An integrated bypass operation device and its working method for drones

Abstract

This invention relates to the field of live-line working technology for power distribution networks, specifically to an integrated bypass operation device and method mounted on a drone. The main body of the device is connected to the drone. Within the main body, a modular wire stripping tool rotates around the main line to strip wires; a bypass cable lifting and splicing tool enables power extraction and bypass cable lifting; and an insulation restoration tool has a U-shaped opening facing downwards. Insulation restoration push rods are located on both sides of the U-shaped opening, with hooks movably connected to the actuating ends of the push rods. These hooks are used to engage insulating components. By pushing the hooks on both sides of the opening with the insulation restoration push rods, combined with the elasticity of the insulating components, the insulating components are enclosed on the main line, achieving insulation restoration. The push rods on both sides drive the hooks to perform a "enclosure-trigger release" action on the insulating components. This device is adaptable to various insulating components, resolving the core contradiction between the adaptability, reliability, and tool compactness of automated insulation restoration.

Description

Technical Field

[0001] This invention relates to the field of live-line working technology for power distribution networks, specifically to an integrated bypass working device and its working method mounted on a drone. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] In the inspection, maintenance, or load transfer of power distribution lines, bypass connection work is often required. Traditional bypass connection work mainly relies on manual labor, which has problems such as high personal safety risks, high labor intensity, and low efficiency.

[0004] With technological advancements, automated solutions have emerged that utilize drones to lift integrated tools onto conductors. These solutions typically integrate functions such as wire stripping and current conduction. However, in the crucial step of restoring insulation to the exposed conductor points after current conduction, current technologies still have significant shortcomings. Most solutions either rely on a separate, large insulation restoration tool that needs to be lifted again, or employ complex and cumbersome mechanical structures to wrap and encase insulation materials. This makes the entire tool system bulky and does not meet the lightweight and compact requirements of drone lifting.

[0005] Furthermore, existing automated insulation restoration methods typically rely on a pair of motorized actuators to push two or four semi-circular insulating components to clamp and restore insulation. This method requires at least two layers of adhesive backing for the insulating components. One layer is pre-bonded to the actuator's actuating end, and the other layer is used to adhere to the exposed cable point. In actual operation, the two layers of adhesive need to have different adhesive strengths to ensure reliable adhesion to the exposed cable. This results in custom-made insulating components that are difficult to adapt to different types of insulating components, leading to poor versatility. Moreover, the clamping force depends on the actuator's stroke control, making it prone to loss of control and cable damage. Summary of the Invention

[0006] This invention provides an integrated bypass operation device and method mounted on a drone, aiming to solve the personal safety risks of high-altitude live-line operations by using drones and modular tools, and to overcome the automation problem of insulation restoration. It achieves fully mechanized and seamless operation from positioning, wire stripping, current conduction to final insulation restoration, eliminating the need for manual intervention. Furthermore, the structure of the insulation restoration tool is optimized to adapt to more types of insulation components.

[0007] To achieve the above objectives, the present invention employs the following technical embodiments: The first aspect of the present invention provides an integrated bypass operation device for drone mounting, comprising a tool body connected to the drone via a drone lifting device; the tool body includes: The modular wire stripping tool, located on one side of the bypass cable lifting splicing tool, moves circumferentially around the main wire to strip the insulation layer of the main wire; The bypass cable lifting splicing tool uses a stripping slide assembly to drive the modular stripping tool to move in a straight line. The main line clamping assembly clamps the exposed area of ​​the main line to obtain power. The electric winch assembly on the mounting base drives the insulating rope and the bypass cable to rise. When the power-obtaining male connector of the bypass cable is connected to the conductive female connector in the main line clamping assembly, the splicing is achieved. The insulation restoration tool, located on the other side of the bypass cable lifting and splicing tool, is used for insulation restoration of the exposed area of ​​the main line. It has a U-shaped opening facing downwards, and insulation restoration push rods are provided on both sides of the U-shaped opening. The actuating end of the insulation restoration push rod is movably connected to a hook, which is used to engage the insulation component. By pushing the hooks on both sides of the opening with the insulation restoration push rod, combined with the elasticity of the insulation component, the insulation component is enclosed on the main line to achieve insulation restoration.

[0008] Furthermore, the insulation restoration tool has a support member with a U-shaped opening facing downwards. The inside of the opening of the support member is the area for performing insulation restoration, and insulation restoration push rods are respectively provided on the outside of the opening of the support member.

[0009] Furthermore, each side of the U-shaped opening has multiple hooks, which are arranged side by side on the support rod. The actuating end of the insulation restoration push rod drives all the hooks on one side to move synchronously through the support rod.

[0010] Furthermore, the insulating component is elastic. The pre-tightened insulating component is snapped between the hooks on both sides of the U-shaped opening. As the insulation restoration push rod continues to move, the insulating component gradually fits into the exposed area of ​​the main conductor. When the elasticity of the insulating component breaks through the friction of the hook, it detaches from the hook to restore its shape. The restored insulating component wraps around the outside of the exposed area of ​​the main conductor, thus achieving insulation restoration.

[0011] Furthermore, the mounting base has a groove, and a clamping slider is provided in the space below the groove. The clamping slider moves in the vertical direction. When the distance between the clamping slider and the groove is reduced to a set limit distance, the main guide line or the exposed area of ​​the main guide line is clamped.

[0012] Furthermore, the mounting base is equipped with a mounting telescopic guide assembly, including a nested and slidably connected guide telescopic bracket and guide bracket. The guide telescopic bracket retracts and expands by sliding. When the guide telescopic bracket expands, the mounting telescopic guide assembly forms an opening facing the space diagonally downward, which is used to guide the main guide line into the tool body.

[0013] Furthermore, the bypass cable lifting splicing tool is equipped with a camera assembly, which includes an observation camera rotatably connected to the mounting base, a spring pin assembly set on the power take-up female bracket, and a camera lever connected to the clamping slider and moving with the clamping slider. The slider is lowered along with the camera lever. The camera lever overcomes the elastic force of the spring pin assembly and presses down on the observation camera to make it rotate. At this time, the image acquired by the observation camera covers the stripped area. When the slider is lifted, the camera lever stops pressing down on the observation camera, the spring pin assembly pops out, pushing the observation camera to reset, thus enabling the observation of the wire stripping operation status.

[0014] Furthermore, the wire stripping slide assembly includes a traveling slide block, which is connected to the wire stripping bracket of the modular wire stripping tool via a flexible connector. The traveling slide block is threadedly connected to a traveling screw, which is connected to the output shaft of a traveling motor. The traveling motor drives the traveling screw to rotate, thereby driving the traveling slide block and the modular wire stripping tool to achieve linear motion.

[0015] Furthermore, the modular wire stripping tool includes a wire stripping bracket, which is equipped with a rotating component and a clamping component for clamping the main wire. The rotating component drives the wire stripping bracket to rotate around the main wire. The wire stripping bracket is equipped with a wire stripping knife. The wire stripping slide assembly drives the modular wire stripping tool to achieve linear motion. The coupling of circular motion and linear motion forms a spiral motion to strip the insulation layer.

[0016] A second aspect of the present invention provides a method for operating an integrated bypass operation device mounted on a drone, comprising the following steps: The drone carries the main body of the tool and flies above the work point. It then places the main body of the tool in the work area along the main line by descending. The main wire clamping component in the bypass cable lifting splicing tool and the clamping component in the modular wire stripping tool alternately clamp the main wire, and the wire stripping slide assembly drives the modular wire stripping tool to move in a straight line, so that the tool body creeps to the required wire stripping point; Upon reaching the stripping point, the modular stripping tool moves in a straight line under the drive of the stripping slide assembly, while simultaneously moving in a circular motion around the main guide wire. The two motions are coupled to form a spiral motion, which strips the main guide wire. After stripping the wire, the main wire clamping component in the bypass cable lifting splicing tool and the clamping component in the modular wire stripping tool alternately clamp the main wire, adjusting the relative position of the exposed point and the main wire clamping component in a creeping manner. After the position adjustment is completed, the main line clamping component in the bypass cable lifting splicing tool clamps the wire core to achieve power extraction. The current is introduced into the power extraction female head through the mounting base of the main line clamping component and the power extraction female head bracket. The bypass cable is pre-connected to the power take-up male connector. The insulating rope drives the bypass cable upward until the power take-up male connector is inserted into the inner cavity of the conductive female connector. A loop is formed between the main line and the bypass cable, completing one splicing operation. After the splicing operation is completed, the main line clamping component and the clamping component in the modular wire stripping tool alternately clamp the main line, and drive the insulation restoration tool to the splicing position in a creeping manner. The insulation restoration tool then performs insulation restoration on the exposed area of ​​the main line. After restoration, the drone lifts the tool body to the next position.

[0017] Compared with the prior art, one or more of the above technical embodiments have the following beneficial effects: 1. Driven by push rods on both sides, rows of hooks guide the insulation components to precisely enclose the conductor. A "trigger-type release" mechanism, utilizing the elastic force of the insulation components to overcome the friction of the hooks, achieves automatic and tight wrapping of the insulation components. This structure simplifies the complex wrapping action into a single linear advance stroke, ensuring reliable operation and compatibility with various insulation components such as G-type and O-type. It solves the core problems of existing technologies, such as high difficulty in automated insulation restoration, low reliability, and poor versatility of insulation components, achieving a closed-loop operation throughout the entire process.

[0018] 2. By modularizing functions such as wire stripping, continuity testing, and insulation restoration, the device can be flexibly configured according to on-site task requirements. This not only facilitates quick assembly, disassembly, and maintenance but also allows individual functional modules (such as insulation restoration tools) to be independently optimized and upgraded, greatly enhancing the overall device's functional flexibility and task adaptability.

[0019] 3. The device integrates multiple safety designs. The current conduction link uses an electric winch to lift the lightweight male connector and mechanically clamp it, avoiding the risk of lifting the entire cable. The observation camera and clamping mechanism are linked to provide key safety perspectives for different operation stages.

[0020] 4. By coupling the linear drive of the wire stripping slide assembly with the rotation of the modular wire stripping tool, a spiral wire stripping motion is formed, resulting in high stripping efficiency and quality. Simultaneously, the alternating clamping of the main wire clamping assembly and the wire stripping tool clamping assembly enables the tool to "creep" along the conductor, allowing for precise movement to the splice point. Attached Figure Description

[0021] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0022] Figure 1 A schematic diagram of the overall structure of the overlapping device provided in one or more embodiments of the present invention; Figure 2This is a schematic diagram of the main body structure of the overlapping device provided in one or more embodiments of the present invention; Figure 3 A schematic diagram of the mainline clamping component structure provided in one or more embodiments of the present invention; Figure 4 A schematic diagram of the structure of the telescopic guide assembly when it is retracted, provided in one or more embodiments of the present invention; Figure 5 A schematic diagram of the structure of the telescopic guide assembly deployed according to one or more embodiments of the present invention; Figure 6 This is a schematic diagram of an insulation restoration component structure provided in one or more embodiments of the present invention; Figure 7 This is a schematic cross-sectional view of an insulation restoration component provided in one or more embodiments of the present invention; Figure 8 This is a bottom view of an insulation restoration assembly provided in one or more embodiments of the present invention; Figure 9 A schematic diagram of G-type insulating tape provided in one or more embodiments of the present invention; Figure 10 A schematic diagram of O-type insulating tape provided in one or more embodiments of the present invention; Figure 11 This is a schematic diagram of cable insulation restoration provided in one or more embodiments of the present invention; Figure 12 A schematic diagram of a device for gravity-driven bending of a conductor provided in one or more embodiments of the present invention; Figure 13 A schematic diagram of video observation during mainline clamping and insulation recovery provided for one or more embodiments of the present invention; Figure 14 This is a schematic diagram of video observation during wire stripping provided for one or more embodiments of the present invention.

[0023] Figure 1 Chinese: 1. UAV hoisting device; 2. Modular wire stripping tool; 3. Bypass cable lifting and splicing tool; 4. Bypass cable connector; 5. Insulation restoration tool; Figure 2 In the middle: 31. Main line clamping assembly; 32. Wire stripping slide assembly; 33. Electric winch assembly; 34. Power supply assembly; 35. Housing; 36. Camera assembly; 37. Mounting telescopic guide assembly; 38. Insulation restoration tool connection assembly; Figure 3 311. Mounting base; 312. Clamping slider; 313. Copper nut; 314. Clamping motor; 315. Motor bracket; 316. Clamping lead screw; 317. Travel optical shaft; 318. Unlocking hook; 6. Main guide line; Figures 4-5 In the middle: 371, guide bracket; 372, double-ended threaded pin A; 373, guide telescopic bracket; 374, spring pin; 375, double-ended threaded pin B; 376, spring pin ball; Figures 6-8 In the middle section: 51. Support component; 52. Insulation restoration push rod; 53. Hook; 54. Support rod; 55. Insulating component; 56. Side guide plates; 57. Quick-release connector; 58. Snap ring pin; 59. Positioning pin; Figures 13-14 In the middle: 361, spring pin assembly; 362, fixing bolt; 363, camera lever; 364, observation camera. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0026] As described in the background section, existing automated tools for high-altitude traverse work are still in the development stage and face many technical challenges: Insufficient functional integration and flexibility. Many tools are designed for a single function, failing to efficiently and reliably complete a series of consecutive operations such as wire stripping, current conduction, and insulation restoration within a compact space. Alternatively, although they integrate multiple functions, their bloated structure prevents flexible configuration of modules according to actual operational needs, resulting in poor adaptability.

[0027] Most solutions either rely on another separate, large insulation restoration tool that needs to be lifted again, or use complex and bulky mechanical structures to wrap and encase the insulation material, making the entire tool system cumbersome and failing to meet the requirements of drone lifting for lightweight and compactness.

[0028] In addition, existing automated insulation restoration methods generally suffer from poor adaptability, making it difficult to quickly and reliably adapt to different conductor diameters and insulation types. Their installation process often has a low fault tolerance rate, and during the wrapping process, phenomena such as insulation jamming, falling off, or loose wrapping can easily occur, which seriously affect the reliability of insulation restoration and the continuity of the operation process.

[0029] Therefore, the following embodiments present an integrated bypass operation device and method for drone-mounted devices, adopting the design principles of "functional modularization" and "simplified actuators." Based on the integrated wire stripping and conduction modules, a hook-type insulation restoration mechanism is designed: a row of hooks is driven by double-sided push rods to synchronously and precisely execute the "enclosure-trigger unhooking" action of the insulation component. Utilizing the inherent elasticity of the insulation component and simple mechanical linkage, complex wrapping actions are reliably completed with the most compact structure and the fewest driving components. It perfectly adapts to various insulation components, resolving the core contradiction between adaptability, reliability, and tool compactness in automated insulation restoration.

[0030] like Figure 1 As shown, an integrated bypass operation device for drone mounting includes a drone lifting device 1. One end of the drone lifting device 1 is fixedly connected to the drone, and the other end is used to lift the tool body. The tool body has multiple modular tools that can be combined according to actual operation needs. This embodiment introduces the following commonly used tools, including: Modular wire stripper 2, used to strip the insulation layer of the main wire; The bypass cable lifting and splicing tool 3 has a bypass cable connector 4 for lifting the bypass cable. By connecting the bypass cable connector 4 to the bypass cable being lifted, the current is conducted between the main line and the bypass cable connector 4, thereby indirectly conducting the main line and the bypass cable. Insulation restoration tool 5 is used for insulation restoration of exposed wire points.

[0031] In this embodiment, the bypass cable lifting splicing tool 3 is the main structure, with modular wire stripping tool 2 and insulation restoration tool 5 on both sides, which sequentially perform main wire insulation layer stripping, bypass cable splicing for power extraction and insulation restoration. During operation, the drone carries the main body of the tool and flies above the work point. It then places the main body of the tool in the work area of ​​the main control line by descending. The main wire clamping component 31 in the bypass cable lifting splicing tool 3 and the clamping component in the modular stripping tool 2 alternately clamp the main wire, and together with the stripping slide assembly 32, the modular stripping tool 2 and the tool body move in a straight line, forming a creeping motion to move to the required stripping point; The modular wire stripping tool 2 moves linearly under the drive of the wire stripping slide assembly 32, while the modular wire stripping tool 2 itself moves in a circle around the main wire. The two movements are coupled to form a spiral motion, which strips the main wire. After stripping the wire, the main wire clamping component 31 in the bypass cable lifting splicing tool 3 clamps the wire core to achieve power extraction. The current is conducted to the mounting base 311 of the main wire clamping component 31, the mounting base 311 guides the current into the power extraction female head bracket, and the power extraction female head bracket guides the current into the power extraction female head at the bottom. The bypass cable is pre-connected to the power take-up male connector and rises under the pull of the insulating rope until the power take-up male connector is inserted into the inner cavity of the conductive female connector. At this point, a loop is formed between the main line and the bypass cable, completing one splicing operation. Use the bypass cable after splicing to perform inspection, maintenance or load transfer. After the operation is completed, use the creeping method to move the insulation restoration tool 5 to the stripping point again to perform insulation restoration. After the insulation is restored, the drone will move the main body of the equipment to the next work location or return to the ground.

[0032] like Figure 2 As shown, the bypass cable lifting and splicing tool 3 includes: The main line clamping assembly 31 is used to clamp the exposed point of the main line, so as to realize the current conduction between the tool and the main cable. After the current conduction, the mounting base of the main line clamping assembly 31 transmits the current to the power take-up female head through the power take-up female head bracket.

[0033] The wire stripping slide assembly 32 is used to fix and drive the modular wire stripping tool 2 to move in a straight line, which can be achieved using a ball screw structure.

[0034] The electric winch assembly 33 is fixedly connected to the insulating rope through an internal winch wheel, enabling the winding or releasing of the insulating rope, raising or lowering the insulating rope, and pulling the bypass cable up to the area where the main line is located through the insulating rope, or lowering the bypass cable to the ground after the operation is completed.

[0035] The power take-up assembly 34 is used for current conduction between the tool and the bypass cable connector 4. The power take-up assembly 34 includes a power take-up female and a power take-up male. An insulating rope passes through the inside of the power take-up female and connects to the power take-up male. The bypass cable is pre-connected to the insulating rope and the bypass cable connector 4 is connected to the power take-up male. The insulating rope drives the power take-up male and the bypass cable to rise. When the power take-up male is inserted into the power take-up female, the contact between the power take-up male and the power take-up female conducts current from the power take-up female to the power take-up male, indirectly realizing the conduction between the main line and the bypass cable.

[0036] The outer shell is 35mm thick and coated with fluorescent material, making it suitable for nighttime operation and allowing for constant observation of the tool's position and status.

[0037] Camera component 36 enables camera flipping for observation of the status at different work positions.

[0038] The telescopic guide assembly 37 is mounted and has an opening facing downward. The guide extends during operation and retracts during storage, serving as a guide when the drone hoisting tool is placed into the main line operation position.

[0039] Insulation restoration tool connection assembly 38 is used to connect insulation restoration tool 5.

[0040] The structure of the main line clamping component 31 is as follows: Figure 3 As shown, it includes: The mounting base 311 has a reserved groove for contacting and mounting the exposed point of the main conductor 6 to achieve current conduction.

[0041] The clamping slider 312 is connected to the screw nut (the screw nut is a copper nut 313). The screw nut is equipped with a clamping block, which is made of conductive material. Driven by the clamping screw 316, the clamping slider 312, together with the copper nut 313 and the clamping block, moves in the vertical direction and gradually approaches the groove on the mounting base 311, forming a clamping action in the vertical direction and contacting the exposed point of the main conductor 6, so as to guide the current on the main conductor 6 into the mounting base 311.

[0042] A motor bracket 315 is provided on the mounting base 311. The clamping motor 314 is fixedly connected to the motor bracket 315 by bolts. The output shaft of the clamping motor 314 has a D-shaped surface, which is fixedly connected to the D-shaped hole at the shaft end of the clamping screw 316, so that the output shaft of the clamping motor 314 drives the clamping screw 316 to rotate. The clamping motor 314 has an insulating shell.

[0043] The mounting base 311 is provided with a guide optical shaft 317 arranged parallel to the clamping screw 316. The guide optical shaft 317 passes through the clamping slider 312 and is slidably connected to the clamping slider 312. The clamping slider 312 is threadedly connected to the clamping screw 316. The clamping motor 314 drives the clamping screw 316 to rotate. Under the guidance of the guide optical shaft 317, it drives the clamping slider 312 and the clamping block to move in the vertical direction. When the distance between the clamping block and the groove reserved in the mounting base 311 is reduced to the set limit distance, the clamping action is formed and the exposed point of the main guide wire 6 is contacted to conduct current to the mounting base 311.

[0044] In this embodiment, the clamping slider 312 is threadedly connected to the clamping screw 316. Specifically, the clamping slider 312 is connected to the copper nut 313, and the copper nut 313 is threadedly connected to the clamping screw 316.

[0045] The unlocking hook 318 is fixed to the end of the clamping screw 316 by bolt connection, and is used for emergency unlocking in case of failure during operation.

[0046] The structure of the telescopic guide assembly 37 is as follows Figures 4-5 As shown, it includes a guide telescopic bracket 373 and a guide bracket 371, which are nested and slidably connected. The expansion and contraction of the guide telescopic bracket 373 are achieved by sliding. The state when contracted is as follows. Figure 4 As shown, the open state is as follows Figure 5As shown. When the guide telescopic bracket 373 is opened, the attached telescopic guide assembly 37 forms an opening facing the space diagonally downwards, so that when the UAV is used to lift the tool body, the guide guide line falls into the tool body.

[0047] Guide brackets 371 are fixedly connected to one side of the mounting base 311 and have at least two sets arranged side by side in the horizontal direction. The two sets of guide brackets 371 are connected by double-ended threaded pins A372. Spring pins 374 are fixed to the middle of the guide brackets 371 by threaded connection, and spring pin ball pins 376 are fixed to the guide brackets 371 by threaded connection.

[0048] The guide telescopic bracket 373 is nested with the guide bracket 371 to achieve telescopic movement. The guide telescopic bracket 373 is provided with a sliding groove, which slides on the double-ended threaded pin A372; the guide telescopic bracket 373 is provided with a positioning hole, which is used for positioning of the guide telescopic bracket 373 relative to the guide bracket 371 by the spring pin 374 or the spring ball 376.

[0049] like Figures 6-8 As shown, the insulation restoration tool 5 includes a support member 51 connected to the bypass cable lifting and splicing tool 3. The support member 51 has a U-shaped opening facing downward space. The inside of the opening is the area for performing insulation restoration. Insulation restoration push rods 52 are respectively provided on the outside of the opening. The fixed end of the insulation restoration push rod 52 is movably connected to the outside of the opening, and the moving end of the insulation restoration push rod 52 is movably connected to the hook 53 through the support rod 54.

[0050] Each side has multiple hooks 53, which are arranged side by side on the support rod 54. The support rod 54 passes through the tail hole of the hook 53, so that the multiple hooks 53 keep their movements uniform during operation.

[0051] The hooks 53 on both sides of the opening hook onto the two sides of the insulating component 55 respectively. When the insulation restoration push rod 52 extends, it pushes all the hooks 53 simultaneously through the support rod 54. The hooks 53 on both sides of the opening of the support component 51 rotate toward the inside of the opening and gradually push the insulating component 55, so that the insulating component 55 surrounds the exposed area of ​​the main conductor. As the insulation restoration push rod 52 continues to extend, the relative angle between the tip of the hook 53 and the side of the insulating component 55 changes. The insulating component 55 gradually comes into contact with the exposed area of ​​the main conductor until the elastic deformation of the insulating component 55 breaks through the friction of the hook 53 on its side and then detaches from the hook 53. After detaching, the insulating component 55 further uses its own elasticity to wrap around the outside of the exposed area of ​​the main conductor, thus achieving insulation restoration.

[0052] After the insulation is restored, the insulation restoration push rod 52 retracts and resets, and the hooks 53 on both sides are completely separated from the main line. After the clamping state is released, the drone lifts the main body of the tool away.

[0053] During the ground preparation stage, the insulation restoration tool 5 can push the insulation restoration push rod 52 out a set distance to install insulation components 55 of different sizes inside the insulation restoration tool.

[0054] In this embodiment, the support member 51 is connected to the insulation restoration push rod 52 and the hook 53 respectively through the snap ring pin 58. The hook 53 is connected to the insulation restoration push rod 52 through the positioning pin 59, and can rotate relative to each other through the positioning pin 59.

[0055] In this embodiment, the quick-release connector 57 and the modular insulation restoration tool connection assembly 38 are connected by quick-release pins, enabling quick assembly and disassembly.

[0056] In this embodiment, the insulating component 55 is used for insulation restoration at exposed points of the conductor, and is divided into the following: Figure 9 The type G soft insulation shown and such Figure 10 The O-type rigid insulator shown, after the main conductor has been restored to insulation, is as follows: Figure 11 As shown.

[0057] Type G insulation is a flexible insulation component with a cross-sectional shape approximately "G". In its free state, its two ends naturally form an overlapping area, constituting a partially closed ring structure. This design gives it good flexibility and elasticity. During installation, radial compression causes the overlapping area to elastically deform, thus tightly wrapping around the outside of the exposed conductor area and relying on its own elastic recovery force to achieve firm adhesion and reliable insulation.

[0058] O-type insulation is a rigid or semi-rigid insulation with a tubular body and a continuous longitudinal opening along its axis, giving its overall cross-section a ring-like shape resembling an "O". During installation preparation, external force is used to open the longitudinal opening and secure it to a fixed hook. During operation, under mechanical drive, the longitudinal opening gradually closes, ultimately using the insulation's own radial elastic contraction force to tightly enclose the exposed conductor area, forming a closed insulating protective layer.

[0059] Insulation restoration tool 5 utilizes the elastic potential energy of the insulation component itself to achieve insulation restoration. The tool does not directly "hug" the insulation component, but rather controls the insulation component to change from a state of being stretched / expanded by the mechanism (storing elastic potential energy) to a natural state of being wrapped around the conductor (releasing elastic potential energy). In the initial state (energy storage), whether it is a type G or type O insulator, when it is installed on the hook, it is in a state of being forcibly stretched open, and its opening is much larger than the diameter of the wire. At this time, the insulator stores elastic potential energy inside.

[0060] The actions involved in insulation restoration can be further divided into the following more precise actions: Step 1: Hooking and Positioning. The insulating component 55 is hooked by the hooks 53 on both sides and opened by the insulation recovery push rod 52 via the support rod 54, maintaining it in a predetermined, open initial position. At this time, the insulating component is stably constrained on the mechanism, awaiting the execution of commands; this is the initial state.

[0061] Step 2: Guiding and Enclosing. The insulation restoration push rod 52 extends, pushing the hooks 53 on both sides and the held insulation components 55 towards the main conductor. In this stage, the function of the hooks 53 is to precisely guide the movement of the insulation components, allowing them to smoothly "enclose" the exposed conductor points from both sides. At this time, the insulation components 55 are still in a stretched-out state.

[0062] Step 3: Contact and Triggering. As push rod 52 continues to extend, the inner surface of insulating component 55 begins to contact the main conductor. As push rod continues to move, insulating component 55 experiences resistance from the conductor. When the angle of contact between the edge of insulating component 55 and hook 53 changes, the frictional force (or mechanical interference force) between the edge of insulating component 55 and hook 53 changes. When the elastic restoring force of insulating component 55 exceeds the frictional / constraining force exerted on it by hook 53, "triggering" occurs.

[0063] At this point, the insulating component will break free from the hook's restraint and detach from it.

[0064] Step 4: Unhooking and Self-Tightening. Once the insulating component 55 detaches from the hook, it transforms from an "object constrained by the mechanism" into a "free elastic body." All previously stored elastic potential energy is released instantaneously, and the insulating component 55, relying on its own elasticity, quickly and tightly wraps around the outside of the exposed area of ​​the conductor, completing insulation restoration. This clamping force generated by its own elasticity, although lower in terms of clamping force than that applied by a typical mechanism, is more uniform and reliable, and avoids the problem of uncontrolled clamping force damaging the conductor.

[0065] In other words, the hook's function is "clamp-guide-release": it is responsible for clamping and guiding the insulator during movement and releasing it at critical moments. The "clamping" function is accomplished by the insulator itself. The clamping force comes from the radial pressure generated by the elastic contraction of the insulator, which is a passive but reliable mechanical clamping that does not require additional control signals.

[0066] The insulating component 55 utilizes elastic self-tightening to generate clamping force to achieve insulation restoration. Commonly used insulating components can be selected, solving the problem of double-layer adhesive required for insulating components in existing technologies and improving the versatility of the tool.

[0067] Alternatively, an adhesive backing layer can be pre-applied to the side of the insulator 55 that is in contact with the main conductor to improve the reliability of insulation restoration. It should be noted that the adhesive backing is not necessary for this solution. The insulation restoration effect achieved by the insulator using its own elasticity is sufficient to meet the insulation requirements of 10KV overhead conductors. The adhesive backing method is only used to further improve the reliability of the insulation restoration effect.

[0068] The modular wire stripping tool 2 is connected to the wire stripping slide assembly 32 via a flexible connecting component. The wire stripping slide assembly 32 uses a screw-slider structure to achieve movement between them, and the slider is connected to the modular wire stripping tool 2 via the flexible connecting component. The modular wire stripping tool 2 itself can move in a circular motion around the main guide line, and the wire stripping slide assembly 32 drives the modular wire stripping tool 2 to achieve linear motion. The circular motion and linear motion are coupled to form a helical motion to strip the insulation layer. like Figure 12 As shown, the center of gravity of the bypass cable lifting splicing tool 3 is lower than that of other modular tools. When it is attached to the main line, the main line sags to a certain height under the action of gravity, making the stripping area tilted. The tilt angle is adaptively achieved by using a flexible connection component. The flexible connection component is not limited to specific materials and structures, as long as it can ensure connection strength and transmit a certain linear motion stroke. For example, it can be a rubber connector or a hinge made of metal or non-metal.

[0069] After the insulation layer of the main conductor 6 is stripped, the main conductor clamping assembly 311 clamps with the main conductor 6 to draw power, and the current is conducted to the mounting base 311. The mounting base 311 then guides the current into the power-taking female connector bracket, which in turn guides the current into the power-taking female connector at the bottom. The power-taking male connector, connected to the bypass cable, rises under the pull of the insulating rope until it is inserted into the inner cavity of the conductive female connector. At this point, a circuit is formed between the main conductor 6 and the bypass cable, completing one connection operation. The entire process only requires a drone to hoist the tool body to the work site. The remaining actions can be automated through the existing programs within the tool or remotely controlled by ground personnel (requiring wireless communication support), reducing the need for personnel and improving safety.

[0070] When using ground-based remote control, the camera component 36 captures images to assist the operator. The structure of the camera component 36 is as follows: Figures 13-14 As shown, it includes an observation camera 364 rotatably connected to the mounting base 311, a spring pin assembly 361 set on the power take-up head bracket, and a camera lever 363 connected to the clamping slider 312 and moving with the clamping slider 312. As the slider 312 descends, the camera lever 363 descends accordingly. The camera lever 363 overcomes the elastic force of the spring-loaded pin assembly 361, pressing down on the observation camera 364, causing it to rotate counter-clockwise. (The rotation continues until...) Figure 14At the position shown, the image captured by the observation camera 364 covers the insulation restoration position and the wire stripping position. At this time, the pin is pressed back by the movable bracket of the observation camera 364, the spring is in a compressed state, and it stores elastic potential energy.

[0071] As the slider 312 rises, the camera lever 363 no longer presses down on the observation camera 364. At this time, the elastic potential energy stored in the spring-loaded pin assembly 361 is released, the pin pops out, and pushes the movable bracket of the observation camera 364, causing it to rotate clockwise to reset, transforming into... Figure 13 As shown in the image, the image captured by camera 364 at this time covers the area where the line was stripped.

[0072] The spring pin assembly 361 is connected to the power take-up female bracket by a thread. The spring pin assembly 361 is a pin structure with a built-in spring. Under the push of the spring, the pin always applies an elastic force outward. This elastic force is one of the power sources for the observation camera 364 to switch between two working modes. The spring pin assembly 361 is a mature existing product and will not be described in detail in this embodiment.

[0073] The camera lever 363 is fixed to the clamping slider 312 by bolts and moves up and down with the clamping slider 312.

[0074] The observation camera 364 is used to observe the working status of different modular tools. The observation camera 364 is connected to the movable bracket, which is connected to the mounting base 311 by the fixing bolt 362.

[0075] During live-line work, the core tasks and risks are completely different at different stages of the operation. Therefore, the optimal and focused observation perspective is required. If a wide-angle lens is used, local details will be sacrificed. A dedicated perspective can provide the maximum undistorted image details of the corresponding area, which is crucial for judging the depth of wire stripping and the tightness of contact.

[0076] Specifically, during wire stripping operations, accurately removing a section of insulation from the main conductor without damaging the internal conductor is a key concern for ground operators. Therefore, the observation camera 364 is in a position to monitor this process. Figure 14 The "stripping observation position" is used; however, during current conduction operations, the clamping slider 312 needs to be reliably clamped onto the exposed conductor to establish a low-resistance electrical connection and draw out the main line current; therefore, the observation camera 364 is in this position. Figure 13 The “conduction observation position”.

[0077] Considering the compact internal space of the tool and the need for modular tools to work alternately, it is difficult for a fixed camera to see all workstations simultaneously without obstruction. In addition, the tool is operated with electricity. By adopting the above-mentioned linkage design of pure mechanical structure, a cost-optimal solution of two dedicated perspectives is achieved with one camera, while also taking into account the safety during live operation.

[0078] The working method of the above-mentioned working device includes the following steps: The drone carries the main body of the tool and flies above the work point. It then places the main body of the tool in the work area along the main line by descending. The main wire clamping component 31 in the bypass cable lifting splicing tool 3 and the clamping component in the modular stripping tool 2 alternately clamp the main wire, and together with the stripping slide assembly 32, drive the modular stripping tool 2 to move in a straight line, forming a creeping motion to move to the required stripping point; The modular wire stripping tool 2 moves linearly under the drive of the wire stripping slide assembly 32, while the modular wire stripping tool 2 itself moves in a circle around the main wire. The two movements are coupled to form a spiral motion, which strips the main wire. After stripping the wire, the main wire clamping component 31 in the bypass cable lifting splicing tool 3 and the clamping component in the modular wire stripping tool 2 alternately clamp the main wire, adjusting the relative position of the exposed point and the main wire clamping component 31 in a creeping manner. After the position adjustment is completed, the main line clamping component 31 in the bypass cable lifting splicing tool 3 clamps the wire core to achieve power extraction. The current is conducted to the mounting base 311 of the main line clamping component 31. The mounting base 311 guides the current through the power extraction female head bracket to the power extraction female head at the bottom. The bypass cable is connected to the power extraction male head and rises under the pull of the insulating rope until it is inserted into the inner cavity of the conductive female head. At this point, a loop is formed between the main line 6 and the bypass cable, completing one splicing operation. After the splicing operation is completed, the main line clamping component 31 and the clamping component in the modular wire stripping tool 2 alternately clamp the main line, and drive the insulation restoration tool to the splicing position in a creeping manner. The insulation restoration tool then performs insulation restoration on the exposed area of ​​the main line. After restoration, the drone lifts the tool body to the next position.

[0079] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A drone-mounted integrated bypass operation device, characterized in that, The tool body includes a main body connected to the drone via a drone hoisting device; the tool body includes: The modular wire stripping tool, located on one side of the bypass cable lifting splicing tool, moves circumferentially around the main wire to strip the insulation layer of the main wire; The bypass cable lifting splicing tool uses the main line clamping assembly to clamp the exposed area of ​​the main line to obtain power. The electric winch assembly on the mounting base drives the insulating rope and bypass cable to rise. When the power-obtaining male connector of the bypass cable is connected to the conductive female connector in the main line clamping assembly, the splicing is achieved. The bypass cable lifting splicing tool uses the main line clamping component and the clamping component in the modular stripping tool to alternately clamp the main line, and works with the stripping slide assembly to drive the modular stripping tool to move in a straight line; The bypass cable lifting and splicing tool is equipped with a camera assembly, which includes an observation camera rotatably connected to the mounting base, a spring pin assembly set on the power take-up female bracket, and a camera lever connected to the clamping slider and moving with the clamping slider. The clamping slider descends together with the camera lever. The camera lever overcomes the elastic force of the spring pin assembly and presses down on the observation camera to make it rotate. At this time, the image acquired by the observation camera covers the stripped wire position. As the clamping slider rises, the camera lever stops pressing down on the observation camera, the spring pin assembly pops out, pushing the observation camera to reset, thus enabling the observation of the wire stripping operation status; An insulation restoration tool, located on the other side of the bypass cable lifting and splicing tool, is used for insulation restoration of the exposed area of ​​the main conductor. It has a U-shaped opening facing downwards, and insulation restoration push rods are provided on both sides of the U-shaped opening. The moving end of the insulation restoration push rod is movably connected to a hook. The hook is used to engage the insulating component. By pushing the hooks on both sides of the opening with the insulation restoration push rod, combined with the elasticity of the insulating component, the insulating component is made to fit against the main conductor, thereby achieving insulation restoration. The insulating component is elastic. When a pre-tightening force is applied to the insulating component, it is engaged between the hooks on both sides of the U-shaped opening. As the insulation recovery push rod continues to move, the insulating component gradually comes into contact with the exposed area of ​​the main conductor. When the elasticity of the insulating component breaks through the friction force provided by the hook, it detaches from the hook to restore its shape. The insulating component, after restoring its shape, wraps around the outside of the exposed area of ​​the main conductor, thus achieving insulation restoration.

2. The UAV-mounted integrated bypass operation device as described in claim 1, characterized in that, The insulation restoration tool has a support member with a U-shaped opening facing downwards. The inside of the opening is the area for performing insulation restoration, and insulation restoration push rods are respectively provided on the outside of the opening.

3. The UAV-mounted integrated bypass operation device as described in claim 1, characterized in that, The U-shaped opening has multiple hooks on each side, and the multiple hooks are arranged side by side on the support rod. The actuating end of the insulation restoration push rod drives all the hooks on one side to move synchronously through the support rod.

4. The UAV-mounted integrated bypass operation device as described in claim 1, characterized in that, The mounting base has a groove, and a clamping slider is provided in the space below the groove. The clamping slider moves in the vertical direction. When the distance between the clamping slider and the groove is reduced to a set limit distance, the main guide line or the exposed area of ​​the main guide line is clamped.

5. The UAV-mounted integrated bypass operation device as described in claim 1, characterized in that, The mounting base is provided with a mounting telescopic guide assembly, including a nested and slidably connected guide telescopic bracket and a guide bracket. The guide telescopic bracket retracts and expands by sliding. When the guide telescopic bracket expands, the mounting telescopic guide assembly forms an opening facing the space diagonally downward, which is used to guide the main guide line into the tool body.

6. The UAV-mounted integrated bypass operation device as described in claim 1, characterized in that, The wire stripping slide assembly includes a traveling slider, which is connected to the wire stripping bracket of the modular wire stripping tool via a flexible connector. The traveling slider is threadedly connected to a traveling screw, which is connected to the output shaft of a traveling motor. The traveling motor drives the traveling screw to rotate, thereby driving the traveling slider and the modular wire stripping tool to achieve linear motion.

7. The UAV-mounted integrated bypass operation device as described in claim 1, characterized in that, The modular wire stripping tool includes a wire stripping bracket, which is equipped with a rotating component and a clamping component for clamping the main wire. The rotating component drives the wire stripping bracket to rotate around the main wire. The wire stripping bracket is equipped with a wire stripping knife. The wire stripping slide assembly drives the modular wire stripping tool to achieve linear motion. The coupling of circular motion and linear motion forms a spiral motion to strip the insulation layer.

8. A method for operating an integrated bypass operation device for unmanned aerial vehicles (UAVs) as described in any one of claims 1-7, characterized in that, Includes the following steps: The drone carries the main body of the tool and flies above the work point. It then places the main body of the tool in the work area along the main line by descending. The main wire clamping component in the bypass cable lifting splicing tool and the clamping component in the modular wire stripping tool alternately clamp the main wire, and the wire stripping slide assembly drives the modular wire stripping tool to move in a straight line, so that the tool body creeps to the required wire stripping point; Upon reaching the stripping point, the modular stripping tool moves in a straight line under the drive of the stripping slide assembly, while simultaneously moving in a circular motion around the main guide wire. The two motions are coupled to form a spiral motion, which strips the main guide wire. After stripping the wire, the main wire clamping component in the bypass cable lifting splicing tool and the clamping component in the modular wire stripping tool alternately clamp the main wire, adjusting the relative position of the exposed point and the main wire clamping component in a creeping manner. After the position adjustment is completed, the main line clamping component in the bypass cable lifting splicing tool clamps the wire core to achieve power extraction. The current is introduced into the power extraction female head through the mounting base of the main line clamping component and the power extraction female head bracket. The bypass cable is pre-connected to the power take-up male connector. The insulating rope drives the bypass cable upward until the power take-up male connector is inserted into the inner cavity of the conductive female connector. A loop is formed between the main line and the bypass cable, completing one splicing operation. After the splicing operation is completed, the main line clamping component and the clamping component in the modular wire stripping tool alternately clamp the main line, and drive the insulation restoration tool to the splicing position in a creeping manner. The insulation restoration tool then performs insulation restoration on the exposed area of ​​the main line. After restoration, the drone lifts the tool body to the next position.

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