facing upward.

[0145] Step 6: Under the action of the pressure wheel assembly 713 of the first pushing unit 71, the pressure wheel drive component 7131 closes and hugs the sleeve 5. The first push drive component 7123 in the first pushing unit 71 is started, driving the first push wheel assembly 7122 to rotate and push the sleeve 5 to move towards the opening assembly 6.

[0146] Step 7: The guide plate 62 in the opening assembly 6 is inserted into the closed sleeve 5 to open the opening of the sleeve 5. The first pushing unit 71 continues to push the sleeve 5 to insert the open sleeve 5 into the overhead cable.

[0147] Step 8: The first pushing unit 71 continues to push the sleeve 5, and the sleeve 5 is pushed past the second pushing unit 72. Under the elastic force of the spring 73, the second pushing unit 72 pushes the sleeve 5 against the overhead cable. The sleeve 5 completely covers the overhead cable and continues to move forward along the overhead cable.

[0148] Step 9: When the tail of the sleeve 5 approaches the first pushing unit 71, the sensor 9 or the vision sensor 8 at another walking component 3 detects the tail of the sleeve 5, the first pushing unit 71 stops pushing, the clamping component 725 of the second pushing unit 72 closes and clamps the sleeve 5, and the pressure wheel component 713 of the first pushing unit 71 opens.

[0149] Step 10: The second pushing unit 72 takes over from the first pushing unit 71 and continues to push the remaining sleeve 5 onto the overhead cable until the vision sensor 8 on the opening assembly 6 detects that the tail of the sleeve 5 is between the opening assembly 6 and the second pushing unit 72. The second pushing unit 72 stops pushing. At this time, the second pushing unit 72 is still in a holding state.

[0150] Step 11: The material storage and feeding assembly 4 continues to feed material, repeating steps 4 to 7. The first pushing unit 71 pushes the head of the second sleeve to align with the tail of the first sleeve, connecting the first sleeve and the second sleeve into a whole. This step is observed by the vision sensor 8 installed on the opening assembly 6, which shows the displacement distance of the second sleeve, thus indicating that the first sleeve and the second sleeve are connected as one unit. Alternatively, even without the observation of the vision sensor 8 on the opening assembly 6, it can be ensured that the first sleeve and the second sleeve can be engaged together, as long as the second sleeve is in a displaced state.

[0151] Step 12: After the docking is completed, the second pushing unit 72 opens and the first pushing unit 71 continues to push the material. This process is repeated until the required number of sleeves 5 are covered.

[0152] Step 13: The lifting assembly 2 drives the entire casing machine to rise, the connecting weight 28 in the lifting assembly 2 contacts the overhead cable, a traveling assembly 3 disengages from the overhead cable, and the traveling assembly 3 starts to return to the initial position;

[0153] Step 14: Lifting assembly 2 continues to descend, and the operator retrieves the casing machine;

[0154] walk:

[0155] Step 15: The lifting assembly 2 is started, which drives the entire casing machine to rise until it reaches the set position. At this time, the two traveling assemblies 3 are located above the overhead cable, and the connecting weight 28 in the lifting assembly 2 is in contact with the overhead cable.

[0156] Step 16: Both walking components 3 are initiated to return to center;

[0157] Step 17: The lifting assembly 2 descends, and the two traveling assemblies 3 are simultaneously suspended on the overhead cable. At this time, the connecting weight 28 in the lifting assembly 2 is not in contact with the overhead cable. The two traveling assemblies 3 start at the same time, driving the bushing machine to travel on the overhead cable.

[0158] In summary, the sleeve-making machine provides a covering solution, especially suitable for specific and challenging construction environments (bare wires and insulated wires, dense vegetation areas, areas where tree canopy clearing is difficult, above water, etc.) and occasions where the installation length is long (at least 2 meters), a large number of sleeves need to be continuously installed, and long-distance protection is required.

[0159] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An automatic sleeve-feeding machine, characterized in that: include The casing machine body (1) has an extension extending out of the casing machine body (1) at the top and a feeding station on the top surface of the casing machine body (1). Lifting components (2) are installed at both ends of the casing machine body (1) to suspend it on the overhead cable and drive the casing machine to lift and lower. The walking components (3) are installed at both ends of the casing machine body (1), and the two walking components (3) are independently controlled. They are used to suspend on the cable and drive the casing machine body (1) to walk along the overhead cable, or one of the walking components (3) is used as a fulcrum to suspend on the overhead cable, while the other walking component (3) is detached from the overhead cable and suspended in the air, so that the casing machine body (1) tilts to prepare for the casing (5) to be fed. The material storage and feeding assembly (4) is installed at both ends of the casing machine body (1). The feeding station is located in the return section of the material storage and feeding assembly (4). Multiple casings (5) are stored on it, and the stored casings (5) are transported to the feeding station. An opening assembly (6) is installed on the suspended end of the extension of the casing machine body (1) to open the opening of the closed casing (5); The pushing assembly (7) includes a first pushing unit (71) and a second pushing unit (72). The first pushing unit (71) pushes part of the sleeve (5) onto the overhead cable, and the second pushing unit (72) takes over from the first pushing unit (71) to push the remaining sleeve (5). The first pushing unit (71) is installed on the main body (1) of the casing machine, and the clamping port of the first pushing unit (71) is located at the feeding station; The first pushing unit (71) is used to push the sleeve (5) located at the loading station to the opening assembly (6). The second pushing unit (72) is movably installed at the discharge end of the opening assembly (6). The opening assembly (6) and the second pushing unit (72) are flexibly installed to accommodate overhead cables.

2. The automatic sleeve-feeding machine according to claim 1, characterized in that: The material storage and feeding assembly (4) includes a feeding drive assembly (41) and several sprockets (42). The sprockets (42) are respectively installed at the four corners of the mounting plate of the casing machine body (1) in the axial direction. A chain (43) is sleeved on the sprocket (42). Several buckles (44) for locking the casing (5) are installed on the chain (43). The opening of the buckle (44) is set downward. The return section of the chain (43) is directly opposite the feeding station. The output end of the feeding drive assembly (41) meshes with any sprocket (42) to drive the chain (43) to rotate.

3. An automatic sleeve-feeding machine according to claim 1, characterized in that: The first pusher unit (71) includes a first pusher mounting frame (711), on which a first pusher component (712) and a pressure roller assembly (713) are mounted. After the pressure roller assembly (713) and the first pusher component (712) are engaged, they form a clamping area for placing the sleeve (5).

4. An automatic sleeve-feeding machine according to claim 3, characterized in that: The first pusher (712) includes a first pusher wheel mounting bracket (7121), on which a first pusher wheel assembly (7122) is vertically mounted, and a first pusher drive (7123) is mounted on the first pusher wheel mounting bracket (7121). The output end of the first pusher drive (7123) is connected to the first pusher wheel assembly (7122) through a transmission component to drive the first pusher wheel assembly (7122) to rotate and push the sleeve (5).

5. An automatic sleeve-feeding machine according to claim 3, characterized in that: The clamping wheel assembly (713) includes a clamping wheel drive (7131) mounted on a first pusher mounting frame (711). The output end of the clamping wheel drive (7131) is equipped with a connecting shaft that passes through the first pusher mounting frame (711), and a clamping wheel arm (7132) is mounted on the connecting shaft.

6. An automatic sleeve-feeding machine according to claim 1, characterized in that: The second pushing unit (72) includes a second pushing mounting bracket (721), a second pushing wheel drive (723), a connecting bracket (724), and a clamping assembly (725). The second pushing mounting bracket (721) is elastically mounted on the suspended end of the connecting bracket (724). One end of the connecting bracket (724) is movably mounted between the connecting bracket (724) and the opening assembly (6), and the two are connected by a spring (73). The second pusher mounting bracket (721) has a second pusher wheel assembly (722) installed horizontally in the middle. The output end of the second pusher wheel assembly drive component (723) is connected to the second pusher wheel assembly (722) through a transmission component to drive the second pusher wheel assembly (722) to push the sleeve (5). The clamping component (725) is vertically arranged between the second pusher wheel assembly (722) to clamp the sleeve (5).

7. An automatic sleeve-feeding machine according to claim 6, characterized in that: The clamping assembly (725) includes clamping parts (7251) and push rods (7252). The clamping parts (7251) are movably installed on both sides of the second pusher mounting frame (721). After the two clamping parts (7251) are joined together, they form a clamping area for placing the sleeve (5). The two ends of the push rod (7252) are connected to the two clamping parts (7251) respectively. The extension and retraction of the push rod (7252) drives the two clamping parts (7251) to close or open, apply a clamping force to the sleeve (5), and press the sleeve (5) tightly.

8. An automatic sleeve-feeding machine according to claim 1, characterized in that: The opening assembly (6) includes a mounting bracket (61), and a guide plate (62) is installed in the middle of the mounting bracket (61). The inlet end of the guide plate (62) is pointed. The guide plate (62) is inserted into the sleeve (5) and opens the sleeve (5).

9. An automatic sleeve-feeding machine according to claim 1, characterized in that: Both the walking assembly (3) and the opening assembly (6) are equipped with vision sensors (8). The lens of the vision sensor (8) on one walking assembly (3) is facing the first pushing unit (71) to monitor in real time the opening and closing state of the first pushing unit (71), the tail of the sleeve (5), the opening and closing of the other walking assembly (3), and the contact or distance of the connecting weight (28) in the lifting assembly (2) from the overhead cable. The lens of the vision sensor (8) on another walking component (3) is directed toward the opening component (6), and the lens of the vision sensor (8) on the opening component (6) is directed toward the second pusher unit (72) to monitor in real time the docking status of the two tubes (5) between the second pusher unit (72) and the opening component (6) and the second pusher unit (72).

10. An automatic sleeve-feeding machine according to claim 1, characterized in that: The first feeding unit (71) is equipped with a sensor (9) at the tail of the sensing sleeve (5).

11. An automatic sleeve-feeding machine according to claim 1, characterized in that: The casing machine body (1) is equipped with a battery at the lower end. The battery is located on the same side as the suspended walking component (3) to increase the weight of the suspended end of the casing machine and facilitate the tilting of the casing machine.

12. An automatic sleeve-feeding machine according to claim 1, characterized in that: The walking assembly (3) includes a walking seat (31), a rotary drive (32), and a walking frame (33). The walking seat (31) is mounted on the casing machine body (1), and the rotary drive (32) is mounted on the walking seat (31). The walking seat (31) and the walking frame (33) are movably connected. The walking frame (33) has an arc-shaped toothed part (34). The gear on the output shaft of the rotary drive (32) meshes with the arc-shaped toothed part (34) to drive the walking frame (33) to rotate. The lateral suspended end of the walking frame (33) is equipped with a walking wheel (35) and a walking drive (36). One end of the walking wheel (35) has a walking wheel gear (37) on its circumferential wall. The gear on the output shaft of the walking drive (36) meshes with the walking wheel gear (37), thereby driving the walking wheel (35) to walk on the overhead cable.

13. An automatic sleeve-feeding machine according to claim 1, characterized in that: The lifting assembly (2) includes a lifting rope assembly and a connecting weight assembly. The lifting rope assembly is installed in the middle of the casing machine body (1), and the connecting weight assembly is installed on both sides of the top of the casing machine body (1). The lifting rope assembly includes a lifting frame (21), a spool (22), and a lifting drive assembly (23). One end of the lifting frame (21) is equipped with a spool (22) for winding the lifting rope. The output end of the lifting drive assembly (23) is connected to the spool (22). The other end of the lifting frame (21) is equipped with a splitter (24). The connecting weight assembly includes a connecting weight seat (27), on which a connecting weight (28) is installed. The lifting rope in the spool (22) is threaded through the connecting weight (28), and a transverse spool (29) is installed on the inner wall of the connecting weight seat (27).

14. An automatic sleeve-feeding machine according to claim 1, characterized in that: The sleeve (5) includes a sleeve body (51), the end of the sleeve body (51) is provided with a flared opening (52), the end of the sleeve body (51) is provided with a locking part (54), and the outer wall of the sleeve body (51) is provided with a handle (55). The handle (55) is located near the flared opening (52) to facilitate pulling the sleeve (5) on the overhead cable vertically downward. The tail of the sleeve body (51) is provided with a protrusion (53) that engages with the locking part (54) of another sleeve (5), and the tail of the sleeve body (51) is provided with a chamfer.

15. An automatic sleeve-feeding machine according to claim 14, characterized in that: The sleeve body (51) includes a tube body (511) with an opening and two flanges (512) installed at the opening of the tube body (511). The inner flanges (512) are provided with mutually intersecting flange V-shaped teeth (513).

16. A method for casing with an automatic casing machine, comprising the automatic casing machine as described in any one of claims 1 to 15, characterized in that: Includes the following steps: Step 1: The lifting assembly (2) is started, which drives the entire casing machine to rise until it reaches the set position; Step 2: One walking component (3) starts to return to center, while the other walking component (3) remains unchanged; Step 3: The lifting assembly (2) descends until the vision sensor (8) on the opening assembly (6) monitors in real time that the overhead cable has been inserted into the clamping area of ​​the second pushing unit (72), or the vision sensor (8) on another walking assembly (3) observes that the connecting weight (28) on the lifting assembly (2) is not in contact with the overhead cable, that is, it has descended to the designated position; Step 4: The material storage and feeding assembly (4) feeds the material and transports the sleeve (5) on it to the feeding station; Step 5: The material storage and feeding assembly (4) is restarted, and the sleeve (5) located at the feeding station in step 4 is disengaged from the clip (44) in the material storage and feeding assembly (4); Step 6: The clamping wheel assembly (713) of the first pushing unit (71) closes and clamps the sleeve (5) under the action of the clamping wheel drive (7131). The first push drive (7123) in the first pushing unit (71) is started, driving the first push wheel group (7122) to rotate and push the sleeve (5) to move towards the opening assembly (6). Step 7: The guide plate (62) in the opening assembly (6) is inserted into the closed sleeve to open the opening of the sleeve (5). The first pushing unit (71) continues to push the sleeve (5) to insert the open sleeve (5) into the overhead cable. Step 8: The first pushing unit (71) continues to push the sleeve (5), and the second pushing unit (72) pushes the sleeve (5) against the overhead cable direction under the elastic force of the spring (73). The sleeve (5) completely covers the overhead cable and continues to move forward along the overhead cable direction. Step 9: When the tail of the sleeve (5) approaches the first pushing unit (71), the sensor (9) or the vision sensor (8) at another walking component (3) senses the tail of the sleeve (5), the first pushing unit (71) stops pushing, the clamping component (7251) of the second pushing unit (72) closes and clamps the sleeve (5), and the pressure wheel component (713) of the first pushing unit (71) opens; Step 10: The second pushing unit (72) takes over from the first pushing unit (71) and continues to push the remaining sleeve (5) onto the overhead cable until the vision sensor (8) on the opening assembly (6) detects that the tail of the sleeve (5) is located between the opening assembly (6) and the second pushing unit (72), and the second pushing unit (72) stops pushing. Step 11: The material storage and feeding assembly (4) continues to feed material, repeating steps 4 to 7. The first pushing unit (71) pushes the head of the second sleeve to connect with the tail of the first sleeve, and the first sleeve and the second sleeve are connected as a whole. Step 12: After the docking is completed, the second pushing unit (72) opens and the first pushing unit (71) continues to push the material. This process is repeated until the required number of sleeves (5) are covered. Step 13: The lifting assembly (2) drives the entire casing machine to rise, the connecting weight (28) in the lifting assembly (2) contacts the overhead cable, a walking assembly (3) disengages from the overhead cable, and the walking assembly (3) starts to return to the initial position; Alternatively, another walking component (3) is activated to return to center, and both walking components (3) are simultaneously suspended on the overhead cable. Both walking components (3) are activated simultaneously, driving the casing machine to walk on the overhead cable.

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