An overhead power transmission line repair robot

Abstract

This invention relates to the field of circuit repair technology and discloses an overhead transmission line repair robot, which includes a frame, a walking assembly, a winding assembly, and a fixing assembly. The fixing assembly tightly clamps the middle section of the pre-twisted wire, and the other end of the pre-twisted wire is threaded through the winding assembly. Two winding assemblies, in conjunction with the walking assembly, respectively achieve winding of both ends of the pre-twisted wire. Compared to existing technologies that wind multiple sets of pre-twisted wire around the outer circumference of the conductor, the volume of the winding reel is significantly reduced. This reduces the overall weight of the overhead transmission line repair robot, facilitates transportation, mounting, and passage through narrow gaps, effectively improving its applicability in complex line environments. Furthermore, by using the walking assembly in conjunction with the two winding assemblies to wind both ends of the pre-twisted wire separately, secondary mounting is eliminated, significantly improving the work efficiency of overhead transmission line strand reinforcement operations.

Description

Technical Field

[0001] This invention relates to the field of circuit repair technology, and in particular to a robot for repairing overhead power transmission lines. Background Technology

[0002] Overhead transmission lines, generally referring to lines erected above the ground, are power transmission lines that use insulators to fix conductors (or ground wires) to towers standing upright on the ground to transmit electrical energy. Most existing overhead transmission lines use steel-cored aluminum stranded wire as the conductor (or ground wire). The steel-cored aluminum stranded wire has a steel core, with multiple aluminum wires twisted around it. The aluminum strands transmit electrical energy, while the steel core provides strength. Conductors (or ground wires) can break due to manufacturing defects, long-term wind vibration, lightning strikes, and external damage. Because conductors (or ground wires) bear significant tension, their strength decreases after a break, and the broken strands will sag uncontrollably, all of which seriously affect the safe operation of overhead transmission line equipment. The National Energy Administration's approved and issued power industry standard (standard number DL / T 1069-2016), "Guidelines for Repairing Conductors and Ground Wires of Overhead Transmission Lines," specifies the repair requirements, methods, processes, and acceptance procedures for damaged conductors (ground wires) in the operation of overhead transmission lines. Among these, pre-stranded splice strips are metal strips used to wrap around the outer layer of the conductor (ground wire) to restore its original mechanical strength and conductivity. Using pre-stranded splice strips to wrap around the broken strands ensures that the broken strands do not further unravel and restores the tensile strength of the conductor (ground wire) to its original level, making it a commonly used repair method.

[0003] Because pre-stranded splice strips need to be tightly wrapped around the conductor (ground wire), considerable force is required during winding. This work requires workers to remain at the location of the broken strand and is physically demanding. However, when a broken strand occurs on the ground wire (lightning protection wire) at the top of the tower, workers can only place their safety belts on the broken strand. Since the ground wire (lightning protection wire) has already weakened due to the broken strand, increasing the stress will further increase the possibility of breakage, jeopardizing worker safety. Therefore, using robots to replace manual labor in laying pre-stranded splice strips greatly improves operational safety.

[0004] Chinese patent application CN113964725A discloses a conductor repair system and method, which fixes one end of a pre-twisted wire and places the other end inside a turntable. The turntable rotates in a certain direction, and multiple sets of pre-twisted wires are synchronously wound onto the conductor by the turntable, thereby completing the conductor repair. However, because it is necessary to synchronously drive multiple sets of pre-twisted wires to rotate, and to position the conductor at the center of the multiple sets of pre-twisted wires, the turntable is often large in size, which is not conducive to transportation or mounting, thus limiting its application scenarios and reducing its applicability. Summary of the Invention

[0005] The purpose of this invention is to provide an overhead transmission line repair robot to solve the problem of low applicability caused by the large turntable size of existing repair robots due to the synchronous rotation of multiple sets of pre-twisted wires, which makes them unsuitable for transportation or mounting.

[0006] To achieve the above objectives, the present invention provides an overhead transmission line repair robot, comprising: The frame extends along the first direction; A walking assembly is located on top of the frame and includes walking wheels and a first drive mechanism; the walking wheels are spaced apart above the frame, and the first drive mechanism is used to drive the walking wheels to rotate, so as to drive the frame to walk along the guide wire; The winding assembly comprises two components respectively disposed on the two sides of the frame in a first direction, and capable of being raised or lowered relative to the frame. Each winding assembly includes a clamping clamp, a winding disc, and a second drive mechanism. The clamping clamp is capable of opening or closing, and forms a clamping channel when closed. The winding disc is rotatably disposed within the clamping channel, and has a through-channel and a winding channel. The through-channel is coaxially arranged with the winding disc and is used to clamp the wire. The winding channel communicates with the through-channel and is used to clamp the pre-twisted wire, with its extension direction opposite to the peripheral wall of the through-channel matching the extension direction of the pre-twisted wire. The second drive mechanism drives the winding disc to rotate about its axial direction. The winding disc is formed by joining two semi-circular winding half-discs, allowing the through-channel to open or close. A fixing assembly is located at the top of the frame and between the two clamping jaws; the fixing assembly is switchable between an open state and a closed state to release or tighten the pre-twisted wire.

[0007] Furthermore, the second drive mechanism includes a winding gear, a drive gear, and a winding motor; When the clamping clamp is closed, the peripheral wall of the clamping channel has a mounting groove that extends circumferentially and is connected end to end. The winding gear is composed of two semi-circular winding half-gears joined together and rotatably disposed in the mounting groove; The two winding half-gears are fixedly connected to the winding half-disc in a one-to-one correspondence and are coaxially arranged with the winding half-disc. The clamping clamp is also provided with a drive cavity, and the drive gear is meshed with the winding gear and rotatably disposed in the drive cavity; The winding motor is located in the frame, and its output shaft is connected to the drive gear.

[0008] Furthermore, one of the winding half-discs is defined as the first winding half-disc, and the other winding half-disc is defined as the second winding half-disc; A first winding groove is formed on the surface of the first winding half-disc opposite to the second winding half-disc; a second winding groove is formed on the second winding half-disc opposite to the first winding groove. A dividing block is fixed in the first winding groove, the dividing block extends toward the second winding groove, and divides the first winding groove into a first sub-groove and a second sub-groove that are radially spaced apart in the first winding half-disc; The extension direction of the second sub-groove wall on the side opposite to the first sub-groove matches the extension direction of the pre-twisted wire; When the first winding half-disc and the second winding half-disc are combined to form the winding disc, the first sub-groove and the second winding groove enclose the through-channel, and the second sub-groove and the second winding groove enclose the winding channel.

[0009] Furthermore, a sliding groove is provided on the side wall of the second sub-groove facing away from the first sub-groove, and an auxiliary wheel is rotatably provided in the sliding groove; The direction of travel of the auxiliary wheel matches the extension direction of the side wall of the second sub-slot facing away from the first sub-slot.

[0010] Furthermore, the clamping clamp includes a clamping arm, a support frame, and a third drive mechanism; The support frame extends vertically and is slidably connected to the frame in the vertical direction; the support frame has a receiving groove. The two clamping arms are symmetrically arranged along the first direction, and part of the clamping arms are disposed in the receiving groove and rotatably connected to the support frame; Each of the two clamping arms has a clamping groove on one of its opposite surfaces. The clamping groove is an arc-shaped groove that is concave in the direction away from each other, so that when the two clamping arms are rotated to fit together on their opposite surfaces, the two clamping grooves enclose each other to form the clamping channel. Both clamping arms are connected to the third drive mechanism, which drives the two clamping arms to rotate synchronously.

[0011] Furthermore, the third drive mechanism includes a support plate, a first lead screw, an opening and closing motor, a lead screw nut, and a connecting rod; The support plate is horizontally disposed in the receiving groove and fixedly connected to the support frame; The first lead screw is located in the receiving groove and is vertically disposed below the support plate. The two ends of the first lead screw are respectively rotatably connected to the support plate and the support frame. The output shaft of the opening and closing motor is connected to the first lead screw drive; The nut is movably inserted into the receiving groove in the vertical direction and screwed to the first lead screw; a connecting rod is respectively hinged to each end of the nut in the second direction; The other end of the connecting rod is hinged to the lower end of the clamping arm; Among them, the first direction, the second direction, and the vertical direction are all perpendicular to each other.

[0012] Furthermore, the fixing component includes a fixing member, a fixing hook, a fixing shaft, and a fourth drive mechanism; The fastener is fixed to the upper surface of the frame. The fastener has a moving channel that runs through its upper and lower surfaces. The moving channel includes a fixed section and a release section arranged sequentially from bottom to top. The diameter of the fixed section remains constant, while the diameter of the release section gradually increases from bottom to top. Two fixing hooks are symmetrically arranged along a first direction and are arranged sequentially along the first direction; each fixing hook includes a hook portion and a connecting portion connected sequentially from top to bottom, and the diameter of the connecting portion matches the diameter of the fixing segment; The fixed shaft extends along the first direction and is rotatably inserted into the connecting part of the two fixed hooks in sequence; The fixed shaft and at least part of the connecting portion are inserted into the fixed section, and the fourth driving mechanism is used to drive the fixed shaft to move up and down in the vertical direction.

[0013] Furthermore, the fixing assembly also includes a pressure block and a lifting spring; The fastener has a mounting base at one end in the first direction, one end of the pressure block is hinged to the mounting base, and the other end extends toward the fixing hook; The lifting spring is vertically arranged, and its two ends are respectively connected to the pressure block and the fixing component; When the fixing hook tightens the pre-twisted wire, the pre-twisted wire abuts against the upper surface of the pressure block, and the pressure block squeezes the lifting spring.

[0014] Furthermore, it also includes lifting components; The frame has lifting slots at both ends in the first direction; each lifting slot is equipped with a lifting component. The lifting assembly includes a second lead screw, a guide rod, a lifting block, and a lifting motor; Both the second lead screw and the guide rod extend vertically, and the two guide rods are spaced apart from each other and spaced apart from the second lead screw; Both ends of the second lead screw are rotatably connected to the wall of the lifting groove. The lifting motor is located in the lifting groove, and its output shaft is fixedly connected to the second lead screw. The guide rod is fixedly installed in the lifting groove. One end of the lifting block is inserted into the lifting groove and sleeved on the outer periphery of the second lead screw and guide rod, and is screwed to the second lead screw; the lifting block extends along the first direction, and the other end is connected to the winding assembly.

[0015] Furthermore, the walking assembly includes an extension frame; one end of the extension frame is connected to the frame and extends vertically upward. Two traveling wheels are spaced apart along a first direction and rotatably connected to the extension frame; The first drive mechanism includes a walking motor, which is installed inside the extension frame and is connected to one of the walking wheels via a transmission.

[0016] The overhead transmission line repair robot provided by this invention has the following advantages compared with the prior art: This invention provides an overhead transmission line repair robot, comprising a frame, a walking assembly, a winding assembly, and a fixing assembly. The fixing assembly clamps the middle section of a pre-twisted wire, and the other end of the pre-twisted wire is threaded through the winding channel of one of the winding assemblies. This allows the pre-twisted wire to be lifted into the air by the overhead transmission line repair robot and mounted on the conductor to be reinforced via the walking wheels. As the winding assembly rises relative to the frame, the clamping jaws open, simultaneously opening the clamping channel and the threading channel, allowing the conductor to enter the threading channel. Closing the clamping jaws clamps the conductor within the threading channel. A second driving mechanism drives the winding disc to rotate, causing the winding channel to rotate around the threading channel, thereby rotating the pre-twisted wire around the conductor and winding it to the outer circumference of the conductor. The pre-twisted wire provides a reaction force to the peripheral wall of the winding channel. Force drives the overhead transmission line repair robot to move along a first direction and releases the pre-twisted wire through the fixing component, so that the peripheral wall of the winding channel continuously acts on the unwound pre-twisted wire, causing the pre-twisted wire to continuously wind around the outer periphery of the conductor. After completing the winding of half a pre-twisted wire, the corresponding clamping clamp is opened, and the walking wheel is driven to move in the opposite direction through the first drive mechanism. Another winding component is used to drive the remaining half of the pre-twisted wire to wind around the outer periphery of the conductor, thereby achieving reinforcement at the broken strand position. Compared with winding multiple sets of pre-twisted wires around the outer periphery of the conductor, the winding disc volume of the overhead transmission line repair robot is significantly reduced, which reduces the weight of the overhead transmission line repair robot and facilitates transportation, mounting, and crossing narrow gaps, thereby improving its applicability. Moreover, by using the walking component in conjunction with the two winding components to wind the two ends of the pre-twisted wire respectively, no secondary mounting is required, which can improve the work efficiency of reinforcement operation. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural schematic diagram of an overhead transmission line repair robot according to an embodiment of the present invention; Figure 2 This is a side view of the winding assembly of an embodiment of the present invention when the clamping clamp is closed; Figure 3 This is a side view of the winding assembly of an embodiment of the present invention when the clamping clamp is open; Figure 4 This is a cross-sectional schematic diagram of the winding assembly of this invention when the clamping clamp is closed; Figure 5 This is a cross-sectional schematic diagram of the winding assembly of an embodiment of the present invention when the clamping clamp is opened; Figure 6 This is a side view of the clamping forceps of an embodiment of the present invention when it is opened; Figure 7 This is a schematic diagram of the cooperation between the first winding half-disc and the pre-twisted wire in an embodiment of the present invention; Figure 8 This is a three-dimensional structural schematic diagram of the first wound half-disc according to an embodiment of the present invention; Figure 9 This is a three-dimensional structural diagram of the fixing component according to an embodiment of the present invention; Figure 10 This is a cross-sectional schematic diagram of the fixing component according to an embodiment of the present invention; Figure 11 This is a three-dimensional structural diagram of the frame and lifting assembly according to an embodiment of the present invention; Figure 12 This is a front view schematic diagram of the walking component according to an embodiment of the present invention.

[0018] In the diagram, 100 is an overhead power line repair robot; 1 is a frame; 10 is a lifting trough; 2 is a walking assembly; 21 is a walking wheel; 22 is a first drive mechanism; 221 is a walking motor; 222 is a clutch; 223 is a reducer; 23 is an extension frame; 3 is a winding assembly; 31 is a clamping clamp; 311 is a clamping arm; 3110 is a clamping groove; 312 is a support frame; 3120 is a receiving groove; 313 is a third drive mechanism; 3131 is a support plate; 3132 is a first lead screw; 3133 is an opening and closing motor; 3134 is a lead screw nut; 3135 is a connecting rod; 310 is a clamping channel; 3101 is a mounting groove; 3102 is a drive cavity; 32 is a winding disc; 3201 is a threading channel; 3202 is a winding mechanism. 321. Channel; 321. First winding half-disc; 3211. First sub-slot; 3212. Second sub-slot; 32120. Sliding groove; 322. Second winding half-disc; 323. Separator block; 324. Auxiliary wheel; 33. Second drive mechanism; 331. Winding gear; 3311. Winding half-gear; 332. Drive gear; 334. Connecting flexible shaft; 4. Fixing assembly; 41. Fixing piece; 410. Moving channel; 4101. Fixing section; 4102. Release section; 42. Fixing hook; 421. Hook part; 422. Connecting part; 43. Fourth drive mechanism; 44. Pressure block; 5. Lifting assembly; 51. Second lead screw; 52. Guide rod; 53. Lifting block; 54. Lifting motor; 200. Pre-twisted wire. Detailed Implementation

[0019] 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.

[0020] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings are used to distinguish different objects, not to describe a particular order or hierarchy.

[0021] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this invention can be combined with other embodiments.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "attachment" 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 direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] In this invention, "multiple" refers to two or more (including two), similarly, "multiple groups" refers to two or more (including two groups), and "multiple pieces" refers to two or more (including two pieces).

[0024] It should be noted that the "pre-twisted wire" mentioned in this invention refers to a set of pre-twisted splice strips; the "conductor" mentioned in this invention refers to the conductor (ground) wire in an overhead transmission line.

[0025] Because existing technologies use a turntable to wind multiple sets of pre-twisted wires around the outer periphery of the conductor to achieve reinforcement; while a set of pre-twisted splice strips already contains multiple pre-twisted splice strips, and the pre-twisted splice strips are made of alloy, and their contact surface with the conductor is usually sprayed with diamond abrasive to increase friction, it is only necessary to wind a set of pre-twisted splice strips around the location where the strand breaks to make up for the mechanical strength loss due to the strand breakage.

[0026] In view of this, the present invention proposes an overhead transmission line repair robot 100, and the overhead transmission line repair robot 100 proposed in the embodiments of the present invention is described below with reference to the accompanying drawings.

[0027] like Figures 1-6 As shown, an overhead power transmission line repair robot 100 according to an embodiment of the present invention includes a frame 1, a walking component 2, a winding component 3 and a fixing component 4; The frame 1 extends along the first direction X; The walking assembly 2 is located on the top of the frame 1. The walking assembly includes walking wheels 21 and a first drive mechanism 22. The walking wheels 21 are spaced apart above the frame 1. The first drive mechanism 22 is used to drive the walking wheels 21 to rotate, so as to drive the frame 1 to walk along the guide wire. It is understood that the walking wheels 21 are spaced apart above the frame 1 so that when the overhead power line repair robot 100 is attached to the conductor, the conductor is located between the walking wheels and the frame 1 in the vertical direction Z; the first drive mechanism 22 drives the walking wheels 21 to rotate, so that the walking wheels 21 can walk along the conductor, that is, it can drive the frame 1 to walk along the conductor.

[0028] The two winding components 3 are respectively disposed on the two sides of the frame 1 in the first direction X.

[0029] It should be noted that, based on the winding requirements of the pre-twisted wire, in this invention, the first direction X is the extension direction of the conductor.

[0030] The winding assembly 3 can be raised or lowered relative to the frame 1; the winding assembly 3 includes a clamping clamp 31, a winding disc 32, and a second drive mechanism 33; the clamping clamp 31 can be opened or closed, and forms a clamping channel 310 when closed. The winding disc 32 is rotatably disposed in the clamping channel 310. The winding disc 32 has a through channel 3201 and a winding channel 3202. The through channel 3201 is coaxially arranged with the winding disc 32 and is used to clamp the wire. The winding channel 3202 communicates with the through channel 3201 and is used to clamp the pre-twisted wire 200. The extension direction of the winding channel 3202 away from the peripheral wall of the through channel 3201 matches the extension direction of the pre-twisted wire 200. The second driving mechanism 33 is used to drive the winding disc 32 to rotate around its axial direction. The winding disc 32 is formed by two semi-circular winding half discs joined together so that the through channel 3201 can be opened or closed.

[0031] It should be noted that the pre-twisted wire 200 is arranged in a winding and meandering manner, and moves in one direction; the direction of its winding and meandering is the extension direction; the extension direction of the winding channel 3202 facing away from the peripheral wall of the through channel 3201 and matching the extension direction of the pre-twisted wire 200 means that the side peripheral wall of the winding channel 3202 facing away from the through channel 3201 has an extension direction similar to the winding and meandering of the pre-twisted wire 200, which is arranged in a winding and meandering manner around the first direction X; so that the side peripheral wall is inclined relative to the first direction X; when the pre-twisted wire 200 abuts against the side peripheral wall, the reaction force of the pre-twisted wire 200 applied to the side peripheral wall is decomposed into a component force along the first direction X and away from the frame 1, which can drive the overhead transmission line repair robot 100 to move along the first direction X.

[0032] It is understood that the through-channel 3201 is used to clamp the wire, and the winding channel 3202 is used to clamp the pre-twisted wire 200. The winding channel 3202 is connected to the through-channel 3201, and the through-channel 3201 is also coaxially arranged with the winding disc 32. That is, when the second driving mechanism 33 drives the winding disc 32 to rotate around its own axis, the winding channel 3202 rotates around the through-channel 3201, which enables the pre-twisted wire 200 to rotate around the wire and thus wind around the outer periphery of the wire.

[0033] The fixing component 4 is located on the top of the frame 1 and between the two clamping clamps 31; the fixing component 4 can switch between an open state and a closed state to release or tighten the pre-twisted wire 200.

[0034] Based on the above technical solution, by fastening the middle section of the pre-twisted wire 200 with the fixing component 4 and passing the other end of the pre-twisted wire 200 through the winding channel 3202 of one of the winding components 3, the pre-twisted wire 200 can be lifted into the air with the overhead transmission line repair robot 100 and hung on the conductor to be reinforced by the walking wheels 21; by raising the winding component 3 relative to the frame 1, the clamping clamp 31 opens, opening its clamping channel 310 and the passing channel 3201, allowing the conductor to enter the passing channel 3201, and by closing the clamping clamp 31, the conductor is clamped in the passing channel 3201; the second driving mechanism 33 drives the winding disc 32 to rotate, so that the winding channel 3202 rotates around the passing channel 3201, thereby driving the pre-twisted wire 200 to rotate around the conductor and thus wind it to the outer circumference of the conductor; the reaction force of the pre-twisted wire 200 on the peripheral wall of the winding channel 3202 can drive the winding disc 3202 to rotate around the conductor. The overhead transmission line repair robot 100 moves along the first direction X and releases the pre-twisted wire 200 through the fixing component, so that the peripheral wall of the winding channel 3202 continuously acts on the unwound pre-twisted wire 200, causing the pre-twisted wire 200 to continuously wind around the outer periphery of the conductor. After completing the winding of half of the pre-twisted wire 200, the corresponding clamping clamp 31 is opened, and the first driving mechanism 22 drives the walking wheel 21 to move in the opposite direction. Another winding component 3 is used to drive the remaining half of the pre-twisted wire 200 to wind around the outer periphery of the conductor, thereby achieving reinforcement at the broken strand position. Compared with winding multiple sets of pre-twisted wires 200 around the outer periphery of the conductor, the winding disc 32 of the overhead transmission line repair robot 100 is significantly reduced in size, which reduces the weight of the overhead transmission line repair robot 100, facilitates transportation, mounting, and crossing narrow gaps, and improves its applicability. Moreover, by using the walking component 2 in conjunction with the two winding components 3 to wind both ends of the pre-twisted wire 200 respectively, no secondary mounting is required, which can improve the work efficiency of reinforcement operation.

[0035] like Figure 3 and Figure 4 As shown, the second drive mechanism 33 further includes a winding gear 331, a drive gear 332, and a winding motor; When the clamping clamp 31 is closed, the peripheral wall of the clamping channel 310 has a mounting groove 3101 that extends circumferentially and is connected end to end; The wound gear 331 is composed of two semi-circular wound half gears 3311 joined together and rotatably disposed in the mounting groove 3101; It should be noted that the mounting groove 3101 should be opened according to the size of the winding gear 331 so that the winding gear 331 can rotate in the mounting groove 3101 in the axial direction of the mounting groove 3101, that is, the extension direction of the wire, without radial displacement.

[0036] The two winding half gears 3311 are fixedly connected to the winding half disk in a one-to-one correspondence and are coaxially arranged with the winding half disk; It is understandable that, in order to precisely control the rotation of the winding half-disc, the semi-circular winding half-gear 3311 can be set to correspond to the semi-circular winding half-disc, that is, the diameters of the outer contours projected in the first direction X coincide, and the corresponding winding half-gear 3311 and the winding half-disc are coaxial, so that the rotation of the winding gear 331 drives the corresponding winding half-disc to rotate accordingly.

[0037] The clamping clamp 31 is also provided with a drive cavity 3102, and the drive gear 332 is meshed with the winding gear 331 and rotatably disposed in the drive cavity 3102; The winding motor is located in the frame 1, and its output shaft is connected to the drive gear 332.

[0038] It is understood that the rotation of the output shaft of the winding motor drives the drive gear 332 to rotate, which in turn drives the winding gear 331 to rotate, thereby driving the winding disc 32 to rotate around its axial direction.

[0039] Preferably, such as Figure 2 and Figure 3 As shown, the second drive mechanism 33 also includes a connecting flexible shaft 334; the output shaft of the winding motor is connected to the drive gear 332 via the connecting flexible shaft 334.

[0040] Understandably, since a relatively large torque is required when winding the pre-twisted wire 200 around the outer circumference of the conductor, the relatively heavy winding motor is placed in the frame 1 to counteract the torque generated during winding. In order to output the rotation of the winding motor to the drive gear 332, a connecting flexible shaft 334 is provided so that the winding motor can be installed in the frame 1 and the rotation of its output shaft can be transmitted to the drive gear 332 through the connecting flexible shaft 334.

[0041] Preferably, a battery for providing power to the winding motor is also installed in the frame 1, further increasing the weight of the frame 1 in order to overcome the torque during winding of the pre-twisted wire 200.

[0042] Furthermore, such as Figures 2-5 As shown, one half of the winding disk 32 is defined as the first half of the winding disk 321, and the other half of the winding disk is defined as the second half of the winding disk 322; A first winding groove is formed on the side surface of the first winding half-disc 321 opposite to the second winding half-disc 322; a second winding groove 3220 is formed on the second winding half-disc 322 opposite to the first winding groove. A partition block 323 is fixed in the first winding groove. The partition block 323 extends toward the second winding groove 3220 and divides the first winding groove into a first sub-groove 3211 and a second sub-groove 3212 that are radially spaced apart in the first winding half-disc 321. The extension direction of the side wall of the second sub-groove 3212 facing away from the first sub-groove 3211 matches the extension direction of the pre-twisted wire 200. It is understood that when the first winding half-disc 321 and the second winding half-disc 322 are combined to form the winding disk 32, the first sub-groove 3211 and the second winding groove 3220 enclose the through channel 3201, and the second sub-groove 3212 and the second winding groove 3220 enclose the winding channel 3202. Furthermore, the connection position of the through-path 3201 and the winding path 3202 is located in the second winding groove 3220, so that while the surface of the separator block 323 forms a side wall that abuts against the pre-twisted wire 200, it also facilitates the pre-twisted wire 200 to enter the through-path 3201 through the second winding groove 3220 to wind around the outer periphery of the wire.

[0043] Furthermore, such as Figure 7 and Figure 8 As shown, the second sub-slot 3212 has a sliding groove 32120 on the side wall opposite to the first sub-slot 3211, and the sliding groove 32120 is rotatably equipped with an auxiliary wheel 324. The direction of travel of the auxiliary wheel 324 matches the extension direction of the side wall of the second sub-groove 3212 facing away from the first sub-groove 3211.

[0044] It is understandable that the direction of travel of the auxiliary wheel 324 matches the extension direction of the side wall of the second sub-groove 3212 facing away from the first sub-groove 3211, that is, it matches the extension direction of the pre-twisted wire 200. By setting the auxiliary wheel 324 on the side wall of the second sub-groove 3212 facing away from the first sub-groove 3211, the sliding friction of the entire side wall can be transformed into rolling friction, thereby reducing the friction between the outer surface of the pre-twisted wire 200 and the side wall, and reducing the difficulty of winding the pre-twisted wire 200 around the outer periphery of the conductor.

[0045] Furthermore, such as Figures 4-6 As shown, the clamping clamp 31 includes a clamping arm 311, a support frame 312, and a third drive mechanism 313; The support frame 312 extends along the vertical direction Z and is slidably connected to the frame 1 along the vertical direction Z; the support frame 312 has a receiving groove 3120. The two clamping arms 311 are symmetrically arranged along the first direction X, and part of the clamping arms 311 are disposed in the receiving groove 3120 and rotatably connected to the support frame 312; Each of the two clamping arms 311 has a clamping groove 3110 on one side surface facing away from each other. The clamping groove 3110 is an arc-shaped groove that is concave in the direction away from each other, so that when the two clamping arms 311 rotate to fit together on the opposite side surface, the two clamping grooves 3110 surround each other to form the clamping channel 310. Both clamping arms 311 are connected to the third drive mechanism 313, which drives the two clamping arms 311 to rotate synchronously.

[0046] It is understood that by setting two clamping arms 311 and opening clamping grooves 3110 on their opposite side surfaces, and rotatably connecting the clamping arms 311 to the support frame 312, the rotation of the clamping arms 311 allows the two clamping grooves 3110 to be joined together, thereby forming a clamping channel 310. Alternatively, the two clamping grooves 3110 can be moved away from each other, thus opening the clamping channel 310. Furthermore, the third drive mechanism 313 drives the two clamping arms 311 to rotate synchronously, ensuring that the clamping channel 310 formed is coaxial with the wire, thereby preventing the winding disc 32 located in the clamping channel 310 from shifting. In addition, placing part of the clamping arms 311 in the receiving groove 3120 can improve the stability of the clamping arms 311.

[0047] Furthermore, such as Figures 4-6As shown, the third drive mechanism 313 includes a support plate 3131, a first lead screw 3132, an opening and closing motor 3133, a lead screw nut 3134, and a connecting rod 3135; The support plate 3131 is horizontally disposed in the receiving groove 3120 and is fixedly connected to the support frame 312; The first lead screw 3132 is located in the receiving groove 3120 and is vertically disposed below the support plate 3131. The two ends of the first lead screw 3132 are respectively rotatably connected to the support plate 3131 and the support frame 312. The output shaft of the opening and closing motor 3133 is connected to the first lead screw 3132 in a transmission connection. The nut 3134 is movable in the vertical direction Z and passes through the receiving groove 3120, and is screwed to the first lead screw 3132; the nut 3134 is hinged to a connecting rod 3135 at each end in the second direction Y. The other end of the connecting rod 3135 is hinged to the lower end of the clamping arm 311; Among them, the first direction X, the second direction Y, and the vertical direction Z are all perpendicular to each other.

[0048] It is understood that the first lead screw 3132, the opening and closing motor 3133, and the lead screw nut 3134 together form a lead screw and nut mechanism. Under the combined drive of the first lead screw 3132 and the opening and closing motor 3133, the lead screw nut 3134 moves up and down in the vertical direction Z, thereby driving the connecting rod 3135, which is hinged to its two ends in the second direction Y, to move up and down. Since the other end of the connecting rod 3135 is hinged to the lower end of the clamping arm 311, and the clamping arm 311 is rotatably connected to the support frame 312, the connecting rod 3135 rotates while moving up and down, and drives the clamping arm 311 to rotate around its connection position with the support frame 312, thereby realizing the synchronous drive of the two clamping arms 311 by the third drive mechanism.

[0049] Furthermore, such as Figure 9 and Figure 10 As shown, the fixing component 4 includes a fixing member 41, a fixing hook 42, a fixing shaft (not shown in the figure), and a fourth driving mechanism 43; The fixing member 41 is fixed to the upper surface of the frame 1. The fixing member 41 has a moving channel 410 that runs through its upper and lower surfaces. The moving channel 410 includes a fixing section 4101 and a releasing section 4102 arranged sequentially from bottom to top. The diameter of the fixing section 4101 remains unchanged, while the diameter of the releasing section 4102 gradually increases from bottom to top. Two fixing hooks 42 are symmetrically arranged along the first direction X, and are arranged sequentially along the first direction X; each fixing hook 42 includes a hook portion 421 and a connecting portion 422 connected sequentially from top to bottom, and the diameter of the connecting portion 422 matches the diameter of the fixing segment 4101. The fixed shaft extends along the first direction and is rotatably inserted into the connecting part 422 of the two fixed hooks 42 in sequence; The fixed shaft and at least part of the connecting portion 422 are inserted into the fixed section 4101, and the fourth driving mechanism 43 is used to drive the fixed shaft to move up and down in the vertical direction Z.

[0050] It is understood that, since the fixing hook 42 includes a hook portion 421 and a connecting portion 422 connected sequentially from top to bottom, and the diameter of the connecting portion 422 matches the diameter of the fixing segment 4101; while the diameter of the fixing segment 4101 remains unchanged, when the connecting portion 422 is completely located in the fixing segment 4101, the fixing segment 4101 remains vertical, so that a channel is formed between the two fixing hooks 42 that are symmetrically arranged and sequentially arranged along the first direction, which can tightly clamp the pre-twisted wire 200, preventing the pre-twisted wire 200 from being trapped. The upward movement disengages the two fixed hooks 42; when the fixed shaft drives the connecting part 422 to move upward and the connecting part 422 is located in the release section 4102, the diameter of the release section 4102 is larger than that of the connecting part 422, and the two fixed hooks 42 rotate around the axis of the fixed shaft in a direction away from each other under their own weight, thereby separating, so that the pre-twisted wire 200 can separate upward from the two fixed hooks 42; thereby realizing the switching of the fixing component 4 between the open state and the closed state.

[0051] Furthermore, such as Figure 9 and Figure 10 As shown, the fixing component 4 also includes a pressure block 44 and a lifting spring; The fastener 41 is provided with a mounting base 411 at one end in the first direction X, and one end of the pressure block 44 is hinged to the mounting base 411, while the other end extends toward the fixing hook 42. The lifting spring is vertically arranged, and its two ends are respectively connected to the pressure block 44 and the fixing member 41; When the fixing hook 42 tightens the pre-twisted wire 200, the pre-twisted wire 200 abuts against the upper surface of the pressure block 44, and the pressure block 44 compresses the lifting spring.

[0052] It is understandable that when the fixing hook 42 tightens the pre-twisted wire 200, the pre-twisted wire 200 abuts against the upper surface of the pressure block 44, and the pressure block 44 squeezes the lifting spring, the pressure block 44 can give the pre-twisted wire 200 an upward reaction force, so that when the two fixing hooks 42 move away from each other, the pre-twisted wire 200 is lifted up by this reaction force.

[0053] Preferably, the pressure block 44 can also be connected to the mounting base 411 via a torsion spring, such that when the fixing hook 42 tightens the pre-twisted wire 200, the pre-twisted wire 200 abuts against the upper surface of the pressure block 44. Similar to setting a lifting spring, a torsion spring can also provide an upward reaction force to the pre-twisted wire 200 to lift it up.

[0054] Furthermore, such as Figure 11 As shown, the overhead power line repair robot 100 also includes a lifting assembly 5; The frame 1 has lifting slots 10 at both ends in the first direction X; each lifting slot 10 is equipped with a lifting component 5. The lifting assembly 5 includes a second lead screw 51, a guide rod 52, a lifting block 53, and a lifting motor 54; The second lead screw 51 and the guide rod 52 are both vertically extended, and the two guide rods 52 are spaced apart from each other and spaced apart from the second lead screw 51; Both ends of the second lead screw 51 are rotatably connected to the wall of the lifting groove 10. The lifting motor 54 is located in the lifting groove 10, and its output shaft is fixedly connected to the second lead screw 51. The guide rod 52 is fixedly installed in the lifting groove 10. One end of the lifting block 53 is inserted into the lifting groove 10 and sleeved on the outer periphery of the second lead screw 51 and the guide rod 52, and is screwed to the second lead screw 51; the lifting block 53 extends along the first direction X, and the other end is connected to the winding assembly 3.

[0055] It is understood that the second lead screw 51, guide rod 52, lifting block 53 and lifting motor 54 together form a lead screw and nut mechanism. By rotating the second lead screw 51, the lifting block 53 can be driven to move up and down in the vertical direction Z, thereby realizing the raising or lowering of the winding assembly 3 relative to the frame 1.

[0056] Furthermore, such as Figure 12 As shown, the walking assembly 2 includes an extension frame 23; one end of the extension frame 23 is connected to the frame 1 and extends vertically upward. Two traveling wheels 21 are spaced apart along the first direction X and rotatably connected to the extension frame 23; The first drive mechanism 22 includes a walking motor 221, which is installed inside the extension frame 23 and is connected to one of the walking wheels 21 in a transmission manner.

[0057] It is understood that by setting up the extension frame 23, two walking wheels 21 are spaced apart above the frame 1, and the walking motor 221 is connected to one of the walking wheels 21 to drive the walking wheel 21 to move.

[0058] Preferably, such as Figure 12 As shown, the first drive mechanism 22 also includes a clutch 222 and a reducer 223; the walking motor 221, clutch 222 and reducer 223 are sequentially connected in the transmission direction; the clutch 222 and reducer 223 can control the traveling speed of the walking wheel 21 or lock the walking wheel 21 in place.

[0059] The working process of this invention is as follows: Preparation process: Start the lifting motor 54 of one of the lifting components 5, driving the second lead screw 51 to rotate, so that the lifting block 53 moves up and down relative to the frame 1 under the guidance of the guide rod 52, and moves the height of the winding channel 3202 in the corresponding winding component 3 to a position equivalent to the height of the fixing hook 42. Then start the lifting motor 54 of the other lifting component 5, lowering the corresponding winding component below the fixing hook 42. Drive the fixed shaft to move upward to separate the fixing hook 42, placing the middle section of the pre-twisted wire 200 in one of the fixing hooks 42, and placing one end in the winding channel 3202 at a height equivalent to the fixing hook 42; drive the fixed shaft to move downward so that the two fixing hooks 42 move closer to each other to tighten the pre-twisted wire 200. Use a drone or other mounting equipment to attach the traveling wheel 21 to the vicinity of the broken strand of the wire.

[0060] First winding process: The opening and closing motor 3133 in one of the winding assemblies 3 containing the pre-twisted wire 200 is started to open the clamping channel 310 and cause the clamping clamp 31 to move upward so that the wire is located in the through channel 3201; then the clamping channel 310 is closed.

[0061] The winding motor is started, which sequentially drives the drive gear 332, winding gear 331 and winding disc 32 to rotate, so that the winding channel 3202 rotates around the through channel 3201, so that the pre-twisted wire 200 rotates around the wire; the reaction force of the pre-twisted wire 200 on the winding channel 3202 also drives the walking wheel 21 to move along the unwound end, so that the peripheral wall of the winding channel 3202 continuously acts on the pre-twisted wire 200 along the extension direction of the pre-twisted wire 200, thereby completing half of the winding of the pre-twisted wire 200.

[0062] Open the clamping channel 310 to move the clamping clamp 31 downward and away from the wire.

[0063] Second winding process: Start the walking motor 221, and through the transmission of the clutch 222 and the reducer 223, drive the walking wheel 21 to move in the opposite direction to the vicinity of the end of the unwound half of the pre-twisted wire 200, and make the other winding assembly 3 located below the end of the unwound half of the pre-twisted wire 200.

[0064] Open the clamping channel 310 of the winding assembly 3 and move its clamping clamp 31 upward; repeat the above winding process until the remaining half of the pre-twisted wire 200 is wound around the outer periphery of the conductor; thereby completing the reinforcement of the conductor.

[0065] In summary, this embodiment of the invention provides an overhead transmission line repair robot 100, which includes a frame 1, a walking component 2, a winding component 3, and a fixing component 4. The fixing component 4 is tightly clamped to the middle section of a pre-twisted wire 200, and the other end of the pre-twisted wire 200 is threaded through the winding channel 3202 of one of the winding components 3. This allows the pre-twisted wire 200 to be lifted into the air with the overhead transmission line repair robot 100 and mounted on the conductor to be reinforced via the walking wheels 21. The winding component 3 rises relative to the frame 1. By opening the clamping clamp 31, the clamping channel 310 is opened, and the insertion channel 3201 is opened simultaneously, allowing the wire to enter the insertion channel 3201. The clamping clamp 31 is then closed to clamp the wire within the insertion channel 3201. The second driving mechanism 33 drives the winding disc 32 to rotate, causing the winding channel 3202 to rotate around the insertion channel 3201, thereby driving the pre-twisted wire 200 to rotate around the wire and wind around its outer circumference. The pre-twisted wire 200... The reaction force of the peripheral wall of the winding channel 3202 drives the overhead transmission line repair robot 100 to move along the first direction X, and releases the pre-twisted wire 200 through the fixing component, so that the peripheral wall of the winding channel 3202 continuously acts on the unwound pre-twisted wire 200, so that the pre-twisted wire 200 continues to wind to the outer periphery of the conductor; after completing the winding of half of the pre-twisted wire 200, the corresponding clamping clamp 31 is opened, and the first driving mechanism 22 drives the walking wheel 21 to move in the opposite direction, and the other winding component 3 drives the remaining wire. The lower half of the pre-twisted wire 200 is wound around the outer periphery of the conductor, thereby reinforcing the broken strand. Compared with winding multiple sets of pre-twisted wires around the outer periphery of the conductor, the winding disc 32 of the overhead transmission line repair robot 100 is significantly smaller in size. This reduces the weight of the overhead transmission line repair robot 100, facilitates transportation, mounting, and crossing narrow gaps, and improves its applicability. Furthermore, the winding of both ends of the pre-twisted wire is achieved by the walking component 2 in conjunction with two winding components 3, eliminating the need for secondary mounting and improving the efficiency of the reinforcement operation.

[0066] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0067] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0068] The above description is merely an 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 principle of the present invention should be included within the scope of the claims of the present invention.

[0069] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A robot (100) for repairing overhead transmission lines, characterized in that, include: A frame (1) is provided extending along a first direction (X); The walking assembly (2) is located on the top of the frame (1) and includes walking wheels (21) and a first drive mechanism (22); the walking wheels (21) are spaced apart above the frame (1), and the first drive mechanism (22) is used to drive the walking wheels (21) to rotate so as to drive the frame (1) to walk along the guide wire; The winding assembly (3) consists of two components respectively disposed on the two sides of the frame (1) in the first direction (X), and is capable of being raised or lowered relative to the frame (1). The winding assembly (3) includes a clamping clamp (31), a winding disc (32), and a second drive mechanism (33). The clamping clamp (31) is capable of opening or closing, and forms a clamping channel (310) when closed. The winding disc (32) is rotatably disposed in the clamping channel (310), and the winding disc (32) has a through channel (3201) and a winding channel (3202). The through channel (3201) is coaxially disposed with the winding disc (32) and is used to clamp the wire. The winding channel (3202) communicates with the through channel (3201) and is used to clamp the pre-twisted wire. The extension direction of the winding channel (3202) facing away from the peripheral wall of the through channel (3201) matches the extension direction of the pre-twisted wire. The second drive mechanism (33) is used to drive the winding disc (32) to rotate around its axial direction. The winding disc (32) is formed by joining two semi-circular winding half-discs together, so that the through channel (3201) can be opened or closed; A fixing component (4) is located on top of the frame (1) and between the two clamping clamps (31); the fixing component (4) is switchable between an open state and a closed state to release or tighten the pre-twisted wire.

2. The overhead transmission line repair robot (100) as described in claim 1, characterized in that, The second drive mechanism (33) includes a winding gear (331), a drive gear (332), and a winding motor (333). When the clamping clamp (31) is closed, the peripheral wall of the clamping channel (310) has a mounting groove (3101) that extends circumferentially and is connected end to end. The wound gear (331) is composed of two semi-circular wound half gears (3311) joined together and rotatably disposed in the mounting groove (3101); The two winding half gears (3311) are fixedly connected to the winding half disk in a one-to-one correspondence and are coaxially arranged with the winding half disk; The clamping pliers (31) are also provided with a drive cavity (3102), and the drive gear (332) is meshed with the winding gear (331) and rotatably disposed in the drive cavity (3102); The winding motor (333) is located in the frame (1), and its output shaft is connected to the drive gear (332) for transmission.

3. The overhead transmission line repair robot (100) as described in claim 1, characterized in that, One of the winding half-discs in the winding disk (32) is defined as the first winding half-disc (321), and the other winding half-disc is defined as the second winding half-disc (322). The first winding half-disc (321) has a first winding groove on the side surface opposite to the second winding half-disc (322); the second winding half-disc (322) has a second winding groove (3220) opposite to the first winding groove. A partition block (323) is fixed in the first winding groove. The partition block (323) extends toward the second winding groove (3220) and divides the first winding groove into a first sub-groove (3211) and a second sub-groove (3212) that are radially spaced apart in the first winding half-disc (321). The extension direction of the side wall of the second sub-groove (3212) facing away from the first sub-groove (3211) matches the extension direction of the pre-twisted wire; When the first winding half-disc (321) and the second winding half-disc (322) are combined to form the winding disk (32), the first sub-groove (3211) and the second winding groove (3220) enclose the through channel (3201), and the second sub-groove (3212) and the second winding groove (3220) enclose the winding channel (3202).

4. The overhead transmission line repair robot (100) as described in claim 3, characterized in that, The second sub-slot (3212) has a sliding groove (32120) on the side wall opposite to the first sub-slot (3211), and the sliding groove (32120) is provided with an auxiliary wheel (324) for rotation. The direction of travel of the auxiliary wheel (324) matches the extension direction of the side wall of the second sub-groove (3212) facing away from the first sub-groove (3211).

5. The overhead transmission line repair robot (100) as described in claim 1, characterized in that, The clamping pliers (31) include a clamping arm (311), a support frame (312), and a third drive mechanism (313). The support frame (312) extends vertically and is slidably connected to the frame (1) in the vertical direction; the support frame (312) has a receiving groove (3120). The two clamping arms (311) are symmetrically arranged along the first direction (X), and part of the clamping arms (311) are located in the receiving groove (3120) and rotatably connected to the support frame (312). Each of the two clamping arms (311) has a clamping groove (3110) on one side surface facing away from each other. The clamping groove (3110) is an arc-shaped groove that is concave in the direction away from each other, so that when the two clamping arms (311) rotate to fit together on the opposite side surface, the two clamping grooves (3110) surround each other to form the clamping channel (310). Both clamping arms (311) are connected to the third drive mechanism (313), which is used to drive the two clamping arms (311) to rotate synchronously.

6. The overhead transmission line repair robot (100) as described in claim 5, characterized in that, The third drive mechanism (313) includes a support plate (3131), a first lead screw (3132), an opening and closing motor (3133), a lead screw nut (3134), and a connecting rod (3135). The support plate (3131) is horizontally disposed in the receiving groove (3120) and fixedly connected to the support frame (312). The first lead screw (3132) is located in the receiving groove (3120) and is vertically arranged below the support plate (3131). The two ends of the first lead screw (3132) are respectively rotatably connected to the support plate (3131) and the support frame (312). The output shaft of the opening and closing motor (3133) is connected to the first lead screw (3132) for transmission. The nut (3134) is movably inserted into the receiving groove (3120) in the vertical direction and screwed to the first lead screw (3132); the nut (3134) has a connecting rod (3135) hinged to each end in the second direction (Y). The other end of the connecting rod (3135) is hinged to the lower end of the clamping arm (311); Among them, the first direction (X), the second direction (Y), and the vertical direction are perpendicular to each other.

7. The overhead transmission line repair robot (100) as described in claim 1, characterized in that, The fixing component (4) includes a fixing member (41), a fixing hook (42), a fixing shaft, and a fourth drive mechanism (43). The fixing member (41) is fixed to the upper surface of the frame (1). The fixing member (41) has a moving channel (410) that runs through its upper and lower surfaces. The moving channel (410) includes a fixing section (4101) and a releasing section (4102) arranged sequentially from bottom to top. The diameter of the fixing section (4101) remains unchanged, while the diameter of the releasing section (4102) gradually increases from bottom to top. Two fixing hooks (42) are symmetrically arranged along the first direction (X) and arranged sequentially along the first direction (X); the fixing hook (42) includes a hook part (421) and a connecting part (422) connected sequentially from top to bottom, and the diameter of the connecting part (422) matches the diameter of the fixing segment (4101); The fixed shaft extends along the first direction and is sequentially rotatably inserted into the connecting part (422) of the two fixed hooks (42); The fixed shaft and at least part of the connecting part (422) are inserted into the fixed section (4101), and the fourth driving mechanism (43) is used to drive the fixed shaft to move up and down in the vertical direction.

8. The overhead transmission line repair robot (100) as described in claim 7, characterized in that, The fixing component (4) also includes a pressure block (44) and a lifting spring; The fastener (41) has a mounting base (411) at one end in the first direction (X), one end of the pressure block (44) is hinged to the mounting base (411), and the other end extends toward the fixing hook (42); The lifting spring is vertically arranged, and its two ends are respectively connected to the pressure block (44) and the fixing member (41); When the fixing hook (42) tightens the pre-twisted wire, the pre-twisted wire abuts against the upper surface of the pressure block (44), and the pressure block (44) squeezes the lifting spring.

9. The overhead transmission line repair robot (100) as described in claim 1, characterized in that, It also includes a lifting assembly (5); The frame (1) has lifting slots (10) at both ends in the first direction (X); each lifting slot (10) is equipped with a lifting component (5); The lifting assembly (5) includes a second lead screw (51), a guide rod (52), a lifting block (53), and a lifting motor (54). The second lead screw (51) and the guide rod (52) are both vertically extended, and the two guide rods (52) are spaced apart from each other and spaced apart from the second lead screw (51); Both ends of the second lead screw (51) are rotatably connected to the wall of the lifting groove (10), the lifting motor (54) is located in the lifting groove (10), and its output shaft is fixedly connected to the second lead screw (51); the guide rod (52) is fixedly located in the lifting groove (10); One end of the lifting block (53) is inserted into the lifting groove (10) and sleeved on the outer periphery of the second lead screw (51) and guide rod (52), and is screwed to the second lead screw (51); the lifting block (53) extends along the first direction (X), and the other end is connected to the winding assembly (3).

10. The overhead transmission line repair robot (100) as described in claim 1, characterized in that, The walking assembly (2) includes an extension frame (23); one end of the extension frame (23) is connected to the frame (1) and extends vertically upward; Two traveling wheels (21) are spaced apart along a first direction (X) and rotatably connected to the extension frame (23); The first drive mechanism (22) includes a walking motor (221), which is installed in the extension frame (23) and is connected to one of the walking wheels (21) in a transmission.

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