An overhead ground wire broken strand repairing robot

Abstract

The application provides an overhead ground wire broken strand repairing robot, and belongs to the technical field of power transmission line broken strand repairing, and specifically comprises a walking assembly, an executing mechanism and a rotary mechanical arm, the walking assembly is used for moving the robot along the length direction of the overhead ground wire; the executing mechanism is used for straightening and fixing the broken strand; the rotary mechanical arm is connected with the walking assembly and the executing mechanism, and is used for adjusting the position of the executing mechanism; compared with the prior art, the walking assembly is installed on the overhead ground wire, and then the executing mechanism can walk along the length direction of the overhead ground wire; in the process, the executing mechanism exerts force on the ground wire broken strand, so that the ground wire broken strand is straightened and wound on the ground wire, so that the operator does not need to continuously work in the air, the safety hidden danger is reduced, and the repairing efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of power transmission line strand repair technology, and specifically relates to a robot for repairing broken strands of overhead ground wires. Background Technology

[0002] With the development of the social economy, people's demand for electricity is increasing, and the task of regular inspection and maintenance of transmission lines is becoming more and more arduous. Power companies are facing increasing competition and challenges. As an important component of high-voltage transmission lines, overhead ground wires are one of the most basic and effective lightning protection measures. However, some overhead lines are in a relatively harsh environment for a long time, and faults such as broken strands in the outer layer of the ground wire occur from time to time. Traditional ground wire strand breakage repair mainly relies on manual labor, which is a relatively harsh operating environment, with high maintenance risks and low efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a robot for repairing broken strands in overhead ground wires, which can improve the efficiency of repairing broken strands.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is a robot for repairing broken strands of overhead ground wires, comprising a walking component, an execution mechanism, and a rotary robotic arm. The walking component is used to move the robot along the length of the overhead ground wire; the execution mechanism is used to straighten and fix the broken strands; the rotary robotic arm is connected to the walking component and the execution mechanism and is used to adjust the position of the execution mechanism.

[0005] The actuator includes a strand rewinding device, a strand fixing device, and a rotating mechanism. During the movement of the strand rewinding device, the broken strand can be rewinded and wound around the overhead ground wire. The strand fixing device is connected to the strand rewinding device and is used to position the rewinded broken strand. The rotating mechanism is connected to the strand fixing device and is used to flip the strand fixing device and the strand rewinding device so that the broken strand can be coupled with the strand fixing device and the strand rewinding device.

[0006] Furthermore, the strand rewinding device includes an active strand rewinding core and a driven strand rewinding core. The active strand rewinding core is rotatable and has a strand rewinding opening. The driven strand rewinding core has an anti-slip opening and is connected to the active strand rewinding core. When the active strand rewinding core rotates, it drives the driven strand rewinding core to rotate.

[0007] Furthermore, the winding opening includes a fully circular winding opening and a U-shaped notch groove. The inner diameter of the fully circular winding opening gradually decreases along the axial direction of the active winding core. The U-shaped notch groove is connected to the fully circular winding opening.

[0008] Furthermore, the active winding core is provided with a guide protrusion, and the driven winding core is provided with a guide groove. The guide protrusion is located in the guide groove. When the active winding core rotates, the guide protrusion can move to the end of the guide groove.

[0009] Furthermore, the strand breakage and winding device also includes a housing and an active winding sleeve. The housing is equipped with a gear transmission mechanism. The active winding sleeve is connected to the housing and is used to position the active winding core. The gear transmission mechanism meshes with the active winding sleeve.

[0010] Furthermore, the strand fixing device includes a reference frame, a clamp box, and a push plate. The reference frame is connected to the outer shell; the clamp box is connected to the reference frame and can store elastic clips inside; the push plate is located inside the clamp box and is used to push the elastic clips out of the clamp box.

[0011] Furthermore, the strand fixing device also includes a wedge block, which is set on the inner wall of the clip box so that the wedge block will open the elastic clip during the process of the elastic clip being discharged.

[0012] Furthermore, the actuator also includes an integrated frame, which is connected to the rotating mechanism and the rotary robotic arm; the reference frame is hinged to the integrated frame, allowing the reference frame to rotate about the hinge point.

[0013] Furthermore, a flat opening is provided on the outer casing, allowing the ground wire to enter the flat opening when the reference frame is flipped.

[0014] Furthermore, the rotating mechanism includes a worm gear, a worm, and a rotary motor, wherein the worm gear is fixedly connected to the reference frame; the rotary motor is fixedly connected to the integrated frame; and the worm is connected to the output shaft of the rotary motor and coupled to the worm gear.

[0015] Compared with the prior art, the beneficial effects of the present invention are: by installing the walking component on the overhead ground wire, the actuator can then walk along the length of the overhead ground wire. During this process, the actuator applies force to the broken strands of the ground wire, causing the broken strands to be pulled back and wrapped around the ground wire. Thus, there is no need for operators to work at height continuously, which not only reduces safety hazards but also improves repair efficiency.

[0016] The strand breakage and straightening device and the strand breakage fixing device are integrated into an actuator, which reduces the overall structural weight. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the walking component structure of the present invention;

[0019] Figure 3 This is a schematic diagram showing the connection between the walking component and the overhead ground wire of the present invention;

[0020] Figure 4 This is a schematic diagram of the actuator of the present invention;

[0021] Figure 5This is a schematic diagram of the strand fixing device of the present invention;

[0022] Figure 6 This is a schematic diagram of the connection between the clip box and the push plate of the present invention;

[0023] Figure 7 This is a schematic diagram showing the connection between the wedge block and the clamp box of the present invention;

[0024] Figure 8 This is a schematic cross-sectional view of the strand fixing device of the present invention;

[0025] Figure 9 This is a schematic diagram of the strand retraction device of the present invention;

[0026] Figure 10 This is a schematic diagram showing the connection between the outer casing and the winding core of the present invention;

[0027] Figure 11 This is a schematic diagram of the gear transmission mechanism of the present invention;

[0028] Figure 12 This is a schematic diagram showing the connection between the active winding core and the driven winding core of the present invention;

[0029] Figure 13 This is a schematic diagram of the cross-sectional structure of the active winding core of the present invention;

[0030] Figure 14 This is a schematic diagram of the U-shaped notch groove on the active winding core of the present invention;

[0031] Figure 15 This is a schematic diagram illustrating the state of broken strands during the winding process of this invention;

[0032] Figure 16 This is a schematic diagram of the wedge-shaped block of the present invention opening the elastic clip;

[0033] Figure 17 This is a schematic diagram of the push-locking positioning mechanism of the present invention;

[0034] 1-Transfer hanger, 2-Drive wheel, 3-Horizontal hanger, 4-Vertical hanger, 5-Electrical box, 6-Ground wire, 7-Anti-fall swing arm, 8-Screw motor, 9-Screw slider, 10-Positioning tray, 11-Support bearing, 12-Swivel base, 13-Extension arm, 14-Integrated frame, 15-Clamp box, 16-Base frame, 17-Push plate, 18-Transmission connector, 19-Push clamp screw, 20-Screw seat, 21-Push clamp guide shaft, 22-Driven gear, 23-Drive gear, 24-Guide groove 25-Wedge block, 26-Arc-shaped port, 27-Hanging seat, 28-Outer shell, 29-Active winding sleeve, 30-Driven winding sleeve, 31-Active winding core, 32-Driven winding core, 33-Anti-derailment opening, 34-Round circular winding opening, 35-U-shaped notch, 36-Active bevel gear, 37-Driven bevel gear, 38-Input gear, 39-Idler gear, 40-Winding motor, 41-Hanging seat, 42-Locking element, 43-Positioning pressure bar, 44-First miniature electric push rod, 45-Top pressure element. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0037] See Figures 1 to 3 As shown, a robot for repairing broken strands of an overhead ground wire 6 includes a walking component, a rotary robotic arm, and an actuator. The walking component is used to connect to the ground wire 6 and can move along the length of the ground wire 6. The rotary robotic arm is connected to the walking component, and the actuator is connected to the end of the rotary robotic arm. The position of the actuator can be adjusted by the rotary robotic arm. When the walking component is working, it can drive the actuator to move through the rotary robotic arm, thereby repairing the broken strands on the ground wire 6. The walking component is connected to an electrical box 5, which provides power to the walking component, the rotary robotic arm, and the actuator.

[0038] See Figures 2 to 4 As shown, the walking assembly includes two translational hangers 1, each with a drive wheel 2 mounted on it. The drive wheel 2 can rotate when controlled. The two translational hangers 1 are connected by two horizontal hangers 3, which are parallel to each other. The two translational hangers 1 and the two horizontal hangers 3 form the whole walking frame. In order to enable the drive wheel 2 to rotate, a drive motor can be installed on the walking frame. At the same time, a longitudinal hanger 4 is also connected to the walking frame. The lower end of the longitudinal hanger 4 is fixedly connected to the electrical box 5. When the drive motor works, it can make the drive wheel 2 rotate, and the walking assembly works.

[0039] A groove is provided on the drive wheel 2. When the ground wire 6 is engaged with the drive wheel 2, the ground wire 6 is located in the groove. To prevent the drive wheel 2 from separating from the ground wire 6 during movement, an anti-fall swing arm 7 is provided on the translational hanger 1. The anti-fall swing arm 7 is hinged to the translational hanger 1. A lead screw motor 8 and a lead screw slider 9 are also provided on the translational hanger 1. The lead screw motor 8 can control the movement of the lead screw slider 9. At this time, the lead screw slider 9 engages with the hinge end of the anti-fall swing arm 7, causing the anti-fall swing arm 7 to rotate and move around the hinge point, eventually moving the anti-fall swing arm 7 to a horizontal state. At this time, the ground wire 6 is located between the anti-fall swing arm 7 and the drive wheel 2. By setting the anti-fall swing arm 7, the ground wire 6 can be prevented from moving out of the groove.

[0040] Before the walking component can work, the actuator needs to be moved to the appropriate position by the rotary robotic arm before it can start working. At this time, the actuator cannot complete the broken wire retraction action. The walking component and the actuator need to work together to retract the broken wire and wrap it around the ground wire 6.

[0041] See Figures 1 to 3 As shown, the aforementioned rotary robotic arm includes a positioning tray 10, which is connected to two horizontal lifting rods 3. A support bearing 11 is mounted on the positioning tray 10, and a rotary base 12 is connected to it via the support bearing 11. The rotary base 12 is located above the positioning tray 10. An extension arm 13 is mounted on the rotary base 12, and the extension arm 13 is parallel to the ground wire 6. One end of the extension arm 13 is connected to the rotary base 12, and the other end is connected to the actuator. Since the rotary robotic arm is used to adjust the position of the actuator, the extension arm 13 is a telescopic structure. The extension arm 13 specifically includes the following two structures:

[0042] The first structure of the extension arm 13 includes a straight cylindrical body, in which a sliding shaft is provided. The sliding shaft is capable of axial movement. When the sliding shaft moves axially, it can drive the actuator to move. In order to enable the sliding shaft to move, an axially extending strip groove is provided on the sliding shaft. The bottom surface of the strip groove is provided with protruding teeth. At the same time, a motor is installed on the rotary base 12. A gear is fixed on the output shaft of the motor. The gear is located in the strip groove. When the motor works, it causes the gear to rotate, which can drive the sliding shaft to move axially, thereby causing the actuator to move.

[0043] The second structure of the extension arm 13 includes an electric push rod and a push-pull shaft. The push-pull shaft is connected to the output end of the electric push rod, and the other end of the push-pull shaft is connected to the actuator. When the electric push rod is working, it can drive the push-pull shaft to move axially, thereby driving the actuator to move.

[0044] Once the actuator is moved to the appropriate position, it will begin to work and handle the disconnection.

[0045] The actuator includes a strand rewinding device, a strand fixing device, and an integrated frame 14. The integrated frame 14 is fixed to the end of the rotary robotic arm. The strand fixing device is hinged to the integrated frame 14. The strand rewinding device is connected to the strand fixing device. When the strand fixing device is flipped, it can drive the strand rewinding device to move.

[0046] See Figures 5 to 8 As shown, the broken strand fixing device includes a clamp box 15 and a reference frame 16. The clamp box 15 can move vertically and is connected to the reference frame 16 via a slide rail. The reference frame 16 is hinged to the integrated frame 14, allowing adjustment of the position of the clamp box 15. The clamp box 15 has upper and lower ports, and elastic clips can be filled inside the clamp box 15. A side notch is provided on the clamp box 15, and a push plate 17 is provided inside the clamp box 15. The push plate 17 can move within the clamp box 15. When the plate 17 moves downward, it applies downward pressure to the elastic clip through the push plate 17, so that the elastic clip can be discharged from the lower port of the clip box 15. In order to control the vertical movement of the push plate 17, the push plate 17 is connected to the transmission connector 18, and the transmission connector 18 is connected to the push clamp screw 19. When the push clamp screw 19 rotates, it can drive the push plate 17 to move vertically in the clip box 15. During this process, the transmission connector 18 moves in the side notch on the clip box 15.

[0047] A lead screw seat 20 is connected to the aforementioned reference frame 16. A push-clamp lead screw 19 is connected to the lead screw seat 20. A push-clamp guide optical shaft 21 is also provided on the lead screw seat 20. There are two push-clamp guide optical shafts 21, and both push-clamp guide optical shafts 21 are parallel to the push-clamp lead screw 19. The push-clamp guide optical shaft 21 passes through the transmission connector 18. The aforementioned push-clamp lead screw 19 is screwed to the transmission connector 18. When the push-clamp lead screw 19 rotates, it can drive the transmission connector 18 to move vertically. At this time, the push-clamp guide optical shaft 21 plays a guiding role to ensure that the transmission connector 18 moves smoothly.

[0048] The lower end of the aforementioned push-clamp screw 19 passes through the screw seat 20, and a driven gear 22 is fixed to the lower end of the push-clamp screw 19. A motor is installed on the screw seat 20, and the output shaft of the motor passes through the screw seat 20. A driving gear 23 is installed on the output shaft of the motor, and the driving gear 23 meshes with the driven gear 22. When the motor is working, the push-clamp screw 19 can be rotated, and the rotation direction of the push-clamp screw 19 can be changed according to the rotation direction of the motor's output shaft, thereby enabling the push plate 17 to move vertically.

[0049] As the traveling mechanism operates, the actuator moves along the length of the ground wire 6. During this process, the broken strand rewinding device works first, and then the broken strand fixing device works. That is, after the broken strand rewinding device rewraps the broken wire onto the ground wire 6, the broken wire is positioned by the broken strand fixing device. Specifically, the push plate 17 pushes the elastic clip located in the clip box 15 downward, so that the elastic clip moves out from the lower end of the clip box 15 and falls onto the ground wire 6. At this time, the elastic clip can position the broken strand on the ground wire 6. That is, the elastic clip clamps both broken strands and the ground wire 6 at the same time.

[0050] See Figure 7 and Figure 16 As shown, the aforementioned elastic clip has a U-shaped structure and an extension at the opening edge. A guide groove 24 is provided on the inner wall of the clip box 15, and the extension is located within the guide groove 24. When the push plate 17 applies pressure to the elastic clip, causing it to move downwards, the extension slides within the guide groove 24 of the clip box 15. A wedge-shaped block 25 is provided on the inner wall of the clip box 15, with the corners of the wedge-shaped block 25 facing upwards. When the elastic clip moves downwards and contacts the wedge-shaped block 25, The wedge block 25 opens the opening of the elastic clip, and then the push plate 17 continues to push the elastic clip downward. The ground wire 6 and the broken strand pass through the opening of the elastic clip, and finally the ground wire 6 and the broken strand are clamped and positioned by the elastic clip. An arc-shaped port 26 is provided at the lower opening of the clip box 15. As the traveling mechanism works, the broken strand straightening device and the broken strand fixing device move along the length direction of the ground wire 6. At this time, the elastic clip that has clamped the broken strand and the ground wire 6 passes through the arc-shaped port 26.

[0051] See Figure 4 , Figures 9 to 14 As shown, the strand rewinding device in the aforementioned actuator includes a hanger 4127, which is connected to the reference frame 16. A housing 28 is mounted on the hanger 4127, and a central opening is provided on the housing 28. An active rewinding sleeve 29 and a driven rewinding sleeve 30 are installed within the central opening. The active rewinding sleeve 29 is movably connected to the housing 28, allowing it to rotate. The driven rewinding sleeve 30 is connected to the housing 28, and both are annular. A flat opening is provided on the housing 28, communicating with the central opening. Both the active and driven rewinding sleeves 29 and 30 also have notches. An active rewinding core 31 is connected inside the active rewinding sleeve 29. When the active rewinding sleeve 29 rotates, it can... The active winding core 31 rotates, and the driven winding sleeve 30 is connected to the driven winding core 32. The driven winding core 32 and the driven winding sleeve 30 can rotate relative to each other. The active winding core 31 and the driven winding core 32 are connected by a concave-convex structure, and both can rotate. Both the active winding core 31 and the driven winding core 32 are cores with U-shaped openings. The opening on the active winding core 31 is the winding opening, and the opening on the driven winding core 32 is the anti-derailment opening 33. The ground wire 6 and the broken strand can pass through the flat opening and the notch in sequence, and then enter the active winding core 31 and the driven winding core 32. At this time, by controlling the rotation and axial movement of the active winding core 31, the broken wire can be rewound and wound around the ground wire 6.

[0052] The inner end face of the active winding core 31 is provided with a guide protrusion, and the inner end face of the driven winding core 32 is provided with an arc-shaped extended guide groove. The guide protrusion is located in the guide groove. When the active winding core 31 rotates, the guide protrusion can move to the end of the guide groove. Then, as the active winding core 31 rotates, it can drive the driven winding core 32 to rotate. However, at this time, the broken strand can no longer be separated from the active winding core 31 and the driven winding core 32.

[0053] The active winding core 31 has a winding opening including a circular winding opening 34 and a U-shaped notch 35. The outer diameter of the circular winding opening 34 is larger than the diameter of the ground wire 6, and the inner diameter of the circular winding opening gradually decreases along the axial direction of the active winding core 31. That is, the surface of the circular winding opening is an arc surface to ensure that the active winding core 31 can form a certain angle with the ground wire 6 when winding the broken strand of the ground wire 6. The U-shaped notch 35 has an asymmetrical structure. The U-shaped notch 35 and the circular winding opening 34 have an arc surface. After the small inner diameter end of the wire straightening port 34 is connected, a wire straightening opening is formed. When the broken strand is straightened back, due to the combined action of squeezing force and friction, the broken strand will be bound in the U-shaped notch 35 of the active wire straightening core 31. Under pressure, the broken strand will rotate with the rotation of the active wire straightening core 31. At the same time, combined with the work of the walking component, the forward motion of the actuator and the rotational motion of the wire straightening mechanism are combined into a spiral motion, thereby realizing the wire straightening work of the broken strand ground wire 6.

[0054] See Figure 15 As shown in the figure, the wire straightening process proceeds from left to right, with the cross-section changing over time. During the straightening process, the forward motion of the actuator and the rotational motion of the straightening core combine to form a spiral motion. From the motion of the active straightening core 31 in the figure, it can be seen that within the straightening cross-section, the normal reaction force applied to the broken strand by the working surface of the active straightening core 31 can be decomposed into a tangential force and a centripetal force. The combined action of these two forces causes the broken strand to rotate around the ground wire 6 while slowly moving towards the axis of the ground wire 6 until the broken strand enters the wire groove. Subsequently, the arc-shaped inner wall of the active straightening core 31 ensures that the broken strand will not detach. Finally, the wire straightening work is completed. This spiral winding method improves the constraint on broken strands while avoiding the problem of winding core jamming. The active rotation not only improves the winding efficiency but also reduces the driving force of the motor, achieving broken strand winding with very little driving force and accurately winding the broken strand back into the groove. The anti-derailment opening 33 on the driven winding core 32 has a U-shaped cross-section, and the anti-derailment opening 33 of the driven winding core 32 can be aligned with the U-shaped notch 35 on the active winding core 31. A locking component 42 is also provided on the outer casing 28. The locking component 42 is annular and is used to lock the driven winding core 32 to prevent the driven winding core 32 from moving axially.

[0055] A toothed groove is provided at the edge of the active winding sleeve 29. The active winding sleeve 29 is connected to a gear transmission mechanism through the toothed groove. When the gear transmission mechanism is working, it can make the active winding sleeve 29 rotate, which in turn drives the active winding core 31 to rotate. Then the driven winding core 32 will also rotate. Finally, through the cooperation of the active winding core 31 and the driven winding core 32, the winding operation of the broken strand is completed.

[0056] The gear transmission mechanism is housed within the outer casing 28. The gear transmission mechanism includes a driving bevel gear 36, a driven bevel gear 37, an input gear 38, and an idler gear 39. The driving bevel gear 36 is connected to the winding motor 40, which is mounted on a hanger 4127. The output shaft of the winding motor 40 passes through the hanger 4127, allowing the driving bevel gear 36 to reside within the outer casing 28. The driven bevel gear 37 and the input gear 38 are simultaneously fixed to a transverse input shaft. The driven bevel gear 37 meshes with the driving bevel gear 36. When the winding motor 40 operates, it drives the input gear 38 to rotate. The input gear 38 meshes with the idler gear 39, which in turn meshes with the tooth groove at the edge of the driving winding sleeve 29, thus enabling the driving winding sleeve 29 to rotate.

[0057] The aforementioned outer casing 28 consists of a front outer casing, a middle layer plate, and a rear outer casing. A first pad is provided between the front outer casing and the middle layer plate, and a second pad is provided between the middle layer plate and the rear outer casing. Nylon gaskets are installed between the rear outer casing and the locking member 42 and the driven cable winding sleeve 30, while nylon gaskets are also provided between the active cable winding core 31, the active cable winding sleeve 29, and the front outer casing.

[0058] In this technical solution, a rotating mechanism is also provided. The rotating mechanism is connected between the integrated frame 14 and the reference frame 16 to enable the actuator to rotate longitudinally, thereby driving the strand fixing device and the strand straightening device to rotate and move, so that the ground wire 6 and the strand can cooperate with the active straightening core 31 and the driven straightening core 32.

[0059] The rotating mechanism specifically includes a rotary motor, a worm gear, and a worm. The rotary motor is mounted on the integrated frame 14, and the worm is connected to the output shaft of the rotary motor. The operation of the rotary motor enables the worm to rotate. The worm gear is mounted on the reference frame 16, and the worm and worm gear are coupled. When the worm rotates, it enables the worm gear to rotate. Since the worm gear is fixed on the reference frame 16, the reference frame 16 can start to rotate, thereby driving the clamp box 15 and the outer shell 28 to move.

[0060] See Figure 17As shown, based on the above structure, a positioning strip 43 can be set on the anti-fall swing arm 7. When the anti-fall swing arm 7 is flipped to the horizontal state, the positioning strip 43 is located below the ground wire 6. A first micro electric push rod 44 is set on the positioning strip 43. The output end of the first micro electric push rod 44 passes through the positioning strip 43. When the first micro electric push rod 44 works, it can apply force to the ground wire 6. At this time, the ground wire 6 is clamped, making it difficult for the walking mechanism to move. In order to avoid severe deformation of the ground wire 6 after being clamped, a top pressing member 45 is fixed at the output end of the first micro electric push rod 44. The top pressing member 45 is a long strip, and a straight groove with an arc cross-section is set on the upper surface of the top pressing member 45. When the first micro electric push rod 44 works and the top pressing member 45 contacts the ground wire 6, a part of the ground wire 6 is located in the straight groove. At this time, the straight groove plays a certain binding role on the ground wire 6. At this time, the first micro electric push rod 44 and the top pressing member 45 form a push-locking positioning mechanism.

[0061] After clamping the ground wire 6, the actuator can be moved forward by the operation of the rotary robotic arm. At this time, the horizontal linear distance between the actuator and the traveling component increases, and the active wire-straightening core 31 rotates during the translation process of the actuator, thus completing the wire-straightening operation. A second micro electric actuator is set on the reference frame 16. The output end of the second micro electric actuator is connected to a side pressure member. The side pressure member has the same structure as the top pressure member 45. The second micro electric actuator and the side pressure member form a pull-direction locking positioning mechanism. When the active wire-straightening core 31 straightens back the broken strands of the first stage, the pull-direction locking positioning mechanism is controlled. The positioning mechanism operates, causing the pulling locking positioning mechanism to clamp the ground wire 6. At this time, the pushing locking positioning mechanism releases the ground wire 6. Then, through the coordinated operation of the rotary robotic arm and the walking component, the distance between the actuator and the walking component is reduced. By repeating the above actions, the broken strands of the ground wire 6 can be straightened. In this embodiment, both the first micro electric actuator 44 and the second micro electric actuator are connected to a control module. The control module can send control signals to the first micro electric actuator 44 and the second micro electric actuator, causing the first micro electric actuator 44 and the second micro electric actuator to perform extension and retraction actions, respectively.

[0062] In this technical solution, the push-lock positioning mechanism and the pull-lock positioning mechanism have the same structure, but their functions are different. The push-lock positioning mechanism is used to lock the position of the traveling component, while the pull-lock positioning mechanism is used to lock the position of the actuator.

[0063] The process of repairing broken strands using this robot is as follows: When performing broken strand repair work, the openings of the broken strand retraction device and the broken strand fixing device always face the ground. In this state, the clamp box 15 can be moved so that the clamp box 15 is close to the ground wire 6, and the ground wire 6 is positioned in the arc-shaped port 26 at the lower opening of the clamp box 15 so that the elastic clip can be better clamped on the ground wire 6.

[0064] When in use, the robot moves to the designated position at the end of the broken strand, and then flips and moves the execution architecture to couple the ground wire 6 with the active straightening core 31 and the driven straightening core 32, thus completing the preparation work for the broken strand repair.

[0065] Performing the strand rewinding function: The winding motor 40 starts, causing the active bevel gear 36 to rotate. The active bevel gear 36 drives the driven bevel gear 37 to rotate, and the input gear 38 drives the idler gear 39 meshing with it to rotate. The rotation of the idler gear drives the active winding sleeve 29 meshing with it to rotate, thereby causing the active winding core 31 and the driven winding core 32 to rotate. The broken strand ground wire 6 is rotated back through the winding opening on the active winding core 31. With the help of the robot providing forward movement, a spiral motion is formed, pressing the broken strand ground wire 6 into the broken strand groove.

[0066] Performing the strand breakage fixing function: The winding mechanism remains stationary to prevent the broken strand from breaking open again. At this time, the strand breakage fixing device is positioned at the designated position on the ground wire 6 through the concave arc-shaped port. Then, the push plate 17 moves downward to push the elastic clip stored in the clip box 15 outward. When the elastic clip is pushed to the box opening, the wedge block 25 at the box opening assists the elastic clip to open. The push plate 17 continues to push the elastic clip out of the clip box 15 until the bottommost elastic clip is completely pushed out. At the same time, the elastic clip completes the clamping action, and the broken strand end is tightly fixed on the ground wire 6 by the elastic clip, preventing the broken strand end from breaking open again.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot for repairing broken strands of overhead ground wires, characterized in that, include: A walking component for enabling the robot to move along the length of the ground line (6); The actuator is used to straighten and fix broken strands. A rotary robotic arm, connected to a traveling assembly and an actuator, is used to adjust the position of the actuator; The implementing mechanism includes: The broken strand rewinding device can rewind the broken strand and wrap it around the ground wire (6) during the movement process; A broken strand fixing device, connected to a broken strand rewinding device, is used to position the rewinding broken strand. A rotating mechanism, connected to the strand breaking and fixing device, is used to flip the strand breaking and fixing device and the strand breaking and rewinding device so that the broken strand can be coupled with the strand breaking and fixing device and the strand breaking and rewinding device; The strand breakage and retraction device includes: Active wire straightener (31) is rotatable and has a wire straightening opening; The driven winding core (32) is provided with an anti-derailment opening (33) and is connected to the active winding core (31). When the active winding core (31) rotates, it drives the driven winding core (32) to rotate. The straightening opening includes: The inner diameter of the circular wire-straightening opening (34) gradually decreases along the axial direction of the active wire-straightening core (31); The U-shaped notch (35) is connected to the circular wire-straightening opening (34); The active winding core (31) is provided with a guide protrusion, and the driven winding core (32) is provided with a guide groove. The guide protrusion is located in the guide groove. When the active winding core (31) rotates, the guide protrusion can move to the end of the guide groove. The strand breakage and rewinding device also includes: The outer casing (28) has a gear transmission mechanism inside; An active cord-strapping sleeve (29) is connected to the outer casing (28) and is used to position the active cord-strapping core (31); The gear transmission mechanism meshes with the active winding sleeve (29).

2. The overhead ground wire strand repair robot according to claim 1, characterized in that, The broken strand fixing device includes: The reference frame (16) is connected to the outer casing (28); Clip box (15) is connected to reference frame (16) and can store elastic clips inside; A push plate (17), located inside the clip box (15), is used to push the elastic clip out of the clip box (15).

3. The overhead ground wire strand repair robot according to claim 2, characterized in that, The broken strand fixing device also includes a wedge block (25), which is set on the inner wall of the clip box (15) so that the wedge block (25) will open the elastic clip during the process of the elastic clip being discharged.

4. The overhead ground wire strand repair robot according to claim 2, characterized in that, The actuator also includes: An integrated frame (14) is connected to a rotating mechanism and a rotary robotic arm; The reference frame (16) is hinged to the integrated frame (14). When the rotating mechanism is working, the reference frame (16) can rotate around the hinge point.

5. The overhead ground wire strand repair robot according to claim 4, characterized in that, The outer shell (28) is provided with a flat opening, and when the reference frame (16) is flipped, the ground wire (6) can enter the flat opening.

6. The overhead ground wire strand repair robot according to claim 4, characterized in that, The rotating mechanism includes: The worm gear is fixedly connected to the reference frame (16); A rotary motor is fixedly connected to the integrated frame (14); The worm gear is connected to the output shaft of the rotary motor and coupled to the worm wheel.

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